WO2024087778A1 - 海洋工程波浪水槽试验系统 - Google Patents
海洋工程波浪水槽试验系统 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M10/00—Hydrodynamic testing; Arrangements in or on ship-testing tanks or water tunnels
Definitions
- the present application relates to the technical field of wave tank test devices, and in particular to a marine engineering wave tank test system.
- Marine engineering test methods are of great significance for studying marine engineering technology, equipment performance, rationality of design schemes in specific marine areas and marine environments, and predicting the hydrodynamic loads and structural responses of structures in specific marine environments.
- marine engineering tests are still mainly operated by test personnel, and there are the following problems:
- the position, floating state and posture of the test model need to be adjusted manually by the test personnel, which consumes a lot of time and manpower.
- the position of the model needs to be adjusted after each test, and a large number of continuous automated tests cannot be carried out. At the same time, there is a problem of low layout accuracy.
- the technical problem to be solved by the present application is how to automatically adjust the position and posture of the model.
- an ocean engineering wave tank test system comprising:
- a wave maker is arranged at one end of the wave tank
- a wave-breaking beach arranged at the other end of the wave tank;
- a positioning and movement device installed above the middle of the wave tank
- an electric control box configured to control the positioning and motion device through user interaction
- the positioning and movement device comprises:
- the frame is configured to be arranged across the wave tank.
- Two linear slides are fixedly arranged on both sides of the frame, and
- Two shifting mechanisms are movably arranged at two ends of the frame respectively;
- each of the two shifting mechanisms comprises:
- a first linear rail which is arranged along the width direction of the frame and is configured to be movable on the two linear slides
- the second linear rail being arranged in a vertical direction of the frame and being configured to be movable on the first linear rail
- a moving block configured to be movable on the second linear rail
- a flange is vertically connected to the bottom end of the moving block and is used to install the test model.
- the flange has a rotational freedom along the vertical direction of the frame and along the central axis direction of the flange.
- the two linear slides are symmetrically distributed along a center line in the length direction of the frame.
- each of the two shifting mechanisms further includes a plurality of servo motors, and the plurality of servo motors are controlled to realize linear motion and rotational motion of each of the shifting mechanisms, so that the test model can achieve position change and posture adjustment.
- the multiple servo motors in the two shifting mechanisms are independent of each other.
- the plurality of servo motors include two first servo motors, and the movement of each of the shifting mechanisms along the length direction of the frame is driven by the two first servo motors.
- each of the shifting mechanisms is configured to drive the corresponding first linear rail to move along the two linear slides through a first conveyor belt.
- the plurality of servo motors further include a second servo motor, and the movement of each of the shifting mechanisms along the width direction of the frame is driven by the second servo motor.
- each of the shifting mechanisms is configured to drive the corresponding second linear track to move along the corresponding first linear track through a second conveyor belt.
- the plurality of servo motors further include a third servo motor, and the movement of each of the shifting mechanisms along the vertical direction of the frame is driven by the third servo motor.
- each of the shifting mechanisms is configured to drive the corresponding shifting block to move along the corresponding second linear track through a third conveyor belt.
- the plurality of servo motors further include a fourth servo motor, and the rotational movement of each flange around the vertical direction of the frame is driven by the fourth servo motor.
- the multiple servo motors further include a fifth servo motor, and the rotational movement of each flange around the central axis is driven by the fifth servo motor.
- each of the linear slide, the first linear rail, and the second linear rail is provided with a limiting mechanism at both ends.
- the limiting mechanism is configured to reflect the infrared light emitted to the limiting mechanism. Cooperate with the user to limit the moving position range of the shifting mechanism or restore the position.
- the electric control box is configured to control a driver in the electric control box by programming with a preset program, and the driver is used to drive the multiple servo motors, thereby realizing automation of the shifting mechanism.
- a three-color indicator light is installed above the electric control box, and the three-color indicator light is used to indicate the real-time status of the equipment.
- a touch screen is installed on the front of the electric control box, and the touch screen is used for user interaction and is configured to directly shift or reset the two shifting mechanisms by touch.
- a user PC is also included, and the electric control box is connected to the user PC via the same local area network.
- a data acquisition system is also included and is configured to control the wave maker, the acquisition system and the positioning and motion device through a user PC program.
- a transition component is further included, the transition component includes a connecting portion and a mounting portion, the connecting portion is mounted to a connecting port of the flange, and the mounting portion is used to mount the test model.
- the marine engineering wave tank test system provided in the present application, it is only necessary to install the model on the flange connection port of the shifting mechanism.
- the user can directly control the driver in the electrical control box through the touch screen or personal computer (PC) to achieve the displacement and rotation of the model, eliminating the time of manual disassembly, assembly, and adjustment of the model position and posture, and improving the installation accuracy.
- the automation of the model position and posture adjustment also makes it possible to carry out a large number of automated tests continuously.
- FIG1 is a schematic structural diagram of a positioning and motion device for a marine engineering wave tank test in one embodiment of the present application
- FIG2 is a schematic diagram of a servo motor installation structure in one embodiment of the present application.
- FIG3 is a schematic diagram of the installation of a limiting mechanism in an embodiment of the present application.
- FIG4 is a schematic diagram of the structure of a wave tank in one embodiment of the present application.
- FIG5 is a schematic structural diagram of a positioning and motion device for an ocean engineering wave tank test in one embodiment of the present application from another perspective;
- FIG6 is a partial enlarged view of a limiting mechanism in one embodiment of the present application.
- FIG7 is a partial enlarged view of a transition component in one embodiment of the present application.
- FIG8 is a schematic diagram of the installation of a transfer component and a square column in one embodiment of the present application.
- FIG9 is a schematic diagram of the structure of an electric control box in one embodiment of the present application.
- FIG. 10 is a schematic diagram of an automated wave tank test system in one embodiment of the present application.
- an automated positioning and motion device 100 for marine engineering wave tank tests comprising a frame (including four pile legs 7 and four beams 11), an electric control box 22, two linear slides 10 and two shifting mechanisms, wherein the two linear slides 10 are symmetrically distributed along the center line L1 of the length direction X of the frame, each of the shifting mechanisms comprises a first linear rail 8 along the width direction Y, a second linear rail 9 along the vertical direction Z, a plurality of servo motors, a shifting block 21, and a flange 1, and each of the linear slides 10, the first linear rail 8, and the second linear rail 9 are provided with a limiting mechanism 12 at both ends; the movement of each of the shifting mechanisms along the length direction X is controlled by two Driven by a servo motor, the first linear rail 8 is driven to move along the linear slide 10 through the first conveyor belt 13; the movement of each shift mechanism along the width direction Y is driven by a servo motor, and the second linear rail
- the automated positioning and motion device 100 for marine engineering wave tank tests provided in this embodiment, it is only necessary to install the model on the flange 1 connection port of the shifting mechanism.
- the user can directly control the driver in the electrical control box 22 through the touch screen or personal computer (PC) to achieve the displacement and rotation of the model, eliminating the time of manual disassembly, assembly, and adjustment of the model position, floating state, and posture, and improving the installation accuracy.
- the automation of the model position and posture adjustment also makes it possible to carry out a large number of automated tests continuously.
- the flange 1 connected to the bottom end of each of the shift blocks 21 is used to connect the model, and the position of the model is changed and the posture is adjusted by controlling the linear motion and rotation of the shift mechanism. all.
- the moving position range of the shifting mechanism can be limited or the position can be restored in cooperation with the user.
- a three-color indicator light 23 is installed above the electric control box 22 to indicate the real-time status of the device.
- a touch screen 24 is installed on the front of the electric control box 22 for user interaction, and the two shifting mechanisms can be shifted or reset directly by touch.
- the automated positioning and motion device for marine engineering wave tank tests is suitable for forming a closed-loop test system with the wave maker 16 and the acquisition system, and the wave maker 16, the acquisition system and the automated positioning and motion device for marine engineering wave tank tests are controlled by a user PC program.
- the electric control box 22 is suitable for establishing a connection with the user's PC through the same local area network.
- the multiple driving motors of the two shifting mechanisms are independent of each other.
- the plurality of servo motors include two first servo motors 2 , and the movement of each of the shifting mechanisms along the length direction X is driven by the two first servo motors 2 .
- the multiple servo motors also include a second servo motor 3 and a third servo motor 4, the movement of each shifting mechanism along the width direction Y is driven by the second servo motor 3, and the movement of each shifting mechanism along the vertical direction Z is driven by the third servo motor 4.
- the multiple servo motors also include a fourth servo motor 5 and a fifth servo motor 6, and the rotational movement of the flange 1 connected to the bottom end of the shift block 21 around the center axis L2 of the flange 1 is driven by the fifth servo motor 6, and the rotational movement around the vertical direction Z is driven by the fourth servo motor 5.
- the flange 1 connected to the bottom end of each of the shift blocks 21 is used to connect a model such as a square column 20 (not limited to).
- a model such as a square column 20 (not limited to).
- the square column 20 only needs to be connected to the flange 1 using the adapter component 19.
- the position change and posture adjustment of the square column 20 can be achieved by controlling the linear motion and rotation of the shift mechanism.
- the adapter component 19 includes a connecting portion 191 and a mounting portion 192 .
- the connecting portion 191 is mounted to the connecting port of the flange 1
- the mounting portion 192 is used to mount the square column 20 .
- the moving position range of the shifting mechanism can be limited or the position can be restored in cooperation with the user.
- the position of the limiting mechanism 12 is fixed and concave in shape. It emits infrared light to the other side in the direction of the arrow 121 marked on it.
- a scribing piece is installed under the shifting mechanism. When the shifting mechanism drives the scribing piece to move to the limiting mechanism 12, the scribing piece just enters the concave shape and blocks the infrared light. The infrared emission is blocked, indicating that the shifting mechanism has moved to the maximum displacement limit and the limiting mechanism is activated.
- a three-color indicator light 23 is installed above the electric control box 22 to indicate the real-time status of the device.
- a touch screen 24 is mounted on the front of the electric control box 22 for user interaction, and the two shifting mechanisms can be shifted or reset directly by touch.
- the arrangement of the device in the water tank is shown in FIG4 .
- the water tank is a wave water tank 18 with a length of 20 m, a width of 1 m and a height of 1.2 m.
- the front end of the water tank is a wave maker 16 and the rear end is a wave-breaking beach 17 .
- a glass wall is installed on one side of the water tank 18, and an arc-shaped wave-breaking beach 17 is provided at one end of the water tank 18.
- the panel of the wave-breaking beach 17 is made of an aluminum alloy plate with holes, and the bottom of the panel is supported by a number of aluminum materials spaced 50 cm apart, and a fine wire mesh with smaller pores is stretched between the aluminum materials.
- the wave maker 16 adopts a compact large-swing plate wave maker, which is driven by a servo motor.
- the angle of rotation of the motor shaft is obtained by the servo motor's unique angle positioning.
- the rotation angle of the rocking plate is obtained by the transmission ratio of the motor, the transmission and the belt.
- the rotation of the servo motor is controlled by a designed program to adjust the rocking plate angle and realize the controllable rocking plate angle output.
- the device has a simple structural design, convenient operation and maintenance, and high wave-making accuracy. It can quickly and accurately output the wave history of the designed working condition.
- the operator installs the positioning and motion device 100 above the wave tank 18, and then turns on the device switch on the electric control box 22.
- the user can choose to directly touch the touch screen to move or reset the mechanism, or can choose to connect the user's PC and the electric control box 22 to the same local area network with a network cable, and control the driver in the electric control box 22 through programming with a preset program to realize the automation of the shifting mechanism.
- shifting or rotating when the sensor on the shifting mechanism receives the infrared light reflected back by the limit mechanism 12, the shifting or rotation stops to prevent offside. In this way, the automatic shifting and rotation of the model is realized, which saves manpower and time, while improving the fault tolerance and accuracy, and reducing the influence of the operator's subjective factors.
- the automatic positioning and motion device 100 can be connected with the wave machine 16 and the data acquisition and processing system in the marine engineering laboratory.
- the specific logic is to establish a connection between the three through the user PC.
- the model is adjusted to the specified position according to the preset parameters, and then the test is carried out, including wave making and data collection.
- the program in the user PC analyzes and processes the collected data, and automatically determines the position and motion state of the next working condition model based on the results of the data analysis, and transmits it to the automatic positioning and motion device 100 for execution, and starts the test of the next working condition. This makes it possible to carry out a large number of continuous automated tests.
- the framework of the automated wave tank test system can be divided into two parts, namely the mechanical control end and the data acquisition and processing end.
- the mechanical control end can be divided into a wave maker and an automated positioning and motion device, while the data acquisition and processing end is responsible for data collection, reading, analysis, and decision-making.
- wave height meters, force sensors, force accelerometers and other measuring instruments are used to trigger and control the wave making of the wave maker, model movement, and data collection.
- TCP/IP programs are written in the same local area network to communicate between the mechanical control end and the data processing end, realizing the automated test process of model control, wave making, and data collection, and meeting the requirements of conducting wave tank tests without human operation for a long time.
- the system framework As shown in Figure 10.
- This embodiment designs an automated positioning and motion device 100 with five degrees of freedom.
- the displacement mechanism connected to the model can move the model in space through linear motion in three directions.
- the displacement mechanism can change the orientation and posture of the model through rotational motion in two directions. This improves the technical problems in the prior art: the position, floating state and posture of the test model need to be adjusted manually by the test personnel, which consumes a lot of time and manpower.
- the position of the model needs to be adjusted after each test, and a large number of continuous automated tests cannot be performed.
- the three parts can cooperate and coordinate with each other, providing the possibility for carrying out continuous large-scale automated tests; improving the technical problems in the prior art: in traditional marine engineering tests, the three parts of wave making, model position installation, and data acquisition are independent of each other and are completed manually by operators, making it impossible to achieve continuous large-scale automated tests;
- the driver in the electric control box 22 of the device supports user-defined programming for real-time control, realizes dynamic motion control of the model, and can perform motion model tests; improves the technical problems in the prior art: the traditional test method model can only be fixed in a certain position, and the dynamic motion test of the model cannot be realized;
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Abstract
一种海洋工程波浪水槽试验系统，包括波浪水槽（18）、造波机（16）、消波滩（17）、定位与运动装置（100）、电控箱（22）。定位与运动装置包括跨设在波浪水槽的上方的机架，两个分别固定设置在机架两侧的直线滑台（10），以及两个分别可移动设置在机架两端的移位机构。两个移位机构均包括：第一直线轨道（8），该第一直线轨道沿机架的宽度方向布置并且在两个直线滑台上可移动；第二直线轨道（9），该第二直线轨道沿机架的竖直方向布置并且在第一直线轨道上可移动；移动块（21），该移动块在第二直线轨道上可移动；法兰盘（1），竖直连接至移动块的底端，用于安装试验模型，该法兰盘具有沿机架的竖直方向以及沿法兰盘的中心轴方向的旋转自由度。
Description
本申请涉及波浪水槽试验装置技术领域，尤其涉及一种海洋工程波浪水槽试验系统。
目前，海洋工程技术和海洋工程设备的试验研究主要是在海洋工程实验室进行，海洋工程试验方法对于研究特定海洋区域、海洋环境下海洋工程技术、设备性能、设计方案合理性，以及预测特定海洋环境中结构物所受水动力载荷、结构响应具有非常重要的意义。然而目前海洋工程试验仍然主要依靠试验人员进行操作，存在着以下的问题：
1.试验模型的位置、浮态和姿态的调整需要依靠试验人员手动完成，耗费大量时间和人力，每次试验结束后都需要进行模型位置的调整，无法进行大量连续自动化试验，同时存在布置精度不高的问题。
2.传统海洋工程试验中，造波、模型位置的安装、数据采集三部分工作相互独立，由操作人员手动完成，无法实现连续大量自动化试验。
3.传统试验方式模型只能固定在某个位置，无法实现模型动态运动试验，具有一定的局限性。
4.传统试验方式无法实现多模型相对运动试验。
因此，本领域的技术人员致力于开发一种海洋工程波浪水槽试验系统，对传统海洋工程试验中模型的布置方式进行创新设计。
发明内容
有鉴于现有技术的上述缺陷，本申请所要解决的技术问题是如何便于对模型位置和姿态进行自动调整。
为实现上述目的，本申请描述了一种海洋工程波浪水槽试验系统，包括：
波浪水槽；
造波机，设置在所述波浪水槽的一端；
消波滩，设置在所述波浪水槽的另一端；
定位与运动装置，安装在所述波浪水槽的中部上方；以及
电控箱，被配置为通过用户交互对所述定位与运动装置进行控制；
其中，所述定位与运动装置包括：
机架，被配置为跨设在所述波浪水槽的上方，
两个直线滑台，分别固定设置在所述机架的两侧，以及
两个移位机构，分别可移动设置在所述机架的两端；
并且其中，所述两个移位机构中的每个包括：
第一直线轨道，所述第一直线轨道沿所述机架的宽度方向布置并且被配置为在所述两个直线滑台上可移动，
第二直线轨道，所述第二直线轨道沿所述机架的竖直方向布置并且被配置为在所述第一直线轨道上可移动，
移动块，所述移动块被配置为在所述第二直线轨道上可移动，
法兰盘，所述法兰盘竖直连接至所述移动块的底端，用于安装试验模型，所述法兰盘具有沿所述机架的竖直方向以及沿所述法兰盘的中心轴方向的旋转自由度
可选地，所述两个直线滑台沿所述机架的长度方向中心线对称分布。
可选地，所述两个移位机构中的每个还包括多个伺服电机，所述多个伺服电机被控制以实现每个所述移位机构的直线运动和旋转运动，使得所述试验模型实现位置的改变和姿态的调整。
可选地，所述两个移位机构中的所述多个伺服电机互相独立。
可选地，所述多个伺服电机包括两个第一伺服电机，每个所述移位机构沿所述机架的长度方向的运动由两个所述第一伺服电机驱动。
可选地，每个所述移位机构被配置为通过第一传送带带动相应的所述第一直线轨道沿所述两个直线滑台运动。
可选地，所述多个伺服电机还包括一个第二伺服电机，每个所述移位机构沿所述机架的宽度方向的运动由所述第二伺服电机驱动。
可选地，每个所述移位机构被配置为通过第二传送带带动相应的所述第二直线轨道沿相应的所述第一直线轨道运动。
可选地，所述多个伺服电机还包括一个第三伺服电机，每个所述移位机构沿所述机架的竖直方向的运动由所述第三伺服电机驱动。
可选地，每个所述移位机构被配置为通过第三传送带带动相应的所述移位块沿相应的所述第二直线轨道运动。
可选地，所述多个伺服电机还包括一个第四伺服电机，每个所述法兰盘绕所述机架的竖直方向的旋转运动由所述第四伺服电机驱动。
可选地，所述多个伺服电机还包括一个第五伺服电机，每个所述法兰盘绕中心轴方向的旋转运动由所述第五伺服电机驱动。
可选地，每个所述直线滑台、所述第一直线轨道、所述第二直线轨道的两端均设置有限位机构。
可选地，所述限位机构被配置为通过发射到所述限位机构处的红外光线反射，以
配合用户对所述移位机构移动位置范围进行限定或进行位置复原。
可选地，所述电控箱被配置为通过编程用预设程序对所述电控箱内的驱动器进行控制，所述驱动器用于驱动所述多个伺服电机，从而实现所述移位机构的自动化。
可选地，所述电控箱的上方装设有三色指示灯，所述三色指示灯用以表示设备的实时状态。
可选地，所述电控箱正面装设有触控显示屏，所述触控显示屏用以进行用户交互，并且被配置为直接通过触控对所述两个移位机构进行移位或者复位。
可选地，还包括用户PC端，所述电控箱与用户PC端通过同一局域网建立连接。
可选地，还包括数据采集系统，并被配置为通过用户PC端程序对所述造波机、所述采集系统以及所述定位与运动装置进行控制。
可选地，还包括转接部件，所述转接部件包括连接部和安装部，所述连接部安装至所述法兰盘的连接端口，所述安装部用于安装所述试验模型。
技术效果：
采用本申请提供的海洋工程波浪水槽试验系统，只需将模型安装在移位机构的法兰盘连接端口，用户可直接通过触摸屏或者个人计算机(PC)端控制电控箱内的驱动器实现模型的移位和旋转，免去了人工拆、装、调整模型位置和姿态的时间，并提高了安装的精度，同时，模型位置和姿态调整的自动化也为连续开展大量自动化试验提供了可能。
以下将结合附图对本申请的构思、具体结构及产生的技术效果作进一步说明，以充分地了解本申请的目的、特征和效果。
图1是本申请的一个实施例中用于海洋工程波浪水槽试验的定位与运动装置的结构示意图；
图2是本申请的一个实施例中伺服电机安装结构的示意图；
图3是本申请的一个实施例中限位机构的安装示意图；
图4是本申请的一个实施例中波浪水槽的结构示意图；
图5是本申请的一个实施例中用于海洋工程波浪水槽试验的定位与运动装置在另一视角下的结构示意图；
图6是本申请的一个实施例中限位机构的局部放大图；
图7是本申请的一个实施例中转接部件的局部放大图；
图8是本申请的一个实施例中转接部件与方柱的安装示意图；
图9是本申请的一个实施例中电控箱的结构示意图；
图10是本申请的一个实施例中自动化波浪水槽试验系统的原理框图。
其中：1、法兰盘；2、第一伺服电机；3、第二伺服电机；4、第三伺服电机；5、
第四伺服电机；6、第五伺服电机；7、桩腿；8、第一直线轨道；9、第二直线轨道；10、直线滑台；11、横梁；12、限位机构；13、第一传送带；14、第二传送带；15、第三传送带；16、造波机；17、消波滩；18、波浪水槽；19、转接部件；20、方柱；21、移位块，22、电控箱，23、三色指示灯，24、触控显示屏，100、定位与运动装置，121、箭头方向，191、连接部，192、安装部。
以下参考说明书附图介绍本申请的多个优选实施例，使其技术内容更加清楚和便于理解。本申请可以通过许多不同形式的实施例来得以体现，本申请的保护范围并非仅限于文中提到的实施例。
在附图中，结构相同的部件以相同数字标号表示，各处结构或功能相似的组件以相似数字标号表示。附图所示的每一组件的尺寸和厚度是任意示出的，本申请并没有限定每个组件的尺寸和厚度。为了使图示更清晰，附图中有些地方适当夸大了部件的厚度。
如图1至图9所示，在本申请的实施例中，提供了一种用于海洋工程波浪水槽试验的自动化定位与运动装置100，包括机架(包括四个桩腿7和四个横梁11)、电控箱22、两个直线滑台10和两个移位机构，两个所述直线滑台10沿所述机架长度方向X的中心线L1对称分布，每个所述移位机构包括一个沿宽度方向Y的第一直线轨道8、一个沿竖直方向Z的第二直线轨道9、多个伺服电机、一个移位块21、一个法兰盘1，每个所述直线滑台10、第一直线轨道8、第二直线轨道9两端均装有限位机构12；每个所述移位机构沿长度方向X的运动由两个伺服电机驱动，通过第一传送带13带动所述第一直线轨道8沿所述直线滑台10运动；每个所述移位机构沿宽度方向Y的运动由一个伺服电机驱动，通过第二传送带14带动所述第二直线轨道9沿所述第一直线轨道8运动；每个所述移位机构沿竖直方向Z的运动由一个伺服电机驱动，通过第三传送带15带动所述移位块21沿所述第二直线轨道9运动；所述移位块21底端(朝向波浪水槽18的一端)连接的法兰盘1具有两个方向的旋转自由度，绕法兰盘1的中心轴L2方向的旋转运动由一个伺服电机驱动，绕竖直方向Z的旋转运动由另一个伺服电机驱动。
采用本实施例提供的用于海洋工程波浪水槽试验的自动化定位与运动装置100，只需将模型安装在移位机构的法兰盘1连接端口，用户可直接通过触摸屏或者个人计算机(PC)端控制电控箱22内的驱动器实现模型的移位和旋转，免去了人工拆、装、调整模型位置、浮态和姿态的时间，并提高了安装的精度，同时，模型位置和姿态调整的自动化也为连续开展大量自动化试验提供了可能。
在本申请实施例的一些实施方式中，每个所述移位块21底端连接的法兰盘1用于连接模型，通过控制所述移位机构的直线运动和转动实现模型位置的改变和姿态的调
整。
在本申请实施例的一些实施方式中，通过发射到限位机构12处的红外光线反射，可配合用户对移位机构移动位置范围进行限定或进行位置复原。
在本申请实施例的一些实施方式中，电控箱22上方装有三色指示灯23来表示设备的实时状态，电控箱22正面装有触控显示屏24可进行用户交互，可直接通过触控对两移位机构进行移位或者复位。
在本申请实施例的一些实施方式中，所述用于海洋工程波浪水槽试验的自动化定位与运动装置适于与造波机16以及采集系统构成一套闭环试验系统，通过用户PC端程序对造波机16、采集系统以及用于海洋工程波浪水槽试验的自动化定位与运动装置进行控制。
在本申请实施例的一些实施方式中，电控箱22适于与用户PC端通过同一局域网建立连接。
在本申请实施例的一些实施方式中，两个所述移位机构的所述多个驱动电机互相独立。
在本申请实施例的一些实施方式中，所述多个伺服电机包括两个第一伺服电机2，每个所述移位机构沿长度方向X的运动由两个所述第一伺服电机2驱动。
在本申请实施例的一些实施方式中，所述多个伺服电机还包括一个第二伺服电机3和一个第三伺服电机4，每个所述移位机构沿宽度方向Y的运动由所述第二伺服电机3驱动，每个所述移位机构沿竖直方向Z的运动由所述第三伺服电机4驱动。
在本申请实施例的一些实施方式中，所述多个伺服电机还包括一个第四伺服电机5和一个第五伺服电机6，所述移位块21底端连接的法兰盘1绕法兰盘1的中心轴L2方向的旋转运动由所述第五伺服电机6驱动，绕竖直方向Z的旋转运动由所述第四伺服电机5驱动。
在本实施例中，每个所述移位块21底端连接的法兰盘1用于连接模型如方柱20(不限于)，试验时仅需用转接部件19将方柱20与法兰盘1连接，即可通过控制移位机构的直线运动和转动实现方柱20位置的改变和姿态的调整。
如图7和图8所示，转接部件19包括连接部191和安装部192，连接部191安装至法兰盘1的连接端口，安装部192用于安装方柱20。
参见图3和图6，通过发射到限位机构12处的红外光线反射，可配合用户对移位机构移动位置范围进行限定或进行位置复原。
限位机构12位置是固定的，呈凹字形，按照其上面标注的箭头方向121向另一侧发射红外光线，而移位机构下方装有划片，当移位机构带动划片移动到限位机构12处时，划片刚好从凹口进去，将红外线挡住，红外线发射被阻断，表示移位机构已经移动到最大位移限度，限位机制启动。
此外，如图9所示，电控箱22上方装有三色指示灯23来表示设备的实时状态，
电控箱22正面装有触控显示屏24可进行用户交互，可直接通过触控对两移位机构进行移位或者复位。
该装置在水槽中的布置参见图4，水槽为长20m、宽1m、高1.2m的波浪水槽18，水槽前端为造波机16，尾端为消波滩17。
如图4所示，水槽18一侧装有玻璃壁面，同时水槽18一端配有弧形的消波滩17。消波滩17的面板是由带孔的铝合金板制成，面板下方是由若干间隔50cm的铝材支撑，铝材之间张有更小孔隙的细铁丝网。当波浪行进至消波滩17时，水体会涌上消波板至能量耗散，并从孔隙中漏回水槽，同时细铁丝网会再次消耗水体的动能，从而尽可能地减少反射效应。造波机16采用的是紧凑式大摆幅的摇板造波，通过一个伺服电机进行驱动，由伺服电机特有的角度定位获得电机轴转过的角度，通过从电机、变速器和皮带的传动比，得出摇板转动角度，用设计的程序控制伺服电机转动，以调节摇板角度，实现可控的摇板角度输出。该装置结构设计简单、操作维护方便、造波精度较高，能够快捷精准地输出设计工况的波浪时历。
工作原理与应用：
(1)首先操作人员将本定位与运动装置100安装在波浪水槽18上方，然后打开电控箱22上面的设备开关，用户可选择直接触摸触控屏对机构进行移动或者复位，也可以选择将用户PC端与电控箱22用网线连接到同一局域网，通过编程用预设程序对电控箱22内的驱动器进行控制，实现移位机构的自动化。在进行移位或者旋转时，当移位机构上的感应器接收到限位机构12反射回来的红外光线时，移位或者旋转停止以防止越位。由此，实现了模型的自动移位和旋转，节省了人力和时间，同时提高了容错率和准确率，减少了操作人员主观因素的影响。
(2)在此基础上，可将此自动化定位与运动装置100与海洋工程实验室内的造波机16、数据采集处理系统联系起来，具体逻辑是将三者通过用户PC端建立连接，试验开始前，根据预设参数将模型调整到指定位置，之后进行试验，包括造波、数据采集。采集完成后试验结束，由用户PC端内的程序对采集到的数据进行分析处理，并根据数据分析的结果自动决策出下个工况模型的位置和运动状态，传输给自动化定位与运动装置100执行，开始下一个工况的试验。由此，为开展大量连续自动化试验提供了可能。
基于传统的波浪水槽试验方法和设备，可以将自动化波浪水槽试验系统框架划分为两个部分，即机械控制端和数据采集与处理端，其中机械控制端又可以划分为造波机、自动化定位与运动装置，数据采集与处理端则负责数据的采集、读取、分析以及决策。根据波浪水槽的工作原理，利用浪高仪、力传感器、力加速仪等测量仪器对造波机造波、模型运动以及数据采集进行触发控制，同时在机械控制端和数据处理端两端之间依靠同一局域网下的TCP/IP编写程序进行通信，实现模型控制、造波和数据采集的自动化试验流程，满足长时间无人操作下开展波浪水槽试验的要求，其系统框架
如图10所示。
综上：
1、本实施例通过设计一套具有五自由度运动的自动化定位与运动装置100，通过与模型连接的移位机构三个方向的直线运动，可实现模型空间位置的移动；通过移位机构两个方向的旋转运动，可实现模型朝向和姿态的改变；改善了现有技术中的技术问题：试验模型的位置、浮态和姿态的调整需要依靠试验人员手动完成，耗费大量时间和人力，每次试验结束后都需要进行模型位置的调整，无法进行大量连续自动化试验；
2、通过将自动化定位与运动装置100与实验室内的造波机16、采集系统通过用户PC端有机结合起来，使得三个部分之间能够相互配合、协调工作，为开展连续大量自动化试验提供可能；改善了现有技术中的技术问题：传统海洋工程试验中，造波、模型位置的安装、数据采集三部分工作相互独立，由操作人员手动完成，无法实现连续大量自动化试验；
3、通过该装置的电控箱22内的驱动器支持用户自定义编程进行实时控制，实现了模型的动态运动控制，可进行运动模型试验；改善了现有技术中的技术问题：传统试验方式模型只能固定在某个位置，无法实现模型动态运动试验；
4、通过在机架上布置了两个移位机构，两机构运动相互独立、互不干扰，能够实现多模型的相互运动试验，丰富了试验方式；改善了现有技术中的技术问题：传统试验方式无法实现多模型相对运动试验。
以上详细描述了本申请的较佳具体实施例。应当理解，本领域的普通技术无需创造性劳动就可以根据本申请的构思作出诸多修改和变化。因此，凡本技术领域中技术人员依本申请的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。
Claims (20)
- 一种海洋工程波浪水槽试验系统，包括：波浪水槽；造波机，设置在所述波浪水槽的一端；消波滩，设置在所述波浪水槽的另一端；定位与运动装置，安装在所述波浪水槽的中部上方；以及电控箱，被配置为通过用户交互对所述定位与运动装置进行控制；其中，所述定位与运动装置包括：机架，被配置为跨设在所述波浪水槽的上方，两个直线滑台，分别固定设置在所述机架的两侧，以及两个移位机构，分别可移动设置在所述机架的两端；并且其中，所述两个移位机构中的每个包括：第一直线轨道，所述第一直线轨道沿所述机架的宽度方向布置并且被配置为在所述两个直线滑台上可移动，第二直线轨道，所述第二直线轨道沿所述机架的竖直方向布置并且被配置为在所述第一直线轨道上可移动，移动块，所述移动块被配置为在所述第二直线轨道上可移动，法兰盘，所述法兰盘竖直连接至所述移动块的底端，用于安装试验模型，所述法兰盘具有沿所述机架的竖直方向以及沿所述法兰盘的中心轴方向的旋转自由度。
- 如权利要求1所述的海洋工程波浪水槽试验系统，其中，所述两个直线滑台沿所述机架的长度方向中心线对称分布。
- 如权利要求1所述的海洋工程波浪水槽试验系统，其中，所述两个移位机构中的每个还包括多个伺服电机，所述多个伺服电机被控制以实现每个所述移位机构的直线运动和旋转运动，使得所述试验模型实现位置的改变和姿态的调整。
- 如权利要求3所述的海洋工程波浪水槽试验系统，其中，所述两个移位机构中的所述多个伺服电机互相独立。
- 如权利要求3所述的海洋工程波浪水槽试验系统，其中，所述多个伺服电机包括两个第一伺服电机，每个所述移位机构沿所述机架的长度方向的运动由两个所述第一伺服电机驱动。
- 如权利要求5所述的海洋工程波浪水槽试验系统，其中，每个所述移位机构被配置为通过第一传送带带动相应的所述第一直线轨道沿所述两个直线滑台运动。
- 如权利要求5所述的海洋工程波浪水槽试验系统，其中，所述多个伺服电机还包括一个第二伺服电机，每个所述移位机构沿所述机架的宽度方向的运动由所述第二伺服电机驱动。
- 如权利要求7所述的海洋工程波浪水槽试验系统，其中，每个所述移位机构被配置为通过第二传送带带动相应的所述第二直线轨道沿相应的所述第一直线轨道运动。
- 如权利要求7所述的海洋工程波浪水槽试验系统，其中，所述多个伺服电机还包括一个第三伺服电机，每个所述移位机构沿所述机架的竖直方向的运动由所述第三伺服电机驱动。
- 如权利要求9所述的海洋工程波浪水槽试验系统，其中，每个所述移位机构被配置为通过第三传送带带动相应的所述移位块沿相应的所述第二直线轨道运动。
- 如权利要求9所述的海洋工程波浪水槽试验系统，其中，所述多个伺服电机还包括一个第四伺服电机，每个所述法兰盘绕所述机架的竖直方向的旋转运动由所述第四伺服电机驱动。
- 如权利要求11所述的海洋工程波浪水槽试验系统，其中，所述多个伺服电机还包括一个第五伺服电机，每个所述法兰盘绕中心轴方向的旋转运动由所述第五伺服电机驱动。
- 如权利要求9所述的海洋工程波浪水槽试验系统，其中，每个所述直线滑台、所述第一直线轨道、所述第二直线轨道的两端均设置有限位机构。
- 如权利要求13所述的海洋工程波浪水槽试验系统，其中，所述限位机构被配置为通过发射到所述限位机构处的红外光线反射，以配合用户对所述移位机构移动位置范围进行限定或进行位置复原。
- 如权利要求3所述的海洋工程波浪水槽试验系统，其中，所述电控箱被配置 为通过编程用预设程序对所述电控箱内的驱动器进行控制，所述驱动器用于驱动所述多个伺服电机，从而实现所述移位机构的自动化。
- 如权利要求15所述的海洋工程波浪水槽试验系统，其中，所述电控箱的上方装设有三色指示灯，所述三色指示灯用以表示设备的实时状态。
- 如权利要求15所述的海洋工程波浪水槽试验系统，其中，所述电控箱正面装设有触控显示屏，所述触控显示屏用以进行用户交互，并且被配置为直接通过触控对所述两个移位机构进行移位或者复位。
- 如权利要求15所述的海洋工程波浪水槽试验系统，其中，还包括用户PC端，所述电控箱与所述用户PC端通过同一局域网建立连接。
- 如权利要求18所述的海洋工程波浪水槽试验系统，其中，还包括数据采集系统，并被配置为通过用户PC端程序对所述造波机、所述采集系统以及所述定位与运动装置进行控制。
- 如权利要求1所述的用于海洋工程波浪水槽试验的定位与运动装置，其中，还包括转接部件，所述转接部件包括连接部和安装部，所述连接部安装至所述法兰盘的连接端口，所述安装部用于安装所述试验模型。
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| CN107860540A (zh) * | 2017-11-14 | 2018-03-30 | 中国石油大学(华东) | 一种多用途深水测试管柱内流自激振动试验模拟装置 |
| CN207472535U (zh) * | 2017-11-29 | 2018-06-08 | 西南交通大学 | 一种水槽测力连接支架 |
| CN210051510U (zh) * | 2019-06-25 | 2020-02-11 | 厦门理工学院 | 一种用于研究海洋波浪作用力的实验装置 |
| JP2020085635A (ja) * | 2018-11-22 | 2020-06-04 | 株式会社三井造船昭島研究所 | 水槽試験装置、水槽試験システム、および水槽試験方法 |
| CN114241865A (zh) * | 2021-12-23 | 2022-03-25 | 上海交通大学 | 用于流体力学水动力性能研究的单扑翼实验装置 |
| CN115508048A (zh) * | 2022-10-26 | 2022-12-23 | 上海交通大学 | 用于海洋工程波浪水槽试验的自动化定位与运动装置 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107860540A (zh) * | 2017-11-14 | 2018-03-30 | 中国石油大学(华东) | 一种多用途深水测试管柱内流自激振动试验模拟装置 |
| CN207472535U (zh) * | 2017-11-29 | 2018-06-08 | 西南交通大学 | 一种水槽测力连接支架 |
| JP2020085635A (ja) * | 2018-11-22 | 2020-06-04 | 株式会社三井造船昭島研究所 | 水槽試験装置、水槽試験システム、および水槽試験方法 |
| CN210051510U (zh) * | 2019-06-25 | 2020-02-11 | 厦门理工学院 | 一种用于研究海洋波浪作用力的实验装置 |
| CN114241865A (zh) * | 2021-12-23 | 2022-03-25 | 上海交通大学 | 用于流体力学水动力性能研究的单扑翼实验装置 |
| CN115508048A (zh) * | 2022-10-26 | 2022-12-23 | 上海交通大学 | 用于海洋工程波浪水槽试验的自动化定位与运动装置 |
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