Fixed-wing water-air cross-medium vehicle multi-angle motion state water exit test device

Abstract

The fixed-wing water-air cross-medium vehicle multi-angle motion state water-out test device belongs to an experimental device. In order to solve the problem that the existing device cannot measure the stress condition of the test model under different water-out attack angle angles, the linear module is installed on the support rack through the angle adjusting support mechanism; the model carrier, the angle adjusting connecting piece, the force measuring balance and the installation sleeve are sequentially installed from top to bottom, and the fixed-wing water-air cross-medium vehicle is installed in the installation sleeve; the model carrier is fixedly connected with the linear module and realizes water-in and water-out through the linear module; the ground station is electrically connected with the module controller and the data collector; the module controller is electrically connected with the driving motor in the linear module; and the data collector is electrically connected with the force measuring balance and the driving motor. The device is mainly used for water-out test of the fixed-wing water-air cross-medium vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to an experimental device in the field of ship and ocean engineering experiments, in particular to a multi-angle motion state water-out test device of a vehicle, mainly applied to experimental research of a cross-medium vehicle. BACKGROUND

[0002] In recent years, as a new quality and new domain unmanned platform, the cross-medium vehicle has been paid great attention in the fields of aerospace and ship and ocean engineering. Since the cross-medium vehicle has various water-out modes, but the water-out speed is much lower than the underwater launching speed, and the water-out process has almost no bubble or cavity parameters, it is a new problem to be studied. Since the density, viscosity and compressibility of water and air are very different, the force of water fluid has a great influence on the water-out of the cross-medium vehicle. Generally, the cross-medium vehicle can be divided into a rotary wing type and a fixed wing type according to the principle of lift. The lift of the rotary wing type cross-medium vehicle in the air is generated by the rotary wing, and the vehicle can quickly change its water-out posture to reduce the influence of water-out. The lift of the fixed wing type cross-medium vehicle mainly depends on its flight speed, and the vehicle cannot quickly change its water-out posture when it is water-out at a low speed. The water-out resistance of the vehicle is different under different water-out bow angles, water-out attack angles, water-out speeds and water-out accelerations. Therefore, accurate measurement of the water-out resistance is the key point of the research on the fixed wing type cross-medium vehicle. Since the propeller of the fixed wing type cross-medium vehicle is generally located at the bow during the water-in and water-out process, the test device needs higher rigidity, and the measurement of the force of the fixed wing type cross-medium vehicle under different water-out parameters is a difficult point in the field of research on the fixed wing type cross-medium vehicle.

[0003] Although the existing patent has disclosed a cross-medium vehicle water-in and water-out test device, for example, the Chinese patent with the publication number CN106932171B, which can realize the water-in and water-out test of the cross-medium vehicle model under different angles and initial speeds, accurately control the initial speed and angle of the cross-medium vehicle model during water-in and water-out, meet the water-in and water-out test of the initial speed from 0m / s to 20m / s and the angle from close to 0° to 90°, and realize the simulation test of different water-in and water-out modes such as free water-in, free water-out, forced water-in and forced water-out of the cross-medium vehicle model.

[0004] However, since the number of measurement parameters of this patent is limited in range, it cannot measure the water-out with attack angle, and therefore it is not suitable for the measurement of the full autonomous adjustment water-out working condition of the fixed wing type cross-medium vehicle. SUMMARY

[0005] The present application provides a multi-angle motion state water-out test device of a fixed wing type cross-medium vehicle to solve the above technical problems.

[0006] The technical scheme adopted by the present application to solve the above technical problems is:

[0007] The fixed-wing water-air cross-medium vehicle multi-angle motion state water-exit test device comprises a linear module, a support rack, an angle adjusting connecting piece, an angle adjusting support mechanism, a ground station, a module controller, a data collector, a model carrier, a mounting sleeve and a force measuring balance.

[0008] The ground station is electrically connected with the module controller and the data collector, the module controller is electrically connected with the driving motor in the linear module, and the data collector is electrically connected with the force measuring balance and the driving motor.

[0009] Preferably, the linear module comprises a module support arm, two module rails, two module sliders, a driving motor, a shaft coupling, an upper limit stopper and a lower limit stopper.

[0010] The model carrier is fixedly connected with the two module sliders in the linear module.

[0011] Preferably, the support rack comprises a vertical connecting frame, a forward square support frame and a backward triangular support frame.

[0012] Preferably, the backward triangular support frame is provided with a jackscrew at an end away from the vertical connecting frame, the jackscrew is internally threaded, and the jackscrew is abutted against a side surface of the vehicle arm.

[0013] Preferably, the angle adjusting connecting piece comprises a fixed flange and an angle adjusting flange.

[0014] Preferably, the angle-adjusting flange is wedge-shaped, and the wedge angle is 0°, 3°, 6°, 9° or 12°.

[0015] Preferably, the angle-adjusting support mechanism comprises a top push rod assembly, a middle support assembly and a bottom connecting assembly, the top end of the module support arm is installed at the upper end of the vertical connecting frame through the top push rod assembly, and the angle is adjusted through the extension of the top push rod assembly; the middle part of the module support arm is supported at the top of the forward square support frame through the middle support assembly; and the bottom end of the module support arm is hingedly connected to the bottom of the forward square support frame through the bottom connecting assembly and rotates around the bottom connecting assembly as the axis.

[0016] Preferably, the top push rod assembly comprises a crossbar, a movable hinge support, a lead screw, a front adjusting nut, a lead screw sleeve, a support seat and a rear adjusting nut; the crossbar is installed horizontally at the back of the module support arm, and the movable hinge support is fixedly installed at the middle position of the crossbar; the support seat is installed at the upper end of the vertical connecting frame, the lead screw sleeve is sleeved on the lead screw and is rotationally connected with the support seat, the front adjusting nut and the rear adjusting nut are respectively screwed on the lead screw and are located at the two sides of the lead screw sleeve, one end of the lead screw is rotationally connected with the movable hinge support, and the other end of the lead screw is suspended.

[0017] Preferably, the middle support assembly comprises two horizontal slides, two sliding blocks, a support crossbar, support pads and fastening screws; the two horizontal slides are respectively arranged on the two support beams at the top of the forward square support frame, one sliding block is slidably connected to each horizontal slide, and the position of the sliding block on the horizontal slide is fixed through the fastening screw; the two ends of the support crossbar are respectively installed on the two sliding blocks; the support pads are installed on the support crossbar along the length direction of the support crossbar and abut against the back of the module support arm.

[0018] Preferably, the bottom connecting assembly comprises a rotating shaft seat and a square tube rotating shaft, and the bottom end of the module support arm is rotationally connected to the rotating shaft seat through the square tube rotating shaft.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] The angle-adjusting support mechanism, the angle-adjusting connecting piece and the linear module of the present application provide various working conditions for the test of the test model, the angle-adjusting support mechanism can accurately change the water heading angle of the test model, the angle-adjusting connecting piece can accurately change the water attack angle of the test model, the linear module can change the water speed and water acceleration of the test model, the force value of the test model under different working conditions is measured through the force balance, and based on the force value, strong data and theoretical support are provided for the design of the cross-medium vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings are incorporated into this application to provide a further understanding of the present application.

[0022] Figure 1 is a schematic diagram of the overall structure of the present application;

[0023] Figure 2 is a schematic diagram of the structure of the support stand;

[0024] Figure 3 is a schematic diagram of the connection of the linear module and the angle adjustment support mechanism;

[0025] Figure 4 is a schematic diagram of the structure of the top push rod assembly;

[0026] Figure 5 is a schematic diagram of the structure of the middle support assembly;

[0027] Figure 6 is a schematic diagram of the connection of the model carrier, the mounting sleeve, the force balance and the angle adjustment connector;

[0028] Figure 7 is a schematic diagram of the structure of the module support arm of the present application at the maximum adjustment angle;

[0029] Figure 8 is a schematic diagram of the structure of the module support arm of the present application at the minimum adjustment angle;

[0030] Figure 9 is a schematic diagram of the five angles of the angle flange, wherein the angle flange in (1) is 12°, the angle flange in (2) is 9°, the angle flange in (3) is 6°, the angle flange in (4) is 3°, and the angle flange in (5) is 0°.

[0031] BRIEF DESCRIPTION OF DRAWINGS: A-linear module; B-support stand; C-angle adjustment connector; D-angle adjustment support mechanism; 1-ground station; 2-module controller; 3-data collector; 4-module support arm; 5-module rail; 6-module slider; 7-driving motor; 8-coupling; 9-upper limit stopper; 10-lower limit stopper; 11-model carrier; 12-mounting sleeve; 13-force balance; 14-vertical connecting frame; 15-forward square support frame; 16-backward triangular support frame; 17-top screw; 18-fixed flange; 19-angle adjustment flange; 20-top push rod assembly; 20-1-crossbar; 20-2-movable hinge support; 20-3-screw rod; 20-4-front adjustment nut; 20-5-screw rod sleeve; 20-6-support seat; 20-7-rear adjustment nut; 21-middle support assembly; 21-1-horizontal slide; 21-2-slider; 21-3-support crossbar; 21-4-support cushion block; 22-bottom connecting assembly; 22-1-rotating shaft seat; 22-2-square tube rotating shaft; 23-boat force arm. DETAILED DESCRIPTION

[0032] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The following embodiments are used to explain the present application but not to limit the scope of the present application.

[0033] Referring to Figure 1 The present application provides a multi-angle motion state water-out test device for a fixed-wing water-air cross-medium vehicle, which comprises a linear module A, a support rack B, an angle adjusting connecting piece C, an angle adjusting support mechanism D, a ground station 1, a module controller 2, a data collector 3, a model carrier 11, a mounting sleeve 12 and a force balance 13.

[0034] The linear module A is installed on the support rack B through the angle adjusting support mechanism D and the angle adjusting support mechanism D is used to adjust the angle from β1 to β2. The linear module A comprises a module support arm 4, two module rails 5, two module sliders 6, a driving motor 7, a shaft coupling 8, an upper limit stopper 9 and a lower limit stopper 10. The two module rails 5 are installed side by side along the length direction of the module support arm 4 on the module support arm 4. The output end of the driving motor 7 is connected with the input end of the two module rails 5 through the shaft coupling 8 and is used to drive the synchronous operation of the module rails 5. Each module rail 5 corresponds to a module slider 6 and drives the module slider 6 to move quickly. The upper limit stopper 9 and the lower limit stopper 10 are installed at the upper and lower ends of the module rail 5 respectively and are used to determine the movement position of the module slider 6.

[0035] The model carrier 11, the angle adjusting connecting piece C, the force balance 13 and the mounting sleeve 12 are installed in sequence from top to bottom and the fixed-wing water-air cross-medium vehicle is installed in the mounting sleeve 12. The model carrier 11 is fixedly connected with the two module sliders 6 in the linear module A and realizes water-in and water-out through the cooperation of the module rail 5 and the module slider 6. The mounting sleeve 12 and the force balance 13 can realize the adjustment of the test model relative to the model carrier 11 by the angle from α1 to α2 through the angle adjusting connecting piece C.

[0036] The ground station 1 is electrically connected with the module controller 2 and the data collector 3 respectively. The module controller 2 is electrically connected with the driving motor 7 in the linear module A. The data collector 3 is electrically connected with the force balance 13 and the driving motor 7.

[0037] It should be noted that the embodiment is for the design of the fixed-wing water-air cross-medium vehicle. The water resistance of the fixed-wing cross-medium vehicle is different under different water bow angles, water attack angle, water speed and water acceleration. Through the test of the water resistance, the water parameters of the test model can be adjusted reversely to ensure that the test model can be in the minimum water resistance when put into use, or the structure of the test model can be adjusted according to the water resistance, which can provide a reference for the design of the test model.

[0038] In the embodiment, the water test device is fixed on the vehicle through the support rack B. The bottom of the support rack B is suspended above the water surface and in contact with the water surface to provide the conditions for the water test of the fixed-wing water-air cross-medium vehicle.

[0039] In the embodiment, the test model can realize the adjustment of the movement direction of the test model and the angle of the model itself relative to the movement direction under the cooperation of the angle adjustment support mechanism D and the angle adjustment connecting piece C, and the two angles can be adjusted respectively.

[0040] In the embodiment, the test model is driven by the linear module A to ensure that the force measurement is not disturbed during the water test, and has the ability to accelerate from 0 m / s to 2 m / s within a stroke of 150 mm.

[0041] In the embodiment, the model carrier 11 is an aluminum tripod.

[0042] Referring to Figure 1 , the support rack B includes a vertical connecting frame 14, a forward square support frame 15 and a backward triangular support frame 16. The forward square support frame 15 and the backward triangular support frame 16 are respectively installed on the front and rear sides of the vertical connecting frame 14. The forward square support frame 15 is on the lower side of the vertical connecting frame 14, and the backward triangular support frame 16 is on the upper side of the vertical connecting frame 14 and forms a hanging arm with the vertical connecting frame 14. The backward triangular support frame 16 is fixedly supported on the vehicle force arm 23.

[0043] Further, the end of the backward triangular support frame 16 away from the vertical connecting frame 14 is provided with a jackscrew 17. The jackscrew 17 is rotated inward and abuts against the side surface of the vehicle force arm 23. The jackscrew 17 and the vertical connecting frame 14 clamp the vehicle force arm 23 to fix the entire support rack B.

[0044] The test device in the embodiment has good expansibility and has the ability to be arranged on the vehicle. The test device can complete the water test under lateral disturbance and other horizontal and vertical plane combined water movement test work by following the movement of the vehicle.

[0045] Referring to Figure 1The angle adjusting connecting piece C comprises a fixing flange 18 and an angle adjusting flange 19, the fixing flange 18 is fixedly connected with the angle adjusting flange 19 by bolts, the fixing flange 18 is installed on the model carrier 11, and the angle adjusting flange 19 is connected with the force measuring platform 13.

[0046] Further, the angle adjusting flange 19 is wedge-shaped, the wedge angle is 0°, 3°, 6°, 9° or 12°, and different angle adjusting flanges 19 can be replaced according to the test requirement.

[0047] Referring to Figure 1 The angle adjusting support mechanism D comprises a top push rod assembly 20, a middle support assembly 21 and a bottom connecting assembly 22, the top end of the module support arm 4 is installed on the upper end of the vertical connecting frame 14 through the top push rod assembly 20, and the angle is adjusted through the extension of the top push rod assembly 20; the middle part of the module support arm 4 is supported on the top of the forward square support frame 15 through the middle support assembly 21; and the bottom end of the module support arm 4 is hingedly connected to the bottom of the forward square support frame 15 through the bottom connecting assembly 22 and rotates around the bottom connecting assembly 22 as the axis.

[0048] Further, the top push rod assembly 20 comprises a horizontal rod 20-1, a movable hinge support 20-2, a lead screw 20-3, a front adjusting nut 20-4, a lead screw sleeve 20-5, a support seat 20-6 and a rear adjusting nut 20-7; the horizontal rod 20-1 is installed on the back of the module support arm 4 in the transverse direction, and the movable hinge support 20-2 is fixedly installed at the middle position of the horizontal rod 20-1; the support seat 20-6 is installed on the upper end of the vertical connecting frame 14, the lead screw sleeve 20-5 is sleeved on the lead screw 20-3 and is rotationally connected with the support seat 20-6, the front adjusting nut 20-4 and the rear adjusting nut 20-7 are respectively screwed on the lead screw 20-3 and are located on the two sides of the lead screw sleeve 20-5, one end of the lead screw 20-3 is rotationally connected with the movable hinge support 20-2, and the other end of the lead screw 20-3 is suspended.

[0049] Further, the middle support assembly 21 comprises two horizontal slides 21-1, two sliding blocks 21-2, a support horizontal rod 21-3, support cushion blocks 21-4 and fastening screws; the two horizontal slides 21-1 are respectively arranged on the two support beams at the top of the forward square support frame 15, one sliding block 21-2 is slidingly connected to each horizontal slide 21-1, and the position of the sliding block 21-2 on the horizontal slide 21-1 is fixed by the fastening screws; the two ends of the support horizontal rod 21-3 are respectively installed on the two sliding blocks 21-2; the support cushion blocks 21-4 are installed on the support horizontal rod 21-3 along the length direction of the support horizontal rod 21-3 and abut against the back of the module support arm 4.

[0050] Further, the bottom connecting assembly 22 comprises a rotating shaft seat 22-1 and a square tube rotating shaft 22-2, and the bottom end of the module support arm 4 is rotatably connected to the rotating shaft seat 22-1 through the square tube rotating shaft 22-2.

[0051] In the embodiment, the front adjusting nut 20-4, the screw sleeve 20-5 and the rear adjusting nut 20-7 are used to change the position of the screw 20-3 fixed to the support seat 20-6, so as to change the length of the screw 20-3 between the movable hinge support 20-2 and the support seat 20-6, and further adjust the angle of the module support arm 4; specifically, when the angle of the module support arm 4 rotating around the square tube rotating shaft 22-2 is adjusted to a large angle (counterclockwise rotation in the figure), the rear adjusting nut 20-7 is first screwed away from the screw sleeve 20-5 to a specified position, then the screw 20-3 is pushed to the position where the rear adjusting nut 20-7 contacts the screw sleeve 20-5, and finally the front adjusting nut 20-4 is screwed to contact the screw sleeve 20-5, so that the front adjusting nut 20-4 and the rear adjusting nut 20-7 clamp the screw sleeve 20-5 to fix the position of the screw 20-3; conversely, when the angle of the module support arm 4 rotating around the square tube rotating shaft 22-2 is adjusted to a small angle (clockwise rotation in the figure), the front adjusting nut 20-4 is first screwed away from the screw sleeve 20-5 to a specified position, then the screw 20-3 is pulled to the position where the front adjusting nut 20-4 contacts the screw sleeve 20-5, and finally the rear adjusting nut 20-7 is screwed to contact the screw sleeve 20-5, so that the front adjusting nut 20-4 and the rear adjusting nut 20-7 clamp the screw sleeve 20-5 again to fix the position of the screw 20-3.

[0052] In the embodiment, since the length of the module support arm 4 is relatively long, in the test process, in order to prevent the deformation of the module support arm 4, the intermediate support assembly 21 is used for supporting, which has the characteristics of good motion rigidity and can realize the test work of the 20-kg fixed-wing water-air cross-medium vehicle model; specifically, when the angle of the module support arm 4 changes, the fastening screw is disassembled from the horizontal slide 21-1, the sliding block 21-2 is pushed, the support pad 21-4 abuts against the back of the module support arm 4, then the fastening screw is screwed on the horizontal slide 21-1 at the tail of the sliding block 21-2, so that the position of the sliding block 21-2 is fixed, and then the intermediate position of the module support arm 4 is supported.

[0053] The working process of the present application is further described below to further demonstrate the working principle and advantages of the present application:

[0054] Installation preparation stage: the water test device of the application is lifted by a crane to the force arm 23 of the ship, so that the back of the support stand B is hung on the triangular support frame 16 of the ship, the top wire 17 is screwed inward and is supported on the side of the force arm 23 of the ship, so as to fix the water test device and the force arm 23 of the ship. The water level is adjusted to the bottom of the support stand B to meet the requirements of water test.

[0055] Test adjustment stage: according to the size of the preset β value, the positions of the front adjusting nut 20-4, the screw sleeve 20-5 and the rear adjusting nut 20-7 on the screw rod 20-3 are adjusted, so that the module support arm 4 is rotated to the set value through the bottom square cylinder shaft 22-2; according to the preset α value, the corresponding angle adjusting flange 19 is selected and installed between the fixed flange 18 and the force balance 13; the position of the module slider 6 is adjusted, so that the model carrier 11 is at the upper limit stopper 9, and the test model is installed in the installation sleeve 12.

[0056] Test model water entry stage: the motion speed and acceleration of the model during water test are set through the ground station 1; then the pre-defined model water entry program is started, the driving motor 7 drives the coupling 8 to make the module track 5 start to move and drive the module slider 6, the model carrier 11 and the test model to slowly enter the water; the module slider 6 moves to the lower limit stopper 10, the lower limit stopper 10 triggers a signal and transmits the signal to the module controller 2, the module controller 2 controls the driving motor 7 to stop moving, and the model completes water entry.

[0057] Test model water exit test stage: the data collector 3 is started, the force balance 13 starts to work, the data collector 3 starts to collect the data returned by the force balance 13 and stores them in the ground station 1; the module controller 2 controls the driving motor 7 to run according to the motion speed and acceleration specified by the ground station 1, the module slider 6 is quickly moved to the upper limit stopper 9 under the drive of the module track 5, the upper limit stopper 9 triggers a signal and transmits the signal to the module controller 2, the module controller 2 controls the driving motor 7 to stop moving, and the test model completes water exit; the data collector 3 is turned off through the ground station 1, the data collection of the force balance 13 is stopped, and the model water exit test is completed.

[0058] During the test, the water exit heading angle of the test model is changed through the angle adjusting support mechanism D, the water exit attack angle of the test model is changed through the angle adjusting connecting piece C, the water exit speed and acceleration of the test model are changed through the linear module A, and the force value of the test model under different working conditions is measured through the force balance 13, which provides strong data and theoretical support for the design of the cross-medium vehicle.

[0059] While the application has been described with reference to particular embodiments thereof, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present application. It will be apparent to those skilled in the art that numerous modifications can be made within the scope of the present application as defined by the appended claims. It is intended that all such modification fall within the spirit and scope of the present application. It will be understood that the features described in connection with one embodiment can be used in connection with another embodiment.

Claims

1. A multi-angle motion state water exit test device for a fixed-wing water-air cross-medium vehicle, characterized in that: It includes linear module (A), support rack (B), angle adjusting connecting piece (C), angle adjusting support mechanism (D), ground station (1), module controller (2), data collector (3), model carrier (11), mounting sleeve (12) and force measuring balance (13); the linear module (A) is installed on the support rack (B) through the angle adjusting support mechanism (D); the model carrier (11), the angle adjusting connecting piece (C), the force measuring balance (13) and the mounting sleeve (12) are installed in sequence from top to bottom, and the fixed wing type water-air cross medium vehicle is installed in the mounting sleeve (12); the model carrier (11) is fixedly connected with the linear module (A) and realizes water inlet and outlet through the linear module (A); The ground station (1) is electrically connected with the module controller (2) and the data collector (3), the module controller (2) is electrically connected with the driving motor (7) in the linear module (A), and the data collector (3) is electrically connected with the force measuring balance (13) and the driving motor (7); The linear module (A) includes module support arm (4), two module rails (5), two module sliders (6), driving motor (7), shaft coupling (8), upper limit stopper (9) and lower limit stopper (10); the two module rails (5) are installed side by side on the module support arm (4) along the length direction of the module support arm (4), the output end of the driving motor (7) is connected with the input end of the two module rails (5) through the shaft coupling (8), which is used for driving the synchronous operation of the module rails (5), and each module rail (5) corresponds to a module slider (6) and drives the module slider (6) to move; the upper limit stopper (9) and the lower limit stopper (10) are installed at the upper and lower ends of the module rail (5) respectively, which are used for judging the movement position of the module slider (6); The model carrier (11) is fixedly connected with the two module sliders (6) in the linear module (A); The support rack (B) includes vertical connecting frame (14), forward square support frame (15) and backward triangular support frame (16); the forward square support frame (15) and the backward triangular support frame (16) are installed on the front and back sides of the vertical connecting frame (14) respectively, wherein the forward square support frame (15) is located on the lower side of the vertical connecting frame (14), the backward triangular support frame (16) is located on the upper side of the vertical connecting frame (14) and forms a hanging arm with the vertical connecting frame (14), and the backward triangular support frame (16) is fixedly supported on the boat crane force arm (23); The angle adjusting connecting piece (C) includes fixed flange (18) and angle adjusting flange (19), the fixed flange (18) and the angle adjusting flange (19) are fixedly connected through bolts, the fixed flange (18) is installed on the model carrier (11), and the angle adjusting flange (19) is connected with the force measuring balance (13); The angle adjusting flange (19) is wedge-shaped, and the wedge angle is 0°, 3°, 6°, 9° or 12°; The angle adjusting support mechanism (D) comprises a top push rod assembly (20), a middle support assembly (21) and a bottom connecting assembly (22), the top end of the module support arm (4) is installed on the upper end of the vertical connecting frame (14) through the top push rod assembly (20), and the angle is adjusted through the telescoping of the top push rod assembly (20); the middle part of the module support arm (4) is supported on the top of the forward square support frame (15) through the middle support assembly (21); the bottom end of the module support arm (4) is hingedly connected to the bottom of the forward square support frame (15) through the bottom connecting assembly (22) and rotates around the bottom connecting assembly (22) as the axis. The top push rod assembly (20) comprises a cross bar (20-1), a movable hinge support (20-2), a lead screw (20-3), a front adjusting nut (20-4), a lead screw sleeve (20-5), a support seat (20-6) and a rear adjusting nut (20-7); the cross bar (20-1) is installed on the back of the module support arm (4) in the transverse direction, and the movable hinge support (20-2) is fixedly installed at the middle position of the cross bar (20-1); the support seat (20-6) is installed on the upper end of the vertical connecting frame (14), the lead screw sleeve (20-5) is sleeved on the lead screw (20-3) and is rotationally connected with the support seat (20-6), the front adjusting nut (20-4) and the rear adjusting nut (20-7) are respectively screwed on the lead screw (20-3) and are located on the two sides of the lead screw sleeve (20-5), one end of the lead screw (20-3) is rotationally connected with the movable hinge support (20-2), and the other end of the lead screw (20-3) is suspended.

2. The fixed-wing water-air cross-medium vehicle multi-angle motion state water-entry test device according to claim 1, characterized in that: The back triangular support frame (16) is provided with a top wire (17) at the end away from the vertical connecting frame (14), and the top wire (17) is internally threaded and abuts against the side surface of the boat force arm (23).

3. The fixed-wing water-air cross-medium vehicle multi-angle motion state water-entry test device according to claim 1, characterized in that: The middle support assembly (21) comprises two horizontal slides (21-1), two sliding blocks (21-2), a support cross bar (21-3), support pads (21-4) and fastening screws; the two horizontal slides (21-1) are respectively arranged on the two support beams at the top of the forward square support frame (15), one sliding block (21-2) is slidably connected to each horizontal slide (21-1), and the position of the sliding block (21-2) on the horizontal slide (21-1) is fixed by the fastening screws; the two ends of the support cross bar (21-3) are respectively installed on the two sliding blocks (21-2); the support pads (21-4) are installed on the support cross bar (21-3) along the length direction of the support cross bar (21-3) and abut against the back of the module support arm (4).

4. The fixed-wing water-air cross-medium vehicle multi-angle motion state water-entry test device according to claim 1, wherein: The bottom connecting assembly (22) comprises a rotating shaft seat (22-1) and a square tube rotating shaft (22-2), and the bottom end of the module support arm (4) is rotationally connected to the rotating shaft seat (22-1) through the square tube rotating shaft (22-2).

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