A deformation test system for the pressure hull of an underwater vehicle

Abstract

The present invention relates to the field of shell deformation testing technology, and specifically provides a system for testing the deformation of an underwater vehicle pressure shell, including a high-pressure testing device, the high-pressure testing device including an autoclave cylinder and an autoclave end cover, the autoclave cylinder and the autoclave end cover forming a closed space to simulate the required deep-sea high-pressure testing environment; and a measuring device, the measuring device including a laser transmitter, a first laser receiver, a second laser receiver and a controller, the laser transmitter, the first laser receiver and the second laser receiver are electrically connected to the controller respectively. The data of the head shell before deformation and the head shell after deformation are obtained through the laser transmitter, the first laser receiver and the second laser receiver, and then the distance between the first laser receiver and the second laser receiver is calculated, and the small deformation amount can be more conveniently calculated by using the amplification property, and the reverse calculation is performed to calculate the shell deformation amount.

Description

Technical Field

[0001] The invention relates to the technical field of pressure hull deformation testing, and in particular provides a pressure hull deformation testing system for an underwater vehicle. Background Art

[0002] An autonomous underwater vehicle (AUV) is a mission controller that integrates artificial intelligence and other advanced computing technologies. It can be applied in military, civilian or scientific research fields. For example, it can use a detection network to conduct three-dimensional underwater detection. The environmental information obtained through on-site sampling or tomography is conducive to improving anti-submarine detection; or it can be used as a weapon platform, carrying short-range offensive and defensive weapons to carry out secret attacks on enemy submarines; it can also be used for underwater communication network deployment and ocean detection.

[0003] During the design process of the pressure hull, an essential step is to test the hull under external pressure and verify its performance. At present, most of the external pressure test devices we commonly use are sealed, and the pressure hull needs to be placed in a sealed test device with a fixed pressure to conduct an external pressure test. Since the pressure hull of an autonomous underwater vehicle is made of a material with a relatively high hardness, its deformation under pressure is extremely small, and it is difficult to detect its deformation with current technical means. Summary of the invention

[0004] The present invention provides an underwater vehicle pressure hull deformation testing system, which is used to solve the problem in the prior art that the deformation of an autonomous underwater vehicle under pressure is extremely small and it is difficult to detect the deformation with current technical means.

[0005] The present invention provides an underwater vehicle pressure hull deformation test system for measuring the deformation of the underwater vehicle pressure hull, wherein the underwater vehicle pressure hull comprises a hemispherical head shell, and the underwater vehicle pressure hull deformation test system comprises:

[0006] A high-pressure test device, comprising an autoclave body and an end cover of the autoclave, wherein the autoclave body and the end cover of the autoclave form a closed space to simulate the required deep-sea high-pressure test environment; and

[0007] A measuring device, the measuring device comprising a laser transmitter, a first laser receiver, a second laser receiver and a controller, the laser transmitter, the first laser receiver and the second laser receiver being electrically connected to the controller respectively;

[0008] in,

[0009] The underwater vehicle pressure hull is fixedly disposed in the autoclave cylinder, with the head hull facing the end cover of the autoclave;

[0010] When the laser transmitter and the first laser receiver are started, the laser transmitter transmits laser light to the surface of the head shell before deformation, and the first laser receiver receives reflected light reflected from the surface of the head shell;

[0011] When the high-pressure test device is closed, water is added to the high-pressure test device and the air is exhausted, and the inside is pressurized to a pressure corresponding to the required seabed depth to be measured, and the head shell undergoes corresponding deformation;

[0012] After the head shell is deformed, the water in the high-pressure test device is depressurized and the water is discharged;

[0013] When the high-voltage test device is turned on, the second laser receiver is turned on, the laser transmitter emits laser light to the surface of the head shell after deformation, and the second laser receiver receives reflected light reflected by the surface of the head shell after deformation;

[0014] Collect data to calculate the deformation of the head shell;

[0015] The formula for the head shell deformation is as follows:

[0016] (1)

[0017] (2)

[0018] (3)

[0019] (4)

[0020] In formula (1), is the distance from the laser emitter to the surface of the head shell before deformation, in mm; is the distance between the laser transmitter and the first laser receiver, in mm; for and The angle between them, in degrees; It is the angle between the incident angle and the reflection angle of the laser emitter to the surface of the head shell before deformation, where the incident angle is equal to the reflection angle;

[0021] In formula (2), is the distance from the laser emitter to the surface of the head shell after deformation, in mm; is the difference between the distance from the laser emitter to the surface of the head shell before deformation and the distance from the laser emitter to the surface of the head shell after deformation; is the distance between the first laser receiver and the second laser receiver, in mm; It is the angle between the incident angle and the reflection angle of the laser emitter to the surface of the deformed head shell;

[0022] In formula (3), is the distance between the surface of the head shell and the center of the shell after deformation, in mm; is the distance from the surface of the head shell to the center of the circle before deformation, in mm; for and The angle between them is in degrees; and is an opposite angle, so and The degrees are equal;

[0023] In formula (4), is the distance of shell deformation, in mm.

[0024] Furthermore, the number of the measuring devices is multiple groups.

[0025] Furthermore, the laser transmitter, the first laser receiver and the second laser receiver are located on the same straight line.

[0026] Furthermore, the laser transmitter, the first laser receiver and the second laser receiver are all provided with movable fixing devices at the bottom, the measuring device is provided with a slide rail at the bottom, and the movable fixing device is slidably fixed on the slide rail.

[0027] Furthermore, the underwater vehicle pressure hull deformation test system also includes a water pressure control system, which includes a water pressure testing machine and a high-pressure resistant pipeline. The water pressure testing machine is connected to the high-pressure testing device via the high-pressure resistant pipeline to achieve test pressure, pressure holding time and generation of high-pressure water.

[0028] Further, the autoclave cylinder is provided with a first flange on one side of the autoclave end cover, and a plurality of first through holes penetrating the first flange are provided on the surface of the first flange; the autoclave end cover is provided with a second flange on one end of the autoclave cylinder, and a plurality of second through holes corresponding to the first through holes are provided on the surface of the second flange, and the second through holes penetrate the second flange, and each first through hole is fixedly connected to the corresponding second through hole by bolts.

[0029] Furthermore, a mounting seat is provided in the cylinder of the autoclave, and the mounting seat includes a base, and a placement block is provided on the surface of the base and fits the pressure-resistant shell of the underwater vehicle. A fixing part is also hingedly provided on the surface of the placement block, and a buckle is also provided on the surface of the placement block and is clamped with the other end of the fixing part.

[0030] The underwater vehicle pressure hull deformation testing system provided by the present invention obtains the distance between the laser transmitter and the surface of the head shell before deformation, the angle between the incident light and the reflected light emitted by the laser transmitter and the distance between the laser transmitter and the first laser receiver, the angle between the incident light and the laser transmitter to the first laser receiver, and then obtains the angle between the incident light and the reflected light emitted by the laser transmitter to the head shell after deformation and the distance between the first laser receiver and the second laser receiver; the distance between the first laser receiver and the second laser receiver is ,use The amplification property can be easily calculated The small deformation is calculated by reverse calculation. , and then calculate the shell deformation . BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is an overall schematic diagram of the underwater vehicle pressure hull deformation testing system provided by the present invention;

[0033] Figure 2 It is a schematic diagram of the test state of the underwater vehicle pressure hull deformation test system provided by the present invention;

[0034] Figure 3 It is a schematic diagram of the structure of the autoclave cylinder and the autoclave end cover provided by the invention;

[0035] Figure 4 It is a schematic diagram of the structure of the pressure hull of the underwater vehicle provided by the present invention;

[0036] Figure 5 yes Figure 4 Schematic diagram of the cross section of the head shell;

[0037] Figure 6 It is a schematic diagram of the working process provided by the present invention;

[0038] Figure 7 It is a structural block diagram of the head shell deformation testing device provided by the present invention;

[0039] Figure 8 It is a schematic diagram of the structure of the mounting seat in the present invention;

[0040] 1. Underwater vehicle pressure hull; 11. Head shell; 2. High-pressure testing device; 21. Autoclave cylinder; 211. First flange; 212. First through hole; 22. Autoclave end cover; 221. Second flange; 222. Second through hole; 23. Bolt; 24. Base; 25. Placement block; 26. Fixing part; 27. Buckle; 3. Laser transmitter; 4. First laser receiver; 5. Second laser receiver; 6. Water pressure testing machine; 7. High-pressure pipeline; 8. Slide rail. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] The embodiment of the present invention provides a system for testing the deformation of the pressure hull of an underwater vehicle. Figures 1 to 8 As shown, the underwater vehicle pressure hull 1 is generally divided into two parts, one part is a hemispherical head shell 11, and the other part is a body shell connected to the head shell 11.

[0043] The deformation test system of the underwater vehicle pressure hull 1 includes a high-pressure test device 2, which includes a high-pressure autoclave cylinder 21 and a high-pressure autoclave end cover 22. The high-pressure autoclave cylinder 21 and the high-pressure autoclave end cover 22 form a closed space. The high-pressure test device 2 is connected to a water pressure control system, which includes a water pressure testing machine 6 and a high-pressure resistant pipeline 7. The water pressure testing machine 6 is connected to the high-pressure test device 2 through the high-pressure resistant pipeline 7, and is used to achieve the test pressure, pressure holding time and high-pressure water generation in the high-pressure test device 2, so that the high-pressure test device 2 can withstand the pressure generated by the water pressure testing machine 6 during the test to simulate the required deep-sea high-pressure test environment.

[0044] A first flange 211 is provided on one side of the autoclave end cover 22, and a plurality of first through holes 212 penetrating the first flange 211 are provided on the surface of the first flange 211. A second flange 221 is provided on the end of the autoclave end cover 22, and a plurality of second through holes 222 corresponding to the first through holes 212 are provided on the surface of the second flange 221. The second through holes 222 penetrate the second flange 221. Each first through hole 212 is fixedly connected with the corresponding second through hole 222 by a bolt 23. The autoclave cylinder 21 and the autoclave end cover 22 are connected, fixed or separated by the fixed connection or disassembly of the bolt 23, so that the high-pressure test device 2 is sealed or opened. The structure enables the high-pressure test device 2 to withstand the pressure generated by the water pressure tester 6 during the test, thereby avoiding leakage at the connection between the autoclave cylinder 21 and the autoclave end cover 22, which results in failure to meet the simulation of the deep-sea high-pressure test environment and the test requirements of the underwater vehicle pressure hull 1.

[0045] The deformation test system of the underwater vehicle pressure hull 1 also includes a measuring device, which includes a laser transmitter 3, a first laser receiver 4, a second laser receiver 5 and a controller. The laser transmitter 3, the first laser receiver 4 and the second laser receiver 5 are electrically connected to the controller respectively, and the laser transmitter 3, the first laser receiver 4 and the second laser receiver 5 are in the same straight line.

[0046] The controller of the present invention may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The steps of the method disclosed in the present invention may be directly implemented by a hardware controller, or implemented by a combination of hardware and software modules in the controller.

[0047] Before the external pressure strength test, check the appearance of the underwater vehicle pressure hull 1. The surface should be free of scratches, pits and other defects that affect the load-bearing capacity. If there are defects, it should be re-evaluated whether the external pressure strength test can be carried out. Before the test, the shell with a circular cross-section should be tested for sealing. The underwater vehicle pressure hull 1 should not leak. It can be tested by hydrostatic external pressure sealing test or air tightness test. The external pressure strength test can only be carried out after the sealing test is qualified.

[0048] First, the underwater vehicle pressure hull 1 is fixedly placed in the autoclave cylinder 21 , with the head hull 11 facing the autoclave end cover 22 .

[0049] At this time, the high-voltage testing device 2 is in the open state, and the laser emitter 3 in the measuring device emits a laser to the surface of the head shell 11 before deformation. The first laser receiver 4 is made to slide on the slide rail 8 by moving the fixing device until the reflection point is received. The distance between the laser emitter 3 and the surface of the head shell 11 before deformation, the angle between the incident light and the reflected light emitted by the laser emitter 3, and the distance between the laser emitter 3 and the first laser receiver 4, as well as the angle between the incident light and the laser emitter 3 to the first laser receiver 4 are obtained to obtain the data of the head shell 11 before deformation.

[0050] After obtaining the data of the head shell 11 before deformation, each first through hole 212 and the corresponding second through hole 222 are fixedly connected by bolts 23, and connected to the autoclave end cover 22 through the autoclave cylinder 21, so that the high-pressure test device 2 is in a sealed state, and then water is added to the high-pressure test device 2 and the air is exhausted through the water pressure testing machine 6, and the inside is pressurized to the pressure corresponding to the required seabed depth measurement, and the pressure is maintained for 1 hour to simulate the required deep-sea high-pressure test environment. At this time, the head shell 11 undergoes corresponding deformation.

[0051] After maintaining the pressure for 1 hour, the water in the high-pressure testing device 2 is depressurized and the water is discharged through the water pressure testing machine 6 .

[0052] The bolts 23 are removed to separate the autoclave cylinder 21 from the autoclave end cover 22, so that the high-voltage testing device 2 is opened. At this time, the emission point of the laser emitter 3 in the measuring device remains unchanged, and the laser emitter 3 emits laser light again to the surface of the deformed head shell 11, and the reflected light of the deformed head shell 11 is reflected by the second laser receiver 5 on the slide rail 8 by moving the fixing device until the reflection point is received, and the angle between the incident light and the reflected light emitted by the laser emitter 3 and the distance between the first laser receiver 4 and the second laser receiver 5 are obtained.

[0053] The data of the head shell 11 before and after deformation are collected, and then the deformation amount of the head shell 11 is calculated. The calculation formula is as follows:

[0054] like Figure 5 As shown, point a is the position of the laser transmitter 3, point b is the position of the first laser receiver 4, and point c is the position of the second laser receiver 5, wherein the solid circle is the outer contour of the shell before deformation, and the dotted circle within the solid circle is the outer contour of the shell after deformation;

[0055] (1)

[0056] (2)

[0057] (3)

[0058] (4)

[0059] In formula (1), is the distance from the laser emitter 3 to the surface of the head shell 11 before deformation, in mm; is the distance between the laser transmitter 3 and the first laser receiver 4, in mm; for and The angle between them, in degrees; It is the angle between the incident angle and the reflection angle of the laser emitter 3 emitted to the surface of the head shell 11 before deformation, where the incident angle is equal to the reflection angle;

[0060] In formula (2), is the distance from the laser emitter 3 to the surface of the head shell 11 after deformation, in mm; is the difference between the distance from the laser emitter 3 to the surface of the head shell 11 before deformation and the distance from the laser emitter 3 to the surface of the head shell 11 after deformation; is the distance between the first laser receiver 4 and the second laser receiver 5, in mm; It is the angle between the incident angle and the reflection angle of the laser emitter 3 emitted to the surface of the deformed head shell 11, which is half of the angle;

[0061] In formula (3), is the distance between the surface of the head shell 11 and the center of the shell after deformation, in mm; is the distance from the surface of the head shell 11 to the center of the circle before deformation, in mm; for and The angle between them is in degrees; and is an opposite angle, so and The degrees are equal;

[0062] In formula (4), is the distance of shell deformation, in mm.

[0063] Obtain the distance between the laser emitter 3 and the surface of the head shell 11 before deformation, the angle between the incident light and the reflected light emitted by the laser emitter 3, and the distance between the laser emitter 3 and the first laser receiver 4, the angle between the incident light and the laser emitter 3 to the first laser receiver 4, and obtain the angle between the incident light and the reflected light emitted by the laser emitter 3 and the distance between the first laser receiver 4 and the second laser receiver 5; receive the light at a long distance through the first laser receiver 4 and the second laser receiver 5, and obtain the ,use The amplification property can be easily calculated The small deformation is calculated by reverse calculation. , and then calculate the shell deformation .

[0064] A movable fixing device is provided at the bottom of the laser emitter 3, the first laser receiver 4 and the second laser receiver 5. The laser emitter 3, the first laser receiver 4 and the second laser receiver 5 are slidably fixed on the slide rail 8 through the movable fixing device. The movable fixing device includes a pulley. The laser emitter 3, the first laser receiver 4 and the second laser receiver 5 reciprocate on the slide rail 8 through the pulley.

[0065] The first laser receiver 4 slides on the slide rail 8 through the mobile fixing device, and stops when receiving the reflected light emitted by the first laser transmitter 3, so as to obtain the distance between the laser transmitter 3 and the first laser receiver 4. and The second laser receiver 5 slides on the slide rail 8 through the mobile fixing device, and stops when receiving the reflected light emitted by the second laser transmitter 3, and the distance between the first laser receiver 4 and the second laser receiver 5 is obtained. The degree and other data make the data more accurate.

[0066] The laser transmitter 3, the first laser receiver 4 and the second laser receiver 5 are moved parallel to each other and then away from the high voltage test device 2, so that Data amplification, using The amplification property can be easily calculated The small deformation is calculated by reverse calculation. , and then calculate the shell deformation .

[0067] The laser transmitter 3, the first laser receiver 4 and the second laser receiver 5 can all be rotated up, down, left and right, drawing on the rotation structure of existing cameras.

[0068] A mounting seat is arranged in the autoclave cylinder 21, and the mounting seat is used to fix the underwater vehicle pressure hull 1. The mounting seat includes a base 24, and a placement block 25 that fits the underwater vehicle pressure hull 1 is arranged on the surface of the base 24. A fixing portion 26 is also hingedly arranged on the surface of the placement block 25, and a buckle 27 that is clamped with the other end of the fixing portion 26 is also arranged on the surface of the placement block 25. A rubber layer is also arranged on the outer side wall of the fixing portion 26. The rubber layer can prevent the underwater vehicle pressure hull from being deformed when the fixing portion 26 fixes the underwater vehicle pressure hull.

[0069] First, place the underwater vehicle pressure hull 1 on the placement block 25, and then fix the underwater vehicle pressure hull 1 on the placement block 25 through the fixing portion 26 on the surface of the placement block 25 to prevent the pressure hull 1 from floating up when water is injected into the autoclave cylinder 21, causing displacement of the underwater vehicle pressure hull 1; or use steel wire or rope to tie and fix the underwater vehicle pressure hull 1 on the placement block 25 to prevent the pressure hull 1 from floating up when water is injected into the autoclave cylinder 21, causing displacement of the underwater vehicle pressure hull 1.

[0070] The number of measuring devices is multiple groups, and the deformation variables at different positions of the head shell 11 are collected through multiple groups of laser transmitters 3, first laser receivers 4 and second laser receivers 5. A comparison is made to check whether the head shell deformation is consistent when the shell is under the same pressure in the deep sea. If not, the data can be compared to see which part of the shell has a larger deformation, so as to determine whether the shell process is up to standard, so as to avoid the situation where the part with larger deformation is under greater pressure during underwater navigation, making it easier to deform the part with substandard process, resulting in damage to the underwater vehicle and inability to operate.

[0071] Among them, the laser emitter 3 is mainly composed of a laser, an introduction and beam combining system, an alignment monitoring system, a beam expansion system, a Kuder optical path system and a fast reflector; the principle of the laser emitter 3 is indeed to use electrical energy to convert light energy into laser. This process is based on the principle of light amplification, including three key steps: excitation, amplification and light output; in the laser emitter 3, electrical energy is used to excite atoms or molecules in the medium to make them transition to a high energy level. When these excited particles fall back to a low energy level, photons are released; these photons are amplified in the optical resonant cavity and output as a highly monochromatic, coherent and directional laser beam through specific optical elements.

[0072] The laser receiver is mainly composed of a receiving optical system, a photodetector and an amplifier; the receiving optical system is responsible for collecting the reflected laser signal, while the photodetector converts the optical signal into an electrical signal.

[0073] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0074] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROmm / RAmm, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A deformation test system for the pressure hull of an underwater vehicle, characterized in that: Used to measure the deformation of the underwater vehicle pressure hull, the underwater vehicle pressure hull includes a hemispherical head shell, and the underwater vehicle pressure hull deformation test system includes: A high-pressure test device, comprising an autoclave body and an end cover of the autoclave, wherein the autoclave body and the end cover of the autoclave form a closed space to simulate the required deep-sea high-pressure test environment; and A measuring device, the measuring device comprising a laser transmitter, a first laser receiver, a second laser receiver and a controller, the laser transmitter, the first laser receiver and the second laser receiver being electrically connected to the controller respectively; in, The underwater vehicle pressure hull is fixedly disposed in the autoclave cylinder, with the head hull facing the end cover of the autoclave; When the laser transmitter and the first laser receiver are started, the laser transmitter transmits laser light to the surface of the head shell before deformation, and the first laser receiver receives reflected light reflected from the surface of the head shell; When the high-pressure test device is closed, water is added to the high-pressure test device and the air is exhausted, and the inside is pressurized to a pressure corresponding to the required seabed depth to be measured, and the head shell undergoes corresponding deformation; After the head shell is deformed, the water in the high-pressure test device is depressurized and the water is discharged; When the high-voltage test device is turned on, the second laser receiver is turned on, the laser transmitter emits laser light to the surface of the head shell after deformation, and the second laser receiver receives reflected light reflected by the surface of the head shell after deformation; Collect data to calculate the deformation of the head shell; The formula for the head shell deformation is as follows: （1） （2） （3） （4） In formula (1), is the distance from the laser emitter to the surface of the head shell before deformation, in mm; is the distance between the laser transmitter and the first laser receiver, in mm; for and The angle between them, in degrees; It is the angle between the incident angle and the reflection angle of the laser emitter to the surface of the head shell before deformation, where the incident angle is equal to the reflection angle; In formula (2), is the distance from the laser emitter to the surface of the head shell after deformation, in mm; is the difference between the distance from the laser emitter to the surface of the head shell before deformation and the distance from the laser emitter to the surface of the head shell after deformation; is the distance between the first laser receiver and the second laser receiver, in mm; It is the angle between the incident angle and the reflection angle of the laser emitter to the surface of the deformed head shell; In formula (3), is the distance between the surface of the head shell and the center of the shell after deformation, in mm; is the distance from the surface of the head shell to the center of the circle before deformation, in mm; for and The angle between them is in degrees; and is an opposite angle, so and The degrees are equal; In formula (4), is the distance of shell deformation, in mm.

2. The underwater vehicle pressure hull deformation testing system according to claim 1, characterized in that: The number of the measuring devices is multiple groups.

3. The underwater vehicle pressure hull deformation testing system according to claim 1, characterized in that: The laser transmitter, the first laser receiver and the second laser receiver are located on the same straight line.

4. The underwater vehicle pressure hull deformation testing system according to claim 1 or 3, characterized in that: The laser transmitter, the first laser receiver and the second laser receiver are all provided with a movable fixing device at the bottom, and a slide rail is provided at the bottom of the measuring device, and the movable fixing device is slidably fixed on the slide rail.

5. The underwater vehicle pressure hull deformation testing system according to claim 1, characterized in that: The underwater vehicle pressure hull deformation test system also includes a water pressure control system, which includes a water pressure testing machine and a high-pressure resistant pipeline. The water pressure testing machine is connected to the high-pressure testing device via the high-pressure resistant pipeline to achieve test pressure, pressure holding time and generation of high-pressure water.

6. The underwater vehicle pressure hull deformation testing system according to claim 1, characterized in that: The autoclave cylinder is provided with a first flange on one side of the autoclave end cover, and a plurality of first through holes penetrating the first flange are provided on the surface of the first flange; the autoclave end cover is provided with a second flange on one end of the autoclave cylinder, and a plurality of second through holes corresponding to the first through holes are provided on the surface of the second flange, and the second through holes penetrate the second flange, and each first through hole is fixedly connected to the corresponding second through hole by bolts.

7. The underwater vehicle pressure hull deformation testing system according to claim 1, characterized in that: A mounting seat is arranged in the cylinder of the autoclave, and the mounting seat includes a base, and a placement block is arranged on the surface of the base to fit the pressure-resistant shell of the underwater vehicle. A fixing part is also hingedly arranged on the surface of the placement block, and a buckle is also arranged on the surface of the placement block to be clamped with the other end of the fixing part.

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