Jacking device for ice pool to simulate restrained upward floating icebreaking of underwater vehicle

Abstract

The invention relates to a jacking device for an ice pool to simulate restrained upward floating icebreaking of an underwater vehicle, and belongs to the technical field of low-temperature ice pool model tests. The lifting module is used for providing jacking force and speed required in the floating process of a model; the supporting module is used for reserving enough space for the floating process; the posture adjusting module is used for adjusting the inclination angle of the model; and the force measuring module is used for recording the load borne by the model in real time. The device has the advantages of higher jacking capacity, accurate speed control, crack propagation integrity, multi-scene test adaptability, efficient data acquisition capacity and modular design.

Description

Technical Field

[0001] The invention relates to a jacking device, belonging to the technical field of low-temperature ice water pool model testing. Background Art

[0002] The Arctic region is not only rich in resources, but also has important geopolitical value. It is a key area for global scientific research and polar development. When an underwater submersible is sailing under the ice of the Arctic Ocean, it may be necessary to surface through icebreaking to complete operations such as communication, navigation calibration or emergency evacuation. Therefore, verifying the icebreaking capability of underwater submersibles is of great significance to improving their reliability and applicability in polar environments. At present, some countries and scientific research institutions have carried out relevant tests on the surface breaking ice of underwater submersibles. Such tests are usually carried out in polar regions or simulated ice environments to verify the survivability and mission execution capabilities of underwater submersibles when operating in ice areas. For example, "ice exercises" are regularly carried out to test the performance of underwater submersibles under polar conditions, especially to test the ability of underwater submersibles to surface and penetrate ice. Field tests have problems such as uncontrollable test conditions, high test costs, and long test cycles, and it is impossible to obtain regular conclusions on the process of underwater submersibles surfacing and breaking ice. In comparison, physical model tests are currently an important research method for evaluating the icebreaking capability of underwater submersibles. They have the advantages of controllable test environment and low cost, and can effectively verify whether the structural strength and dynamic performance of the submersible are sufficient to break through a certain thickness of ice. Through the test, designers can collect relevant data such as ice thickness, mechanical properties, and underwater submersible posture changes. Physical model tests for underwater submersibles' floating and icebreaking problems often need to be carried out in an ice pool environment. However, most ice pool laboratories do not have test devices to simulate the lifting process, and some existing devices have not been designed for applicability in the ice pool environment. There are problems such as small lifting devices, insufficient lifting capacity, and uncontrollable lifting speed, which limits the size of the submersible that can be simulated and the floating and icebreaking scene is single. In addition, although the lifting platforms of some existing open water laboratories have sufficient lifting capacity and can accurately control the floating speed of the submersible, the structural types of these lifting platforms often cause contact with the ice sheet during vertical movement, affecting the floating and icebreaking process of the submersible model.

[0003] In summary, most ice-water pool laboratories do not yet have a lifting device that can effectively simulate the surfacing and icebreaking of underwater submersible models. Some existing lifting devices have problems such as interference with the test during vertical movement, small device size, insufficient lifting capacity, and uncontrollable lifting speed.

[0004] Therefore, it is urgent to propose a lifting device for simulating the restraint, buoyancy and icebreaking of an underwater submersible in an ice-water pool to solve the above-mentioned technical problems. Summary of the invention

[0005] In order to solve the above problems, a lifting device for simulating the restraint and buoyancy of an underwater submersible in an ice pool is provided. A brief overview of the invention is given below to provide a basic understanding of certain aspects of the invention. It should be understood that this overview is not an exhaustive overview of the invention. It is not intended to identify the key or important parts of the invention, nor is it intended to limit the scope of the invention.

[0006] The technical solution of the present invention:

[0007] A lifting device for simulating the restraint, buoyancy and icebreaking of an underwater submersible in an ice pool, comprising:

[0008] Lifting module: provides the lifting force and speed required for the model to float up;

[0009] Support module: reserve enough space for the floating process;

[0010] Attitude adjustment module: used to adjust the inclination angle of the model;

[0011] Force measurement module: used to record the load on the model in real time.

[0012] Preferably: the lifting module includes a support frame, a motor, a transmission screw and a moving base, the upper end of the support frame is connected to the motor, the support frame has a vertical slide, a moving base is slidably arranged in the slide of the support frame, a vertical threaded through hole is processed on the moving base, the transmission screw arranged along the slide is threadedly connected to the moving base through the threaded hole of the moving base, the upper end of the transmission screw is connected to the output end of the motor, and the moving base is connected to the support module.

[0013] Preferably: the motor is a servo motor.

[0014] Preferably: the support module includes a vertically extended member and a horizontally extended member, one end of the vertically extended member is bolted to the motion base, the other end of the vertically extended member is vertically connected to one end of the horizontally extended member to form an L shape, and the other end of the horizontally extended member is connected to the posture adjustment module.

[0015] Preferably, the support module further comprises an auxiliary frame, and the side surface of the other end of the horizontal elongated member is provided with the auxiliary frame by bolts, and the auxiliary frame is connected to the posture adjustment module.

[0016] Preferably, the posture adjustment module comprises an articulated seat and two cushion blocks, the horizontal elongated member is rotatably connected to the force measuring module via the articulated seat, and the horizontal elongated member is connected to the force measuring module via the two cushion blocks.

[0017] Preferably: the force measuring module includes a beam base and a sensor, the upper part of the beam base is provided with a sensor, the lower part of the beam base is bolted to a bearing seat and a pad of an articulated seat, two pads are located on both sides of the articulated seat, and the pads are bolted to the auxiliary frame.

[0018] Preferably, the length of the horizontal elongated member is greater than or equal to 1 times the characteristic length, and the horizontal elongated member and the beam base form a horizontal angle α.

[0019] Preferably: the model is a segmented structure, each segment is connected to the beam base through an independent force sensor; or the model is an integral structure, the model is connected to the beam base through a number of evenly distributed force sensors.

[0020] The present invention has the following beneficial effects:

[0021] 1. The present invention has a greater lifting capacity and can support larger-sized structural models, meeting the needs of larger-scale model tests, thereby more realistically simulating the icebreaking process and mechanical behavior of underwater submersibles;

[0022] 2. The present invention has precise speed control. It uses a high-power, high-precision servo motor equipped with a lifting module and a nut-and-screw structure to accurately adjust the model's floating and icebreaking behavior under different speed conditions, ensuring the accuracy and dynamic adjustment capability of speed control during the icebreaking test;

[0023] 3. The present invention has the integrity of crack propagation. Through the design of the support module, it ensures that the distance between the model and the ice sheet is reasonable, so that the model will not affect the integrity of the ice sheet during the ice breaking process, and can truly capture the formation and expansion behavior of ice breaking cracks;

[0024] 4. The present invention has the adaptability to multiple scene tests. The model tilt angle can be flexibly controlled through the articulated seat and the fixed pad, and the structural model can be constrained at different tilt angles to meet the needs of various test scenes.

[0025] 5. The present invention has efficient data acquisition capabilities, and the high-precision force sensor can record and analyze the ice load during the icebreaking process in real time; it supports segmented or integral models, and can accurately measure the total load or load distribution during the icebreaking process through flexible configuration of sensors, providing reliable data for structural mechanics research;

[0026] 6. The present invention adopts a modular design with strong adaptability. The connection method between the lifting module and the test trailer is flexible and adjustable, and supports a variety of installation methods such as welding and bolts, which is convenient for application in different ice water pool test environments. The design is flexible and ingenious, which is convenient for cost control, and the components are easy to disassemble, easy to assemble and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1It is a three-dimensional diagram of a lifting device used to simulate the restraint, buoyancy and icebreaking of an underwater submersible in an ice-water pool.

[0028] Figure 2 yes Figure 1 Enlarged view of point A in the middle.

[0029] Figure 3 It is a side view of a lifting device used for simulating the restraint, buoyancy and icebreaking of an underwater submersible in an ice-water pool.

[0030] Figure 4 It is an overhead view of a lifting device used to simulate the restraint, buoyancy and icebreaking of an underwater submersible in an ice-water pool.

[0031] In the figure, 1-support frame, 2-motor, 3-drive screw, 4-motion base, 5-vertical extension member, 6-horizontal extension member, 7-hinge seat, 8-pad, 9-beam base, 10-sensor, 12-auxiliary frame. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0033] Specific implementation method 1: Combination Figure 1-4 This embodiment is described. This embodiment is a lifting device for simulating the restraint and buoyancy of an underwater submersible in an ice pool and breaking ice, comprising:

[0034] Lifting module: used to adjust the position of the supporting module; the lifting module is used to adjust the speed to simulate the floating and icebreaking behavior of the model at different speeds, and provide the lifting force required for the model to float;

[0035] The lifting module includes a support frame 1, a motor 2, a transmission screw 3 and a motion base 4. The upper end of the support frame 1 is connected to the motor 2. The support frame 1 has a vertical slideway. The motion base 4 is slidably arranged in the slideway of the support frame 1. The motion base 4 is processed with a vertical threaded through hole. The transmission screw 3 arranged along the slideway is threadedly connected to the motion base 4 through the threaded hole of the motion base 4. The upper end of the transmission screw 3 is connected to the output end of the motor 2 through a gearbox. The gearbox can be fixed on the upper end of the support frame, and the motion base 4 is connected to the support module. The present invention has a greater lifting capacity, can support larger-sized structural models, and meet the needs of larger-scale model tests, thereby more realistically simulating the icebreaking process and mechanical behavior of underwater submersibles.

[0036] The motor 2 is a servo motor of model DGB50-20, and the sensor 10 is a force sensor. The present invention has precise speed control, uses a high-power, high-precision servo motor equipped with a lifting module, and cooperates with a nut screw structure to accurately adjust the floating icebreaking behavior of the model under different speed conditions, ensuring the accuracy of speed control and dynamic adjustment capability during the icebreaking test.

[0037] Support module: used to place the model; the support module is an L-shaped overhanging structure, mainly used to extend the submersible structure model to a certain distance under the ice to avoid damage to the ice cover by the lifting device during the test, while ensuring that the submersible model has sufficient circumferential and vertical floating space;

[0038] The support module includes a vertically elongated member 5 and a horizontally elongated member 6, one end of the vertically elongated member 5 is bolted to the motion base 4, the other end of the vertically elongated member 5 is vertically connected to one end of the horizontally elongated member 6 to form an L-shape, and the other end of the horizontally elongated member 6 is connected to the posture adjustment module;

[0039] The support module also includes an auxiliary frame 12, and the side surface of the other end of the horizontal elongated member 6 is provided with the auxiliary frame 12 by bolts, and the auxiliary frame 12 is connected to the posture adjustment module; the auxiliary frame 12 includes two triangular frames, which are arranged on both sides of the horizontal elongated member 6 and the plane formed by the triangular frames is parallel to the horizontal plane, and the vertical elongated member 5 and the horizontal elongated member 6 are both linear steel frames; the present invention has the integrity of crack propagation, and through the design of the support module, it is ensured that the distance between the model and the ice sheet is reasonable, so that the model will not affect the integrity of the ice sheet during the ice breaking process, and can truly capture the formation and expansion behavior of ice breaking cracks;

[0040] Attitude adjustment module: used to adjust the inclination angle of the model during the floating process; the attitude adjustment module consists of a rotating support shaft (hinged seat) and a fixed pad, which is used to accurately control the inclination angle of the model, thereby simulating test scenarios with various floating inclination angles;

[0041] The posture adjustment module includes an articulated seat 7 and two cushion blocks 8. The horizontal extension member 6 is rotatably connected to the force measuring module through the articulated seat 7, that is, the other end of the horizontal extension member 6 is fixedly connected to the rotating shaft of the articulated seat 7, the force measuring module is fixedly connected to the bearing seat of the articulated seat 7, the rotating shaft and the inner ring of the bearing seat are interference fit, and the horizontal extension member 6 is fixedly connected to the force measuring module through the two cushion blocks 8; the present invention has multi-scenario test adaptability, and the model inclination angle is flexibly controlled through the articulated seat and the fixed cushion blocks, and the structural model is constrained at different inclination angles to meet the needs of various test scenarios;

[0042] Force measurement module: used to record the load on the model in real time during the process of floating up and breaking ice; the fixed force measurement module is used to fix the structure of the submersible model and is equipped with a high-precision force sensor to measure the force on the submersible model in real time during the ice breaking process;

[0043] The force measuring module includes a beam base 9 and a sensor 10. The upper part of the beam base 9 is provided with the sensor 10. The lower part of the beam base 9 is bolted to the bearing seat and the cushion block 8 of the hinge seat 7. The two cushion blocks 8 are located on both sides of the hinge seat 7. The cushion blocks 8 are bolted to the auxiliary frame 12. A plurality of bolt holes can be provided at the lower part of the beam base 9. The auxiliary frame 12 can be connected to the bolt holes at different positions as needed, so as to adjust the force arm.

[0044] The length of the horizontal extension member 6 is greater than or equal to 1 times the characteristic length. The horizontal extension member 6 and the beam base 9 have a horizontal angle α=70°. In order to ensure that both ends of the model are as far away from the ice pool wall as possible to avoid the influence of the boundary effect, the beam base 9 is a steel structure beam; L is the characteristic length of the ice layer, which can be calculated by the following formula:

[0045]

[0046] Where E is the elastic modulus of ice; υ is the Poisson's ratio of ice; ρ w It is the density of water; it can also be used to select the range of force sensor;

[0047] The model is a submersible structure model, the model adopts a segmented structure, and each segment is connected to the beam base 9 through an independent force sensor 10; or the model adopts an integral structure, and the model is connected to the beam base 9 through a number of evenly distributed force sensors 10; the present invention has efficient data acquisition capabilities, and the equipped high-precision force sensors can record and analyze the ice load conditions during the icebreaking process in real time; it supports segmented or integral models, and through the flexible configuration of sensors, it can accurately measure the total load or load distribution during the icebreaking process, providing reliable data for structural mechanics research;

[0048] The present invention adopts a modular design with strong adaptability. The connection method between the lifting module and the test trailer is flexible and adjustable, and supports various installation methods such as welding and bolts, which is convenient for application in different ice water pool test environments. The design is flexible and ingenious, which is convenient for cost control, and the components are easy to disassemble, assemble and maintain, and easy to operate.

[0049] Embodiment 1:

[0050] A lifting device for simulating the restraint and buoyancy of an underwater submersible in an ice-water pool consists of a lifting module, a support module, a posture adjustment module and a fixed force measurement module. In this example, a test trailer across the ice-water pool is set above the ice-water pool, and the lifting module is installed on the frame of the test trailer through a slide rail system to achieve smooth vertical movement.

[0051] The lifting module mainly includes a support frame 1, a servo motor 2, a transmission screw 3 and a motion base 4, wherein the support frame 1 of the lifting module is installed on the frame of the test trailer through a slide rail system. The support frame 1 is used to fix the lifting module at a certain height above the ice water pool and serves as the basic installation component of the lifting module, which must have sufficient structural strength and rigidity; the servo motor 2 and the transmission screw 3 are used to provide driving force for the lifting module and accurately control the movement speed and stroke of the motion base, and must have sufficient lifting power, appropriate reduction ratio, and high-precision speed control capability; the selection of key parameters such as the rated power and reduction ratio of the servo motor 2 and the transmission screw 3 is mainly based on the lifting capacity required by the jacking device; this lifting capacity is determined by the floating icebreaking load of the submersible model, which can be calculated by the semi-theoretical and semi-empirical estimation method of the vertical destructive force of the ice layer under the surface contact icebreaking mode proposed by Kerr:

[0052]

[0053] Where P f is the vertical failure load of the ice layer when the annular crack penetrates; N is the bending strength of the ice layer; h is the thickness of the ice layer; k is a dimensionless constant; R is the ice layer destruction radius. When selecting the force sensor range, it is necessary to estimate the ice breaking load of each model segment. The semi-theoretical and semi-empirical estimation method of the vertical destructive force of the ice layer under the surface contact ice breaking mode can be used; L is the characteristic length of the ice layer, which can be calculated by formula (1);

[0054] The motion base 4 is the main component connecting the support module, and can move vertically at a preset speed and stroke under the traction of the transmission screw 3, thereby driving the submersible structure model to simulate the floating and icebreaking process;

[0055] The support module mainly includes a vertical extension member 5 and a horizontal extension member 6, which form an L-shaped support structure. The vertical extension member 5 is mainly used to place the submersible model at a certain depth below the ice surface, thereby ensuring that there is a sufficient distance between the structural model and the ice surface, so that the model can contact the ice sheet after the upward movement reaches a predetermined speed, simulating the uniform upward movement and icebreaking process. The horizontal extension member 6 is mainly used to extend the model into the ice sheet area for a certain distance to avoid the interference of the free boundary of the ice sheet and the boundary of the pool wall on the model's upward movement and icebreaking process. The length of the horizontal extension member 6 must ensure that the radial cracks generated during the upward movement of the structural model will not extend to the free edge of the ice sheet. Studies have shown that the length of the radial crack can be measured by the characteristic length shown in formula (2). When the distance between the model boundary and the free edge of the ice sheet exceeds 1 times the characteristic length, the influence of the boundary effect can be ignored. Therefore, the length of the horizontal extension member should be greater than or equal to 1 times the characteristic length. Since the components of the support module form a cantilever-like structure, the module must have sufficient rigidity to avoid obvious bending deformation during the test.

[0056] The attitude adjustment module is mainly composed of a rotating support shaft and a fixed pad 8, which is used to adjust the inclination angle of the model during the floating process; wherein, the rotating support shaft is the core component of the attitude adjustment module, and its main function is to fix the center position of the model and limit the movement of other degrees of freedom of the model during the floating process, so as to ensure that the model floats stably under the restrained state; the fixed pads on both sides are used to adjust the angle between the model and the horizontal plane. By adjusting the height difference of the fixed pads, the inclination angle can be accurately controlled to meet the test requirements of different floating inclination angles;

[0057] The fixed force measuring module includes a beam base 9 and a force sensor 10, wherein the beam base 9 is connected to the support module through a rotating support shaft and a fixed pad 8, and its main function is to stabilize the model and transfer the ice load suffered during the floating process to the support module; the beam base must have sufficient rigidity to ensure that the structure remains stable when the model is subjected to force, avoid unexpected movement of the degrees of freedom, and ensure the accuracy of the test results; the force sensor is used to record the load on the model during the floating and icebreaking process in real time, and flexibly adjust the configuration of the sensor 10 according to the test research objectives; when it is necessary to study the distribution of ice load, the structural model can be processed into a segmented type, and each segmented model is connected to the beam base through an independent force sensor to measure the load conditions of each segment respectively; when studying the total load, the model can be processed into an integral type, and the total load data can be recorded through each force sensor;

[0058] ①Test parameter setting and lifting module installation:

[0059] In this example, a test trailer across the ice pool is set above the ice pool. The lifting module is installed on the frame of the test trailer through a slide rail system to achieve smooth vertical movement. In the test, the model size is 5m and the model ice thickness is 0.1m, corresponding to the scenario of a 150m long prototype submersible breaking 3m thick ice. After calculation, the maximum icebreaking force in the test can reach 1000kg. In order to meet the lifting force requirements and precise speed control requirements, a servo motor 2 with a model DGB50-20 with a reduction ratio of 1:1 is selected. The rated output of the motor is 150kN, the maximum output is 200kN, the speed range is 1-300mm / s, and the control accuracy is 0.02mm / s. The servo motor 2 converts the rotational motion into the vertical motion of the motion base 4 through the transmission screw 3, providing stable power for the model floating icebreaking test.

[0060] ②Connection between support module and lifting module:

[0061] According to the design drawings, first weld the vertical extension member 5 and the horizontal extension member 6 to ensure that their overall structure meets the design length and stiffness requirements; use bolts and nuts made of Q345 high-strength steel to firmly connect the vertical extension member 5 to the motion base 4; after the installation is completed, the motion state of the lifting module can be adjusted by the servo motor 2 to verify whether its lifting capacity and speed stability meet the design requirements;

[0062] ③Installation of rotating support shaft and beam base:

[0063] The beam base 9 is installed on the horizontal elongated member 6 with the rotating support shaft 5. The angle between the beam base 9 and the horizontal plane is adjusted by adjusting the height of the two fixed pads 8 to meet the requirements of different floating inclination angle tests; at the same time, the fixed pads 8 play a supporting and fixing role for the beam base 9 to ensure that the supporting structure is in a restrained state during the entire test process; the angle between the beam base 9 and the horizontal elongated member 6 is 70°;

[0064] ④Installation of force sensor:

[0065] This test condition is a segmented model, so multiple force sensors 10 are fixed on the beam base 9 with screws. During installation, it is necessary to ensure that the installation position of the force sensor 10 is accurate and avoid the sensor from being disturbed by unnecessary external forces; the force sensor 10 has a range of 500kgf, an accuracy of 0.05%FS, an operating temperature range of -20℃~80℃, a protection level of IP68, and a sampling frequency of 100Hz;

[0066] ⑤Model installation:

[0067] The underwater submersible model is connected to the corresponding force sensors 10 by means of screws in sections to ensure that the connection between the model and the force sensor 10 is firm to avoid loosening or deviation during the experiment;

[0068] ⑥Test preparation:

[0069] After all components are installed, conduct a comprehensive inspection of the device to confirm that the connection status between the modules is correct. Set the vertical movement speed of the lifting module according to the test requirements, start the servo motor 2, drive the structure model upward with a predetermined acceleration, and reach the designed vertical speed before hitting the ice and keep floating at a constant speed to simulate the floating and icebreaking behavior of the restrained structure and record the force data fed back by the force sensor;

[0070] Through Example 1, a high-precision simulation of the restrained, buoyant and icebreaking process of an underwater submersible can be achieved, and key load data in the icebreaking process can be obtained; the present invention can be widely applied to various ice-water pool test environments at home and abroad, effectively simulate the restrained, buoyant and icebreaking process of an underwater submersible, provide sufficient installation space and lifting capacity for the submersible model, achieve precise speed control, and ensure the integrity of the ice cover during the test, thereby providing necessary support for the research on underwater submersible buoyancy and icebreaking technology.

[0071] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be arranged and combined, and those skilled in the art can exhaust all possibilities based on the mathematical knowledge of arrangement and combination. Therefore, the present invention will no longer describe the technical solutions after arrangement and combination one by one, but it should be understood that the technical solutions after arrangement and combination have been disclosed by the present invention.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A lifting device for simulating the restraint and buoyancy of an underwater submersible in an ice pool, characterized in that: include: Lifting module: provides the lifting force and speed required for the model to float up; Support module: reserve enough space for the floating process; Attitude adjustment module: used to adjust the inclination angle of the model; Force measurement module: used to record the load on the model in real time.

2. A lifting device for simulating the restraint, buoyancy and icebreaking of an underwater submersible in an ice pool according to claim 1, characterized in that: The lifting module comprises a support frame (1), a motor (2), a transmission screw (3) and a motion base (4); the support frame (1) is connected to the motor (2); the support frame (1) has a slideway; a motion base (4) is slidably arranged in the slideway of the support frame (1); a threaded hole is processed on the motion base (4); the transmission screw (3) is threadedly connected to the motion base (4) through the threaded hole of the motion base (4); the upper end of the transmission screw (3) is connected to the output end of the motor (2); and the motion base (4) is connected to the support module.

3. A lifting device for simulating the restraint, buoyancy and icebreaking of an underwater submersible in an ice pool according to claim 2, characterized in that: The motor (2) is a servo motor.

4. A lifting device for simulating the restraint, buoyancy and icebreaking of an underwater submersible in an ice pool according to claim 2, characterized in that: The support module comprises a vertically extending member (5) and a horizontally extending member (6), one end of the vertically extending member (5) is connected to the motion base (4), the other end of the vertically extending member (5) is connected to one end of the horizontally extending member (6) to form an L shape, and the other end of the horizontally extending member (6) is connected to the posture adjustment module.

5. A lifting device for simulating the restraint, buoyancy and icebreaking of an underwater submersible in an ice pool according to claim 4, characterized in that: The support module also includes an auxiliary frame (12), and the auxiliary frame (12) is arranged on the side of the other end of the horizontal elongated member (6), and the auxiliary frame (12) is connected to the posture adjustment module.

6. A lifting device for simulating the restraint, buoyancy and icebreaking of an underwater submersible in an ice pool according to claim 5, characterized in that: The posture adjustment module comprises an articulated seat (7) and two cushion blocks (8); the horizontal elongated member (6) is rotationally connected to the force measuring module via the articulated seat (7); and the horizontal elongated member (6) is connected to the force measuring module via the two cushion blocks (8).

7. A lifting device for simulating the restraint, buoyancy and icebreaking of an underwater submersible in an ice pool according to claim 6, characterized in that: The force measuring module comprises a crossbeam base (9) and a sensor (10), wherein the sensor (10) is arranged on the upper part of the crossbeam base (9), and the lower part of the crossbeam base (9) is connected to an articulated seat (7) and a cushion block (8), wherein two cushion blocks (8) are located on both sides of the articulated seat (7), and the cushion blocks (8) are connected to an auxiliary frame (12).

8. The lifting device for simulating the restraint, buoyancy and icebreaking of an underwater submersible in an ice pool according to claim 7, characterized in that: The length of the horizontal elongated member (6) is greater than or equal to 1 times the characteristic length, and the horizontal elongated member (6) and the crossbeam base (9) have a horizontal angle α.

9. The lifting device for simulating the restraint, buoyancy and icebreaking of an underwater submersible in an ice pool according to claim 7, characterized in that: The model is a segmented structure, and each segment is connected to the crossbeam base (9) through an independent force sensor (10); or the model is an integral structure, and the model is connected to the crossbeam base (9) through a plurality of evenly distributed force sensors (10).

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