A jacking device for ice pool simulation underwater vehicle restraint ice breaking

Abstract

The application relates to a jacking device for ice-breaking floating of an underwater vehicle in an ice water pool simulation, and belongs to the technical field of low-temperature ice water pool model tests.The jacking device comprises a lifting module, a supporting module, a posture adjusting module and a force measuring module, wherein the lifting module provides the jacking force and speed required in the model floating process; the supporting module reserves sufficient 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 jacking device has the advantages of greater jacking capacity, precise speed control, integrity of crack extension, adaptability to multi-scene tests, efficient data acquisition capacity and modular design.

Description

Technical Field

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

[0002] The Arctic region not only possesses abundant resources but also significant geopolitical value, making it a key area for global scientific research and polar development. When underwater vehicles navigate beneath the Arctic ocean ice, they may need to break through the ice to surface for operations such as communication, navigation calibration, or emergency evacuation. Therefore, verifying the icebreaking capabilities of underwater vehicles is crucial for improving their reliability and applicability in polar environments. Currently, some countries and research institutions have conducted icebreaking tests related to underwater vehicles. These tests are typically conducted in polar or simulated ice environments to verify the survivability and mission execution capabilities of underwater vehicles operating in ice-covered areas. For example, regular "ice drills" are conducted to test the performance of underwater vehicles under polar conditions, especially their ability to surface and penetrate ice. However, field testing suffers from problems such as uncontrollable test conditions, high costs, and long test cycles, and it is impossible to obtain consistent conclusions about the patterns in the icebreaking process. In comparison, physical model testing is currently an important research method for evaluating the icebreaking capability of underwater vehicles. It offers advantages such as controllable testing environment and lower cost, and can effectively verify whether the structural strength and dynamic performance of the vehicle are sufficient to break through ice layers of a certain thickness. Through testing, designers can collect relevant data such as ice thickness, mechanical properties, and changes in the underwater vehicle's attitude. Physical model tests for underwater vehicle surfacing and icebreaking often need to be conducted in an ice-water tank environment. However, most ice-water tank laboratories lack testing equipment to simulate the lifting process, and some existing equipment is not designed for ice-water tank environments, resulting in problems such as small lifting device size, insufficient lifting capacity, and uncontrollable lifting speed. This limits the size of the simulating vehicle and restricts the icebreaking scenario. Furthermore, while some existing open-water laboratories have lifting platforms with sufficient lifting capacity and can precisely control the surfacing speed of the vehicle, the structural design of these platforms often causes contact with the ice sheet during vertical movement, affecting the surfacing and icebreaking process of the underwater vehicle model.

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

[0004] Therefore, there is an urgent need to propose a lifting device for simulating underwater submersible restraint, buoyancy, and ice breaking in an ice-filled pool to solve the aforementioned technical problems. Summary of the Invention

[0005] To address the aforementioned problems, a lifting device is provided for simulating the restraint, buoyancy, and ice-breaking of an underwater submersible in an ice-water pool. 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 summary of the invention. It is not intended to identify key or essential 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 underwater submersible restraint, buoyancy, and ice breaking in an ice-filled pool includes:

[0008] Lifting module: Provides the lifting force and speed required for the model to rise;

[0009] Support module: Provides sufficient space for the ascent process;

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

[0011] Force measurement module: used to record the loads 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 rail. The moving base is slidably disposed in the slide rail of the support frame. The moving base has a vertical threaded through hole. The transmission screw disposed along the slide rail 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. 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 elongated member and a horizontally elongated member. One end of the vertically elongated member is bolted to the motion base, and the other end of the vertically elongated member is perpendicularly connected to one end of the horizontally elongated member to form an L-shape. The other end of the horizontally elongated member is connected to the attitude adjustment module.

[0015] Preferably, the support module further includes an auxiliary frame, which is bolted to the side of the other end of the horizontally elongated member, and the auxiliary frame is connected to the attitude adjustment module.

[0016] Preferably, the attitude adjustment module includes a hinge seat and two pads. The horizontal extension member is rotatably connected to the force measuring module through the hinge seat, and the horizontal extension member is connected to the force measuring module through the two pads.

[0017] Preferably, the force measuring module includes a crossbeam base and a sensor. The sensor is installed on the upper part of the crossbeam base, and the lower part of the crossbeam base is bolted to a bearing seat and a pad. The two pads are located on both sides of the hinge seat and are bolted to the auxiliary frame.

[0018] Preferably, the length of the horizontal elongation member is greater than or equal to 1 times the characteristic length, and the horizontal elongation member has a horizontal angle α with the crossbeam base.

[0019] Preferred: The model is a segmented structure, with each segment connected to the beam base via an independent force sensor; or the model is an integral structure, with the model connected to the beam base via several evenly distributed force sensors.

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

[0021] 1. This invention has a greater lifting capacity, which 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 vehicles;

[0022] 2. This invention features precise speed control. It uses a high-power, high-precision servo motor equipped with a lifting module, combined with a lead screw structure, to precisely adjust the model's floating and ice-breaking behavior under different speed conditions, ensuring the accuracy of speed control and dynamic adjustment capability during the ice-breaking test.

[0023] 3. This invention possesses 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 realistically capture the formation and propagation behavior of ice-breaking cracks.

[0024] 4. This invention has multi-scenario test adaptability. The tilt angle of the model can be flexibly controlled by the hinge seat and the fixed pad, and the structural model can be constrained at different tilt angles to meet the needs of various test scenarios.

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

[0026] 6. This invention adopts a modular design, which is highly adaptable. The connection between the lifting module and the test trailer is flexible and adjustable, and supports multiple installation methods such as welding and bolting, which is convenient for application in different ice water pool test environments. The design is flexible and ingenious, which is convenient for cost control. Furthermore, the components are easy to disassemble, facilitating assembly and maintenance. Attached Figure Description

[0027] Figure 1This is a three-dimensional diagram of a lifting device used in ice-water pools to simulate the restraint, buoyancy, and ice-breaking of underwater submersibles.

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

[0029] Figure 3 This is a side view of a lifting device used in an ice-water pool to simulate the restraint, buoyancy, and ice-breaking of an underwater submersible.

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

[0031] In the diagram, 1-support frame, 2-motor, 3-transmission screw, 4-motion base, 5-vertical extension member, 6-horizontal extension member, 7-hinged seat, 8-pad, 9-beam base, 10-sensor, 12-auxiliary frame. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0033] Specific implementation method one: Combining Figure 1-4 This embodiment describes a lifting device for simulating underwater submersible restraint, buoyancy, and ice breaking in an ice-filled pool, comprising:

[0034] Lifting module: Used to adjust the position of the support module; the lifting module is used to adjust the speed to simulate the model's floating and ice-breaking behavior at different speeds, and to provide the lifting force required for the model's floating process;

[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 slide rail, and the motion base 4 is slidably disposed within the slide rail. The motion base 4 has a vertical threaded through hole machined on it. The transmission screw 3, disposed along the slide rail, is threadedly connected to the motion base 4 through the threaded hole. The upper end of the transmission screw 3 is connected to the output end of the motor 2 via a gearbox. The gearbox can be fixed to the upper end of the support frame. The motion base 4 is connected to the support module. This invention has a greater lifting capacity, can support larger-sized structural models, and meets the needs of larger-scale model tests, thereby more realistically simulating the icebreaking process and mechanical behavior of underwater submersibles.

[0036] Motor 2 is a servo motor, model DGB50-20, and sensor 10 is a force sensor. This invention has precise speed control. It uses a high-power, high-precision servo motor equipped with the lifting module, combined with a lead screw structure, to precisely adjust the floating and ice-breaking behavior of the model under different speed conditions, ensuring the accuracy of speed control and dynamic adjustment capability during the ice-breaking test.

[0037] Support module: used to place the model; the support module is an L-shaped cantilever structure, mainly used to extend the submersible structural model into the ice a certain distance, to avoid damage to the ice sheet by the lifting device during the test, and at the same time to ensure that the submersible model has sufficient circumferential and vertical floating space.

[0038] The support module includes a vertical extension member 5 and a horizontal extension member 6. One end of the vertical extension member 5 is bolted to the motion base 4, and the other end of the vertical extension member 5 is perpendicularly connected to one end of the horizontal extension member 6 to form an L-shape. The other end of the horizontal extension member 6 is connected to the attitude adjustment module.

[0039] The support module also includes an auxiliary frame 12. The auxiliary frame 12 is bolted to the side of the other end of the horizontal extension member 6. The auxiliary frame 12 is connected to the attitude adjustment module. The auxiliary frame 12 includes two triangular frames, which are set on both sides of the horizontal extension member 6 and the plane formed by the triangular frames is parallel to the horizontal plane. Both the vertical extension member 5 and the horizontal extension member 6 are straight steel frames. The present invention has the integrity of crack propagation. Through the design of the support module, the distance between the model and the ice sheet is ensured to be reasonable, so that the model will not affect the integrity of the ice sheet during the ice breaking process, and can realistically capture the formation and propagation behavior of ice breaking cracks.

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

[0041] The attitude adjustment module includes a hinge seat 7 and two pads 8. The horizontal extension member 6 is rotatably connected to the force measuring module through the hinge seat 7, that is, the other end of the horizontal extension member 6 is fixedly connected to the rotating shaft of the hinge seat 7. The force measuring module is fixedly connected to the bearing seat of the hinge seat 7. The rotating shaft and the inner ring of the bearing seat are interference-fitted. The horizontal extension member 6 is fixedly connected to the force measuring module through the two pads 8. This invention has multi-scenario test adaptability. The tilt angle of the model can be flexibly controlled by the hinge seat and fixed pads to constrain the structural model at different tilt angles to meet the needs of various test scenarios.

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

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

[0044] The length of the horizontal elongation member 6 is greater than or equal to one characteristic length. The horizontal elongation member 6 and the beam base 9 have a horizontal angle α = 70°. To ensure that both ends of the model are as far away from the ice water pool wall as possible and to avoid the influence of boundary effects, 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] In the formula, E is the elastic modulus of ice; υ is the Poisson's ratio of ice; ρ w It represents the density of water; it can also be used to select the range of force sensors.

[0047] The model is a submersible structural model, which adopts a segmented structure, with each segment connected to the crossbeam base 9 via an independent force sensor 10; or the model adopts an integral structure, with the model connected to the crossbeam base 9 via several evenly distributed force sensors 10. This invention has efficient data acquisition capabilities, and the equipped high-precision force sensors can record and analyze the ice load during the icebreaking process in real time; it supports segmented or integral models, and through 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] This invention adopts a modular design, which is highly adaptable. The connection between the lifting module and the test trailer is flexible and adjustable, and it supports multiple installation methods such as welding and bolting, making it easy to apply in different ice water pool test environments. The design is flexible and ingenious, which makes it easy to control costs. Furthermore, the components are easy to disassemble, assemble, maintain, and operate.

[0049] Example 1:

[0050] A lifting device for simulating underwater submersible restraint, buoyancy, and ice breaking in an ice-water pool consists of a lifting module, a support module, an attitude adjustment module, and a fixed force measuring module. In this example, a test trailer spanning the ice-water pool is set above the pool, and the lifting module is mounted on the frame of the test trailer via a slide rail system to achieve stable vertical movement.

[0051] The lifting module mainly consists of a support frame 1, a servo motor 2, a transmission screw 3, and a motion base 4. The support frame 1 is mounted on the test trailer frame via a slide rail system. The support frame 1 is used to fix the lifting module at a certain height above the ice water tank and serves as the basic installation component for the lifting module, requiring sufficient structural strength and rigidity. The servo motor 2 and transmission screw 3 provide driving force for the lifting module and precisely control the movement speed and stroke of the motion base, requiring sufficient lifting power, a suitable reduction ratio, and high-precision speed control capabilities. The selection of key parameters such as the rated power and reduction ratio of the servo motor 2 and transmission screw 3 is mainly based on the lifting capacity required by the lifting device. This lifting capacity is determined by the ice-breaking load of the submersible model during surfacing, and can be calculated using the semi-theoretical, semi-empirical estimation method for the vertical destructive force of the ice layer under the surface contact ice-breaking mode proposed by Kerr.

[0052]

[0053] In the formula, P f σ represents the vertical failure load of the ice layer when a circumferential 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 failure radius. When selecting the range of the force sensor, it is necessary to estimate the ice-breaking load of each model segment. A semi-theoretical and semi-empirical estimation method for the vertical failure 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. It 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 process of surfacing and breaking ice.

[0055] The support module mainly consists of a vertically elongated member 5 and a horizontally elongated member 6, which together form an L-shaped support structure. The vertically elongated 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 reaching a predetermined speed during the upward movement, simulating the uniform upward ice-breaking process. The horizontally elongated member 6 is mainly used to extend the model into the ice sheet area at a certain distance, avoiding interference from the free boundary of the ice sheet and the boundaries of the pool walls on both sides of the model during the upward ice-breaking process. The length of the horizontally elongated member 6 must ensure that the radial cracks generated during the upward ice-breaking process 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 horizontally elongated 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 needs to have sufficient stiffness to avoid significant bending deformation during the test.

[0056] The attitude adjustment module mainly consists of a rotating support shaft and fixed pads 8, used to adjust the tilt angle during the model's ascent. 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 restrict the movement of other degrees of freedom of the model during ascent, so as to ensure that the model floats stably under restraint. 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 tilt angle can be precisely controlled to meet the experimental requirements of different ascent tilt angles.

[0057] The fixed force measurement module includes a crossbeam base 9 and force sensors 10. The crossbeam base 9 is connected to the support module via a rotating support shaft and a fixed pad 8. Its main function is to stabilize the model and transfer the ice load experienced during the ascent to the support module. The crossbeam base must have sufficient rigidity to ensure structural stability when the model is under stress, avoid unexpected motion of the degrees of freedom, and ensure the accuracy of the test results. The force sensors are used to record the load experienced by the model during the ascent and ice-breaking process in real time, and the configuration of the sensors 10 can be flexibly adjusted according to the experimental research objectives. When it is necessary to study the distribution of ice load, the structural model can be processed into segments, and each segment can be connected to the crossbeam base through an independent force sensor to measure the load of each segment separately. When studying the total load, the model can be processed into a whole, and the total load data can be recorded by each force sensor.

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

[0059] In this example, a test trailer spanning the ice-water pool was installed above the pool. The lifting module was mounted on the frame of the test trailer via a sliding rail system to achieve stable vertical movement. In the test, the model size was 5m and the ice thickness was 0.1m, corresponding to the scenario of the prototype 150m long submersible breaking through 3m thick ice. Calculations showed that the maximum ice-breaking force in the test could reach 1000kg. To meet the lifting force requirements and precise speed control requirements, a servo motor 2 of model DGB50-20 with a reduction ratio of 1:1 was selected. The rated output of this 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's buoyancy and ice-breaking test.

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

[0061] According to the design drawings, the vertical extension member 5 and the horizontal extension member 6 are first welded to ensure that the overall structure meets the design length and stiffness requirements; bolts and nuts made of Q345 high-strength steel are used to firmly connect the vertical extension member 5 to the motion base 4; after installation, 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] ③ Installation of the rotating support shaft and the crossbeam base:

[0063] The beam base 9 is installed on the horizontal extension 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 fixing blocks 8 to meet the requirements of different floating angle tests. At the same time, the fixing blocks 8 provide support and fixation for the beam base 9, ensuring that the support structure is in a restrained state throughout the test. The angle between the beam base 9 and the horizontal extension member 6 is 70°.

[0064] ④ Installation of the force sensor:

[0065] The test conditions are based on a segmented model, so multiple force sensors 10 are fixed to the crossbeam base 9 using screws. During installation, it is necessary to ensure that the installation position of the force sensors 10 is accurate and to avoid the sensors being subjected to unnecessary external force interference. The force sensor 10 has a range of 500 kgf, an accuracy of 0.05% FS, an operating temperature range of -20℃ to 80℃, an IP68 protection rating, and a sampling frequency of 100 Hz.

[0066] ⑤ Model installation:

[0067] The underwater vehicle model is connected to the corresponding force sensor 10 in sections with screws to ensure that the connection between the model and the force sensor 10 is firm and to prevent loosening or displacement during the experiment.

[0068] ⑥ Test preparation:

[0069] After all components are installed, a comprehensive inspection of the device is conducted to confirm that the connections between the modules are correct. The vertical movement speed of the lifting module is set according to the test requirements, and servo motor 2 is started to drive the structural model upward with a predetermined acceleration. The model reaches the designed vertical speed before hitting the ice and maintains a uniform upward movement to simulate the upward ice-breaking 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 surfacing and ice-breaking process of an underwater submersible can be achieved, and key load data during the ice-breaking process can be obtained. This invention is widely applicable to various ice-water pool test environments at home and abroad, effectively simulating the restrained surfacing and ice-breaking process of an underwater submersible, providing sufficient installation space and lifting capacity for the submersible model, achieving precise speed control, and ensuring the integrity of the ice sheet during the test, thereby providing necessary support for the research of underwater submersible surfacing and ice-breaking technology.

[0071] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be permuted and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination. Therefore, the present invention will not describe the technical solutions after permutation and combination one by one, but it should be understood that the technical solutions after permutation and combination have been disclosed by the present invention.

[0072] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A lifting device for simulating underwater submersible restraint, buoyancy, and ice breaking in an ice-filled pool, characterized in that: include: Lifting module: Provides the lifting force and speed required for the model to rise; The lifting module includes 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 slide rail. The motion base (4) is slidably arranged in the slide rail of the support frame (1). The motion base (4) has a threaded hole. 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). The motion base (4) is connected to the support module. Support module: The support module includes a vertical extension member (5) and a horizontal extension member (6). One end of the vertical extension member (5) is connected to the motion base (4), and the other end of the vertical extension member (5) is connected to one end of the horizontal extension member (6) to form an L-shape. The vertical extension member (5) is used to place the model at a certain depth below the ice surface to ensure that there is a sufficient distance between the model and the ice surface. The other end of the horizontal extension member (6) is connected to the attitude adjustment module. Attitude adjustment module: used to adjust the tilt angle of the model; The attitude adjustment module includes a hinge seat (7) and two pads (8). The horizontal extension member (6) is rotatably connected to the force measuring module through the hinge seat (7), and the horizontal extension member (6) is connected to the force measuring module through the two pads (8). Force measurement module: used to record the loads applied to the model in real time; The force measuring module includes a crossbeam base (9) and a force sensor (10). The force sensor (10) is installed on the upper part of the crossbeam base (9), and a hinge seat (7) and a pad (8) are connected to the lower part of the crossbeam base (9). The two pads (8) are located on both sides of the hinge seat (7), and the pads (8) are connected to the auxiliary frame (12). The length of the horizontal elongation member (6) is greater than or equal to 1 characteristic length, and the horizontal elongation member (6) has a horizontal angle α with the crossbeam base (9); Feature length L Calculated using the following formula: （1） In the formula, E The elastic modulus of ice; υ Poisson's ratio for ice; ρ w The density of water; h This represents the thickness of the ice layer.

2. A lifting device for simulating underwater submersible restraint, buoyancy, and ice breaking in an ice-filled pool according to claim 1, characterized in that: Motor (2) is a servo motor.

3. A lifting device for simulating underwater submersible restraint, buoyancy, and ice breaking in an ice-filled pool according to claim 2, characterized in that: The support module also includes an auxiliary frame (12), which is provided on the side of the other end of the horizontal extension member (6). The auxiliary frame (12) is connected to the attitude adjustment module.

4. A lifting device for simulating underwater submersible restraint, buoyancy, and ice breaking in an ice-filled pool according to claim 3, characterized in that: The model is a segmented structure, with each segment connected to the beam base (9) via an independent force sensor (10); or the model is an integral structure, with the model connected to the beam base (9) via several evenly distributed force sensors (10).

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