Ice pool test simulation device for free floating icebreaking process of underwater vehicle

Abstract

The invention provides an ice water pool test simulation device for the free floating ice breaking process of an underwater vehicle, and belongs to the technical field of low-temperature dragging ice water pool model tests. The vertical rail is of a U-shaped structure, and the vertical supporting arm and the horizontal supporting arm are matched to form an L-shaped structure, so that the device can effectively reduce lateral shaking of the submersible vehicle in the floating process, and the stability and the deformation resistance of the device in the operation process are guaranteed in cooperation with buoyancy supporting of the rectangular support and the buoyancy device; the test requirements of different working conditions are met; the lifting force and the floating speed of the vertical traction device and the angles and the positions of the L-shaped extension arm and the rotary supporting device can be flexibly adjusted according to test requirements, so that the submersible vehicle model can freely rotate around the rotating shaft within a certain range after touching ice, and the influence of a boundary effect on a test result is avoided. The device comprises a vertical traction device and an L-shaped extension arm, and further comprises a rotary supporting device, a force transducer and a camera.

Description

Technical Field

[0001] The present invention relates to an ice tank test simulation device for the free floating icebreaking process of an underwater vehicle, and specifically belongs to the technical field of cryogenic towing ice tank model tests. Background Art

[0002] The polar sea areas are rich in natural resources and have geographical advantages, with high scientific research value and development potential. The perennial sea ice coverage is the most obvious natural environmental sign in the polar regions. There are huge oil and gas, mineral, biological and hydrological resources hidden under the ice. Countries around the world have developed a large number of underwater vehicles to explore the ice-covered resources. In some special operating scenarios, such as communication, positioning and emergency escape, etc., it is necessary for the underwater vehicle to perform floating icebreaking operations;

[0003] In this process, the underwater vehicle floats up relying on its own buoyancy and is in a free floating state. After encountering the obstruction of the ice cover, the floating attitude of the vehicle will change. To fully study the free floating icebreaking process of the underwater vehicle, it is necessary to truly reproduce the interaction process of the vehicle-ice-water through physical model tests or numerical simulation methods; at present, the free floating icebreaking of the underwater vehicle is mainly studied through numerical simulation and full-scale tests. However, although numerical simulation can provide relatively intuitive results, it depends on complex mathematical models and computing resources, and faces the problem of insufficient simulation accuracy under complex ice zone conditions. In addition, the randomness and non-linearity of the ice layer also limit the prediction ability of the numerical model under specific conditions and are difficult to meet the actual needs. On the other hand, although full-scale tests can intuitively reveal the ice layer damage mode, the force on the vehicle and the influence of relevant parameters, this research method also has many limitations;

[0004] First of all, the cost of full-scale tests is extremely high, including the manufacture of the vehicle, the layout of the test site and the consumption during the operation process, which poses a great challenge to research resources; secondly, full-scale tests are restricted by on-site conditions, such as the climate, ice layer state and environmental restrictions of the test area. These uncontrollable factors may affect the feasibility and repeatability of the test. Moreover, full-scale tests also face the problem of great test difficulty and it is difficult to completely obtain key data such as ice load distribution. Summary of the Invention

[0005] The purpose of the present invention is to provide an ice tank test simulation device for the free floating icebreaking process of an underwater vehicle to solve the problem that the existing model test device can only simulate the floating icebreaking of the underwater vehicle in a fixed attitude.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is: the invention includes a vertical traction device and an L-shaped extension arm, and also includes a rotary support device, a force measuring sensor and a camera;

[0007] On one side of the vertical traction device, there is an L-shaped extension arm. One end of the L-shaped extension arm is connected to a rotary support device. Cameras are arranged on both the upper and lower sides of the vertical traction device. One end of the rotary support device is provided with a camera, and a force sensor is installed on the rotary support device.

[0008] Furthermore, the vertical traction device is installed on the frame of the test trailer through a slide rail system to achieve smooth vertical movement. The structural setting of the L-shaped extension arm reduces the lateral sway during the upward floating of the submersible, ensuring the stability and anti-deformation ability of the device during operation, adapting to the test requirements under different working conditions. The rotary support device enables the device to be flexibly adjusted according to the test requirements and ensures that the submersible model can freely rotate around the rotating shaft within a certain range after touching the ice, simulating the change of the floating state of the submersible during the real upward floating process, being able to cover the test conditions under different ice-breaking working conditions and avoiding the influence of boundary effects on the test results.

[0009] The vertical traction device includes a servo motor, a vertical track, a vertical sliding block, a threaded sliding rod, and a multi-functional sliding groove;

[0010] Inside the vertical traction device, there is a vertical track. Inside the vertical track, a vertical sliding block is embedded. Inside the vertical sliding block, there is a threaded sliding rod. One end of the threaded sliding rod is fixedly connected to the output shaft of the servo motor. The servo motor is fixedly installed on the top surface of the vertical traction device. One side of the vertical sliding block is fixedly installed with a multi-functional sliding groove;

[0011] Furthermore, the servo motor provides sufficient upward lifting force to ensure that the submersible has sufficient ice-breaking ability during the upward ice-breaking process. The servo motor can flexibly adjust the upward floating speed and movement stroke to meet the test requirements, and at the same time ensure the stability of the movement of the entire mechanism during ice-breaking. As the main body of the vertical traction device, the vertical track can effectively reduce lateral sway and improve the vertical movement accuracy, avoiding the deviation during the operation of the lifting arm; the groove reserves installation space inside, which can adapt to sensors or other auxiliary equipment, enhancing the adaptability of the device; the precise control of vertical lifting is achieved through the threaded sliding rod; the multi-functional sliding groove enables the device to have high expandability, allowing for the rapid installation and replacement of different test equipment to meet diverse test requirements.

[0012] The L-shaped extension arm includes a vertical support arm, a horizontal support arm, and a mounting plate;

[0013] One side of the multi-functional sliding groove is installed with a mounting plate. One end of the mounting plate is fixedly connected to the vertical support arm. One end of the vertical support arm is fixedly connected to the horizontal support arm. The vertical support arm and the horizontal support arm cooperate to form an "L" - shaped structure;

[0014] Furthermore, by cooperating with the vertical support arm and the horizontal support arm, the submersible model can be accurately extended into the interior of the model ice sheet area by a certain distance and placed at a set depth below the ice sheet, effectively avoiding the boundary effect interference that may be caused by the free edge of the model ice sheet on the floating icebreaking process.

[0015] The rotating support device includes an inclination measuring device, a beam base, a rectangular bracket, a limiting pad and a buoyancy device;

[0016] An inclination measuring device is fixedly installed in the middle of the end of the horizontal support arm, a beam base is fixedly installed above the inclination measuring device, rectangular brackets are fixedly installed on both sides of the end of the horizontal support arm, limited spacers are arranged on both sides of the rectangular bracket, and a buoyancy device is fixedly installed on the top surface of the beam base;

[0017] Furthermore, the inclination measuring device, as a core rotating and measuring component, provides a free rotation function and records the inclination changes of the submersible in real time during the surfacing process; the beam base can rotate around the rotating support axis through the inclination measuring device, thereby driving the submersible model above to maintain freedom of rotation during the surfacing and icebreaking process; the rectangular bracket can effectively support the beam base, and the geometric characteristic design ensures the stability and deformation resistance of the device during operation; the limit pad is designed to be height-adjustable, which is convenient for controlling the range of rotation angles during the surfacing of the submersible, and can jointly control the initial surfacing inclination angle with the buoyancy device; the buoyancy device provides additional buoyancy for one end of the submersible model to ensure that it is in a predetermined initial inclination state.

[0018] The force sensor is fixedly installed on the crossbeam base, the vertical track is set in a "U"-shaped structure, and the vertical support arm and the horizontal support arm are set with rectangular steel; a circular hole is opened on the mounting plate, and the mounting plate is connected and installed with the multi-functional slide slot through the circular hole;

[0019] Furthermore, after the force sensor 4 is installed, it is necessary to check whether the sensor interface and the wire are connected normally.

[0020] The beneficial effects of the present invention are:

[0021] 1. The vertical track is set as a "U"-shaped structure, and the vertical support arm and the horizontal support arm cooperate to form an "L"-shaped structure, so that the device can effectively reduce the lateral shaking of the submersible during the surfacing process. The buoyancy support of the rectangular bracket and the buoyancy device ensures the stability and deformation resistance of the device during operation, and adapts to the test requirements of different working conditions.

[0022] 2. The lifting force and floating speed of the vertical traction device, as well as the angles and positions of the L-shaped extension arm and the rotary support device, can all be flexibly adjusted according to the test requirements. This setting can ensure that the submersible model can rotate freely around the rotating shaft within a certain range after touching the ice, simulate the change of the floating state of the submersible during the real floating process, cover the test conditions under different ice-breaking working conditions, and avoid the influence of boundary effects on the test results.

[0023] 3. The attitude change of the submersible during the floating process is measured in real time by the inclination measurement device. The device adopts a modular design, and the connection between components is compact and easy to disassemble and assemble. It can quickly adapt to different ice tank environments, and at the same time has good mobility and maintainability, greatly improving the efficiency of test operations. Brief Description of the Drawings

[0024] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 is a schematic diagram of the structure of the vertical traction device of the present invention;

[0026] Figure 3 is a schematic diagram of the structure of the L-shaped extension arm of the present invention;

[0027] Figure 4 is a schematic diagram of the structure of the rotary support device of the present invention;

[0028] Figure 5 is a schematic diagram of the camera mounting structure of the present invention.

[0029] 1. Vertical traction device; 1-1. Servo motor; 1-2. Vertical track; 1-3. Vertical sliding block; 1-4. Threaded sliding rod; 1-5. Multi-functional sliding groove; 2. L-shaped extension arm; 2-1. Vertical support arm; 2-2. Horizontal support arm; 2-3. Mounting plate; 3. Rotary support device; 3-1. Inclination measurement device; 3-2. Beam base; 3-3. Rectangular bracket; 3-4. Limit cushion block; 3-5. Buoyancy device; 4. Force sensor; 6. Camera. Detailed Embodiments

[0030] Next, the technical solutions in the embodiments will be described clearly and completely in conjunction with the attached Figures 1-5 , and the technical solutions in the embodiments will be described clearly and completely.

[0031] Detailed Embodiment 1: As Figures 1-3 shown, the overall device is composed of a vertical traction device 1, an L-shaped extension arm 2, and a rotary support device 3.

[0032] The vertical traction device 1 is composed of a servo motor 1-1, a vertical track 1-2, a vertical sliding block 1-3, a threaded sliding rod 1-4, and a multi-functional sliding groove 1-5.

[0033] A test trailer spanning the ice pool is set above the ice pool. The vertical traction device 1 is installed on the frame of the test trailer through a slide rail system to achieve smooth vertical movement. In this test, the length of the model structure is 5 m, the thickness of the model ice is 10 cm, and the corresponding prototype scale is 150 m in length and 3 m in ice thickness. After calculation, the maximum ice-breaking force in the test can reach 1000 kg. The key parameters of the servo motor 1-1, such as the rated power, maximum speed, and reduction ratio, should be selected according to the above maximum ice-breaking force and experimental conditions.

[0034] The core parameters of the servo motor, such as the rated power, rated speed, and reduction ratio, need to be calculated and selected according to the maximum lifting force of the system to ensure that the lifting arm can operate stably under the condition of meeting the maximum load. According to Kerr (1975), a semi-theoretical and semi-empirical estimation method for the vertical destructive force of ice layers was proposed:

[0035]

[0036] In formula (1), P f is the vertical failure load of the ice layer when the circumferential crack penetrates; σ N is the flexural strength of the ice layer; h is the ice layer thickness; k is a dimensionless constant; R is the ice layer failure radius; L is the characteristic length of the ice layer, which can be calculated by the following formula:

[0037]

[0038] In formula (2), E is the elastic modulus of ice; υ is the Poisson's ratio of ice; ρ w is the density of water.

[0039] First, fix the vertical track 1-2 at the preset installation position to ensure that its verticality meets the design requirements. Calibrate the straightness and verticality of the track through a level and measuring tools to ensure that the error is controlled within ±2 mm. A vertical track 1-2 is provided inside the vertical traction device 1. Embed the vertical sliding block 1-3 into the inside of the vertical track 1-2 so that the vertical sliding block fits tightly with the vertical track to ensure smooth movement on the track without jamming. During the installation process, pay attention to checking the sliding guiding performance of the sliding block and add lubricant if necessary to reduce the frictional resistance.

[0040] Next, pass the threaded sliding rod 1-4 through the middle hole of the vertical sliding block 1-3, so that the vertical sliding block 1-3 is threadedly connected to the threaded sliding rod 1-4, and connect the end of the threaded sliding rod to the gear system of the servo motor 1-1 through a mechanical connection method. Thus, the servo motor 1-1 can drive the threaded sliding rod to rotate. Then, check whether the mechanical connection is firm to avoid looseness or disengagement of the gear system during operation; fixedly install the multi-functional sliding groove 1-5 on the surface of the vertical sliding block 1-3, and the position of the sliding groove needs to be aligned with the reserved circular mounting hole to ensure that the subsequent components can be smoothly connected to the sliding groove. A circular hole is provided on the mounting plate 2-3, and the mounting plate 2-3 is connected and installed through the circular hole with the multi-functional sliding groove 1-5;

[0041] The L-shaped extension arm 2 is composed of a vertical support arm 2-1, a horizontal support arm 2-2, and a mounting plate 2-3. First, process the vertical support arm 2-1 and the horizontal support arm 2-2 using rectangular steel, and splice the two into an L-shaped structure through a welding process. During the welding process, ensure that the welds are uniform and defect-free to enhance the structural strength; then fix the mounting plate 2-3 at the end of the vertical support arm 2-1 by welding. Next, align the circular openings at both ends of the mounting plate with the connection positions of the multi-functional sliding groove 1-5 for subsequent connection adjustment. Use high-strength bolts and nuts to connect the L-shaped extension arm 2 to the multi-functional sliding groove 1-5, ensure that the bolts are completely aligned with the openings, and tighten them one by one. After connection, check the tightening state of the bolts and test whether the extension arm can remain stable during the experiment;

[0042] Specific Embodiment 2: As Figures 4-5 shown, the rotary support device 3 is composed of an inclination measurement device 3-1, a crossbeam base 3-2, a rectangular bracket 3-3, a limit cushion block 3-4, and a buoyancy device 3-5. First, install the inclination measurement device 3-1 at the middle position of the end of the horizontal support arm 2-2 of the L-shaped extension arm, ensure that the connection between the inclination measurement device and the support arm is firm and reliable, and connect the data output interface of the measurement device to the acquisition box for real-time transmission and recording of measurement data; then fix the crossbeam base 3-2 above the inclination measurement device and check whether it can rotate smoothly; then weld the rectangular bracket 3-3 at the end positions on the left and right sides of the horizontal support arm 2-2 to ensure symmetry to improve the support stability; check the welding quality of the rectangular bracket to avoid deformation or deviation of the bracket; install the limit cushion blocks 3-4 on both sides of the rectangular bracket 3-3, and adjust the height of the cushion blocks to control the angle range and the initial inclination angle that the crossbeam base can rotate; finally, install the buoyancy device 3-5 on the crossbeam base 3-2 and check the installation firmness of the buoyancy device 3-5 to ensure that it provides reliable buoyancy support during the test;

[0043] First, firmly install the force sensor 4 on the crossbeam base 3-2 through screws, and check whether the interface and wires of the force sensor 4 are properly connected. Then, align the underwater vehicle model with the installation position of the force sensor 4, ensure that the connection holes at the bottom of the model are aligned with the fixing holes of the force sensor 4, and connect the model to the force sensor 4 using high-strength bolts and washers. Tighten the bolts one by one to ensure a firm connection. According to the requirements of the test design, adjust the angle of the crossbeam base 3-2 through the limit pads 3-4 to calibrate the initial attitude of the model.

[0044] To comprehensively monitor the important phenomena during the upward floating ice-breaking test of the underwater vehicle, the installation of the camera 6 needs to cover the relevant areas above water, underwater, and the attitude of the underwater vehicle. The above-water camera 6 is installed above the overall model and is usually fixed on the crossbeam or support frame of the test device to ensure that the camera 6 can overlook the entire ice cover destruction area. The underwater camera 6 is installed on the support structure below the ice cover, facing the bottom and surrounding areas of the underwater vehicle model to ensure that the ice-touching process of the underwater vehicle model can be clearly photographed. The last camera 6 is installed directly in front of the tilt measurement device 3-1 to photograph the attitude changes of the underwater vehicle from the front angle.

[0045] Before the formal test, adjust the movement speed and stroke of the lifting arm according to the upward floating speed of the test target. After completing all the preparatory work, start the equipment, and the underwater vehicle model stops after floating out of the water by one ice thickness.

[0046] Through the above specific implementation methods, an ice pool test simulation device for the upward floating ice-breaking process of an underwater vehicle can be formed, which can truly reproduce the attitude changes during the upward floating ice-breaking process of the prototype underwater vehicle and accurately measure the structural ice-breaking load and its distribution.

[0047] The above is only a preferred embodiment of the present invention and does not impose any form of limitation on the present invention. Although the present invention has been disclosed above with a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to form an equivalent embodiment with equivalent changes within the scope of the technical solution of the present invention. However, as long as it does not depart from the technical content of the technical solution of the present invention and is based on the technical essence of the present invention, any simple modification, equivalent replacement, and improvement of the above embodiments still fall within the protection scope of the technical solution of the present invention.

Claims

1. An ice-water tank test simulation device for the free-floating icebreaking process of an underwater submersible, comprising a vertical traction device (1) and an L-shaped extension arm (2), characterized in that: It also includes a rotation support device (3), a force sensor (4) and a camera (6); An L-shaped extension arm (2) is installed on one side of the vertical traction device (1), one end of the L-shaped extension arm (2) is connected to a rotating support device (3), cameras (6) are arranged on both upper and lower sides of the vertical traction device (1), one end of the rotating support device (3) is arranged with a camera (6), and a force sensor (4) is installed on the rotating support device (3).

2. The ice water pool test simulation device for the free floating icebreaking process of an underwater submersible according to claim 1 is characterized in that: The vertical traction device (1) comprises a servo motor (1-1), a vertical track (1-2), a vertical sliding block (1-3), a threaded sliding rod (1-4) and a multifunctional sliding groove (1-5); A vertical track (1-2) is provided inside the vertical traction device (1), a vertical sliding block (1-3) is embedded inside the vertical track (1-2), a threaded sliding rod (1-4) is connected inside the vertical sliding block (1-3), one end of the threaded sliding rod (1-4) is fixedly connected to the output shaft of a servo motor (1-1), the servo motor (1-1) is fixedly installed on the top surface of the vertical traction device (1), and a multifunctional sliding groove (1-5) is fixedly installed on one side of the vertical sliding block (1-3).

3. The ice water pool test simulation device for the free floating icebreaking process of an underwater submersible according to claim 1 is characterized in that: The L-shaped extension arm (2) comprises a vertical support arm (2-1), a horizontal support arm (2-2) and a mounting plate (2-3); A mounting plate (2-3) is installed on one side of the multifunctional slide groove (1-5); one end of the mounting plate (2-3) is fixedly connected to a vertical support arm (2-1); one end of the vertical support arm (2-1) is fixedly connected to a horizontal support arm (2-2); the vertical support arm (2-1) cooperates with the horizontal support arm (2-2) to form an "L"-shaped structure.

4. The ice water pool test simulation device for the free ascent and icebreaking process of an underwater submersible according to claim 1 is characterized in that: The rotating support device (3) comprises an inclination measuring device (3-1), a beam base (3-2), a rectangular bracket (3-3), a limiting pad (3-4) and a buoyancy device (3-5); An inclination measuring device (3-1) is fixedly installed in the middle of the end of the horizontal support arm (2-2), a beam base (3-2) is fixedly installed above the inclination measuring device (3-1), rectangular brackets (3-3) are fixedly installed on both left and right sides of the end of the horizontal support arm (2-2), limited spacers (3-4) are arranged on both sides of the rectangular bracket (3-3), and a buoyancy device (3-5) is fixedly installed on the top surface of the beam base (3-2).

5. The ice water pool test simulation device for the free floating icebreaking process of an underwater submersible according to claim 1 is characterized in that: A force sensor (4) is fixedly installed on the crossbeam base (3-2), the vertical track (1-2) is arranged in a "U"-shaped structure, and the vertical support arm (2-1) and the horizontal support arm (2-2) are arranged using rectangular steel.

6. The ice water pool test simulation device for the free floating icebreaking process of an underwater submersible according to claim 1 is characterized in that: A circular hole is provided on the mounting plate (2-3), and the mounting plate (2-3) is connected and mounted with the multifunctional slide groove (1-5) through the circular hole.

Images