Stepping transient test integrated device of water-air cross-medium propeller and test method

Abstract

The invention discloses a stepping transient test integrated device of a water-air cross-medium propeller and a test method, and belongs to the technical field of robots, and the stepping transient test integrated device comprises a cross-medium propeller, a test platform fixing frame, a thrust test force arm adjusting frame, a propeller position adjusting assembly, a frame connecting assembly and a pressure sensor. One end of the thrust test force arm adjusting frame is fixed with the test platform fixing frame, and the other end is connected with the cross-medium propeller. By adjusting the height of the cross-medium thruster, the thrust / tension change of the propeller in the cross-medium process is simulated, the influence of water-air three-phase relative thruster power is tested, and quantitative testing of the cross-medium capacity of the thruster is achieved. By adjusting the position of the pressure sensor between the thrust test force arm adjusting frame and the test platform fixing frame, the thrust grade test of the cross-medium propeller is realized. The device is high in flexibility, large in test range and high in test precision, can test the performance change of the water-air transboundary process propeller, and has high practical value.

Description

Technical Field

[0001] This invention relates to a thrust testing device, and more particularly to an integrated device for stepping transient testing of a water-air transmedia thruster, belonging to the fields of robotics and propulsion technology. Background Technology

[0002] With increasing demands for mobility in fields such as marine exploration, maritime rescue, and underwater inspection, amphibious robots are gaining attention due to their ability to operate across water, air, and land media. As a key propulsion unit for amphibious robots, the water-air-land cross-media thruster plays a decisive role in their mobility. To enhance the stability and safety of cross-media thrusters, reduce power consumption, and improve efficiency, it is necessary to monitor the actual power output in different media or during cross-media processes. For drive schemes with a single motor and separate air and underwater propellers on both sides, thrust testing must simultaneously meet the requirements of both underwater and surface propulsion, as well as the thrust variation testing requirements during cross-media processes. However, the propulsion structure of the thruster makes it difficult for existing testing platforms to simultaneously meet these requirements, and the significant difference in thrust between the underwater and air propellers further necessitates greater flexibility from the thrust testing platform.

[0003] The existing thruster testing platform has the following problems: (1) Existing propeller test platforms are mainly based on single propellers. For example, test platforms with air propellers and underwater propellers on both sides of the motor cannot meet the needs of testing two media and cross-media process testing at the same time. There is still room for development and improvement. A thrust comparison test platform for cross-media propellers crossing the water-air interface has not yet been developed. For the case of water-air propellers with different thrust magnitudes and three-phase mixing at the water-air interface, a test platform that can flexibly adapt to thrust testing is needed to complete the test.

[0004] (2) The test platform for cross-medium thrusters has many problems and is difficult to meet the thrust testing requirements of the above-mentioned thrusters. Most existing water-air thrust test platforms adopt fixed sensors and direct force measurement methods, which have poor adaptability. They cannot achieve accurate measurement of two types of thrust on one platform, nor can they test the influence of mixed media on propeller thrust. Furthermore, they cannot simulate the thrust change of propellers during cross-medium processes and cannot achieve thrust testing of propellers under different immersion levels.

[0005] (3) Loss of adjustment function: Although some test platforms use the lever principle method to test signals, the amplification factor cannot be adjusted according to the thrust level because the lever arm length is fixed. The fixed design increases the test cost and the complexity of operation.

[0006] Therefore, in view of the above situation, there is an urgent need to develop a cross-medium thruster test platform that can simultaneously test a wide range of thrust and a small range of high-precision thrust, and can adapt to cross-medium testing. This would solve the shortcomings of existing thrusters in terms of poor thrust adaptability and insufficient flexibility. Summary of the Invention

[0007] This invention is mainly applicable to addressing the shortcomings of existing thrust testing platforms in terms of adaptability and flexibility. It proposes a thrust testing platform that can simultaneously test underwater propellers, airborne propellers, and propeller performance changes across media, thereby improving the flexibility of thrust testing and the adaptability of thrust level testing.

[0008] This invention proposes an integrated device for stepping transient testing of a water-air cross-medium thruster, comprising a test platform fixed frame, a thrust testing lever arm adjustment frame, a thruster position adjustment component, and a pressure sensor. The test platform fixed frame is located on the lower layer of the device, providing support for the thrust testing lever arm adjustment frame. The thrust testing lever arm adjustment frame is installed on the upper layer of the device, with one side connected to the test platform fixed frame and the other side connected to the cross-medium thruster to be tested via the thruster position adjustment component. The pressure sensor is connected between the test platform fixed frame and the thrust testing lever arm adjustment frame. The thrust testing lever arm adjustment frame converts the power of the cross-medium thruster into the mechanical response of the pressure sensor through the lever principle. The thrust testing lever arm adjustment frame gradually adjusts the height of the cross-medium thruster above the water surface via the thruster position adjustment component, testing the influence of different media such as air / water / water-air mixture on the thrust / thrust of the propeller during water entry, thereby completing the test of the thruster's cross-medium capability. By adjusting the horizontal position of the pressure sensor, the lever arm size is adjusted, completing the test of the thruster's power level.

[0009] This invention also provides a method for stepping transient testing of a water-air transmedia thruster, the method being implemented using the aforementioned integrated stepping transient testing device, and the method comprising the following steps: S1: Assemble the integrated step transient test device and place the entire device into the water tank, so that the test platform fixing frame is submerged in the water but does not touch the bottom of the water tank; S2: By step adjustment, the cross-medium thruster is installed at a set height in the integrated test device and its height from the water surface is gradually changed by the thruster position adjustment component to simulate the process of the thruster crossing the water-air interface. The influence of different media such as air / water / water-air mixture on the propeller thrust / pull during the water entry process is tested. The thrust / pull data of the cross-medium thruster at multiple heights are recorded to obtain the performance changes of the thruster during the cross-medium process. S3: Adjust the cross-medium thruster to the set air working altitude and underwater working altitude by adjusting the thruster position adjustment component, change the power level of the cross-medium thruster, adjust the lever arm size by adjusting the installation position of the pressure sensor, and test the power level of the cross-medium thruster.

[0010] Preferably, step S2 includes the following steps: S21 conducts a test on the effect of a single air medium on propeller thrust / pull: Select the lever arm size according to the required pull range, and install a pressure sensor at the corresponding position of the lever arm. Adjust the height of the cross-medium thruster until the air propeller of the cross-medium thruster reaches the set air working height, fix the cross-medium thruster, start the air propeller of the cross-medium thruster, record the pressure sensor data, and calculate the pull force according to the lever principle; gradually lower the height of the cross-medium thruster until the underwater propeller of the cross-medium thruster is close to the water surface and perform multiple tests, recording the data; S22 conducts a test on the impact of the cross-medium process of air entering water on propeller thrust / pull: When the underwater propeller of the cross-medium thruster is close to the water surface, the lever arm size is selected according to the required pull range, and a pressure sensor is installed at the corresponding position of the lever arm. The air propeller of the cross-medium thruster is started, the pressure sensor data is recorded, and the pull magnitude is calculated according to the lever principle. The height of the cross-medium thruster is gradually lowered until the air propeller of the cross-medium thruster is just close to the water surface. Multiple sets of data are recorded. After the test is completed, the height of the cross-medium thruster is adjusted until the underwater propeller rises back to the position where it is just submerged. S23 Conduct a test on the effect of a single water medium on propeller thrust / thrust: Select the lever arm size according to the thrust range to be tested, install a pressure sensor at the corresponding position of the lever arm, start the underwater propeller, record the pressure sensor data, and calculate the thrust based on the lever principle; gradually lower the height of the cross-medium propeller until the aerial propeller of the cross-medium propeller is just completely submerged and conduct multiple tests, recording the data; S24 Tests the impact of the cross-medium process from water to air on propeller thrust / thrust: When the air propeller of the cross-medium thruster is just fully submerged, select the lever arm size according to the required thrust range, install a pressure sensor at the corresponding position of the lever arm, start the underwater propeller of the cross-medium thruster, record the pressure sensor data, and calculate the thrust based on the lever principle; gradually increase the height of the cross-medium thruster until the underwater propeller is just fully submerged and perform multiple tests, recording the data; adjust the cross-medium thruster until the air propeller is just above the water surface, select the lever arm size according to the required thrust range, install a pressure sensor at the corresponding position of the lever arm, start the air propeller of the cross-medium thruster, gradually increase the height of the cross-medium thruster until the air propeller reaches the set height in the air and perform multiple sets of tests, record the pressure sensor data, and calculate the thrust to test the impact of water droplets carried by the air propeller during the water exit process on the air propeller; S25 generates thrust / pull-height curves under single-medium and mixed-medium conditions based on multiple sets of recorded thrust / pull and height data, thus obtaining the performance changes of the cross-medium thruster under the influence of single and mixed media.

[0011] Compared with the prior art, the present invention has the following effects: (1) The position of the thruster can be freely adjusted, which overcomes the problem that the existing thrust testing device cannot be compatible with the two working states of the thruster at the same time. By gradually adjusting the height of the thruster from the water surface, the process of the thruster crossing the medium is simulated. It can not only complete the propeller performance test under the influence of a single medium, but also test the influence of the three-phase mixing zone of the water surface on the thruster performance during the process of crossing the medium. The performance test of the thruster during the process of crossing the medium is completed through step-by-step transient test.

[0012] (2) This invention overcomes the problem of low adaptability of existing thrust testing devices. Based on the lever principle, by changing the length of the lever arm, it can complete the testing of different thrust levels. It can perform some tests with a large range and high values, as well as tests with a small range and high precision. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of an integrated device for stepping transient testing of a water-air cross-medium propulsion system according to the present invention; Figure 2 This is a schematic diagram of the frame connection component structure of the integrated step transient testing device of the present invention; Figure 3 This is a schematic diagram of the thruster position adjustment component of the integrated step transient testing device of the present invention; Figure 4 This is a partial schematic diagram of the thruster position adjustment component of the integrated step transient testing device of the present invention; Figure 5 This is a mechanical schematic diagram of the integrated step transient testing device of the present invention.

[0014] The reference numerals in the attached drawings are explained as follows: 1. Transmedium thruster; 2. Test platform fixing frame; 3. Thrust test lever arm adjustment frame; 4. Pressure sensor; 5. Frame connection assembly; 6. Pin; 7. Shaft; 8. Panel; 9. Motor fixing block; 10. Support block; 11. Air propeller; 12. Underwater propeller; 13. Pressure sensor mounting hole. Detailed Implementation

[0015] The present invention will be further described and illustrated below with reference to specific embodiments. The embodiments described are merely examples of the content of this disclosure and do not limit the scope of the invention. The technical features of each embodiment in the present invention can be combined accordingly, provided that there is no mutual conflict.

[0016] This invention discloses an integrated stepping transient testing device for a water-air cross-medium propeller. By stepping and adjusting the height position of the propeller, the device simulates the cross-medium process of the propeller, enabling the same testing device to perform thrust / thrust tests on both airborne and underwater propellers, as well as performance changes during the cross-medium process. This completes the overall testing of the propeller under the influence of single and mixed media. Simultaneously, a thrust testing lever arm adjustment frame acts as the testing lever arm for the propeller's power. In conjunction with the lower testing platform fixed frame, it enables multi-position adjustment of the pressure sensor, thereby achieving lever arm adjustability to adapt to tests of different thrust levels.

[0017] Firstly, through Figure 3 and Figure 4 The cross-medium thruster 1 tested in this embodiment is described as follows: The cross-medium thruster 1 tested in this embodiment includes an air propeller 11, an underwater propeller 12, an air bearing housing, an underwater bearing housing, and a motor. The air propeller and the underwater propeller are connected to the motor through one-way bearings in the air bearing housing and the underwater bearing housing, respectively, to achieve interlocking between the air propeller and the underwater propeller. That is, when testing the thrust in the air working state, the motor rotates forward, the air propeller rotates, and the underwater propeller is locked; when testing the thrust in the water working state, the motor rotates in reverse, the underwater propeller rotates, and the air propeller is locked.

[0018] Figure 1 , Figure 2 and Figure 3 The present invention provides an integrated device for stepping transient testing of a water-air cross-medium thruster, comprising: a test platform fixing frame 2, a thrust test arm adjustment frame 3, a pressure sensor 4, a frame connecting assembly 5, a pin 6, a shaft 7, a panel 8, a motor fixing block 9, a support block 10, and a pressure sensor mounting hole 13.

[0019] like Figure 1 and Figure 2 As shown, the test platform fixing frame 2 is located on the lower layer of the device and consists of several rods of different lengths. The overall shape is grooved and primarily serves to fix the platform. Its two wing-shaped frames support the device against the edge of the pool, allowing the device to be partially immersed without touching the bottom. The thrust test arm adjusting frame 3 is perpendicular to the test platform fixing frame 2 and located on the upper layer of the device. Its left end is connected to the test platform fixing frame 2 via a frame connecting assembly, and its right end is connected to the cross-medium thruster 1 via a thruster position adjusting assembly. The thrust test arm adjusting frame 3 acts as the arm and cooperates with the test platform fixing frame 2 to fix the pressure sensor 4. Three threaded holes, equidistant from each other, are provided on the crossbar in the middle of the groove of the test platform fixing frame 2 and on the crossbeam of the thrust test arm adjusting frame 3 as pressure sensor mounting holes 13. The threaded holes are positioned vertically and vertically, and the pressure sensor 4 is fixed between two pressure sensor mounting holes 13 at the same horizontal position using screws. When the device is working, the thrust test lever arm adjustment frame 3 converts the power of the cross-medium thruster 1 into the mechanical response of the pressure sensor 4 through the lever principle, so as to complete the power level test of the cross-medium thruster 1.

[0020] like Figure 2 As shown, the frame connecting assembly 5 includes a pin 6, a shaft 7, and two L-shaped connecting panels. The two connecting panels are respectively connected and fixed to the test platform fixing frame 2 and the thrust test lever arm adjusting frame 3 by screws. The two connecting panels are connected by the shaft 7, with the pin 6 inserted at the rear end. The hole that mates with the shaft 7 tapers at the front end to prevent horizontal movement of the shaft 7. The frame connecting assembly 5 serves both to connect the upper and lower frames and as an extension of the lever arm of the thrust test lever arm adjusting frame 3, providing a lever arm fulcrum and utilizing the lever principle to measure the thrust. Furthermore, the design of the frame connecting assembly 5 of this invention meets the flexible installation requirements of the testing device. At the end of the test, it can be quickly disassembled for easy storage and movement, increasing the portability of the device.

[0021] In this embodiment, the thrust test lever arm adjustment frame 3 can rotate around the axis 7 within a certain range as the tension increases.

[0022] The thruster position adjustment assembly includes a panel 8, a motor mounting block 9, and a support block 10. The support block 10 is positioned between the underwater bearing housing of the transmedium thruster 1 and the motor mounting block 9 to support the transmedium thruster 1. The panel 8 is grid-shaped, and the motor mounting block 9 is bolted to both the support block 10 and the panel 8. When it is necessary to change the height of the transmedium thruster 1, the bolts between the motor mounting block 9 and the panel 8 are removed, the panel 8 is adjusted to the appropriate grid position, and then secured with bolts.

[0023] The device of this invention is an integrated testing device that can perform both thrust and tensile tests, such as... Figure 5 As shown, when testing an airborne propeller, the propeller provides lift, so a thrust test can be performed while it is in the air. When testing an underwater propeller, the propeller's thrust is downward, so a thrust test is performed.

[0024] This invention also provides a method for step transient testing of a water-air transmedia thruster, implemented using the aforementioned integrated device for step transient testing of a water-air transmedia thruster. The method includes the following steps: S1: Assemble the test apparatus, install the transmedium thruster 1 onto the test apparatus via the thruster position adjustment assembly, and place the entire apparatus into the water tank, ensuring that the test platform fixing frame 2 is submerged in the water but not in contact with the bottom of the tank; specifically: S11 Fix the left side of the middle part of the test platform fixing frame 2 to the connecting panel with screws; Place the thrust test arm adjustment frame 3 perpendicular to the test platform fixing frame 2 above the groove of the test platform fixing frame 2, and fix its left side to another connecting panel with screws; Insert the shaft 7 into the holes of the two connecting panels, and insert the pin 6 at the rear end of the shaft 7 to cooperate with the tapered hole at the front end of the connecting panel to prevent the shaft 7 from moving horizontally. S12 Connect the motor fixing block 9 to the grid on the panel 8 with bolts, then push one end of the support block 10 against the underwater bearing seat of the transmedium thruster 1, and connect the other end to the motor fixing block 9 with bolts, thereby fixing the transmedium thruster 1. S13 The integrated testing device is placed in the water tank, and the wing-shaped frame of its testing platform fixing frame 2 is supported on the side of the water tank. The groove part is immersed in the water tank but does not contact the bottom of the water tank.

[0025] S2: By using a step-by-step adjustment method, the cross-medium thruster 1 is installed at a suitable height on the test device, and its height above the water surface is gradually changed to simulate the process of the thruster crossing the water-air interface. The influence of different media such as air / water / water-air mixture on the propeller thrust / thrust during the water entry process is tested. Height and thrust / thrust data at multiple locations are recorded, and the data are compared and analyzed to analyze the performance changes of the thruster during the cross-medium process; specifically: S21 Conducts a single air medium effect test on propeller thrust / pull: Select an appropriate lever arm size based on the approximate range of the pull force to be tested, adjust the pressure sensor 4 to the appropriate pressure sensor mounting hole 13 on the test platform fixing frame 2 and the thrust test lever arm adjustment frame 3, and fix the pressure sensor 4; change the position of the motor fixing block 9 on the panel 8 to adjust the height of the transmedium thruster 1 until its aerial propeller 11 reaches the set aerial working height, avoiding water splashes affecting the aerial propeller test, fix the transmedium thruster 1, start the aerial propeller 11 of the transmedium thruster 1 for testing, observe and record the pressure sensor data, and calculate the pull force based on the lever principle; gradually lower the height of the transmedium thruster 1 until the underwater propeller 12 of the transmedium thruster 1 is close to the water surface, repeat the above operation for multiple tests, record the data and compare them; S22 Conduct a test on the effect of the cross-medium process from air to water on the propeller thrust / pull: When the underwater propeller 12 of the cross-medium thruster 1 is close to the water surface, select an appropriate lever arm size according to the approximate range of the pull force to be tested, and install the pressure sensor 4 at the corresponding position. Start the air propeller 11 of the cross-medium thruster 1, record the pressure sensor data, and calculate the pull force according to the lever principle; gradually lower the position of the motor fixing block 9 on the panel 8 to lower the height of the cross-medium thruster 1 until the air propeller 11 of the cross-medium thruster 1 is just close to the water surface. Repeat the above operation for multiple tests, record the data and compare them. After the test is completed, adjust the height of the cross-medium thruster 1 until the underwater propeller 12 rises back to the position where it is just submerged. S23 Conduct a test on the effect of a single water medium on propeller thrust / thrust: Select an appropriate lever arm size according to the approximate range of the thrust to be tested, adjust the pressure sensor 4 to the appropriate pressure sensor mounting hole 13 of the test platform fixed frame 2 and the thrust test lever arm adjustment frame 3, and fix the pressure sensor 4; start the underwater propeller 12 to conduct the test, observe and record the pressure sensor data, and calculate the thrust size according to the lever principle; gradually lower the height of the cross-medium thruster 1 until the air propeller 11 of the cross-medium thruster 1 is just completely submerged, repeat the above operation to conduct multiple tests, record the data and compare them; S24 Test the effect of the cross-medium process from water to air on the propeller thrust / thrust: When the underwater propeller 12 of the cross-medium thruster 1 is just fully submerged, select an appropriate lever arm size according to the approximate range of the thrust to be tested, and install the pressure sensor 4 at the corresponding position. Start the underwater propeller 12 of the cross-medium thruster 1, record the pressure sensor data, and calculate the thrust based on the lever principle; gradually raise the position of the motor fixing block 9 on the panel 8 to raise the height of the cross-medium thruster 1 until the underwater propeller 12 of the cross-medium thruster 1 is just fully submerged. Repeat the above operation for multiple tests, record the data, and compare them; since the air propeller 11 will carry water droplets during the water exit process, these water droplets will also affect the performance of the air propeller 11. Therefore, continue to adjust the transmedium thruster 1 until the air propeller 11 is just above the water surface. Select an appropriate lever arm size according to the approximate range of the required test thrust, and install the pressure sensor 4 at the corresponding position. Start the air propeller 11 of the transmedium thruster 1, and gradually raise the height of the transmedium thruster 1 until the air propeller 11 of the transmedium thruster 1 reaches the set height in the air and perform multiple sets of tests. Record the data of the pressure sensor 4, calculate the thrust magnitude and compare it. Based on the recorded multiple sets of thrust / pull and height data, S25 generates thrust / pull-height curves for single and mixed media, and analyzes the performance changes of the transmedium thruster 1 under the influence of single and mixed media.

[0026] S3: After the test is completed, the device is removed from the water tank, dried, and then the thrust test arm adjustment frame 3 and the cross-medium thruster 1 are quickly disassembled and properly stored through the frame connection component 5 and the thruster position adjustment component.

[0027] This device can also select an appropriate lever arm size to complete different levels of propeller thrust tests according to test needs, adjust the transmedium thruster 1 to reach the set air working altitude and underwater working altitude respectively, switch different power levels of the transmedium thruster 1, select an appropriate lever arm size, and test the power level of the transmedium thruster 1.

[0028] This invention, from a practical application perspective and considering the current development status and trends of amphibious robots, as well as technologies in the field of propellers, innovatively proposes a cross-medium propeller testing platform based on the lever principle and featuring an adjustable test lever arm. This platform can meet the testing requirements of both aerial and underwater propellers. Furthermore, by gradually adjusting the height of the underwater propeller above the water surface, it can simulate the cross-medium process of the propeller, allowing for testing of propeller performance in both single-medium and cross-medium processes. Simultaneously, the length of the test lever arm can be adjusted according to the thrust testing level requirements, improving the adaptability and flexibility of the propeller testing platform.

[0029] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. Those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A step transient test integrated device for water-air cross-medium propeller, characterized in that, The device includes a test platform fixed frame (2), a thrust test lever arm adjustment frame (3), a thruster position adjustment assembly, and a pressure sensor (4). The test platform fixed frame is located on the lower layer of the device and provides support for the thrust test lever arm adjustment frame (3). The thrust test lever arm adjustment frame (3) is installed on the upper layer of the device, with one side connected to the test platform fixed frame (2) and the other side connected to the cross-medium thruster (1) to be tested via the thruster position adjustment assembly. The pressure sensor (4) is connected between the test platform fixed frame (2) and the thrust test lever arm adjustment frame (3). The thrust test lever arm adjustment frame (3) converts the power of the cross-medium thruster (1) into the mechanical response of the pressure sensor (4) through the lever principle; the thrust test lever arm adjustment frame (3) gradually adjusts the height of the cross-medium thruster (1) above the water surface through the thruster position adjustment component on one side, and tests the influence of different media such as air / water / water-air mixture on the thrust / thrust of the propeller during the water entry process, thereby completing the test of the cross-medium capability of the thruster; by adjusting the horizontal position of the pressure sensor (4), the lever arm size is adjusted, and the power level test of the thruster is completed.

2. The apparatus of claim 1, wherein, The test platform fixing frame (2) is set in the lower layer of the device and is composed of several rods of different lengths. The whole is in the shape of a groove. The wing-shaped frames on both sides are used to support the entire device, so that the main body of the device is suspended in the water pool. The bottom crossbar of the groove of the test platform fixing frame (2) is provided with three threaded holes at equal intervals as pressure sensor mounting holes (13).

3. The apparatus according to claim 2, characterized in that, The thrust test lever arm adjustment frame (3) is horizontally positioned above the groove of the test platform fixed frame (2). It is a square hollow frame with three threaded holes equidistantly arranged on its frame beam as pressure sensor mounting holes (13), which correspond one-to-one with the threaded holes at the bottom of the test platform fixed frame (2). These holes are used to adjust the installation position of the pressure sensor (4) and thus adjust the lever arm size.

4. The apparatus according to claim 1, characterized in that, The thruster position adjustment assembly includes two grid-shaped panels (8), a motor fixing block (9), and a support block (10). The panels (8) are fixed to the end of the thrust test arm adjustment frame (3) away from the test platform fixing frame (2). The support block (10) is inserted between the underwater bearing seat of the cross-medium thruster (1) and the motor fixing block (9), and cooperates with the underwater bearing seat to support the cross-medium thruster (1). The motor fixing block (9) is connected to the panels (8) and the support block (10) by bolts, and is used to fix the motor of the cross-medium thruster (1). The height position of the cross-medium thruster (1) is adjusted by the grid on the panels (8) to switch the cross-medium thruster (1) to work in air, water and water-air mixture.

5. The apparatus according to claim 1, characterized in that, It also includes a frame connection assembly, which includes a shaft (7), a pin (6) and two connection panels. The two connection panels are respectively connected to the test platform fixed frame (2) and the thrust test arm adjustment frame (3) by screws. The two connection panels are connected by a shaft (7). The pin (6) is inserted into one end of the shaft (7) to prevent the shaft (7) from sliding left and right.

6. The apparatus according to claim 5, characterized in that, The thrust test arm adjustment frame (3) rotates around the axis (7) as the tension increases.

7. The apparatus according to claim 5, characterized in that, The thrust test lever arm adjustment frame (3) can be quickly assembled and disassembled through the frame connection components.

8. The apparatus according to claim 1, characterized in that, The pressure sensor (4) is connected between the test platform fixed frame (2) and the thrust test arm adjustment frame (3) by a screw.

9. A method for stepping transient testing of a water-air transmedia thruster, wherein the method is implemented using the integrated stepping transient testing device described in any one of claims 1-8, characterized in that, The method includes the following steps: S1: Assemble the step transient test integrated device and put the whole device into the water pool so that the test platform fixed frame (2) is immersed in the water but does not touch the bottom of the water pool; S2: By step adjustment, the cross-medium thruster (1) is installed at the set height of the test integrated device and its height from the water surface is gradually changed by the thruster position adjustment component to simulate the process of the thruster crossing the water-air interface. The influence of different media such as air / water / water-air mixture on the propeller thrust / pull during the water entry process is tested. The thrust / pull data of the cross-medium thruster at multiple heights are recorded to obtain the performance change of the thruster during the cross-medium process. S3: Adjust the cross-medium thruster (1) to the set working height in the air and underwater by adjusting the thruster position adjustment component, change the power level of the cross-medium thruster (1), adjust the lever arm size by adjusting the installation position of the pressure sensor (4), and test the power level of the cross-medium thruster (1).

10. The step transient test method according to claim 9, characterized in that, Step S2 includes the following steps: S21 Conduct a test on the effect of single air medium on propeller thrust / pull: Select the lever arm size according to the required pull range, and install a pressure sensor (4) at the corresponding position of the lever arm. Adjust the height of the transmedium thruster (1) until the air propeller (11) of the transmedium thruster (1) reaches the set air working height. Fix the transmedium thruster (1), start the air propeller (11) of the transmedium thruster (1), record the pressure sensor data and calculate the pull force according to the lever principle. Gradually lower the height of the transmedium thruster (1) until the underwater propeller (12) of the transmedium thruster (1) is close to the water surface and perform multiple tests, and record the data. S22 Conduct a test on the effect of the cross-medium process from air to water on the propeller thrust / pull: When the underwater propeller (12) of the cross-medium thruster (1) is close to the water surface, select the lever arm size according to the required pull range, and install a pressure sensor (4) at the corresponding position of the lever arm. Start the air propeller (11) of the cross-medium thruster (1), record the pressure sensor data, and calculate the pull size according to the lever principle. Gradually lower the height of the cross-medium thruster (1) until the air propeller (11) of the cross-medium thruster (1) is just close to the water surface. Record multiple sets of data. After the test is completed, adjust the height of the cross-medium thruster (1) until the underwater propeller (12) rises back to the position where it is just submerged. S23 Conduct a test on the effect of a single water medium on the propeller thrust / pull: Select the lever arm size according to the thrust range to be tested, and install a pressure sensor (4) at the corresponding position of the lever arm. Start the underwater propeller (12), record the pressure sensor data, and calculate the thrust size according to the lever principle. Gradually lower the height of the cross-medium thruster (1) until the air propeller (11) of the cross-medium thruster (1) is just completely submerged and conduct multiple tests, recording the data. S24 Test the effect of the cross-medium process from water to air on the propeller thrust / thrust: When the air propeller (11) of the cross-medium thruster (1) is just fully submerged, select the lever arm size according to the thrust range to be tested, and install the pressure sensor (4) at the corresponding position of the lever arm. Start the underwater propeller (12) of the cross-medium thruster (1), record the data of the pressure sensor (4) and calculate the thrust according to the lever principle; gradually raise the height of the cross-medium thruster (1) until the underwater propeller (12) of the cross-medium thruster (1) is just fully submerged and perform multiple tests, and record the data; Adjust the transmedium thruster (1) until the air propeller (11) is just above the water surface. Select the lever arm size according to the required test pull range and install the pressure sensor (4) at the corresponding position of the lever arm. Start the air propeller (11) of the transmedium thruster (1) and gradually raise the height of the transmedium thruster (1) until the air propeller (11) of the transmedium thruster (1) reaches the set height in the air and perform multiple sets of tests. Record the data of the pressure sensor (4) and calculate the thrust to test the effect of the water droplets carried by the air propeller (11) on the air propeller (11) during the water discharge process. S25 Based on the recorded multiple sets of thrust / pull and height data, thrust / pull-height curves under single medium and mixed medium are generated to obtain the performance changes of the cross-medium thruster (1) under the influence of single medium and mixed medium.

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