An underwater vehicle ice-breaking lifting device and method suitable for an irregular structure

Abstract

The application relates to a lifting device and method for the floating of an underwater submersible with a broken ice top and suitable for an irregular structure, and belongs to the technical field of low-temperature towed ice water pool model tests. The lifting device comprises a lifting frame body, a supporting base and a sensor, the supporting base is provided with the sensor, the supporting base is connected with the lifting frame body, the supporting base comprises a supporting frame connected with the lifting frame body, the supporting frame is provided with a cross beam, and the cross beam is provided with the sensor; the sensor is provided with an irregular structure through a cushion block; the cushion block comprises one end of a driving structure connected with the sensor and the other end of the driving structure connected with the irregular structure. When the lifting device is used, the offset caused by the uneven mass distribution of the irregular structure can be effectively offset, the installation requirements of irregular structures with different widths and shapes can be quickly adapted, and the consistency of the initial state of the test loading and the accuracy of the test results are ensured.

Description

Technical Field

[0001] This invention relates to an ice-breaking and lifting device, belonging to the technical field of low-temperature towed ice-water pool model test. Background Technology

[0002] With the deepening of polar scientific research, resource exploration, and environmental monitoring, the demand for submersibles capable of autonomous operation in polar environments is rapidly increasing. The ability to surface and break ice has become one of the key technical indicators affecting mission completion rates and equipment safety. Sea ice is a typical heterogeneous, discontinuous, and anisotropic quasi-brittle material, and its failure process is highly nonlinear, often accompanied by irregular crack propagation and fracture. The process of a submersible surfacing and breaking ice involves typical strong ice-structure coupling interactions, including a series of complex physical processes such as ice crack propagation and structural response. The structural form of the submersible significantly affects the mode and efficiency.

[0003] Current research on the structural performance of underwater submersibles for surfacing and breaking ice mainly relies on field tests, numerical simulations, and model tests. However, the first two methods have significant limitations. Field tests are greatly affected by the environment, are costly, and make it difficult to systematically control key parameters. While numerical simulations are flexible, they often depend on reasonable numerical models and cannot fully reflect the discontinuous nature of ice breaking and the complex dynamic interactions between the structure and the ice layer. This results in insufficient accuracy and limited reliability of structural optimization results, especially since the effects of different structural forms on the ice layer lack reasonable simulation of this process. The invention, with publication number CN121347012A and titled "Spatiotemporal Distribution Test System for Ice-Breaking Load on Underwater Irregular Structure Surface," discloses a system comprising a flexible high-density distributed pressure sensor array, a high-speed synchronous data acquisition module, an underwater data transmission system, and a shore-based data processing platform. The flexible high-density distributed pressure sensor array is attached to the surface of the underwater target irregular structure. The high-speed synchronous data acquisition module is installed inside a sealed chamber within the underwater target irregular structure, close to the flexible high-density distributed pressure sensor array, for digitization. The underwater data transmission system facilitates communication between the high-speed synchronous data acquisition module and the shore-based data processing platform. The shore-based data processing platform reconstructs and visualizes the pressure field of the underwater target irregular structure. This invention can obtain more comprehensive and accurate ice-structure interaction load information, serving refined structural design. However, in model tests, the ice-contact process of irregular structures is more complex and has short-term characteristics compared to regular structures, leading to uneven stress on the overall structure and affecting the accuracy of the test results. Currently, there is no effective lifting device in existing ice-water pool laboratories to simulate the ice-breaking process of irregular structures.

[0004] Therefore, there is an urgent need to propose a device and method for surfacing and breaking ice to lift underwater vehicles with irregular structures, so as to solve the above-mentioned technical problems. Summary of the Invention

[0005] To address the aforementioned problems, a device and method for surfacing and breaking ice to lift underwater vehicles with irregular structures are provided. A brief overview of the invention is given below to provide a basic understanding of certain aspects of the invention. It should be understood that this overview is not an exhaustive 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] An ice-breaking lifting device for an underwater submersible with an irregular structure includes: a lifting frame, a support base, and sensors. The support base is equipped with sensors and is connected to the lifting frame. The support base includes: a support frame connected to the lifting frame, a crossbeam on the support frame, and sensors placed on the crossbeam. The sensor has an irregularly shaped structure installed via a pad; The pad includes: one end of the drive structure is connected to the sensor, and the other end of the drive structure is connected to the irregular structure.

[0008] Preferably, the support base also includes a diagonal bracing structure. The support base is a square frame structure with diagonal bracing.

[0009] Preferably, the two beams in the first direction of the support base are provided with sliding grooves, and the sliders at both ends of the crossbeam are respectively set in the sliding grooves.

[0010] Preferably, there are two or more crossbeams, and each crossbeam has a sensor in the middle or a sensor at each end.

[0011] Preferably, the sensor is a force sensor, and each sensor is equipped with a corresponding pad.

[0012] Preferably, the pad also includes an upper connecting plate, a lower connecting plate, a telescopic sleeve, and a position sensor. One end of the drive structure is bolted to the sensor via the lower connecting plate, and the other end of the drive structure is bolted to the irregular structure via the upper connecting plate. The telescopic sleeve is located on the outside of the drive structure, and both ends of the telescopic sleeve are connected to the upper connecting plate and the lower connecting plate, respectively. The position sensor is connected to the telescopic sleeve.

[0013] Preferably, the drive structure includes a screw jack and a drive motor, the drive motor is connected to the lower connecting plate, and the output end of the drive motor is connected to the screw jack.

[0014] Preferably, the lifting frame also includes: a transmission guide rail, a support arm, and a screw rod. The transmission guide rail is slidably connected to the support arm, and the transmission guide rail is threadedly connected to the screw rod. The screw rod is connected to the support arm through a nut. The support arm includes a first support part and a second support part. The first support part and the second support part are fixedly and vertically connected. The first support part is fixedly connected to the support frame. The second support part is connected to the screw and slidably connected to the transmission guide rail.

[0015] Preferably, the control terminal is electrically connected to the sensor, position sensor, drive motor, and lifting frame.

[0016] A method for surfacing and ice-breaking lifting of an underwater submersible adapted to irregular structures, employing the aforementioned underwater submersible surfacing and ice-breaking lifting device adapted to irregular structures, includes the following steps: Step S100: Install the irregular structure onto the crossbeam of the support base; Step S200: Adjust the ice-breaking angle of the irregular structure by means of the adjustable pad, and level the irregular structure by means of the adjustable pad and the crossbeam; Step S300: Drive the floating loading component to move the support base downward into the ice water pool, and then drive the support base to simulate the floating and ice-breaking behavior of the irregular structure.

[0017] The present invention has the following beneficial effects: The present invention, through the movement of the crossbeam, can level the irregular structure before the test loading, effectively offsetting the offset caused by the uneven mass distribution of the irregular structure, and can quickly adapt to the installation requirements of irregular structures of different widths and shapes, ensuring the consistency of the initial state of the test loading and the accuracy of the test results. This invention, through the adjustable pad, allows for adjustment of the water entry angle and ice-breaking angle of the irregular structure before test loading. Combined with the control terminal, it enables fine-tuning of the irregular structure's attitude during test loading, effectively compensating for the asymmetric impact load generated by the irregular structure, and achieving automatic calibration and leveling of the irregular structure's attitude. This ensures the stability of the irregular structure's attitude throughout the ice-breaking process and is suitable for simulating ice-structure interactions of various irregular structures at different ice-breaking angles. This invention simulates the ice-breaking behavior of the irregular structure by using the floating loading component and obtains key load data in real time during the ice-breaking process of the irregular structure through the force sensor. In this way, the floating ice-breaking process of the irregular structure can be simulated realistically and with high precision, ensuring the accuracy of the test results. Furthermore, by conducting comparative studies on different structural forms under unified test conditions, a reliable experimental basis and performance evaluation basis are provided for the optimized design of ice-breaking structures, significantly improving the engineering adaptability and practical value of structural design. Attached Figure Description

[0018] Figure 1 This is a 3D diagram of an ice-breaking lifting device adapted for use with irregularly shaped underwater submersibles.

[0019] Figure 2 This is a schematic diagram of the pad block structure.

[0020] Figure 3 This is a schematic diagram of an ice-breaking lifting device adapted to the irregular structure of an underwater submersible.

[0021] Figure 4 This is an installation diagram of an ice-breaking lifting device adapted for underwater submersibles with irregular structures.

[0022] Figure 5 This is a flowchart of a method for surfacing and breaking ice to lift an underwater submersible with an irregular structure. Detailed Implementation

[0023] 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.

[0024] Specific implementation method one: Combining Figure 1-5 This embodiment describes an ice-breaking and lifting device for an underwater submersible with an irregular structure, comprising: a lifting frame, a support base 1, and a sensor 2. The sensor 2 is mounted on the support base 1, and the support base 1 is connected to the lifting frame. The support base 1 includes a support frame 11 and a crossbeam 12. The support frame 11 is bolted to the lifting frame body. The support frame 11 is provided with a crossbeam 12 that slides along a first direction. A sensor 2 is provided at the end of the crossbeam 12. The detection end of sensor 2 is provided with an irregular structure 200 via pad 3; The pad 3 includes a drive structure 34 that moves in the up-down direction. One end of the drive structure 34 is bolted to the sensor 2, and the other end of the drive structure 34 is bolted to the irregular structure 200.

[0025] Specific Implementation Method Two: Combining Figure 1-5 This embodiment describes an ice-breaking and lifting device for an underwater submersible with an irregular structure. The support base 1 also includes a diagonal bracing structure 13. The support base 1 is a square frame structure. The support base 1 is provided with a cross-shaped diagonal bracing structure 13 arranged along the diagonal to reduce weight and cost. It does not affect the water flow and does not affect its load-bearing requirements, and is suitable for cold environments.

[0026] Specific implementation method three: Combining Figure 1-5This embodiment describes an ice-breaking and lifting device for an underwater submersible with an irregular structure. The support base 1 has two beams in the first direction with grooves 6. The sliders at both ends of the crossbeam 12 in the second direction, which is perpendicular to the first direction, are respectively set in the grooves 6 to achieve sliding connection. Screw holes can be set on the side wall of the groove, and the sliders can be fixed by rotating the screws that pass through the screw holes to tighten them.

[0027] Specific implementation method four: Combination Figure 1-5 This embodiment describes an ice-breaking and lifting device for an underwater submersible with an irregular structure. The device has two or more crossbeams 12, and each crossbeam 12 has a sensor 2 in the middle or a sensor 2 at each of its two ends. This invention allows the irregular structure to be leveled before test loading by the movement of the crossbeam, effectively offsetting the offset caused by the uneven mass distribution of the irregular structure. It can quickly adapt to the installation requirements of irregular structures of different widths and shapes, ensuring the consistency of the initial state of test loading and the accuracy of test results.

[0028] Specific Implementation Method Five: Combining Figure 1-5 This embodiment describes an ice-breaking and lifting device adapted to an irregularly shaped underwater submersible. Sensor 2 is a force sensor, and each sensor 2 is equipped with a corresponding pad 3.

[0029] Specific Implementation Method Six: Combination Figure 1-5 This embodiment describes an ice-breaking and lifting device for an underwater submersible with an irregular structure. The pad 3 is an adjustable pad, and the device also includes an upper connecting plate 31, a lower connecting plate 32, a telescopic sleeve 33, and a position sensor 35. One end of the drive structure 34 is bolted to the sensor 2 via the lower connecting plate 32, and the other end of the drive structure 34 is bolted to the irregular structure 200 via the upper connecting plate 31. The telescopic sleeve 33 is fitted onto the outside of the drive structure 34, and both ends of the telescopic sleeve 33 are fixedly connected to the upper connecting plate 31 and the lower connecting plate 32, respectively. The position sensor 35 is connected to the inner cylinder of the telescopic sleeve 33. The telescopic sleeve 33 can be two cylinders nested together, with the outer cylinder fixedly connected to the lower connecting plate 32 and the inner cylinder fixedly connected to the upper connecting plate 31. This invention utilizes the adjustable pad to adjust the water entry angle and ice-breaking angle of the irregular structure before the test loading. Combined with the control terminal, the attitude of the irregular structure can be finely adjusted during the test loading. This effectively compensates for the asymmetric impact load generated by the irregular structure, and realizes automatic calibration and leveling of the irregular structure's attitude, thereby ensuring the stability of the irregular structure's attitude throughout the ice-breaking process. It is suitable for simulating ice-structure interactions of various irregular structures at different ice-breaking angles.

[0030] Specific implementation method seven: Combination Figure 1-5 This embodiment describes an ice-breaking and lifting device adapted to an underwater submersible with an irregular structure. The drive structure 34 includes: a screw jack 341 and a drive motor 342. The drive motor 342 is fixedly connected to the lower connecting plate 32. The output end of the drive motor 342 is connected to the screw of the screw jack 341. The screw nut of the screw jack 341 is fixedly connected to the upper connecting plate 31. The screw nut is threadedly connected to the screw. The screw nut is slidably connected to the outer shell along the vertical direction. The outer shell is fixedly connected to the lower connecting plate.

[0031] Specific implementation method eight: Combination Figure 1-5 This embodiment describes an ice-breaking and lifting device for an underwater submersible with an irregular structure. The lifting frame (floating loading component) further includes: a transmission guide rail 4, a support arm 5, and a screw 7. The transmission guide rail 4 is slidably connected to the support arm 5, and the transmission guide rail 4 is threadedly connected to the screw 7. The screw 7 is connected to the support arm 5 through a nut. The support arm 5 includes a first support part 51 and a second support part 52. One end of the first support part 51 in the first direction is fixedly and vertically connected to the lower end of the second support part 52 in the vertical direction. The other end of the first support part 51 is fixedly connected to the support frame 11. The second support part 52 is connected to the screw 7 through a nut that cooperates with the screw 7. The second support part 52 is slidably connected to the transmission guide rail 4. The screw 7 can be driven by a motor or the like to realize the lifting and lowering of the support arm 5. The lifting frame is used to be installed on the mounting bracket of the trailer. The floating loading component is connected to the support base 1 to drive the support base 1 to move relative to the mounting bracket in the vertical direction. This invention simulates the ice-breaking behavior of the irregular structure by using the floating loading component and obtains key load data in real time during the ice-breaking process of the irregular structure through the force sensor. In this way, the floating ice-breaking process of the irregular structure can be simulated realistically and with high precision, ensuring the accuracy of the test results. Furthermore, by conducting comparative studies on different structural forms under unified test conditions, a reliable experimental basis and performance evaluation basis are provided for the optimized design of ice-breaking structures, significantly improving the engineering adaptability and practical value of structural design.

[0032] Specific Implementation Method Nine: Combining Figure 1-5 This embodiment describes an ice-breaking and lifting device adapted to an irregularly shaped underwater submersible. The control terminal is electrically connected to the sensor 2, position sensor 35, drive motor 342, and motor of the lifting frame. The first direction, the second direction, and the up-down direction are mutually perpendicular to each other.

[0033] Specific Implementation Method Ten: Combining Figure 1-5This embodiment describes a method for surfacing and ice-breaking lifting of an underwater submersible with an irregular structure. The method employs an ice-breaking lifting device adapted to the irregular structure of the underwater submersible, hereinafter referred to as device 100, and includes the following steps: Step S100: Install the irregular structure 200 onto the crossbeam 12 of the support base 1 in the device 100; Step S200: Adjust the ice-breaking angle of the irregular structure 200 by using the adjustable pad 3 in the device 100, level the irregular structure 200 by adjusting the relative position of the adjustable pad 3 and the crossbeam 12, and then bolt the adjustable pad 3 to the irregular structure 200 and the adjustable pad 3 to the crossbeam 12. Step S300: Drive the floating loading component in the device 100 to move the support base 1 downward into the ice water pool, and then drive the support base 1 to simulate the floating and ice-breaking behavior of the irregular structure 200; it can realistically and accurately simulate the floating and ice-breaking process of the irregular structure.

[0034] Example 1: Combined Figure 1-5 The present invention provides a lifting device 100 for simulating the floating and ice-breaking of irregularly shaped structures in an ice-water pool. The lifting device 100 includes a support base 1, multiple force sensors 2, multiple adjustable pads 3, a floating loading assembly, and a control terminal. The support base 1 includes a support frame 11 and at least two crossbeams 12. The two crossbeams 12 are sequentially distributed on the support frame 11 along a first direction, and each crossbeam 12 extends along a second direction. The irregularly shaped structure 200 is detachably mounted on the crossbeam 12 and can move relative to the support frame 11 along the first direction to level the irregularly shaped structure 200. The multiple force sensors 2 are mounted on the crossbeams 12. The force sensor 2 and the irregular structure 200 are distributed circumferentially between them and along the support frame 11 to measure the load on the irregular structure 200 during the ice-breaking process; multiple adjustable pads 3 are used to be placed between the force sensor 2 and the irregular structure 200 to adjust the water entry angle and ice-breaking angle of the irregular structure 200; the floating loading assembly is used to be installed on the mounting bracket of the trailer, and the floating loading assembly is connected to the support base 1 to drive the support base 1 to move relative to the mounting bracket in the vertical direction; the control terminal is electrically connected to the force sensor 2, the adjustable pads 3, and the floating loading assembly; wherein, the first direction, the second direction, and the vertical direction are mutually perpendicular to each other.

[0035] In the technical solution of this invention, the irregular structure 200 can be leveled before the test loading by the movement of the crossbeam 12, effectively offsetting the offset caused by the uneven mass distribution of the irregular structure 200. This allows for quick adaptation to the installation requirements of irregular structures 200 with different widths and shapes, ensuring the consistency of the initial state of the test loading and the accuracy of the test results. The adjustable pad 3 allows for adjustment of the water entry angle and ice-breaking angle of the irregular structure 200 before the test loading. Combined with the control terminal, the attitude of the irregular structure 200 can be finely adjusted during the test loading, effectively compensating for the asymmetric impact load generated by the irregular structure 200, and achieving automatic calibration and adjustment of the attitude of the irregular structure 200. The system is designed to ensure the stability of the irregular structure 200's attitude throughout the icebreaking process, and to adapt to the simulation of ice-structure interaction under different buoyancy and icebreaking angles for various irregular structures 200. The buoyancy loading component simulates the buoyancy and icebreaking behavior of the irregular structure 200, and the force sensor 2 obtains key load data of the irregular structure 200 during the icebreaking process in real time. This allows for a realistic and high-precision simulation of the buoyancy and icebreaking process of the irregular structure 200, ensuring the accuracy of the experimental results. Furthermore, by comparing different structural forms under unified experimental conditions, a reliable experimental basis and performance evaluation criteria are provided for the optimized design of icebreaking structures, significantly improving the engineering adaptability and practical value of the structural design.

[0036] It should be noted that the lifting device 100 provided by this invention for simulating the floating and ice-breaking of irregularly shaped structures in an ice-water pool is not only applicable to floating and ice-breaking tests of irregularly shaped structures 200 (e.g., Figure 3 and Figure 4 As shown in the figure, it is also applicable to icebreaking tests on regular structures.

[0037] It should also be noted that in this invention, the control terminal can be the control panel of the trailer or a computer, etc. More specifically, the control terminal completes the setting of loading mode, parameter adjustment and real-time monitoring of system status through a touch screen or host computer platform. It is equipped with a standardized electrical control interface and digital signal output port, and can achieve logical layer data connection with the force sensor 2, the adjustable pad block 3 component, the floating loading component, etc. The control terminal has a programmable trigger module, which can output a high-precision synchronous pulse signal at the moment of loading start-up to ensure that the force sensor 2, the adjustable pad block 3 component, the floating loading component, etc. start up in tandem (the programmable trigger module stores a program algorithm, which is existing technology and can be written by those skilled in the art according to actual needs), realize the consistency of the time series of data acquisition start point, ensure the high degree of coordination between multi-source data, and provide accurate data support for subsequent mechanical response analysis and ice sheet crack propagation identification research.

[0038] It should also be noted that in this invention, the number of crossbeams 12 is not limited; there can be two, three, or more. For details, please refer to [link / reference needed]. Figure 1 In one embodiment of the present invention, two crossbeams 12 are provided, which can not only achieve the leveling of the irregular structure 200, but also simplify the structure and reduce costs.

[0039] Furthermore, each of the adjustable pads 3 is configured in a one-to-one correspondence with one of the force sensors 2. That is, each force sensor 2 is equipped with only one adjustable pad 3.

[0040] For details, please refer to Figure 1 Each adjustable pad 3 includes an upper connecting plate 31, a lower connecting plate 32, a telescopic sleeve 33, a drive structure 34, and a position sensor 35. The upper connecting plate 31 is used to fixably connect to the lower side of the irregular structure 200; the lower connecting plate 32 is fixedly installed on the force sensor 2; the telescopic sleeve 33 extends in the vertical direction, with its upper end connected to the lower connecting plate 32 and its lower end connected to the upper connecting plate 31. The upper end of the telescopic sleeve 33 can be positioned relative to the lower end of the telescopic sleeve 33. The adjustable pad 31 moves vertically; the drive structure 34 is located inside the telescopic sleeve 33, its fixed end is connected to the lower connecting plate 32, and its output end is driven to the upper connecting plate 31 to drive the upper connecting plate 31 to move vertically relative to the lower connecting plate 32; the position sensor 35 is located on the inner wall of the telescopic sleeve 33; the control terminal is electrically connected to the drive structure 34 and the position sensor 35 to obtain the position of the adjustable pad 3 and control the working state of the drive structure 34.

[0041] Thus, when the driving structure 34 drives the upper connecting plate 31 to move in the vertical direction, the upper connecting plate 31 drives the part of the irregular structure 200 corresponding to the upper connecting plate 31 to move in the vertical direction, thereby realizing the adjustment of the water entry angle, ice breaking angle or attitude of the irregular structure 200.

[0042] Furthermore, in this invention, the connection method between the lower connecting plate 32 and the force sensor 2 is not limited; it can be a threaded connection or a snap-fit ​​connection, etc. Specifically, in one embodiment of this invention, the lower connecting plate 32 and the housing of the force sensor 2 are rigidly connected by locating pins and bolts to ensure that there is no slippage error during signal transmission.

[0043] Similarly, in this invention, the connection method between the upper connecting plate 31 and the irregular structure 200 is not limited; it can be a threaded connection or a snap-fit ​​connection, etc.

[0044] Specifically, in one embodiment of the present invention, the position sensor 35 is an Omron ZP-LS100S with a range of 100 mm and a testing accuracy of 14 μm.

[0045] For details, please refer to Figure 1 The drive structure 34 includes a screw jack 341 and a drive motor 342. The output end of the screw of the screw jack 341 is connected to the upper connecting plate 31. The drive motor 342 is connected to the lower connecting plate 32, and its output end is driven to the input end of the screw to drive the screw to move in the up and down direction. The control terminal is electrically connected to the drive motor 342.

[0046] More specifically, the fixed end of the drive structure 34 mentioned above is the drive motor 342, and the output end of the drive structure 34 mentioned above is the output end of the lead screw.

[0047] Specifically, in one embodiment of the present invention, the screw jack 341 can achieve a height adjustment of ±15mm, thereby corresponding to a structure-ice surface contact angle adjustment capability of -10° to 10°, with an adjustment accuracy of ±0.1°. This enables precise setting of the water entry angle of the irregular structure 200, improving the reliability and consistency of ice-structure interaction simulation. Simultaneously, during the adjustment process, the linkage of single-point or multi-point adjustable pads 3 allows for fine adjustment of different elevation requirements at local boundaries of the irregular structure 200.

[0048] Specifically, the drive motor 342 and the control terminal exchange data via a digital communication interface and are equipped with a closed-loop position control mechanism. The adjustable height of the screw jack 341 can be automatically calculated into a height difference based on a set tilt angle. The control terminal controls multiple adjustable pads 3 to execute independently, thereby achieving the preset posture arrangement of the leading edge of the overall structure. Before the test loading, the adjustable pads 3 can first complete the structure's water entry angle adjustment and then lock the water entry angle. The drive motor 342 of the adjustable pad 3 is synchronously linked with the floating loading component through a digital communication interface, and the angle preset, height fine-tuning, and posture adjustment status monitoring can be performed in the operation interface of the control terminal. More specifically, in one embodiment of the present invention, the drive motor 342 is model DGC90 AQM24 B1-100 with an effective stroke of 100 mm.

[0049] For details, please refer to Figure 1 A sliding structure is provided between each of the crossbeams 12 and the support frame 11. The sliding structure includes a sliding groove 6 and a slider that are adapted to slide together. One of the sliding groove 6 and the slider is provided on the crossbeam 12 and the other is provided on the support frame 11, so that the crossbeam 12 can move relative to the support frame 11 in the first direction.

[0050] It should be noted that in this invention, the sliding groove 6 can be located at the bottom of the crossbeam 12, and correspondingly, the slider is located on the upper side of the support frame 11; of course, the sliding groove 6 can also be located on the upper side of the support frame 11, and correspondingly, the slider is located at the bottom of the crossbeam 12. For details, please refer to... Figure 1 In one embodiment of the present invention, the slide 6 is provided on the upper side of the support frame 11, and the corresponding slider is provided on the bottom of the crossbeam 12.

[0051] For details, please refer to Figure 1 The support frame 11 is rectangular; the support base 1 also includes a diagonal brace structure, which is located inside the support frame 11 and is arranged in an X shape to divide the support frame 11 into four triangular support units, which significantly enhances the overall rigidity and deformation resistance of the support base 1.

[0052] Furthermore, based on the embodiment described above, in which "the groove 6 is located on the upper side of the support frame 11, and correspondingly, the slider is located at the bottom of the crossbeam 12", the two support rods in the support frame 11 that are arranged opposite each other in the second direction are respectively provided with the groove 6 extending along the first direction, and the bottom of each crossbeam 12 is provided with two sliders corresponding to the two grooves 6.

[0053] Specifically, the support frame 11 is constructed by welding four square steel tubes, which has a stable and rigid structure and excellent impact and fatigue resistance.

[0054] Specifically, in this invention, the movement of the crossbeam 12 can be achieved manually or through a drive mechanism mounted on the support frame 11 and connected to the control terminal. More specifically, before the test loading, the movement of the crossbeam 12 can be performed either manually or automatically through the drive mechanism. However, during the test loading, the movement of the crossbeam 12 can only be performed automatically through the drive mechanism, which is beneficial for the attitude adjustment of the irregular structure during the test loading.

[0055] More specifically, the drive mechanism can be a motor, a cylinder, an electric telescopic rod, etc.

[0056] Specifically, each of the crossbeams 12 is provided with at least one force sensor 2.

[0057] For further details, please refer to Figure 1 In one embodiment of the present invention, each of the crossbeams 12 is provided with two force sensors 2, and the two force sensors 2 on each of the crossbeams 12 are distributed at intervals along the second direction.

[0058] Specifically, in one embodiment of the present invention, the force sensor 2 is a Forsentek FSRT-500kg, with a measuring range of 500 kgf, an accuracy of 0.05% FS, and an operating temperature range of [missing information]. Temperature range: 20°C to 80°C; protection rating: IP68; sampling frequency: 100 Hz.

[0059] Specifically, the force sensor 2 is connected to the crossbeam 12 and the irregular structure 200 by flange bolts, and positioning gaskets are provided between the force sensor 2 and the crossbeam 12 and the irregular structure 200 to ensure that the force axis is consistent and reduce the off-center load error.

[0060] For details, please refer to Figure 1 The floating loading assembly includes a transmission guide rail 4, a support arm 5, and a driving component. The transmission guide rail 4 is mounted on the mounting bracket of the trailer and extends vertically. The support arm 5 is L-shaped and includes a first support portion 51 and a second support portion 52. The first support portion 51 extends along the first direction, and the second support portion 52 extends vertically. One end of the first support portion 51 is connected to the support base 1, and the other end is connected to the lower end of the second support portion 52. The second support portion 52 is slidably connected to the transmission guide rail 4. The driving component is located on the transmission guide rail 4 and is drivenly connected to the second support portion 52 to drive the second support portion 52 to slide vertically on the transmission guide rail 4. The control terminal is electrically connected to the driving component. Thus, by controlling the second support portion 52 to slide vertically, the support arm 5 drives the support base 1 and the irregular structure 200 to move vertically, thereby simulating the launching and floating ice-breaking behavior of the irregular structure 200.

[0061] Furthermore, different types of ice-breaking structures differ in their geometry, leading edge shape, and contact surface characteristics when in contact with the ice surface (e.g., Figure 3 and Figure 4 As shown, the cracks induced by various irregular structures 200 can significantly affect the initiation location and propagation path of the initial cracks in the ice sheet. Therefore, to ensure that the crack propagation process induced by various irregular structures 200 is far away from the edge region of the ice sheet, the length of the first support 51 in the first direction is adjustable so that the effective area of ​​the irregular structure 200 is located in the effective area of ​​the ice sheet, thereby effectively reducing the interference of boundary effects on the test results and improving the accuracy of ice-structure interaction during the test.

[0062] Furthermore, the first support portion 51 includes multiple sleeve segments, which are sequentially sleeved along the inner and outer directions and can move relative to each other along the first direction. One of the multiple sleeve segments, located in the innermost or outermost layer, is connected to the support base 1 and to a drive motor 342, so that the length of the first support portion 51 can be adjusted in the first direction under the action of the drive motor 342.

[0063] Specifically, the angle between the first support 51 and the support base 1 is adjustable to ensure that the irregular structure 200 is in the accurate working area under the ice surface, avoid the influence of boundary effects on the test results, and also restrain the irregular structure 200 at different angles to adapt to various scenario requirements.

[0064] More specifically, the first support portion 51 is rotatably connected to the support base 1, so that the included angle between the first support portion 51 and the support base 1 is adjustable. Furthermore, in one embodiment of the present invention, the first support portion 51 is hinged to the support base 1.

[0065] Of course, in this invention, the angle between the first support part 51 and the support base 1 can be adjusted manually or automatically by means of a drive motor 342, a drive cylinder, etc.

[0066] For details, please refer to Figure 1 In one embodiment of the present invention, a screw 7 passes through the transmission guide rail 4 in the vertical direction, and the driving member is driven to one end of the screw 7 to drive the screw 7 to rotate around its axis, so that the transmission guide rail 4 moves in the vertical direction under the action of the screw 7.

[0067] More specifically, the driving component is a servo motor, which enables controllable speed and precise displacement during the lifting process. It can handle various conditions during the ascent of the irregular structure 200, including uniform loading, acceleration loading, and customized loading curves. It exhibits strong adaptability, precise control, and excellent stability and repeatability, far superior to traditional hydraulic cylinders or fixed-speed motor drive solutions. More specifically, in one embodiment of the invention, the servo motor is model ECM-B3M-FA221FRS, with a rated output power of up to 15 kW. It possesses high torque density output capability, providing stronger lift support while maintaining a compact structure. Its linear lifting speed control range is wide, covering 1~300 mm / s, and it has a closed-loop control accuracy of up to 0.02 m / s.

[0068] The present invention also provides a lifting method for simulating the floating and ice-breaking of irregular structures in an ice-water pool, which is applicable to the lifting device described above for simulating the floating and ice-breaking of irregular structures in an ice-water pool.

[0069] Please see Figure 5 The lifting method for simulating the floating and ice-breaking of irregular structures in an ice-water pool includes the following steps: Step S100: Install the irregular structure onto the crossbeam of the support base in the lifting device used to simulate the floating and ice-breaking of the irregular structure in the ice water pool.

[0070] In this step, a force sensor is installed on the crossbeam, and the irregular structure is installed on the force sensor.

[0071] Step S200: Adjust the floating and ice-breaking angle of the irregular structure using the adjustable pad in the lifting device for simulating the floating and ice-breaking of the irregular structure in the ice water pool, and / or level the irregular structure using the adjustable pad and the crossbeam.

[0072] In this step, before the test loading, according to the test requirements, the screw of the screw jack in the adjustable pad is driven to move up and down, thereby adjusting the height of the irregular structure corresponding to the adjustable pad and adjusting the ice-breaking angle of the irregular structure; furthermore, the crossbeam is driven to move along the first direction, which can adapt to the width and shape of different irregular structures, effectively counteracting the offset caused by the uneven mass distribution of the irregular structure and achieving the leveling of the irregular structure.

[0073] Step S300: Drive the floating loading component in the lifting device for simulating the floating and ice-breaking of the irregular structure in the ice water pool to drive the support base downward into the ice water pool, and then drive the support base upward to simulate the floating and ice-breaking behavior of the irregular structure.

[0074] In this step, the driving component in the floating loading assembly is controlled to drive the support arm in the floating loading assembly to move in the vertical direction, so that the support arm drives the support base and the irregular structure to move in the vertical direction.

[0075] More specifically, the driving component first drives the irregular structure downward into the ice-water pool, and by adjusting the length of the first support part of the support arm, the action area of ​​the irregular structure is located in the effective area of ​​the ice sheet, effectively reducing the interference of boundary effects on the test results and improving the accuracy of ice-structure interaction during the test; the driving component then drives the irregular structure upward with a predetermined acceleration, and after reaching a preset speed before hitting the ice, it maintains a uniform upward floating speed to simulate the upward floating and ice-breaking behavior of the restrained structure.

[0076] 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.

[0077] 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 device for surfacing and ice-breaking lifting of an underwater submersible with an irregular structure, comprising: A sensor (2) is provided on the support base (1), and the support base (1) is connected to the lifting frame. The support base (1) includes a support frame (11) connected to the lifting frame, and a crossbeam (12) is provided on the support frame (11), and the sensor (2) is placed on the crossbeam (12). The sensor (2) is provided with an irregular structure (200) via a pad (3); The pad (3) includes: one end of the drive structure (34) is connected to the sensor (2), and the other end of the drive structure (34) is connected to the irregular structure (200).

2. The underwater submersible surfacing and ice-breaking lifting device adapted to irregular structures according to claim 1, characterized in that: The support base (1) also includes a diagonal bracing structure (13). The support base (1) is a square frame structure with a diagonal bracing structure (13).

3. The underwater submersible surfacing and ice-breaking lifting device adapted to irregular structures according to claim 2, characterized in that: The two beams of the support base (1) in the first direction are provided with grooves (6), and the sliders at both ends of the crossbeam (12) are respectively set in the grooves (6).

4. The underwater submersible surfacing and ice-breaking lifting device adapted to irregular structures according to claim 3, characterized in that: There are two or more crossbeams (12), and each crossbeam (12) has a sensor (2) in the middle or a sensor (2) at each end.

5. The underwater submersible surfacing and ice-breaking lifting device adapted to irregular structures according to claim 4, characterized in that: The sensor (2) is a force sensor, and a pad (3) is provided on each sensor (2).

6. The underwater submersible surfacing and ice-breaking lifting device adapted to irregular structures according to claim 5, characterized in that: The pad (3) also includes an upper connecting plate (31), a lower connecting plate (32), a telescopic sleeve (33), and a position sensor (35). One end of the drive structure (34) is bolted to the sensor (2) through the lower connecting plate (32), and the other end of the drive structure (34) is bolted to the irregular structure (200) through the upper connecting plate (31). The telescopic sleeve (33) is set on the outside of the drive structure (34), and both ends of the telescopic sleeve (33) are connected to the upper connecting plate (31) and the lower connecting plate (32) respectively. The position sensor (35) is connected to the telescopic sleeve (33).

7. The underwater submersible surfacing and ice-breaking lifting device adapted to irregular structures according to claim 6, characterized in that: The drive structure (34) includes a screw jack (341) and a drive motor (342). The drive motor (342) is connected to the lower connecting plate (32), and the output end of the drive motor (342) is connected to the screw jack (341).

8. The underwater submersible surfacing and ice-breaking lifting device adapted to irregular structures according to claim 7, characterized in that: The lifting frame also includes: a transmission guide rail (4), a support arm (5) and a screw (7). The transmission guide rail (4) is slidably connected to the support arm (5), and the transmission guide rail (4) is threadedly connected to the screw (7). The screw (7) is connected to the support arm (5) through a nut. The support arm (5) includes: a first support part (51) and a second support part (52). The first support part (51) and the second support part (52) are fixedly vertically connected. The first support part (51) is fixedly connected to the support frame (11). The second support part (52) is connected to the screw (7). The second support part (52) is slidably connected to the transmission guide rail (4).

9. The underwater submersible surfacing and ice-breaking lifting device adapted to irregular structures according to claim 8, characterized in that: The control terminal is electrically connected to the sensor (2), position sensor (35), drive motor (342), and lifting frame.

10. A method for surfacing and breaking ice to ascend an underwater submersible adapted to a non-standard structure, characterized in that: The underwater submersible surfacing and ice-breaking lifting device adapted to irregular structures as described in any one of claims 1-8 includes the following steps: Step S100: Install the irregular structure (200) onto the crossbeam (12) of the support base (1); Step S200: Adjust the ice-breaking angle of the irregular structure (200) by means of the adjustable pad (3), and level the irregular structure (200) by means of the adjustable pad (3) and the crossbeam (12). Step S300: Drive the floating loading component to move the support base (1) downward into the ice water pool, and then drive the support base (1) to simulate the floating and ice-breaking behavior of the irregular structure (200).

Images