CN112810770B

CN112810770B - Depth-variable speed-variable emergency floating test device platform of underwater vehicle model

Info

Publication number: CN112810770B
Application number: CN202011611335.9A
Authority: CN
Inventors: 罗朋; 魏飞; 屈儒君; 欧勇鹏; 张家旭; 魏可可; 王冠; 范建军
Original assignee: China Special Vehicle Research Institute
Current assignee: China Special Vehicle Research Institute
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2022-08-09
Anticipated expiration: 2040-12-30
Also published as: CN112810770A

Abstract

The invention provides a variable-depth variable-speed emergency floating test device platform of an underwater vehicle model, wherein an axial motion track of a test state model (2) is arranged on an underwater transmission motion chassis structure (1) of the platform; the underwater variable diving depth movement positioning support column (3) is of a three-dimensional frame structure, and a clamping platform and a vertical movement track of the underwater transmission movement chassis structure (1) are arranged in the underwater variable diving depth movement positioning support column; the height of the clamping platform can be adjusted according to the requirement of the test depth; the chassis vertical synchronous lifting motion structure (5) is connected with the underwater transmission motion chassis structure (1) and is used for driving the underwater transmission motion chassis structure (1) to move in a vertical motion track of the underwater variable-depth-motion positioning support column (3). The invention can carry out the axial or vertical single-belt initial speed emergency floating hydrodynamic test; and coupling the axial direction and the vertical direction and simultaneously carrying out an emergency upward floating hydrodynamic test at the initial speed.

Description

Depth-variable speed-variable emergency floating test device platform of underwater vehicle model

Technical Field

The invention belongs to the technical field of hydrodynamic force experiment simulation systems, and particularly relates to a variable-depth variable-speed emergency floating test device platform for an underwater vehicle model.

Background

With the rapid development of the hydrodynamic experiment simulation test technology in China, the hydrodynamic experiment of a water surface ship and the forced landing test technology of an airplane are rapidly improved and perfected, and a new test method is continuously explored in the field of hydrodynamic experiments. In the 20 th century, underwater submarines, detectors and other underwater equipment are rapidly developed in China according to coastal defense requirements. The underwater diving equipment stops underwater, the condition of losing power also happens occasionally, operation is misappropriate due to unclear motion state after stopping, and a serious result is often caused.

The emergent upward floating test under water is according to experimental needs, places the model in certain depth of water, and still water or take initial velocity release come-up, and the come-up in-process is with observing hull motion gesture, with velocity of motion and acceleration, does the instruction for hull parking emergent come-up operation, avoids appearing great dangerous situation, also does the instruction for hull appearance optimization simultaneously.

The underwater model hydrodynamic emergency floating test belongs to a novel test technology at the front edge, is widely stayed in a numerical simulation stage at home and abroad, has increasingly strong demand on the verification of the test, and further development of the technical field of the underwater emergency floating test determines the research and development and application process of national important equipment. Aiming at the existing emergency floating test, the method has the following defects: (1) at present, theoretical research is carried out on the underwater model emergency floating hydrodynamic test technology at home and abroad, the underwater model emergency floating hydrodynamic test technology is basically in a numerical simulation stage, and the numerical simulation result has larger error with the actual motion of a boat body due to the complex underwater emergency floating boundary condition; (2) in the process of carrying out an emergency floating test, a real boat or a boat body with a larger proportion is generally adopted to carry out an underwater floating test with power, and the emergency floating test has the defects of higher cost, larger danger coefficient, difficult underwater control accuracy and the like.

Disclosure of Invention

The invention provides a variable-depth variable-speed emergency floating test device platform for a submarine vehicle model, which solves the problems of high test cost and high risk coefficient in the prior art.

The invention provides a variable-depth variable-speed emergency floating test device platform for a submarine vehicle model, which comprises: the underwater transmission motion device comprises an underwater transmission motion chassis structure 1, a test state model 2, an underwater variable diving depth motion positioning support column 3, a model water surface salvaging and positioning structure 4 and a chassis vertical synchronous lifting motion structure 5; wherein the content of the first and second substances,

the underwater transmission motion chassis structure 1 is provided with a fixing device of the test state model 2 and an axial motion track, and is used for providing an axial initial speed for the test state model 2;

the underwater variable diving depth movement positioning support column 3 is of a three-dimensional frame structure, the bottom of the underwater variable diving depth movement positioning support column is arranged in water, and a clamping platform and a vertical movement track of the underwater transmission movement chassis structure 1 are arranged in the underwater variable diving depth movement positioning support column 3;

the height of the clamping platform on the underwater variable diving depth movement positioning support column 3 can be adjusted according to the requirement of the test depth;

the chassis vertical synchronous lifting motion structure 5 is connected with the underwater transmission motion chassis structure 1 and is used for driving the underwater transmission motion chassis structure 1 to move in a vertical motion track of the underwater variable-depth-of-diving motion positioning support column 3;

the model water surface salvaging and positioning structure 4 is arranged at the top of the underwater variable diving depth movement positioning support column 3 and is used for arranging the test state model 2 on the underwater transmission movement chassis structure 1 when a test is started and recovering the test state model 2 when the test is finished;

the chassis vertical synchronous lifting motion structure 5 and the underwater transmission motion chassis structure 1 are used for carrying out an axial or vertical single-belt initial speed emergency floating hydrodynamic test of the test state model 2; and carrying out the emergency floating hydrodynamic test with the initial speed at the same time of the axial direction and the vertical direction of the coupling of the test state model 2.

Optionally, the underwater transmission motion chassis structure 1 includes: the underwater multi-degree-of-freedom underwater vehicle comprises a track multi-degree-of-freedom adjusting seat structure 11, an underwater vehicle transmission motion structure 12, a chassis primary positioning structure 13, a chassis secondary transverse and longitudinal rigidity reinforcing structure 14, a chassis rigidity positioning rod 15, an underwater vehicle guide track structure 16, an underwater waterproof cable synchronous motion structure 17 and an underwater double-point buffer structure 18; wherein the content of the first and second substances,

the chassis first-stage positioning structure 13 is a welded frame structure, a plurality of track multi-freedom-degree adjusting seat structures 11 are arranged above the chassis first-stage positioning structure 13, the plurality of track multi-freedom-degree adjusting seat structures 11 are arranged in two rows, an underwater trolley guiding track structure 16 is arranged on the chassis first-stage positioning structure 13 through the two rows of track multi-freedom-degree adjusting seat structures 11, an underwater trolley transmission motion structure 12 is further arranged above the chassis first-stage positioning structure 13 and used for driving the test state model 2 to longitudinally move on the underwater trolley guiding track structure 16, a chassis second-stage transverse and longitudinal rigidity reinforcing structure 14 is arranged below the chassis first-stage positioning structure 13, an underwater double-point buffer structure 18 is fixedly connected end to end, and a plurality of chassis rigid positioning rods 15 are arranged on two sides of the chassis second-stage transverse and longitudinal rigidity reinforcing structure;

the underwater waterproof cable synchronous motion structure 17 is fixed on a secondary transverse and longitudinal rigid reinforcing structure 14 of the chassis, and a structural design technology of engaging a double pulley with a flexible steel wire rope is adopted, so that a cable for supplying power to the underwater trolley transmission motion structure 12 and the underwater trolley transmission motion structure 12 synchronously perform friction longitudinal rolling motion to supply power to an underwater motor;

the underwater double-point buffer structure 18 is fastened with the chassis first-level positioning structure 13 through bolts, and can buffer the underwater trolley transmission motion structure 12 and buffer and protect the motion structure.

Optionally, the rail multiple-degree-of-freedom adjusting seat structure 11 includes: the device comprises a pressure plate locking bolt 111, a track pressure plate 112, a U-shaped positioning seat 113, a limiting clamping piece 114, a height fine adjustment inclined block 115, an inclined block height adjusting bolt 116 and a track left-right adjusting positioning structure 117; wherein the content of the first and second substances,

the U-shaped positioning seats 113 of the multi-degree-of-freedom adjusting seat structures 11 of the rails are longitudinally arranged and fixed on the primary positioning structure 13 of the chassis, height fine-adjustment inclined blocks 115 are arranged in U-shaped grooves of the U-shaped positioning seats 113, inclined block height adjusting bolts 116 penetrate through the groove walls of the U-shaped positioning seats, the inclined block height adjusting bolts 116 are used for propping against the side faces of the height fine-adjustment inclined blocks 115, and limiting clamping pieces 114 are arranged on two sides of each U-shaped positioning seat 113 and used for limiting the height fine-adjustment inclined blocks 115;

a rail pressing plate 112 and a rail left-right adjusting and positioning structure 117 are arranged on the end face of a U-shaped groove of the U-shaped positioning seat 113, the pressing plate locking bolt 111 fixes the rail pressing plate 112 on the upper end face of the U-shaped positioning seat 113, the underwater trolley guiding rail structure 16 is tightly pressed and fixed on the upper end face of the height fine-adjustment inclined block 115, and a screw rod for propping against the side face of the underwater trolley guiding rail structure 16 penetrates through the rail left-right adjusting and positioning structure 117.

Optionally, the underwater vehicle transmission motion structure 12 includes: a transmission rack structure 121, a gear and transmission shaft structure 122, a guide wheel 123, a model supporting seat 124, an underwater motor 125, a model releaser 126 and an underwater moving trolley keel structure 127; wherein the content of the first and second substances,

the top surface of the keel structure 127 of the underwater moving trolley is provided with a model supporting seat 124 and a model releaser 126, and the model releaser 126 is used for locking the test state model 2 when the test state model 2 is placed on the model supporting seat 124 and releasing the test state model 2 in the experiment process;

an underwater motor 125 is arranged in the keel structure 127 of the underwater moving trolley, and the underwater motor 125 is connected with the underwater waterproof cable synchronous moving structure 17;

the bottom of the keel structure 127 of the underwater moving trolley is provided with a gear and transmission shaft structure 122 and a guide wheel 123, the gear and transmission shaft structure 122 is matched with a transmission rack structure 121 fixed on the primary positioning structure 13 of the chassis, and the guide wheel 123 runs on the guide track structure 16 of the underwater trolley.

The transmission rack structure 121 and the gear and transmission shaft structure 122 are used for improving the transmission precision and the speed precision of the underwater transmission system of the test state model 2;

the rail multi-degree-of-freedom adjusting seat structure 11 is used for finely adjusting the vertical height, the transverse left-right distance and the transverse left-right distance of the underwater trolley guide rail structure 16 and the transmission rack structure 121 so as to improve the parallelism and the flatness of an underwater transmission system of the test state model 2.

Optionally, the primary chassis positioning structure 13 includes: two chassis longitudinal keel structures 131, chassis transverse keel structures 132, main beam positioning reinforcing structures 133 and positioning rod connecting flange structures 134; wherein the content of the first and second substances,

the chassis longitudinal keel structures 131 are made of rectangular steel, the chassis transverse keel structures 132 are transversely reinforced arrays, and are welded and fixed between the two chassis longitudinal keel structures 131;

the main beam positioning reinforcing structure 133 is a three-jaw diagonal bracing structure, one end of the main beam positioning reinforcing structure is welded with the outer side of the chassis longitudinal keel structure 131, the other end of the main beam positioning reinforcing structure is welded and fixed with a positioning rod connecting flange structure 134, and the positioning rod connecting flange structure 134 is used for connecting a chassis rigid positioning rod 15;

the positioning rod connecting flange structure 134 is used for improving the rigidity of the chassis primary positioning structure 13, and uniformly distributing the load of the chassis primary positioning structure 13 in each bearing component of the chassis primary positioning structure 13, so that the deformation of the chassis primary positioning structure 13 is reduced, and the test precision is improved.

Optionally, the chassis secondary transverse and longitudinal stiffness enhancing structure 14 comprises: a lower-layer longitudinal rectangular steel structure 141, a plurality of chassis longitudinal trapezoidal rigid reinforcing structures 142, an upper-layer longitudinal rectangular steel structure 143 and a head-tail inclined strut structure 144; wherein the content of the first and second substances,

the chassis longitudinal trapezoidal rigid reinforcing structure 142 is in an inverted trapezoid shape, the upper end of the chassis longitudinal trapezoidal rigid reinforcing structure is welded with the upper-layer longitudinal rectangular steel structure 143, and the lower end of the chassis longitudinal trapezoidal rigid reinforcing structure is welded with the lower-layer longitudinal rectangular steel structure 141; the lower-layer longitudinal rectangular steel structure 141 is a double-section bar reinforcing structure;

the chassis longitudinal trapezoidal rigid reinforcing structures 142 at the two ends are also respectively welded with an end-to-end inclined strut structure 144, and the end-to-end inclined strut structure 144 is welded and fixed with the underwater double-point buffer structure 18.

Optionally, the underwater waterproof cable synchronous movement structure 17 includes: a flexible wire cable 171, an upper pulley 172, a side stopper 173, a slide positioning post 174, and a lower pulley 175; wherein the content of the first and second substances,

the flexible steel wire cable 171 is fixed at the upper ends of the slide wire positioning columns 174 at the two sides through the tightener, and the slide wire positioning columns 174 are connected with the upper end surface of the chassis secondary transverse and longitudinal rigid reinforcing structure 14 through bolts;

the upper pulley 172 is in clearance fit with the lower pulley 175 and is fixed through the side limiting plate 173, the flexible steel cable 171 is fixed between the upper pulley 172 and the lower pulley 175, and a cable connected with the underwater motor 125 is arranged between the lower pulley 175 and the side limiting plate 173 in a penetrating manner;

the upper pulley 172, the lower pulley 175 and the flexible steel cable 171 adopt a structure that two pulleys are meshed with the flexible steel cable 171, so that the flexible steel cable 171 and the keel structure 127 of the underwater motion trolley synchronously rub and longitudinally roll to supply power to the underwater motor 125, and the situations of small winding damage and electric leakage danger of the flexible steel cable 171 under the action of streaming in the underwater motion process can be avoided.

Optionally, the underwater variable diving depth movement positioning support column 3 comprises: the platform supports an upper end rigid structure 31, a lateral inclined strut rigid reinforcing structure 32, a plurality of fixed-submergence-depth limit motion supporting column structures 33, a bottom transverse supporting and connecting structure 34 and a lateral horizontal supporting rigid reinforcing structure 35;

the multiple fixed-submergence-depth limiting motion supporting column structures 33 are uniformly arranged, a platform supporting upper end rigid structure 31 is welded on the top surface, a lateral inclined-support rigid reinforcing structure 32 and a lateral horizontal-support rigid reinforcing structure 35 are welded on the inner side of the platform supporting upper end rigid structure, and a bottom transverse-support connecting structure 34 is welded at the bottom of the platform supporting upper end rigid structure;

each of the submerged depth limiting movement support column structures 33 includes: the chassis positioning rod comprises a main supporting beam 331, a rigid reinforcing rib 332, a chassis positioning rod left and right limiting structure 333, a fixed depth supporting seat 334, a chassis positioning rod front and rear limiting structure 335 and a two-degree-of-freedom adjustment limiting seat 336;

the main supporting beam 331 is of a trapezoid frame structure, a plurality of horizontal rigid reinforcing ribs 332 are arranged along the outer side of the main supporting beam 331 from high to low of the trapezoid frame, a plurality of horizontal fixed-depth supporting seats 334 are arranged on the inner side of the trapezoid frame, the rigid reinforcing ribs 332 and the fixed-depth supporting seats 334 are on the same plane, an opening is formed in the middle of each fixed-depth supporting seat 334 for a chassis rigid positioning rod 15 to pass through, and a two-degree-of-freedom adjusting limiting seat 336 is arranged on each fixed-depth supporting seat 334 and used for bearing the chassis rigid positioning rod 15;

a chassis positioning rod left-right limiting structure 333 in the vertical direction is arranged along the outer side of the main supporting beam 331 from the high to the low trapezoid frame, two chassis positioning rod front-back limiting structures 335 in the vertical direction are arranged on the inner side of the trapezoid frame, the chassis positioning rod left-right limiting structure 333 is positioned at the end part of the chassis rigid positioning rod 15 and has a certain gap, and the chassis positioning rod front-back limiting structures 335 are clamped at two sides of the chassis rigid positioning rod 15;

the two-degree-of-freedom adjustment limiting seat 336 comprises: the device comprises a vertical height adjusting bolt 3361, a U-shaped positioning seat 3362, a lateral front and rear position adjusting bolt 3363, a left and right fine adjustment adjusting bolt 3364, a positioning seat bottom plate 3365 and a vertical rib plate 3366;

the positioning seat bottom plate 3365 is fixed on the depth-setting support seat 334 through a left and right fine adjustment bolt 3364, two vertical rib plates 3366 are arranged on the positioning seat bottom plate 3365, the U-shaped positioning seat 3362 is fixed between the two vertical rib plates 3366 on the positioning seat bottom plate 3365 through a vertical height adjustment bolt 3361,

the lateral front and rear position adjusting bolts 3363 penetrate through the vertical rib plates 3366 and prop against the U-shaped positioning seat 3362;

the height of the two-degree-of-freedom adjusting limiting seat 336 on the fixed-submergence-depth limiting motion supporting column structure 33 can be adjusted according to the requirements of emergency floating tests of underwater boat body models in different water depths, so that the test of sudden parking and power loss of the actual boat under the conditions of different water depths can be carried out more comprehensively; the two-degree-of-freedom adjusting limiting seat 336 has the functions of adjusting vertical and longitudinal displacement and is used for adjusting the flatness and neutrality of the track in the underwater transmission motion chassis structure 1 at different submergence depths, so that the test precision is improved;

the chassis positioning rod front-back limiting structure 335 and the chassis positioning rod left-right limiting structure 333 are used for ensuring that the underwater transmission motion chassis structure 1 moves vertically in the motion process, and avoiding the risk of motion instability or separation caused by water flow disturbance in the lifting process of the underwater transmission motion chassis structure 1.

Optionally, the model surface of water is salvaged and location structure includes: the system comprises a linear track rigid reinforcing inclined strut 41, a hoisting device moving track 42, a hoisting device 43, a flexible hoisting rope 45, a rigid hoisting support seat 46, a model salvaging U-shaped seat binding band 47 and a gravity center stabilizing inclined pulling rope 48; wherein the content of the first and second substances,

a linear track rigid reinforcing inclined strut 41 is welded on one side of the top of the underwater variable submerged depth movement positioning support column 3, and a lifting device movement track 42 is welded and fixed on the top of the underwater variable submerged depth movement positioning support column 3 and the linear track rigid reinforcing inclined strut 41;

the roller of the lifting device 43 is matched with the rail and fixed on the moving rail 42 of the lifting device; the hoisting device 43 is connected with one end of a gravity center stable inclined-pulling rope 48 through a flexible hoisting rope 45, the other end of the gravity center stable inclined-pulling rope 48 is connected with a rigid hoisting support seat 46, model salvaging U-shaped seat binding bands 47 are arranged at two ends of the rigid hoisting support seat 46, and the model salvaging U-shaped seat binding bands 47 are used for fixing the test state model 2;

the test state model 2 is fixed by two model salvaging U-shaped seat binding bands 47, so that the problems that the gravity center of the test state model 2 is inclined and slides down and a rope is tightened to damage the surface of the test state model 2 can be avoided.

Optionally, the chassis vertical synchronous lifting structure 5 includes: four synchronous hoisting devices 51, hoisting cables 52, two longitudinal rigid hoisting structures 53, a transverse rigid reinforcing structure 54 and a vertical multi-point force-unloading supporting structure 55;

two longitudinal rigid hoisting structures 53 are welded above two side edges of the underwater transmission motion chassis structure 1 through a transverse rigid reinforcing structure 54 and five vertical multi-point force-unloading supporting structures 55;

the four synchronous hoisting devices 51 are fixed on the upper end surface of the underwater variable-submergence-depth-motion positioning support column 3 through bolts, are fixedly connected with a longitudinal rigid hoisting structure 53 through hoisting cables 52 and are used for hoisting the underwater transmission motion chassis structure 1;

the load bearing mode of converting two hoisting cables 52 into five vertical multi-point force-unloading supporting structures 55 at each side of the underwater transmission motion chassis structure 1 can well distribute load uniformly, and large deformation caused by large single load bearing is avoided.

The invention provides a variable-depth variable-speed emergency floating test device platform for a submarine vehicle model for the first time, which has the following advantages: (1) the underwater emergency floating test platform has the advantages that the emergency floating test is carried out under the condition that an actual boat stops suddenly under the conditions of different water depths and speeds, the underwater longitudinal maximum speed of the underwater power device of the test platform can reach 2m/s, the vertical maximum speed can reach 0.2m/s, the maximum load of the platform is 1200Kg, and according to the Froude similarity relationship, the test platform can meet the current 90% emergency floating test requirement of an underwater boat body scaling model; (2) the device is provided with an underwater transmission motion chassis structure 1 and a chassis vertical synchronous lifting motion structure 5, can simulate an emergency floating hydrodynamic test with a single initial speed in the axial direction of a model during emergency floating, can also simulate an emergency floating test with a single initial speed in the vertical direction of the model, and has the emergency floating with the initial speeds in the axial direction and the vertical direction simultaneously; the underwater platform device has the speed of 2M/s, can meet the requirement of the axial speed of most submarine bodies for underwater emergency floating, has the vertical maximum speed Vc of 0.2M/s, is equivalent to that a model with the mass M of 800Kg moves by the distance of about 1M from the initial zero speed under the action of 2% of vertical floating force, can effectively improve the actual test submergence depth of the model from the vertical initial speed, and makes up the defect of the depth of an emergency floating test pool with large water depth at present; (3) the underwater test platform device is provided with the underwater variable-submergence-depth-motion positioning support column, variable-submergence-depth tests can be carried out according to the requirements of emergency floating tests of different water depths of an underwater boat body model, so that the test can be carried out under the condition that the boat stops suddenly under the condition of different water depths and loses power through more comprehensive analysis, and meanwhile, the underwater variable-submergence-depth-motion positioning support column is provided with the depth-setting limiting motion support structure, so that the underwater transmission motion chassis structure can be effectively ensured to move vertically in the motion process through the left and right limiting structures of the chassis positioning rod and the front and rear limiting structures of the chassis positioning rod, and the risk of motion instability or separation caused by water flow disturbance in the lifting process of the underwater transmission motion chassis structure is avoided; (4) the water surface fishing and positioning device has a model water surface fishing and positioning structure, and has the characteristics that the hull is long and is not favorable for positioning and fixing the center of gravity, the hull is smooth streamline and is not easy to fix a lifting rope, the hull is accurately prevented from being lifted and damaged, and the like according to the mass of a water surface test hull, single lifting of a flexible cable is adopted, the rigid support tool is used for multi-point positioning, model lifting is carried out in a double-line U-shaped fixed model mode, and the problems that the center of gravity of a model is inclined and slides down and the surface of the model is damaged due to tightening of the rope are effectively avoided; (5) the underwater transmission motion chassis structure adopts gear and rack underwater transmission, has higher transmission precision and speed precision, and simultaneously adopts a track multi-degree-of-freedom adjusting structure to finely adjust the vertical height, the transverse left-right distance and the transverse right distance of a track and a rack, thereby effectively improving the parallelism and the planeness of an underwater transmission system and ensuring the transmission effectiveness; (6) the underwater test device platform adopts the function of adjusting the vertical and longitudinal displacement of the two-degree-of-freedom adjusting limiting seat, can effectively adjust the planeness and neutrality of the structural track of the underwater transmission motion chassis at different submergence depths, and improves the test precision; (7) the chassis rigid locating rod of the underwater transmission motion chassis structure is in flange connection with the primary locating structure of the chassis, the flange surface of the chassis rigid locating rod is in fastening welding with the locating rod connecting flange structure of the primary locating structure of the chassis, and the lower end of the primary locating structure of the chassis is welded with the secondary transverse and longitudinal rigidity reinforcing structure of the chassis; (8) the underwater waterproof mooring rope synchronous motion structure adopts a structural design technology that double pulleys are meshed with a flexible steel wire rope, so that the mooring rope and the trolley synchronously perform first friction longitudinal rolling motion to supply power by the underwater motor, and the situations of small winding damage and electric leakage danger of the mooring rope under the action of streaming in the underwater motion process are effectively avoided; (9) the chassis vertical synchronous lifting motion structure can enable the underwater transmission motion chassis structure to have a synchronous lifting function, a four-point flexible cable lifting method is adopted, the two-turn five-bearing mode effectively improves the uniform distribution and load bearing characteristics of the platform during lifting, and the deformation and instability characteristics of the underwater transmission motion chassis structure caused by overlarge local load or unstable load due to the action of self gravity and fluid resistance in the underwater lifting process are avoided, so that the effectiveness of the underwater device platform is influenced.

Drawings

FIG. 1 is a schematic overall structure diagram of a platform of a variable-depth variable-speed emergency floating test device of a submersible vehicle model provided by the invention;

FIG. 2 is a schematic structural view of an underwater drive motion chassis structure provided by the present invention;

FIG. 3 is a schematic structural diagram of a multi-degree-of-freedom rail adjustment base structure according to the present invention;

FIG. 4 is a schematic structural view of a transmission motion structure of the underwater vehicle provided by the invention;

FIG. 5 is a schematic structural diagram of a primary positioning structure of a chassis according to the present invention;

FIG. 6 is a schematic structural diagram of a secondary transverse and longitudinal rigidity enhancing structure of a chassis provided by the present invention;

FIG. 7 is a schematic structural view of a synchronous motion structure of the underwater waterproof cable provided by the present invention;

FIG. 8 is a schematic structural diagram of an underwater double-point buffering structure provided by the present invention;

FIG. 9 is a schematic structural view of an underwater variable submergence depth movement positioning support column provided by the invention;

FIG. 10a is a first schematic structural view of a fixed-submergence-depth limiting movement supporting structure provided by the present invention;

FIG. 10b is a schematic structural view of a second fixed-submergence-depth limiting movement supporting structure provided by the present invention;

FIG. 11 is a schematic structural view of a two-degree-of-freedom adjustable spacing block structure according to the present invention;

FIG. 12 is a schematic structural view of a model water surface fishing and positioning structure provided by the invention;

FIG. 13 is a schematic structural view of a structure for vertical synchronous lifting and lowering of a base plate according to the present invention;

description of reference numerals:

1-underwater transmission motion chassis structure; 2-test state model;

3, positioning a support column by underwater variable submerged depth movement; 4, model water surface salvaging and positioning structure;

5, a chassis vertical synchronous lifting motion structure;

11-a track multi-degree-of-freedom adjusting seat structure; 12, a transmission motion structure of the underwater trolley;

13-a primary positioning structure of the chassis; 14-a chassis secondary transverse and longitudinal rigidity reinforcing structure;

15-chassis rigid positioning rod; 16-underwater trolley guide track structure;

17-underwater waterproof cable synchronous motion structure; 18-underwater double-point buffer structure;

111-platen lock bolts; 112-a track pressing plate; 113-U-shaped positioning seat;

114-limit card; 115-height fine-tuning inclined block; 116-a swash block height adjustment bolt;

117-track left and right adjusting and positioning structure; 121-a transmission rack structure; 122-gear and drive shaft configuration;

123-guide wheel; 124-model support base;

125-underwater motor; 126-model releaser; 127-keel structure of underwater moving trolley;

131-a chassis longitudinal keel structure; 132-chassis cross keel structure;

133-main beam positioning reinforcement structure; 134-positioning rod connecting flange structure;

141-lower layer longitudinal rectangular steel structure; 142-chassis longitudinal trapezoidal rigid reinforcement structure;

143-upper longitudinal rectangular steel structure; 144-head-tail bracing structure;

171-flexible wire cable; 172-upper pulley; 173-side limiting plate;

174-slide wire locating post; 175-lower pulley;

181-hydraulic buffer rod mandril; 182-a hydraulic cylinder; 183-hydraulic buffer positioning seat;

184-buffer side rib structure; 185-buffer seat fixing seat;

31-platform supporting upper end rigid structure; 32-a lateral bracing stiffening structure;

33-fixed diving depth limit motion support column structure; 34-a bottom lateral support connection structure;

35-lateral horizontal support rigid reinforcement structure;

331-main support beam; 332-rigid stiffeners;

333-limiting structure of left and right chassis positioning rod; 334-fixed depth support seat;

335-front and back limit structure of chassis positioning rod; 336-two-degree-of-freedom adjusting limiting seat;

3361-vertical height adjustment bolts; 3362-U-shaped positioning seat;

3363-lateral front-rear position adjusting bolt; 3364 fine tuning the adjusting bolt left and right;

3365-positioning seat bottom plate; 3366-vertical rib panels;

41-straight track rigidity strengthening inclined strut; 42, a movement track of the hoisting device; 43-a hoisting device;

44-lifting point; 45-flexible lifting rope; 46-rigid hoisting support seat;

47-model salvaging U-shaped seat binding band; 48-gravity center stable inclined stay ropes; 49-locating points;

51-synchronous hoisting device; 52-hoisting a cable;

53-longitudinal rigid hoisting structure; 54-a transverse rigidity reinforcing structure;

55-vertical multi-point force-unloading supporting structure.

Detailed Description

The specific implementation mode of the submersible vehicle model variable-depth variable-speed emergency floating test device platform provided by the invention is described with reference to the accompanying drawings.

Fig. 1 is a schematic overall structure diagram of a platform of an emergency floating test device for a variable-depth variable-speed underwater vehicle model provided by the invention, and please refer to fig. 1, the invention provides a platform of an emergency floating test device for a variable-depth variable-speed underwater vehicle model, which comprises: the underwater transmission motion chassis structure 1, the test state model 2, the underwater variable diving depth motion positioning support column 3, the model water surface salvage and positioning structure 4 and the chassis vertical synchronous lifting motion structure 5. Wherein the content of the first and second substances,

the model water surface fishing and positioning structure 4 is arranged at the top of the underwater variable-submergence-depth movement positioning support column 3 and is used for arranging the test state model 2 on the underwater transmission movement chassis structure 1 when a test is started and recovering the test state model 2 when the test is finished.

The underwater transmission motion chassis structure 1 is positioned and placed on a U-shaped groove of a two-degree-of-freedom adjusting limiting seat 336 of an underwater variable diving depth motion positioning support column 3 through six chassis rigid positioning rods 15, so that a longitudinal speed can be provided for a test model underwater, and the maximum speed can reach 2 m/s; the test state model 2 is placed at the upper end of the model supporting seat 124 and is fixedly locked through the model releaser 126; the underwater variable-submergence-depth-movement positioning support column 3 is about 10m high, the lower end of the underwater variable-submergence-depth-movement positioning support column is arranged at the bottom of more than 5 m underwater, and the upper end of the underwater variable-submergence-depth-movement positioning support column is close to 4m higher than the water surface, so that the underwater transmission movement chassis structure 1 has different underwater submergence-depth positioning functions, and a variable-submergence-depth test can be conveniently carried out in the single longitudinal-speed movement emergency floating test process; the upper end of the model water surface is salvaged and positioned 4 upper ends of the structures and is connected with the upper end frame plane of the underwater variable diving depth movement positioning support column 3 through bolts, the lower end of the model water surface is salvaged and positioned 4 lower ends of the structures and the underwater transmission movement chassis structure 1 are fixedly connected through bolts, in the lifting process, the flexible cable is lifted singly, the rigid support tool is positioned at multiple points, the model is lifted in a double-line U-shaped fixed model mode, and the problems that the center of gravity of the model is inclined to slide and the cable is tightened to damage the surface of the model are effectively avoided.

Fig. 2 is a schematic structural diagram of an underwater transmission motion chassis structure provided by the present invention, and as shown in fig. 2, the underwater transmission motion chassis structure 1 includes: the underwater multi-degree-of-freedom adjusting device comprises a track multi-degree-of-freedom adjusting seat structure 11, an underwater trolley transmission moving structure 12, a chassis primary positioning structure 13, a chassis secondary transverse and longitudinal rigidity reinforcing structure 14, a chassis rigidity positioning rod 15, an underwater trolley guide track structure 16, an underwater waterproof cable synchronous moving structure 17 and an underwater double-point buffering structure 18. Wherein the content of the first and second substances,

the chassis first-stage positioning structure 13 is a welded frame structure, a plurality of track multi-freedom-degree adjusting seat structures 11 are arranged above the chassis first-stage positioning structure 13, the plurality of track multi-freedom-degree adjusting seat structures 11 are arranged in two rows, an underwater trolley guiding track structure 16 is arranged on the chassis first-stage positioning structure 13 through the two rows of track multi-freedom-degree adjusting seat structures 11, an underwater trolley transmission motion structure 12 is further arranged above the chassis first-stage positioning structure 13 and used for driving the test state model 2 to longitudinally move on the underwater trolley guiding track structure 16, a chassis second-stage transverse and longitudinal rigidity reinforcing structure 14 is arranged below the chassis first-stage positioning structure 13, an underwater double-point buffer structure 18 is fixedly connected end to end, and a plurality of chassis rigid positioning rods 15 are arranged on two sides of the chassis second-stage transverse and longitudinal rigidity reinforcing structure; the underwater waterproof cable synchronous motion structure 17 is fixed on the chassis secondary transverse and longitudinal rigid reinforcing structure 14, and a structural design technology of double-pulley meshing flexible steel wire ropes is adopted, so that a cable for supplying power to the underwater trolley transmission motion structure 12 and the underwater trolley transmission motion structure 12 synchronously rub and longitudinally roll to supply power to an underwater motor, and the situations of small winding damage and electric leakage danger of the cable under the action of streaming in the underwater motion process are effectively avoided.

Fig. 3 is a schematic structural diagram of the multi-degree-of-freedom rail adjusting seat structure provided by the present invention, and as shown in fig. 3, the multi-degree-of-freedom rail adjusting seat structure 11 includes: the device comprises a pressing plate locking bolt 111, a track pressing plate 112, a U-shaped positioning seat 113, a limiting clamping piece 114, a height fine adjustment inclined block 115, an inclined block height adjusting bolt 116 and a track left-right adjusting and positioning structure 117. Wherein the content of the first and second substances,

the U-shaped positioning seats 113 of the multi-degree-of-freedom rail adjusting seat structures 11 are longitudinally arranged and fixed on the primary chassis positioning structure 13, height fine-adjustment inclined blocks 115 are arranged in U-shaped grooves of the U-shaped positioning seats 113, inclined block height adjusting bolts 116 penetrate through the groove walls, the inclined block height adjusting bolts 116 are used for propping against the side faces of the height fine-adjustment inclined blocks 115, and limiting clamping pieces 114 are arranged on two sides of each U-shaped positioning seat 113 and used for limiting the height fine-adjustment inclined blocks 115.

The clamp plate locking bolt 111 fixes the track clamp plate 112 on the upper end face of the U-shaped positioning seat 113, the underwater trolley guide track structure 16 is tightly pressed and fixed on the upper end face of the height fine adjustment inclined block 115, the limiting clamping piece 114 is welded on the side face of the U-shaped positioning seat 113 and has a limiting effect on the height fine adjustment inclined block 115, the front and back movement dislocation of the height fine adjustment inclined block 115 is avoided, the left and right sides of the track left and right adjusting and positioning structure 117 are respectively provided with two, the middle part is provided with a threaded hole and a bolt, and the bottom is welded with the U-shaped positioning seat 113. By loosening the pressing plate locking bolt 111, the adjusting track left-right adjusting and positioning structure 117 can perform lateral displacement adjustment on the underwater trolley guiding track structure 16, and the height position of the underwater trolley guiding track structure 16 can be adjusted through the height fine-adjustment inclined block 115 by the elastic inclined block height adjusting bolt 116.

Fig. 4 is a schematic structural diagram of the underwater vehicle transmission movement structure provided by the present invention, and as shown in fig. 4, the underwater vehicle transmission movement structure 12 includes: the device comprises a transmission rack structure 121, a gear and transmission shaft structure 122, a guide wheel 123, a model supporting seat 124, an underwater motor 125, a model releaser 126 and an underwater motion trolley keel structure 127. Wherein the content of the first and second substances,

the transmission rack structure 121 is fastened with the chassis primary positioning structure 13 through bolts, and the gear and transmission shaft structure 122 is fixed at the bottom of the keel structure 127 of the underwater moving trolley through bolts; the total number of the guide wheels 123 is four, the guide wheels are fixed at the bottom of the lower vehicle by using bearings and run on the guide track structure 16 of the underwater trolley; the number of the model supporting seats 124 is two, and the two model supporting seats are fastened on the upper end face of a keel structure 127 of the underwater motion trolley in a tandem mode through bolts; the underwater motor 125 is the power core of the underwater trolley transmission motion structure 12, is sealed inside a keel structure 127 of the underwater trolley and is fastened by bolts; model releaser 126 bolt fastening is at the motion dolly keel structure 127 up end under water, and the upper end is fixed with 2 bottom centrobaric departments of experimental state model, can control the release model after 2 speed of waiting experimental state model are stable, and experimental state model 2 is emergent under the effect of self positive buoyancy and floats.

Fig. 5 is a schematic structural diagram of a primary chassis positioning structure provided by the present invention. As shown in fig. 5, the chassis primary positioning structure 13 includes: a chassis longitudinal keel structure 131, a chassis transverse keel structure 132, a main beam positioning reinforcing structure 133 and a positioning rod connecting flange structure 134. Wherein the content of the first and second substances,

the longitudinal chassis keel structure 131 is made of rectangular steel at the left and right sides respectively, and has good rigidity; the chassis transverse keel structure 132 is a transverse reinforcing array and is welded and fixed with the chassis longitudinal keel structure 131; the main beam positioning and reinforcing structure 133 is a three-jaw diagonal bracing structure, one end of the main beam positioning and reinforcing structure is welded with the longitudinal keel structure 131 of the chassis, and the other end of the main beam positioning and reinforcing structure is welded and fixed with the positioning rod connecting flange structure 134, so that the main beam positioning and reinforcing structure has good strength and rigidity. The locating rod connecting flange structure 134 is connected with the chassis rigid locating rod 15.

Fig. 6 is a schematic structural diagram of a secondary chassis transverse and longitudinal rigidity reinforcing structure provided in the present invention, and as shown in fig. 6, the secondary chassis transverse and longitudinal rigidity reinforcing structure 14 includes: the structure comprises a lower-layer longitudinal rectangular steel structure 141, a chassis longitudinal trapezoidal rigid reinforcing structure 142, an upper-layer longitudinal rectangular steel structure 143 and a head-tail inclined strut structure 144. Wherein the content of the first and second substances,

the lower-layer longitudinal rectangular steel structure 141 is a double-section reinforcing structure and is welded and fixed with the chassis longitudinal trapezoidal rigid reinforcing structure 142, so that the longitudinal strength and rigidity of the underwater transmission motion chassis are improved; the upper end of the chassis longitudinal trapezoidal rigid reinforcing structure 142 is welded with the upper layer longitudinal rectangular steel structure 143, and the lower end is welded with the lower layer longitudinal rectangular steel structure 141, so that the transverse strength and rigidity are improved; one end of the head-tail inclined strut structure 144 is welded and fixed with the longitudinal trapezoidal rigid reinforcing structure 142 of the chassis, and the other end is welded and fixed with the underwater double-point buffer structure 18, so that the strength and the rigidity of the two ends are improved.

Fig. 7 is a schematic structural view of the underwater waterproof cable synchronous movement structure provided by the present invention, and as shown in fig. 7, the underwater waterproof cable synchronous movement structure 17 includes: a flexible wire cable 171, an upper pulley 172, a side limiting plate 173, a slide wire positioning post 174, and a lower pulley 175. Wherein the content of the first and second substances,

the flexible steel wire cable 171 is fixed at the upper ends of the slide wire positioning columns 174 at the two sides through the tightener; the upper pulley 172 and the lower pulley 175 are in clearance fit with the upper end and the lower end of the flexible steel cable 171, are fixed through the side limiting plate 173, are locked through bolts, fix the flexible steel cable 171 between the upper pulley 172 and the lower pulley 175, can freely roll, and have small friction; slide wire locating posts 174 are bolted to the upper end of chassis secondary transverse and longitudinal stiffening structure 14. A cable connected to the underwater motor 125 is inserted between the lower pulley 175 and the side stopper 173.

Fig. 8 is a schematic structural diagram of an underwater double-point buffer structure provided by the present invention, and as shown in fig. 8, the underwater double-point buffer structure 18 includes: a hydraulic buffer rod push rod 181, a hydraulic cylinder 182, a hydraulic buffer positioning seat 183, a buffer side rib structure 184 and a buffer seat fixing seat 185. Wherein the content of the first and second substances,

the hydraulic buffer rod ejector rod 181 and the hydraulic cylinder 182 are hydraulic buffer structures of the keel structure 127 of the underwater moving trolley, and hydraulic fluid is sealed in an inner cavity and can have good buffer effect in an underwater environment; the hydraulic buffer positioning seat 183, the buffer side rib structure 184 and the buffer seat fixing seat 185 are welded and fixed at the head and tail ends of the primary chassis positioning structure 13.

Referring to fig. 2-8, the multi-degree-of-freedom adjusting seat structure 11 is fastened and connected to the upper end surface of the chassis primary positioning structure 13 through bolts; the underwater trolley transmission motion structure 12 is arranged on the upper end face of the underwater trolley guide track structure 16 through four guide wheels 123 in a matching mode, and a gear of the underwater trolley transmission motion structure 12 is connected with a transmission rack structure 121 which is positioned on the upper end face of the chassis primary positioning structure 13 through a transmission shaft structure 122 rack bolt; the upper end surface of the first-level positioning structure 13 of the chassis is connected with the lower end surface of the guide track structure 16 of the underwater trolley through bolts, the lower end surface of the first-level positioning structure is welded and fixed with the second-level transverse and longitudinal rigid reinforcing structure 14 of the chassis, and the head and the tail of the first-level positioning structure are connected and fixed with the underwater double-point buffer structure 18 through bolts; the secondary transverse and longitudinal rigidity reinforcing structure 14 of the chassis is a welding part, and the upper end of the secondary transverse and longitudinal rigidity reinforcing structure is welded with the primary positioning structure 13 of the chassis; the chassis rigid positioning rods 15 are in flange connection with the chassis primary positioning structure 13 through flange plates, and the 6 chassis rigid positioning rods 15 have good parallelism and coaxiality;

the transmission rack structure 121 and the gear and transmission shaft structure 122 are used for carrying out underwater gear rack transmission, so that the trolley runs at a certain speed in the longitudinal direction, and a longitudinal initial test speed is provided for the test state model 2; the underwater waterproof cable synchronous motion structure 17 is fixedly connected with the chassis second-level transverse and longitudinal rigid reinforcing structure 14 through the slide line positioning columns 174 at the two ends, and the underwater waterproof cable synchronous motion structure 17 adopts a structural design technology of engaging a flexible steel wire rope by double pulleys, so that the cable and the trolley synchronously rub and longitudinally roll to supply power to an underwater motor, and the situations of small winding damage and electric leakage danger of the cable under the action of streaming in the underwater motion process are effectively avoided.

The underwater transmission motion chassis structure 1 mainly has the following functions: (1) the gear rack is adopted for underwater transmission, so that the transmission precision and the speed precision are high; (2) the vertical height, the transverse left-right distance and the transverse right-left distance of the track and the rack are finely adjusted by adopting a track multi-freedom degree adjusting structure, so that the parallelism and the flatness of the underwater transmission system are effectively improved, and the transmission effectiveness is ensured; (3) providing a certain initial speed for the test state model 2 through the underwater trolley transmission motion structure, releasing the model after the speed is stabilized, and developing a zero-speed or belt-speed emergency floating test with a certain submergence depth according to the test requirement; (4) two ends of the underwater transmission motion chassis structure 1 are provided with buffer structures, and hydraulic buffering is adopted to buffer and protect the motion structures; (5) the chassis rigid positioning rod 15 of the underwater transmission motion chassis structure 1 is in flange connection with the chassis primary positioning structure 13, the flange face of the chassis rigid positioning rod 15 is in fastening welding with the positioning rod connecting flange structure 134 of the chassis primary positioning structure 13, the lower end of the chassis primary positioning structure 13 is in welding with the chassis secondary transverse and longitudinal rigidity reinforcing structure 14, the chassis structural design mode can effectively improve the rigidity of the chassis, loads of the chassis are uniformly distributed in each bearing component, the deformation of the chassis is reduced, and the test precision is improved.

Fig. 9 is a schematic structural view of the underwater variable submersible positioning support column provided in the present invention, and as shown in fig. 9, the underwater variable submersible positioning support column 3 includes: the platform supports an upper end rigid structure 31, a lateral inclined strut rigid reinforcing structure 32, 6 fixed-submergence depth limiting movement supporting column structures 33, a bottom transverse supporting connecting structure 34 and a lateral horizontal supporting rigid reinforcing structure 35. Wherein the content of the first and second substances,

the top surfaces of the 6 fixed-submergence depth limiting movement supporting column structures 33 are welded with platform supporting upper end rigid structures 31, and the inner sides of the fixed-submergence depth limiting movement supporting column structures are welded with lateral inclined-strut rigid reinforcing structures 32 and lateral horizontal supporting rigid reinforcing structures 35, so that the overall strength and rigidity of the underwater variable-submergence depth movement positioning supporting column 3 are improved; the bottom transverse supporting and connecting structure 34 is a reinforcing structure and is welded and fixed at the bottoms of the 6 fixed-submergence-depth limiting movement supporting column structures 33.

6 chassis rigid positioning rods 15 of the underwater transmission motion chassis structure 1 are clamped on 6 fixed submergence depth limiting motion supporting column structures 33, and different submergence depths are provided for the test state model 2.

Fig. 10a is a first structural schematic diagram of the fixed-submerged depth limiting movement supporting structure provided by the present invention, and fig. 10b is a second structural schematic diagram of the fixed-submerged depth limiting movement supporting structure provided by the present invention, and as shown in fig. 10a and fig. 10b, the fixed-submerged depth limiting movement supporting column structure 33 includes: the chassis positioning rod comprises a main supporting beam 331, a rigid reinforcing rib 332, a chassis positioning rod left and right limiting structure 333, a fixed depth supporting seat 334, a chassis positioning rod front and rear limiting structure 335 and a two-degree-of-freedom adjustment limiting seat 336. Wherein the content of the first and second substances,

the main supporting beam 331 is of a trapezoidal frame structure, the width of the upper end is small, the width of the lower end is large, the characteristics that the bearing capacity of the lower end is large and the structural strength is high when the main supporting beam meets the bearing of the fixed-submergence-depth limiting motion supporting column 33, the structural strength design is reduced when the upper end bears the weight are met, the strength requirement is met, the structural material is saved, and the bearing characteristic is good; the outer side of the trapezoid frame is provided with a plurality of horizontal rigid reinforcing ribs 332 from high to low along the main supporting beam 331, the inner side of the trapezoid frame is provided with a plurality of horizontal fixed-depth supporting seats 334, the rigid reinforcing ribs 332 and the fixed-depth supporting seats 334 are in the same plane, the middle part of each fixed-depth supporting seat 334 is provided with an opening for the chassis rigid positioning rod 15 to pass through, two-degree-of-freedom adjusting limiting seats 336 are arranged on the fixed-depth supporting seats 334 with different heights according to requirements and used for bearing the chassis rigid positioning rod 15, the fixed-depth supporting seats 334 are used for bearing the weight of the underwater transmission motion chassis structure 1 through the two-degree-of-freedom adjusting limiting seats 336, the weight of the underwater transmission motion chassis structure 1 is about 10t, the rigid reinforcing ribs 332 can effectively improve the rigidity of the fixed-depth supporting seats 334 and avoid the large deformation of the supporting column structure 33 for bearing the underwater transmission motion to influence the levelness of the underwater transmission motion chassis structure 1, affecting the test accuracy.

A chassis positioning rod left and right limiting structure 333 is provided in a vertical direction along the outer side of the main support beam 331 from the high to the low trapezoidal frame, and when the chassis rigid positioning rod 15 is placed on the depth setting support seat 334, the chassis positioning rod left and right limiting structure 333 is located on the front end surface plane of the chassis rigid positioning rod 15, and a certain gap is maintained, and the number of the chassis positioning rod left and right limiting structures 333 may be two. The area of the underwater transmission motion chassis structure 1 is large, so that the problems that the vertical speed error is large, the platform is inclined and the like due to the fact that the underwater transmission motion chassis structure 1 moves left and right under the action of uneven water resistance caused by fluid streaming in the underwater vertical rising process are solved; two chassis positioning rod front and rear limiting structures 335 in the vertical direction are arranged on the inner side of the main supporting beam 331 from high to low trapezoid frame, the chassis positioning rod front and rear limiting structures 335 are distributed on the cylindrical surfaces of two sides of the chassis rigid positioning rod 15, the chassis positioning rod front and rear limiting structures 335 are in clearance fit with the cylindrical surfaces of the side surfaces of the chassis rigid positioning rod 15, and the chassis structure 1 in the underwater transmission motion is limited from moving forwards and backwards greatly in the vertical belt speed motion process, so that the vertical speed precision and the platform stability are influenced; the depth-setting support seat 334 is a section welded on the inner side of the main support beam 331; the two-degree-of-freedom adjusting limiting seat 336 has the function of fine adjustment of displacement in two directions, and in the test process, the two-degree-of-freedom adjusting limiting seat 336 is fixed on the fixed-depth supporting seat 334 through bolts according to different initial submergence requirements to perform tests.

Fig. 11 is a schematic structural view of a two-degree-of-freedom adjustment limiting seat structure provided in the present invention, and as shown in fig. 11, the two-degree-of-freedom adjustment limiting seat 336 includes: the vertical height adjusting bolt 3361, the U-shaped positioning seat 3362, the lateral front and rear position adjusting bolt 3363, the left and right fine adjustment adjusting bolt 3364, the positioning seat bottom plate 3365 and the vertical rib plate 3366. Wherein the content of the first and second substances,

the positioning seat bottom plate 3365 is fixed on the depth-setting supporting seat 334 through a left and right fine adjustment adjusting bolt 3364, two vertical rib plates 3366 are arranged on the positioning seat bottom plate 3365, the U-shaped positioning seat 3362 is fixed between the two vertical rib plates 3366 on the positioning seat bottom plate 3365 through a vertical height adjusting bolt 3361, the height of the U-shaped positioning seat 3362 can be adjusted by loosening and adjusting the vertical height adjusting bolt 3361 and by a metal plate cushion manner, so that the U-shaped positioning seats 3362 of the six chassis rigid positioning rods 15 are ensured to keep a horizontal plane; the lateral front-rear position adjusting bolts 3363 are in threaded fit with the vertical rib plates 3366, the front-rear positions of the U-shaped positioning seats 3362 can be adjusted by adjusting the lateral front-rear position adjusting bolts 3363 on the two sides, the U-shaped positioning seats 3362 on the left and right sides are ensured to have better coaxiality, and the phenomenon of clamping and locking when the underwater transmission motion chassis structure 1 is positioned at a submerged depth is avoided.

The underwater variable-submergence-depth movement positioning support column 3 can carry out a variable-submergence depth test according to the requirements of emergency floating tests of different water depths of an underwater boat body model, so that the test can be carried out under the conditions that the actual boat stops suddenly under the conditions of different water depths and loses power by more comprehensively analyzing; the underwater variable diving depth movement positioning support column 3 can effectively ensure that the underwater transmission movement chassis structure 1 moves vertically in the movement process through the chassis positioning rod left and right limiting structure 333 and the chassis positioning rod front and rear limiting structure 335, and avoid the danger of movement instability or separation caused by water flow disturbance in the lifting process of the underwater transmission movement chassis structure 1. The two-degree-of-freedom adjusting limiting seat 336 has the function of adjusting vertical and longitudinal displacement, can effectively adjust the flatness and neutrality of the track of the underwater transmission motion chassis structure 1 in different submergence depths, and improves the test precision.

Fig. 12 is a schematic structural view of the model water surface fishing and positioning structure of the present invention, and as shown in fig. 12, the model water surface fishing and positioning structure includes: the device comprises a linear track rigid reinforcing inclined strut 41, a hoisting device moving track 42, a hoisting device 43, a hoisting point 44, a flexible hoisting rope 45, a rigid hoisting support seat 46, a model fishing U-shaped seat binding band 47, a gravity center stabilizing inclined pulling rope 48 and a positioning point 49. Wherein the content of the first and second substances,

the linear track rigidity reinforcing inclined strut 41, the upper end face of the lifting device moving track 42 and the upper end face of the underwater variable submerged depth movement positioning support column 3 are welded and fixed, and the function of reinforcing rigidity is achieved; the hoisting device moving track 42 is welded and fixed on the upper end surface of the underwater variable-submergence-depth movement positioning support column 3; the roller of the lifting device 43 is matched with the rail and fixed on the moving rail 42 of the lifting device; the lifting point 44 is a model fishing point; in the hoisting process, the test state model 2 is fixed on the model salvaging U-shaped seat binding bands 47, the model salvaging U-shaped seat binding bands 47 are fixed at the front and back positions of the rigid hoisting support seat 46 through shackles, the upper ends of the model salvaging U-shaped seat binding bands are fixedly connected with the gravity center stable inclined pull rope 48 through the flexible hoisting rope 45, and the model does not have the danger of inclination and falling as long as the gravity center of the test state model 2 is fixed between the two model salvaging U-shaped seat binding bands 47; in the process of lifting the model, the model can move to the position of the positioning point 49 along the moving track 42 of the lifting device, and the model 2 in the test state is positioned on the model supporting seat 124 on the upper end surface of the keel structure 127 of the underwater moving trolley so as to expand the second test.

According to the model water surface salvage and positioning structure 4, aiming at the problems that the water surface test boat body is large in mass and inconvenient to salvage manually, the boat body is long and not beneficial to positioning, the center of gravity is fixed, the boat body is smooth and streamlined, a lifting rope is not easy to fix, the boat body is precisely prevented from being lifted and damaged, the flexible cable is adopted for single lifting, the rigid support tool is used for multi-point positioning, model lifting is carried out in a double-line U-shaped fixed model mode, and the problems that the center of gravity of a model is inclined and slides down, and the rope tightens and damages the surface of the model are effectively solved.

Fig. 13 is a schematic structural view of the vertical synchronous lifting structure of the chassis according to the present invention, and as shown in fig. 13, the vertical synchronous lifting structure 5 of the chassis includes: synchronous hoisting device 51, hoisting cable 52, longitudinal rigid hoisting structure 53, transverse rigid reinforcing structure 54 and vertical multi-point force-unloading supporting structure 55. Wherein the content of the first and second substances,

the synchronous hoisting device 51 is fixed on the upper end surface of the underwater variable-submergence-depth-motion positioning support column 3 through bolts, the lower ends of the synchronous hoisting device 51 are connected with hoisting cables 52, the lower ends of two hoisting cables 52 on one side are fixedly connected with a longitudinal rigid hoisting structure 53, the longitudinal rigid hoisting structure 53 and a transverse rigid reinforcing structure 54 are fixedly welded with a vertical multi-point force-unloading support structure 55, the transverse rigid reinforcing structure 54 is six inclined struts, and the bottoms of the transverse rigid hoisting structures are fixedly welded on the end parts of front and rear chassis rigid positioning rods 15; five vertical multi-point force-unloading supporting structures 55 are arranged on one side, and the vertical multi-point force-unloading supporting structures 55 can be welded on the upper-layer longitudinal rectangular steel structure 143 of the second-level transverse and longitudinal rigid reinforcing structure 14 of the chassis or welded on the main beam positioning reinforcing structure 133. Two hoisting cables 52 on one side are converted into five vertical multi-point force-unloading supporting structures 55, so that loads can be well and uniformly distributed, and the influence on the precision of the testing device and the accuracy of a testing result due to the fact that the single bearing is large and large deformation is caused is avoided.

The chassis vertical synchronous lifting movement structure 5 provided by the invention mainly has the following functions: (1) the underwater transmission motion chassis structure 1 has a synchronous lifting function, a four-point flexible cable hoisting method is adopted, and the uniform distribution loading characteristics of the platform during hoisting are effectively improved in a two-to-five bearing mode; (2) the phenomenon that the effectiveness of an underwater device platform is influenced due to the characteristics that the local load is too large or the underwater transmission motion chassis structure 1 is deformed and unstably caused by the action of self gravity and fluid resistance in the underwater ascending process is avoided. The invention relates to a variable-depth variable-speed emergency floating test device platform for a model of a submarine vehicle, which can carry out three types of emergency floating tests, comprising the following steps: (1) carrying out an emergency upward floating hydrodynamic test at the initial speed of a single belt in the axial direction (longitudinal direction) or the vertical direction; (2) coupling the axial direction and the vertical direction and simultaneously carrying out emergency floating at an initial speed; (3) and carrying out an initial speed test of the variable submergence depth axial belt according to the test depth.

Wherein the content of the first and second substances,

the axial or vertical single-belt initial speed emergency floating hydrodynamic test specifically comprises the following steps: under a certain submergence depth, a certain axial speed is provided for the test state model 2 through the underwater transmission motion chassis structure 1, after the speed is stable, the test state model 2 is released through the model releaser 126, and the test state model 2 floats upwards freely without power under the action of positive buoyancy and is used for simulating an underwater depthkeeping axial cruising parking emergency floating test of the submergence device so as to analyze the attitude and the motion parameters in the model floating process.

The coupling axial direction and vertical direction simultaneous initial speed emergency upward floating hydrodynamic test specifically comprises the following steps: the underwater transmission motion chassis structure 1 is used for providing a certain axial speed for the test state model 2, meanwhile, the chassis vertical synchronous lifting motion structure 5 is used for providing a certain vertical speed, after the axial speed and the vertical speed are stable, the model releaser 126 is used for releasing the model, the actual test submergence depth of the model is effectively improved at the vertical initial speed, the defect of the depth of the current large-water-depth emergency floating test pool is overcome, a certain vertical speed is provided for the test state model 2, and the deep-water parking emergency floating test of the test state model 2 is analyzed.

The method for carrying out the initial speed test of the variable-submergence depth axial zone according to the test depth mainly comprises the steps of changing the water depth of the underwater transmission motion chassis structure 1 according to different submergence depth emergency floating requirements of the test state model 2, and changing the floating distance to carry out different submergence depth floating tests.

The invention provides a variable-depth variable-speed emergency floating test device platform of an underwater vehicle model for the first time, which is used for carrying out emergency floating tests under the condition that an actual boat stops suddenly under the conditions of different water depths and speeds, the underwater longitudinal maximum speed of an underwater power device of the test platform can reach 2m/s, the vertical maximum speed Vc can reach 0.2m/s, and the maximum load of the platform is 1200Kg, according to the similar relationship of Friedel-crafts, the test device platform can meet the emergency floating test requirements of a 90% underwater hull contraction ratio model, and in the test process, the test platform device can place the model at different water depths according to the test requirements, release and float the model at the zero speed of the model or drive the model to float at a certain initial speed, observe the moving posture, the moving speed and the acceleration of the hull during the floating process, and guide the emergency floating operation of the boat body during parking, avoid the major dangerous situation to appear, also do the direction for hull appearance optimization simultaneously.

The underwater transmission moving chassis structure comprises an underwater transmission moving chassis structure 1 and a chassis vertical synchronous lifting moving structure 5, can simulate an axial or vertical single-belt initial speed emergency floating hydrodynamic test of a model in an emergency floating process, can also couple the axial and vertical synchronous belt initial speeds for emergency floating, and can also develop a variable-submergence-depth axial belt initial speed hydrodynamic model test according to the requirement of test depth; the underwater platform device has the speed of 2M/s, can meet the requirement of the axial speed of most submarine bodies for underwater emergency floating, has the vertical maximum speed Vc of 0.2M/s, is equivalent to that a model with the mass M of 800Kg moves for a distance of about 1M from the initial zero speed under the action of 2% of vertical floating force, can effectively improve the actual test submergence depth of the model from the vertical initial speed, and makes up the defect of the depth of an emergency floating test pool with large water depth at present.

The above examples are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims

1. The utility model provides an emergent come-up test device platform of variable dark variable speed of ware model of diving, its characterized in that includes: the underwater transmission motion platform comprises an underwater transmission motion chassis structure (1), a test state model (2), an underwater variable diving depth motion positioning support column (3), a model water surface salvaging and positioning structure (4) and a chassis vertical synchronous lifting motion structure (5); wherein the content of the first and second substances,

the underwater transmission motion chassis structure (1) is provided with a fixing device of the test state model (2) and an axial motion track, and is used for providing an axial initial speed for the test state model (2);

the underwater variable diving depth movement positioning support column (3) is of a three-dimensional frame structure, the bottom of the underwater variable diving depth movement positioning support column is arranged in water, and a clamping platform and a vertical movement track of the underwater transmission movement chassis structure (1) are arranged in the underwater variable diving depth movement positioning support column (3); the height of the clamping platform on the underwater variable diving depth movement positioning support column (3) can be adjusted according to the requirement of the test depth;

the chassis vertical synchronous lifting motion structure (5) is connected with the underwater transmission motion chassis structure (1) and is used for driving the underwater transmission motion chassis structure (1) to move in a vertical motion track of the underwater variable-depth-motion positioning support column (3);

the model water surface salvaging and positioning structure (4) is arranged at the top of the underwater variable diving depth movement positioning support column (3) and is used for arranging the test state model (2) on the underwater transmission movement chassis structure (1) when a test is started and recovering the test state model (2) when the test is finished;

the chassis vertical synchronous lifting motion structure (5) and the underwater transmission motion chassis structure (1) are used for carrying out an axial or vertical single-belt initial speed emergency floating hydrodynamic test of the test state model (2); carrying out an emergency floating hydrodynamic test with the initial speed while the axial direction and the vertical direction of the coupling of the test state model (2) are carried out;

the model water surface fishing and positioning structure (4) comprises: the device comprises a linear track rigid reinforcing inclined strut (41), a hoisting device moving track (42), a hoisting device (43), a flexible lifting rope (45), a rigid hoisting support seat (46), a model salvaging U-shaped seat binding band (47) and a gravity center stabilizing inclined pull rope (48); wherein the content of the first and second substances,

one side of the top of the underwater variable-submergence depth movement positioning support column (3) is welded with a linear track rigid reinforcing inclined strut (41), and a lifting device movement track (42) is welded and fixed on the top of the underwater variable-submergence depth movement positioning support column (3) and the linear track rigid reinforcing inclined strut (41);

the roller of the hoisting device (43) is matched with the rail and fixed on the moving rail (42) of the hoisting device; the hoisting device (43) is connected with one end of a gravity center stable inclined-pulling rope (48) through a flexible hoisting rope (45), the other end of the gravity center stable inclined-pulling rope (48) is connected with a rigid hoisting support seat (46), model salvaging U-shaped seat binding bands (47) are arranged at two ends of the rigid hoisting support seat (46), and the model salvaging U-shaped seat binding bands (47) are used for fixing the test state model (2);

the test state model (2) is fixed by two model salvaging U-shaped seat binding bands (47), so that the problems that the gravity center of the test state model (2) is inclined and slides down and the surface of the test state model (2) is damaged by tightening a rope can be avoided;

the chassis vertical synchronous lifting motion structure (5) comprises: the device comprises four synchronous hoisting devices (51), hoisting cables (52), two longitudinal rigid hoisting structures (53), a transverse rigid reinforcing structure (54) and a vertical multi-point force-unloading supporting structure (55);

two longitudinal rigid hoisting structures (53) are welded above two side edges of the underwater transmission motion chassis structure (1) through a transverse rigid reinforcing structure (54) and five vertical multipoint force unloading supporting structures (55);

the four synchronous hoisting devices (51) are fixed on the upper end surface of the underwater variable-submergence-depth-motion positioning support column (3) through bolts, are fixedly connected with a longitudinal rigid hoisting structure (53) through hoisting cables (52), and are used for hoisting the underwater transmission motion chassis structure (1);

two hoisting cables (52) are converted into force bearing modes of five vertical multi-point force unloading supporting structures (55) at each side of the underwater transmission motion chassis structure (1), so that loads can be well distributed, and large deformation caused by large single load bearing is avoided.

2. Platform according to claim 1, characterized in that the underwater transmission motion chassis structure (1) comprises: the underwater multi-degree-of-freedom underwater trolley comprises a track multi-degree-of-freedom adjusting seat structure (11), an underwater trolley transmission motion structure (12), a chassis primary positioning structure (13), a chassis secondary transverse and longitudinal rigidity reinforcing structure (14), a chassis rigidity positioning rod (15), an underwater trolley guide track structure (16), an underwater waterproof cable synchronous motion structure (17) and an underwater double-point buffer structure (18); wherein the content of the first and second substances,

the chassis first-level positioning structure (13) is a welded frame structure, a plurality of track multi-degree-of-freedom adjusting seat structures (11) are arranged above the chassis first-level positioning structure, the plurality of track multi-degree-of-freedom adjusting seat structures (11) are arranged in two rows, an underwater trolley guiding track structure (16) is arranged on the chassis first-level positioning structure (13) through the two rows of track multi-degree-of-freedom adjusting seat structures (11), an underwater trolley transmission movement structure (12) is further arranged above the chassis first-level positioning structure (13), the underwater trolley transmission movement structure (12) is used for driving a test state model (2) to longitudinally move on the underwater trolley guiding track structure (16), a chassis second-level transverse and longitudinal rigidity reinforcing structure (14) is arranged below the chassis first-level positioning structure (13), an underwater double-point buffer structure (18) is fixedly connected end to end, and a plurality of chassis rigidity positioning rods (15) are arranged on two sides of the chassis;

an underwater waterproof cable synchronous motion structure (17) is fixed on a secondary transverse and longitudinal rigid reinforcing structure (14) of the chassis, and a structural design technology of engaging a double pulley with a flexible steel wire rope is adopted, so that a cable for supplying power to the underwater trolley transmission motion structure (12) and the underwater trolley transmission motion structure (12) synchronously rub and longitudinally roll to supply power to an underwater motor;

the underwater double-point buffer structure (18) is fastened with the first-level positioning structure (13) of the chassis through bolts, and can buffer the underwater trolley transmission motion structure (12) and buffer and protect the motion structure.

3. Platform according to claim 2, characterized in that the rail multiple degree of freedom adjustment mount structure (11) comprises: the device comprises a pressure plate locking bolt (111), a track pressure plate (112), a U-shaped positioning seat (113), a limiting clamping piece (114), a height fine adjustment inclined block (115), an inclined block height adjusting bolt (116) and a track left-right adjusting and positioning structure (117); wherein the content of the first and second substances,

u-shaped positioning seats (113) of the multi-degree-of-freedom adjusting seat structures (11) of the rails are longitudinally arranged and fixed on a primary positioning structure (13) of the chassis, height fine-adjustment inclined blocks (115) are arranged in U-shaped grooves of the U-shaped positioning seats (113), inclined block height adjusting bolts (116) penetrate through the groove walls, the inclined block height adjusting bolts (116) are used for propping against the side faces of the height fine-adjustment inclined blocks (115), and limiting clamping pieces (114) are arranged on two sides of each U-shaped positioning seat (113) and used for limiting the height fine-adjustment inclined blocks (115);

a rail pressing plate (112) and a rail left-right adjusting and positioning structure (117) are arranged on the end face of a U-shaped groove of the U-shaped positioning seat (113), the rail pressing plate (112) is fixed on the upper end face of the U-shaped positioning seat (113) through a pressing plate locking bolt (111), the underwater trolley guiding rail structure (16) is pressed and fixed on the upper end face of the height fine-adjustment inclined block (115), and a screw rod used for propping against the side face of the underwater trolley guiding rail structure (16) penetrates through the rail left-right adjusting and positioning structure (117).

4. Platform according to claim 3, characterized in that the underwater trolley transmission movement structure (12) comprises: the device comprises a transmission rack structure (121), a gear and transmission shaft structure (122), a guide wheel (123), a model supporting seat (124), an underwater motor (125), a model releaser (126) and an underwater moving trolley keel structure (127); wherein the content of the first and second substances,

the top surface of the keel structure (127) of the underwater motion trolley is provided with a model supporting seat (124) and a model releaser (126), and the model releaser (126) is used for locking the test state model (2) when the test state model (2) is placed on the model supporting seat (124) and releasing the test state model (2) in the experiment process;

an underwater motor (125) is arranged in the keel structure (127) of the underwater moving trolley, and the underwater motor (125) is connected with the underwater waterproof cable synchronous moving structure (17);

a gear and transmission shaft structure (122) and a guide wheel (123) are arranged at the bottom of the keel structure (127) of the underwater moving trolley, the gear and transmission shaft structure (122) is matched with a transmission rack structure (121) fixed on a primary positioning structure (13) of the chassis, and the guide wheel (123) runs on a guide track structure (16) of the underwater trolley;

the transmission rack structure (121) and the gear and transmission shaft structure (122) are used for improving the transmission precision and the speed precision of an underwater transmission system of the test state model (2);

the rail multi-degree-of-freedom adjusting seat structure (11) is used for finely adjusting the vertical height, the transverse left-right distance and the transverse left-right distance of the underwater trolley guide rail structure (16) and the transmission rack structure (121) so as to improve the parallelism and the flatness of an underwater transmission system of the test state model (2).

5. Platform according to claim 4, characterized in that the chassis primary positioning structure (13) comprises: the chassis comprises two chassis longitudinal keel structures (131), chassis transverse keel structures (132), main beam positioning reinforcing structures (133) and positioning rod connecting flange structures (134); wherein the content of the first and second substances,

the chassis longitudinal keel structures (131) are made of rectangular steel, the chassis transverse keel structures (132) are transversely reinforced arrays, and are welded and fixed between the two chassis longitudinal keel structures (131);

the main beam positioning and reinforcing structure (133) is a three-jaw inclined support structure, one end of the main beam positioning and reinforcing structure is welded with the outer side of the chassis longitudinal keel structure (131), the other end of the main beam positioning and reinforcing structure is welded and fixed with a positioning rod connecting flange structure (134), and the positioning rod connecting flange structure (134) is used for connecting a chassis rigid positioning rod (15);

the positioning rod connecting flange structure (134) is used for improving the rigidity of the chassis primary positioning structure (13), loads of the chassis primary positioning structure (13) are uniformly distributed in each bearing component of the chassis primary positioning structure (13), deformation of the chassis primary positioning structure (13) is reduced, and test accuracy is improved.

6. Platform according to claim 5, characterized in that the chassis secondary transversal and longitudinal stiffening structure (14) comprises: the structure comprises a lower-layer longitudinal rectangular steel structure (141), a plurality of chassis longitudinal trapezoidal rigid reinforcing structures (142), an upper-layer longitudinal rectangular steel structure (143) and an end-to-end diagonal bracing structure (144); wherein the content of the first and second substances,

the chassis longitudinal trapezoidal rigid reinforcing structure (142) is in an inverted trapezoid shape, the upper end of the chassis longitudinal trapezoidal rigid reinforcing structure is welded with the upper layer longitudinal rectangular steel structure (143), and the lower end of the chassis longitudinal trapezoidal rigid reinforcing structure is welded with the lower layer longitudinal rectangular steel structure (141); the lower-layer longitudinal rectangular steel structure (141) is a double-section reinforcing structure;

an end-to-end inclined strut structure (144) is respectively welded on the chassis longitudinal trapezoidal rigid reinforcing structures (142) at the two ends, and the end-to-end inclined strut structure (144) is welded and fixed with the underwater double-point buffer structure (18).

7. Platform according to claim 6, characterized in that the underwater waterproof cable synchronous movement structure (17) comprises: the device comprises a flexible steel wire cable (171), an upper pulley (172), a side limiting plate (173), a slide wire positioning column (174) and a lower pulley (175); wherein the content of the first and second substances,

the flexible steel wire cable (171) is fixed at the upper ends of two side slide wire positioning columns (174) through a tightener, and the slide wire positioning columns (174) are connected to the upper end surface of the chassis secondary transverse and longitudinal rigid reinforcing structure (14) through bolts;

the upper pulley (172) is in clearance fit with the lower pulley (175) and is fixed through the side limiting plate (173), the flexible steel wire cable (171) is fixed between the upper pulley (172) and the lower pulley (175), and a cable connected with the underwater motor (125) penetrates between the lower pulley (175) and the side limiting plate (173);

go up pulley (172), lower pulley (175) and flexible steel cable (171), adopt the structure of two pulleys meshing flexible steel cable (171), make the vertical rolling motion of friction synchronous of flexible steel cable (171) and underwater motion dolly keel structure (127) in order to supply power to motor (125) under water, can avoid flexible steel cable (171) in the motion process under water to twine the damage and appear the electric leakage dangerous condition in the effect of streaming little.

8. Platform according to claim 2, characterized in that the underwater variable submerged depth motion positioning support column (3) comprises: the platform supports an upper end rigid structure (31), a lateral inclined strut rigid reinforcing structure (32), a plurality of fixed-submergence depth limiting movement supporting column structures (33), a bottom transverse supporting and connecting structure (34) and a lateral horizontal supporting rigid reinforcing structure (35);

a plurality of fixed-submergence-depth limiting motion supporting column structures (33) are uniformly arranged, a platform supporting upper end rigid structure (31) is welded on the top surface, a lateral inclined-support rigid reinforcing structure (32) and a lateral horizontal-support rigid reinforcing structure (35) are welded on the inner side of the platform supporting upper end rigid structure, and a bottom transverse-support connecting structure (34) is welded on the bottom of the platform supporting upper end rigid reinforcing structure;

each submerged depth limiting movement support column structure (33) comprises: the device comprises a main supporting beam (331), a rigid reinforcing rib (332), a chassis positioning rod left-right limiting structure (333), a depth-setting supporting seat (334), a chassis positioning rod front-back limiting structure (335) and a two-degree-of-freedom adjusting limiting seat (336);

the main supporting beam (331) is of a trapezoid frame structure, a plurality of horizontal rigid reinforcing ribs (332) are arranged on the outer side of the trapezoid frame from high to low along the main supporting beam (331), a plurality of horizontal depth-fixing supporting seats (334) are arranged on the inner side of the trapezoid frame, the rigid reinforcing ribs (332) and the depth-fixing supporting seats (334) are in the same plane, an opening is formed in the middle of each depth-fixing supporting seat (334) and used for allowing a chassis rigid positioning rod (15) to pass through, and a two-degree-of-freedom adjusting limiting seat (336) is arranged on each depth-fixing supporting seat (334) and used for bearing the chassis rigid positioning rod (15);

a chassis positioning rod left and right limiting structure (333) in the vertical direction is arranged along the outer side of the main supporting beam (331) from the high to the low trapezoid frame, two chassis positioning rod front and rear limiting structures (335) in the vertical direction are arranged on the inner side of the trapezoid frame, the chassis positioning rod left and right limiting structure (333) is positioned at the end part of the chassis rigid positioning rod (15) and has a certain gap, and the chassis positioning rod front and rear limiting structures (335) are clamped at two sides of the chassis rigid positioning rod (15);

two degree of freedom adjust spacing seat (336) and include: the device comprises a vertical height adjusting bolt (3361), a U-shaped positioning seat (3362), a lateral front and rear position adjusting bolt (3363), a left and right fine adjustment adjusting bolt (3364), a positioning seat bottom plate (3365) and a vertical rib plate (3366);

the positioning seat bottom plate (3365) is fixed on the depth-setting supporting seat (334) through a left-right fine adjustment adjusting bolt (3364), two vertical rib plates (3366) are arranged on the positioning seat bottom plate (3365), the U-shaped positioning seat (3362) is fixed between the two vertical rib plates (3366) on the positioning seat bottom plate (3365) through a vertical height adjusting bolt (3361),

the lateral front and rear position adjusting bolts (3363) penetrate through the vertical rib plates (3366) and prop against the U-shaped positioning seat (3362);

the height of the two-degree-of-freedom adjusting limiting seat (336) on the fixed-submergence-depth limiting motion supporting column structure (33) can be adjusted according to the requirements of emergency floating tests of underwater boat body models in different water depths, so that the test of sudden parking and power loss of the real boat under the conditions of different water depths can be carried out more comprehensively; the two-degree-of-freedom adjusting limiting seat (336) has the function of adjusting vertical and longitudinal displacement and is used for adjusting the flatness and neutrality of the track in the underwater transmission motion chassis structure (1) at different depths, so that the test precision is improved;

the chassis positioning rod front and rear limiting structure (335) and the chassis positioning rod left and right limiting structure (333) are used for ensuring that the underwater transmission motion chassis structure (1) moves vertically in the motion process, and avoiding the danger of motion instability or separation caused by water flow disturbance in the lifting process of the underwater transmission motion chassis structure (1).