CN214383407U - Pitching shaft body connecting structure capable of accommodating mast - Google Patents

Abstract

The utility model relates to a can accomodate every single move axis body connection structure of mast belongs to the ware technical field that submerges, solves the unsatisfied problem of surveying the demand of the mast of current ware that submerges. The pitch shaft body connecting structure includes: the double-shaft servo system is fixedly connected with the pitching shaft body, is connected with the cabin body and comprises a second axis, and the second axis is vertical to the first axis; the double-shaft servo system drives the comprehensive mast system to rotate around a first axis and a second axis; the pitching shaft body is hinged with the underwater vehicle and comprises a first axis; wherein, every single move axis body includes: the electric signal interface is electrically connected with the underwater vehicle; the pitching shaft shell, the electrical signal interface is arranged in the pitching shaft shell, and the electrical signal interface is hinged with the pitching shaft shell. The utility model discloses can satisfy the low resistance demand and the detection demand of unmanned underwater vehicle navigation simultaneously, possess folding and expansion function, do benefit to and reduce the resistance, promote the disguise.

Description

Pitching shaft body connecting structure capable of accommodating mast

Technical Field

The utility model relates to an underwater vehicle technical field especially relates to a can accomodate every single move axis body connection structure of mast.

Background

The detection mast is a detection device of the unmanned underwater vehicle, and the detection mast is retracted to submerge along with the underwater vehicle when not in work; when the underwater vehicle works, the underwater vehicle floats to the near water surface, the mast is lifted to start detection, the navigation resistance and noise are reduced, and the secrecy is improved. The comprehensive detection mast can accommodate various detection devices and has multifunctional comprehensive detection capability.

The comprehensive detection mast needs to adapt to deep sea diving and near-water surface working environment along with the unmanned underwater vehicle, and has higher requirements on sealing, pressure resistance and corrosion resistance. The unmanned underwater vehicle has different tasks, the comprehensive detection masts have different functions, and the task load carried in the masts is different even the external structures of the masts are different.

The comprehensive detection mast generally consists of a servo system, a functional cabin and a comprehensive control system. The servo system is a main part for detecting the mast and realizes the unfolding, rotation and folding of the mast; the functional cabin section contains various devices such as acoustoelectric, optical, positioning and communication devices, and is a necessary component of a detection function; the comprehensive control system is the core of the detection mast and controls the comprehensive mast to work normally.

In a broad sense, the comprehensive detection mast system further comprises a ground control system matched with the comprehensive detection mast system and used for receiving and transmitting the command and detection data of the comprehensive detection mast, and sometimes the system is integrated into an unmanned underwater vehicle control system.

SUMMERY OF THE UTILITY MODEL

In view of the above analysis, the present invention provides a pitch shaft connecting structure capable of accommodating a mast, so as to solve the problem that the mast of the existing underwater vehicle does not satisfy the detection requirement.

The purpose of the utility model is mainly realized through the following technical scheme:

the utility model discloses among the technical scheme, a can accomodate every single move axis body connection structure of mast, every single move axis body connection structure includes:

the double-shaft servo system is fixedly connected with the pitching shaft body, is connected with the cabin body and comprises a second axis, and the second axis is vertical to the first axis; the double-shaft servo system drives the comprehensive mast system to rotate around a first axis and a second axis;

the pitching shaft body is hinged with the underwater vehicle and comprises a first axis;

wherein, every single move axis body includes: the electric signal interface is electrically connected with the underwater vehicle; the pitching shaft shell, the electrical signal interface is arranged in the pitching shaft shell, and the electrical signal interface is hinged with the pitching shaft shell.

The utility model discloses among the technical scheme, the every single move axis body is sealed through first double-deck seal structure with the articulated department of ware of diving.

The utility model discloses among the technical scheme, first double-deck seal structure includes:

the first sealing ring is arranged between the electric signal interface and the pitching shaft shell;

the second sealing ring is arranged between the electric signal interface and the underwater vehicle;

and the third sealing ring is arranged between the pitching shaft shell and the underwater vehicle.

The utility model discloses among the technical scheme, biax servo includes:

the output end of the pitching motor is connected with the pitching shaft body;

the course motor is fixedly connected with the pitching motor;

the course shaft body is fixedly connected with the cabin body and is fixedly connected with the output end of the course motor; the axis of the course shaft body is coincided with the second axis.

The utility model discloses among the technical scheme, biax servo still includes:

the pitching speed reducer is arranged between the output end of the pitching motor and the pitching shaft body;

and the pitching rotary transformation device is used for measuring the rotating angle of the pitching shaft body.

The utility model discloses among the technical scheme, every single move reduction gear includes:

the worm is in power connection with the output end of the pitching motor;

the worm wheel is fixedly connected with the pitching shaft body and meshed with the worm;

and the worm support is fixedly connected with the pitching motor, and the worm is hinged with the worm support.

The utility model discloses among the technical scheme, biax servo still includes:

the course speed reducer is arranged between the output end of the course motor and the course shaft body;

and the course rotary change device is used for measuring the rotating angle of the course shaft body.

The utility model discloses among the technical scheme, biax servo still includes:

the auxiliary supporting shaft is coaxial with the pitching shaft body and is hinged with the underwater vehicle; the pitching motor is positioned between the auxiliary supporting shaft and the pitching shaft body.

The utility model discloses among the technical scheme, biax servo still includes:

the servo system shell, the pitching motor, the course motor, the pitching reducer, the pitching rotary-change device, the course reducer and the course rotary-change device are all arranged in the servo system shell.

In the technical scheme of the utility model, the pitching axis body passes through the servo system shell;

the pitching shaft body and the servo system shell are sealed through a first dynamic sealing ring.

The utility model discloses technical scheme can realize one of following effect at least:

1. the utility model discloses can satisfy the low resistance demand and the detection demand that unmanned underwater vehicle navigates by water simultaneously, possess folding and expansion function, do benefit to and reduce the resistance, promote the disguise;

2. the utility model can rotate the pitching shaft by 0-90 degrees, rotate the course shaft by +/-176 degrees, and has a large detection range;

3. the pitching shaft of the utility model is driven by a worm gear structure, has a power-off self-locking function, is reliable in locking, saves the electric energy of the underwater vehicle, and keeps the mast stable relative to the hull;

4. the utility model discloses a subtract heavy design and move, quiet multistage sealed redundant design, can bear 1MPa pressure watertight, withstand seawater corrosion.

The utility model discloses in, can also make up each other between the above-mentioned each technical scheme to realize more preferred combination scheme. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout the drawings.

Fig. 1 is an overall schematic diagram of an embodiment of the present invention;

fig. 2 is a side view of an embodiment of the present invention;

fig. 3 is a top view of an embodiment of the present invention;

fig. 4 is a schematic diagram of a state of the embodiment of the invention when the underwater vehicle is folded;

fig. 5 is a schematic view of the embodiment of the present invention in an extended state on the underwater vehicle;

FIG. 6 is a schematic view of the embodiment of the present invention for adjusting the course state on the underwater vehicle;

FIG. 7 is a schematic view of the rotation of the cabin according to the embodiment of the present invention;

fig. 8 is a schematic view of a dual-axis servo system according to an embodiment of the present invention;

fig. 9 is a schematic view of an internal structure of a dual-axis servo system according to an embodiment of the present invention;

fig. 10 is a schematic structural view of a cabin section shell according to an embodiment of the present invention;

fig. 11 is a schematic view of a first double-layer sealing structure according to an embodiment of the present invention;

fig. 12 is a schematic view of a second double-layer sealing structure according to an embodiment of the present invention.

Reference numerals

1, a pitching shaft body; 2, a submarine vehicle; 3, a cabin body; 4, a pitching motor; 5, a course motor; 6, a course shaft body; 7, a weight reduction space; 8, a pitching rotation device; 9, a worm; 10, a worm gear; 11, a worm support; 12, inner wall of cabin section; 13, a course speed reducer; 14, a course rotating device; 15, auxiliary supporting shaft; 16, a servo system housing; 17, an electrical signal interface; 18, a pitch axis housing; 19, a first seal ring; 20, a second sealing ring; 21, a third sealing ring; 22, a course axis core; 23, a course shaft housing; 24, a first dynamic sealing ring; 25, a second movable sealing ring; 26, a fourth seal ring; 27, a fifth sealing ring; 28, an equipment compartment; 29, an optics bay; 30, an antenna cabin; 31, an optics compartment housing; 32, an optical lens; 33, an antenna bay housing; 34, an equipment bay enclosure; and 35, outer wall of the cabin section.

Detailed Description

The following detailed description of the preferred embodiments of the invention, which is to be read in connection with the accompanying drawings, forms a part of the invention, and together with the embodiments of the invention, serve to explain the principles of the invention and not to limit the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the term "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection, which may be a mechanical connection, an electrical connection, which may be a direct connection, or an indirect connection via an intermediate medium. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The terms "top," "bottom," "above … …," "below," and "on … …" as used throughout the description are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, regardless of their orientation in space.

As shown in fig. 1 to 12, an embodiment of the present invention provides a comprehensive mast system of an underwater vehicle, including: the pitching shaft body 1 is hinged with the underwater vehicle 2, the pitching shaft body 1 comprises a first axis, and the comprehensive mast system can perform pitching swinging relative to the underwater vehicle 2 through the pitching shaft body 1, so that the comprehensive mast system can be collected into the underwater vehicle 2 when the underwater vehicle 2 is in navigation and can be extended out of the underwater vehicle 2 through the pitching swinging when the comprehensive mast system is required to perform work such as investigation, shooting and the like; functional components of the comprehensive mast system are arranged in the cabin 3, such as shooting, signal receiving and transmitting and the like; the double-shaft servo system is fixedly connected with the pitching shaft body 1, is connected with the cabin body 3 and comprises a second axis, and the second axis is vertical to the first axis; the double-shaft servo system drives the comprehensive mast system to rotate around the first axis and the second axis, pitching swinging of the comprehensive mast system and heading swinging of the cabin 3 can be achieved through the double-shaft servo system, and therefore the cabin 3 can adjust both the pitching angle and the heading angle. The hinge joint of the pitching shaft body 1 and the underwater vehicle 2 is sealed through a first double-layer sealing structure; the hinged part of the cabin body 3 and the double-shaft servo system is sealed through a second double-layer sealing structure. Through the setting of first double-deck seal structure and second double-deck seal structure, can improve the utility model discloses the sealing performance of synthesizing mast system can adapt to the work under the environment of high salt, high pressure, high corrosivity such as sea water more.

In some optional embodiments of the present invention, the dual-axis servo system includes: the output end of the pitching motor 4 is connected with the pitching shaft body 1 and is used for driving the comprehensive mast system to perform pitching swinging; the course motor 5 is fixedly connected with the pitching motor 4 and used for driving the comprehensive mast system to carry out course swinging; the course shaft body 6 is fixedly connected with the cabin body 3 and is fixedly connected with the output end of the course motor 5, and when the output shaft of the course motor 5 rotates, the course shaft body 6 rotates to drive the cabin body 3 to rotate; the axis of the heading shaft body 6 coincides with the second axis.

The utility model discloses some optional embodiments, biax servo still includes: the pitching speed reducer is arranged between the output end of the pitching motor 4 and the pitching shaft body 1 and is used for adjusting the transmission ratio between the pitching motor 4 and the pitching shaft body 1 so as to realize the adjustment of a pitching angle of 0-90 degrees; pitching rotary transformer 8 for measure 1 pivoted angles in pitching axis body, and feed back to the utility model discloses the control system of synthesizing mast system forms feedback control, makes the utility model discloses synthesize mast system can control synthesizing the every single move angle of mast system more accurately.

In some optional embodiments of the present invention, the pitch reducer comprises: the worm 9 is in power connection with the output end of the pitching motor 4; the worm wheel 10 is fixedly connected with the pitching shaft body 1 and meshed with the worm 9; and the worm support 11 is fixedly connected with the pitching motor 4, and the worm 9 is hinged with the worm support 11. The utility model discloses 4 drive worms of every single move motor 9 rotate, through worm gear's speed reduction, realize the rotation of every single move axis body 1, because the rotation range of every single move axis body 1 is 0-90, worm gear can realize the transmission of big reduction ratio.

The utility model discloses some optional embodiments, biax servo still includes: the course speed reducer 13 is arranged between the output end of the course motor 5 and the course shaft body 6 and is used for adjusting the transmission ratio between the course motor 5 and the course shaft body 6 so as to realize the adjustment of a course angle of +/-176 degrees; course becomes device 14 soon for measure the 6 pivoted angles of course axis body, and feed back the utility model discloses the control system of synthesizing mast system forms feedback control, makes the utility model discloses synthesize mast system can control the course angle of synthesizing mast system more accurately.

Through the worm gear structure and the course speed reducer 13 with a large transmission ratio, the double-shaft servo system can realize self-locking of a pitching angle and a course angle when the power is off, can avoid the situation that the comprehensive detection mast swings relative to the underwater vehicle due to wave disturbance and influences detection, saves the space for arranging the electric control brake, and reduces the electric energy consumption caused by arranging the brake. In order to further improve the self-locking capability, a band-type brake mechanism is arranged at the pitching shaft body 1 and the course shaft body 6, the band-type brake mechanism is driven by a band-type brake motor, a stop mechanism can also be arranged, the stop mechanism is driven by the stop motor, and the self-locking capability of the double-shaft servo system is further improved by the band-type brake mechanism and/or the stop mechanism.

In addition, the double-shaft servo system is provided with a gyroscope and/or an acceleration sensor and is used for monitoring the motion state of the comprehensive detection mast, introducing speed loop control, decoupling sea wave disturbance to a certain extent and realizing that the detection field of the comprehensive detection mast is relatively stable to the ground.

The utility model discloses some optional embodiments, biax servo still includes: the auxiliary support shaft 15 is coaxial with the pitching shaft body 1, and the auxiliary support shaft 15 is hinged with the underwater vehicle 2; the pitch motor 4 is located between the auxiliary support shaft 15 and the pitch shaft body 1. Through setting up auxiliary stay 15 for there are two articulated departments in the first axis direction between comprehensive mast system and the underwater vehicle 2, thereby synthesize mast system and can carry out stable rotation relative underwater vehicle 2, avoid the every single move axis body 1 to bear too big moment of flexure and lead to damaging.

The utility model discloses some optional embodiments, biax servo still includes: the servo system shell 16, the pitching motor 4, the heading motor 5, the pitching reducer, the pitching rotating device 8, the heading reducer 13 and the heading rotating device 14 are all arranged in the servo system shell 16. The servo housing 16 protects the internal components from damage caused by high salt, high pressure, and highly corrosive substances such as seawater.

In some alternative embodiments of the present invention, the pitch shaft body 1 passes through the servo system housing 16; the pitch shaft body 1 and the servo system housing 16 are sealed by a first dynamic seal ring 24. In operation, the utility model discloses the relative servo shell 16 of pitch axis body 1 rotates, and the pitch axis body 1 is connected with the ware of diving into the air 2 for synthesize mast system and can dive ware 2 relatively and carry out the pitch swing, seal up the gap between pitch axis body 1 and the servo shell 16 through first movable seal ring 24 simultaneously, prevent that the foreign matter from getting into to cause the damage to the inside part of servo shell 16.

In some optional embodiments of the present invention, the pitch shaft body 1 includes: the electric signal interface 17 is electrically connected with the underwater vehicle 2 and is used as a communication interface and an electric power interface of the comprehensive mast system and the underwater vehicle 2; the pitching shaft shell 18 and the electrical signal interface 17 are arranged in the pitching shaft shell 18, the electrical signal interface 17 is hinged with the pitching shaft shell 18, the pitching shaft shell 18 is fixedly connected with the underwater vehicle 2 and serves as one of power parts of a pitching angle, the electrical signal interface 17 rotates along with the comprehensive mast system, and therefore the electrical signal interface 17 is hinged with the pitching shaft shell 18.

In some optional embodiments of the present invention, the first double-layer sealing structure comprises: a first seal ring 19 provided between the electrical signal interface 17 and the pitch shaft housing 18; the second sealing ring 20 is arranged between the electric signal interface 17 and the underwater vehicle 2; and a third seal ring 21 provided between the pitch shaft housing 18 and the underwater vehicle 2. Third sealing washer 21 is the outmost seal structure of every single move axis body 1 and 2 junctions of underwater vehicle, and when third sealing washer 21 became invalid, even there was a small amount of liquid to get into the gap of every single move axis body 1 and 2 junctions of underwater vehicle, because the setting of first sealing washer 19 and second sealing washer 20, can prevent that liquid from entering into the electric connection department between signal of telecommunication interface 17 and the underwater vehicle 2, still can guarantee the utility model discloses the normal operation of embodiment realizes the double seal to every single move axis body 1 and 2 junctions of underwater vehicle.

In some optional embodiments of the present invention, the first dynamic seal ring 24 is disposed between the pitch shaft housing 18 and the servo system housing 16 to realize dynamic sealing between the pitch shaft housing 18 and the servo system housing 16 in consideration of the rotation of the pitch shaft housing 18 relative to the servo system housing 16.

The utility model discloses in some optional embodiments, course axis body 6 includes: the course shaft core 22 is connected with the output end of the course motor 5 and the cabin 3 and is used for transmission and adjusting the course angle of the cabin 3; the course shaft shell 23 is fixedly connected with the course motor 5 and fixedly connected with the servo system shell 16 through a course flange; the heading shaft core 22 drives the cabin 3 to rotate, and the heading shaft housing 23 is fixedly connected with the servo system housing 16, so that the heading shaft core 22 and the heading shaft housing 23 are dynamically sealed through the second dynamic sealing ring 25.

In some optional embodiments of the present invention, the second double-layer sealing structure comprises: a fourth seal ring 26 provided between the servo housing 16 and the servo housing 16; and a fifth seal ring 27 disposed between the heading axis 22 and the cabin 3. The fourth seal ring 26 and the fifth seal ring 27 are provided to seal the course shaft body 6 from the servo housing 16 and the nacelle 3.

In some alternative embodiments, the cabin 3 has the same cross-sectional shape perpendicular to the second axis, the overall shape is close to a rod-like structure, and the side of the cabin 3 relative to the second axis is at least partially a part of a revolving body, so as to reduce the water flow resistance when the comprehensive mast system is erected. When the comprehensive mast system can be retracted into the underwater vehicle 2, the non-revolving body part of the cabin 3 can be profiled with the shell of the underwater vehicle 2, so that the resistance of the comprehensive mast system during retraction is reduced.

In some optional embodiments of the present invention, the cabin body 3 comprises: the equipment cabin 28 is connected with the course shaft body 6 and is used as a main cabin of a control system of the comprehensive mast system; an optical cabin 29 for shooting images, fixedly connected with the equipment cabin 28 and used as a cabin of shooting equipment; the antenna cabin 30 is used for receiving and transmitting wireless signals, is fixedly connected with the optical cabin 29, serves as a cabin of signal receiving and transmitting equipment, and is located at the end of the whole cabin body 3 to facilitate signal receiving and transmitting.

In some optional embodiments of the present invention, the optical compartment 29 includes: the side wall of the optical cabin shell 31 is provided with a shooting hole; an optical lens 32 located at the shooting hole; and the shooting system is positioned in the optical cabin shell 31, and the lens of the shooting system is connected with the optical lens 32. The lens of the shooting system shoots an image around the underwater vehicle 2 through the optical lens 32.

In some alternative embodiments of the present invention, the antenna chamber 30 includes: an antenna chamber housing 33 fixedly connected to the optical chamber housing 31; and the transceiving antenna is positioned in the antenna cabin shell 33. Through the receiving and transmitting antenna, the comprehensive mast system can perform wireless information interaction with the outside, and images obtained through shooting are transmitted.

In some alternative embodiments of the present invention, the equipment bay 28 includes: one end of the equipment cabin shell 34 is fixedly connected with the optical cabin shell 31, the other end of the equipment cabin shell is fixedly connected with the course shaft body 6, and the control equipment of the comprehensive mast system is positioned in the equipment cabin 28.

In some optional embodiments of the present invention, both the equipment bay housing 34 and the optical bay housing 31 are bay section housings; the deck section housing includes: a cabin outer wall 35; a cabin inner wall 12, at least part of the cabin inner wall 12 being connected to the cabin outer wall 35; wherein a weight-reducing space 7 is arranged between the cabin inner wall 12 and the cabin outer wall 35. The optical cabin 29 and the equipment cabin 28 are both positioned in the middle of the comprehensive mast system, the equipment cabin shell 34 and the optical cabin shell 31 can adopt the same structure, the interior of the cabin inner wall 12 is used as an installation space of devices, and the weight reduction space 7 between the cabin inner wall 12 and the cabin outer wall 35 is used for reducing the weight of the comprehensive mast system and improving the cruising ability of the underwater vehicle 2 under the condition of the same energy source.

The utility model discloses some optional embodiments, consider that cabin body 3 needs to carry out the course around the second axis and rotate, cabin section inner wall 12 is cylindrical structure, and cabin section inner wall 12 is coaxial with course axis body 6, makes the course of the cabin body 3 rotate more in the same direction as smooth.

In some optional embodiments of the present invention, the weight reducing space 7 is communicated with the outside of the cabin section outer wall 35, i.e. the outside pressure of the weight reducing space 7 is equal to that of the cabin section outer wall 35, so that the thickness of the cabin single outer wall can be properly reduced; the weight-reduction space 7 is sealed from the inside of the cabin section inner wall 12, and the cabin section inner wall 12 bears external forces as a main structural component of the cabin body 3.

In some optional embodiments of the present invention, the outer wall 35 of the cabin section is provided with a plurality of through holes penetrating through the inside and outside of the outer wall 35 of the cabin section; the weight-reducing space 7 is communicated with the outer side of the cabin section outer wall 35 through a through hole. The through holes can balance the pressure of the weight reduction space 7 and the pressure of the outer side of the cabin section outer wall 35, the weight of the cabin section shell can be further reduced, and the cruising ability of the underwater vehicle 2 is further improved.

In conclusion, the unmanned underwater vehicle can meet the low resistance requirement and the detection requirement of the unmanned underwater vehicle navigation, has the folding and unfolding functions, is favorable for reducing resistance and improving concealment; the utility model can rotate the pitching shaft by 0-90 degrees, rotate the course shaft by +/-176 degrees, and has a large detection range; the pitching shaft of the utility model is driven by a worm gear structure, has a power-off self-locking function, is reliable in locking, saves the electric energy of the underwater vehicle, and keeps the mast stable relative to the hull; the utility model discloses a subtract heavy design and move, quiet multistage sealed redundant design, can bear 1MPa pressure watertight, withstand seawater corrosion.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.

Claims (10)

1. A pitch shaft connection structure that can accommodate a mast, the pitch shaft connection structure comprising:

the pitching shaft body (1) is hinged with the underwater vehicle (2);

the double-shaft servo system is fixedly connected with the pitching shaft body (1) and is connected with a cabin body (3) capable of accommodating the mast; the double-shaft servo system drives the storable mast to rotate around the pitching shaft body (1);

wherein the pitch shaft body (1) comprises: an electrical signal interface (17) electrically connected with the underwater vehicle (2); a pitch axis housing (18), wherein the electrical signal interface (17) is arranged in the pitch axis housing (18), and the electrical signal interface (17) is hinged with the pitch axis housing (18);

the dual-axis servo system includes: the course rotary change device (14) is used for measuring the rotating angle of the course shaft body (6); and the course shaft body (6) is fixedly connected with the cabin body (3).

2. A pitch shaft body connection structure of a stowable mast according to claim 1, characterized in that the joint of the pitch shaft body (1) and the submersible vehicle (2) is sealed by a first double seal structure.

3. A pitch shaft connection structure of a stowable mast according to claim 2, wherein the first double seal structure comprises:

a first seal ring (19) provided between the electrical signal interface (17) and the pitch shaft housing (18);

the second sealing ring (20) is arranged between the electric signal interface (17) and the underwater vehicle (2);

and the third sealing ring (21) is arranged between the pitching shaft shell (18) and the underwater vehicle (2).

4. A pitch shaft connection structure of a stowable mast according to claim 3, wherein the two-axis servo system further comprises:

the output end of the pitching motor (4) is connected with the pitching shaft body (1);

the course motor (5) is fixedly connected with the pitching motor (4);

the axis of the course shaft body (6) is perpendicular to the pitching shaft body (1), and the course shaft body (6) is fixedly connected with the output end of the course motor (5).

5. A pitch shaft connection structure of a stowable mast according to claim 4, wherein the two-axis servo system further comprises:

the pitching speed reducer is arranged between the output end of the pitching motor (4) and the pitching shaft body (1);

and the pitching rotation device (8) is used for measuring the rotation angle of the pitching shaft body (1).

6. A pitch shaft connection structure of a stowable mast according to claim 5, wherein the pitch reducer comprises:

the worm (9) is in power connection with the output end of the pitching motor (4);

the worm wheel (10) is fixedly connected with the pitching shaft body (1) and meshed with the worm (9);

the worm support (11) is fixedly connected with the pitching motor (4), and the worm (9) is hinged to the worm support (11).

7. A pitch shaft connection structure of a stowable mast according to claim 6, wherein the two-axis servo system further comprises:

and the course speed reducer (13) is arranged between the output end of the course motor (5) and the course shaft body (6).

8. A pitch shaft connection structure of a stowable mast according to claim 7, wherein the two-axis servo system further comprises:

an auxiliary support shaft (15) coaxial with the pitch shaft body (1), the auxiliary support shaft (15) being hinged to the underwater vehicle (2); the pitching motor (4) is positioned between the auxiliary supporting shaft (15) and the pitching shaft body (1).

9. A pitch shaft connection structure of a stowable mast according to claim 8, wherein the two-axis servo system further comprises:

and the pitching motor (4), the heading motor (5), the pitching reducer, the pitching rotating device (8), the heading reducer (13) and the heading rotating device (14) are all arranged in the servo system shell (16).

10. A pitch shaft connection structure of a stowable mast according to claim 9, characterized in that the pitch shaft (1) passes through the servo housing (16);

the pitching shaft body (1) and the servo system shell (16) are sealed through a first dynamic sealing ring (24).

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