CN214397169U - Comprehensive mast system for underwater vehicle - Google Patents

Abstract

The utility model relates to a synthesize mast system for underwater vehicle belongs to underwater vehicle technical field, solves the unsatisfied problem of surveying the demand of the mast of current underwater vehicle. The synthetic mast system includes: the pitching shaft body is hinged with the underwater vehicle and comprises a first axis; a cabin body; 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 hinge joint of the pitching shaft body and the underwater vehicle is sealed through a first double-layer sealing structure; the hinged part of the cabin body and the double-shaft servo system is sealed through a second double-layer sealing structure. This novel low resistance demand and the detection demand that can satisfy unmanned underwater vehicle navigation simultaneously possesses folding and expansion function, does benefit to and reduces the resistance, promotes the disguise.

Description

Comprehensive mast system for underwater vehicle

Technical Field

The utility model relates to a submarine craft technical field especially relates to a synthesize mast system for submarine craft under water.

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 foregoing, the present invention is directed to a comprehensive mast system for an underwater vehicle to solve the problem of the mast of the existing vehicle not meeting the detection requirements.

The novel purpose is mainly realized by the following technical scheme:

in the technical scheme, a synthesize mast system for underwater vehicle, synthesize mast system includes:

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

a cabin body; and

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 hinge joint of the pitching shaft body and the underwater vehicle is sealed through a first double-layer sealing structure; the hinged part of the cabin body and the double-shaft servo system is sealed through a second double-layer sealing structure.

Among this novel 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.

Among this novel 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.

Among this novel technical scheme, biax servo still includes:

the servo system shell, the pitching motor and the course motor are all arranged in the servo system shell.

In the technical scheme, the pitching shaft body passes through the shell of the servo system; the pitching shaft body and the servo system shell are sealed through a first dynamic sealing ring.

Among this novel technical scheme, the 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.

Among this novel 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.

Among this novel technical scheme, first movable seal circle sets up between every single move axle shell and servo housing.

Among this novel technical scheme, the course axis body includes:

the course shaft core is connected with the output end of the course motor and the cabin body;

the course shaft shell is fixedly connected with the course motor and fixedly connected with the servo system shell through a course flange;

and the course shaft core and the course shaft shell are sealed through a second dynamic sealing ring.

Among this novel technical scheme, the double-deck seal structure of second includes:

the fourth sealing ring is arranged between the servo system shell and the servo system shell;

and the fifth sealing ring is arranged between the course shaft core and the cabin body.

This novel technical scheme can realize one of following effect at least:

1. the novel unmanned underwater vehicle can meet the low resistance requirement and the detection requirement of unmanned underwater vehicle navigation, has the folding and unfolding functions, is favorable for reducing resistance and improving concealment;

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

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

4. the novel weight reduction design and the dynamic and static multi-stage sealing redundancy design can bear the pressure watertight performance of 1MPa and resist the seawater corrosion.

In the present invention, the above technical solutions can be combined with each other to realize more preferable combination solutions. 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 the 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 view of the novel embodiment;

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

FIG. 3 is a top view of the present novel embodiment;

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

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

FIG. 6 is a schematic view of the adjustment of the course state on the underwater vehicle according to the embodiment of the present invention;

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

FIG. 8 is a schematic diagram of a dual-axis servo system according to the present invention;

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

FIG. 10 is a schematic structural view of a nacelle section housing according to the present invention;

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

fig. 12 is a schematic view of a second two-layer seal 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 preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention and not to limit its scope.

In the description of the present embodiments, it should be noted that, unless otherwise explicitly stated or limited, 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 by those of ordinary skill in the art according to specific circumstances.

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. 1-12, the present novel embodiment provides a synthetic mast system for a submersible vehicle, the synthetic mast system comprising: 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 sealing performance of the comprehensive mast system of this novel embodiment, can adapt to the work under the environment of high salt, high pressure, high corrosivity such as sea water more.

In some alternative embodiments of the present invention, the dual-axis servo system comprises: 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.

In some optional embodiments of this new type, the dual-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 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; and the pitching rotary transformer device 8 is used for measuring the rotating angle of the pitching shaft body 1 and feeding back to the control system of the comprehensive mast system of the novel embodiment to form feedback control, so that the pitching angle of the comprehensive mast system can be controlled more accurately by the comprehensive mast system of the novel embodiment.

In some alternative 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. This novel pitch motor 4 drive worm 9 of embodiment rotates, and through worm gear's speed reduction, realizes pitch axis body 1's rotation, because pitch axis body 1's rotation range is 0-90, worm gear can realize the transmission of big reduction ratio.

In some optional embodiments of this new type, the dual-axis servo system further comprises: 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; and the course rotary change device 14 is used for measuring the rotating angle of the course shaft body 6 and feeding back the rotating angle to the control system of the comprehensive mast system of the novel embodiment to form feedback control, so that the comprehensive mast system of the novel embodiment can more accurately control the course angle of the comprehensive mast system.

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.

In some optional embodiments of this new type, the dual-axis servo system further comprises: 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.

In some optional embodiments of this new type, the dual-axis servo system further comprises: 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 housing 16; the pitch shaft body 1 and the servo system housing 16 are sealed by a first dynamic seal ring 24. During actual operation, the relative servo shell 16 of the every single move axis body 1 of this novel embodiment rotates, and the every single move axis body 1 is connected with the ware of diving under the sea 2 for synthesize mast system and can carry out the every single move swing relatively the ware of diving under the sea 2, seal the gap between the every single move 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 alternative 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 alternative embodiments of this novel aspect, 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 the undersea vehicle 2 junction, 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 the undersea vehicle 2 junction, 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 undersea vehicle 2, still can guarantee the normal operating of this novel embodiment, realizes the dual seal to every single move axis body 1 and the undersea vehicle 2 junction.

In some alternative embodiments of the present invention, a first dynamic seal 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 view of the rotation of the pitch shaft housing 18 relative to the servo system housing 16.

In some optional embodiments of this new model, the heading 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 alternative 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 of the present invention, the sections of the nacelle 3 perpendicular to the second axis are the same, and are integrally formed to be close to a rod-like structure, and the side surface of the nacelle 3 opposite to the second axis is at least partially a part of a revolving body for reducing the water flow resistance during the erection work of the integrated mast system. 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 alternative embodiments of the present invention, the cabin 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 alternative embodiments of the present invention, the optical compartment 29 comprises: 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 pod 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 alternative 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.

In some optional embodiments of the present invention, considering that the cabin body 3 needs to rotate around the second axis in the course direction, the inner wall 12 of the cabin section is a cylindrical structure, and the inner wall 12 of the cabin section is coaxial with the course axis body 6, so that the course rotation of the cabin body 3 is smoother.

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, that is, 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 reduced properly; 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 alternative 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 novel unmanned underwater vehicle can meet the low resistance requirement and the detection requirement of the unmanned underwater vehicle in navigation, has the folding and unfolding functions, is favorable for reducing resistance and improving concealment; the novel device can rotate the pitching shaft by 0-90 degrees, rotate the course shaft by +/-176 degrees, and has a large detection range; the novel pitching shaft is driven through a worm gear structure, has a power-off self-locking function, is reliable in locking, saves electric energy of the underwater vehicle, and keeps the mast stable relative to the hull; the novel weight reduction design and the dynamic and static multi-stage sealing redundancy design can bear the pressure watertight performance of 1MPa and resist the seawater corrosion.

The above description is only for the preferred embodiment of the present invention, but the protection 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 within the protection scope of the present invention.

Claims (10)

1. A synthetic mast system for a submersible vehicle, the synthetic mast system comprising:

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

a cabin (3);

the double-shaft servo system is fixedly connected with the pitching shaft body (1) and is connected with the cabin body (3);

the hinged part 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;

the pitch shaft body (1) includes: an electrical signal interface (17) and a pitch axis housing (18);

the first double-layer sealing structure includes:

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).

2. A synthetic mast system for a submersible vehicle according to claim 1, wherein the dual-axis servo system 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 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); the axis of the course shaft body (6) is vertical to the pitching shaft body (1).

3. A synthetic mast system for a submersible vehicle according to claim 2, wherein the dual-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).

4. A synthetic mast system for a submersible vehicle according to claim 3, wherein the dual-axis servo system further comprises:

the servo system comprises a servo system shell (16), and the pitching motor (4) and the heading motor (5) are arranged in the servo system shell (16).

5. A synthetic mast system for a submersible vehicle according to claim 4, characterized in that the pitch shaft body (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).

6. A synthetic mast system for a submersible vehicle according to claim 5,

the electric signal interface (17) is electrically connected with the underwater vehicle (2).

7. A synthetic mast system for a submersible vehicle according to claim 6,

the electric signal interface (17) is arranged in the pitching shaft shell (18), and the electric signal interface (17) is hinged with the pitching shaft shell (18).

8. A synthetic mast system for a submersible vehicle according to claim 7, characterized in that the first dynamic seal (24) is arranged between the pitch axis housing (18) and the servo housing (16).

9. A synthetic mast system for a submersible vehicle according to claim 8, characterized in that the heading shaft (6) comprises:

the course shaft core (22) is connected with the output end of the course motor (5) and the cabin body (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) and the heading shaft shell (23) are sealed through a second dynamic sealing ring (25).

10. A synthetic mast system for a submersible vehicle according to claim 9, wherein the second double seal structure comprises:

a fourth seal ring (26) provided between the servo housing (16) and the servo housing (16);

and the fifth sealing ring (27) is arranged between the course shaft core (22) and the cabin body (3).

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