32results about How to "With power-off self-locking function" patented technology

The invention discloses a balance weight type variable contact force piezoelectric motor. The piezoelectric motor comprises a piezoelectric body and a moving part, wherein the piezoelectric body is contact with the moving part through elastic restoring force produced by an elastic prepressing element; the elastic extension direction of the elastic prepressing element is perpendicular to the actuating direction of the piezoelectric motor; in addition, the piezoelectric body is hinged to a transverse base; a connecting line between the piezoelectric body and the transverse base is parallel to the actuating direction of the piezoelectric motor. The piezoelectric motor has high thrust and large stroke, can bilaterally move, has a long service life, and simultaneously has a self-locking function during power off.

The invention designs a knuckle movement module of a five-finger dextrous hand based on the structural features and kinetic characteristics of a worm wheel and worm mechanism. Movement functions of all fingers are satisfied, additionally, the space structure of knuckles can be optimized to the maximum, the used worm wheel and worm mechanism has a self-locking function, and therefore, the designed knuckle movement module of the five-finger dextrous hand can achieve the poweroff self-locking function, so that the grasping ability of the dextrous hand is increased, and the movement and grasping requirements of the five-finger dextrous hand are satisfied. A worm wheel and worm speed reducer which is used as a driving unit of the knuckle module is mainly composed of a worm wheel, a worm, a gear, a shaft, a bearing, a box body and accessories and can be divided into three basic structures including the box body, a worm wheel and worm gear set and the combination of the bearing and the shaft, wherein the box body is a base of all parts in the worm wheel and worm mechanism and is an important part for supporting and fixing shaft components, guaranteeing correct positions of all transmission parts and supporting loads which act on the speed reducer; the worm wheel and worm gear set is used for transferring output power of a motor and changing the direction of the output power; the combination of the bearing and the shaft is mainly used for transferring power, supporting operation and improving the efficiency.

The invention discloses a piezoelectric motor. The piezoelectric motor comprises a piezoelectric body, a moving part and an elastic connecting part, wherein the piezoelectric body contacts with the moving part elastically through elastic deformation of the elastic connecting part, the piezoelectric body comprises a guide box and a piezoelectric actuating unit which is arranged inside the guide box, the guide box comprises a guide box body and an actuating unit installation face, the actuating unit installation face is arranged on the guide box body and is connected with the guide box body in a flexible mode, the piezoelectric actuating unit is in an axial symmetric structure and comprises a base body, a driving foot and two groups of laminated piezoelectric stacks, the two groups of laminated piezoelectric stacks are arranged between the base body and the driving foot in a pressing mode, the base body is fixedly connected with the actuating unit installation face, the driving foot extends out of an inner cavity of the guide box and then contacts with the moving part, one end of the elastic connecting part is fixed with the guide box body, the other end of the elastic connecting part contacts with an end portion of the base body, which is opposite to the driving foot, and each of the two groups of laminated piezoelectric stacks is connected with a corresponding excitation power supply. Thus, the piezoelectric motor has the advantages of being large in thrust, low in manufacturing cost, long in life and high in efficiency, and simultaneously, the piezoelectric motor has a power-down self-locking function.

The invention provides a piezoelectric linear motor and a working method thereof. The piezoelectric linear motor comprises a bottom plate, wherein a bidirectional power output mechanism, a clamping mechanism and a driving mechanism are fixedly connected onto the bottom plate; the bidirectional power output mechanism comprises a movable pretightening rod and a fixed pretightening rod which are intersected in a crossing way; fixed pretightening blocks are connected with the two ends of the fixed pretightening rod respectively; movable pretightening blocks are connected with the two ends of the movable pretightening rod respectively; a piezoelectric actuating unit is connected between each fixed pretightening block and the adjacent movable pretightening block; the movable pretightening rod is connected with the clamping mechanism through an output shaft; the clamping mechanism is connected with the driving mechanism through a gear pair. Through application of the bidirectional power output mechanism, a relatively large thrust and a relatively large pull can be supplied synchronously in the output direction, and are almost equal; through thread clamping self locking, output displacement is accumulated, so that a relatively large stroke can be generated, and the motor has a relatively high position precision and has a power-off self-locking function.

The invention discloses a mobile overturn robot and a multistation overturn method thereof, and belongs to the field of robots. The mobile overturn robot comprises an overturn device, a transfer trolley, and a travelling rail. The overturn device is arranged on the transfer trolley. The transfer trolley transfers the overturn device to different processing stations to perform overturn operation along the travelling rail. The overturn device comprises a power mechanism, an orienteering mechanism, and a locking mechanism. The locking mechanism is used to fix a cylindrical member. The power mechanism comprises an oil cylinder and a pull rod. The pull rod is connected with the locking mechanism. The oil cylinder moves horizontally to drive the pull rod to pull the locking mechanism to overturn. The orienteering mechanism is used to control operation directions of the power mechanism. The mobile overturn robot can perform overturn operation on a workpiece on different stations, and satisfies fast-paced industrial production, and overturn is stable and production security is high.

The invention discloses a piezoelectric stepping motor comprising a guiding box, a movement piece, a base, a prepressing spring and a piezoelectric actuation module arranged in the guiding box. The piezoelectric actuation module is formed by a plurality of double-layer piezoelectric units, and a plurality of working modes can be realized through applying different excitation power supplies. The piezoelectric stepping motor has a power-off self-locking function. The piezoelectric stepping motor is high in precision, good in stability, long in service life, and easy to realize batch production and has good social benefit.

The invention relates to a lower limb rehabilitation robot capable of balancing self-weight. The lower limb rehabilitation robot mainly comprises a hip joint assembly with a self-weight balancing device, a knee joint assembly capable of achieving self-locking protection, an ankle joint assembly capable of achieving self-locking protection, a manual length adjusting assembly and leg binding deviceswhich are connected in sequence. According to the invention, the self-weight balancing device of the lower limb rehabilitation robot is designed, so that the required output torque is reduced, and therefore the size of a driving system is reduced. According to the leg binding device of the lower limb rehabilitation robot, adjustment in the leg direction, transverse adjustment perpendicular to theleg direction and rapid disassembly and assembly can be conducted in a working process; through connection of the leg binding devices at the thigh and shank positions with a patient, rehabilitation training of flexion and extension movement of the hip joint, flexion and extension movement of the knee joint and toe flexion and dorsal extension movement of the ankle joint of the patient can be achieved, and the lengths of thighs and shanks can be adjusted. In addition, the device is simple in structure, is convenient to operate, is small in size, light in weight and good in safety protection performance, and meets the industrial standard of medical equipment.

A 1 x 2 mechanical light switch of microminiature self ¿C locking type consists of base with top cover; fixed reflector and small platform as well as three ¿C tail fiber collimator; microrelay set on base; cantilever fixed on relay and flexible reflector fixed on tail end of cantilever.

The invention discloses a push-pull mold overturning machine, which comprises a mold overturning table body (1) used for placing and overturning a mold and an underframe (7); the underframe (7) is provided with a motor (9) and a differential (4); two sides of the mold overturning table body are symmetrically provided with push-pull rods; one end of each push-pull rod on each side is connected with the mold overturning table body (1), while the other end is connected with a nut which is arranged on screw rods; the screw rods are connected with the differential (4); and during work, the motor (9) drives the differential (4), the differential (4) drives the screw rods on both sides, the screw rods drive the nut, the nut drives the push-pull rods, and the push-pull rods at one side pull and the push-pull rods at the other side push to drive the mold overturning table body to realize 90-degree overturning. The differential realizes distribution of moving speed and torque at both sides; and as the relationship between the screw rods and the nut, the machine has the self-lock function. The machine has the advantages of having simple and reasonable structure and low cost, and being capable of stably overturning heavy molds or other heavy devices which are put on the machine.

The invention relates to a pitch shaft body connecting structure of a storable invisible mast, belongs to the technical field of underwater vehicles, and solves the problem that a mast of an existing underwater vehicle cannot meet detection requirements. The pitching shaft body connecting structure comprises a double-shaft servo system which is fixedly connected with a pitching shaft body, is connected with the cabin body and comprises a second axis, and the second axis is perpendicular 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 to the underwater vehicle and comprises a first axis; wherein the pitching shaft body comprises an electric signal interface electrically connected with an underwater vehicle; and an electric signal interface is arranged in the pitch shaft shell, and the electric signal interface is hinged with the pitch shaft shell. The unmanned underwater vehicle can meet the low-resistance requirement and the detection requirement of navigation of the unmanned underwater vehicle at the same time, has folding and unfolding functions, and is beneficial to reducing resistance and improving concealment.

The invention discloses a honeycomb amplification type fiber push-out device and a working method thereof. The device comprises a workbench, a manual adjustment micro-motion platform and a honeycomb type displacement output mechanism. The manual adjustment micro-motion platform is fixed to the workbench, and the honeycomb type displacement output mechanism is fixed to the front side of the manualadjustment micro-motion platform. The honeycomb type displacement output mechanism comprises a frame type honeycomb type amplification mechanism, an ejector pin and a plurality of groups of amplification assemblies; the amplification assemblies are arranged on the frame type honeycomb amplification mechanism; each amplification assembly comprises a bridge type amplification mechanism, a piezoelectric ceramic group, a piezoelectric ceramic positive electrode input wire and a piezoelectric ceramic negative electrode input wire; a detected fiber slide is fixed on the workbench and is positioned below the thimble; by inputting a signal into the piezoelectric ceramic group, the piezoelectric ceramic group extends and outputs displacement, the displacement is amplified by the bridge type amplification mechanism, and the ejector pin moves downwards along with the displacement to push out a single fiber of the fiber slide. The device has the advantages of simple structure, high response speed,high positioning precision and the like.

The invention provides a piezoelectric linear motor and a working method thereof. The piezoelectric linear motor comprises a bottom plate, wherein a bidirectional power output mechanism, a clamping mechanism and a driving mechanism are fixedly connected onto the bottom plate; the bidirectional power output mechanism comprises a movable pretightening rod and a fixed pretightening rod which are intersected in a crossing way; fixed pretightening blocks are connected with the two ends of the fixed pretightening rod respectively; movable pretightening blocks are connected with the two ends of the movable pretightening rod respectively; a piezoelectric actuating unit is connected between each fixed pretightening block and the adjacent movable pretightening block; the movable pretightening rod is connected with the clamping mechanism through an output shaft; the clamping mechanism is connected with the driving mechanism through a gear pair. Through application of the bidirectional power output mechanism, a relatively large thrust and a relatively large pull can be supplied synchronously in the output direction, and are almost equal; through thread clamping self locking, output displacement is accumulated, so that a relatively large stroke can be generated, and the motor has a relatively high position precision and has a power-off self-locking function.

The invention designs a finger side swinging and opposing mechanism of a five-finger dextrous hand based on a screw linkage mechanism. Dextrous movement of all fingers are satisfied, and additionally, the finger side swinging and opposing mechanism has the poweroff self-locking pose keeping ability, so that the grasping function of the five-finger dextrous hand is obviously increased, and different requirements of the five-finger dextrous hand for reliably grasping different articles are satisfied. The side swinging and opposing mechanism which is designed by using the screw linkage mechanism as a core component is mainly composed of an N20 screw gear motor as a power component, sliding blocks, a linkage pair, a palm mainboard, a thumb D shaft fixed frame, hinges and accessories, wherein the thumb D shaft fixed frame is used for fixing a D shaft of a thumb root joint; the palm mainboard is a base on which the screw gear motor, fingers, an opposing small plate and the hinges are connected; linkages are movement transmission components for connecting the sliding blocks with finger roots and the palm mainboard with the opposing small plate and the palm mainboard with the thumb D shaft fixed frame; the hinges are used for connecting the opposing small plate with a rack, and a bearing and a shaft are mainly used in the side swinging driving aspect of the fingers, so that the rotating efficiency and the movement flexibility can be increased.

The invention discloses a turning dumper of a smoke box, comprising a smoke box access frame, a smoke box turning frame, a smoke box bracket, a smoke box access driving device, arched turning guide rails and a smoke box turning driving device, wherein a turning shaft penetrates through the connection position of the horizontal arm and the vertical arm of the smoke box bracket, and the turning shaft is installed on the lower part of the smoke box turning frame; the smoke box access driving device is arranged on the smoke box access frame; the arched turning guide rails are arranged on two sides of the smoke box turning frame, and provided with turning chains; and the smoke box turning driving device is arranged on the upper part of the vertical arm of the smoke box bracket for driving the smoke box bracket and the smoke box to rotate around the turning shaft, and is provided with a worm gear speed reducer. The turning dumper in the invention integrates the smoke box conveying with the turning pouring; the turning dumper is simple in structure, convenient in operation, stable in performance, low in power consumption, small in occupied space, high in equipment safety and suitable forproduction occasions with small mounting space; and the turning dumper has a power-off self-locking function.

The invention discloses a mechanical gripper based on a dish-shaped multi-line Archimedes screw pair, which is characterized in that a supporting assembly is rotationally connected with a dish-shaped multi-line Archimedes spiral disc, and a plurality of arc-shaped Archimedes spiral grooves are formed in the dish-shaped multi-line Archimedes spiral disc; the mechanical claw assembly is arranged in the dish-shaped multi-wire Archimedes spiral disk and is fixedly connected with the supporting assembly; the mechanical claw assembly comprises a guide plate, a support and a plurality of claws. The guide plate is connected with the support through the connecting sleeve; guide forks are evenly distributed on the periphery of the guide plate, the middle of the claw is hinged to the support, the upper portion of the claw is in sliding connection with the guide forks, and a ball head matched with the arc-shaped Archimedes spiral groove is arranged on the upper portion of the claw; the driving device is fixedly connected with the supporting assembly, and the output end of the driving device is rotationally connected with the dish-shaped multi-line Archimedes spiral disc. Opening and closing of the mechanical claws are controlled through the disc-shaped multi-line Archimedes spiral disc, and the structure is simple.

The invention discloses a snakelike mirror holding arm for neurosurgery, and belongs to the technical field of surgical instruments. A box cover seals a box body through screws, a U-shaped clamping plate is arranged at the rear end of the box body, a hand-screwed threaded rod is screwed into the bottom plate of the U-shaped clamping plate through thread, a snakelike arm is fixed at the top end ofthe box body, the snakelike arm can universally swing, a locking wire penetrates into the snakelike arm, the bottom end of the locking wire extends out of the root of the snakelike arm, is located inbox body, and is tensioned to lock each joint of the snakelike arm, guide plates fixedly connected with the box body are arranged at two sides of the locking wire, a steel wire locking device is arranged between the guide plates, one end of the steel wire locking device is fixedly connected with the locking wire, the other end of the steel wire locking device is connected with a driving device, the steel wire locking device can keep the locking wire in a tensioned state, and a power connector is arranged at the right side of the box body and connected with an external power source through a power adapter. A switch wire connector is arranged at the left side of the box body, a switch mechanism is inserted into the switch wire connector, and the power connector, the driving device and the switch wire connector are connected through wires.

The invention discloses a push-pull mold overturning machine, which comprises a mold overturning table body (1) used for placing and overturning a mold and an underframe (7); the underframe (7) is provided with a motor (9) and a differential (4); two sides of the mold overturning table body are symmetrically provided with push-pull rods; one end of each push-pull rod on each side is connected with the mold overturning table body (1), while the other end is connected with a nut which is arranged on screw rods; the screw rods are connected with the differential (4); and during work, the motor (9) drives the differential (4), the differential (4) drives the screw rods on both sides, the screw rods drive the nut, the nut drives the push-pull rods, and the push-pull rods at one side pull and the push-pull rods at the other side push to drive the mold overturning table body to realize 90-degree overturning. The differential realizes distribution of moving speed and torque at both sides; andas the relationship between the screw rods and the nut, the machine has the self-lock function. The machine has the advantages of having simple and reasonable structure and low cost, and being capable of stably overturning heavy molds or other heavy devices which are put on the machine.

The invention relates to a communication system based on an underwater mast, and solves the problem that the mast of the existing underwater vehicle cannot meet the detection requirement, and the underwater mast comprises a pitching shaft body, a cabin body and a double-axis servo system, the communication system comprises a data acquisition unit, a main control unit, a data transmission unit, a data storage unit and a ground remote control system, the data acquisition unit is used for acquiring data in the navigation process of an underwater vehicle; the main control unit is used for processing the acquired data, and calculating a preset pitch angle and a preset course angle, planning an underwater vehicle route, controlling navigation and controlling the double-axis servo system according to the processed data information; the data transmission unit is used for sending data processed by the main control unit and receiving data of the ground remote control system; and the data storage unit is used for storing data information. The communication system can meet the requirements for storage type concealment, low resistance and high water tightness of navigation of the unmanned underwater vehicle at the same time, and the real-time communication can be achieved.

The invention discloses a high-precision large-torque piezoelectric rotary actuation apparatus with an H-type structure and a method. An actuator comprises an actuator base, an output shaft mounted on the base and capable of rotating freely, two actuator arms connected with the output shaft through a flexible hinge respectively, rhombic rings connected to the end parts of the actuator arms, piezoelectric ceramics mounted in the rhombic rings, a piezoelectric ceramic 6 connected between the actuator arms, and an upper top cover connected with the base through a support column. The distance between the base and the top cover after the installation is smaller than the transverse length of the rhombic rings, so that the piezoelectric ceramics can be ensured to lock the rhombic rings by installation pre-tightening in a power failure condition and the rotary motion of the output shaft can be locked. The invention furthermore provides the actuation method for the actuator. The piezoelectric ceramics are driven according to a certain sequence, so that the high-precision large-torque rotary motion of the actuator can be output. The apparatus has the characteristics of light structure weight, small size, capability of outputting large torque and large rotary angle, and low power consumption of self-locking in power failure. The apparatus and the method have wide application prospects and extremely high application values.

The invention relates to a lower limb rehabilitation robot capable of balancing its own weight, which mainly includes a hip joint assembly with a self-balancing device connected in sequence, a knee joint assembly capable of self-locking protection, an ankle joint assembly capable of self-locking protection, and a manual length adjustment assembly. Gaiters. The present invention designs a device for balancing the self-weight of the lower limb rehabilitation robot, which reduces the required output torque, thereby reducing the size of the drive system; the leggings device of the lower limb rehabilitation robot designed by the present invention can be adjusted along the leg direction, vertical Horizontal adjustment in the direction of the legs and quick disassembly; connected to the patient through the leggings at the thighs and legs, it can realize the rehabilitation training of the patient's hip joint flexion and extension, knee joint flexion and extension, and ankle toe flexion and dorsiflexion. and the calf can be adjusted in length; in addition, the present invention is simple in structure, easy to operate, small in size, light in weight and good in safety and protection, and conforms to the industry standard of medical equipment.

The invention relates to a double-shaft servo system of a storable invisible mast, belongs to the technical field of underwater vehicles, and solves the problem that a mast of an existing underwater vehicle cannot meet detection requirements. The double-shaft servo system comprises a pitching motor, an output end of which is connected with a pitching shaft body of the storable invisible mast; a heading motor which is fixedly connected with the pitching motor; a heading shaft body which is fixedly connected with a cabin body of the storable invisible mast and is fixedly connected with the output end of the heading motor; the axis of the heading shaft body coincides with the second axis. The unmanned underwater vehicle can meet the low-resistance requirement and the detection requirement of navigation of the unmanned underwater vehicle at the same time, has folding and unfolding functions, and is beneficial to reducing resistance and improving concealment.

The invention relates to an underwater mast structure, belongs to the technical field of underwater vehicles, and solves a problem that masts of existing underwater vehicles cannot meet detection requirements. The sealing structure of the underwater mast comprises a pitching shaft body which is hinged with an underwater vehicle and comprises a first axis; a cabin body; and a double-shaft servo system, 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 perpendicular 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 hinged part 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; and the pitching shaft body and the double-shaft servo system are sealed through a first movable sealing ring. The sealing structure can meet the low-resistance requirement and the detection requirement of navigation of the unmanned underwater vehicle at the same time, has folding and unfolding functions, and is beneficial to reducing resistance and improving concealment.

The invention discloses a counterweight type variable contact force piezoelectric motor, which comprises a piezoelectric body and a moving part. The elastic expansion and contraction direction of the piezoelectric body is perpendicular to the action direction of the piezoelectric motor; at the same time, the piezoelectric body is hinged to the transverse base, and the connecting line between the piezoelectric body and the transverse base is parallel to the action of the piezoelectric motor direction. Therefore, the piezoelectric motor of the present invention has a large thrust, a large stroke, can move in both directions, has a long life, and has a power-off self-locking function at the same time.

The invention relates to a comprehensive mast system, belongs to the technical field of underwater vehicles, and solves the problem that masts of existing underwater vehicles cannot meet detection requirements. The integrated mast system includes: a pitch shaft body which is hinged to an underwater vehicle and includes a first axis; a cabin body; and a double-shaft servo system which is fixedly connected with the pitch shaft body, is connected with the cabin body and comprises a second axis, wherein the second axis is perpendicular to the first axis; wherein the double-shaft servo system drives the integrated mast system to rotate around the first axis and the second axis; the hinged part of the pitch shaft body and the underwater vehicle is sealed through a first double-layer sealing structure; and the hinged part of the cabin body and the double-shaft servo system is sealed through a second double-layer sealing structure. The comprehensive mast system can meet the low-resistance requirement and the detection requirement of navigation of the unmanned underwater vehicle at the same time, has folding and unfolding functions, and is beneficial to reducing resistance and improving concealment.

The invention discloses an intelligent control fluid distribution device. The intelligent control fluid distribution device comprises a shell, wherein a main flowing passage and branch flowing passages are formed in the shell, the main flowing passage communicate with the branch flowing passages, the branch flowing passages are provided with branch valve elements, and the branch valve elements control the opening and closing degree of the branch flowing passages. The main flowing passage and the branch flowing passages cooperate with each other to realize fluid distribution, and the branch valve elements control the opening and closing degree of the branch flowing passages, so that the flow adjustment of the branch flowing passages is realized. According to the intelligent control fluid distribution device, the flow control of fluids of the branch flowing passages can be realized without manual adjustment, the structure is simple, continuous power supply is not needed, the energy is saved, heating is less, and the reliability is high.

The invention discloses a counterweight type stepping mechanism. The counterweight type stepping mechanism comprises a first laminated piezoelectric ceramic, a fixed block, a second laminated piezoelectric ceramic, a mass block, a rotor and a pre-tightening mechanism, wherein the rotor can move in the first direction; one end of the first laminated piezoelectric ceramic is in contact with the rotor, and the pre-tightening mechanism is connected with the other end of the first laminated piezoelectric ceramic, so that the first laminated piezoelectric ceramic is pressed on the rotor; the pre-tightening mechanism, the first laminated piezoelectric ceramic and the rotor are arranged in sequence in the second direction; the extension direction of the second laminated piezoelectric ceramic is inthe second direction, wherein the second direction is perpendicular to the first direction; the fixed block is fixedly arranged on the rotor; one end of the second laminated piezoelectric ceramic isfixedly connected to the side wall of the fixed block, and the other end of the second laminated piezoelectric ceramic is fixedly connected with the mass block; the fixed block, the second laminated piezoelectric ceramic and the mass block are arranged in sequence in the first direction; and the extension direction of the second laminated piezoelectric ceramic is in the first direction. The counterweight type stepping mechanism has the advantages that the counterweight type stepping mechanism has an outage self-locking function.

The invention discloses a piezoelectric motor. The piezoelectric motor comprises a piezoelectric body, a moving part and an elastic connecting part, wherein the piezoelectric body contacts with the moving part elastically through elastic deformation of the elastic connecting part, the piezoelectric body comprises a guide box and a piezoelectric actuating unit which is arranged inside the guide box, the guide box comprises a guide box body and an actuating unit installation face, the actuating unit installation face is arranged on the guide box body and is connected with the guide box body in a flexible mode, the piezoelectric actuating unit is in an axial symmetric structure and comprises a base body, a driving foot and two groups of laminated piezoelectric stacks, the two groups of laminated piezoelectric stacks are arranged between the base body and the driving foot in a pressing mode, the base body is fixedly connected with the actuating unit installation face, the driving foot extends out of an inner cavity of the guide box and then contacts with the moving part, one end of the elastic connecting part is fixed with the guide box body, the other end of the elastic connecting part contacts with an end portion of the base body, which is opposite to the driving foot, and each of the two groups of laminated piezoelectric stacks is connected with a corresponding excitation power supply. Thus, the piezoelectric motor has the advantages of being large in thrust, low in manufacturing cost, long in life and high in efficiency, and simultaneously, the piezoelectric motor has a power-down self-locking function.

The invention relates to an underwater mast structure, belongs to the technical field of underwater vehicles, and solves a problem that masts of existing underwater vehicles cannot meet detection requirements. The underwater mast structure comprises a pitching shaft body which is hinged with the underwater vehicle and comprises a first axis; a cabin body; a double-shaft servo system, 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 perpendicular to the first axis; the double-shaft servo system drives the comprehensive mast system to rotate around the first axis and the second axis. The underwater mast structure can meet the low-resistance requirement and the detection requirement of navigation of the unmanned underwater vehicle at the same time, has folding and unfolding functions, and is beneficial to reducing resistance and improving concealment.

The invention relates to an underwater vehicle concealed monitoring method based on a storage type mast, which solves the problem that the mast of the existing underwater vehicle cannot meet the detection requirement, and the storage type mast comprises a pitching shaft body, a cabin body and a double-shaft servo system, the method comprises the steps that distance data between an underwater vehicle and a target and depth data of the underwater vehicle are acquired in real time, and when the preset distance is reached and the preset depth is reached, a control signal is sent out to control a double-shaft servo system to drive a pitching shaft body to act so as to erect a storage type mast; when it is detected that the mast is exposed out of the water surface, a double-shaft servo system is controlled to drive a heading shaft body to act so as to adjust the horizontal rotating angle of the storage type mast; and the optical cabin is controlled to acquire optical data of a target, and the optical data is sent to a remote control terminal through communication equipment in the antenna cabin. According to the invention, the requirements of the unmanned underwater vehicle mast for storage type concealment, low resistance and high water tightness can be met at the same time, and concealed monitoring of real-time communication can be realized.

The invention discloses a piezoelectric stepping motor comprising a guiding box, a movement piece, a base, a prepressing spring and a piezoelectric actuation module arranged in the guiding box. The piezoelectric actuation module is formed by a plurality of double-layer piezoelectric units, and a plurality of working modes can be realized through applying different excitation power supplies. The piezoelectric stepping motor has a power-off self-locking function. The piezoelectric stepping motor is high in precision, good in stability, long in service life, and easy to realize batch production and has good social benefit.