An underwater vehicle attitude adjustment unit automatic testing device

Abstract

The application discloses an underwater vehicle attitude adjusting unit automatic testing device, and belongs to the technical field of underwater vehicles, characterized in that at least comprising: a fixed support; two mutually parallel rotating bearing seat mounting plates are arranged on the fixed support; a rotating mechanism for bearing the underwater vehicle attitude adjusting unit; the rotating mechanism is located between the two rotating bearing seat mounting plates; the rotating mechanism is connected with the two rotating bearing seat mounting plates through a rotating assembly; a data acquisition module for measuring the working parameters of the underwater vehicle attitude adjusting unit; a control unit for controlling the working state of the rotating assembly; wherein: the control unit respectively interacts with an angle sensor, the data acquisition module, the rotating assembly and the control part of the underwater vehicle attitude adjusting unit. Through the above technical scheme, the application can realize efficient automatic testing of the underwater vehicle attitude adjusting unit.

Description

Technical Field

[0001] This invention belongs to the field of underwater vehicle technology, specifically relating to an automatic testing device for the attitude adjustment unit of an underwater vehicle. Background Technology

[0002] As is well known, the attitude control unit of an underwater vehicle adjusts its attitude by changing the position of the internal ballast weights to regulate the pitch and roll angles of the fuselage. This, combined with the buoyancy control unit and wings, enables the vehicle to glide forward and turn. The attitude control unit is a key component of an underwater vehicle, and its performance directly affects its maneuverability. When the underwater vehicle needs to adjust its vertical movement, it keeps the roll angle constant and adjusts the ballast weights to slide forward / backward. This shifts the vehicle's center of gravity forward / backward while keeping the center of buoyancy unchanged, generating a pitching moment for submerging / surfacing, thus adjusting the pitch angle. When the underwater vehicle needs to turn, it keeps the pitch angle constant and, depending on the turning angle, rotates the ballast weights left / right along the vehicle's axis to a certain position. At this point, the vehicle's center of gravity and center of buoyancy are no longer on the same vertical plane, generating a lateral clockwise / counterclockwise moment. The bow rotates in this direction, and the vehicle turns.

[0003] Before the attitude adjustment unit is assembled into the entire underwater vehicle, it needs to undergo a large number of tests on land, including the following:

[0004] The roll test is as follows: 1. With the attitude adjustment unit placed horizontally, the ballast weight is moved to the front / rear limit, i.e., the pitch control is controlled to continuously cycle through the front and rear limits to test the roll adjustment capability; 2. With the attitude adjustment unit placed upright, the pitch control is controlled to continuously cycle through the front and rear limits to test the roll adjustment capability; 3. With the attitude adjustment unit placed upside down, the pitch control is controlled to continuously cycle through the front and rear limits to test the roll adjustment capability.

[0005] The pitch test is conducted as follows: 1. With the attitude adjustment unit placed horizontally, the ballast weight is rotated to the left / right limit, i.e., the roll angle is at the left / right limit respectively, and the pitch adjustment capability is tested by continuously cycling through the control unit; 2. With the attitude adjustment unit placed upright, the roll angle is at the left / right limit respectively, and the pitch adjustment capability is tested by continuously cycling through the control unit; 3. With the attitude adjustment unit placed upside down, the roll angle is at the left / right limit respectively, and the pitch adjustment capability is tested by continuously cycling through the control unit.

[0006] Attitude test: When the attitude adjustment unit is in horizontal, upright, and inverted positions, pitch and roll are performed simultaneously to continuously test its attitude adjustment capability.

[0007] Currently, the aforementioned testing involves hundreds or even thousands of test cycles. During testing, the attitude adjustment unit switches between horizontal, upright, and inverted positions on land, requiring at least two people to hold and adjust its placement. Furthermore, test data must be manually recorded. The entire testing process consumes significant time and manpower, and manually adjusting the attitude adjustment unit's placement introduces numerous safety risks. Therefore, researching and developing an automated testing device for attitude adjustment units that reduces manpower and improves testing efficiency is of great significance. Summary of the Invention

[0008] The purpose of this invention is to meet practical needs by providing an automatic testing device for the attitude adjustment unit of an underwater vehicle, which enables efficient and automatic testing of the attitude adjustment unit of an underwater vehicle.

[0009] To achieve the above-mentioned technical objectives, the present invention aims to provide an automatic testing device for an underwater vehicle attitude adjustment unit, comprising: a fixed bracket; two parallel rotating bearing mounting plates disposed on the fixed bracket; a rotating mechanism for supporting the underwater vehicle attitude adjustment unit; the rotating mechanism being located between the two rotating bearing mounting plates; the rotating mechanism being connected to the two rotating bearing mounting plates via a rotating assembly; a data acquisition module for measuring the operating parameters of the underwater vehicle attitude adjustment unit; and a control unit for controlling the operating state of the rotating assembly; wherein the control unit interacts with the angle sensor, the data acquisition module, the rotating assembly, and the control unit of the underwater vehicle attitude adjustment unit.

[0010] Preferably, the bottom of the fixed bracket is equipped with a support foot for adjusting the height.

[0011] Preferably, the rotating mechanism includes parallel end fixed rings, a middle fixed ring, and an end movable ring; the middle fixed ring is located between the end fixed rings and the end movable ring; the end fixed rings and the middle fixed ring are connected by a ring connecting plate on the left, and the end movable ring and the middle fixed ring are connected by a ring connecting plate on the right.

[0012] Preferably, the right-side retaining ring connecting plate includes a lead screw, and the end movable retaining ring is connected to the slider of the lead screw.

[0013] Preferably, at least one of the end fixed ring, the middle fixed ring, and the end movable ring is composed of three arc-shaped segments that are hinged end to end.

[0014] Preferably, the rotating assembly includes a motor, a drive mechanism, and a rotating mechanism mounted on a rotating bearing seat mounting plate. The drive mechanism is connected to the rotating mechanism via a coupling. The rotating mechanism is connected to a central fixed retaining ring.

[0015] Preferably, the central fixed ring, the left ring connecting plate, and the right ring connecting plate are connected by a rotating connecting seat.

[0016] Preferably, it also includes a data acquisition module for measuring the operating parameters of the underwater vehicle attitude adjustment unit, the data acquisition module interacting with the control unit.

[0017] Preferably, the data acquisition module includes a voltage sensor and a current sensor.

[0018] Preferably, the control unit interacts with peripherals via a wireless communication module.

[0019] Compared with the prior art, the advantages and positive effects of this application are:

[0020] 1. The drive mechanism can automatically adjust the rotation angle of the rotating mechanism. The underwater vehicle attitude adjustment unit fixed to the rotating mechanism can rotate to any angle between horizontal, upright, and inverted states without manual adjustment, saving time and effort and improving testing efficiency.

[0021] 2. Data transmission between the peripherals (display and control unit) and the control unit utilizes a LoRa wireless module, enabling remote operation. After the user issues commands via the host computer software, the control system receives the information from the host computer software through the wireless module. It then controls the drive mechanism to execute actions and controls the attitude adjustment unit to adjust pitch and roll angles to complete the corresponding tests. The test information is then transmitted back to the host computer software for display, achieving a closed loop. This improves testing efficiency and accuracy.

[0022] 3. The three rings of the rotating mechanism are all connected in a three-section hinged manner. The two upper sections are connected to the lower section by a pin. The connection between the two upper sections is made by a hinge bolt, a pin, and a wing nut, which facilitates the disassembly and assembly of the attitude adjustment unit.

[0023] 4. The end moving ring is connected to the trapezoidal lead screw pair. The self-locking function of the trapezoidal lead screw is used to achieve axial positioning of the attitude adjustment unit, preventing axial movement during rotation, thereby ensuring the safety and reliability of the test.

[0024] 5. The drive mechanism has a simple structure and low cost. The worm gear transmission is smooth and can achieve smooth adjustment of the rotation angle. At the same time, the worm gear has a self-locking function, thus ensuring the safety and reliability of the test. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a structural diagram of an embodiment of the present invention;

[0027] Figure 2 This is an embodiment of the present invention. Figure 1 A magnified view of the circled area A. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] Examples, such as Figures 1 to 2As shown, the present invention provides an automatic testing device for the attitude adjustment unit of an underwater vehicle, comprising:

[0032] Fixed bracket 1; two parallel rotating bearing seat mounting plates 3 are provided on the fixed bracket 1; the bottom of the fixed bracket 1 is equipped with a support foot 2 for adjusting the height;

[0033] A rotating mechanism 5 is used to support the attitude adjustment unit of an underwater vehicle. The rotating mechanism 5 is located between two rotating bearing seat mounting plates 3. The rotating mechanism 5 is connected to the two rotating bearing seat mounting plates 3 through a rotating assembly. The rotating mechanism 5 includes parallel end fixed clamping rings 12, middle fixed clamping rings 15, and end movable clamping rings 14. The middle fixed clamping ring 15 is located between the end fixed clamping rings 12 and the end movable clamping rings 14. The end fixed clamping rings 12 and the middle fixed clamping rings 15 are connected by a clamping ring connecting plate 16 on the left side, and the end movable clamping rings 14 and the middle fixed clamping rings 15 are connected by a clamping ring connecting plate 16 on the right side. The right clamping ring connecting plate 16 includes a lead screw, and the end movable clamping rings 14 are connected to the slider of the lead screw.

[0034] An angle sensor used to acquire the rotation angle of the attitude adjustment unit of an underwater vehicle;

[0035] Data acquisition module for measuring the working parameters of attitude adjustment unit 13 of underwater vehicle;

[0036] Control unit 8 that controls the operating state of the rotating assembly; wherein:

[0037] The control unit 8 interacts with the control units of the angle sensor, data acquisition module, rotation component, and underwater vehicle attitude adjustment unit.

[0038] At least one of the end fixed clamping ring 12, the middle fixed clamping ring 15, and the end movable clamping ring 14 is composed of three arc-shaped segments that are hinged end to end in sequence.

[0039] The rotating assembly includes a motor, a drive mechanism 6, and a rotating mechanism 5 mounted on a rotating bearing seat mounting plate 3. The drive mechanism 6 is connected to the rotating mechanism 5 via a coupling 7. The rotating mechanism 5 is connected to a central fixed retaining ring 15.

[0040] The central fixed retaining ring 15, the left retaining ring connecting plate 16, and the right retaining ring connecting plate 16 are connected by a rotating connecting seat 23.

[0041] The data acquisition module includes a voltage sensor 34 and a current sensor 35.

[0042] The control unit 8 interacts with peripherals via a wireless communication module.

[0043] The angle sensor is an electronic compass 28.

[0044] Please see Figure 1 and Figure 2 This invention mainly includes:

[0045] Fixed bracket 1, fixed bracket 1 is connected by aluminum profile, and four height-adjustable support feet 2 are installed at the bottom. Two rotating bearing seat mounting plates 3 are installed on the fixed bracket 1, and a worm gear mounting plate 4 is installed on the outside of the rotating bearing seat mounting plate 3.

[0046] Rotating mechanism 5, with its two ends connected to two rotating bearing seat mounting plates 3 respectively;

[0047] The drive mechanism 6 is fixed on the worm gear mounting plate 4 and is connected to the rotating mechanism 5 through the coupling 7, and is used to adjust the rotation angle of the rotating mechanism 5.

[0048] Control unit 8 is located on the right side of fixed bracket 1 and is used to control drive mechanism 6. Control unit 8 transmits data to display and control unit 10 through LoRa wireless module 9.

[0049] The display and control unit 10 transmits operation commands to the main control module 11 of the control unit 8 via the LoRa wireless module 9, and controls the drive mechanism 6 to drive the rotation mechanism 5.

[0050] The rotating mechanism 5 includes:

[0051] The end fixing ring 12 is a three-section hinge, and the lower part of the end fixing ring 12 is provided with a limiting block for axial limiting of the attitude adjustment unit 13.

[0052] The end movable retaining ring 14 is a three-section hinge, and the lower part of the end movable retaining ring 14 is provided with a limiting block for axial limiting of the attitude adjustment unit 13.

[0053] The central fixed retaining ring 15 is a three-section hinge;

[0054] The retaining ring connecting plate 16 is symmetrically connected to the upper and lower end faces of the end fixing retaining ring 12 and the middle fixing retaining ring 15.

[0055] The connecting plate reinforcing block 17 is connected to the upper and lower two retaining ring connecting plates 16 to enhance the connection strength.

[0056] The lead screw bearing housing 18 is connected to the upper and lower two retaining ring connecting plates 16 and is located on one side of the end movable retaining ring 14. The lead screw bearing 19 is installed on the lead screw bearing housing 18.

[0057] A trapezoidal lead screw 20 is fixed to the inner ring of the lead screw bearing 19, and a handwheel 21 is installed on one side of the trapezoidal lead screw 20.

[0058] The lead screw nut 22 is threaded onto the trapezoidal lead screw 20, and the flange face of the lead screw nut 22 is connected to the end movable retainer 14.

[0059] Rotate the connecting seat 23, which is connected to the left and right side ring connecting plates 16;

[0060] Rotary bearing housing 24 is connected to the left and right rotating bearing housing mounting plates 3, and rotating bearing 25 is installed on rotating bearing housing 24.

[0061] The first rotating shaft 26 is fixed on the inner ring of the rotating bearing 25 and is located on one side of the drive mechanism 6. The first rotating shaft 26 is connected to the rotating connecting seat 23.

[0062] The second rotating shaft 27 is fixed on the inner ring of the rotating bearing 25 and is located on the side away from the drive mechanism 6. The second rotating shaft 27 is connected to the rotating connecting seat 23.

[0063] Electronic compass 28 is connected to rotating connecting seat 23 and is used to provide feedback on the rotation angle of rotating mechanism 5.

[0064] Drive mechanism 6 includes:

[0065] The drive motor 29 is connected to the worm gear reducer 30, which is connected to the worm gear mounting plate 4, and the output shaft of the worm gear reducer 30 is connected to the coupling 7.

[0066] Control unit 8 includes:

[0067] Control unit housing 31, which is placed on the operating table 32, is used to encapsulate the components of control unit 8;

[0068] LoRa wireless terminal antenna 33 is connected to the outer left end face of the control unit housing 31.

[0069] Main control module 11 is connected to the rear end face inside the control unit housing 31 and is used to control all components;

[0070] Voltage sensor 34 is fixed on the front side of the outer side of the control unit housing 31. It is used to measure the working voltage of the attitude adjustment unit 13 and transmits the voltage value to the main control module 11 through analog signal.

[0071] The current sensor 35 is fixed on the front side of the outer side of the control unit housing 31 and is located to the right of the voltage sensor 34. It is used to measure the working current of the attitude adjustment unit 13 and transmit the current value to the main control module 11 through an analog signal.

[0072] LoRa wireless module terminal 36 is connected to the left side of the inner side of the control unit housing 31 and is connected to the LoRa wireless terminal antenna 33 for transmitting data between the control unit 8 and the display and control unit 10.

[0073] Terminal 37 is connected to the bottom inner side of the control unit housing 31 and is used for electrical connection between various components.

[0074] The switching power supply 38 is connected to the bottom inner side of the control unit housing 31 and is located to the right of the terminal block 37, and is used to supply power to the control unit 8.

[0075] Motor driver 39 is connected to the bottom inner side of the control unit housing 31 and is located to the right of the switching power supply 38;

[0076] The display control unit 10 includes:

[0077] Computer 40 is placed on the operating console 32. It mainly refers to the host computer software. The user sends operation commands through the host computer software and monitors the test information of the attitude adjustment unit 13 at the same time.

[0078] LoRa wireless module control terminal 41 is connected to computer 40 and, together with LoRa wireless terminal antenna 42, transmits data between control unit 8 and display control unit 10.

[0079] LoRa wireless control antenna 42 is connected to the left end of LoRa wireless module control terminal 41.

[0080] The working principle of this invention is as follows:

[0081] This invention allows for automatic adjustment of the rotation angle of the rotating mechanism via a drive mechanism. The underwater vehicle attitude adjustment unit, fixed to the rotating mechanism, can rotate to any angle between horizontal, upright, and inverted positions. The specific working process includes:

[0082] Roll test process: The operator sends commands through the host computer software of the display and control unit. The command information is transmitted remotely to the control unit via the LoRa wireless module. The main control module controls the drive mechanism to execute actions. The attitude adjustment unit, fixed on the rotating mechanism, rotates with the rotating mechanism to the horizontal (test) position. At the same time, the control unit provides feedback on the position information of the rotating mechanism through an electronic compass. After the position is determined, the control unit performs a roll test on the attitude adjustment unit in the horizontal position. In this position, firstly, the control unit controls the ballast weight inside the attitude adjustment unit to move along the axis of the attitude adjustment unit to the front limit, i.e., the pitch control is at the front limit. Then, the ballast weight is adjusted to rotate from the middle position to the left limit, and finally to the right limit. The voltage, current, and other information during the rotation process are recorded to complete one roll test. For the roll test in the rear limit pitch position, simply move the ballast weight to the rear limit, and the roll test is the same. The number of test cycles can be set in the host computer software. After completing the specified number of test cycles, the roll test of the attitude adjustment unit in the horizontal position is completed. After the roll test in the horizontal state is completed, the rotation mechanism angle is adjusted to the upright state and then the inverted state in sequence to complete the roll test in the corresponding state. The test process is the same as in the horizontal state.

[0083] Pitch Test Process: The operator sends commands through the host computer software on the display and control unit. The commands are transmitted remotely to the control unit via a LoRa wireless module. The main control module controls the drive mechanism to execute actions, and the attitude adjustment unit, fixed on the rotating mechanism, rotates to the horizontal (test) position. Simultaneously, the control unit provides feedback on the position information of the rotating mechanism via an electronic compass. Once the position is determined, the control unit performs a pitch test on the attitude adjustment unit in the horizontal position. At this time, the control unit controls the ballast weight inside the attitude adjustment unit to rotate radially along the attitude adjustment unit to the left / right limit, i.e., the roll angle is at the left and right limits respectively. The ballast weight is then moved from the center position to the forward limit, and then to the rear limit. Voltage, current, and other information are recorded during the movement, completing one pitch test. The number of test cycles can be set in the host computer software. After completing the specified number of test cycles, the pitch test of the attitude adjustment unit in the horizontal position is completed. After the pitch test in the horizontal position is completed, the angle of the rotating mechanism is adjusted sequentially to the upright and inverted positions to complete the pitch test in the corresponding positions. The test process is the same as in the horizontal position.

[0084] Attitude Testing Process: The operator sends commands through the host computer software of the display and control unit. The command information is transmitted remotely to the control unit via a LoRa wireless module. The main control module controls the drive mechanism to execute actions. The attitude adjustment unit, fixed on the rotating mechanism, rotates with the rotating mechanism to the horizontal (test) position. Simultaneously, the control unit provides feedback on the position information of the rotating mechanism via an electronic compass. After the position is determined, the control unit performs an attitude test on the attitude adjustment unit in the horizontal state. At this time, the control unit controls the ballast block inside the attitude adjustment unit to move along the axial direction of the attitude adjustment unit from the center position to the front limit, and then to the rear limit. During the movement, the ballast block simultaneously rotates radially along the attitude adjustment unit from the center position to the left limit, and then to the right limit. The maximum / minimum current during the movement is recorded. When the ballast block completes one front and rear limit movement, the rotation action is completed three times, which is recorded as completing one attitude test. The number of cycle tests can be set in the host computer software. After completing the specified number of cycle tests, the attitude test of the attitude adjustment unit in the horizontal state is completed. After the attitude test in the horizontal state is completed, the rotation mechanism angle is adjusted to the upright state and the inverted state in sequence to complete the attitude test in the corresponding state. The test process is the same as in the horizontal state.

[0085] Throughout the testing process, the control unit collects data information through voltage sensors, current sensors, electronic compasses, and related sensors in the attitude adjustment unit. The information is then transmitted to the host computer software of the display and control unit via the LoRa wireless module for processing. The average current, maximum current, and minimum current during each test are calculated, and the attitude adjustment unit is judged to be qualified based on the data analysis during the test.

[0086] The above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic testing device for the attitude adjustment unit of an underwater vehicle, characterized in that, At least including: Fixed bracket (1); Two parallel rotating bearing seat mounting plates (3) are provided on the fixed bracket (1); A rotating mechanism (5) for carrying the attitude adjustment unit of an underwater vehicle; the rotating mechanism (5) is located between two rotating bearing seat mounting plates (3); the rotating mechanism (5) is connected to the two rotating bearing seat mounting plates (3) through a rotating assembly; the rotating mechanism (5) includes an end fixed clamping ring (12), a middle fixed clamping ring (15), and an end movable clamping ring (14). The three clamping rings are all composed of three end-to-end hinged arc segments, which can quickly open and close to disassemble the attitude adjustment unit under test; the end movable clamping ring (14) is matched with a self-locking trapezoidal screw pair, and the axial locking limit of the attitude adjustment unit under test is achieved through the screw slider to avoid workpiece slippage during cyclic testing; the clamping ring connecting plate (16) on the right side includes a screw, and the end movable clamping ring (14) is connected to the slider of the screw; the middle fixed clamping ring (15), the left clamping ring connecting plate (16) and the right clamping ring connecting plate (16) are connected by a rotating connecting seat (23). An electronic compass (28) used to obtain the rotation angle of the attitude adjustment unit of an underwater vehicle. A data acquisition module for measuring the operating parameters of the attitude adjustment unit (13) of an underwater vehicle; the data acquisition module integrates a voltage sensor (34) and a current sensor (35); Control unit (8) that controls the working state of the rotating assembly; wherein: The rotating assembly includes a motor, a drive mechanism (6), and a rotating mechanism (5) mounted on a rotating bearing seat mounting plate (3). The drive mechanism (6) is connected to the rotating mechanism (5) via a coupling (7). The rotating mechanism (5) is connected to a central fixed retaining ring (15). The control unit (8) interacts with the control units of the electronic compass (28), data acquisition module, rotating component and underwater vehicle attitude adjustment unit respectively; the control unit (8) has a built-in LoRa wireless communication terminal module, which forms a two-way closed-loop communication with the host display and control computer (40) through a wireless link; After the host computer (40) issues a standardized cyclic test command, the control unit (8) synchronously executes a triple linkage action: The drive rotation component switches the measured attitude adjustment unit to any measured attitude, such as horizontal, upright, or inverted. Send commands to the attitude adjustment unit under test to control the internal ballast block to complete the pitch and roll multi-condition cycle action; The system collects rotation angle, voltage, and current data in real time and transmits them back to the host computer, which automatically analyzes the data and generates a performance qualification result.

2. The automatic testing device for the attitude adjustment unit of an underwater vehicle according to claim 1, characterized in that, The bottom of the fixed bracket (1) is equipped with a support foot (2) for adjusting the height; the rotating component includes a drive motor (29), a worm gear reducer (30), and a coupling (7); the worm gear reducer has a built-in mechanical self-locking function, which locks the rotation mechanism after power failure; together with the self-locking trapezoidal screw pair, a double mechanical locking structure is formed to ensure the stability of thousands of durability cycle tests.

3. The automatic testing device for the attitude adjustment unit of an underwater vehicle according to claim 1, characterized in that, The control unit (8) interacts with peripherals via a wireless communication module.

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