Disc-shaped double-degree-of-freedom cavitator structure and method thereof

Abstract

The disc-shaped two-degree-of-freedom cavitator structure comprises a shell, a spherical hinge unit is concentrically and fixedly connected to the end of the outer side of the shell, a cavitator is installed on the outer wall of one end of the spherical hinge unit, a stamping pipeline is fixedly connected to the other end of the spherical hinge unit, a driving unit is fixedly connected into the shell, and the other end of the driving unit penetrates through the shell to be in contact connection with the cavitator. One end of the return unit is fixedly connected with the cavitator, and the other end of the return unit is fixedly connected with the spherical hinge unit. The invention further discloses a direction control method. According to the disc-shaped double-degree-of-freedom cavitator structure and the method thereof, the problems that an existing multi-degree-of-freedom cavitator structure is complex, and the performance of parts is affected are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of cavitators, and in particular relates to a disc-shaped double-freedom cavitator structure, and also relates to a method for performing direction control using the structure. Background Art

[0002] Supercavitating vehicles utilize a unique hydrodynamic layout to generate supercavitation around high-speed underwater vehicles, enveloping most of their surface in the supercavitation. Because water resistance is much greater than air, the generation of supercavitation significantly reduces the vehicle's drag, significantly improving its speed and efficiency. Cavitation devices play a central role in the research and development of supercavitating underwater vehicles. Cavitation devices are installed at the nose of the vehicle, and their primary function is to induce supercavitation. By altering the flow field around the nose of the vehicle, the pressure is rapidly reduced, prompting the formation and development of cavitation into supercavitation. Common cavitators, such as disc-shaped and conical cavitators, can, to a certain extent, meet the requirements for supercavitation generation. However, as performance requirements for underwater vehicles continue to increase, existing cavitators are gradually revealing some limitations.

[0003] Traditional single-degree-of-freedom cavitators can only control the supercavitation in a single direction, making them inflexible in responding to complex and changing underwater environments and diverse navigation mission requirements. For example, when an underwater vehicle needs to make rapid turns, avoid obstacles, or precisely track a target, a single-degree-of-freedom cavitator cannot effectively and timely adjust the supercavitation shape and the vehicle's force state, resulting in poor maneuverability and controllability.

[0004] While the multi-degree-of-freedom cavitators described in Chinese invention patents with publication numbers CN108791692A, published on November 13, 2018, and CN108860446A, published on November 23, 2018, have improved maneuverability to a certain extent, they still present numerous challenges in structural design and practical application. Existing multi-degree-of-freedom cavitators used in supercavitating vehicles present the following major challenges: First, to achieve multi-degree-of-freedom motion, existing cavitators typically have complex structures, including multiple moving parts and transmission mechanisms. This results in a large number of components, increasing the difficulty and cost of the manufacturing process. Second, the complex structure means more connection points, vulnerable parts, and sealing points. In the harsh environment of high-speed underwater navigation, these components are prone to wear, loosening, and even failure, reducing the reliability and stability of the cavitator. Third, the high-temperature, high-pressure gas contained within the ventilated cavitation chamber in the vehicle's nose section creates a harsh operating environment that can affect the performance of the hinges. Fourth, the diameter of a vehicle's cavitator disc is typically around 100 mm, and the 30 mm diameter ram duct runs vertically through the vehicle's cone section, limiting the space at the vehicle's nose. Complex rotating structures often require a large installation space, which can conflict with other vehicle structures, affecting the rationality and compactness of the vehicle's overall layout. Summary of the Invention

[0005] The purpose of the present invention is to provide a disc-shaped dual-degree-of-freedom cavitator structure, which solves the problem that the existing multi-degree-of-freedom cavitator has a complex structure and affected component performance.

[0006] Another object of the present invention is to provide a direction control method.

[0007] The technical solution adopted by the present invention is a disc-shaped double-degree-of-freedom cavitator structure, which includes a shell, a ball joint unit concentrically fixed to the outer end of the shell, a cavitator installed on the outer wall of one end of the ball joint unit, and a stamping pipe fixed to the other end of the ball joint unit. A driving unit is fixed inside the shell, and the other end of the driving unit passes through the shell and is in contact with the cavitator. It also includes a return unit, one end of the return unit is fixed to the cavitator, and the other end of the return unit is fixed to the ball joint unit.

[0008] The present invention is also characterized in that: The ball joint unit includes a ball joint support rod, which has a hollow cylindrical structure. A ball joint is fixedly connected to one end of the ball joint support rod. The outer wall of the ball joint is provided with a rear end cover of the cavitator. A through hole is opened in the middle of the cavitator. The rear end cover of the cavitator is fixedly connected to the cavitator at the through hole. The ball joint is arranged in the through hole. The other end of the ball joint support rod is fixedly connected to a connecting plate. The connecting plate has a hollow cylindrical structure. The connecting plate is fixed to the end of the shell. The stamping pipe is fixed to the end face of the connecting plate away from the ball joint. One end of the stamping pipe is arranged in the shell, and the other end of the stamping pipe passes through the shell.

[0009] The driving unit includes a pitch motion rotation unit and a yaw motion rotation unit, both of which are fixed in the shell and penetrate the shell to contact and connect with the cavitator.

[0010] The pitching motion rotation unit includes a first bow rudder servo, which is fixedly connected to the interior of the housing. The output end of the first bow rudder servo is fixedly connected to a first lead screw, a first nut is sleeved on an outer wall of the first lead screw, an end of the first nut close to the first bow rudder servo is fixedly connected to a first push rod connecting plate, the first push rod connecting plate is sleeved on the outer wall of the first lead screw, a first push rod is fixedly connected to the first push rod connecting plate, the other end of the first push rod passes through the housing and is fixedly connected to a first spherical head, a pitching motion control groove is opened on an end surface of the cavitator close to the housing, and the first spherical head contacts the cylindrical surface of the pitching motion control groove; The yaw motion rotation unit includes a second bow rudder servo, which is fixed to the inside of the shell, and the output end of the second bow rudder servo is fixedly connected to a second lead screw, and a second nut is sleeved on the outer wall of the second lead screw, and the end of the second nut close to the second bow rudder servo is fixedly connected to a second push rod connecting plate, and the second push rod connecting plate is sleeved on the outer wall of the second lead screw, and a second push rod is fixed on the second push rod connecting plate, and the other end of the second push rod passes through the shell and is fixedly connected to a second spherical head, and a yaw motion control groove is opened on the end surface of the cavitator close to the shell, and the second spherical head is in cylindrical contact with the yaw motion control groove.

[0011] The pitch motion control groove is opened in the vertical direction, the length of the pitch motion control groove is greater than the diameter of the first spherical head, and the width of the pitch motion control groove is equal to the diameter of the first spherical head; the yaw motion control groove is opened in the horizontal direction, the length of the yaw motion control groove is greater than the diameter of the second spherical head, and the width of the yaw motion control groove is equal to the diameter of the second spherical head.

[0012] A pressure equalizing chamber partition is installed in the shell, and a first push rod mounting hole and a second push rod mounting hole are opened on the pressure equalizing chamber partition. The first push rod passes through the first push rod mounting hole, and a first O-ring is sleeved on the outer wall of the first push rod in the first push rod mounting hole. The second push rod passes through the second push rod mounting hole, and a second O-ring is sleeved on the outer wall of the second push rod in the second push rod mounting hole.

[0013] The return unit includes a tension spring base, which is fixed to the cavitator and arranged between the pitch motion control slot and the yaw motion control slot. A tension spring connecting plate is fixed to the tension spring base, and a tension spring mounting hole is provided on the side of the other end of the tension spring connecting plate. The return unit also includes a tension spring, one end of which is fixed to the tension spring connecting plate in the tension spring mounting hole, and the other end of the tension spring is fixed to the connecting plate.

[0014] Another technical solution adopted by the present invention is a direction control method, which specifically includes the following steps: S1. Start the first bow rudder servo to rotate forward, so that the first bow rudder servo drives the cavitator to rotate in the vertical direction; start the second bow rudder servo to rotate forward, so that the second bow rudder servo drives the cavitator to rotate in the horizontal direction; S2. Start the first bow rudder servo to rotate in the opposite direction. The first bow rudder servo gradually cancels the thrust to the cavitator, and the tension spring drives the cavitator to rotate in the vertical direction. Start the second bow rudder servo to rotate in the opposite direction. The second bow rudder servo gradually cancels the thrust to the cavitator, and the tension spring drives the cavitator to rotate in the horizontal direction.

[0015] Another technical solution adopted by the present invention is also characterized in that: The specific process of S1 is: S1.1. Start the first bow rudder servo to rotate forward, which drives the first lead screw to rotate. Start the second bow rudder servo to rotate forward, which drives the second lead screw to rotate. S1.2. The first lead screw rotates to drive the first nut and the first push rod connecting plate to move in a positive parallel direction. The second lead screw rotates to drive the second nut and the second push rod connecting plate to move in a positive parallel direction. S1.3. The first push rod connecting plate drives the first push rod to slide vertically in the pitch motion control slot, driving the cavitator to rotate in the vertical direction. The second push rod connecting plate drives the second push rod to slide horizontally in the yaw motion control slot, driving the cavitator to rotate in the horizontal direction.

[0016] The specific process of S2 is: S2.1. Start the first bow rudder servo to rotate in the opposite direction. The first bow rudder servo drives the first lead screw to rotate. Start the second bow rudder servo to rotate in the opposite direction. The second bow rudder servo drives the second lead screw to rotate. S2.2. The first lead screw rotates to drive the first nut and the first push rod connecting plate to move in an opposite and parallel manner; the second lead screw rotates to drive the second nut and the second push rod connecting plate to move in an opposite and parallel manner; S2.3. The first push rod connecting plate drives the first push rod to gradually cancel the thrust on the cavitator, and the tension spring drives the cavitator to rotate in the vertical direction under the action of the tension; the second push rod connecting plate drives the second push rod to gradually cancel the thrust on the cavitator, and the tension spring drives the cavitator to rotate in the horizontal direction under the action of the tension.

[0017] The beneficial effects of the present invention are: The disc-shaped dual-degree-of-freedom cavitator structure and method provided by the present invention utilizes a yaw motion rotation unit to achieve horizontal rotation of the cavitator by the thrust of a second push rod and the tension of a tension spring. A pitch motion rotation unit also enables vertical rotation of the cavitator by the thrust of a first push rod and the tension of a tension spring. Rotation in both directions is controlled by a first and second bow rudder servo, respectively, and the same tension spring. The yaw motion rotation unit and the pitch motion rotation unit are independent of each other, enabling rotation in either direction of both degrees of freedom. The transmission section consists solely of the first and second push rods, eliminating numerous hinges. The structure is simple and compact, lightweight, and occupies minimal space, making it easy to install and miniaturize. The cavitator is located away from high-temperature, high-pressure gases, ensuring stable component performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the disc-shaped double-degree-of-freedom cavitator structure of the present invention; Figure 2 yes Figure 1 A partial enlarged view of middle A; Figure 3 1 is a schematic diagram of a state of positive pitch motion according to embodiment 3 of the present invention; Figure 4 1 is a schematic diagram of a negative pitch motion state of embodiment 4 of the present invention; Figure 5 1 is a schematic diagram of the left yaw motion state of Example 5 of the present invention; Figure 6 It is a state diagram of the right yaw motion of Example 6 of the present invention.

[0019] In the figure, 1. Cavitation device, 2. Cavitation device rear end cover, 301. Ball joint support rod, 302. Ball joint, 303. Connecting plate, 401. Tension spring base, 402. Tension spring connecting plate, 403. Tension spring mounting hole, 5. Tension spring, 601. First push rod, 602. Second push rod, 603. First push rod connecting plate, 604. Second push rod connecting plate, 701. First nut, 702. Second nut, 801. First screw, 80 2. Second lead screw, 901. First bow rudder servo, 902. Second bow rudder servo, 1001. First O-ring, 1002. Second O-ring, 11. Pressure equalizing chamber partition, 1101. First push rod mounting hole, 1102. Second push rod mounting hole, 12. Stamping pipe, 13. Housing, 1401. First spherical head, 1402. Second spherical head, 1501. Pitch motion control slot, 1502. Yaw motion control slot. DETAILED DESCRIPTION

[0020] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] The disc-shaped dual-degree-of-freedom cavitator structure provided by the present invention is as follows: Figure 1 As shown, it includes a shell 13, a ball joint unit is concentrically fixed to the outer end of the shell 13, a cavitator 1 is installed on the outer wall of one end of the ball joint unit, and a stamping pipe 12 is fixed to the other end of the ball joint unit. A driving unit is fixed inside the shell 13, and the other end of the driving unit passes through the shell 13 and is in contact with the cavitator 1. It also includes a return unit, one end of the return unit is fixed to the cavitator 1, and the other end of the return unit is fixed to the ball joint unit; the ball joint unit includes a ball joint support rod 301, and the ball joint support rod 30 1 is a hollow columnar structure, one end of the ball hinge support rod 301 is fixedly connected to a ball hinge 302, the outer wall of the ball hinge 302 is provided with a cavitator rear end cover 2, a through hole is opened in the middle of the cavitator 1, the cavitator rear end cover 2 is fixedly connected to the cavitator 1 at the through hole, the ball hinge 302 is arranged in the through hole, the ball center of the ball hinge 302 coincides with the center of the circle of the rear plane of the cavitator 1, the other end of the ball hinge support rod 301 is fixedly connected to a connecting plate 303, the connecting plate 303 is a hollow columnar structure, and the connecting plate 303 is fixedly connected to the shell 13 end, the stamping pipe 12 is fixed to the end surface of the connecting plate 303 away from the ball joint 302, one end of the stamping pipe 12 is arranged in the shell 13, and the other end of the stamping pipe 12 passes through the shell 13; the driving unit includes a pitch motion rotation unit and a yaw motion rotation unit, the pitch motion rotation unit and the yaw motion rotation unit are both fixed in the shell 13, and the pitch motion rotation unit and the yaw motion rotation unit are both passed through the shell 13 and are in contact with the cavitator 1; the pitch motion rotation unit The first bow rudder servo 901 includes a first bow rudder servo 901, which is fixed to the inside of the housing 13. The output end of the first bow rudder servo 901 is fixedly connected to a first screw 801. The outer wall of the first screw 801 is sleeved with a first nut 701. The end of the first nut 701 close to the first bow rudder servo 901 is fixedly connected to a first push rod connecting plate 603. The first push rod connecting plate 603 is sleeved on the outer wall of the first screw 801. The first push rod 601 is fixed to the first push rod connecting plate 603. Figure 2As shown, the other end of the first push rod 601 passes through the housing 13 and is fixedly connected to a first spherical head 1401. A pitch motion control groove 1501 is opened on the end surface of the cavitator 1 close to the housing 13, and the first spherical head 1401 is in cylindrical contact with the pitch motion control groove 1501; the yaw motion rotation unit includes a second bow rudder servo 902, which is fixed to the inside of the housing 13. The output end of the second bow rudder servo 902 is fixedly connected to a second lead screw 802, and the outer wall of the second lead screw 802 is sleeved with a second nut 702. The end of the second nut 702 close to the second bow rudder servo 902 is fixedly connected to a second push rod connecting plate 604. The second push rod connecting plate 604 is sleeved on the outer wall of the second lead screw 802, and the second push rod 602 is fixedly connected to the second push rod connecting plate 604. The other end of the second push rod 602 passes through the shell 13 and is fixedly connected to the second spherical head 1402. A yaw motion control groove 1502 is opened on the end surface of the cavitator 1 close to the shell 13. The second spherical head 1402 is in cylindrical contact with the yaw motion control groove 1502 and is not fixed; the pitch motion control groove 1501 is opened vertically, the length of the pitch motion control groove 1501 is greater than the diameter of the first spherical head 1401, and the width of the pitch motion control groove 1501 is equal to the diameter of the first spherical head 1401; The yaw motion control groove 1502 is opened in the horizontal direction, the length of the yaw motion control groove 1502 is greater than the diameter of the second spherical head 1402, and the width of the yaw motion control groove 1502 is equal to the diameter of the second spherical head 1402; the housing 13 is provided with a pressure equalizing chamber partition 11, and the pressure equalizing chamber partition 11 is provided with a first push rod mounting hole 1101 and a second push rod mounting hole 1102, the first push rod 601 passes through the first push rod mounting hole 1101, and the outer wall of the first push rod 601 is provided with a first O-ring 1001 in the first push rod mounting hole 1101 for easy sealing, and the second push rod 602 passes through the second push rod mounting hole 11 02, the outer wall of the second push rod 602 is sleeved with a second O-ring 1002 in the second push rod mounting hole 1102 to facilitate sealing; the return unit includes a tension spring base 401, the tension spring base 401 is fixed to the cavitator 1, the tension spring base 401 is arranged between the pitch motion control slot 1501 and the yaw motion control slot 1502, a tension spring connecting plate 402 is fixed to the tension spring base 401, and a tension spring mounting hole 403 is opened on the side of the other end of the tension spring connecting plate 402, and also includes a tension spring 5, one end of the tension spring 5 is fixed to the tension spring connecting plate 402 in the tension spring mounting hole 403, and the other end of the tension spring 5 is fixed to the connecting plate 303.

[0022] Example 1 The disc-shaped dual-degree-of-freedom cavitator structure proposed in this embodiment is as follows: Figure 1As shown, it includes a shell 13, a ball joint unit is concentrically fixed to the outer end of the shell 13, a cavitator 1 is installed on the outer wall of one end of the ball joint unit, and a stamping pipe 12 is fixed to the other end of the ball joint unit. A driving unit is fixed in the shell 13, and the other end of the driving unit passes through the shell 13 and is in contact with the cavitator 1. It also includes a return unit, one end of the return unit is fixed to the cavitator 1, and the other end of the return unit is fixed to the ball joint unit.

[0023] Example 2 The disc-shaped dual-degree-of-freedom cavitator structure proposed in this embodiment is as follows: Figure 1 As shown, it includes a shell 13, a ball joint unit is concentrically fixed to the outer end of the shell 13, a cavitator 1 is installed on the outer wall of one end of the ball joint unit, and a stamping pipe 12 is fixed to the other end of the ball joint unit. A driving unit is fixed inside the shell 13, and the other end of the driving unit passes through the shell 13 and is in contact with the cavitator 1. It also includes a return unit, one end of the return unit is fixed to the cavitator 1, and the other end of the return unit is fixed to the ball joint unit; the ball joint unit includes a ball joint support rod 301, and the ball joint unit is fixed to the outer wall of the cavitator 1. The hinge support rod 301 is a hollow columnar structure. One end of the ball hinge support rod 301 is fixedly connected to a ball hinge 302. The outer wall of the ball hinge 302 is provided with a cavitator rear end cover 2. A through hole is opened in the middle of the cavitator 1. The cavitator rear end cover 2 is fixedly connected to the cavitator 1 at the through hole. The ball hinge 302 is arranged in the through hole. The other end of the ball hinge support rod 301 is fixedly connected to a connecting plate 303. The connecting plate 303 is a hollow columnar structure. The connecting plate 303 is fixedly connected to the end of the shell 13. The stamping pipe 12 The end surface of the connecting plate 303 away from the ball joint 302 is fixed, one end of the stamping pipe 12 is arranged in the shell 13, and the other end of the stamping pipe 12 passes through the shell 13; the driving unit includes a pitching motion rotation unit and a yaw motion rotation unit, both of which are fixed in the shell 13, and both of which pass through the shell 13 and are in contact with the cavitator 1; the pitching motion rotation unit includes a first bow The rudder servo 901, the first bow rudder servo 901 is fixedly connected to the interior of the housing 13, the output end of the first bow rudder servo 901 is fixedly connected to the first screw 801, the outer wall of the first screw 801 is sleeved with a first nut 701, the end of the first nut 701 close to the first bow rudder servo 901 is fixedly connected to the first push rod connecting plate 603, the first push rod connecting plate 603 is sleeved on the outer wall of the first screw 801, and the first push rod 601 is fixedly connected to the first push rod connecting plate 603. Figure 2As shown, the other end of the first push rod 601 passes through the housing 13 and is fixedly connected to a first spherical head 1401. A pitch motion control groove 1501 is opened on the end surface of the cavitator 1 close to the housing 13, and the first spherical head 1401 is in cylindrical contact with the pitch motion control groove 1501; the yaw motion rotation unit includes a second bow rudder servo 902, the second bow rudder servo 902 is fixedly connected to the inside of the housing 13, the output end of the second bow rudder servo 902 is fixedly connected to a second screw 802, the outer wall of the second screw 802 is provided with a second nut 702, and the end of the second nut 702 close to the second bow rudder servo 902 is fixedly connected to a second push rod connection Plate 604, the second push rod connecting plate 604 is sleeved on the outer wall of the second lead screw 802, the second push rod 602 is fixedly connected to the second push rod connecting plate 604, the other end of the second push rod 602 passes through the shell 13 and is fixedly connected to the second spherical head 1402, a yaw motion control groove 1502 is opened on the end surface of the cavitator 1 close to the shell 13, the second spherical head 1402 is in contact with the cylindrical surface of the yaw motion control groove 1502; the pitch motion control groove 1501 is opened vertically, the length of the pitch motion control groove 1501 is greater than the diameter of the first spherical head 1401, and the width of the pitch motion control groove 1501 is equal to the diameter of the first spherical head 14 01 diameter; the yaw motion control groove 1502 is opened in the horizontal direction, the length of the yaw motion control groove 1502 is greater than the diameter of the second spherical head 1402, and the width of the yaw motion control groove 1502 is equal to the diameter of the second spherical head 1402; an equalizing chamber partition 11 is installed in the shell 13, and a first push rod mounting hole 1101 and a second push rod mounting hole 1102 are opened on the equalizing chamber partition 11, the first push rod 601 passes through the first push rod mounting hole 1101, and the outer wall of the first push rod 601 is sleeved with a first O-ring 1001 in the first push rod mounting hole 1101, and the second push rod 602 passes through the second push rod mounting hole Hole 1102, the outer wall of the second push rod 602 is sleeved with a second O-ring 1002 in the second push rod mounting hole 1102; the return unit includes a tension spring base 401, the tension spring base 401 is fixed to the cavitator 1, the tension spring base 401 is arranged between the pitch motion control slot 1501 and the yaw motion control slot 1502, a tension spring connecting plate 402 is fixed to the tension spring base 401, and a tension spring mounting hole 403 is opened on the side of the other end of the tension spring connecting plate 402, and also includes a tension spring 5, one end of the tension spring 5 is fixed to the tension spring connecting plate 402 in the tension spring mounting hole 403, and the other end of the tension spring 5 is fixed to the connecting plate 303.

[0024] Example 3 The disc-shaped dual-degree-of-freedom cavitator structure proposed in this embodiment is as follows: Figure 1As shown, it includes a shell 13, a ball joint unit is concentrically fixed to the outer end of the shell 13, a cavitator 1 is installed on the outer wall of one end of the ball joint unit, and a stamping pipe 12 is fixed to the other end of the ball joint unit. A driving unit is fixed inside the shell 13, and the other end of the driving unit passes through the shell 13 and is in contact with the cavitator 1. It also includes a return unit, one end of the return unit is fixed to the cavitator 1, and the other end of the return unit is fixed to the ball joint unit; the ball joint unit includes a ball joint support rod 301, and the ball joint unit is fixed to the outer wall of the cavitator 1. The hinge support rod 301 is a hollow columnar structure. One end of the ball hinge support rod 301 is fixedly connected to a ball hinge 302. The outer wall of the ball hinge 302 is provided with a cavitator rear end cover 2. A through hole is opened in the middle of the cavitator 1. The cavitator rear end cover 2 is fixedly connected to the cavitator 1 at the through hole. The ball hinge 302 is arranged in the through hole. The other end of the ball hinge support rod 301 is fixedly connected to a connecting plate 303. The connecting plate 303 is a hollow columnar structure. The connecting plate 303 is fixedly connected to the end of the shell 13. The stamping pipe 12 The end surface of the connecting plate 303 away from the ball joint 302 is fixed, one end of the stamping pipe 12 is arranged in the shell 13, and the other end of the stamping pipe 12 passes through the shell 13; the driving unit includes a pitching motion rotation unit and a yaw motion rotation unit, both of which are fixed in the shell 13, and both of which pass through the shell 13 and are in contact with the cavitator 1; the pitching motion rotation unit includes a first bow The rudder servo 901, the first bow rudder servo 901 is fixedly connected to the interior of the housing 13, the output end of the first bow rudder servo 901 is fixedly connected to the first screw 801, the outer wall of the first screw 801 is sleeved with a first nut 701, the end of the first nut 701 close to the first bow rudder servo 901 is fixedly connected to the first push rod connecting plate 603, the first push rod connecting plate 603 is sleeved on the outer wall of the first screw 801, and the first push rod 601 is fixedly connected to the first push rod connecting plate 603. Figure 2As shown, the other end of the first push rod 601 passes through the housing 13 and is fixedly connected to a first spherical head 1401. A pitch motion control groove 1501 is opened on the end surface of the cavitator 1 close to the housing 13, and the first spherical head 1401 is in cylindrical contact with the pitch motion control groove 1501; the yaw motion rotation unit includes a second bow rudder servo 902, the second bow rudder servo 902 is fixedly connected to the inside of the housing 13, the output end of the second bow rudder servo 902 is fixedly connected to a second screw 802, the outer wall of the second screw 802 is provided with a second nut 702, and the end of the second nut 702 close to the second bow rudder servo 902 is fixedly connected to a second push rod connection Plate 604, the second push rod connecting plate 604 is sleeved on the outer wall of the second lead screw 802, the second push rod 602 is fixedly connected to the second push rod connecting plate 604, the other end of the second push rod 602 passes through the shell 13 and is fixedly connected to the second spherical head 1402, a yaw motion control groove 1502 is opened on the end surface of the cavitator 1 close to the shell 13, the second spherical head 1402 is in contact with the cylindrical surface of the yaw motion control groove 1502; the pitch motion control groove 1501 is opened vertically, the length of the pitch motion control groove 1501 is greater than the diameter of the first spherical head 1401, and the width of the pitch motion control groove 1501 is equal to the diameter of the first spherical head 14 01 diameter; the yaw motion control groove 1502 is opened in the horizontal direction, the length of the yaw motion control groove 1502 is greater than the diameter of the second spherical head 1402, and the width of the yaw motion control groove 1502 is equal to the diameter of the second spherical head 1402; an equalizing chamber partition 11 is installed in the shell 13, and a first push rod mounting hole 1101 and a second push rod mounting hole 1102 are opened on the equalizing chamber partition 11, the first push rod 601 passes through the first push rod mounting hole 1101, and the outer wall of the first push rod 601 is sleeved with a first O-ring 1001 in the first push rod mounting hole 1101, and the second push rod 602 passes through the second push rod mounting hole Hole 1102, the outer wall of the second push rod 602 is sleeved with a second O-ring 1002 in the second push rod mounting hole 1102; the return unit includes a tension spring base 401, the tension spring base 401 is fixed to the cavitator 1, the tension spring base 401 is arranged between the pitch motion control slot 1501 and the yaw motion control slot 1502, a tension spring connecting plate 402 is fixed to the tension spring base 401, and a tension spring mounting hole 403 is opened on the side of the other end of the tension spring connecting plate 402, and also includes a tension spring 5, one end of the tension spring 5 is fixed to the tension spring connecting plate 402 in the tension spring mounting hole 403, and the other end of the tension spring 5 is fixed to the connecting plate 303. Figure 3 As shown, the first bow rudder servo is started to rotate in the forward direction, the first bow rudder servo drives the first lead screw to rotate, and the first lead screw drives the first nut and the first push rod connecting plate to move in the forward parallel direction through the rotation. The first push rod connecting plate drives the first push rod to slide vertically in the pitch motion control groove, driving the cavitator to pitch positively in the vertical direction.

[0025] Example 4 The disc-shaped dual-degree-of-freedom cavitator structure proposed in this embodiment is as follows: Figure 1As shown, it includes a shell 13, a ball joint unit is concentrically fixed to the outer end of the shell 13, a cavitator 1 is installed on the outer wall of one end of the ball joint unit, and a stamping pipe 12 is fixed to the other end of the ball joint unit. A driving unit is fixed inside the shell 13, and the other end of the driving unit passes through the shell 13 and is in contact with the cavitator 1. It also includes a return unit, one end of the return unit is fixed to the cavitator 1, and the other end of the return unit is fixed to the ball joint unit; the ball joint unit includes a ball joint support rod 301, and the ball joint unit is fixed to the outer wall of the cavitator 1. The hinge support rod 301 is a hollow columnar structure. One end of the ball hinge support rod 301 is fixedly connected to a ball hinge 302. The outer wall of the ball hinge 302 is provided with a cavitator rear end cover 2. A through hole is opened in the middle of the cavitator 1. The cavitator rear end cover 2 is fixedly connected to the cavitator 1 at the through hole. The ball hinge 302 is arranged in the through hole. The other end of the ball hinge support rod 301 is fixedly connected to a connecting plate 303. The connecting plate 303 is a hollow columnar structure. The connecting plate 303 is fixedly connected to the end of the shell 13. The stamping pipe 12 The end surface of the connecting plate 303 away from the ball joint 302 is fixed, one end of the stamping pipe 12 is arranged in the shell 13, and the other end of the stamping pipe 12 passes through the shell 13; the driving unit includes a pitching motion rotation unit and a yaw motion rotation unit, both of which are fixed in the shell 13, and both of which pass through the shell 13 and are in contact with the cavitator 1; the pitching motion rotation unit includes a first bow The rudder servo 901, the first bow rudder servo 901 is fixedly connected to the interior of the housing 13, the output end of the first bow rudder servo 901 is fixedly connected to the first screw 801, the outer wall of the first screw 801 is sleeved with a first nut 701, the end of the first nut 701 close to the first bow rudder servo 901 is fixedly connected to the first push rod connecting plate 603, the first push rod connecting plate 603 is sleeved on the outer wall of the first screw 801, and the first push rod 601 is fixedly connected to the first push rod connecting plate 603. Figure 2As shown, the other end of the first push rod 601 passes through the housing 13 and is fixedly connected to a first spherical head 1401. A pitch motion control groove 1501 is opened on the end surface of the cavitator 1 close to the housing 13, and the first spherical head 1401 is in cylindrical contact with the pitch motion control groove 1501; the yaw motion rotation unit includes a second bow rudder servo 902, the second bow rudder servo 902 is fixedly connected to the inside of the housing 13, the output end of the second bow rudder servo 902 is fixedly connected to a second screw 802, the outer wall of the second screw 802 is provided with a second nut 702, and the end of the second nut 702 close to the second bow rudder servo 902 is fixedly connected to a second push rod connection Plate 604, the second push rod connecting plate 604 is sleeved on the outer wall of the second lead screw 802, the second push rod 602 is fixedly connected to the second push rod connecting plate 604, the other end of the second push rod 602 passes through the shell 13 and is fixedly connected to the second spherical head 1402, a yaw motion control groove 1502 is opened on the end surface of the cavitator 1 close to the shell 13, the second spherical head 1402 is in contact with the cylindrical surface of the yaw motion control groove 1502; the pitch motion control groove 1501 is opened vertically, the length of the pitch motion control groove 1501 is greater than the diameter of the first spherical head 1401, and the width of the pitch motion control groove 1501 is equal to the diameter of the first spherical head 14 01 diameter; the yaw motion control groove 1502 is opened in the horizontal direction, the length of the yaw motion control groove 1502 is greater than the diameter of the second spherical head 1402, and the width of the yaw motion control groove 1502 is equal to the diameter of the second spherical head 1402; an equalizing chamber partition 11 is installed in the shell 13, and a first push rod mounting hole 1101 and a second push rod mounting hole 1102 are opened on the equalizing chamber partition 11, the first push rod 601 passes through the first push rod mounting hole 1101, and the outer wall of the first push rod 601 is sleeved with a first O-ring 1001 in the first push rod mounting hole 1101, and the second push rod 602 passes through the second push rod mounting hole Hole 1102, the outer wall of the second push rod 602 is sleeved with a second O-ring 1002 in the second push rod mounting hole 1102; the return unit includes a tension spring base 401, the tension spring base 401 is fixed to the cavitator 1, the tension spring base 401 is arranged between the pitch motion control slot 1501 and the yaw motion control slot 1502, a tension spring connecting plate 402 is fixed to the tension spring base 401, and a tension spring mounting hole 403 is opened on the side of the other end of the tension spring connecting plate 402, and also includes a tension spring 5, one end of the tension spring 5 is fixed to the tension spring connecting plate 402 in the tension spring mounting hole 403, and the other end of the tension spring 5 is fixed to the connecting plate 303. Figure 4 As shown, the first bow rudder servo is started to rotate in the opposite direction, and the first bow rudder servo drives the first lead screw to rotate. The first lead screw drives the first nut and the first push rod connecting plate to move in the opposite direction and in parallel through the rotation. The first push rod connecting plate drives the first push rod to gradually cancel the thrust on the cavitator. Under the action of the tension force, the tension spring drives the cavitator to move in the negative pitch direction in the vertical direction.

[0026] Example 5 The disc-shaped dual-degree-of-freedom cavitator structure proposed in this embodiment is as follows: Figure 1As shown, it includes a shell 13, a ball joint unit is concentrically fixed to the outer end of the shell 13, a cavitator 1 is installed on the outer wall of one end of the ball joint unit, and a stamping pipe 12 is fixed to the other end of the ball joint unit. A driving unit is fixed inside the shell 13, and the other end of the driving unit passes through the shell 13 and is in contact with the cavitator 1. It also includes a return unit, one end of the return unit is fixed to the cavitator 1, and the other end of the return unit is fixed to the ball joint unit; the ball joint unit includes a ball joint support rod 301, and the ball joint unit is fixed to the outer wall of the cavitator 1. The hinge support rod 301 is a hollow columnar structure. One end of the ball hinge support rod 301 is fixedly connected to a ball hinge 302. The outer wall of the ball hinge 302 is provided with a cavitator rear end cover 2. A through hole is opened in the middle of the cavitator 1. The cavitator rear end cover 2 is fixedly connected to the cavitator 1 at the through hole. The ball hinge 302 is arranged in the through hole. The other end of the ball hinge support rod 301 is fixedly connected to a connecting plate 303. The connecting plate 303 is a hollow columnar structure. The connecting plate 303 is fixedly connected to the end of the shell 13. The stamping pipe 12 The end surface of the connecting plate 303 away from the ball joint 302 is fixed, one end of the stamping pipe 12 is arranged in the shell 13, and the other end of the stamping pipe 12 passes through the shell 13; the driving unit includes a pitching motion rotation unit and a yaw motion rotation unit, both of which are fixed in the shell 13, and both of which pass through the shell 13 and are in contact with the cavitator 1; the pitching motion rotation unit includes a first bow The rudder servo 901, the first bow rudder servo 901 is fixedly connected to the interior of the housing 13, the output end of the first bow rudder servo 901 is fixedly connected to the first screw 801, the outer wall of the first screw 801 is sleeved with a first nut 701, the end of the first nut 701 close to the first bow rudder servo 901 is fixedly connected to the first push rod connecting plate 603, the first push rod connecting plate 603 is sleeved on the outer wall of the first screw 801, and the first push rod 601 is fixedly connected to the first push rod connecting plate 603. Figure 2As shown, the other end of the first push rod 601 passes through the housing 13 and is fixedly connected to a first spherical head 1401. A pitch motion control groove 1501 is opened on the end surface of the cavitator 1 close to the housing 13, and the first spherical head 1401 is in cylindrical contact with the pitch motion control groove 1501; the yaw motion rotation unit includes a second bow rudder servo 902, the second bow rudder servo 902 is fixedly connected to the inside of the housing 13, the output end of the second bow rudder servo 902 is fixedly connected to a second screw 802, the outer wall of the second screw 802 is provided with a second nut 702, and the end of the second nut 702 close to the second bow rudder servo 902 is fixedly connected to a second push rod connection Plate 604, the second push rod connecting plate 604 is sleeved on the outer wall of the second lead screw 802, the second push rod 602 is fixedly connected to the second push rod connecting plate 604, the other end of the second push rod 602 passes through the shell 13 and is fixedly connected to the second spherical head 1402, a yaw motion control groove 1502 is opened on the end surface of the cavitator 1 close to the shell 13, the second spherical head 1402 is in contact with the cylindrical surface of the yaw motion control groove 1502; the pitch motion control groove 1501 is opened vertically, the length of the pitch motion control groove 1501 is greater than the diameter of the first spherical head 1401, and the width of the pitch motion control groove 1501 is equal to the diameter of the first spherical head 14 01 diameter; the yaw motion control groove 1502 is opened in the horizontal direction, the length of the yaw motion control groove 1502 is greater than the diameter of the second spherical head 1402, and the width of the yaw motion control groove 1502 is equal to the diameter of the second spherical head 1402; an equalizing chamber partition 11 is installed in the shell 13, and a first push rod mounting hole 1101 and a second push rod mounting hole 1102 are opened on the equalizing chamber partition 11, the first push rod 601 passes through the first push rod mounting hole 1101, and the outer wall of the first push rod 601 is sleeved with a first O-ring 1001 in the first push rod mounting hole 1101, and the second push rod 602 passes through the second push rod mounting hole Hole 1102, the outer wall of the second push rod 602 is sleeved with a second O-ring 1002 in the second push rod mounting hole 1102; the return unit includes a tension spring base 401, the tension spring base 401 is fixed to the cavitator 1, the tension spring base 401 is arranged between the pitch motion control slot 1501 and the yaw motion control slot 1502, a tension spring connecting plate 402 is fixed to the tension spring base 401, and a tension spring mounting hole 403 is opened on the side of the other end of the tension spring connecting plate 402, and also includes a tension spring 5, one end of the tension spring 5 is fixed to the tension spring connecting plate 402 in the tension spring mounting hole 403, and the other end of the tension spring 5 is fixed to the connecting plate 303. Figure 5 As shown, the second bow rudder servo is started to rotate forward, the second bow rudder servo drives the second lead screw to rotate, the second lead screw drives the second nut and the second push rod connecting plate to move forward in parallel through the rotation, the second push rod connecting plate drives the second push rod to slide horizontally in the yaw motion control groove, and drives the cavitator to yaw left in the horizontal direction.

[0027] Example 6 The disc-shaped dual-degree-of-freedom cavitator structure proposed in this embodiment is as follows: Figure 1As shown, it includes a shell 13, a ball joint unit is concentrically fixed to the outer end of the shell 13, a cavitator 1 is installed on the outer wall of one end of the ball joint unit, and a stamping pipe 12 is fixed to the other end of the ball joint unit. A driving unit is fixed inside the shell 13, and the other end of the driving unit passes through the shell 13 and is in contact with the cavitator 1. It also includes a return unit, one end of the return unit is fixed to the cavitator 1, and the other end of the return unit is fixed to the ball joint unit; the ball joint unit includes a ball joint support rod 301, and the ball joint unit is fixed to the outer wall of the cavitator 1. The hinge support rod 301 is a hollow columnar structure. One end of the ball hinge support rod 301 is fixedly connected to a ball hinge 302. The outer wall of the ball hinge 302 is provided with a cavitator rear end cover 2. A through hole is opened in the middle of the cavitator 1. The cavitator rear end cover 2 is fixedly connected to the cavitator 1 at the through hole. The ball hinge 302 is arranged in the through hole. The other end of the ball hinge support rod 301 is fixedly connected to a connecting plate 303. The connecting plate 303 is a hollow columnar structure. The connecting plate 303 is fixedly connected to the end of the shell 13. The stamping pipe 12 The end surface of the connecting plate 303 away from the ball joint 302 is fixed, one end of the stamping pipe 12 is arranged in the shell 13, and the other end of the stamping pipe 12 passes through the shell 13; the driving unit includes a pitching motion rotation unit and a yaw motion rotation unit, both of which are fixed in the shell 13, and both of which pass through the shell 13 and are in contact with the cavitator 1; the pitching motion rotation unit includes a first bow The rudder servo 901, the first bow rudder servo 901 is fixedly connected to the interior of the housing 13, the output end of the first bow rudder servo 901 is fixedly connected to the first screw 801, the outer wall of the first screw 801 is sleeved with a first nut 701, the end of the first nut 701 close to the first bow rudder servo 901 is fixedly connected to the first push rod connecting plate 603, the first push rod connecting plate 603 is sleeved on the outer wall of the first screw 801, and the first push rod 601 is fixedly connected to the first push rod connecting plate 603. Figure 2As shown, the other end of the first push rod 601 passes through the housing 13 and is fixedly connected to a first spherical head 1401. A pitch motion control groove 1501 is opened on the end surface of the cavitator 1 close to the housing 13, and the first spherical head 1401 is in cylindrical contact with the pitch motion control groove 1501; the yaw motion rotation unit includes a second bow rudder servo 902, the second bow rudder servo 902 is fixedly connected to the inside of the housing 13, the output end of the second bow rudder servo 902 is fixedly connected to a second screw 802, the outer wall of the second screw 802 is provided with a second nut 702, and the end of the second nut 702 close to the second bow rudder servo 902 is fixedly connected to a second push rod connection Plate 604, the second push rod connecting plate 604 is sleeved on the outer wall of the second lead screw 802, the second push rod 602 is fixedly connected to the second push rod connecting plate 604, the other end of the second push rod 602 passes through the shell 13 and is fixedly connected to the second spherical head 1402, a yaw motion control groove 1502 is opened on the end surface of the cavitator 1 close to the shell 13, the second spherical head 1402 is in contact with the cylindrical surface of the yaw motion control groove 1502; the pitch motion control groove 1501 is opened vertically, the length of the pitch motion control groove 1501 is greater than the diameter of the first spherical head 1401, and the width of the pitch motion control groove 1501 is equal to the diameter of the first spherical head 14 01 diameter; the yaw motion control groove 1502 is opened in the horizontal direction, the length of the yaw motion control groove 1502 is greater than the diameter of the second spherical head 1402, and the width of the yaw motion control groove 1502 is equal to the diameter of the second spherical head 1402; an equalizing chamber partition 11 is installed in the shell 13, and a first push rod mounting hole 1101 and a second push rod mounting hole 1102 are opened on the equalizing chamber partition 11, the first push rod 601 passes through the first push rod mounting hole 1101, and the outer wall of the first push rod 601 is sleeved with a first O-ring 1001 in the first push rod mounting hole 1101, and the second push rod 602 passes through the second push rod mounting hole Hole 1102, the outer wall of the second push rod 602 is sleeved with a second O-ring 1002 in the second push rod mounting hole 1102; the return unit includes a tension spring base 401, the tension spring base 401 is fixed to the cavitator 1, the tension spring base 401 is arranged between the pitch motion control slot 1501 and the yaw motion control slot 1502, a tension spring connecting plate 402 is fixed to the tension spring base 401, and a tension spring mounting hole 403 is opened on the side of the other end of the tension spring connecting plate 402, and also includes a tension spring 5, one end of the tension spring 5 is fixed to the tension spring connecting plate 402 in the tension spring mounting hole 403, and the other end of the tension spring 5 is fixed to the connecting plate 303. Figure 6 As shown, the second bow rudder servo is started to rotate in the opposite direction, and the second bow rudder servo drives the second lead screw to rotate. The second lead screw drives the second nut and the second push rod connecting plate to move in the opposite direction and in parallel through the rotation. The second push rod connecting plate drives the second push rod to gradually cancel the thrust on the cavitator. Under the action of the tension force, the tension spring drives the cavitator to yaw right in the horizontal direction.

[0028] Example 7 The direction control method proposed in this embodiment, based on the above-mentioned disc-shaped dual-degree-of-freedom cavitator structure, specifically includes the following steps: S1. Start the first bow rudder servo to rotate forward, so that the first bow rudder servo drives the cavitator to rotate in the vertical direction; start the second bow rudder servo to rotate forward, so that the second bow rudder servo drives the cavitator to rotate in the horizontal direction; The specific process is: S1.1. Start the first bow rudder servo to rotate forward, which drives the first lead screw to rotate. Start the second bow rudder servo to rotate forward, which drives the second lead screw to rotate. S1.2. The first lead screw rotates to drive the first nut and the first push rod connecting plate to move in a positive parallel direction. The second lead screw rotates to drive the second nut and the second push rod connecting plate to move in a positive parallel direction. S1.3. The first push rod connecting plate drives the first push rod to slide vertically within the pitch motion control slot, driving the cavitator to rotate vertically. The second push rod connecting plate drives the second push rod to slide horizontally within the yaw motion control slot, driving the cavitator to rotate horizontally. S2. Start the first bow rudder steering gear to rotate in the opposite direction. The first bow rudder steering gear gradually removes the thrust on the cavitator, and the tension spring drives the cavitator to rotate in the vertical direction. Start the second bow rudder steering gear to rotate in the opposite direction. The second bow rudder steering gear gradually removes the thrust on the cavitator, and the tension spring drives the cavitator to rotate in the horizontal direction. The specific process is: S2.1. Start the first bow rudder servo to rotate in the opposite direction. The first bow rudder servo drives the first lead screw to rotate. Start the second bow rudder servo to rotate in the opposite direction. The second bow rudder servo drives the second lead screw to rotate. S2.2. The first lead screw rotates to drive the first nut and the first push rod connecting plate to move in an opposite and parallel manner; the second lead screw rotates to drive the second nut and the second push rod connecting plate to move in an opposite and parallel manner; S2.3. The first push rod connecting plate drives the first push rod to gradually cancel the thrust on the cavitator, and the tension spring drives the cavitator to rotate in the vertical direction under the action of the tension; the second push rod connecting plate drives the second push rod to gradually cancel the thrust on the cavitator, and the tension spring drives the cavitator to rotate in the horizontal direction under the action of the tension.

Claims

1. A disc-shaped dual-degree-of-freedom cavitator structure, characterized in that: The invention comprises a shell (13), wherein the outer end of the shell (13) is concentrically fixedly connected to a ball joint unit, a cavitator (1) is mounted on the outer wall of one end of the ball joint unit, and a stamping pipe (12) is fixedly connected to the other end of the ball joint unit. A driving unit is fixedly connected inside the shell (13), and the other end of the driving unit passes through the shell (13) and is in contact with the cavitator (1). The invention also comprises a return unit, wherein one end of the return unit is fixedly connected to the cavitator (1), and the other end of the return unit is fixedly connected to the ball joint unit.

2. The disc-shaped dual-degree-of-freedom cavitator structure according to claim 1, characterized in that: The ball joint unit includes a ball joint support rod (301), the ball joint support rod (301) is a hollow columnar structure, one end of the ball joint support rod (301) is fixedly connected to a ball joint (302), the outer wall of the ball joint (302) is provided with a cavitator rear end cover (2), the middle part of the cavitator (1) is provided with a through hole, the cavitator rear end cover (2) is fixedly connected to the cavitator (1) at the through hole, the ball joint (302) is arranged in the through hole, and the The other end of the ball joint support rod (301) is fixedly connected to a connecting plate (303), the connecting plate (303) being a hollow columnar structure, the connecting plate (303) being fixedly connected to the end of the shell (13), the stamping pipe (12) being fixedly connected to the end face of the connecting plate (303) away from the ball joint (302), one end of the stamping pipe (12) being arranged in the shell (13), and the other end of the stamping pipe (12) passing through the shell (13).

3. The disc-shaped dual-degree-of-freedom cavitator structure according to claim 2, characterized in that: The driving unit comprises a pitch motion rotation unit and a yaw motion rotation unit, both of which are fixed in the housing (13), and both of which pass through the housing (13) and are in contact with the cavitator (1).

4. The disc-shaped dual-degree-of-freedom cavitator structure according to claim 3, characterized in that: The pitching motion rotation unit comprises a first bow rudder servo (901), the first bow rudder servo (901) is fixedly connected to the inside of the housing (13), the output end of the first bow rudder servo (901) is fixedly connected to a first lead screw (801), the outer wall of the first lead screw (801) is sleeved with a first nut (701), the end of the first nut (701) close to the first bow rudder servo (901) is fixedly connected to a first push rod connecting plate (603), and the first push rod connecting plate (603) is sleeved on the outer wall of the first lead screw (801), the first push rod (601) is fixedly connected to the first push rod connecting plate (603), the other end of the first push rod (601) passes through the shell (13) and is fixedly connected to a first spherical head (1401), a pitch motion control groove (1501) is opened on the end surface of the cavitator (1) close to the shell (13), and the first spherical head (1401) is in cylindrical contact with the pitch motion control groove (1501); The yaw motion rotation unit includes a second bow rudder servo (902), the second bow rudder servo (902) is fixedly connected to the inside of the housing (13), the output end of the second bow rudder servo (902) is fixedly connected to a second lead screw (802), the outer wall of the second lead screw (802) is sleeved with a second nut (702), the end of the second nut (702) close to the second bow rudder servo (902) is fixedly connected to a second push rod connecting plate (604), and the second push rod connecting plate (604) is sleeved on the outer wall of the second lead screw (802), the second push rod (602) is fixedly connected to the second push rod connecting plate (604), the other end of the second push rod (602) passes through the shell (13) and is fixedly connected to a second spherical head (1402), a yaw motion control groove (1502) is opened on the end face of the cavitator (1) close to the shell (13), and the second spherical head (1402) is in cylindrical contact with the yaw motion control groove (1502).

5. The disc-shaped dual-degree-of-freedom cavitator structure according to claim 4, characterized in that: The pitch motion control groove (1501) is opened in the vertical direction, the length of the pitch motion control groove (1501) is greater than the diameter of the first spherical head (1401), and the width of the pitch motion control groove (1501) is equal to the diameter of the first spherical head (1401); the yaw motion control groove (1502) is opened in the horizontal direction, the length of the yaw motion control groove (1502) is greater than the diameter of the second spherical head (1402), and the width of the yaw motion control groove (1502) is equal to the diameter of the second spherical head (1402).

6. The disc-shaped dual-degree-of-freedom cavitator structure according to claim 5, characterized in that: A pressure equalizing chamber partition (11) is installed in the shell (13), and a first push rod mounting hole (1101) and a second push rod mounting hole (1102) are provided on the pressure equalizing chamber partition (11), the first push rod (601) passes through the first push rod mounting hole (1101), and the outer wall of the first push rod (601) is sleeved with a first O-ring (1001) in the first push rod mounting hole (1101), the second push rod (602) passes through the second push rod mounting hole (1102), and the outer wall of the second push rod (602) is sleeved with a second O-ring (1002) in the second push rod mounting hole (1102).

7. The disc-shaped dual-degree-of-freedom cavitator structure according to claim 6, characterized in that: The return unit includes a tension spring base (401), the tension spring base (401) is fixedly connected to the cavitator (1), the tension spring base (401) is arranged between the pitch motion control slot (1501) and the yaw motion control slot (1502), a tension spring connecting plate (402) is fixedly connected to the tension spring base (401), a tension spring mounting hole (403) is provided on the side of the other end of the tension spring connecting plate (402), and also includes a tension spring (5), one end of the tension spring (5) is fixedly connected to the tension spring connecting plate (402) in the tension spring mounting hole (403), and the other end of the tension spring (5) is fixedly connected to the connecting plate (303).

8. A direction control method, characterized in that: The disc-shaped dual-degree-of-freedom cavitator structure according to claim 7 specifically comprises the following steps: S1. Start the first bow rudder servo to rotate forward, so that the first bow rudder servo drives the cavitator to rotate in the vertical direction; start the second bow rudder servo to rotate forward, so that the second bow rudder servo drives the cavitator to rotate in the horizontal direction; S2. Start the first bow rudder servo to rotate in the opposite direction. The first bow rudder servo gradually cancels the thrust to the cavitator, and the tension spring drives the cavitator to rotate in the vertical direction. Start the second bow rudder servo to rotate in the opposite direction. The second bow rudder servo gradually cancels the thrust to the cavitator, and the tension spring drives the cavitator to rotate in the horizontal direction.

9. The direction control method according to claim 8, characterized in that: The specific process of S1 is as follows: S1.

1. Start the first bow rudder servo to rotate forward, which drives the first lead screw to rotate. Start the second bow rudder servo to rotate forward, which drives the second lead screw to rotate. S1.

2. The first lead screw rotates to drive the first nut and the first push rod connecting plate to move in a positive parallel direction. The second lead screw rotates to drive the second nut and the second push rod connecting plate to move in a positive parallel direction. S1.

3. The first push rod connecting plate drives the first push rod to slide vertically in the pitch motion control slot, driving the cavitator to rotate in the vertical direction. The second push rod connecting plate drives the second push rod to slide horizontally in the yaw motion control slot, driving the cavitator to rotate in the horizontal direction.

10. The direction control method according to claim 8, characterized in that: The specific process of S2 is: S2.

1. Start the first bow rudder servo to rotate in the opposite direction. The first bow rudder servo drives the first lead screw to rotate. Start the second bow rudder servo to rotate in the opposite direction. The second bow rudder servo drives the second lead screw to rotate. S2.

2. The first lead screw rotates to drive the first nut and the first push rod connecting plate to move in an opposite and parallel manner; the second lead screw rotates to drive the second nut and the second push rod connecting plate to move in an opposite and parallel manner; S2.

3. The first push rod connecting plate drives the first push rod to gradually cancel the thrust on the cavitator, and the tension spring drives the cavitator to rotate in the vertical direction under the action of the tension; the second push rod connecting plate drives the second push rod to gradually cancel the thrust on the cavitator, and the tension spring drives the cavitator to rotate in the horizontal direction under the action of the tension.

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