Disc-shaped two-degree-of-freedom cavitation device structure and method thereof

Abstract

The application discloses a disc-shaped two-degree-of-freedom cavitator structure, which comprises a shell, a spherical hinge unit is fixedly connected to the outer side end of the shell, a cavitator is arranged 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 to the inside of the shell, the other end of the driving unit penetrates through the shell and is connected with the cavitator in contact, and a return unit is further arranged, 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 application further discloses a direction control method. The disc-shaped two-degree-of-freedom cavitator structure and the method thereof solve the problems that the existing multi-degree-of-freedom cavitator structure is complex and the performance of parts is affected.

Description

Technical Field

[0001] This invention belongs to the field of cavitation technology, specifically relating to a disc-shaped two-degree-of-freedom cavitation structure, and also to a method for directional control using this structure. Background Technology

[0002] Supercavitating underwater vehicles (SUVs) rely on a unique hydrodynamic design. High-speed underwater vehicles can generate supercavitation around themselves, enveloping most of their surface in supercavitation. Since water resistance is much greater than air resistance, the generation of supercavitation significantly reduces the drag of underwater vehicles, greatly improving their speed and efficiency. Cavitation devices play a central role in the research and development of SUVs. Installed at the nose of the vehicle, the cavitation device's main function is to induce supercavitation. By altering the flow field at the nose, the pressure is rapidly reduced, thus promoting the generation and development of cavitation bubbles into supercavitation. Common cavitation devices, such as disc-shaped and conical cavitation devices, can meet the requirements for supercavitation generation to a certain extent. However, with the increasing performance requirements of underwater vehicles, existing cavitation devices are gradually revealing some limitations.

[0003] Traditional single-degree-of-freedom cavitation devices can only control supercavitation to a limited extent in a single direction, making it difficult to flexibly cope with complex and ever-changing underwater environments and diverse navigation mission requirements. For example, when underwater vehicles need to make rapid turns, avoid obstacles, or accurately track targets, single-degree-of-freedom cavitation devices cannot adjust the supercavitation shape and the vehicle's force state in a timely and effective manner, resulting in poor maneuverability and controllability of the vehicle.

[0004] While the multi-degree-of-freedom cavitation devices in Chinese invention patents CN108791692A (published November 13, 2018) and CN108860446A (published November 23, 2018) have improved maneuverability to some extent, they still have many problems in structural design and practical application. The existing multi-degree-of-freedom cavitation devices applied to supercavitating vehicles mainly have the following problems: First, to achieve multi-degree-of-freedom motion, existing cavitation devices are usually structurally complex, containing multiple moving parts and transmission mechanisms. This results in a large number of components, increasing the difficulty and cost of manufacturing processes. 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, or even failure, thus reducing the reliability and stability of the cavitation device. Third, the high-temperature, high-pressure combustion gases in the ventilated cavitation chamber of the vehicle's nose section, and the harsh working environment can affect the performance of the hinges. Fourth, the diameter of the cavitation disc in a spacecraft is generally around 100mm, and a 30mm diameter stamped pipe runs longitudinally through the conical section of the spacecraft, resulting in limited space at the nose of the spacecraft. Complex rotating structures often require a large installation space, which may cause spatial conflicts with other structures of the spacecraft, affecting the rationality and compactness of the overall layout of the spacecraft. Summary of the Invention

[0005] The purpose of this invention is to provide a disc-shaped two-degree-of-freedom cavitation structure, which solves the problems of complex structure and affected component performance of existing multi-degree-of-freedom cavitation structures.

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

[0007] The technical solution adopted in this invention is a disc-shaped dual-degree-of-freedom cavitation structure, including a shell, a ball joint unit concentrically fixed to the outer end of the shell, a cavitation unit installed on the outer wall of one end of the ball joint unit, a stamping pipe fixed to the other end of the ball joint unit, a drive unit fixed inside the shell, and the other end of the drive unit penetrating the shell and contacting the cavitation unit. It also includes a return unit, one end of which is fixed to the cavitation unit, and the other end of which is fixed to the ball joint unit.

[0008] The invention is further characterized by:

[0009] The ball joint unit includes a ball joint support rod, which is a hollow column structure. A ball joint is fixedly connected to one end of the ball joint support rod. A cavitation rear end cover is sleeved on the outer wall of the ball joint. A through hole is opened in the middle of the cavitation. The cavitation rear end cover is fixedly connected to the cavitation at the through hole. The ball joint is located in the through hole. A connecting plate is fixedly connected to the other end of the ball joint support rod. The connecting plate is a hollow column structure and is fixedly connected to the end of the housing. A stamping pipe is fixedly connected to the end face of the connecting plate away from the ball joint. One end of the stamping pipe is located inside the housing, and the other end of the stamping pipe penetrates the housing.

[0010] The drive unit includes a pitch motion rotation unit and a yaw motion rotation unit. Both the pitch motion rotation unit and the yaw motion rotation unit are fixed inside the housing and both penetrate the housing to contact and connect with the cavitation unit.

[0011] The pitch motion rotation unit includes a first bow servo motor, which is fixed inside the housing. A first lead screw is fixed to the output end of the first bow servo motor. A first nut is sleeved on the outer wall of the first lead screw. A first push rod connecting plate is fixed to one end of the first nut near the first bow servo motor. The first push rod connecting plate is sleeved on the outer wall of the first lead screw. A first push rod is fixed to the first push rod connecting plate. A first spherical head is fixed to the other end of the first push rod through the housing. A pitch motion control groove is opened on the end face of the cavitation unit near the housing. The first spherical head contacts the cylindrical surface of the pitch motion control groove. The yaw motion rotation unit includes a second bow servo motor, which is fixed inside the housing. A second lead screw is fixed to the output end of the second bow servo motor. A second nut is sleeved on the outer wall of the second lead screw. A second push rod connecting plate is fixed to one end of the second nut near the second bow servo motor. The second push rod connecting plate is sleeved on the outer wall of the second lead screw. A second push rod is fixed to the second push rod connecting plate. A second spherical head is fixed to the other end of the second push rod through the housing. A yaw motion control groove is opened on the end face of the cavitation unit near the housing. The second spherical head contacts the cylindrical surface of the yaw motion control groove.

[0012] The pitch control slot is opened vertically, with a length greater than the diameter of the first spherical head and a width equal to the diameter of the first spherical head; the yaw control slot is opened horizontally, with a length greater than the diameter of the second spherical head and a width equal to the diameter of the second spherical head.

[0013] An equalizing chamber partition is installed inside the housing. The equalizing chamber partition has a first push rod mounting hole and a second push rod mounting hole. The first push rod passes through the first push rod mounting hole, and a first O-ring is fitted inside the first push rod mounting hole on the outer wall of the first push rod. The second push rod passes through the second push rod mounting hole, and a second O-ring is fitted inside the second push rod mounting hole on the outer wall of the second push rod.

[0014] The return unit includes a tension spring base, which is fixedly connected to the cavitation unit. The tension spring base is located between the pitch motion control slot and the yaw motion control slot. A tension spring connecting plate is fixedly connected to the tension spring base. A tension spring mounting hole is opened on the other side of the tension spring connecting plate. The unit also includes a tension spring, one end of which is fixedly connected to the tension spring connecting plate in the tension spring mounting hole, and the other end of which is fixedly connected to the connecting plate.

[0015] Another technical solution adopted in this invention is a direction control method, which specifically includes the following steps:

[0016] S1. Start the first bow servo motor to rotate forward, which drives the cavitation unit to rotate vertically; start the second bow servo motor to rotate forward, which drives the cavitation unit to rotate horizontally.

[0017] S2. Start the first bow rudder servo to rotate in the opposite direction. The first bow rudder servo gradually removes the thrust on the cavitation device, and the tension spring drives the cavitation device to rotate in the vertical direction. Start the second bow rudder servo to rotate in the opposite direction. The second bow rudder servo gradually removes the thrust on the cavitation device, and the tension spring drives the cavitation device to rotate in the horizontal direction.

[0018] Another feature of the technical solution adopted in this invention is that:

[0019] The specific process of S1 is as follows:

[0020] S1.1 Start the first bow servo motor to rotate forward, and the first bow servo motor drives the first lead screw to rotate; start the second bow servo motor to rotate forward, and the second bow servo motor drives the second lead screw to rotate;

[0021] S1.2 The first lead screw drives the first nut and the first push rod connecting plate to move in a positive parallel direction by rotating; the second lead screw drives the second nut and the second push rod connecting plate to move in a positive parallel direction by rotating.

[0022] S1.3 The first push rod connecting plate drives the first push rod to slide vertically in the pitch motion control slot, causing the cavitation device to rotate vertically; the second push rod connecting plate drives the second push rod to slide horizontally in the yaw motion control slot, causing the cavitation device to rotate horizontally.

[0023] The specific process of S2 is as follows:

[0024] S2.1 Start the first bow servo motor to rotate in the opposite direction, which drives the first lead screw to rotate; start the second bow servo motor to rotate in the opposite direction, which drives the second lead screw to rotate.

[0025] S2.2 The first lead screw drives the first nut and the first push rod connecting plate to move in opposite parallel directions by rotating; the second lead screw drives the second nut and the second push rod connecting plate to move in opposite parallel directions by rotating.

[0026] S2.3 The first push rod connecting plate drives the first push rod to gradually remove the thrust on the cavitation device, and the tension spring drives the cavitation device to rotate in the vertical direction under the action of tension; the second push rod connecting plate drives the second push rod to gradually remove the thrust on the cavitation device, and the tension spring drives the cavitation device to rotate in the horizontal direction under the action of tension.

[0027] The beneficial effects of this invention are:

[0028] The disc-shaped dual-degree-of-freedom cavitation device structure and method provided by this invention, through the setting of a yaw motion rotation unit, allows the cavitation device to rotate in the horizontal plane by the thrust of the second push rod and the tension of the spring; through the setting of a pitch motion rotation unit, the cavitation device can rotate in the vertical plane by the thrust of the first push rod and the tension of the spring. The rotation in the two directions is controlled by the first and second bow servo motors and the same tension spring, respectively. The yaw motion rotation unit and the pitch motion rotation unit are independent of each other, realizing rotation in any direction of the two degrees of freedom. The transmission part only sets up the first and second push rods, eliminating a large number of hinges, resulting in a simple and compact structure, light weight, small space occupation, and easy installation and miniaturization; the cavitation device is placed away from high-temperature and high-pressure gases, ensuring the stability of component performance. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the disc-shaped dual-degree-of-freedom cavitation device of the present invention;

[0030] Figure 2 yes Figure 1 A magnified view of part A in the image;

[0031] Figure 3 This is a schematic diagram of the positive pitch motion in Embodiment 3 of the present invention;

[0032] Figure 4 This is a schematic diagram of the negative pitch motion in Embodiment 4 of the present invention;

[0033] Figure 5 This is a schematic diagram of the left yaw motion in Embodiment 5 of the present invention;

[0034] Figure 6 This is a schematic diagram of the right yaw motion in Embodiment 6 of the present invention.

[0035] In the diagram, 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 lead screw, 80 2. Second lead screw; 901. First bow servo motor; 902. Second bow servo motor; 1001. First O-ring; 1002. Second O-ring; 11. Equalizing chamber partition; 1101. First push rod mounting hole; 1102. Second push rod mounting hole; 12. Stamped pipe; 13. Housing; 1401. First spherical head; 1402. Second spherical head; 1501. Pitch motion control slot; 1502. Yaw motion control slot. Detailed Implementation

[0036] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0037] The disk-shaped two-degree-of-freedom cavitation device structure provided by this invention, such as Figure 1 As shown, the device includes a housing 13, with a ball joint unit concentrically fixed to the outer end of the housing 13. A cavitation unit 1 is mounted 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 drive unit is fixed inside the housing 13, with the other end of the drive unit penetrating the housing 13 and contacting the cavitation unit 1. It also includes a return unit, with one end fixed to the cavitation unit 1 and the other end fixed to the ball joint unit. The ball joint unit includes a ball joint support rod 301. 1 has a hollow columnar structure. One end of the ball joint support rod 301 is fixedly connected to the ball joint 302. The outer wall of the ball joint 302 is fitted with the rear end cover 2 of the cavitation device. The cavitation device 1 has a through hole in the middle. The rear end cover 2 of the cavitation device is fixedly connected to the cavitation device 1 at the through hole. The ball joint 302 is located in the through hole. The center of the ball joint 302 coincides with the center of the circle of the rear plane of the cavitation device 1. The other end of the ball joint support rod 301 is fixedly connected to the connecting plate 303. The connecting plate 303 has a hollow columnar structure and is fixedly connected to the shell. At end 13, the stamped pipe 12 is fixedly connected to the end face of the connecting plate 303 away from the ball joint 302. One end of the stamped pipe 12 is located inside the housing 13, and the other end of the stamped pipe 12 penetrates through the housing 13. The drive unit includes a pitch motion rotation unit and a yaw motion rotation unit. Both the pitch motion rotation unit and the yaw motion rotation unit are fixedly connected inside the housing 13 and penetrate through the housing 13 to contact and connect with the cavitation device 1. The pitch motion rotation unit... The system includes a first bow servo motor 901, which is fixedly connected inside the housing 13. A first lead screw 801 is fixedly connected to the output end of the first bow servo motor 901. A first nut 701 is sleeved on the outer wall of the first lead screw 801. A first push rod connecting plate 603 is fixedly connected to the end of the first nut 701 near the first bow servo motor 901. The first push rod connecting plate 603 is sleeved on the outer wall of the first lead screw 801, and a 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 provided on the end face of the cavitation device 1 near the housing 13. The first spherical head 1401 contacts the cylindrical surface of the pitch motion control groove 1501. The yaw motion rotation unit includes a second bow servo motor 902, which is fixedly connected inside the housing 13. A second lead screw 802 is fixedly connected to the output end of the second bow servo motor 902. A second nut 702 is sleeved on the outer wall of the second lead screw 802. A second push rod connecting plate 604 is fixedly connected to one end of the second nut 702 near the second bow servo motor 902. 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 housing 13 and is fixedly connected to the second spherical head 1402. The cavitation 1 has a yaw motion control groove 1502 on the end face near the housing 13. The second spherical head 1402 is in contact with the cylindrical surface of the yaw motion control groove 1502 but 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 slot 1502 is horizontally oriented. The length of the yaw motion control slot 1502 is greater than the diameter of the second spherical head 1402, and the width of the yaw motion control slot 1502 is equal to the diameter of the second spherical head 1402. A pressure equalization chamber partition 11 is installed inside the housing 13. The pressure equalization chamber partition 11 has 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. A first O-ring 1001 is fitted inside the first push rod mounting hole 1101 on the outer wall of the first push rod 601 for sealing. The second push rod 602 passes through the second push rod mounting hole 1102. 02. A second O-ring 1002 is fitted inside the second push rod mounting hole 1102 on the outer wall of the second push rod 602 to facilitate sealing. The return unit includes a tension spring base 401, which is fixedly connected to the cavitation unit 1. The tension spring base 401 is located 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 opened on the other side of the tension spring connecting plate 402. The unit also includes a tension spring 5. One end of the tension spring 5 is fixedly connected to the tension spring connecting plate 402 inside the tension spring mounting hole 403, and the other end of the tension spring 5 is fixedly connected to the connecting plate 303.

[0038] Example 1

[0039] The disk-shaped two-degree-of-freedom cavitation device structure proposed in this embodiment, such as Figure 1As shown, the device includes a housing 13, with a ball joint unit concentrically fixed to the outer end of the housing 13. A cavitation unit 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 drive unit is fixed inside the housing 13, and the other end of the drive unit passes through the housing 13 and is in contact with the cavitation unit 1. The device also includes a return unit, with one end of the return unit fixed to the cavitation unit 1 and the other end of the return unit fixed to the ball joint unit.

[0040] Example 2

[0041] The disk-shaped two-degree-of-freedom cavitation device structure proposed in this embodiment, such as Figure 1 As shown, the device includes a housing 13, with a ball joint unit concentrically fixed to the outer end of the housing 13. A cavitation device 1 is mounted 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 drive unit is fixed inside the housing 13, with the other end of the drive unit penetrating the housing 13 and contacting the cavitation device 1. It also includes a return unit, with one end fixed to the cavitation device 1 and the other end fixed to the ball joint unit. The ball joint unit includes a ball joint support rod 301, and a ball... The hinge support rod 301 has a hollow columnar structure. A ball joint 302 is fixedly connected to one end of the ball joint support rod 301. A cavitation venting rear end cover 2 is fitted onto the outer wall of the ball joint 302. A through hole is opened in the middle of the cavitation venting 1. The cavitation venting rear end cover 2 is fixedly connected to the cavitation venting 1 at the through hole. The ball joint 302 is located inside the through hole. A connecting plate 303 is fixedly connected to the other end of the ball joint support rod 301. The connecting plate 303 has a hollow columnar structure. The connecting plate 303 is fixedly connected to the end of the housing 13. The stamping pipe 12... The stamping pipe 12 is fixed to the end face of the connecting plate 303 away from the ball joint 302. One end of the stamping pipe 12 is located inside the housing 13, and the other end of the stamping pipe 12 passes through the housing 13. The drive unit includes a pitch motion rotation unit and a yaw motion rotation unit. Both the pitch motion rotation unit and the yaw motion rotation unit are fixed inside the housing 13 and both pass through the housing 13 to contact and connect with the cavitation device 1. The pitch motion rotation unit includes a first bow. The first bow servo motor 901 is fixed inside the housing 13. A first lead screw 801 is fixedly connected to the output end of the first bow servo motor 901. A first nut 701 is sleeved on the outer wall of the first lead screw 801. A first push rod connecting plate 603 is fixedly connected to the end of the first nut 701 near the first bow servo motor 901. The first push rod connecting plate 603 is sleeved on the outer wall of the first lead screw 801, and a 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 provided on the end face of the cavitation device 1 near the housing 13. The first spherical head 1401 contacts the cylindrical surface of the pitch motion control groove 1501. The yaw motion rotation unit includes a second bow servo motor 902, which is fixedly connected inside the housing 13. A second lead screw 802 is fixedly connected to the output end of the second bow servo motor 902. A second nut 702 is sleeved on the outer wall of the second lead screw 802. A second push rod is fixedly connected to the end of the second nut 702 near the second bow servo motor 902. 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 housing 13 and is fixedly connected to the second spherical head 1402, the cavitation 1 has a yaw motion control groove 1502 on the end face near the housing 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 1401. 01 Diameter; The yaw motion control groove 1502 is opened horizontally, 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; A pressure equalization chamber partition 11 is installed inside the shell 13, and a first push rod mounting hole 1101 and a second push rod mounting hole 1102 are opened on the pressure equalization chamber partition 11. The first push rod 601 passes through the first push rod mounting hole 1101, and a first O-ring 1001 is fitted inside the first push rod mounting hole 1101 on the outer wall of the first push rod 601. The second push rod 602 passes through the second push rod mounting hole 1102. The second push rod 602 has a second O-ring 1002 fitted inside the second push rod mounting hole 1102 on its outer wall. The return unit includes a tension spring base 401, which is fixedly connected to the cavitation unit 1. The tension spring base 401 is located 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 opened on the other side of the tension spring connecting plate 402. The unit also includes a tension spring 5, one end of which is fixedly connected to the tension spring connecting plate 402 inside the tension spring mounting hole 403, and the other end of which is fixedly connected to the connecting plate 303.

[0042] Example 3

[0043] The disk-shaped two-degree-of-freedom cavitation device structure proposed in this embodiment, such as Figure 1As shown, the device includes a housing 13, with a ball joint unit concentrically fixed to the outer end of the housing 13. A cavitation device 1 is mounted 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 drive unit is fixed inside the housing 13, with the other end of the drive unit penetrating the housing 13 and contacting the cavitation device 1. It also includes a return unit, with one end fixed to the cavitation device 1 and the other end fixed to the ball joint unit. The ball joint unit includes a ball joint support rod 301, and a ball... The hinge support rod 301 has a hollow columnar structure. A ball joint 302 is fixedly connected to one end of the ball joint support rod 301. A cavitation venting rear end cover 2 is fitted onto the outer wall of the ball joint 302. A through hole is opened in the middle of the cavitation venting 1. The cavitation venting rear end cover 2 is fixedly connected to the cavitation venting 1 at the through hole. The ball joint 302 is located inside the through hole. A connecting plate 303 is fixedly connected to the other end of the ball joint support rod 301. The connecting plate 303 has a hollow columnar structure. The connecting plate 303 is fixedly connected to the end of the housing 13. The stamping pipe 12... The stamping pipe 12 is fixed to the end face of the connecting plate 303 away from the ball joint 302. One end of the stamping pipe 12 is located inside the housing 13, and the other end of the stamping pipe 12 passes through the housing 13. The drive unit includes a pitch motion rotation unit and a yaw motion rotation unit. Both the pitch motion rotation unit and the yaw motion rotation unit are fixed inside the housing 13 and both pass through the housing 13 to contact and connect with the cavitation device 1. The pitch motion rotation unit includes a first bow. The first bow servo motor 901 is fixed inside the housing 13. A first lead screw 801 is fixedly connected to the output end of the first bow servo motor 901. A first nut 701 is sleeved on the outer wall of the first lead screw 801. A first push rod connecting plate 603 is fixedly connected to the end of the first nut 701 near the first bow servo motor 901. The first push rod connecting plate 603 is sleeved on the outer wall of the first lead screw 801, and a 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 provided on the end face of the cavitation device 1 near the housing 13. The first spherical head 1401 contacts the cylindrical surface of the pitch motion control groove 1501. The yaw motion rotation unit includes a second bow servo motor 902, which is fixedly connected inside the housing 13. A second lead screw 802 is fixedly connected to the output end of the second bow servo motor 902. A second nut 702 is sleeved on the outer wall of the second lead screw 802. A second push rod is fixedly connected to the end of the second nut 702 near the second bow servo motor 902. 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 housing 13 and is fixedly connected to the second spherical head 1402, the cavitation 1 has a yaw motion control groove 1502 on the end face near the housing 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 1401. 01 Diameter; The yaw motion control groove 1502 is opened horizontally, 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; A pressure equalization chamber partition 11 is installed inside the shell 13, and a first push rod mounting hole 1101 and a second push rod mounting hole 1102 are opened on the pressure equalization chamber partition 11. The first push rod 601 passes through the first push rod mounting hole 1101, and a first O-ring 1001 is fitted inside the first push rod mounting hole 1101 on the outer wall of the first push rod 601. The second push rod 602 passes through the second push rod mounting hole 1102. A second O-ring 1002 is fitted inside the second push rod mounting hole 1102 on the outer wall of the second push rod 602. The return unit includes a tension spring base 401, which is fixedly connected to the cavitation unit 1. The tension spring base 401 is located 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 opened on the other side of the tension spring connecting plate 402. The unit also includes a tension spring 5, one end of which is fixedly connected to the tension spring connecting plate 402 in the tension spring mounting hole 403, and the other end of which is fixedly connected 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. The first lead screw drives the first nut and the first push rod connecting plate to move in the forward parallel direction. The first push rod connecting plate drives the first push rod to slide vertically in the pitch motion control slot, thereby driving the cavitation device to pitch in the vertical direction.

[0044] Example 4

[0045] The disk-shaped two-degree-of-freedom cavitation device structure proposed in this embodiment, such as Figure 1 As shown, the device includes a housing 13, with a ball joint unit concentrically fixed to the outer end of the housing 13. A cavitation device 1 is mounted 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 drive unit is fixed inside the housing 13, with the other end of the drive unit penetrating the housing 13 and contacting the cavitation device 1. It also includes a return unit, with one end fixed to the cavitation device 1 and the other end fixed to the ball joint unit. The ball joint unit includes a ball joint support rod 301, and a ball... The hinge support rod 301 has a hollow columnar structure. A ball joint 302 is fixedly connected to one end of the ball joint support rod 301. A cavitation venting rear end cover 2 is fitted onto the outer wall of the ball joint 302. A through hole is opened in the middle of the cavitation venting 1. The cavitation venting rear end cover 2 is fixedly connected to the cavitation venting 1 at the through hole. The ball joint 302 is located inside the through hole. A connecting plate 303 is fixedly connected to the other end of the ball joint support rod 301. The connecting plate 303 has a hollow columnar structure. The connecting plate 303 is fixedly connected to the end of the housing 13. The stamping pipe 12... The stamping pipe 12 is fixed to the end face of the connecting plate 303 away from the ball joint 302. One end of the stamping pipe 12 is located inside the housing 13, and the other end of the stamping pipe 12 passes through the housing 13. The drive unit includes a pitch motion rotation unit and a yaw motion rotation unit. Both the pitch motion rotation unit and the yaw motion rotation unit are fixed inside the housing 13 and both pass through the housing 13 to contact and connect with the cavitation device 1. The pitch motion rotation unit includes a first bow. The first bow servo motor 901 is fixed inside the housing 13. A first lead screw 801 is fixedly connected to the output end of the first bow servo motor 901. A first nut 701 is sleeved on the outer wall of the first lead screw 801. A first push rod connecting plate 603 is fixedly connected to the end of the first nut 701 near the first bow servo motor 901. The first push rod connecting plate 603 is sleeved on the outer wall of the first lead screw 801, and a 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 provided on the end face of the cavitation device 1 near the housing 13. The first spherical head 1401 contacts the cylindrical surface of the pitch motion control groove 1501. The yaw motion rotation unit includes a second bow servo motor 902, which is fixedly connected inside the housing 13. A second lead screw 802 is fixedly connected to the output end of the second bow servo motor 902. A second nut 702 is sleeved on the outer wall of the second lead screw 802. A second push rod is fixedly connected to the end of the second nut 702 near the second bow servo motor 902. 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 housing 13 and is fixedly connected to the second spherical head 1402, the cavitation 1 has a yaw motion control groove 1502 on the end face near the housing 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 1401. 01 Diameter; The yaw motion control groove 1502 is opened horizontally, 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; A pressure equalization chamber partition 11 is installed inside the shell 13, and a first push rod mounting hole 1101 and a second push rod mounting hole 1102 are opened on the pressure equalization chamber partition 11. The first push rod 601 passes through the first push rod mounting hole 1101, and a first O-ring 1001 is fitted inside the first push rod mounting hole 1101 on the outer wall of the first push rod 601. The second push rod 602 passes through the second push rod mounting hole 1102. A second O-ring 1002 is fitted inside the second push rod mounting hole 1102 on the outer wall of the second push rod 602. The return unit includes a tension spring base 401, which is fixedly connected to the cavitation unit 1. The tension spring base 401 is located 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 opened on the other side of the tension spring connecting plate 402. The unit also includes a tension spring 5, one end of which is fixedly connected to the tension spring connecting plate 402 in the tension spring mounting hole 403, and the other end of which is fixedly connected to the connecting plate 303. Figure 4 As shown, the first bow rudder servo is started to rotate in the opposite direction. 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 parallel direction through rotation. The first push rod connecting plate drives the first push rod to gradually remove the thrust on the cavitation device. Under the action of tension, the tension spring drives the cavitation device to move in the negative pitch direction in the vertical direction.

[0046] Example 5

[0047] The disk-shaped two-degree-of-freedom cavitation device structure proposed in this embodiment, such as Figure 1 As shown, the device includes a housing 13, with a ball joint unit concentrically fixed to the outer end of the housing 13. A cavitation device 1 is mounted 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 drive unit is fixed inside the housing 13, with the other end of the drive unit penetrating the housing 13 and contacting the cavitation device 1. It also includes a return unit, with one end fixed to the cavitation device 1 and the other end fixed to the ball joint unit. The ball joint unit includes a ball joint support rod 301, and a ball... The hinge support rod 301 has a hollow columnar structure. A ball joint 302 is fixedly connected to one end of the ball joint support rod 301. A cavitation venting rear end cover 2 is fitted onto the outer wall of the ball joint 302. A through hole is opened in the middle of the cavitation venting 1. The cavitation venting rear end cover 2 is fixedly connected to the cavitation venting 1 at the through hole. The ball joint 302 is located inside the through hole. A connecting plate 303 is fixedly connected to the other end of the ball joint support rod 301. The connecting plate 303 has a hollow columnar structure. The connecting plate 303 is fixedly connected to the end of the housing 13. The stamping pipe 12... The stamping pipe 12 is fixed to the end face of the connecting plate 303 away from the ball joint 302. One end of the stamping pipe 12 is located inside the housing 13, and the other end of the stamping pipe 12 passes through the housing 13. The drive unit includes a pitch motion rotation unit and a yaw motion rotation unit. Both the pitch motion rotation unit and the yaw motion rotation unit are fixed inside the housing 13 and both pass through the housing 13 to contact and connect with the cavitation device 1. The pitch motion rotation unit includes a first bow. The first bow servo motor 901 is fixed inside the housing 13. A first lead screw 801 is fixedly connected to the output end of the first bow servo motor 901. A first nut 701 is sleeved on the outer wall of the first lead screw 801. A first push rod connecting plate 603 is fixedly connected to the end of the first nut 701 near the first bow servo motor 901. The first push rod connecting plate 603 is sleeved on the outer wall of the first lead screw 801, and a 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 provided on the end face of the cavitation device 1 near the housing 13. The first spherical head 1401 contacts the cylindrical surface of the pitch motion control groove 1501. The yaw motion rotation unit includes a second bow servo motor 902, which is fixedly connected inside the housing 13. A second lead screw 802 is fixedly connected to the output end of the second bow servo motor 902. A second nut 702 is sleeved on the outer wall of the second lead screw 802. A second push rod is fixedly connected to the end of the second nut 702 near the second bow servo motor 902. 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 housing 13 and is fixedly connected to the second spherical head 1402, the cavitation 1 has a yaw motion control groove 1502 on the end face near the housing 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 1401. 01 Diameter; The yaw motion control groove 1502 is opened horizontally, 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; A pressure equalization chamber partition 11 is installed inside the shell 13, and a first push rod mounting hole 1101 and a second push rod mounting hole 1102 are opened on the pressure equalization chamber partition 11. The first push rod 601 passes through the first push rod mounting hole 1101, and a first O-ring 1001 is fitted inside the first push rod mounting hole 1101 on the outer wall of the first push rod 601. The second push rod 602 passes through the second push rod mounting hole 1102. A second O-ring 1002 is fitted inside the second push rod mounting hole 1102 on the outer wall of the second push rod 602. The return unit includes a tension spring base 401, which is fixedly connected to the cavitation unit 1. The tension spring base 401 is located 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 opened on the other side of the tension spring connecting plate 402. The unit also includes a tension spring 5, one end of which is fixedly connected to the tension spring connecting plate 402 in the tension spring mounting hole 403, and the other end of which is fixedly connected to the connecting plate 303. Figure 5 As shown, the second bow servo motor is started to rotate in the forward direction. The second bow servo motor 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 forward parallel direction through rotation. The second push rod connecting plate drives the second push rod to slide horizontally in the yaw motion control slot, which drives the cavitation device to yaw to the left in the horizontal direction.

[0048] Example 6

[0049] The disk-shaped two-degree-of-freedom cavitation device structure proposed in this embodiment, such as Figure 1 As shown, the device includes a housing 13, with a ball joint unit concentrically fixed to the outer end of the housing 13. A cavitation device 1 is mounted 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 drive unit is fixed inside the housing 13, with the other end of the drive unit penetrating the housing 13 and contacting the cavitation device 1. It also includes a return unit, with one end fixed to the cavitation device 1 and the other end fixed to the ball joint unit. The ball joint unit includes a ball joint support rod 301, and a ball... The hinge support rod 301 has a hollow columnar structure. A ball joint 302 is fixedly connected to one end of the ball joint support rod 301. A cavitation venting rear end cover 2 is fitted onto the outer wall of the ball joint 302. A through hole is opened in the middle of the cavitation venting 1. The cavitation venting rear end cover 2 is fixedly connected to the cavitation venting 1 at the through hole. The ball joint 302 is located inside the through hole. A connecting plate 303 is fixedly connected to the other end of the ball joint support rod 301. The connecting plate 303 has a hollow columnar structure. The connecting plate 303 is fixedly connected to the end of the housing 13. The stamping pipe 12... The stamping pipe 12 is fixed to the end face of the connecting plate 303 away from the ball joint 302. One end of the stamping pipe 12 is located inside the housing 13, and the other end of the stamping pipe 12 passes through the housing 13. The drive unit includes a pitch motion rotation unit and a yaw motion rotation unit. Both the pitch motion rotation unit and the yaw motion rotation unit are fixed inside the housing 13 and both pass through the housing 13 to contact and connect with the cavitation device 1. The pitch motion rotation unit includes a first bow. The first bow servo motor 901 is fixed inside the housing 13. A first lead screw 801 is fixedly connected to the output end of the first bow servo motor 901. A first nut 701 is sleeved on the outer wall of the first lead screw 801. A first push rod connecting plate 603 is fixedly connected to the end of the first nut 701 near the first bow servo motor 901. The first push rod connecting plate 603 is sleeved on the outer wall of the first lead screw 801, and a 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 provided on the end face of the cavitation device 1 near the housing 13. The first spherical head 1401 contacts the cylindrical surface of the pitch motion control groove 1501. The yaw motion rotation unit includes a second bow servo motor 902, which is fixedly connected inside the housing 13. A second lead screw 802 is fixedly connected to the output end of the second bow servo motor 902. A second nut 702 is sleeved on the outer wall of the second lead screw 802. A second push rod is fixedly connected to the end of the second nut 702 near the second bow servo motor 902. 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 housing 13 and is fixedly connected to the second spherical head 1402, the cavitation 1 has a yaw motion control groove 1502 on the end face near the housing 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 1401. 01 Diameter; The yaw motion control groove 1502 is opened horizontally, 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; A pressure equalization chamber partition 11 is installed inside the shell 13, and a first push rod mounting hole 1101 and a second push rod mounting hole 1102 are opened on the pressure equalization chamber partition 11. The first push rod 601 passes through the first push rod mounting hole 1101, and a first O-ring 1001 is fitted inside the first push rod mounting hole 1101 on the outer wall of the first push rod 601. The second push rod 602 passes through the second push rod mounting hole 1102. A second O-ring 1002 is fitted inside the second push rod mounting hole 1102 on the outer wall of the second push rod 602. The return unit includes a tension spring base 401, which is fixedly connected to the cavitation unit 1. The tension spring base 401 is located 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 opened on the other side of the tension spring connecting plate 402. The unit also includes a tension spring 5, one end of which is fixedly connected to the tension spring connecting plate 402 in the tension spring mounting hole 403, and the other end of which is fixedly connected to the connecting plate 303. Figure 6 As shown, the second bow rudder servo is activated to rotate in the opposite direction. 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 parallel direction through rotation. The second push rod connecting plate drives the second push rod to gradually remove the thrust on the cavitation device. Under the action of tension, the tension spring drives the cavitation device to yaw to the right in the horizontal direction.

[0050] Example 7

[0051] The directional control method proposed in this embodiment, based on the aforementioned disk-shaped two-degree-of-freedom cavitation device structure, specifically includes the following steps:

[0052] S1. Start the first bow servo motor to rotate forward, which drives the cavitation unit to rotate vertically; start the second bow servo motor to rotate forward, which drives the cavitation unit to rotate horizontally.

[0053] The specific process is as follows:

[0054] S1.1 Start the first bow servo motor to rotate forward, and the first bow servo motor drives the first lead screw to rotate; start the second bow servo motor to rotate forward, and the second bow servo motor drives the second lead screw to rotate;

[0055] S1.2 The first lead screw drives the first nut and the first push rod connecting plate to move in a positive parallel direction by rotating; the second lead screw drives the second nut and the second push rod connecting plate to move in a positive parallel direction by rotating.

[0056] S1.3 The first push rod connecting plate drives the first push rod to slide vertically in the pitch motion control slot, causing the cavitation device to rotate vertically; the second push rod connecting plate drives the second push rod to slide horizontally in the yaw motion control slot, causing the cavitation device to rotate horizontally.

[0057] S2. Start the first bow servo motor to rotate in the opposite direction. The first bow servo motor gradually removes the thrust on the cavitation unit, and the tension spring drives the cavitation unit to rotate in the vertical direction. Start the second bow servo motor to rotate in the opposite direction. The second bow servo motor gradually removes the thrust on the cavitation unit, and the tension spring drives the cavitation unit to rotate in the horizontal direction.

[0058] The specific process is as follows:

[0059] S2.1 Start the first bow servo motor to rotate in the opposite direction, which drives the first lead screw to rotate; start the second bow servo motor to rotate in the opposite direction, which drives the second lead screw to rotate.

[0060] S2.2 The first lead screw drives the first nut and the first push rod connecting plate to move in opposite parallel directions by rotating; the second lead screw drives the second nut and the second push rod connecting plate to move in opposite parallel directions by rotating.

[0061] S2.3 The first push rod connecting plate drives the first push rod to gradually remove the thrust on the cavitation device, and the tension spring drives the cavitation device to rotate in the vertical direction under the action of tension; the second push rod connecting plate drives the second push rod to gradually remove the thrust on the cavitation device, and the tension spring drives the cavitation device to rotate in the horizontal direction under the action of tension.

Claims

1. A disk-shaped two-degree-of-freedom cavitation device structure, characterized in that, The device includes a housing, a ball joint unit concentrically fixed to the outer end of the housing, a cavitation device mounted on the outer wall of one end of the ball joint unit, a stamping pipe fixed to the other end of the ball joint unit, a drive unit fixed inside the housing, and the other end of the drive unit penetrating the housing and contacting the cavitation device. It also includes a return unit, one end of which is fixed to the cavitation device, and the other end of which is fixed to the ball joint unit. The ball joint unit includes a ball joint support rod, which is a hollow column structure. A ball joint is fixedly connected to one end of the ball joint support rod. A cavitation rear end cover is sleeved on the outer wall of the ball joint. A through hole is opened in the middle of the cavitation. The cavitation rear end cover is fixedly connected to the cavitation at the through hole. The ball joint is located in the through hole. A connecting plate is fixedly connected to the other end of the ball joint support rod. The connecting plate is a hollow column structure and is fixedly connected to the end of the housing. A stamping pipe is fixedly connected to the end face of the connecting plate away from the ball joint. One end of the stamping pipe is located inside the housing, and the other end of the stamping pipe penetrates the housing. The drive unit includes a pitch motion rotation unit and a yaw motion rotation unit. Both the pitch motion rotation unit and the yaw motion rotation unit are fixedly connected inside the housing. Both the pitch motion rotation unit and the yaw motion rotation unit pass through the housing and are in contact with the cavitation unit. The pitch motion rotation unit includes a first bow servo motor, which is fixed inside the housing. A first lead screw is fixed to the output end of the first bow servo motor. A first nut is sleeved on the outer wall of the first lead screw. A first push rod connecting plate is fixed to one end of the first nut near the first bow servo motor. The first push rod connecting plate is sleeved on the outer wall of the first lead screw. A first push rod is fixed to the first push rod connecting plate. A first spherical head is fixed to the other end of the first push rod through the housing. A pitch motion control groove is opened on the end face of the cavitation device near the housing. The first spherical head contacts the cylindrical surface of the pitch motion control groove. The yaw motion rotation unit includes a second bow servo motor, which is fixed inside the housing. A second lead screw is fixed to the output end of the second bow servo motor. A second nut is sleeved on the outer wall of the second lead screw. A second push rod connecting plate is fixed to one end of the second nut near the second bow servo motor. The second push rod connecting plate is sleeved on the outer wall of the second lead screw. A second push rod is fixed to the second push rod connecting plate. A second spherical head is fixed to the other end of the second push rod through the housing. A yaw motion control groove is formed on the end face of the cavitation device near the housing. The second spherical head contacts the cylindrical surface of the yaw motion control groove.

2. The disk-shaped two-degree-of-freedom cavitation device structure according to claim 1, characterized in that, The pitch control slot is vertically oriented, with a length greater than the diameter of the first spherical head and a width equal to the diameter of the first spherical head; the yaw control slot is horizontally oriented, with a length greater than the diameter of the second spherical head and a width equal to the diameter of the second spherical head.

3. The disk-shaped two-degree-of-freedom cavitation device structure according to claim 2, characterized in that, The housing is equipped with a pressure equalization chamber partition, which has a first push rod mounting hole and a second push rod mounting hole. The first push rod passes through the first push rod mounting hole, and a first O-ring is fitted inside the first push rod mounting hole on the outer wall of the first push rod. The second push rod passes through the second push rod mounting hole, and a second O-ring is fitted inside the second push rod mounting hole on the outer wall of the second push rod.

4. The disk-shaped two-degree-of-freedom cavitation device structure according to claim 3, characterized in that, The return unit includes a tension spring base, which is fixedly connected to the cavitation unit. The tension spring base is located between the pitch motion control slot and the yaw motion control slot. A tension spring connecting plate is fixedly connected to the tension spring base. A tension spring mounting hole is opened on the other side of the tension spring connecting plate. The unit also includes a tension spring, one end of which is fixedly connected to the tension spring connecting plate in the tension spring mounting hole, and the other end of which is fixedly connected to the connecting plate.

5. A direction control method, characterized in that, The disk-shaped two-degree-of-freedom cavitation structure according to claim 4 specifically includes the following steps: S1. Start the first bow servo motor to rotate forward, which drives the cavitation unit to rotate vertically; start the second bow servo motor to rotate forward, which drives the cavitation unit to rotate horizontally. S2. Start the first bow rudder servo to rotate in the opposite direction. The first bow rudder servo gradually removes the thrust on the cavitation device, and the tension spring drives the cavitation device to rotate in the vertical direction. Start the second bow rudder servo to rotate in the opposite direction. The second bow rudder servo gradually removes the thrust on the cavitation device, and the tension spring drives the cavitation device to rotate in the horizontal direction.

6. The direction control method according to claim 5, characterized in that, The specific process of S1 is as follows: S1.1 Start the first bow servo motor to rotate forward, and the first bow servo motor drives the first lead screw to rotate; start the second bow servo motor to rotate forward, and the second bow servo motor drives the second lead screw to rotate; S1.2 The first lead screw drives the first nut and the first push rod connecting plate to move in a positive parallel direction by rotating; the second lead screw drives the second nut and the second push rod connecting plate to move in a positive parallel direction by rotating. S1.3 The first push rod connecting plate drives the first push rod to slide vertically in the pitch motion control slot, causing the cavitation device to rotate vertically; the second push rod connecting plate drives the second push rod to slide horizontally in the yaw motion control slot, causing the cavitation device to rotate horizontally.

7. The direction control method according to claim 5, characterized in that, The specific process of S2 is as follows: S2.1 Start the first bow servo motor to rotate in the opposite direction, which drives the first lead screw to rotate; start the second bow servo motor to rotate in the opposite direction, which drives the second lead screw to rotate. S2.2 The first lead screw drives the first nut and the first push rod connecting plate to move in opposite parallel directions by rotating; the second lead screw drives the second nut and the second push rod connecting plate to move in opposite parallel directions by rotating. S2.3 The first push rod connecting plate drives the first push rod to gradually remove the thrust on the cavitation device, and the tension spring drives the cavitation device to rotate in the vertical direction under the action of tension; the second push rod connecting plate drives the second push rod to gradually remove the thrust on the cavitation device, and the tension spring drives the cavitation device to rotate in the horizontal direction under the action of tension.

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