Full-ocean-depth magnetic coupling dual-output drive motor and full-ocean-depth three-dimensional cloud platform

Abstract

The present invention discloses a full-depth-of-ocean magnetic coupling dual-output drive motor and a full-depth-of-ocean three-dimensional pan-tilt head. The dual-output drive motor includes two drive motors. Each drive motor includes an outer magnetic rotor, an outer magnetic rotor mounting shell, an inner magnetic rotor, an inner magnetic rotor mounting shaft, a pan-tilt head motor, an isolation sleeve, an intermediate cylinder, a rear end cover, and a watertight connector. The outer magnetic rotor is connected to the outer magnetic rotor mounting shell, and the outer magnetic rotor mounting shell is mounted on the outer side of the isolation sleeve through bearings. The isolation sleeve, the intermediate cylinder, the rear end cover, and the watertight connector form a sealed cabin. The pan-tilt head motor is located inside the sealed cabin and is mounted on the intermediate cylinder. The inner magnetic rotor is mounted on the inner magnetic rotor mounting shaft, and the inner magnetic rotor mounting shaft is connected to the pan-tilt head motor shaft and extends onto a bearing in the inner cavity of the isolation sleeve. The rear end covers of the two drive motors are fixed together or the two rear end covers form a connecting end cover. It has a long working time, low power consumption, low noise, low cost, light weight, and fast response speed.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater transmission and observation platform, and in particular to a full-sea-depth magnetic coupling dual-output transmission motor and a full-sea-depth three-dimensional pan-tilt platform. Background Art

[0002] Full-sea-depth cameras are one of the most effective means of obtaining intuitive visual images for underwater observation. Affected by the uneven deep-sea topography, the field of view of fixed-mounted full-sea-depth cameras often depends on the landing posture of the carrying platform. There is often a phenomenon that the camera field of view cannot cover the target area, affecting the effect and purpose of the observation.

[0003] Deep-sea gimbals produced at home and abroad can be used in underwater camera observation platforms, underwater sonar integration platforms, ROV underwater robot platforms and other fields. Very few of them are used in the full sea depth, and most of them do not exceed 6,000 meters. They can accurately position pitch and rotation, but the price is very expensive.

[0004] The existing deep-sea gimbals all use pressure-compensated dynamic seal technology. This technology immerses the motor in a sealed cabin filled with oil, and one end of the sealed cabin is connected to a pressure compensator. The pressure compensator is a piston-type structure that uses the piston's adaptive axial movement to the pressure of the marine environment to balance the pressure of the oil-filled sealed cabin and the external marine environment, so as to achieve a watertight seal between the oil-filled sealed cabin and the motor. At the same time, the radial extrusion between the Gly ring and the motor output shaft is used to achieve torque output in the form of dynamic seal of the output shaft. The output torque directly drives the gimbal to adjust the pitch and rotation. Limited by the high-pressure environment of the deep sea, it is difficult for this technology to achieve a long-term, stable and reliable operation method.

[0005] The factors that restrict the development of deep-sea underwater pan / tilt technology are the poor stability and reliability of pressure-compensated dynamic seal transmission technology, which are mainly manifested in the following aspects:

[0006] (1) When used in marine environments for a long time, the dynamic seal ring is prone to fatigue wear and corrosion aging, resulting in leakage of the oil-filled sealed cabin and transmission failure;

[0007] (2) As the diving depth increases, the oil pressure in the oil-filled sealed cabin increases, and the oil density and viscosity also increase, resulting in greater viscous resistance between the motor rotors. In addition, due to the radial extrusion friction between the seal ring and the output shaft, the overall output efficiency of the motor decreases, power consumption increases, and the noise is very loud;

[0008] (3) In addition to increasing with depth, viscous resistance is also proportional to the relative speed between the motor rotors. The higher the speed, the greater the viscous resistance, which slows down the response speed of the underwater pan-tilt mechanism. Summary of the invention

[0009] Based on this, the technical problem to be solved by the present invention is to provide a full-sea-depth magnetically coupled dual-output transmission motor and a full-sea-depth three-dimensional pan-tilt head with low power consumption, large transmission torque, high positioning accuracy, full-sea-depth pressure resistance, long underwater working time and stable and reliable movement.

[0010] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0011] A full-sea-depth magnetic coupling dual-output transmission motor comprises two single-output transmission motors, wherein the single-output transmission motor comprises an outer magnetic rotor, an outer magnetic rotor mounting shell, an inner magnetic rotor, an inner magnetic rotor mounting shaft, a pan-tilt motor, an isolation sleeve, an intermediate cylinder, a rear end cover and a watertight connector, wherein the outer magnetic rotor is fixedly connected to the outer magnetic rotor mounting shell, and the outer magnetic rotor mounting shell is mounted on the outside of the isolation sleeve through a bearing; the isolation sleeve, the intermediate cylinder, the rear end cover and the watertight connector form a closed cabin, the pan-tilt motor is located in the closed cabin, and the pan-tilt The motor is mounted on the intermediate cylinder; the inner magnetic rotor is mounted on the inner magnetic rotor mounting shaft, the inner magnetic rotor mounting shaft is fixedly connected to the motor shaft of the pan-tilt motor, the inner magnetic rotor mounting shaft extends into the bearing in the inner cavity of the isolation sleeve, and the inner diameter of the inner cavity of the isolation sleeve is smaller than the inner diameter of the sealed cabin; the pan-tilt motor is used to drive the inner magnetic rotor to rotate, thereby coupling and driving the outer magnetic rotor to rotate together with the outer magnetic rotor mounting shell; the rear end covers of the two single-output transmission motors are fixed together or the two rear end covers form a connecting end cover.

[0012] As described above, for the full-sea-depth magnetically coupled dual-output transmission motor, sealing rings are provided between the intermediate cylinder and the isolation sleeve, and between the intermediate cylinder and the rear end cover.

[0013] A full-sea-depth three-dimensional gimbal, comprising: a pitch adjustment mechanism, a roll adjustment mechanism and a rotation adjustment mechanism; the rotation adjustment mechanism comprises a base frame, a rotation support frame, a single-output transmission motor and a third linkage assembly, the single-output transmission motor is fixedly connected to the base frame, the rotation support frame is rotationally connected to the base frame, and the single-output transmission motor drives the rotation support frame to rotate through the third linkage assembly; the roll adjustment mechanism comprises a lower connecting tube, a second motor of a dual-output transmission motor, a roll support frame and a second linkage assembly, the second motor is fixedly connected to the lower connecting tube, and the lower connecting tube is fixedly mounted with a roll support frame The roll support frame is provided with a second linkage assembly, and the output end of the second motor drives the roll support frame to be rotationally connected to the rotating support frame through the second linkage assembly; the pitch adjustment mechanism includes an upper connecting tube, a first motor of a dual-output transmission motor, a pitch support frame, a first linkage assembly and a load platform, the first motor is fixedly connected to the upper connecting tube, the upper connecting tube is fixedly mounted with the pitch support frame, the pitch support frame is provided with a first linkage assembly, the output end of the first motor drives the pitch movement of the load support platform through the first linkage assembly, and the upper connecting tube and the lower connecting tube are fixedly connected.

[0014] As described above, in the full-sea-depth three-dimensional gimbal, the third linkage assembly includes a meshing rotating worm wheel and a rotating worm, the rotating worm wheel is fixedly connected to the rotating support frame, the rotating worm is rotatably connected to the base frame, and the rotating worm is linked to the single output transmission motor.

[0015] As described above, the full-sea-depth three-dimensional gimbal, the second linkage assembly includes a meshing roll worm wheel and a roll worm gear, the mounting shaft of the roll worm wheel is rotatably connected to the roll support frame, the mounting shaft of the roll worm wheel is fixedly connected to the rotating support frame, the roll worm gear is rotatably connected to the roll support frame, and the roll worm gear is linked to the second motor.

[0016] As described above, the full-sea-depth three-dimensional gimbal, the first linkage assembly includes a meshing pitch worm wheel and a pitch worm, the mounting shaft of the pitch worm wheel is rotatably connected to the pitch support frame, the mounting shaft of the pitch worm wheel is fixedly connected to the load platform, the pitch worm is rotatably connected to the pitch support frame, and the pitch worm is linked to the first motor.

[0017] As described above, in the full-sea-depth three-dimensional gimbal, the rotating support frame rotates around the Z axis, the rolling support frame rotates around the Y axis, and the load platform rotates around the X axis.

[0018] Compared with the prior art, the advantages and positive effects of the present invention are:

[0019] The full-sea-depth magnetic coupling dual-output transmission motor of the present invention adopts magnetic coupling technology, realizes non-contact transmission of power through the attraction and repulsion between the permanent magnetic materials of the outer magnetic rotor and the inner magnetic rotor in the transmission component, and realizes zero leakage of the sealed cabin by static sealing. The present invention has long working time, low power consumption, low noise, low cost, light weight and fast response speed.

[0020] The full-sea-depth underwater three-dimensional pan-tilt based on magnetic coupling transmission of the present invention can effectively improve the intuitiveness, stability and reliability of the underwater observation platform. The underwater three-dimensional pan-tilt is driven by a magnetic coupling transmission motor, and uses a dry cabin static seal to achieve non-contact transmission of torque. It can be applied to the full sea depth, and realizes the rotation, roll and pitch movement of the pan-tilt in three dimensions in the full sea depth space. It can be equipped with a camera system and a sonar system for stereoscopic observation of the ocean space, effectively improving the stability, effectiveness and operating efficiency of ocean observation. In addition to the advantages of long underwater working time, low power consumption, low noise, low cost, light weight and fast response speed, the present invention also has the advantage of being able to adjust the posture in all directions. For full-sea-depth video shooting, no subsequent image processing (i.e., cropping and rotation) is required, and underwater images can be broadcast online in real time, greatly improving the effective shooting range.

[0021] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 It is a cross-sectional view of a full-sea-depth magnetic coupling dual-output transmission motor according to a specific embodiment of the present invention;

[0024] Figure 2 A stereoscopic diagram of a full-sea-depth three-dimensional pan-tilt platform according to a specific embodiment of the present invention;

[0025] Figure 3 It is a schematic diagram of a full-sea-depth three-dimensional pan-tilt platform according to a specific embodiment of the present invention;

[0026] Figure 4 for Figure 3 Sectional view along AA direction;

[0027] Figure 5 for Figure 3 Cross-sectional view along BB direction;

[0028] Figure 6 for Figure 3 Cross-sectional view along DD direction;

[0029] Figure 7 for Figure 3 Sectional view along EE direction;

[0030] Figure 8 It is a schematic diagram of an isolation sleeve according to a specific embodiment of the present invention;

[0031] Fig. 9 It is a schematic diagram of an outer magnetic rotor mounting shell according to a specific embodiment of the present invention;

[0032] Fig.10 Schematic diagram of magnetic pole distribution according to a specific embodiment of the present invention.

[0033] Description of reference numerals:

[0034] 1-pitch adjustment mechanism 2-upper connecting tube 3-X, Y axis integrated magnetic coupling motor 4-lower connecting tube 5-roll adjustment mechanism 6-Z axis magnetic coupling motor 7-rotation adjustment mechanism 8-load platform 9-pitch support frame 10-flange pressure ring 11-sand and mud-proof water-permeable screen 12-pitch worm gear 13-pitch worm gear installation shaft 14-pitch worm 15-pitch worm bearing support seat 16-pitch worm bearing pressure plate 20-coupling I 21-coupling II 221-roll worm 22-roll worm bearing support seat 58-X, Y axis integrated magnetic coupling motor connecting bolt 17-pitch adjustment mechanism installation end cover 18-pitch worm gear installation shaft bearing support seat 19-pitch socket 23-roll support frame 231-flange pressure ring 232-anti-sand damping water-permeable screen 233-roll adjustment mechanism installation end cover 24-roll worm wheel 25-roll worm wheel installation shaft 26-roll socket 27-roll worm wheel installation shaft bearing support seat 28-rotating support frame 29-thrust ceramic bearing pressure plate 30-base frame 31-base frame cover 32-flange pressure ring 33-anti-sand and mud-blocking water-permeable screen 34-rotating support frame lower support bearing pressure plate 35-rotating support frame lower support bearing seat 36-rotating worm wheel 37-rotating worm 38-rotating worm left support bearing seat 39-rotating worm right support bearing seat 40-coupling III 41-Z-axis magnetic coupling motor mounting bracket 42-rotating worm gear fixing bolt

[0035] 43-external magnetic rotor mounting shell 44-isolation sleeve 45-external magnetic rotor 46-internal magnetic rotor 47-anti-sand and mud-blocking plate 49-sealing ring 50-intermediate cylinder 51-internal magnetic rotor mounting shaft 52-pan head motor 53-rear end cover 54-watertight connector

[0036] 1111-power output end 1112-fifth mounting part 1113-sixth mounting part 71-inner cavity; 72-sleeve 73-first mounting part 74-second mounting part 75-third mounting part 76-fourth mounting part 77-first ceramic bearing 78-second ceramic bearing 79-third ceramic bearing. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0038] It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0039] like Figure 1 As shown, the full-sea-depth magnetically coupled dual-output transmission motor includes two single-output transmission motors.

[0040] The single output transmission motor includes an outer magnetic rotor 45 , an outer magnetic rotor mounting shell 43 , an inner magnetic rotor 46 , an inner magnetic rotor mounting shaft 51 , a pan / tilt motor 52 , an isolation sleeve 44 , an intermediate cylinder 50 , a rear end cover 53 and a watertight connector 54 .

[0041] like Fig.10 As shown, the outer magnetic rotor 45 is composed of a ferromagnet, a yoke and an anti-corrosion metal layer, and the inner magnetic rotor 46 is composed of a ferromagnet and a yoke. The ferromagnets in the outer magnetic rotor 45 and the inner magnetic rotor 46 are permanent magnets of different magnetic poles that are evenly staggered and can generally be divided into 4 to 12 groups according to different magnetic coupling designs.

[0042] The outer magnetic rotor 45 is fixedly connected to the outer magnetic rotor mounting shell 43, and can be fixed together by gluing. The outer magnetic rotor mounting shell 43 is mounted on the outside of the isolation sleeve 44 through a bearing, and is specifically mounted on the outside of the isolation sleeve 44 through a first ceramic bearing 77 and a third ceramic bearing 79, and can rotate freely around its central axis relative to the isolation sleeve 44. An anti-sand damping plate 47 is provided at the third bearing 79 to protect the bearing.

[0043] The isolation sleeve 44, the intermediate cylinder 50, the rear end cover 53 and the watertight connector 54 form a closed cabin. Among them, a sealing ring 49 is arranged between the intermediate cylinder 50 and the isolation sleeve 44, and between the intermediate cylinder 50 and the rear end cover 53.

[0044] The pan-tilt motor 52 is located in the sealed cabin, and the pan-tilt motor 52 is installed on the intermediate cylinder 50. The inner magnetic rotor 46 is installed on the inner magnetic rotor mounting shaft 51, and the inner magnetic rotor mounting shaft 51 is fixedly connected to the motor shaft of the pan-tilt motor 52. The inner magnetic rotor mounting shaft 51 extends into the second ceramic bearing 78 in the inner cavity of the isolation sleeve 44. The inner diameter of the inner cavity 71 of the isolation sleeve 44 is much smaller than the inner diameter of the sealed cabin. The inner magnetic rotor mounting shaft 51 can rotate freely around its central axis relative to the isolation sleeve 44. The inner magnetic rotor 46 and the outer magnetic rotor 45 are combined into a magnetic coupling body. When the pan-tilt motor 52 is powered on, it can drive the inner magnetic rotor 46 to rotate, thereby coupling and driving the outer magnetic rotor 45 to rotate together with the outer magnetic rotor mounting shell 43, thereby realizing non-contact transmission of torque.

[0045] like Figure 8 As shown, the isolation sleeve 44 of this embodiment includes a sleeve body 72, a first mounting portion 73 located at one end of the sleeve body 72, and a second mounting portion 74 located at the other end of the sleeve body 72. An inner cavity 71 is formed in the sleeve body 72, and the inner side of the sleeve body 72 is the inner magnetic rotor 46, and the outer side is the outer magnetic rotor 45. The inner magnetic rotor mounting shaft 51 extends into the inner cavity 71, and the inner magnetic rotor 46 is mounted on the inner magnetic rotor mounting shaft 51 extending into the inner cavity. The inner diameter of the sleeve body 72 is slightly larger than the outer diameter of the inner magnetic rotor 46. The first mounting portion 73 is an extension of the sleeve body 72 in the radial direction, and the first mounting portion 73 is fixedly mounted with the intermediate cylinder 50. A third mounting portion 75 is also provided on the first mounting portion 73. The third mounting portion 75 is coaxially arranged with the sleeve body 72, and the inner diameter of the third mounting portion 75 is larger than the outer diameter of the sleeve body 72. The third mounting portion 75 is used to mount a third ceramic bearing 79. The second mounting portion 74 is used to mount the first ceramic bearing 77, and the outer diameter of the second mounting portion 74 is smaller than the outer diameter of the sleeve 72. A fourth mounting portion 76 is provided at the bottom end of the inner cavity of the sleeve 72, and the fourth mounting portion 76 is used to mount the second ceramic bearing 78, and the inner diameter of the fourth mounting portion is smaller than the inner diameter of the sleeve 72.

[0046] like Fig. 9As shown, the outer magnetic rotor mounting shell 43 of this embodiment includes a power output end 1111, a fifth mounting portion 1112 and a sixth mounting portion 1113. Preferably, the outer diameter of the power output end 1111 is smaller than the inner diameter of the fifth mounting portion 1112 and smaller than the outer diameter of the sixth mounting portion 1113. The fifth mounting portion 1112 is used to mount the first ceramic bearing 77. The inner side of the sixth mounting portion 1113 is used to mount the outer magnetic rotor 45, and the outer side is used to mount the third ceramic bearing 79. On the one hand, the design of this embodiment can greatly reduce the cavity volume of the sealed cabin, improve the compressive strength and rigidity, and improve the stability of the structure under the full sea depth pressure environment. On the other hand, it is suitable for full sea depth. The smaller cavity volume inside the isolation sleeve can reduce the thickness of the isolation sleeve between the inner magnetic rotor and the outer magnetic rotor, which is beneficial to increase the coupling torque between the inner magnetic rotor and the outer magnetic rotor and improve the output of power torque. The rear end covers of the two single-output transmission motors are fixed together by a sealing ring (for example, fixed by the X-axis, Y-axis integrated magnetic coupling motor connecting bolts 58) or the two rear end covers form a connecting end cover, and the two single-output transmission motors share one connecting end cover, thereby forming a dual-output transmission motor.

[0047] This embodiment adopts magnetic coupling technology, realizes non-contact transmission of power through the attraction and repulsion between permanent magnetic materials installed on the master and slave poles in the transmission component, and realizes zero leakage of the sealed cabin by static sealing. Preferably, the power transmitted by the transmission motor is equipped with a speed reduction mechanism with a self-locking function, which can realize stable rotation and precise positioning of the pan / tilt in three dimensions of space.

[0048] The full-sea-depth three-dimensional gimbal of this embodiment includes a pitch adjustment mechanism 1 , a roll adjustment mechanism 5 and a rotation adjustment mechanism 7 .

[0049] The rotation adjustment mechanism 7 includes a base frame 30, a rotation support frame 28, a single output transmission motor (Z-axis magnetic coupling motor 6) and a third linkage assembly. The Z-axis magnetic coupling motor 6 is fixedly connected to the base frame 30, and the rotation support frame 28 is rotationally connected to the base frame 30. The Z-axis magnetic coupling motor 6 drives the rotation support frame 28 to rotate through the third linkage assembly.

[0050] The third linkage assembly includes a meshing rotating worm wheel 36 and a rotating worm 37. The rotating worm wheel 36 is fixedly connected to the rotating support frame 28. The rotating worm 37 is rotationally connected to the base frame 30. The rotating worm 37 is linked to the single output transmission motor (Z-axis magnetic coupling motor 6).

[0051] The roll adjustment mechanism 5 includes a lower connecting tube 4, a second motor of a dual-output transmission motor (X, Y-axis integrated magnetic coupling motor 3), a roll support frame 23 and a second linkage assembly. The second motor is fixedly connected to the lower connecting tube 4, and the roll support frame 23 is fixedly installed on the lower connecting tube 4. The second linkage assembly is arranged on the roll support frame 23. The output end of the second motor drives the roll support frame 23 to be rotatably connected to the rotating support frame 28 through the second linkage assembly.

[0052] The second linkage assembly includes a meshing rolling worm wheel 24 and a rolling worm 221, the mounting shaft 25 of the rolling worm wheel is rotationally connected to the rolling support frame 23, the mounting shaft 25 of the rolling worm wheel is fixedly connected to the rotating support frame 28, the rolling worm 221 is rotationally connected to the rolling support frame 23, and the rolling worm 24 is linked to the second motor.

[0053] The pitch adjustment mechanism 1 includes an upper connecting tube 2, a first motor of a dual-output transmission motor (X, Y-axis integrated magnetic coupling motor 3), a pitch support frame 9, a first linkage assembly and a load platform 8. The first motor is fixedly connected to the upper connecting tube 2, the upper connecting tube 2 is fixedly mounted with the pitch support frame 9, the pitch support frame 9 is provided with a first linkage assembly, and the output end of the first motor drives the pitch movement of the load support platform 8 through the first linkage assembly. The upper connecting tube 2 and the lower connecting tube 4 are fixedly connected.

[0054] The first linkage assembly includes a meshing pitch worm wheel 12 and a pitch worm 14, the mounting shaft 13 of the pitch worm wheel is rotationally connected to the pitch support frame 9, the mounting shaft 13 of the pitch worm wheel is fixedly connected to the load platform 8, the pitch worm 14 is rotationally connected to the pitch support frame 9, and the pitch worm 14 is linked to the first motor.

[0055] The rotating support frame 28 rotates around the Z axis, the rolling support frame 23 rotates around the Y axis, and the load platform 8 rotates around the X axis.

[0056] Specifically, Figure 2 As shown, the X, Y axis integrated magnetic coupling motor 3 has two independent output shafts, the upper output shaft drives the pitch adjustment mechanism 1 to perform pitch adjustment around the X axis, the lower output shaft drives the roll adjustment mechanism 5 to perform roll adjustment around the Y axis, and the Z axis magnetic coupling motor 6 drives the rotation adjustment mechanism 7 to perform rotation adjustment around the Z axis, thereby realizing three-dimensional rotation adjustment with three degrees of freedom.

[0057] like Figure 2 , 3As shown in Figures 4 and 5, the two ends of the X,Y axis integrated magnetic coupling motor 3 are respectively fixedly connected to the upper connecting tube 2 and the lower connecting tube 4 by bolts, and the upper connecting tube 2 and the lower connecting tube 4 are fixedly connected by bolts. The upper connecting tube 2 and the lower connecting tube 4 have semicircular holes on the connecting end faces, so that the watertight connector 54 on the X,Y axis integrated magnetic coupling motor 3 can be exposed. The pitch support frame 9 in the pitch adjustment mechanism 1 is fixedly mounted on the upper connecting tube 2 by bolts, and the end face flange on the lower connecting tube 4 is fixedly mounted on the roll support frame 23 by bolts; the upper output shaft of the X,Y axis integrated magnetic coupling motor 3 is connected to one end of the pitch worm 14 in the pitch adjustment mechanism 1 by a coupling I20 in a key connection manner, and the lower output shaft of the X,Y axis integrated magnetic coupling motor 3 is connected to one end of the roll worm 221 in the roll adjustment mechanism 5 by a coupling II21 in a key connection manner.

[0058] like Figure 2 , 3 As shown in , 4 and 5, the pitch worm gear 12 is circumferentially fixed to the mounting shaft 13 of the pitch worm gear by a key connection, and is axially fixed to the flange of the mounting shaft 13 of the pitch worm gear by bolts. The mounting shaft 13 of the pitch worm gear is mounted on the bearing support seat 18 of the mounting shaft of the pitch worm gear through a bearing support. The bearing support seat 18 of the mounting shaft of the pitch worm gear is fixed to the pitch support frame 9 by bolts. Both ends of the protruding mounting shaft 13 of the pitch worm gear are square shafts, which are respectively embedded in the pitch sockets 19 with square holes opened therein, and the fixed connection is strengthened by bolts. The pitch sockets 19 are fixedly connected to the support ear plate of the load platform 8 by bolts, so that the load platform 8 can be connected with the pitch sockets 19 and the pitch The mounting shaft 13 of the worm wheel and the pitch worm wheel 12 rotate synchronously around the X axis; the pitch worm 14 is meshed with the pitch worm wheel 12, and the two ends are respectively mounted on the pitch support frame 9 and the pitch worm bearing support seat 15 through bearing support. The upper part of the pitch worm bearing support seat 15 is mounted with a ceramic bearing and a pitch bearing pressure plate 16. The pitch worm bearing support seat 15 and the pitch bearing pressure plate 16 are fixedly mounted on the pitch support frame 9 by bolts. The lower end of the pitch worm 14 extends out and is connected to the coupling 120 through a flat key. The pitch support frame 9 is installed with a flange pressure ring 10 and a 500-mesh multi-layer anti-sand and mud-blocking water-permeable screen 11 made of 316L material to prevent impurities in the water from entering the pitch support frame 9. The pitch support frame 9 is provided with a pitch adjustment mechanism mounting end cover 17.

[0059] like Figure 4 and Figure 6As shown, the lower output shaft of the X, Y axis integrated magnetic coupling motor is connected to the protruding end of the rolling worm 221 through a coupling II21 by a flat key connection. The rolling worm 221 is respectively mounted on the rolling worm bearing support seat 22 and the rolling support frame 23 through bearing supports. The rolling worm bearing support seat 22 is fixedly mounted on the rolling support frame 23 by bolts, and the rolling worm 221 can rotate freely around its own axis; the rolling worm wheel 24 meshing with the rolling worm 221 is mounted on the mounting shaft 25 of the rolling worm wheel through a key connection, and is axially fixedly mounted on the flange surface of the mounting shaft 25 of the rolling worm wheel by bolts. The mounting shaft 25 of the rolling worm wheel is mounted on the mounting shaft bearing support seat 27 of the rolling worm wheel through bearing supports. The mounting shaft bearing support seat 27 of the rolling worm wheel is fixed by bolts. Installed on the roll support frame 23, the two sides of the roll worm gear installation shaft 25 are both square shafts, embedded in the roll socket 26 with a square hole, and strengthened by bolts. The roll socket 26 is fixed on the rotating support frame 28 by bolts, so the rotating support frame 28 is synchronously fixed around the Y axis with the roll socket 26, the roll worm gear installation shaft 25 and the roll worm gear 24. When the output shaft of the X, Y axis integrated magnetic coupling motor 3 drives the roll worm 221 to rotate, the roll worm 221 drives the roll support frame 23 and its upper part to mesh with the roll worm gear 24 to rotate around the Y axis. The roll support frame 23 is installed with a flange pressure ring 231 and a 500-mesh multi-layer anti-sand and mud-blocking water-permeable screen 232 made of 316L material to prevent impurities in the water from entering the roll support frame 23. The roll support frame 23 is provided with a roll adjustment mechanism installation end cover 233.

[0060] like Figure 6 and Figure 7As shown, the rotating support frame 28 is installed on the base frame 30 through a thrust ceramic bearing on the upper side and a deep groove ball ceramic bearing on the lower side. The thrust bearing is axially fixed by an elastic retaining ring and a thrust ceramic bearing pressure plate 29 made of 316L material on the shaft. The thrust ceramic bearing pressure plate 29 is fixedly installed on the base frame 30 by bolts. The deep groove ball ceramic bearing is installed on the lower support bearing seat 35 of the rotating support frame. The lower support bearing seat 35 of the rotating support frame is fixedly installed on the bottom plate of the base frame 30 together with the lower support bearing pressure plate 34 of the rotating support frame by bolts. The rotating support frame 28 is circumferentially fixed to the rotating worm gear 36 by a key, and is axially fixed to the rotating worm gear 36 by a rotating worm gear fixing bolt 42. This rotating support frame 28 can rotate synchronously around the Z axis together with the rotating worm wheel 36; the rotating worm 37 meshing with the rotating worm wheel 36 is installed on the rotating worm left support bearing seat 38 and the rotating worm right support bearing seat 39 respectively through bearing support, and the rotating worm left support bearing seat 38 and the rotating worm right support bearing seat 39 are fixed on the base frame 30 by bolts, and the protruding end of the rotating worm 37 is connected to the Z-axis magnetic coupling motor 6 by a flat key connection through the coupling III40, and the Z-axis magnetic coupling motor 6 is fixedly connected to the Z-axis magnetic coupling motor mounting bracket 41 by bolts, and the other end of the Z-axis magnetic coupling motor mounting bracket 41 is fixed on the base frame 30 by bolts. A base frame cover plate 31 is provided on the base frame 30, and a flange pressure ring 32 and a 500-mesh multi-layer anti-sand and mud-blocking water-permeable screen 33 made of 316L material are installed on the cover plate 31 to prevent impurities in the water from entering the base frame 30.

[0061] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A full-depth-of-ocean magnetic coupling dual-output drive motor, Characterized in that, It includes two single-output drive motors. The single-output drive motor includes an outer magnetic rotor, an outer magnetic rotor mounting shell, an inner magnetic rotor, an inner magnetic rotor mounting shaft, a pan-tilt motor, an isolation sleeve, an intermediate cylinder, a rear end cover and a watertight connector. The outer magnetic rotor is fixedly connected to the outer magnetic rotor mounting shell, and the outer magnetic rotor mounting shell is mounted on the outside of the isolation sleeve through bearings; the isolation sleeve, the intermediate cylinder, the rear end cover and the watertight connector form a sealed cabin. The pan-tilt motor is located inside the sealed cabin and is mounted on the intermediate cylinder; the inner magnetic rotor is mounted on the inner magnetic rotor mounting shaft, and the inner magnetic rotor mounting shaft is fixedly connected to the motor shaft of the pan-tilt motor. The inner magnetic rotor mounting shaft extends onto a bearing inside the inner cavity of the isolation sleeve, and the inner diameter of the inner cavity of the isolation sleeve is smaller than the inner diameter of the sealed cabin; the pan-tilt motor is used to drive the inner magnetic rotor to rotate, thereby coupling and driving the outer magnetic rotor together with the outer magnetic rotor mounting shell to rotate; the rear end covers of the two single-output drive motors are fixedly connected together or the two rear end covers form a connecting end cover.

2. The full-depth-of-ocean magnetic coupling dual-output drive motor according to claim 1, Characterized in that, Sealing rings are provided between the intermediate cylinder and the isolation sleeve, and between the intermediate cylinder and the rear end cover.

3. A full-depth-of-ocean three-dimensional pan-tilt, Characterized in that, It includes: A pitch adjustment mechanism, a roll and yaw adjustment mechanism and a rotation adjustment mechanism; the rotation adjustment mechanism includes a base frame, a rotation support frame, a single-output drive motor and a third linkage assembly. The single-output drive motor is fixedly connected to the base frame, the rotation support frame is rotatably connected to the base frame, and the single-output drive motor drives the rotation support frame to rotate through the third linkage assembly; the roll and yaw adjustment mechanism includes a lower connecting cylinder, the second motor of the dual-output drive motor, a roll and yaw support frame and a second linkage assembly. The second motor is fixedly connected to the lower connecting cylinder, the lower connecting cylinder is fixedly installed with a roll and yaw support frame, and a second linkage assembly is provided on the roll and yaw support frame. The output end of the second motor drives the roll and yaw support frame to be rotatably connected to the rotation support frame through the second linkage assembly; the pitch adjustment mechanism includes an upper connecting cylinder, the first motor of the dual-output drive motor, a pitch support frame, a first linkage assembly and a load platform. The first motor is fixedly connected to the upper connecting cylinder, the upper connecting cylinder is fixedly installed with a pitch support frame, and a first linkage assembly is provided on the pitch support frame. The output end of the first motor drives the pitch movement of the load platform through the first linkage assembly. The upper connecting cylinder and the lower connecting cylinder are fixedly connected, and the dual-output drive motor is the dual-output drive motor according to any one of claims 1-2.

4. The full-depth-of-ocean three-dimensional pan-tilt according to claim 3, Characterized in that, The third linkage component includes a rotating worm gear and a rotating worm that are meshed with each other. The rotating worm gear is fixedly connected to the rotating support frame. The rotating worm is rotatably connected to the base frame, and the rotating worm is linked to the single-output drive motor.

5. The full-ocean-depth three-dimensional cloud platform according to claim 3, wherein, The second linkage component includes a rolling pendulum worm gear and a rolling pendulum worm that are meshed with each other. The mounting shaft of the rolling pendulum worm gear is rotatably connected to the rolling pendulum support frame. The mounting shaft of the rolling pendulum worm gear is fixedly connected to the rotating support frame. The rolling pendulum worm is rotatably connected to the rolling pendulum support frame, and the rolling pendulum worm is linked to the second motor.

6. The full-ocean-depth three-dimensional cloud platform according to claim 3, wherein, The first linkage component includes a pitching worm gear and a pitching worm that are meshed with each other. The mounting shaft of the pitching worm gear is rotatably connected to the pitching support frame. The mounting shaft of the pitching worm gear is fixedly connected to the load platform. The pitching worm is rotatably connected to the pitching support frame, and the pitching worm is linked to the first motor.

7. The full-ocean-depth three-dimensional cloud platform according to claim 3, wherein, The rotating support frame rotates about the Z axis, the rolling pendulum support frame rotates about the Y axis, and the load platform rotates about the X axis.

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