Full-sea-depth magnetic coupling transmission motor and full-sea-depth two-dimensional gimbal

Abstract

The invention discloses a full-sea-depth magnetic coupling transmission motor and a full-sea-depth two-dimensional pan-tilt. The 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 a bearing; the isolation sleeve and 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 motor 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, and the inner magnetic rotor mounting shaft extends into the bearing in the inner cavity of the isolation sleeve; the pan-tilt motor drives 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 invention 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 transmission motor and a full-sea-depth two-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. Therefore, there is an underwater two-dimensional two-degree-of-freedom gimbal suitable for full-sea depth. Through the rotation of the gimbal itself in two dimensions, the spatial stereoscopic observation of the marine environment by the carrying camera is realized, which effectively improves the effectiveness and efficiency of visual 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 magnetic coupling transmission motor and a full-sea-depth two-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 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 isolating 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 isolating sleeve through a bearing; the isolating 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 motor 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, and the inner magnetic rotor mounting shaft extends into the bearing in the inner cavity of the isolating sleeve, and the inner diameter of the inner cavity of the isolating 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.

[0012] As described above, in the full-sea-depth magnetic coupling 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 two-dimensional gimbal comprises: a supporting base, a supporting tube, a load supporting platform, a rotation adjustment mechanism and a pitch adjustment mechanism; the rotation adjustment mechanism comprises a rotating magnetic coupling transmission motor and a first linkage assembly, the rotating magnetic coupling transmission motor is fixedly mounted on the supporting base, and the rotating magnetic coupling transmission motor is used to drive the supporting tube to rotate around its axis through the first linkage assembly; the load supporting platform is rotationally connected to the supporting tube, and the pitch adjustment mechanism comprises a pitch magnetic coupling transmission motor and a second linkage assembly, the pitch magnetic coupling transmission motor is located in the supporting tube, and the pitch magnetic coupling transmission motor drives the pitch movement of the load supporting platform through the second linkage assembly; the rotating magnetic coupling transmission motor and the pitch magnetic coupling transmission motor are the above-mentioned full-sea-depth magnetic coupling transmission motors.

[0014] As described above, in the full-sea-depth two-dimensional gimbal, the first linkage assembly includes a first worm wheel and a first worm, the first worm is mounted on the support base via a bearing rolling support, the first worm is linked to the rotating magnetic coupling transmission motor, and the first worm wheel is mounted at the bottom end of the support tube.

[0015] As described above, in the full-sea-depth two-dimensional gimbal, the rotation adjustment mechanism includes a worm mounting seat, both ends of the first worm are rollingly supported by bearings and mounted on the worm mounting seat, and the worm mounting seat is fixedly mounted on the supporting base.

[0016] In the full-sea-depth two-dimensional gimbal as described above, the support tube is mounted on the support base via a bearing.

[0017] As described above, the full-sea-depth two-dimensional gimbal, the second linkage assembly includes a U-shaped support frame, a screw, a screw nut and a connecting rod bracket, the support tube is fixedly connected to the U-shaped support frame, the screw is installed on the U-shaped support frame, and both ends of the screw are rollingly supported by bearings; the pitch magnetic coupling transmission motor is linked to the screw, the screw nut is installed on the screw, the screw nut is rotatably connected to one end of the connecting rod bracket, the other end of the connecting rod bracket is rotatably connected to a rotating shaft of the load support platform, and the other rotating shaft of the load support platform is rotatably connected to the U-shaped support frame.

[0018] As described above, the full-sea-depth two-dimensional gimbal, the second linkage assembly includes a second worm gear, a second worm gear fixed shaft, a second worm and a pitch support seat, the second worm gear is vertically mounted on the pitch support seat through a bearing rolling support, the second worm gear is linked with the pitch magnetic coupling transmission motor, the second worm gear is fixedly connected to the second worm gear fixed shaft, the second worm gear fixed shaft is rotatably connected to the pitch support seat, the load support platform is fixedly mounted on the second worm gear fixed shaft, and the pitch support seat is fixedly mounted on the support cylinder.

[0019] As described above, in the full-sea-depth two-dimensional gimbal, the second linkage assembly includes a bearing support seat, the bearing support seat is fixedly connected to the pitch support seat, and the second worm gear fixed shaft is installed on the bearing support seat via a bearing rolling support.

[0020] As described above, in the full-sea-depth two-dimensional gimbal, the ends of both sides of the worm gear fixed shaft are polygonal structures, and the load supporting platform is fixedly mounted on the polygonal structure of the worm gear fixed shaft via a load supporting platform fixing seat.

[0021] Compared with the prior art, the advantages and positive effects of the present invention are:

[0022] The full-sea-depth magnetic coupling 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.

[0023] The full-sea-depth underwater two-dimensional pan-tilt platform based on magnetic coupling transmission of the present invention can effectively improve the stability and reliability of the underwater observation platform. The underwater two-dimensional pan-tilt platform 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 and pitch movement of the pan-tilt platform in two 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.

[0024] 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

[0025] 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.

[0026] Figure 1 It is a cross-sectional view of a full-sea-depth magnetic coupling transmission motor according to a specific embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of a full-sea-depth two-dimensional pan-tilt platform according to a specific embodiment of the present invention;

[0028] Figure 3 for Figure 2 Cross-sectional view along BB direction;

[0029] Figure 4 for Figure 2 Sectional view along AA direction;

[0030] Figure 5 It is a cross-sectional view of a pitch adjustment mechanism of a full-sea-depth two-dimensional pan / tilt platform according to another specific embodiment of the present invention;

[0031] Figure 6 for Figure 5 Cross-sectional view along CC direction;

[0032] Figure 7 It is a schematic diagram of an isolation sleeve according to a specific embodiment of the present invention;

[0033] Figure 8It is a schematic diagram of an outer magnetic rotor mounting shell according to a specific embodiment of the present invention;

[0034] Fig. 9 Schematic diagram of magnetic pole distribution according to a specific embodiment of the present invention.

[0035] Description of reference numerals:

[0036] 1-external magnetic rotor mounting shell; 1111-power output end 1112-fifth mounting part; 1113-sixth mounting part 2-first ceramic bearing; 3-second ceramic bearing; 4-external magnetic rotor; 5-inner magnetic rotor; 6-anti-sand and mud-blocking plate; 7-isolation sleeve; 71-inner cavity; 72-sleeve body; 73-first mounting part 74-second mounting part 75-third mounting part 76-fourth mounting part 8-third ceramic bearing; 9-inner magnetic rotor mounting shaft; 10-pan / tilt motor; 11-sealing ring; 12-intermediate cylinder; 13-rear end cover; 14-watertight connector;

[0037] 101-load support platform; 102-connecting rod bracket; 103-U-shaped support frame; 104-support cylinder; 105-screw nut; 106-screw; 107-coupling I; 108-pitch motor mounting frame; 109-pitch magnetic coupling transmission motor; 110-ceramic bearing; 111-support base; 112-first worm gear; 113-first worm; 114-rotating motor mounting frame; 115-rotating magnetic coupling transmission motor; 117-coupling II; 118-worm mounting seat;

[0038] 121 - load support platform; 122 - pitch support seat; 123 - second worm; 124 - second worm wheel; 125 - second worm wheel fixed shaft; 126 - bearing support seat; 127 - load support platform fixed seat; 128 - key. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] like Figure 1As shown, the full-sea-depth magnetic coupling transmission motor includes an outer magnetic rotor 4, an outer magnetic rotor mounting shell 1, an inner magnetic rotor 5, an inner magnetic rotor mounting shaft 9, a pan / tilt motor 10, an isolation sleeve 7, an intermediate cylinder 12, a rear end cover 13 and a watertight connector 14.

[0042] like Fig. 9 As shown, the outer magnetic rotor 4 is composed of a ferromagnet, a yoke and an anti-corrosion metal layer, and the inner magnetic rotor 5 is composed of a ferromagnet and a yoke. The ferromagnets in the outer magnetic rotor 4 and the inner magnetic rotor 5 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.

[0043] The outer magnetic rotor 4 is fixedly connected to the outer magnetic rotor mounting shell 1, and can be fixed together by gluing. The outer magnetic rotor mounting shell 1 is mounted on the outside of the isolation sleeve 7 through a bearing, and is specifically mounted on the outside of the isolation sleeve 7 through a first ceramic bearing 2 and a third ceramic bearing 8, and can rotate freely around the central axis of the isolation sleeve 7 relative to the isolation sleeve 7. An anti-sand damping plate 6 is provided at the third ceramic bearing 8.

[0044] The isolation sleeve 7, the intermediate cylinder 12, the rear end cover 13 and the watertight connector 14 form a closed cabin. Among them, a sealing ring 11 is arranged between the intermediate cylinder 12 and the isolation sleeve 7, and between the intermediate cylinder 12 and the rear end cover 13.

[0045] The pan-tilt motor 10 is located in the sealed cabin, and the pan-tilt motor 10 is mounted on the intermediate cylinder 12. The inner magnetic rotor 5 is mounted on the inner magnetic rotor mounting shaft 9, and the inner magnetic rotor mounting shaft 9 is fixedly connected to the motor shaft of the pan-tilt motor 10. The inner magnetic rotor mounting shaft 9 extends into the second ceramic bearing 3 in the inner cavity of the isolation sleeve 7. The inner diameter of the inner cavity 71 of the isolation sleeve 7 is much smaller than the inner diameter of the sealed cabin. The inner magnetic rotor mounting shaft 9 can rotate freely around its central axis relative to the isolation sleeve 7. The inner magnetic rotor 5 and the outer magnetic rotor 4 are combined into a magnetic coupling body. When the pan-tilt motor 10 is powered on, it can drive the inner magnetic rotor 5 to rotate, thereby coupling and driving the outer magnetic rotor 4 to rotate together with the outer magnetic rotor mounting shell 1, thereby realizing non-contact transmission of torque.

[0046] like Figure 7As shown, the isolation sleeve 7 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 5, and the outer side is the outer magnetic rotor 4. The inner magnetic rotor mounting shaft 9 extends into the inner cavity 71, and the inner magnetic rotor 5 is mounted on the inner magnetic rotor mounting shaft 9 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 5. 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 12. A third mounting portion 75 is also provided on the first mounting portion 73, and 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, and the third mounting portion 75 is used to mount the third ceramic bearing 8. The second mounting portion 74 is used to mount the first ceramic bearing 2, and the outer diameter of the second mounting portion 74 is smaller than the outer diameter of the sleeve body 72. A fourth mounting portion 76 is provided at the bottom end of the inner cavity of the sleeve body 72 . The fourth mounting portion 76 is used to mount the second ceramic bearing 3 . The inner diameter of the fourth mounting portion is smaller than the inner diameter of the sleeve body 72 .

[0047] like Figure 8 As shown, the outer magnetic rotor mounting shell 1 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, which is smaller than the outer diameter of the sixth mounting portion 1113. The fifth mounting portion 1112 is used to mount the first ceramic bearing 2. The inner side of the sixth mounting portion 1113 is used to mount the outer magnetic rotor 4, and the outer side is used to mount the third ceramic bearing 8. 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.

[0048] Preferably, the power transmitted by the full-sea-depth magnetic coupling transmission motor (power output end 1111) is equipped with a reduction mechanism with a self-locking function, which can realize stable rotation and precise positioning of the gimbal in two dimensions of space.

[0049] The full-sea-depth two-dimensional gimbal of the present embodiment is mainly composed of two parts: a full-sea-depth magnetic coupling transmission motor and a full-sea-depth two-dimensional gimbal adjustment mechanism.

[0050] like Figure 2-4 As shown, the full-sea-depth two-dimensional gimbal includes: a support base 111, a support tube 104, a load support platform 101, a rotation adjustment mechanism and a pitch adjustment mechanism.

[0051] The rotary adjustment mechanism includes a rotary magnetic coupling transmission motor 115 and a first linkage assembly. The rotary magnetic coupling transmission motor 115 is fixedly mounted on the support base 111. The rotary magnetic coupling transmission motor 115 is used to drive the support cylinder 104 to rotate around its axis through the first linkage assembly. The rotary magnetic coupling transmission motor 115 is fixedly mounted on the support base 111 via a rotary motor mounting frame 114.

[0052] The first linkage assembly includes a first worm gear 112 and a first worm 113 .

[0053] The first worm 113 is mounted on the support base 111 via a bearing rolling support, the first worm 113 is linked with the rotary magnetic coupling transmission motor 115, and the first worm wheel 112 is mounted at the bottom end of the support cylinder 104. The power output shaft (external magnetic rotor mounting shell) of the rotary magnetic coupling transmission motor 115 is connected to the first worm 113 via a coupling II117.

[0054] The rotation adjustment mechanism includes a worm mounting seat 118 . Both ends of the first worm 113 are rollingly supported by bearings and mounted on the worm mounting seat 118 . The worm mounting seat 118 is fixedly mounted on the support base 111 .

[0055] The support tube 104 supports the pitch mechanism and load at the upper part of the gimbal. The support tube 104 is installed on the support base 111 through a ceramic bearing 110 and can rotate freely around the axis of the support tube 104.

[0056] The rotating magnetic coupling transmission motor 115 drives the first linkage assembly, driving the support tube 104 and the upper pitch mechanism thereof to rotate together, thereby realizing the rotational movement of the two-dimensional pan-tilt platform.

[0057] The load support platform 101 is rotationally connected to the support tube 104, and the pitch adjustment mechanism includes a pitch magnetic coupling transmission motor 109 and a second linkage assembly. The pitch magnetic coupling transmission motor 109 is located in the support tube 104, and the pitch magnetic coupling transmission motor 109 drives the pitch movement of the load support platform 101 through the second linkage assembly.

[0058] The second linkage assembly includes a U-shaped support frame 103 , a screw rod 106 , a screw rod nut 105 and a connecting rod bracket 102 .

[0059] The support cylinder 104 is fixedly connected to the U-shaped support frame 103, and the screw rod 106 is installed on the U-shaped support frame 103. The two ends of the screw rod 106 are rollingly supported by bearings and can rotate freely. The pitch magnetic coupling transmission motor 109 is linked with the screw rod 106. Specifically, the pitch magnetic coupling transmission motor 109 is fixedly installed on the lower end surface of the bottom of the U-shaped support frame 103 through the pitch motor mounting frame 108, and is connected to the screw rod 106 through the coupling I107. The screw nut 105 is installed on the screw rod 106, and the screw nut 105 is rotatably connected to one end of the connecting rod bracket 102, and the other end of the connecting rod bracket 102 is rotatably connected to a rotating shaft of the load support platform 101, and the other rotating shaft of the load support platform 101 is rotatably connected to the U-shaped support frame 103.

[0060] The load support frame, connecting rod bracket, lead screw nut and lead screw together form a stable triangular support with high structural stability and large load; the pitch magnetic coupling transmission motor drives the lead screw to rotate, causing the lead screw nut and the connecting rod bracket to move up and down together, driving the load support frame to rotate around the fixed axis of the U-shaped support frame, realizing the pitch movement of the two-dimensional gimbal.

[0061] In another embodiment of the present invention, the pitch adjustment mechanism realizes high transmission ratio transmission of torque through a worm gear.

[0062] Specifically, Figure 5 , 6 As shown, the second linkage assembly includes a second worm gear 124 , a second worm gear fixing shaft 125 , a second worm 123 and a pitch support seat 122 .

[0063] The second worm 123 is vertically mounted on the pitch support seat 122 through a bearing rolling support, and can rotate freely around its axis. The second worm 123 is linked with the pitch magnetic coupling transmission motor, and the second worm wheel 124 is fixedly connected with the second worm wheel fixed shaft 125. Specifically, the second worm wheel 124 is mounted on the second worm wheel fixed shaft 125 through a flat key 128 and is axially fixed by bolts. The second worm wheel fixed shaft 125 is rotationally connected with the pitch support seat 122, and the second linkage assembly includes a bearing support seat 126, which is fixedly connected with the pitch support seat 122, and the second worm wheel fixed shaft 125 is mounted on the bearing support seat 126 through a bearing rolling support. Specifically, the second worm wheel fixed shaft 125 passes through the pitch support seat 132 horizontally, and is mounted on the bearing support seat 126 through a bearing rolling support, and the bearing support seat 126 is fixedly connected with the pitch support seat 122.

[0064] The load support platform 121 is fixedly mounted on the second worm gear fixed shaft 125, and the pitch support seat 122 is fixedly mounted on the support cylinder 104. The ends of both sides of the second worm gear fixed shaft 125 are polygonal structures, and the load support platform 121 is fixedly mounted on the polygonal structure on the second worm gear fixed shaft 125 via the load support platform fixed seat 127, and can rotate synchronously with the second worm gear 124; the pitch magnetic coupling transmission motor 109 drives the worm gear mechanism, which can rotate with the load support platform 121, thereby realizing the pitch motion of the two-dimensional gimbal.

[0065] 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-sea-depth magnetic coupling transmission motor, characterized in that: It 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 isolating 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 isolating sleeve through a bearing; the isolating 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 motor 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, and the inner magnetic rotor mounting shaft extends into the bearing in the inner cavity of the isolating sleeve, and the inner diameter of the inner cavity of the isolating sleeve is smaller than the inner diameter of the closed 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.

2. The full sea depth magnetic coupling transmission motor according to claim 1, characterized in that: Sealing rings are arranged between the intermediate cylinder and the isolation sleeve, and between the intermediate cylinder and the rear end cover.

3. A full-sea-depth two-dimensional gimbal, characterized in that: include: A support base, a support tube, a load support platform, a rotation adjustment mechanism and a pitch adjustment mechanism; the rotation adjustment mechanism includes a rotary magnetic coupling transmission motor and a first linkage assembly, the rotary magnetic coupling transmission motor is fixedly mounted on the support base, and the rotary magnetic coupling transmission motor is used to drive the support tube to rotate around its axis through the first linkage assembly; The load support platform is rotatably connected to the support tube, and the pitch adjustment mechanism includes a pitch magnetic coupling transmission motor and a second linkage assembly. The pitch magnetic coupling transmission motor is located in the support tube, and the pitch magnetic coupling transmission motor drives the pitch movement of the load support platform through the second linkage assembly; the rotating magnetic coupling transmission motor and the pitch magnetic coupling transmission motor are the full-sea-depth magnetic coupling transmission motors described in any one of claims 1-2.

4. The full-sea-depth two-dimensional pan-tilt platform according to claim 3, characterized in that: The first linkage assembly includes a first worm wheel and a first worm. The first worm is mounted on the support base via a bearing rolling support. The first worm is linked to the rotating magnetic coupling transmission motor. The first worm wheel is mounted at the bottom end of the support tube.

5. The full-sea-depth two-dimensional pan / tilt platform according to claim 4, characterized in that: The rotation adjustment mechanism comprises a worm mounting seat, both ends of the first worm are rollingly supported by bearings and mounted on the worm mounting seat, and the worm mounting seat is fixedly mounted on the support base.

6. The full-sea-depth two-dimensional pan-tilt platform according to claim 3, 4 or 5, characterized in that: The support cylinder is mounted on the support base through a bearing.

7. The full-sea-depth two-dimensional pan-tilt platform according to claim 3, characterized in that: The second linkage assembly includes a U-shaped support frame, a screw rod, a screw rod nut and a connecting rod bracket, the support tube is fixedly connected to the U-shaped support frame, the screw rod is installed on the U-shaped support frame, and both ends of the screw rod are rollingly supported by bearings; the pitch magnetic coupling transmission motor is linked to the screw rod, the screw rod nut is installed on the screw rod, the screw rod nut is rotatably connected to one end of the connecting rod bracket, the other end of the connecting rod bracket is rotatably connected to a rotating shaft of the load support platform, and the other rotating shaft of the load support platform is rotatably connected to the U-shaped support frame.

8. The full-sea-depth two-dimensional pan-tilt platform according to claim 3, characterized in that: The second linkage assembly includes a second worm wheel, a second worm wheel fixed shaft, a second worm and a pitch support seat. The second worm is vertically mounted on the pitch support seat through a bearing rolling support. The second worm is linked to the pitch magnetic coupling transmission motor. The second worm wheel is fixedly connected to the second worm wheel fixed shaft. The second worm wheel fixed shaft is rotatably connected to the pitch support seat. The load support platform is fixedly mounted on the second worm wheel fixed shaft, and the pitch support seat is fixedly mounted on the support cylinder.

9. The full-sea-depth two-dimensional pan-tilt platform according to claim 8, characterized in that: The second linkage assembly includes a bearing support seat, the bearing support seat is fixedly connected to the pitch support seat, and the second worm gear fixed shaft is installed on the bearing support seat via a bearing rolling support.

10. The full-sea-depth two-dimensional pan-tilt platform according to claim 8, characterized in that: The ends of both sides of the worm gear fixed shaft are polygonal structures, and the load supporting platform is fixedly installed on the polygonal structure of the worm gear fixed shaft via a load supporting platform fixing seat.

Images