Direct-driven full-rotation device and system and use method

Abstract

The invention provides a direct-drive type full-rotation device and system and a using method. The direct-drive type full-rotation device comprises a servo motor, a motor shaft, an aluminum alloy diaphragm coupling, an intermediate transmission shaft and a rotating shaft. The angle of the servo motor is accurately controlled in real time according to a set route and information fed back by a GPS and an attitude sensor, and stable heading control of the ship body is achieved; the servo motor transmits torque with the middle transmission shaft through the aluminum alloy diaphragm coupling, the motor rotates to directly drive the rotating shaft to rotate so as to change the direction of the tail end propeller, and the tail end propeller is directly driven to steer while overload of the motor is protected. Generation and transmission of large torque and high-precision angle control can be achieved, the heading angle of the ship body is accurately controlled according to feedback, and the device has the advantages of being simple in structure and convenient to maintain, integrally has the characteristic of small modular design and is convenient and fast to replace.

Description

Technical Field

[0001] The present invention belongs to the field of ship propulsion, and in particular, relates to a direct-drive full-rotation device, system and use method. Background Art

[0002] With the rapid and in-depth development of unmanned ships in surveying and mapping applications, in order to improve the maneuverability of the hull, achieve bow stability control, be suitable for operations in narrow waters, and reliably track and plan routes, azimuth thrusters have become the mainstream electric propulsion devices for catamarans with high stability of navigation performance, and are widely used in hull propulsion systems. Azimuth thrusters are usually composed of a steering device and an underwater thruster, the former realizing the propulsion and steering function, and the latter realizing the hull propulsion function.

[0003] At present, the more conventional steering devices are divided into hydraulic motor steering devices, electric motor steering devices and worm gear steering devices. Among them, the hydraulic motor steering device is composed of a hydraulic pump station, a hydraulic motor, a reduction box and a gear pair; the electric motor steering device is composed of a rotary motor, a reduction box and a gear pair; the worm gear steering device is composed of a hydraulic motor or a motor, a worm wheel and a worm; all three types of steering devices use a driving source as power input and a reduction mechanism as a reduction device to achieve the steering function, and are usually open-loop control. The above-mentioned steering devices usually have multi-stage transmission, the device is large in size, heavy in weight, and has low control angle accuracy. It cannot stably track the set route and is not suitable as a full-rotation mechanism for small catamarans used for surveying and mapping.

[0004] In the relevant prior art, patent document CN213229099U provides a 360° fully rotating inboard twin-engine counter-rotating propeller propulsion device. The 360° fully rotating device adopted in the patent document is composed of large and small gears, and the small gear is driven by multiple small motors or manpower to drive the large gear, thereby driving the large gear to rotate and realize rotation. It has the disadvantages of large size, multiple driving sources required, and low driving angle accuracy. It is only suitable for high-power and extra-high-power hulls with low control accuracy requirements.

[0005] Therefore, in order to meet the requirements of stable bow control of small catamarans for surveying and mapping so as to accurately track the planned survey line, it is necessary to design a full-rotation system that can provide large torque while being compact, light, easy to maintain, with high steering accuracy, and conducive to precise control of hull motion and stable bow control.

[0006] In view of the problems existing in the prior art, the present invention provides a direct-drive full-rotation device, system and use method, which can achieve high-precision rotation angle control and bow closed-loop stability control. Summary of the invention

[0007] In view of the defects in the prior art, an object of the present invention is to provide a steering device and a control system.

[0008] A direct-drive full-rotation device provided by the present invention comprises: a connecting plate 1, a motor mounting frame 2, an aluminum alloy diaphragm coupling 3, a motor shaft 4, a servo motor 5, an intermediate transmission shaft 7, an angular contact ball bearing 8, a back-stopping and anti-loosening round nut 10, a rotating shaft 12, and a needle roller bearing 15;

[0009] The motor mounting frame 2 is mounted on the upper part of the connecting plate 1, and the servo motor 5 is fixed to the motor mounting frame 2;

[0010] A motor shaft 4 is disposed below the servo motor 5, and the motor shaft 4 is fixedly connected to the intermediate transmission shaft 7 through an aluminum alloy diaphragm coupling 3;

[0011] The angular contact ball bearing 8 and the needle roller bearing 15 form a rotating pair; the inner ring of the angular contact ball bearing 8 is fixed to the step of the intermediate transmission shaft 7 by a retaining and anti-loosening round nut 10;

[0012] The lower part of the intermediate transmission shaft 7 is connected to the rotating shaft 12; a needle bearing 15 is installed on the rotating shaft 12, and a transition fit is formed between the two.

[0013] Preferably, the servo motor 5 includes a planetary reducer and is controlled by CAN communication. The servo motor 5 is fixed to the motor mounting frame 2 by M3 screws; the motor mounting frame 2 is installed on the upper part of the connecting plate 1 by M6 screws; a motor shaft 4 is provided under the servo motor 5, and the motor shaft 4 is fixedly connected to the intermediate transmission shaft 7 by an aluminum alloy diaphragm coupling 3, so as to transmit the rotation to the intermediate transmission shaft 7.

[0014] Preferably, the direct-drive full-rotation device further comprises: a motor cover 6;

[0015] The connecting plate 1 has a plurality of mounting holes, and the connecting plate 1 is mounted on the catamaran base by M10 screws. The motor cover 6 contains the servo motor 5 and the motor mounting frame 2 in the cover cavity of the motor cover 6, and is connected to the connecting plate 1, and sealing is achieved by adding a rubber ring between the mounting surfaces of the two. A wire outlet hole is left on the upper side of the motor cover 6 to facilitate external power supply and communication to the motor.

[0016] Preferably, the aluminum alloy diaphragm coupling 3 is of model DEG01; the needle roller bearing 15 is of model K657330; and the angular contact ball bearing 8 is of model 7911AC.

[0017] Preferably, the direct-drive full-rotation device further comprises: a bottom load-bearing conical cover 11, a bottom clamp 17, and a propeller 18;

[0018] The upper part of the rotating shaft 12 is connected to the bottom bearing conical cover 11 through a needle bearing 15 to transmit the thrust generated by the end propeller 18. The lower part of the rotating shaft 12 is provided with a clamp to fix the propeller 18 together with the bottom clamp 17;

[0019] The outer ring of the needle roller bearing 15 is installed on the inner wall of the bottom bearing conical cover 11 through interference fit. The bottom bearing conical cover 11 is fixed to the connecting plate 1 through multiple M6 screws. The bottom bearing conical cover 11 is designed in an inverted cone structure.

[0020] Preferably, the direct-drive full-rotation device further comprises: a bearing end cover 9;

[0021] The intermediate transmission shaft 7 has five steps, the upper step is the connection with the aluminum alloy diaphragm coupling 3, the middle step provides a fixed shoulder and thread for the axis of the angular contact ball 8, and the lower step allows the rotating shaft 12 to be easily connected to the intermediate transmission shaft 7;

[0022] The intermediate transmission shaft 7 fixes the inner ring of the angular contact ball bearing 8 by using the shaft step and the anti-loosening round nut 10; the outer ring of the angular contact ball bearing 8 is fixed to the connecting plate 1 through the bearing end cover 9;

[0023] The upper part of the rotating shaft 12 has a plurality of steps and is fixedly connected to the intermediate transmission shaft 7 by M8 screws 16; the lower part of the intermediate transmission shaft 7 is designed with a threaded hole;

[0024] The inner ring of the angular contact ball bearing 8 is fixed to the step of the intermediate transmission shaft 7 through a retaining and anti-loosening round nut 10, and the outer ring is fixed to the connecting plate 1 through a bearing end cover 9.

[0025] Preferably, the direct-drive full-rotation device further comprises: a bottom end cover 13, an O-ring 14;

[0026] The bottom end cover 13 has an installation groove for an O-ring 14, and an O-ring 14 is installed between the bottom end cover 13 and the rotating shaft 12. The bottom end cover 13 is connected to the lower part of the bottom load-bearing conical cover 11, and sealing is achieved by adding a rubber ring between the mounting surfaces of the two, so that a closed cavity is formed at the lower part of the connecting plate 1 by the bottom end cover 13, the bottom load-bearing conical cover 11, the connecting plate 1 and the motor cover 6.

[0027] A direct-drive azimuth system provided according to the present invention comprises the direct-drive azimuth device described above; the direct-drive azimuth system further comprises: a controller computing unit, a GPS device and a posture sensing device arranged on the catamaran.

[0028] Preferably, the direct-drive full-turn system is a catamaran, which is equipped with a GPS device for measuring the current position of the hull and a posture sensor device for measuring the hull posture, and is equipped with a controller calculation unit; for the bow stability control, the two rudder angles are consistent, and the current hull measurement line trajectory position is set to x t ,y t The actual position of the ship is obtained by GPS as x n ,y n , then the target heading of the ship can be calculated as:

[0029]

[0030] The current hull attitude returned by the attitude sensor is The PI controller is used to calculate the rudder angle of the catamaran stern full-turn device according to the heading angle deviation, so as to realize the bow stability control of the catamaran during navigation.

[0031] The PI controller adjusts the angle of the servo motor 5 accurately and in real time according to the set route and the feedback information from the GPS and attitude sensor, so as to achieve stable bow control of the ship.

[0032] A method for using a direct-drive full-rotation device provided by the present invention is characterized by comprising:

[0033] The servo motor 5, the motor shaft 4, the aluminum alloy diaphragm coupling 3, the intermediate transmission shaft 7 and the rotating shaft 12 form the main structure of the direct-drive full-rotation device, forming a full-rotation shaft with only one rotational degree of freedom, and the angular contact ball bearing 8 bears the axial load, and the needle bearing 15 bears the radial load, so that the rotor of the servo motor 5 rotates to drive the rotating shaft 12, thereby realizing the full-rotation movement of the propeller 18. The huge thrust generated by the action of the propeller 18 and the water is transmitted to the bottom bearing conical cover 11 through the needle bearing 15, and then transmitted to the connecting plate 1 by the bottom bearing conical cover 11, thereby driving the catamaran to move;

[0034] After removing the motor cover 6, loosen the fastening screws of the aluminum alloy diaphragm coupling 3 on the outside, and remove the three screws on the motor mounting frame 2 to disassemble all the structures on the upper part of the connecting plate 1, and replace and maintain the coupling or motor;

[0035] After the motor cover 6 is disassembled, lubricating oil is added to the angular contact ball bearing 8 and the needle roller bearing 15 at the lower part of the connecting plate 1.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1. The controller of the present invention accurately controls the servo motor angle in real time according to the set route and the feedback information from GPS and attitude sensors to achieve stable bow control of the ship;

[0038] 2. The servo motor of the present invention transmits torque to the intermediate transmission shaft through the aluminum alloy diaphragm coupling. The rotation of the motor directly drives the rotation of the rotating shaft to change the direction of the terminal propeller. While protecting the motor from overload, it directly drives the terminal propeller to turn. There is no intermediate mechanical transmission link, the power transmission is simple, the overall device is compact, environmentally friendly, low-noise, and the angle transmission is accurate;

[0039] 3. The device of the present invention has a small size, a simple internal structure, a light overall weight, and is convenient for later maintenance. A rotating pair is formed by an angular contact ball bearing and a needle bearing, which can transmit a large thrust while having rotational freedom.

[0040] 4. In view of the technical problems existing in the prior art such as large device size, multiple required driving sources, and low driving angle accuracy, the present invention adopts a large-torque private service motor to directly drive the propeller to rotate in a small catamaran for surveying and mapping, which greatly reduces the intermediate power transmission links, making the rotating device small in size, light in weight, and high in driving accuracy. It forms a closed-loop control by combining with shipborne equipment such as GPS and inertial navigation, greatly improving the accuracy of the hull tracking and setting track, thereby providing underwater terrain surveying and mapping accuracy. Compared with the prior art that is only applicable to high-power and extra-high-power hulls with low control accuracy requirements, the present invention has a wider range of applications, a smaller size, and higher accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0042] Figure 1 It is a schematic cross-sectional structure diagram of the direct-drive full-rotation device of the present invention.

[0043] Figure 2 It is a schematic diagram of the top view of the structure of the direct-drive full-rotation device of the present invention.

[0044] Figure 3 It is a schematic diagram of the shaft side structure of the direct-drive full-rotation device of the present invention.

[0045] Figure 4 It is a schematic diagram of the cross-sectional structure of the intermediate transmission shaft of the present invention.

[0046] Figure 5 It is a schematic diagram of the cross-sectional structure of the rotating shaft of the present invention.

[0047] Figure 6 This is a block diagram of the heading stability control system of the present invention.

[0048] Figure 7 This is an example diagram of the use of the full-rotation device of the present invention.

[0049] The figure shows:

[0050] DETAILED DESCRIPTION

[0051] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0052] Embodiments of the present invention provide a direct-drive full-rotation device, system, and use method.

[0053] like Figure 1 As shown, an embodiment of the present invention provides a direct-drive full-rotation device, including: a connecting plate 1, a motor mounting frame 2, an aluminum alloy diaphragm coupling 3, a motor shaft 4, a servo motor 5, a motor cover 6, an intermediate transmission shaft 7, an angular contact ball bearing 8, a bearing end cover 9, a retaining and anti-loosening round nut 10, a bottom load-bearing conical cover 11, a rotating shaft 12, a bottom end cover 13, an O-ring 14, a needle bearing 15 and an M8 screw 16; the servo motor 5 is a high-torque servo motor.

[0054] The servo motor 5 contains a high-strength planetary reducer with a rated torque of 48Nm, is controlled by CAN communication, and can provide a torsional torque of up to 120Nm. It is fixed to the motor mounting frame 2 by M3 screws; the motor mounting frame 2 is installed on the upper part of the connecting plate 1 by M6 screws to fix the motor; the circular motor cover 6 contains the servo motor 5 and the motor mounting frame 2 in the cover cavity, and is connected to the connecting plate 1, and a simple seal is achieved by adding a rubber ring between the mounting surfaces of the two; a wire outlet hole is left on the upper side of the circular motor cover 6 so that The motor is powered and communicated externally, and six mounting holes with a diameter of 11 mm are designed on the connecting plate 1. The connecting plate 1 can be installed on the catamaran base by M10 screws; a motor shaft 4 is arranged under the servo motor 5, and the motor shaft 4 is fixedly connected to the intermediate transmission shaft 7 through an aluminum alloy diaphragm coupling 3, and the rotation is transmitted to the intermediate transmission shaft 7. The aluminum alloy diaphragm coupling 3 can protect the servo motor 5 from overload and provide high-precision rotation angle transmission; the rotation of the motor directly drives the rotation shaft to rotate, thereby changing the thrust direction of the terminal propeller 18, and realizing the full rotation function.

[0055] Furthermore, the model of the aluminum alloy diaphragm coupling 3 can be DEG01; the aluminum alloy diaphragm coupling 3 has light weight, excellent corrosion resistance, high strength and rigidity, can protect the servo motor 5 from overload and provide high-precision rotation angle transmission, can reduce the vibration and noise caused by slight deviations between bearings, and improve the smoothness of transmission.

[0056] Furthermore, the upper part of the rotating shaft 12 is connected to the bottom load-bearing conical cover 11 through a needle bearing 15 to transmit the thrust generated by the end propeller 18, and the lower part of the rotating shaft 12 and the bottom clamp 17 jointly fix the propeller 18; specifically, a K657330 needle bearing 15 is installed on the rotating shaft 12, and the two are transitionally matched.

[0057] Furthermore, the intermediate transmission shaft 7 is designed with 5 steps, the upper step is the connection with the aluminum alloy diaphragm coupling 3, the middle step provides a fixed shoulder and thread for the axis of the angular contact ball 8, and the lower step allows the rotating shaft 12 to be easily connected to the intermediate transmission shaft 7.

[0058] The intermediate transmission shaft 7 uses shaft steps and anti-loosening round nuts 10 to fix the inner ring of the angular contact ball bearing 8; the outer ring of the angular contact ball bearing 8 is fixed to the connecting plate 1 through the bearing end cover 9; the specific model of the angular contact ball bearing 8 can be 7911AC, which can provide the intermediate transmission shaft 7 with rotational freedom along the axial direction and withstand large radial loads and vertical loads; the upper part of the rotating shaft 12 is designed with multiple steps, which is fixedly connected to the intermediate transmission shaft 7 by four M8 screws 16, so as to transmit rotational torque and vertical loads; further, the upper part of the intermediate transmission shaft 7 is designed with multiple step shafts and threads to install and fix the angular contact bearing 8, which provides rotational freedom and vertical bearing capacity, and the lower part of the intermediate transmission shaft 7 is designed with threaded holes, which are connected to the rotating shaft 12 through M8 screws 16; further, the inner ring of the angular contact ball bearing 8 is fixed to the step of the intermediate transmission shaft 7 by the anti-loosening round nuts 10, and the outer ring is fixed to the connecting plate 1 through the bearing end cover 9; the needle shaft The outer ring of the bearing 15 is installed on the inner wall of the bottom bearing conical cover 11 through interference fit. The needle roller bearing 15 constrains the freedom of the rotating shaft 12, so that the rotating shaft 12 has only one axial rotational freedom and one axial movement freedom, and can withstand most of the radial forces of the rotating shaft 12; the bottom bearing conical cover 11 is fixed to the connecting plate 1 by six M6 screws. The bottom bearing conical cover 11 is designed in an inverted cone structure, which can well transmit the radial force on the needle roller bearing 15 to the connecting plate 1, and has good structural strength; An installation groove for an O-ring 14 is designed in the bottom end cover 13, and an O-ring 14 is installed between the bottom end cover 13 and the rotating shaft 12. The bottom end cover 13 is connected to the lower part of the bottom load-bearing conical cover 11, and sealing is achieved by adding a rubber ring between the mounting surfaces of the two. Thus, at the lower part of the connecting plate 1, a closed cavity is formed by the bottom end cover 13, the bottom load-bearing conical cover 11, the connecting plate 1 and the motor cover 6 to prevent water from entering the interior of the full-revolving device during navigation; a clamp is provided at the lower part of the rotating shaft 12, which cooperates with the bottom clamp 17 to fix the propeller 18.

[0059] The present invention will be described in more detail below:

[0060] The embodiment of the present invention further provides a method for using a direct-drive full-rotation device, which uses the direct-drive full-rotation device provided by the present invention, and includes:

[0061] Step S1: The servo motor 5, the motor shaft 4, the aluminum alloy diaphragm coupling 3, the intermediate transmission shaft 7 and the rotating shaft 12 form the main structure of the direct-drive full-rotation device, forming a full-rotation shaft with only one rotational degree of freedom, and the angular contact ball bearing 8 bears the axial load, and the needle bearing 15 bears the radial load, so that the rotor of the servo motor 5 rotates to drive the rotating shaft 12, thereby realizing the full-rotation movement of the propeller 18. The huge thrust generated by the action of the propeller 18 and the water is transmitted to the bottom bearing conical cover 11 through the needle bearing 15, and then transmitted to the connecting plate 1 by the bottom bearing conical cover 11, thereby driving the catamaran to move;

[0062] Step S2: After disassembling the motor cover 6, loosen the fastening screws of the aluminum alloy diaphragm coupling 3 on the outside, and remove the three screws on the motor mounting frame 2 to disassemble all the structures on the upper part of the connecting plate 1, so that the coupling or the motor can be easily replaced and maintained;

[0063] Step S3: After disassembling the motor cover 6, lubricating oil can be conveniently added to the angular contact ball bearing 8 and the needle bearing 15 at the lower part of the connecting plate 1.

[0064] like Figure 6 , Figure 7 As shown, the embodiment of the present invention also provides a direct-drive full-turn system, including the direct-drive full-turn system provided by the present invention; and also includes: a controller computing unit, a GPS device and an attitude sensor device arranged on a catamaran; the direct-drive full-turn system is mainly used in catamarans, and the catamaran is equipped with a GPS device for measuring the current position of the hull and an attitude sensor device for measuring the hull attitude, and is equipped with a controller computing unit. Assuming that the two rudder angles are consistent for bow stability control, the current setting of the hull measurement line trajectory position is (x t ,y t ), the actual position of the ship is obtained by GPS as (x n ,y n ), then the target heading of the ship can be calculated as:

[0065]

[0066] The current hull attitude returned by the attitude sensor is The PI controller is used to calculate the rudder angle of the catamaran's stern full-turn device according to the heading angle deviation, thereby achieving stable bow control of the catamaran during navigation; further, the PI controller accurately adjusts the angle of the servo motor 5 in real time according to the set route and the feedback information from the GPS and attitude sensor, thereby achieving stable bow control of the hull.

[0067] Furthermore, the servo motor 5 weighs only 850g and is 61.9mm thick. It integrates a driver, an encoder and a high-precision planetary reducer internally, with a maximum angular accuracy of 0.18°. It can provide a UART or CAN high-speed communication interface for fast and accurate communication control.

[0068] The direct-drive full-rotation device provided by the present invention can be directly installed on the rear of the catamaran through the six mounting holes on the connecting plate 1, which is convenient for disassembly and replacement, and can transmit the high thrust of the propeller 18 to the catamaran to drive the hull to move. The hull only needs to provide 48V power supply for the servo motor 5, and the full-rotation device can be controlled at high speed and reliably through two CAN lines. The high-precision full-rotation device can provide hardware support and guarantee for the excellent functions of the catamaran such as bow stability control, narrow water passage and dynamic positioning.

[0069] In summary, the embodiment of the present invention provides a direct-drive full-rotation device and system, including: an aluminum alloy diaphragm coupling 3, a servo motor 5, an intermediate transmission shaft 7, and a rotating shaft 12; the servo motor 5 transmits torque to the intermediate transmission shaft 7 through the aluminum alloy diaphragm coupling 3; the rotation of the servo motor 5 directly drives the rotating shaft 12 to rotate, thereby changing the direction of the terminal propeller 18, and directly drives the terminal propeller 18 to turn while protecting the servo motor 5 from overload, without an intermediate mechanical transmission link, the power transmission is simple, the device is compact, environmentally friendly, low-noise, and the angle transmission is accurate; it is suitable for catamarans, the device is small in size, simple in internal structure, light in overall weight, and convenient for later maintenance, the angular contact ball bearing 8 and the needle bearing 15 form a rotating pair, which can transmit large thrust while having rotational freedom; a large torque servo motor is used to directly drive the propeller to rotate, which greatly reduces the intermediate transmission link, so that the rotating device is small in size, light in weight, and high in driving accuracy; the overall direct-drive full-rotation device is combined with shipborne equipment such as GPS and inertial navigation to form a closed-loop control, which greatly improves the accuracy of the hull tracking set track, thereby providing high-precision underwater terrain mapping.

[0070] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0071] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A direct-drive full-rotation device, characterized in that: include: A connecting plate (1), a motor mounting frame (2), an aluminum alloy diaphragm coupling (3), a motor shaft (4), a servo motor (5), an intermediate transmission shaft (7), an angular contact ball bearing (8), a retaining and anti-loosening round nut (10), a rotating shaft (12), and a needle roller bearing (15); The motor mounting frame (2) is mounted on the upper part of the connecting plate (1), and the servo motor (5) is fixed to the motor mounting frame (2); A motor shaft (4) is arranged below the servo motor (5), and the motor shaft (4) is fixedly connected to the intermediate transmission shaft (7) via an aluminum alloy diaphragm coupling (3); The angular contact ball bearing (8) and the needle roller bearing (15) form a rotating pair; the inner ring of the angular contact ball bearing (8) is fixed to the step of the intermediate transmission shaft (7) by means of a retaining and anti-loosening round nut (10); The lower part of the intermediate transmission shaft (7) is connected to the rotating shaft (12); a needle bearing (15) is installed on the rotating shaft (12), and a transition fit is formed between the two.

2. The direct-drive full-rotation device according to claim 1, characterized in that: The servo motor (5) includes a planetary reducer and is controlled by CAN communication. The servo motor (5) is fixed to the motor mounting frame (2) by M3 screws; the motor mounting frame (2) is mounted on the upper part of the connecting plate (1) by M6 screws; a motor shaft (4) is arranged below the servo motor (5), and the motor shaft (4) is fixedly connected to the intermediate transmission shaft (7) by an aluminum alloy diaphragm coupling (3), so that the rotation is transmitted to the intermediate transmission shaft (7).

3. The direct-drive full-rotation device according to claim 1, characterized in that: Also includes: Motor cover (6); The connecting plate (1) has a plurality of mounting holes, and the connecting plate (1) is mounted on the catamaran base by means of M10 screws; the motor cover (6) contains the servo motor (5) and the motor mounting frame (2) in the cover cavity of the motor cover (6), and is connected to the connecting plate (1), and sealing is achieved by adding a rubber ring between the mounting surfaces of the two; a wire outlet hole is reserved on the upper side of the motor cover (6) to facilitate external power supply and communication to the motor.

4. The direct-drive full-rotation device according to claim 1, characterized in that: The model of the aluminum alloy diaphragm coupling (3) is DEG01; the model of the needle roller bearing (15) is K657330; and the model of the angular contact ball bearing (8) is 7911AC.

5. The direct-drive full-rotation device according to claim 1, characterized in that: Also includes: A bottom load-bearing conical cover (11), a bottom clamp (17), and a thruster (18); The upper part of the rotating shaft (12) is connected to the bottom load-bearing conical cover (11) through a needle bearing (15) to transmit the thrust generated by the end propeller (18). The lower part of the rotating shaft (12) is provided with a clamp to fix the propeller (18) together with the bottom clamp (17); The outer ring of the needle roller bearing (15) is installed on the inner wall of the bottom load-bearing conical cover (11) through interference fit, and the bottom load-bearing conical cover (11) is fixed to the connecting plate (1) through a plurality of M6 screws. The bottom load-bearing conical cover (11) is designed in an inverted cone structure.

6. The direct-drive full-rotation device according to claim 1, characterized in that: Also includes: Bearing end cover (9); The intermediate transmission shaft (7) has five steps, the upper step is the connection with the aluminum alloy diaphragm coupling (3), the middle step provides a fixed shoulder and thread for the axis of the angular contact ball (8), and the lower step allows the rotating shaft (12) to be easily connected to the intermediate transmission shaft (7); The intermediate transmission shaft (7) fixes the inner ring of the angular contact ball bearing (8) by means of a shaft step and a retaining and anti-loosening round nut (10); the outer ring of the angular contact ball bearing (8) is fixed to the connecting plate (1) via a bearing end cover (9); The upper portion of the rotating shaft (12) has a plurality of steps and is fixedly connected to the intermediate transmission shaft (7) by M8 screws (16); the lower portion of the intermediate transmission shaft (7) is designed with a threaded hole; The inner ring of the angular contact ball bearing (8) is fixed to the step of the intermediate transmission shaft (7) through a retaining and anti-loosening round nut (10), and the outer ring is fixed to the connecting plate (1) through a bearing end cover (9).

7. The direct-drive full-rotation device according to claim 5, characterized in that: Also includes: Bottom end cover (13), O-ring (14); The bottom end cover (13) has an O-ring (14) installation groove in it, and an O-ring (14) is installed between the bottom end cover (13) and the rotating shaft (12). The bottom end cover (13) is connected to the lower part of the bottom load-bearing conical cover (11), and sealing is achieved by adding a rubber ring between the installation surfaces of the two, so that a closed cavity is formed at the lower part of the connecting plate (1) by the bottom end cover (13), the bottom load-bearing conical cover (11), the connecting plate (1) and the motor cover (6).

8. A direct drive full rotation system, characterized in that: A direct-drive azimuth device as claimed in any one of claims 1 to 7 is adopted; the direct-drive azimuth system further comprises: a controller computing unit, a GPS device and a posture sensing device arranged on the catamaran.

9. The direct-drive full-rotation system according to claim 8, characterized in that: The catamaran is equipped with a GPS device for measuring the current position of the hull and a posture sensor device for the hull posture, and a controller calculation unit; for the bow stability control, the two rudder angles are consistent, and the current setting of the hull measurement line trajectory position is (x t ,y t ), the actual position of the ship is obtained by GPS as (x n ,y n ), then the target heading of the ship can be calculated as: The current hull attitude returned by the attitude sensor is The PI controller is used to calculate the rudder angle of the catamaran stern full-turn device according to the heading angle deviation, so as to realize the bow stability control of the catamaran during navigation. The PI controller accurately adjusts the angle of the servo motor (5) in real time according to the set route and the information fed back by the GPS and the attitude sensor, thereby achieving stable bow control of the ship.

10. A method for using the direct-drive full-rotation device according to any one of claims 1 to 7, characterized in that: include: The servo motor (5), the motor shaft (4), the aluminum alloy diaphragm coupling (3), the intermediate transmission shaft (7) and the rotating shaft (12) form the main structure of the direct-drive full-rotation device, forming a full-rotation shaft with only one rotational degree of freedom, and bearing axial loads through the angular contact ball bearing (8), and bearing radial loads through the needle bearing (15), so that the rotor of the servo motor (5) rotates to drive the rotating shaft (12), thereby realizing the full-rotation movement of the propeller (18), and the huge thrust generated by the action of the propeller (18) and water is transmitted to the bottom bearing conical cover (11) through the needle bearing (15), and then transmitted to the connecting plate (1) by the bottom bearing conical cover (11), thereby driving the catamaran to move; After removing the motor cover (6), loosen the fastening screws of the aluminum alloy diaphragm coupling (3) on the outside, and remove the three screws on the motor mounting frame (2) to dismantle all the structures on the upper part of the connecting plate (1) to replace and maintain the coupling or motor; After removing the motor cover (6), add lubricating oil to the angular contact ball bearing (8) and the needle roller bearing (15) at the lower part of the connecting plate (1).

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