CN110768455A - Full-sea-depth magnetic coupling double-output transmission motor and full-sea-depth three-dimensional tripod head - Google Patents
Full-sea-depth magnetic coupling double-output transmission motor and full-sea-depth three-dimensional tripod head Download PDFInfo
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- CN110768455A CN110768455A CN201910943793.3A CN201910943793A CN110768455A CN 110768455 A CN110768455 A CN 110768455A CN 201910943793 A CN201910943793 A CN 201910943793A CN 110768455 A CN110768455 A CN 110768455A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K49/00—Dynamo-electric clutches; Dynamo-electric brakes
- H02K49/10—Dynamo-electric clutches; Dynamo-electric brakes of the permanent-magnet type
- H02K49/104—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element
- H02K49/106—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element with a radial air gap
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Abstract
The invention discloses a full-sea-depth magnetic coupling double-output transmission motor and a full-sea-depth three-dimensional tripod head, wherein the double-output transmission motor comprises two transmission motors, each transmission motor comprises an outer magnetic rotor, an outer magnetic rotor mounting shell, an inner magnetic rotor mounting shaft, a tripod head motor, an isolation sleeve, a middle cylinder, a rear end cover and a watertight connector, the outer magnetic rotor is connected with the outer magnetic rotor mounting shell, and the outer magnetic rotor mounting shell is mounted on the outer side of the isolation sleeve through a bearing; the isolation sleeve, the middle cylinder, the rear end cover and the watertight connector form a closed cabin body, and the holder motor is positioned in the closed cabin body and is arranged on the middle cylinder; the inner magnetic rotor is arranged on an inner magnetic rotor mounting shaft which is connected to a tripod head motor shaft, the inner magnetic rotor mounting shaft extends into a bearing in a cavity on the inner side of the isolation sleeve, and the rear end covers of the two transmission motors are fixed together or form a connecting end cover. Long working time, low power consumption, low noise, low cost, light weight and fast response speed.
Description
Technical Field
The invention relates to the technical field of underwater transmission and observation platforms, in particular to a full-sea-depth magnetic coupling double-output transmission motor and a full-sea-depth three-dimensional tripod head.
Background
The full-sea depth camera is one of the most effective means for obtaining visual images by underwater observation. The field of view of the fixedly installed full-sea depth camera is often dependent on the landing posture of the carrying platform under the influence of the unevenness of the landform in the deep sea, the phenomenon that the field of view of the camera cannot cover the target area often exists, and the observation effect and the observation purpose are influenced.
The deep sea holder produced at home and abroad can be applied to the fields of underwater camera observation platforms, underwater sonar integrated platforms, ROV underwater robot platforms and the like, the working depth of the deep sea holder is very small in the whole sea depth, most of the working depth is not more than 6000 meters, the pitching and the rotation can be accurately positioned, and the deep sea holder is very expensive.
The existing deep sea cradle head adopts a pressure compensation type dynamic sealing technology. The technology is characterized in that a motor is immersed in a sealed cabin filled with oil, one end of the sealed cabin is connected with a pressure compensator, the pressure compensator is of a piston type structure, the pressure of the oil-filled sealed cabin and the external marine environment is balanced by utilizing the self-adaptive axial movement of the piston to the marine environment pressure, so that the oil-filled sealed cabin is sealed to the water of the motor, meanwhile, the torque output of the output shaft in a dynamic sealing mode is realized by utilizing the radial extrusion effect between the Glay ring and the motor output shaft, and the output torque directly drives a cradle head to perform pitching and rotation regulation. The technology is difficult to realize a long-term, stable and reliable operation mode due to the limitation of a deep-sea high-pressure environment.
The factors restricting the development of the deep sea underwater cradle head technology are the poor stability and reliability of the pressure compensation type dynamic seal transmission technology, and mainly have the following aspects:
(1) when the dynamic sealing ring is applied to the marine environment for a long time, the dynamic sealing ring is easy to generate fatigue wear and corrosion aging, so that the oil-filled sealed cabin leaks and the transmission fails;
(2) along with the increase of the submergence depth, the oil pressure in the oil-filled sealed cabin is increased, the oil density and the viscosity are also increased, so that the viscous resistance between the motor rotors is increased, and in addition, the radial extrusion friction force between the sealing ring and the output shaft exists, the total output efficiency of the motor is reduced, the power consumption is increased, and the noise is very large;
(3) the viscous resistance is not only increased along with the increase of the depth, but also is in direct proportion to the relative rotating speed between the motor rotors, and the higher the rotating speed is, the larger the viscous resistance is, so that the response speed of the underwater holder mechanism is slowed down.
Disclosure of Invention
Based on the technical problem, the invention aims to provide the full-sea-depth magnetic coupling double-output transmission motor and the full-sea-depth three-dimensional tripod head, which have the advantages of low power consumption, large transmission torque, high positioning precision, full-sea-depth pressure resistance, long underwater working time and stable and reliable motion.
In order to realize the purpose of the invention, the invention is realized by adopting the following technical scheme:
a full-sea-depth magnetic coupling double-output transmission motor comprises two single-output transmission motors, wherein each single-output transmission motor comprises an outer magnetic rotor, an outer magnetic rotor mounting shell, an inner magnetic rotor mounting shaft, a holder motor, an isolation sleeve, a middle cylinder, a rear end cover and a watertight connector, the outer magnetic rotor is fixedly connected with the outer magnetic rotor mounting shell, and the outer magnetic rotor mounting shell is mounted on the outer side of the isolation sleeve through a bearing; the isolation sleeve, the middle cylinder, the rear end cover and the watertight connector form a closed cabin body, the holder motor is positioned in the closed cabin body, and the holder motor is arranged on the middle cylinder; the inner magnetic rotor is arranged on the inner magnetic rotor mounting shaft which is fixedly connected to a motor shaft of the tripod head motor, the inner magnetic rotor mounting shaft extends into a bearing in a cavity on the inner side of the isolation sleeve, and the inner diameter of the cavity on the inner side of the isolation sleeve is smaller than that of the sealing cabin; the holder motor is used for driving the inner magnetic rotor to rotate, so that the outer magnetic rotor and the outer magnetic rotor mounting shell are driven to rotate together in a coupling mode; 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.
The full-sea-depth magnetic coupling double-output transmission motor is characterized in that sealing rings are arranged between the middle cylinder body and the isolating sleeve and between the middle cylinder body and the rear end cover.
A full-sea-depth three-dimensional tripod head, comprising: the pitching adjusting mechanism, the rolling adjusting mechanism and the rotating adjusting mechanism; the rotary adjusting mechanism comprises a base frame, a rotary supporting frame, a single-output transmission motor and a third linkage assembly, the single-output transmission motor is fixedly connected with the base frame, the rotary supporting frame is rotatably connected with the base frame, and the single-output transmission motor drives the rotary supporting frame to rotate through the third linkage assembly; the rolling pendulum adjusting mechanism comprises a lower connecting cylinder, a second motor of a double-output transmission motor, a rolling pendulum supporting frame and a second linkage assembly, the second motor is fixedly connected with the lower connecting cylinder, the rolling pendulum supporting frame is fixedly installed on the lower connecting cylinder, the second linkage assembly is arranged on the rolling pendulum supporting frame, and the output end of the second motor drives the rolling pendulum supporting frame to be rotatably connected with the rotary supporting frame through the second linkage assembly; every single move adjustment mechanism includes connecting cylinder, dual output drive motor's first motor, every single move braced frame, first linkage subassembly and load platform, first motor with go up connecting cylinder fixed connection, it has every single move braced frame to go up connecting cylinder fixed mounting, be provided with first linkage subassembly on the every single move braced frame, the output of first motor passes through first linkage subassembly drive load braced platform's every single move, go up connecting cylinder and lower connecting cylinder fixed connection.
The three-dimensional cloud platform of full sea depth as above, the third linkage subassembly includes rotatory worm wheel and the rotatory worm of meshing, rotatory worm wheel with rotatory support frame fixed connection, rotatory worm with base frame rotates and is connected, rotatory worm with the linkage of single output drive motor.
The full-sea-depth three-dimensional tripod head comprises the full-sea-depth three-dimensional tripod head, wherein the second linkage assembly comprises a rolling worm wheel and a rolling worm which are meshed with each other, an installation shaft of the rolling worm wheel is rotatably connected with the rolling support frame, the installation shaft of the rolling worm wheel is fixedly connected with the rotary support frame, the rolling worm is rotatably connected with the rolling support frame, and the rolling worm is linked with the second motor.
The full-sea-depth three-dimensional tripod head comprises a first linkage assembly and a second linkage assembly, wherein the first linkage assembly comprises a pitch worm wheel and a pitch worm which are meshed with each other, an installation shaft of the pitch worm wheel is rotatably connected with a pitch supporting frame, an installation shaft of the pitch worm wheel is fixedly connected with a load platform, the pitch worm is rotatably connected with the pitch supporting frame, and the pitch worm is linked with a first motor.
According to the full-sea-depth three-dimensional tripod head, the rotary supporting frame rotates around the Z axis, the rolling swing supporting frame rotates around the Y axis, and the load platform rotates around the X axis.
Compared with the prior art, the invention has the advantages and positive effects that:
the full-sea-depth magnetic coupling dual-output transmission motor adopts a magnetic coupling technology, realizes non-contact transmission of power through attraction and repulsion among permanent magnet materials of an outer magnetic rotor and an inner magnetic rotor in a transmission part, and realizes zero leakage of a sealed cabin by using static seal. The invention has the advantages of long working time, low power consumption, low noise, low cost, light weight and high response speed.
The three-dimensional tripod head under the full-sea deep water based on magnetic coupling transmission can effectively improve the intuition, stability and reliability of the underwater observation platform. The underwater three-dimensional tripod head is driven by a magnetic coupling transmission motor, realizes non-contact torque transmission in a dry cabin static sealing mode, can be applied to the full sea depth, and realizes rotation, rolling and pitching motion of the tripod head in three dimensional directions in the full sea depth space. The system can carry a camera system and a sonar system to carry out three-dimensional observation of ocean space, and effectively improves the stability, effectiveness and operating efficiency of ocean observation. The underwater live-broadcast video shooting system has the advantages of long underwater working time, low power consumption, low noise, low cost, light weight, high response speed and the like, and also has the advantage of omni-directional posture adjustment, and can carry out real-time online live broadcast on underwater images without subsequent image processing (namely cutting and rotating) for full-sea-depth video shooting, thereby greatly improving the effective shooting range.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a cross-sectional view of a full-sea deep-magnetic-coupling dual-output drive motor according to an embodiment of the present invention;
fig. 2 is a perspective view of a full-sea-depth three-dimensional pan/tilt head according to an embodiment of the present invention;
FIG. 3 is a schematic view of a full-sea-depth three-dimensional pan/tilt head according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
FIG. 5 is a cross-sectional view taken along line B-B of FIG. 3;
FIG. 6 is a cross-sectional view taken along line D-D of FIG. 3;
FIG. 7 is a cross-sectional view taken along line E-E of FIG. 3;
FIG. 8 is a schematic view of a spacer sleeve according to an embodiment of the present invention;
FIG. 9 is a schematic view of an outer magnetic rotor mounting shell in accordance with an embodiment of the present invention;
FIG. 10 is a schematic view of a magnetic pole distribution according to an embodiment of the present invention.
Description of reference numerals:
1-pitch adjusting mechanism 2-upper connecting cylinder 3-X, Y-axis integrated magnetic coupling motor 4-lower connecting cylinder 5-rolling adjusting mechanism 6-Z-axis magnetic coupling motor 7-rotation adjusting mechanism 8-load platform 9-pitch support frame 10-flange clamping ring 11-sand-proof mud-resistant water-permeable screen 12-pitch worm wheel 13-mounting shaft of pitch worm wheel 14-pitch worm 15-pitch bearing support base 16-pitch worm bearing plate 20-coupling I21-coupling II 221-rolling worm 22-rolling worm bearing support base 58-X, Y shaft integrated magnetic coupling motor connecting bolt 17-pitch adjusting mechanism mounting end cover 18-mounting shaft bearing support base 19 of pitch worm wheel-pitch socket 23-rolling support frame 231 A flange pressing ring 232, a sand-proof damping water-permeable screen 233, a rolling adjustment mechanism mounting end cover 24, a rolling worm gear 25, a rolling worm gear mounting shaft 26, a rolling socket 27, a rolling worm gear mounting shaft bearing support seat 28, a rotary support frame 29, a thrust ceramic bearing plate 30, a base frame 31, a base frame cover plate 32, a flange pressing ring 33, a sand-proof mud-resistant water-permeable screen 34, a rotary support frame lower support bearing pressing plate 35, a rotary support frame lower support bearing seat 36, a rotary worm wheel 37, a rotary worm 38, a rotary worm left support bearing seat 39, a rotary worm right support bearing seat 40, a coupler III 41, a Z-axis magnetic coupling motor mounting support 42 and a rotary worm wheel fixing bolt.
43-outer magnetic rotor mounting shell 44-spacer sleeve 45-outer magnetic rotor 46-inner magnetic rotor 47-sand-proof mud-blocking plate 49-sealing ring 50-middle cylinder 51-inner magnetic rotor mounting shaft 52-tripod head motor 53-rear end cover 54-watertight connector
1111-power output end 1112-fifth mounting part 1113-sixth mounting part 71-inner cavity; 72-the jacket body 73-the first mounting portion 74-the second mounting portion 75-the third mounting portion 76-the fourth mounting portion 77-the first ceramic bearing 78-the second ceramic bearing 79-the third ceramic bearing.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are merely for 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 thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, the full-sea-depth magnetic coupling dual-output transmission motor includes two single-output transmission motors.
The single-output transmission motor comprises an external magnetic rotor 45, an external magnetic rotor mounting shell 43, an internal magnetic rotor 46, an internal magnetic rotor mounting shaft 51, a tripod head motor 52, an isolation sleeve 44, a middle cylinder 50, a rear end cover 53 and a watertight connector 54.
As shown in fig. 10, the outer magnetic rotor 45 is composed of a ferromagnet, a yoke and an anti-corrosion metal layer, 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 arranged by uniformly staggering permanent magnets with different magnetic poles, and the groups are generally divided into 4-12 groups according to different magnetic coupling designs.
The outer magnetic rotor 45 is fixedly connected with the outer magnetic rotor mounting shell 43, and can be fixed together by gluing. The outer magnetic rotor mounting housing 43 is mounted outside the spacer sleeve 44 by means of bearings, in particular, by means of a first ceramic bearing 77 and a third ceramic bearing 79 mounted outside the spacer sleeve 44 so as to be freely rotatable about its central axis with respect to the spacer sleeve 44. A sand-proof damping plate 47 is provided at the third bearing 79 to protect the bearing.
The isolation sleeve 44, the middle cylinder 50, the rear end cap 53 and the watertight connector 54 form a sealed cabin. Wherein, sealing rings 49 are arranged between the middle cylinder 50 and the isolation sleeve 44 and between the middle cylinder 50 and the rear end cover 53.
The tripod head motor 52 is positioned in the closed cabin body, and the tripod head motor 52 is arranged on the middle cylinder body 50. The inner magnetic rotor 46 is mounted on the inner magnetic rotor mounting shaft 51, the inner magnetic rotor mounting shaft 51 is fixedly connected to the motor shaft of the pan/tilt motor 52, and 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 cavity 71 inside the isolation sleeve 44 is much smaller than the inner diameter of the sealed enclosure. The inner magnetic rotor mounting shaft 51 can freely rotate around the central axis thereof relative to the isolation sleeve 44, the inner magnetic rotor 46 and the outer magnetic rotor 45 are combined into a magnetic coupling body, and the tripod head motor 52 can drive the inner magnetic rotor 46 to rotate when being electrified and operated, so that the outer magnetic rotor 45 and the outer magnetic rotor mounting shell 43 are driven to rotate together by coupling, and non-contact transmission of torque is realized.
As shown in fig. 8, the insulating sleeve 44 of the present embodiment includes a sleeve body 72, a first mounting portion 73 at one end of the sleeve body 72, and a second mounting portion 74 at the other end of the sleeve body 72. An inner cavity 71 is formed in the sleeve body 72, the inner side of the sleeve body 72 is provided with the inner magnetic rotor 46, and the outer side of the sleeve body is provided with the outer magnetic rotor 45. The inner magnetic rotor mounting shaft 51 extends into the inner cavity 71, the inner magnetic rotor 46 is mounted on the inner magnetic rotor mounting shaft 51 extending into the inner cavity, and 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 cylindrical body 50. The first mounting portion 73 is further provided with a third mounting portion 75, the third mounting portion 75 is arranged coaxially with the sleeve body 72, 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 for mounting a third ceramic bearing 79. The second mounting portion 74 is used for mounting the first ceramic bearing 77, and the outer diameter of the second mounting portion 74 is smaller than that of the sleeve body 72. The bottom end of the inner cavity of the sleeve body 72 is provided with a fourth mounting part 76, the fourth mounting part 76 is used for mounting a second ceramic bearing 78, and the inner diameter of the fourth mounting part is smaller than that of the sleeve body 72.
As shown in fig. 9, the outer magnetic rotor mounting case 43 of the present embodiment includes a power take-off 1111, a fifth mounting portion 1112, and a sixth mounting portion 1113. Preferably, the power output 1111 has an outer diameter 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 for mounting the first ceramic bearing 77. The sixth mounting portion 1113 is provided on the inner side thereof with the outer magnetic rotor 45 and on the outer side thereof with the third ceramic bearing 79. The design of this embodiment can reduce the cavity volume of the sealed cabin body on the one hand greatly, improves compressive strength and rigidity, improves the stability of structure under the deep pressure environment of full sea, and on the other hand is applicable to under the deep sea, and the less cavity volume of isolation cover inboard in the isolation cover can reduce the thickness of isolation cover between interior magnetic rotor and outer magnetic rotor, is favorable to increasing the coupling torque between interior magnetic rotor and the outer magnetic rotor, improves the output of power moment of torsion. The rear end covers of the two single-output transmission motors are fixed together through a sealing ring (for example, fixed through X, Y shaft 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 the same connecting end cover, so that a double-output transmission motor is formed.
The embodiment adopts a magnetic coupling technology, realizes the non-contact transmission of power by the attractive force and repulsive force between permanent magnetic materials arranged on a driving electrode and a driven electrode in a transmission part, and realizes zero leakage of a sealed cabin by utilizing static seal. Preferably, the power transmitted by the transmission motor is matched with a speed reducing mechanism with a self-locking function, so that the stable rotation and the accurate positioning of the holder in three spatial dimension directions can be realized.
The full-sea-depth three-dimensional tripod head of the embodiment comprises a pitching adjusting mechanism 1, a rolling adjusting mechanism 5 and a rotating adjusting mechanism 7.
The rotary adjusting mechanism 7 comprises a base frame 30, a rotary supporting frame 28, a single-output transmission motor (a Z-axis magnetic coupling motor 6) and a third linkage assembly, the Z-axis magnetic coupling motor 6 is fixedly connected with the base frame 30, the rotary supporting frame 28 is rotatably connected with the base frame 30, and the Z-axis magnetic coupling motor 6 drives the rotary supporting frame 28 to rotate through the third linkage assembly.
The third linkage assembly comprises a rotary worm wheel 36 and a rotary worm 37 which are meshed with each other, the rotary worm wheel 36 is fixedly connected with the rotary supporting frame 28, the rotary worm 37 is rotatably connected with the base frame 30, and the rotary worm 37 is linked with a single-output transmission motor (Z-axis magnetic coupling motor 6).
The rolling pendulum adjusting mechanism 5 comprises a lower connecting cylinder 4, a second motor of a double-output transmission motor (an X-axis and Y-axis integrated magnetic coupling motor 3), a rolling pendulum supporting frame 23 and a second linkage assembly, the second motor is fixedly connected with the lower connecting cylinder 4, the rolling pendulum supporting frame 23 is fixedly installed on the lower connecting cylinder 4, the second linkage assembly is arranged on the rolling pendulum supporting frame 23, and the output end of the second motor drives the rolling pendulum supporting frame 23 to be rotatably connected with the rotary supporting frame 28 through the second linkage assembly.
The second linkage assembly comprises a rolling and swinging worm wheel 24 and a rolling and swinging worm 221 which are meshed with each other, a mounting shaft 25 of the rolling and swinging worm wheel is rotatably connected with the rolling and swinging support frame 23, the mounting shaft 25 of the rolling and swinging worm wheel is fixedly connected with the rotary support frame 28, the rolling and swinging worm 221 is rotatably connected with the rolling and swinging support frame 23, and the rolling and swinging worm 24 is linked with the second motor.
The pitching adjusting mechanism 1 comprises an upper connecting cylinder 2, a first motor of a double-output transmission motor (an X-axis and Y-axis integrated magnetic coupling motor 3), a pitching supporting frame 9, a first linkage assembly and a load platform 8, wherein the first motor is fixedly connected with the upper connecting cylinder 2, the pitching supporting frame 9 is fixedly installed on the upper connecting cylinder 2, the pitching supporting frame 9 is provided with the first linkage assembly, and the output end of the first motor drives the pitching movement of the load supporting platform 8 through the first linkage assembly. The upper connecting cylinder 2 and the lower connecting cylinder 4 are fixedly connected.
The first linkage assembly comprises a pitch worm wheel 12 and a pitch worm 14 which are meshed with each other, an installation shaft 13 of the pitch worm wheel is rotatably connected with the pitch support frame 9, the installation shaft 13 of the pitch worm wheel is fixedly connected with the load platform 8, the pitch worm 14 is rotatably connected with the pitch support frame 9, and the pitch worm 14 is linked with the first motor.
The rotary support frame 28 rotates around the Z axis, the rolling pendulum support frame 23 rotates around the Y axis, and the load platform 8 rotates around the X axis.
Specifically, as shown in fig. 2, the X-axis and 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 rotation, the lower output shaft drives the roll adjustment mechanism 5 to perform roll adjustment around the Y-axis rotation, and the Z-axis magnetic coupling motor 6 drives the rotation adjustment mechanism 7 to perform rotation adjustment around the Z-axis rotation, thereby realizing rotation adjustment with three-dimensional three degrees of freedom.
As shown in fig. 2, 3 and 4, two ends of the X-and Y-axis integrated magnetic coupling motor 3 are respectively fixedly connected with the upper connecting cylinder 2 and the lower connecting cylinder 4 through bolts, the upper connecting cylinder 2 and the lower connecting cylinder 4 are fixedly connected through bolts, and the upper connecting cylinder 2 and the lower connecting cylinder 4 are provided with semicircular hole grooves on connecting end surfaces, so that the watertight connector 54 on the X-and Y-axis integrated magnetic coupling motor 3 can be exposed. A pitching supporting frame 9 in the pitching adjusting mechanism 1 is fixedly arranged on the upper connecting cylinder 2 through bolts, and an end face flange on the lower connecting cylinder 4 is fixedly arranged on the rolling and swinging supporting frame 23 through bolts; an upper output shaft of the X-axis and Y-axis integrated magnetic coupling motor 3 is connected with one end of a pitching worm 14 in the pitching adjusting mechanism 1 through a coupling I20 in a key connection mode, and a lower output shaft of the X-axis and Y-axis integrated magnetic coupling motor 3 is connected with one end of a rolling worm 221 in the rolling adjusting mechanism 5 through a coupling II21 in a key connection mode.
As shown in fig. 2, 3, 4 and 5, the pitch worm gear 12 is circumferentially fixed with the mounting shaft 13 of the pitch worm gear through a key connection, and is axially mounted and fixed on a flange of the mounting shaft 13 of the pitch worm gear through a bolt, the mounting shaft 13 of the pitch worm gear is supported and mounted on the mounting shaft bearing support seat 18 of the pitch worm gear through a bearing, the mounting shaft bearing support seat 18 of the pitch worm gear is fixedly mounted on the pitch support frame 9 through a bolt, two extending ends of the mounting shaft 13 of the pitch worm gear are square shafts, and are respectively embedded into the pitch sockets 19 with square holes and are fixedly connected through a bolt reinforcement, and the pitch sockets 19 are fixedly connected to the support lug plate of the load platform 8 through bolts, so that the load platform 8 can synchronously rotate around the X axis together with the pitch sockets 19, the mounting shaft 13 of the pitch worm gear and; the pitching worm 14 is meshed with the pitching worm wheel 12, two ends of the pitching worm are supported by bearings and are respectively installed on the pitching supporting frame 9 and the pitching worm bearing supporting seat 15, the ceramic bearing and the pitching bearing pressing plate 16 are installed on the upper portion of the pitching worm bearing supporting seat 15, the pitching worm bearing supporting seat 15 and the pitching bearing pressing plate 16 are fixedly installed on the pitching supporting frame 9 through bolts, the lower end of the pitching worm 14 extends out to be connected with a coupler I20 through a flat key, the pitching supporting frame 9 is provided with a 500-mesh multilayer sand-proof mud-proof water-permeable screen 11 made of flange pressing rings 10 and 316L materials, and impurities in water can be prevented from entering the pitching supporting frame 9. The pitch support frame 9 is provided with a pitch adjustment mechanism mounting end cap 17.
As shown in fig. 4 and 6, the lower output shaft of the X-axis and Y-axis integrated magnetic coupling motor is in transmission connection with the protruding end of the roll-swing worm 221 through a coupling II21 by using a flat key connection manner, the roll-swing worm 221 is respectively installed on the roll-swing worm bearing support seat 22 and the roll-swing support frame 23 through bearing supports, the roll-swing worm bearing support seat 22 is fixedly installed on the roll-swing support frame 23 through bolts, and the roll-swing worm 221 can freely rotate around its own axis; the rolling worm gear 24 engaged with the rolling worm 221 is installed on the installation shaft 25 of the rolling worm gear through key connection and is axially and fixedly installed on the flange surface of the installation shaft 25 of the rolling worm gear through a bolt, the installation shaft 25 of the rolling worm gear is supported and installed on the installation shaft bearing supporting seat 27 of the rolling worm gear through a bearing, the installation shaft bearing supporting seat 27 of the rolling worm gear is fixedly installed on the rolling support frame 23 through a bolt, the extending ends of the two sides of the installation shaft 25 of the rolling worm gear are square shafts, embedded in the rolling socket 26 with the square holes formed therein and are fixedly connected through a bolt, the rolling socket 26 is fixed on the rotating support frame 28 through a bolt, therefore, the rotating support frame 28 and the rolling socket 26, the installation shaft 25 of the rolling worm gear and the rolling worm gear 24 are fixed around the Y shaft synchronously, when the output shaft of the X-Y shaft integrated magnetic coupling motor 3 drives the rolling worm 221 to rotate, the rolling worm 221 drives the rolling support frame 23 and the upper part of the rolling support frame to be meshed with the rolling worm wheel 24 together to rotate around the Y axis, and the rolling support frame 23 is provided with a flange pressing ring 231 and a 500-mesh multilayer sand-proof mud-blocking water-permeable screen 232 made of 316L materials, so that impurities in water can be prevented from entering the rolling support frame 23. The roll pendulum support frame 23 is provided with a roll pendulum adjustment mechanism mounting end cover 233.
As shown in fig. 6 and 7, the rotary support frame 28 is mounted on the base frame 30 through a thrust ceramic bearing and a deep groove ball ceramic bearing at the lower part, the thrust bearing is axially fixed through a 316L shaft elastic collar and a thrust ceramic bearing plate 29, the thrust ceramic bearing plate 29 is fixedly mounted on the base frame 30 through a bolt, the deep groove ball ceramic bearing is mounted on a rotary support frame lower support bearing seat 35, the rotary support frame lower support bearing seat 35 is fixedly mounted on the bottom plate of the base frame 30 through a bolt together with the rotary support frame lower support bearing pressure plate 34, the rotary support frame 28 is circumferentially fixed with the rotary worm wheel 36 through a key and is axially fixed with the rotary worm wheel 36 through a rotary worm wheel fixing bolt 42, so that the rotary support frame 28 and the rotary worm wheel 36 can synchronously rotate around the Z axis; the rotary worm 37 engaged with the rotary worm wheel 36 is supported and mounted on a rotary worm left supporting bearing seat 38 and a rotary worm right supporting bearing seat 39 through bearings, the rotary worm left supporting bearing seat 38 and the rotary worm right supporting bearing seat 39 are mounted and fixed on the base frame 30 through bolts, an extending end of one end of the rotary worm 37 is rotatably connected with the Z-axis magnetic coupling motor 6 through a coupling III40 in a flat key connection mode, the Z-axis magnetic coupling motor 6 is fixedly connected with a Z-axis magnetic coupling motor mounting bracket 41 through bolts, and the other end of the Z-axis magnetic coupling motor mounting bracket 41 is mounted and fixed on the base frame 30 through bolts. The base frame 30 is provided with a base frame cover plate 31, and the cover plate 31 is provided with a flange pressing ring 32 and a 500-mesh multilayer sand-proof mud-blocking water-permeable screen 33 made of 316L material, so that impurities in water can be prevented from entering the base frame 30.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (7)
1. A full-sea-depth magnetic coupling double-output transmission motor is characterized by comprising two single-output transmission motors, wherein each single-output transmission motor comprises an outer magnetic rotor, an outer magnetic rotor mounting shell, an inner magnetic rotor mounting shaft, a holder motor, an isolation sleeve, a middle cylinder, a rear end cover and a watertight connector, the outer magnetic rotor is fixedly connected with the outer magnetic rotor mounting shell, and the outer magnetic rotor mounting shell is mounted on the outer side of the isolation sleeve through a bearing; the isolation sleeve, the middle cylinder, the rear end cover and the watertight connector form a closed cabin body, the holder motor is positioned in the closed cabin body, and the holder motor is arranged on the middle cylinder; the inner magnetic rotor is arranged on the inner magnetic rotor mounting shaft which is fixedly connected to a motor shaft of the tripod head motor, the inner magnetic rotor mounting shaft extends into a bearing in a cavity on the inner side of the isolation sleeve, and the inner diameter of the cavity on the inner side of the isolation sleeve is smaller than that of the sealing cabin; the holder motor is used for driving the inner magnetic rotor to rotate, so that the outer magnetic rotor and the outer magnetic rotor mounting shell are driven to rotate together in a coupling mode; 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.
2. The all-sea-depth magnetic coupling dual-output transmission motor according to claim 1, wherein sealing rings are arranged between the middle cylinder and the isolation sleeve and between the middle cylinder and the rear end cover.
3. The utility model provides a three-dimensional cloud platform of full sea depth which characterized in that includes: the pitching adjusting mechanism, the rolling adjusting mechanism and the rotating adjusting mechanism; the rotary adjusting mechanism comprises a base frame, a rotary supporting frame, a single-output transmission motor and a third linkage assembly, the single-output transmission motor is fixedly connected with the base frame, the rotary supporting frame is rotatably connected with the base frame, and the single-output transmission motor drives the rotary supporting frame to rotate through the third linkage assembly; the rolling pendulum adjusting mechanism comprises a lower connecting cylinder, a second motor of a double-output transmission motor, a rolling pendulum supporting frame and a second linkage assembly, the second motor is fixedly connected with the lower connecting cylinder, the rolling pendulum supporting frame is fixedly installed on the lower connecting cylinder, the second linkage assembly is arranged on the rolling pendulum supporting frame, and the output end of the second motor drives the rolling pendulum supporting frame to be rotatably connected with the rotary supporting frame through the second linkage assembly; every single move adjustment mechanism includes connecting cylinder, dual output drive motor's first motor, every single move braced frame, first linkage subassembly and load platform, first motor with go up connecting cylinder fixed connection, it has every single move braced frame to go up connecting cylinder fixed mounting, be provided with first linkage subassembly on the every single move braced frame, the output of first motor passes through first linkage subassembly drive load braced platform's every single move, go up connecting cylinder and lower connecting cylinder fixed connection.
4. The full-sea-depth three-dimensional tripod head according to claim 3, wherein the third linkage assembly comprises a rotating worm wheel and a rotating worm which are meshed with each other, the rotating worm wheel is fixedly connected with the rotating support frame, the rotating worm is rotatably connected with the base frame, and the rotating worm is linked with the single-output transmission motor.
5. The full-sea-depth three-dimensional tripod head according to claim 3, wherein the second linkage assembly comprises a rolling and swinging worm wheel and a rolling and swinging worm which are meshed with each other, an installation shaft of the rolling and swinging worm wheel is rotatably connected with the rolling and swinging support frame, an installation shaft of the rolling and swinging worm wheel is fixedly connected with the rotating support frame, the rolling and swinging worm is rotatably connected with the rolling and swinging support frame, and the rolling and swinging worm is linked with the second motor.
6. The full-sea-depth three-dimensional tripod head according to claim 3, wherein the first linkage assembly comprises a pitch worm gear and a pitch worm, the pitch worm gear is rotatably connected with the pitch support frame through a mounting shaft, the pitch worm gear is fixedly connected with the load platform through a mounting shaft, the pitch worm is rotatably connected with the pitch support frame, and the pitch worm is linked with the first motor.
7. The full-sea-depth three-dimensional tripod head according to claim 3, wherein the rotary support frame rotates about a Z axis, the roll pendulum support frame rotates about a Y axis, and the load platform rotates about an X axis.
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| CN201910943793.3A CN110768455A (en) | 2019-09-30 | 2019-09-30 | Full-sea-depth magnetic coupling double-output transmission motor and full-sea-depth three-dimensional tripod head |
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| CN201910943793.3A CN110768455A (en) | 2019-09-30 | 2019-09-30 | Full-sea-depth magnetic coupling double-output transmission motor and full-sea-depth three-dimensional tripod head |
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| CN210898799U (en) * | 2019-09-30 | 2020-06-30 | 青岛海洋科学与技术国家实验室发展中心 | Full-sea-depth magnetic coupling double-output transmission motor and full-sea-depth three-dimensional tripod head |
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- 2019-09-30 CN CN201910943793.3A patent/CN110768455A/en active Pending
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| WO2011018009A1 (en) * | 2009-08-11 | 2011-02-17 | Yu Yali | Barrel-type permanent-magnet coupler with adjustable permanent-magnetic torque |
| CN103795171A (en) * | 2014-02-19 | 2014-05-14 | 哈尔滨工程大学 | Magnetic coupling dual-seal and synchronous transmission device for deepwater double-output-shaft motor |
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