KR100487689B1 - Device for transmitting power of submerged camera - Google Patents

Abstract

A power transmission mechanism of an underwater photographing apparatus is disclosed. The power transmission mechanism of such an underwater photographing apparatus has a body on which a first magnet, in which magnets having different polarities are arranged next to each other, is continuously mounted, and rotatably mounted on one side of the body, and magnets having different polarities are different from each other. A second magnet is disposed adjacent to each other, and the first magnets are mounted so that the polarities correspond to each other. When the second magnet rotates, the attraction force and the repulsive force alternately by a magnetic field change with the first magnet. Thus, a rotational force is generated, and a rotating part which rotates about the axial direction of the body and a third magnet which protrudes from the rotating part and rotates when the rotating part rotates, and magnets having different polarities are arranged next to each other. And a rotatably mounted support and different from each other. A fourth magnet in which a magnet having a polarity is arranged adjacent to each other is mounted, and the polarities of the fourth magnet are mounted to the third magnet so as to correspond to each other, so that the magnetic field changes with the fourth magnet when the third magnet rotates. It includes a tilting portion that rotates relative to the support by the attraction force and the repulsive force alternately acting on the fourth magnet.

Description

Power transfer mechanism for underwater cameras {DEVICE FOR TRANSMITTING POWER OF SUBMERGED CAMERA}

The present invention relates to a power transmission mechanism of an underwater photographing apparatus, and more particularly, a magnet is provided at each joint of the power transmission mechanism to indirectly operate the power by pulling or pushing each joint by the attraction force and the repulsive force caused by the magnetic field change. The present invention relates to a power transmission mechanism of an underwater photographing apparatus that can be remotely controlled by transmission.

In general, exploration of the seabed or groundwater has many environments that are difficult for humans to access and work with. Therefore, underwater imaging devices are used in place of humans. The underwater photographing apparatus includes a robot arm having a structure capable of remote control, that is, a multi-joint structure, a camera mounted on the robot arm, and a power source for driving the robot arm. Therefore, humans can explore the inside of the seabed, groundwater, etc. that are difficult for humans to access by using the underwater photographing apparatus having the above structure.

By the way, when working in the deep sea using such an underwater photographing device, there is a problem of the water pressure according to the depth, so that the mechanical and electrical structure of the various power transmission parts using a mechanical seal that can withstand water pressure This prevents smudges.

In addition, as the waterproofing device moves deeper into the deep sea, the water pressure increases, so that the size of the waterproofing device is inevitably increased. Therefore, these underwater cameras were forced to be applied only to manned submersibles or deep sea large robots due to their size.

However, such manned submersibles or deep sea large robots are virtually impossible to work in small workspaces such as groundwater. In addition, the use of such a submersible in the work that does not require the use of such a submersible submersible, there is a problem that the shooting cost, etc. rises.

In addition, there is a problem that the waterproof of the cable for transmitting power and signals to the underwater camera device is difficult.

Accordingly, the present invention has been proposed to solve the above problems, an object of the present invention is to completely seal the inside of the joint of the robot arm and to attach the magnets to both sides of the inside of the joint, respectively, indirect power to transfer the force by the magnetic force The application of the transmission method provides a power transmission mechanism that can operate in the deep sea regardless of the water pressure.

Another object of the present invention is to provide a power transmission mechanism operable in a deep sea irrespective of water pressure by hermetically sealing power and signal transmission cables.

In order to realize the object of the present invention, a preferred embodiment of the present invention includes a body that is equipped with a first magnet that is arranged continuously adjacent to each other magnets having different polarity; A second magnet is rotatably mounted on one side of the body, and magnets having different polarities are disposed adjacent to each other, and the second magnets are rotatably mounted to correspond to each other. When the rotational force is generated by alternating the attraction force and the repulsive force by the magnetic field change with the first magnet to rotate the rotational movement about the axial direction of the body; A support part protruding from the rotation part to rotate when the rotation part is rotated, and to which a third magnet having magnets having different polarities are arranged next to each other is mounted; The fourth magnet is rotatably mounted to the support part, and a fourth magnet in which magnets having different polarities are disposed adjacent to each other is mounted, and the polarities of the fourth magnets are mounted to the third magnet so as to correspond to each other. When the rotation is to provide a power transmission device including a tilting unit for rotating the movement relative to the support by attracting and repulsive force alternately acting on the fourth magnet by the magnetic field change with the fourth magnet.

Hereinafter, with reference to the accompanying drawings will be described in detail the power transmission mechanism of the underwater shooting apparatus according to a preferred embodiment of the present invention.

Power transmission mechanism according to a preferred embodiment of the present invention will be described by applying to the underwater shooting apparatus used for underwater exploration as shown in Figures 1 and 2, but is not limited to this can be applied to each industrial field. .

As shown in Fig. 1 and Fig. 2, the underwater photographing apparatus is mounted to the body 1 and the front end of the body 1, the rotating portion (3) for rotational movement about the central axis (hereinafter, X axis) And a tilting portion (Tilting Portion) rotatably mounted on the support part (5) fixed to the rotating part (3) and the support part (5) and rotatable about a central axis (hereinafter, Y axis) of the support part (5). ; 8).

The body 1 includes a cylindrical case 11 having a space formed therein. In addition, a first magnet seating groove 12 is formed in one side 11a of the cylindrical case 11, and a first magnet 13 is seated in the seating groove 12. The seating groove 12 is formed by forming a plurality of small grooves in a circle, and forms a magnetic field by seating a plurality of first magnets 13 in each of the small grooves. At this time, as shown in Figure 6, the small magnet constituting the first magnet 13, the magnets (13a, 13b) having different polarities are arranged next to each other, is composed of an even number. That is, the same polarity is arranged across one space. The first magnet 13 is disposed to correspond to each other with the second magnet 37 to be described later.

1 and 2, a circular hole 14 is formed in the middle of the seating groove 12, and the first bearing 17 is mounted around the seating groove 12. The fan shaft 15 is inserted into this circular hole 14 and is mounted. At this time, the bottom surface of the circular plate 16 of the fan shaft 15 is supported by the first bearing 17 is rotatable. In addition, the end 18 of the fan shaft 15 is fastened by the nut 20 by penetrating the inside of the body 1 and penetrating through the second bearing 19 mounted at the rear of the case 11.

Therefore, the fan shaft 15 is rotatably fixed to the body 1 by an external force, preferably by a magnetic force to be described later. And, the rear cap 21 is sealed by mounting the rear cap 21.

On the other hand, the rotating part 3 is rotatable by being mounted on one side 11a of the body 1 by the fan shaft 15. This rotating part 3 has a main body 31 having a cylindrical shape. In addition, a seating hole 32 (FIG. 3) is formed in the middle of the main body 31, and a magnet gear 33 is inserted and mounted in the seating hole 32. As shown in FIG. 3, the magnet gear 33 decelerates the rotational force transmitted from the fan motor 34 to a predetermined rotational speed and transmits it to the second magnet 37 to be described later.

That is, the fan motor 34 is mounted at a predetermined rear surface of the main body 31, and the fan main gear 35 is connected to the fan motor 34. Then, the magnet gear 33 is meshed with the fan main gear 35. Therefore, when the fan motor 34 rotates, the rotational force of the fan motor 34 is transmitted to the magnet gear 33 through the fan main gear 35 so that the magnet gear 33 rotates. In addition, a second magnet seating groove 36 is formed on a rear surface of the magnet gear 33, and a second magnet 37 is seated in the seating groove 36.

The seating groove 36 has a plurality of small grooves formed in a circular shape, and a plurality of second magnets 37 are respectively seated in the respective small grooves. Therefore, when the magnet gear 33 rotates, the second magnet 37 also rotates together.

At this time, the second magnet 37 is composed of an even number of magnets in the same manner as the first magnet 13, the same pole is arranged by one space. As such, when the second magnet 37 is seated on the magnet gear 33, the second magnet 37 faces the first magnet 13 with the circular plate 16 of the fan shaft 15 interposed therebetween.

At this time, the first magnet 13 and the second magnet 37 are formed in the same number as each other, as shown in Figure 6, and the same pole 13a, 37a (13b, 37b) correspond to each other, so that the repulsive force acts I am doing it. In this state, when the second magnet 37 rotates at a predetermined angle by rotating the fan motor 34, the corresponding magnets 13a, 37a, 13b, 37b are displaced from each other. The first magnet 13 is fixed to the body 1 by being pushed against each other by repulsive force.

Therefore, the second magnet 37 is pushed by the repulsive force, and the second magnet 37 is rotated by a predetermined angle by this repulsive force. In addition, when the second magnet 37 rotates, each of the magnets 37a and 37b reaches an adjacent position of the magnet having a different polarity of the first magnet 13, so that the attraction force is applied to the magnets. The motor rotates to the position corresponding to the overshoot.

When the second magnet 37 is rotated a little more by driving the fan motor 34 at this position, the magnets of the second magnet 37 have the same polarities of the magnets facing the first magnet 13 again. The repulsive force is to be rotated as described above.

Therefore, by repeating this process, the second magnet 37 can rotate continuously with respect to the first magnet 13. Of course, by controlling the fan motor 34 it is possible to appropriately adjust the rotation angle of the fan motor. In addition, by driving the fan motor 34 in the reverse direction, it is possible to rotate the second magnet 37 in the reverse direction.

1 and 2, a fixing groove 38 is formed in a radial direction on one side of the circumferential surface of the main body 31, and the support part 5 is inserted into and fixed to the fixing groove 38. . And, on the opposite side of the fixing groove 38, a support piece (not shown) is formed to protrude forward from the main body 31. Therefore, the tilting part 8 is rotatably mounted between the support part 5 and the support piece (not shown). As a result, when the rotating part 3 rotates about the X axis, the support part 5 also rotates, and the tilting part 8 also rotates about the X axis. As shown in FIGS. 2 and 4, the support part 5 is formed of a horizontal part 51 and a vertical part 52 to form a "-" shape.

The vertical part 52 of the support part 5 has a receiving hole 53 formed at a side thereof, and the receiving hole 53 is inserted into the fixing groove 38 of the main body 31 by the support part 5. If it corresponds to the through hole 40 formed in the main body 31.

Therefore, the fixing member 39 such as a bolt is fastened to the receiving hole 53 by passing through the through hole 40 so that the support part 5 is integrally fixed to the rotating part 3.

In addition, the vertical portion 52 of the support portion 5 is formed with a circular groove 53 (Fig. 3) at the rear thereof, when the support portion 5 is seated in the fixing groove 38, the circular groove 53 3 is fixed by being inserted into the jaw portion 41 protruding rearwardly around the seating hole 32 of the rotary part 3;

On the other hand, the horizontal portion 51 of the support portion 5 is formed in the concave space 55, the circular hole 56 is formed in the front end portion. The tilt shaft 57 penetrates through the circular hole 56 and is fixed to the tilting part 8 so that the support part 5 and the tilting part 8 are integrally connected to each other.

In more detail, the locking jaw 58 is formed inside the circular hole 56, and the tilt magnet gear 59 is seated on the locking jaw 58. In addition, the tilt magnet gear 59 is fitted to the tilt magnet main gear 60 mounted inside the space 55, and the tilt magnet main gear 60 is connected to the tilt motor 61. Therefore, when the tilt motor 61 is driven, the tilt magnet gear 59 is rotatable by transmitting the rotational force of the tilt motor 61 to the tilt magnet gear 59 through the tilt magnet main gear 60. .

In addition, a third magnet seating groove (not shown) is formed on a bottom of the tilt magnet gear 59, and a third magnet 62 is seated in the seating groove (not shown). This seating groove (not shown) has the same structure as the seating grooves 12 and 36.

Accordingly, a plurality of magnets constituting the third magnet 62 are respectively seated in the seating grooves (not shown) to form a magnetic field. At this time, the small magnets constituting the third magnet 62 are configured in the same number as the fourth magnets 81 to be described later, and the same poles are arranged one by one.

In addition, a through hole 63 is formed in the middle of the tilt magnet gear 59, and the central axis 64 is inserted through the through hole 63. The tilt shaft housing 65 is inserted below the central shaft 64, and the tilt shaft 57 is inserted and mounted inside the tilt shaft housing 65.

The tilt shaft 57 has an upper portion 66 inserted into the tilt shaft housing 65, and a lower portion 67 penetrates through the magnet seating plate 68 to fix the tilting portion 8 of the tilting portion 8. 86) and is fixed. Thus, the tilting portion 8 is rotatably supported by the support 5.

The magnet seating plate 68 is formed with a plurality of seating holes 69, preferably a number of seating holes 69 with the third magnet 62, the third magnet 62 is each seating hole ( 69). In addition, a fastening hole 70 is formed between the plurality of seating holes 69 such that a fastening member (not shown) such as a bolt is fastened to the bottom surface of the tilt magnet gear 59 through the fastening hole 70. The magnet seating plate 68 is integrally fixed to the bottom surface of the tilt magnet gear 59. Therefore, when the tilt magnet gear 59 rotates, it rotates as well. As described above, when the assembly of the support 5 is completed, the cap (71) is fastened to the upper portion of the horizontal portion 51 by the bolts 72 to seal the cap.

Meanwhile, as shown in FIGS. 2 and 4, the tilting part 8 includes a housing 82 and a camera part 83 installed at the front part of the housing 82.

In the tilting part 8 having such a structure, a plurality of fourth magnet seating grooves 84 in which the fourth magnet 81 is seated is formed at one side of the housing 82. A plurality of fourth magnets 81 are inserted into and seated in the plurality of fourth magnet seating recesses 84, respectively.

The fourth magnet 81 is mounted to face the third magnet 62 of the support 5 so that the tilting part 8 undergoes the same process as that of the first and second magnets 37. The rotational movement around the Y axis.

That is, the third magnet 62 and the fourth magnet 81 face each other, and at this time, the third magnet 62 and the fourth magnet 81 are formed in the same number as each other, as shown in FIG. And the same poles correspond to each other, whereby repulsive force is acting. In this state, when the third magnet 62 is rotated at a predetermined angle by rotating the tilt motor 61, the corresponding fourth magnets 81 and their positions are displaced from each other and pushed together by repulsive force. At this time, when the tilting part 8 is rotatable and the fourth magnet 81 is pushed by this repulsive force and reaches an adjacent position of the neighboring third magnet 62 having a different polarity, It will work. Therefore, the fourth magnet 81 makes a rotational movement with respect to the third magnet 62, and this process is repeated to allow continuous rotation. Of course, it is necessary to properly adjust the rotation angle of the tilt motor (61).

Therefore, the tilting part 8 performs a tilting movement around the Y axis by the magnetic force interaction between the fourth magnet 81 and the third magnet 62. As a result, by adjusting the tilting angle of the tilting unit 8, the desired angle can be captured by adjusting the photographing angle of the camera.

As described above, the underwater photographing apparatus is indirectly transmitted by the magnetic force, thereby enabling the rotational movement of the rotating part 3 and the tilting movement of the tilting part 8. That is, it is possible to transfer the force by the magnetic force without the need to install a separate waterproof seal, such as a joint to the power transmission.

Meanwhile, a state in which the cable 90 for supplying power to the fan motor 34 and the tilt motor 61 and transmitting an electric signal to the camera 83 is mounted with reference to FIG. 5. As shown in the figure, the cable 90 has a spirally wound shape, so that the cable 90 can appropriately respond to a change in length. In addition, the cable 90 is drawn out to the rotating part 3 through the inside of the body 1, and in this case, the rotating part 3 is rotatably connected to the body 1 by a bearing so that a waterproof state is achieved. maintain.

In addition, the cable passing through the rotating part 3 is introduced into the support part 5, and at this time, the rotating part 3 and the supporting part 5 through which the cable 90 is drawn out and drawn in are buried in a buried manner. Withdrawal and inlet are buried to maintain the waterproof state.

In addition, the cable 91 connected to the tilting part 8 is also wound in a spiral shape so that the tilting part 8 may appropriately correspond to a change in length when the tilting part 8 rotates. In addition, the rotating part 3 and the tilting part 8 into which the cable 91 is drawn in and drawn out are respectively maintained in a waterproof state by a buried method. In the above manner, a cable for supplying power to the motor and transmitting a control signal is installed to be waterproof.

In addition, the power transmission mechanism can be applied not only to the underwater photographing apparatus but also to power transmission processes in other fields.

Further, in the above, not only the permanent magnet but also the electromagnet can be applied as the magnet. In other words, it is possible to transfer the power by acting as the permanent magnet by disposing the electromagnet and supplying power in place of the magnet.

In addition, the power transmission mechanism using the magnet as described above may be equipped with a separate tubular body on the outside of the body, the magnets on the inner and outer peripheral surfaces of the tubular body, respectively, may be configured in a structure corresponding to each other. Even in such a structure, the body is rotatable by the mutual magnetic change of the magnets. Therefore, the tubular body is rotated only by the body in a fixed state, so that it is easy for internal imaging such as a deep hole.

Hereinafter, with reference to the accompanying drawings will be described in more detail the operation of the underwater shooting apparatus according to a preferred embodiment of the present invention.

As shown in Figs. 1 to 6, when the camera 83 of the underwater photographing apparatus is to be rotated about the X axis, the fan motor 34 is operated first. When the fan motor 34 is operated, the rotational force is transmitted to the fan main gear 35 and then to the magnet gear 33. When the magnet gear 33 is rotated, the second magnet 37 mounted on the rear of the magnet gear 33 is rotated. At this time, the second magnet 37 is in a state facing each other at a predetermined distance from the first magnet 13.

In this state, as shown in Fig. 6, the first magnet 13 and the second magnet 37 are formed in the same number, and the same poles 13a, 37a, 13b, 37b correspond to each other, whereby It is working. In this state, when the second magnet 37 is rotated at a predetermined angle, the corresponding magnets (13a, 37a) (13b, 37b) are pushed each other by the repulsive force by the position shifted from each other, The first magnet 13 is fixed to the body 1.

Therefore, the second magnet 37 is pushed by the repulsive force, and the second magnet 37 is rotated by a predetermined angle by this repulsive force. In addition, when the second magnet 37 rotates, each of the magnets 37a and 37b reaches an adjacent position of the magnet having a different polarity of the first magnet 13, so that the attraction force is applied to the magnets. The motor rotates to the position corresponding to the overshoot.

When the second magnet 37 is rotated a little more by driving the fan motor 34 at this position, the magnets of the second magnet 37 have the same polarities of the magnets facing the first magnet 13 again. The repulsive force is to be rotated as described above. By the above process, the rotating part 3 rotates about the X axis with respect to the body 1.

On the other hand, when the camera 83 of the above-mentioned underwater photographing apparatus is to be rotated about the Y axis, it is operated by first supplying a control signal and power to the tilt motor 61. When the tilt motor 61 is operated, rotational force is transmitted to the tilt magnet main gear 60 and then to the tilt magnet gear 59. When the tilt magnet gear 59 rotates, the third magnet 62 mounted on the rear surface of the tilt magnet gear 59 rotates. At this time, the third magnet 62 is in a state facing each other at a predetermined distance from the fourth magnet 81.

In this state, as shown in Fig. 6, the third magnet 62 and the fourth magnet 81 are formed in the same number and correspond to the same poles, respectively, so that the repulsive force is acting.

Therefore, the first and second magnets rotate through the same process. That is, when the third magnet 62 is rotated at a predetermined angle, the corresponding magnets are pushed by the repulsive force by shifting positions of the corresponding magnets, and at this time, the third magnet 62 is attached to the support part 1. It is fixed.

Therefore, the fourth magnet 81 is pushed by the repulsive force, and the fourth magnet 81 is rotated by a predetermined angle by the repulsive force. In addition, when the fourth magnet 81 rotates, each magnet reaches an adjacent position of the magnet having a different polarity of the third magnet 62, so that the attraction force acts and rotates slightly to correspond to the other polarity. Will rotate until

When the third magnet 62 is rotated a little more by driving the tilt motor 61 at this position, the magnets of the fourth magnet 81 have the same polarities of the magnets facing the third magnet 62 again. The repulsive force is to be rotated as described above. In this case, the tilting part 8 is rotatably mounted to the support part 5. Therefore, when the fourth magnet 81 rotates, the tilting part 8 also rotates.

As described above, by driving the tilt motor and the fan motor properly, the camera can be controlled by transmitting a force by the attraction force and repulsive force of the magnet.

As described above, the underwater photographing apparatus according to the preferred embodiment of the present invention has the following advantages.

First, the magnets are mounted inside each joint, and by changing the magnetic field of the magnets, it is possible to operate each joint by generating attraction and repulsive force, so there is an advantage that it can work underwater without having to install a waterproof device. .

Second, even if applied to the deep sea because it does not require a separate waterproofing device can be prevented from getting bulky.

Third, by sealing the power supply and signal transmission cable in a hermetic manner, there is no need to install a waterproof device for the cable.

Fourth, the magnetic power transmission mechanism can be applied not only to the underwater photographing device but also to other industrial fields.

1 is a perspective view showing an underwater photographing apparatus according to a preferred embodiment of the present invention.

FIG. 2 is an exploded perspective view showing the internal structure of the underwater photographing apparatus shown in FIG. 1; FIG.

FIG. 3 is an enlarged perspective view of the rear surface of the rotating unit shown in FIG. 2; FIG.

4 is an enlarged perspective view showing that the support portion of FIG. 2 is coupled to the tilting portion;

Fig. 5 is a structural diagram showing the internal structure of the underwater image pickup device shown in Fig. 1;

6 is a schematic diagram for explaining a process in which two magnets correspond to each other to generate rotational force.

Claims (10)

A body having a first magnet mounted with magnets having different polarities continuously adjacent to each other; A second magnet is rotatably mounted on one side of the body, and magnets having different polarities are disposed adjacent to each other, and the second magnets are rotatably mounted to correspond to each other. When the rotational force is generated by alternating the attraction force and the repulsive force by the magnetic field change with the first magnet to rotate the rotational movement about the axial direction of the body; A support part protruding from the rotation part to rotate when the rotation part is rotated, and to which a third magnet having magnets having different polarities are arranged next to each other is mounted; And The fourth magnet is rotatably mounted to the support part, and a fourth magnet in which magnets having different polarities are arranged next to each other is mounted. The third magnet is mounted to correspond to the polarities of the fourth magnet to the third magnet. And a tilting unit which rotates with respect to the support by rotating attraction force and repulsive force on the fourth magnet when the magnetic field changes with the fourth magnet. According to claim 1, The body is a cylindrical case having a space formed therein, the first magnet seating groove is formed on one side of the cylindrical case, the circular hole is formed in the middle, and the first seated in the seating groove 1 magnet, a fan shaft inserted into the circular hole and mounted, a first bearing mounted around the seating groove so as to rotatably support the fan shaft, and mounted to the other side of the case to the rear of the fan shaft. Power transmission device comprising a second bearing rotatably supporting the. The power transmission device of claim 2, wherein the fan shaft includes a circular plate supported at the first bearing at one end thereof. According to claim 1, wherein the rotating portion has a cylindrical shape and a seating hole is formed in the middle, a magnet gear is inserted into the seating hole and a magnet seating groove is formed on the rear, and connected to the magnet gear And a fan main gear, a fan motor mounted to the rear of the main body to transmit rotational force to the fan main gear, and a second magnet seated in the magnet seating groove to correspond to the first magnet. According to claim 4, One side of the circumferential surface of the main body is formed in the radially fixed groove is inserted into the support is fixed, the opposite side of the fixing groove is formed in the support piece protruding to correspond to the support portion, the tilting portion is the support portion And a power transmission device mounted between the support piece. The power transmission device of claim 5, wherein the support part includes a vertical part inserted into the fixing groove of the main body, and a horizontal part protruding horizontally from an end portion of the vertical part and rotatably mounted to the tilting part. The tilt magnet main of claim 6, wherein the horizontal part is seated in a circular hole formed at a tip end thereof, and a tilt magnet gear having a third magnet seating groove formed on a bottom thereof, and a tilt magnet main mounted on an upper surface of the horizontal part and engaged with the tilt magnet gear. A central shaft inserted into a gear, a tilt motor connected to the tilt magnet main gear, a third magnet seated in the third magnet seating groove, a through hole formed in the middle of the tilt magnet gear, and a lower portion of the central axis. A tilt shaft housing inserted into the tilt shaft, an upper portion of the tilt shaft housing inserted into the tilt shaft housing and a lower portion rotatably fixed to the tilting portion, and a magnet seating plate mounted to the lower portion of the tilt shaft. Delivery device. The method of claim 7, wherein the tilting portion is a housing rotatably mounted to the support, a fourth magnet seating groove formed on one side of the housing, the fourth magnet seated in the fourth magnet seating groove, Power transmission device comprising a camera unit mounted to the front of the housing. According to any one of claims 1, 4, 7, and 8, wherein the first to fourth magnets are each composed of an even number of magnets having different polarities, and correspond to each other at a predetermined distance, When the second magnet and the third magnet rotates, the repulsive force and the attraction force are alternately generated between the first to fourth magnets so that the first magnet and the fourth magnet rotate to rotate the rotating part and the tilting part, respectively. And a power transmission device for tilting movement. delete