CN102050214B - Underground integrated servo propulsion motor - Google Patents
Underground integrated servo propulsion motor Download PDFInfo
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- CN102050214B CN102050214B CN 200910211178 CN200910211178A CN102050214B CN 102050214 B CN102050214 B CN 102050214B CN 200910211178 CN200910211178 CN 200910211178 CN 200910211178 A CN200910211178 A CN 200910211178A CN 102050214 B CN102050214 B CN 102050214B
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Abstract
The invention discloses an underground integrated servo propulsion motor comprising a motor rotating shaft (1), a movable sealing device (2), a motor casing (3), a stator (4), a rotor (5), a transitional connecting rod (6), a rotor position detection plate (7), a drive casing (8), a motor control plate (9), a power module (10), a rear end cover (11) and a rectifier hood (12), wherein the motor and the drive are integrated; with a compact structure, the size and the weight of a propulsion system can be greatly reduced; with the integrated design of the motor and the drive, the motor drive is physically separated from electronic equipment inside an underwater robot; a water leakage detection point is arranged inside the motor and is used for accurately monitoring the watertight state of the motor; with a transitional connecting rod, the fitness performance of the propulsion motor can be improved; and the rectifier hood is provided with an upper convection heat-radiating hole and a lower convection heat-radiating hole, so that the problem of the heat radiation of the power module can be well solved.
Description
Technical field
The present invention relates to under-water robot Electronmotive Force propulsion system, relate in particular to a kind of underground integrated servo propulsion motor, belong to the mechano-electronic field.
Background technology
Underwater propulsion motor and actuator are important component parts of under-water robot.Under-water robot not only has the watertight requirement to propulsion electric machine, and the electromagnetic interference of actuator is also had certain restriction.A common under-water robot need to configure many cover propulsion electric machines and guarantee its degree of freedom, so under-water robot also requires the propulsion system volume little, lightweight, cheap.
At present, the packing technique of underwater propulsion motor mainly contains two kinds.The first is " balloon method ".According to aerodynamic housing of oad design of selected common electric machine, the housing aft end face adopts side seal or radial seal, Motor Shaft place's employing dynamic seal.The shortcoming of this method is the volume and weight that has increased motor, and the heat dispersion of motor body is also bad.The second is " method for pressure compensation ".Because pressure change causes " pump suction phenomenon " (due to pressure change, compression and extensional motion can make in the very long infiltration motor of crackle of water by the weak seal place), so motor internal is filled with oil, and utilizes photoconduction pressure regulation mould, built-in hydraulic pressure, oil pressure circulating lubricating device and barrier film compensation balance.The shortcoming of this method is that mechanism is complicated, volume weight is large, cost is higher.Most under-water robot operating depths can not surpass 200 meters (experimental result shows: the hydraulic pressure of 2Mpa is not enough to form " pump suction phenomenon "), so the market demand of method for pressure compensation is little.
The propulsion electric machine actuator be typically designed to one independently electronic cartridge be assemblied in the under-water robot sealing cabin, other electronic machines are had certain electromagnetic interference; In order to solve the heat dissipation problem of actuator power module, also need to design radiator and blower fan etc.
In sum, how to satisfy under-water robot to the general requirement of propulsion system, become the bottleneck problem of present stage under-water robot Electronmotive Force propulsion system design effort.
Summary of the invention
The purpose of this invention is to provide a kind of underground integrated servo propulsion motor, solve watertight and propulsion system volume, weight and the economy problems of propulsion electric machine, reduce actuator to the electromagnetic interference of under-water robot internal electronic equipment.
By the following technical programs, can realize purpose of the present invention.
A kind of underground integrated servo propulsion motor comprises machine shaft 1, dynamic sealing device 2, electric machine casing 3, stator 4, rotor 5, transition pipe link 6, rotor-position check-out console 7, actuator housing 8, electric machine control plate 9, power model 10, rear side housing 11, fairing 12; Dynamic sealing device 2 and machine shaft 1 sealing, electric machine casing 3 directly adopts hermetically-sealed construction, and transition pipe link 6 connects propulsion electric machine and under-water robot main casing; Actuator cable is drawn by the perforation on rotor-position check-out console 7, electric machine control plate 9 is assembled together by pad post and rear side housing 11, power model 10 is connected with rear side housing 11, make the heat of generation directly import in water by rear side housing, semisphere nylon fairing 12 is assembled together with rear side housing 11.
Dynamic sealing device adopts 45 ° of Joint face of a pattern O shape circles and machine shaft dynamic seal.
O type circle radial seal is adopted at transition pipe link two ends, is monotroded bar design.
Actuator housing and electric machine casing all adopt seal with O ring.
It is the check point that leaks of 1mm that there are two spacings at circular motor control desk edge, and the electric machine control plate is in the nadir of enclosure interior by padding the check point that leaks when post and rear side housing assemble.
Smear heat-conducting silicone grease before power model and rear side housing assembling.
Beneficial effect of the present invention:
1, motor and actuator integrated design, compact conformation has reduced the volume and weight of propulsion system greatly, need not in addition additional processing motor seal housing, has reduced tooling cost.
2, motor and actuator integrated design have been carried out physical isolation with motor driver and under-water robot internal electronic equipment, greatly reduce motor driver to the electromagnetic interference of under-water robot internal electronic equipment.
3, motor internal is designed with the check point that leaks in addition, can fast, accurately monitor the watertight state of motor; The transition pipe link has improved the suitable dress performance of propulsion electric machine, and its length can be determined according to actual operation requirements; Fairing is designed with upper and lower thermal convection holes, has solved well the heat dissipation problem of power model; Whole employing airflow design, fluid resistance is little.
Description of drawings
Fig. 1 is structural representation of the present invention.
The specific embodiment
The present invention is fixed by transition pipe link and under-water robot main casing, and cable is connected with the under-water robot internal electronic equipment by the hollow pipe link.After under-water robot laid entry, water was full of whole fairing fast by the thermal convection holes of fairing below.After propulsion electric machine work, the heat that power model produces directly conducts to rear side housing, and the water that is heated by rear side housing flows out from the thermal convection holes above fairing, thereby makes the inside and outside water circulation of fairing, accelerates the interchange of heat of rear side housing and water.The water that enters motor internal can cause the resistance variations (tap water resistance is 70 kiloohms, and seawater only has several kiloohms) of 2 of the check point A that leaks, B, but by the just watertight state of monitor motor internal of simple circuit.
Dynamic sealing device adopts 45 ° of Joint face of a pattern O shape circles to realize dynamic seal with machine shaft.Electric machine casing directly adopts hermetically-sealed construction, need not additional designs motor seal housing.The transition pipe link is used for connecting propulsion electric machine and under-water robot main casing, and O type circle radial seal is adopted at two ends, will commonly use the double link design and change monotroded bar design into, thereby reduce a part of weight.The cable of actuator is drawn by corresponding perforation on the rotor-position check-out console, can prevent effectively that like this cable from being worn and torn by motor bearings.Actuator housing and electric machine casing all adopt seal with O ring.Circular motor control desk edge designs has two spacings only be the check point that leaks of 1mm, and the electric machine control plate is assembled together with rear side housing by the pad post, and during assembling, the requirement assurance check point that leaks is in the nadir of enclosure interior.Need to smear heat-conducting silicone grease before power model and rear side housing assembling, the heat that power model produces directly imports in water by rear side housing, thus the work reliably and with long-term of firm power module.Semisphere nylon fairing can reduce the propulsion electric machine fluid resistance on the one hand, and the fairing radial design has one group of thermal convection holes on the other hand, can accelerate interchange of heat.
Show by the 2.4MPa water test, watertightness performance of the present invention is good, electromagnetic compatibility good, reliable working performance.This underground integrated servo propulsion motor volume is little, lightweight, cheap, easy to assembly, suitable dress property is strong, is specially adapted to operating depth and is no more than the under-water robot power propelling use of 200 meters.
Claims (6)
1. a underground integrated servo propulsion motor, is characterized in that: comprise machine shaft (1), dynamic sealing device (2), electric machine casing (3), stator (4), rotor (5), transition pipe link (6), rotor-position check-out console (7), actuator housing (8), electric machine control plate (9), power model (10), rear side housing (11), fairing (12); dynamic sealing device (2) and machine shaft (1) sealing, electric machine casing (3) directly adopts hermetically-sealed construction, transition pipe link (6) connects propulsion electric machine and under-water robot main casing, actuator cable is drawn by the perforation on rotor-position check-out console (7), electric machine control plate (9) is assembled together by pad post and rear side housing (11), power model (10) is connected with rear side housing (11), make the heat of generation directly import in water by rear side housing, semisphere nylon fairing (12) is assembled together with rear side housing (11).
2. a kind of underground integrated servo propulsion motor according to claim 1, is characterized in that: 45 ° of Joint face of a pattern O shapes circles of described dynamic sealing device employing and machine shaft dynamic seal.
3. a kind of underground integrated servo propulsion motor according to claim 1 and 2 is characterized in that: O type circle radial seal is adopted at described transition pipe link two ends, is monotroded bar design.
4. a kind of underground integrated servo propulsion motor according to claim 1 and 2, it is characterized in that: described actuator housing and electric machine casing all adopt seal with O ring.
5. a kind of underground integrated servo propulsion motor according to claim 1 and 2, it is characterized in that: it is the check point that leaks of 1mm that there are two spacings at described circular motor control desk edge, and the electric machine control plate check point that leaks when assembling with rear side housing by the pad post is in the nadir of enclosure interior.
6. a kind of underground integrated servo propulsion motor according to claim 1 and 2, is characterized in that: smear heat-conducting silicone grease before described power model and rear side housing assembling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910211178 CN102050214B (en) | 2009-11-06 | 2009-11-06 | Underground integrated servo propulsion motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910211178 CN102050214B (en) | 2009-11-06 | 2009-11-06 | Underground integrated servo propulsion motor |
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| Publication Number | Publication Date |
|---|---|
| CN102050214A CN102050214A (en) | 2011-05-11 |
| CN102050214B true CN102050214B (en) | 2013-06-05 |
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| CN 200910211178 Active CN102050214B (en) | 2009-11-06 | 2009-11-06 | Underground integrated servo propulsion motor |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104595647B (en) * | 2015-01-19 | 2017-01-04 | 上海海事大学 | A kind of underwater holder device and control method |
| CN105048889A (en) * | 2015-09-02 | 2015-11-11 | 哈尔滨工业大学 | Deepwater permanent magnet synchronous motor driver with high heat radiation capability |
| CN106143849A (en) * | 2016-09-28 | 2016-11-23 | 珠海蓝创科技有限公司 | A kind of tunnel thruster of band safeguard function |
| CN110304219A (en) * | 2019-07-05 | 2019-10-08 | 深圳潜水侠创新动力科技有限公司 | Underwater propeller and underwater built-up propeller |
| CN113922686A (en) * | 2021-08-31 | 2022-01-11 | 北京精密机电控制设备研究所 | Oil immersion pressure-resistant control driver |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0523353A1 (en) * | 1991-07-10 | 1993-01-20 | Mitsubishi Denki Kabushiki Kaisha | Heat resistant and explosion-proof type permanent magnetic synchronous motor |
| US6231407B1 (en) * | 1996-06-26 | 2001-05-15 | Siemens Aktiengesellschaft | Ship propulsion with a gondola-like synchronous motor |
| EP1421665A1 (en) * | 2001-08-30 | 2004-05-26 | Siemens Aktiengesellschaft | Electrical drive device for a ship with elastically supported electric motor |
| CN2887748Y (en) * | 2006-04-29 | 2007-04-11 | 中国科学院沈阳自动化研究所 | Underwater robot for underwater monitoring platform |
| CN201563013U (en) * | 2009-11-06 | 2010-08-25 | 中国船舶重工集团公司第七一○研究所 | Underwater integral servo propulsion motor |
-
2009
- 2009-11-06 CN CN 200910211178 patent/CN102050214B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0523353A1 (en) * | 1991-07-10 | 1993-01-20 | Mitsubishi Denki Kabushiki Kaisha | Heat resistant and explosion-proof type permanent magnetic synchronous motor |
| US6231407B1 (en) * | 1996-06-26 | 2001-05-15 | Siemens Aktiengesellschaft | Ship propulsion with a gondola-like synchronous motor |
| EP1421665A1 (en) * | 2001-08-30 | 2004-05-26 | Siemens Aktiengesellschaft | Electrical drive device for a ship with elastically supported electric motor |
| CN2887748Y (en) * | 2006-04-29 | 2007-04-11 | 中国科学院沈阳自动化研究所 | Underwater robot for underwater monitoring platform |
| CN201563013U (en) * | 2009-11-06 | 2010-08-25 | 中国船舶重工集团公司第七一○研究所 | Underwater integral servo propulsion motor |
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| CN102050214A (en) | 2011-05-11 |
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Application publication date: 20110511 Assignee: Qingdao Hisun Ocean Equipment Co., Ltd. Assignor: No.710 Inst. China Ship Heavy Industry Group Corp Contract record no.: 2014370000115 Denomination of invention: Underground integrated servo propulsion motor Granted publication date: 20130605 License type: Exclusive License Record date: 20140704 |
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