CN104960653A - 360-degree all rotary device of deep-sea propeller - Google Patents
360-degree all rotary device of deep-sea propeller Download PDFInfo
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- CN104960653A CN104960653A CN201510376226.6A CN201510376226A CN104960653A CN 104960653 A CN104960653 A CN 104960653A CN 201510376226 A CN201510376226 A CN 201510376226A CN 104960653 A CN104960653 A CN 104960653A
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Abstract
The invention relates to a 360-degree all rotary device of a deep-sea propeller. The 360-degree all rotary device comprises a support seat, a drive motor, a first stage transmission device, a second stage transmission device, an angle feedback device and a rotary drive device. An oil-filled cavity and a watertight cavity are formed in the support seat; the drive motor is sequentially connected with the first stage transmission device, the second stage transmission device and the angle feedback device; a first stage worm and a second stage worm are dual-lead worms. By applying the 360-degree all rotary device of the deep-sea propeller, 360-degree all rotation can be realized, two stage high-precision dual-lead worm gears are adopted, and thus precise angle positioning can be provided.
Description
Technical field
the present invention relates to deep-sea propelling unit technical field, particularly relate to the angle of rake all-rotation device in a kind of deep-sea.
Background technology
Be generally used for the deep water such as deep submergence vehicle or robot working equipment propelling unit used and mostly be swing in constant bearing or limited angular range, 360 ° of continuous rotaries cannot be realized.Adopt existing propelling unit mode, then deep-sea working equipment needs to be equipped with the propelling that the combination of more propelling unit realizes all directions, and productive costs is high and device structure complicated.
Summary of the invention
the technical problem to be solved in the present invention is to provide the angle of rake turning gear in a kind of deep-sea, can realize 360 ° of full circle swingings, and adopts the two helical pitch Worm Wheel System of two-stage high precision, can provide accurate angle orientation.
For solving the problems of the technologies described above, the present invention relates to the angle of rake 360 ° of all-rotation devices in a kind of deep-sea, comprise supporting seat, drive motor, first order driving device, second stage driving device, angle feed-back device and slewing gear, described supporting seat inside arranges oil-filled chamber and watertight chamber; Described first order driving device, second stage driving device and slewing gear are separately positioned in oil-filled chamber, and described angle feed-back device is arranged in watertight chamber; Described drive motor connects first order driving device, second stage driving device and angle feed-back device successively; Described first order worm screw and second stage worm screw are double pitch worm.
Preferably, described first order driving device comprises first order worm screw and first order worm gear, arranges the first coupler between described first order worm screw and drive motor, and the reduction ratio of described first order worm couple is 1:10.Power is inputted by drive motor (non-brush permanent-magnet DC motor or other propulsion source are as servomotor, oil motor etc.), is delivered to first order worm screw by the first coupler.First order worm screw adopts double pitch worm technology, for eliminating the idle travel of swing type mechanism when reversed turning, improves the degreeof turn precision of swing type mechanism.
Preferably, the gap of described first order worm couple, by the first match grinding packing ring adjustment, adjusts complete jam nut and locks; The angular contact ball bearing that the support component of described first order worm screw was installed by a pair " face-to-face " and a deep groove ball bearing form, and described bearing space is adjusted by the first match grinding adjustment pad." face-to-face " configuration is after load (pressure) line of two bearings intersects and axes intersect.
Preferably, described second stage driving device comprises second stage worm screw and second stage worm gear, and described second stage worm screw is connected with first order worm gear by the first flat key, and the reduction ratio of described second stage worm couple is 1:63.Second stage worm screw also uses double pitch worm technology, and the second match grinding packing ring can make worm screw move axially, and makes the transmission sideshake of worm couple in suitable value, is then fixed by jam nut.
Preferably, the tapered roller bearing that the support component of described second stage worm screw is installed by a pair employing " face-to-face " and a duplex angular contact ball bearing form, and described bearing space is adjusted by the second match grinding adjustment pad; Between described first order worm gear and second stage worm screw, support pad is set, for adjusting the engage position of first order worm gear and second stage worm screw.
Preferably, shaft after described second stage worm screw comprises, described rear shaft connects seal shaft by the second flat key, and described seal shaft stretches in watertight chamber and is connected with magnet stopper, and magnet stopper is used for the locking positioning of swing type mechanism.
Preferably, described angle feed-back device comprises the Hall coder of drop-gear box that a reduction ratio is 1:63 and two cover absolute value types; Two feedback worm gears that described drop-gear box comprises a feedback worm screw and is meshed with it, the worm-wheel shaft of described two feedback worm gears is connected with two Hall coders respectively by the second coupler; Described Hall coder zero-bit overlaps with the angle of rake mechanical rudder angle zero-bit in deep-sea.
Preferably, described slewing gear comprises single-revolution cover, and described revolving sleeve is connected with second stage worm gear by the first screw, and described slewing gear also comprises a butt flange, and described butt flange is connected with revolving sleeve by the second screw.
Preferably, in described oil-filled chamber, leakage sensor is set, set temperature sensor and pressure sensor in described watertight chamber; Described supporting seat one end arranges oil pressure compensator communication port.Temperature sensor mainly monitors lubricating system oil liquid temperature, to prevent the phenomenon generations such as overheated.Pressure sensor mainly monitors watertight cavity pressure, and for judging withstand voltage chamber sealing state, leakage sensor is for monitoring the leakage states of oil-filled chamber.Oil pressure compensator communication port is used for all-rotation device and is connected with oil pressure compensator.
Preferably, the end face of described second stage worm gear arranges back to zero proximity switch, for turning gear zero adjustment; Above the worm-wheel shaft of described second stage worm gear, slip ring is set.The power of slewing gear is inputted by second stage worm gear, and butt flange end face is connected with propeller plant by double end stud, and the electrical source of power of propeller plant is inputted by slip ring, and slip ring is fixed on the worm gear of the second stage.The tapered roller bearing that the support of revolution transmission component is installed by a pair " dos-à-dos " forms, by match grinding adjustment pad adjustment bearing space." dos-à-dos " configuration i.e. load (pressure) line of two bearings is separately in the both sides of bearing and axes intersect.
Beneficial effect of the present invention is: the power of deep-sea of the present invention propelling unit 360 ° of all-rotation devices is inputted by non-brush permanent-magnet DC motor, first order worm speed-down is passed to by the first coupler, be passed to second stage worm speed-down again, finally drive the revolving sleeve connected firmly mutually with second stage worm gear, thus realize angle of rake 360 ° of full circle swingings.All-rotation device shaft after the worm screw of the second stage is provided with magnet stopper, for the locking positioning of swing type mechanism.All-rotation device inside arranges watertight chamber, for setting angle positioner, adopts the angle of rake real-time degreeof turn of absolute value type Hall encoder feedback.In watertight chamber, temperature sensor and pressure sensor are also housed, for detecting the status information of turning gear inside.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is the structural representation of first order driving device;
Fig. 3 is A-A generalized section in Fig. 1;
Fig. 4 is B-B generalized section in Fig. 1;
Fig. 5 is the structural representation of angle feed-back device in Fig. 3;
Fig. 6 is the right elevation of Fig. 5.
Description of reference numerals
1-supporting seat, 2-drive motor, 3-first order worm screw, 4-first order worm gear, 5-second stage worm screw, 6-watertight chamber, 7-angle feed-back device, 8-second stage worm gear, 9-oil-filled chamber, 10-leakage sensor, 11-back to zero proximity switch, 12-oil pressure compensator interface, 13-first coupler, 14-deep groove ball bearing, 15-first match grinding packing ring, 16-touches ball-bearing casing in angle, 17-first match grinding adjustment pad, 18-jam nut, 19-support pad, 20-second match grinding adjustment pad, 21-second match grinding packing ring, 22-seal shaft, 23-magnet stopper, 24-temperature sensor, 25-pressure sensor, 26-butt flange, 27-revolving sleeve, 28-first screw, 29-second screw, 30-double end stud, 31-base, 32a-first coder, 32b-second coder, 33-feeds back worm screw, 34a-first feeds back worm gear, 34b-second feeds back worm gear, 35-tightening screw, 36-second coupler, 37-feeds back worm-wheel shaft, 38-slip ring.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.It should be noted that, the word "front", "rear" of use is described below, "left", "right", "up" and "down" refer to direction in accompanying drawing, word " interior " and " outward " refer to the direction towards or away from particular elements geometric centre respectively.
See Fig. 1, the present invention relates to the angle of rake 360 ° of all-rotation devices in a kind of deep-sea, comprise supporting seat 1, drive motor 2, first order driving device, second stage driving device, angle feed-back device 7 and slewing gear, supporting seat 1 inside arranges oil-filled chamber 9 and watertight chamber 6.First order driving device, second stage driving device and slewing gear are separately positioned in oil-filled chamber 9, and angle feed-back device is arranged in watertight chamber 6.Drive motor 2 connects first order driving device, second stage driving device and angle feed-back device successively.
See Fig. 2, first order driving device comprises first order worm screw 3 and first order worm gear 4, arranges the first coupler 13 between first order worm screw 3 and drive motor 2, and the reduction ratio of first order worm couple is 1:10.Power by drive motor 2(non-brush permanent-magnet DC motor or other propulsion source as servomotor, oil motor etc.) input, be delivered to first order worm screw 3 by the first coupler 13.First order worm screw 3 adopts double pitch worm technology, for eliminating the idle travel of swing type mechanism when reversed turning, improves the degreeof turn precision of swing type mechanism.The gap of first order worm couple is adjusted by the first match grinding packing ring 15, adjusts complete jam nut 18 and locks; The angular contact ball bearing 16 that the support component of first order worm screw 3 was installed by a pair " face-to-face " and a deep groove ball bearing 14 form, and bearing space is adjusted by the first match grinding adjustment pad 17.
See Fig. 2,3,4, second stage driving device comprises second stage worm screw 5 and second stage worm gear 8, and second stage worm screw 5 is connected with first order worm gear 4 by the first flat key, and the reduction ratio of second stage worm couple is 1:63.Second stage worm screw 5 also uses double pitch worm technology, and the second match grinding packing ring 21 can make second stage worm screw 5 move axially, and makes the transmission sideshake of worm couple in suitable value, is then fixed by jam nut.The tapered roller bearing that the support component of second stage worm screw 5 is installed by a pair employing " face-to-face " and a duplex angular contact ball bearing form, and bearing space is adjusted by the second match grinding adjustment pad 20.Support pad 19 is set between first order worm gear 4 and second stage worm screw 5, for adjusting the engage position of first order worm gear 4 and second stage worm screw 5.Shaft after second stage worm screw 5 comprises one, rear shaft connects seal shaft 22 by the second flat key, and seal shaft 22 stretches in watertight chamber 6 and is connected with magnet stopper 23, and magnet stopper 23 is for the locking positioning of swing type mechanism.
See Fig. 4, slewing gear comprises single-revolution cover 27, and be connected with second stage worm gear 5 by the first screw 28, slewing gear also comprises a butt flange 26, is connected with revolving sleeve 27 by the second screw 29.The end face of second stage worm gear 8 arranges back to zero proximity switch 11, for turning gear zero adjustment.Slip ring 38 is set above the worm-wheel shaft of second stage worm gear 8.The power of slewing gear is inputted by second stage worm gear 8, and butt flange 26 end face is connected with propeller plant by double end stud 30, and the electrical source of power of propeller plant is inputted by slip ring 38, and slip ring 38 is fixed on second stage worm gear 8.The tapered roller bearing that the support of revolution transmission component is installed by a pair " dos-à-dos " forms, by match grinding adjustment pad adjustment bearing space.
See Fig. 5,6, angle feed-back device 7 comprises a base 31, base 31 is arranged Hall coder 32a, 32b of drop-gear box that a reduction ratio is 1:63 and two cover absolute value types.Two feedback worm gears 34a, 34b that drop-gear box comprises a feedback worm screw 33 and is meshed with it, the worm-wheel shaft 37 of the first feedback worm gear 34a is connected with the first Hall coder 32a by the second coupler 36, and the second feedback worm-wheel shaft is connected with the second Hall coder by coupler equally.Tightening screw 35, for regulating Hall coder zero-bit, makes the angle of rake mechanical rudder angle zero-bit in itself and deep-sea overlap.
In the preferred version of the present embodiment, leakage sensor 10(is set in oil-filled chamber 9 and is arranged on supporting seat), set temperature sensor 24 and pressure sensor 25 in watertight chamber 6, supporting seat 1 one end arranges oil pressure compensator communication port 12.Temperature sensor 24 mainly monitors lubricating system oil liquid temperature, to prevent the phenomenon generations such as overheated.Pressure sensor 25 mainly monitors watertight cavity pressure, and for judging withstand voltage chamber sealing state, leakage sensor 10 is for monitoring the leakage states of oil-filled chamber.Oil pressure compensator communication port 12 is connected with oil pressure compensator for all-rotation device.
The power of deep-sea propelling unit 360 ° of all-rotation devices of the present embodiment is inputted by non-brush permanent-magnet DC motor, first order worm speed-down is passed to by the first coupler, be passed to second stage worm speed-down again, finally drive the revolving sleeve connected firmly mutually with second stage worm gear, thus realize angle of rake 360 ° of full circle swingings.All-rotation device shaft after the worm screw of the second stage is provided with magnet stopper, for the locking positioning of swing type mechanism.All-rotation device inside arranges watertight chamber, for setting angle positioner, adopts the angle of rake real-time degreeof turn of absolute value type Hall encoder feedback.
Be more than better embodiment of the present invention, but protection scope of the present invention is not limited thereto.Any those of ordinary skill in the art are in the technical scope disclosed by the present invention, and the conversion expected without creative work or replacement, all should be encompassed within protection scope of the present invention.Therefore the protection domain that protection scope of the present invention should limit with claim is as the criterion.
Claims (10)
1. the angle of rake 360 ° of all-rotation devices in deep-sea, it is characterized in that: comprise supporting seat, drive motor, first order driving device, second stage driving device, angle feed-back device and slewing gear, described supporting seat inside arranges oil-filled chamber and watertight chamber; Described first order driving device, second stage driving device and slewing gear are separately positioned in oil-filled chamber, and described angle feed-back device is arranged in watertight chamber; Described drive motor connects first order driving device, second stage driving device and angle feed-back device successively; Described first order worm screw and second stage worm screw are double pitch worm.
2. the angle of rake 360 ° of all-rotation devices in deep-sea as claimed in claim 1, it is characterized in that: described first order driving device comprises first order worm screw and first order worm gear, arrange the first coupler between described first order worm screw and drive motor, the reduction ratio of described first order worm couple is 1:10.
3. the angle of rake 360 ° of all-rotation devices in deep-sea as claimed in claim 2, is characterized in that: the gap of described first order worm couple is by the first match grinding packing ring adjustment; The angular contact ball bearing that the support component of described first order worm screw was installed by a pair " face-to-face " and a deep groove ball bearing form, and described bearing space is adjusted by the first match grinding adjustment pad.
4. the angle of rake 360 ° of all-rotation devices in deep-sea as claimed in claim 1, it is characterized in that: described second stage driving device comprises second stage worm screw and second stage worm gear, worm screw is connected with first order worm gear by the first flat key in the described second stage, and the reduction ratio of described second stage worm couple is 1:63.
5. the angle of rake 360 ° of all-rotation devices in deep-sea as claimed in claim 4, it is characterized in that: the tapered roller bearing that the support component of described second stage worm screw is installed by a pair employing " face-to-face " and a duplex angular contact ball bearing form, described bearing space is adjusted by the second match grinding adjustment pad; Between described first order worm gear and second stage worm screw, support pad is set.
6. the angle of rake 360 ° of all-rotation devices in deep-sea as claimed in claim 4, is characterized in that: shaft after described second stage worm screw comprises, described rear shaft connects seal shaft by the second flat key, and described seal shaft stretches in watertight chamber and is connected with magnet stopper.
7. the angle of rake 360 ° of all-rotation devices in deep-sea as claimed in claim 6, is characterized in that: described angle feed-back device comprises the Hall coder of drop-gear box that a reduction ratio is 1:63 and two cover absolute value types; Two feedback worm gears that described drop-gear box comprises a feedback worm screw and is meshed with it, the worm-wheel shaft of described two feedback worm gears is connected with two Hall coders respectively by the second coupler; Described Hall coder zero-bit overlaps with the angle of rake mechanical rudder angle zero-bit in deep-sea.
8. the angle of rake 360 ° of all-rotation devices in deep-sea as claimed in claim 1, it is characterized in that: described slewing gear comprises single-revolution cover, described revolving sleeve is connected with second stage worm gear by the first screw, described slewing gear also comprises a butt flange, and described butt flange is connected with revolving sleeve by the second screw.
9. the angle of rake 360 ° of all-rotation devices in deep-sea as claimed in claim 7, is characterized in that: arrange leakage sensor in described oil-filled chamber, set temperature sensor and pressure sensor in described watertight chamber; Described supporting seat one end arranges oil pressure compensator communication port.
10. the angle of rake 360 ° of all-rotation devices in the deep-sea as described in any one of claim 1 to 9, is characterized in that: the end face of described second stage worm gear arranges back to zero proximity switch, for turning gear zero adjustment; Above the worm-wheel shaft of described second stage worm gear, slip ring is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510376226.6A CN104960653A (en) | 2015-07-01 | 2015-07-01 | 360-degree all rotary device of deep-sea propeller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510376226.6A CN104960653A (en) | 2015-07-01 | 2015-07-01 | 360-degree all rotary device of deep-sea propeller |
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| CN104960653A true CN104960653A (en) | 2015-10-07 |
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| CN201510376226.6A Pending CN104960653A (en) | 2015-07-01 | 2015-07-01 | 360-degree all rotary device of deep-sea propeller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112469969A (en) * | 2018-07-27 | 2021-03-09 | 航空电机工程有限公司 | Thrust producing split flywheel gyroscope method and apparatus |
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2015
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112469969A (en) * | 2018-07-27 | 2021-03-09 | 航空电机工程有限公司 | Thrust producing split flywheel gyroscope method and apparatus |
| CN112469969B (en) * | 2018-07-27 | 2024-01-02 | 航空电机工程有限公司 | Thrust-producing split flywheel gyroscope method and apparatus |
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Application publication date: 20151007 |