CN115498805A - Underwater torque motor adopting harmonic reducer - Google Patents
Underwater torque motor adopting harmonic reducer Download PDFInfo
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- CN115498805A CN115498805A CN202211309161.XA CN202211309161A CN115498805A CN 115498805 A CN115498805 A CN 115498805A CN 202211309161 A CN202211309161 A CN 202211309161A CN 115498805 A CN115498805 A CN 115498805A
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- motor
- harmonic reducer
- underwater
- sealing
- torque motor
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 44
- 238000007789 sealing Methods 0.000 claims abstract description 54
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 17
- 238000013461 design Methods 0.000 claims abstract description 11
- 210000004907 gland Anatomy 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims abstract description 4
- 230000004313 glare Effects 0.000 claims abstract description 4
- 239000000956 alloy Substances 0.000 claims abstract description 3
- 230000007613 environmental effect Effects 0.000 claims description 8
- 238000004078 waterproofing Methods 0.000 claims description 2
- 230000007797 corrosion Effects 0.000 abstract description 8
- 238000005260 corrosion Methods 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 230000002349 favourable effect Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/12—Casings or enclosures characterised by the shape, form or construction thereof specially adapted for operating in liquid or gas
- H02K5/132—Submersible electric motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/10—Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. water or fingers
-
- 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
- H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
- H02K7/1021—Magnetically influenced friction brakes
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Motor Or Generator Frames (AREA)
Abstract
The invention relates to an underwater torque motor adopting a harmonic reducer, which comprises a harmonic reducer fixedly assembled on a core of a direct-current brushless motor, wherein the motor is provided with a motor shell made of a high-strength aluminum alloy material; the waterproof sealing mechanism of the motor comprises a front end sealing unit and a rear cover sealing unit, wherein the front end sealing unit sequentially comprises a flood plug sealing ring assembled between a gland and an output shaft, a Glare ring sealing assembly assembled between an end cover and the output shaft and a radial O-shaped sealing ring assembled between the end cover and a motor shell according to the sequence from outside to inside. The invention adopts the mode of integrated design of the direct current brushless motor and the harmonic reducer, has compact structure, simple and convenient installation and excellent sealing performance, and is particularly favorable for solving the problems of strong pressure, low temperature, easy corrosion, operation needing to be immersed in water and other special underwater environments, and keeping the integral power transmission stability and the working operation precision of the motor on the basis of ensuring the integral waterproof sealing performance of the motor.
Description
Technical Field
The invention relates to mechanical transmission equipment used in the field of marine equipment, in particular to an underwater torque motor adopting a harmonic reducer.
Background
The underwater torque motor adopting the harmonic reducer, which is provided by research personnel of the technical scheme of the invention, can provide corresponding reference for the field of marine equipment when corresponding mechanical transmission equipment technology is implemented. Most of energy sources of underwater equipment need to realize energy conversion through a motor, the underwater torque motor can be applied to the underwater equipment in ship and ocean engineering, such as power drive of underwater equipment such as an underwater screw rod, an underwater rotary table, an underwater steering engine, an underwater winch, underwater scissors and an underwater cutting sander, the cruising ability of the underwater equipment is determined by the efficiency of the underwater torque motor, and the underwater torque motor is an important part of the underwater equipment.
However, because the underwater environment has special environmental factors such as high pressure, low temperature, easy corrosion, operation in need of soaking, and the like, the development of the motor system has great difficulty, and the design of the underwater torque motor in the relevant direction needs to be carried out in a targeted manner so as to improve the service performance of the underwater torque motor.
After research and development personnel of the technical scheme of the invention analyze the technical means which are adopted successively aiming at solving the problem of how to improve the service performance of the underwater torque motor, the research and development personnel find that the common defects still exist, namely:
firstly, the existing underwater torque motors are not matched with a speed reducer to implement integrated design, so that the connection among internal parts of the motors is not reasonable enough, the motors are inconvenient to assemble, the whole volume of the motors is not optimized, and the motors are also limited by the aspects of rotating speed, vibration noise and the like during operation;
secondly, motor body in the past all does not assemble corresponding waterproof sealing structure to its self casing, watertight connector, front and back lid etc. and sealing performance is not up to standard, can't satisfy performance requirements such as environment, waterproof, life of moment motor under water.
In summary, the present invention is based on the prior art to solve the above problems, and combines with the summary of practical application experience to research an underwater torque motor using a harmonic reducer, so as to meet the performance requirements of the underwater torque motor under the special environmental factors of strong pressure, low temperature, easy corrosion, operation requiring water immersion, etc. in the underwater environment. Through the technical scheme provided by the invention, technicians continuously carry out practice and analysis, and the technical scheme provided by the invention can at least relieve, partially solve or completely solve the problems in the prior art and is also favorable for the application requirement of the underwater torque motor.
Disclosure of Invention
Aiming at the defects, the invention provides the underwater torque motor adopting the harmonic reducer, which is favorable for solving the problem that when the underwater torque motor is in the conditions of special underwater environments such as high pressure, low temperature, easy corrosion, operation needing to be immersed in water and the like, the integral power transmission stability and the working and operating precision of the motor are kept on the basis of ensuring the integral waterproof sealing performance of the motor.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an adopt harmonic speed reducer ware moment motor under water, its is in that the pressure is strong, the temperature is low, perishable, or need soak the special environmental factor under water of operation, still can stabilize and the operation of high accuracy, and this motor housing is preceding, back both sides set gradually end cover, back lid respectively, and wherein, end cover central point department of putting and gland assembly, back lid periphery and enclosing cover assembly, this moment motor under water includes:
the direct current brushless motor core is fixedly provided with a harmonic reducer at the end of a rotor shaft adjacent to one side of a motor end cover, so that two independent parts of the direct current brushless motor core and the harmonic reducer keep compact structure during assembly, and the two independent parts are arranged in a motor shell made of high-strength aluminum alloy materials, thereby realizing the integrated structural design of the underwater torque motor;
the electromagnetic brake assembly is assembled at the end of the rotor shaft adjacent to one side of the rear cover;
the waterproof sealing mechanism comprises a front end sealing unit and a rear cover sealing unit, wherein the front end sealing unit sequentially comprises a flood plug sealing ring assembled between a gland and an output shaft, a Glare ring sealing assembly assembled between an end cover and the output shaft and a radial O-shaped sealing ring assembled between the end cover and a motor shell from outside to inside.
Further, the rear cover sealing unit comprises a radial sealing assembly assembled between the rear cover and the outer cover and a radial sealing assembly assembled between the rear cover and the motor shell.
In addition, the shell at the adjacent position of the electromagnetic brake assembly is provided with a watertight connector so as to realize electrically connected plug pins and socket contacts, wherein the watertight connector can adopt end face sealing and water proofing and comprises a plug and a socket.
Because the high-performance double-layer waterproof dynamic seal is adopted between the output shaft and the end cover so as to bear extreme environmental temperature, the double-layer waterproof dynamic seal is required to have the highest pressure resistance of 400MPa and the rotating speed of the output shaft of 30-40 meters per second.
For the above technical solutions, the skilled person can select corresponding technical means to further implement, including:
the underwater torque motor integrates a harmonic reducer and an electromagnetic brake assembly so as to facilitate the working water depth of the motor device to reach 100-1000 meters when in use.
The electromagnetic brake component is a mechanical mechanism for stopping or decelerating the rotation of the rotor shaft of the motor, so that the operation of the rotor shaft can be controlled conveniently according to instructions; the braking mode of the electromagnetic brake assembly is divided into power-on braking and power-off braking.
In addition, a plurality of screw holes are uniformly distributed on the surface of the end cover in an annular mode and are used for mounting and connecting the load parts.
The invention adopts the mode of integrated design of the direct current brushless motor and the harmonic reducer, has compact structure, simple and convenient installation and excellent sealing performance, is favorable for meeting the performance requirements of the underwater torque motor on environment, water resistance, service life and the like, and is particularly favorable for solving the problem of maintaining the integral power transmission stability and the working operation precision of the motor on the basis of ensuring the integral waterproof sealing performance of the motor when the motor is in the conditions of special underwater environments such as strong pressure, low temperature, easy corrosion, operation needing to be immersed in water and the like.
Drawings
The invention is explained in further detail below with reference to the drawing.
FIG. 1 is a schematic external view of an underwater torque motor employing a harmonic reducer in which the present invention is embodied;
FIG. 2 is a schematic end view of an underwater torque motor employing a harmonic reducer embodying the present invention;
fig. 3 is a schematic cross-sectional view of an underwater torque motor employing a harmonic reducer in accordance with the present invention.
In the figure:
1. an output shaft;
2. a watertight connector;
3. a motor core;
4. a rotor shaft;
5. a harmonic reducer;
6. an electromagnetic brake assembly;
7. a motor housing;
8. an end cap;
9. a gland;
10. a flood plug seal ring;
11. a GREEN seal assembly;
12. a radial O-ring seal;
13. a rear cover;
14. an outer cover;
15. an end cap screw;
16. a gland screw;
17. a screw hole;
100. a motor main body;
Detailed Description
The invention discloses an underwater torque motor adopting a harmonic reducer, which is implemented by the invention, and aims to solve the technical problem that the conventional selected underwater torque motor is difficult to maintain the whole power transmission stability and the working operation precision of the motor on the basis of ensuring the whole waterproof sealing performance of the motor when the underwater torque motor is in the conditions of special underwater environments such as high pressure, low temperature, easy corrosion, operation needing to be soaked and the like.
As shown in fig. 1-3, one of the problems to be solved by the underwater torque motor using a harmonic reducer implemented by the present invention is to make the functional components independent from each other on the basis of keeping the structural design compact and easy to assemble, and a technician preferably uses a cylindrical motor housing 7 integrally designed by high strength aluminum alloy to meet the basic requirements of sealing and corrosion resistance when implementing the motor main body 100, and configures a dc brushless motor core 3 with a rotor shaft 4 inside the housing, and sequentially assembles an end cover 8 and a rear cover 13 at the front and rear ends of the housing, so as to provide a sealing structure favorable for improving the overall sealing performance of the motor for the subsequent surrounding of the corresponding portions of the front and rear covers, and at the same time, an output shaft 1 is provided at the outer end of the motor core 3 and the outer end of the output shaft 1 extends to the outside of the end cover 8, and correspondingly, a layer of a gland 9 is provided at the center of the implemented end cover 8 and around the periphery of the output shaft 1, and for the specific assembly, the end cover 8 is fixedly connected with the motor housing 7 by end cover screws 15 (for example, a plurality of inner hexagonal stainless steel screws uniformly distributed on the surface of the end cover 8 and the end cover 8 are fixedly connected with screw holes 17).
Further, to the fixed harmonic speed reducer ware 5 that assembles of rotor shaft 4 front end that is close to end cover 8 one side, to the fixed electromagnetic brake subassembly 6 that assembles of rotor shaft 4 end that is close to back lid 13 one side, the casing assembly watertight connector 2 of this electromagnetic brake subassembly 6 adjacent position department to in order to realize electric connection's bolt and socket contact, this watertight connector 2 includes plug and socket, adopts end face seal waterproof, and its contact resistance is little, insulating good, corrosion-resistant, unhardened and cable damage back axial is not seeped water.
The underwater torque motor adopting the harmonic reducer needs to improve the sealing performance of the newly assembled motor again after the harmonic reducer 5 and the electromagnetic brake component 6 are assembled, can be respectively implemented from the front side and the rear side of the motor main body 100 to achieve the improvement of the integral sealing waterproof grade, and has the following specific implementation technical means:
firstly, aiming at one side of the output end of the motor, the integral waterproof sealing performance of the motor at one side of the end cover 8 is realized by sequentially arranging a plurality of sealing components at proper positions, and the sealing technical means sequentially comprise a flood plug sealing ring 10 constructed and assembled between a gland 9 and the output shaft 1, a Glare ring sealing component 11 constructed and assembled between the end cover 8 and the output shaft 1 and a radial O-shaped sealing ring 12 constructed and assembled between the end cover 8 and the motor shell 7 from outside to inside, wherein one end of the output shaft 1 is reliably sealed, so that the working water depth can be ensured to be more than 100 meters;
secondly, aiming at one side of the motor rear cover 13, the outer cover 14 is further assembled on the periphery of the rear cover 13, the whole waterproof sealing performance of the motor on one side of the rear cover 13 is realized by sequentially arranging a plurality of sealing components at proper positions, and the sealing technical means sequentially comprise a radial O-shaped sealing ring 12 constructed and assembled between the rear cover 13 and the outer cover 14 and a radial O-shaped sealing ring 12 constructed and assembled between the rear cover 13 and the motor shell 7 from outside to inside.
The underwater torque motor adopting the harmonic reducer, which is implemented by the invention, has the advantages that the working water depth of the motor device is enabled to reach the range of 100-1000 meters by integrating the harmonic reducer 5 and the electromagnetic brake assembly 6, and on the premise of designing and executing the standard requirements of 'diving system and submersible grading and building specification' and GB/T21412 'design and operation of underwater production system in petroleum and natural gas industry', technical personnel can determine the advantages of the motor, such as high precision, large torque, low rotating speed, small volume and deep waterproof property, through practical application; the harmonic reducer has the advantages of high bearing capacity, large transmission ratio, small volume, stable transmission, high precision and the like, is coaxially connected with the core 3 of the direct current brushless motor into a whole, and is simple and convenient to mount, so that the integral structure of the motor is more compact, the transmission is stable, and no vibration noise exists; the electromagnetic brake assembly 6 is a mechanical mechanism for stopping or reducing the rotation of the rotor shaft of the motor, can control the operation of the rotor shaft 4 according to instructions, and has the advantages of compact structure, sensitive response, convenience for remote control and the like because the assembly and the rotor shaft 4 of the motor are coaxially arranged.
The output shaft 1 of the underwater torque motor adopting the harmonic reducer is used for connecting the motor with an external load to output the power of the motor, one end of the output shaft is connected with the end face of the harmonic reducer 5 through a screw, and the output shaft 1 and the end cover 8 are in high-performance double-layer waterproof dynamic seal, so that the underwater torque motor can bear extreme environmental temperature, the highest pressure resistance can reach 400MPa, the rotating speed of the output shaft can reach 30-40 meters per second, and the use performance requirement of the underwater motor is greatly met.
The technical scheme implemented by the invention is mainly to realize the underwater torque motor which has excellent performance and can stably run under special environmental factors through the technical scheme of the integrated design of the direct current brushless motor and the harmonic reducer, and as the requirements of design and application are different, the prior conventional technical means can be referred to for specific models of circuit boards and sealing components possibly related in practice, and other auxiliary components, and certainly, the technical scheme of the invention does not relate to further improvement of specific circuit layouts of circuit components, circuit diagrams and the like, and all skilled in the art know that as long as the steps of the technical scheme of the invention can be implemented, the technical means to be further developed can bring more or less inspiration. Therefore, the technical scheme of the invention is actually an underwater torque motor which is designed by adopting a harmonic reducer in an integrated manner and can be referred and implemented by a person skilled in the art by combining with a conventional technical means, and the person skilled in the art can practice, apply and test according to different application conditions and application requirements and the method formed by the invention, and can obtain a series of advantages brought by the method.
In the description herein, the appearances of the phrases "in this embodiment," "in an embodiment," and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment or example. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example; furthermore, the particular features, method steps, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present specification, the terms "connect", "arrange", "have", and the like are used in a broad sense, for example, the "connect" may be a fixed connection or an indirect connection through intermediate components without affecting the relationship and technical effects of the components, or may be an integral connection or a partial connection, as in this case, for a person skilled in the art, the specific meaning of the above terms in the present invention can be understood according to specific situations.
The foregoing description of the embodiments is provided to enable any person skilled in the art to make and use the embodiments, and it is to be understood that various modifications may be readily apparent to those skilled in the art, and that the generic principles defined herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present disclosure is not limited to the above embodiments, and modifications for the following situations should be within the scope of the present disclosure: (1) based on the technical scheme of the invention and combined with the new technical scheme implemented by the prior common general knowledge, the technical effect generated by the new technical scheme does not exceed the technical effect of the invention, for example, the technical scheme formed by the integrated design of the DC brushless motor and the harmonic reducer is adopted, and the generated technical effect does not exceed the technical effect of the invention; (2) equivalent replacement of part of the features of the technical scheme of the invention by adopting the known technology produces the same technical effects as the invention, for example, equivalent replacement is carried out on circuit components and the like which may be involved; (3) the technical scheme of the invention is used as a basis for expansion, and the substantial content of the expanded technical scheme does not exceed the technical scheme of the invention; (4) the technical means obtained by the equivalent transformation made by the text contents or the attached drawings of the specification of the invention are applied to other schemes in the related technical fields.
Claims (10)
1. The utility model provides an adopt harmonic speed reducer ware moment motor under water, its is in that the pressure is strong, the temperature is low, perishable, or need soak the special environmental factor under water of operation, still can stabilize and the operation of high accuracy, and this motor housing is preceding, back both sides set gradually end cover, back lid respectively, and wherein, end cover central point puts department and gland assembly, back lid periphery and enclosing cover assembly, its characterized in that, moment motor includes under water:
the direct current brushless motor core is fixedly provided with a harmonic reducer at the end of a rotor shaft close to one side of a motor end cover, so that two independent components of the direct current brushless motor core and the harmonic reducer are kept compact in structure during assembly, and the two independent components are arranged in a motor shell made of high-strength aluminum alloy materials, and therefore the integrated structural design of the underwater torque motor is realized;
the electromagnetic brake assembly is assembled at the end of the rotor shaft adjacent to one side of the rear cover;
the waterproof sealing mechanism comprises a front end sealing unit and a rear cover sealing unit, wherein the front end sealing unit sequentially comprises a flood plug sealing ring assembled between a gland and an output shaft, a Glare ring sealing assembly assembled between an end cover and the output shaft and a radial O-shaped sealing ring assembled between the end cover and a motor shell from outside to inside.
2. The underwater torque motor using the harmonic reducer of claim 1, wherein: the rear cover sealing unit includes a radial seal assembly fitted between the rear cover and the outer cover.
3. The underwater torque motor using a harmonic reducer of claim 1, wherein: the rear cover sealing unit comprises a radial sealing assembly constructed and assembled between the rear cover and the motor shell.
4. The underwater torque motor using the harmonic reducer of claim 1, wherein: the shell at the adjacent position of the electromagnetic brake assembly is provided with a watertight connector so as to realize electrically connected plug pins and socket contacts.
5. The underwater torque motor using the harmonic reducer of claim 4, wherein: the watertight connector adopts end face sealing and waterproofing, and comprises a plug and a socket.
6. The underwater torque motor using the harmonic reducer according to any one of claims 1 to 5, wherein: the high-performance double-layer waterproof dynamic seal is adopted between the output shaft and the end cover so as to bear extreme environmental temperature, the double-layer waterproof dynamic seal is required to have the highest pressure resistance of 400MPa and the rotating speed of the output shaft of 30-40 meters per second.
7. The underwater torque motor using the harmonic reducer of claim 1, wherein: the underwater torque motor integrates a harmonic reducer and an electromagnetic brake assembly so as to enable the working water depth of the motor device to reach the range of 100-1000 meters.
8. The underwater torque motor using the harmonic reducer of claim 1, wherein: the electromagnetic brake assembly is a mechanical mechanism for stopping or decelerating the rotation of the rotor shaft of the motor, so that the operation of the rotor shaft can be controlled conveniently according to instructions.
9. The underwater torque motor with the harmonic reducer according to claim 1 or 8, wherein the braking mode of the electromagnetic brake assembly is divided into an on-braking mode and an off-braking mode.
10. The ground mobile antenna tracking and pointing guidance system for a remotely located unmanned aerial vehicle of claim 1, wherein: and a plurality of screw holes are uniformly distributed on the surface of the end cover in an annular shape and are used for mounting and connecting a load component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211309161.XA CN115498805A (en) | 2022-10-25 | 2022-10-25 | Underwater torque motor adopting harmonic reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211309161.XA CN115498805A (en) | 2022-10-25 | 2022-10-25 | Underwater torque motor adopting harmonic reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115498805A true CN115498805A (en) | 2022-12-20 |
Family
ID=84474911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211309161.XA Pending CN115498805A (en) | 2022-10-25 | 2022-10-25 | Underwater torque motor adopting harmonic reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115498805A (en) |
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2022
- 2022-10-25 CN CN202211309161.XA patent/CN115498805A/en active Pending
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Application publication date: 20221220 |