CN216451190U

CN216451190U - Joint outer rotor motor for underwater robot

Info

Publication number: CN216451190U
Application number: CN202122831746.5U
Authority: CN
Inventors: 邹雪芳; 薛波; 马培刚; 尹开洋; 胥风
Original assignee: Changzhou Longnai Electric Drive Technology Co ltd
Current assignee: Changzhou Longnai Intelligent Equipment Co ltd
Priority date: 2021-11-16
Filing date: 2021-11-16
Publication date: 2022-05-06
Anticipated expiration: 2031-11-16

Abstract

The utility model relates to a joint outer rotor motor for an underwater robot, which comprises an outer rotor device and an inner stator device, wherein the outer rotor device and the inner stator device are arranged in a sealed protective shell; a support cylinder is welded on the base, and a stator core is wound on the support cylinder; the inner wall of the outer rotor shell is fixedly provided with a permanent magnet, the motor shaft penetrates through the supporting cylinder to be connected with the base, the motor shaft penetrates through the inner part of the outer rotor shell and penetrates through the fixing frame, one side, away from the base, of the motor shaft is in transmission connection with a worm, a worm wheel is matched with the worm, a transmission shaft is arranged in the middle of the worm wheel, and two ends of the transmission shaft are connected with the first mechanical arm through flanges. The motor shaft passes through a series of parts, finally drives the rotation of arm.

Description

Joint outer rotor motor for underwater robot

Technical Field

The utility model relates to the technical field of outer rotor motors, in particular to a joint outer rotor motor for an underwater robot.

Background

With the rapid development of the robot industry, the application of the robot is more and more extensive, the technology is more and more advanced, and the product is also highly intelligent and energy.

Among numerous robot products, there is an underwater robot for underwater work, which is also widely used in various fields, but when a conventional underwater robot works, impurities easily enter between a rotor and a stator, causing damage to a motor, and therefore the motor needs to be frequently disassembled and cleaned, and the maintenance cost is high due to the structure of the conventional robot. And the motor shaft and the outer rotor shell rub with each other, so that the motor is used for a long time, the loss of parts is large, and the service life of the device is short.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a joint outer rotor motor for an underwater robot, which has strong protection performance, is easy to disassemble and assemble, has small capacity loss, and has simpler maintenance, lower cost and longer service life.

In order to solve the technical problems, the utility model provides the following technical scheme: the utility model provides a joint external rotor electric machine for underwater robot, includes external rotor device and internal stator device, and external rotor device and internal stator device are installed inside sealed protective housing, and the external rotor device includes external rotor shell, motor shaft and permanent magnet, and the internal stator device includes stator core, base, mount and a support section of thick bamboo. The mount is installed in the outer rotor housing outside, base and a support section of thick bamboo welded connection, support section of thick bamboo inside cavity, around being equipped with stator core on the support section of thick bamboo. The permanent magnet is fixed on the inner wall of the outer rotor shell, the motor shaft sequentially penetrates through the supporting cylinder, the outer rotor shell and the fixing frame from left to right, and one side, close to the base, of the motor shaft is connected with the base. One side of the motor shaft, which is far away from the base, is provided with a worm, the motor shaft is in transmission connection with the worm through a coupler, a worm wheel is installed on the worm in a matched manner, a transmission shaft is arranged in the middle of the worm wheel and penetrates through the worm wheel, the worm wheel drives the transmission shaft to rotate, and two ends of the transmission shaft are in rotation connection with the first mechanical arm through flanges.

Furthermore, a groove with the size matched with the motor shaft is formed in the base, a first bearing with the size matched with the motor shaft is arranged in the groove, and the first bearing is sleeved on one side, close to the base, of the motor shaft. The first bearing reduces the friction between the motor shaft and the base, and reduces the energy loss.

Furthermore, one end cover that the base was kept away from to the motor shaft is equipped with the fixed block, and the fixed block is inlayed in motor shaft and outer rotor housing's handing-over department. The fixed block is connected with the motor shaft and the outer rotor shell, so that when the magnetic field controls the outer rotor shell to rotate, the outer rotor shell drives the motor shaft to rotate.

Furthermore, a second bearing is embedded at the joint of the motor shaft and the fixing frame, the fixing frame plays a role in fixing the motor shaft, and the second bearing reduces friction between the motor shaft and the fixing frame and reduces energy loss; and a third bearing is embedded at the joint of the outer rotor shell and the support cylinder, and the energy loss caused by friction is also reduced by the third bearing.

Furthermore, the worm is in meshed transmission connection with the worm wheel. The motor shaft drives the worm to rotate, and the worm drives the worm wheel to rotate. The meshing transmission has the advantages of high transmission efficiency, stable transmission, high reliability and the like.

Furthermore, be provided with two sizes and the supporting round hole of transmission shaft on the sealed protective housing, the transmission shaft runs through the worm wheel and passes the round hole, and the flange is installed to the transmission shaft both sides, and the transmission shaft passes through the flange to be connected with first arm joint rotation, and sealed protective housing and second arm are close to first arm one end fixed connection. Inside sealed protective housing can effectually prevent impurity entering device under water, improved the life of motor. The transmission shaft is connected with the first mechanical arm joint through a flange, so that the parts are more convenient to maintain and replace.

Furthermore, the sealing protective shell is fixedly connected with the base and the fixing frame through screws. The outer rotor motor can be fixed, friction and collision between the outer rotor motor and the sealing protective shell are effectively prevented, and the service life of the outer rotor motor is prolonged. The screw adopts the preparation of metal copper, and copper has good heat conductivity, and the screw contacts with the external world, passes the heat that the motor produced to the external world, avoids the motor to damage because of the high temperature. Adopt screw fixation structure, also make the dismantlement of motor more convenient.

Furthermore, the sealing protection shell and the internal device thereof are arranged at the joint of the first mechanical arm and the second mechanical arm, so that the occupied volume is reduced, and the device is overall simpler and more convenient.

Compared with the prior art, the utility model has the following beneficial effects: the device is arranged in the sealed protective shell, so that the damage of external impurities to the device is effectively reduced, and the service life of the device is prolonged; the base, the fixing frame and the sealing protection shell are connected by adopting detachable screws, and the transmission shaft is connected with the mechanical arm through a flange, so that the maintenance and the replacement of internal parts are more convenient; the screw is made of metal copper, so that the screw has good heat conductivity, and the heat dissipation of the device is quicker; the device is arranged at the joint of the first mechanical arm and the second mechanical arm, so that the occupied volume is reduced, and the device is simpler and more convenient; the worm and the worm wheel adopt a meshing transmission structure, so that the transmission efficiency of the device can be improved, and the device has higher stability; the supporting cylinder is arranged in the motor, so that the relative rotation of the outer rotor and the inner stator is realized, and the energy loss is reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model. In the drawings:

fig. 1 is a schematic structural diagram of a joint outer rotor motor device for an underwater robot.

Fig. 2 is a sectional view of the motor structure of the present invention.

Fig. 3 is a top view of the present invention.

Figure 4 is a front view of the device of the present invention in connection with a robotic arm.

Figure 5 is a top view of the device of the present invention in connection with a robotic arm.

In the figure: 1. the outer rotor comprises an outer rotor shell, 2, a motor shaft, 3, a stator core, 4, a supporting cylinder, 5, a base, 6, a groove, 7, a first bearing, 8, a fixing block, 9, a permanent magnet, 10, a worm, 11, a worm wheel, 12, a transmission shaft, 13, a flange, 14, a sealing protection shell, 15, a first mechanical arm, 16, a round hole, 17, a second mechanical arm, 18, a fixing frame, 19, a second bearing, 20 and a third bearing.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, a joint outer rotor motor for an underwater robot, which comprises an outer rotor device and an inner stator device, wherein the outer rotor device and the inner stator device are installed inside a sealed protective shell 14, the outer rotor device comprises an outer rotor shell 1, a motor shaft 2 and a permanent magnet 9, the inner stator device comprises a stator core 3, a base 5, a fixing frame 18 and a supporting cylinder 4, the base 5 is in welded connection with the supporting cylinder 4, an inner cavity of the supporting cylinder 4 is wound with the stator core 3, the permanent magnet 9 is fixed on the inner wall of the outer rotor shell 1, the motor shaft 2 sequentially penetrates through the supporting cylinder 4, the outer rotor shell 1 and the fixing frame 18 from left to right, and one side, close to the base 5, of the motor shaft 2 is connected with the base 5. One side of the motor shaft 2, which is far away from the base 5, is provided with a worm 10, the motor shaft 2 is in transmission connection with the worm 10 through a coupler, the worm 10 is provided with a worm wheel 11 in a matching manner, the middle of the worm wheel 11 is provided with a transmission shaft 12, the transmission shaft 12 penetrates through the worm wheel 11, and two ends of the transmission shaft 12 are in rotational connection with a first mechanical arm 15 through a flange 13.

As shown in fig. 2, a groove 6 is formed in the base 5 and sized to match the motor shaft 2, a first bearing 7 is formed in the groove 6 and sized to match the motor shaft 2, and the first bearing 7 is sleeved on one side of the motor shaft 2 close to the base 6. The first bearing 7 reduces the friction between the motor shaft 2 and the base 6, reducing the energy loss.

As shown in fig. 2, a fixing block 8 is sleeved on an end of the motor shaft 2 away from the base 6, and the fixing block 8 is embedded at a joint of the motor shaft 2 and the outer rotor housing 1. The fixed block 8 is connected with the motor shaft 2 and the outer rotor shell 1, so that when the magnetic field drives the outer rotor shell 1 to rotate, the outer rotor shell 1 drives the motor shaft 2 to rotate.

As shown in fig. 2, a second bearing 19 is embedded at the joint of the motor shaft 2 and the fixing frame 18, the fixing frame 18 plays a role in fixing the motor shaft 2, and the second bearing 19 reduces friction between the motor shaft 2 and the fixing frame 18, thereby reducing energy loss; a third bearing 20 is embedded at the joint of the outer rotor shell 1 and the support cylinder 4. The third bearing 20 also reduces energy losses due to friction.

As shown in fig. 1, the worm 10 is in meshing transmission connection with the worm wheel 11. The motor shaft 2 drives the worm 10 to rotate, and the worm 10 drives the worm wheel 11 to rotate. The meshing transmission has the characteristics of high transmission efficiency, stable transmission, high reliability and the like. The working efficiency of the device can be improved, and the loss of the capacity can be reduced.

As shown in fig. 1 and 5, two circular holes 16 are formed in the sealing protective shell 14, the size of each circular hole is matched with that of the corresponding transmission shaft 12, the transmission shafts 12 penetrate through the worm gears 11 and penetrate through the corresponding circular holes 16, flanges 13 are mounted on two sides of the transmission shafts 12, the transmission shafts 12 are rotatably connected with joints of the first mechanical arms 15 through the flanges 13, and the sealing protective shell 14 is fixedly connected with one ends, close to the first mechanical arms 15, of the second mechanical arms 17. The sealing protective shell 14 can effectively prevent underwater impurities from entering the interior of the outer rotor motor, and the service life of the motor is prolonged. The transmission shaft 12 is in transmission connection with the first mechanical arm 15 through the flange 13, so that the maintenance and replacement of parts are more convenient.

As shown in fig. 1, the sealing protection shell 14 is fixedly connected with the base 5 and the fixing frame 18 through screws. The outer rotor motor can be fixed, friction and collision between the outer rotor motor and the sealing protective shell 14 are effectively prevented, and the service life of the outer rotor motor is prolonged. The screw adopts the metal material copper preparation, and copper has good heat conductivity, and the screw contacts with the outside, can give the outside with the heat conduction that the motor produced, avoids the motor to damage because of the high temperature. The screw fixing structure also enables the motor to be more convenient to disassemble.

As shown in fig. 4 and 5, the underwater robot external rotor motor device is installed at the connection of the first mechanical arm 15 and the second mechanical arm 17. The operation of the first mechanical arm 15 can be controlled by the rotation of the transmission shaft 12, and the first mechanical arm is installed at the joint, so that the occupied volume can be reduced, and the device can be simpler and more convenient.

When the motor rotor is used, the stator iron core 3 generates a magnetic field, the magnetic field and the magnetic field of the permanent magnet 9 attract or repel each other, so that the permanent magnet 9 rotates, the permanent magnet 9 drives the outer rotor shell 1 to rotate, the outer rotor shell 1 drives the motor shaft 2 to rotate under the limitation of the fixing block 8, the first bearing 7, the second bearing 19 and the third bearing reduce energy loss during rotation, the motor shaft 2 drives the worm 10 to rotate, the worm 10 drives the transmission shaft 12 on the worm wheel 11 to rotate, and the transmission shaft 12 drives the first mechanical arm 15 to operate with the help of the flange 13.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the utility model. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The joint outer rotor motor for the underwater robot is characterized by comprising an outer rotor device and an inner stator device, wherein the outer rotor device and the inner stator device are installed inside a sealing protective shell (14), the outer rotor device comprises an outer rotor shell (1), a motor shaft (2) and permanent magnets (9), the inner stator device comprises a stator core (3), a base (5), a fixing frame (18) and a supporting cylinder (4), the fixing frame (18) is installed on the outer side of the outer rotor shell (1), the base (5) is connected with the supporting cylinder (4) in a welding mode, a cavity is formed in the supporting cylinder (4), the stator core (3) is wound on the supporting cylinder (4), the permanent magnets (9) are fixed on the inner wall of the outer rotor shell (1), and the motor shaft (2) sequentially penetrates through the supporting cylinder (4) from left to right, Outer rotor housing (1) and mount (18), one side that motor shaft (2) is close to base (5) is connected with base (5), base (5) one side is kept away from in motor shaft (2) installs worm (10), motor shaft (2) with worm (10) pass through the shaft coupling transmission and are connected, worm wheel (11) are installed to supporting on worm (10), be provided with transmission shaft (12) in the middle of worm wheel (11), transmission shaft (12) run through in worm wheel (11), worm wheel (11) drive transmission shaft (12) rotate, transmission shaft (12) both ends are passed through flange (13) and are rotated with first arm (15) and be connected.

2. The articulated outer rotor motor for the underwater robot is characterized in that a groove (6) which is matched with the motor shaft (2) in size is formed in the base (5), a first bearing (7) which is matched with the motor shaft (2) in size is arranged in the groove (6), and the first bearing (7) is sleeved at one end, close to the base (5), of the motor shaft (2).

3. The articulated outer rotor motor for the underwater robot is characterized in that a fixing block (8) is sleeved on one end, far away from the base (5), of the motor shaft (2), and the fixing block (8) is embedded at the joint of the motor shaft (2) and the outer rotor shell (1).

4. The articulated outer rotor motor for the underwater robot is characterized in that a second bearing (19) is embedded at the joint of the motor shaft (2) and the fixed frame (18); and a third bearing (20) is embedded at the joint of the outer rotor shell (1) and the support cylinder (4).

5. The articulated outer rotor motor for underwater robots according to claim 1, characterized in that the worm (10) is in meshed transmission connection with a worm wheel (11).

6. The articulated outer rotor motor for the underwater robot is characterized in that two circular holes (16) matched with the transmission shaft (12) in size are formed in the sealing protective shell (14), the transmission shaft (12) penetrates through the worm wheel (11) and penetrates through the circular holes (16) and is rotatably connected with the first mechanical arm (15) through the flange (13), and the sealing protective shell (14) is fixedly connected with one end, close to the first mechanical arm (15), of the second mechanical arm (17).

7. The articulated outer rotor motor for underwater robots according to claim 1, characterized in that the sealing protective casing (14) is fixedly connected with the base (5) and the fixing frame (18) by screws.

8. The articulated outer rotor motor for underwater robots according to claim 1, characterized in that the sealed protective shell (14) and its internal devices are mounted at the junction of the first robot arm (15) and the second robot arm (17).