WO2021098178A1 - 一种水下丝杠滑块传动装置 - Google Patents

一种水下丝杠滑块传动装置 Download PDF

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Publication number
WO2021098178A1
WO2021098178A1 PCT/CN2020/092481 CN2020092481W WO2021098178A1 WO 2021098178 A1 WO2021098178 A1 WO 2021098178A1 CN 2020092481 W CN2020092481 W CN 2020092481W WO 2021098178 A1 WO2021098178 A1 WO 2021098178A1
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Prior art keywords
screw
slider
output shaft
watertight
motor
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PCT/CN2020/092481
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English (en)
French (fr)
Inventor
付凤婷
付伟虎
褚振忠
李志强
王达
王福轮
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上海海事大学
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Priority to US17/777,318 priority Critical patent/US20220407385A1/en
Publication of WO2021098178A1 publication Critical patent/WO2021098178A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • 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
    • H02K5/22—Auxiliary parts of casings not covered by groups H02K5/06-H02K5/20, e.g. shaped to form connection boxes or terminal boxes
    • H02K5/225—Terminal boxes or connection arrangements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • 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
    • 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
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2087—Arrangements for driving the actuator using planetary gears
    • 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
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa

Definitions

  • the invention relates to an underwater transmission device, in particular to an underwater screw slide block transmission device with absolute position feedback of the screw slide block.
  • the underwater screw slide block transmission device can realize the linear reciprocating movement of the underwater instruments and equipment installed on it.
  • Most of the existing devices adopt a split design, that is, the watertight motor and the screw slider mechanism are designed separately, the size is large, and the absolute position of the slider cannot be fed back, and the control system design is more complicated. Especially when the control system crashes, the absolute position of the slider is lost, and the zero position needs to be searched again.
  • the watertight motor and the transmission mechanism in the underwater screw slider transmission device designed by the present invention are compact in structure, can feedback the absolute position of the slider, and control is simple and convenient.
  • the purpose of the present invention is to provide an underwater screw slider transmission device with compact structure and with slider absolute position feedback.
  • An underwater screw slider transmission device which is characterized in that the device comprises:
  • a watertight motor, a drive motor, a transmission mechanism, a detection device and a control system are arranged inside the sealed casing, and the electrical signal is connected to the outside through a watertight connector;
  • the screw slider transmission mechanism includes a base and a screw slider.
  • the slider is connected with a watertight motor through the screw mechanism and reciprocates along the guide rail under the drive of the watertight motor.
  • the watertight motor includes:
  • the sealed housing is composed of a housing, a rear end cover, a front end cover and an output shaft.
  • a sealing ring is arranged between the output shaft and the front end cover.
  • the front end cover and the sealing ring are sealed by a first sealing ring.
  • the ring is sealed by two second sealing rings;
  • the drive motor is composed of a drive motor stator and a drive motor rotor, the drive motor stator is bonded to the housing, and the drive motor rotor is bonded to the input shaft of the harmonic reducer;
  • the transmission mechanism is composed of a harmonic reducer and an output shaft.
  • the harmonic reducer and the housing are connected by a first screw.
  • the output shaft is an umbrella-shaped structure. One end of the output shaft extends out of the front end cover and is driven by the screw slider transmission mechanism. Shaft connection, the middle part of the output shaft is connected with the output end of the harmonic reducer through the second screw, the inner end of the output shaft seal housing is connected with the planetary reducer, and the output shaft is radially supported by the rolling bearing;
  • the detection device is composed of a planetary reducer and a resolver.
  • the planetary reducer is arranged inside the harmonic reducer and is connected to the housing through a fixed plate.
  • the resolver housing is arranged on the fixed plate.
  • the planetary reducer is input to the sun gear and output One end of the shaft seal housing is connected, and the output shaft of the planetary reducer is connected to the inner rotor of the resolver;
  • the control system is composed of a control board and a watertight connector.
  • the electrical circuit of the drive motor stator and the electrical circuit of the resolver are connected to the control board, and the power supply and communication line of the control board is connected with the watertight connector.
  • the screw slide block transmission mechanism includes:
  • the base includes a head base and a tail base.
  • Three identical guide rails arranged in a pint shape are arranged between the head base and the tail base. The two ends of the guide rail are connected to the head through the third screw and the fourth screw respectively.
  • the base and the tail base are connected, and the watertight motor sinks into the head base and is connected by the fifth screw;
  • Screw slider which includes a screw threaded rod, a screw nut and a slider.
  • the screw nut is arranged inside the slider and pressed by an end cover.
  • the slider is provided with three guide holes so that the slider can move along The guide rail slides freely, the threaded rod of the lead screw is hollow, and the drive shaft and the driven shaft are installed at both ends.
  • the drive shaft and the driven shaft are connected with the threaded rod of the lead screw through interference fit, and the drive shaft and the output shaft of the watertight motor pass through Two flat keys are connected, the drive shaft is supported by the angular contact bearing installed on the head base to provide radial and axial support, and the driven shaft is supported by the double angular contact bearing installed on the tail base to provide radial and axial support.
  • the underwater screw slider transmission device of the present invention adopts an integrated design and has a compact structure; while the output shaft of the watertight motor is connected with the screw, its other end is via a planetary reducer. It is connected with the resolver, so that the resolver can detect the absolute position of the lead screw slider and facilitate the debugging of the control system; the invention is suitable for underwater engineering, and related instruments and devices can be fixed on the slider for accurate linear reciprocating motion control.
  • Fig. 1 is a schematic diagram of the structure of the underwater screw slider transmission device of the present invention.
  • Fig. 2 is a schematic diagram of the structure of the watertight motor of the underwater screw slider transmission device of the present invention.
  • Fig. 3 is a schematic diagram of the structure of the screw slider of the underwater screw slider transmission device of the present invention.
  • the underwater screw slider transmission device of the present invention includes two parts: a watertight motor 1 and a screw slider transmission mechanism.
  • the sealed housing of the watertight motor 1 is provided with a driving motor, a transmission mechanism, a detection device and a control system.
  • the screw slider transmission mechanism includes two parts: the base and the screw slider, the slider 4 is connected to the watertight motor 1 through the screw mechanism, and is driven by the watertight motor 1. Reciprocate along the guide rail 3.
  • the watertight motor 1 includes a drive motor, a transmission mechanism, a detection device and a control system.
  • the sealed housing is composed of a housing 23, a rear end cover 26, a front end cover 21 and an output shaft 17.
  • a sealing ring 18 is provided between the output shaft 17 and the front end cover 21, and the front end cover 21 and the sealing ring 18 pass a first seal
  • the output shaft 17 and the sealing ring 18 are sealed by two second sealing rings 33;
  • the drive motor adopts the Kollmorgen TBM60 series frameless torque motor, which is composed of a drive motor stator 24 and a drive motor rotor 34.
  • the motor stator 24 and the housing 23 are bonded by Gutai glue, and the drive motor rotor 34 and the input shaft of the harmonic reducer 22 are bonded by Gutai glue;
  • the transmission mechanism is composed of a harmonic reducer 22 and an output shaft 17.
  • the harmonic reducer 22 adopts a green harmonic LHS series reducer.
  • the harmonic reducer 22 and the housing 23 are connected by a first screw 35, and the output shaft 17 It is an umbrella structure.
  • One end of the output shaft 17 extends out of the front end cover 21 and is connected to the drive shaft 16 of the screw slider transmission mechanism.
  • the middle of the output shaft 17 and the output end of the harmonic reducer 22 are connected by a second screw 19, and the output shaft 17 is sealed
  • One end of the housing is connected with a planetary reducer 29, and the output shaft 17 is radially supported by a rolling bearing 31;
  • the detection device consists of a planetary reducer 29 and a resolver 28.
  • the planetary reducer 29 adopts the APEX AM022 series reducer.
  • the resolver 28 is a Tamagawa TS2605N1E64 resolver.
  • the planetary reducer 29 is installed inside the harmonic reducer 22.
  • the plate 36 is connected to the housing 23, the housing of the resolver 28 is arranged on the fixed plate 36, the planetary reducer 29 is connected to the input sun gear 30 and one end of the output shaft 17 in the sealed housing, and the output shaft of the planetary reducer 29 is connected to the inner rotor of the resolver 28 ;
  • the control system consists of a control board 27 and a watertight connector 25.
  • the control board 27 is developed based on STM32 series single-chip microcomputers. It integrates functions such as motor drive, resolver 28 decoding, motor angle closed-loop control, etc., and drives the electrical circuit of the motor stator 24 and the electrical circuit of the resolver 28.
  • the line is connected to the control board 27, and the power supply and communication line of the control board 27 is connected to the watertight connector 25.
  • the screw slider transmission mechanism includes two parts: a base and a screw slider.
  • the base includes a head base 2 and a tail base 7.
  • the screws 11 are respectively connected with the head base 2 and the tail base 7, the watertight motor 1 sinks into the head base 2 and is connected by the fifth screw 15;
  • the screw slider includes a screw threaded rod 5, a screw nut 10 and a slider 4.
  • the screw nut 10 is arranged inside the slider 4 and pressed by the end cover 6.
  • the slider 4 is provided with three guide holes, The sliding block 4 can slide freely along the guide rail 3.
  • the screw threaded rod 5 is a hollow structure, and its two ends are equipped with a driving shaft 16 and a driven shaft 9, and the driving shaft 16 and the driven shaft 9 and the screw threaded rod 5 pass through
  • the drive shaft 16 is connected with the output shaft 17 of the watertight motor 1 through two flat keys 13.
  • the drive shaft 16 is supported by the angular contact bearing 14 mounted on the head base 2 in the radial and axial direction.
  • the driven shaft 9 The radial and axial support is provided by a double angular contact bearing 8 installed on the tail base 7.
  • the underwater screw slider transmission device of the present invention adopts an integrated design and has a compact structure; while the watertight motor output shaft is connected to the screw, the other end of the watertight motor is connected to the resolver via the planetary reducer, so that the resolver
  • the absolute position of the screw slide block can be detected, which is convenient for the debugging of the control system; the present invention is suitable for application in underwater engineering, and related instruments and devices can be fixed on the slide block for accurate linear reciprocating motion control.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Transmission Devices (AREA)

Abstract

一种水下丝杠滑块传动装置，该装置包含水密电机（1）与丝杠滑块传动机构两部分；水密电机（1）内部设置有驱动电机、传动机构、检测装置与控制系统，并通过水密连接器与外部进行电气信号连接；丝杠滑块传动机构包括基座与丝杠滑块，在水密电机（1）驱动下，丝杠能够带动滑块沿导轨直线往复运动。该水下丝杠滑块传动装置，其水密电机（1）与传动机构结构紧凑，且能够反馈滑块绝对位置，控制简便，在水下工程应用时，相关仪器、装置能够固定于滑块上进行直线往复运动。

Description

一种水下丝杠滑块传动装置 技术领域
本发明涉及一种水下传动装置，具体涉及一种具备丝杠滑块绝对位置反馈的水下丝杠滑块传动装置。
背景技术
水下丝杠滑块传动装置能够实现安装其上的水下仪器设备的直线往复运动。现有装置大多采用分体式设计，即水密电机与丝杠滑块机构分开设计，尺寸较大，且滑块绝对位置无法反馈，控制系统设计比较复杂。特别是在控制系统死机的情况下，滑块绝对位置丢失，需要重新寻找零位。本发明设计的水下丝杠滑块传动装置中水密电机与传动机构结构紧凑，且能够反馈滑块绝对位置，控制简便。
发明内容
本发明的目的在于提供一种结构紧凑且带滑块绝对位置反馈的水下丝杠滑块传动装置。
实现本发明目的的技术解决方案为：
一种水下丝杠滑块传动装置，其特征在于，该装置包含：
水密电机，其密封壳体内部设置有驱动电机、传动机构、检测装置与控制系统，并通过水密连接器与外部进行电气信号连接；
丝杠滑块传动机构，其包含基座与丝杠滑块两部分，滑块通过丝杠机构与水密电机连接，在水密电机驱动下沿导轨往复运动。
优选地，所述水密电机包含：
密封壳体，其由壳体、后端盖、前端盖和输出轴组成，输出轴与前端盖之间设置有密封环，其中前端盖与密封环通过一个第一密封圈密封，输出轴与密封环通过两个第二密封圈密封；
驱动电机，其由驱动电机定子与驱动电机转子组成，驱动电机定子与壳体粘接，驱动电机转子与谐波减速器输入轴粘接；
传动机构，其由谐波减速器与输出轴组成，谐波减速器与壳体通过第一螺钉连接，输出轴为伞状结构，输出轴一端伸出前端盖与丝杠滑块传动机构的驱动轴连接，输出轴中部与谐波减速器输出端通过第二螺钉连接，输出轴密封壳体内一端与行星减速器连接，输出轴径向由滚动轴承支撑；
检测装置，其由行星减速器与旋转变压器组成，行星减速器设置于谐波减速器内部，其通过固定板与壳体连接，旋转变压器外壳设置在固定板上，行星减速器输入太阳轮与输出轴密封壳体内一端连接，行星减速器输出轴与旋转变压器内转子连接；
控制系统，其由控制板与水密连接器组成，驱动电机定子电气线路与旋转变压器的电气线路接入控制板，控制板供电与通信线路与水密连接器连接。
优选地，所述丝杠滑块传动机构包含：
基座，其包括头部基座和尾部基座，头部基座和尾部基座之间设置有三个呈品字形排列的相同导轨，导轨两端通过第三螺钉和第四螺钉分别与头部基座和尾部基座连接，水密电机沉入头部基座中并通过第五螺钉连接；
丝杠滑块，其包括丝杠螺纹杆、丝杠螺母与滑块，其中丝杠螺母设置于滑块内部，并通过端盖压紧，滑块上设置有三个导向孔，使滑块能够沿导轨自由滑动，丝杠螺纹杆为中空结构，其两端安装有驱动轴和从动轴，驱动轴和从动轴与丝杠螺纹杆通过过盈配合连接，驱动轴与水密电机的输出轴通过两个平键连接，驱动轴由安装于头部基座的角接触轴承提供径向与轴向支撑，从动轴由安装于尾部基座的双角接触轴承提供径向与轴向支撑。
本发明与现有技术相比，其显著优点：本发明水下丝杠滑块传动装置采用一体化设计，结构紧凑；水密电机输出轴在与丝杠连接的同时，其另一端经行星减速器与旋转变压器连接，从而旋转变压器能够检测丝杠滑块的绝对位置，便于控制系统调试；本发明适用于水下工程，相关仪器、装置能够固定于滑块上进行准确的直线往复运动控制。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明水下丝杠滑块传动装置的结构示意图。
图2为本发明水下丝杠滑块传动装置的水密电机的结构示意图。
图3为本发明水下丝杠滑块传动装置的丝杠滑块的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基 于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例1：
如图1所示，本发明水下丝杠滑块传动装置包含水密电机1与丝杠滑块传动机构两部分，水密电机1密封壳体内部设置有驱动电机、传动机构、检测装置与控制系统，并通过水密连接器25与外部进行电气信号连接；丝杠滑块传动机构包含基座与丝杠滑块两部分，滑块4通过丝杠机构与水密电机1连接，在水密电机1驱动下沿导轨3往复运动。
如图2所示，水密电机1包含驱动电机、传动机构、检测装置与控制系统。密封壳体由壳体23、后端盖26、前端盖21和输出轴17组成，输出轴17与前端盖21之间设置有密封环18，其中前端盖21与密封环18通过一个第一密封圈32密封，输出轴17与密封环18通过两个第二密封圈33密封；驱动电机采用科尔摩根TBM60系列无框力矩电机，其由驱动电机定子24与驱动电机转子34两部分组成，驱动电机定子24与壳体23采用固泰胶水粘接，驱动电机转子34与谐波减速器22输入轴采用固泰胶水粘接；
传动机构，其由谐波减速器22与输出轴17组成，谐波减速器22采用绿的谐波LHS系列减速器，谐波减速器22与壳体23通过第一螺钉35连接，输出轴17为伞状结构，输出轴17一端伸出前端盖21与丝杠滑块传动机构的驱动轴16连接，输出轴17中部与谐波减速器22输出端通过第二螺钉19连接，输出轴17密封壳体内一端与行星减速器29连接，输出轴17径向由滚动轴承31支撑；
检测装置由行星减速器29与旋转变压器28组成，行星减速器29采用APEX AM022系列减速器，旋转变压器28为多摩川TS2605N1E64型旋转变压器，行星减速器29设置于谐波减速器22内部，其通过固定板36与壳体23连接，旋转变压器28外壳设置在固定板36上，行星减速器29输入太阳轮30与输出轴17密封壳体内一端连接，行星减速器29输出轴与旋转变压器28内转子连接；
控制系统由控制板27与水密连接器25组成，控制板27基于STM32系列单片机开发，集成电机驱动、旋转变压器28解码、电机角度闭环控制等功能，驱动电机定子24电气线路与旋转变压器28的电气线路接入控制板27，控制板27供电与通信线路与水密连接器25连接。
如图3所示，丝杠滑块传动机构包含基座与丝杠滑块两部分。基座包括头部基座2 和尾部基座7，头部基座2和尾部基座7之间设置有三个呈品字形排列的相同导轨3，导轨3两端通过第三螺钉12和第四螺钉11分别与头部基座2和尾部基座7连接，水密电机1沉入头部基座2中并通过第五螺钉15连接；
丝杠滑块包括丝杠螺纹杆5、丝杠螺母10与滑块4，其中丝杠螺母10设置于滑块4内部，并通过端盖6压紧，滑块4上设置有三个导向孔，使滑块4能够沿导轨3自由滑动，丝杠螺纹杆5为中空结构，其两端安装有驱动轴16和从动轴9，驱动轴16和从动轴9与丝杠螺纹杆5通过过盈配合连接，驱动轴16与水密电机1的输出轴17通过两个平键13连接，驱动轴16由安装于头部基座2的角接触轴承14提供径向与轴向支撑，从动轴9由安装于尾部基座7的双角接触轴承8提供径向与轴向支撑。
综上所述，本发明水下丝杠滑块传动装置采用一体化设计，结构紧凑；水密电机输出轴在与丝杠连接的同时，其另一端经行星减速器与旋转变压器连接，从而旋转变压器能够检测丝杠滑块的绝对位置，便于控制系统调试；本发明适合应用于水下工程，相关仪器、装置能够固定于滑块上进行准确的直线往复运动控制。
尽管本发明的内容已经通过上述优选实施例作了详细介绍，但应当认识到上述的描述不应被认为是对本发明的限制。在本领域技术人员阅读了上述内容后，对于本发明的多种修改和替代都将是显而易见的。因此，本发明的保护范围应由所附的权利要求来限定。

Claims (3)

  1. 一种水下丝杠滑块传动装置，其特征在于，该装置包含：
    水密电机(1)，其密封壳体内部设置有驱动电机、传动机构、检测装置与控制系统，并通过水密连接器(25)与外部进行电气信号连接；
    丝杠滑块传动机构，其包含基座与丝杠滑块两部分，滑块(4)通过丝杠机构与水密电机(1)连接，在水密电机(1)驱动下沿导轨(3)往复运动。
  2. 根据权利要求1所述的水下丝杠滑块传动装置，其特征在于，所述水密电机(1)包含：
    密封壳体，其由壳体(23)、后端盖(26)、前端盖(21)和输出轴(17)组成，输出轴(17)与前端盖(21)之间设置有密封环(18)，其中前端盖(21)与密封环(18)通过一个第一密封圈(32)密封，输出轴(17)与密封环(18)通过两个第二密封圈(33)密封；
    驱动电机，其由驱动电机定子(24)与驱动电机转子(34)组成，驱动电机定子(24)与壳体(23)粘接，驱动电机转子(34)与谐波减速器(22)输入轴粘接；
    传动机构，其由谐波减速器(22)与输出轴(17)组成，谐波减速器(22)与壳体(23)通过第一螺钉(35)连接，输出轴(17)为伞状结构，输出轴(17)一端伸出前端盖(21)与丝杠滑块传动机构的驱动轴(16)连接，输出轴(17)中部与谐波减速器(22)输出端通过第二螺钉(19)连接，输出轴(17)密封壳体内一端与行星减速器(29)连接，输出轴(17)径向由滚动轴承(31)支撑；
    检测装置，其由行星减速器(29)与旋转变压器(28)组成，行星减速器(29)设置于谐波减速器(22)内部，其通过固定板(36)与壳体(23)连接，旋转变压器(28)外壳设置在固定板(36)上，行星减速器(29)输入太阳轮(30)与输出轴(17)密封壳体内一端连接，行星减速器(29)输出轴与旋转变压器(28)内转子连接；
    控制系统，其由控制板(27)与水密连接器(25)组成，驱动电机定子(24)电气线路与旋转变压器(28)的电气线路接入控制板(27)，控制板(27)供电与通信线路与水密连接器(25)连接。
  3. 根据权利要求1所述的水下丝杠滑块传动装置，其特征在于，所述丝杠滑块传动机构包含：
    基座，其包括头部基座(2)和尾部基座(7)组成，头部基座(2)和尾部基座(7)之间设置有三个呈品字形排列的相同导轨(3)，导轨(3)两端通过第三螺钉(12)和 第四螺钉(11)分别与头部基座(2)和尾部基座(7)连接，水密电机(1)沉入头部基座(2)中并通过第五螺钉(15)连接；
    丝杠滑块，其包括丝杠螺纹杆(5)、丝杠螺母(10)与滑块(4)，其中丝杠螺母(10)设置于滑块(4)内部，并通过端盖(6)压紧，滑块(4)上设置有三个导向孔，使滑块(4)能够沿导轨(3)自由滑动，丝杠螺纹杆(5)采用中空结构，其两端安装有驱动轴(16)和从动轴(9)，驱动轴(16)和从动轴(9)与丝杠螺纹杆(5)通过过盈配合连接，驱动轴(16)与水密电机(1)的输出轴(17)通过两个平键(13)连接，驱动轴(16)由安装于头部基座(2)的角接触轴承(14)提供径向与轴向支撑，从动轴(9)通过由于尾部基座(7)的双角接触轴承(8)提供径向与轴向支撑。
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