Underwater robot output device
By adopting a combination design of bevel gears and angular contact ball bearings in the underwater thruster, right-angle power output and high speed identification accuracy are achieved, axial force problems when large torque output is solved, and the outer part of the reducer assembly is reduced , meets the efficient needs of marine resource development.
Patent Information
- Application Number
- CN202411357257.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-27
- Publication Date
- 2024-12-27
AI Technical Summary
When the existing underwater thrusters are output in large torque, it is difficult to achieve right-angle power output in the transmission assembly design, the speed recognition accuracy is insufficient, the axial force generated by large torque is too large, and the outer diameter of the gearbox assembly is large, making it difficult to meet the efficient Marine resource development needs.
A design including an output motor, a transmission assembly and a gearbox assembly, wherein the right-angle power output is achieved through the coordination of the first bevel gear and the second bevel gear, the axial force is received by the angular contact ball bearing, and improved by the built-in brake and encoder Speed recognition accuracy reduces overall length and height, and uses a four-level planetary and first-level bevel gear structure to shorten the entire length.
While achieving high speed identification accuracy and large torque output, the outer diameter of the gearbox assembly is reduced, the output torque is improved, and the requirements for efficient marine resource development are met.
Smart Images
Figure CN119196256A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of output devices, and in particular to an output device for an underwater robot. Background Art
[0002] Underwater propulsion is one of the key technologies for underwater vehicles. The application areas of underwater propulsion are also expanding, including personal entertainment, commercial applications, military and scientific research. With the increasing development of marine resources around the world, the demand for high-performance underwater robots is getting stronger and stronger, and the requirements for propulsion motor systems are also getting higher and higher.
[0003] With the development of underwater thrusters, people are no longer satisfied with the traditional design of underwater thrusters with the same axial flow direction between the motor shaft and the blades. In addition, the only high-torque reducer on the market is the RV cycloidal pinwheel reducer. When the torque reaches more than 2000Nm, the reducer outer diameter is more than 480mm and the length is more than 250mm, which is relatively large. If it is necessary to meet the high torque requirement, the motor output direction needs to be changed. The following issues need to be considered: (1) How can the transmission component design for output direction conversion achieve high torque output? (2) In order to identify the speed of the output device, an absolute encoder is often installed at the rear end of the motor. Due to the accuracy error of the absolute encoder itself and the cumulative error of the multi-stage gear backlash in the reducer, the output shaft speed error may reach more than ±0.5° in extreme cases, which does not meet customer requirements. (3) How to solve the problem of excessive axial force caused by high torque. Summary of the invention
[0004] The purpose of the present invention is an underwater robot output device, which can achieve right-angle power output and has a large output torque; at the same time, the speed recognition accuracy of the device is high, and the outer diameter of the reduction box component is greatly reduced.
[0005] The technical scheme for realizing the object of the present invention is as follows: the present invention comprises an output motor, a transmission assembly, a reduction box assembly and an output assembly; the transmission assembly comprises a first housing, a first output shaft and a second output shaft; the output motor is fixedly connected to the input end of the first housing; the first output shaft and the second output shaft are both rotatably arranged in the first housing through angular contact ball bearings, and the first output shaft and the second output shaft are distributed at right angles; a first bevel gear is coaxially arranged at one end of the first output shaft, and the other end is transmission-connected with the output end of the output motor through the coupling; a second bevel gear is coaxially arranged at one end of the second output shaft, and the other end is transmission-connected with the input end of the reduction box assembly; the reduction box assembly is fixedly connected to the output end of the first housing; the first bevel gear and the second bevel gear form a transmission match; an adjustment port is provided on the first housing directly opposite to the transmission match of the first bevel gear and the second bevel gear, and an adjustment cover is detachably and fixedly connected at the adjustment port; the output assembly comprises a third output shaft transmission-connected to the output end of the reduction box assembly; an end of the third output shaft extending out of the reduction box assembly is provided with an inner spline groove.
[0006] Furthermore, the above-mentioned output motor includes a second housing, an outer stator assembly, an inner rotor assembly, a motor shaft, a brake, a third housing, an encoder and an end cover; the second housing is fixedly connected to the input end of the first housing; the outer stator assembly is fixedly arranged in the second housing; the motor shaft and the inner rotor assembly are coaxially fixedly connected together; the outer stator assembly is sleeved on the outside of the inner rotor assembly and forms a match with the inner rotor assembly; a coupling is fixedly provided at the front end of the motor shaft, and the coupling forms a transmission connection with the other end of the first output shaft; the third housing includes an insertion portion and a built-in cavity; after the insertion portion of the third housing is inserted into the tail end cavity of the second housing, it is fixedly connected to the tail end of the second housing; the insertion A first motor bearing is provided on the end surface of the third housing facing the second housing; a second motor bearing is provided in the second housing near the coupling; both ends of the motor shaft are rotatably arranged in the second housing through the first motor bearing and the second motor bearing; a brake is provided on the motor shaft between the inner rotor assembly and the first motor bearing; an encoder is fixedly provided in the built-in cavity of the third housing; when the insertion portion of the third housing is inserted into the tail end cavity of the second housing, the tail end of the motor shaft enters the built-in cavity after passing through the jack of the insertion portion and forms a connection with the encoder; the end cover is fixedly connected to the third housing and is used to block the built-in cavity; a lead-out wire hole is fixedly provided on the end cover; the lead-out wire harness of the encoder is led out from the lead-out wire hole on the end cover.
[0007] Further, the above-mentioned reduction gearbox assembly includes a first reduction gearbox body, a second reduction gearbox body, an output mounting seat, an output end cover, a first planetary reduction group, a second planetary reduction group, a third planetary reduction group and a fourth planetary reduction group; a first internal gear is provided on the inner wall of the first reduction gearbox body; a second internal gear ring is provided on the inner wall of the second reduction gearbox body; the input end of the first reduction gearbox body is fixedly connected to the output end of the first housing; the input end of the second reduction gearbox body is fixedly connected to the output end of the first reduction gearbox body; the output end of the second reduction gearbox body is the output end of the reduction gearbox assembly; the first planetary reduction group and the second planetary reduction group are arranged in the first reduction gearbox body; the third planetary reduction group and the fourth planetary reduction group are arranged in the second reduction gearbox body; the input end of the first planetary reduction group is connected to the second output shaft The other end is fixedly connected; the output end of the first-stage planetary reduction group is transmission-matchedly connected with the input end of the second-stage planetary reduction group, and the output end of the second-stage planetary reduction group is transmission-matchedly connected with the input end of the third-stage planetary reduction group; the output end of the third-stage planetary reduction group is transmission-matchedly connected with the input end of the fourth-stage planetary reduction group; the output end of the fourth-stage planetary reduction group is transmission-connected with the third output shaft; a third output shaft is rotatably arranged in the output mounting seat through a deep groove ball bearing; the output mounting seat is fixedly connected to the output end of the second reduction box body; an output end cover is fixedly arranged at one end of the output mounting seat away from the second reduction box body; the third output shaft extends from the output end cover; a reduction box oil seal is arranged between the output end cover and the third output shaft; a hollow shaft rotary transformer is fixedly arranged on the outside of the output end cover on the third output shaft.
[0008] Further, the above-mentioned primary planetary reduction group includes a primary sun gear, a primary planetary gear set and a primary planetary cage; the secondary planetary reduction group includes a secondary sun gear, a secondary planetary gear set and a secondary planetary cage; the tertiary planetary reduction group includes a tertiary sun gear, a tertiary planetary gear set and a tertiary planetary cage; the quaternary planetary reduction group includes a quaternary sun gear and a quaternary planetary gear set; The primary sun gear is fixedly connected to the other end of the second output shaft; the primary planetary gear set is rotatably arranged on the primary planetary holder, and the primary planetary gear set is in driving cooperation with the first inner gear ring in the first reduction gear box; the primary sun gear is used to drive the primary planetary gear set; the primary planetary gear set is used to drive the primary planetary holder to rotate; a primary output inner gear portion is arranged on the rotation axis of the primary planetary holder; the primary output inner gear portion is sleeved on the secondary sun gear and is used to drive the secondary sun gear to rotate; The secondary planetary gear set is rotatably arranged on the secondary planetary cage, and the secondary planetary gear set is matched with the first inner gear ring in the first reduction box body; the secondary sun gear is used to drive the secondary planetary gear set; the secondary planetary gear set is used to drive the secondary planetary cage to rotate; a secondary output internal gear portion is arranged on the rotation axis of the secondary planetary cage; the secondary output internal gear portion is mounted on the third sun gear and is used to drive the third sun gear to rotate; The three-stage planetary gear set is rotatably arranged on the three-stage planetary cage, and the three-stage planetary gear set is matched with the second inner gear ring in the second reduction box body; the three-stage sun gear is used to drive the three-stage planetary gear set; the three-stage planetary gear set is used to drive the three-stage planetary cage to rotate; a three-stage output internal gear portion is arranged on the rotation axis of the three-stage planetary cage; the three-stage output internal gear portion is sleeved on the four-stage sun gear and is used to drive the four-stage sun gear to rotate; The four-stage planetary gear set is rotatably arranged on the third output shaft, and the four-stage planetary gear set is matched with the second inner gear ring in the second reduction box body; the four-stage sun gear is used to drive the four-stage planetary gear set; the four-stage planetary gear set is used to drive the third output shaft to rotate.
[0009] Furthermore, the reduction ratio of the above-mentioned reduction box assembly is 1:1250.
[0010] Furthermore, a first groove and a second groove are provided on the inner wall of the first housing at the installation location of the first output shaft; the first output shaft is rotatably connected to the first housing through two angular contact ball bearings, one of the angular contact ball bearings is mounted on the first output shaft and is clamped between the first bevel gear and the first retaining spring mounted in the first groove, and the other angular contact ball bearing is mounted on the first output shaft and is clamped between the second retaining spring mounted in the second groove and a locking nut threadedly matched with the first output shaft; an oil seal is also provided between the first output shaft and the first housing; the oil seal is located between the locking nut and the coupling.
[0011] Furthermore, a third groove is provided on the inner wall of the first housing at the installation location of the second output shaft; the second output shaft is also rotatably connected to the first housing through two angular contact ball bearings, one of the angular contact ball bearings is mounted on the first output shaft and is clamped between the second bevel gear and the third retaining spring mounted in the third groove, and the other angular contact ball bearing is mounted on the first output shaft and is clamped between the third retaining spring and the first-stage planetary reduction group.
[0012] Furthermore, it also includes a gearbox front cover; the gearbox front cover is fixedly connected to the output mounting seat; the gearbox front cover is provided with a cavity for accommodating the hollow shaft rotation and a through hole for the third output shaft to extend; a double shaft seal is provided between the third output shaft and the through hole.
[0013] The present invention has positive effects: (1) The present invention realizes right-angle conversion of the output direction through the cooperation of the first bevel gear and the second bevel gear; at the same time, through the angular contact ball bearing, it is ensured that the bevel gear can withstand a large axial force, providing favorable conditions for large torque output.
[0014] (2) The output motor of the present invention adopts a built-in brake, which effectively utilizes the length direction space, reduces the installation and matching of the first-level housing, ensures the coaxiality of the front and rear, and reduces the cumulative radial matching tolerance.
[0015] (3) In the present invention, the bevel gear and two angular contact ball bearings are first installed in the input end cover, the meshing clearance between the first bevel gear and the second bevel gear is adjusted, and then the locking nut and the oil seal are installed.
[0016] (4) The present invention uses a hollow shaft resolver and an encoder, one is a position loop and the other is a speed loop, to ensure the speed monitoring accuracy of the output shaft.
[0017] (5) The present invention adopts a double oil seal and a double shaft seal structure, which can effectively seal under relatively high pressure.
[0018] (6) The present invention adopts a four-stage planetary and one-stage bevel gear structure, which effectively shortens the length and height of the entire machine and can also ensure a large output torque. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein Figure 1 It is a structural schematic diagram of the present invention; Figure 2 is a cross-sectional view of the present invention; Figure 3 It is a structural schematic diagram of the output motor in the present invention; Figure 4 It is a structural schematic diagram of the transmission assembly in the present invention; Figure 5 It is a schematic diagram of the structure of the reduction box assembly and the output assembly in the present invention; Figure 6 It is a schematic diagram of the installation of the third output shaft and the four-stage planetary gear set in the present invention. DETAILED DESCRIPTION
[0020] See Figures 1 to 6The present invention comprises an output motor 1, a transmission assembly 2, a reduction box assembly 3 and an output assembly; the transmission assembly 2 comprises a first housing 21, a first output shaft 22 and a second output shaft 23; the first output shaft 22 and the second output shaft 23 are both rotatably arranged in the first housing 21 through an angular contact ball bearing 4, and the first output shaft 22 and the second output shaft 23 are distributed at right angles; one end of the first output shaft 22 is coaxially provided with a first bevel gear 221, the first bevel gear 221 and the first output shaft 22 are an integral part, and the other end of the first output shaft 22 is transmission-connected with the output end of the output motor 1 through the coupling 5; one end of the second output shaft 23 is coaxially provided with a The second bevel gear 231 is also an integral part with the second output shaft 23, and the other end of the second output shaft 23 is connected to the input end of the reduction box assembly 3; the first bevel gear 221 and the second bevel gear 231 form a transmission match; the first housing 21 is provided with an adjustment port at the transmission match of the first bevel gear 221 and the second bevel gear 231, and an adjustment cover plate 24 is detachably fixedly connected at the adjustment port; when the first bevel gear 221 and the second bevel gear 231 are assembled, the adjustment cover plate 24 at the adjustment port can be removed, and after the first bevel gear 221 and the second bevel gear 231 are assembled, the adjustment cover plate 24 is fixedly installed. The output assembly includes a third output shaft 6 connected to the output end of the reduction box assembly 3; the end of the third output shaft 6 extending out of the reduction box assembly 3 is provided with an inner spline groove 61.
[0021] The output motor 1 includes a second housing 11, an outer stator assembly 12, an inner rotor assembly 13, a motor shaft 14, a brake 15, a third housing 16, an encoder 17 and an end cover 18; the second housing 11 is fixedly connected to the input end of the first housing 21; the outer stator assembly 12 is fixedly arranged in the second housing 11; the motor shaft 14 is coaxially fixedly connected to the inner rotor assembly 13; the outer stator assembly 12 is sleeved on the outside of the inner rotor assembly 13 and is connected to the inner rotor assembly 13 forms a match; the front end of the motor shaft 14 is fixedly provided with a coupling 5, and the coupling 5 forms a transmission connection with the other end of the first output shaft 22, specifically, the coupling 5 and the other end of the first output shaft 22 form a transmission connection through a flat key; the third housing 16 includes an insertion portion 161 and a built-in cavity 162; after the insertion portion 161 of the third housing 16 is inserted into the tail end cavity of the second housing 11, it is fixedly connected to the tail end of the second housing 11; the insertion portion 161 faces the A first motor bearing is provided on the end face; a second motor bearing is provided in the second housing 11 near the coupling 5; the two ends of the motor shaft 14 are rotatably arranged in the second housing 11 through the first motor bearing and the second motor bearing; a brake 15 is provided on the motor shaft 14 between the inner rotor assembly 13 and the first motor bearing; an encoder 17 is fixedly provided in the built-in cavity of the third housing 16; when the insertion portion 161 of the third housing 16 is inserted into the tail end cavity of the second housing 11, the tail end of the motor shaft 14 passes through the jack of the insertion portion 161 and enters the built-in cavity 162, and forms a connection with the encoder 17, the so-called connection is that the motor shaft 14 and the encoder 17 form a connection for identifying the motor shaft speed, and this connection method is a prior art, so it is not repeated here; the end cover 18 is fixedly connected to the third housing 16 and is used to block the built-in cavity 162; a lead-out wire hole 181 is fixedly provided on the end cover 18; the lead-out wire harness of the encoder 17 is led out from the lead-out wire hole 181 on the end cover 18.
[0022] The reduction box assembly 3 includes a first reduction box body 31, a second reduction box body 32, an output mounting seat 33, an output end cover 34, a first planetary reduction group 35, a second planetary reduction group 36, a third planetary reduction group 37 and a fourth planetary reduction group 38; a first internal gear 311 is provided on the inner wall of the first reduction box body 31; a second internal gear ring 321 is provided on the inner wall of the second reduction box body 32; the input end of the first reduction box body 31 is fixedly connected to the output end of the first housing 21; the input end of the second reduction box body 32 is fixedly connected to the output end of the first reduction box body 31; the output end of the second reduction box body 32 is the output end of the reduction box assembly 3; the first planetary reduction group 35 and the second planetary reduction group 36 are arranged in the first reduction box body 31; the third planetary reduction group 37 and the fourth planetary reduction group 38 are arranged in the second reduction box body 32; the input end of the first planetary reduction group 35 is fixedly connected to the output end of the second ... second planetary reduction group 32 is fixedly connected to the output end of the first housing 21; the second planetary reduction group 32 is fixedly connected to the output end of the first housing 21; the second planetary reduction group 32 is fixedly connected The other end of the output shaft 22 is fixedly connected; the output end of the first-stage planetary reduction group 35 is connected with the input end of the second-stage planetary reduction group 36 by transmission, and the output end of the second-stage planetary reduction group 36 is connected with the input end of the third-stage planetary reduction group 37 by transmission; the output end of the third-stage planetary reduction group 37 is connected with the input end of the fourth-stage planetary reduction group 38 by transmission; the output end of the fourth-stage planetary reduction group 38 is connected with the third output shaft 6 by transmission; the third output shaft 6 is rotatably arranged in the output mounting seat 33 through a deep groove ball bearing; the output mounting seat 33 is fixedly connected to the output end of the second reduction box body 32; an output end cover 34 is fixedly arranged at one end of the output mounting seat 33 away from the second reduction box body 32; the third output shaft 6 extends from the output end cover 34; a reduction box oil seal 39 is arranged between the output end cover 34 and the third output shaft 6; a hollow shaft resolver 7 is fixedly arranged on the third output shaft 6 outside the output end cover 34. The third output shaft 6 is ensured to monitor the speed accuracy through the hollow shaft resolver 7 and the encoder 17, one is a position ring and the other is a speed ring.
[0023] The primary planetary reduction group 35 includes a primary sun gear 351, a primary planetary gear set 352 and a primary planetary cage 353; the secondary planetary reduction group 36 includes a secondary sun gear 361, a secondary planetary gear set 362 and a secondary planetary cage 363; the tertiary planetary reduction group 37 includes a tertiary sun gear 371, a tertiary planetary gear set 372 and a tertiary planetary cage 373; the tertiary planetary reduction group 38 includes a tertiary sun gear 381 and a tertiary planetary gear set 382; The primary sun gear 351 is fixedly connected to the other end of the second output shaft 23; the primary planetary gear set 352 is rotatably arranged on the primary planetary holder 353, and the primary planetary gear set 352 is in transmission cooperation with the first inner gear ring 311 in the first reduction gear box 31; the primary sun gear 351 is used to drive the primary planetary gear set 352; the primary planetary gear set 352 is used to drive the primary planetary holder 353 to rotate; a primary output internal gear portion is provided on the rotation axis of the primary planetary holder 353; the primary output internal gear portion is sleeved on the secondary sun gear 361, and is used to drive the secondary sun gear 361 to rotate; The secondary planetary gear set 362 is rotatably arranged on the secondary planetary holder 363, and the secondary planetary gear set 362 is in transmission cooperation with the first inner gear ring 311 in the first reduction box body 31; the secondary sun gear 361 is used to drive the secondary planetary gear set 362; the secondary planetary gear set 362 is used to drive the secondary planetary holder 363 to rotate; a secondary output internal gear portion is provided on the rotation axis of the secondary planetary holder 363; the secondary output internal gear portion is mounted on the tertiary sun gear 371, and is used to drive the tertiary sun gear 371 to rotate; The three-stage planetary gear set 372 is rotatably arranged on the three-stage planetary holder 373, and the three-stage planetary gear set 372 is in transmission cooperation with the second inner gear ring 321 in the second reduction box body 32; the three-stage sun gear 371 is used to drive the three-stage planetary gear set 372; the three-stage planetary gear set 372 is used to drive the three-stage planetary holder 373 to rotate; a three-stage output internal tooth portion is provided on the rotation axis of the three-stage planetary holder 373; the three-stage output internal tooth portion is sleeved on the four-stage sun gear 381, and is used to drive the four-stage sun gear 381 to rotate; The four-stage planetary gear set 382 is rotatably set on the third output shaft 6, and the four-stage planetary gear set 382 is in transmission cooperation with the second inner ring 321 in the second reduction gear box body 32; the four-stage sun gear 381 is used to drive the four-stage planetary gear set 382; the four-stage planetary gear set 382 is used to drive the third output shaft 6 to rotate.
[0024] The reduction ratio of the reduction box assembly 3 is 1:1250. The number of teeth of the first inner gear ring 311 and the second inner gear ring 321 can be reduced by the first planetary reduction group 35, the second planetary reduction group 36, the third planetary reduction group 37 and the fourth planetary reduction group 38, thereby reducing the outer diameter of the first inner gear ring 311 and the second inner gear ring 321. Therefore, the outer diameter of the reduction box assembly 3 of the present invention can be 235 mm in diameter. Compared with the outer diameter of the existing RV cycloid pinwheel reducer, it is greatly reduced.
[0025] A first slot and a second slot are provided on the inner wall of the first housing 21 at the installation location of the first output shaft 22; the first output shaft 22 is rotatably connected to the first housing 21 through two angular contact ball bearings 4, one of the angular contact ball bearings 4 is mounted on the first output shaft 22 and is clamped between the first bevel gear 221 and the first retaining spring mounted in the first slot, and the other angular contact ball bearing 4 is mounted on the first output shaft 22 and is clamped between the second retaining spring mounted in the second slot and the locking nut 25 matched with the thread of the first output shaft 22; an oil seal 26 is also provided between the first output shaft 22 and the first housing 21; the oil seal 26 is located between the locking nut 25 and the coupling 5.
[0026] A third groove is provided on the inner wall of the first housing 21 at the installation location of the second output shaft 23; the second output shaft 23 is also rotatably connected to the first housing 21 through two angular contact ball bearings 4, one of the angular contact ball bearings 4 is mounted on the second output shaft and clamped between the second bevel gear 231 and the third retaining spring mounted in the third groove, and the other angular contact ball bearing 4 is mounted on the first output shaft and clamped between the third retaining spring and the first-stage planetary reduction group 25.
[0027] It also includes a gearbox front cover 8; the gearbox front cover 8 is fixedly connected to the output mounting seat 33; the gearbox front cover 8 is provided with a cavity for accommodating the hollow shaft resolver 7 and a through hole for the third output shaft 6 to extend; a double shaft seal 9 is provided between the third output shaft 6 and the through hole.
[0028] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. An underwater robot output device, comprising an output motor, a transmission assembly, a reduction box assembly and an output assembly; characterized in that: The transmission assembly includes a first housing, a first output shaft and a second output shaft; the output motor is fixedly connected to the input end of the first housing; the first output shaft and the second output shaft are both rotatably arranged in the first housing through angular contact ball bearings, and the first output shaft and the second output shaft are distributed at right angles; a first bevel gear is coaxially arranged at one end of the first output shaft, and the other end is transmission-connected with the output end of the output motor through the coupling; a second bevel gear is coaxially arranged at one end of the second output shaft, and the other end is transmission-connected with the input end of the reduction box assembly; the reduction box assembly is fixedly connected to the output end of the first housing; the first bevel gear and the second bevel gear form a transmission match; an adjustment port is provided on the first housing at a transmission match position facing the first bevel gear and the second bevel gear, and an adjustment cover is detachably and fixedly connected at the adjustment port; the output assembly includes a third output shaft transmission-connected to the output end of the reduction box assembly; an inner spline groove is provided at one end of the third output shaft extending out of the reduction box assembly.
2. An underwater robot output device according to claim 1, characterized in that: The output motor comprises a second housing, an outer stator assembly, an inner rotor assembly, a motor shaft, a brake, a third housing, an encoder and an end cover; the second housing is fixedly connected to the input end of the first housing; the outer stator assembly is fixedly arranged in the second housing; the motor shaft and the inner rotor assembly are coaxially fixedly connected together; the outer stator assembly is sleeved on the outside of the inner rotor assembly and forms a match with the inner rotor assembly; a coupling is fixedly provided at the front end of the motor shaft, and the coupling forms a transmission connection with the other end of the first output shaft; the third housing comprises an insertion portion and a built-in cavity; after the insertion portion of the third housing is inserted into the tail end cavity of the second housing, it is fixedly connected to the tail end of the second housing; the insertion portion surface A first motor bearing is provided on the end face facing the second housing; a second motor bearing is provided in the second housing near the coupling; both ends of the motor shaft are rotatably arranged in the second housing through the first motor bearing and the second motor bearing; a brake is provided on the motor shaft between the inner rotor assembly and the first motor bearing; an encoder is fixedly provided in the built-in cavity of the third housing; when the insertion portion of the third housing is inserted into the tail end cavity of the second housing, the tail end of the motor shaft passes through the jack of the insertion portion and enters the built-in cavity, and forms a connection with the encoder; the end cover is fixedly connected to the third housing and is used to block the built-in cavity; a lead-out wire hole is fixedly provided on the end cover; the lead-out wire harness of the encoder is led out from the lead-out wire hole on the end cover.
3. The underwater robot output device according to claim 1, characterized in that: The reduction gearbox assembly includes a first reduction gearbox body, a second reduction gearbox body, an output mounting seat, an output end cover, a first-stage planetary reduction group, a second-stage planetary reduction group, a third-stage planetary reduction group and a fourth-stage planetary reduction group; a first internal gear is provided on the inner wall of the first reduction gearbox body; a second internal gear ring is provided on the inner wall of the second reduction gearbox body; the input end of the first reduction gearbox body is fixedly connected to the output end of the first housing; the input end of the second reduction gearbox body is fixedly connected to the output end of the first reduction gearbox body; the output end of the second reduction gearbox body is the output end of the reduction gearbox assembly; the first-stage planetary reduction group and the second-stage planetary reduction group are arranged in the first reduction gearbox body; the third-stage planetary reduction group and the fourth-stage planetary reduction group are arranged in the second reduction gearbox body; the input end of the first-stage planetary reduction group is connected to the other end of the second output shaft The output end of the first-stage planetary reduction group is connected with the input end of the second-stage planetary reduction group in a transmission matching manner, and the output end of the second-stage planetary reduction group is connected with the input end of the third-stage planetary reduction group in a transmission matching manner; the output end of the third-stage planetary reduction group is connected with the input end of the fourth-stage planetary reduction group in a transmission matching manner; the output end of the fourth-stage planetary reduction group is connected with the third output shaft in a transmission matching manner; a third output shaft is rotatably arranged in the output mounting seat through a deep groove ball bearing; the output mounting seat is fixedly connected to the output end of the second reduction box body; an output end cover is fixedly arranged at one end of the output mounting seat away from the second reduction box body; the third output shaft extends from the output end cover; a reduction box oil seal is arranged between the output end cover and the third output shaft; a hollow shaft rotary transformer is fixedly arranged on the outside of the output end cover on the third output shaft.
4. An underwater robot output device according to claim 3, characterized in that: The first-stage planetary reduction group includes a first-stage sun gear, a first-stage planetary gear set and a first-stage planetary cage; the second-stage planetary reduction group includes a second-stage sun gear, a second-stage planetary gear set and a second-stage planetary cage; the third-stage planetary reduction group includes a third-stage sun gear, a third-stage planetary gear set and a third-stage planetary cage; the fourth-stage planetary reduction group includes a fourth-stage sun gear and a fourth-stage planetary gear set; The primary sun gear is fixedly connected to the other end of the second output shaft; the primary planetary gear set is rotatably arranged on the primary planetary holder, and the primary planetary gear set is in driving cooperation with the first inner gear ring in the first reduction gear box; the primary sun gear is used to drive the primary planetary gear set; the primary planetary gear set is used to drive the primary planetary holder to rotate; a primary output inner gear portion is arranged on the rotation axis of the primary planetary holder; the primary output inner gear portion is sleeved on the secondary sun gear and is used to drive the secondary sun gear to rotate; The secondary planetary gear set is rotatably arranged on the secondary planetary cage, and the secondary planetary gear set is matched with the first inner gear ring in the first reduction box body; the secondary sun gear is used to drive the secondary planetary gear set; the secondary planetary gear set is used to drive the secondary planetary cage to rotate; a secondary output internal gear portion is arranged on the rotation axis of the secondary planetary cage; the secondary output internal gear portion is mounted on the third sun gear and is used to drive the third sun gear to rotate; The three-stage planetary gear set is rotatably arranged on the three-stage planetary retainer, and the three-stage planetary gear set is transmission-coordinated with the second inner gear ring in the second reduction box body; the three-stage sun gear is used to drive the three-stage planetary gear set; The three-stage planetary gear set is used to drive the three-stage planetary cage to rotate; a three-stage output internal gear portion is provided on the rotation axis of the three-stage planetary cage; the three-stage output internal gear portion is sleeved on the four-stage sun gear and is used to drive the four-stage sun gear to rotate; The four-stage planetary gear set is rotatably arranged on the third output shaft, and the four-stage planetary gear set is matched with the second inner gear ring in the second reduction box body; the four-stage sun gear is used to drive the four-stage planetary gear set; the four-stage planetary gear set is used to drive the third output shaft to rotate.
5. The underwater robot output device according to claim 3, characterized in that: A first slot and a second slot are provided on the inner wall of the first housing at the installation position of the first output shaft; the first output shaft is rotatably connected in the first housing through two angular contact ball bearings, one of the angular contact ball bearings is mounted on the first output shaft and is clamped between the first bevel gear and the first retaining spring mounted in the first slot, and the other angular contact ball bearing is mounted on the first output shaft and is clamped between the second retaining spring mounted in the second slot and the locking nut threadedly matched with the first output shaft; an oil seal is also provided between the first output shaft and the first housing; the oil seal is located between the locking nut and the coupling.
6. The underwater robot output device according to claim 3, characterized in that: A first slot and a second slot are provided on the inner wall of the first housing at the installation position of the first output shaft; the first output shaft is rotatably connected in the first housing through two angular contact ball bearings, one of the angular contact ball bearings is mounted on the first output shaft and is clamped between the first bevel gear and the first retaining spring mounted in the first slot, and the other angular contact ball bearing is mounted on the first output shaft and is clamped between the second retaining spring mounted in the second slot and the locking nut threadedly matched with the first output shaft; an oil seal is also provided between the first output shaft and the first housing; the oil seal is located between the locking nut and the coupling.
7. The underwater robot output device according to claim 3, characterized in that: It also includes a gearbox front cover; the gearbox front cover is fixedly connected to the output mounting seat; the gearbox front cover is provided with a cavity for accommodating a hollow shaft rotational transformer and a through hole for the third output shaft to extend; a double shaft seal is provided between the third output shaft and the through hole.