A motor sealing and waterproof device for underwater robot

Abstract

The present invention discloses a motor sealing and waterproof device for an underwater robot, which relates to the technical field of machine sealing and waterproofing, and comprises a shell, wherein the inner wall of the shell is fixedly connected with a motor, the output end of the motor is fixedly connected with an output shaft, and the output shaft is rotatably connected to the shell, and further comprises: a sealing mechanism, wherein the sealing mechanism is located on the shell. The present invention sets an extrusion unit, and water enters the fixed shell to squeeze the movable plate downward, and the movement of the movable plate drives the first magnetic plate to move downward, and the downward movement of the first magnetic plate drives the second magnetic plate and the sliding piston rod to move downward, and the movement of the sliding piston rod drives the gas in the mounting shell to be squeezed into the air cavity through the fixed pipe, so that the gas drives the first annular magnetic block to move outward and enter the annular groove, and squeezes the sealing ring to expand and deform, so that the sealing ring fits tightly with the drive shaft and the shell, thereby improving the sealing effect of the sealing ring.

Description

Technical Field

[0001] The invention relates to the technical field of machine sealing and waterproofing, and in particular to a motor sealing and waterproofing device for an underwater robot. Background Art

[0002] Underwater robots are essential tools for human beings to explore and develop the ocean. As part of the underwater robot's driving device, the waterproof performance of the motor determines the operating depth of the underwater robot.

[0003] A Chinese patent with announcement number CN219659505U discloses a motor sealing and waterproof device for an underwater robot, including a motor body, a motor housing, a coupling and a driven shaft. The front end and the rear end of the motor housing are respectively provided with a front cover and a rear cover. The output shaft of the motor body passes through the front cover and is connected to one end of the coupling, and the other end of the coupling is connected to the driven shaft. A fixed sleeve is provided on the outer sleeve of the coupling, one end of the fixed sleeve is connected to the front cover, and a sealing cover is provided on the other end of the fixed sleeve. A sealing cap is provided on the outer side of the sealing cover, and a central through hole for accommodating the driven shaft is provided in the center of the sealing cover and the sealing cap, and the driven shaft passes through the central through hole of the sealing cover and the sealing cap.

[0004] However, the above invention has the following shortcomings: the motor sealing structure of the existing underwater robot is relatively simple, and most of them use multiple sealing rings for sealing. As the robot dives deeper, the water pressure gradually increases, resulting in the sealing ring being unable to effectively perform the sealing function, which makes it easy for water to seep in. In addition, the staff cannot detect the motor leakage in time, and the water seeping into the motor is not effectively stopped, which can easily cause damage to the robot motor. Summary of the invention

[0005] The object of the present invention is to provide a motor sealing and waterproof device for an underwater robot to solve the problems raised in the above background technology.

[0006] The technical solution of the present invention is: a motor sealing and waterproof device for an underwater robot, comprising a shell, the inner wall of the shell is fixedly connected to a motor inner body, the output end of the motor inner body is fixedly connected to an output shaft, and the output shaft is rotatably connected to the shell, and also includes:

[0007] A sealing mechanism, wherein the sealing mechanism is located on the housing;

[0008] An alarm mechanism, wherein the alarm mechanism is located on the housing;

[0009] The sealing mechanism includes an extrusion unit and a sliding unit. The extrusion unit includes a fixed shell fixedly connected to the shell, a movable plate is slidably connected in the fixed shell, a first magnetic plate is fixedly connected to the bottom of the movable plate, a mounting shell is fixedly connected to the bottom of the fixed shell, a sliding piston rod is slidably connected to the mounting shell, a second magnetic plate is fixedly connected to the top of the sliding piston rod, a mounting spring is sleeved on the sliding piston rod, two ends of the mounting spring are respectively fixedly connected to the second magnetic plate and the mounting shell, a fixed tube is fixedly connected to the mounting shell, a mounting groove is provided on the shell, a sealing ring is provided in the mounting groove, the sealing ring is sleeved on the output shaft, an air cavity and a mounting cavity are respectively provided on both sides of the mounting groove, a first annular magnetic block is slidably connected in the air cavity, a circular groove is provided on one side of the sealing ring, and the first annular magnetic block extends into the circular groove, one end of the fixed tube is fixedly connected to the shell and communicates with the air cavity, a plurality of reset springs are provided in the air cavity, and two ends of the reset spring are respectively fixedly connected to the shell and the first annular magnetic block.

[0010] Preferably, two guide rods are fixedly connected to the fixed shell, the movable plate is slidably sleeved on the two guide rods, and connecting springs are sleeved on the two guide rods, and two ends of the connecting springs are respectively fixedly connected to the fixed shell and the movable plate.

[0011] Preferably, the sliding unit includes a second annular magnet slidably connected to the installation cavity, the second annular magnet is in contact with the other side of the sealing ring, and a plurality of extrusion springs are provided in the installation cavity, and the two ends of the extrusion springs are respectively fixedly connected to the second annular magnet and the shell.

[0012] Preferably, the alarm mechanism includes a groove opened on the shell, an expansion water stop strip is provided in the groove, the expansion water stop strip is sleeved on the output shaft, a pressure sensor is fixedly connected to the inner wall of one side of the groove, two telescopic rods are fixedly connected to the shell, movable sealing rings are fixedly connected to the two telescopic rods, a sealing groove is opened on the shell, the sealing groove is located in the moving direction of the movable sealing ring, and internal springs are fixedly connected in the two telescopic rods.

[0013] Preferably, one end of one of the telescopic rods is fixedly connected to a fixed rod, a movable pin is slidably connected to the fixed rod, a telescopic spring is sleeved on the movable pin, and both ends of the telescopic spring are respectively fixedly connected to the movable pin and the fixed rod.

[0014] Preferably, a fixing ring is fixedly sleeved on the output shaft, a spiral groove is formed on the fixing ring, and the spiral groove is located in the moving direction of the movable pin.

[0015] Preferably, one end of the fixing ring is rotatably connected to a rotating block, and a spring piece is fixedly connected to the rotating block and the fixing ring, and the rotating block is located at one end of the spiral groove.

[0016] Preferably, a sliding rod is slidably connected to the shell, one end of the sliding rod is fixedly connected to a clamping block, the clamping block is in contact with the movable pin, and the other end of the sliding rod extends into the groove and in contact with the expansion water stop strip.

[0017] Preferably, a fixing spring is sleeved on the sliding rod, and two ends of the fixing spring are fixedly connected to the sliding rod and the housing respectively.

[0018] The present invention provides a motor sealing and waterproof device for an underwater robot through improvement, which has the following improvements and advantages compared with the prior art:

[0019] First, through the arrangement of the extrusion unit, water enters the fixed shell and squeezes the movable plate to move downward. The movement of the movable plate drives the first magnetic plate to move downward. The downward movement of the first magnetic plate drives the second magnetic plate and the sliding piston rod to move downward. The movement of the sliding piston rod drives the gas in the mounting shell to be squeezed into the air cavity through the fixed tube, so that the gas drives the first annular magnetic block to move outward and enter the annular groove, and squeezes the sealing ring to expand and deform, so that the sealing ring fits tightly with the drive shaft and the housing, thereby improving the sealing effect of the sealing ring.

[0020] Secondly, the present invention provides an alarm mechanism, and the infiltrated water contacts the expansion waterstop strip, which expands and fits more closely with the output shaft, thereby achieving the effect of emergency sealing. When the expansion waterstop strip expands, it squeezes the pressure sensor, and the pressure sensor is connected to the alarm in the operating room through wireless signal technology, so that the alarm in the operating room sounds an alarm, thereby reminding the operator that the motor is leaking.

[0021] Third: Through the setting of the extrusion unit, the present invention allows the expanded expansion water stop strip to squeeze the sliding rod and the block to move, so that the block moves away from the movable pin, and the telescopic spring drives the movable pin to reset and contact the fixed ring, so that the movable pin can enter the spiral groove, and the spiral groove drives the movable pin to move in the direction of the rotating block, and pushes the rotating block to open and move out, the movement of the movable pin drives the fixed rod to move, the movement of the fixed rod drives the telescopic rod to shorten, and the shortening of the telescopic rod drives the movable sealing ring to move until the movable sealing ring enters the sealing groove and plays a sealing effect, thereby improving the sealing effect of the emergency seal, and realizing that when water seepage occurs, an alarm can be issued to the operator in time, and at the same time, the water seepage position of the motor is urgently sealed. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the internal cross-sectional three-dimensional structure of the shell in the present invention;

[0025] Figure 3 It is a schematic diagram of the cross-sectional plan structure of the sealing mechanism in the present invention;

[0026] Figure 4 It is a schematic diagram of the cross-sectional plan structure of the expansion water stop strip and the sliding rod in the present invention;

[0027] Figure 5 It is a schematic diagram of the three-dimensional structure of the movable pin and the spiral groove in the present invention;

[0028] Figure 6 It is a schematic diagram of the internal cross-sectional three-dimensional structure of the fixed shell in the present invention;

[0029] Figure 7 It is a schematic diagram of the internal cross-sectional plane structure of the telescopic rod in the present invention;

[0030] Figure 8 It is a schematic diagram of the three-dimensional structure of the spiral groove and the rotating block in the present invention;

[0031] Fig. 9 For the present invention Figure 8 A in the middle is an enlarged schematic diagram of the three-dimensional structure.

[0032] Reference numerals:

[0033] 1. Shell; 11. Motor inner body; 12. Output shaft; 2. Sealing ring; 21. Annular groove; 22. First annular magnet; 23. Second annular magnet; 24. Extrusion spring; 25. Reset spring; 3. Fixed shell; 31. Guide rod; 32. Movable plate; 33. First magnetic plate; 34. Connecting spring; 35. Mounting shell; 36. Sliding piston rod; 37. Second magnetic plate; 38. Mounting spring; 39. Fixed tube; 4. Telescopic rod; 41. Movable sealing ring; 42. Fixed rod; 43. Movable pin; 44. Telescopic spring; 45. Fixed ring; 46. Spiral groove; 47. Rotating block; 48. Shrapnel; 49. Inner spring; 410. Sealing groove; 5. Expansion water stop strip; 51. Pressure sensor; 52. Sliding rod; 53. Fixed spring; 54. Block. DETAILED DESCRIPTION

[0034] The present invention is described in detail below, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The present invention provides a motor sealing and waterproof device for an underwater robot through improvement. The technical solution of the present invention is:

[0036] like Figures 1 to 9 As shown, an embodiment of the present invention provides a motor sealing and waterproof device for an underwater robot, comprising a housing 1, an inner wall of the housing 1 is fixedly connected to a motor inner body 11, an output end of the motor inner body 11 is fixedly connected to an output shaft 12, and the output shaft 12 is rotatably connected to the housing 1, and further comprising:

[0037] A sealing mechanism, the sealing mechanism is located on the housing 1;

[0038] An alarm mechanism, which is located on the housing 1;

[0039] The sealing mechanism includes an extrusion unit and a sliding unit. The extrusion unit includes a fixed shell 3 fixedly connected to the shell 1, a movable plate 32 is slidably connected in the fixed shell 3, a first magnetic plate 33 is fixedly connected to the bottom of the movable plate 32, a mounting shell 35 is fixedly connected to the bottom of the fixed shell 3, a sliding piston rod 36 is slidably connected to the mounting shell 35, a second magnetic plate 37 is fixedly connected to the top of the sliding piston rod 36, a mounting spring 38 is sleeved on the sliding piston rod 36, two ends of the mounting spring 38 are respectively fixedly connected to the second magnetic plate 37 and the mounting shell 35, a fixed pipe 39 is fixedly connected to the mounting shell 35, a mounting groove is provided on the shell 1, a sealing ring 2 is provided in the mounting groove, the sealing ring 2 is sleeved on the output shaft 12, an air cavity and a mounting cavity are respectively provided on both sides of the mounting groove, a first annular magnetic block 22 is slidably connected in the air cavity, and a circular ring 2 is provided on one side of the sealing ring 2. The annular groove 21, the first annular magnetic block 22 extends into the annular groove 21, one end of the fixed tube 39 is fixedly connected to the shell 1 and communicated with the air cavity, a plurality of return springs 25 are arranged in the air cavity, and the two ends of the return spring 25 are respectively fixedly connected to the shell 1 and the first annular magnetic block 22; through the setting of the extrusion unit, water enters the fixed shell 3 to squeeze the movable plate 32 to move downward, the movement of the movable plate 32 drives the first magnetic plate 33 to move downward, the downward movement of the first magnetic plate 33 drives the second magnetic plate 37 and the sliding piston rod 36 to move downward, the movement of the sliding piston rod 36 drives the gas in the mounting shell 35 to be squeezed into the air cavity through the fixed tube 39, so that the gas drives the first annular magnetic block 22 to move outward and enter the annular groove 21, and squeezes the sealing ring 2 to expand and deform, so that the sealing ring 2 is tightly fitted with the drive shaft and the shell 1, thereby improving the sealing effect of the sealing ring 2.

[0040] Furthermore, two guide rods 31 are fixedly connected to the fixed shell 3, and the movable plate 32 is slidably sleeved on the two guide rods 31. The two guide rods 31 are sleeved with connecting springs 34, and the two ends of the connecting spring 34 are respectively fixedly connected to the fixed shell 3 and the movable plate 32; through the setting of the connecting spring 34, when the robot is not underwater, the connecting spring 34 drives the movable plate 32 and the first magnetic plate 33 to reset.

[0041] Furthermore, the sliding unit includes a second annular magnet 23 slidably connected to the installation cavity, the second annular magnet 23 is fitted with the other side of the sealing ring 2, and a plurality of extrusion springs 24 are provided in the installation cavity, and the two ends of the extrusion spring 24 are respectively fixedly connected to the second annular magnet 23 and the shell 1; through the arrangement of the second annular magnet 23, the extrusion spring 24 is in a compressed state, so that the extrusion spring 24 presses the second annular magnet 23 onto the sealing ring 2, and as the first annular magnet 22 and the second annular magnet 23 gradually approach each other, the magnetic force between the first annular magnet 22 and the second annular magnet 23 increases, so that the second annular magnet 23 and the sealing ring 2 fit more closely, thereby improving the sealing effect of the sealing ring 2.

[0042] Furthermore, the alarm mechanism includes a groove opened on the shell 1, in which an expansion water stop strip 5 is provided, the expansion water stop strip 5 is sleeved on the output shaft 12, a pressure sensor 51 is fixedly connected to the inner wall of one side of the groove, two telescopic rods 4 are fixedly connected to the shell 1, and movable sealing rings 41 are fixedly connected to the two telescopic rods 4. A sealing groove 410 is opened on the shell 1, and the sealing groove 410 is located in the moving direction of the movable sealing ring 41. An inner spring 49 is fixedly connected in the two telescopic rods 4; through the setting of the alarm mechanism, the infiltrated water contacts the expansion water stop strip 5, and the expansion water stop strip 5 expands and fits more closely with the output shaft 12, thereby achieving the effect of emergency sealing, and the expansion water stop strip 5 squeezes the pressure sensor 51 when it expands, and the pressure sensor 51 is connected to the alarm in the operating room through wireless signal technology, so that the alarm in the operating room sounds an alarm, thereby reminding the operator that the motor is leaking.

[0043] Furthermore, one end of one of the telescopic rods 4 is fixedly connected to a fixed rod 42, a movable pin 43 is slidably connected to the fixed rod 42, a telescopic spring 44 is sleeved on the movable pin 43, and both ends of the telescopic spring 44 are fixedly connected to the movable pin 43 and the fixed rod 42 respectively, a fixed ring 45 is fixedly sleeved on the output shaft 12, a spiral groove 46 is provided on the fixed ring 45, and the spiral groove 46 is located in the moving direction of the movable pin 43, one end of the fixed ring 45 is rotatably connected to a rotating block 47, and the rotating block 47 and the fixed ring 45 are jointly fixedly connected with a spring piece 48, and the rotating block 47 is located at one end of the spiral groove 46, a sliding rod 52 is slidably connected to the shell 1, and one end of the sliding rod 52 is fixedly connected to a block 54, and the block 54 contacts the movable pin 43, and the other end of the sliding rod 52 extends into the groove and contacts the expansion water stop strip 5; through the setting of the movable pin 43, the expanded expansion water stop strip 5 squeezes The sliding rod 52 and the block 54 are pressed to move, so that the block 54 is away from the movable pin 43, and the telescopic spring 44 drives the movable pin 43 to reset and contact with the fixed ring 45, so that the movable pin 43 can enter the spiral groove 46, and the spiral groove 46 drives the movable pin 43 to move in the direction of the rotating block 47, and pushes the rotating block 47 to open and move out. When the movable pin 43 is moved out, the spring piece 48 drives the rotating block 47 to reset and close the spiral groove 46, so that the movable pin 43 stays at one end of the fixed ring 45, and the movement of the movable pin 43 drives the fixed rod 42 to move, and the movement of the fixed rod 42 drives the telescopic rod 4 to shorten, and the shortening of the telescopic rod 4 drives the movable sealing ring 41 to move until the movable sealing ring 41 enters the sealing groove 410 and has a sealing effect, thereby improving the sealing effect of the emergency seal, realizing that an alarm can be issued to the operator in time when water seepage occurs, and at the same time, the water seepage position of the motor is urgently sealed.

[0044] Furthermore, a fixing spring 53 is sleeved on the sliding rod 52, and two ends of the fixing spring 53 are fixedly connected to the sliding rod 52 and the housing 1 respectively; through the setting of the fixing spring 53, the fixing spring 53 can drive the sliding rod 52 to reset.

[0045] Specific implementation steps: When the robot works underwater, under the action of water pressure, water enters the fixed shell 3 and squeezes the movable plate 32 to move downward. The movable plate 32 moves and drives the first magnetic plate 33 to move downward. The movable plate 32 moves and drives the connecting spring 34 to be compressed and elastically deformed. The first magnetic plate 33 moves downward and drives the second magnetic plate 37 and the sliding piston rod 36 to move downward. The second magnetic plate 37 moves and drives the installation spring 38 to be compressed and elastically deformed. The sliding piston rod 36 moves and drives the gas in the installation shell 35 to be squeezed into the air cavity through the fixed tube 39, so that the gas drives the first annular magnetic block 22 to move outward and enter the annular groove 21, and squeezes the sealing ring 2 to expand and deform, so that The sealing ring 2 is tightly fitted with the drive shaft and the housing 1, thereby improving the sealing effect of the sealing ring 2. Since the extrusion spring 24 is in a compressed state, the extrusion spring 24 presses the second annular magnet 23 onto the sealing ring 2. As the first annular magnet 22 and the second annular magnet 23 gradually approach each other, the magnetic force between the first annular magnet 22 and the second annular magnet 23 increases, making the second annular magnet 23 fit more closely with the sealing ring 2, thereby improving the sealing effect of the sealing ring 2. When water seeps into the sealing ring 2, the seeped water contacts the expansion water stop strip 5, and the expansion water stop strip 5 expands and fits more closely with the output shaft 12, thereby achieving the effect of emergency sealing. When the water stop strip 5 expands, it squeezes the pressure sensor 51. The pressure sensor 51 is connected to the alarm in the operating room through wireless signal technology, so that the alarm in the operating room sounds an alarm, thereby reminding the operator that the motor is leaking. At the same time, the expanded water stop strip 5 squeezes the sliding rod 52 and the block 54 to move. The movement of the sliding rod 52 drives the fixed spring 53 to compress and elastically deform, so that the block 54 is away from the movable pin 43. Since the telescopic spring 44 is in a stretched state, the telescopic spring 44 drives the movable pin 43 to reset and contact the fixed ring 45. Since the motor 11 drives the output shaft 12 and the fixed ring 45 to rotate, the movable pin 43 can enter the spiral groove 46. The spiral groove 46 drives the movable pin 43 to move in the direction of the rotating block 47, and pushes the rotating block 47 to open and move out. When the movable pin 43 moves out, the spring piece 48 drives the rotating block 47 to reset and close the spiral groove 46, so that the movable pin 43 stays at one end of the fixed ring 45. The movement of the movable pin 43 drives the fixed rod 42 to move, and the movement of the fixed rod 42 drives the telescopic rod 4 to shorten. The shortening of the telescopic rod 4 drives the movable sealing ring 41 to move until the movable sealing ring 41 enters the sealing groove 410 and plays a sealing effect, thereby improving the sealing effect of the emergency seal, realizing that when water seepage occurs, an alarm can be issued to the operator in time, and at the same time, the water seepage position of the motor is urgently sealed.

[0046] The above description enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A motor sealing and waterproof device for an underwater robot, comprising a housing (1), characterized in that: The inner wall of the housing (1) is fixedly connected to an inner motor body (11), an output end of the inner motor body (11) is fixedly connected to an output shaft (12), and the output shaft (12) is rotatably connected to the housing (1), and further comprises: A sealing mechanism, the sealing mechanism being located on the housing (1); An alarm mechanism, the alarm mechanism being located on the housing (1); The sealing mechanism comprises an extrusion unit and a sliding unit, wherein the extrusion unit comprises a fixed shell (3) fixedly connected to the shell (1), a movable plate (32) being slidably connected inside the fixed shell (3), a first magnetic plate (33) being fixedly connected to the bottom of the movable plate (32), a mounting shell (35) being fixedly connected to the bottom of the fixed shell (3), a sliding piston rod (36) being slidably connected to the mounting shell (35), a second magnetic plate (37) being fixedly connected to the top of the sliding piston rod (36), a mounting spring (38) being sleeved on the sliding piston rod (36), two ends of the mounting spring (38) being fixedly connected to the second magnetic plate (37) and the mounting shell (35) respectively, and the mounting shell (35) ) is fixedly connected to a fixing tube (39), a mounting groove is provided on the shell (1), a sealing ring (2) is provided in the mounting groove, the sealing ring (2) is sleeved on the output shaft (12), an air cavity and a mounting cavity are respectively provided on both sides of the mounting groove, a first annular magnet (22) is slidably connected in the air cavity, a circular groove (21) is provided on one side of the sealing ring (2), the first annular magnet (22) extends into the circular groove (21), one end of the fixing tube (39) is fixedly connected to the shell (1) and connected to the air cavity, a plurality of return springs (25) are provided in the air cavity, and the two ends of the return spring (25) are respectively fixedly connected to the shell (1) and the first annular magnet (22).

2. The motor sealing and waterproof device of an underwater robot according to claim 1, characterized in that: Two guide rods (31) are fixedly connected to the fixed shell (3), and the movable plate (32) is slidably sleeved on the two guide rods (31). A connecting spring (34) is sleeved on each of the two guide rods (31), and two ends of the connecting spring (34) are fixedly connected to the fixed shell (3) and the movable plate (32), respectively.

3. The motor sealing and waterproof device of an underwater robot according to claim 2, characterized in that: The sliding unit comprises a second annular magnetic block (23) slidably connected to the installation cavity, the second annular magnetic block (23) being in contact with the other side of the sealing ring (2), a plurality of extrusion springs (24) being arranged in the installation cavity, the two ends of the extrusion springs (24) being fixedly connected to the second annular magnetic block (23) and the housing (1) respectively.

4. The motor sealing and waterproof device of an underwater robot according to claim 1, characterized in that: The alarm mechanism comprises a groove formed on a shell (1), an expansion water stop strip (5) being provided in the groove, the expansion water stop strip (5) being sleeved on the output shaft (12), a pressure sensor (51) being fixedly connected to an inner wall of one side of the groove, two telescopic rods (4) being fixedly connected to the shell (1), movable sealing rings (41) being fixedly connected to the two telescopic rods (4), a sealing groove (410) being formed on the shell (1), the sealing groove (410) being located in the moving direction of the movable sealing ring (41), and inner springs (49) being fixedly connected to the two telescopic rods (4).

5. The motor sealing and waterproof device of an underwater robot according to claim 4, characterized in that: One end of one of the telescopic rods (4) is fixedly connected to a fixed rod (42), a movable pin (43) is slidably connected to the fixed rod (42), a telescopic spring (44) is sleeved on the movable pin (43), and two ends of the telescopic spring (44) are respectively fixedly connected to the movable pin (43) and the fixed rod (42).

6. The motor sealing and waterproof device of an underwater robot according to claim 5, characterized in that: A fixing ring (45) is fixedly sleeved on the output shaft (12), and a spiral groove (46) is formed on the fixing ring (45). The spiral groove (46) is located in the moving direction of the movable pin (43).

7. The motor sealing and waterproof device of an underwater robot according to claim 6, characterized in that: One end of the fixed ring (45) is rotatably connected to a rotating block (47), and a spring sheet (48) is fixedly connected to the rotating block (47) and the fixed ring (45). The rotating block (47) is located at one end of the spiral groove (46).

8. The motor sealing and waterproof device of an underwater robot according to claim 7, characterized in that: A sliding rod (52) is slidably connected to the housing (1), one end of the sliding rod (52) is fixedly connected to a clamping block (54), the clamping block (54) is in contact with the movable pin (43), and the other end of the sliding rod (52) extends into the groove and is in contact with the expansion water stop strip (5).

9. The motor sealing and waterproof device of an underwater robot according to claim 8, characterized in that: A fixing spring (53) is sleeved on the sliding rod (52), and two ends of the fixing spring (53) are respectively fixedly connected to the sliding rod (52) and the housing (1).

Images