Hydraulic motor and output shaft self-compensating seal structure for underwater robot

Abstract

The application relates to a self-compensation sealing structure of a hydraulic motor and an output shaft for an underwater robot, wherein the hydraulic motor is arranged in a motor sealing cabin assembly, a power output end of the hydraulic motor is provided with a motor shaft, a shaft coupling and an output shaft connected in sequence, the output shaft sealing cabin assembly comprises a sealing cabin shell, the sealing cabin shell comprises a containing cavity and a rotating support part, the shaft coupling is arranged in the containing cavity, the output shaft is rotatably arranged in the rotating support part, a self-compensation skin bag and a skin bag cover are arranged outside the motor sealing cabin assembly from inside to outside, a cover water hole is arranged on the skin bag cover, and the inside of the output shaft sealing cabin assembly and the inside of the motor sealing cabin assembly are filled with hydraulic oil. The application can immerse the related structure of the hydraulic motor in the hydraulic oil to prevent corrosion caused by contact with seawater, and the self-compensation skin bag on the motor sealing cabin assembly can be adaptively deformed to keep the internal and external pressure balanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater robot operation tools, in particular to a hydraulic motor and output shaft self-compensation sealing structure for underwater robots. BACKGROUND

[0002] Underwater robots are one of the key equipment for ocean engineering construction and ocean scientific research, and underwater robots often face the requirement of underwater operation using rotating tools, such as polishing, drilling, cutting and other operations. Such rotating operation tools are usually driven by hydraulic motors, and the materials of industrial hydraulic motors, couplings and bearings are mainly carbon steel and aluminum alloy. When they are in water for a long time, corrosion will inevitably occur. Therefore, the design of related sealing structures is particularly important. In addition, for deep sea operations, due to large changes in external environmental pressure, the pressure balance between the inside and outside of the equipment also needs to be considered.

[0003] The sealing structure of the underwater robot power device and the load connection in the prior art is mainly for electric drive. For example, the patent with the authorization announcement number CN101383551B discloses a coupling device for connecting underwater power device and load. When working, the magnet steel rotates with the output shaft. In this way, the magnetic field generated by the sleeve and the magnet steel has relative motion. The sleeve cuts the magnetic field to generate eddy current. This current generates a pulsating armature reaction magnetic field, which combines with the main magnetic flux generated by the magnet steel to generate electromagnetic torque, and drives the sleeve to rotate with the output shaft. In this way, the sleeve and the load above it rotate. The device makes the power device and the reducer can be installed in a sealed shell, and then the output shaft part no longer needs to be sealed. However, this is not suitable for hydraulic motors. SUMMARY

[0004] The purpose of the present application is to provide a hydraulic motor and output shaft self-compensation sealing structure for underwater robots, which can immerse the related structures of the hydraulic motor in hydraulic oil to prevent corrosion caused by contact with seawater. In addition, as the depth of seawater increases and the water pressure increases, the self-compensation bladder on the motor sealing cabin assembly can adaptively deform to reduce the internal volume, thereby maintaining the internal and external pressure balance.

[0005] The purpose of the present application is achieved by the following technical solutions:

[0006] The application discloses a self-compensating sealing structure of a hydraulic motor and an output shaft for an underwater robot, which comprises an output shaft sealing cabin assembly, a motor sealing cabin assembly and a hydraulic motor, wherein the hydraulic motor is arranged in the motor sealing cabin assembly, and a power output end of the hydraulic motor is provided with a motor shaft, a shaft coupling and an output shaft which are sequentially connected; the output shaft sealing cabin assembly comprises a sealing cabin shell which is arranged on the front side of the motor sealing cabin assembly and comprises a receiving cavity part at the rear part and a rotating support part at the front part; the shaft coupling is arranged in the receiving cavity part, and the front part of the output shaft is rotatably arranged in the rotating support part; the outer side of the motor sealing cabin assembly is sequentially provided with a self-compensating skin bag and a skin bag cover from inside to outside, and the skin bag cover is provided with a cover water hole; and the inside of the output shaft sealing cabin assembly and the inside of the motor sealing cabin assembly are filled with hydraulic oil.

[0007] The motor sealing cabin assembly comprises a front cabin cover, a rear cabin base and a rear cabin cover, wherein the hydraulic motor is fixed on the front cabin cover, the self-compensating skin bag and the skin bag cover are both fixed on the front cabin cover at one end and on the rear cabin base at the other end, the rear cabin base is arranged on the rear cabin cover, and the rear cabin cover is provided with a cabin oil port; the hydraulic motor is provided with a motor oil port which is connected with the corresponding cabin oil port through a hydraulic pipeline.

[0008] The front end of the hydraulic motor is provided with a mounting flange which is fixed on the inner side of the front cabin cover, and the receiving cavity part at the rear part of the sealing cabin shell is fixed on the outer side of the front cabin cover.

[0009] The rear side of the rear cabin cover is provided with a mounting base, and the cabin body sealing element is arranged between the rear cabin base and the rear cabin cover.

[0010] The bearing is sleeved on the output shaft through the sealing end cover, the first sealing element is arranged between the sealing end cover and the output shaft, and the second sealing element is arranged between the sealing end cover and the inner wall of the rotating support part.

[0011] The inner wall between the receiving cavity part and the rotating support part of the sealing cabin shell is provided with a support partition plate, and the support partition plate is provided with a support through hole through which the output shaft passes; the first rotating support sleeve is sleeved on the output shaft in the support through hole; and the second rotating support sleeve is sleeved on the output shaft at the front end of the sealing end cover.

[0012] The front end of the output shaft is provided with an output shaft interface.

[0013] The application has the following advantages and positive effects:

[0014] 1. The application comprises an output shaft sealing cabin assembly and a motor sealing cabin assembly, and the output shaft sealing cabin assembly and the motor sealing cabin assembly are internally sealed and filled with hydraulic oil, so that the hydraulic motor can be immersed in the hydraulic oil in the motor sealing cabin assembly, and the motor shaft, coupling, output shaft, bearing and other related structures can be immersed in the hydraulic oil in the output shaft sealing cabin assembly, thereby preventing corrosion of the hydraulic motor related structures caused by contact with seawater.

[0015] 2. The motor sealing cabin assembly of the application is provided with a self-compensation bladder and a bladder guard, as the water depth increases, the water pressure increases, at this time the seawater can enter the self-compensation bladder through the guard water hole on the bladder guard, at this time the self-compensation bladder can adaptively deform to reduce the internal volume, thereby maintaining the internal and external pressure balance, so that the application realizes the pressure self-compensation function, and the structure does not need to bear high pressure, which can reduce the structural strength requirement and reduce the weight of the device. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural sectional view of the application,

[0017] Figure 2 is an enlarged view of A in Figure 1 , is an enlarged view of B in

[0018] Figure 3 is an enlarged view of B in Figure 1 , is an enlarged view of B in

[0019] Figure 4 is a structural sectional view of the application in another use state.

[0020] Wherein, 1 is a hydraulic motor, 101 is a motor shaft, 102 is a coupling, 103 is an output shaft, 1031 is an output shaft interface, 1032 is a connecting key, 104 is a motor oil port, 105 is a mounting flange, 2 is an output shaft sealing cabin assembly, 2011 is a second rotating support sleeve, 201 is a sealing end cover, 202 is a bearing, 203 is a second sealing element, 204 is a first sealing element, 205 is a sealing cabin shell, 2051 is a containing cavity part, 2052 is a rotating support part, 2053 is a support partition, 2054 is a first rotating support sleeve, 3 is a motor sealing cabin assembly, 301 is a front cabin cover, 302 is a self-compensation bladder, 303 is a bladder guard, 304 is a guard water hole, 305 is a rear cabin seat, 306 is a rear cabin cover, 307 is a mounting seat, 308 is a cabin body sealing element, 309 is a cabin body oil port. DETAILED DESCRIPTION

[0021] The application will be further described in detail below with reference to the accompanying drawings.

[0022] As Figures 1 to 4As shown, the present application comprises an output shaft sealing cabin assembly 2, a motor sealing cabin assembly 3 and a hydraulic motor 1, wherein the hydraulic motor 1 is arranged in the motor sealing cabin assembly 3, and the power output end of the hydraulic motor 1 is provided with a motor shaft 101, a coupling 102 and an output shaft 103 connected in sequence, as shown in Figure 3 As shown, the output shaft sealing cabin assembly 2 comprises a sealing cabin shell 205, and the sealing cabin shell 205 is mounted on the front side of the motor sealing cabin assembly 3, the sealing cabin shell 205 comprises a receiving cavity part 2051 at the rear and a rotating support part 2052 at the front, wherein the coupling 102 is arranged in the receiving cavity part 2051, and the output shaft 103 is rotatably arranged in the rotating support part 2052, as shown in Figures 1 to 2 As shown, the circumferential outer side of the motor sealing cabin assembly 3 is provided with a self-compensating bladder 302 and a bladder cover 303 from inside to outside in sequence, and the cover 303 is provided with a cover water hole 304. When the present application works, first, the inside of the output shaft sealing cabin assembly 2 and the inside of the motor sealing cabin assembly 3 are filled with hydraulic oil, so that the structures such as the hydraulic motor 1, the motor shaft 101, the coupling 102 and the output shaft 103 are immersed in the hydraulic oil to prevent corrosion caused by contact with seawater, second, the self-compensating bladder 302 is made of rubber material and can be deformed, when the present application is in seawater, as the depth of seawater increases, the water pressure increases, and the self-compensating bladder 302 can be deformed to reduce the internal volume, so as to keep the internal and external pressure balanced, so as to realize the pressure self-compensating function, and the related structures do not need to bear high pressure, which can reduce the structural strength requirement and reduce the weight of the device. Figure 4 As shown, the self-compensating bladder 12 can be deformed adaptively to reduce the internal volume, so as to keep the internal and external pressure balanced, so as to realize the pressure self-compensating function, and the related structures do not need to bear high pressure, which can reduce the structural strength requirement and reduce the weight of the device.

[0023] As shown in Figure 1 As shown in the embodiment, the motor sealing cabin assembly 3 comprises a front cabin cover 301, a rear cabin seat 305 and a rear cabin cover 306, wherein the hydraulic motor 1 is fixedly arranged on the front cabin cover 301, the self-compensating bladder 302 and the bladder cover 303 are both arranged on the front cabin cover 301 by bolts at one end and arranged on the rear cabin seat 305 by bolts at the other end, the rear cabin seat 305 is arranged on the rear cabin cover 306, and the rear cabin cover 306 is provided with a cabin oil port 309, the hydraulic motor 1 is provided with a motor oil port 104, and the motor oil port 104 is connected with the corresponding cabin oil port 309 through a hydraulic pipeline.

[0024] As shown in Figure 1 As shown in the embodiment, the front end of the hydraulic motor 1 is provided with a mounting flange 105, and the mounting flange 105 is fixedly arranged on the inside of the front cabin cover 301, and the receiving cavity part 2051 at the rear of the sealing cabin shell 205 is fixedly arranged on the outside of the front cabin cover 301.

[0025] As shown in Figure 1As shown, in this embodiment, the rear side of the rear hatch 306 is provided with a mounting seat 307 connected with related equipment, and in order to ensure sealing, a cabin sealing element 308 is arranged between the rear cabin seat 305 and the rear hatch 306.

[0026] As shown in the drawings, Figure 1 and Figure 3 As shown in the drawings, in this embodiment, a bearing 202 is sleeved on the output shaft 103 inside the rotating support part 2052 to realize rotating support, in addition, a sealing end cover 201 is arranged at the front end of the rotating support part 2052 of the sealed cabin shell 205, and the output shaft 103 penetrates through the sealing end cover 201, the bearing 202 is limited by the sealing end cover 201, and a first sealing element 204 (such as a sealing ring) is arranged between the sealing end cover 201 and the output shaft 103, and a second sealing element 203 (such as a sealing ring) is arranged between the sealing end cover 201 and the inner wall of the rotating support part 2052.

[0027] As shown in the drawings, Figure 1 and Figure 3 As shown in the drawings, in this embodiment, a support partition plate 2053 is arranged on the inner wall between the containing cavity part 2051 and the rotating support part 2052 of the sealed cabin shell 205, and a support through hole is arranged on the support partition plate 2053 for the output shaft 103 to penetrate, a first rotating support sleeve 2054 is arranged in the support through hole to be sleeved on the output shaft 103 to realize stable support of the rear part of the output shaft 103, and a second rotating support sleeve 2011 is arranged at the front end of the sealing end cover 201 to be sleeved on the output shaft 103 to realize stable support of the front end of the output shaft 103.

[0028] As shown in the drawings, Figure 1 and Figure 3 As shown in the drawings, in this embodiment, the motor shaft 101 and the output shaft 103 are connected with the shaft coupling 102 through a connecting key 1032 to realize synchronous rotation, and in addition, an output shaft interface 1031 is arranged at the front end of the output shaft 103 to be connected with related structures.

[0029] The working principle of the present application is as follows:

[0030] When the present application works, the inside of the output shaft sealed cabin assembly 2 and the inside of the motor sealed cabin assembly 3 are filled with hydraulic oil, so that the hydraulic motor 1, the motor shaft 101, the shaft coupling 102, the output shaft 103, the bearing 202 and other components are immersed in the hydraulic oil to prevent corrosion caused by contact with seawater, and as the depth of seawater increases, the water pressure increases, as shown in the drawings, Figure 2 At this time, seawater can enter through the cover water hole 304 on the skin cover 303 to extrude the self-compensating skin 12 to deform, as shown in the drawings, Figure 4As shown, the self-compensating skin bag 12 can be adaptively deformed to reduce the internal volume, thereby maintaining the internal and external pressure balance, so that the present application realizes the pressure self-compensation function, and the related structure does not need to bear high pressure, which can reduce the structural strength requirement and reduce the device weight.

Claims

1. A hydraulic motor and output shaft self-compensating seal structure for an underwater robot, characterized by: The application relates to a hydraulic motor sealing cabin assembly, which comprises an output shaft sealing cabin assembly (2), a motor sealing cabin assembly (3) and a hydraulic motor (1), wherein the hydraulic motor (1) is arranged in the motor sealing cabin assembly (3), and the power output end of the hydraulic motor (1) is provided with a motor shaft (101), a shaft coupling (102) and an output shaft (103) which are sequentially connected; the output shaft sealing cabin assembly (2) comprises a sealing cabin shell (205), and the sealing cabin shell (205) is arranged on the front side of the motor sealing cabin assembly (3); the sealing cabin shell (205) comprises a containing cavity (2051) at the rear part and a rotating support part (2052) at the front part, wherein the shaft coupling (102) is arranged in the containing cavity (2051), and the output shaft (103) is rotatably arranged at the front part of the rotating support part (2052); the outer side of the motor sealing cabin assembly (3) is sequentially provided with a self-compensation skin bag (302) and a skin bag cover (303) from inside to outside, and the skin bag cover (303) is provided with a cover water hole (304); the inside of the output shaft sealing cabin assembly (2) and the inside of the motor sealing cabin assembly (3) are filled with hydraulic oil. The motor sealing cabin assembly (3) comprises a front cabin cover (301), a rear cabin base (305) and a rear cabin cover (306), wherein the hydraulic motor (1) is fixed on the front cabin cover (301); the self-compensation skin bag (302) and the skin bag cover (303) are both fixed on the front cabin cover (301) at one end and on the rear cabin base (305) at the other end; the rear cabin base (305) is arranged on the rear cabin cover (306), and the rear cabin cover (306) is provided with a cabin oil port (309); the hydraulic motor (1) is provided with a motor oil port (104), and the motor oil port (104) is connected with the corresponding cabin oil port (309) through a hydraulic pipeline.

2. The hydraulic motor and output shaft self-compensating seal structure for an underwater robot of claim 1, wherein: The front end of the hydraulic motor (1) is provided with a mounting flange (105), and the mounting flange (105) is fixed on the inner side of the front cabin cover (301); the containing cavity (2051) at the rear part of the sealing cabin shell (205) is fixed on the outer side of the front cabin cover (301).

3. The hydraulic motor and output shaft self-compensating seal structure for an underwater robot of claim 1, wherein: The rear side of the rear cabin cover (306) is provided with a mounting base (307), and the rear cabin base (305) and the rear cabin cover (306) are provided with a cabin sealing element (308).

4. The hydraulic motor and output shaft self-compensating seal structure for an underwater robot of claim 1, wherein: The inside of the rotating support part (2052) is provided with a bearing (202) which is sleeved on the output shaft (103); the front end of the rotating support part (2052) is provided with a sealing end cover (201), and the output shaft (103) penetrates through the sealing end cover (201); the bearing (202) is limited by the sealing end cover (201); the first sealing element (204) is arranged between the sealing end cover (201) and the output shaft (103); and the second sealing element (203) is arranged between the sealing end cover (201) and the inner wall of the rotating support part (2052).

5. The hydraulic motor and output shaft self-compensating seal structure for an underwater robot of claim 4, wherein: The support partition (2053) is arranged on the inner wall between the accommodating cavity (2051) and the rotating support part (2052), and the support partition (2053) is provided with a support through hole through which the output shaft (103) passes, and the first rotating support sleeve (2054) is sleeved on the output shaft (103) in the support through hole.

6. The hydraulic motor and output shaft self-compensating seal structure for an underwater robot of claim 1, wherein: The output shaft (103) is provided with an output shaft interface (1031) at the front end.

Images