Brushless motor for underwater robot

Abstract

The invention relates to a brushless motor for an underwater robot. The brushless motor is provided with a shell; the shell is provided with a front end and a rear end, the rear end of the shell is provided with an opening, the shell is further provided with a cover plate, a stator sleeve is integrally arranged in the shell in an injection molding mode, and a stator installation space is formed between the stator sleeve and the shell of the machine shell; a rotor assembly is rotationally arranged in the stator sleeve and comprises a rotating shaft and a rotor assembly, a first bearing is fixedly arranged at the front end of the shell, a second bearing is fixedly arranged on the cover plate, a through hole is formed in the front end of the shell, and the two ends of the rotating shaft are matched with the first bearing and the second bearing respectively; an air gap is formed between the rotor assembly and the stator sleeve, a communicating part is arranged on the cover plate in a penetrating mode and corresponds to the second bearing, and the communicating part, the second rotating shaft, the air gap, the first rotating shaft and the through hole form a water channel; heat in the motor can be taken away underwater, heat dissipation is carried out rapidly, overheating of the motor is avoided, and stable operation of the motor is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of brushless motor for underwater robot. BACKGROUND

[0002] Underwater robot is also called unmanned remote control submersible, it is a kind of extreme operation robot in underwater. Underwater environment is dangerous, the diving depth of human is limited, so underwater robot has become an important tool for developing ocean; unmanned remote control submersible mainly has: two kinds of cable remote control submersible and cableless remote control submersible, wherein cable remote control submersible is divided into three kinds of water self-propelled, towed and can climb on the structure of seabed.

[0003] When underwater robot moves or keeps balance in water, it needs to drive paddle by motor to complete movement or keep balance, underwater robot will move or keep balance for a long time in water, at this time, motor works for a long time, after long time work, a large amount of heat is generated in the interior of motor, and the interior of motor cannot be cooled in underwater environment, so that motor overheats and stops, which limits the use time of underwater robot. SUMMARY

[0004] The purpose of the present application is to provide a kind of brushless motor for underwater robot, can take away internal heat underwater, ensure stable use.

[0005] The technical scheme for realizing the purpose of the present application is: the present application has a shell; the shell has a front end and a rear end, the rear end of the shell is open, and a cover plate is provided which can be inserted and fixed with the rear end of the shell; a stator sleeve is arranged concentrically in the interior of the shell and extends along the extension direction of the shell; a stator mounting space is formed between the stator sleeve and the shell; a stator assembly is clamped in the stator mounting space; one end of the stator sleeve is integrally injection molded with the front end of the shell, the other end of the stator sleeve extends towards the cover plate; a rotor assembly is rotatably arranged in the interior of the stator sleeve; the rotor assembly includes a rotating shaft and a rotor assembly fixedly arranged in the middle of the rotating shaft; a first bearing is fixedly arranged on the front end of the shell; a second bearing is fixedly arranged on the cover plate; the front end of the shell is provided with a through hole through which the rotating shaft passes; one end of the rotating shaft is fixedly connected with the second bearing, the other end of the rotating shaft is fixedly connected with the first bearing and extends out of the through hole; the rotating shaft is rotatably arranged in the interior of the stator sleeve through the first bearing and the second bearing; an air gap is formed between the rotor assembly and the stator sleeve; a plurality of communication parts are arranged on the cover plate, which communicate the inner wall of the shell with the outside; the communication parts are arranged corresponding to the second bearing; the communication parts, the second rotating shaft, the air gap, the first rotating shaft and the through hole form a water passage through which water flows.

[0006] Further, the cover plate is provided with a boss fixed on one side facing the inside of the shell, the boss is provided with a clamping groove for embedding the second bearing, the second bearing is fixedly arranged in the clamping groove, and the clamping groove is communicated with the outside through a communication part; the boss can be inserted and matched with the end of the stator sleeve extending towards the cover plate, and the stator sleeve and the cover plate are sealed and connected through the insertion and matching of the boss and the end of the stator sleeve extending towards the cover plate.

[0007] Further, the rotor assembly includes a center mounting block, a core and a rotor sleeve, the center mounting block is fixedly sleeved on the rotating shaft, the core and the center mounting block are located inside the rotor sleeve, a plurality of mounting grooves are circumferentially distributed on the outer wall of the center mounting block with the axis of the center mounting block as the center, the core is provided with a plurality of mounting grooves corresponding to the mounting grooves, each core is arranged one-to-one corresponding to the mounting grooves, each core is arranged in the mounting groove respectively, one end of the core acts on the rotor sleeve, and the other end of the core acts on the mounting groove. The end of the core acting on the rotor sleeve protrudes from the mounting groove, the portions of the adjacent two cores protruding from the mounting grooves form a first sealing gap through which the plastic can pass, the two ends of the rotor sleeve extend out of the two ends of the center mounting block respectively, and the inner walls of the two ends of the rotor sleeve and the two ends of the center mounting block form a sealing space which can be filled with plastic; the sealing space is sealed by the plastic, the center mounting block, the core and the rotor sleeve are fixedly sealed on the rotating shaft by the plastic, and the rotor sleeve and the stator sleeve form the air gap.

[0008] Further, the first rotating shaft and the second rotating shaft each have an inner ring, an outer ring and a plurality of balls, the inner wall of the outer ring and the outer wall of the inner ring are each provided with a groove for rolling the balls, and the inner ring and the outer ring are rotationally matched by the balls; the outer wall of the inner ring is symmetrically provided with a baffle extending towards the outer ring, each ball is located between the symmetrically arranged baffles, the inner wall of the outer ring is provided with an avoiding groove for avoiding the end of the baffle extending towards the outer ring, the end of the baffle extending towards the outer ring extends into the avoiding groove and does not contact the groove bottom of the avoiding groove, and the avoiding groove forms a water flow channel under the action of the baffle.

[0009] Further, the communication part includes three long holes which can communicate the clamping grooves with the outside, each long hole is uniformly arranged on the cover plate with the axis of the cover plate as the center, one end of each long hole extends towards the axis of the cover plate, and the other end of each long hole extends towards the edge of the cover plate.

[0010] Further, the inner wall of the shell is fixed with a plurality of positioning blocks, each of which is uniformly distributed around the axis of the shell; one end of the positioning block is arranged towards the front end of the shell, the other end of the positioning block is arranged towards the rear end of the shell, and the one end of the positioning block towards the front end of the shell is provided with a support table for supporting the stator assembly, and the one end of the positioning block towards the rear end of the shell is provided with a guide arc surface for guiding the stator assembly; one end of the support table is fixed on the positioning block, and the other end of the support table extends horizontally towards the axis of the shell; the lower end of the guide arc surface extends towards the support table, and the upper end of the guide arc surface extends towards the inner wall of the stator sleeve; one end of the stator assembly clamped in the stator mounting space is arranged towards the front end of the shell, the other end of the stator assembly is arranged towards the rear end of the shell, and the one end of the stator assembly towards the front end of the shell is in contact with the support table under the guidance of the guide arc surface, and the stator assembly is positioned and clamped in the stator mounting space under the action of the support table and the positioning block.

[0011] Further, the stator assembly includes a stator block, a winding column and a circuit board, the stator block is arranged in the stator mounting space, one end of the stator block is arranged towards the front end of the shell, and the other end of the stator block is arranged towards the rear end of the shell; a plurality of winding columns are provided, each winding column is uniformly arranged along the contour direction of the inner wall of the stator block, one end of each winding column is fixed on the stator block, the other end of each winding column is arranged towards the stator sleeve, and each winding column is wound with the coil; the circuit board is arranged on the one end of the stator block towards the rear end of the shell, the circuit board is electrically connected with the stator block, and the cable electrically connected with the circuit board is further provided, the cover plate is provided with a wire hole through which the cable passes, and the cable is fixedly arranged in the wire hole after passing through the wire hole.

[0012] Further, a second sealing gap through which the plastic passes is provided between the outer wall of the circuit board and the inner wall of the shell, a third sealing gap through which the plastic passes is provided between the positioning block and the inner wall of the shell, and the second sealing gap and the third sealing gap are communicated; a fourth sealing gap through which the plastic passes is provided between the adjacent two winding columns, and the stator assembly is fixedly sealed in the stator mounting space after passing through the stator mounting space, the second sealing gap, the third sealing gap and the fourth sealing gap.

[0013] Further, a plurality of positioning rods are fixedly arranged on the one end of the stator block towards the rear end of the shell, the positioning rods are uniformly arranged along the contour direction of the stator block, a plurality of positioning holes are provided on the circuit board corresponding to the positioning rods, the plurality of positioning rods and the plurality of positioning holes are one-to-one correspondingly inserted and positioned, and the circuit board is arranged on the stator block through the inserted and positioned cooperation of the positioning rods and the positioning holes; the circuit board is fixedly provided with a connecting column, one end of the connecting column fixedly connected with the circuit board is electrically connected with the circuit board, and the other end of the connecting column is electrically connected with the cable.

[0014] Further, the cover plate is fixed with a plurality of extension plates, each of which is uniformly distributed on the side wall of the cover plate with the axis of the cover plate as the center, a plurality of threaded barrels corresponding to the extension plates are fixed on the outer wall of the shell, the threaded barrels are arranged along the extension direction of the shell, one end of the threaded barrel is arranged towards the rear end of the shell, the other end of the threaded barrel is arranged towards the front end of the shell, one end of the threaded barrel towards the rear end of the shell is provided with a threaded hole, and a bolt threadedly matched with the threaded hole is also provided, the extension plate is provided with a corresponding hole through which the bolt passes and threadedly matched with the threaded hole, and the cover plate is fixed on the rear end of the shell through the corresponding of each extension plate and each threaded barrel and the thread cooperation of the bolt passing through the corresponding hole and the threaded hole.

[0015] The application has the following positive effects: (1) One end of the stator sleeve of the application is integrally injection molded with the front end of the shell, the other end of the stator sleeve extends towards the cover plate, the rotor assembly includes a rotating shaft and a rotor assembly fixedly arranged in the middle of the rotating shaft, the two ends of the rotating shaft are rotatably arranged on the front end of the shell and the cover plate through the first bearing and the second bearing respectively, the rotor assembly and the stator sleeve form an air gap, the cover plate is provided with a plurality of communication parts communicating the inner wall of the shell with the outside, the communication parts are arranged corresponding to the second bearing, the communication parts, the second rotating shaft, the air gap, the first rotating shaft and the through hole form a water flow channel through which water flows, the water flow passes through the second bearing after passing through the air hole, the water flow flows into the stator sleeve after passing through the second bearing, the water flow in the stator sleeve flows towards the first bearing under the guidance of the air gap, and finally the water flow flows out of the through hole, the heat of the rotor assembly is taken away by the water flow in the air gap and the stator sleeve during the flow, heat dissipation is quickly performed, overheating of the motor is avoided, and stable operation of the motor is ensured.

[0016] (2) The boss of the application can be inserted and matched with the end of the stator sleeve extending towards the cover plate, the stator sleeve and the cover plate are sealingly connected through the inserted and matched connection of the boss and the end of the stator sleeve extending towards the cover plate, the sealing connection of the stator sleeve and the boss can avoid the water flow entering the stator installation space between the stator sleeve and the inner wall of the shell, and further avoid the water flow converging in the stator installation space and affecting the use of the motor.

[0017] (3) The rotor assembly of the application comprises a center mounting block, a core and a rotor sleeve, the center mounting block is fixedly sleeved on the rotating shaft, the core and the center mounting block are located inside the rotor sleeve, the outer wall of the center mounting block is provided with a plurality of mounting grooves, the core is provided with a plurality of mounting grooves corresponding to the mounting grooves, each core is arranged corresponding to the mounting grooves, each core is arranged in the mounting groove, one end of the core acts on the rotor sleeve, and the other end of the core acts on the mounting groove; the two ends of the rotor sleeve extend out of the two ends of the center mounting block, the inner walls of the two ends of the rotor sleeve and the two ends of the center mounting block form a sealed space for filling plastic; the sealed space is sealed by plastic, and the center mounting block, the core and the rotor sleeve are fixedly sealed on the rotating shaft by plastic; the rotor sleeve can block the silt in the water flow passing through the air gap, thereby avoiding the silt from impacting and wearing the plastic for a long time, and the rotor sleeve protects the center mounting block and the core.

[0018] (4) The first rotating shaft and the second rotating shaft both have an inner ring, an outer ring and a plurality of balls, the inner wall of the outer ring and the outer wall of the inner ring are both provided with grooves for rolling the balls, and the inner ring and the outer ring are rotatably connected through the balls; the outer wall of the inner ring is symmetrically provided with a baffle extending towards the outer ring, each ball is located between the symmetrically arranged baffles, the inner wall of the outer ring is provided with an avoiding groove for avoiding the end of the baffle extending towards the outer ring, the end of the baffle extending towards the outer ring extends into the avoiding groove and does not contact the groove bottom of the avoiding groove, and the avoiding groove forms a water flow channel under the action of the baffle; the baffle can block the silt in the water flow when the water flow passes through the first bearing or the second bearing, so that more silt does not enter the grooves to affect the rolling of the balls, thereby ensuring the normal use of the first bearing or the second bearing; at the same time, the water flow channel can lengthen the path of the water flow, thereby reducing the impact of the water flow on the first bearing or the second bearing, and ensuring the stability of the first bearing and the second bearing during use.

[0019] The inner wall of the shell is fixed with a plurality of positioning blocks, each of which is uniformly distributed around the axis of the shell; one end of the positioning block is arranged towards the front end of the shell, and the other end of the positioning block is arranged towards the rear end of the shell; the one end of the positioning block towards the front end of the shell is provided with a support table for supporting the stator assembly; the one end of the positioning block towards the rear end of the shell is provided with a guide arc surface for guiding the stator assembly; the one end of the stator assembly towards the front end of the shell is in contact with the support table under the guidance of the guide arc surface; the stator assembly is positioned and clamped in the stator mounting space under the action of the support table and the positioning block; the guide arc surface can guide the installation of the stator assembly, making it easier for the stator assembly to enter the stator mounting space smoothly; the outer wall of the stator assembly can be extruded by the positioning block under the guidance of the guide arc surface, thereby ensuring that the stator assembly does not shake in the stator mounting space; at the same time, the support table can support the stator assembly to avoid collision between the stator assembly and the shell during installation.

[0020] The outer wall of the circuit board and the inner wall of the shell are provided with a second sealing gap, the positioning block and the inner wall of the shell are provided with a third sealing gap, and the second sealing gap and the third sealing gap are communicated; a fourth sealing gap is provided between the two adjacent winding columns; the stator assembly is fixed and sealed in the stator mounting space through plastic after passing through the stator mounting space, the second sealing gap, the third sealing gap and the fourth sealing gap; the stator assembly is fixed in the stator mounting space through plastic, and due to the arrangement of the second sealing gap, the third sealing gap and the fourth sealing gap, the stator assembly can be filled with plastic after being placed in the stator mounting space, without the need for external sealing and filling before installation in the stator mounting space, simplifying the plastic injection process and canceling the complex injection process.

[0021] The two ends of the rotor sleeve extend out of the two ends of the center mounting block, the inner walls of the two ends of the rotor sleeve and the two ends of the center mounting block form a sealing space for filling plastic inside, the sealing space is sealed by plastic, and the center mounting block, the iron core and the rotor sleeve are fixed and sealed on the rotating shaft by plastic; when the rotor assembly is filled with plastic, only the sealing space formed at the two ends of the center mounting block needs to be filled, simplifying the rotor injection process and making it more convenient.

[0022] A plurality of extension plates are fixed on the cover plate, a plurality of threaded barrels corresponding to the extension plates are fixed on the outer wall of the shell, one end of the threaded barrel towards the rear end of the shell is provided with a threaded hole, and a bolt is also provided; the extension plate is provided with a corresponding hole; the cover plate is fixed on the rear end of the shell through the corresponding of each extension plate and each threaded barrel and the threaded cooperation of the bolt passing through the corresponding hole and the threaded hole; the cover plate is fixed and reinforced on the rear end of the shell through the bolt, avoiding the cover plate from being separated from the rear end of the shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments and in conjunction with the accompanying drawings, wherein Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 A top view of the present invention; Figure 3 is a side sectional view of the present invention; Figure 4 It is a schematic diagram of the explosion structure of the present invention; Figure 5 It is a structural schematic diagram of the housing of the present invention; Figure 6 for Figure 3 A partial enlarged view of the middle A; Figure 7 for Figure 4 Partial enlarged view of middle B; Figure 8 This is a side cross-sectional view of the present invention after plastic injection molding.

[0024] In the figure, housing: 1, first bearing: 11, second bearing: 12, through hole: 13, threaded cylinder: 14, cover: 2, connecting part: 21, boss: 22, slot: 221, extension plate: 23, corresponding hole: 231, stator sleeve: 3, air gap: 31, stator installation space: 4, stator assembly: 5, stator block: 51, positioning rod: 511, winding column: 52, circuit board: 53, positioning hole: 531, rotor Components: 6, rotating shaft: 61, center body: 62, center mounting block: 621, iron core: 622, rotor sleeve: 623, inner ring: 7, baffle: 71, outer ring: 8, avoidance groove: 81, ball: 9, positioning block: 10, support platform: 101, guide arc surface: 102, first sealing gap: a, second sealing gap: b, third sealing gap: c, fourth sealing gap: d, cable: e, bolt: f. DETAILED DESCRIPTION

[0025] See Figures 1 to 8The application has a shell 1; the shell 1 has a front end and a rear end, the rear end of the shell 1 is provided with an opening, and a cover plate 2 is provided to be inserted and fixed with the rear end of the shell 1; the inside of the shell 1 is concentrically provided with a stator sleeve 3 extending along the extension direction of the shell 1; the stator sleeve 3 and the shell 1 of the casing form a stator mounting space 4; the stator sleeve 3 is clamped with a stator assembly 5 in the stator mounting space 4; one end of the stator sleeve 3 is integrally injection molded with the front end of the shell 1, the other end of the stator sleeve 3 extends towards the cover plate 2; the inside of the stator sleeve 3 is rotatably provided with a rotor assembly 6, the rotor assembly 6 includes a rotating shaft 61 and a rotor assembly 62 fixedly arranged in the middle of the rotating shaft 61; the front end of the shell 1 is fixedly provided with a first bearing 11, the cover plate 2 is fixedly provided with a second bearing 12, the front end of the shell 1 is provided with a through hole 13 through which the rotating shaft 61 passes; one end of the rotating shaft 61 is fixedly connected with the second bearing 12, the other end of the rotating shaft 61 is fixedly connected with the first bearing 11 and extends out of the through hole 13; the rotating shaft 61 is rotatably arranged in the inside of the stator sleeve 3 through the first bearing 11 and the second bearing 12; the rotor assembly 62 and the stator sleeve 3 form an air gap 31, the cover plate 2 is provided with a plurality of communication parts 21 communicating the inner wall of the shell 1 with the outside, the communication parts 21 are arranged corresponding to the second bearing 12; the communication parts 21, the second rotating shaft 61, the air gap 31, the first rotating shaft 61 and the through hole 13 form a water flow channel through which water flows; the water flow passes through the second bearing 12 after passing through the air hole, the water flow flows into the stator sleeve 3 after passing through the second bearing 12, the water flow flows towards the first bearing 11 under the guidance of the air gap 31 in the stator sleeve 3, and finally the water flow flows out of the through hole 13; the heat of the rotor assembly 6 is taken away by the water flow when the water flow flows in the air gap 31 and the stator sleeve 3, so that the heat is quickly dissipated, and the motor is prevented from overheating.

[0026] The cover plate 2 is fixedly provided with a boss 22 on one side facing the inside of the shell 1, the boss 22 is provided with a clamping groove 221 in which the second bearing 12 is embedded, the second bearing 12 is fixedly arranged in the clamping groove 221, and the clamping groove 221 is communicated with the outside through the communication part 21; the boss 22 is inserted and matched with one end of the stator sleeve 3 extending towards the cover plate 2, and the stator sleeve 3 and the cover plate 2 are sealed and connected through the insertion and matching of the boss 22 and one end of the stator sleeve 3 extending towards the cover plate 2; the sealed connection of the stator sleeve 3 and the boss 22 can prevent the water flow from entering the stator mounting space 4 between the stator sleeve 3 and the inner wall of the shell 1, so as to avoid the water flow from converging in the stator mounting space 4 and affecting the use of the motor.

[0027] The rotor assembly 62 comprises a center mounting block 621, a core 622 and a rotor sleeve 623, the center mounting block 621 is fixedly sleeved on the rotating shaft 61, the core 622 and the center mounting block 621 are located inside the rotor sleeve 623, a plurality of mounting grooves are circumferentially distributed on the outer wall of the center mounting block 621 with the axis of the center mounting block 621 as the center, the core 622 is provided with a plurality of mounting grooves corresponding to the mounting grooves, each core 622 is correspondingly arranged in the mounting groove, one end of the core 622 acts on the rotor sleeve 623, and the other end of the core 622 acts on the mounting groove; The core 622 protrudes from the mounting groove, and the portions of the two adjacent cores 622 protruding from the mounting groove form a first sealing gap a through which the plastic can pass. The two ends of the rotor sleeve 623 extend out of the two ends of the center mounting block 621, and the inner walls of the two ends of the rotor sleeve 623 and the two ends of the center mounting block 621 form a sealing space for filling the plastic inside. The sealing space is sealed by the plastic, and the center mounting block 621, the core 622 and the rotor sleeve 623 are fixedly sealed on the rotating shaft 61 by the plastic. The rotor sleeve 623 and the stator sleeve 3 form the air gap 31. The rotor sleeve 623 can block the silt in the water flowing through the air gap 31, thereby avoiding the silt from impacting and wearing the plastic for a long time. The rotor sleeve 623 protects the center mounting block 621 and the core 622.

[0028] The two sides of the center mounting block 621 can form a sealing space under the action of the rotor sleeve 623, and the sealing space formed under the action of the rotor sleeve 623 can assist the center mounting block 621 and the core 622 to be more quickly and efficiently sealed by the plastic.

[0029] The center mounting block 621 can also be integrally formed with the inner wall of the rotor sleeve 623, and there is no first sealing gap a between the two cores arranged in the mounting groove. When the sealing space is filled with plastic by injection molding, the sealing spaces on both sides of the center mounting block 621 are filled with plastic. After the plastic in the sealing spaces on both sides of the center mounting block 621, the plastic wraps the rotating shaft 61 to protect the rotating shaft 61 from being eroded by the water flow. At the same time, the plastic assists in fixing the first bearing 11 and the second bearing 12 along the extension direction of the rotating shaft 61, avoiding the first bearing 11 and the second bearing 12 from shaking and falling.

[0030] See Figure 8The rotor sleeve 623 can protect the outer diameter between the rotor assembly 62, prevent plastic overflow, and avoid air holes on the surface of the plastic after the rotor assembly 62 is injected with plastic.

[0031] The iron core 622 can be protected and fixed after the plastic passes through the first sealing gap a, preventing the iron core 622 from being thrown out due to inertia.

[0032] The first and second rotating shafts 61 each have an inner ring 7, an outer ring 8, and a plurality of balls 9. The inner wall of the outer ring 8 and the outer wall of the inner ring 7 are each provided with a groove for the rolling of each ball 9. The inner ring 7 and the outer ring 8 are in mutual rotation through the balls 9. The outer wall of the inner ring 7 is symmetrically provided with a baffle 71 extending towards the outer ring 8. Each ball 9 is located between the symmetrically arranged baffles 71. The inner wall of the outer ring 8 is provided with an avoidance groove 81 for avoiding the end of the baffle 71 extending towards the outer ring 8. The end of the baffle 71 extending towards the outer ring 8 extends into the avoidance groove 81 and does not form contact with the groove bottom of the avoidance groove 81. The avoidance groove 81 forms a water flow channel under the action of the baffle 71. The baffle 71 can block the silt in the water flow when the water flow passes through the first bearing 11 or the second bearing 12, preventing too much silt from entering the groove and affecting the rolling of each ball 9, thereby ensuring the normal use of the first bearing 11 or the second bearing 12. At the same time, the water flow channel can lengthen the path of the water flow, thereby reducing the impact of the water flow on the first bearing 11 or the second bearing 12 and ensuring the stability of the first bearing 11 and the second bearing 12 during use.

[0033] The communication part 21 includes three long holes that can be connected to the external card slot 221. Each long hole is arranged uniformly on the cover plate 2 with the axis of the cover plate 2 as the center circle. One end of each long hole extends towards the axis of the cover plate 2, and the other end of each long hole extends towards the edge of the cover plate 2.

[0034] A plurality of positioning blocks 10 are fixedly arranged on the inner wall of the shell 1, and each positioning block 10 is uniformly distributed around the axis of the shell 1. One end of the positioning block 10 is arranged towards the front end of the shell 1, and the other end of the positioning block 10 is arranged towards the rear end of the shell 1. The one end of the positioning block 10 towards the front end of the shell 1 is provided with a support table 101 for supporting the stator assembly 5. The one end of the positioning block 10 towards the rear end of the shell 1 is provided with a guide arc surface 102 for guiding the stator assembly 5. One end of the support table 101 is fixedly arranged on the positioning block 10, and the other end of the support table 101 extends horizontally towards the axis of the shell 1. The lower end of the guide arc surface 102 extends towards the support table 101, and the upper end of the guide arc surface 102 extends towards the inner wall of the stator sleeve 3. One end of the stator assembly 5 clamped in the stator mounting space 4 is arranged towards the front end of the shell 1, and the other end of the stator assembly 5 is arranged towards the rear end of the shell 1. The one end of the stator assembly 5 towards the front end of the shell 1 is in contact with the support table 101 under the guidance of the guide arc surface 102. The stator assembly 5 is clamped and positioned in the stator mounting space 4 under the action of the support table 101 and the positioning block 10. The outer wall of the stator assembly 5 can be extruded by the positioning block 10 under the guidance of the guide arc surface 102, thereby ensuring that the stator assembly 5 does not shake in the stator mounting space 4. At the same time, the support table 101 can support the stator assembly 5 to avoid collision between the stator assembly 5 and the shell 1 during installation.

[0035] The stator assembly 5 includes a stator block 51, a winding post 52, and a circuit board 53. The stator block 51 is arranged in the stator mounting space 4, and one end of the stator block 51 is arranged towards the front end of the shell 1, and the other end of the stator block 51 is arranged towards the rear end of the shell 1. The winding post 52 is provided with a plurality of winding posts 52, and each winding post 52 is uniformly arranged along the contour direction of the inner wall of the stator block 51. One end of each winding post 52 is fixedly arranged on the stator block 51, and the other end of each winding post 52 is arranged towards the stator sleeve 3. Each winding post 52 is wound with the coil. The circuit board 53 is arranged on one end of the stator block 51 towards the rear end of the shell 1. The circuit board 53 is electrically connected with the stator block 51, and is also provided with a cable e electrically connected with the circuit board 53. The cover plate 2 is provided with a wire hole through which the cable e passes, and the cable e is fixedly arranged in the wire hole after passing through the wire hole.

[0036] When the stator assembly 5 is installed in the stator mounting space 4, the stator block 51 is guided by the guide arc surface 102, and the outer wall of the stator block 51 is in contact with the positioning block 10.

[0037] A second sealing gap b for allowing the plastic to pass through is arranged between the outer wall of the circuit board 53 and the inner wall of the shell 1, a third sealing gap c for allowing the plastic to pass through is arranged between the positioning block 10 and the inner wall of the shell 1, and the second sealing gap b and the third sealing gap c are arranged in communication; a fourth sealing gap d for allowing the plastic to pass through is arranged between two adjacent winding columns 52, and the stator assembly 5 is fixed and sealed in the stator mounting space 4 by the plastic passing through the stator mounting space 4, the second sealing gap b, the third sealing gap c, and the fourth sealing gap d. The stator assembly 5 is fixed in the stator mounting space 4 by the plastic. Due to the arrangement of the second sealing gap b, the third sealing gap c, and the fourth sealing gap d, the stator assembly can be filled with plastic after being placed in the stator mounting space 4, without the need for external sealing and filling before being installed in the stator mounting space 4, thereby simplifying the plastic pouring process and eliminating complex pouring tooling.

[0038] A plurality of positioning rods 511 are fixedly arranged on one end of the stator block 51 facing the rear end of the shell 1 and are uniformly arranged along the contour direction of the stator block 51, a plurality of positioning holes 531 are arranged on the circuit board 53 corresponding to each positioning rod 511, the plurality of positioning rods 511 and the plurality of positioning holes 531 form one-to-one insertion positioning cooperation, and the circuit board 53 is arranged on the stator block 51 through the insertion positioning cooperation of the positioning rods 511 and the positioning holes 531. The circuit board 53 is fixedly provided with a connecting column, one end of the connecting column fixedly connected with the circuit board 53 is electrically connected with the circuit board 53, and the other end of the connecting column is electrically connected with the cable e.

[0039] A plurality of extension plates 23 are fixedly arranged on the cover plate 2, each extension plate 23 is uniformly distributed on the side wall of the cover plate 2 with the axis of the cover plate 2 as the center, a plurality of threaded cylinders 14 corresponding to the extension plates 23 are fixedly arranged on the outer wall of the shell 1, the threaded cylinders 14 are arranged in extension along the extension direction of the shell 1, one end of the threaded cylinder 14 is arranged towards the rear end of the shell 1, the other end of the threaded cylinder 14 is arranged towards the front end of the shell 1, one end of the threaded cylinder 14 towards the rear end of the shell 1 is provided with a threaded hole, and a bolt f capable of threadedly cooperating with the threaded hole is further arranged, the extension plate 23 is provided with a corresponding hole 231 capable of being penetrated by the bolt f and capable of threadedly cooperating with the threaded hole, and the cover plate 2 is fixedly arranged on the rear end of the shell 1 through the cooperation of each extension plate 23 with each threaded cylinder 14 and the threaded cooperation of the bolt f penetrating the corresponding hole 231 with the threaded hole.

[0040] The working principle of the present application is as follows: the stator block 51 is placed into the stator mounting space 4, and the stator block 51 moves towards the support table 101 under the guidance of the guide arc surface 102, and the outer wall of the stator block 51 comes into contact with the positioning block 10, the positioning block 10 forms a positioning clamping under the action of each positioning block 10, then the circuit board 53 is arranged on the stator block 51 through the positioning hole 531 and the positioning rod 511, and the circuit board 53 is electrically connected with the cable e through the connecting column on the circuit board 53; the stator block 51 and the circuit board 53 are fixed in the stator mounting space 4 by filling plastic into the stator mounting space 4, and the plastic passes through the second sealing gap b, the third sealing gap c and the fourth sealing gap d, and the stator assembly 5 is installed and fixed; Then the plastic is filled in the sealing space between the stator block 51 and the rotor sleeve 623, the center mounting block 621 and the iron core 622 are sealed inside, then one end of the rotating shaft 61 is installed in the inside of the first bearing 11, the center mounting block 621, the iron core 622 and the rotor sleeve 623 are located in the inside of the stator sleeve 3, the inner ring 7 of the second bearing 12 on the cover plate 2 is sleeved on the other end of the rotating shaft 61, the cover plate 2 is inserted and matched with the rear end of the shell 1, then the cover plate 2 is fixedly arranged on the rear end of the shell 1 through the corresponding of each extension plate 23 and each threaded cylinder 14 and the threaded cooperation of the bolt f passing through the corresponding hole 231 and the threaded hole, at this time, the rotating shaft 61 is rotatably arranged in the shell 1; The water flow enters from the through hole 13 of the front end of the shell 1, then enters the position of the ball 9 through the water channel on one side of the first rotating shaft 61, then enters the stator sleeve 3 through the water channel on the other side of the first rotating shaft 61, then enters the air gap 31 in the stator sleeve 3, the water flow takes away the temperature in the stator sleeve 3 when flowing in the air gap 31, then enters the position of the ball 9 through the water channel on one side of the second rotating shaft 61, then enters the clamping groove 221 through the water channel on the other side of the second rotating shaft 61, and the water flow in the clamping groove 221 flows out from the long hole.

[0041] The above specific embodiments further illustrate the purpose, technical solutions and advantages of the present application, and it should be understood that the above description is only a specific embodiment of the present application and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A brushless motor for underwater robots, having a housing (1); characterized in that: The shell (1) has a front end and a rear end, the rear end of the shell (1) is provided with an opening, and a cover plate (2) is provided and can be inserted and fixed with the rear end of the shell (1). The inside of the shell (1) is concentrically provided with a stator sleeve (3) extending along the extension direction of the shell (1). The stator sleeve (3) and the shell (1) of the shell form a stator mounting space (4). The stator mounting space (4) is provided with a stator assembly (5). One end of the stator sleeve (3) and the front end of the shell (1) are integrally injection molded. The other end of the stator sleeve (3) extends towards the cover plate (2). The inside of the stator sleeve (3) is rotatably provided with a rotor assembly (6). The rotor assembly (6) includes a rotating shaft (61) and a rotor assembly (62) fixedly arranged in the middle of the rotating shaft (61). A first bearing (11) is fixedly arranged on the front end of the shell (1). A second bearing (12) is fixedly arranged on the cover plate (2). The front end of the shell (1) is provided with a through hole (13) through which the rotating shaft (61) passes. One end of the rotating shaft (61) is fixedly connected with the second bearing (12). The other end of the rotating shaft (61) is fixedly connected with the first bearing (11) and extends out of the through hole (13). The rotating shaft (61) is rotatably arranged in the inside of the stator sleeve (3) through the first bearing (11) and the second bearing (12). The rotor assembly (62) and the stator sleeve (3) form an air gap (31). The cover plate (2) is provided with a plurality of communication parts (21) which communicate the inner wall of the shell (1) with the outside. The communication parts (21) are arranged corresponding to the second bearing (12). The communication parts (21), the second rotating shaft (61), the air gap (31), the first rotating shaft (61) and the through hole (13) form a water channel through which water flows.

2. A brushless motor for an underwater robot according to claim 1, characterized in that: The cover plate (2) is provided with a boss (22) fixedly arranged on one side towards the inside of the shell (1). The boss (22) is provided with a clamping groove (221) in which the second bearing (12) is embedded. The second bearing (12) is fixedly arranged in the clamping groove (221). The clamping groove (221) is communicated with the outside through the communication part (21). The boss (22) can be inserted and matched with one end of the stator sleeve (3) extending towards the cover plate (2). The stator sleeve (3) and the cover plate (2) are sealed and connected through the insertion and matching of the boss (22) and one end of the stator sleeve (3) extending towards the cover plate (2).

3. The brushless motor for an underwater robot according to claim 1, characterized by: The rotor assembly (62) comprises a center mounting block (621), a core (622) and a rotor sleeve (623), the center mounting block (621) is fixedly sleeved on the rotating shaft (61), the core (622) and the center mounting block (621) are located inside the rotor sleeve (623), a plurality of mounting grooves are circumferentially distributed on the outer wall of the center mounting block (621) with the axis of the center mounting block (621) as the center, a plurality of mounting grooves are provided on the core (622) corresponding to the mounting grooves, each core (622) is provided one-to-one corresponding to the mounting grooves, each core (622) is arranged in the mounting groove correspondingly, one end of the core (622) acts on the rotor sleeve (623), and the other end of the core (622) acts on the mounting groove; The core (622) is arranged on the rotor sleeve (623) and protrudes from the mounting groove, and the portions protruding from the mounting grooves of the two adjacent cores (622) form a first sealing gap (a) through which the plastic can pass, the two ends of the rotor sleeve (623) extend out of the two ends of the center mounting block (621), and the inner walls of the two ends of the rotor sleeve (623) and the two ends of the center mounting block (621) form a sealing space for filling the plastic; the sealing space is sealed by the plastic, the center mounting block (621), the core (622) and the rotor sleeve (623) are fixedly sealed on the rotating shaft (61) by the plastic, and the rotor sleeve (623) and the stator sleeve (3) form the air gap (31).

4. The brushless motor for an underwater robot according to claim 1, characterized by: The first rotating shaft (61) and the second rotating shaft (61) each have an inner ring (7), an outer ring (8) and a plurality of balls (9), the inner wall of the outer ring (8) and the outer wall of the inner ring (7) are each provided with a groove for rolling the balls (9) therein, and the inner ring (7) and the outer ring (8) are rotatably connected by the balls (9); the outer wall of the inner ring (7) is symmetrically provided with a baffle (71) extending towards the outer ring (8), each ball (9) is located between the symmetrically arranged baffles (71), and the inner wall of the outer ring (8) is provided with an avoiding groove (81) for avoiding the end of the baffle (71) extending towards the outer ring (8), the end of the baffle (71) extending towards the outer ring (8) extends into the avoiding groove (81) and does not contact the groove bottom of the avoiding groove (81), and the avoiding groove (81) forms a water flow channel under the action of the baffle (71).

5. The brushless motor for an underwater robot according to claim 2, characterized by: The communication part (21) comprises three communication slots (221) and long holes, each long hole is arranged on the cover plate (2) uniformly and circumferentially with the axis of the cover plate (2) as the center, one end of each long hole extends towards the axis of the cover plate (2), and the other end of each long hole extends towards the edge of the cover plate (2).

6. The brushless motor for an underwater robot according to claim 1, wherein: The inner wall of the shell (1) is fixed with a plurality of positioning blocks (10), each of which is evenly distributed around the axis of the shell (1); one end of the positioning block (10) is arranged towards the front end of the shell (1), and the other end of the positioning block (10) is arranged towards the rear end of the shell (1); the one end of the positioning block (10) towards the front end of the shell (1) is provided with a support table (101) for supporting the stator assembly (5); the one end of the positioning block (10) towards the rear end of the shell (1) is provided with a guide arc surface (102) for guiding the stator assembly (5); one end of the support table (101) is fixed on the positioning block (10), and the other end of the support table (101) extends horizontally towards the axis of the shell (1); the lower end of the guide arc surface (102) extends towards the support table (101), and the upper end of the guide arc surface (102) extends towards the inner wall of the stator sleeve (3); one end of the stator assembly (5) clamped in the stator mounting space (4) is arranged towards the front end of the shell (1), and the other end of the stator assembly (5) is arranged towards the rear end of the shell (1); the one end of the stator assembly (5) towards the front end of the shell (1) is in contact with the support table (101) under the guidance of the guide arc surface (102); the stator assembly (5) is clamped and positioned in the stator mounting space (4) under the action of the support table (101) and the positioning block (10).

7. The brushless motor for an underwater robot according to claim 1, characterized by: The stator assembly (5) comprises a stator block (51), a winding post (52) and a circuit board (53); the stator block (51) is arranged in the stator mounting space (4); one end of the stator block (51) is arranged towards the front end of the shell (1), and the other end of the stator block (51) is arranged towards the rear end of the shell (1); the winding post (52) is provided with a plurality of winding posts (52); each winding post (52) is evenly arranged along the contour direction of the inner wall of the stator block (51); one end of each winding post (52) is fixed on the stator block (51), and the other end of each winding post (52) is arranged towards the stator sleeve (3); each winding post (52) is wound with the coil; the circuit board (53) is arranged on the one end of the stator block (51) towards the rear end of the shell (1); the circuit board (53) is electrically connected with the stator block (51); the cable (e) is electrically connected with the circuit board (53); the cover plate (2) is provided with a wire hole through which the cable (e) passes; the cable (e) is fixed in the wire hole after passing through the wire hole.

8. A brushless motor for an underwater robot according to claim 7, characterized in that: A second sealing gap (b) for allowing the plastic to pass through is arranged between the outer wall of the circuit board (53) and the inner wall of the shell (1), a third sealing gap (c) for allowing the plastic to pass through is arranged between the positioning block (10) and the inner wall of the shell (1), and the second sealing gap (b) and the third sealing gap (c) are arranged in communication; a fourth sealing gap (d) for allowing the plastic to pass through is arranged between two adjacent winding columns (52), and the stator assembly (5) is fixed and sealed in the stator mounting space (4) by passing through the stator mounting space (4), the second sealing gap (b), the third sealing gap (c), and the fourth sealing gap (d).

9. A brushless motor for an underwater robot according to claim 7, characterized in that: A plurality of positioning rods (511) are fixedly arranged on one end of the stator block (51) towards the rear end of the shell (1) and are uniformly arranged along the contour direction of the stator block (51), a plurality of positioning holes (531) are arranged on the circuit board (53) corresponding to each positioning rod (511), the plurality of positioning rods (511) and the plurality of positioning holes (531) form one-to-one plug-in positioning cooperation, and the circuit board (53) is arranged on the stator block (51) through the plug-in positioning cooperation of the positioning rods (511) and the positioning holes (531); a connecting column is fixedly arranged on the circuit board (53), one end of the connecting column fixedly connected with the circuit board (53) is electrically connected with the circuit board (53), and the other end of the connecting column is electrically connected with the cable (e).

10. The brushless motor for an underwater robot according to claim 1, characterized by: A plurality of extension plates (23) are fixedly arranged on the cover plate (2), each extension plate (23) is uniformly distributed on the side wall of the cover plate (2) with the axis of the cover plate (2) as the center, a plurality of threaded barrels (14) are fixedly arranged on the outer wall of the shell (1) corresponding to the extension plates (23), the threaded barrels (14) are arranged in extension along the extension direction of the shell (1), one end of the threaded barrels (14) is arranged towards the rear end of the shell (1), the other end of the threaded barrels (14) is arranged towards the front end of the shell (1), one end of the threaded barrels (14) towards the rear end of the shell (1) is provided with a threaded hole, and a bolt (f) is further arranged to form a threaded cooperation with the threaded hole, the extension plates (23) are provided with corresponding holes (231) through which the bolt (f) passes and which form a corresponding threaded cooperation with the threaded hole, and the cover plate (2) is fixedly arranged on the rear end of the shell (1) through the corresponding cooperation of each extension plate (23) and each threaded barrel (14) and the threaded cooperation of the bolt (f) passing through the corresponding hole (231) and the threaded hole.

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