A rotary coupling

Abstract

This invention discloses a rotary coupling including a transmission chamber. A first gear assembly, a second gear assembly, a planetary connecting shaft, and a flexible sealing layer are disposed within a first accommodating cavity of the transmission chamber. Both the first and second gear assemblies are composed of an internal gear ring, planetary gears, and a sun gear meshing sequentially, with the internal gear ring rotatably connected to the inner wall of the first accommodating cavity. A first power source, a second power source, and a third power source respectively drive the first sun gear, the first planetary gears, and the first internal gear ring to rotate. The first planetary gear revolves around the first sun gear without rotating on its own axis, and drives the second planetary gear to revolve around the second sun gear without rotating on its own axis. The planetary connecting shaft is connected to the first planetary gear and the second planetary gear at its two ends, respectively, and does not rotate axially. The flexible sealing layer connects the planetary connecting shaft to the inner wall of the first accommodating cavity. The flexible sealing layer undergoes only periodic elastic deformation with the planetary connecting shaft, without continuous shearing, thus solving the wear and leakage problems at the dynamic sealing interface.

Description

Technical Field

[0001] This invention relates to the field of rotary coupling technology, and more specifically, to a rotary coupling. Background Technology

[0002] With the rapid development of deep-sea exploration technology and unmanned underwater vehicles (UUVs), the reliability requirements for their propulsion systems and transmission components in deep-sea and high-static-pressure environments are constantly increasing. Propulsion shafts typically need to pass through pressure hulls or sealed compartments to transmit power between different cavities; therefore, rotary couplings have become one of the key components in underwater propulsion systems.

[0003] Currently, rotary couplings suitable for underwater applications mainly employ contact sealing and magnetic coupling technologies. However, under deep-sea conditions, these technologies generally suffer from the following shortcomings. First, contact-sealed rotary couplings typically require sealing at the rotating shaft to prevent external seawater from entering the UUV. However, due to the rotation of the shaft, not only are high requirements placed on shaft coaxiality, but the seal reliability also decays over time. Furthermore, they are more prone to wear, aging, and leakage under high hydrostatic pressure and long-term operation. Second, magnetically coupled rotary couplings have limited torque transmission capacity and complex structures, restricting their application in UUV propulsion systems. In addition to the inherent limitations of these two types of rotary couplings, in practical engineering applications, due to assembly errors, structural deformation, and other factors, deviations often exist between propulsion shafts. Under these conditions, traditional rotary couplings are prone to introducing additional shear forces and bending moments, which exacerbates wear and leakage at the dynamic seal interface of the rotating shaft, affecting their service life. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned defects in the prior art and provide a rotary coupling that can not only actively adapt to or eliminate the harmful additional shear mechanical load caused by shaft misalignment, but also avoid sealing the rotary shaft, solve the wear and leakage problems of the dynamic sealing interface, and achieve leakage-free and shear-free power transmission.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] This invention provides a rotary coupling, comprising:

[0007] The transmission compartment has a first accommodating cavity, one end of the transmission compartment has an output port, and the other end of the transmission compartment has an input port. The first accommodating cavity is connected to the output port and the input port respectively.

[0008] A first gear assembly is housed in the first receiving cavity and disposed near the input hole; the first gear assembly includes a first internal gear ring, a first planetary gear and a first sun gear, the outer periphery of the first internal gear ring is rotatably connected to the inner wall of the first receiving cavity, the first internal gear ring meshes with the first planetary gear, and the first planetary gear meshes with the first sun gear.

[0009] The first power source, the second power source, and the third power source are respectively used to drive the first sun gear, the first planet gear, and the first internal gear ring to rotate, so that the first planet gear revolves around the first sun gear without rotating on its own axis;

[0010] The second gear assembly is housed in the first accommodating cavity and disposed near the output hole. The second gear assembly includes a second internal gear ring, a second sun gear, and a second planet gear. The outer periphery of the second internal gear ring is rotatably connected to the inner wall of the first accommodating cavity. The second internal gear ring meshes with the second planet gear, and the second planet gear meshes with the second sun gear. The first sun gear, the second sun gear, the first internal gear ring, and the second internal gear ring are coaxially arranged. The second sun gear is identical to the first sun gear, the second internal gear ring is identical to the first internal gear ring, and the second planet gear is identical to the first planet gear.

[0011] An output shaft and an input shaft are provided, wherein the output shaft passes through the output hole and is connected to the second sun gear, and the input shaft passes through the input hole and is connected to the first sun gear;

[0012] A planetary connecting shaft is provided, with its two ends connected to the first planetary gear and the second planetary gear, respectively. The first planetary gear drives the second planetary gear, the second sun gear, and the second internal gear ring to rotate through the planetary connecting shaft.

[0013] A flexible sealing layer is sleeved outside the planetary connecting shaft. The inner circumference of the flexible sealing layer is sealed to the planetary connecting shaft, and the outer circumference of the flexible sealing layer is sealed to the inner wall of the first accommodating cavity.

[0014] Optionally, the second planetary gear and the first planetary gear are installed with a phase angle difference of 180°.

[0015] Optionally, the first planetary gear has a first spherical bearing at its shaft center, and the second planetary gear has a second spherical bearing at its shaft center. The two ends of the planetary connecting shaft are respectively connected to the first spherical bearing and the second spherical bearing.

[0016] Optionally, a partition is provided at the center of the first accommodating cavity, the partition extends radially along the transmission compartment, the partition is connected to the inner wall of the first accommodating cavity, the partition has a mounting hole at its center, the middle part of the planetary connecting shaft passes through the mounting hole and is rotatably connected to the partition, and the flexible sealing layer is provided on the side of the partition near the output hole.

[0017] Optionally, a third joint bearing is provided in the mounting hole, and the planetary connecting shaft is connected to the third joint bearing.

[0018] Optionally, the second power source includes a first hollow actuator and a first planetary carrier. The first hollow actuator includes a first hollow rotating shaft. The first hollow actuator is sleeved outside the input shaft. The first hollow rotating shaft is connected to the first planetary carrier. The first planetary carrier is connected to the first planetary gear. The rotation of the first hollow rotating shaft drives the first planetary carrier to rotate. The rotation of the first planetary carrier drives the first planetary gear to rotate together.

[0019] The third power source includes a second hollow actuator and a first internal gear ring holder. The second hollow actuator includes a second hollow rotating shaft. The second hollow actuator is sleeved outside the input shaft. The second hollow rotating shaft is connected to the first internal gear ring holder. The first internal gear ring holder is connected to the first internal gear ring. The rotation of the second hollow rotating shaft drives the first internal gear ring holder to rotate. The rotation of the first internal gear ring holder drives the first internal gear ring to rotate together.

[0020] Optionally, the rotary coupling further includes a second planetary carrier and a second internal gear ring carrier, which are respectively sleeved on the output shaft and rotate together with the output shaft.

[0021] Optionally, the number of teeth of the first internal gear ring, the first sun gear, and the first planet gear are respectively , , ,

[0022] ;

[0023] The angular velocities of the first internal gear ring, the first sun gear, and the first planet gear are respectively... , , ,

[0024] ; ;

[0025] The number of teeth of the second internal gear ring, the second sun gear, and the second planet gear are respectively , , , , , .

[0026] Optionally, the rotary coupling further includes a pressure chamber connected to the transmission chamber. The pressure chamber has a second accommodating cavity that communicates with the first accommodating cavity. The first power source is accommodated in the second accommodating cavity, which is filled with a lubricating medium.

[0027] Optionally, the rotary coupling further includes a pressure compensator, which is connected to the second accommodating cavity and is used to balance the pressure of the lubricating medium in the pressure chamber.

[0028] Implementing the embodiments of the present invention will have the following beneficial effects:

[0029] In this embodiment of the invention, the active rotation of the first gear assembly is transmitted to the passive rotation of the second gear assembly via a planetary connecting shaft. By causing the first planetary gear to revolve around the first sun gear without rotating on its own axis, the planetary connecting shaft connected to the first planetary gear is prevented from rotating on its own axis. By sleeved a flexible sealing layer on the outside of the planetary connecting shaft, the flexible sealing layer is sealed to the planetary connecting shaft, transforming the dynamic seal of the prior art, which is set on the rotating shaft, into a relatively static seal. This results in a better sealing effect and no wear, solving the wear and leakage problems of the dynamic seal interface in the prior art, and achieving complete leak-free operation.

[0030] Meanwhile, by setting the first power source, the second power source and the third power source to drive the first sun gear, the first planet gear and the first internal gear ring to rotate respectively, and making the first planet gear only revolve around the sun and not rotate on its own axis, the original gear pair that was "passively subjected to force and had relative sliding" is transformed into a rigid body synchronous system that is "slip-free, impact-free and can be actively adjusted", thus eliminating shear loads from the root. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of a rotary coupling provided in an embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram of the first gear assembly in a rotary coupling provided in an embodiment of the present invention.

[0034] Figure 3 This is an axial cross-sectional view of a rotary coupling provided in an embodiment of the present invention.

[0035] Figure 4 This is a schematic diagram of a pressure compensator in a rotary coupling provided in an embodiment of the present invention.

[0036] The components include: transmission compartment 1, first accommodating cavity 11, partition 12, third joint bearing 13, output shaft 14, first power source 15, input shaft 151, driver 152, first planetary carrier 16, first internal gear carrier 17, second planetary carrier 18, second internal gear carrier 19, first gear assembly 2, first internal gear ring 21, first planetary gear 22, first joint bearing 221, first sun gear 23, second gear assembly 3, second internal gear ring 31, second planetary gear 32, second joint bearing 321, second sun gear 33, planetary connecting shaft 4, flexible sealing layer 5, first flange 6, second flange 7, pressure chamber 8, second accommodating cavity 81, pressure compensator 9, housing 91, cavity 92, first through hole 921, second through hole 922, piston block 93, elastic element 94, and diaphragm 95. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Reference Figures 1-3 The rotary coupling disclosed in this embodiment includes a transmission chamber 1, an output shaft 14, an input shaft 151, a first power source 15, a second power source (not shown in the figure), a third power source (not shown in the figure), a first gear assembly 2, a second gear assembly 3, a planetary connecting shaft 4, and a flexible sealing layer 5.

[0039] The transmission compartment 1 is provided with a first accommodating cavity 11. An output hole is provided at one end of the transmission compartment 1, and an input hole is provided at the other end. The input hole and the output hole are coaxially arranged, and the first accommodating cavity 11 is connected to the output hole and the input hole respectively.

[0040] The first gear assembly 2 is housed within the first receiving cavity 11 and positioned close to the input port. The first gear assembly 2 includes a first internal gear ring 21, a first planetary gear 22, and a first sun gear 23. The outer periphery of the first internal gear ring 21 is rotatably connected to the inner wall of the first receiving cavity 11. The first internal gear ring 21 meshes with the first planetary gear 22 internally, and the first planetary gear 22 meshes with the first sun gear 23 externally. The first power source 15, the second power source, and the third power source are respectively used to drive the first sun gear 23, the first planetary gear 22, and the first internal gear ring 21 to rotate, causing the first planetary gear 22 to revolve around the first sun gear 23 without rotating on its own axis. This transforms the original "passively stressed and relatively sliding" gear pair into a "slip-free, impact-free, and actively adjustable" rigid body synchronization system, eliminating shear loads at the source.

[0041] The second gear assembly 3 is disposed within the first accommodating cavity 11 and is located near the output hole. The second gear assembly 3 includes a second internal gear ring 31, a second sun gear 33, and a second planetary gear 32. The outer periphery of the second internal gear ring 31 is rotatably connected to the inner wall of the first accommodating cavity 11. The second internal gear ring 31 internally meshes with the second planetary gear 32, and the second planetary gear 32 externally meshes with the second sun gear 33. The first sun gear 23, the second sun gear 33, the first internal gear ring 21, and the second internal gear ring 31 are coaxially arranged. The second sun gear 33 is identical to the first sun gear 23, the second internal gear ring 31 is identical to the first internal gear ring 21, and the second planetary gear 32 is identical to the first planetary gear 22. The output shaft 14 passes through the output hole and is connected to the axis of the second sun gear 33. The rotation of the second sun gear 33 around its axis drives the output shaft 14 to rotate. The input shaft 151 passes through the input hole and is connected to the axis of the first sun gear 23. The rotation of the input shaft 151 drives the first sun gear 23 to rotate around its axis.

[0042] The two ends of the planetary connecting shaft 4 are connected to the first planetary gear 22 and the second planetary gear 32, respectively. The first planetary gear 22 drives the second planetary gear 32, the second sun gear 33, and the second internal gear ring 31 to rotate through the planetary connecting shaft 4. Since the first planetary gear 22 only revolves around the first sun gear 23 and does not rotate on its own axis, the end of the planetary connecting shaft 4 connected to the first planetary gear 22 also only revolves around the first sun gear 23 and does not rotate on its own axis. At the same time, the planetary connecting shaft 4 drives the second planetary gear 32 to revolve around the second sun gear 33 without rotating on its own axis, which can also eliminate the harmful shear load between the second gear assembly 3 from the root.

[0043] The flexible sealing layer 5 is sleeved on the outside of the planetary connecting shaft 4. The inner circumference of the flexible sealing layer 5 is sealed to the planetary connecting shaft 4, and the outer circumference of the flexible sealing layer 5 is sealed to the inner wall of the first accommodating cavity 11. Since the planetary connecting shaft 4 does not rotate, the sealing connection between the flexible sealing layer 5 and the planetary connecting shaft 4 is a relatively static seal, not a dynamic seal. This results in a better sealing effect, no wear, and complete leak-free operation.

[0044] It should be noted that in the first gear assembly 2, the first internal gear ring 21, the first planetary gear 22, and the first sun gear 23 mesh sequentially: the first internal gear ring 21 meshes internally with the first planetary gear 22, and the first planetary gear 22 meshes externally with the first sun gear 23. The first internal gear ring 21 can be rotatably connected to the inner wall of the first accommodating cavity 11 via bearings, sliding bushings, etc. The first power source 15, the second power source, and the third power source drive the first sun gear 23, the first planetary gear 22, and the first internal gear ring 21 to rotate, respectively. The rotation of the first sun gear 23 and the first internal gear ring 21 is a self-rotation about their central axis, while the rotation of the first planetary gear 22 is a revolution about the first sun gear 23. The first gear assembly 2 is a driving gear set.

[0045] The second gear assembly 3 has the same structure as the first gear assembly 2, and is a driven gear set. The second internal gear ring 31 can also be rotatably connected to the inner wall of the first accommodating cavity 11 via bearings, sliding bushings, etc. The second internal gear ring 31, the second planetary gear 32, and the second sun gear 33 mesh sequentially. The motion of the first planetary gear 22 is transmitted to the second planetary gear 32 through the rigid planetary connecting shaft 4. The second planetary gear 32 only revolves around the second sun gear 33 without rotating on its own axis. The second planetary gear 32 drives the second sun gear 33 and the second internal gear ring 31 to rotate, ultimately driving the output shaft 14 to rotate. When the rotary coupling is applied to a deep-sea UUV propulsion system, the output shaft 14 is connected to the propeller shaft of the UUV propulsion system. In addition to UUV propulsion systems, the rotary coupling can also be applied to other water or non-water rotary power transmission scenarios.

[0046] The two ends of the planetary connecting shaft 4 are connected to the first planetary gear 22 and the second planetary gear 32 respectively. Since the first planetary gear 22 and the second planetary gear 32 only revolve around the sun gear 23 and the second sun gear 33 respectively, the two ends of the planetary connecting shaft 4 can only follow the first planetary gear 22 and the second planetary gear 32 to make circular motions around the first sun gear 23 and the second sun gear 33 respectively. The planetary connecting shaft 4 cannot obtain the power to rotate around its own axis and will not generate rotation.

[0047] The flexible sealing layer 5 is connected to the inner wall of the planetary connecting shaft 4 and the first accommodating cavity 11. Since the planetary connecting shaft 4 has no axial rotation, the sealing connection between the flexible sealing layer 5 and the planetary connecting shaft 4 is a relatively static seal, not a dynamic seal. Therefore, the flexible sealing layer 5 only undergoes periodic elastic deformation with the planetary connecting shaft 4 without continuous rotational shearing. Compared with the existing technology that performs dynamic sealing at the rotating shaft, the sealing effect is better, and there is no wear, which can achieve complete leak-free sealing.

[0048] The above-mentioned technical solution of the present invention solves the problem of wear and leakage at the dynamic sealing interface of the rotating shaft in the prior art. It can actively adapt to or eliminate the harmful additional shear mechanical load caused by shaft deviation, realize power transmission without leakage and shear, significantly improve the sealing reliability of the rotating coupling under high pressure and long service life application conditions, and meet the comprehensive requirements of deep-sea UUV propulsion system for high reliability and long service life.

[0049] In some alternative embodiments, refer to Figure 1 , Figure 3 The second planetary gear 32 and the first planetary gear 22 are installed with a phase angle difference of 180°.

[0050] In this embodiment, the relative installation phase of the two planetary gears on the planetary connecting shaft 4 is such that the second planetary gear 32 is installed after rotating 180° relative to the first planetary gear 22 around the axis of the planetary connecting shaft 4. When the two planetary gears revolve around their respective sun gears, the centrifugal forces they generate are opposite in direction in a plane perpendicular to the axis, which can cancel each other out or partially cancel each other out, reducing vibration. At the same time, in this embodiment, when the installation phase angles of the second planetary gear 32 and the first planetary gear 22 differ by 180°, the planetary connecting shaft 4 undergoes a conical oscillation around its geometric center. The oscillation angle at the middle of the planetary connecting shaft 4 is the smallest, therefore, the flexible sealing layer 5 experiences minimal periodic elastic deformation.

[0051] In some alternative embodiments, refer to Figure 2 , Figure 3 The first planetary gear 22 has a first spherical bearing 221 mounted on its shaft, and the second planetary gear 32 has a second spherical bearing 321 mounted on its shaft. Both ends of the planetary connecting shaft 4 are connected to the first spherical bearing 221 and the second spherical bearing 321, respectively. The first spherical bearing 221 and the second spherical bearing 321 allow the planetary connecting shaft 4 to withstand radial loads while accommodating a certain degree of angular wobble, ensuring the flexibility and feasibility of the mechanism's movement.

[0052] In some alternative embodiments, reference is made to Figure 1 and Figure 3 A partition 12 is also provided at the center of the first accommodating cavity 11. The partition 12 extends radially along the transmission compartment 1 and is connected to the inner wall of the first accommodating cavity 11. A mounting hole is provided at the center of the partition 12. The middle part of the planetary connecting shaft 4 passes through the mounting hole and is rotatably connected to the partition 12. A flexible sealing layer 5 is provided on the side of the partition 12 near the output hole. In this embodiment, the partition 12 serves two purposes: firstly, it isolates the lubricating medium and optimizes the sealing effect; secondly, the partition 12 provides a central support point for the planetary connecting shaft 4, allowing the conical oscillation of the planetary connecting shaft 4 to revolve around this central support point, thereby improving the motion accuracy and load-bearing capacity.

[0053] A further preferred embodiment includes a third spherical bearing 13 installed within the mounting hole. The planetary connecting shaft 4 passes through and is connected to the third spherical bearing 13. Utilizing the radial load-bearing and angular deflection capabilities of the spherical bearing, it adapts to the radial load and angular changes during the conical oscillation of the planetary connecting shaft 4, reducing friction and wear between the planetary connecting shaft 4 and the partition plate 12. Specifically, the third spherical bearing 13 can be a radial spherical bearing.

[0054] In some alternative embodiments, refer to Figure 1 The first power source includes a driver 152, which is connected to an input shaft 151. The driver 152 drives the input shaft 151 to rotate, and the rotation of the input shaft 151 drives the first sun gear 23 to rotate. Specifically, the driver 152 can be an electric motor, a hydraulic motor, etc.

[0055] Furthermore, referring to Figure 2 The second power source includes a first hollow actuator and a first planetary carrier 16. The first hollow actuator includes a first hollow rotating shaft. The first hollow actuator is sleeved outside the input shaft 151. The first hollow rotating shaft is connected to the first planetary carrier 16. The first planetary carrier 16 is connected to the first planetary gear 22. The rotation of the first hollow rotating shaft drives the first planetary carrier 16 to rotate. The rotation of the first planetary carrier 16 drives the first planetary gear 22 to rotate together.

[0056] The third power source includes a second hollow actuator and a first internal gear ring holder 17. The second hollow actuator includes a second hollow rotating shaft, which is sleeved outside the input shaft 151. The second hollow rotating shaft is connected to the first internal gear ring holder 17, and the first internal gear ring holder 17 is connected to the first internal gear ring 21. The rotation of the second hollow rotating shaft drives the first internal gear ring holder 17 to rotate, and the rotation of the first internal gear ring holder 17 drives the first internal gear ring 21 to rotate together.

[0057] In the above embodiments, the first hollow actuator and the second hollow actuator refer to those whose rotating shafts have a hollow structure. According to the power source, they can be divided into three categories: electric, hydraulic, and pneumatic; according to the transmission structure, they can be divided into direct drive, gear drive, belt drive, electromagnetic drive, etc.

[0058] In one specific embodiment, the first hollow driver and the second hollow driver are both hollow motors, including an outer rotor and an inner hollow stator. The inner hollow stator is sleeved outside the input shaft 151, and the outer rotor rotates around the inner hollow stator. The outer rotor is connected to the first planetary carrier 16 or the first internal gear ring carrier 17, driving the first planetary carrier 16 or the first internal gear ring carrier 17 to rotate together, such as the H7215 motor from Haitai Electromechanical. This product model is only an example and not a specific limitation; different models of motors can be selected according to actual needs. In this embodiment, the first hollow driver and the second hollow driver are respectively disposed within the first accommodating cavity.

[0059] In one specific embodiment, reference is made to Figure 1 The rotary coupling also includes a second planetary carrier 18 and a second internal gear ring carrier 19. The second planetary carrier 18 and the second internal gear ring carrier 19 are respectively sleeved on the output shaft 14 and rotate together with the output shaft 14. The second planetary carrier 18 and the second internal gear ring carrier 19 provide support for the second planetary gear 32 and the second internal gear ring 31, and further force the second planetary gear 18 to revolve around the second sun gear 33 without rotating on its own axis.

[0060] Preferably, the second planetary carrier 18 and the second internal gear carrier 19 are connected to the output shaft 14 via angular contact ball bearings to accommodate radial loads and angular changes.

[0061] Furthermore, the number of teeth of the first internal gear ring 21, the first sun gear 23, and the first planet gear 22 are respectively , , ,

[0062] ;

[0063] The angular velocities of the first internal gear ring 21, the first sun gear 23, and the first planet carrier 16 (or the revolution angular velocity of the first planet gear 22 around the first sun gear 23) are respectively , , ,

[0064] ; ;

[0065] The number of teeth on the second internal gear ring 31, the second sun gear 33, and the second planet gear 32 are respectively , , , , , .

[0066] It should be noted that the number of teeth of the first internal gear ring 21, the first sun gear 23, and the first planet gear 22 are respectively... , , The first sun gear 23, the first planet gear 22, and the first internal gear ring 21 are all involute spur gears and are all installed at the standard center distance. Therefore, the pitch circles of the first sun gear 23 and the first planet gear 22 are tangent, and the pitch circle of the first planet gear 22 is tangent to the pitch circle of the first internal gear ring 21. Thus, the tooth number relationship among the three satisfies the following formula: .

[0067] The angular velocities of the first sun gear 23, the rotational angular velocity of the first planet gear 22, the angular velocity of the first internal gear ring 21, and the angular velocity of the first planet carrier 16 are respectively , , and In the first gear assembly 2, the meshing relationship of each gear is as follows: the first sun gear 23 meshes externally with the first planet gear 22, and the first planet gear 22 meshes internally with the first internal gear ring 21, thus the following kinematic relationship holds:

[0068]

[0069] The first planet carrier 16 supports the first planet gear 22 and causes the first planet gear 22 to revolve around the first sun gear 23, meaning the first planet gear 22 does not rotate on its own axis. The rotational angular velocity of the first planet carrier 16 is the same as the revolution angular velocity of the first planetary gear 22. Substituting into the above equation and rearranging, we get:

[0070]

[0071] The first gear assembly 2, which satisfies the above tooth number relationship and kinematic relationship, can ensure that the angular velocity of the first planetary gear 22 about its own axis is zero, that is, the first planetary gear 22 only revolves around the first sun gear 23 without rotating on its own axis, thereby realizing the planetary connecting shaft 4 to oscillate around its geometric center position without axial rotation.

[0072] The second gear assembly 3 uses the exact same combination of teeth as the first gear assembly 2: , , This ensures the kinematic consistency of the two planetary gear trains. The sun gear, planet gears and internal gear ring in the first gear assembly 2 and the second gear assembly 3 achieve normal meshing with each other at the standard center distance. Combined with kinematic constraints, the angular velocity of the planet gears around their own axes is zero, thus ensuring that the planet gears only revolve around the sun gear and do not rotate on their own axes.

[0073] In one specific embodiment, the first sun gear 23 and the second sun gear 33 have 48 teeth each, the first planet gear 22 and the second planet gear 32 have 24 teeth each, and the first internal gear ring 21 and the second internal gear ring 31 have 96 teeth each. The angular velocities of the first sun gear 23, the first internal gear ring 21, and the first planet carrier 16 are 6 rad / s, 3 rad / s, and 4 rad / s, respectively, so that the first planet gear 22 and the second planet gear 32 revolve around the first sun gear 23 and the second sun gear 33 without rotating on their own axes. The above specific values ​​are only used to illustrate the feasibility of the motion and do not constitute a limitation on the scope of protection of the present invention. Flexible adjustments can be made for practical applications.

[0074] In some alternative embodiments, refer to Figure 1 , Figure 3 The rotary coupling also includes a first flange 6 and a second flange 7. The first flange 6 connects the outer periphery of the flexible sealing layer 5 to the inner wall of the first accommodating cavity 11, and the second flange 7 connects the inner periphery of the flexible sealing layer 5 to the planetary connecting shaft 4.

[0075] In this embodiment, the flange connection ensures a tight fit between the flexible sealing layer 5 and related components, preventing gaps at the sealing interface from causing leakage under high pressure. At the same time, it enhances the tensile and deformation resistance of the sealing layer, extends its service life, and the convenient disassembly method reduces maintenance costs.

[0076] In some optional embodiments, the flexible sealing layer 5 is frustum-shaped, with the small-diameter end of the flexible sealing layer 5 connected to the planetary connecting shaft 4, and the large-diameter end of the flexible sealing layer 5 connected to the inner wall of the first accommodating cavity 11.

[0077] In this embodiment, the large-diameter end of the flexible sealing layer 5 is fixed, while the small-diameter end can swing within a small range following the planetary connecting shaft 4. The frustum-shaped structure makes the deformation of the flexible sealing layer 5 more uniform, effectively avoiding aging and damage caused by local stress concentration, achieving shear-free sealing, significantly improving sealing reliability and service life, and adapting to the motion characteristics of the planetary connecting shaft 4 without affecting power transmission efficiency.

[0078] Specifically, the flexible sealing layer 5 can be made of high-pressure resistant and fatigue-resistant fluororubber, silicone rubber film, etc., to meet the needs of different working conditions.

[0079] In some alternative embodiments, refer to Figure 1 , Figure 3 The rotary coupling also includes a pressure chamber 8, which is connected to the transmission chamber 1. The pressure chamber 8 has a second accommodating cavity 81, which communicates with the input port. The second accommodating cavity 81 is filled with a lubricating medium and is used to regulate the pressure of the pressure chamber 8. A first power source is located within the second accommodating cavity 81. Specifically, a driver 152 is located within the second accommodating cavity 81 and is connected to the input shaft 151.

[0080] In this embodiment, the pressure chamber 8 is connected to the transmission chamber 1, and its internal second accommodating cavity 81 communicates with the input port, providing a sealed installation space for the actuator 152 (such as a motor, hydraulic motor, etc.). The second accommodating cavity 81 is filled with a lubricating medium (such as lubricating grease or synthetic lubricating oil), which on the one hand lubricates the moving parts, gear assemblies, and bearings of the actuator 152, reducing wear, and on the other hand helps to balance the internal pressure. This provides a reliable power input guarantee for the stable operation of the rotary coupling in deep underwater environments.

[0081] Furthermore, the rotary coupling also includes a pressure compensator 9, which is connected to the second accommodating cavity 81 and is used to balance the pressure of the lubricating medium in the pressure chamber 8.

[0082] In this embodiment, the pressure compensator 9 is connected to the second accommodating cavity 81. When the rotary coupling is in a deep-sea high hydrostatic pressure environment, the external pressure is transmitted to the internal lubricating medium through the pressure compensator 9, so that the pressure of the medium in the pressure chamber 8 is kept in balance with the external environmental pressure, and the chamber deformation, lubricating medium leakage or sealing structure damage caused by pressure difference is avoided.

[0083] Specifically, refer to Figure 4 , Figure 4 The piston block 93 is shown in perspective, with the elastic element 94 extending into it. The pressure compensator 9 includes a housing 91, which has a cavity 92. A first through hole 921 and a second through hole 922 are also provided along the axial direction of the housing 91. The cavity 92 communicates with the first through hole 921 and the second through hole 922. The first through hole 921 communicates with a second accommodating cavity 81. The piston block 93 and the elastic element 94 are disposed within the cavity 92. The elastic element 94 is positioned on the side of the piston near the first through hole 921 and extends axially along the housing 91. The elastic element 94 connects the piston block 93 and the inner wall of the housing 91. The piston block 93 slides along the inner wall of the cavity 92. The second through hole 922 communicates with the external deep-sea environment.

[0084] In this embodiment, the housing 91 of the pressure compensator 9 is connected to the second accommodating cavity 81 of the pressure chamber 8 through the first through hole 921 and to the external deep-sea environment through the second through hole 922, forming a pressure transmission path from the external environment to the cavity 91 of the pressure compensator 9 and the lubricating medium of the pressure chamber 8. When the UUV descends to the deep sea, the external hydrostatic pressure increases, and the external pressure acts on the piston block 93, pushing the piston block 93 to slide towards the first through hole 921, compressing the elastic element 94. The reverse elastic force generated by the elastic element 94 increases with the increase of the compression, so that the pressure of the lubricating medium is balanced with the pressure of the external environment. When the UUV floats, the external hydrostatic pressure decreases, the compression of the elastic element 94 decreases, the elastic force is released, and the piston block 93 is pushed to slide back towards the second through hole 922. The pressure of the lubricating medium decreases synchronously with the movement of the piston block 93, maintaining balance with the external pressure; thereby ensuring the structural integrity and sealing reliability of the rotary coupling under deep-sea conditions.

[0085] Furthermore, a diaphragm 95 is also provided inside the cavity. The diaphragm 95 is located on the side of the piston block 93 opposite to the first through hole 921, and the diaphragm 95 is connected to the inner wall of the cavity. The diaphragm 95 can be made of fluororubber, polyurethane, etc. The diaphragm 95 on the inner wall of the cavity 92 can completely transmit the external hydrostatic pressure to the piston block 93 through its own flexible deformation, while also preventing external deep-sea seawater from contaminating the lubricating medium and the elastic component 94.

[0086] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A rotary coupling, characterized in that, include: The transmission compartment has a first accommodating cavity, one end of the transmission compartment has an output port, and the other end of the transmission compartment has an input port. The first accommodating cavity is connected to the output port and the input port respectively. A first gear assembly is housed in the first receiving cavity and disposed near the input hole; the first gear assembly includes a first internal gear ring, a first planetary gear and a first sun gear, the outer periphery of the first internal gear ring is rotatably connected to the inner wall of the first receiving cavity, the first internal gear ring meshes with the first planetary gear, and the first planetary gear meshes with the first sun gear. The first power source, the second power source, and the third power source are respectively used to drive the first sun gear, the first planet gear, and the first internal gear ring to rotate, so that the first planet gear revolves around the first sun gear without rotating on its own axis; The second gear assembly is housed in the first accommodating cavity and positioned near the output hole. The second gear assembly includes a second internal gear ring, a second sun gear, and a second planetary gear. The outer periphery of the second internal gear ring is rotatably connected to the inner wall of the first accommodating cavity. The second internal gear ring internally meshes with the second planetary gear, and the second planetary gear externally meshes with the second sun gear. The first sun gear, the second sun gear, the first internal gear ring, and the second internal gear ring are coaxially arranged. The second sun gear is identical to the first sun gear, the second internal gear ring is identical to the first internal gear ring, and the second planetary gear is identical to the first planetary gear. The installation phase angles of the second planetary gear and the first planetary gear differ by 180°. An output shaft and an input shaft are provided, wherein the output shaft passes through the output hole and is connected to the second sun gear, and the input shaft passes through the input hole and is connected to the first sun gear; A planetary connecting shaft is provided, with its two ends connected to the first planetary gear and the second planetary gear, respectively. The first planetary gear drives the second planetary gear, the second sun gear, and the second internal gear ring to rotate through the planetary connecting shaft. A flexible sealing layer is sleeved on the planetary connecting shaft, the inner circumference of the flexible sealing layer is sealed to the planetary connecting shaft, and the outer circumference of the flexible sealing layer is sealed to the inner wall of the first accommodating cavity. A partition is provided at the center of the first accommodating cavity. The partition extends radially along the transmission compartment and is connected to the inner wall of the first accommodating cavity. A mounting hole is provided at the center of the partition. The middle part of the planetary connecting shaft passes through the mounting hole and is rotatably connected to the partition. The flexible sealing layer is provided on the side of the partition near the output hole.

2. The rotary coupling according to claim 1, characterized in that, The first planetary gear has a first spherical bearing on its shaft, and the second planetary gear has a second spherical bearing on its shaft. The two ends of the planetary connecting shaft are respectively connected to the first spherical bearing and the second spherical bearing.

3. The rotary coupling according to claim 1, characterized in that, A third joint bearing is provided in the mounting hole, and the planetary connecting shaft is connected to the third joint bearing.

4. The rotary coupling according to claim 1, characterized in that, The second power source includes a first hollow actuator and a first planetary carrier. The first hollow actuator includes a first hollow rotating shaft. The first hollow actuator is sleeved outside the input shaft. The first hollow rotating shaft is connected to the first planetary carrier. The first planetary carrier is connected to the first planetary gear. The rotation of the first hollow rotating shaft drives the first planetary carrier to rotate. The rotation of the first planetary carrier drives the first planetary gear to rotate together. The third power source includes a second hollow actuator and a first internal gear ring holder. The second hollow actuator includes a second hollow rotating shaft. The second hollow actuator is sleeved outside the input shaft. The second hollow rotating shaft is connected to the first internal gear ring holder. The first internal gear ring holder is connected to the first internal gear ring. The rotation of the second hollow rotating shaft drives the first internal gear ring holder to rotate. The rotation of the first internal gear ring holder drives the first internal gear ring to rotate together.

5. The rotary coupling according to claim 1, characterized in that, It also includes a second planetary carrier and a second internal gear carrier, which are respectively fitted outside the output shaft and rotate together with the output shaft.

6. The rotary coupling according to claim 1, characterized in that, The number of teeth of the first internal gear ring, the first sun gear, and the first planet gear are respectively , , , ； The angular velocities of the first internal gear ring, the first sun gear, and the first planet gear are respectively... , , , ； ； The number of teeth of the second internal gear ring, the second sun gear, and the second planet gear are respectively , , , , , .

7. The rotary coupling according to claim 1, characterized in that, It also includes a pressure chamber, which is connected to the transmission chamber. The pressure chamber has a second accommodating cavity, which is connected to the first accommodating cavity. The first power source is housed in the second accommodating cavity, which is filled with a lubricating medium.

8. The rotary coupling according to claim 7, characterized in that, It also includes a pressure compensator, which is connected to the second accommodating cavity and is used to balance the pressure of the lubricating medium in the pressure chamber.

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