Transmission device for heavy-load deep sea steering engine

Abstract

The utility model relates to a transmission device for a heavy-load deep-sea steering engine. The transmission device comprises a motor, an angle sensor, a variable-speed transmission unit, a power output unit and an output sealing device, the variable-speed transmission unit adopts a combination of planetary transmission and cycloid transmission and comprises an input gear, a planet wheel, a crankshaft, a small-tooth-difference planet wheel, a pin wheel housing and a planet carrier; the end, away from the motor, of the center shaft of the planet carrier forms the power output end of the variable-speed transmission unit. The power output unit comprises an output shaft which is rotationally connected with the pin wheel housing through a double-row angular contact ball bearing, and one end of the output shaft is coaxially and fixedly connected with the power output end of the variable speed transmission unit; the output sealing device adopts mechanical sealing, a mechanical sealing stator is fixedly arranged on the pin wheel housing, a mechanical sealing rotor is fixedly arranged at the other end of the output shaft, and the mechanical sealing stator is respectively in sealing contact with the outer ring surface and the front end surface of the mechanical sealing rotor through a ceramic sealing ring and a ceramic sealing gasket. The device is light in weight, small in size, high in bearing capacity and good in sealing retentivity.

Description

Technical Field

[0001] The utility model belongs to the technical field of transmission equipment, and in particular relates to a transmission device for a heavy-load deep-sea steering gear. Background Art

[0002] As the steering actuator of underwater unmanned aerial vehicles (UUV), the performance of the servo directly affects the safety and maneuverability of the UUV. With the increasing demand for large deep-sea underwater UUVs, it is urgent to develop a servo transmission device that meets the needs of large deep-sea underwater UUVs.

[0003] The transmission device for the steering gear generally adopts hydraulic transmission device and traditional planetary reducer transmission device, which is mostly used in underwater equipment such as small unmanned boats. However, the hydraulic transmission device has disadvantages such as poor sealing performance, low transmission accuracy, high noise, low rigidity, and low power density. The traditional planetary reducer transmission device has disadvantages such as low transmission accuracy, low rigidity, low torque, and low power density, which cannot meet the application requirements of large deep-sea underwater drones. Utility Model Content

[0004] In view of the deficiencies of the prior art, the utility model provides a transmission device for a heavy-load deep-sea steering gear, which has light weight, small volume, strong bearing capacity and good sealing retention.

[0005] The above-mentioned purpose of the utility model is achieved through the following technical solutions:

[0006] A transmission device for a large-load deep-sea steering gear, comprising a motor, an angle sensor, a variable speed transmission unit, a power output unit and an output sealing device;

[0007] The speed transmission unit adopts a combined structure of planetary transmission and cycloid transmission, which includes an input gear, a planetary wheel, a crankshaft, a planetary wheel with a small tooth difference, a pin gear housing, and a planet carrier; pin gear pins are evenly installed in a circle in the pin gear housing; the input gear is coaxially fixedly connected to the output shaft of the motor; the planetary wheel is meshed with the input gear, the planetary wheel is fixedly connected to one end of the corresponding crankshaft, and the other end of the crankshaft is rotatably matched with the corresponding axial hole off the center on the planet carrier; the two relatively eccentric parts on the crankshaft are respectively connected to a row of planetary wheels with a small tooth difference in a relatively rotatable manner, and the two rows of planetary wheels with a small tooth difference are meshed with the pin gear pins installed on the pin gear housing; the central axis of the planet carrier is connected to the pin gear housing in a relatively rotatable manner, and the end of the central axis of the planet carrier away from the motor constitutes the power output end of the speed transmission unit;

[0008] The angle sensor is installed at the output shaft of the motor and is used to detect the output rotation angle of the motor;

[0009] The power output unit comprises an output shaft, the output shaft is relatively rotatably connected to the pinion housing via a double-row angular contact ball bearing, and one end of the output shaft is coaxially fixedly connected to the power output end of the speed change transmission unit;

[0010] The output sealing device adopts a mechanical seal, and the mechanical seal includes a mechanical seal stator and a mechanical seal rotor. The mechanical seal stator is fixedly installed on the pin gear housing, and the mechanical seal rotor is coaxially fixedly installed on the other end of the output shaft. A ceramic sealing ring is fixed on the inner ring of the mechanical seal stator, and the inner ring surface of the ceramic sealing ring forms a compression sealing contact with the outer ring surface of the mechanical seal rotor. An output shaft extension hole is provided at the center of the front end of the mechanical seal stator for the output shaft to extend out, and a ceramic sealing gasket is provided on the inner side of the front end of the mechanical seal stator and at the periphery of the output shaft extension hole, and the rear end surface of the ceramic sealing gasket forms a compression sealing contact with the front end surface of the mechanical seal rotor.

[0011] Moreover, the angle sensor adopts a non-contact angle sensor, which includes a non-contact angle sensor rotor with internal and external clearance fit and a non-contact angle sensor stator; the non-contact angle sensor rotor is fixedly connected to the output shaft of the motor by interference fit, and the non-contact angle sensor stator is fixedly connected to the pinion housing.

[0012] The advantages and positive effects of the utility model are:

[0013] 1. The speed-changing transmission part of the utility model adopts a combination of planetary transmission and cycloid transmission, which has the advantages of high transmission accuracy, high rigidity, low noise, large torque and high power density.

[0014] 2. The output shaft of the utility model is supported on the pinion housing by a double-row angular contact ball bearing. The double-row angular contact ball bearing can withstand the huge water pressure transmitted through the output shaft and the mechanical seal rotor, has good load-bearing capacity, and ensures the stability of the gear transmission system.

[0015] 3. The power output end of the utility model adopts a mechanical seal composed of a mechanical seal stator, a mechanical seal rotor, a ceramic seal ring and a ceramic seal gasket, which achieves a good sealing effect while ensuring the transmission performance and meets the requirements for deep sea use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a transmission principle diagram of the utility model. DETAILED DESCRIPTION

[0017] The structure of the utility model is further described below with reference to the accompanying drawings and through embodiments. It should be noted that the embodiments are descriptive rather than restrictive.

[0018] A transmission device for heavy-load deep-sea steering gear, see Figure 1 The invention point is: it includes a motor 1, an angle sensor 2, a speed transmission unit, a power output unit and an output sealing device.

[0019] The speed-changing transmission unit adopts a combination structure of planetary transmission and cycloid transmission to realize the speed reduction transmission of the motor output, and outputs the power to the power output unit at the end. The speed-changing transmission unit includes an input gear 3, a planetary gear 4, a crankshaft 11, a planetary gear with a small tooth difference 6, a pinion housing 5, and a planet carrier 7. Pinion pins are evenly installed in a circle in the pinion housing.

[0020] The input gear is coaxially fixedly connected to the output shaft of the motor by a flat key connection. The planetary gear (three planetary gears) is meshed with the input gear, and the planetary gear is fixedly connected to one end of the corresponding crankshaft through a spline, and the other end of the crankshaft is rotatably matched with the corresponding axial hole off the center on the planetary carrier through a bearing. The two relatively eccentric parts on the crankshaft are respectively connected to a row of planetary gears with small tooth differences through bearings, and the two rows of planetary gears with small tooth differences are meshed with the pinion pins installed on the pinion housing. The central axis of the planetary carrier is connected to the pinion housing through a bearing and can rotate freely relative to it, so that the planetary carrier is driven to rotate by the crankshaft, and the end of the central axis of the planetary carrier away from the motor constitutes the power output end of the variable speed transmission unit.

[0021] The angle sensor is used to detect the output angle of the motor. It adopts a non-contact angle sensor, which includes a non-contact angle sensor rotor 2.1 with internal and external clearance fit and a non-contact angle sensor stator 2.2. The non-contact angle sensor rotor is fixedly connected to the output shaft of the motor by interference fit, and the non-contact angle sensor stator is fixedly connected to the pin gear housing. The advantages of using a non-contact angle sensor are: small friction torque and high transmission accuracy.

[0022] The power output unit includes an output shaft 8, which is connected to the pinion housing through a double-row angular contact ball bearing 9 and rotates freely relative to it. One end of the output shaft is coaxially fixedly connected to the power output end of the speed transmission unit to transmit power to the output shaft.

[0023] The output sealing device adopts a mechanical seal 10, and the mechanical seal includes a mechanical seal stator 10.3 and a mechanical seal rotor 10.1. The mechanical seal stator is fixedly installed on the pin gear housing, and the mechanical seal rotor is coaxially fixedly installed on the other end of the output shaft. A ceramic sealing ring 10.2 is fixed on the inner ring of the mechanical seal stator, and the inner ring surface of the ceramic sealing ring forms a compression sealing contact with the outer ring surface of the mechanical seal rotor. An output shaft extension hole is provided at the center of the front end of the mechanical seal stator for the output shaft to extend out, and a ceramic sealing gasket 10.4 is provided on the inner side of the front end of the mechanical seal stator and at the periphery of the output shaft extension hole, and the rear end face of the ceramic sealing gasket forms a compression sealing contact with the front end face of the mechanical seal rotor.

[0024] Due to the high hardness and wear resistance of ceramic materials, in deep sea environments, the use of this mechanical seal structure at the output end of the transmission device in contact with water not only ensures the transmission performance, but also ensures the sealing effect, and can obtain a longer service life.

[0025] The motor, angle sensor, speed transmission unit and power output unit are encapsulated in a box and isolated from water; the output sealing device is in contact with the water.

[0026] The working principle of the transmission device for large-load deep-sea steering gear of the utility model is:

[0027] After the motor is powered on, it generates rotational motion and transmits it to the planetary gear through the input gear. The planetary gear drives the small-tooth-difference planetary gear to move in a plane through the crankshaft. The small-tooth-difference planetary gear and the pinion housing perform small-tooth-difference meshing motion, and then drives the planetary carrier to rotate through the crankshaft, and finally outputs torque through the output shaft. During the rotation of the motor, the non-contact angle sensor rotor rotates freely relative to the non-contact angle sensor stator, and at the same time, a pulse signal is induced on the non-contact angle sensor stator to detect the rotation angle of the non-contact angle sensor rotor, realizing accurate measurement of the input end rotation angle.

[0028] The test data of the transmission device for deep-sea steering gear used in deep-sea environment is compared with the existing transmission device as shown in Table 1.

[0029] Table 1: Test data comparison table

[0030] Serial number plan <![CDATA[Volume / cm 3 > Gravity / kg Bearing capacity / N·m Sealing performance Transmission accuracy / arcmin 1 Solution of the present invention 38000 190 6000 good 1.0 2 Existing solutions 45000 260 3500 Difference 12.0

[0031] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A transmission device for a large-load deep-sea steering gear, characterized in that: It includes a motor, an angle sensor, a speed transmission unit, a power output unit and an output sealing device; The speed transmission unit adopts a combined structure of planetary transmission and cycloid transmission, which includes an input gear, a planetary wheel, a crankshaft, a planetary wheel with a small tooth difference, a pin gear housing, and a planet carrier; pin gear pins are evenly installed in a circle in the pin gear housing; the input gear is coaxially fixedly connected to the output shaft of the motor; the planetary wheel is meshed with the input gear, the planetary wheel is fixedly connected to one end of the corresponding crankshaft, and the other end of the crankshaft is rotatably matched with the corresponding axial hole off the center on the planet carrier; the two relatively eccentric parts on the crankshaft are respectively connected to a row of planetary wheels with a small tooth difference in a relatively rotatable manner, and the two rows of planetary wheels with a small tooth difference are meshed with the pin gear pins installed on the pin gear housing; the central axis of the planet carrier is connected to the pin gear housing in a relatively rotatable manner, and the end of the central axis of the planet carrier away from the motor constitutes the power output end of the speed transmission unit; The angle sensor is installed at the output shaft of the motor and is used to detect the output rotation angle of the motor; The power output unit comprises an output shaft, the output shaft is relatively rotatably connected to the pinion housing via a double-row angular contact ball bearing, and one end of the output shaft is coaxially fixedly connected to the power output end of the speed change transmission unit; The output sealing device adopts a mechanical seal, and the mechanical seal includes a mechanical seal stator and a mechanical seal rotor. The mechanical seal stator is fixedly installed on the pin gear housing, and the mechanical seal rotor is coaxially fixedly installed on the other end of the output shaft. A ceramic sealing ring is fixed on the inner ring of the mechanical seal stator, and the inner ring surface of the ceramic sealing ring forms a compression sealing contact with the outer ring surface of the mechanical seal rotor. An output shaft extension hole is provided at the center of the front end of the mechanical seal stator for the output shaft to extend out, and a ceramic sealing gasket is provided on the inner side of the front end of the mechanical seal stator and at the periphery of the output shaft extension hole, and the rear end surface of the ceramic sealing gasket forms a compression sealing contact with the front end surface of the mechanical seal rotor.

2. The transmission device for a large-load deep-sea steering gear according to claim 1, characterized in that: The angle sensor adopts a non-contact angle sensor, which includes a non-contact angle sensor rotor with internal and external clearance fit and a non-contact angle sensor stator; the non-contact angle sensor rotor is fixedly connected to the output shaft of the motor by interference fit, and the non-contact angle sensor stator is fixedly connected to the pin gear housing.

Images