Hydraulic driving device and deep sea operation equipment with hydraulic driving device
By setting up a pressure compensation structure and a floating oil seal protection structure in the hydraulic system of deep-sea operation equipment, the impact of internal and external pressure imbalance of the reducer and the flow of silt and sand on the floating oil seal in the deep-sea environment is solved, ensuring the normal operation of the equipment.
Patent Information
- Application Number
- CN202422277026.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-18
- Publication Date
- 2025-07-11
- Estimated Expiration
- 2034-09-18
AI Technical Summary
In the deep-sea environment, the hydraulic system of deep-sea operation equipment has problems such that the internal and external pressure imbalance of the reducer and the flow of silt and sand affect the working life of the floating oil seal.
The pressure compensation structure and floating oil seal protection structure are installed in the reducer, including end cap, compensator cover, compensation diaphragm, collar and seal ring, so as to balance the internal and external pressure of the reducer through seawater pressure, and protect the floating oil seal from the influence of silt and sand.
It realizes pressure balance of deep-sea operating equipment in deep-sea environment and effective protection of floating oil seals to ensure the normal operation of the equipment.
Smart Images
Figure CN223089944U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of hydraulic systems for deep - sea operation equipment, and particularly relates to a hydraulic driving device and a deep - sea operation equipment with the hydraulic driving device. Background Technique
[0002] The overall structure of the hydraulic driving device is divided into two parts: a hydraulic motor and a speed reducer. The hydraulic motor, as an actuator of the hydraulic system, converts the hydraulic energy of the hydraulic system into rotational mechanical energy. The speed reducer outputs torque by connecting with the output shaft of the hydraulic motor, thereby driving mechanical equipment to complete actions such as walking or rotation. The internal hydraulic system of the deep - sea operation equipment adopts a pressure compensation design to eliminate the influence of the underwater environmental pressure of the deep sea on the hydraulic system (including the hydraulic motor). The underwater environmental pressure acts on the end face of the speed reducer, resulting in an unbalanced force. Therefore, there is a lack of a pressure balance device inside the speed reducer, that is, internal pressure compensation of the speed reducer. In addition, there are also problems that deep - sea sediment flow will enter the floating oil seal through the gap at the joint of the hydraulic motor and the speed reducer, thereby affecting the operation and service life of the floating oil seal. Content of the Utility Model
[0003] In view of this, the utility model provides a hydraulic driving device and a deep - sea operation equipment with the hydraulic driving device, aiming to solve the problems existing in the prior art.
[0004] Specifically, a hydraulic driving device of the utility model includes a speed reducer and a hydraulic motor. The speed reducer includes a gear ring, a planetary reduction mechanism, and a floating oil seal for sealing gear oil. There is a speed reducer inner cavity inside the speed reducer, and it also includes a pressure compensation structure arranged at the end of the speed reducer for balancing the internal and external pressures of the speed reducer.
[0005] Based on the above - mentioned scheme, the pressure compensation structure includes:
[0006] An end cover arranged at the end of the gear ring for mechanically limiting the planetary reduction mechanism of the speed reducer;
[0007] A compensator cover arranged on the outer side of the end cover for protecting the compensation diaphragm;
[0008] And a compensation diaphragm arranged on the inner side of the compensator cover for balancing the force acting on the end face of the speed reducer due to the deep - sea environmental pressure;
[0009] Among them, a compensator inner cavity is formed between the end cover and the compensation diaphragm, and a through - hole for introducing seawater acting on the compensation diaphragm is arranged on the compensator cover.
[0010] Based on the above - mentioned scheme, it also includes: a first O - ring rubber seal arranged in the sealing annular groove on the outer side of the end cover for sealing the end cover and the gear ring.
[0011] On the basis of the above solution, the hydraulic drive device further includes: a floating seal protection structure provided on the housing and the gear ring of the hydraulic motor to prevent the deep-sea sediment flow during the operation of the speed reducer from affecting the operation and service life of the floating seal.
[0012] On the basis of the above solution, the floating seal protection structure includes:
[0013] A collar provided on the outer side of the housing of the hydraulic motor;
[0014] A sealing ring provided on the gear ring and located inside the collar;
[0015] And a second O-ring rubber seal provided on the outer side of the sealing ring;
[0016] Wherein, an annular groove for accommodating the sealing ring is provided on the inner side of the collar, and both the sealing ring and the second O-ring rubber seal are located in the annular groove.
[0017] On the basis of the above solution, the volume of the inner cavity of the compensator is greater than the volume compression of the hydraulic fluid.
[0018] On the basis of the above solution, the compensating diaphragm is an elastic element.
[0019] In addition, the present utility model also provides a deep-sea operation device including the above-mentioned hydraulic drive device.
[0020] The present utility model changes the structure of the original hydraulic drive device, adds a pressure compensation structure for the inner cavity of the speed reducer and a floating seal protection device, effectively solves the problems of unbalanced pressure inside and outside the speed reducer during the diving and recovery of the deep-sea operation device and its operation on the seabed, and the influence of deep-sea sediment flow on the operation and service life of the floating seal inside the speed reducer, and thus is used to drive the walking or rotating actions such as rotation of deep-sea operation devices such as deep-sea robots and construction machinery and equipment. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present utility model. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:
[0022] Figure 1 is a schematic structural diagram (top view) of the hydraulic drive device of the present utility model;
[0023] Figure 2 is Figure 1 an enlarged view of part A of DETAILED DESCRIPTION OF THE EMBODIMENTS
[0024] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art. It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other. The present utility model will be described in detail below with reference to the drawings and in combination with the embodiments.
[0025] Embodiment 1
[0026] As Figure 1 shown, the present application provides a specific implementation manner of a hydraulic drive device. The hydraulic drive device includes a speed reducer 1 and a hydraulic motor 6. The hydraulic motor 6, as an actuator of the hydraulic system, converts the hydraulic energy of the hydraulic system into rotational mechanical energy. The speed reducer 1 outputs torque by connecting with the output shaft of the hydraulic motor 6, thereby driving mechanical equipment to complete actions such as walking or slewing. The hydraulic motor 6 includes a housing 6-1. Among them, the speed reducer 1 includes a ring gear 1-1, a planetary reduction mechanism, and a floating oil seal 11 for sealing gear oil. There is a speed reducer inner cavity 1-2 inside the speed reducer 1; in the present utility model, other structures of the speed reducer 1 are conventional structures of the speed reducer, and other structures of the hydraulic motor 6 are conventional structures of the hydraulic motor, which are not the innovative points of the present utility model and will not be elaborated herein.
[0027] Specifically, the hydraulic drive device includes a pressure compensation structure provided at the end of the speed reducer 1 for balancing the pressure inside and outside the speed reducer.
[0028] The pressure compensation structure includes an end cover 2 provided at the end of the ring gear 1-1 for mechanically limiting the planetary reduction mechanism of the speed reducer 1, a compensator cover 3 provided outside the end cover 2, and a compensation diaphragm 4 provided inside the compensator cover 3 for balancing the force acting on the end face of the speed reducer under the deep-sea environmental pressure. Among them, a compensator inner cavity 5 is formed between the end cover 2 and the compensation diaphragm 4. A through hole 3-1 for introducing seawater acting on the compensation diaphragm 4 is provided on the compensator cover 3.
[0029] During use, seawater acts on the compensation diaphragm 4 through the through hole 3-1 on the compensator cover 3. The compensation diaphragm 4 moves to compress the oil in the speed reducer inner cavity 1-2 and the compensator inner cavity 5, and the internal pressure of the oil increases, thereby compensating the deep-sea underwater environmental pressure, that is, balancing the force acting on the end face of the speed reducer of the deep-sea hydraulic drive device under the deep-sea environmental pressure through the compensation diaphragm 4, so that the pressure inside and outside the speed reducer is balanced.
[0030] Specifically, a sealing annular groove for installing a sealing ring is provided on the side surface of the end cover 2 in contact with the gear ring 1-1, and a compensating diaphragm mounting groove for installing a compensating diaphragm is provided on the outer side surface of the end cover 2; a first O-ring rubber seal 10 is installed in the sealing annular groove of the end cover 2, and after the end cover 2 is closed on the gear ring 1-1, the first O-ring rubber seal 10 is pressed to ensure the sealing performance of the speed reducer. In other embodiments, the first O-ring rubber seal 10 is removed at the mating portion of the gear ring 1-1 and the end cover 2, and an end face sealant is evenly applied for sealing the speed reducer.
[0031] As a specific implementation, a G1 / 8 oil injection or oil drain port threaded hole and a G1 / 8 air vent port threaded hole are provided in the gear ring 1-1. The threaded holes are blocked with G1 / 8 screw plugs and sealed with a first O-ring rubber seal 10. The installation method of connecting the screw plug and the gear ring 1-1 by thread is convenient and fast, and the fixing reliability is relatively high. Since the gear oil inside the speed reducer needs to be replaced regularly after the hydraulic drive device is used, the hydraulic drive device needs to be placed horizontally (as Figure 1 shown). At this time, the G1 / 8 screw plug needs to be disassembled, and then a manual pump is connected through the lower G1 / 8 threaded hole to refill the gear oil into the speed reducer cavity 1-2 and the compensator cavity 5 through the ZG1 / 8 threaded through hole and the G1 / 8 threaded hole on the end cover 2. Since seawater acts on the compensating diaphragm 4 through the through hole on the compensator cover 3, the compensating diaphragm 4 moves to compress the oil in the speed reducer cavity 1-2 and the compensator cavity 5, and the internal pressure of the oil increases, so that the internal and external pressures of the speed reducer are balanced. Since the elastic modulus of the oil is much larger than that of the air, in contrast, the air has a certain compressibility. To ensure the normal use of the deep-sea hydraulic drive device, the speed reducer cavity 1-2 and the compensator cavity 5 must be filled with gear oil when refilling the gear oil to prevent air in the speed reducer 1. In other embodiments, the upper threaded hole can also be connected to a vacuum pump, and the lower threaded hole can be connected to an oil tank to fill the speed reducer 1 with gear oil;
[0032] On the outer side of the end cover 2, there are provided a sealing annular groove for installing the first O-ring rubber seal 10, a ZG1 / 8 threaded through-hole, a G1 / 8 threaded hole, a through-hole for installing an internal hexagon screw, a compensating diaphragm installation groove for installing the compensating diaphragm 4, and threaded holes for fixing the compensating diaphragm 4 and the compensator cover 3. Among them, the end cover 2 and the gear ring 1-1 are fixedly connected by internal hexagon screws. The end cover 2 is used for mechanically limiting the internal planetary reduction mechanism of the reducer and separating the inner cavity 1-2 of the reducer from the inner cavity 5 of the compensator. To prevent the internal hexagon screws from loosening, the internal hexagon screws can be evenly coated with thread locking adhesive during assembly and then tightened. In other embodiments, the fixed connection of the internal hexagon screws can also be replaced with a fixed connection by an elastic retaining ring, and the anti-loosening measure of evenly coating the internal hexagon screws with thread locking adhesive can also be replaced with adding spring washers for anti-loosening; The first O-ring rubber seal 10 is installed in the sealing annular groove of the end cover 2. After the end cover 2 is covered on the gear ring 1-1, the first O-ring rubber seal 10 is pressed to ensure the sealing performance of the reducer. In other embodiments, the first O-ring rubber seal 10 is removed at the mating part of the gear ring 1-1 and the end cover 2, and evenly coating the end face with sealant is used to seal the reducer; The compensating diaphragm 4 is installed in the compensating diaphragm installation groove on the connecting end face of the end cover 2 and the compensating diaphragm 4. After the compensator cover 3 is covered on the compensating diaphragm 4, the compensating diaphragm 4 and the compensator cover 3 are fixedly connected to the end cover 2 by passing an internal hexagon screw through the screw through-hole of the compensating diaphragm 4 and the screw through-hole of the compensator cover 3, ensuring the sealing performance of the reducer. To enable the compensating diaphragm 4 to achieve sealing in the deep sea, the internal hexagon screws should be of grade 12.9 and the tightening torque should be greater than 18 N.m. To prevent the internal hexagon screws from loosening, the internal hexagon screws can be evenly coated with thread locking adhesive during assembly and then tightened; The compensating diaphragm 4 and the compensator cover 3 are connected to the end cover 2 by internal hexagon screws, which is convenient for the later maintenance, inspection and replacement of the compensating diaphragm 4;
[0033] When the hydraulic drive device of the deep-sea operation equipment dives to the seabed, as the diving depth increases, the environmental temperature decreases, and the water pressure increases accordingly. The total volume of the oil in the reducer 1 decreases correspondingly with the decrease of the environmental temperature, and the pressure in the reducer decreases accordingly, resulting in an imbalance in the internal and external pressures of the reducer 1. The pressure change during the ascent and descent of the hydraulic drive device of the deep-sea operation equipment is opposite. To solve the problem of the imbalance in the internal and external pressures of the reducer during diving, ascent, and actual operation at the seabed, a compensating diaphragm 4 is provided in the hydraulic drive device of this example. The oil in the reducer is connected to the compensating diaphragm 4, and the compensating diaphragm 4 is connected to the seawater through the through-hole 3-1 on the compensator cover 3. The seawater acts on the compensating diaphragm 4 through the through-hole 3-1 on the compensator cover 3. The compensating diaphragm 4 moves to compress the oil in the inner cavity 1-2 of the reducer and the inner cavity 5 of the compensator, increasing the internal pressure of the oil, thereby compensating for the seawater pressure and achieving the balance of the internal and external pressures of the reducer 1;
[0034] The compensation diaphragm 4, as an elastic element, is made of an elastic material, usually composed of a composite of fiber fabrics such as rubber. It is both a sealing element and a sensitive element for pressure transmission. In this embodiment, nitrile rubber is selected, with a Shore A hardness between 60 and 70. If the hardness is lower than 60 or higher than 70, the compensation diaphragm 4 will be too soft or too hard, affecting the sensitivity of pressure transmission of the compensation diaphragm 4. The tensile length is less than 20 mm, and the tensile elongation rate is not less than 250%. It will not be damaged due to deformation after being squeezed by the deep-sea water pressure; a metal protective cover compensator cover 3 is provided on the outside of the compensation diaphragm 4 to protect the compensation diaphragm 4 from damage. A through hole 3-1 communicating with the compensation diaphragm 4 is provided on the compensator cover 3 for the seawater flow to act on the compensation diaphragm 4; when there is an internal and external pressure difference in the speed reducer, the compensation diaphragm 4 starts to axially move to compress the oil in the speed reducer. To prevent the compensation diaphragm 4 from contacting the end cover 2 during the compression process before the internal and external pressures of the speed reducer are balanced, and thus unable to continue compressing the oil in the speed reducer, resulting in an imbalance in the internal and external pressures of the speed reducer. To solve this problem, a compensator inner cavity 5 is provided in the hydraulic drive device of this example. The volume of the compensator inner cavity 5 needs to be greater than the volume compression amount of the oil, so as to balance the internal and external pressures of the speed reducer; setting a sealing annular groove on the connection end face between the end cover 2 and the compensation diaphragm 4 can not only increase the sealing performance of the compensation diaphragm 4 of the speed reducer, but also prevent the compensation diaphragm 4 from moving radially when the compensation diaphragm 4 starts to axially move to compress the oil in the speed reducer, and adopt groove limiting in the radial direction; ZG1 / 8 threaded holes and G1 / 8 threaded holes are provided on the end cover 2, which can not only connect the oil in the inner cavity 1-2 of the speed reducer with the oil in the compensator inner cavity 5 to make the pressures in the inner cavity 1-2 of the speed reducer and the compensator inner cavity 5 consistent, but also use ZG1 / 8 screw plugs and G1 / 8 screw plugs (equipped with a sealed first O-ring 10) for plugging after removing the compensation diaphragm 4 and the compensator cover 3 to make the equipment work in a normal environment; the hydraulic drive device of this deep-sea operation equipment balances the internal and external pressures of the speed reducer through the elastic element, that is, the compensation diaphragm 4, and can drive the deep-sea operation equipment to conduct detection applications underwater. For the components directly in contact with seawater, only their sealing performance, structural stability, and corrosion resistance need to be considered during processing and manufacturing, and there is no need to consider their pressure-bearing performance too much, thus greatly reducing the wall thickness of external components, reducing the weight of the hydraulic drive device, and reducing the manufacturing cost of the hydraulic drive device; to prevent the components directly in contact with seawater from being corroded by seawater, external components are all made of corrosion-resistant materials. For example, the collar, compensator cover 3, end cover 2, floating oil seal 11 steel ring, etc. are all made of 316 stainless steel, and the nitrile rubber used for the first O-ring 10, compensation diaphragm 4, etc. also has good corrosion resistance. For the pressure compensation structure of the inner cavity 1-2 of the speed reducer of hydraulic drive devices with different model specifications, only the end cover 2, compensation diaphragm 4, and compensator cover 3 with different hardness and specifications need to be replaced.
[0035] Such as Figure 2As shown in the figure, to prevent the reduction gear 1 from mechanically jamming or wearing against the hydraulic motor 6 during rotation, a gap X1 needs to be left at the junction of the hydraulic motor 6 and the reduction gear 1 when designing the hydraulic drive device. However, when the hydraulic drive device of the deep-sea operation equipment is operating in the deep sea, sediment flow will enter the reduction gearbox through the gap X1, thereby affecting the operation and service life of the floating oil seal 11 of the internal sealed gear oil of the reduction gear 1. To solve this problem, the hydraulic drive device further includes: a floating oil seal protection structure that affects the operation and service life of the floating oil seal 11 inside the reduction gear 1 during the operation of the deep-sea sediment flow, provided on the housing 6-1 of the hydraulic motor 6 and the gear ring 1-1. The floating oil seal protection structure includes a collar 7 provided on the outer side of the housing 6-1 of the hydraulic motor 6, a sealing ring 8 provided on the gear ring 1-1 and located inside the collar 7, and a second O-ring 9 provided on the outer side of the sealing ring 8. Among them, an annular groove for accommodating the sealing ring 8 is provided on the inner side of the collar 7, and both the sealing ring 8 and the second O-ring 9 are located in the annular groove.
[0036] In the floating oil seal protection structure of this embodiment, there are a collar 7, a sealing ring 8, and a second O-ring 9; the cooperation mode between the collar 7 and the housing 6-1 is an interference fit. The assembly method can be to heat the collar 7 with a bearing heating machine and then thermally install it on the housing 6-1 or to press-fit the collar 7 onto the housing 6-1. At the same time, the interference fit connection and installation method between the collar 7 and the housing 6-1 is convenient and fast, saves space, and has a high fixing reliability. In other embodiments, the interference fit method can also be fixed to the housing 6-1 by means of threaded connection; when installing the collar 7 and the housing 6-1, the collar 7 is installed in the correct position on the housing 6-1 by mechanical means of limiting (as Figure 1 shown); after the collar 7 is interference-fitted onto the housing 6-1, the second O-ring 9 is sleeved on the sealing ring 8, and then the assembly of the second O-ring 9 and the sealing ring 8 is assembled into the annular groove of the collar 7. Then, the gear ring 1-1 is assembled in place. The gap X1 is wrapped in the inner cavity of the collar 7 through the housing 6-1, the collar 7, the sealing ring 8, the second O-ring 9, and the gear ring 1-1, thereby preventing deep-sea flowing sediment from entering the floating oil seal 11 of the reduction gear inner cavity 1-2 through the gap X1;
[0037] To prevent the reduction gear 1 of the hydraulic drive device from mechanically jamming or wearing against the collar 7 during rotation, gaps X2 and X3 need to be left during design. X2 is generally set to be not less than 2 mm, and the general setting range of X3 is 0.15 - 0.7 mm. Due to the gap X3 between the collar 7 and the gear ring 1-1, sediment will enter the annular groove of the collar 7 through the gap X3 during the actual operation of the hydraulic drive device, damaging the sealing ring 8 or the O-ring rubber seal, thereby affecting the operation and service life of the floating oil seal 11. Therefore, the seal between the sealing ring 8 and the gear ring 1-1 here is composed of a specially designed tooth-shaped sealing ring 8 made of a high-performance engineering plastic material UPE (with advantages such as corrosion resistance, wear resistance, impact resistance, self-lubrication, and absorption of impact energy) and a second O-ring rubber seal 9 (material: fluororubber). It is suitable for hydraulic reciprocating and rotary motion seals. Due to the special sealing lip and thickness optimization design, it has good sealing effect even in harsh media such as cement slurry and deep sea, and also has the characteristics of high service life, low friction, small structural space, convenient installation, use, and maintenance, thus preventing external impurities from entering the floating oil seal 11 in the reduction gear through the gap X3; the hydraulic drive device is connected to the deep-sea operation equipment through hexagon socket head cap screws, thus preventing the sediment flowing in the deep sea from entering the floating oil seal 11 inside the reduction gear 1 through the threaded holes of the hexagon socket head cap screws. Seawater can enter the inner cavity of the collar 7 through this threaded hole, thus ensuring that the internal and external pressures of the inner cavity of the collar 7 are the same; for the floating oil seal 11 protection devices of reduction gears of hydraulic drive devices with different model specifications, only the collar 7, the sealing ring 8, and the second O-ring rubber seal 9 with different specifications need to be replaced.
[0038] For one thing, in the present utility model, seawater acts on the compensation diaphragm 4 through the through hole 3-1 on the compensator cover 3. The compensation diaphragm 4 moves to compress the oil in the inner cavity 1-2 of the reduction gear and the inner cavity 5 of the compensator, increasing the internal pressure of the oil, thereby compensating the underwater environmental pressure of the deep sea, that is, balancing the force acting on the end face of the reduction gear 1 of the deep-sea hydraulic drive device by the deep-sea environmental pressure through the compensation diaphragm 4, so as to balance the internal and external pressures of the reduction gear. For another thing, the gap X1 at the joint of the hydraulic motor 6 and the reduction gear 1 is wrapped in the inner cavity of the collar 7 through the collar 7, the sealing ring 8, and the second O-ring rubber seal 9, thus preventing the sediment flowing in the deep sea from entering the floating oil seal 11 in the reduction gear through the gap X1, thereby affecting the operation and service life of the floating oil seal 11.
[0039] Embodiment 2
[0040] The present utility model provides a specific implementation manner of a deep-sea operation equipment with this hydraulic drive device. The deep-sea operation equipment includes the hydraulic drive device in Embodiment 1.
[0041] The hydraulic driving device of the deep-sea operation equipment in this embodiment effectively solves the problems of the imbalance of internal and external pressures of the speed reducer during the diving and recovery of the deep-sea operation equipment and during the operation on the seabed, and the influence of deep-sea sediment flow on the operation and service life of the floating oil seal 11 in the speed reducer, so as to be used to drive the rotation actions such as the walking or rotation of deep-sea operation equipment such as deep-sea robots and construction machinery equipment.
[0042] The remaining components of the deep-sea operation equipment are conventional components in the art and do not belong to the innovative points of the present utility model, so they will not be elaborated here.
[0043] The hydraulic driving device of the present utility model and the deep-sea operation equipment with the hydraulic driving device adjust the structure of the existing hydraulic driving device, and a pressure compensation structure and a floating oil seal protection structure for adjusting the internal and external pressure balance of the deep-sea speed reducer are added in the structure, effectively solving the unbalanced force acting on the end face of the speed reducer under the action of the deep-sea underwater environment pressure, making the internal and external pressures of the speed reducer balanced; and the problems such as the influence of deep-sea sediment flow on the operation and service life of the floating oil seal 11 in the speed reducer 1.
[0044] Obviously, those skilled in the art can make various changes and modifications to the present utility model without departing from the spirit and scope of the present utility model. Thus, if these modifications and variations of the present utility model fall within the scope of the claims of the present utility model and its equivalent technologies, the present utility model is also intended to include these changes and modifications.
Claims
1. A hydraulic drive device includes a speed reducer (1) and a hydraulic motor (6). The speed reducer (1) includes a ring gear (1-1), a planetary reduction mechanism, and a floating oil seal (11) for sealing gear oil. There is a speed reducer inner cavity (1-2) inside the speed reducer (1). The hydraulic motor (6) includes a housing (6-1), and is characterized in that, It also includes a pressure compensation structure provided at the end of the speed reducer (1) for balancing the internal and external pressures of the speed reducer.
2. The hydraulic drive device according to claim 1, characterized in that, The pressure compensation structure includes: An end cover (2) provided at the end of the ring gear (1-1) for mechanically limiting the planetary reduction mechanism of the speed reducer (1); A compensator cover (3) provided outside the end cover (2) for protecting the compensation diaphragm (4); And a compensation diaphragm (4) provided inside the compensator cover (3) for balancing the force exerted by the deep-sea environmental pressure on the end face of the speed reducer; Wherein, a compensator inner cavity (5) is formed between the end cover (2) and the compensation diaphragm (4), and a through hole (3-1) for introducing seawater acting on the compensation diaphragm (4) is provided on the compensator cover (3).
3. The hydraulic drive device according to claim 2, wherein, It also includes: A first O-ring rubber seal (10) provided in the sealing annular groove outside the end cover (2) for sealing the end cover (2) and the ring gear (1-1).
4. The hydraulic drive device according to claim 1, characterized in that, The hydraulic driving device further includes: a floating oil seal protection structure provided on the housing (6-1) of the hydraulic motor (6) and the ring gear (1-1) for preventing the deep-sea sediment flow from affecting the operation and service life of the floating oil seal (11) when the speed reducer (1) is working.
5. The hydraulic drive device according to claim 4, characterized in that, The floating oil seal protection structure includes: A collar (7) provided outside the housing (6-1) of the hydraulic motor (6); A sealing ring (8) provided on the ring gear (1-1) and located inside the collar (7); And a second O-ring rubber seal (9) provided outside the sealing ring (8); Wherein, an annular groove for accommodating the sealing ring (8) is provided inside the collar (7), and both the sealing ring (8) and the second O-ring rubber seal (9) are located in the annular groove.
6. The hydraulic drive device according to claim 2, characterized in that The volume of the compensator inner cavity (5) is greater than the oil volume compression amount.
7. The hydraulic drive device according to claim 2, characterized in that, The compensation diaphragm (4) is an elastic element.
8. A deep-sea operation device, characterized in that, It includes the hydraulic driving device according to any one of claims 1-7.