Underwater dynamic sealing structure for mechanical arm joint motor module

Abstract

The utility model discloses an underwater dynamic sealing structure for a joint motor module of a mechanical arm, which belongs to the technical field of underwater electric mechanical arms and comprises a dynamic sealing structure, and the dynamic sealing structure comprises a main body shell, a front end cover, a motor shaft, a second sealing ring, a third sealing ring, a rear end cover and the joint motor module. The whole body of the main body shell is a cylinder, a plurality of threaded holes are formed in the side faces of the two ends of the main body shell, one end of the main body shell is fixedly connected with the front end cover, and the other end of the main body shell is fixedly connected with the rear end cover. A second sealing ring is arranged between the inner wall of the main body shell and the front end cover; a third sealing ring is arranged between the inner wall of the main body shell and the rear end cover; the motor shaft is fixedly connected with the front end cover, and the joint motor module is fixed in an inner cavity of the dynamic sealing structure; the weight of the dynamic sealing structure is reduced, the size of the dynamic sealing structure is reduced, and the contradiction between the weight and the size of the motor sealing device and the limited output force of the motor is balanced.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater electric manipulators, and particularly relates to a dynamic seal waterproof structure for an underwater manipulator joint motor module. Background Technique

[0002] With the development of intelligent robot technology, underwater operation manipulators also gradually adopt motor drive technology. Compared with hydraulic-driven manipulators, motor-driven underwater manipulators have the advantages of high integration, high efficiency, high precision, and are convenient for layout, installation and carrying. They can also meet the requirements of most offshore operation scenarios, such as mine clearance, scientific research sampling and archaeological salvage.

[0003] The manipulator joint motor module is an important actuator to achieve the high integration, high efficiency and high precision of the underwater electric manipulator. The joint motor module is an integrated device integrating a driver, a reducer, an encoder and a motor. At present, the application of the manipulator joint motor module mainly faces land scenarios. For underwater scenarios, due to the contradiction between the bulky characteristics of the sealing device and the small output force of the motor, the application surface is relatively narrow. Considering the load capacity requirements of the manipulator and the output force limitation of the joint motor module, the seal of the joint motor module needs to meet the characteristics of lightness and compactness, and needs to balance the contradiction between the motor sealing device and the volume and the limited output force of the motor. Therefore, there is an urgent need for a dynamic seal structure that is light, compact and can improve the load capacity of the manipulator. Content of the Utility Model

[0004] The purpose of the utility model is to provide an underwater dynamic seal structure for a manipulator joint motor module, which can balance the contradiction between the large weight of the motor sealing device and the small output force of the motor, thereby improving the load capacity of the manipulator, so as to overcome the deficiency of the contradiction between the bulky sealing device and the small output force of the motor in the prior art.

[0005] To achieve the above purpose, the technical scheme adopted by the utility model is as follows:

[0006] An underwater dynamic seal structure for a manipulator joint motor module, including a dynamic seal structure, the dynamic seal structure includes a main body housing, a front end cover, a motor shaft, a second sealing ring, a third sealing ring, a rear end cover and a joint motor module;

[0007] The main body housing is in a cylindrical shape, and a plurality of threaded holes are opened on the side surfaces at both ends of the main body housing. One end of the main body housing is fixedly connected with the front end cover, and the other end of the main body housing is fixedly connected with the rear end cover; a second sealing ring is arranged between the inner wall of the main body housing and the front end cover, and a third sealing ring is arranged between the inner wall of the main body housing and the rear end cover; the motor shaft is fixedly connected with the front end cover, and the joint motor module is fixed in the inner cavity of the dynamic seal structure.

[0008] Further, one end of the joint motor module is fixedly connected with a motor shaft. The end of the motor shaft that is not connected to the joint motor module passes through the front end cover and is fixedly connected. The other end of the joint motor module is fixedly connected to the rear end cover.

[0009] Further, a first sealing ring and a fourth sealing ring are also arranged between the motor shaft and the front end cover. The sealing rings from the end close to the front end cover are the first sealing ring, the fourth sealing ring, and the second sealing ring in sequence. The first sealing ring and the fourth sealing ring are used as dynamic seals. The first sealing ring has good wear resistance and is used as the first-stage dynamic seal, which can effectively block most of the sediment. The fourth sealing ring is used as the second-stage dynamic seal to ensure that the joint motor module can still work normally in case the first-stage dynamic seal fails.

[0010] Further, one end of the rear end cover is connected and sealed to one end of the sealing silicone through a fifth sealing ring, and a sealing fastening nut is arranged at the other end of the sealing silicone. The sealing silicone is used to seal the led-out motor wires. Using 704 silicone sealant, it has good insulation, corrosion resistance, and adhesion, and can effectively prevent water from entering the inside of the sealing structure from the wire. The sealing fastening nut is used to adjust the pre-tightening force between the sealing silicone and the rear end cover, which can effectively prevent water from entering.

[0011] Further, the inside of the dynamic sealing structure is filled with insulating sealing silicone grease, which can ensure that even if a small amount of water leaks into the sealing device, the joint motor module can still work normally. At the same time, the insulating sealing silicone grease can effectively help the joint motor module dissipate heat in the form of heat conduction.

[0012] Further, uniformly arranged mounting threaded holes are provided on the outer end faces of the front end cover and the rear end cover.

[0013] Further, the materials of the main body shell, the front end cover, the sealing fastening nut, and the rear end cover are 6061 aluminum alloy, and the material of the sealing silicone is 704 silicone sealant.

[0014] Further, the material of the motor shaft is 316 stainless steel.

[0015] Further, the materials of the second sealing ring, the third sealing ring, the fourth sealing ring, and the fifth sealing ring are nitrile rubber, and the material of the first sealing ring is polyurethane.

[0016] Compared with the prior art, the present utility model has the following beneficial technical effects:

[0017] The present application provides an underwater dynamic sealing structure for a robotic arm joint motor module. The present application abandons the connection of the traditional dynamic sealing structure and other components of the robotic arm in the form of a flange edge, but sets the main body housing as a cylinder and opens a plurality of threaded holes on the side surfaces at both ends. Threaded holes are opened on the side surfaces at both ends of the main body housing, part of which is used for the connection of the main body housing with the front end cover and the rear end cover, and the other part is used for connection with other parts of the robotic arm. The outer end surfaces of the front end cover and the rear end cover are provided with uniformly arranged mounting threaded holes, which facilitate the installation of the joint motor module after sealing with other components, reduce the volume of the dynamic sealing structure, and balance the contradiction between the volume of the motor sealing device and the limited output force of the motor. The dynamic sealing structure of the present application has fewer parts, the part structure is simple, and the sealing parts are standard parts, effectively reducing the cost and facilitating maintenance.

[0018] The main body housing, the front end cover and the rear end cover of the present application are all made of 6061 aluminum alloy, and the motor shaft is made of 316 stainless steel, which reduces the weight of the dynamic sealing structure and balances the contradiction between the weight of the motor sealing device and the limited output force of the motor.

[0019] While ensuring the lightness and compactness of the robotic arm, the present application reduces the consumption of the output force of the robotic arm joint motor caused by the self-weight of the robotic arm by reducing the self-weight of the robotic arm, effectively improving the end load capacity and operation efficiency of the robotic arm. Brief Description of the Drawings

[0020] Figure 1 It is an axonometric schematic diagram of the overall structure of the present utility model.

[0021] Figure 2 It is a front view schematic diagram of the overall structure of the present utility model.

[0022] Figure 3 It is a cross-sectional schematic diagram of the internal structure of the present utility model.

[0023] Figure 4 It is an exploded schematic diagram of the assembled components of the present utility model.

[0024] In the figure, 1. Main body housing; 2. Front end cover; 3. Motor shaft; 4. Sealing fastening nut; 5-1. First sealing ring; 5-2. Second sealing ring; 5-3. Third sealing ring; 5-4. Fourth sealing ring; 5-5. Fifth sealing ring; 6. Sealing silicone; 7. Rear end cover; 8. Joint motor module; 9. Dynamic sealing structure. Detailed Description of the Preferred Embodiments

[0025] To enable those skilled in the art to better understand the solution of the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0026] It should be noted that the terms "first", "second", etc. in the description and claims of the present utility model and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present utility model described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] Specific Embodiment 1: Refer to Figures 1 to 3 , an underwater dynamic sealing structure for a robotic arm joint motor module. The overall dynamic sealing structure includes a main body housing 1, a front end cover 2, a motor shaft 3, a second sealing ring 5-2, a third sealing ring 5-3, a rear end cover 7, and a joint motor module 8. One end of the main body housing 1 is fixedly connected to the front end cover 2, and the other end of the main body housing 1 is fixedly connected to the rear end cover 7. A second sealing ring 5-2 is provided between the inner wall of the main body housing 1 and the front end cover 2 as a static seal, and a third sealing ring 5-4 is provided between the inner wall of the main body housing 1 and the rear end cover 7 as a static seal. The motor shaft 3 is fixedly connected to the front end cover 2. The joint motor module 8 is fixed inside the cavity of the dynamic sealing structure 9. One end of the joint motor module 8 is fixedly connected to the motor shaft 3. The end of the motor shaft 3 that is not connected to the joint motor module 8 passes through the front end cover 2 and is fixedly connected. The other end of the joint motor module 8 is fixedly connected to the rear end cover 7. The main body housing 1 is generally cylindrical, and threaded holes are provided on the side surfaces at both ends of the main body housing 1. One part is used for the connection between the main body housing 1 and the front end cover 2 and the rear end cover 7, and the other part is used for connection with other parts of the robotic arm.

[0028] Preferably, in order to reduce the weight of the dynamic sealing structure and ensure the strength of the sealing structure, the main body housing 1, the front end cover 2, and the rear end cover 7 are all made of 6061 aluminum alloy, and the motor shaft 3 is made of 316 stainless steel.

[0029] Preferably, the outer end surfaces of the front cover 2 and the rear cover 7 are provided with evenly arranged mounting threaded holes to facilitate the installation of the sealed joint motor module and other components.

[0030] In some embodiments, in order to ensure that the static sealing component has corrosion resistance and good elasticity, the second sealing ring 5-2, the third sealing ring 5-3, the fourth sealing ring 5-4 and the fifth sealing ring 5-5 are all sealed with O-rings made of nitrile rubber.

[0031] Specific implementation method 2: Based on the specific implementation method 1, the first sealing ring 5-1 and the fourth sealing ring 5-4 are used as dynamic seals between the motor shaft 3 and the front end cover 2. The first sealing ring 5-1 is a Gley ring seal made of polyurethane. The Gley ring seal has good wear resistance and is used as a first-level dynamic seal to effectively block most of the mud and sand. The fourth sealing ring 5-4 is used as a second-level dynamic seal to ensure that the joint motor module 8 can still work normally when the first-level dynamic seal fails.

[0032] Specific implementation method three: In combination with implementation methods one and two, the rear end cover 7 is fixed with a sealing silicone 6, a fifth sealing ring 5-5 is provided between the rear end cover 7 and the sealing silicone 6, and a sealing fastening nut 4 is provided on the other end of the sealing silicone 6; the sealing silicone 6 adopts 704 organic silicone sealant, which has good adhesion and insulation, and is used to seal the lead-out wires, which can effectively prevent water from entering the sealing structure from the wires. The sealing fastening nut 4 is used to adjust the pre-tightening force between the sealing silicone 6 and the rear end cover 7, which can effectively prevent water from entering.

[0033] Preferably, the interior of the dynamic sealing structure 9 is filled with insulating sealing silicone grease, which can ensure that even if a small amount of water leaks into the sealing device, the joint motor module 8 can still work normally. At the same time, the insulating sealing silicone grease can effectively help the joint motor module 8 to dissipate heat in the form of heat conduction.

[0034] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0035] The preferred embodiments of the present utility model disclosed above are only used to help illustrate the present utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principle and practical application of the present utility model, so that those skilled in the relevant art can understand and utilize the present utility model well. The present utility model is only limited by the claims and their full scope and equivalents.

Claims

1. An underwater dynamic sealing structure for a robotic arm joint motor module, characterized in that, It includes a dynamic sealing structure (9), and the dynamic sealing structure (9) includes a main body housing (1), a front end cover (2), a motor shaft (3), a second sealing ring (5-2), a third sealing ring (5-3), a rear end cover (7), and a joint motor module (8); The main body housing (1) is in a cylindrical shape. A plurality of threaded holes are provided on the side surfaces at both ends of the main body housing (1). One end of the housing (1) is fixedly connected to the front end cover (2), and the other end of the main body housing (1) is fixedly connected to the rear end cover (7); A second sealing ring (5-2) is provided between the inner wall of the main body housing (1) and the front end cover (2), and a third sealing ring (5-3) is provided between the inner wall of the main body housing (1) and the rear end cover (7); The motor shaft (3) is fixedly connected to the front end cover (2), and the joint motor module (8) is fixed in the inner cavity of the dynamic sealing structure (9).

2. The underwater dynamic sealing structure for the robotic arm joint motor module according to claim 1, wherein One end of the joint motor module (8) is fixedly connected to the motor shaft (3). The end of the motor shaft (3) that is not connected to the joint motor module (8) passes through the front end cover (2) and is fixedly connected, and the other end of the joint motor module (8) is fixedly connected to the rear end cover (7).

3. The underwater dynamic sealing structure for the robotic arm joint motor module according to claim 2, wherein A first sealing ring (5-1) and a fourth sealing ring (5-4) are also provided between the motor shaft (3) and the front end cover (2).

4. The underwater dynamic sealing structure for the robotic arm joint motor module according to claim 3, characterized in that, The sealing rings in sequence from the end close to the front end cover (2) are the first sealing ring (5-1), the fourth sealing ring (5-4), and the second sealing ring (5-2).

5. The underwater dynamic sealing structure for the robotic arm joint motor module according to claim 4, wherein The dynamic sealing structure (9) further includes a sealing fastening nut (4), a fifth sealing ring (5-5), and a sealing silicone rubber (6). One end of the sealing silicone rubber (6) is fixedly connected to the rear end cover (7) through the fifth sealing ring (5-5), and a sealing fastening nut (4) is provided on the other end of the sealing silicone rubber (6).

6. The underwater dynamic sealing structure for the robotic arm joint motor module according to claim 1, wherein The inside of the dynamic sealing structure (9) is filled with insulating sealing silicone grease.

7. The underwater dynamic sealing structure for the robotic arm joint motor module according to claim 1, characterized in that, The outer end faces of the front end cover (2) and the rear end cover (7) are provided with uniformly arranged mounting threaded holes.

8. The underwater dynamic sealing structure for the robotic arm joint motor module according to claim 5, characterized in that, The materials of the main body housing (1), the front end cover (2), the sealing fastening nut (4), and the rear end cover (7) are 6061 aluminum alloy, and the material of the sealing silicone rubber (6) is 704 silicone sealant.

9. The underwater dynamic sealing structure for the robotic arm joint motor module according to claim 2, wherein The material of the motor shaft (3) is 316 stainless steel.

10. The underwater dynamic sealing structure for the robotic arm joint motor module according to claim 5, characterized in that, The materials of the second sealing ring (5-2), the third sealing ring (5-3), the fourth sealing ring (5-4), and the fifth sealing ring (5-5) are nitrile rubber, and the material of the first sealing ring (5-1) is polyurethane.

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