Underwater rotation execution device

Abstract

The utility model relates to an underwater rotation execution device, belonging to the underwater operation equipment technical field, the underwater rotation execution device comprises an actuator and a controller, the actuator comprises a first cabin body, a direct current brushless motor, a rotary transformer, a harmonic reducer and a rotating shaft, the two ends of the first cabin body are respectively connected with a first end cover and a second end cover in a sealing way, the rotary transformer, the direct-current brushless motor, the harmonic reducer and the rotating shaft are sequentially connected and arranged in the first containing cabin, and the controller is electrically connected with the direct-current brushless motor and the rotary transformer. The direct-current brushless motor and the harmonic reducer are matched to realize action output, the rotary transformer is used for directly monitoring the rotating speed, the torque and the like of the motor, and the rotary transformer is connected with the controller, so that the controller can directly acquire rotating data of the motor and is matched with the upper computer to realize feedback control on the action of the motor; therefore, the execution device has high execution precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater operation equipment, and particularly relates to an underwater rotary execution device. BACKGROUND

[0002] At present, with the deepening of people's understanding of nature, the importance of the ocean to human life gradually emerges, and the 21st century is the century of ocean development. The underwater execution device is applied to various underwater operation activities, and is combined with other device operation equipment to perform functions such as moving, clamping, grabbing and lifting.

[0003] There are many types of underwater operation equipment such as ocean observation and detection, and at present, the execution precision and stability of various types of equipment are separately designed. Such repeated design and production increases the cost of equipment manufacturing and use. Therefore, it is necessary to design an underwater rotary execution device with high execution precision and stability that can be used in various underwater operation equipment. CONTENT OF THE UTILITY MODEL

[0004] The utility model at least solves one of the technical problems in the related art to some extent.

[0005] Therefore, the underwater rotary execution device is provided, the actuator is realized by the cooperation of the direct current brushless motor and the harmonic reducer, the rotation speed and torque of the motor are directly monitored by the rotary transformer, the rotary transformer is connected with the controller, the rotation data of the motor can be directly collected by the controller, the feedback control of the motor action is realized by cooperating with the upper computer, so that the execution device has high execution precision. The oil seal technology of insulating silicon oil is used in the actuator to cooperate with the mechanical seal, the sealing effect of the execution device under water can be ensured, the stable execution action can be realized, the oil seal can compensate the leakage of the mechanical seal, so that the number of parts of the mechanical seal structure can be reduced, and the actuator is more reliable. The rotating shaft of the actuator can be combined with various operation devices to perform underwater operation, so that the execution device can be used in various underwater operation equipment.

[0006] To achieve the above object, the utility model provides an underwater rotary execution device, which comprises:

[0007] The actuator comprises:

[0008] The first cabin body is sealed and connected with the first end cover and the second end cover at both ends respectively, and cooperates to form a sealed first containing cabin;

[0009] A direct current brushless motor is fixed in the first accommodating cabin, an output shaft of the direct current brushless motor faces the first end cover, and a tail part of the direct current brushless motor faces the second end cover, an end part where the output shaft of the direct current brushless motor is located is sealed with a cabin wall of the first accommodating cabin, and a sealed oil cavity is located on one side of the tail part of the direct current brushless motor;

[0010] A rotary transformer is connected with the direct current brushless motor, and the rotary transformer is configured to collect a rotation signal of the direct current brushless motor;

[0011] A harmonic reducer is arranged in the first accommodating cabin, an input end of the harmonic reducer is connected with the output shaft of the direct current brushless motor;

[0012] A rotation shaft is arranged in the first accommodating cabin, one end of the rotation shaft is connected with an output end of the harmonic reducer, and the other end of the rotation shaft passes through the first end cover;

[0013] A controller is electrically connected with the direct current brushless motor and the rotary transformer respectively, the controller is configured to receive the rotation signal collected by the rotary transformer, receive a control instruction of an upper computer, and drive the direct current brushless motor to rotate.

[0014] Through the above scheme, the actuator realizes action output through cooperation of the direct current brushless motor and the harmonic reducer, directly monitors the rotation speed and torque of the motor through the rotary transformer, connects the rotary transformer with the controller, so that the controller can directly collect the rotation data of the motor, and realizes feedback control on the action of the motor in cooperation with the upper computer, so that the actuator has high execution precision. The oil seal technology of insulating silicon oil is used in the actuator to cooperate with the mechanical seal, which can ensure the sealing effect of the actuator under water, so that the actuator can stably execute the action, and the oil seal can compensate the leakage of the mechanical seal, so that the number of parts of the mechanical seal structure is reduced, and the actuator is more reliable. The rotation shaft of the actuator can be combined with various working devices to perform underwater work, so that the actuator can be used for various underwater work equipment.

[0015] In some embodiments of the application, an oil injection port and an oil extraction port are arranged on the second end cover, and the oil injection port and the oil extraction port communicate with the sealed oil cavity;

[0016] When the sealed oil cavity is filled with oil, air in the sealed oil cavity is extracted from the oil extraction port, and the oil injection port is filled with oil.

[0017] In the technical scheme, the oil injection port and the oil extraction port are arranged on the end cover of the actuator to communicate with the sealed oil cavity, so that the insulating silicon oil can be filled into the actuator through the oil extraction and injection equipment, the double-port design enables the oil injection and air exhaust to be performed synchronously, and the process of traditional step-by-step operation is simplified.

[0018] In some embodiments of the present application, an oil pipe joint is arranged on the second end cover, and an oil bag is connected to the oil pipe joint through an oil pipe.

[0019] In the technical solution, the sealed oil cavity is communicated with the oil bag through the oil pipe joint arranged on the end cover of the actuator. When it is necessary to supplement the insulating silicone oil, new oil can be injected into the oil bag through the oil pipe joint. The oil bag serves as an oil storage device and can balance the oil pressure inside the actuator, thereby ensuring the stability and reliability of the oil seal of the actuator during underwater operation.

[0020] In some embodiments of the present application, the actuator further comprises:

[0021] A pressure sensor is arranged in the sealed oil cavity, and the pressure sensor is configured to monitor the pressure of the sealed oil cavity.

[0022] In the technical solution, the pressure sensor is arranged in the sealed oil cavity to monitor the pressure value. The pressure information in the sealed oil cavity can be obtained in real time, thereby realizing accurate control of the pressure state inside the actuator. When the pressure in the sealed oil cavity abnormally rises or falls, the pressure sensor can timely issue an alarm to remind the operator to take corresponding measures, thereby avoiding damage to the actuator due to pressure imbalance. This pressure monitoring method not only improves the safety and reliability of the actuator, but also provides a more convenient means for the maintenance and management of the device. Specifically, a groove can be formed on the side of the second end cover facing the sealed oil cavity, the pressure sensor is fixed in the groove, and the pressure sensitive part of the pressure sensor faces the middle DC brushless motor, so that the pressure sensor can monitor the pressure inside the sealed oil cavity during work.

[0023] In some embodiments of the present application, the first end cover comprises:

[0024] A sealing assembly is sleeved on the rotating shaft, the outer periphery of the sealing assembly is sealingly connected with the first cabin body, and the inner ring of the sealing assembly is sealingly connected with the rotating shaft.

[0025] A fixed cover is fixedly connected with the first cabin body, a shaft hole is formed in the middle of the fixed cover, and the other end of the rotating shaft passes through the shaft hole;

[0026] A bearing is arranged in the shaft hole and in interference fit with the outer ring of the shaft hole. The bearing is sleeved on the rotating shaft and fixedly connected with the inner ring of the rotating shaft.

[0027] In the technical scheme, the rotating shaft of the rotating output action is arranged to pass through the first end cover, and the first end cover is combined with the fixed cover and the bearing structure through the designed sealing assembly to reliably seal the rotating shaft when the rotating shaft rotates. Specifically, the sealing assembly is sealingly connected to the rotating shaft and sealingly connected to the first cabin body, so as to seal the first cabin body; the fixed cover is provided with a stepped shaft hole in the middle, the rotating shaft passes through the shaft hole, and the fixed cover is fixedly connected to the first cabin body by using screws, so as to fix the sealing assembly in the first cabin body; the stainless steel bearing is sleeved on the rotating shaft and arranged in the shaft hole, and the stainless steel bearing is in interference fit with the fixed cover, so as to fix the stainless steel bearing and the fixed cover. Moreover, the fixed cover and the sealing assembly have a gap in the axial direction of the rotating shaft, so as to prevent the installation position of the fixed cover from being changed.

[0028] In some embodiments of the present application, the sealing assembly comprises:

[0029] a main sealing member sleeved on the rotating shaft and sealingly connected to the cabin wall of the first accommodating cabin, and a stepped sealing groove hole is arranged in the middle of the main sealing member;

[0030] a hydraulic sealing ring arranged in the sealing groove hole;

[0031] a sealing pressing member sleeved on the rotating shaft;

[0032] The sealing pressing member locks the hydraulic sealing ring and the sealing groove hole, so that the hydraulic sealing ring is in dynamic sealing fit connection with the rotating shaft.

[0033] In the technical scheme, the main sealing member is sleeved on the rotating shaft and sealingly connected to the cabin wall of the first accommodating cabin, forming the first sealing line to ensure the sealing property of the cabin. The hydraulic sealing ring is arranged in the stepped sealing groove hole of the main sealing member, and the sealing pressing member locks the hydraulic sealing ring in the groove hole and realizes the dynamic sealing fit connection with the rotating shaft. This structure design can effectively prevent liquid or gas from leaking from the gap between the rotating shaft and the main sealing member during the rotation of the rotating shaft, ensure the sealing property of the actuator, ensure the reliability of the actuator, and meet the waterproof requirement of underwater operation. The components are arranged in sequence around the rotating shaft, the layout is compact, the space occupied is small, and the miniaturization and lightweight design of the overall structure of the actuator are facilitated. The hydraulic sealing ring is locked by the sealing pressing member in the sealing groove hole. This installation mode can make the hydraulic sealing ring always maintain a stable sealing state during the rotation of the rotating shaft, and the sealing failure caused by factors such as vibration and water pressure change is not easy to occur, so that the stability and reliability of the sealing are improved.

[0034] In some embodiments of the present application, a cover plate is further arranged in the shaft hole, the cover plate is sleeved on the rotating shaft and covers the bearing, and an axle clamp is arranged on one side of the cover plate facing the outside of the shaft hole, and the axle clamp is sleeved on the rotating shaft.

[0035] In the technical scheme, the cover plate is arranged on the rotating shaft and covers the bearing, so that a physical barrier is formed to prevent dust, sand, water and other impurities from the outside from entering the bearing, and the damage of the impurities to the bearing can be effectively reduced, and the reliability and stability of the bearing are improved. The shaft card is arranged on the side of the cover plate facing the outside of the shaft hole, and the shaft card cooperates with the cover plate to axially position the bearing and limit the axial movement of the bearing on the rotating shaft. When the execution device is working, the rotating shaft will bear various axial forces, and the combined structure of the shaft card and the cover plate can ensure the fixed position of the bearing in the axial direction, and ensure the accuracy and stability of the transmission.

[0036] In some embodiments of the present application, the controller comprises:

[0037] The second cabin body has a sealed second containing cabin inside;

[0038] The support plate is fixed in the second containing cabin;

[0039] The control module is arranged on the support plate, and the control module is electrically connected with the brushless DC motor and the rotary transformer;

[0040] The power supply is arranged on the support plate, and the power supply is electrically connected with the control module.

[0041] In the technical scheme, the controller is independently integrated with the actuator through the second cabin body, which can improve the versatility of the execution device; the electrical elements such as the control module and the power supply are concentrated in a sealed cabin body, and are fixed through the support plate, so that the electrical connection is more convenient and reliable, the length and complexity of the connection line can be reduced, the loss and interference in the signal transmission process can be reduced, the accuracy and stability of the signal transmission can be improved, and the control precision and performance of the execution device are ensured. Among them, the power supply is a switching power supply, which converts the external voltage into a voltage suitable for driving the motor, and also supplies power to the control module and the like.

[0042] In some embodiments of the present application, the control module comprises:

[0043] The motor control unit is electrically connected with the brushless DC motor;

[0044] The decoding conversion unit is electrically connected with the rotary transformer and the motor control unit respectively.

[0045] In the technical scheme, the control module mainly comprises a motor control unit and a decoding conversion unit, the motor control unit is a single motor drive and controller, the motor control unit is responsible for the control of the rotating speed and torque of the brushless DC motor, the encoding signal collected by the resolver cannot be directly connected to the motor control unit, the decoding conversion unit is arranged to decode and convert the encoding signal, and then the motor control unit is used for feedback.

[0046] In some embodiments of the application, a second end cover is provided with an actuator waterproof joint, the actuator waterproof joint is electrically connected with the brushless DC motor and the resolver;

[0047] A controller waterproof joint is arranged on the second cabin body, and the controller waterproof joint is electrically connected with the control module;

[0048] The actuator waterproof joint is electrically connected with the controller waterproof joint.

[0049] In the technical scheme, waterproof joints are arranged on the controller and the actuator respectively, internal devices are connected to the waterproof joints, and the control module in the controller is connected with the brushless DC motor and the resolver in the actuator through the waterproof joints.

[0050] Additional aspects and advantages of the present application will be given in part in the following description, and will become apparent from the following description, or will be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 It is a whole structure schematic diagram of the underwater rotating execution device according to the embodiment of the application;

[0052] Figure 2 It is a whole structure schematic diagram of the actuator according to the embodiment of the application;

[0053] Figure 3 It is a structure schematic diagram of the second end cover of the actuator according to the embodiment of the application;

[0054] Figure 4 It is a side structure schematic diagram of the actuator according to the embodiment of the application;

[0055] Figure 5 It is a structure schematic diagram of the section A-A of the actuator according to the embodiment of the application;

[0056] Figure 6 It is a structure schematic diagram of the sealing assembly and rotating shaft of the actuator according to the embodiment of the application;

[0057] Figure 7 It is a three-dimensional structure schematic diagram of the controller according to the embodiment of the application;

[0058] Figure 8 is a side structure schematic diagram of the controller according to the embodiment of the application;

[0059] Figure 9 is a section B-B structure schematic diagram of the controller according to the embodiment of the application.

[0060] In the above figures:

[0061] 100, actuator; 200, controller; 300, oil bag; 400, first cabin body; 500, direct current brushless motor; 600, rotary transformer; 700, harmonic reducer; 800, rotating shaft; 900, pressure sensor;

[0062] 210, second cabin body; 211, second containing cabin; 212, controller waterproof joint; 220, support plate; 230, control module; 231, motor control unit; 232, decoding conversion unit; 240, power supply;

[0063] 410, first end cover; 411, sealing assembly; 412, main sealing element; 413, hydraulic sealing ring; 414, sealing compression element; 415, fixed cover; 416, shaft hole; 417, bearing; 418, shaft clamp; 419, sealing groove hole;

[0064] 420, second end cover; 421, oil injection port; 422, oil extraction port; 423, actuator waterproof joint; 424, oil pipe joint; 425, groove;

[0065] 430, first containing cabin;

[0066] 440, sealed oil cavity. DETAILED DESCRIPTION

[0067] In the description of the present application, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0068] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication or interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0069] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact, or the first and second features can be in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0070] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean 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 present application. In the present application, the illustrative description 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. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0071] In the following, the present application will be specifically described by exemplary embodiments. However, it should be understood that the elements, structures and features in one embodiment can also be beneficially combined into other embodiments without further description.

[0072] In the present application, the underwater rotating execution device comprises an executor and a controller, the executor is connected to a specific underwater working device for outputting action; the controller is connected to the upper computer and the executor, and receives and feeds back signals to the upper computer, and controls the action of the executor according to the corresponding control signal.

[0073] In the following, the embodiments of the present application will be described in detail with reference to the drawings.

[0074] As shown in the accompanying Figures 1 to 9As shown in an illustrative embodiment of the underwater rotating actuator of the present invention, the underwater rotating actuator includes an actuator 100 and a controller 200.

[0075] like Figure 5 As shown, the actuator 100 includes a first chamber 400, a brushless DC motor 500, a rotary transformer 600, a harmonic reducer 700, and a rotating shaft 800. The two ends of the first chamber 400 are respectively sealed with a first end cover 410 and a second end cover 420, thereby forming a sealed first receiving chamber 430. The brushless DC motor 500, the rotary transformer 600, the harmonic reducer 700, and the rotating shaft 800 are disposed in the first receiving chamber 430.

[0076] Specifically, the output shaft of the brushless DC motor 500 faces the first end cover 410, and its tail faces the second end cover 420. The end containing the output shaft of the brushless DC motor 500 is sealed to the wall of the first receiving chamber 430. A sealing oil chamber 440 is located on one side of the tail of the brushless DC motor 500, and is filled with insulating silicone oil. A high-precision rotary transformer 600 is directly installed at the tail of the brushless DC motor 500. The rotary transformer 600 is used to collect the rotation signal of the brushless DC motor 500. The input end of the harmonic reducer 700 is connected to the output shaft of the brushless DC motor 500. One end of the rotating shaft 800 is connected to the output end of the harmonic reducer 700, and the other end protrudes from the first end cover 410. The controller 200 is electrically connected to the brushless DC motor 500 and the rotary transformer 600, respectively, and is used to receive the rotation signal collected by the rotary transformer 600 and to receive control commands from the host computer to drive the brushless DC motor 500 to rotate.

[0077] Through the above scheme, the actuator 100 achieves action output through the cooperation of a DC brushless motor 500 and a harmonic reducer 700. A rotary transformer 600 directly monitors the motor's speed and torque, and connects the rotary transformer 600 to the controller 200, allowing the controller 200 to directly acquire the motor's rotation data and cooperate with a host computer to achieve feedback control of the motor's action, thus enabling the actuator to have high execution accuracy. The actuator 100 uses insulating silicone oil sealing technology in conjunction with a mechanical seal, ensuring a good underwater sealing effect and stable operation. The oil seal also compensates for mechanical seal leakage, reducing the number of parts in the mechanical seal structure and making the actuator 100 more reliable. The actuator 100's rotating shaft 800 can be combined with various working devices for underwater operations, therefore the actuator is compatible with various underwater work equipment.

[0078] In some embodiments, the first compartment 400 is cylindrical, and a flange is provided inside the first compartment 400. The DC brushless motor 500 and the harmonic reducer 700 are fixed to the flange in the first receiving compartment 430 by M5 screws.

[0079] In some embodiments, the rotating shaft 800 and the harmonic reducer 700 are connected by an M4 screw clearance fit.

[0080] In some embodiments, such as Figure 3 as well as Figure 4 As shown, the second end cap 420 is provided with an oil inlet 421 and an oil outlet 422, which are connected to the sealed oil chamber 440. When oil is filled into the sealed oil chamber 440, the air in the sealed oil chamber 440 is extracted through the oil outlet 422, and oil is filled into the oil inlet 421. By providing an oil inlet 421 and an oil outlet 422 on the end cap of the actuator 100 to connect to the sealed oil chamber 440, it is convenient to fill the actuator 100 with insulating silicone oil through an oil injection and extraction device. The dual-port design allows oil injection and venting to be carried out simultaneously, simplifying the traditional step-by-step operation process.

[0081] Specifically, the actuator 100 also includes an oil injection passage and an oil extraction passage. The oil injection passage is used to inject insulating silicone oil into the sealing oil cavity 440 of the actuator 100, and the oil extraction passage is used to evacuate the sealing oil cavity 440 to assist in oil filling.

[0082] The oil filling passage can be composed of a plunger pump, a flow meter, an angle valve, and an oil filling port 421. The plunger pump draws insulating silicone oil from the barrel, passes it through the angle valve and the flow meter, and enters the oil filling port 421. The flow meter is used to display the real-time flow rate, and the angle valve can control the oil inlet speed.

[0083] The oil extraction passage can consist of a vacuum pump, a check valve, a filter, an oil-gas separator, an angle valve, and an oil extraction port 422.

[0084] During the oil filling process of the sealed oil chamber 440 of actuator 100: At the start of oil filling, air is extracted from the oil extraction port 422. As oil filling proceeds through the oil filling passage, oil and gas begin to mix, requiring separation using an oil-gas separator. Excess insulating silicone oil flows into the waste oil tank, while the remaining air flows through the filter and one-way valve, finally being discharged at the vacuum pump end. To ensure optimal oil filling effect, oil filling and extraction should only be stopped when no more air is extracted from the oil extraction port 422. After the underwater rotary actuator 100 has been left to stand for 24 hours, this process should be repeated three to four times until no more air is extracted from the oil extraction port 422.

[0085] In some embodiments, such as Figure 2As shown, the second end cover 420 is provided with an oil pipe joint 424, and the oil tank 300 is connected to the oil pipe joint 424 through an oil pipe. When it is necessary to supplement the insulating silicon oil, new oil can be injected into the oil tank 300 through the oil pipe joint 424. The oil tank 300 serves as an oil storage device and can balance the oil pressure inside the actuator 100, thereby ensuring the stability and reliability of the oil seal of the actuator 100 during underwater operation.

[0086] In some embodiments, the actuator 100 further comprises a pressure sensor 900. The pressure sensor 900 is arranged in the sealed oil cavity 440 and is configured to monitor the pressure of the sealed oil cavity 440. The pressure sensor 900 monitors the pressure value in real time and can obtain the pressure information in the sealed oil cavity 440, thereby achieving accurate control of the pressure state inside the actuator 100. This pressure monitoring method improves the safety and reliability of the actuator 100.

[0087] In some embodiments, a groove 425 can be formed on the side of the second end cover 420 facing the sealed oil cavity 440. The pressure sensor 900 is fixed in the groove 425, and the pressure sensitive part thereof faces the middle DC brushless motor 500, so that it can monitor the pressure inside the sealed oil cavity 440 during operation.

[0088] In some embodiments, as shown in Figure 5 The first end cover 410 comprises a sealing assembly 411, a fixed cover 415 and a bearing 417. The sealing assembly 411 is sleeved on the rotating shaft 800, the outer periphery of the sealing assembly 411 is sealingly connected with the first cabin body 400, and the inner ring of the sealing assembly 411 is sealingly connected with the rotating shaft 800. The fixed cover 415 is fixedly connected with the first cabin body 400, and the middle part of the fixed cover 415 is provided with a shaft hole 416, and the other end of the rotating shaft 800 passes out of the shaft hole 416. The bearing 417 is arranged in the shaft hole 416 and is in interference fit with the outer ring of the shaft hole 416. The bearing 417 is sleeved on the rotating shaft 800 and is fixedly connected with the inner ring of the rotating shaft 800.

[0089] In the technical solution, the rotating shaft 800 of the rotary output action passes out of the first end cover 410, and the first end cover 410 can be reliably sealed when the rotating shaft 800 rotates by designing the sealing assembly 411 in combination with the fixed cover 415 and the bearing 417 structure.

[0090] Specifically, the sealing assembly 411 is sealingly connected to the rotating shaft 800 and sealingly connected to the first cabin 400, thereby sealing the first cabin 400. The fixed cover 415 has a stepped shaft hole 416 in the middle, the rotating shaft 800 passes through the shaft hole 416, and the fixed cover 415 is fixedly connected to the first cabin 400 by using screws, thereby fixing the sealing assembly 411 in the first cabin 400. The stainless steel bearing 417 is sleeved on the rotating shaft 800 and placed in the shaft hole 416, and the stainless steel bearing 417 is in interference fit with the fixed cover 415, thereby fixing the stainless steel bearing 417 with the fixed cover 415. Moreover, the fixed cover 415 and the sealing assembly 411 have a gap in the axial direction of the rotating shaft 800, thereby preventing the installation position of the fixed cover 415 from changing.

[0091] In some embodiments, as shown in FIG. 4, the sealing assembly 411 includes a main sealing element 412, a hydraulic sealing ring 413, and a sealing compression element 414. Figure 6 The main sealing element 412 is sleeved on the rotating shaft 800 and sealingly connected to the cabin wall of the first containing cabin 430, and the middle part of the main sealing element 412 is provided with a stepped sealing groove hole 419. The hydraulic sealing ring 413 is arranged in the sealing groove hole 419, and the sealing compression element 414 is sleeved on the rotating shaft 800. The sealing compression element 414 locks the hydraulic sealing ring 413 in the sealing groove hole 419, so that the hydraulic sealing ring 413 is sealingly connected to the rotating shaft 800.

[0092] The main sealing element 412 is sleeved on the rotating shaft 800 and sealingly connected to the cabin wall of the first containing cabin 430, thereby forming the first sealing line and ensuring the sealing of the cabin. The hydraulic sealing ring 413 is arranged in the stepped sealing groove hole 419 of the main sealing element 412, and the sealing compression element 414 locks the hydraulic sealing ring 413 in the sealing groove hole 419 and sealingly connects the hydraulic sealing ring 413 to the rotating shaft 800. This structure design can effectively prevent liquid or gas from leaking from the gap between the rotating shaft 800 and the main sealing element 412 during the rotation of the rotating shaft 800, ensure the sealing of the actuator 100, ensure the reliability of the actuator 100, and meet the waterproof requirements of underwater operation. The components are arranged in sequence around the rotating shaft 800, and the layout is compact. While achieving good sealing function, the space occupied is small, which is conducive to the miniaturization and lightweight design of the overall structure of the actuator 100. The hydraulic sealing ring 413 is locked in the sealing groove hole 419 by the sealing compression element 414, thereby improving the stability and reliability of the sealing.

[0093] Preferably, the hydraulic sealing ring 413 is a Yxd type sealing element, and a polytetrafluoroethylene gasket is arranged between the hydraulic sealing ring 413 and the sealing compression element 414.

[0094] In some embodiments, a cover plate is further provided in the shaft hole 416. The cover plate is sleeved on the rotating shaft 800 and covers the bearing 417. A shaft retainer 418 is provided on the side of the cover plate facing the outside of the shaft hole 416, and the shaft retainer 418 is sleeved on the rotating shaft 800. The cover plate sleeved on the rotating shaft 800 and covering the bearing 417 can form a physical barrier. The shaft retainer 418 is provided on the side of the cover plate facing the outside of the shaft hole 416. The shaft retainer 418 cooperates with the cover plate to axially position the bearing 417 and restrict the axial movement of the bearing 417 on the rotating shaft 800.

[0095] In some embodiments, such as Figures 7 to 9 As shown, the controller 200 includes a second chamber 210, a support plate 220, a control module 230, and a power supply 240. The second chamber 210 has a sealed second receiving chamber 211 inside, and the support plate 220 is fixed within the second receiving chamber 211. The control module 230 is mounted on the support plate 220 and is electrically connected to the DC brushless motor 500 and the rotary transformer 600. The power supply 240 is mounted on the support plate 220 and is electrically connected to the control module 230. The controller 200 concentrates these electrical components, such as the control module 230 and the power supply 240, within a sealed chamber and fixes them using the support plate 220, making electrical connections more convenient and reliable, and reducing the length and complexity of the wiring.

[0096] Among them, the power supply 240 is a switching power supply 240, which converts the external voltage into a voltage suitable for driving the motor, and at the same time supplies power to the control module 230 and other components.

[0097] In some embodiments, the control module 230 includes a motor control unit 231 and a decoding and conversion unit 232. The motor control unit 231 is electrically connected to the brushless DC motor 500, and the decoding and conversion unit 232 is electrically connected to the rotary transformer 600 and the motor control unit 231, respectively.

[0098] Among them, the motor control unit 231 is a single-machine drive and controller 200. The motor control unit 231 is responsible for controlling the speed and torque of the DC brushless motor 500. The encoded signal collected by the rotary transformer 600 and input to the controller 200 cannot be directly connected to the motor control unit 231. After the encoded signal is decoded and converted by the decoding and conversion unit 232, it is used by the motor control unit 231 for feedback.

[0099] In some embodiments, the second end cover 420 is provided with an actuator waterproof joint 423, and the actuator waterproof joint 423 is electrically connected with the brushless DC motor 500 and the rotary transformer 600. The second cabin body 210 is provided with a controller waterproof joint 212, and the controller waterproof joint 212 is electrically connected with the control module 230. The actuator waterproof joint 423 is electrically connected with the controller waterproof joint 212. The controller 200 and the actuator 100 are respectively provided with waterproof joints, and the internal devices are connected to the waterproof joints, and then the control module 230 in the controller 200 and the brushless DC motor 500 and the rotary transformer 600 in the actuator 100 are connected through the waterproof joints.

[0100] Although the embodiments of the utility model have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the utility model, and the ordinary skilled in the art can change, modify, replace and transform the above-mentioned embodiments within the scope of the utility model.

Claims

1. An underwater rotary actuator, characterized by, The actuator comprises: A first cabin body, the two ends of which are respectively sealed and connected with a first end cover and a second end cover, and cooperates to form a sealed first containing cabin; A direct current brushless motor fixed in the first containing cabin, the output shaft of the direct current brushless motor faces the first end cover, and the tail part faces the second end cover, the end part where the output shaft of the direct current brushless motor is located is sealed with the cabin wall of the first containing cabin, and the side of the tail part of the direct current brushless motor is a sealed oil cavity; A rotary transformer connected with the direct current brushless motor, the rotary transformer is configured to collect the rotation signal of the direct current brushless motor; A harmonic reducer arranged in the first containing cabin, the input end of the harmonic reducer is connected with the output shaft of the direct current brushless motor; A rotating shaft arranged in the first containing cabin, one end of the rotating shaft is connected with the output end of the harmonic reducer, and the other end penetrates out of the first end cover; A controller electrically connected with the direct current brushless motor and the rotary transformer respectively, the controller is configured to receive the rotation signal collected by the rotary transformer and receive the control instruction of the upper computer and drive the direct current brushless motor to rotate. An oil injection port and an oil extraction port are arranged on the second end cover, and the oil injection port and the oil extraction port communicate with the sealed oil cavity; 2. The underwater rotary actuator according to claim 1, wherein When the sealed oil cavity is filled with oil, the air in the sealed oil cavity is extracted from the oil extraction port, and the oil injection port is filled with oil. An oil pipe joint is arranged on the second end cover, and an oil bag is connected with the oil pipe joint through an oil pipe.

3. The underwater rotary actuator of claim 1, wherein, The actuator further comprises:

4. The underwater rotary actuator of claim 1, wherein, A pressure sensor arranged in the sealed oil cavity, the pressure sensor is configured to monitor the pressure of the sealed oil cavity. The first end cover comprises:

5. The underwater rotary actuator of claim 1, wherein, A sealing assembly sleeved on the rotating shaft, the outer periphery of the sealing assembly is sealingly connected with the first cabin body, and the inner ring of the sealing assembly is sealingly connected with the rotating shaft; A fixed cover fixedly connected with the first cabin body, a shaft hole is formed in the middle part of the fixed cover, and the other end of the rotating shaft penetrates out of the shaft hole; A bearing arranged in the shaft hole and in interference fit with the outer ring of the shaft hole, the bearing is sleeved on the rotating shaft and in fixed connection with the inner ring of the rotating shaft. The sealing assembly comprises:

6. The underwater rotary actuator of claim 5, wherein, A main sealing piece sleeved on the rotating shaft and in sealing connection with the cabin wall of the first containing cabin in the outer peripheral surface, a stepped sealing groove hole is arranged in the middle part of the main sealing piece; A hydraulic sealing ring arranged in the sealing groove hole; A sealing compression piece sleeved on the rotating shaft; The sealing compression piece locks the hydraulic sealing ring and the sealing groove hole, so that the hydraulic sealing ring is in dynamic sealing fit connection with the rotating shaft. A cover plate is further arranged in the shaft hole, the cover plate is sleeved on the rotating shaft and covers the bearing, and a shaft clamp is arranged on the side of the cover plate facing the outside of the shaft hole, and the shaft clamp is sleeved on the rotating shaft.

7. The underwater rotary actuator of claim 6, wherein, The controller comprises:

8. The underwater rotary actuator of claim 1, wherein, A second cabin body with a sealed second containing cabin inside; A support plate fixed in the second containing cabin; ​ A control module is arranged on the support plate, and the control module is electrically connected with the brushless DC motor and the rotary transformer; A power supply is arranged on the support plate, and the power supply is electrically connected with the control module.

9. The underwater rotary actuator of claim 8, wherein, The control module comprises: A motor control unit is electrically connected with the brushless DC motor; A decoding conversion unit is electrically connected with the rotary transformer and the motor control unit respectively.

10. The underwater rotary actuator of claim 8, wherein, A waterproof connector for the actuator is arranged on the second end cover, and the waterproof connector for the actuator is electrically connected with the brushless DC motor and the rotary transformer; A waterproof connector for the controller is arranged on the second cabin body, and the waterproof connector for the controller is electrically connected with the control module; The waterproof connector for the actuator is electrically connected with the waterproof connector for the controller.

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