Brushless motor for underwater robots

Abstract

The utility model relates to a brushless motor for underwater robot has casing, casing has the front end and rear end, the rear end opening of casing is provided, still is equipped with the apron, the inside integral injection molding of casing is equipped with stator sleeve, forms stator installation space between stator sleeve and the casing of machine shell, the inside rotation of stator sleeve is equipped with rotor assembly, and rotor assembly includes the pivot and rotor assembly, the first bearing is fixed and is equipped with on the front end of casing, the second bearing is fixed and is equipped with on the apron, the front end of casing is equipped with through -hole, and the both ends of pivot form cooperation with first bearing and second bearing respectively, the air gap is formed between rotor assembly and stator sleeve, and the communication part is passed through and is equipped with on the apron, and the communication part sets up corresponding second bearing, and the communication part, second pivot, air gap, first pivot and through -hole form waterway channel, the utility model can take away the heat in the motor inside underwater, and heat dissipation is carried out fast, avoids motor overheating, ensures motor stable operation.

Description

Technical Field

[0001] This utility model relates to a brushless motor for underwater robots. Background Technology

[0002] Underwater robots, also known as unmanned remotely operated vehicles (ROVs), are robots designed for extreme underwater operations. Given the harsh and dangerous underwater environment and the limited diving depth of humans, underwater robots have become crucial tools for ocean exploration. There are two main types of ROVs: tethered ROVs and unmanned ROVs. Tethered ROVs are further divided into three types: self-propelled, towed, and capable of crawling on seabed structures.

[0003] When an underwater robot moves or maintains its balance in the water, it needs to use a motor to drive the propellers to move or maintain its balance. Underwater robots often move or maintain their balance in the water for extended periods of time, during which the motors will work for a long time. After working for a long time, the motors will generate a lot of heat inside, and the underwater environment cannot cool the motors, which will cause the motors to overheat and stop, thus limiting the usability of the underwater robot. Summary of the Invention

[0004] The purpose of this invention is to provide a brushless motor for underwater robots that can dissipate internal heat underwater, ensuring stable operation.

[0005] The technical solution to achieve the purpose of this utility model is as follows: This utility model has a shell; the shell has a front end and a rear end, the rear end of the shell is open, and a cover plate that can be inserted and fixed with the rear end of the shell is also provided; a stator sleeve is concentrically arranged inside the shell and extends along the extension direction of the shell, and a stator mounting space is formed between the stator sleeve and the shell, and a stator assembly is installed in the stator mounting space; one end of the stator sleeve and the front end of the shell are integrally injection molded, and the other end of the stator sleeve extends toward the cover plate; a rotor assembly is rotatably arranged inside the stator sleeve, and the rotor assembly includes a rotating shaft and a component fixedly arranged in the middle of the rotating shaft. The rotor assembly has a first bearing fixedly mounted on the front end of the housing and a second bearing fixedly mounted on the cover plate. The front end of the housing has a through hole for the shaft to pass through. One end of the shaft is fixedly connected to the second bearing, and the other end of the shaft is fixedly connected to the first bearing and extends out of the through hole. The shaft is rotatably mounted inside the stator sleeve through the first and second bearings. An air gap is formed between the rotor assembly and the stator sleeve. The cover plate has multiple connecting parts that connect the inner wall of the housing to the outside. The connecting parts are arranged corresponding to the second bearing. The connecting parts, the second shaft, the air gap, the first shaft, and the through hole form a water channel for water to flow through.

[0006] Furthermore, the cover plate has a boss fixedly provided on one side facing the inside of the housing. The boss has a groove for the second bearing to be inserted into the groove. The second bearing is fixedly installed in the groove, and the groove is connected to the outside through a connecting part. The boss can form a plug-in fit with the end of the stator sleeve extending towards the cover plate. The stator sleeve and the cover plate are sealed together by the plug-in fit between the boss and the end of the stator sleeve extending towards the cover plate.

[0007] Furthermore, the rotor assembly includes a central mounting block, an iron core, and a rotor sleeve. The central mounting block is fixedly sleeved on the rotating shaft. The iron core and the central mounting block are located inside the rotor sleeve. Multiple mounting slots are distributed circumferentially around the axis of the central mounting block on the outer wall of the central mounting block. Multiple iron cores are provided corresponding to the mounting slots. Each iron core is set in a one-to-one correspondence with multiple mounting slots. Each iron core is set in a mounting slot. One end of the iron core acts on the rotor sleeve, and the other end of the iron core acts on the mounting slot. One end of the iron core that acts on the rotor sleeve protrudes into the mounting groove. A first sealing gap is formed between the portions of two adjacent iron cores that protrude from the mounting groove, allowing plastic to pass through. The two ends of the rotor sleeve extend to the two ends of the central mounting block, and a sealing space is formed between the inner walls of the two ends of the rotor sleeve and the two ends of the central mounting block, allowing plastic to be filled inside. The sealing space is sealed by plastic. The central mounting block, iron core, and rotor sleeve are sealed and fixed on the rotating shaft by plastic. The air gap is formed between the rotor sleeve and the stator sleeve.

[0008] Furthermore, both the first and second rotating shafts have an inner ring, an outer ring, and multiple balls. The inner wall of the outer ring and the outer wall of the inner ring are provided with grooves for each ball to roll within. The inner and outer rings are mutually rotated and engaged through the balls. Symmetrically fixed baffles extending towards the outer ring are provided on the outer wall of the inner ring, and each ball is located between the symmetrically arranged baffles. The inner wall of the outer ring is provided with a clearance groove for avoiding the end of the baffle extending towards the outer ring. The end of the baffle extending towards the outer ring extends into the clearance groove but does not contact the bottom of the clearance groove. The clearance groove forms a water flow channel under the action of the baffles.

[0009] Furthermore, the connecting part includes three elongated holes that can connect the slots to the outside. Each elongated hole is evenly arranged on the cover plate with the axis of the cover plate as the center. One end of each elongated hole extends toward the axis of the cover plate, and the other end of each elongated hole extends toward the edge of the cover plate.

[0010] Furthermore, multiple positioning blocks are fixedly provided on the inner wall of the housing, and each positioning block is evenly distributed circumferentially around the axis of the housing. One end of each positioning block is positioned towards the front end of the housing, and the other end is positioned towards the rear end of the housing. The front end of the positioning block is provided with a support platform for supporting the stator assembly, and the rear end of the positioning block is provided with a guide arc surface for guiding the stator assembly. One end of the support platform is fixedly mounted on the positioning block, and the other end of the support platform extends horizontally towards the axis of the housing. The lower end of the guide arc surface extends towards the support platform, and the upper end of the guide arc surface extends towards the inner wall of the stator sleeve. One end of the stator assembly, which is fitted into the stator installation space, is positioned towards the front end of the housing, and the other end of the stator assembly is positioned towards the rear end of the housing. The front end of the stator assembly is guided by the guide arc surface to form contact with the support platform. The stator assembly is positioned and fitted within the stator installation space by the action of the support platform and the positioning blocks.

[0011] Furthermore, the stator assembly includes a stator block, winding posts, and a circuit board. The stator block is disposed within the stator mounting space, with one end of the stator block facing the front end of the housing and the other end facing the rear end of the housing. Multiple winding posts are provided, evenly arranged along the contour of the inner wall of the stator block. One end of each winding post is fixed to the stator block, and the other end faces the stator sleeve. A coil is wound on each winding post. The circuit board is disposed on the stator block at the rear end facing the housing, and is electrically connected to the stator block. A cable electrically connected to the circuit board is also provided. The cover plate has a wire hole for the cable to pass through, and the cable e passes through the wire hole and is fixedly disposed within it.

[0012] Furthermore, a second sealing gap is provided between the outer wall of the circuit board and the inner wall of the housing, allowing plastic to pass through; a third sealing gap is provided between the positioning block and the inner wall of the housing, allowing plastic to pass through; the second sealing gap and the third sealing gap are connected; a fourth sealing gap is provided between two adjacent winding pillars, allowing plastic to pass through; the stator assembly passes through the stator mounting space, the second sealing gap, the third sealing gap and the fourth sealing gap through the plastic, and then forms a sealed fixation in the stator mounting space.

[0013] Furthermore, a plurality of positioning rods are fixedly provided on one end of the stator block facing the rear end of the housing, which are evenly arranged along the contour direction of the stator block. The circuit board is provided with a plurality of positioning holes corresponding to each positioning rod. The plurality of positioning rods can be connected to a plurality of positioning rods in a one-to-one manner to form a plug-in positioning fit. The circuit board is set on the stator block through the plug-in positioning fit of the positioning rods and positioning holes. A connecting post is fixedly provided on the circuit board. One end of the connecting post is fixedly connected to the circuit board and is electrically connected to the circuit board. The other end of the connecting post is electrically connected to a cable.

[0014] Furthermore, multiple extension plates are fixedly provided on the cover plate. Each extension plate is evenly distributed around the axis of the cover plate on the side wall of the cover plate. Multiple threaded cylinders corresponding to the extension plates are fixedly provided on the outer wall of the shell. The threaded cylinders extend along the extension direction of the shell. One end of the threaded cylinder is set towards the rear end of the shell, and the other end of the threaded cylinder is set towards the front end of the shell. The end of the threaded cylinder facing the rear end of the shell is provided with a threaded hole and a bolt that can form a threaded engagement with the threaded hole. The extension plates are provided with corresponding holes through which the bolts can pass and form a corresponding threaded hole. The cover plate is fixedly set on the rear end of the shell through the correspondence between each extension plate and each threaded cylinder and the threaded engagement between the bolts passing through the corresponding holes and the threaded holes.

[0015] The present invention has the following positive effects: (1) One end of the stator sleeve and the front end of the housing are integrally injection molded. The other end of the stator sleeve extends toward the cover plate. The rotor assembly includes a rotating shaft and a rotor assembly fixedly disposed in the middle of the rotating shaft. The two ends of the rotating shaft are respectively rotatably disposed at the front end of the housing and the cover plate through the first bearing and the second bearing. An air gap is formed between the rotor assembly and the stator sleeve. The cover plate is provided with multiple connecting parts that connect the inner wall of the housing to the outside. The connecting parts are provided corresponding to the second bearing. The connecting parts, the second rotating shaft, the air gap, the first rotating shaft and the through hole form a water channel through which water can flow. After the water flows through the air hole, it passes through the second bearing. After the water flows through the second bearing, it flows into the stator sleeve. The water in the stator sleeve flows toward the first bearing under the guidance of the air gap. Finally, the water flows out through the through hole. When the water flows in the air gap and the stator sleeve, it carries away the heat of the rotor assembly, quickly dissipates heat, avoids the motor from overheating, and ensures the stable operation of the motor.

[0016] (2) The boss of this utility model can be inserted into the end of the stator sleeve extending toward the cover plate. The stator sleeve and the cover plate are sealed together by the insertion of the boss and the end of the stator sleeve extending toward the cover plate. The sealed connection between the stator sleeve and the boss can prevent water from entering the stator installation space between the stator sleeve and the inner wall of the housing, thereby preventing water from converging in the stator installation space and affecting the use of the motor.

[0017] (3) The rotor assembly of this utility model includes a central mounting block, an iron core, and a rotor sleeve. The central mounting block is fixedly sleeved on the rotating shaft. The iron core and the central mounting block are located inside the rotor sleeve. There are multiple mounting grooves on the outer wall of the central mounting block. The iron core is provided with multiple mounting grooves corresponding to the mounting grooves. Each iron core is set in a corresponding manner with the multiple mounting grooves. Each iron core is set in a corresponding mounting groove. One end of the iron core acts on the rotor sleeve, and the other end of the iron core acts on the mounting groove. The two ends of the rotor sleeve extend out of the two ends of the central mounting block. The inner walls of the two ends of the rotor sleeve and the two ends of the central mounting block form a sealed space that can be filled with plastic. The sealed space is sealed by plastic. The central mounting block, the iron core, and the rotor sleeve are sealed and fixed on the rotating shaft by plastic. The rotor sleeve can block the mud and sand in the water flow passing through the air gap, thereby avoiding the mud and sand from impacting and wearing the plastic for a long time. The rotor sleeve protects the central mounting block and the iron core.

[0018] (4) The first and second rotating shafts of this utility model each have an inner ring, an outer ring, and multiple balls. The inner wall of the outer ring and the outer wall of the inner ring are provided with grooves for each ball to roll in. The inner and outer rings are mutually rotated and fitted by the balls. The outer wall of the inner ring is symmetrically fixed with baffles extending toward the outer ring. Each ball is located between the symmetrically arranged baffles. The inner wall of the outer ring is provided with a relief groove for avoiding the end of the baffle extending toward the outer ring. The end of the baffle extending toward the outer ring extends into the relief groove and does not contact the bottom of the relief groove. The relief groove forms a water flow channel under the action of the baffle. The baffle can block the mud and sand in the water flow when the water flows through the first or second bearing, preventing more mud and sand from entering the groove and affecting the rolling of each ball, thereby ensuring the normal use of the first or second bearing. At the same time, the water flow channel can lengthen the path of the water flow, thereby reducing the impact of the water flow on the first or second bearing and ensuring the stability of the first and second bearings during use.

[0019] (5) Multiple positioning blocks are fixedly provided on the inner wall of the housing of this utility model. Each positioning block is evenly distributed around the axis of the housing. One end of the positioning block is set towards the front end of the housing, and the other end of the positioning block is set towards the rear end of the housing. A support platform for supporting the stator assembly is provided on the end of the positioning block facing the front end of the housing, and a guide arc surface for guiding the stator assembly is provided on the end of the positioning block facing the rear end of the housing. The end of the stator assembly facing the front end of the housing is in contact with the support platform under the guidance of the guide arc surface. The stator assembly is positioned and clamped in the stator installation space under the action of the support platform and the positioning blocks. The guide arc surface can guide the stator assembly during installation, making it easier for the stator assembly to enter the stator installation space more smoothly. The outer wall of the stator assembly can be squeezed by the positioning block under the guidance of the guide arc surface, thereby ensuring that the stator assembly will not shake in the stator installation space. At the same time, the support platform can support the stator assembly and prevent the stator assembly from colliding with the housing during installation.

[0020] (6) A second sealing gap is provided between the outer wall of the circuit board and the inner wall of the housing, and a third sealing gap is provided between the positioning block and the inner wall of the housing. The second sealing gap and the third sealing gap are connected. A fourth sealing gap is provided between two adjacent winding columns. The stator assembly passes through the stator installation space, the second sealing gap, the third sealing gap and the fourth sealing gap with plastic and forms a sealed fixation in the stator installation space. The stator assembly is fixed in the stator installation space with plastic. Due to the setting of the second sealing gap, the third sealing gap and the fourth sealing gap, the customized assembly can be filled with plastic after being placed in the stator installation space. It is not necessary to seal and fix it outside first and then install it into the stator installation space. This simplifies the plastic potting process and eliminates the complicated potting tooling.

[0021] (7) The rotor sleeve of this utility model extends to the two ends of the central mounting block. The inner walls of the two ends of the rotor sleeve and the two ends of the central mounting block form a sealed space that can be filled with plastic. The sealed space is sealed by plastic. The central mounting block, iron core and rotor sleeve are sealed and fixed on the rotating shaft by plastic. When the rotor assembly is filled with plastic, only the sealed space formed at the two ends of the central mounting block needs to be filled, which simplifies the rotor filling process and makes it more convenient.

[0022] (8) The cover plate of this utility model is fixedly provided with multiple extension plates, and multiple threaded cylinders corresponding to the extension plates are fixedly provided on the outer wall of the shell. The threaded cylinders are provided with threaded holes at one end facing the rear end of the shell, and bolts are also provided. The extension plates are provided with corresponding holes. The cover plate is fixedly provided on the rear end of the shell by the correspondence between each extension plate and each threaded cylinder and the threaded engagement between the bolts passing through the corresponding holes and the threaded holes. The bolts are used to reinforce and fix the cover plate after it is inserted into the rear end of the shell, so as to prevent the cover plate from detaching from the rear end of the shell. Attached Figure Description

[0023] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein... Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a top view of the present invention; Figure 3 This is a side sectional view of the present invention; Figure 4 This is a schematic diagram of the exploded structure of this utility model; Figure 5 This is a schematic diagram of the shell structure of this utility model; Figure 6 for Figure 3 Enlarged view of part A in the middle; Figure 7 for Figure 4 Enlarged view of part B in the middle; Figure 8 This is a side sectional view of the present invention after plastic injection molding.

[0024] In the diagram, housing: 1, first bearing: 11, second bearing: 12, through hole: 13, threaded cylinder: 14, cover plate: 2, connecting part: 21, boss: 22, slot: 221, extension plate: 23, corresponding hole: 231, stator sleeve: 3, air gap: 31, stator mounting space: 4, stator assembly: 5, stator block: 51, positioning rod: 511, winding column: 52, circuit board: 53, positioning hole: 531, rotor Components: 6, Shaft: 61, Rotor assembly: 62, Center mounting block: 621, Iron core: 622, Rotor sleeve: 623, Inner ring: 7, Baffle: 71, Outer ring: 8, Clearance groove: 81, Ball bearing: 9, Positioning block: 10, Support platform: 101, Guide arc surface: 102, First sealing gap: a, Second sealing gap: b, Third sealing gap: c, Fourth sealing gap: d, Cable: e, Bolt: f. Detailed Implementation

[0025] See Figures 1 to 8This utility model includes a housing 1; the housing 1 has a front end and a rear end, the rear end of the housing 1 is open, and a cover plate 2 is provided that can be inserted and fixed with the rear end of the housing 1. A stator sleeve 3 is concentrically arranged inside the housing 1 and extends along the extension direction of the housing 1. A stator mounting space 4 is formed between the stator sleeve 3 and the housing 1, and a stator assembly 5 is installed in the stator mounting space 4. One end of the stator sleeve 3 is integrally injection molded with the front end of the housing 1, and the other end of the stator sleeve 3 extends toward the cover plate 2. A rotor assembly 6 is rotatably arranged inside the stator sleeve 3. The rotor assembly 6 includes a rotating shaft 61 and a rotor assembly 62 fixedly arranged in the middle of the rotating shaft 61. A first bearing 11 is fixedly arranged on the front end of the housing 1, and a second bearing 12 is fixedly arranged on the cover plate 2. A through hole 13 is provided at the front end of the housing 1 for the rotating shaft 61 to pass through. One end of the rotating shaft 61 is fixed to the second bearing 12. The other end of the rotating shaft 61 is fixedly connected to the first bearing 11 and extends through the through hole 13. The rotating shaft 61 is rotatably disposed inside the stator sleeve 3 through the first bearing 11 and the second bearing 12. An air gap 31 is formed between the rotor assembly 62 and the stator sleeve 3. The cover plate 2 is provided with multiple connecting parts 21 that connect the inner wall of the housing 1 to the outside. The connecting parts 21 are provided corresponding to the second bearing 12. The connecting parts 21, the second rotating shaft 61, the air gap 31, the first rotating shaft 61 and the through hole 13 form a water passage for water to flow through. After passing through the air hole, the water flows through the second bearing 12 and then into the stator sleeve 3. Under the guidance of the air gap 31, the water in the stator sleeve 3 flows towards the first bearing 11. Finally, the water flows out through the through hole 13. The water carries away the heat of the rotor assembly 6 as it flows through the air gap 31 and the stator sleeve 3, quickly dissipating heat and preventing the motor from overheating.

[0026] The cover plate 2 has a boss 22 fixedly mounted on one side facing the inside of the housing 1. The boss 22 has a slot 221 for the second bearing 12 to be inserted into it. The second bearing 12 is fixedly mounted in the slot 221. The slot 221 is connected to the outside through a connecting part 21. The boss 22 can be inserted into the end of the stator sleeve 3 extending towards the cover plate 2. The stator sleeve 3 and the cover plate 2 are sealed together by the insertion of the boss 22 into the end of the stator sleeve 3 extending towards the cover plate 2. The sealed connection between the stator sleeve 3 and the boss 22 can prevent water from entering the stator mounting space 4 between the stator sleeve 3 and the inner wall of the housing 1, thereby preventing water from converging in the stator mounting space 4 and affecting the use of the motor.

[0027] The rotor assembly 62 includes a central mounting block 621, an iron core 622, and a rotor sleeve 623. The central mounting block 621 is fixedly sleeved on the rotating shaft 61. The iron core 622 and the central mounting block 621 are located inside the rotor sleeve 623. Multiple mounting slots are distributed circumferentially around the axis of the central mounting block 621 on the outer wall of the central mounting block 621. Multiple iron cores 622 are provided corresponding to the mounting slots. Each iron core 622 is set one-to-one with multiple mounting slots. Each iron core 622 is respectively set in the mounting slot. One end of the iron core 622 acts on the rotor sleeve 623, and the other end of the iron core 622 acts on the mounting slot. One end of the iron core 622 that acts on the rotor sleeve 623 protrudes into the mounting groove. A first sealing gap a is formed between the portions of two adjacent iron cores 622 that protrude from the mounting groove, allowing plastic to pass through. The two ends of the rotor sleeve 623 extend from the two ends of the central mounting block 621, respectively. A sealed space is formed between the inner walls of the two ends of the rotor sleeve 623 and the two ends of the central mounting block 621, allowing plastic to be filled inside. The sealed space is sealed by plastic. The central mounting block 621, the iron core 622, and the rotor sleeve 623 are sealed and fixed on the rotating shaft 61 by plastic. The air gap 31 is formed between the rotor sleeve 623 and the stator sleeve 3. The rotor sleeve 623 can block the mud and sand in the water flowing through the air gap 31, thereby preventing the mud and sand from impacting and wearing the plastic for a long time. The rotor sleeve 623 protects the central mounting block 621 and the iron core 622.

[0028] Both sides of the aforementioned center mounting block 621 can form a sealed space under the action of the rotor sleeve 623. The sealed space formed under the action of the rotor sleeve 623 can help the center mounting block 621 and the iron core 622 to be sealed with plastic more quickly and efficiently.

[0029] The aforementioned center mounting block 621 can also be integrally formed with the inner wall of the rotor sleeve 623. In this case, there is no first sealing gap a between two adjacent wire cores installed in the mounting groove. When the sealing space is filled with plastic injection molding, the sealing spaces on both sides of the center mounting block 621 are filled with plastic. After the plastic in the sealing spaces on both sides of the center mounting block 621, the plastic wraps around the rotating shaft 61 to protect the rotating shaft 61 from water erosion. At the same time, the plastic assists in fixing the first bearing 11 and the second bearing 12 along the extension direction of the rotating shaft 61 to prevent the first bearing 11 and the second bearing 12 from shaking and falling off.

[0030] See Figure 8The rotor sleeve 623 can protect the outer diameter between the rotor assemblies 62. The rotor sleeve 623 can effectively prevent plastic from overflowing. At the same time, when the plastic is injected into the rotor sleeve 623, the rotor sleeve 623 can prevent air holes on the surface of the plastic after the plastic is injected into the rotor assembly 62. The rotor sleeve 623 can also maintain the consistency of the air gap and ensure the stability of the rotating shaft 61 when it rotates.

[0031] After the plastic passes through the first sealing gap a, it can protect and fix the iron core 622, preventing the risk of the iron core 622 being thrown out due to inertia.

[0032] Both the first and second rotating shafts 61 have an inner ring 7, an outer ring 8, and multiple balls 9. The inner wall of the outer ring 8 and the outer wall of the inner ring 7 are provided with grooves allowing each ball 9 to roll within them. The inner ring 7 and the outer ring 8 are mutually rotated through the balls 9. Symmetrically fixed baffles 71 extending towards the outer ring 8 are provided on the outer wall of the inner ring 7, with each ball 9 located between the symmetrically arranged baffles 71. The inner wall of the outer ring 8 is provided with a clearance groove 81 for avoiding the end of the baffles 71 extending towards the outer ring 8, with the end of the baffles 71 extending towards the outer ring 8 reaching the clearance groove 81. The ball bearing 1 is not in contact with the bottom of the clearance groove 81. The clearance groove 81 forms a water flow channel under the action of the baffle 71. The baffle 71 can block the mud and sand in the water flow when the water flows through the first bearing 11 or the second bearing 12, so as to prevent more mud and sand from entering the groove and affecting the rolling of each ball 9, thereby ensuring the normal use of the first bearing 11 or the second bearing 12. At the same time, the water flow channel can lengthen the path of the water flow, thereby reducing the impact of the water flow on the first bearing 11 or the second bearing 12, and ensuring the stability of the first bearing 11 and the second bearing 12 during use.

[0033] The connecting part 21 includes three elongated holes that can connect the slots 221 to the outside. Each elongated hole is evenly arranged on the cover plate 2 with the axis of the cover plate 2 as the center. One end of each elongated hole extends toward the axis of the cover plate 2, and the other end of each elongated hole extends toward the edge of the cover plate 2.

[0034] Multiple positioning blocks 10 are fixedly provided on the inner wall of the housing 1, and each positioning block 10 is evenly distributed circumferentially around the axis of the housing 1. One end of each positioning block 10 is positioned towards the front end of the housing 1, and the other end of each positioning block 10 is positioned towards the rear end of the housing 1. A support platform 101 for supporting the stator assembly 5 is provided on the front end of the positioning block 10, and a guide arc surface 102 for guiding the stator assembly 5 is provided on the rear end of the positioning block 10. One end of the support platform 101 is fixedly mounted on the positioning block 10, and the other end of the support platform 101 extends horizontally towards the axis of the housing 1. The lower end of the guide arc surface 102 extends towards the support platform 101. The upper end of 2 extends toward the inner wall of the stator sleeve 3; one end of the stator assembly 5, which is fitted in the stator mounting space 4, is set toward the front end of the housing 1, and the other end of the stator assembly 5 is set toward the rear end of the housing 1. The end of the stator assembly 5 facing the front end of the housing 1 is guided by the guide arc surface 102 to form contact with the support platform 101. The stator assembly 5 is positioned and fitted in the stator mounting space 4 by the support platform 101 and the positioning block 10. The outer wall of the stator assembly 5 can be squeezed by the positioning block 10 under the guidance of the guide arc surface 102, thereby ensuring that the stator assembly 5 will not shake in the stator mounting space 4. At the same time, the support platform 101 can support the stator assembly 5 to avoid collision between the stator assembly 5 and the housing 1 during installation.

[0035] The stator assembly 5 includes a stator block 51, winding posts 52, and a circuit board 53. The stator block 51 is disposed within the stator mounting space 4, with one end of the stator block 51 facing the front end of the housing 1 and the other end facing the rear end of the housing 1. Multiple winding posts 52 are provided, and each winding post 52 is evenly arranged along the contour direction of the inner wall of the stator block 51. One end of each winding post 52 is fixedly disposed on the stator block 51, and the other end of each winding post 52 faces the stator sleeve 3. A coil is wound on each winding post 52. The circuit board 53 is disposed on the end of the stator block 51 facing the rear end of the housing 1. The circuit board 53 is electrically connected to the stator block 51 and also includes a cable e electrically connected to the circuit board 53. The cover plate 2 has a wire hole for the cable e to pass through, and the cable e is fixedly disposed in the wire hole after passing through the wire hole.

[0036] When the stator assembly 5 is installed in the stator mounting space 4, the stator block 51 will be guided by the guide arc surface 102, and the outer wall of the stator block 51 will come into contact with the positioning block 10.

[0037] A second sealing gap b is provided between the outer wall of the circuit board 53 and the inner wall of the housing 1, allowing plastic to pass through. A third sealing gap c is provided between the positioning block 10 and the inner wall of the housing 1, allowing plastic to pass through. The second sealing gap b and the third sealing gap c are connected. A fourth sealing gap d is provided between two adjacent winding pillars 52, allowing plastic to pass through. The stator assembly 5 passes through the stator mounting space 4, the second sealing gap b, the third sealing gap c, and the fourth sealing gap d with plastic and then forms a sealed fixation in the stator mounting space 4. The stator assembly 5 is fixed in the stator mounting space 4 with plastic. Due to the setting of the second sealing gap b, the third sealing gap c, and the fourth sealing gap d, the customized assembly can be filled with plastic after being placed in the stator mounting space 4, without the need to first seal and fix it externally before installing it into the stator mounting space 4, simplifying the plastic potting process and eliminating complex potting fixtures.

[0038] A plurality of positioning rods 511 are fixedly provided on one end of the stator block 51 facing the rear end of the housing 1, which are evenly arranged along the contour direction of the stator block 51. A plurality of positioning holes 531 are provided on the circuit board 53 corresponding to each positioning rod 511. The plurality of positioning rods 511 can be connected to a plurality of positioning holes 531 in a one-to-one manner. The circuit board 53 is set on the stator block 51 through the connection and positioning of the positioning rods 511 and the positioning holes 531. A connecting post is fixedly provided on the circuit board 53. One end of the connecting post is fixedly connected to the circuit board 53 and is electrically connected to the circuit board 53. The other end of the connecting post is electrically connected to the cable e.

[0039] Multiple extension plates 23 are fixedly provided on the cover plate 2. Each extension plate 23 is evenly distributed around the axis of the cover plate 2 on the side wall of the cover plate 2. Multiple threaded cylinders 14 are fixedly provided on the outer wall of the housing 1, corresponding one-to-one with the extension plates 23. The threaded cylinders 14 extend along the extension direction of the housing 1. One end of the threaded cylinder 14 is set towards the rear end of the housing 1, and the other end of the threaded cylinder 14 is set towards the front end of the housing 1. The end of the threaded cylinder 14 facing the rear end of the housing 1 is provided with a threaded hole and a bolt f that can form a threaded engagement with the threaded hole. The extension plates 23 are provided with corresponding holes 231 through which the bolt f can pass and form a corresponding threaded hole. The cover plate 2 is fixedly provided on the rear end of the housing 1 through the correspondence between each extension plate 23 and each threaded cylinder 14 and the threaded engagement between the bolt f after passing through the corresponding hole 231 and the threaded hole.

[0040] The working principle of this utility model is as follows: The stator block 51 is placed in the stator mounting space 4. Under the guidance of the guide arc surface 102, the stator block 51 moves toward the support platform 101, and the outer wall of the stator block 51 contacts the positioning block 10. The positioning block 10 forms a positioning clamp under the action of each positioning block 10. Then, the circuit board 53 is set on the stator block 51 through the positioning hole 531 and the positioning rod 511. The circuit board 53 is electrically connected to the cable e through the connecting post on the circuit board 53. By filling the stator mounting space 4 with plastic, the plastic passes through the second sealing gap b, the third sealing gap c and the fourth sealing gap d to fix the stator block 51 and the circuit board 53 in the stator mounting space 4, thus completing the installation and fixing of the stator assembly 5. Then, plastic is filled into the sealed space between the stator block 51 and the rotor sleeve 623 to seal the center mounting block 621 and the iron core 622 inside. Then, one end of the rotating shaft 61 is installed inside the first bearing 11. The center mounting block 621, the iron core 622 and the rotor sleeve 623 are located inside the stator sleeve 3. The inner ring 7 of the second bearing 12 on the cover plate 2 is fitted onto the other end of the rotating shaft 61. The cover plate 2 and the rear end of the housing 1 form an insertion fit. Then, the cover plate 2 is fixed on the rear end of the housing 1 through the corresponding extension plates 23 and the threaded cylinders 14, and the bolts f pass through the corresponding holes 231 and are threaded into the threaded holes. At this time, the rotating shaft 61 is rotatably installed inside the housing 1. Water enters through the through hole 13 at the front end of the housing 1, then enters the position of the ball bearing 9 through the water channel on one side of the first rotating shaft 61. The water then enters the stator sleeve 3 through the water channel on the other side of the first rotating shaft 61. The water then enters the air gap 31 in the stator sleeve 3. As the water flows in the air gap 31, it carries away the temperature inside the stator sleeve 3. After that, the water enters the position of the ball bearing 9 through the water channel on one side of the second rotating shaft 61, and then enters the slot 221 through the water channel on the other side of the second rotating shaft 61. The water in the slot 221 then flows out through the elongated hole.

[0041] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above descriptions are merely specific embodiments of this utility model and are not intended to limit this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A brushless motor for an underwater robot, comprising a housing (1); characterized in that: The housing (1) has a front end and a rear end. The rear end of the housing (1) is open and is provided with a cover plate (2) that can be inserted and fixed with the rear end of the housing (1). A stator sleeve (3) is concentrically arranged inside the housing (1) and extends along the extension direction of the housing (1). A stator mounting space (4) is formed between the stator sleeve (3) and the housing (1) of the machine casing. A stator assembly (5) is installed in the stator mounting space (4). One end of the stator sleeve (3) is integrally injection molded with the front end of the housing (1). The other end of the stator sleeve (3) extends toward the cover plate (2). A rotor assembly (6) is rotatably arranged inside the stator sleeve (3). The rotor assembly (6) includes a rotating shaft (61) and a rotor assembly (62) fixedly arranged in the middle of the rotating shaft (61). A first bearing (11) is fixedly arranged on the front end of the housing (1). The cover plate (2) The housing (1) is fixedly provided with a second bearing (12), and the front end of the housing (1) is provided with a through hole (13) through which the rotating shaft (61) can pass. One end of the rotating shaft (61) is fixedly connected to the second bearing (12), and the other end of the rotating shaft (61) is fixedly connected to the first bearing (11) and extends out through the through hole (13). The rotating shaft (61) is rotatably disposed inside the stator sleeve (3) through the first bearing (11) and the second bearing (12). An air gap (31) is formed between the rotor assembly (62) and the stator sleeve (3). The cover plate (2) is provided with multiple connecting parts (21) that connect the inner wall of the housing (1) to the outside. The connecting parts (21) are provided corresponding to the second bearing (12). The connecting parts (21), the second rotating shaft (61), the air gap (31), the first rotating shaft (61) and the through hole (13) form a water channel through which water can flow.

2. The brushless motor for an underwater robot according to claim 1, characterized in that: The cover plate (2) is provided with a boss (22) fixed on one side facing the inside of the housing (1). The boss (22) is provided with a slot (221) for the second bearing (12) to be inserted into it. The second bearing (12) is fixedly installed in the slot (221). The slot (221) is connected to the outside through the connecting part (21). The boss (22) can be inserted into the end of the stator sleeve (3) extending towards the cover plate (2). The stator sleeve (3) and the cover plate (2) are sealed together by the insertion of the boss (22) into the end of the stator sleeve (3) extending towards the cover plate (2).

3. The brushless motor for an underwater robot according to claim 1, characterized in that: The rotor assembly (62) includes a central mounting block (621), an iron core (622), and a rotor sleeve (623). The central mounting block (621) is fixedly sleeved on the rotating shaft (61). The iron core (622) and the central mounting block (621) are located inside the rotor sleeve (623). Multiple mounting slots are distributed around the axis of the central mounting block (621) on the outer wall of the central mounting block (621). Multiple iron cores (622) are provided corresponding to the mounting slots. Each iron core (622) is set in a one-to-one correspondence with multiple mounting slots. Each iron core (622) is set in a corresponding mounting slot. One end of the iron core (622) acts on the rotor sleeve (623), and the other end of the iron core (622) acts on the mounting slot. One end of the iron core (622) acting on the rotor sleeve (623) protrudes from the mounting groove. A first sealing gap (a) is formed between the parts of two adjacent iron cores (622) that protrude from the mounting groove, allowing plastic to pass through. The two ends of the rotor sleeve (623) extend from the two ends of the central mounting block (621). A sealing space is formed between the inner walls of the two ends of the rotor sleeve (623) and the two ends of the central mounting block (621), allowing plastic to be filled in. The sealing space is sealed by plastic. The central mounting block (621), iron core (622), and rotor sleeve (623) are sealed and fixed on the rotating shaft (61) by plastic. The air gap (31) is formed between the rotor sleeve (623) and the stator sleeve (3).

4. A brushless motor for an underwater robot according to claim 1, characterized in that: The first rotating shaft (61) and the second rotating shaft (61) each have an inner ring (7), an outer ring (8) and a plurality of balls (9). The inner wall of the outer ring (8) and the outer wall of the inner ring (7) are provided with grooves in which each ball (9) can roll. The inner ring (7) and the outer ring (8) are mutually rotated and engaged by the balls (9). The outer wall of the inner ring (7) is symmetrically fixed with baffles (71) extending toward the outer ring (8). Each ball (9) is located between the symmetrically arranged baffles (71). The inner wall of the outer ring (8) is provided with a relief groove (81) for avoiding the end of the baffle (71) extending toward the outer ring (8). The end of the baffle (71) extending toward the outer ring (8) extends into the relief groove (81) and does not contact the bottom of the relief groove (81). The relief groove (81) forms a water flow channel under the action of the baffle (71).

5. A brushless motor for an underwater robot according to claim 2, characterized in that: The connecting part (21) includes three slots (221) that can connect to the outside and elongated holes. Each elongated hole is evenly arranged on the cover plate (2) with the axis of the cover plate (2) as the center. One end of each elongated hole extends toward the axis of the cover plate (2), and the other end of each elongated hole extends toward the edge of the cover plate (2).

6. A brushless motor for an underwater robot according to claim 1, characterized in that: Multiple positioning blocks (10) are fixedly provided on the inner wall of the housing (1), and each positioning block (10) is evenly distributed around the axis of the housing (1). One end of the positioning block (10) is set towards the front end of the housing (1), and the other end of the positioning block (10) is set towards the rear end of the housing (1). The end of the positioning block (10) facing the front end of the housing (1) is provided with a support platform (101) for supporting the stator assembly (5), and the end of the positioning block (10) facing the rear end of the housing (1) is provided with a guide arc surface (102) for guiding the stator assembly (5). One end of the support platform (101) is fixedly set on the positioning block (10), and the support platform (101) The other end extends horizontally toward the axis of the housing (1); the lower end of the guide arc surface (102) extends toward the support platform (101), and the upper end of the guide arc surface (102) extends toward the inner wall of the stator sleeve (3); one end of the stator assembly (5) fitted in the stator installation space (4) is set toward the front end of the housing (1), and the other end of the stator assembly (5) is set toward the rear end of the housing (1). The end of the stator assembly (5) facing the front end of the housing (1) forms contact with the support platform (101) under the guidance of the guide arc surface (102). The stator assembly (5) forms a positioning and clamping in the stator installation space (4) under the action of the support platform (101) and the positioning block (10).

7. A brushless motor for an underwater robot according to claim 1, characterized in that: The stator assembly (5) includes a stator block (51), winding posts (52), and a circuit board (53). The stator block (51) is disposed in the stator mounting space (4), with one end of the stator block (51) facing the front end of the housing (1) and the other end of the stator block (51) facing the rear end of the housing (1). Multiple winding posts (52) are provided, and each winding post (52) is evenly arranged along the contour direction of the inner wall of the stator block (51). One end of each winding post (52) is fixedly disposed on the stator. On block (51), the other end of each winding post (52) is set towards the stator sleeve (3), and each winding post (52) is wound with a coil; the circuit board (53) is set on one end of the stator block (51) facing the rear end of the housing (1), the circuit board (53) is electrically connected to the stator block (51), and a cable (e) electrically connected to the circuit board (53) is also provided. The cover plate (2) is provided with a wire hole for the cable (e) to pass through, and the cable (e) is fixedly set in the wire hole after passing through the wire hole.

8. A brushless motor for an underwater robot according to claim 7, characterized in that: A second sealing gap (b) is provided between the outer wall of the circuit board (53) and the inner wall of the housing (1) for plastic to pass through. A third sealing gap (c) is provided between the positioning block (10) and the inner wall of the housing (1) for plastic to pass through. The second sealing gap (b) and the third sealing gap (c) are connected. A fourth sealing gap (d) is provided between two adjacent winding pillars (52) for plastic to pass through. The stator assembly (5) passes through the stator mounting space (4), the second sealing gap (b), the third sealing gap (c) and the fourth sealing gap (d) and forms a sealed fixation in the stator mounting space (4) after passing through the stator mounting space (4) with plastic.

9. A brushless motor for an underwater robot according to claim 7, characterized in that: The stator block (51) is fixedly provided with a plurality of positioning rods (511) evenly arranged along the contour direction of the stator block (51) at one end facing the rear end of the housing (1). The circuit board (53) is provided with a plurality of positioning holes (531) corresponding to each positioning rod (511). The plurality of positioning rods (511) can be connected to a plurality of positioning rods in a one-to-one manner to form a plug-in positioning fit. The circuit board (53) is set on the stator block (51) through the plug-in positioning fit of the positioning rods (511) and the positioning holes (531). The circuit board (53) is fixedly provided with a connecting post. One end of the connecting post is fixedly connected to the circuit board (53) and electrically connected to the circuit board (53). The other end of the connecting post is electrically connected to the cable (e).

10. A brushless motor for an underwater robot according to claim 1, characterized in that: Multiple extension plates (23) are fixedly provided on the cover plate (2). Each extension plate (23) is evenly distributed on the side wall of the cover plate (2) with the axis of the cover plate (2) as the center. Multiple threaded cylinders (14) corresponding to the extension plates (23) are fixedly provided on the outer wall of the shell (1). The threaded cylinders (14) extend along the extension direction of the shell (1). One end of the threaded cylinder (14) is set towards the rear end of the shell (1), and the other end of the threaded cylinder (14) is set towards the front end of the shell (1). The end of the threaded cylinder (14) facing the rear end of the shell (1) is provided with a threaded hole and a bolt (f) that can form a threaded fit with the threaded hole is also provided. The extension plate (23) is provided with a corresponding hole (231) through which the bolt (f) can pass and form a corresponding fit with the threaded hole. The cover plate (2) is fixedly provided on the rear end of the shell (1) through the correspondence between each extension plate (23) and each threaded cylinder (14) and the threaded fit between the bolt (f) and the threaded hole after passing through the corresponding hole (231).

Images