An underwater telescopic mechanism

Abstract

This utility model relates to an underwater operating machine, specifically an underwater telescopic mechanism. The underwater telescopic mechanism includes a sealed housing assembly, a transmission assembly, a guide assembly, a watertight motor, and a telescopic rod driven by the watertight motor. The sealed housing assembly includes a cylindrical body, with the telescopic rod and the watertight motor respectively located at both ends of the cylindrical body, and the watertight motor fixed to the cylindrical body. The end of the cylindrical body away from the watertight motor has an internally hollow cavity structure, within which the telescopic rod is movably disposed. A front cover is fixed to the end of the cylindrical body away from the watertight motor, and a front cover seal is fixed to the front cover. A second sealing ring is provided at the end of the front cover near the watertight motor. This underwater telescopic mechanism has excellent sealing performance, innovatively transferring the most easily failed rotary dynamic seal to the static seal between the external motor and the sealed housing assembly. Its reliability is far superior to the former rotary dynamic seal, completely eliminating the risk of leakage from core components.

Description

Technical Field

[0001] This utility model relates to an underwater operation machine, specifically an underwater telescopic mechanism. Background Technology

[0002] In underwater operations and the field of underwater robots (ROV / AUV), it is often necessary to achieve linear telescopic motion of mechanisms underwater, such as for pushing objects or extending and retracting detection components. Existing underwater telescopic mechanisms typically employ the following methods:

[0003] ① Traditional electric cylinder sealing solution; This solution essentially attempts to waterproof a standard electric cylinder designed for terrestrial environments by adding a seal. This is a low-cost approach, but its reliability is extremely poor. Electric actuators designed for terrestrial environments do not consider corrosion resistance and pressure resistance, making them highly susceptible to seal failure and seawater intrusion, causing rapid corrosion and damage to internal mechanisms (bearings, lead screws). For example, patent CN216872970U. ② Integral sealed motor drive solution; This solution seals all components, including the servo motor and lead screw, within a pressure-resistant cavity. Its advantage is the ability to use standard inland components. However, it has significant disadvantages: First, the entire device is bulky and heavy, making it unsuitable for installation on space-constrained underwater robots; second, the heat generated by the motor operating within the sealed cavity is difficult to dissipate, potentially leading to excessively high internal temperatures, affecting the lifespan and reliability of electronic components, and even posing safety hazards; third, if any internal component fails, the entire sealed cavity must be opened for repair, making maintenance inconvenient and costly, as illustrated by patent CN119864981A. ③ Hydraulic / pneumatic drive; extension and retraction are achieved using hydraulic or pneumatic cylinders. The disadvantage is that this type of drive requires a hydraulic / pneumatic pump station on shore (or on the workboat), and there is a pipeline system between the pump station and the underwater robot, posing a risk of oil leakage and water pollution. Furthermore, hydraulic or pneumatic cylinders typically only reach two positions, extended or retracted, unlike electric cylinders which can reach multiple different positions as needed. (See patent CN210423238U). To address this, the inventors have developed an underwater telescopic mechanism. Utility Model Content

[0004] The purpose of this utility model is to provide an underwater telescopic mechanism with a simple structure, reasonable design, and excellent sealing performance. It innovatively transfers the most vulnerable rotary dynamic seal to the static seal of the external motor and sealing housing assembly. The mechanism body only has a static seal and a linear sliding seal, which is far more reliable than the rotary dynamic seal in the prior art. It completely eliminates the risk of leakage of core components. It uses a high-precision lead screw to ensure accurate transmission, and a high-resolution, high-precision servo motor to ensure precise drive. The servo motor can provide real-time feedback on whether the actual number of rotations of the motor shaft matches the number of rotations required by the controller. This solves the problems mentioned in the above technical background.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an underwater telescopic mechanism, comprising a sealed housing assembly, a transmission assembly, a guide assembly, a watertight motor, and a telescopic rod driven by the watertight motor. A hoof is fixed at the end of the telescopic rod away from the watertight motor. The sealed housing assembly includes a cylindrical body, with the telescopic rod and the watertight motor respectively disposed at both ends of the cylindrical body, and the watertight motor fixed to the cylindrical body. The end of the cylindrical body away from the watertight motor has an internally hollow cavity structure, in which the telescopic rod is movably disposed. A front cover is fixed at the end of the cylindrical body away from the watertight motor, and a front cover seal is fixed on the front cover. A second sealing ring is provided at the end of the front cover near the watertight motor. A sealing element is provided at one end of the watertight motor. The telescopic rod passes through the cylinder body from the inside to the outside and passes through the front cover and the sealing element. The front cover presses the second sealing ring into the cylinder cavity to form a static seal. The linear movement of the sealing element and the telescopic rod forms a dynamic seal. A first sealing ring is provided outside the push rod nut in the cylinder cavity to form a dynamic seal at the position of the push rod nut and the cam bearing. The transmission component is connected to the telescopic rod and moves synchronously with the telescopic rod. The transmission component includes a lead screw connected to the output end of the watertight motor. The end of the lead screw away from the watertight motor is connected to the push rod nut. The push rod nut is installed on the cam bearing. When the lead screw rotates, it will drive the push rod nut to move linearly. A lead screw fixing nut is installed on the lead screw.

[0006] Preferably, the watertight motor is fastened to one end of the cylinder by bolts, and the mating surface of the watertight motor is provided with an O-ring seal, which forms a static seal for the watertight motor.

[0007] Preferably, a bearing is installed at one end of the lead screw, and a step is provided on the right side of the inner ring of the bearing. After the lead screw fixing nut is tightened, the bearing will be clamped to the inner ring by the lead screw and the lead screw fixing nut. Since the outer rings on both sides of the bearing are provided with steps to constrain them axially, the lead screw is also constrained in the axial direction.

[0008] Preferably, a guide groove is provided in the cavity of the cylinder body, and the cam bearing is adapted to the guide groove. The guide groove allows the cam bearing to perform linear motion, thereby causing the push rod nut to perform linear motion instead of rotating with the lead screw.

[0009] Preferably, the telescopic rod and the push rod nut are interference-fitted, so that the push rod nut will drive the telescopic rod to move linearly. The cam bearing, guide sleeve spacer, short copper guide sleeve and outer guide sleeve are all installed in the cavity of the cylinder.

[0010] Preferably, the guide assembly guides the telescopic rod, and the guide assembly includes a cam bearing and a guide sleeve spacer located on one side of the cam bearing. The cam bearing is installed at the end of the lead screw away from the watertight motor. A short copper guide sleeve and an outer guide sleeve located on one side of the short copper guide sleeve are provided at the end of the guide sleeve spacer away from the cam bearing. Both the short copper guide sleeve and the outer guide sleeve are sleeved on the telescopic rod.

[0011] Preferably, a sensor assembly is provided inside the cylinder body. The sensor assembly includes a sensor, which is located inside the cavity of the cylinder body and fixed to a C-shaped anti-rotation groove cover. The C-shaped anti-rotation groove cover is fixed in the circumferential direction of the cylinder body. The sensor can be sealed inside the cavity of the cylinder body by the C-shaped anti-rotation groove cover. The sensor, together with the watertight motor, can achieve precise closed-loop position control.

[0012] Preferably, a first cylinder seat and a second cylinder seat are installed on the cylinder body, wherein the first cylinder seat and the second cylinder seat are symmetrically arranged at both ends of the cylinder body.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] 1. This utility model provides an underwater telescopic mechanism, which includes a sealed housing assembly, a transmission assembly, a guide assembly, a watertight motor, and a telescopic rod driven by the watertight motor. The overall structure is simple and reasonably designed. A second sealing ring is provided at the end of the front cover near the watertight motor, and a sealing element is provided at the end of the front cover near the watertight motor. The telescopic rod passes through the cylinder body from the inside to the outside and passes through the front cover and the sealing element. The front cover presses the second sealing ring into the cylinder cavity to form a static seal. The linear movement of the sealing element and the telescopic rod forms a dynamic seal. A first sealing ring is provided on the outside of the push rod nut in the cylinder cavity to form a dynamic seal at the position of the push rod nut and the cam bearing. Therefore, this utility model has excellent sealing performance. It innovatively transfers the most easily failed "rotational dynamic seal" to the "static seal" between the external motor and the sealed housing assembly. The mechanism body only has "static seal" and "linear sliding seal", which is far more reliable than the former "rotational dynamic seal" and completely eliminates the risk of leakage of core components.

[0015] 2. This utility model has high telescopic accuracy. It directly uses a servo motor to drive a lead screw to convert rotary motion into linear motion. The high-precision lead screw ensures accurate transmission, and the high-resolution, high-precision servo motor ensures precise drive. The servo motor can provide real-time feedback on whether the actual number of rotations of the motor shaft matches the number of rotations required by the controller.

[0016] 3. This utility model achieves precise control of multiple positions. It has a built-in non-contact sensor and, together with a servo motor, can achieve precise closed-loop position control. Attached Figure Description

[0017] Figure 1 This is a cross-sectional view of the present invention.

[0018] Figure 2 This is a cross-sectional view of one end of the present invention.

[0019] Figure 3 This is a cross-sectional view of the other end of the present invention.

[0020] Figure 4 This is a schematic diagram of the internal structure of the cylinder body located at the C-shaped anti-rotation groove cover of this utility model.

[0021] Figure 5 This is a structural diagram of the present utility model.

[0022] The reference numerals and names in the figure are as follows:

[0023] 1. Cylinder body; 2. First cylinder body seat; 3. Second cylinder body seat; 6. C-type anti-rotation groove cover; 7. Front cover; 8. Front cover seal; 10. Telescopic rod; 11. Push rod nut; 12. Horseshoe head; 13. Cam bearing; 14. Guide sleeve spacer; 15. Short copper guide sleeve; 16. Outer guide sleeve; 17. Lead screw; 18. Lead screw fixing nut; 19. Bearing; 23. Sensor; 24. Watertight motor; 26. First sealing ring; 27. Second sealing ring; 28. Seal. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] In the description of the embodiments of this utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the embodiments of this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this utility model, "multiple" means two or more, unless otherwise explicitly specified.

[0026] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.

[0027] Please see Figure 1This utility model provides an embodiment of an underwater telescopic mechanism, which includes a sealed housing assembly, a transmission assembly, a guide assembly, a watertight motor 24, and a telescopic rod 10 driven by the watertight motor 24. A hoof 12 is fixed to the end of the telescopic rod 10 away from the watertight motor 24. The sealed housing assembly includes a cylindrical body 1, with the telescopic rod 10 and the watertight motor 24 respectively disposed at both ends of the cylindrical body 1, and the watertight motor 24 fixed to the cylindrical body 1. The end of the cylindrical body 1 away from the watertight motor 24 has an internally hollow cavity structure, in which the telescopic rod 10 is movably disposed. The watertight motor 24 is fastened to one end of the cylindrical body 1 by bolts. In this embodiment, an O-ring is provided on the mating surface of the watertight motor 24, and the O-ring seals the watertight motor. 24 forms a static seal. Here, the original problem of solving the dynamic seal of the motor output shaft rotation is optimized to solve the static seal problem during motor installation, which greatly improves the reliability of the sealing effect. At the same time, the watertight motor 24 is directly externally installed, without the need to design a separate sealing cavity to seal the watertight motor 24, which greatly improves the heat dissipation effect of the watertight motor 24 and simplifies the structure of the entire telescopic mechanism. The watertight motor 24 adopts a high-resolution, high-precision servo geared motor, so the rotation of the servo motor can be controlled by software, and then transmitted to the transmission component, ultimately driving the telescopic rod 10 to the required position. The guide component guides the telescopic rod 10, and the guide component includes a cam bearing 13 and a guide sleeve spacer 14 located on one side of the cam bearing 13.

[0028] Please see Figure 2 The transmission assembly is connected to the telescopic rod 10 and moves synchronously with it. The transmission assembly includes a lead screw 17 connected to the output end of a watertight motor 24 (a servo motor). A push rod nut 11 is connected to the end of the lead screw 17 furthest from the watertight motor 24. When the lead screw 17 rotates, it drives the push rod nut 11 to move linearly. The push rod nut 11 is mounted on a cam bearing 13. A guide groove is provided inside the cavity of the cylinder body 1, and the cam bearing 13 is adapted to this guide groove. This guide groove allows the cam bearing 13 to... The linear motion causes the push rod nut 11 to move linearly instead of rotating with the lead screw 17. A lead screw fixing nut 18 is installed on the lead screw 17, and a bearing 19 is assembled at one end of the lead screw 17. A step is provided on the right side of the inner ring of the bearing 19. After the lead screw fixing nut 18 is locked, the inner ring of the bearing 19 will be clamped by the lead screw 17 and the lead screw fixing nut 18. Since the outer rings on both sides of the bearing 19 are provided with steps to constrain its axial direction, the lead screw 17 is also constrained in the axial direction.

[0029] Please see Figure 3A front cover 7 is fixed to the end of the cylinder body 1 away from the watertight motor 24, and a front cover cap 8 is fixed to the front cover 7. A cam bearing 13 is installed on the end of the lead screw 17 away from the watertight motor 24. A short copper guide sleeve 15 and an outer guide sleeve 16 located on one side of the short copper guide sleeve 15 are provided at the end of the guide sleeve spacer 14 away from the cam bearing 13. Both the short copper guide sleeve 15 and the outer guide sleeve 16 are sleeved on the telescopic rod 10. In addition, the telescopic rod 10 is interference-fitted with the push rod nut 11, so that the push rod nut 11 will drive the telescopic rod 10 to perform linear motion. The rotational motion is converted into linear motion by using a servo motor to drive the lead screw 17. The high-precision lead screw 17 is used to make the transmission accurate. The high-resolution, high-precision servo motor is used to make the drive precise. The servo motor can provide real-time feedback on whether the actual number of rotations of the motor shaft matches the number of rotations required by the controller. The cam bearing 13, the guide sleeve spacer 14, the short copper guide sleeve 15 and the outer guide sleeve 16 are all installed in the cavity of the cylinder body 1.

[0030] Please refer to it again. Figure 3 A second sealing ring 27 is provided at the end of the front cover 7 near the watertight motor 24, and a sealing element 28 is provided at the end of the front cover 8 near the watertight motor 24. The telescopic rod 10 passes through the cylinder 1 from the inside to the outside and passes through the front cover 8 and the sealing element 28. The front cover 7 presses the second sealing ring 27 into the cavity of the cylinder 1 to form a static seal. The linear movement of the sealing element 28 and the telescopic rod 10 forms a dynamic seal. A first sealing ring 26 is provided in the cavity of the cylinder 1 on the outside of the push rod nut 11 to form a dynamic seal at the position of the push rod nut 11 and the cam bearing 13. In this solution, the most easily failed "rotational dynamic seal" is transferred to the static seal formed by the watertight motor 24 and the sealing housing assembly. The mechanism body only has a static seal and a linear sliding seal, which is far more reliable than the rotational dynamic seal in the prior art and completely eliminates the leakage of the core components.

[0031] Please see Figure 4 A sensor assembly, including a sensor 23, is installed inside the cylinder body 1. The sensor 23 is located inside the cavity of the cylinder body 1 and is fixed to a C-shaped anti-rotation groove cover 6. The C-shaped anti-rotation groove cover 6 is fixed in the circumferential direction of the cylinder body 1. The C-shaped anti-rotation groove cover 6 can seal the sensor 23 inside the cavity of the cylinder body 1. The sensor 23 provides the servo motor with a zero position and two extreme positions, which can realize precise and safe position closed-loop control. The sensor 23, together with the watertight motor 24, can realize precise position closed-loop control. In addition, after the sealed housing assembly is assembled, the cavity of the cylinder body 1 is sealed. Therefore, the transmission assembly, guide assembly, and sensor assembly are all protected by the sealing housing assembly.

[0032] Please see Figure 5A first cylinder seat 2 and a second cylinder seat 3 are installed on the cylinder body 1, wherein the first cylinder seat 2 and the second cylinder seat 3 are symmetrically arranged at both ends of the cylinder body 1.

[0033] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An underwater telescopic mechanism, characterized in that: The assembly includes a sealed housing assembly, a transmission assembly, a guide assembly, a watertight motor (24), and a telescopic rod (10) driven by the watertight motor (24). The sealed housing assembly includes a cylindrical body (1). The telescopic rod (10) and the watertight motor (24) are respectively disposed at both ends of the cylindrical body (1), and the watertight motor (24) is fixed to the cylindrical body (1). The end of the cylindrical body (1) away from the watertight motor (24) is a hollow cavity structure, and the telescopic rod (10) is movably disposed in the cavity. A front cover (7) is fixed to the end of the cylindrical body (1) away from the watertight motor (24), and a front cover cap (8) is fixed to the front cover (7). The front cover (7) is close to the watertight motor (24). A second sealing ring (27) is provided at one end of the front cover (8) near the watertight motor (24) and a sealing element (28) is provided at the end of the front cover (8) near the watertight motor (24). The telescopic rod (10) passes through the cylinder (1) from the inside to the outside and passes through the front cover (8) and the sealing element (28). The transmission component is connected to the telescopic rod (10) and moves synchronously with the telescopic rod (10). The transmission component includes a lead screw (17) connected to the output end of the watertight motor (24). A push rod nut (11) is connected to the end of the lead screw (17) away from the watertight motor (24). The push rod nut (11) is installed on the cam bearing (13). A lead screw fixing nut (18) is installed on the lead screw (17).

2. The underwater telescopic mechanism according to claim 1, characterized in that: The watertight motor (24) is fastened to one end of the cylinder (1) by bolts, and the mating surface of the watertight motor (24) is provided with an O-ring seal, which forms a static seal for the watertight motor (24).

3. The underwater telescopic mechanism according to claim 1, characterized in that: One end of the lead screw (17) is fitted with a bearing (19), and a step is provided on the right side of the inner ring of the bearing (19) of the lead screw (17).

4. The underwater telescopic mechanism according to claim 1, characterized in that: The cavity of the cylinder (1) is provided with a guide groove, and the cam bearing (13) is adapted to the guide groove, which allows the cam bearing (13) to perform linear motion.

5. The underwater telescopic mechanism according to claim 1, characterized in that: The telescopic rod (10) is interference-fitted with the push rod nut (11), and the cam bearing (13), guide sleeve spacer (14), short copper guide sleeve (15) and outer guide sleeve (16) are all installed in the cavity of the cylinder body (1).

6. The underwater telescopic mechanism according to claim 1, characterized in that: The guide assembly guides the telescopic rod (10), and the guide assembly includes a cam bearing (13) and a guide sleeve spacer (14) located on one side of the cam bearing (13). The cam bearing (13) is installed at the end of the lead screw (17) away from the watertight motor (24). The end of the guide sleeve spacer (14) away from the cam bearing (13) is provided with a short copper guide sleeve (15) and an outer guide sleeve (16) located on one side of the short copper guide sleeve (15). The short copper guide sleeve (15) and the outer guide sleeve (16) are both sleeved on the telescopic rod (10).

7. The underwater telescopic mechanism according to claim 1, characterized in that: The cylinder body (1) is equipped with a sensor assembly, which includes a sensor (23). The sensor (23) is located inside the cavity of the cylinder body (1) and is fixed on a C-shaped anti-rotation groove cover (6). The C-shaped anti-rotation groove cover (6) is fixed in the circumferential direction of the cylinder body (1).

8. The underwater telescopic mechanism according to claim 1, characterized in that: The cylinder body (1) is equipped with a first cylinder body seat (2) and a second cylinder body seat (3), which are symmetrically arranged at both ends of the cylinder body (1).

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