An underwater compact reduction motor

Abstract

The utility model relates to a speed reducer, concretely underwater compact speed reducer, underwater compact speed reducer includes motor body and fixed on motor body's motor installation flange, and motor body is the cavity structure with open inside hollow of both ends, this cavity is provided with brushless motor and motor tail seat, and brushless motor is installed in motor tail seat one end close to motor installation flan, and is provided with first sealing washer in motor installation flange one end close to motor tail seat, and motor installation flange will first sealing washer press tightly in the cavity of motor body, and is provided with second sealing washer and third sealing washer on motor tail seat, and reliable static sealing can be realized through second sealing washer and third sealing washer, and second sealing washer and third sealing washer distribute in both ends of motor tail seat, and the outer stator of brushless motor is with motor body interference fit. The structure of this underwater compact speed reducer is compact, and the waterproof performance is reliable, and the transmission efficiency is high, and the control precision is high, and the corrosion resistance is strong.

Description

Technical Field

[0001] This utility model relates to a geared motor, specifically an underwater compact geared motor. Background Technology

[0002] With the rapid development of marine exploration, underwater engineering, underwater robots (ROV / AUV), underwater observation stations, and other fields, the performance requirements for underwater drive motors are becoming increasingly stringent. Existing underwater motors typically fall into the following categories:

[0003] (1) The combination of “land-based servo motor + land-based reducer + external waterproof cover” is adopted; as in the patent with publication number CN119675315A, this method has the following significant disadvantages: ① System bulkiness: The external waterproof cover greatly increases the size and weight of the entire drive unit, which is not conducive to the miniaturization and compact design of the equipment; ② Poor heat dissipation: The sealed shell hinders the heat dissipation of the motor and reducer, which can easily lead to overheating of the equipment, affecting performance or even damage; ③ Reliability issues: The dynamic seal (such as the output shaft) is a high-risk point for leakage, which is especially prone to failure in deep water and high pressure environments; ④ Low integration: Installation and debugging are complicated and maintenance costs are high.

[0004] (2) Pure motor structure, without integrated reducer, non-servo motor, cannot achieve precise closed-loop control; as shown in patent CN119051325A, this patent requires an additional accelerator in conditions with high torque demand, making the entire system bulky, increasing its size and weight, which is very disadvantageous in some space-constrained conditions, and even necessitates the adoption of other drive solutions due to these disadvantages. Similarly, in some situations requiring precise closed-loop control, non-servo motors may not meet the requirements. To address this, the inventors have invented a compact underwater geared motor. Utility Model Content

[0005] The purpose of this utility model is to provide an underwater compact geared motor, which has the advantages of simple structure, reasonable design, compact structure, reliable waterproof performance, high transmission efficiency, high control precision and strong corrosion resistance, thus solving the problems mentioned in the above technical background.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an underwater compact geared motor, comprising a motor body and a motor mounting flange fixed to the motor body. The motor body is a hollow cavity structure with openings at both ends. A brushless motor and a motor tailstock are disposed within the cavity. The brushless motor is mounted on the end of the motor tailstock near the motor mounting flange. A first sealing ring is provided at the end of the motor mounting flange near the motor tailstock, and the motor mounting flange presses the first sealing ring tightly into the cavity of the motor body. A second sealing ring and a third sealing ring are fitted on the motor tailstock, achieving a reliable static seal. The second and third sealing rings are distributed at both ends of the motor tailstock. The outer stator of the brushless motor is interference-fitted with the motor body, and the inner rotor of the brushless motor is connected to the motor shaft. The rotation of the inner rotor can drive the rotation of the motor shaft. A planetary gear assembly is provided at the end of the motor shaft near the motor mounting flange. The planetary gear assembly includes a sun gear, a planetary carrier cover located on one side of the sun gear, and multiple planetary gear posts fixed on the planetary carrier cover. The sun gear is provided with a sun gear cover, and the sun gear is coaxially connected to the motor shaft, causing the sun gear on the motor shaft to rotate. Multiple planetary gear posts are distributed in the circumferential direction on one end face of the planetary carrier cover, and each of the multiple planetary gear posts is provided with a planetary gear. The sun gear meshes with multiple planetary gears simultaneously. The multiple planetary gears are respectively installed on multiple bushings. A planetary carrier output shaft is provided at the end of the planetary carrier cover near the motor mounting flange.

[0007] Preferably, a first bearing is installed at both ends of the motor shaft. The two first bearings are distributed at both ends of the brushless motor. The first bearings at both ends of the brushless motor support the motor shaft. The two first bearings are respectively mounted on the motor body and the motor tailstock.

[0008] Preferably, the motor tailstock is installed inside the cavity of the motor body, and the motor tailstock closes the opening on one side of the motor body cavity.

[0009] Preferably, an encoder magnet is installed on the motor shaft, and an encoder is installed on the motor tailstock. This allows for real-time feedback of the motor rotor position, enabling precise closed-loop control.

[0010] Preferably, a second bearing is installed on the output shaft of the planetary carrier. An internal gear ring is provided at the end of the second bearing near the motor mounting flange. The internal gear ring is installed in the cavity of the motor body by interference fit. A bearing washer is fixed at the end of the internal gear ring near the motor mounting flange. A first sealing ring is sandwiched between the motor mounting flange and the bearing washer, forming a dynamic seal between the motor mounting flange and the bearing washer.

[0011] Preferably, the planetary carrier output shaft and the planetary carrier cover are both bolted to the planetary gear column, forming the "planetary carrier" in the planetary gear train. Multiple planetary gears are engaged between the planetary carrier output shaft and the planetary carrier cover. The bushing acts as a "rolling bearing" for the planetary gears on the planetary carrier output shaft and the planetary carrier cover, enabling the planetary gears to rotate. The second and third bearings support the "planetary carrier".

[0012] Preferably, a tailstock cover is fixed at the end of the motor tailstock away from the brushless motor, and an airtightness test plug is installed on the tailstock cover.

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

[0014] 1. This utility model provides an underwater compact geared motor, which includes a motor body and a motor mounting flange fixed to the motor body. The overall structure is simple and reasonably designed. The motor body is a hollow cavity structure with openings at both ends. A brushless motor and a motor tailstock are installed in the cavity. The brushless motor is installed at the end of the motor tailstock near the motor mounting flange. The motor mounting flange and the motor tailstock respectively close the openings on both sides of the motor body cavity. The brushless motor and the reducer share a precision-machined motor body, which ensures coaxiality and reduces volume and weight. This utility model has a compact structure, integrating the servo motor body and the reducer assembly into the same motor housing, eliminating the complex external connection structure between the two, greatly reducing the overall size and weight of the equipment, meeting the needs of underwater equipment for miniaturization and lightweighting, and facilitating installation and layout in underwater equipment with limited space.

[0015] 2. The waterproof performance of this utility model is reliable. By setting a static sealing structure with a fluororubber sealing ring on the end face, it ensures that the equipment can operate stably for a long time in an environment with a depth of 300m underwater, thereby improving the waterproof performance and service life of the equipment.

[0016] 3. This utility model has high transmission efficiency. The reducer assembly adopts a planetary gear reduction mechanism, and each gear is made of high-strength wear-resistant material and undergoes surface nitriding treatment, which not only improves the load-bearing capacity and wear resistance of the gears, but also reduces the friction loss between the gears. At the same time, the motor shaft of the servo motor body is directly connected to the sun gear of the reducer assembly, which reduces the gap in the power transmission link, reduces power loss, and can give full play to the power performance of the servo motor.

[0017] 4. This utility model has high control precision. It detects the speed and position information of the motor shaft in real time through the encoder and transmits the detection signal to the control module. The controller accurately controls the operation of the servo motor body according to the detection signal and preset control instructions, realizing high-precision control of the output shaft speed and torque, which meets the control precision requirements of underwater precision operation equipment.

[0018] 5. This utility model has strong corrosion resistance. The motor housing is made of high-strength corrosion-resistant alloy material, the gear surface of the reducer assembly is nitrided, and the sealing assembly is made of highly corrosion-resistant fluororubber material, which enables the equipment to work normally in various underwater corrosive environments such as seawater and fresh water, thus improving the environmental adaptability of the equipment. Attached Figure Description

[0019] Figure 1 This is a structural diagram of the present utility model.

[0020] Figure 2 This is an exploded view of the present invention.

[0021] Figure 3 This is a cross-sectional view of the present invention.

[0022] Figure 4 This is a cross-sectional view of the present invention.

[0023] The reference numerals and names in the figure are as follows:

[0024] 1. Motor body; 2. Motor mounting flange; 3. Brushless motor; 4. Motor tailstock; 5. Tailstock cover; 6. Bearing washer; 7. Air tightness test plug; 8. Encoder; 9. Internal gear ring; 10. Wire tie; 11. First sealing ring; 12. Second sealing ring; 13. Third sealing ring; 14. Motor shaft; 15. First bearing; 16. Sun gear; 17. Sun gear cover; 18. Encoder magnet; 19. Planetary carrier output shaft; 20. Bushing; 21. Planetary gear column; 22. Planetary gear; 23. Planetary carrier cover; 24. Second bearing; 25. Third bearing. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] 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.

[0028] Please see Figure 1 One embodiment of this utility model is an underwater compact geared motor, which includes a motor body 1 and a motor mounting flange 2 fixed on the motor body 1.

[0029] Please see Figure 2 The motor body 1 is a hollow cavity structure with openings at both ends. A brushless motor 3 and a motor tailstock 4 are installed inside the cavity. In this example, the brushless motor 3 is a servo motor. The brushless motor 3 is installed on the end of the motor tailstock 4 near the motor mounting flange 2. The motor mounting flange 2 and the motor tailstock 4 respectively seal the openings on both sides of the cavity of the motor body 1. A wire tie 10 is provided on the motor mounting flange 2. The structure of the wire tie 10 is existing technology and will not be described in detail here. In this embodiment, all external parts are made of marine-grade stainless steel or aluminum alloy, which not only improves the load-bearing capacity and wear resistance of the gears, but also reduces the friction loss between the gears. The external parts include the motor body 1, the motor tailstock 4, and the tailstock cover 5, etc. The surface is treated with special anti-corrosion treatment. The electrical interface is sealed with high-specification 3M glue, which can achieve waterproofing at a depth of 300 meters underwater.

[0030] Please refer to it again. Figure 2 The inner rotor of the brushless motor 3 is connected to the motor shaft 14. The rotation of the inner rotor drives the motor shaft 14 to rotate. The motor shaft 14 directly serves as the input shaft of the reduction mechanism, eliminating the need for a coupling and greatly shortening the axial dimension. The brushless motor 3 and the reducer share a precision-machined main housing, ensuring coaxiality and reducing volume and weight. A planetary gear assembly is provided at one end of the motor shaft 14 near the motor mounting flange 2. The planetary gear assembly includes a sun gear 16, a planetary carrier cover 23 located on one side of the sun gear 16, and multiple planetary gear posts 21 fixed on the planetary carrier cover 23. The sun gear 16 is provided with a sun gear cover 17, and the sun gear 16 is coaxially connected to the motor shaft 14, so that the sun gear 16 on the motor shaft 14... The planetary carrier 23 is rotated, with multiple planetary gear sets 21 distributed circumferentially on one end face of the planetary carrier cover 23. Each planetary gear set 21 is equipped with a planetary gear 22. The sun gear 16 meshes with multiple planetary gears 22 simultaneously. The multiple planetary gears 22 are respectively mounted on multiple bushings 20. The bushings 20 act as rolling bearings for the planetary gears 22 on the planetary carrier output shaft 19 and the planetary carrier cover 23, enabling the planetary gears 22 to rotate. The second bearing 24 and the third bearing 25 support the planetary carrier. The planetary carrier output shaft 19 is located at the end of the planetary carrier cover 23 near the motor mounting flange 2. The sun gear 16 acts as the input gear in the planetary gear train, driving the planetary carrier to rotate. The planetary carrier output shaft 19 on the planetary carrier acts as a brushless... When the brushless motor 3 is working, its output shaft drives the planetary carrier output shaft 19 to rotate via the motor shaft 14 and the sun gear 16. This principle is the classic principle of a planetary gear reducer. When the sun gear 16 in the planetary gear train is used as the input and the planetary carrier is used as the output, a speed reduction effect can be achieved. The motor shaft 14 of the brushless motor 3 is directly connected to the sun gear 16 of the reducer, reducing the gap in the power transmission link, reducing power loss, and fully utilizing the power performance of the brushless motor 3. In addition, the planetary carrier output shaft 19 and the planetary carrier cover 23 are both bolted to the planetary gear column 21, forming the "planetary carrier" in the planetary gear train. Multiple planetary gears 22 are engaged in the planetary carrier output shaft 19 and the planetary carrier cover 23. Between them, bushing 20 acts as a "rolling bearing" for planetary gear 22 on planetary carrier output shaft 19 and planetary carrier cover 23, enabling planetary gear 22 to rotate. Second bearing 24 and third bearing 25 support the "planetary carrier". As can be seen from the above disclosure of the reducer structure, brushless motor 3 and reducer share a precision-machined motor body 1, which ensures coaxiality and reduces volume and weight. This utility model has a compact structure, integrating the servo motor body and reducer into the same motor body 1, eliminating the complex external connection structure between the two, greatly reducing the overall volume and weight of the equipment, meeting the needs of underwater equipment for miniaturization and lightweighting, and facilitating installation and arrangement in underwater equipment with limited space.

[0031] Please see Figure 3A second bearing 24 is installed on the output shaft 19 of the planetary carrier. An internal gear ring 9 is provided at one end of the second bearing 24 near the motor mounting flange 2. The internal gear ring 9 is installed in the cavity of the motor body 1 by interference fit. A bearing washer 6 is fixed at one end of the internal gear ring 9 near the motor mounting flange 2. A first sealing ring 11 is sandwiched between the motor mounting flange 2 and the bearing washer 6, and a dynamic seal is formed between the motor mounting flange 2 and the bearing washer 6. The design of the first sealing ring 11 allows the seal between the brushless motor 3 and the transmission component to adopt a static seal structure on the entire end face. This can ensure the absolute sealing reliability of the output end of the brushless motor 3 under high pressure.

[0032] Please refer to it again. Figure 3 The outer stator of the brushless motor 3 is interference-fitted with the motor body 1. A first sealing ring 11 is provided at one end of the motor mounting flange 2 near the motor tailstock 4, and the motor mounting flange 2 presses the first sealing ring 11 tightly into the cavity of the motor body 1. A second sealing ring 12 and a third sealing ring 13 are fitted on the motor tailstock 4. The second sealing ring 12 and the third sealing ring 13 can achieve a reliable static seal. The second sealing ring 12 and the third sealing ring 13 are distributed at both ends of the motor tailstock 4. The first sealing ring 11, the second sealing ring 12, and the third sealing ring 13 are all made of highly corrosion-resistant fluororubber material. This allows the equipment to operate normally in various underwater corrosive environments such as seawater and freshwater, improving its environmental adaptability. The motor tailstock 4 is installed inside the cavity of the motor body 1, and the motor tailstock 4 closes the opening on one side of the cavity of the motor body 1. In addition, an encoder magnet 18 is installed on the motor shaft 14, and an encoder 8 is installed on the motor tailstock 4. A high-resolution encoder is integrated at the non-output end of the brushless motor 3 to provide real-time feedback on the rotor position of the brushless motor 3 and achieve precise closed-loop control. A tailstock cover 5 is fixed at the end of the motor tailstock 4 away from the brushless motor 3, and an airtightness test plug 7 is installed on the tailstock cover 5.

[0033] Please see Figure 4 A first bearing 15 is installed at both ends of the motor shaft 14. The two first bearings 15 are distributed at both ends of the brushless motor 3. The first bearings 15 at both ends of the brushless motor 3 support the motor shaft 14. The two first bearings 15 are respectively mounted on the motor body 1 and the motor tailstock 4.

[0034] 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 compact geared motor, comprising a motor body (1) and a motor mounting flange (2) fixed to the motor body (1), characterized in that: The motor body (1) is a hollow cavity structure with openings at both ends. A brushless motor (3) and a motor tailstock (4) are installed inside the cavity. The brushless motor (3) is mounted on the motor tailstock (4) at one end near the motor mounting flange (2). A first sealing ring (11) is provided at the end of the motor mounting flange (2) near the motor tailstock (4), and the motor mounting flange (2) presses the first sealing ring (11) tightly into the cavity of the motor body (1). A second sealing ring (12) and a third sealing ring (13) are fitted on the motor tailstock (4). The second sealing ring (12) and the third sealing ring (13) are distributed at both ends of the motor tailstock (4). The outer stator of the brushless motor (3) is interference-fitted with the motor body (1), and the inner rotor of the brushless motor (3) is connected to the motor shaft (1). 4) A planetary gear assembly is provided at one end of the motor shaft (14) near the motor mounting flange (2). The planetary gear assembly includes a sun gear (16), a planetary carrier cover (23) located on one side of the sun gear (16), and multiple planetary gear posts (21) fixed on the planetary carrier cover (23). The sun gear (16) is coaxially connected to the motor shaft (14). The multiple planetary gear posts (21) are distributed in the circumferential direction of one end face of the planetary carrier cover (23), and each of the multiple planetary gear posts (21) is provided with a planetary gear (22). The sun gear (16) meshes with the multiple planetary gears (22) at the same time. The multiple planetary gears (22) are respectively installed on multiple bushings (20). A planetary carrier output shaft (19) is provided at one end of the planetary carrier cover (23) near the motor mounting flange (2).

2. The underwater compact geared motor according to claim 1, characterized in that: The motor shaft (14) is equipped with a first bearing (15) at both ends, and the two first bearings (15) are distributed at both ends of the brushless motor (3).

3. The underwater compact geared motor according to claim 1, characterized in that: The motor tailstock (4) is installed in the cavity of the motor body (1), and the motor tailstock (4) closes the opening on one side of the cavity of the motor body (1).

4. The underwater compact geared motor according to claim 1, characterized in that: An encoder (8) is installed on the motor tailstock (4), and an encoder magnet (18) is installed on the motor shaft (14).

5. The underwater compact geared motor according to claim 1, characterized in that: A second bearing (24) is installed on the planetary carrier output shaft (19). An internal gear ring (9) is provided at one end of the second bearing (24) near the motor mounting flange (2). The internal gear ring (9) is installed in the cavity of the motor body (1) by interference fit. A bearing washer (6) is fixed at one end of the internal gear ring (9) near the motor mounting flange (2). The first sealing ring (11) is sandwiched between the motor mounting flange (2) and the bearing washer (6) and forms a dynamic seal between the motor mounting flange (2) and the bearing washer (6).

6. The underwater compact geared motor according to claim 1, characterized in that: The planetary carrier output shaft (19) and the planetary carrier cover (23) are both bolted to the planetary gear column (21), and the multiple planetary gears (22) are engaged between the planetary carrier output shaft (19) and the planetary carrier cover (23).

7. The underwater compact geared motor according to claim 1, characterized in that: The end of the motor tailstock (4) away from the brushless motor (3) is fixed with a tailstock cover (5), and an airtightness test plug (7) is installed on the tailstock cover (5).

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