CN108736626A - Underwater linear motor and underwater switching action tool - Google Patents
Underwater linear motor and underwater switching action tool Download PDFInfo
- Publication number
- CN108736626A CN108736626A CN201810730397.8A CN201810730397A CN108736626A CN 108736626 A CN108736626 A CN 108736626A CN 201810730397 A CN201810730397 A CN 201810730397A CN 108736626 A CN108736626 A CN 108736626A
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- isobaric
- space
- underwater
- shell
- linear motor
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- 230000009471 action Effects 0.000 title claims abstract description 11
- 238000007789 sealing Methods 0.000 claims abstract description 32
- 239000012530 fluid Substances 0.000 claims abstract description 9
- 238000004804 winding Methods 0.000 claims description 25
- 230000003068 static effect Effects 0.000 claims description 14
- 239000010410 layer Substances 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 239000011247 coating layer Substances 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000002131 composite material Substances 0.000 claims description 2
- 229920000642 polymer Polymers 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/10—Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. water or fingers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/18—Means for mounting or fastening magnetic stationary parts on to, or to, the stator structures
- H02K1/187—Means for mounting or fastening magnetic stationary parts on to, or to, the stator structures to inner stators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2786—Outer rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/22—Auxiliary parts of casings not covered by groups H02K5/06-H02K5/20, e.g. shaped to form connection boxes or terminal boxes
- H02K5/225—Terminal boxes or connection arrangements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/086—Structural association with bearings radially supporting the rotor around a fixed spindle; radially supporting the rotor directly
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The present invention provides a kind of underwater linear motors, including cover assembly, driving motor and straight line adjustment structure；Cover assembly inner space forms isobaric space, and driving motor is mounted in isobaric space；Full isobaric fluid is filled in isobaric space；The straight line adjustment structure includes push rod and screw rod, the screw rod and the circumferentially fixed connection of driving motor；The one end of push rod in an axial direction is fastenedly connected or integrally formed with adjusting nut, and the other end axially extends the exterior space for reaching isobaric space；Adjusting nut collectively forms Leadscrew drive system with screw rod, and movable sealing structure is provided between push rod and isobaric shell.The present invention also provides a kind of underwater switching action tools including above-mentioned underwater linear motor.It is sealed using sealing ring between two contact surfaces at the movable sealing structure of the present invention, makes sealing ring that there is deformation restoration by interference fit, stress effect is automatically compressed to generate so that the gap of two contact surfaces tends to 0, effectively prevents leakage.
Description
Technical field
The present invention relates to underwater drive apparatus fields, and in particular, to a kind of underwater linear motor and underwater switching action
Tool.
Background technology
Abundant resource is contained in ocean, and with the reduction of landing field non-renewable resources, the development and utilization of ocean is
As the grand strategy target of various countries.Complexity due to marine environment and variability, the mankind are in the process for recognizing and developing ocean
It is middle to need various high-tech means.It is equipped with the underwater robot with operation function manipulator, can directly be operated instead of the mankind
Submarine target fulfils assignment task, be it is currently the only can carry out the high tech equipment of operation at deep-sea, so submarine mechanical workmanship
Art is one of current underwater robot technology important research direction.But due at deep water pressure it is larger, existing manipulator
It is difficult to accomplish effectively to seal between drive part and execution part, job stability is poor.
The existing mode for solving deep water position sealing performance has using mechanical seal structure, it utilizes the elastic force of counterbalance spring
Initial closure strength is generated, the end face of rotating ring is close to the end face of stationary ring, under the action of pressure fluid, in the dynamic of opposite sliding
End face forms semi-fluid friction state between ring and stationary ring, the apparent leakage of pressure fluid is prevented, to realize the diameter of seal face
To rotary seal.Its sealing effect of this structure is preferable, and leakage rate is smaller, but is influenced by the variation of depth of water pressure difference, rotation
When the moment of resistance fluctuation it is still larger, it is difficult to meet fine rotational requirement.
Invention content
For the defects in the prior art, the object of the present invention is to provide a kind of underwater linear motors and underwater switching action
Tool.
According to underwater linear motor provided by the invention, including cover assembly, driving motor and straight line adjustment structure；
The cover assembly inner space forms isobaric space, and driving motor is mounted in isobaric space；It is described isobaric empty
Between the middle full isobaric fluid of filling；
The straight line adjustment structure includes push rod and screw rod, the screw rod and the circumferentially fixed connection of driving motor；Push rod edge
Axial one end is fastenedly connected or integrally formed with adjusting nut, and the other end, which axially extends, reaches the external empty of isobaric space
Between；
Adjusting nut collectively forms Leadscrew drive system with screw rod, and dynamic sealing knot is provided between push rod and isobaric shell
Structure.
Preferably, the cover assembly includes the first end shield being fastenedly connected successively, isobaric shell, the second end shield；
It is both provided with static seal annular groove on first end shield and the second end shield, static sealing ring is equipped in static seal annular groove, it is quiet
Sealing ring is contacted with the isobaric shell.
Preferably, the second end shield is in axial direction provided with guide through hole, and it is logical that the push rod is axially slidably mounted on guiding
Kong Zhong；
Blind hole is provided on push rod, the free end of the screw rod extends in the blind hole；
It is provided with dynamic sealing annular groove on the inner wall of guide through hole, dynamic seal ring, dynamic seal ring are equipped in dynamic sealing annular groove
Always it is contacted with push rod.
Preferably, the driving motor is connected to by the way that shaft coupling or bond structure are circumferentially fixed on screw rod；
It is additionally provided with bearing arrangement in isobaric space, two parts that bearing arrangement relatively rotates are respectively connected to screw rod, the
On two end shields.
Preferably, it is additionally provided with positioning shaft shoulder on second end shield, isobaric shell one of in axial direction end
Face is contacted with positioning shaft shoulder；
Along the second end shield axial direction, static seal annular groove, positioning shaft shoulder, dynamic sealing annular groove are sequentially arranged.
Preferably, also comprising attaching conducting piece, attaching conducting piece is securedly mounted on the second end shield；
Supporting rack, pressure regulating valve and fairlead are provided on first end shield, driving motor is mounted on supporting rack.
Preferably, the driving motor includes stator module and rotor assembly；
The rotor assembly includes shaft, rotor magnet, first end cover and shell, and first end cover is fastenedly connected with shell
Or be integrally formed, the rotor magnet is mounted on the internal face of shell；Shaft is circumferentially fixed in first end cover；
The stator module includes Exciting Windings for Transverse Differential Protection, inner support and second end cover, and inner support is integrally formed with second end cover
Or be fastenedly connected, the Exciting Windings for Transverse Differential Protection is mounted on the peripheral surface of inner support；
Space that first end cover, second end cover and shell surround forms article containing space, the rotor magnet and excitation around
Group is respectively positioned in article containing space.
Preferably, the inner support is tubulose, and the shaft, which runs through, to be arranged in the axially extending bore of inner tubular support, shaft
It is connect by the sliding bearing of setting with inner support；
The sliding bearing includes polymer composite bearing, and the shaft includes No. 45 rotating steel shafts；
Multiple Exciting Windings for Transverse Differential Protection are circumferentially distributed in the outside wall surface of inner tubular support；Multiple rotor magnets exist with Exciting Windings for Transverse Differential Protection
It is oppositely arranged in the radial direction.
Preferably, threading hole is provided in the second end cover, the Exciting Windings for Transverse Differential Protection is connected with motor lines, and motor lines are worn
In threading hole；It is provided with embedding layer between the wall surface of the hole and motor lines of the threading hole；
It is provided with waterproof coating layer on the Exciting Windings for Transverse Differential Protection and/or rotor magnet；It axially extends on direction, shell and
There are gaps between two end caps.
The present invention also provides a kind of underwater switching action tools, including tool piece and above-mentioned underwater linear motor, institute
Tool piece is stated to be removably mounted on underwater linear motor；
The tool piece includes following any or various structures：Manipulator, gripper, scissors, sampler.
Compared with prior art, the present invention has following advantageous effect：
1, it is sealed, is made by interference fit close using sealing ring between two contact surfaces at movable sealing structure of the invention
Seal has deformation restoration, automatically compresses stress effect to generate so that the gap of two contact surfaces tends to 0, thus energy
It is enough effectively to prevent leakage.
2, multiple types of tools part is removably mounted at by the interconnecting piece of Unified Form on underwater linear motor, therefore is being adapted to
When different operational requirements, it only need to be individually replaced tool piece, it is easy to operate.
3, the pressure sealing structures such as present invention use are suitably applied the deep water more than 300m by pressure compensated mode
Environment.
4, the driving motor of outer rotor form is since itself is without sealing, even if for loading for balancing in isobaric space
The pressure of the liquid of pressure difference is very big, will not influence the normal operation of driving motor.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is underwater structure of the linear motion actuator schematic diagram；
Fig. 2 is that underwater linear motor assembles detail drawing with tool piece；
Fig. 3 is tool piece when being gripper, underwater switching action tool profile figure；
Fig. 4 is static seal structure detail drawing；
Fig. 5 is movable sealing structure detail drawing；
Fig. 6 is stereogram under one visual direction of outer rotor driving motor；
Fig. 7 is outer rotor driving motor sectional view；
Fig. 8 is stereogram under outer rotor driving motor another visual direction.
It is shown in figure：
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
In the description of the present invention, it is to be understood that, term "upper", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on ... shown in the drawings or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, device is not indicated or implied the indicated or element is necessary
With specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
As shown in Figure 1, underwater linear motor 500 provided by the invention, including cover assembly 510, driving motor 100 and
Straight line adjustment structure 520；510 inner space of the cover assembly forms isobaric space, and driving motor 100 is mounted on isobaric space
In；Full isobaric fluid is filled in the isobaric space；The straight line adjustment structure 520 includes push rod 521 and screw rod 523, described
Screw rod 523 and 100 circumferentially fixed connection of driving motor；The one end of push rod 521 in an axial direction is fastenedly connected or integrally formed with adjusting
Nut 522, the other end axially extend the exterior space for reaching isobaric space；Adjusting nut 522 collectively forms silk with screw rod 523
Thick stick transmission system is provided with movable sealing structure between push rod 521 and isobaric shell 512.
The cover assembly 510 includes the first end shield 511 being fastenedly connected successively, isobaric shell 512, the second end shield 513.
As shown in figure 4, being both provided with static seal annular groove on the first end shield 511 and the second end shield 513, it is equipped in static seal annular groove quiet close
Seal 531, static sealing ring 531 are contacted with the isobaric shell 512.Second end shield 513 is in axial direction provided with guide through hole,
The push rod 521 slides axially in guide through hole；Blind hole is provided on push rod 521, the free end of the screw rod 523 is prolonged
It extends in the blind hole.As shown in figure 5, being provided with dynamic sealing annular groove on the inner wall of guide through hole, it is equipped in dynamic sealing annular groove
Dynamic seal ring 532, dynamic seal ring 532 are contacted with push rod 521 always.The present invention is used using contact Sealing Method, i.e., is connect at two
An auxiliary element with very high mechanical properties and elasticity is pressed from both sides between contacting surface, existing gap is filled up, and prevention has pressure
Seawater is entered by gap.It is sealed using sealing ring between two contact surface of movable sealing structure, is made such as rubber by interference fit
The sealing ring of rubber cushion has deformation restoration, automatically compresses stress effect to generate so that the gap of two contact surfaces tends to
0, achieve the purpose that prevent leakage.Therefore, the dynamic seal ring 532 needs sufficiently resilient and wearability.
As shown in Fig. 2, in embodiment, the driving motor 100 is connected to by the way that shaft coupling 551 or bond structure are circumferentially fixed
On screw rod 523；Bearing arrangement 552 is additionally provided in isobaric space, two parts that bearing arrangement 552 relatively rotates are respectively connected to
On screw rod 523, the second end shield 513.Preferably, positioning shaft shoulder 540, isobaric shell 512 are additionally provided on second end shield 513
One of in axial direction end face is contacted with positioning shaft shoulder 540.Along 513 axial direction of the second end shield, static seal annular groove,
Positioning shaft shoulder 540, dynamic sealing annular groove are sequentially arranged.Preferably, also include attaching conducting piece 553, the fastening peace of attaching conducting piece 553
On the second end shield 513.
Preferably, supporting rack, pressure regulating valve and fairlead are provided on first end shield 511, driving motor 100 is pacified
On supporting rack.In addition, the equipressure fluid uses liquid oil, play the role of insulation.It can equity by pressure regulating valve
Oil pressure in pressure space is adjusted, and the internal pressure that pre-add is generated to cover assembly 510 acts on, when underwater linear motor 500 moves
When below to the water surface, the hydraulically-formed external pressure to cover assembly 510 acts on, and under internal pressure and the collective effect of external pressure, reaches
Means of press seals effect reduces stress of the cover assembly 510 in deepwater environment.Preferably, the isobaric shell 512 is titanium alloy knot
Structure.Preferably, isobaric shell 512 can also be the structure with certain elasticity, and a part of external pressure is born by the intensity of itself,
By deformation isobaric space volume is reduced simultaneously, the internal pressure that isobaric fluid generates increases, and further balances external pressure.Fairlead
For penetrating cable, realizes power supply and control to driving motor 100, embedding layer, guarantee etc. are set between fairlead and cable
Press the leakproofness in space.Preferably, it is additionally provided with power supply in the isobaric space, is directly that driving motor 100 is powered.
The present invention also provides a kind of underwater switching action tools, including tool piece 560 and above-mentioned underwater linear motor
500, the tool piece 560 is removably mounted on underwater linear motor 500；The tool piece 560 include it is following any or
Appoint various structures：Manipulator, gripper 561, scissors, sampler.As shown in figure 3, the tool piece 560 is gripper 561,
Operation principle is：Driving motor 100 drives screw rod 523 to rotate, and according to the job specification of Leadscrew drive system, push rod 521 will
It in axial direction moves forward and backward, the reciprocating motion of push rod 521 is eventually converted into the opening and closed action of gripper 561.It is described
Tool piece 560 can be directly connected on push rod 521, can also be to be indirectly coupled to push rod by attaching conducting piece 553
On 521, it is provided with Detachable connection structure on attaching conducting piece 553, convenient for being removed and installed with the quick of tool piece 560,
In addition, attaching conducting piece 553 also has drive mechanism, the movement of push rod 521 is transmitted on tool piece 560, is advantageously implemented
The movement of long range is transmitted.
In embodiment, the driving motor 100 that the present invention uses is common inner rotor core motor.In preference, such as Fig. 6
Shown in Fig. 8, driving motor 100 includes stator module 120 and rotor assembly 110；The rotor assembly 110 include shaft 111,
Rotor magnet 112, first end cover 113 and shell 114, first end cover 113 are fastenedly connected or are integrally formed with shell 114, institute
Rotor magnet 112 is stated on the internal face of shell 114；Shaft 111 is circumferentially fixed in first end cover 113；The stator
Component 120 includes Exciting Windings for Transverse Differential Protection 121, inner support 122 and second end cover 123,123 one of inner support 122 and second end cover at
Type is fastenedly connected, and the Exciting Windings for Transverse Differential Protection 121 is mounted on the peripheral surface of inner support 122；First end cover 113, second end cover 123
And the space that shell 114 surrounds forms article containing space, the rotor magnet 112 is respectively positioned on article containing space with Exciting Windings for Transverse Differential Protection 121
In；Stator module 120 is connect with rotor assembly 110 by one or more sliding bearings 130.Preferably, the inner support 122
For tubulose, through being arranged in the axially extending bore of inner tubular support 122, shaft 111 passes through the shaft 111 with inner support 122
The sliding bearing 130 connects；Multiple Exciting Windings for Transverse Differential Protection 121 are circumferentially distributed in the outside wall surface of inner tubular support 122；Multiple turns
Sub- magnet 112 is oppositely arranged in radial directions with Exciting Windings for Transverse Differential Protection 121.Preferably, the cross-sectional shape of the inner support 122
Can be polygon, multiple Exciting Windings for Transverse Differential Protection 121 are located on multiple radial end faces of inner support 122.Preferably, in described
The locating slot of the Exciting Windings for Transverse Differential Protection 121 of installation can be useful in support 122 with preprocessing, is potted to Exciting Windings for Transverse Differential Protection 121
When, effective fixed-area between Exciting Windings for Transverse Differential Protection 121 and inner support 122 can be increased, increase fixing intensity.
Preferably, it is provided with waterproof coating layer on the Exciting Windings for Transverse Differential Protection 121 and/or rotor magnet 112；The second end cover
Threading hole 141 is provided on 123, the Exciting Windings for Transverse Differential Protection 121 is connected with motor lines, and motor lines are threaded through in threading hole 141；It is described
It is provided with embedding layer between the wall surface of the hole and motor lines of threading hole 141；Sealant pouring and sealing, which fills up motor line outlet, makes naked leakage in outside
Motor lines in environment are all sealed in Embedding Material, are reached to motor lines water proof anti-corrosion pressure resistance effect.Preferably, described
Be respectively arranged with first through hole 142 on one end cap 113, second end cover 123, the second through-hole 143, for connect attachment structure or its
His purposes.In addition, axially extending on direction, there are gaps between shell 114 and second end cover 123.Preferably, Exciting Windings for Transverse Differential Protection
Isobaric seal closure is also equipped with outside 121, with means of press seals such as realizations.
As shown in fig. 7, the first end cover 113 includes integrally formed radial extension 151 and fastening part 152, shaft
111 one end in an axial direction is circumferentially fixed on fastening part 152；The other end of shaft 111 in an axial direction is reached through second end cover 123
The outside of article containing space, the other end of shaft 111 in an axial direction are equipped with shaft end clamping plate 161, and shaft end clamping plate 161 passes through the tight of setting
Rationed marketing 162 is circumferentially fixed in shaft 111.Annular turn trough, 161 edge of the shaft end clamping plate are provided in the second end cover 123
One end of axial direction is rotatably installed in annular turn trough.Entire driving motor 100 sees that structure is compacter in shape in this way,
Shaft end clamping plate 161 is rotated with shaft 111, and plays protection sliding bearing 130, and the radial direction that limitation shaft 111 moves is partially
The effect of shifting.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the absence of conflict, the feature in embodiments herein and embodiment can arbitrary phase
Mutually combination.
Claims (10)
1. a kind of underwater linear motor (500), which is characterized in that include cover assembly (510), driving motor (100) and straight
Line adjustment structure (520)；
Cover assembly (510) inner space forms isobaric space, and driving motor (100) is mounted in isobaric space；It is described
Full isobaric fluid is filled in isobaric space；
The straight line adjustment structure (520) includes push rod (521) and screw rod (523), the screw rod (523) and driving motor
(100) circumferentially fixed connection；The one end of push rod (521) in an axial direction is fastenedly connected or integrally formed with adjusting nut (522), another
End axially extends the exterior space for reaching isobaric space；
Adjusting nut (522) collectively forms Leadscrew drive system with screw rod (523), between push rod (521) and isobaric shell (512)
It is provided with movable sealing structure.
2. underwater linear motor (500) according to claim 1, which is characterized in that the cover assembly (510) include according to
Secondary the first end shield (511) being fastenedly connected, isobaric shell (512), the second end shield (513)；
It is both provided with static seal annular groove on first end shield (511) and the second end shield (513), static seal is equipped in static seal annular groove
It encloses (531), static sealing ring (531) is contacted with the isobaric shell (512).
3. underwater linear motor (500) according to claim 2, which is characterized in that the second end shield (513) is in axial direction
It is provided with guide through hole, the push rod (521) slides axially in guide through hole；
Blind hole is provided on push rod (521), the free end of the screw rod (523) extends in the blind hole；
It is provided with dynamic sealing annular groove on the inner wall of guide through hole, dynamic seal ring (532), dynamic seal ring are equipped in dynamic sealing annular groove
(532) it is contacted always with push rod (521).
4. underwater linear motor (500) according to claim 3, which is characterized in that the driving motor (100) passes through connection
Axis device (551) or bond structure is circumferentially fixed is connected on screw rod (523)；
Bearing arrangement (552) is additionally provided in isobaric space, two parts that bearing arrangement (552) relatively rotates are respectively connected to spiral shell
On bar (523), the second end shield (513).
5. underwater linear motor (500) according to claim 3, which is characterized in that also set on second end shield (513)
It is equipped with positioning shaft shoulder (540), one of in axial direction end face contacts isobaric shell (512) with positioning shaft shoulder (540)；
Along the second end shield (513) axial direction, static seal annular groove, positioning shaft shoulder (540), dynamic sealing annular groove are sequentially arranged.
6. underwater linear motor (500) according to claim 3, which is characterized in that also include attaching conducting piece (553),
Attaching conducting piece (553) is securedly mounted on the second end shield (513)；
Supporting rack, pressure regulating valve and fairlead are provided on first end shield (511), driving motor (100) is mounted on branch
On support.
7. underwater linear motor (500) according to claim 1, which is characterized in that the driving motor (100) (100)
Including stator module (120) and rotor assembly (110)；
The rotor assembly (110) includes shaft (111), rotor magnet (112), first end cover (113) and shell (114),
First end cover (113) is fastenedly connected or is integrally formed with shell (114), and the rotor magnet (112) is mounted on shell (114)
On internal face；Shaft (111) is circumferentially fixed in first end cover (113)；
The stator module (120) includes Exciting Windings for Transverse Differential Protection (121), inner support (122) and second end cover (123), inner support
(122) it is integrally formed or is fastenedly connected with second end cover (123), the Exciting Windings for Transverse Differential Protection (121) is mounted on the outer of inner support (122)
On circumferential surface；
The space that first end cover (113), second end cover (123) and shell (114) surround forms article containing space, the rotor magnetic
Body (112) is respectively positioned on Exciting Windings for Transverse Differential Protection (121) in article containing space.
8. underwater linear motor (500) according to claim 7, which is characterized in that the inner support (122) is tubulose,
Through being arranged in the axially extending bore of inner tubular support (122), shaft (111) passes through the shaft (111) with inner support (122)
The sliding bearing (130) of setting connects；
The sliding bearing (130) includes polymer composite bearing, and the shaft (111) includes No. 45 rotating steel shafts；
Multiple Exciting Windings for Transverse Differential Protection (121) are circumferentially distributed in the outside wall surface of inner tubular support (122)；Multiple rotor magnets (112)
It is oppositely arranged in radial directions with Exciting Windings for Transverse Differential Protection (121).
9. underwater linear motor (500) according to claim 8, which is characterized in that be arranged on the second end cover (123)
There are threading hole (141), the Exciting Windings for Transverse Differential Protection (121) to be connected with motor lines, motor lines are threaded through in threading hole (141)；It is described to wear
It is provided with embedding layer between the wall surface of the hole and motor lines of string holes (141)；
It is provided with waterproof coating layer on the Exciting Windings for Transverse Differential Protection (121) and/or rotor magnet (112)；It axially extends on direction, outside
There are gaps between shell (114) and second end cover (123).
10. a kind of underwater switching action tool, which is characterized in that include any one of tool piece (560) and claim 1 to 9
The underwater linear motor (500), the tool piece (560) are removably mounted on underwater linear motor (500)；
The tool piece (560) includes following any or various structures：Manipulator, gripper (561), scissors, sampler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810730397.8A CN108736626A (en) | 2018-07-05 | 2018-07-05 | Underwater linear motor and underwater switching action tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810730397.8A CN108736626A (en) | 2018-07-05 | 2018-07-05 | Underwater linear motor and underwater switching action tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108736626A true CN108736626A (en) | 2018-11-02 |
Family
ID=63926340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810730397.8A Pending CN108736626A (en) | 2018-07-05 | 2018-07-05 | Underwater linear motor and underwater switching action tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108736626A (en) |
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| CN112536732A (en) * | 2020-12-09 | 2021-03-23 | 格力电器（武汉）有限公司 | Tool for plugging interface of closed container |
| CN112636519A (en) * | 2021-03-05 | 2021-04-09 | 中国科学院宁波材料技术与工程研究所 | Electric push rod |
| CN112951647A (en) * | 2019-11-26 | 2021-06-11 | 天津平高智能电气有限公司 | Aging and insulation testing device for vacuum arc-extinguishing chamber |
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