水下船体表面清刷机器人密封的设计  

The Design on Seal of Underwater Robot for Cleaning Hull

作　　者：袁夫彩[1,2] 陆念力[1] 王立权[3] 

机构地区：[1]哈尔滨工业大学机电学院 [2]哈尔滨工程大学机电学院黑龙江哈尔滨150001 [3]哈尔滨工程大学机电学院

出　　处：《润滑与密封》2007年第5期69-72,共4页Lubrication Engineering

基　　金：黑龙江省重点攻关项目(GB03A507).

摘　　要：水下船体表面清刷机器人伺服电机输出轴可供密封用的轴向尺寸不足4mm,采用常规的动密封方式难以进行密封。根据机器人水下作业环境的要求,对机器人的密封结构和密封方式进行了分析和设计。通过对水下船体表面清刷机器人的静、动密封试验,以及机器人的实际应用结果表明水下船体表面清刷机器人静密封采用O形圈,动密封采用旋转格莱圈和优质毛毡,密封设计合理可用;在伺服电机输出轴上加轴套,既起到了联接的作用,又为密封创造了条件,较好地解决了电机输出轴轴向尺寸小导致的密封难的问题,是一种较好的动密封装置。The space Ior seal of servo motor shaft ot underwater robot for cleaning hull is less than 4 mm, which fs difficult to use the conventional method to seal the shaft. The seal of robot was designed and studied, according to the underwater working environment of robot. Through the experiment to the static and dynamic sealing for underwater robot for cleaning hull, the advantages and disadvantages of all kinds of dynamic sealing styles and static sealing styles were analized. Result shows that the design is feasible with O-ring as the static sealing of robot, with combination seal of rotation Glay ring and high quality hair felt as the dynamic sealing of robot. Adding axile bush for servo motor output shaft is facilitated method for the connection and seal of shaft, which solves the seal problem because of the narrow radial size of motor output shaft.

关 键 词：水下机器人 动密封 静密封 船体表面 

分 类 号：U672.1[交通运输工程—船舶及航道工程]