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鉴于水下作业特殊环境,深水作业灵巧手驱动装置的选择较为慎重。电机驱动是最为常用的驱动方式之一,其控制方法和技术十分成熟,是水下作业灵巧手优先考虑的驱动方式,但密封问题严重制约着在水下工作应用。本文结合以往经验,对比常规密封设计,介绍了水下作业灵巧手关键部位动密封,对其作了深入的探讨,提出了磁密封在深水作业灵巧手上应用;根据灵巧手驱动电机设计与之相匹配的磁密封件,并计算和验证了相关设计参数,得出较为理想的工程实用结果。
In view of the special circumstances of underwater operations, the choice of dexterous hand drive for deep-water operations is more cautious. Motor drive is one of the most commonly used driving methods. Its control method and technology are very mature. It is a preferred driving mode for underwater operation dexterous hand, but the sealing problem seriously restricts the application in underwater work. In this paper, the conventional experience is compared with the conventional seal design, the dynamic sealing of the key parts of underwater operation dexterous hand is introduced, the deep research is made on it, and the application of the magnetic seal in the dextrous hand operation is proposed. According to the design of dexterous hand driving motor, Match the magnetic seal, and calculate and verify the relevant design parameters, resulting in a more ideal engineering practical results.