CN113715014B - High-torque integrated driving joint suitable for deep sea robot - Google Patents
High-torque integrated driving joint suitable for deep sea robot Download PDFInfo
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- CN113715014B CN113715014B CN202111106759.4A CN202111106759A CN113715014B CN 113715014 B CN113715014 B CN 113715014B CN 202111106759 A CN202111106759 A CN 202111106759A CN 113715014 B CN113715014 B CN 113715014B
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- bearing
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- 238000010248 power generation Methods 0.000 claims abstract description 25
- 238000007789 sealing Methods 0.000 claims description 35
- 239000003638 chemical reducing agent Substances 0.000 claims description 27
- 239000007788 liquid Substances 0.000 claims description 14
- 230000004323 axial length Effects 0.000 claims description 10
- 230000003068 static effect Effects 0.000 claims description 10
- 230000010354 integration Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 6
- 239000013535 sea water Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- HBMJWWWQQXIZIP-UHFFFAOYSA-N silicon carbide Chemical compound [Si+]#[C-] HBMJWWWQQXIZIP-UHFFFAOYSA-N 0.000 description 1
- 229910010271 silicon carbide Inorganic materials 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention provides a high-torque integrated driving joint suitable for a deep sea robot, and belongs to the technical field of underwater motors. The high-torque integrated driving joint suitable for the deep sea robot comprises a shell, a power generation assembly, a speed reduction assembly and an output flange assembly; the power generation assembly is arranged in the shell and comprises a motor shaft; the speed reducing assembly is arranged on one side of the power generating assembly and comprises a harmonic wave input shaft, a wave generator, a flexible gear, a rigid gear and a rigid gear bearing, wherein the flexible gear comprises a flexible gear body part and a flexible gear flange part, the harmonic wave input shaft is coaxially connected with a motor shaft, the wave generator is arranged on the harmonic wave input shaft, the flexible gear is sleeved on the wave generator, the flexible gear flange part is connected with the casing, the rigid gear bearing is sleeved on the flexible gear body part and is connected with the flexible gear flange part, and the rigid gear is sleeved on the flexible gear body part and is connected with the inner ring of the rigid gear bearing; the output flange assembly is adapted to be coupled to the rigid wheel. Realizes large torque output and has compact structure.
Description
Technical Field
The invention relates to the technical field of underwater motors, in particular to a high-torque integrated driving joint suitable for a deep sea robot.
Background
With the development of ocean exploration technology, deep sea space stations are built, ocean exploration is carried out on schedule, and future ocean detectors should have various exploration and operation capabilities. In order to cope with the increasingly complex requirements of deep sea exploration tasks, researchers propose to apply a foot type robot to deep sea exploration, and a driving motor with advanced and reliable performance is one of key technologies of the deep sea foot type robot.
At present, a deep sea motor is mostly applied to propeller driving of an AUV (unmanned underwater vehicle), an ROV (remote-controlled unmanned submersible vehicle) and the like, the rotation speed of the deep sea motor is faster, so that the output torque is smaller, the motor is larger in size and mass, single in function, poor in integration degree and expansibility, smaller in output torque and not directly applicable to joint driving of a deep sea foot type robot.
Disclosure of Invention
The invention aims to solve the problem of small output torque of the existing deep sea motor.
In order to solve the above problems, the present invention provides a high torque integrated driving joint suitable for a deep sea robot, comprising:
a housing;
the power generation assembly is arranged in the shell and comprises a motor shaft, and the motor shaft is suitable for rotating around the axial direction of the shell;
the speed reducing assembly is arranged on one side of the power generating assembly and used for reducing the output rotating speed of the motor shaft, the speed reducing assembly comprises a harmonic input shaft, a wave generator, a flexspline, a rigid spline and a rigid spline bearing, the flexspline comprises a flexspline body part and a flexspline flange part, the harmonic input shaft is coaxially connected with the motor shaft, the wave generator is arranged on the harmonic input shaft, the flexspline is sleeved on the wave generator, the flexspline flange part is connected with the shell, the rigid spline bearing is sleeved on the flexspline body part and connected with the flexspline flange part, and the rigid spline is sleeved on the flexspline body part and connected with the inner ring of the rigid spline bearing; and
an output flange assembly adapted to be coupled to the rigid wheel.
Compared with the prior art, the high-torque integrated driving joint suitable for the deep sea robot has the following beneficial effects:
the torque of the motor shaft is transmitted to the harmonic input shaft through coaxial detachable connection of the harmonic input shaft and the motor shaft, the wave generator in the speed reducing assembly is arranged on the harmonic input shaft, the flexible wheel is sleeved on the harmonic generator and is matched with the harmonic generator for transmission, the flexible wheel is fixed, the rigid wheel is rotated, namely, the flexible wheel flange part of the flexible wheel is connected with the shell to realize fixation, the rigid wheel bearing and the rigid wheel are sleeved on the flexible wheel respectively, the outer ring of the rigid wheel bearing is connected with the flexible wheel flange part to realize fixation, and the rigid wheel is connected with the inner ring of the rigid wheel bearing to realize fixation, so that the wave generator, the rigid wheel and the rigid wheel bearing are all positioned between two axial ends of the flexible wheel, the integration level is high, the space is small, and in the radial direction of the shell, the rigid wheel can be overlapped with the inner ring of the rigid wheel bearing, namely, the rigid wheel is connected with the end part of the inner ring of the rigid wheel bearing, and the outer diameter of the rigid wheel bearing is smaller than or equal to the outer diameter of the flexible wheel flange part, namely, the rigid wheel bearing does not exceed the flexible wheel flange part in the radial direction, and the integration level is further improved. In addition, the flexible gear is fixed, the rigid gear rotates and outputs, the flexible gear deforms less, and the transmission is more stable. The elliptical curvature of the wave generator can be adjusted to adjust the tooth difference between the rigid gear and the flexible gear, so that different reduction ratios are achieved, and the output requirement of large moment can be met.
Further, the speed reduction assembly further comprises a speed reducer mounting seat and an input shaft bearing, the input shaft bearing is sleeved on the harmonic input shaft and located between the wave generator and the power generation assembly, an inner ring of the input shaft bearing is connected with the harmonic input shaft, the speed reducer mounting seat is sleeved on an outer ring of the input shaft bearing, the speed reducer mounting seat is respectively connected with the outer ring of the input shaft bearing and the casing, and the flexible gear flange portion is connected with the casing through the speed reducer mounting seat.
Further, the end face openings on two sides of the casing are arranged, the flexible wheel flange portion is connected with one end of the casing, the output flange assembly is coaxially inserted into the power generation assembly and the speed reduction assembly, one end of the output flange assembly is connected with the rigid wheel and is suitable for being in sealing connection with the rigid wheel bearing, and the other end of the output flange assembly is suitable for being in sealing connection with one end of the casing, which is far away from the speed reduction assembly.
Further, the output flange assembly comprises an output flange assembly body and a hollow shaft connected with the output flange assembly body, the hollow shaft is arranged on the axis of the shell and is coaxially inserted into the power generation assembly and the speed reduction assembly, the output flange assembly body is connected with the rigid wheel, the output flange assembly body is suitable for being in sealing connection with the rigid wheel bearing, and one end, far away from the output flange assembly body, of the hollow shaft is suitable for being in sealing connection with one end, far away from the speed reduction assembly, of the shell.
Further, the high-torque integrated driving joint suitable for the deep sea robot further comprises a pressure compensation component used for balancing pressure inside and outside the shell, the pressure compensation component comprises an annular compensation piston, a first guide piece and a first elastic piece, the output flange component body comprises a joint output flange and an end cover flange, the end cover flange is connected with the hollow shaft, the joint output flange is connected with the rigid wheel, an annular groove is formed in one end, far away from the speed reduction component, of the joint output flange, a liquid through hole is formed in the annular groove, the liquid through hole extends to one end, close to the speed reduction component, of the joint output flange, the annular compensation piston is arranged in the annular groove and is suitable for moving along the axis of the annular groove, the first guide piece and the compressed first elastic piece are respectively arranged between the annular compensation piston and the end cover flange, the first guide piece is used for limiting synchronous rotation of the joint output flange and the end cover flange, a sealing space is formed by combining between the outer wall of the hollow shaft and the inner wall of the shell, and the sealing space is suitable for high-pressure liquid to be filled in the annular compensation piston to act on the liquid through hole.
Further, a first dynamic sealing structure is arranged between one end, far away from the end cover flange, of the hollow shaft and one end, far away from the speed reduction assembly, of the casing, a second dynamic sealing structure is arranged between the joint output flange and the rigid wheel bearing, the second dynamic sealing structure comprises a movable ring, a static ring, a second guide piece and a second elastic piece, the static ring is sleeved on the rigid wheel and connected with an outer ring of the rigid wheel bearing, the movable ring is sleeved on the rigid wheel and connected with the joint output flange, the second guide piece and the second elastic piece are respectively arranged between the movable ring and the joint output flange, the second guide piece is suitable for limiting the movable ring to synchronously rotate with the joint output flange, and the second elastic piece is suitable for driving the movable ring to move along the second guide piece and to be pressed on the static ring.
Further, the power generation assembly further comprises a motor stator and a motor rotor, wherein the outer wall of the motor stator is connected with the inner wall of the shell, the inner wall of the motor rotor is connected with the motor shaft, the axial length of the motor stator is smaller than the outer diameter of the motor stator, the axial length of the motor rotor is smaller than the outer diameter of the motor stator, and the axial length of the motor shaft is smaller than the outer diameter of the motor shaft.
Further, the high-torque integrated driving joint suitable for the deep sea robot further comprises a clutch assembly, the clutch assembly is arranged on one side, far away from the speed reduction assembly, of the power generation assembly, the clutch assembly comprises a clutch stator and a clutch rotor, the clutch stator is connected with the shell, and the clutch rotor is connected with the motor shaft.
Further, the high-torque integrated driving joint suitable for the deep sea robot further comprises a sensing assembly, wherein the sensing assembly is arranged in the machine shell and used for detecting the rotation speed ratio of the motor shaft to the output flange assembly.
Further, the shell is formed by sequentially and detachably connecting a plurality of sectional cylinders, and a mechanical sealing piece is arranged between every two adjacent sectional cylinders.
Drawings
FIG. 1 is a schematic semi-sectional view of a high torque integrated drive joint suitable for use with a deep sea robot in accordance with an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a high torque integrated drive joint suitable for a deep sea robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a flexspline according to an embodiment of the present invention.
Reference numerals illustrate:
1-casing, 11-first segmented cylinder, 111-watertight joint, 12-second segmented cylinder, 13-third segmented cylinder, 2-power generating assembly, 21-motor stator, 22-motor rotor, 23-motor shaft, 231-motor extension shaft, 24-motor platen, 3-reduction assembly, 31-harmonic input shaft, 32-wave generator, 33-flexspline, 331-flexspline body portion, 332-flexspline flange portion, 34-rigid spline, 35-rigid spline bearing, 36-speed reducer mount, 37-input shaft bearing, 4-output flange assembly, 41-articulation output flange, 42-end cap flange, 43-hollow shaft, 431-hollow shaft bearing, 44-speed reducer output flange, 5-pressure compensating assembly, 51-annular compensating piston, 52-first guide, 6-second dynamic seal structure, 61-stationary ring, 62-stationary frame, 63-rotating ring, 64-second guide, 7-clutch assembly, 71-clutch stator, 72-sensor rotor, 73-clutch mount, 8-clutch assembly, 8-absolute encoder, 82-absolute encoder, 81-encoder platen, 81-encoder mount, 81-encoder.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "front", "rear", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Moreover, in the drawings, the X-axis indicates the longitudinal direction, i.e., the front-rear position, and the positive direction of the X-axis (i.e., the arrow of the X-axis points) indicates the front, and the negative direction of the X-axis (i.e., the direction opposite to the positive direction of the X-axis) indicates the rear.
It should also be noted that the foregoing X-axis is provided merely for the purpose of describing the present invention and for simplicity of description and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
Referring to fig. 1 and 3, a high-torque integrated driving joint suitable for a deep sea robot according to an embodiment of the present invention includes a housing 1, a power generation assembly 2, a reduction assembly 3, and an output flange assembly 4; the power generation assembly 2 is arranged in the shell 1, the power generation assembly 2 comprises a motor shaft 23, and the motor shaft 23 is suitable for rotating around the axial direction of the shell 1; the speed reducing assembly 3 is arranged on one side of the power generating assembly 2 and is used for reducing the output rotating speed of the motor shaft 23, the speed reducing assembly 3 comprises a harmonic input shaft 31, a wave generator 32, a flexspline 33, a rigid spline 34 and a rigid spline bearing 35, the flexspline 33 comprises a flexspline body part 331 and a flexspline flange part 332, the harmonic input shaft 31 is coaxially connected with the motor shaft 23, the wave generator 32 is arranged on the harmonic input shaft 31, the flexspline 33 is sleeved on the wave generator 32, the flexspline flange part 332 is connected with the shell 1, the rigid spline bearing 35 is sleeved on the flexspline body part 331 and is connected with the flexspline flange part 332, and the rigid spline 34 is sleeved on the flexspline body part 331 and is connected with the inner ring of the rigid spline bearing 35; the output flange assembly 4 is adapted to be connected to said rigid wheel 34.
In this embodiment, the harmonic input shaft 31 and the motor shaft 23 are coaxially and detachably connected, so that the torque of the motor shaft 23 is transmitted to the harmonic input shaft 31, the wave generator 32 in the speed reducing assembly 3 is mounted on the harmonic input shaft 31, the flexspline 33 is sleeved on the harmonic generator 32 and is cooperatively driven with the harmonic generator 32, the flexspline 33 is fixed, that is, the flexspline flange 332 of the flexspline 33 is connected with the casing 1 to achieve fixation, the flexspline bearings 35 and the flexspline 34 are respectively sleeved on the flexspline 33, the outer ring of the flexspline bearings 35 is connected with the flexspline flange 332 to achieve fixation, the rigid spline 34 is connected with the inner ring of the rigid spline bearings 35 to achieve fixation, so that the wave generator 32, the rigid spline 34 and the rigid spline bearings 35 are all located between the two axial ends of the flexspline 33, the integration is high, the space is small, in the radial direction of the casing 1, that is, the rigid spline 34 can be overlapped with the inner ring of the rigid spline bearings 35, that is, the end of the inner ring of the flexspline bearings 35 is connected with the outer ring of the rigid spline bearings 35, and the outer ring of the flexspline bearings 35 is smaller than or equal to the outer diameter of the flexspline bearings 332, that is not further increased than the radial flange 332. In addition, the flexible gear 33 is fixed, the rigid gear 34 rotates to output, the flexible gear 33 deforms less, and the transmission is more stable. The elliptic curvature of the wave generator 32 can be adjusted to adjust the tooth difference between the rigid gear 34 and the flexible gear 33, so as to achieve different reduction ratios and meet the output requirement of large moment.
Referring to fig. 1, optionally, the speed reducing assembly 3 further includes a speed reducer mounting seat 36 and an input shaft bearing 37, the input shaft bearing 37 is sleeved on the harmonic input shaft 31 and is located between the wave generator 32 and the power generating assembly 2, an inner ring of the input shaft bearing 37 is connected with the harmonic input shaft 31, the speed reducer mounting seat 36 is sleeved on an outer ring of the input shaft bearing 37, the speed reducer mounting seat 36 is respectively connected with the outer ring of the input shaft bearing 37 and the casing 1, and the flexible gear flange 332 is connected with the casing 1 through the speed reducer mounting seat 36.
Here, the reducer mount 36 is connected with the casing 1 to achieve fixation, and the reducer mount 36 is in a T-shaped cylindrical structure, that is, the reducer mount 36 includes a cylindrical body portion and an annular mounting plate structure connected to one end of the cylindrical body portion, and the cylindrical body portion of the reducer mount 36 is sleeved on an outer ring of the input shaft bearing 37 and fixedly connected with the outer ring of the input shaft bearing 37, so that the harmonic input shaft 31 is ensured to move stably through the input shaft bearing 37. The flexible gear body 331 is sleeved on the barrel portion of the speed reducer mounting seat 36 and the wave generator 32, the flexible gear body 331 is matched with the wave generator 32 for transmission, the flexible gear flange 332 is fixedly connected with the speed reducer mounting seat 36, the rigid gear bearing 35 and the rigid gear 34 are sleeved on the flexible gear body 331, the outer ring of the rigid gear bearing 35 is fixedly connected with the flexible gear flange 332, the annular mounting plate structure of the speed reducer mounting seat 36 and the casing 1, the rigid gear 34 is fixedly connected with the inner ring of the rigid gear bearing 35, and the integrated level is high and the transmission is more stable.
Except that the rear end part of the harmonic input shaft 31 extends into the front end of the casing 1 and is fixedly connected with the motor shaft 23, other components in the speed reducing assembly 3 are all arranged outside the casing 1, in particular, are arranged at the front end opening of the casing 1, and the outer ring of the rigid gear bearing 35 is fixedly connected with the flexible gear flange 332 and the speed reducing assembly 36 through fixedly connecting the speed reducing assembly 36 with the front end opening of the casing 1, so that compared with the speed reducing assembly 3 which is arranged in the casing 1 and is connected with the inner wall of the casing 1, the peripheral outer side of the speed reducing assembly 3 in the embodiment does not need to be covered by the casing 1, the space occupied in the radial direction of the casing 1 can be reduced, and the radial integration level is improved.
Referring to fig. 1, alternatively, the end surfaces on both sides of the casing 1 are opened, the flexible wheel flange 332 is connected with one end of the casing 1, the output flange assembly 4 is coaxially inserted into the power generating assembly 2 and the speed reducing assembly 3, one end (front end) of the output flange assembly 4 is connected with the rigid wheel 34 and is suitable for being in sealing connection with the rigid wheel bearing 35, and the other end (rear end) of the output flange assembly 4 is suitable for being in sealing connection with one end of the casing 1 away from the speed reducing assembly 3.
Here, the openings of the end surfaces on both sides of the casing 1, that is, the front end and the rear end, are convenient for installing the internal structure, and the reduction assembly 3 can be installed at the front ends of the casing 1 and the power generation assembly 2 after the power generation assembly 2 is installed at the casing 1, and finally, the rear end of the output flange assembly 4 sequentially passes through the reduction assembly 3 and the power generation assembly 2 and is in sealing connection with the rear end of the casing 1, and the front end of the output flange assembly 4 is in sealing connection with the front end of the rigid wheel bearing 35.
Wherein, the rigid wheel bearing 35 can be a rotary crossed roller bearing, which has better bearing performance.
Referring to fig. 1, alternatively, the output flange assembly 4 includes an output flange assembly body and a hollow shaft 43 connected to the output flange assembly body, where the hollow shaft 43 is disposed on an axis of the casing 1 and is coaxially inserted into the power generating assembly 2 and the speed reducing assembly 3, the output flange assembly body is connected to the rigid wheel 34, the output flange assembly body is adapted to be in sealing connection with the rigid wheel bearing 35, and an end of the hollow shaft 43 away from the output flange assembly body is adapted to be in sealing connection with an end of the casing 1 away from the speed reducing assembly 3.
Here, a sealed space is defined between the outer wall of the hollow shaft 43 and the inner wall of the casing 1, the sealed space being a mounting space for the power generating assembly, and the hollow shaft 43 has a center hole therein. So, when output flange subassembly 4 is connected with external load, can realize walking the line through the centre bore, carry out the cable and arrange, on the one hand can guarantee that the cable is integrated in casing 1, on the other hand guarantees that output flange subassembly 4 when rotatory around the axis, can not take place the phenomenon of cable winding.
Referring to fig. 1, optionally, the high torque integrated driving joint suitable for the deep sea robot further comprises a pressure compensation assembly 5 for balancing the pressure inside and outside the casing 1, the pressure compensation assembly 5 comprises an annular compensation piston 51, a first guide member 52 and a first elastic member, the output flange assembly body comprises a joint output flange 41 and an end cover flange 42, the end cover flange 42 is connected with the hollow shaft 43, the joint output flange 41 is connected with the rigid wheel 34, an annular groove is formed at one end of the joint output flange 41 far away from the speed reduction assembly 3, the annular groove is provided with a liquid through hole, the liquid through hole extends to one end of the joint output flange 41 close to the speed reduction assembly 3, the annular compensation piston 51 is arranged in the annular groove and is suitable for moving along the axis of the annular groove, the first guide member 52 and the compressed first elastic member are respectively arranged between the annular compensation piston 51 and the end cover flange 42, the first guide member is used for limiting the joint output flange 41 and the end cover flange 34 to rotate synchronously, the annular groove is suitable for forming a high pressure sealing space between the annular piston and the hollow shaft 43 and the high pressure sealing device.
Here, high-pressure liquid may be filled into the sealed space, so that the high-pressure liquid may act on the rear end of the annular compensating piston 51 through the liquid passing hole, sea water may act on the front end of the annular compensating piston 51 through the flange hole of the end cover flange 42, the pressure of sea water plus the elastic force of the first elastic member constitutes an external pressure, the pressure of the high-pressure liquid in the sealed space constitutes an internal pressure, and the internal pressure may be balanced with the external pressure by the axial movement of the annular compensating piston 51 in the annular groove.
The first guide 52 may be a first guide pin, and the first elastic member may be a first spring, which is disposed on the first guide 52.
The output flange assembly body further comprises a speed reducer output flange 44, the speed reducer output flange is fixedly connected with the rigid wheel, the joint output flange 41 is fixedly connected with the speed reducer output flange 44, namely, the joint output flange 41 is fixedly connected with the rigid wheel 34 through the speed reducer output flange 44. Wherein the reducer output flange 44 can compress and fix the rigid wheel 34 on the inner ring of the rigid wheel bearing 35.
Referring to fig. 1, optionally, a first dynamic sealing structure is disposed between an end of the hollow shaft 43 away from the end cover flange 42 and an end of the casing 1 away from the speed reduction assembly 3, a second dynamic sealing structure 6 is disposed between the joint output flange 41 and the rigid wheel bearing 35, the second dynamic sealing structure 6 includes a moving ring 62, a stationary ring 61, a second guiding member 64 and a second elastic member, the stationary ring 61 is sleeved on the rigid wheel 34 and is connected with the outer ring of the rigid wheel bearing 35, the moving ring 62 is sleeved on the rigid wheel 34 and is connected with the joint output flange 41, the second guiding member 64 and the second elastic member are respectively disposed between the moving ring 62 and the joint output flange 41, the second guiding member 64 is adapted to limit the moving ring 62 to rotate synchronously with the joint output flange 41, and the second elastic member is adapted to drive the moving ring 62 to move along the second guiding member 64 and to press against the moving ring 61.
Here, since the output flange assembly 4 is to be rotated, by providing a first dynamic seal structure (not shown) between the rear end outer wall of the hollow shaft 43 and the rear end inner wall of the casing 1, a second dynamic seal structure 6 is provided between the knuckle output flange 41 and the outer ring of the rigid wheel bearing 35, thereby securing the sealing performance at the corresponding position. The first dynamic seal structure is similar to the second dynamic seal structure 6 except for the location.
The second dynamic seal structure 6 is exemplified, the stationary ring 61 is fixedly connected with the outer ring of the rigid wheel bearing 35, the movable ring 62 is fixedly connected with the joint output flange 41 through the movable ring fixing frame 63, wherein the movable ring 62 and the stationary ring 61 are sleeved on the rigid wheel 34, the integration level is improved, a second guide member 64 and a second elastic member are arranged between the movable ring fixing frame 63 and the joint output flange 41, the second guide member 64 limits the movable ring fixing frame 63 to axially move on one hand, and limits the movable ring fixing frame 63 to synchronously rotate with the joint output flange 41 on the other hand, the elastic force of the second elastic member drives the movable ring fixing frame 63 to the direction of the stationary ring 61, namely the movable ring 62 is tightly pressed on the stationary ring 61, so that dynamic seal is realized. The movable ring 62 and the static ring 61 are made of hard materials, the static ring 61 can be made of silicon carbide, the movable ring 62 can be made of ceramic, and when the movable ring 62 rotates relative to the static ring 61, the movable ring 62 is slightly worn to form a layer of film to realize dynamic sealing of a contact surface, so that the sealing effect is good.
When the dynamic seal structure leaks, the internal pressure of the high-pressure liquid in the seal space is larger than the external sea water pressure, so that the internal high-pressure liquid leaks to the outside, and the external sea water does not invade the inside to erode the internal electric elements.
Referring to fig. 1, optionally, the power generating assembly 2 further includes a motor stator 21 and a motor rotor 22, wherein an outer wall of the motor stator 21 is connected with an inner wall of the housing 1, the inner wall of the motor rotor 22 is connected with the motor shaft 23, an axial length of the motor stator 21 is smaller than an outer diameter of the motor stator 21, an on-axis length of the motor rotor 22 is smaller than the outer diameter of the motor stator 21, and an on-axis length of the motor shaft 23 is smaller than the outer diameter of the motor shaft 23.
Here, the motor rotor 22 may be pressed and fixed on the motor shaft 23 by the motor pressing plate 24, the motor stator 21 may be fixedly connected to the inner wall of the casing 1 by glue, and the harmonic input shaft 31 is designed to be detachably connected to the motor shaft 23, and the harmonic input shaft 31 is specifically detachably connected to the motor pressing plate 24, so that the motor rotor 22 may be conveniently installed. After the motor stator 21 is electrified, the motor stator 21 generates electromagnetic force to drive the motor rotor 22 to rotate. The motor rotor 22 is fixed with the motor pressing plate 24, the motor shaft 23 and the harmonic input shaft 31 through bolts, so that the motor rotor 22 drives the components to rotate together, the harmonic input shaft 31 is matched with the wave generator 32, the wave generator 32 is matched with the flexible wheel 33, the flexible wheel 33 is meshed with the rigid wheel 34, and the flexible wheel 33 is fixed, so that the rigid wheel 34 is driven to rotate at a certain reduction ratio when the harmonic input shaft 31 rotates, and finally, the force is output through an output flange assembly connected with the rigid wheel 34.
The axial length of the motor stator 21 is smaller than the outer diameter of the motor stator 21, the axial length of the motor rotor 22 is smaller than the outer diameter of the motor stator 21, and the axial length of the motor shaft 23 is smaller than the outer diameter of the motor shaft 23, that is, the power generating assembly 2 is designed into a large-diameter flat structure, so that the moment seal is larger compared with a small-diameter long-member structure under the same mass. In addition, under the condition that the speed reducing assembly 3 is compact, the power generating assembly 2 is designed to be of a large-diameter flat structure, so that the machine shell 1 is ensured not to be excessively long in the axial direction, and the space between the power generating assembly 2 and the speed reducing assembly 3 is more compact.
Referring to fig. 1, the high torque integrated driving joint for the deep sea robot may further comprise a clutch assembly 7, the clutch assembly 7 is disposed on a side of the power generation assembly 2 remote from the reduction assembly 3, the clutch assembly 7 includes a clutch stator 71 and a clutch rotor 72, the clutch stator 71 is connected with the housing 1, and the clutch rotor 72 is connected with the motor shaft 23.
Here, the clutch stator 71 is fixedly connected to the clutch mount 73, and the clutch mount 73 is fixedly connected to the housing 1. When the clutch stator 71 is powered off, the clutch rotor 72 is pressed down by spring pressure to lock, so that the motor shaft 23 and the harmonic input shaft 31 connected with the clutch rotor stop rotating, and the protection of the power-off band-type brake is realized, so that the safety is improved.
Referring to fig. 1, the high-torque integrated driving joint for the deep sea robot further comprises a sensing assembly 8, wherein the sensing assembly 8 is arranged in the casing 1 and is used for detecting the rotation speed ratio of the motor shaft 23 and the output flange assembly 4.
Here, the sensing component 8 includes: absolute encoder platen 85, absolute value encoder 81, encoder mount 84, incremental encoder stator 82, incremental encoder rotor 83. The absolute value encoder 81 is pressed on the encoder fixing seat 84 through the absolute encoder pressing plate 85, the encoder fixing seat 84 is fixedly connected with the machine shell 1, the incremental encoder stator 82 is installed on the encoder fixing seat 84, the inner side of the absolute value encoder 81 is in interference fit with the hollow shaft 43, the motor shaft 23 is connected with the motor extension shaft 231 through bolts, and the motor extension shaft 231 can be fixedly connected with the incremental encoder rotor 83 through gluing. The inside of the absolute value encoder 81 is connected to the hollow shaft 43 to measure the absolute position of the output flange assembly 4, and the incremental encoder rotor 83 is connected to the motor extension shaft 231 to measure the angular velocity and the relative position of the motor shaft 23, thereby obtaining the precise reduction ratio of the transmission of the flexspline 33 and the rigid spline 34 to precisely control the output flange assembly 4 to stop at a certain angle.
Referring to fig. 1 and 2, alternatively, the casing 1 is formed by detachably connecting a plurality of segmented cylinders in sequence, and a mechanical seal is disposed between adjacent segmented cylinders.
Here, the casing 1 may be formed by detachably connecting a plurality of different segmented cylinders, for example, the casing 1 includes a third segmented cylinder 13, a second segmented cylinder 12 and a first segmented cylinder 11 from rear to front, and in the connecting, the third segmented cylinder 13, the second segmented cylinder 12, the clutch mount 73, the first segmented cylinder 11 are connected in this order from rear to front. The power generation assembly 2 and the clutch assembly 7 are installed in the first sectional cylinder 11, or the first sectional cylinder 11 is divided into two detachable parts, one part is used for installing the power generation assembly 2, the other part is used for installing the clutch assembly 7, the second sectional cylinder 12 can be used for installing the sensing assembly 8, and the third sectional cylinder 13 is used for installing a first dynamic sealing structure to realize dynamic sealing with the outer wall of the rear end of the hollow shaft 43. So, each structural component in the installation of being convenient for, and can be with the sectional barrel of different sizes according to the structural component design of the installation inside that needs, make overall structure compacter, the integrated level is higher.
Referring to fig. 1 and 2, optionally, a watertight connector 111 is provided on the casing 1, in particular, the first segmented cylinder 11 is provided with a watertight connector 111, through which watertight connector 111 the electric power is applied to the internal electric components, such as the motor stator 21, the clutch stator 71, the sensing assembly 8. The static seal between the watertight joint 111 and the casing 1 is sealed by a sealing ring provided on the watertight joint 111.
Wherein, a hollow shaft bearing 431 may be disposed on the inner wall of the third sectional cylinder 13 or the second sectional cylinder 12, for supporting the rear end of the hollow shaft 43, so as to ensure that the first dynamic seal structure between the hollow shaft 43 and the third sectional cylinder 13 operates stably.
The terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "first," "second," "third," and "fourth" may explicitly or implicitly include at least one such feature.
Although the present disclosure is disclosed above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the disclosure.
Claims (7)
1. High moment integration drive joint suitable for deep sea robot, its characterized in that includes:
a housing (1);
a power generation assembly (2) disposed within the housing (1), the power generation assembly (2) comprising a motor shaft (23), the motor shaft (23) being adapted to rotate about an axial direction of the housing (1);
the speed reduction assembly (3) is arranged on one side of the power generation assembly (2) and is used for reducing the output rotating speed of the motor shaft (23), the speed reduction assembly (3) comprises a harmonic input shaft (31), a wave generator (32), a flexible gear (33), a rigid gear (34) and a rigid gear bearing (35), the flexible gear (33) comprises a flexible gear body part (331) and a flexible gear flange part (332), the harmonic input shaft (31) is coaxially connected with the motor shaft (23), the wave generator (32) is mounted on the harmonic input shaft (31), the flexible gear (33) is sleeved on the wave generator (32), the flexible gear flange part (332) is connected with the casing (1), the rigid gear bearing (35) is sleeved on the flexible gear body part (331) and is connected with the flexible gear flange part (332), and the rigid gear (34) is sleeved on the flexible gear body part (331) and is connected with an inner ring of the rigid gear bearing (35); and
-an output flange assembly (4) adapted to be connected with the rigid wheel (34);
the flexible gear flange part (332) is connected with one end of the casing (1), the output flange component (4) is coaxially inserted into the power generation component (2) and the speed reduction component (3), one end of the output flange component (4) is connected with the rigid gear (34) and is suitable for being in sealing connection with the rigid gear bearing (35), and the other end of the output flange component (4) is suitable for being in sealing connection with one end of the casing (1) far away from the speed reduction component (3); the output flange assembly (4) comprises an output flange assembly body and a hollow shaft (43) connected with the output flange assembly body, the hollow shaft (43) is arranged on the axis of the shell (1) and is coaxially inserted into the power generation assembly (2) and the speed reduction assembly (3), the output flange assembly body is connected with the rigid wheel (34), the output flange assembly body is suitable for being in sealing connection with the rigid wheel bearing (35), and one end, far away from the output flange assembly, of the hollow shaft (43) is suitable for being in sealing connection with one end, far away from the speed reduction assembly (3), of the shell (1); the output flange assembly body comprises a joint output flange (41) and an end cover flange (42), the end cover flange (42) is connected with the hollow shaft (43), and the joint output flange (41) is connected with the rigid wheel (34); the hollow shaft (43) is far away from one end of the end cover flange (42) and one end of the machine shell (1) far away from the speed reduction assembly (3) is provided with a first dynamic sealing structure, a second dynamic sealing structure (6) is arranged between the joint output flange (41) and the rigid wheel bearing (35), the second dynamic sealing structure (6) comprises a movable ring (62), a static ring (61), a second guide piece (64) and a second elastic piece, the static ring (61) is sleeved on the rigid wheel (34) and connected with the outer ring of the rigid wheel bearing (35), the movable ring (62) is sleeved on the rigid wheel (34) and connected with the joint output flange (41), the second guide piece (64) and the second elastic piece are respectively arranged between the movable ring (62) and the joint output flange (41), the second guide piece (64) is suitable for limiting the movable ring (62) to rotate synchronously with the joint output flange (41), and the second guide piece (62) is suitable for pressing the movable ring (64) along the static ring (61).
2. The high-torque integrated drive joint suitable for a deep sea robot according to claim 1, wherein the speed reducer assembly (3) further comprises a speed reducer mounting seat (36) and an input shaft bearing (37), the input shaft bearing (37) is sleeved on the harmonic input shaft (31) and is positioned between the wave generator (32) and the power generation assembly (2), an inner ring of the input shaft bearing (37) is connected with the harmonic input shaft (31), the speed reducer mounting seat (36) is sleeved on an outer ring of the input shaft bearing (37), the speed reducer mounting seat (36) is connected with an outer ring of the input shaft bearing (37) and the casing (1) respectively, and the flexible wheel flange part (332) is connected with the casing (1) through the speed reducer mounting seat (36).
3. The high torque integrated drive joint suitable for deep sea robots according to claim 1, further comprising a pressure compensation assembly (5) for balancing the pressure inside and outside the casing (1), said pressure compensation assembly (5) comprising an annular compensation piston (51), a first guide (52) and a first elastic member, said joint output flange (41) being provided with an annular groove at the end remote from the speed reduction assembly (3), said annular groove being provided with a liquid through hole extending to the end of said joint output flange (41) close to the speed reduction assembly (3), said annular compensation piston (51) being arranged in said annular groove and being adapted to move along the axis of said annular groove, said first guide (52) and said first elastic member being compressed being arranged between said annular compensation piston (51) and said end cap flange (42), respectively, said first guide being adapted to define a synchronous rotation of said joint output flange (41) and said end cap flange (42), said liquid through hole extending to the end of said joint output flange (41) close to said speed reduction assembly (3), said annular compensation piston (51) being adapted to move along the axis of said annular groove, said annular compensation piston (51) being adapted to form a high pressure tight space between said annular piston (1).
4. The high torque integrated drive joint suitable for a deep sea robot according to claim 1, wherein the power generation assembly (2) further comprises a motor stator (21) and a motor rotor (22), an outer wall of the motor stator (21) is connected with an inner wall of the housing (1), an inner wall of the motor rotor (22) is connected with the motor shaft (23), an axial length of the motor stator (21) is smaller than an outer diameter of the motor stator (21), an axial length of the motor rotor (22) is smaller than an outer diameter of the motor stator (21), and an axial length of the motor shaft (23) is smaller than an outer diameter of the motor shaft (23).
5. The high torque integrated drive joint suitable for a deep sea robot according to claim 1, further comprising a clutch assembly (7), the clutch assembly (7) being arranged on a side of the power generation assembly (2) remote from the reduction assembly (3), the clutch assembly (7) comprising a clutch stator (71) and a clutch rotor (72), the clutch stator (71) being connected with the housing (1), the clutch rotor (72) being connected with the motor shaft (23).
6. The high torque integrated drive joint suitable for a deep sea robot according to claim 1, further comprising a sensing assembly (8), the sensing assembly (8) being arranged in the housing (1) for detecting the rotation speed ratio of the motor shaft (23) and the output flange assembly (4).
7. The high-torque integrated driving joint suitable for the deep sea robot according to claim 1, wherein the shell (1) is formed by sequentially and detachably connecting a plurality of sectional cylinders, and a mechanical sealing element is arranged between the adjacent sectional cylinders.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111106759.4A CN113715014B (en) | 2021-09-22 | 2021-09-22 | High-torque integrated driving joint suitable for deep sea robot |
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| CN202111106759.4A CN113715014B (en) | 2021-09-22 | 2021-09-22 | High-torque integrated driving joint suitable for deep sea robot |
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| CN113715014B true CN113715014B (en) | 2023-11-21 |
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| CN116175633A (en) * | 2022-10-08 | 2023-05-30 | 深圳市越疆科技股份有限公司 | Mechanical arm and joint module thereof |
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