CN114221474B - Waterproof motor for electric joint of mechanical arm - Google Patents
Waterproof motor for electric joint of mechanical arm Download PDFInfo
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- CN114221474B CN114221474B CN202111599292.1A CN202111599292A CN114221474B CN 114221474 B CN114221474 B CN 114221474B CN 202111599292 A CN202111599292 A CN 202111599292A CN 114221474 B CN114221474 B CN 114221474B
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- cabin body
- electronic cabin
- mechanical arm
- shell
- end cover
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 15
- 230000000903 blocking effect Effects 0.000 claims abstract description 10
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 10
- 239000003921 oil Substances 0.000 claims description 42
- 239000003638 chemical reducing agent Substances 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000013535 sea water Substances 0.000 abstract description 10
- 239000002184 metal Substances 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 229920000459 Nitrile rubber Polymers 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 229920006335 epoxy glue Polymers 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 229910001369 Brass Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 239000010951 brass Substances 0.000 description 1
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005429 filling process Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Classifications
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- 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
-
- 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
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Motor Or Generator Frames (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a waterproof motor of an electric joint of a mechanical arm, which relates to the field of mechanical arms, and comprises: the electronic cabin comprises a main body, an electronic cabin body, a control element, a rear end cover and a pressure compensation bag, wherein the electronic cabin body is arranged on the main body, the control element is arranged inside the electronic cabin body, the electronic cabin body is provided with a first mounting opening, the pressure compensation bag is used for blocking the first mounting opening, the rear end cover is connected with the electronic cabin body, the edge of the pressure compensation bag is clamped between the rear end cover and the electronic cabin body, a plurality of water permeable holes are formed in the rear end cover, and insulating hydraulic oil is arranged inside the electronic cabin body. Through the mode of pressure compensation bag balanced inside and outside pressure, this mechanical arm electric joint waterproof motor does not receive the pressure of water under water and influences, need not to set up the metal cabin body and encapsulates, and self can bear sea water pressure, and like this mechanical arm joint position volume weight reduces by a wide margin, and the viscous resistance that the mechanical arm received sea water in the sea diminishes, and mechanical arm work efficiency improves greatly.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to a waterproof motor for an electric joint of a mechanical arm.
Background
Currently, the remote operation of the underwater robot in the sea has become a main mode of deep sea resource exploration and ocean science investigation, and in recent years, the development requirement of the underwater robot is not limited to navigation detection, and meanwhile, the underwater robot is required to be carried with a working mechanical arm so as to have a certain working capacity. The method also sequentially starts a series of scientific research projects developed by the deep sea mechanical arm in China, and is put into use in deep sea scientific investigation and underwater engineering operation.
The deep sea mechanical arm is often carried by an underwater robot and is submerged to the sea bottom, and a series of works such as sampling, submarine pipeline operation and the like are completed through the cooperative action of the mechanical arm and the robot. Compared with the common deep sea hydraulic mechanical arm, the deep sea electric mechanical arm has the advantages of low energy consumption, small volume and weight, higher control precision, simpler control algorithm, higher response speed and the like. The mechanical arm waterproof joint motor is used as a core device of the deep sea mechanical arm, so that the output rotating speed and the output torque are controllable, and the protection effect of power-off braking can be achieved.
At present, most of the underwater mechanical arm joint motors used in the prior art are mechanical arm joint motors used on land are directly packaged in a metal cabin body, the cabin body is made into a completely sealed structure, the joint motors in the cabin body do not bear the pressure of seawater, the volume weight of the mechanical arm joint parts can be greatly increased through the structure, the viscous resistance of seawater in the sea is increased, and the working efficiency of the mechanical arm is low.
Therefore, how to improve the structure of the shutdown motor of the mechanical arm to improve the working efficiency of the mechanical arm is a problem to be solved by those skilled in the art.
Disclosure of Invention
In order to solve the technical problems, the invention provides the mechanical arm electric joint waterproof motor capable of effectively improving the working efficiency of the mechanical arm.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a waterproof motor of an electric joint of a mechanical arm, which comprises the following components: the electronic cabin comprises a main body, an electronic cabin body, a control element, a rear end cover and a pressure compensation bag, wherein the electronic cabin body is arranged on the main body, the control element is arranged inside the electronic cabin body, a first mounting opening is formed in the electronic cabin body, the first mounting opening is blocked by the pressure compensation bag, the rear end cover is connected with the electronic cabin body, the edge of the pressure compensation bag is clamped between the rear end cover and the electronic cabin body, a plurality of water permeable holes are formed in the rear end cover, and insulating hydraulic oil is arranged inside the electronic cabin body.
Preferably, the main body comprises a shell, an output shaft, a brake shaft, a rotor, a stator, a harmonic reducer, an input end absolute encoder, an output end absolute encoder, a rotating shaft sleeve and a brake, wherein the brake shaft, the stator, the brake shaft, the output shaft and the rotating shaft sleeve are coaxially arranged, the brake shaft, the rotating shaft sleeve, the rotor and the stator are sequentially nested from inside to outside, the stator is arranged on the shell, the rotor is arranged on the rotating shaft sleeve, one end of the output shaft stretches into the shell, the output shaft, the brake shaft and the brake are sequentially in transmission connection, the rotating shaft sleeve is connected with a wave generator of the harmonic reducer, the output shaft is connected with a flexible wheel of the harmonic reducer, an inner tooth steel wheel of the harmonic reducer is arranged on the shell, the input end absolute encoder is used for detecting position information of the rotor, and the output end absolute encoder is used for detecting position information of the output shaft.
Preferably, the waterproof motor of the electric joint of the mechanical arm further comprises a front end cover and a support cover, a second installation opening and a third installation opening are respectively arranged at two ends of the shell, the second installation opening is blocked by the electronic cabin body, the brake is arranged on the electronic cabin body, the third installation opening is blocked by the support cover, the support cover is used for supporting the harmonic reducer, the front end cover is arranged on the outer side of the support cover, the front end cover, the support cover and the shell are detachably connected, and one end of the output shaft sequentially penetrates through the front end cover and the support cover to extend into the shell.
Preferably, a plug seal is arranged between the front end cover and the supporting cover, the plug seal sleeve is arranged on the output shaft, one end of the electronic cabin body extends into the shell from the second mounting opening, one end of the supporting cover extends into the shell from the third mounting opening, and 0-type sealing rings are arranged between the outer side wall of the electronic cabin body and the inner side wall of the shell and between the outer side wall of the supporting cover and the inner side wall of the shell.
Preferably, one end of the brake shaft is provided with a flange, and the magnetic disk of the output end absolute value encoder is detachably connected with the flange.
Preferably, the mechanical arm electric joint waterproof motor further comprises a coupler, the coupler is nested in the harmonic reducer, the coupler is connected with the flexible gear of the harmonic reducer, and the output shaft is in transmission connection with the brake shaft through the coupler.
Preferably, the wave generator is connected to the coupling via a bearing.
Preferably, the electronic cabin body is provided with a watertight connector, an oil inlet and an oil outlet, the oil inlet is arranged at the bottom end of the electronic cabin body, the oil outlet is arranged at the top end of the electronic cabin body, and an oil inlet blocking block and an oil outlet blocking block are respectively arranged in the oil inlet and the oil outlet.
Preferably, the control element is a control circuit board, a conductive upright post is arranged on the electronic cabin body, and the control circuit board is arranged on the conductive upright post.
Preferably, the conductive upright post is detachably connected with the electronic cabin body.
Compared with the prior art, the invention has the following technical effects:
the invention provides a waterproof motor for an electric joint of a mechanical arm, which comprises the following components: the electronic cabin comprises a main body, an electronic cabin body, a control element, a rear end cover and a pressure compensation bag, wherein the electronic cabin body is arranged on the main body, the control element is arranged inside the electronic cabin body, the electronic cabin body is provided with a first mounting opening, the pressure compensation bag is used for blocking the first mounting opening, the rear end cover is connected with the electronic cabin body, the edge of the pressure compensation bag is clamped between the rear end cover and the electronic cabin body, a plurality of water permeable holes are formed in the rear end cover, and insulating hydraulic oil is arranged inside the electronic cabin body. Through the mode of pressure compensation bag balanced inside and outside pressure, this mechanical arm electric joint waterproof motor does not receive the pressure of water under water and influences, need not to set up the metal cabin body and encapsulates, and self can bear sea water pressure, and like this mechanical arm joint position volume weight reduces by a wide margin, and the viscous resistance that the mechanical arm received sea water in the sea diminishes, and mechanical arm work efficiency improves greatly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a perspective view of a waterproof motor for an electric joint of a mechanical arm provided in an embodiment of the present invention;
fig. 2 is a cross-sectional view of a waterproof motor for an electric joint of a mechanical arm provided in an embodiment of the present invention.
Reference numerals illustrate: 100. waterproof motor of the electric joint of the mechanical arm; 1. an electronic cabin body; 2. a control element; 3. a rear end cover; 301. a water permeable hole; 4. a pressure compensation bladder; 5. a conductive pillar; 6. a housing; 7. an output shaft; 8. a brake shaft; 9. a rotor; 10. a stator; 11. an input absolute value encoder; 12. an output absolute value encoder; 13. rotating the shaft sleeve; 14. a brake; 15. a wave generator; 16. a flexible wheel; 17. internal tooth steel wheel; 18. a front end cover; 19. a support cover; 20. a flange plate; 21. a coupling; 22. a bearing; 23. a watertight connector; 24. and an oil inlet.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a mechanical arm electric joint waterproof motor capable of effectively improving the working efficiency of a mechanical arm.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1-2, the mechanical arm electric joint waterproof motor 100 provided in this embodiment includes: the electronic cabin comprises a main body, an electronic cabin body 1, a control element 2, a rear end cover 3 and a pressure compensation bag 4, wherein the electronic cabin body 1 is arranged on the main body, the control element 2 is arranged inside the electronic cabin body 1, the electronic cabin body 1 is provided with a first mounting opening, the pressure compensation bag 4 is used for blocking the first mounting opening, the rear end cover 3 is connected with the electronic cabin body 1, the edge of the pressure compensation bag 4 is clamped between the rear end cover 3 and the electronic cabin body 1, a plurality of water permeable holes 301 are formed in the rear end cover 3, and insulating hydraulic oil is arranged inside the electronic cabin body 1. When the mechanical arm is lowered into the sea to work, the pressure compensation bag 4 can be extruded and deformed according to the change of the sea water depth, so that the pressure inside the motor is compensated. The mechanical arm electric joint waterproof motor 100 is not influenced by the pressure of water under water, a metal cabin body is not required to be arranged for packaging, the mechanical arm electric joint waterproof motor can bear the pressure of seawater, so that the volume weight of the joint part of the mechanical arm is greatly reduced, the viscous resistance of the mechanical arm subjected to seawater in the sea is reduced, and the working efficiency of the mechanical arm is greatly improved.
In this embodiment, specifically, the insulating hydraulic oil is low viscosity insulating hydraulic oil, and the rear end cover 3 is detachably connected with the electronic cabin body 1, specifically through bolting. The compensation bag can change corresponding volume according to different water pressures under different sea water depth use environments, so that the mechanical arm electric joint waterproof motor 100 can be suitable for submarine environments with various depths. In addition, the pressure compensation bag 4 is formed by injection molding of nitrile rubber, and the nitrile rubber has good elasticity, water resistance and oil resistance, can achieve good pressure transmission effect and is not easy to damage.
In this embodiment, as shown in fig. 2, the main body includes a housing 6, an output shaft 7, a brake shaft 8, a rotor 9, a stator 10, a harmonic reducer, an input end absolute encoder 11, an output end absolute encoder 12, a rotating shaft sleeve 13 and a brake 14, wherein the rotor 9, the stator 10, the brake shaft 8, the output shaft 7 and the rotating shaft sleeve 13 are coaxially arranged, the brake shaft 8, the rotating shaft sleeve 13, the rotor 9 and the stator 10 are sequentially nested from inside to outside, the stator 10 is arranged on the housing 6, the rotor 9 is arranged on the rotating shaft sleeve 13, one end of the output shaft 7 stretches into the housing 6, the output shaft 7, the brake shaft 8 and the brake 14 are sequentially in transmission connection, the rotating shaft sleeve 13 is connected with a wave generator 15 of the harmonic reducer, the output shaft 7 is connected with a flexible gear 16 of the harmonic reducer, an internal tooth steel gear 17 of the harmonic reducer is arranged on the housing 6, the input end absolute encoder 11 is used for detecting position information of the rotor 9, and the output end absolute encoder 12 is used for detecting position information of the output shaft 7. In this embodiment, specifically, the stator 10 is bonded and fixed to the inner wall of the housing 6 by structural epoxy glue, and the rotor 9 is bonded to the rotating sleeve 13 by structural epoxy glue.
Further, as shown in fig. 2, the mechanical arm electric joint waterproof motor 100 further includes a front end cover 18 and a support cover 19, two ends of the housing 6 are respectively provided with a second mounting opening and a third mounting opening, the electronic cabin body 1 seals the second mounting opening, the brake 14 is arranged on the electronic cabin body 1, the support cover 19 seals the third mounting opening, the support cover 19 is used for supporting the harmonic reducer, the front end cover 18 is arranged on the outer side of the support cover 19, the front end cover 18, the support cover 19 and the housing 6 are detachably connected, and one end of the output shaft 7 sequentially penetrates through the front end cover 18 and the support cover 19 to extend into the housing 6. In the present embodiment, specifically, the front end cover 18, the support cover 19, and the housing 6 are connected by bolts.
Further, a flood plug seal is arranged between the front end cover 18 and the supporting cover 19, the flood plug seal is arranged on the output shaft 7, one end of the electronic cabin body 1 extends into the shell 6 from the second mounting opening, one end of the supporting cover 19 extends into the shell 6 from the third mounting opening, and 0-shaped sealing rings are arranged between the outer side wall of the electronic cabin body 1 and the inner side wall of the shell 6 and between the outer side wall of the supporting cover 19 and the inner side wall of the shell 6. Compared with the common O-shaped ring, the output shaft 7 adopts the plug seal for dynamic sealing, not only has better sealing performance under high-speed rotation, but also is not easy to leak due to abrasion in long-time working,
further, a flange 20 is provided at one end of the brake shaft 8, and a magnetic disk of the output end absolute value encoder 12 is detachably connected to the flange 20. In particular, in this embodiment, the disk of the output absolute encoder 12 is screwed to the flange 20.
Further, the mechanical arm electric joint waterproof motor 100 further comprises a coupler 21, the coupler 21 is nested in the harmonic reducer, the coupler 21 is connected with the flexible gear 16 of the harmonic reducer, and the output shaft 7 is in transmission connection with the brake shaft 8 through the coupler 21.
Further, the wave generator 15 is connected to the coupling 21 through a bearing 22.
In this embodiment, the electronic cabin body 1 is provided with a watertight connector 23, an oil inlet 24 and an oil outlet, the oil inlet 24 is disposed at the bottom end of the electronic cabin body 1, the oil outlet is disposed at the top end of the electronic cabin body 1, and an oil inlet block and an oil outlet block are respectively disposed in the oil inlet 24 and the oil outlet.
In this embodiment, the control element 2 is a control circuit board, the electronic cabin body 1 is provided with a conductive upright 5, and the control circuit board is disposed on the conductive upright 5.
Further, the conductive upright post 5 is detachably connected with the electronic cabin body 1. In this embodiment, specifically, the conductive upright post 5 is connected with the electronic cabin body 1 through threads, and specifically, the conductive upright post 5 is a brass upright post.
The mechanical arm electric joint waterproof motor 100 provided in this embodiment also has the following advantages:
the absolute value encoders are arranged at the input end and the output end, so that the output of the mechanical arm electric joint waterproof motor 100 can be accurately controlled, and real-time pose data can be acquired;
the front end of the brake shaft 8 is directly connected with the output end of the harmonic reducer, the tail end of the brake shaft is in butt joint with the encoder disk and the brake 14, and the transmission mode of the hollow shaft sleeve is adopted, so that the axial length of the whole structure is shortened, the output stability of the motor is improved, the integration of an internal circuit of the motor is improved, the main transmission mechanical mechanism and the electronic element are respectively arranged at the front end and the rear end, the mutual interference between mechanical motion and the electronic element is avoided, and the installation and the replacement of the electronic element are facilitated.
In the specific use process, after the internal structure of the motor is assembled, the motor is placed in a mode that an oil inlet 24 is arranged at the bottom end of a shell 6, and an oil outlet is arranged at the top end of the shell 6, a joint of an oil filling pipeline is connected to the oil inlet 24, low-viscosity insulating hydraulic oil is slowly filled into the interior, and original air in the interior is discharged from the oil outlet; stopping filling oil when low-viscosity insulating hydraulic oil overflows from the oil outlet, and after standing for a period of time, if the liquid level does not drop, considering that the inside is filled with the low-viscosity insulating hydraulic oil and is free of air, and blocking the oil outlet by using an oil outlet blocking block; after the oil outlet is confirmed to be completely closed, the oil inlet 24 is turned over, the oil filling pipeline is disassembled, then the oil inlet 24 is plugged by the oil inlet plugging block, and the oil filling process is completed after the plugging is completed. After oil flushing is completed, the mechanical arm electric joint waterproof motor 100 provided by the embodiment is installed at the joint of the deep sea mechanical arm according to joint requirements of different mechanical arms, the output shaft 7 of the mechanical arm electric joint waterproof motor 100 is in butt joint with the mechanical arm joint through the coupler 21, and the watertight connector 23 is connected to the water seepage battery compartment or integrated on the general control electronic compartment of the underwater robot by using watertight cables.
When the mechanical arm electric joint waterproof motor 100 works, the control circuit board receives an external signal to control the rotor 9 to rotate, and the absolute value encoder 11 at the input end collects data of the rotating speed, the rotating angle or the torque of the rotor 9 of the mechanical arm electric joint waterproof motor 100; the harmonic speed reducer reduces the rotation speed of the rotor 9, so that smaller rotation speed and larger torque are output; the torque and the rotating speed output by the harmonic reducer drive the magnetic disk of the absolute value encoder 12 of the output end to synchronously rotate through the brake shaft 8, so that the absolute value encoder 12 of the output end can collect data such as output torque, rotating speed and the like of the waterproof motor 100 of the mechanical arm electric joint and convert the data into electric signals to be transmitted back to the control circuit board, and the control circuit board combines the data of the absolute value encoder 11 of the input end to carry out feedback adjustment on the output of the waterproof motor 100 of the mechanical arm electric joint, and can monitor the working efficiency and output power of the waterproof motor 100 of the mechanical arm electric joint at the same time, so that the effect of monitoring the working condition of the mechanical arm in real time is achieved; the brake shaft 8 is in butt joint with the brake 14, and the brake 14 can start a brake switch under the condition of power failure, so that the output shaft 7 of the mechanical arm electric joint waterproof motor 100 is locked, the mechanical arm can be kept in a fixed posture under the condition of not starting, and the power failure protection function is achieved.
It should be noted that the mechanical arm electric joint waterproof motor 100 provided by the invention is not limited to be used in the position of the mechanical arm electric joint, and is not only suitable for the mechanical arm, but also other structures requiring the motor can be adopted by the mechanical arm electric joint waterproof motor 100 provided by the invention.
The principles and embodiments of the present invention have been described in this specification with reference to specific examples, the description of which is only for the purpose of aiding in understanding the method of the present invention and its core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (9)
1. The waterproof motor of arm electric joint, characterized by, include: the electronic cabin comprises a main body, an electronic cabin body, a control element, a rear end cover and a pressure compensation bag, wherein the electronic cabin body is arranged on the main body, the control element is arranged inside the electronic cabin body, the electronic cabin body is provided with a first mounting opening, the pressure compensation bag is used for blocking the first mounting opening, the rear end cover is connected with the electronic cabin body, the edge of the pressure compensation bag is clamped between the rear end cover and the electronic cabin body, a plurality of water permeable holes are formed in the rear end cover, and insulating hydraulic oil is arranged inside the electronic cabin body;
the main body comprises a shell, an output shaft, a brake shaft, a rotor, a stator, a harmonic reducer, an input end absolute encoder, an output end absolute encoder, a rotating shaft sleeve and a brake, wherein the brake shaft, the rotor, the stator, the brake shaft, the output shaft and the rotating shaft sleeve are coaxially arranged, the brake shaft, the rotating shaft sleeve, the rotor and the stator are sequentially nested from inside to outside, the stator is arranged on the shell, the rotor is arranged on the rotating shaft sleeve, one end of the output shaft stretches into the shell, the output shaft, the brake shaft and the brake are sequentially in transmission connection, the rotating shaft sleeve is connected with a wave generator of the harmonic reducer, the output shaft is connected with a flexible wheel of the harmonic reducer, and an internal tooth steel wheel of the harmonic reducer is arranged on the shell;
the wave generator is characterized by further comprising a coupler, wherein the coupler is nested in the wave generator, and the output shaft is in transmission connection with the brake shaft through the coupler;
the front end cover is used for plugging the third mounting opening, and one end of the output shaft penetrates through the front end cover and stretches into the shell;
a first step is arranged on the inner wall of the shell, and two ends of the inner tooth steel wheel are respectively contacted with the front end cover and the first step so as to be axially positioned;
the brake shaft is provided with a second step, one end of the coupler is connected with the flexible gear, and the other end of the coupler is contacted with the second step so as to be axially positioned;
one end of the output shaft extending into the shell is radially provided with a protruding part, and two ends of the protruding part are respectively contacted with the front end cover and the flexible gear so as to be axially positioned;
and two ends of the flexible gear are respectively contacted with the protruding part and the coupler so as to be axially positioned.
2. The robot arm electric joint waterproof motor according to claim 1, wherein the main body includes an input end absolute value encoder for detecting positional information of the rotor and an output end absolute value encoder for detecting positional information of the output shaft.
3. The mechanical arm electric joint waterproof motor according to claim 2, further comprising a supporting cover, wherein a second mounting opening is formed in one end, far away from the output shaft, of the outer shell, the second mounting opening is plugged by the electronic cabin body, the brake is arranged on the electronic cabin body, the supporting cover is used for supporting the harmonic reducer, the front end cover is arranged on the outer side of the supporting cover, the front end cover, the supporting cover and the outer shell are detachably connected, and one end of the output shaft sequentially penetrates through the front end cover and the supporting cover to extend into the outer shell.
4. The mechanical arm electric joint waterproof motor according to claim 3, wherein a plug seal is arranged between the front end cover and the supporting cover, the plug seal is arranged on the output shaft, one end of the electronic cabin body extends into the shell from the second mounting opening, one end of the supporting cover extends into the shell from the third mounting opening, and 0-shaped sealing rings are arranged between the outer side wall of the electronic cabin body and the inner side wall of the shell and between the outer side wall of the supporting cover and the inner side wall of the shell.
5. The mechanical arm electric joint waterproof motor according to claim 3, wherein a flange is arranged at one end of the brake shaft, and a magnetic disk of the output end absolute value encoder is detachably connected with the flange.
6. The robot arm electric joint waterproof motor of claim 1, wherein the wave generator is connected with the coupling through a bearing.
7. The mechanical arm electric joint waterproof motor according to claim 1, wherein the electronic cabin body is provided with a watertight connector, an oil inlet and an oil outlet, the oil inlet is arranged at the bottom end of the electronic cabin body, the oil outlet is arranged at the top end of the electronic cabin body, and an oil inlet blocking block and an oil outlet blocking block are respectively arranged in the oil inlet and the oil outlet.
8. The waterproof motor of the mechanical arm electric joint according to claim 1, wherein the control element is a control circuit board, a conductive upright post is arranged on the electronic cabin body, and the control circuit board is arranged on the conductive upright post.
9. The robot arm powered joint waterproof motor of claim 8, wherein the conductive post is removably connected to the electronics compartment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111599292.1A CN114221474B (en) | 2021-12-24 | 2021-12-24 | Waterproof motor for electric joint of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111599292.1A CN114221474B (en) | 2021-12-24 | 2021-12-24 | Waterproof motor for electric joint of mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114221474A CN114221474A (en) | 2022-03-22 |
| CN114221474B true CN114221474B (en) | 2023-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111599292.1A Active CN114221474B (en) | 2021-12-24 | 2021-12-24 | Waterproof motor for electric joint of mechanical arm |
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| CN (1) | CN114221474B (en) |
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| CN114221474A (en) | 2022-03-22 |
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