Oil path built-in swivel motor for underwater manipulator

An underwater manipulator and swing motor technology, which is applied in electromechanical devices, control mechanical energy, underwater operation equipment, etc., can solve the problems of not meeting the sealing requirements of underwater manipulators, affecting the flexibility of manipulator movements, and occupying space, etc. Conducive to protection, light weight and simple structure

Inactive Publication Date: 2009-08-05
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, the swing motor used by the underwater manipulator and the oil circuit of the wrist joint behind it are external, which is bulky and easily interferes with external objects during movement, which seriously

Method used

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  • Oil path built-in swivel motor for underwater manipulator
  • Oil path built-in swivel motor for underwater manipulator
  • Oil path built-in swivel motor for underwater manipulator

Examples

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Embodiment Construction

[0021] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0022] combine figure 1 and image 3 , the present invention is made up of swing motor shaft core 1, left end cover 7, stator 10, rotor 8, blade 18, right end cover 13, output flange 15, sensor 4, tapered roller bearing 6; The shaft core 1 is fixedly connected, and the other end is fixedly connected with the stator 10; the other end of the stator 10 is fixedly connected with the right end cover 13; the left end cover 7, the stator 10, and the right end cover 13 have cavities, and the rotor 8 is placed in the cavity, which can be Circumferential rotation; one end of the rotor 8 is fixedly connected to the output flange 15 by screws 17; the blade 18 is fixedly connected to the outer surface of the rotor 8; the sensor 4 is installed at one end of the rotor 8, and the sensor reading head 3 is installed in the cavity of the shaft core 1 inside, and firmly connected w...

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Abstract

The invention provides a swing motor which is provided with a built-in oil passage and used for an underwater manipulator. The swing motor comprises a swing motor shaft core, a left end cover, a stator, a rotor, a vane, a right end cover, an output flange, a sensor and a conical roller bearing; one end of the left end cover is fixedly connected with the swing motor shaft core and the other end thereof is fixedly connected with the stator; the other end of the stator is fixedly connected with the right end cover; the left end cover, the stator and the right end cover are respectively provided with a cavity; the rotor is arranged in the cavity and can rotate in the circumferential direction; one end of the rotor is fixedly connected with the output flange; the vane is fixedly connected with the external round surface of the rotor; the sensor is arranged at one end of the rotor; the reading head of the sensor is arranged in the cavity of the motor shaft core and fixedly connected with the motor shaft core; the conical roller bearing is sleeved on the external round surface of the rotor; the motor shaft core, the rotor and the output flange are provided with an oil passage respectively. The swing motor has compact structure and light weight, simultaneously avoids the interference with the environmental article due to the exteriorization of the oil pipe and increases the operation range of the manipulator.

Description

(1) Technical field [0001] The invention relates to a driving part of a robot, in particular to a swing motor used for a rotary joint of an underwater manipulator. (2) Background technology [0002] In recent years, robot technology has developed very rapidly, and robots have been widely used in industry, agriculture, service, medical treatment, military and other fields. Manipulators are an important branch of robotics that can perform various intended tasks. The manipulator can be divided into electric drive, pneumatic drive and hydraulic drive according to its drive mode. The hydraulically driven manipulator has the advantages of smooth movement, large load capacity, good speed, and infinitely variable speed, and is widely used in heavy-duty operations such as underwater operations. [0003] With the development of marine resources going deeper into the sea, the operating functions of underwater robots have been paid more and more attention by countries all over the wor...

Claims

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Application Information

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IPC IPC(8): H02K7/10H02K11/00H02K5/16B63C11/52H02K11/21
Inventor 王立权王才东王茁姚建均王成军张岚张存良王文明常江
Owner HARBIN ENG UNIV
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