Oil path built-in swivel motor for underwater manipulator

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...

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 affects the movement flexibility of the manipulator.

The swing motor and the sensor used to detect its position are also placed separately, occupying space, and cannot meet the sealing requirements of underwater manipulators

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