High-torque integrated driving joint suitable for deep-sea robot

A robot and high-torque technology, applied in manipulators, program-controlled manipulators, ships, etc., can solve the problem of small output torque of deep-sea motors

Pending Publication Date: 2021-11-30
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The invention aims to solve the problem o

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  • High-torque integrated driving joint suitable for deep-sea robot
  • High-torque integrated driving joint suitable for deep-sea robot
  • High-torque integrated driving joint suitable for deep-sea robot

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[0026] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0027] In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "front", "rear", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. It is not intended to indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and operate in a particular orientation, and thus should not be construed as limiting the invention.

[0028] Moreover, in the accompanying drawings, the X-axis represents the longitudinal direction, that is, the front-to-back position, and...

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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 machine shell, a power generation assembly, a speed reduction assembly and an output flange assembly, wherein the power generation assembly is arranged in the machine shell and comprises a motor shaft; the speed reduction assembly is arranged on one side of the power generation assembly and comprises a harmonic input shaft, a wave generator, a flexible gear, a rigid gear and a rigid gear bearing, the flexible gear comprises a flexible gear body part and a flexible gear flange part, the harmonic input shaft is coaxially connected with the motor shaft, the wave generator is installed on the harmonic input shaft, and the flexible gear is arranged on the wave generator in a sleeving mode; the flexible gear flange part is connected with the machine shell, the rigid gear bearing is arranged on the flexible gear body part in a sleeving mode and connected with the flexible gear flange part, and the rigid gear is arranged on the flexible gear body part in a sleeving mode and connected with an inner ring of the rigid gear bearing; and the output flange assembly is suitable for being connected with the rigid gear. High-torque output is achieved, and the structure is compact.

Description

technical field [0001] The invention relates to the technical field of underwater motors, in particular to a high-torque integrated drive joint suitable for deep-sea robots. Background technique [0002] With the development of ocean exploration technology, the construction of deep-sea space stations and seabed exploration have been put on the agenda. Future ocean detectors should have various detection and operation capabilities. In order to meet the increasingly complex requirements of deep-sea exploration tasks, researchers proposed to apply legged robots to deep-sea exploration, and an advanced and reliable drive motor is one of the key technologies of deep-sea legged robots. [0003] At present, deep-sea motors are mostly used in the propulsion drive of AUV (untethered underwater robot), ROV (remotely controlled unmanned submersible), etc., and its fast speed results in a small output torque, and the size and mass of the motor itself are large, and its function Single,...

Claims

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Application Information

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IPC IPC(8): B25J9/12B25J17/02B63C11/52
CPCB25J9/126B25J9/109B25J17/0258B63C11/52
Inventor 高海波丁亮刘铁龚肇沛刘岩李楠邓宗全
Owner HARBIN INST OF TECH
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