A fully free-degree motor-driven joint

By designing a fully free-degree-of-freedom motor-driven joint, and utilizing a moving block, worm gear, and motor-driven rotating shaft system, the problem that the existing technology can only drive the joint to rotate in one direction has been solved, thus achieving a reduction in the weight and flexibility of the underwater robot.

CN116277127BActive Publication Date: 2026-05-26SHENZHEN UNIV
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Patent Information

Application Number
CN202310204316.1
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-03-06
Publication Date
2026-05-26
Estimated Expiration
2043-03-06

AI Technical Summary

Technical Problem

Existing underwater robots' drive joints can only control up-down or left-right rotation, which requires multiple robotic arms to work together when full-degree-of-freedom rotation is needed, increasing the size and weight of the underwater robot and reducing its flexibility.

Method used

A fully free-degree-of-freedom motor-driven joint was designed. Through the driving mechanism between the upper and lower robotic arms, including a movable block, a worm gear and a motor-driven rotating shaft system, the upper robotic arm can achieve full-degree-of-freedom rotation, reducing the overall size and weight.

Benefits of technology

It achieves full-degree-of-freedom rotation of a single driven joint, reducing the overall size and weight of the underwater robot, improving flexibility and stability, and enhancing the robotic arm's capture and acquisition capabilities.

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Abstract

This invention provides a fully free-degree-of-freedom motor-driven joint, relating to the field of underwater robot technology. It includes an upper robotic arm and a lower robotic arm, which are interconnected by a drive mechanism. The drive mechanism controls the angle adjustment of the upper robotic arm. In this invention, a motor drives a first rotating shaft to rotate, which in turn drives a movable block and the upper robotic arm to rotate through the engagement of a second positioning block and a second positioning groove, and a first gear and a second gear. This achieves fully free-degree-of-freedom rotation of the upper robotic arm through a single drive joint, reducing the overall size and weight of the underwater robot while improving its overall flexibility.
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