Deepwater robot joint module

Abstract

The utility model discloses a deepwater robot joint module, and particularly relates to the technical field of robot joints, the deepwater robot joint module comprises a motor, the front end of the motor is connected with a speed reducer, the front end of the speed reducer is fixedly provided with an output shaft, and the outer wall of the speed reducer is sleeved with a waterproof shell connected with the motor. A medium-pressure inner cavity, a first low-pressure inner cavity and a second low-pressure inner cavity are formed in the waterproof shell, a first spring energy storage sealing ring is arranged in the medium-pressure inner cavity, and the first spring energy storage sealing ring is used for compensating the pressure difference between the medium-pressure inner cavity and the outside of the output shaft. The medium-pressure inner cavity, the first low-pressure inner cavity and the second low-pressure inner cavity are arranged to achieve segmented pressure difference compensation, insulating high-pressure oil is injected to assist in balancing high pressure, so that the sealing performance of the joint module can be improved, meanwhile, the first spring energy storage sealing ring and the second spring energy storage sealing ring share pressure, the friction resistance of the first spring energy storage sealing ring and the second spring energy storage sealing ring can be reduced, and the sealing performance of the joint module is improved. And the service life can be prolonged, and the requirement of a deepwater robot rotating power source can be met.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot joint technical field more specifically, it is a kind of deepwater robot joint module. BACKGROUND

[0002] Underwater robot technology is an important branch of marine engineering technology field, is widely used in marine resource exploration, seabed topography survey, marine environment monitoring, military reconnaissance and other fields.Deepwater robot as a kind of underwater robot, due to the particularity of its working environment, the whole machine structure design, power consumption, life have high requirements.Rotary seal of rotary power output shaft is the key component in deepwater motor, its performance directly influences the reliability and service life of deepwater robot.The solution of prior art: at present, deepwater motor mainly adopts two kinds of schemes to solve the rotary seal problem.The first scheme is sealed oil-filled motor, that is, a certain amount of hydraulic oil is filled in the motor, and the external water pressure is balanced by using the pressure of hydraulic oil, to realize rotary seal.For example, the robot joint module of prior art disclosed in CN218313608U.

[0003] There are still some problems in the existing deepwater motor technology in rotary seal.Firstly, the hydraulic oil of sealed oil-filled motor is easy to leak, which not only affects the normal work of motor, but also may cause environmental pollution.Secondly, the existing technology often needs to configure external oil pump and complex connecting pipeline to provide enough hydraulic oil pressure when facing deepwater high water pressure, which is complex in structure, has many leakage points, and is difficult to guarantee stable long service life. UTILITY MODEL CONTENTS

[0004] In order to overcome the above-mentioned defects of prior art, the utility model provides a deepwater robot joint module, which realizes segmented compensation pressure difference by setting medium-pressure inner cavity, first low-pressure inner cavity and second low-pressure inner cavity, and injects insulating high-pressure oil to assist in balancing high pressure, so as to improve the sealing performance of the joint module, and the first spring energy storage sealing ring and the second spring energy storage sealing ring share the pressure, which can reduce the friction resistance of the two, thereby prolonging the service life and meeting the demand of deepwater robot rotary power source, to solve the problems in the above background technology.

[0005] To achieve the above object, the utility model provides the following technical scheme: a deepwater robot joint module, including motor, motor front end is connected with speed reducer, the output shaft is fixedly arranged at the front end of speed reducer, the waterproof shell of speed reducer outer wall is equipped with the waterproof shell that motor is connected, waterproof shell inside is equipped with medium pressure inner chamber, first low pressure inner chamber and second low pressure inner chamber, first spring energy storage sealing ring is equipped in medium pressure inner chamber, first spring energy storage sealing ring is used for compensating the pressure difference of medium pressure inner chamber and output shaft outside, second spring energy storage sealing ring is equipped between first low pressure inner chamber and second low pressure inner chamber, and second spring energy storage sealing ring is used for compensating the pressure difference between first low pressure inner chamber and second low pressure inner chamber.

[0006] In a preferred embodiment, the medium pressure inner chamber, the first low pressure inner chamber and the second low pressure inner chamber each store insulating high-pressure oil.

[0007] In a preferred embodiment, the first spring energy storage sealing ring is provided with a first cover plate at the front end, and the second spring energy storage sealing ring is provided with a second cover plate at the front end. The first cover plate and the second cover plate can respectively improve the stability of the first spring energy storage sealing ring and the second spring energy storage sealing ring.

[0008] In a preferred embodiment, the motor outer wall is provided with a waterproof rear cover, and the motor rear end is provided with a brake, an encoder support, an encoder and a driver fixed in the waterproof rear cover.

[0009] In a preferred embodiment, a waterproof gland is fixedly penetrated at the rear end of the waterproof rear cover, and the waterproof gland is in communication with the inside of the waterproof rear cover, for transmitting signals to the driver to facilitate control of the operation of the motor.

[0010] In a preferred embodiment, a first oil filling valve and a second oil filling valve are fixedly penetrated at the top end of the waterproof shell, the first oil filling valve is in communication with the medium pressure inner chamber, and the second oil filling valve is in communication with the first low pressure inner chamber and the second low pressure inner chamber. The first oil filling valve and the second oil filling valve are provided to facilitate the quick replacement of insulating high-pressure oil in the medium pressure cavity, the first low pressure cavity and the second low pressure cavity by the staff.

[0011] In a preferred embodiment, a plurality of mounting holes are processed at the front end of the output shaft, and a plurality of module fixing holes are fixedly processed at the front end of the speed reducer. The plurality of module fixing holes can improve the firmness of the connection between the joint module and the deepwater robot.

[0012] The utility model discloses technical effect and advantage:

[0013] 1. The utility model discloses a middle pressure inner chamber, first low pressure inner chamber and second low pressure inner chamber are set up to realize segmented compensation pressure difference, and inject insulating high pressure oil to assist balance high pressure, which can improve the sealing of joint module, and the first spring energy storage sealing ring and second spring energy storage sealing ring share the pressure, can reduce the friction resistance of both, and can prolong the service life, can satisfy the demand of deepwater robot rotary power source.

[0014] 2. The joint module is highly integrated, the structure of the deepwater robot is compact, the volume is small, can be applicable to underwater complex working condition, and the middle pressure inner chamber is correspondingly provided with the first oil filling valve, the first low pressure inner chamber and the second low pressure inner chamber are correspondingly provided with the second oil filling valve, and the first oil filling valve and the second oil filling valve can play the role of insulation, and it is very convenient to maintain and replace the insulating high pressure oil. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the whole structure schematic diagram of the utility model;

[0016] Figure 2 It is the whole structure explosion drawing of the utility model;

[0017] Figure 3 It is the whole structure section view of the utility model;

[0018] Figure 4 It is the output shaft structure diagram of the utility model.

[0019] The figure mark is: 1, motor;2, speed reducer;3, output shaft;4, waterproof shell;5, middle pressure inner chamber;6, first low pressure inner chamber;7, second low pressure inner chamber;8, first spring energy storage sealing ring;9, second spring energy storage sealing ring;10, first cover plate;11, second cover plate;12, waterproof back cover;13, brake;14, encoder support;15, encoder;16, driver;17, waterproof gland;18, first oil filling valve;19, second oil filling valve;20, mounting hole;21, module fixed hole. DETAILED DESCRIPTION

[0020] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0021] Refer to the description attached Figures 1-4The utility model provides a kind of deepwater robot joint module, including motor 1, the motor 1 front end is connected with speed reducer 2, the speed reducer 2 front end is fixed with output shaft 3, the speed reducer 2 outer wall is equipped with waterproof shell 4 connected with motor 1, the waterproof shell 4 inside is equipped with medium pressure inner cavity 5, first low pressure inner cavity 6 and second low pressure inner cavity 7, the medium pressure inner cavity 5 inside is equipped with first spring energy storage sealing ring 8, the first spring energy storage sealing ring 8 is used to compensate the pressure difference of medium pressure inner cavity 5 and the outside of output shaft 3, second spring energy storage sealing ring 9 is equipped between the first low pressure inner cavity 6 and second low pressure inner cavity 7, and the second spring energy storage sealing ring 9 is used to compensate the pressure difference between the first low pressure inner cavity 6 and second low pressure inner cavity 7.

[0022] The medium pressure inner cavity 5, the first low pressure inner cavity 6 and the second low pressure inner cavity 7 all store insulation high-pressure oil inside.

[0023] The first spring energy storage sealing ring 8 is provided with a first cover plate 10 at the front end, and the second spring energy storage sealing ring 9 is provided with a second cover plate 11 at the front end. The first cover plate 10 and the second cover plate 11 can respectively improve the stability of the first spring energy storage sealing ring 8 and the second spring energy storage sealing ring 9 in use.

[0024] The motor 1 is provided with a waterproof rear cover 12 on the outer wall, and a brake 13, an encoder support 14, an encoder 15 and a driver 16 are fixed in the waterproof rear cover 12 at the rear end of the motor 1. A waterproof gland 17 is fixed and penetrates through the rear end of the waterproof rear cover 12, and the waterproof gland 17 is in communication with the inside of the waterproof rear cover 12.

[0025] The waterproof shell 4 is fixed and penetrates through a first oil filling valve 18 and a second oil filling valve 19 at the top end. The first oil filling valve 18 is in communication with the medium pressure inner cavity 5, and the second oil filling valve 19 is in communication with the first low pressure inner cavity 6 and the second low pressure inner cavity 7. The first oil filling valve 18 and the second oil filling valve 19 are arranged to facilitate the replacement of insulation high-pressure oil in the medium pressure cavity, the first low pressure cavity and the second low pressure cavity by the staff.

[0026] A plurality of mounting holes 20 are processed at the front end of the output shaft 3, and a plurality of module fixing holes 21 are fixed and processed at the front end of the speed reducer 2. The plurality of module fixing holes 21 can improve the firmness of the connection between the joint module and the deepwater robot.

[0027] The joint module is fixed on the deep water robot through a plurality of module fixing holes 21, and the output shaft 3 is connected with the joint output end of the deep water robot through a plurality of fixing holes, the waterproof gland head 17 receives external signal transmission to the driver 16, the driver 16 controls the rotation of the motor 1, the motor 1 outputs power through the reducer 2 and the output shaft 3, thereby driving the movement of the deep water robot joint, the external deep water area of the output shaft 3 is a high pressure area, the pressure difference between the high pressure area and the medium pressure inner cavity 5 is rotationally sealed and compensated by the first spring energy storage sealing ring 8, and the first low pressure inner cavity 6 and the second low pressure inner cavity 7 are further arranged in the waterproof shell 4, the second spring energy storage sealing ring 9 between the first low pressure inner cavity 6 and the second low pressure inner cavity 7 can compensate the pressure difference between the first low pressure inner cavity 6 and the second low pressure inner cavity 7, thereby segmentally compensating the pressure difference between the external high pressure area and the joint module, and further reducing the pressure of the joint module, so that the joint module has higher sealing performance when used in deep water, and can meet the demand of the deep water robot rotary power source.

[0028] Finally: the above only for the preferred embodiments of the utility model have, and do not for limiting the utility model, any modification, equivalent replacement, improvement etc. that is made within the spirit and principle of the utility model, should be contained in the protection scope of the utility model.

Claims

1. A deep water robotic joint module, characterized by: Including motor (1), the motor (1) front end is connected with speed reducer (2), the speed reducer (2) front end is fixed with output shaft (3), the speed reducer (2) outer wall is equipped with waterproof housing (4) connected with motor (1), the waterproof housing (4) inside is equipped with medium pressure inner chamber (5), first low pressure inner chamber (6) and second low pressure inner chamber (7); The medium pressure inner chamber (5) inside is equipped with first spring energy storage sealing ring (8), the first spring energy storage sealing ring (8) is used to compensate the pressure difference between medium pressure inner chamber (5) and output shaft (3) outside, the first low pressure inner chamber (6) and second low pressure inner chamber (7) are equipped with second spring energy storage sealing ring (9), the second spring energy storage sealing ring (9) is used to compensate the pressure difference between first low pressure inner chamber (6) and second low pressure inner chamber (7).

2. The deep water robotic joint module of claim 1, wherein: The medium pressure inner chamber (5), first low pressure inner chamber (6) and second low pressure inner chamber (7) inside are stored with insulation high pressure oil.

3. The deep water robotic joint module of claim 1, wherein: The first spring energy storage sealing ring (8) front end is equipped with first cover plate (10), and the second spring energy storage sealing ring (9) front end is equipped with second cover plate (11).

4. The deep water robotic joint module of claim 1, wherein: The motor (1) outer wall is equipped with waterproof back cover (12), and the motor (1) rear end is equipped with brake (13), encoder support (14), encoder (15) and driver (16) fixed in waterproof back cover (12).

5. A deep water robotic joint module according to claim 4, wherein: The waterproof back cover (12) rear end is fixed and penetrates waterproof gland (17), and waterproof gland (17) is communicated with waterproof back cover (12) inside.

6. The deep water robotic joint module of claim 1, wherein: The waterproof housing (4) top end is fixed and penetrates first oil filling valve (18) and second oil filling valve (19), the first oil filling valve (18) is communicated with medium pressure inner chamber (5), and the second oil filling valve (19) is communicated with first low pressure inner chamber (6) and second low pressure inner chamber (7).

7. The deep water robotic joint module of claim 1, wherein: The output shaft (3) front end is processed with a plurality of mounting holes (20), and the speed reducer (2) front end is fixed and processed with a plurality of module fixing holes (21).

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