An underwater exploration type robot joint module

Abstract

The utility model discloses an underwater exploration type robot joint module, specifically related to underwater robot technical field, including module casing, the inside of module casing has carefully set motor shell, has reserved preset containing cavity in the motor shell inside, is used for placing drive motor, and the motor shell is closely covered in the outside of drive motor, has set up the speed reducer on the one side of motor shell, the one side of speed reducer is installed with temperature sensor, the other side of temperature sensor is provided with control panel, through underwater exploration type robot joint module, all have remarkable advantage in structural design aspect, can better satisfy the high demand of underwater exploration operation to robot joint module, and joint module also has to improve in compactness and motion accuracy, and the complex structure not only increases the volume and weight of robot, reduces the flexibility and accuracy of movement.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and more specifically, to an underwater exploration robot joint module. Background Technology

[0002] With the increasing demand in underwater exploration fields such as marine resource development, underwater archaeology, and environmental monitoring, the application of underwater exploration robots is becoming more and more widespread. As a key moving component of the robot, the joint module of the underwater exploration robot's structural design and performance directly affect the robot's ability to operate in complex underwater environments.

[0003] A search revealed a robot actuator disclosed in patent publication number CN114043523A. The frameless torque motor has an integrated control board, and the motor shaft connected to the reducer has a magnetic encoder ring. The reducer has an output magnetic ring end cap and an output magnetic encoder circuit board. The output magnetic ring end cap also has an output magnetic encoder ring. A force sensor is directly integrated into the fixed flange, and the reducer features a center hole wiring structure. The frameless torque motor, driver, controller, and sensor circuits are integrated into a single unit, resulting in a compact structure. This achieves advantages such as a large reduction ratio, high transmission stiffness, large load-bearing capacity, high efficiency, high precision, small size, and lightweight design. The inventors discovered the following problems with the existing technology during the development of this utility model:

[0004] Existing underwater exploration robot joint modules are generally quite complex in structural design. Due to the lack of sufficient optimization in the layout of various components, the overall size of the module is large. This not only increases the overall weight of the robot, requiring more energy to move underwater and reducing its endurance, but also affects the sealing performance of the module. Too many connection points and gaps can easily become channels for water to seep in. Once water enters the module, it will seriously damage key electronic components, causing the joint module to fail and thus affecting the normal operation of the entire underwater exploration robot.

[0005] Therefore, an underwater exploration robot joint module is proposed to address the above problems. Summary of the Invention

[0006] In order to overcome the above-mentioned defects of the prior art, the present invention provides an underwater exploration robot joint module to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an underwater exploration robot joint module, including a module housing, a motor housing fixedly installed inside the module housing, a pre-set receiving cavity inside the motor housing for accommodating a drive motor, and the motor housing tightly fitted around the outside of the drive motor, a reducer provided on one side of the motor housing, a temperature sensor installed on one side of the reducer, and a control board provided on the other side of the temperature sensor.

[0008] Preferably, a sealing ring is provided on the left side of the reducer, and a coil is provided on the side of the sealing ring away from the reducer.

[0009] Preferably, the temperature sensor is fixed to the right end face of the reducer with thermally conductive adhesive, and the signal lead is connected to the control board.

[0010] Preferably, a front cover plate is tightly disposed on one side of the control panel, the outer ring size of the front cover plate matches the inner ring size of the module housing, and the two are in close contact with each other, so that the front cover plate is securely installed on the module housing.

[0011] Preferably, a brake is installed on one side of the drive motor. When the drive motor needs to stop, the drive motor can respond quickly and generate braking torque to stop the motor quickly and smoothly. An absolute encoder is connected to one side of the brake.

[0012] Preferably, the rotor shaft of the absolute encoder is coaxially fixed to the output shaft of the drive motor, while the stator is mounted on the inner wall of the module housing via a bracket.

[0013] Preferably, the right side of the absolute encoder is closely connected to the drive board, which integrates various electronic components. The drive board is neatly arranged on one side of the drive board, and the drive board performs in-depth signal processing and regulation, working in conjunction with the drive board.

[0014] Preferably, a rear cover is installed on one side of the module housing in a detachable manner. The interior space of the rear cover is rationally planned to accommodate a dustproof plate. The edge of the dustproof plate is in close contact with the inner wall of the rear cover without leaving any gaps.

[0015] The technical effects and advantages of this utility model are as follows:

[0016] 1. Compared with existing technologies, this underwater exploration robot joint module arranges components such as motor housing, reducer, temperature sensor, and control board in an orderly and compact manner. The motor housing is tightly fitted outside the drive motor, and the reducer is inserted into the motor housing. This layout greatly saves space, making the joint module smaller and lighter. This not only reduces the overall weight of the underwater exploration robot, reduces energy consumption, and improves endurance, but also enhances the robot's maneuverability in narrow underwater spaces, enabling it to better adapt to complex and changing underwater exploration environments, such as narrow caves and pipes.

[0017] 2. Compared with existing technologies, this underwater exploration robot joint module has a through coil set on the side of the sealing ring away from the reducer. This sealing design effectively prevents water from seeping into the module, providing reliable protection for the internal key electronic components, greatly reducing the risk of component damage caused by water intrusion, thereby improving the reliability and service life of the joint module and ensuring the smooth progress of underwater exploration missions.

[0018] 3. Compared with existing technologies, the temperature sensor of this underwater exploration robot joint module consists of a temperature-sensitive element, a conversion element, an auxiliary power supply circuit, and a signal conditioning circuit. It can monitor the temperature of the drive motor in real time and accurately. When the temperature of the drive motor rises due to long-term operation or other reasons, the temperature sensor can detect it in time and convert the temperature signal into a processable electrical signal, providing a basis for subsequent control and protection measures, avoiding damage to the motor due to overheating, and ensuring the stable operation of the joint module under various working conditions. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this utility model.

[0020] Figure 2 This is a front view structural diagram of the present invention.

[0021] Figure 3 This is a schematic diagram of the bottom structure of this utility model.

[0022] Figure 4 This is a front view structural diagram of the present invention.

[0023] The attached diagram is labeled as follows: 1. Module housing; 2. Motor housing; 3. Drive motor; 4. Reducer; 5. Sealing ring; 6. Through coil; 7. Temperature sensor; 8. Control board; 9. Front cover plate; 10. Brake; 11. Absolute encoder; 12. Under the drive board; 13. On the drive board; 14. Dustproof plate; 15. Rear cover plate. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example

[0025] As attached Figures 1 to 4 The underwater exploration robot joint module shown includes a module housing 1. A motor housing 2 is fixedly installed inside the module housing 1. The motor housing 2 has a pre-set cavity for housing a drive motor 3. The motor housing 2 is tightly fitted around the outside of the drive motor 3. A reducer 4 is provided on one side of the motor housing 2. A temperature sensor 7 is installed on one side of the reducer 4. A control board 8 is provided on the other side of the temperature sensor 7.

[0026] The module housing 1 is meticulously designed with a motor housing 2 inside. This layout is rational and effectively utilizes the internal space of the housing, allowing for the orderly placement of various components and avoiding clutter. This facilitates subsequent maintenance and repair, while also ensuring the compactness and stability of the overall structure. The motor housing 2 has a pre-reserved cavity to house the drive motor 3, providing a suitable installation position for the drive motor 3 and optimizing space according to the size and heat dissipation requirements of the drive motor 3. This helps the drive motor 3 operate stably and reduces vibration or overheating problems caused by unreasonable space. The motor housing 2 tightly fits around the drive motor 3, providing good protection and fixation. It prevents the drive motor 3 from being affected by external collisions or shaking during robot movement, ensuring the normal operation of the drive motor 3 and extending its service life. The temperature sensor 7 can monitor the temperature of the reducer 4 or related drive components in real time. When the temperature is abnormal, it can provide timely feedback, facilitating the implementation of corresponding measures to prevent equipment damage due to overheating and ensure the stable operation of the system. Example

[0027] Based on Embodiment 1, the solution in Embodiment 1 will be further described in detail below with reference to the specific working method, such as... Figures 1 to 4 As shown below, see details:

[0028] As a preferred embodiment, a sealing ring 5 is provided on the left side of the reducer 4. The sealing ring 5 is made of high-quality material and has good elasticity and sealing performance. It fits tightly against the corresponding contact surface and can effectively prevent external dust, moisture and other impurities from entering the reducer 4, thus avoiding affecting the normal operation of the reducer 4. A pass coil 6 is provided on the side of the sealing ring 5 away from the reducer 4. The pass coil 6 plays an important role in standardizing the circuit route and protecting the circuit.

[0029] In a preferred embodiment, the temperature sensor 7 is fixed to the right end face of the reducer 4 with thermally conductive adhesive, and the signal lead is connected to the control board 8. This ensures that the sensor is in close contact with the reducer 4, efficiently conducts heat, monitors the temperature near the reducer 4, and promptly detects temperature anomalies. This prevents overheating from affecting the performance and lifespan of the reducer 4 and related components. At the same time, the signal lead connected to the control board 8 allows the temperature information to be fed back to the control board 8 in real time, enabling the control board 8 to adjust the working state of the drive motor 3 in a timely manner according to the temperature conditions and take corresponding protective measures, thereby improving the reliability and safety of the joint module.

[0030] In a preferred embodiment, a front cover plate 9 is tightly disposed on one side of the control board 8, which can protect the control board 8 from direct exposure to the external environment and reduce the risk of being affected by adverse factors such as collisions and dust. The outer ring size of the front cover plate 9 matches the inner ring size of the module housing 1, and the two are in close contact with each other, which can effectively prevent external impurities, moisture and other substances from entering the module, ensuring the normal working environment of the internal components of the module. The front cover plate 9 is firmly installed on the module housing 1, which can enhance the stability of the overall structure of the module, reduce the problem of component loosening or damage caused by shaking, and extend the service life of the module.

[0031] In a preferred embodiment, a brake 10 is installed on one side of the drive motor 3. When the drive motor 3 needs to stop, it can quickly respond and generate braking torque, effectively shortening the motor stopping time, improving the equipment response speed, reducing the time wasted due to the motor's inertial operation, and enabling the motor to stop quickly and smoothly. This avoids excessive impact caused by sudden stopping, protects the motor and connected equipment, reduces the risk of equipment damage, and extends the equipment's service life. An absolute encoder 11 is connected to one side of the brake 10, which can accurately feed back the motor's position information, providing data for subsequent control, helping to achieve more precise motion control and improve the overall operating accuracy of the equipment.

[0032] In a preferred embodiment, the rotor shaft of the absolute encoder 11 is coaxially fixed to the output shaft of the drive motor 3. This connection method ensures that the two remain highly synchronized during operation, effectively reducing measurement errors caused by asynchrony. The stator is mounted on the inner wall of the module housing 1 by a bracket. The bracket design ensures the stability of the stator installation and minimizes interference with other components, ensuring that the absolute encoder 11 measures joint rotation information.

[0033] In a preferred embodiment, the absolute encoder 11 is tightly connected to the lower drive board 12 on its right side. This tight connection ensures the stability of signal transmission, reduces signal loss and interference during transmission, and ensures accurate data transmission. The lower drive board 12 integrates various electronic components. The integrated design saves space, making the overall structure more compact. It also facilitates centralized management and maintenance and reduces the risk of failure due to complex wiring. On one side of the lower drive board 12, the upper drive board 13 is neatly arranged. The upper drive board 13 performs in-depth signal processing and regulation. Working together with the lower drive board 12, the two improve the accuracy and efficiency of signal processing and ensure the stability and reliability of system operation.

[0034] As a preferred embodiment, a rear cover plate 15 is installed on one side of the module housing 1 in a detachable manner, which greatly facilitates the subsequent inspection, maintenance and upgrade of the internal components of the module without the need for overall disassembly, saving time and labor costs. The internal space of the rear cover plate 15 is reasonably planned and a dustproof plate 14 is placed there, making the internal layout compact and orderly, which not only improves the space utilization rate, but also helps to optimize the overall structure. The edge of the dustproof plate 14 is in close contact with the inner wall of the rear cover plate 15 without leaving gaps, which can effectively prevent external dust and debris from entering the module, protect the internal precision components from contamination, reduce the risk of short circuits, component damage and other failures caused by dust, and extend the service life of the module.

[0035] The working process of this utility model is as follows: In use, firstly, the drive motor 3 is placed in the pre-reserved cavity of the motor housing 2, so that the motor housing 2 is tightly fitted on the outside of the drive motor 3. Next, the reducer 4 is inserted into the motor housing 2 from the left side. A sealing ring 5 is set on the left side of the reducer 4, and a coil 6 is placed on the side of the sealing ring 5 away from the reducer 4. Then, a brake 10 is placed on one side of the drive motor 3, and an absolute encoder 11 is connected to one side of the brake 10. The drive board 12 is tightly connected to the right side of the absolute encoder 11, and the drive board 13 is neatly set on one side of the drive board 12. The two work together. At the same time, a temperature sensor 7 is installed on one side of the reducer 4, and a control board 8 is installed on one side of the temperature sensor 7. Then, a control board 8 is tightly set on one side of the control board 8. A front cover plate 9 is installed, with its outer ring size matching the inner ring size of the module housing 1. A rear cover plate 15 is installed on one side of the module housing 1 using a detachable mounting method. A dustproof plate 14 is properly placed inside the rear cover plate 15, ensuring that the edge of the dustproof plate 14 is in close contact with the inner wall of the rear cover plate 15 without gaps. Finally, after the equipment is assembled, the control board 8 controls the drive motor 3 to operate. The drive motor 3 drives the joint movement through the reducer 4. The brake 10 generates braking torque when the drive motor 3 needs to stop, allowing it to stop quickly and smoothly. The absolute encoder 11 measures the joint rotation angle and position information in real time and feeds it back to the control board 8 to achieve closed-loop control. The temperature sensor 7 monitors the temperature of the drive motor 3, and heat dissipation and other related structures ensure the normal operating temperature of the equipment.

Claims

1. An underwater exploration robot joint module, comprising a module housing (1), characterized in that: The module housing (1) has a motor housing (2) fixedly installed inside. The motor housing (2) has a pre-set cavity for housing the drive motor (3). The motor housing (2) is tightly fitted around the outside of the drive motor (3). A reducer (4) is provided on one side of the motor housing (2). A temperature sensor (7) is installed on one side of the reducer (4). A control board (8) is provided on the other side of the temperature sensor (7). A sealing ring (5) is provided on the left side of the reducer (4). A coil (6) is provided on the side of the sealing ring (5) away from the reducer (4).

2. The underwater exploration robot joint module according to claim 1, characterized in that: The temperature sensor (7) is fixed to the right end face of the reducer (4) with thermally conductive adhesive, and the signal lead is connected to the control board (8).

3. The underwater exploration robot joint module according to claim 2, characterized in that: A front cover plate (9) is tightly disposed on one side of the control panel (8). The outer ring size of the front cover plate (9) matches the inner ring size of the module housing (1), and the two are in close contact with each other, so that the front cover plate (9) is securely installed on the module housing (1).

4. The underwater exploration robot joint module according to claim 3, characterized in that: A brake (10) is installed on one side of the drive motor (3). When the drive motor (3) needs to stop, the drive motor (3) can respond quickly and generate braking torque to stop the motor quickly and smoothly. An absolute encoder (11) is connected to one side of the brake (10).

5. The underwater exploration robot joint module according to claim 4, characterized in that: The rotor shaft of the absolute encoder (11) is coaxially fixed to the output shaft of the drive motor (3), while the stator is mounted on the inner wall of the module housing (1) by a bracket.

6. The underwater exploration robot joint module according to claim 5, characterized in that: The absolute encoder (11) is closely connected to the lower drive board (12) on the right side. The lower drive board (12) integrates a variety of electronic components. On one side of the lower drive board (12), the upper drive board (13) is neatly arranged. The upper drive board (13) performs in-depth processing and regulation of the signal and works in coordination with the lower drive board (12).

7. The underwater exploration robot joint module according to claim 6, characterized in that: A rear cover plate (15) is installed on one side of the module housing (1) in a detachable manner. A dustproof plate (14) is reasonably placed inside the rear cover plate (15). The edge of the dustproof plate (14) is in close contact with the inner wall of the rear cover plate (15) without leaving any gaps.

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