CN110125973B - Underwater electric joint structure with position and speed feedback - Google Patents
Underwater electric joint structure with position and speed feedback Download PDFInfo
- Publication number
- CN110125973B CN110125973B CN201810107613.3A CN201810107613A CN110125973B CN 110125973 B CN110125973 B CN 110125973B CN 201810107613 A CN201810107613 A CN 201810107613A CN 110125973 B CN110125973 B CN 110125973B
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- absolute encoder
- torque motor
- frameless torque
- motor shaft
- shell
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- 238000007789 sealing Methods 0.000 claims abstract description 40
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 230000006698 induction Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 4
- 239000003921 oil Substances 0.000 description 8
- 238000013461 design Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 206010004966 Bite Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention relates to an underwater electric joint structure with position and speed feedback, which comprises an output shaft, a sealing shell, a single-ring absolute encoder, a harmonic reducer, a frameless torque motor, a motor shaft, a multi-ring absolute encoder and a driver, wherein the single-ring absolute encoder, the harmonic reducer, the frameless torque motor, the motor shaft, the multi-ring absolute encoder and the driver are respectively accommodated in the sealing shell; the motor shaft is rotatably arranged in the sealing shell, one end of the motor shaft is connected with one end of the output shaft, which is positioned in the sealing shell, through the harmonic speed reducer, and the other end of the motor shaft is connected with a multi-turn absolute encoder which can feed back accurate speed information of the motor shaft; the motor shaft is provided with a frameless torque motor for driving the motor shaft to rotate, and the frameless torque motor, the single-turn absolute encoder and the multi-turn absolute encoder are respectively and electrically connected with a driver arranged in the sealed shell. The invention has the advantages of high detection and transmission precision, reliable performance, compact structure, complete functions and the like.
Description
Technical Field
The invention belongs to the field of underwater robot engineering, in particular to an underwater electric joint structure with position and speed feedback, which can be applied to underwater robot joint driving.
Background
The underwater manipulator is a main tool for ocean development or underwater operation, and is oriented to the application requirements of future operation-type AUV (cableless underwater robot)/ARV (deep sea submersible) and small and medium-sized operation-type ROV (remote control underwater robot), and the underwater manipulator is required to have the characteristics of light weight, low power consumption and the like. The motor drive has the advantages of small volume, low power consumption, high control precision, capability of realizing full sea depth operation through the pressure compensator, and the like, so that the underwater manipulator driven by the motor has wide application prospect.
At present, the underwater electric manipulator joint is usually driven by a framed motor and a gear box, and the mode has the problems of low load capacity, large volume, heavy weight and single structure; meanwhile, the output end potentiometer sensor has lower measurement precision, and the problem of shake exists when the Hall sensor is used for controlling the motor to run at a low speed. The light underwater electric manipulator joint with light volume, light weight, high detection and transmission precision, compact structure and stable performance is to be developed, and the problem to be solved is to be solved.
Disclosure of Invention
In order to meet the use requirements of the underwater electric manipulator joint, the invention aims to provide an underwater electric joint structure with position and speed feedback.
The aim of the invention is realized by the following technical scheme:
The invention comprises an output shaft, a sealing shell, a single-ring absolute encoder, a harmonic reducer, a frameless torque motor, a motor shaft, a multi-ring absolute encoder and a driver, wherein the single-ring absolute encoder, the harmonic reducer, the frameless torque motor, the motor shaft, the multi-ring absolute encoder and the driver are respectively accommodated in the sealing shell; the motor shaft is rotatably arranged in the sealed shell, one end of the motor shaft is connected with one end of the output shaft, which is positioned in the sealed shell, through the harmonic speed reducer, and the other end of the motor shaft is connected with a multi-turn absolute encoder for feeding back motor shaft speed information; the motor shaft is provided with a frameless torque motor for driving the motor shaft to rotate, and the frameless torque motor, the single-turn absolute encoder and the multi-turn absolute encoder are respectively and electrically connected with a driver arranged in the sealed shell;
Wherein: a brake for braking a motor shaft is arranged in the sealing shell, and an anti-magnetic cover for reducing the magnetic field interference of the brake to the multi-turn absolute encoder is arranged on the outer cover of the brake; the brake is electrically connected with the driver;
The single-ring absolute encoder comprises a single-ring absolute encoder stator and a single-ring absolute encoder rotor, wherein the single-ring absolute encoder stator is sleeved on the output shaft and is arranged on the inner wall of the sealing shell, the single-ring absolute encoder rotor is positioned at one side of the single-ring absolute encoder stator, sleeved on the output shaft and is linked with the output shaft, and a preset distance is reserved between the single-ring absolute encoder stator and the single-ring absolute encoder rotor; the single-turn absolute encoder rotor is driven to rotate by the output shaft, and the single-turn absolute encoder stator counts carrier signals sent by the single-turn absolute encoder rotor, so that any time position of the output shaft is obtained;
The multi-turn absolute encoder comprises a magnetic induction element and a magnet positioned in the magnetic induction element, wherein the magnetic induction element is electrically connected with the driver, and the magnet is in threaded connection with the other end of the motor shaft;
The harmonic speed reducer comprises a flexible gear, a steel gear and a wave generator, wherein the steel gear is of an annular gear structure and is arranged on the inner wall of the sealed shell, the wave generator is connected to one end of a motor shaft and is positioned between the motor shaft and the steel gear, one end of the flexible gear is arranged at one end of an output shaft positioned in the sealed shell, the other end of the flexible gear is positioned between the wave generator and the steel gear, and teeth are arranged on the outer surface of the other end of the flexible gear; the wave generator rotates along with a motor shaft, and the other end of the flexible gear provided with teeth is elastically deformed in the rotating process, so that the flexible gear is meshed with the steel wheel to drive the output shaft to reduce speed and output;
The frameless torque motor comprises a frameless torque motor stator and a frameless torque motor rotor, the frameless torque motor stator is arranged in the sealed shell, the frameless torque motor rotor is positioned between the frameless torque motor stator and a motor shaft, and the motor shaft is driven to rotate by the frameless torque motor rotor;
a baffle plate of the frameless torque motor stator arranged in the sealing shell is arranged on one side of the frameless torque motor stator, and the frameless torque motor stator is axially limited through the baffle plate of the frameless torque motor stator; a baffle plate of the frameless torque motor rotor mounted on a motor shaft is arranged on one side of the frameless torque motor rotor, and the frameless torque motor rotor is axially limited through the baffle plate of the frameless torque motor rotor; the motor shaft is rotationally connected with the frameless torque motor stator baffle through a deep groove ball bearing and penetrates through the frameless torque motor rotor baffle;
The sealing shell comprises a sealing front end cover, a connecting end cover, a joint shell A section, a joint shell B section, a joint shell C section and a sealing rear end cover which are sequentially and hermetically connected, and the output shaft is respectively and rotatably connected with the connecting end cover and the joint shell A section through an angular contact ball bearing and is hermetically connected with the sealing front end cover through a universal sealing ring; the sealing shell is respectively provided with a quick connector and a compensation oil pipe connector, the data wire of the single-coil absolute encoder is connected to the driver through the quick connector, and pressure compensation oil is introduced into the sealing shell through the compensation oil pipe connector;
the rotation center lines of the motor shaft, the harmonic speed reducer and the output shaft are mutually overlapped.
The invention has the advantages and positive effects that:
1. And the detection transmission precision is high: the invention uses double encoders (single-turn absolute encoder and multi-turn absolute encoder) uniquely under high pressure hydraulic oil environment, the single-turn absolute encoder measures the rotation position of the output shaft, and the error is less than 0.02 degree; the multi-turn absolute encoder measures the rotation speed of the motor shaft, so that the shake of the frameless torque motor during low-speed operation is avoided, meanwhile, the transmission error of the harmonic speed reducer and the frameless torque motor is less than 60', and the mechanical precision is ensured.
2. The performance is reliable: the key parts in the invention pass through the high-voltage test smoothly and meet the use requirement in a high-voltage environment, the maximum torque of the joint is determined by the rated peak value of the harmonic speed reducer, and the power-off brake is adopted, so that the safety of the whole joint during operation can be effectively protected.
3. The structure is compact: the invention adopts the high-energy density driver, has small volume and complete functions, adopts the modularized design idea, has simple structure of the module, has stronger adaptability and expansibility to various complex environments and application requirements, has compact overall structural design and is an all-aluminum alloy shell, thereby realizing the lightweight design of the joint.
Drawings
FIG. 1 is a cross-sectional view of the internal structure of the present invention;
FIG. 2 is a schematic view of the external perspective structure of the present invention;
Wherein: 1 is an output shaft, 2 is a sealing front end cover, 3 is a fixed shaft sleeve, 4 is a connecting end cover, 501 is a single-ring absolute encoder stator, 502 is a single-ring absolute encoder rotor, 6 is a fixed shaft sleeve, 701 is a flexible wheel, 702 is a steel wheel, 703 is a wave generator, 801 is a frameless torque motor stator, 802 is a frameless torque motor rotor, 9 is a motor shaft, 10 is a brake, 1101 is a magnet, 1102 is a magnetic induction element, 12 is a driver, 13 is a heat radiating plate, 14 is an antimagnetic cover, 15 is a frameless torque motor rotor baffle, 16 is a frameless torque motor stator baffle, 17 is a wave generator fixing plate, 18 is an angular contact ball bearing, 19 is a universal sealing ring, 20 is a joint shell A section, 21 is a joint shell B section, 22 is a joint shell C section, 23 is a compensation oil pipe joint, 24 is a sealing rear end cover, 25 is a quick plug, and 26 is a deep groove ball bearing.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the invention comprises an output shaft 1, a sealed shell, and a single-turn absolute encoder, a harmonic reducer, a frameless torque motor, a motor shaft 9, a brake 10, a multi-turn absolute encoder and a driver 12 which are respectively accommodated in the sealed shell, wherein the output shaft 1, the harmonic reducer, the frameless torque motor, the motor shaft 9 and the brake 10 form an actuating mechanism of a joint, and the single-turn absolute encoder and the multi-turn absolute encoder respectively feed back the position of the output shaft 1 and the rotation speed of the motor shaft 9 to the driver 12.
The sealed shell comprises a sealed front end cover 2, a connecting end cover 4, a joint shell A section 20, a joint shell B section 21, a joint shell C section 22 and a sealed rear end cover 24 which are connected sequentially from left to right through screws, wherein two ends of an output shaft 1 are respectively positioned inside and outside the sealed shell, the output shaft 1 is respectively in rotary connection with the connecting end cover 4 and the joint shell A section 20 through angular contact ball bearings 18, and is in dynamic seal with the sealed front end cover 2 through a universal sealing ring 19, so that the inside of the sealed shell is isolated from the outside; the inner ring and the outer ring of the angular contact ball bearing 18 between the output shaft 1 and the joint housing A section 20 are positioned through a spigot on the inner wall of the joint housing A section 20 and a shaft shoulder on the output shaft 1, the inner ring of the angular contact ball bearing 18 between the output shaft 1 and the connecting end cover 4 is positioned through a fixed shaft sleeve 3 arranged on the output shaft 1, and the outer ring is positioned through a spigot on the inner wall of the connecting end cover 4. The front sealing end cover 2, the connecting end cover 4, the joint shell A section 20, the joint shell B section 21, the joint shell C section 22 and the rear sealing end cover 24 are sealed by static sealing rings, the inside of the joint is divided from the outside by the static sealing rings, and the inside of the joint is communicated.
The output shaft 1 is provided with a single-ring absolute encoder for obtaining any time position of the output shaft 1, the single-ring absolute encoder comprises a single-ring absolute encoder stator 501 and a single-ring absolute encoder rotor 502, and the single-ring absolute encoder stator 501 is sleeved on the output shaft 1 and is directly arranged on the inner wall of the joint shell A section 20 through screws. The output shaft 1 is provided with a fixed collar 6, and the single-turn absolute encoder rotor 502 is positioned on one side of the single-turn absolute encoder stator 501 and positioned on the fixed collar 6, and is connected with the output shaft 1 through a screw to realize linkage. A predetermined distance is left between the single-turn absolute encoder stator 501 and the single-turn absolute encoder rotor 502. When the output shaft 1 rotates, the single-turn absolute encoder rotor 502 is driven to rotate by the output shaft 1, and the single-turn absolute encoder stator 501 counts carrier signals sent by the single-turn absolute encoder rotor 502 connected with the output shaft 1, so that any time position of the output shaft 1 is obtained.
The motor shaft 9 is rotatably arranged in the sealed shell, one end of the motor shaft 9 is connected with one end of the output shaft 1, which is positioned in the sealed shell, through a harmonic speed reducer, and the other end of the motor shaft 9 is connected with a multi-turn absolute encoder for feeding back accurate speed information of the motor shaft 9; the motor shaft 9 is provided with a frameless torque motor for driving the motor shaft 9 to rotate, and the frameless torque motor, the single-turn absolute encoder and the multi-turn absolute encoder are respectively and electrically connected with a driver 12 arranged in the sealed shell. A brake 10 for braking the motor shaft 9 is arranged in the sealed shell, an antimagnetic cover 14 is covered outside the brake 10, and the antimagnetic cover 14 is arranged on the section B21 of the joint shell through countersunk screws and is used for reducing the interference of the brake 10 on the magnetic field of the multi-turn absolute encoder; the actuator 10 is electrically connected to the driver 12 by a wire.
The multi-turn absolute encoder includes a magnetic induction element 1102 and a magnet 1101 located inside the magnetic induction element 1102, the magnet 1101 is screwed to the other end of the motor shaft 9, and the magnetic induction element 1102 is mounted on the antimagnetic housing 14 and electrically connected to the driver 12 through a wire. When the motor shaft 9 rotates, the magnetic induction element 1102 transmits signals to the driver 12 through a BISS-C communication protocol, so that accurate speed feedback is realized. The multi-turn absolute encoder utilizes the magnetic induction principle to feed back accurate speed information of the motor shaft 9.
The seal shell is respectively provided with a quick connector 25 and a compensation oil pipe connector 23, the quick connector 25 is arranged on the joint shell A section 20 and the joint shell C section 22, and the data wire of the single-circle absolute encoder is connected to the driver 12 through the quick connector 25; the joint housing C section 22 of the present embodiment is further provided with a compensating oil pipe joint 23, and pressure compensating oil is introduced into the sealed housing through the compensating oil pipe joint 23, so as to implement pressure compensation, and ensure normal operation in an underwater high-pressure environment.
The harmonic reducer includes flexible gear 701, steel wheel 702 and wave generator 703, and this steel wheel 702 is the ring gear structure, fixes on the inner wall of joint shell A section 20 through the screw, and wave generator 703 adopts the key to connect with the one end of motor shaft 9, is located between motor shaft 9 and the steel wheel 702 to be equipped with the wave generator fixed plate 17 on the terminal surface of motor shaft 9 one end through the screw at the one end of wave generator 703, carry out axial spacing to wave generator 703. One end of the flexible wheel 701 is fixed at one end of the output shaft 1 positioned in the sealed housing through a screw, the other end of the flexible wheel 701 is positioned between the wave generator 703 and the steel wheel 702, and teeth are arranged on the outer surface of the other end. The wave generator 703 rotates along with the motor shaft 9, and in the rotating process, the other end of the flexible wheel 701 provided with teeth is elastically deformed, and then is meshed with the steel wheel 702, so as to drive the output shaft 1 to decelerate and output.
The frameless torque motor comprises a frameless torque motor stator 801 and a frameless torque motor rotor 802, wherein the frameless torque motor rotor 802 is positioned between the frameless torque motor stator 801 and a motor shaft 9, and the motor shaft 9 is driven to rotate by the frameless torque motor rotor 802; a frameless torque motor stator baffle 16 installed in the joint housing B section 21 is arranged on one side of the frameless torque motor stator 801, a frameless torque motor rotor baffle 15 installed on the motor shaft 9 is arranged on one side of the frameless torque motor rotor 802, the frameless torque motor stator 801 is located between the joint housing B section 21 and the frameless torque motor stator baffle 16, the frameless torque motor rotor 802 is located between the motor shaft 9 and the frameless torque motor rotor baffle 15, the frameless torque motor stator 801 is axially limited by the frameless torque motor stator baffle 16, and the frameless torque motor rotor 802 is axially limited by the frameless torque motor rotor baffle 15. The motor shaft 9 is rotatably connected to the frameless torque motor stator bar 16 and the joint housing B segment 21 by a deep groove ball bearing 26, supported by the deep groove ball bearing 26, and penetrated by the frameless torque motor rotor bar 15.
The sealing front end cover 2, the fixed shaft sleeve 3, the connecting end cover 4, the frameless torque motor rotor baffle 15, the frameless torque motor stator baffle 16, the joint shell A section 20, the joint shell B section 21 and the joint shell C section 22 are all aluminum alloy workpieces, and are subjected to anodic oxidation treatment to prevent corrosion in seawater.
The motor shaft 9, the harmonic speed reducer and the rotation center line of the output shaft 1 are mutually overlapped.
The working principle of the invention is as follows:
The invention uniquely proposes to use double encoders (single-turn absolute encoder and multi-turn absolute encoder) in a high-pressure hydraulic oil environment, thereby improving the detection and working precision of the underwater operation tool, using a small-volume high-torque frameless torque motor and a harmonic reducer, and improving the load capacity of a driving joint; the brake 10 provides for safe operation of the joint. During operation, the driver 12 sends out a control signal to drive the frameless torque motor to rotate, the wave generator 703 of the harmonic reducer enables the flexible wheel 701 to elastically deform in the rotation process and is meshed with the steel wheel 702 to transmit power, the high-precision single-circle absolute encoder measures the position of the output end of the harmonic reducer and feeds back the signal to the driver 12, and meanwhile, the multi-circle absolute encoder feeds back accurate speed information of the motor shaft 9 to the driver 12, so that shaking during low-speed rotation of the frameless torque motor is avoided.
The working depth of the invention can reach 3000m, the external seawater pressure is 30MPa, and the pressure in the sealed shell is higher than 30MPa. The frameless torque motor can output torque 1 N.m, the reduction ratio of the harmonic speed reducer is 100, and after the speed reducer is used for reducing the speed, the output shaft 1 can output torque 100 N.m.
Claims (6)
1. An underwater electric joint structure with position and speed feedback, which is characterized in that: the device comprises an output shaft (1), a sealing shell, a single-ring absolute encoder, a harmonic reducer, a frameless torque motor, a motor shaft (9), a multi-ring absolute encoder and a driver (12), wherein the single-ring absolute encoder, the harmonic reducer, the frameless torque motor, the motor shaft (9), the multi-ring absolute encoder and the driver (12) are respectively accommodated in the sealing shell, the output shaft (1) is connected to one end of the sealing shell in a sealing and rotating way, two ends of the output shaft (1) are respectively positioned in the sealing shell and outside, and the single-ring absolute encoder for obtaining any time position of the output shaft (1) is arranged on the output shaft (1); the motor shaft (9) is rotatably arranged in the sealed shell, one end of the motor shaft (9) is connected with one end of the output shaft (1) positioned in the sealed shell through the harmonic speed reducer, and the other end of the motor shaft (9) is connected with a multi-turn absolute encoder for feeding back the speed information of the motor shaft (9); the motor shaft (9) is provided with a frameless torque motor for driving the motor shaft (9) to rotate, and the frameless torque motor, the single-turn absolute encoder and the multi-turn absolute encoder are respectively and electrically connected with a driver (12) arranged in the sealed shell;
The single-turn absolute encoder comprises a single-turn absolute encoder stator (501) and a single-turn absolute encoder rotor (502), wherein the single-turn absolute encoder stator (501) is sleeved on the output shaft (1) and is arranged on the inner wall of the sealed shell, the single-turn absolute encoder rotor (502) is positioned on one side of the single-turn absolute encoder stator (501) and is sleeved on the output shaft (1) and is linked with the output shaft (1), and a preset distance is reserved between the single-turn absolute encoder stator (501) and the single-turn absolute encoder rotor (502); the single-turn absolute encoder rotor (502) is driven to rotate through the output shaft (1), and the single-turn absolute encoder stator (501) counts carrier signals sent by the single-turn absolute encoder rotor (502) so as to obtain any time position of the output shaft (1);
the multi-turn absolute encoder comprises a magnetic induction element (1102) and a magnet (1101) positioned in the magnetic induction element (1102), wherein the magnetic induction element (1102) is electrically connected with a driver (12), and the magnet (1101) is in threaded connection with the other end of a motor shaft (9);
The sealing shell comprises a sealing front end cover (2), a connecting end cover (4), a joint shell A section (20), a joint shell B section (21), a joint shell C section (22) and a sealing rear end cover (24) which are sequentially connected in a sealing way, wherein the output shaft (1) is respectively connected with the connecting end cover (4) and the joint shell A section (20) in a rotating way through an angular contact ball bearing (18) and is connected with the sealing front end cover (2) in a sealing way through a universal sealing ring (19); the sealing shell is respectively provided with a quick connector (25) and a compensation oil pipe connector (23), the data wire of the single-ring absolute encoder is connected to the driver (12) through the quick connector (25), and pressure compensation oil is introduced into the sealing shell through the compensation oil pipe connector (23).
2. The underwater electric joint structure with position and velocity feedback of claim 1 wherein: a brake (10) for braking a motor shaft (9) is arranged in the sealed shell, and an anti-magnetic cover (14) for reducing the magnetic field interference of the brake (10) on the multi-turn absolute encoder is covered outside the brake (10); the brake (10) is electrically connected to a drive (12).
3. The underwater electric joint structure with position and velocity feedback of claim 1 wherein: the harmonic speed reducer comprises a flexible gear (701), a steel gear (702) and a wave generator (703), wherein the steel gear (702) is of an annular gear structure and is arranged on the inner wall of the sealed shell, the wave generator (703) is connected to one end of a motor shaft (9) and is positioned between the motor shaft (9) and the steel gear (702), one end of the flexible gear (701) is arranged at one end of an output shaft (1) positioned in the sealed shell, the other end of the flexible gear (701) is positioned between the wave generator (703) and the steel gear (702), and teeth are arranged on the outer surface of the other end of the flexible gear; the wave generator (703) rotates along with the motor shaft (9), and in the rotating process, the other end of the flexible gear (701) provided with teeth is elastically deformed, and then is meshed with the steel wheel (702), so that the output shaft (1) is driven to be decelerated and output.
4. The underwater electric joint structure with position and velocity feedback of claim 1 wherein: the frameless torque motor comprises a frameless torque motor stator (801) and a frameless torque motor rotor (802), wherein the frameless torque motor stator (801) is arranged in the sealed shell, the frameless torque motor rotor (802) is positioned between the frameless torque motor stator (801) and a motor shaft (9), and the motor shaft (9) is driven to rotate by the frameless torque motor rotor (802).
5. The underwater electric joint structure with position and velocity feedback of claim 4 wherein: one side of the frameless torque motor stator (801) is provided with a frameless torque motor stator baffle (16) arranged in the sealing shell, and the frameless torque motor stator (801) is axially limited through the frameless torque motor stator baffle (16); one side of the frameless torque motor rotor (802) is provided with a frameless torque motor rotor baffle (15) arranged on a motor shaft (9), and the frameless torque motor rotor (802) is axially limited through the frameless torque motor rotor baffle (15); the motor shaft (9) is rotatably connected with the frameless torque motor stator baffle (16) through a deep groove ball bearing (26) and is penetrated by the frameless torque motor rotor baffle (15).
6. The underwater electric joint structure with position and velocity feedback of claim 1 wherein: the rotation center lines of the motor shaft (9), the harmonic speed reducer (7) and the output shaft (1) are mutually overlapped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810107613.3A CN110125973B (en) | 2018-02-02 | 2018-02-02 | Underwater electric joint structure with position and speed feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810107613.3A CN110125973B (en) | 2018-02-02 | 2018-02-02 | Underwater electric joint structure with position and speed feedback |
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| Publication Number | Publication Date |
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| CN110125973A CN110125973A (en) | 2019-08-16 |
| CN110125973B true CN110125973B (en) | 2024-05-07 |
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| CN201810107613.3A Active CN110125973B (en) | 2018-02-02 | 2018-02-02 | Underwater electric joint structure with position and speed feedback |
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| CN110775237A (en) * | 2019-11-22 | 2020-02-11 | 西北工业大学 | Small underwater bionic flapping wing driving device |
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| CN206899266U (en) * | 2017-07-12 | 2018-01-19 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN107398924A (en) * | 2017-09-20 | 2017-11-28 | 河北工业大学 | A kind of hollow type controls integral intelligent modularized joint |
| CN207983397U (en) * | 2018-02-02 | 2018-10-19 | 中国科学院沈阳自动化研究所 | Underwater electric joint structure with position and speed feedback |
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