CN114221474A - Waterproof motor for electric joint of mechanical arm - Google Patents
Waterproof motor for electric joint of mechanical arm Download PDFInfo
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- CN114221474A CN114221474A CN202111599292.1A CN202111599292A CN114221474A CN 114221474 A CN114221474 A CN 114221474A CN 202111599292 A CN202111599292 A CN 202111599292A CN 114221474 A CN114221474 A CN 114221474A
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- waterproof motor
- mechanical arm
- housing
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 15
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 10
- 239000003921 oil Substances 0.000 claims description 41
- 239000003638 chemical reducing agent Substances 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 230000000903 blocking effect Effects 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 239000013535 sea water Substances 0.000 abstract description 10
- 239000002184 metal Substances 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 229920000459 Nitrile rubber Polymers 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003822 epoxy resin Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920000647 polyepoxide Polymers 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 229910001369 Brass Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 239000010951 brass Substances 0.000 description 1
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 238000005429 filling process Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/10—Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. water or fingers
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Motor Or Generator Frames (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a waterproof motor for an electric joint of a mechanical arm, which relates to the field of mechanical arms, and comprises: the electronic cabin comprises a main body, an electronic cabin body, a control element, a rear end cover and a pressure compensation bag, wherein the electronic cabin body is arranged on the main body, the control element is arranged inside the electronic cabin body, the electronic cabin body is provided with a first mounting opening, the pressure compensation bag is plugged into the first mounting opening, the rear end cover is connected with the electronic cabin body, the edge of the pressure compensation bag is clamped between the rear end cover and the electronic cabin body, a plurality of water permeable holes are formed in the rear end cover, and insulating hydraulic oil is arranged inside the electronic cabin body. Through the mode of the balanced internal and external pressure of pressure compensation bag, this arm electric joint waterproof motor need not to set up the metal cabin body and encapsulates not receiving the pressure influence of water under water, self can bear the sea water pressure, so arm joint position bulk weight reduces by a wide margin, and the arm receives the viscous resistance of sea water in the sea and diminishes, and arm work efficiency improves greatly.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to a waterproof motor for an electric joint of a mechanical arm.
Background
At present, the underwater robot is operated in the sea through remote operation, which becomes a main mode for deep sea resource exploration and marine science investigation, in recent years, the development requirement of the underwater robot is not limited to navigation detection, and meanwhile, the underwater robot is required to carry an operation mechanical arm so as to have certain operation capacity. China also successively starts a series of scientific research projects researched and developed by deep sea mechanical arms, and the deep sea mechanical arms are put into use in deep sea scientific research and underwater engineering operation.
The deep-sea mechanical arm is usually carried by an underwater robot and is submerged to the seabed, and a series of work such as sampling, seabed pipeline operation and the like is completed through the cooperative action of the mechanical arm and the robot. Compared with the common deep sea hydraulic mechanical arm, the deep sea electric mechanical arm has the advantages of low energy consumption, small volume and weight, higher control precision, simpler control algorithm, higher response speed and the like. The waterproof joint motor of arm is as the core device of deep sea arm, and not only output rotational speed and output torque are controllable, can also play the guard action of outage braking.
At present, the arm joint motor that uses among the prior art is the arm joint motor encapsulation that directly uses on the land is internal mostly, makes the cabin body into totally enclosed structure, makes the joint motor wherein not bear the pressure of sea water completely, and this kind of structure can make arm joint position volume weight increase by a wide margin, receives the viscous resistance grow of sea water in the sea for the inefficiency of arm work.
Therefore, how to improve the structure of the mechanical arm shutdown motor to improve the working efficiency of the mechanical arm becomes a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In order to solve the technical problems, the invention provides the waterproof motor for the electric joint of the mechanical arm, which can effectively improve the working efficiency of the mechanical arm.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a waterproof motor for an electric joint of a mechanical arm, which comprises: main part, the electronic compartment cabin body, control element, rear end cap and pressure compensation bag, the electronic compartment cabin body set up in the main part, control element set up in the internal portion of electronic compartment cabin, the electronic compartment cabin body is provided with first installing port, the pressure compensation bag shutoff first installing port, the rear end cap with the electronic compartment cabin body coupling, the edge of pressure compensation bag press from both sides tightly in the rear end cap with between the electronic compartment cabin body, be provided with a plurality of holes of permeating water on the rear end cap, the internal portion of electronic compartment cabin is provided with insulating hydraulic oil.
Preferably, the main body comprises a shell, an output shaft, a brake shaft, a rotor, a stator, a harmonic reducer, an input absolute value encoder, an output absolute value encoder, a rotating shaft sleeve and a brake, wherein the brake shaft, the rotor, the stator, the brake shaft, the output shaft and the rotating shaft sleeve are coaxially arranged, the brake shaft, the rotating shaft sleeve, the rotor and the stator are sequentially nested from inside to outside, the stator is arranged on the shell, the rotor is arranged on the rotating shaft sleeve, one end of the output shaft extends into the shell, the output shaft, the brake shaft and the brake are sequentially in transmission connection, the rotating shaft sleeve is connected with a wave generator of the harmonic reducer, the output shaft is connected with a flexible gear of the harmonic reducer, and an internal gear of the harmonic generator is arranged on the shell, the input end absolute value encoder is used for detecting the position information of the rotor, and the output end absolute value encoder is used for detecting the position information of the output shaft.
Preferably, the waterproof motor of arm electric joint still includes front end housing and support lid, the both ends of shell are provided with second installing port and third installing port respectively, the shutoff of the electronics cabin body the second installing port, the stopper set up in on the electronics cabin body, support the lid shutoff the third installing port, it is used for supporting to support the lid the harmonic speed reducer ware, the front end housing set up in the outside of supporting the lid, the front end housing support the lid and the connection can be dismantled to the shell three, the one end of output shaft passes in proper order the front end housing with it stretches into to support the lid inside the shell.
Preferably, the front end housing with set up general stopper between the support lid and seal, general stopper cover is located on the output shaft, the one end of the electronic compartment cabin body certainly the second installing port stretches into inside the shell, the one end of support lid certainly the third installing port stretches into inside the shell, the electronic compartment cabin body lateral wall with between the shell inside wall and support lid lateral wall with all be provided with 0 type sealing washer between the shell inside wall.
Preferably, one end of the brake shaft is provided with a flange, and a magnetic disc of the output end absolute value encoder is detachably connected with the flange.
Preferably, the waterproof motor of arm electric joint still includes the shaft coupling, the shaft coupling nestification in the inside of harmonic speed reducer ware, the shaft coupling with the harmonic speed reducer ware the flexbile gear is connected, the output shaft passes through the shaft coupling with the brake shaft transmission is connected.
Preferably, the wave generator is connected with the coupling through a bearing.
Preferably, be provided with watertight connector, oil inlet and oil-out on the electron cabin body, the oil inlet set up in the bottom of the electron cabin body, the oil-out set up in the top of the electron cabin body, the oil inlet reaches be provided with oil feed sprue and oil outlet sprue in the oil outlet respectively.
Preferably, the control element is a control circuit board, the electronic cabin body is provided with a conductive upright post, and the control circuit board is arranged on the conductive upright post.
Preferably, the conductive upright post is detachably connected with the electronic cabin body.
Compared with the prior art, the invention has the following technical effects:
the invention provides a waterproof motor for an electric joint of a mechanical arm, which comprises: the electronic cabin comprises a main body, an electronic cabin body, a control element, a rear end cover and a pressure compensation bag, wherein the electronic cabin body is arranged on the main body, the control element is arranged inside the electronic cabin body, the electronic cabin body is provided with a first mounting opening, the pressure compensation bag is plugged into the first mounting opening, the rear end cover is connected with the electronic cabin body, the edge of the pressure compensation bag is clamped between the rear end cover and the electronic cabin body, a plurality of water permeable holes are formed in the rear end cover, and insulating hydraulic oil is arranged inside the electronic cabin body. Through the mode of the balanced internal and external pressure of pressure compensation bag, this arm electric joint waterproof motor need not to set up the metal cabin body and encapsulates not receiving the pressure influence of water under water, self can bear the sea water pressure, so arm joint position bulk weight reduces by a wide margin, and the arm receives the viscous resistance of sea water in the sea and diminishes, and arm work efficiency improves greatly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a perspective view of a waterproof motor for an electric joint of a robot arm provided in an embodiment of the present invention;
fig. 2 is a sectional view of a waterproof motor for an electric joint of a robot arm provided in an embodiment of the present invention.
Description of reference numerals: 100. a mechanical arm electric joint waterproof motor; 1. an electronic compartment body; 2. a control element; 3. a rear end cap; 301. water permeable holes; 4. a pressure compensating bladder; 5. a conductive pillar; 6. a housing; 7. an output shaft; 8. a brake shaft; 9. a rotor; 10. a stator; 11. an input end absolute value encoder; 12. an output end absolute value encoder; 13. rotating the shaft sleeve; 14. a brake; 15. a wave generator; 16. a flexible gear; 17. an internal gear steel wheel; 18. a front end cover; 19. a support cover; 20. a flange plate; 21. a coupling; 22. a bearing; 23. a watertight connector; 24. and an oil inlet.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a waterproof motor for an electric joint of a mechanical arm, which can effectively improve the working efficiency of the mechanical arm.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1 to 2, the waterproof motor 100 for the electric joint of the robot arm provided in the present embodiment includes: the main part, the electronic cabin body 1, control element 2, rear end cap 3 and pressure compensation bag 4, the electronic cabin body 1 sets up in the main part, control element 2 sets up in the electronic cabin body 1 insidely, the electronic cabin body 1 is provided with first installing port, the first installing port of 4 shutoff of pressure compensation bag, rear end cap 3 is connected with the electronic cabin body 1, the edge of pressure compensation bag 4 presss from both sides tightly between rear end cap 3 and the electronic cabin body 1, be provided with a plurality of holes 301 of permeating water on the rear end cap 3, the electronic cabin body 1 is inside to be provided with insulating hydraulic oil. When the mechanical arm is lowered to the sea to work, the pressure compensation bag 4 can be extruded and deformed according to the change of the depth of the seawater, so that the pressure inside the motor is compensated. This arm electric joint waterproof motor 100 does not need to set up the metal cabin body and encapsulates under water by the pressure influence of water, self can bear the sea water pressure, so arm joint position bulk weight reduces by a wide margin, and the arm receives the viscous resistance of sea water in the sea to diminish, and arm work efficiency improves greatly.
In this embodiment, specifically, the insulating hydraulic oil is low-viscosity insulating hydraulic oil, and the rear end cap 3 is detachably connected to the electronic cabin body 1, specifically, connected by bolts. The compensation bag can change corresponding volume according to different water pressures in different seawater depth use environments, so that the mechanical arm electric joint waterproof motor 100 can be suitable for seabed environments with various depths. In addition, the pressure compensation bag 4 is formed by injection molding of nitrile rubber, and the nitrile rubber has good elasticity, water resistance and oil resistance, can achieve a good pressure transmission effect, and is not easy to damage.
In the embodiment, as shown in fig. 2, the main body includes a housing 6, an output shaft 7, and a brake shaft 8, a rotor 9, a stator 10, a harmonic reducer, an input absolute value encoder 11, an output absolute value encoder 12, a rotating shaft sleeve 13, and a brake 14 disposed inside the housing 6, the rotor 9, the stator 10, the brake shaft 8, the output shaft 7, and the rotating shaft sleeve 13 are coaxially disposed, the brake shaft 8, the rotating shaft sleeve 13, the rotor 9, and the stator 10 are sequentially nested from inside to outside, the stator 10 is disposed on the housing 6, the rotor 9 is disposed on the rotating shaft sleeve 13, one end of the output shaft 7 extends into the housing 6, the output shaft 7, the brake shaft 8, and the brake 14 are sequentially connected in a transmission manner, the rotating shaft sleeve 13 is connected with a wave generator 15 of the harmonic reducer, the output shaft 7 is connected with a flexible gear 16 of the harmonic reducer, an internal gear 17 of the harmonic generator 15 is disposed on the housing 6, the input end absolute value encoder 11 is used for detecting position information of the rotor 9, and the output end absolute value encoder 12 is used for detecting position information of the output shaft 7. Specifically, in this embodiment, the stator 10 is fixed to the inner wall of the housing 6 by structural epoxy resin adhesive, and the rotor 9 is bonded to the rotating sleeve 13 by structural epoxy resin adhesive.
Further, as shown in fig. 2, the mechanical arm electric joint waterproof motor 100 further includes a front end cover 18 and a support cover 19, a second mounting port and a third mounting port are respectively provided at two ends of the housing 6, the electronic cabin body 1 plugs the second mounting port, the brake 14 is disposed on the electronic cabin body 1, the support cover 19 plugs the third mounting port, the support cover 19 is used for supporting the harmonic reducer, the front end cover 18 is disposed on the outer side of the support cover 19, the front end cover 18, the support cover 19 and the housing 6 are detachably connected, and one end of the output shaft 7 sequentially penetrates through the front end cover 18 and the support cover 19 and extends into the housing 6. Specifically, in the present embodiment, the front cover 18, the support cover 19, and the housing 6 are connected by bolts.
Further, set up general stopper between front end housing 18 and the support lid 19 and seal, general stopper cover is located output shaft 7 on, the one end of the electronic cabin body 1 stretches into inside shell 6 from the second installing port, and the one end of the support lid 19 stretches into inside shell 6 from the third installing port, all is provided with 0 type sealing washer between the electronic cabin body 1 lateral wall and the 6 inside walls of shell and between the support lid 19 lateral wall and the 6 inside walls of shell. The output shaft 7 adopts the universal plug seal for dynamic seal, compared with the common O-shaped ring, the universal plug seal not only has better sealing property under high-speed rotation, but also is not easy to generate leakage due to abrasion in long-time work,
further, one end of the brake shaft 8 is provided with a flange 20, and the disk of the output end absolute value encoder 12 is detachably connected with the flange 20. Specifically, in this embodiment, the disk of the output-side absolute value encoder 12 is screwed to the flange 20.
Further, the waterproof motor 100 for the mechanical arm electric joint further comprises a coupler 21, the coupler 21 is nested inside the harmonic reducer, the coupler 21 is connected with the flexible gear 16 of the harmonic reducer, and the output shaft 7 is in transmission connection with the brake shaft 8 through the coupler 21.
Further, the wave generator 15 is connected to the coupling 21 via a bearing 22.
In this embodiment, the electronic cabin body 1 is provided with a watertight connector 23, an oil inlet 24 and an oil outlet, the oil inlet 24 is disposed at the bottom end of the electronic cabin body 1, the oil outlet is disposed at the top end of the electronic cabin body 1, and the oil inlet 24 and the oil outlet are respectively provided with an oil inlet block and an oil outlet block.
In this embodiment, the control element 2 is a control circuit board, the electronic cabin body 1 is provided with a conductive upright post 5, and the control circuit board is disposed on the conductive upright post 5.
Further, the conductive upright post 5 is detachably connected with the electronic cabin body 1. In this embodiment, the conductive upright column 5 is connected to the electronic cabin body 1 through a screw thread, and the conductive upright column 5 is a brass upright column.
The waterproof motor 100 for the electric joint of the mechanical arm provided by the embodiment also has the following advantages:
the input end and the output end are both provided with absolute value encoders, so that the output of the mechanical arm electric joint waterproof motor 100 can be accurately controlled, and real-time pose data can be acquired;
the arrangement mode that the front end of the brake shaft 8 is directly connected with the output end of the harmonic reducer, the tail end of the brake shaft is in butt joint with the encoder disk and the brake 14 is adopted, and the transmission mode of the hollow shaft sleeve is adopted, so that the axial length of the whole structure is shortened, the stability of motor output is improved, the integration of an internal circuit of the motor is improved, a main transmission mechanical mechanism and an electronic element are respectively arranged at the front end and the rear end, the mutual interference of mechanical movement and an electronic device is avoided, and the installation and the replacement of the electronic element are convenient.
In a specific using process, after the internal structure of the motor is assembled, the motor is placed in a mode that the oil inlet 24 is arranged at the bottom end of the shell 6 and the oil outlet is arranged at the top end of the shell 6, a joint of the oil filling pipeline is connected to the oil inlet 24, low-viscosity insulating hydraulic oil is slowly filled into the motor, and original air in the motor is discharged from the oil outlet; stopping filling oil when low-viscosity insulating hydraulic oil overflows from the oil outlet, after standing for a period of time, if the liquid level does not drop, determining that the interior of the oil tank is full of the low-viscosity insulating hydraulic oil and no air exists, and blocking the oil outlet by using an oil outlet blocking block; and after the oil outlet is confirmed to be completely closed, the oil inlet 24 is turned over, the oil filling pipeline is dismounted, then the oil inlet 24 is plugged by the oil inlet plugging block, and the oil filling process is completed after plugging is completed. After the oil flushing is completed, according to the joint requirements of different mechanical arms, the mechanical arm electric joint waterproof motor 100 provided by the embodiment is installed at the joint of the deep sea mechanical arm, the output shaft 7 of the mechanical arm electric joint waterproof motor 100 is in butt joint with the mechanical arm joint through the coupler 21, and the watertight connector 23 is connected to the water seepage battery cabin or is integrated on the master control electronic cabin of the underwater robot by using a watertight cable.
When the motor works, the control circuit board receives an external signal to control the rotor 9 to rotate, and the input end absolute value encoder 11 collects the rotating speed, the rotating angle or the torque data of the rotor 9 of the mechanical arm electric joint waterproof motor 100; the harmonic reducer reduces the rotation speed of the rotor 9, thereby outputting a smaller rotation speed and a larger torque; the torque and the rotating speed output by the harmonic reducer drive a magnetic disc of an output end absolute value encoder 12 to synchronously rotate through a brake shaft 8, so that the output end absolute value encoder 12 can collect data such as output torque and rotating speed of the mechanical arm electric joint waterproof motor 100 and convert the data into electric signals to be transmitted back to a control circuit board, the control circuit board combines the data of an input end absolute value encoder 11 to perform feedback regulation on the output of the mechanical arm electric joint waterproof motor 100, and can simultaneously monitor the working efficiency and the output power of the mechanical arm electric joint waterproof motor 100, and the effect of monitoring the working condition of the mechanical arm in real time is achieved; the brake shaft 8 is in butt joint with the brake 14, the brake 14 starts a brake switch under the condition of power failure, and the output shaft 7 of the mechanical arm electric joint waterproof motor 100 is locked, so that the mechanical arm can keep a fixed posture under the condition of no starting, and the power failure protection effect is achieved.
It should be noted that the waterproof motor 100 for the electric joint of the robot arm provided by the present invention is not limited to be used in the position of the electric joint of the robot arm, and is not only suitable for the robot arm, and other structures requiring the use of the motor may also adopt the waterproof motor 100 for the electric joint of the robot arm provided by the present invention.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a waterproof motor of arm electric joint which characterized in that includes: main part, the electronic compartment cabin body, control element, rear end cap and pressure compensation bag, the electronic compartment cabin body set up in the main part, control element set up in the internal portion of electronic compartment cabin, the electronic compartment cabin body is provided with first installing port, the pressure compensation bag shutoff first installing port, the rear end cap with the electronic compartment cabin body coupling, the edge of pressure compensation bag press from both sides tightly in the rear end cap with between the electronic compartment cabin body, be provided with a plurality of holes of permeating water on the rear end cap, the internal portion of electronic compartment cabin is provided with insulating hydraulic oil.
2. The waterproof motor for the mechanical arm electric joint as claimed in claim 1, wherein the main body comprises a housing, an output shaft, and a brake shaft, a rotor, a stator, a harmonic reducer, an input absolute value encoder, an output absolute value encoder, a rotating shaft sleeve and a brake arranged inside the housing, the rotor, the stator, the brake shaft, the output shaft and the rotating shaft sleeve are coaxially arranged, the brake shaft, the rotating shaft sleeve, the rotor and the stator are sequentially nested from inside to outside, the stator is arranged on the housing, the rotor is arranged on the rotating shaft sleeve, one end of the output shaft extends into the housing, the output shaft, the brake shaft and the brake are sequentially in transmission connection, the rotating shaft sleeve is connected with a wave generator of the harmonic reducer, the output shaft with harmonic reducer's flexbile gear is connected, harmonic generator's internal tooth steel wheel set up in on the shell, input absolute value encoder is used for detecting the position information of rotor, output absolute value encoder is used for detecting the position information of output shaft.
3. The waterproof motor for the mechanical arm electric joint as claimed in claim 2, further comprising a front end cover and a support cover, wherein a second mounting port and a third mounting port are respectively disposed at two ends of the housing, the electronic cabin body blocks the second mounting port, the brake is disposed on the electronic cabin body, the support cover blocks the third mounting port, the support cover is used for supporting the harmonic reducer, the front end cover is disposed at an outer side of the support cover, the front end cover, the support cover and the housing are detachably connected, and one end of the output shaft sequentially penetrates through the front end cover and the support cover and extends into the housing.
4. The waterproof motor for the mechanical arm electric joint as claimed in claim 3, wherein a universal plug seal is disposed between the front end cover and the supporting cover, the universal plug seal is sleeved on the output shaft, one end of the electronic cabin body extends into the housing from the second mounting port, one end of the supporting cover extends into the housing from the third mounting port, and a type 0 sealing ring is disposed between the outer sidewall of the electronic cabin body and the inner sidewall of the housing and between the outer sidewall of the supporting cover and the inner sidewall of the housing.
5. The waterproof motor for the electric joint of the mechanical arm as claimed in claim 3, wherein a flange is arranged at one end of the brake shaft, and a magnetic disc of the output end absolute value encoder is detachably connected with the flange.
6. The waterproof motor of claim 2, further comprising a coupler, wherein the coupler is nested inside the harmonic reducer, the coupler is connected with the flexspline of the harmonic reducer, and the output shaft is in transmission connection with the brake shaft through the coupler.
7. The waterproof motor for the electric joint of the mechanical arm as claimed in claim 6, wherein the wave generator is connected with the coupler through a bearing.
8. The waterproof motor for the electric joint of the mechanical arm of claim 1, wherein a watertight connector, an oil inlet and an oil outlet are arranged on the electronic cabin body, the oil inlet is arranged at the bottom end of the electronic cabin body, the oil outlet is arranged at the top end of the electronic cabin body, and an oil inlet blocking block and an oil outlet blocking block are respectively arranged in the oil inlet and the oil outlet.
9. The waterproof motor for the mechanical arm electric joint as claimed in claim 1, wherein the control element is a control circuit board, a conductive upright is disposed on the electronic cabin body, and the control circuit board is disposed on the conductive upright.
10. The waterproof motor for the mechanical arm electric joint as claimed in claim 9, wherein the conductive upright is detachably connected to the electronic cabin body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111599292.1A CN114221474B (en) | 2021-12-24 | 2021-12-24 | Waterproof motor for electric joint of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111599292.1A CN114221474B (en) | 2021-12-24 | 2021-12-24 | Waterproof motor for electric joint of mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114221474A true CN114221474A (en) | 2022-03-22 |
| CN114221474B CN114221474B (en) | 2023-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111599292.1A Active CN114221474B (en) | 2021-12-24 | 2021-12-24 | Waterproof motor for electric joint of mechanical arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117375327A (en) * | 2023-10-23 | 2024-01-09 | 西湖大学 | Axial flux motor with position feedback under water |
| CN117419203A (en) * | 2023-12-18 | 2024-01-19 | 中国科学院沈阳自动化研究所 | Hydraulic control sea water valve with adjustable opening |
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| CN114221474B (en) | 2023-11-21 |
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