The invention relates to an underwater robot joint, and aims to improve the operation flexibility and reliability of an underwater robot in a variable environment. The underwater robot joint comprises a sealing cover, a cabin body, an external floating body, a rubber corrugated pipe, a control circuit board, an internal end side floating body, a shaft arm, an internal center floating body, a motor, a torque sensor, a steering engine center connecting plate and the like. The two orthogonally installed motors and the torque sensor provide accurate power and measurement, the rubber corrugated pipe enhances the external flexibility, and the inner and outer ring structures guarantee the stability. The integrated sensor and the circuit board realize efficient joint movement control through a fine control process. The design adopts vulcanized rubber or epoxy resin for sealing, the waterproofness is improved, and a built-in sensor and a control program ensure the control precision and the response speed. Compared with the prior art, by means of the joint design, the motion flexibility and accurate control of the underwater multi-joint robot in marine exploration, underwater construction and inspection tasks are remarkably improved.

    本发明涉及一种水下机器人关节,旨在提升水下机器人在多变环境中的操作灵活性和可靠性。水下机器人关节包括密封盖、舱体、外部浮体、橡胶波纹管、控制电路板、内部端侧浮体、轴臂、内部中心浮体、电机、力矩传感器和舵机中心连接板等结构。两个正交安装的电机和力矩传感器提供精准的动力和测量,橡胶波纹管增强外部灵活性,内外环结构保证稳定性。集成的传感器和电路板通过精细的控制流程,实现高效关节运动控制。该设计采用硫化胶或环氧树脂密封,提高防水性,内置传感器和控制程序确保控制精度和响应速度。与现有技术相比,本发明的关节设计显著提升了水下多关节机器人在海洋勘探、水下建设和巡检任务中的运动灵活性和精确控制。


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    Titel :

    Underwater robot joint


    Weitere Titelangaben:

    一种水下机器人关节


    Beteiligte:
    LYU FENG (Autor:in) / XU XIN (Autor:in) / HE BIN (Autor:in)

    Erscheinungsdatum :

    04.06.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B25J Manipulatoren , MANIPULATORS



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