The underwater hollow robot joint module comprises a shell, the shell is formed by stacking a front cover, a speed reducer cabin shell, a motor base, an electric control cabin shell and a rear cover in sequence, and a hollow cavity is formed in the shell; plane sealant is coated among contact surfaces of the front cover, the speed reducer cabin shell, the motor base, the electric control cabin shell and the rear cover; a harmonic reducer, a motor and an encoder are arranged in the hollow cavity; the front cover covers the top of the harmonic reducer, a spring seal is arranged between the front cover and an output flange of the harmonic reducer, a front cover plate is installed above the front cover through screws, and the front cover plate covers the spring seal; a sealing flange and a disc type flange are sequentially installed on an output flange of the harmonic reducer, and meanwhile the spring seal is in interference fit with the sealing flange. According to the joint module, sealing of the rotating shaft between the output flange of the speed reducer and the joint shell is achieved, and meanwhile the size structure of the joint module is kept consistent with that of a common joint module in the market.

    本发明公开一种水下中空机器人关节模组,包括外壳,所述外壳依次由前盖、减速器舱壳体、电机座、电控舱壳体、后盖堆叠而成并在内部形成中空腔体;所述前盖、减速器舱壳体、电机座、电控舱壳体、后盖的接触面之间涂敷平面密封胶;所述中空腔体中布置有谐波减速器、电机、编码器;所述前盖覆盖于谐波减速器顶部,且在前盖与谐波减速器的输出法兰之间设有泛塞封,所述前盖上方通过螺钉安装有前盖盖板,且前盖盖板覆盖所述泛塞封;所述谐波减速器的输出法兰上依次安装有密封法兰和盘式法兰,同时所述泛塞封与密封法兰过盈配合。本发明的关节模组实现了减速器输出法兰和关节外壳之间的旋转轴密封,同时与市面上常见的关节模组的尺寸结构保持了一致性。


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    Title :

    Underwater hollow robot joint module


    Additional title:

    一种水下中空机器人关节模组


    Contributors:
    DONG HUIXU (author) / ZHANG JUNHAN (author) / DONG RUIHONG (author)

    Publication date :

    2024-07-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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