阅读说明：本技术 适用于深海机器人的大力矩一体化驱动关节 (Large-torque integrated driving joint suitable for deep-sea robot ) 是由 高海波 丁亮 刘铁 龚肇沛 刘岩 李楠 邓宗全 于 2021-09-22 设计创作，主要内容包括：本发明提供了一种适用于深海机器人的大力矩一体化驱动关节,属于水下电机技术领域。适用于深海机器人的大力矩一体化驱动关节包括机壳、动力发生组件、减速组件和输出法兰组件；动力发生组件设置于机壳内,动力发生组件包括电机轴；减速组件设置于动力发生组件的一侧,减速组件包括谐波输入轴、波发生器、柔轮、刚轮和刚轮轴承,柔轮包括柔轮本体部和柔轮法兰部,谐波输入轴与电机轴同轴连接,波发生器安装于谐波输入轴上,柔轮套设于波发生器上,且柔轮法兰部与机壳连接,刚轮轴承套设于柔轮本体部上并与柔轮法兰部连接,刚轮套设于柔轮本体部上并与刚轮轴承的内圈连接；输出法兰组件适于与刚轮连接。实现了大力矩输出,且结构紧凑。(The invention provides a large-torque integrated driving joint suitable for a deep-sea robot, and belongs to the technical field of underwater motors. The large-torque integrated driving joint suitable for the deep-sea robot comprises a shell, a power generation assembly, a speed reduction assembly and an output flange assembly; the power generation assembly is arranged in the shell and comprises a motor shaft; the speed reduction assembly is arranged on one side of the power generation assembly and comprises a harmonic input shaft, a wave generator, a flexible gear, a rigid gear and a rigid gear bearing, the flexible gear comprises a flexible gear body part and a flexible gear flange part, the harmonic input shaft is coaxially connected with a motor shaft, the wave generator is arranged on the harmonic input shaft, the flexible gear is sleeved on the wave generator, the flexible gear flange part is connected with the shell, the rigid gear bearing is sleeved on the flexible gear body part and connected with the flexible gear flange part, and the rigid gear is sleeved on the flexible gear body part and connected with an inner ring of the rigid gear bearing; the output flange assembly is adapted to be connected to a rigid wheel. The large torque output is realized, and the structure is compact.)

1. A high-torque integrated driving joint suitable for a deep-sea robot is characterized by comprising:

a housing (1);

a power generation assembly (2) disposed within the housing (1), the power generation assembly (2) including a motor shaft (23), the motor shaft (23) adapted to rotate about an axial direction of the housing (1);

a speed reduction assembly (3) disposed at one side of the power generation assembly (2) and used for reducing the output rotation speed of the motor shaft (23), the speed reduction assembly (3) comprises a harmonic input shaft (31), a wave generator (32), a flexible gear (33), a rigid gear (34) and a rigid gear bearing (35), the flexible gear (33) comprises a flexible gear body part (331) and a flexible gear flange part (332), the harmonic input shaft (31) is coaxially connected with the motor shaft (23), the wave generator (32) is arranged on the harmonic input shaft (31), the flexible gear (33) is sleeved on the wave generator (32), the flexible gear flange part (332) is connected with the machine shell (1), the rigid gear bearing (35) is sleeved on the flexible gear body part (331) and is connected with the flexible gear flange part (332), the rigid gear (34) is sleeved on the flexible gear body part (331) and is connected with the inner ring of the rigid gear bearing (35); and

an output flange assembly (4) adapted to be connected with the rigid wheel (34).

2. The high-torque integrated drive joint suitable for the deep sea robot according to claim 1, wherein the speed reduction assembly (3) further comprises a speed reducer mounting seat (36) and an input shaft bearing (37), the input shaft bearing (37) is sleeved on the harmonic input shaft (31) and located between the wave generator (32) and the power generation assembly (2), an inner ring of the input shaft bearing (37) is connected with the harmonic input shaft (31), the speed reducer mounting seat (36) is sleeved on an outer ring of the input shaft bearing (37), the speed reducer mounting seat (36) is respectively connected with an outer ring of the input shaft bearing (37) and the machine shell (1), and the flexible wheel flange portion (332) is connected with the machine shell (1) through the speed reducer mounting seat (36).

3. The high-torque integrated driving joint suitable for the deep-sea robot is characterized in that end faces of two sides of the machine shell (1) are provided with openings, the flexible wheel flange portion (332) is connected with one end of the machine shell (1), the output flange assembly (4) is coaxially inserted into the power generation assembly (2) and the speed reduction assembly (3), one end of the output flange assembly (4) is connected with the rigid wheel (34) and suitable for being in sealing connection with the rigid wheel bearing (35), and the other end of the output flange assembly (4) is suitable for being in sealing connection with one end, far away from the speed reduction assembly (3), of the machine shell (1).

4. The high-torque integrated drive joint suitable for the deep sea robot is characterized in that the output flange assembly (4) comprises an output flange assembly body and a hollow shaft (43) connected with the output flange body, the hollow shaft (43) is arranged on the axis of the machine shell (1) and is coaxially inserted into the power generation assembly (2) and the speed reduction assembly (3), the output flange assembly body is connected with the rigid wheel (34), the output flange body is suitable for being in sealing connection with the rigid wheel bearing (35), and one end, far away from the output flange body, of the hollow shaft (43) is suitable for being in sealing connection with one end, far away from the speed reduction assembly (3), of the machine shell (1).

5. The high-torque integrated driving joint suitable for the deep sea robot is characterized by further comprising a pressure compensation assembly (5) used for balancing pressure inside and outside the machine shell (1), wherein the pressure compensation assembly (5) comprises an annular compensation piston (51), a first guide piece (52) and a first elastic piece, the output flange assembly body comprises a joint output flange (41) and an end cover flange (42), the end cover flange (42) is connected with the hollow shaft (43), the joint output flange (41) is connected with the rigid wheel (34), one end, far away from the speed reduction assembly (3), of the joint output flange (41) is provided with an annular groove, the annular groove is provided with a liquid through hole, and the liquid through hole extends to one end, close to the speed reduction assembly (3), of the joint output flange (41), the annular compensation piston (51) is arranged in the annular groove and is suitable for moving along the axis of the annular groove, the first guide piece (52) and the compressed first elastic piece are respectively arranged between the annular compensation piston (51) and the end cover flange (42), the first guide piece is used for limiting the joint output flange (41) and the end cover flange (42) to synchronously rotate, a sealing space is formed between the outer wall of the hollow shaft (43) and the inner wall of the machine shell (1) in an enclosing mode, the sealing space is suitable for being filled with high-pressure liquid, and the high-pressure liquid is suitable for acting on the annular compensation piston (51) through the liquid through hole.

6. The high-torque integrated drive joint suitable for the deep sea robot is characterized in that a first dynamic seal structure is arranged between one end, away from the end cover flange (42), of the hollow shaft (43) and one end, away from the speed reduction assembly (3), of the machine shell (1), a second dynamic seal structure (6) is arranged between the joint output flange (41) and the rigid wheel bearing (35), the second dynamic seal structure (6) comprises a dynamic ring (62), a static ring (61), a second guide member (64) and a second elastic member, the static ring (61) is sleeved on the rigid wheel (34) and connected with an outer ring of the rigid wheel bearing (35), the dynamic ring (62) is sleeved on the rigid wheel (34) and connected with the joint output flange (41), and the second guide member (64) and the second elastic member are respectively arranged between the dynamic ring (62) and the joint output flange (41), the second guide part (64) is suitable for limiting the movable ring (62) to rotate synchronously with the joint output flange (41), and the second elastic part is suitable for driving the movable ring (62) to move along the second guide part (64) and press the fixed ring (61).

7. The high-torque integrated driving joint suitable for the deep-sea robot is characterized in that the power generation assembly (2) further comprises a motor stator (21) and a motor rotor (22), the outer wall of the motor stator (21) is connected with the inner wall of the machine shell (1), the inner wall of the motor rotor (22) is connected with the motor shaft (23), the axial length of the motor stator (21) is smaller than the outer diameter of the motor stator (21), the axial length of the motor rotor (22) is smaller than the outer diameter of the motor stator (21), and the axial length of the motor shaft (23) is smaller than the outer diameter of the motor shaft (23).

8. The high-torque integrated drive joint suitable for the deep-sea robot is characterized by further comprising a clutch assembly (7), wherein the clutch assembly (7) is arranged on one side, away from the speed reduction assembly (3), of the power generation assembly (2), the clutch assembly (7) comprises a clutch stator (71) and a clutch rotor (72), the clutch stator (71) is connected with the machine shell (1), and the clutch rotor (72) is connected with the motor shaft (23).

9. The high-torque integrated drive joint suitable for the deep-sea robot is characterized by further comprising a sensing assembly (8), wherein the sensing assembly (8) is arranged in the machine shell (1) and used for detecting the rotating speed ratio of the motor shaft (23) and the output flange assembly (4).

10. The high-torque integrated driving joint suitable for the deep-sea robot is characterized in that the machine shell (1) is formed by sequentially and detachably connecting a plurality of segmented cylinders, and a mechanical sealing element is arranged between every two adjacent segmented cylinders.

Technical Field

The invention relates to the technical field of underwater motors, in particular to a large-torque integrated driving joint suitable for a deep-sea robot.

Background

With the development of ocean exploration technology, deep sea space stations are built, the schedule of ocean floor exploration is developed, and future ocean exploration detectors should have various exploration and operation capabilities. In order to meet the increasingly complex requirements of deep sea detection tasks, researchers propose that the foot type robot is applied to deep sea detection, and a driving motor with advanced and reliable performance is one of key technologies of the deep sea foot type robot.

At present, deep sea motors are mostly applied to propeller drives of AUV (untethered underwater robots), ROV (remote control unmanned underwater vehicles) and the like, the rotating speed of the deep sea motors quickly leads to smaller output torque, the size and the mass of the motors are larger, the motors are single in function, the integration degree and the expansibility are poorer, the output torque is smaller, and the deep sea motors cannot be directly applied to joint drive of deep sea foot type robots.

Disclosure of Invention

The invention aims to solve the problem that the output torque of the existing deep sea motor is small.

In order to solve the above problems, the present invention provides a high-torque integrated drive joint suitable for a deep-sea robot, comprising:

a housing;

the power generation assembly is arranged in the shell and comprises a motor shaft, and the motor shaft is suitable for rotating around the axial direction of the shell;

the speed reduction assembly is arranged on one side of the power generation assembly and used for reducing the output rotating speed of the motor shaft, the speed reduction assembly comprises a harmonic input shaft, a wave generator, a flexible gear, a rigid gear and a rigid gear bearing, the flexible gear comprises a flexible gear body part and a flexible gear flange part, the harmonic input shaft is coaxially connected with the motor shaft, the wave generator is arranged on the harmonic input shaft, the flexible gear is sleeved on the wave generator, the flexible gear flange part is connected with the machine shell, the rigid gear bearing is sleeved on the flexible gear body part and is connected with the flexible gear flange part, and the rigid gear is sleeved on the flexible gear body part and is connected with an inner ring of the rigid gear bearing; and

an output flange assembly adapted to be connected with the rigid wheel.

Compared with the prior art, the large-torque integrated driving joint suitable for the deep-sea robot has the following beneficial effects that:

the harmonic input shaft is coaxially and detachably connected with the motor shaft, so that the torque of the motor shaft is transmitted to the harmonic input shaft, the wave generator in the speed reduction assembly is arranged on the harmonic input shaft, the flexible gear is sleeved on the harmonic generator and is matched with the harmonic generator for transmission, the flexible gear is fixed, the rigid gear rotates, namely, a flexible gear flange part of the flexible gear is connected with the shell for realizing fixation, the rigid gear bearing and the rigid gear are respectively sleeved on the flexible gear, an outer ring of the rigid gear bearing is connected with the flexible gear flange part for realizing fixation, the rigid gear is connected with an inner ring of the rigid gear bearing for realizing fixation, therefore, the wave generator, the rigid gear and the rigid gear bearing are all positioned between two axial ends of the flexible gear in the axial direction, the rigidity integration degree is high, the space occupied space is small, and in the radial direction of the shell, the rigid gear can be superposed with an inner ring of the rigid gear bearing, namely, the rigid gear is connected with the end part of the inner ring of the rigid gear bearing, and the outer ring of the rigid gear bearing is smaller than or equal to the outer diameter of the flexible gear flange part, namely, the rigid wheel bearing does not exceed the flexible wheel flange part in the radial direction, and the integration level is further improved. In addition, the flexible gear is fixed, and the rigid gear rotates to output, so that the flexible gear deforms less, and the transmission is more stable. The elliptic curvature of the wave generator can be adjusted to adjust the tooth difference between the rigid gear and the flexible gear, so that different reduction ratios are achieved, and the output requirement of large torque can be met.

Further, the speed reduction assembly further comprises a speed reducer mounting seat and an input shaft bearing, the input shaft bearing sleeve is arranged on the harmonic input shaft and located between the wave generator and the power generation assembly, an inner ring of the input shaft bearing is connected with the harmonic input shaft, the speed reducer mounting seat is arranged on an outer ring of the input shaft bearing in a sleeved mode, the speed reducer mounting seat is respectively connected with an outer ring of the input shaft bearing and the machine shell, and the flexible gear flange portion is connected with the machine shell through the speed reducer mounting seat.

Further, the casing both sides terminal surface opening sets up, flexbile gear flange portion with the one end of casing is connected, output flange subassembly coaxial insert locate the power generation subassembly with in the speed reduction subassembly, the one end of output flange subassembly with rigid wheel is connected and be suitable for with rigid wheel bearing sealing connection, the other end of output flange subassembly be suitable for with the casing is kept away from the one end sealing connection of speed reduction subassembly.

Further, the output flange assembly comprises an output flange assembly body and a hollow shaft connected with the output flange assembly body, the hollow shaft is arranged on the axis of the casing and is coaxially inserted into the power generation assembly and the speed reduction assembly, the output flange assembly body is connected with the rigid wheel, the output flange assembly body is suitable for being in sealing connection with the rigid wheel bearing, and one end, far away from the output flange assembly, of the hollow shaft is suitable for being in sealing connection with one end, far away from the speed reduction assembly, of the casing.

Furthermore, the high-torque integrated driving joint suitable for the deep sea robot further comprises a pressure compensation assembly used for balancing the pressure inside and outside the casing, the pressure compensation assembly comprises an annular compensation piston, a first guide piece and a first elastic piece, the output flange assembly body comprises a joint output flange and an end cover flange, the end cover flange is connected with the hollow shaft, the joint output flange is connected with the rigid wheel, one end, far away from the speed reduction assembly, of the joint output flange is provided with an annular groove, the annular groove is provided with a liquid through hole, the liquid through hole extends to one end, close to the speed reduction assembly, of the joint output flange, the annular compensation piston is arranged in the annular groove and is suitable for moving along the axis of the annular groove, and the first guide piece and the compressed first elastic piece are respectively arranged between the annular compensation piston and the end cover flange, the first guide piece is used for limiting the joint output flange and the end cover flange to rotate synchronously, a sealed space is formed by enclosing between the outer wall of the hollow shaft and the inner wall of the shell, the sealed space is suitable for being filled with high-pressure liquid, and the high-pressure liquid is suitable for acting on the annular compensation piston through the liquid through hole.

Furthermore, a first dynamic sealing structure is arranged between one end of the hollow shaft far away from the end cover flange and one end of the machine shell far away from the speed reduction assembly, a second dynamic sealing structure is arranged between the joint output flange and the rigid wheel bearing, the second dynamic sealing structure comprises a dynamic ring, a static ring, a second guide part and a second elastic part, the static ring is sleeved on the rigid wheel and connected with the outer ring of the rigid wheel bearing, the movable ring is sleeved on the rigid wheel and connected with the joint output flange, the second guide part and the second elastic part are respectively arranged between the movable ring and the joint output flange, the second guide part is suitable for limiting the movable ring to rotate synchronously with the joint output flange, and the second elastic part is suitable for driving the movable ring to move along the second guide part and press the movable ring on the static ring.

Further, the power generation assembly further comprises a motor stator and a motor rotor, the outer wall of the motor stator is connected with the inner wall of the casing, the inner wall of the motor rotor is connected with the motor shaft, the axial length of the motor stator is smaller than the outer diameter of the motor stator, the axial length of the motor rotor is smaller than the outer diameter of the motor stator, and the axial length of the motor shaft is smaller than the outer diameter of the motor shaft.

Further, big moment integration drive joint suitable for deep sea robot still includes clutch assembly, clutch assembly set up in the power generation subassembly is kept away from one side of speed reduction subassembly, clutch assembly includes clutch stator and clutch rotor, clutch stator is connected with the casing, clutch rotor with the motor shaft is connected.

Furthermore, the large-torque integrated drive joint suitable for the deep-sea robot further comprises a sensing assembly, wherein the sensing assembly is arranged in the shell and used for detecting the rotating speed ratio of the motor shaft to the output flange assembly.

Further, the casing is formed by connecting a plurality of segmentation barrels in turn in a detachable manner, and is adjacent to a mechanical sealing element arranged between the segmentation barrels.

Drawings

FIG. 1 is a schematic semi-sectional view of a high-torque integrated drive joint suitable for a deep-sea robot according to an embodiment of the invention;

FIG. 2 is a schematic structural diagram of a high-torque integrated driving joint suitable for a deep-sea robot according to an embodiment of the invention;

fig. 3 is a schematic structural view of a flexspline according to an embodiment of the present invention.

Description of reference numerals:

1-a machine shell, 11-a first sectional barrel, 111-a watertight joint, 12-a second sectional barrel, 13-a third sectional barrel, 2-a power generation assembly, 21-a motor stator, 22-a motor rotor, 23-a motor shaft, 231-a motor extension shaft, 24-a motor pressure plate, 3-a speed reduction assembly, 31-a harmonic input shaft, 32-a wave generator, 33-a flexible wheel, 331-a flexible wheel body, 332-a flexible wheel flange part, 34-a rigid wheel, 35-a rigid wheel bearing, 36-a speed reducer mounting seat, 37-an input shaft bearing, 4-an output flange assembly, 41-a joint output flange, 42-an end cover flange, 43-a hollow shaft, 431-a hollow shaft bearing, 44-a speed reducer output flange, 5-pressure compensation assembly, 51-annular compensation piston, 52-first guide piece, 6-second movable sealing structure, 61-stationary ring, 62-movable ring, 63-movable ring fixing frame, 64-second guide piece, 7-clutch assembly, 71-clutch stator, 72-clutch rotor, 73-clutch mounting seat, 8-sensing assembly, 81-absolute value encoder, 82-incremental encoder stator, 83-incremental encoder rotor, 84-encoder fixing seat and 85-absolute encoder pressing plate.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the description of the present invention, it is to be understood that the terms "front", "back", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Also, in the drawings, the X-axis indicates the longitudinal direction, i.e., the front-rear position, and the positive direction of the X-axis (i.e., the arrow direction of the X-axis) indicates the front, and the negative direction of the X-axis (i.e., the direction opposite to the positive direction of the X-axis) indicates the rear.

It should also be noted that the foregoing X-axis representation is merely intended to facilitate the description of the invention and to simplify the description, and does not indicate or imply that the device or element so referred to must be constructed and operated in a particular orientation and therefore should not be considered limiting.

Referring to fig. 1 and 3, the large-torque integrated driving joint suitable for the deep-sea robot according to the embodiment of the present invention includes a housing 1, a power generation assembly 2, a speed reduction assembly 3, and an output flange assembly 4; the power generation assembly 2 is arranged in the machine shell 1, the power generation assembly 2 comprises a motor shaft 23, and the motor shaft 23 is suitable for rotating around the axial direction of the machine shell 1; the speed reduction assembly 3 is disposed at one side of the power generation assembly 2 and configured to reduce the output rotation speed of the motor shaft 23, the speed reduction assembly 3 includes a harmonic input shaft 31, a wave generator 32, a flexible gear 33, a rigid gear 34 and a rigid gear bearing 35, the flexible gear 33 includes a flexible gear body 331 and a flexible gear flange 332, the harmonic input shaft 31 is coaxially connected with the motor shaft 23, the wave generator 32 is mounted on the harmonic input shaft 31, the flexible gear 33 is sleeved on the wave generator 32, the flexible gear flange 332 is connected with the housing 1, the rigid gear bearing 35 is sleeved on the flexible gear body 331 and connected with the flexible gear flange 332, and the rigid gear 34 is sleeved on the flexible gear body 331 and connected with an inner ring of the rigid gear bearing 35; the output flange assembly 4 is adapted to be connected to the rigid wheel 34.

In this embodiment, the harmonic input shaft 31 is coaxially and detachably connected with the motor shaft 23, so that the torque of the motor shaft 23 is transmitted to the harmonic input shaft 31, the wave generator 32 in the speed reduction assembly 3 is mounted on the harmonic input shaft 31, the flexible gear 33 is sleeved on the harmonic generator 32 and is in matched transmission with the harmonic generator 32, the flexible gear 33 is fixed, the rigid gear 34 is rotated, that is, the flexible gear flange portion 332 of the flexible gear 33 is connected with the machine case 1 to realize fixation, the rigid gear bearing 35 and the rigid gear 34 are respectively sleeved on the flexible gear 33, the outer ring of the rigid gear bearing 35 is connected with the flexible gear flange portion 332 to realize fixation, the rigid gear 34 is connected with the inner ring of the rigid gear bearing 35 to realize fixation, so that the wave generator 32, the rigid gear 34 and the rigid gear bearing 35 are all located between two axial ends of the flexible gear 33 in the axial direction, the integration level is high, the space is small, and the rigid gear 34 can be overlapped with the inner ring of the rigid gear bearing 35 in the radial direction of the machine case 1, that is, the rigid wheel 34 is connected to the end of the inner ring of the rigid wheel bearing 35, and the outer ring of the rigid wheel bearing 35 has an outer diameter smaller than or equal to the outer diameter of the flexible wheel flange portion 332, that is, the rigid wheel bearing 35 does not exceed the flexible wheel flange portion 332 in the radial direction, thereby further improving the integration level. In addition, the flexible gear 33 is fixed, and the rigid gear 34 rotates and outputs, so that the flexible gear 33 deforms less, and the transmission is more stable. The elliptic curvature of the wave generator 32 can be adjusted to adjust the tooth difference between the rigid gear 34 and the flexible gear 33, so as to achieve different reduction ratios and meet the output requirement of large torque.

Referring to fig. 1, optionally, the speed reduction assembly 3 further includes a speed reducer mounting seat 36 and an input shaft bearing 37, the input shaft bearing 37 is sleeved on the harmonic input shaft 31 and located between the wave generator 32 and the power generation assembly 2, an inner ring of the input shaft bearing 37 is connected to the harmonic input shaft 31, the speed reducer mounting seat 36 is sleeved on an outer ring of the input shaft bearing 37, the speed reducer mounting seat 36 is respectively connected to the outer ring of the input shaft bearing 37 and the housing 1, and the flexible gear flange portion 332 is connected to the housing 1 through the speed reducer mounting seat 36.

Here, the reducer mounting base 36 is connected with the casing 1 to realize fixing, the reducer mounting base 36 is in a T-shaped cylindrical structure, that is, the reducer mounting base 36 includes a cylindrical body and an annular mounting plate structure connected to one end of the cylindrical body, the cylindrical body of the reducer mounting base 36 is sleeved on the outer ring of the input shaft bearing 37 and is fixedly connected with the outer ring of the input shaft bearing 37, and the harmonic input shaft 31 is ensured to move stably through the input shaft bearing 37. The flexible gear body 331 is sleeved on the cylinder of the reducer mounting seat 36 and the wave generator 32, the flexible gear body 331 is in fit transmission with the wave generator 32, the flexible gear flange 332 is fixedly connected with the reducer mounting seat 36, the rigid gear bearing 35 and the rigid gear 34 are sleeved on the flexible gear body 331, the outer ring of the rigid gear bearing 35 is fixedly connected with the flexible gear flange 332, the annular mounting plate structure of the reducer mounting seat 36 and the machine shell 1, the rigid gear 34 is fixedly connected with the inner ring of the rigid gear bearing 35, the integration level is high, and the transmission is more stable.

Wherein, except that the part of the rear end of harmonic input shaft 31 stretches into the front end of casing 1 and is connected fixedly with motor shaft 23, other parts in speed reduction subassembly 3 all set up in the outside of casing 1, specifically set up in the front end opening part of casing 1, through the front end opening fixed connection with reduction gear mount 36 and casing 1, the outer lane of rigid wheel bearing 35 is connected fixedly with flexspline flange portion 332 and reduction gear mount 36, compare in setting up speed reduction subassembly 3 and casing 1 in with the inner wall of casing 1 and be connected, the circumference outside of speed reduction subassembly 3 of this embodiment does not need casing 1 cladding, can reduce the radial shared space of casing 1, the ascending integrated level in radial has been improved.

Referring to fig. 1, optionally, the end surfaces of two sides of the casing 1 are provided with openings, the flexible gear flange portion 332 is connected to one end of the casing 1, the output flange assembly 4 is coaxially inserted into the power generation assembly 2 and the speed reduction assembly 3, one end (front end) of the output flange assembly 4 is connected to the rigid wheel 34 and is adapted to be in sealing connection with the rigid wheel bearing 35, and the other end (rear end) of the output flange assembly 4 is adapted to be in sealing connection with one end of the casing 1 away from the speed reduction assembly 3.

Here, the two side end faces of the casing 1 are open, i.e., the front end and the rear end are open, so that the internal structure can be conveniently installed, after the power generation assembly 2 is installed on the casing 1, the speed reduction assembly 3 is installed on the front ends of the casing 1 and the power generation assembly 2, finally, the rear end of the output flange assembly 4 sequentially penetrates through the speed reduction assembly 3 and the power generation assembly 2 and then is hermetically connected with the rear end of the casing 1, and the front end of the output flange assembly 4 is hermetically connected with the front end of the rigid wheel bearing 35.

Wherein, the rigid wheel bearing 35 can be a rotary crossed roller bearing, and has better bearing performance.

Referring to fig. 1, optionally, the output flange assembly 4 includes an output flange assembly body and a hollow shaft 43 connected to the output flange body, the hollow shaft 43 is disposed on the axis of the casing 1 and coaxially inserted into the power generation assembly 2 and the speed reduction assembly 3, the output flange assembly body is connected to the rigid wheel 34, the output flange body is adapted to be hermetically connected to the rigid wheel bearing 35, and an end of the hollow shaft 43 away from the output flange body is adapted to be hermetically connected to an end of the casing 1 away from the speed reduction assembly 3.

Here, a sealed space, which is an installation space of the power generation module, is defined between an outer wall of the hollow shaft 43 and an inner wall of the casing 1, and the hollow shaft 43 has a central hole therein. So, when output flange subassembly 4 is connected with external load, can realize walking the line through the centre bore, carry out the cable and arrange, can guarantee on the one hand that the cable is integrated in casing 1, on the other hand guarantees that output flange subassembly 4 when rotating around the axis, can not take place the winding phenomenon of cable.

Referring to fig. 1, optionally, the high-torque integrated drive joint suitable for the deep-sea robot further includes a pressure compensation assembly 5 for balancing pressures inside and outside the casing 1, the pressure compensation assembly 5 includes an annular compensation piston 51, a first guide member 52 and a first elastic member, the output flange assembly body includes a joint output flange 41 and an end cover flange 42, the end cover flange 42 is connected to the hollow shaft 43, the joint output flange 41 is connected to the rigid wheel 34, an annular groove is formed in an end of the joint output flange 41 away from the speed reduction assembly 3, the annular groove is provided with a liquid through hole, the liquid through hole extends to an end of the joint output flange 41 close to the speed reduction assembly 3, the annular compensation piston 51 is disposed in the annular groove and is suitable for moving along an axis of the annular groove, and the first guide member 52 and the first elastic member which is compressed are respectively disposed on the annular compensation piston 51 and the end cover flange 51 Between the flanges 42, the first guiding element is used for limiting the joint output flange 41 and the end cover flange 42 to rotate synchronously, a sealed space is formed between the outer wall of the hollow shaft 43 and the inner wall of the machine shell 1, the sealed space is suitable for being filled with high-pressure liquid, and the high-pressure liquid is suitable for acting on the annular compensating piston 51 through the liquid through hole.

Here, high-pressure liquid may be poured into the sealed space, so that the high-pressure liquid may act on the rear end of the annular compensation piston 51 through the liquid through hole, seawater may act on the front end of the annular compensation piston 51 through the flange hole of the end cover flange 42, the pressure of the seawater plus the elastic force of the first elastic member constitutes an external pressure, the pressure of the high-pressure liquid in the sealed space constitutes an internal pressure, and the internal pressure may tend to be balanced with the external pressure by the axial movement of the annular compensation piston 51 in the annular groove.

Here, the first guide 52 may be a first guide pin, and the first elastic member may be a first spring, which is disposed on the first guide 52.

The output flange assembly body further includes a reducer output flange 44, the reducer output flange is fixedly connected to the rigid wheel, the joint output flange 41 is fixedly connected to the reducer output flange 44, that is, the joint output flange 41 is fixedly connected to the rigid wheel 34 through the reducer output flange 44. Wherein the reducer output flange 44 can press and fix the rigid wheel 34 on the inner ring of the rigid wheel bearing 35.

Referring to fig. 1, optionally, a first dynamic seal structure is provided between an end of the hollow shaft 43 away from the end cover flange 42 and an end of the casing 1 away from the speed reduction assembly 3, a second dynamic sealing structure 6 is arranged between the joint output flange 41 and the rigid wheel bearing 35, the second dynamic seal structure 6 comprises a dynamic ring 62, a static ring 61, a second guide member 64 and a second elastic member, the stationary ring 61 is sleeved on the rigid wheel 34 and connected with the outer ring of the rigid wheel bearing 35, the movable ring 62 is sleeved on the rigid wheel 34 and connected with the joint output flange 41, the second guiding element 64 and the second elastic element are respectively arranged between the movable ring 62 and the joint output flange 41, the second guide 64 is adapted to limit the synchronous rotation of the rotating ring 62 with the joint output flange 41, the second elastic member is adapted to drive the movable ring 62 to move along the second guide member 64 and press against the stationary ring 61.

Here, since the output flange assembly 4 is to be rotated, by providing a first dynamic seal structure (not shown) between the rear end outer wall of the hollow shaft 43 and the rear end inner wall of the casing 1, and providing a second dynamic seal structure 6 between the joint output flange 41 and the outer race of the rigid wheel bearing 35, the sealing performance at the corresponding position is ensured. The first dynamic seal arrangement is similar in construction to the second dynamic seal arrangement 6, except for the location.

The second dynamic seal structure 6 is exemplarily described, the stationary ring 61 is fixedly connected to the outer ring of the rigid wheel bearing 35, the moving ring 62 is fixedly connected to the joint output flange 41 through the moving ring fixing frame 63, wherein the moving ring 62 and the stationary ring 61 are sleeved on the rigid wheel 34, the integration level is improved, the second guide member 64 and the second elastic member are arranged between the moving ring fixing frame 63 and the joint output flange 41, the second guide member 64 limits the moving ring fixing frame 63 to move axially on one hand, and limits the moving ring fixing frame 63 to rotate synchronously with the joint output flange 41 on the other hand, and the elastic force of the second elastic member drives the moving ring fixing frame 63 towards the stationary ring 61, i.e., the moving ring 62 is tightly pressed on the stationary ring 61, so that dynamic seal is realized. The rotating ring 62 and the static ring 61 are made of hard materials, the static ring 61 can be made of silicon carbide, the rotating ring 62 can be made of ceramics, and when the rotating ring 62 rotates relative to the static ring 61, the rotating ring 62 is slightly abraded to form a film to realize dynamic sealing of a contact surface, so that the sealing effect is good.

In addition, even if leakage occurs in the dynamic seal structure, since the internal pressure of the high-pressure liquid in the seal space is higher than the external seawater pressure, the internal high-pressure liquid leaks to the outside, and the external seawater does not invade the inside to corrode internal electrical components.

Referring to fig. 1, optionally, the power generation assembly 2 further includes a motor stator 21 and a motor rotor 22, an outer wall of the motor stator 21 is connected to an inner wall of the housing 1, an inner wall of the motor rotor 22 is connected to the motor shaft 23, an axial length of the motor stator 21 is smaller than an outer diameter of the motor stator 21, an axial length of the motor rotor 22 is smaller than an outer diameter of the motor stator 21, and an axial length of the motor shaft 23 is smaller than an outer diameter of the motor shaft 23.

Here, motor rotor 22 can be compressed tightly by motor clamp plate 24 and fix on motor shaft 23, and motor stator 21 can be through glue fixed connection in casing 1 inner wall department, and can dismantle the connection with motor shaft 23 with harmonic input shaft 31 design moreover, and harmonic input shaft 31 specifically can dismantle with motor clamp plate 24 and be connected, can make things convenient for packing into of motor rotor 22. After the motor stator 21 is powered on, the motor stator 21 generates electromagnetic force to drive the motor rotor 22 to rotate. The motor rotor 22 is fixed with the motor pressing plate 24, the motor shaft 23 and the harmonic input shaft 31 through bolts, so that the motor rotor 22 drives the parts to rotate together, the harmonic input shaft 31 is matched with the wave generator 32, the wave generator 32 is matched with the flexible gear 33, the flexible gear 33 is meshed with the rigid gear 34, and the flexible gear 33 is fixed, so that the harmonic input shaft 31 can drive the rigid gear 34 to rotate at a certain reduction ratio when rotating, and finally, force is output through an output flange assembly connected with the rigid gear 34.

The axial length of the motor stator 21 is smaller than the outer diameter of the motor stator 21, the axial length of the motor rotor 22 is smaller than the outer diameter of the motor stator 21, and the axial length of the motor shaft 23 is smaller than the outer diameter of the motor shaft 23, that is, the power generation assembly 2 is designed to be a large-diameter flat structure, so that the torque sealing is larger than that of a small-diameter long structure under the same mass. In addition, under the condition that the speed reducing assembly 3 is compact, the power generating assembly 2 is designed to be of a large-diameter flat structure, so that the axial direction of the machine shell 1 cannot be overlong, and the space between the power generating assembly 2 and the speed reducing assembly 3 is more compact.

Referring to fig. 1, optionally, the high-torque integrated driving joint suitable for the deep-sea robot further includes a clutch assembly 7, the clutch assembly 7 is disposed on a side of the power generation assembly 2 away from the deceleration assembly 3, the clutch assembly 7 includes a clutch stator 71 and a clutch rotor 72, the clutch stator 71 is connected with the housing 1, and the clutch rotor 72 is connected with the motor shaft 23.

Here, the clutch stator 71 is fixedly connected to the clutch mount 73, and the clutch mount 73 is fixedly connected to the housing 1. After the clutch stator 71 is powered off, the clutch rotor 72 is pressed down by the spring pressure to be locked, so that the motor shaft 23 and the harmonic input shaft 31 connected with the clutch rotor are stopped rotating, power-off brake protection is realized, and the safety is higher.

Referring to fig. 1, optionally, the high-torque integrated drive joint suitable for the deep-sea robot further includes a sensing component 8, where the sensing component 8 is disposed in the housing 1 and is used for detecting a rotation speed ratio of the motor shaft 23 and the output flange component 4.

Here, the sensing component 8 includes: absolute encoder pressure plate 85, absolute value encoder 81, encoder fixing base 84, incremental encoder stator 82 and incremental encoder rotor 83. Absolute value encoder 81 passes through absolute encoder clamp plate 85 and presses on encoder fixing base 84, and encoder fixing base 84 is connected fixedly with casing 1, and incremental encoder stator 82 installs on encoder fixing base 84, and absolute value encoder 81 is inboard with quill shaft 43 interference fit, and motor shaft 23 has motor extension shaft 231 through bolted connection, and motor extension shaft 231 and the accessible is sticky to link to each other fixedly with incremental encoder rotor 83. The absolute value encoder 81 is connected to the hollow shaft 43 to measure the absolute position of the output flange assembly 4, and the incremental encoder rotor 83 is connected to the motor extension shaft 231 to measure the angular velocity and relative position of the motor shaft 23, so as to obtain an accurate reduction ratio of the transmission of the flexible gear 33 and the rigid gear 34, thereby accurately controlling the output flange assembly 4 to stop at a certain angle.

Referring to fig. 1 and 2, optionally, the casing 1 is formed by detachably connecting a plurality of segmented cylinders in sequence, and a mechanical seal is arranged between adjacent segmented cylinders.

Here, the casing 1 may be formed by detachably connecting a plurality of different segment cylinders, for example, the casing 1 includes a third segment cylinder 13, a second segment cylinder 12, and a first segment cylinder 11 from the rear to the front, and the third segment cylinder 13, the second segment cylinder 12, the clutch mount 73, and the first segment cylinder 11 are connected in sequence in a direction from the rear to the front. The power generation assembly 2 and the clutch assembly 7 are installed in the first section cylinder 11, or the first section cylinder 11 is divided into two detachable parts, one part is used for installing the power generation assembly 2, the other part is used for installing the clutch assembly 7, the second section cylinder 12 can be used for installing the sensing assembly 8, and the third section cylinder 13 is used for installing a first dynamic sealing structure to realize dynamic sealing between the first section cylinder and the outer wall of the rear end of the hollow shaft 43. So, be convenient for install inside each structural component, and can design into not unidimensional segmentation barrel according to the inside structural component of required installation, make overall structure compacter, the integrated level is higher.

Referring to fig. 1 and 2, optionally, a watertight connector 111 is disposed on the casing 1, specifically, the watertight connector 111 is disposed on the first segment cylinder 11, and the watertight connector 111 is used for communicating with internal electrical elements, such as the motor stator 21, the clutch stator 71, and the sensing assembly 8. The static seal between the watertight connector 111 and the casing 1 is realized by a sealing ring carried by the watertight connector 111.

A hollow shaft bearing 431 may be disposed on an inner wall of the third segment cylinder 13 or the second segment cylinder 12, and is used for supporting the rear end of the hollow shaft 43 and ensuring stable operation of the first dynamic seal structure between the hollow shaft 43 and the third segment cylinder 13.

The terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or an implicit indication of the number of technical features indicated. Thus, features defined as "first," "second," "third," and "fourth" may explicitly or implicitly include at least one of the features.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.