SIA OpenIR  > 水下机器人研究室
一种水下关节驱动模块
范云龙; 张奇峰; 张运修; 何震; 张艾群
Department水下机器人研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent21002 沈阳科苑专利商标代理有限公司
Country中国
Subtype发明
Status公开
Abstract本发明属于水下机器人工程领域,具体地说是一种水下关节驱动模块,包括电机壳体、电机壳体后端盖、电机壳体端盖、单圈绝对式编码器、输出轴、谐波减速器、无框电机、电机轴、多圈增量式编码器及走线套管,无框电机定子通过压紧环夹紧固定于电机壳体中,无框电机转子通过定子压紧环夹紧固定于电机轴上;电机轴后端装有多圈增量式编码器、用于检测电机转速,电机轴输出端与谐波减速器波发生器连接;输出轴与谐波减速器柔轮连接,输出关节转矩和转速;输出轴上装有单圈绝对式编码器、用于检测关节位置。本发明具有结构紧凑、故障率低、中空走线,可实现关节速度和位置的高控制精度,密封封装到关节壳体中充油进行压力补偿可实现全海深工作等优点。
PCT Attributes
Application Date2018-12-11
2020-06-19
Application NumberCN201811509192.3
Open (Notice) NumberCN111300476A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/27234
Collection水下机器人研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
范云龙,张奇峰,张运修,等. 一种水下关节驱动模块[P]. 2020-06-19.
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