A two-degree-of-freedom joint for deep-sea multi-joint submersible

Abstract

The invention relates to a two-degree-of-freedom joint for a deep sea multi-joint submersible vehicle, and the two-degree-of-freedom joint comprises a driving unit and a transmission unit, wherein a front cover lug support part of the driving unit is connected with a transmission shaft A of the transmission unit. The driving unit comprises two drivers, a motor frame, a front cover, two motors, a coupling, an end cover A, a driving shaft, a combined seal, an end cover B, a sleeve A, an end cover C, a bevel gear A, a bearing A, a bearing sleeve, a bearing B and a sleeve B; and the transmission unit comprises a gear carrier, a rear cover, a transmission shaft A, a bearing C, an end cover D, a combined gear, a sleeve E, a transmission shaft B, a bearing E, a sleeve D, a bevel gear B, a sleeveC, an end cover I, a bearing D, an end cover E, an end cover G, an end cover F and an end cover H.

Description

technical field [0001] The invention relates to the technical field of multi-degree-of-freedom mechanical joint design, in particular to a two-degree-of-freedom joint structure for deep-sea multi-joint submersibles, which can be used as a connecting joint between cabins of deep-sea multi-joint submersibles, and can also be applied to It is suitable for mechanical and electrical equipment with high degrees of freedom such as robotic arms and bionic robots. Background technique [0002] The ocean is rich in resources and has unlimited potential for development. It has become a national strategy to carry out marine science and technology research. As countries around the world continue to explore the ocean, the research focus of marine science has shifted from the offshore to the deep sea. Deep-sea autonomous submersibles are important equipment for marine research and development. They can be equipped with electronic and mechanical equipment such as temperature and salinity d...

AI Technical Summary

Problems solved by technology

[0006] 1. The overall structure of the joint is complex, the weight and volume are large, and it is not easy to install and maintain;

[0007] 2. The traditional multi-joint structure is not sealed and pressure-resistant for the deep-sea environment, so it is difficult to apply to marine equipment;

[0008] 3. The single-motor joint output torque is small, and the application range is limited;

[0009] 4. At present, most two-degree-of-freedom joints can only realize pitch and rotation motions, and there are few two-degree-of-freedom joints that realize pitch and yaw motions

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