54results about How to "Easy to Modular Design" patented technology

The invention relates to a direct-current circuit breaker based on a thyristor and an on-off method of the direct-current circuit breaker, and belongs to the technical field of direct-current middle-high voltage power system fault protection. The direct-current circuit breaker comprises a main switch branch, a current transfer branch, a voltage-limiting energy consumption branch and a pulse commutation loop, the direct-current circuit breaker is connected with a power system in series, and the main switch branch is connected with the current transfer branch. Two nodes connected in series are respectively marked as Q1 and Q2, the main switch branch and the voltage-limiting energy consumption branch are connected in parallel through the Q1 and Q2, one ends of secondary sides of two high-frequency transformers in the pulse commutation loop are respectively connected to the Q1 and Q2, and the other ends of the secondary sides of the two high-frequency transformers in the pulse commutation loop are respectively connected to two ends of the current transfer branch. The problem that in the prior art, a large number of pulse charging and discharging loops are configured for meeting the fault large-current breaking requirement, and consequently the size and cost are increased is effectively solved.

The utility model provides a needle type on-line filtering device which comprises a filter element placing block, a first notch and a second notch which are horizontally and transversely arranged at the upper end of the filter element placing block; the sample loading frame is arranged on the horizontal side surface of the filter element placing block and can be used for placing at least one row of test tubes which are horizontally and transversely arranged with openings facing upwards; the vertical mechanical arm is provided with a lifting seat which is located on the upper portion and can ascend and descend and a guide seat which is located on the lower portion and fixed, the lifting seat is used for fixing the upper end of a sample loading needle, and the guide seat can allow the lower end of the sample loading needle to penetrate through; the filter element is stacked in the first notch of the filter element placing block and can be connected with the sample loading needle in a tight fit manner; and the horizontal longitudinal mechanical arm can drive the filter element placing block and the sample loading frame to horizontally and longitudinally move. Therefore, the functions that the sampling needle pricks the filter element at the first notch of the filter element placing block, filters and samples in the test tube of the sampling frame, and rows the filter element at the second notch of the filter element placing block can be realized.

The invention provides a null-loop-free zoom lens and method based on flexible cable transmission, and relates to the technical field of optical precision instruments.The zoom lens comprises a zoom set flexible cable driving mechanism and an optical lens set, the zoom lens set and a compensation lens set jointly achieve the purpose of zooming, the focusing lens set plays a role in focusing compensation under temperature and air pressure changes, and the compensation lens set plays a role in focusing compensation under temperature and air pressure changes. The first flexible cable is adopted for transmission, the return stroke difference of the first driving device in the forward and reverse rotation process can be eliminated, the zooming precision is improved, the first elastic element and the second elastic element also provide a certain pre-tightening force, the return stroke difference generated by a fit clearance is eliminated, the stability and reliability of the lens under the extreme working condition are also ensured, and the service life of the lens is prolonged. The lens is compact in structure and small in occupied space, structural reconstruction and modular design are facilitated, and the problems that an existing zoom lens is poor in return stroke, the focusing precision is affected, and zoom clamping stagnation is caused are solved.

The invention provides a connecting mechanism and a server, and the connecting mechanism comprises a support which is configured to be connected to an external installation foundation; the assembling and disassembling part is connected with a first connector of a hardware module and detachably arranged on the support, and when the assembling and disassembling part is assembled on the support, the first connector is connected to the installation foundation through the support; wherein the installation foundation is located outside the main body of the hardware module.

The invention discloses a photoconductive enhanced osmunda culture'light tree 'bioreactor for CO2 capture and resource utilization. The bioreactor comprises a transparent tank body made of a transparent material, and refractive fibers and hollow fibers are embedded in the transparent tank body. The refractive fiber is made of a high-light-conductivity material, can introduce and uniformly distribute an external light source into the whole bioreactor, and provides necessary illumination conditions for microalgae. The reactor can effectively capture carbon dioxide and utilize microalgae for resourceful culture. The reactor system provides a suitable microalgae growth environment with sufficient light and sufficient carbon sources for microalgae through gas-liquid separation, and promotes rapid growth of microalgae. The reactor can be applied to the fields of industrial waste gas treatment, greenhouse gas emission reduction, biological energy production, aquaculture wastewater and the like. A CO2 trapping technology is organically combined with a CO2 biosynthesis and resource utilization technology, so that efficient trapping and resource utilization of CO2 are realized.

The invention discloses a small nuclear power tensile shock insulation system capable of changing based on functional requirements. The small nuclear power tensile shock insulation system comprises a small nuclear island, an instrument control module room, an assembled raft plate, a track sliding support, a buttress and a base, the rail sliding support comprises an upper sliding rail, a hinged sliding block set and a lower sliding rail, and the upper sliding rail and the lower sliding rail are arranged in parallel and orthogonally. The hinged sliding block set comprises an upper sliding block, a supporting block, a lower sliding block and a high-strength bolt, the upper sliding block is hinged to the supporting block through the high-strength bolt, and the lower sliding block is hinged to the supporting block through the high-strength bolt. The upper sliding rail and the lower sliding rail both comprise sliding rails with four characteristics, namely a fixed curvature radius type and a fixed friction coefficient type; the curvature radius is fixed, and the friction coefficient is variable; the curvature radius is variable, and the friction coefficient is fixed; a variable curvature radius and variable friction coefficient type is adopted; according to the characteristics of the factory site, the sliding rails with the corresponding characteristics are selected to form the rail sliding supports, and the multiple rail sliding supports form the shock insulation layer. Standardized design and rapid assembly type installation can be adopted, and the device belongs to the small nuclear power seismic isolation technology.

The invention belongs to the field of offshore new energy and space structure engineering, and particularly discloses a rigidity-adjustable tension integral floating type photovoltaic system based on air bag type pressure regulation and a control method, the photovoltaic system comprises a tension bearing structure, and the tension bearing structure comprises a plurality of hinge rod assemblies and cable components connected with the hinge rod assemblies; the floating body is arranged at the bottom of the tension bearing structure; the photovoltaic module suspension unit is matched with the tension bearing structure and is used for bearing a photovoltaic module; the air bag type constant-tension assembly is connected with the cable component and comprises an air bag, and the tension level of the cable component can be changed by adjusting the internal pressure of the air bag, so that the equivalent stiffness of the hinge rod assembly is adjusted. According to the invention, the equivalent stiffness of the whole structure can be adjusted, so that the adaptability of the floating photovoltaic structure to the marine environment load and the structural safety are improved.

The invention provides a hybrid drive robot joint and a working method, relates to the field of robots, and aims to solve the problems of joint return errors, system vibration and dynamic precision reduction caused by transmission backlash of a precision speed reducer in existing robot joint drive. The first motor and the main driving unit of the RV speed reducer are combined with the compensation unit of the torque motor, so that the output shaft is simultaneously subjected to the synergistic effect of hybrid driving, and the torque motor outputs real-time controllable reverse compensation torque, so that gears in the RV speed reducer are always kept in tight engagement, the transmission backlash is effectively eliminated, and the service life of the RV speed reducer is prolonged. Compared with a traditional mechanical pre-tightening method, the defect that the compensation effect is attenuated due to long-term operation is overcome, stability and effectiveness can be kept in the whole process through a compensation mechanism of a torque motor, the transmission precision and position consistency are improved, the rigidity and dynamic response performance of robot joints are improved, vibration and track disturbance in the movement process are reduced, and the reliability is improved. And the robot is more stable and reliable in performance when executing work such as precise assembly and high-precision positioning.

The utility model provides a power system and a circuit breaker, and relates to the technical field of low-voltage apparatuses, the power system comprises a driving mechanism and a speed reducing mechanism, the speed reducing mechanism comprises at least two layers of planet wheel sets which are in mutual transmission, one layer of planet wheel set is connected with the driving mechanism, and the other layer of planet wheel set is used for power output; each layer of planet wheel set comprises a planet carrier and a plurality of planet wheels arranged on the planet carrier. The transmission ratio can be effectively increased through the arrangement of the at least two layers of planet wheel sets, the overall structure is more compact, the transmission ratio adjusting range can be wider in a limited space, overall modular design is achieved, integrated installation is facilitated, and the size of a power system is effectively reduced.

This application discloses a machine tool structure with a combined machining head. The application includes: a first base and a second base, the first base having a working area for placing the workpiece to be processed; a column, on which a first X-axis linear module is mounted; a first group of electrical discharge machining (EDM) heads, comprising at least four heads mounted on the first base and respectively connected to the first X-axis linear module, each of the four heads having an independent Y-axis linear module and a Z-axis linear module; and a second group of EDM heads, comprising at least one head mounted on the first base, the second base having a second X-axis linear module, the at least one head connected to the second X-axis linear module, the at least one head having an independent Y-axis linear module and a Z-axis linear module, and all four heads connected to an EDM power supply.

The application provides a needle type online filtering device and method, which comprises a filter core placing block, an upper end of which is provided with a first slot and a second slot arranged in a horizontal direction; a sample rack arranged on a horizontal side of the filter core placing block, which can place at least one row of test tubes arranged in a horizontal direction with openings upward; a vertical mechanical arm provided with a lifting seat arranged above and capable of lifting and a guide seat arranged below and fixed in position, the lifting seat being used for fixing an upper end of a sample needle, and the guide seat being capable of allowing a lower end of the sample needle to pass through; a filter core stacked in the first slot of the filter core placing block and capable of being tightly connected with the sample needle; and a horizontal longitudinal mechanical arm capable of driving the filter core placing block and the sample rack to move in a horizontal longitudinal direction. Thus, the sample needle can be used to pierce the filter core in the first slot of the filter core placing block, the sample can be filtered in the test tubes of the sample rack, and the filter cores can be arranged in the second slot of the filter core placing block.

The application discloses a control device of a locomotive auxiliary power supply system and relates to the control field of the locomotive auxiliary power supply system. The control device comprises a plurality of auxiliary inverters and a DC 110V charger. A CAN communication board and a CPU control board are arranged in each auxiliary inverter, and the CAN communication board in the auxiliary inverter is connected with the corresponding CPU control board. A CAN communication board, an analog quantity acquisition board and a CPU control board are arranged in the DC 110V charger, the CAN communication board and the analog quantity acquisition board in the charger are both connected with the corresponding CPU control board, the CPU control board in the DC 110V charger is connected with an Ethernet maintenance port and a CAN communication port, data is transmitted to a traction auxiliary converter cabinet gateway board through the CAN communication port, and the data is transmitted to an upper computer through the Ethernet maintenance port. The application simplifies the function of the auxiliary inverter, makes the auxiliary inverter small and simple, improves the output voltage quality, and improves the working performance and service life of the auxiliary load.

The invention belongs to the technical field of embedded systems and real-time control, and relates to a high-precision modular event timing system based on a microTCA.4 standard and a Zynq SoC architecture, which is suitable for scenes with high requirements on time synchronization precision and system stability, such as industrial control, and adopts a Zynq SoC timing main logic AMC board card conforming to the microTCA.4 standard and a ZYNQ-7045 SOC industrial chip; a Zynq SoC-based heterogeneous firmware module is provided, a PL end supports nanosecond event timing precision, and a PS end is in high-speed communication with the PL end through an AXI bus; a point-to-point signal real-time transmission and sharing mechanism based on mLVDS is provided; a standard backboard signal output board card and a plurality of types of high-speed photoelectric conversion terminal matching board cards are provided; according to the invention, the advantages of the FPGA are fully exerted, the core function is realized, a high-precision, flexible and extensible system is constructed, and the performance of an event timing system is improved.

The application discloses a turnover chain machine, which belongs to the field of logistics and storage. The machine can significantly reduce the installation space of the driving assembly and the maintenance cost, and improve the stability of the equipment and the smoothness of logistics. The turnover chain machine comprises a fixed rack assembly, a turnover rack assembly driven by a turnover driving assembly is arranged on one side of the fixed rack assembly, the turnover rack assembly can be reciprocally turned around the shaft at the joint of the fixed rack assembly, two groups of conveying chain assemblies composed of end-to-end joints are arranged on the fixed rack assembly and the turnover rack assembly and driven by a conveying driving assembly, the fixed rack assembly is vertically supported by a fixed supporting leg assembly, and the turnover rack assembly is vertically supported by a turnover guiding supporting leg assembly during the conveying of goods, and the turnover driving assembly is arranged on the inner side of the end of the joint of the turnover rack assembly and the fixed rack assembly.

The invention discloses a biped robot leg structure which comprises a center base, a hip joint flexion and extension motor, a hip joint abduction motor, a hip joint internal and external rotation motor, a knee joint motor and a shank component, the shank component comprises a shank support and a foot, and the shank support is provided with a first ankle joint motor and a second ankle joint motor; a universal joint is arranged between the foot and the shank support, a first crank rocker mechanism is arranged between the first ankle joint motor and the foot, and a second crank rocker mechanism is arranged between the second ankle joint motor and the foot. A driving rod is transversely arranged at the rear part of the foot; the first crank rocker mechanism comprises a first rotating disc, a first eccentric column is arranged on the first rotating disc, a relay rotating disc is rotationally connected to the shank support, a second eccentric column and a third eccentric column are arranged on the relay rotating disc, a connecting rod is arranged between the second eccentric column and the first eccentric column, and a first universal connecting rod is arranged between the third eccentric column and the driving rod. The invention has the advantages of flexibility, small volume and low energy loss.

The present invention relates to an operating mechanism for a switchgear, comprising: a rotatable output shaft (11) configured to perform a circuit breaking or closing operation of the switchgear by rotation; a rotatable energy storage rod (13) and a spring (4), wherein the energy storage rod (13) is configured to rotate by a motor (1) to drive the spring (4) to be compressed to store energy; and a rotatable drive rod (12) connected to the output shaft (11), rotatably connected to the energy storage rod (13) and freely rotatably connected to the spring (4) to allow ≤60° rotatability between the drive rod (12) and the spring (4) for performing a circuit breaking or closing operation of the switchgear, wherein the spring (4) is configured to release energy during at least one period of the circuit breaking and closing operation of the switchgear to rotate the drive rod (12) after passing through the dead position of the spring (4).

The invention provides a cable-free torpedo transmitting tube. The cable-free torpedo transmitting tube comprises a transmitting tube main body and a wireless energy and information simultaneous transmission system, the wireless energy and information simultaneous transmission system comprises a primary side assembly and a secondary side assembly. The primary side assembly is installed at the bottom of the transmitting tube body and comprises a primary side shell and a primary side module. A deformable medium storage bag is arranged at the upper end of the primary side shell, and an insulating medium charging and discharging assembly is arranged at the lower end; the insulating medium charging and discharging assembly is used for charging an insulating medium into the deformable medium storage bag to enable the deformable medium storage bag to deform so as to discharge seawater, and discharging the insulating medium in the deformable medium storage bag to enable the deformable medium storage bag to recover deformation after wireless energy signal transmission is finished; the secondary side assembly is installed at the bottom of a torpedo to be launched and comprises a secondary side shell and a secondary side module. After a torpedo to be launched is mounted in the launching tube main body, the secondary side shell and the primary side shell are correspondingly arranged up and down; the primary side module transmits energy and data signals to the secondary side module at the same time, and the secondary side module receives the energy and data signals and then acts on the torpedo to be emitted.

The present invention relates to a signal processing system and method for an electrical chromatography mud concentration meter, belonging to the technical field of dredging engineering, and characterized in that it is composed of a sensor electrode, an excitation signal generating unit, a signal acquisition processing unit, an image reconstruction unit and a control unit; wherein: the sensor electrode acquires the information of the electrical chromatography mud concentration; the excitation signal generating unit receives the information output by the sensor electrode, and performs analog-to-digital conversion on the information; the signal acquisition processing unit receives the digital signal of the excitation signal generating unit, and performs gating, amplification, filtering, and signal conversion processing on the digital signal; the image reconstruction unit receives the information of the control unit, and reconstructs the information. The present invention can overcome the problems of large signal processing volume, fast processing speed, and complex algorithm structure.

The utility model relates to a powder cleaning gun suitable for metal 3D printing large equipment, which comprises a powder cleaning filter head, a powder cleaning combined pipe, a powder cleaning connecting pipe and an adjusting ring, the powder cleaning combined pipe is composed of one or more powder cleaning segmented pipes which are sequentially connected in series, the powder cleaning filter head is connected to the head end of the powder cleaning combined pipe, and the adjusting ring is connected with the powder cleaning combined pipe. The powder cleaning filter head is provided with a plurality of powder cleaning holes communicated with an inner cavity of the powder cleaning combined pipe, the powder cleaning connecting pipe is connected to the tail end of the powder cleaning combined pipe, the powder cleaning connecting pipe is provided with a balance air hole communicated with an inner cavity of the powder cleaning connecting pipe, and the adjusting ring is installed on the powder cleaning connecting pipe and can cover the balance air hole. The adjusting ring can move on the powder cleaning connecting pipe and adjust the opening degree of the balance air hole. The length can be flexibly adjusted according to needs, the powder cleaning requirement of large metal printing equipment is met, and the pressure in the gun is adjustable during powder cleaning.

A transformer is disclosed, comprising a magnetic core (7), a low-voltage side frame (3), a low-voltage side coil winding (4), a high-voltage side frame (1), a high-voltage side coil winding (2), and an outer sleeve (5) arranged from inside to outside, the high-voltage side winding (2) is wound on the outer wall of the sleeve of the high-voltage side frame (1), the low-voltage side winding (4) is wound on the outer wall of the sleeve of the low-voltage side frame (3), a bottom cover is arranged at both ends of the low-voltage side frame, the high-voltage side frame, and the outer sleeve, and the gaps between the low-voltage side frame and the high-voltage side frame, the gaps between the high-voltage side frame and the outer sleeve, and the gaps between the bottom cover and the low-voltage side frame, the high-voltage side frame, and the outer sleeve are all filled with high thermal conductivity insulating glue. Part of the heat generated by the coil winding is conducted to the chassis through the low-voltage side frame and the high-voltage side frame for heat dissipation, and the other part is transferred to the outer sleeve through the high thermal conductivity insulating glue for heat dissipation.

The present invention discloses a valve and a shower device, the valve comprising: a valve seat, a valve core and a plurality of first joints; the valve core has a water channel therein, and is inserted into the valve seat along a first direction and cooperates with the valve seat in a plane upper limit perpendicular to the first direction; the first joint is inserted into the valve seat along a direction perpendicular to the first direction and is engaged with the valve seat, and is respectively inserted into and sealed with the corresponding water channel to introduce water into or out of the valve core. The valve of this embodiment has a modular assembly structure and a sealing structure, which is compact in structure, quick to assemble, and reliable in sealing, which is conducive to the modular design and development of valve products for shower devices, and effectively reduces the material cost of the product.

The present invention relates to an antenna for an underwater robot, specifically a three-function antenna for a deep-sea underwater robot, which is composed of a transfer fixing component, a mast component and an antenna component. The three parts can be disassembled for easy transportation; the transfer fixing component provides a fixing interface for the entire antenna, and is fixed on the underwater robot by a through-wall design; at the same time, epoxy resin is poured inside to greatly improve its compressive performance, and also plays a fixing role for communication cables; the mast component plays a role in connecting the transfer fixing component and the antenna component, and increasing the height of the antenna component from the water surface; the antennas with three functions are coaxial and connected end to end, with the GPS antenna at the top, the iridium antenna in the middle, and the radio antenna at the bottom. The present invention has a simple and compact structure, low cost, and small antenna signal attenuation. It is particularly suitable for installation on underwater robots such as deep-sea gliders and deep-sea AUVs, and provides short-range radio communication, long-range satellite communication, and surface positioning functions for underwater robots.

The utility model provides a lifting mould table, which belongs to the technical field of building component production equipment, and comprises a plurality of lifting units, the plurality of lifting units are mutually spliced to form a mould table, each lifting unit comprises a base, a lifting mechanism and a table top, and the base is used for being supported on a working surface; the lifting mechanism is arranged on the base; the table top is arranged on the lifting mechanism so as to be driven by the lifting mechanism to ascend and descend. When in use, the lifting units are mutually spliced to form the mold table with the required size, the table top is adjusted to the required height by utilizing the lifting mechanism, and then other required side molds are mounted, so that the use of other mold components can be reduced, the production process is simplified, and the production of some products with special shapes is facilitated; and meanwhile, modular design is facilitated, different numbers of lifting units can be selected according to needs to form the needed mold table, and use is flexible and convenient.

The utility model relates to the technical field of atomization, and provides an atomization module, an atomizer and an electronic atomization device.The atomization module comprises an atomization core assembly and a base; the atomizing core assembly comprises an atomizing core and a guide pipe part arranged outside the atomizing core in a sleeving mode. The base is connected to the bottom end of the guide pipe piece, and a connecting air channel communicated with the guide pipe piece is formed in the base; the atomizer comprises an atomizing shell and an atomizing module arranged in the atomizing shell; an air inlet is formed in the bottom end of the atomizing shell; and the air inlet is in air inlet conduction with the connecting air passage of the base. The base is arranged at the bottom of the atomization core assembly and can increase the height of the guide pipe piece in the atomization shell, so that the distance between the atomization core and the suction nozzle of the atomizer is shortened, namely, the stroke from atomization airflow generated by atomization of the atomization core in the guide pipe piece to the suction nozzle is shortened, the phenomenon that atomization gas is cooled in the guide pipe piece is reduced, and the gas output is increased; the smoking taste is enhanced, and the problem that the smoking taste is weak is effectively solved.

The invention relates to the technical field of fluid control, in particular to an electric control prefill valve and a control method thereof.The electric control prefill valve comprises a valve body, a priority valve, an electromagnetic valve, a pressure sensor and a selector valve, the valve body is provided with a main oil way, a prefill opening and an unloading opening, the priority valve, the electromagnetic valve and the selector valve are sequentially arranged along the main oil way and communicate with one another, and the prefill opening communicates with the priority valve; an oil return port of the electromagnetic valve is communicated with the unloading port; the pressure sensor comprises a lower limit sensor and an upper limit sensor; the sensing end of the lower limit sensor is communicated with the main oil way; the upper limit sensor is vertically arranged above the valve body, and the sensing end of the upper limit sensor is communicated with the main oil way. The hydraulic system has the advantages that the hydraulic system pipeline is simplified, the leakage risk is reduced, the hydraulic pressure at the working oil port can be adjusted according to the actual situation, and the energy utilization efficiency, the response speed and the reliability of the braking system are remarkably improved.

This invention discloses a high torque density magnetic harmonic reducer axial permanent magnet servo motor. The axial field-modulated motor includes a stator, a left rotor, a right rotor, permanent magnets, and armature windings. The radial magnetic harmonic reducer includes a stator, an outer rotor, an inner rotor, permanent magnets, and ball bearings. This invention integrates the stator of the magnetic harmonic reducer with the stator of the field-modulated motor, directly connecting them and eliminating the mechanical reducer structure of traditional servo systems, effectively reducing the overall weight of the servo system. The field-modulated motor uses an axial structure to improve the torque density of the servo system. The magnetic harmonic reducer uses a radial structure embedded in the hollow space inside the field-modulated motor to achieve a lightweight, highly integrated servo system design. Both the field-modulated motor and the magnetic harmonic reducer use surface-mounted permanent magnet structures to reduce torque ripple.

The utility model discloses an automatic test system of a radio frequency chip, which comprises a test machine, a radio frequency chip, an upper computer, an STM32 external device and an SPI switch, a power supply module of the test machine supplies power to the radio frequency chip, the STM32 external device and the SPI switch, the test machine is provided with four signal lines which are connected with the STM32 external device, and the STM32 external device is connected with the upper computer. The SPI interfaces of the test machine and the STM32 external equipment are respectively connected to the SPI switch, the common end of the SPI switch is connected to the SPI interface of the radio frequency chip, the upper computer participates in the dynamic debugging of the radio frequency chip port, the power supply module of the test machine is connected with the radio frequency chip and the STM32 external equipment, the STM32 calibration is used, the program is more convenient for the modular design, and the debugging is also convenient.

The invention discloses a modular light rifle weapon station which comprises a modular base. The weapon station main structure is connected between the modular base and the modular cradle and used for driving the direction movement and the pitching movement of the carried rifle and providing a rotary cable interface for the control module; the modular cradle is used for clamping and fixing the firearms, providing connection for the observing and aiming module and bearing recoil impact load in the shooting process; the external shooting control execution module is connected with a grip of the carried rifle and drives a trigger of the carried rifle and a fast and slow machine mechanism to move; the observing and aiming module is used for acquiring image information of a target; and the control module is used for identifying and positioning a target, controlling the weapon station main structure to perform directional movement and pitching movement, outputting a control instruction to the external shooting control execution module, driving the trigger to realize shooting action, and driving the fast and slow machine shifting block to rotate to complete firearm gear switching. The method has excellent shooting precision and striking performance.

The application belongs to the technical field of special robots, and particularly relates to a high-integration anti-radiation main-backup redundant collaborative robot joint module, which solves the problem that a collaborative robot joint module cannot normally serve due to various radiation effects caused by ray ionization in a nuclear radiation environment; the joint module is composed of a module integrated by a mechanical structure and a redundant comprehensive electronic circuit system; the redundant comprehensive electronic circuit system comprises a low-voltage power supply system, a servo driving system, a communication system, a sensing and perceiving system, an MCU control system and a constant temperature system, and all of them are integrated with main-backup function modules; the main-backup function modules work independently; the MCU control system detects fault signals of the main-backup modules of each system, and controls automatic switching of the main-backup function modules in each system; the redundant comprehensive electronic circuit system of the application is highly integrated and mechanically and electrically assembled with the mechanical structure inside a joint module shell; the shell is made of radiation-resistant lightweight material, and each system inside the joint has high-integration redundancy, radiation resistance and independence.