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Spacing mechanical arm parallel modularized joint

A space manipulator and modular joint technology, applied in manipulators, manufacturing tools, joints, etc., can solve the problems of small output torque per unit mass, large joint volume, high power consumption, etc., and achieve high overall rigidity, reliable transmission, power low consumption effect

Inactive Publication Date: 2009-09-30
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems of the existing joints with large volume, large mass, large power consumption, and small output torque per unit mass, and now provides a parallel modular joint of a space manipulator

Method used

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  • Spacing mechanical arm parallel modularized joint
  • Spacing mechanical arm parallel modularized joint
  • Spacing mechanical arm parallel modularized joint

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0006] Specific implementation mode one: (see Figure 1 to Figure 13) This embodiment is composed of a drive device, a joint mechanism and an electrical part. The drive device is composed of a DC brushless motor 1-1, a friction reverse brake, a planetary reducer 1-3, a motor sleeve 1-4 and a motor The sleeve cover 1-5 is composed of, and the joint mechanism is composed of an internal meshing gear device, a hollow drive shaft device, a harmonic reducer, a thin-walled bearing 2-4, a thin-walled bearing 2-5, and an inner thin-walled bearing Ring support seat 2-4-1, thin-wall bearing first outer ring support seat 2-4-2, thin-wall bearing second inner ring support seat 2-5-1, joint rear end cover 2-6, first shell 2- 7. The second shell 2-8, the output flange 2-9, the sleeve 2-10, the isolation support ring 2-11, the adjusting gasket 2-12 and the felt 2-13, the electrical part is composed of connected to circuit board 3-1, hall switch and position sensor 3-3, and the internal meshi...

specific Embodiment approach 2

[0007] Specific embodiment 2: The coefficient of friction between the inner walls of friction plate 1-2-5, friction plate 2 1-2-6 and shell 3 1-2-12 described in this embodiment is greater than Where r is the radius of the pitch circle of the output gear shaft 1-2-7, R is the inner diameter of the housing 3 1-2-12, and b is the width of the opening groove on the friction plate. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0008] Embodiment 3: In this embodiment, the radius of the inner hole of the thin-walled bearing-inner ring support seat 2-4-1 is 0.8 mm larger than the maximum radius of the toothed end of the flexspline 2-3-1. Others are the same as in the second embodiment.

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Abstract

The utility model relates to a parallel modular joint of a space manipulator, which relates to a joint of a space manipulator. The purpose of the present invention is to solve the problems of large mass, large volume, large power consumption and small output torque per unit mass of the current space manipulator. Gear one (2-1-1) of the present invention is glued together with the output shaft of DC brushless motor, and gear two (2-1-2), wave generator (2-3-3) and hollow transmission shaft (2-2-1) connection, rigid wheel (2-3-2) and thin-wall bearing second inner ring support seat (2-5-1) connection, thin-wall bearing second inner ring support seat (2-5-1 ) and output flange (2-9) connection. The invention has high degree of integration, high reliability, light weight, small size, low power consumption, compact structure, large output torque per unit mass, high position output precision, high bending rigidity, and can adapt to strong radiation in space, high vacuum, Environment with large temperature difference. It has the advantages of good maintainability and reliable operation.

Description

technical field [0001] The invention relates to a joint of a space manipulator. Background technique [0002] In the past ten or twenty years, my country's space technology has developed rapidly. In the future, our country will build its own space station in space, requiring space robots to carry out some tasks such as the construction and maintenance of space stations, the release, maintenance and recovery of satellites, etc. However, space robots are not yet able to complete these tasks. In the near future, our country will explore the moon, Mars and even other celestial bodies, and some operations in space are required, and these operations are inseparable from the space robotic arm. The modular joint is an important part of the space manipulator, and the performance of the modular joint determines the main performance of the whole manipulator. The space manipulator modular joint previously developed by DLR / HIT Joint Lab integrates drive and control into one joint, whic...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J13/00B25J19/00
Inventor 刘宏孙奎谢宗武李德伦黄剑斌
Owner HARBIN INST OF TECH
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