Spacing mechanical arm modularization joint

A technology of modular joints and space manipulators, used in manipulators, manufacturing tools, joints, etc., can solve the problems of large output torque per unit mass, inability to meet low power consumption, large volume, etc., to achieve large output torque per unit mass, avoid Evaporation and intrusion of external dust, the effect of a high degree of integration
CN101112760AInactive Publication Date: 2008-01-30HARBIN INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
HARBIN INST OF TECH
Publication Date
2008-01-30
Estimated Expiration
Not applicable · inactive patent

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Abstract

A space manipulator modularization arthrosis relates to a space manipulator arthrosis. The invention aims at the problems of the prior space manipulator modularization arthrosis of large volumes, large masses and large powers. A drive device (4) is connected with a planetary reducer (6) by a gear device (5); the planetary reducer (6) is connected with a crown gear device (90) which as well as a wave generator (25) is connected with a hollow transmission shaft device (9); a first external shell (15) is fixedly connected with a flexible wheel (23), a middle connecting flange (16) and a second external shell (17); the flexible wheel (23) is arranged on the hollow transmission shaft device (9) which is sleeved on a small-end sleeve (27); large and small thin-wall bearings are arranged between large and small thin-wall bearing internal ring supporting seat and the second external shell (17); a labyrinth-typed sealing structure and a mechanical position limit structure are arranged between the second external shell (17) and an output flange disc (18). An electric device (3) is fixedly arranged in the output device (2). The invention has the advantages of small volume, light mass, low powder consumption, and meeting the performance requirement of the space manipulator modularization arthrosis of low power consumption, large output moment and high reliability.
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Description

technical field

[0001] The invention relates to a space manipulator joint. Background technique

[0002] In the past 10 or 20 years, my country's space technology has developed rapidly. In the future, my country will build its own space station in space, and space robots will be required to perform tasks such as the construction and maintenance of space stations, the release, maintenance and recovery of satellites. However, at present, space robots It is not yet possible 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. The performance of the modular joint determines the reliability of the whole manipulator, the end output torque, the end position accuracy and other main performances. The joint structure of the space robot developed by t...

Claims

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