Lunar exploration mechanical arm modular joint with torque retention feature
A technology of modular joints and robotic arms, applied in manipulators, manufacturing tools, joints, etc., can solve the problems of short service life of robotic arms and high launch cost of lunar rover, and achieve high overall bending rigidity, compact structure, location High-precision output
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[0007] Specific implementation mode 1: Combination Figure 1-14 with Picture 20 as well as Figure 21 To explain this embodiment, the modular joint of the lunar probe manipulator with torque retention characteristics of this embodiment is composed of an input device A, an output device B, a sealing device C, and an electrical device D; the input device A is composed of a driving device and an input device The housing 11 is composed of; the drive device is installed in the input device housing 11, the drive device is composed of a DC brushless motor stator 12, a DC brushless motor rotor 13, and a motor rotor shaft 14. The DC brushless motor stator 12 is installed on the input On the inner wall of the device housing 11, the motor rotor shaft 14 is arranged in the input device housing 11, and the DC brushless motor rotor 13 is sleeved on the motor rotor shaft 14. The sealing device C is composed of a sealing device flange 22 and an O-ring 23 The output device B is composed of a ha...
Example Embodiment
[0008] Specific implementation manner two: combination figure 2 , Figure 4 with Figure 5 To describe this embodiment, the resolver transmission device of this embodiment is composed of a first radial bearing 28, a resolver input shaft 10, a key 21, a resolver stator 15, a resolver rotor 16, a second radial bearing 18, and a second diameter. The inner ring of the first radial bearing 28 is supported on the right end of the resolver input shaft 10, and the outer ring of the first radial bearing 28 is sheathed In the bearing seat of the output flange 29 of the harmonic reducer; the left end of the resolver input shaft 10 is sleeved in the inner ring of the second radial bearing 18, and the second radial bearing 18 is sleeved in the second radial bearing support seat 20 In the bearing housing, the second radial bearing gland 19 is pressed into the supporting seat 20 from the left side and fixed to the supporting seat 20. There is an adjusting washer between the gland 19 and the s...
Example Embodiment
[0009] Specific implementation mode three: combination figure 2 , Figure 15 ~ Figure 19 To illustrate this embodiment, the electrical device D of this embodiment is a potentiometer; the potentiometer is composed of a brush 42, a brush holder 25, a brush holder base flange 26, a conductive ring 41 and a potentiometer plate 30, The brush 42 is fixed on the brush holder 25, the brush holder 25 is installed in the mounting hole 46 of the brush holder base flange 26, and the brush holder base flange 26 is fixed to the angular contact bearing inner seat 6 , The brush holder 25 and the flange 26 abut against the bearing inner seat 6 to realize the fixing of the brush holder assembly, the conductive ring 41 is attached to the potentiometer plate 30, and the potentiometer plate 30 is fixedly connected to the output flange 27 . Use the brush 42 to slide on the conductive ring 41 to measure the rotation angle of the joint; the potentiometer measures the absolute position of the joint, ...
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