Lunar exploration mechanical arm modular joint with torque retention feature

[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 harmonic reducer input flange 9, a resolver transmission device E, a harmonic reducer, a harmonic reducer output flange 29, a back-to-back angular contact bearing pair 24, and an angular contact Bearing inner seat 6, angular contact bearing inner ring baffle 1, angular contact bearing outer ring baffle 2, angular contact bearing outer seat 4, angular contact bearing outer seat limit block 3 and output flange 27; harmonic deceleration The input flange 9 of the motor is fixedly connected to the motor rotor shaft 14, and the movement of the brushless DC motor rotor 13 is transmitted from the input device A to the output device B; the input device housing 11, the angular contact bearing inner seat 6 and the sealing device method The three flanges 22 are fixed at the outer ring flange 33 of the angular contact bearing inner seat 6, and the contact packing seal is realized by pressing the O-ring 23 between the sealing device flange 22 and the angular contact bearing outer seat 4 The angular contact bearing outer seat limit block 3 is arranged on the right end surface 35 of the angular contact bearing outer seat 4 and is fixed on the angular contact bearing outer seat 4, and is restricted to the right end of the sealing device flange 22 The bit block 38 forms a mechanical limit structure; the harmonic reducer is composed of a flexible wheel 5, a rigid wheel 7 and a wave generator 8. The wave generator 8 is set on the outer wall of the input flange 9 of the harmonic reducer. The wheel 5, the output flange 29 of the harmonic reducer and the output flange 27 are fixedly connected; the rigid wheel 7 is sleeved on the flexible wheel 5 and fixedly connected to the inner ring flange 32 of the angular contact bearing inner seat 6 , The back-to-back angular contact bearing pair 24 is sleeved between the angular contact bearing inner seat 6 and the angular contact bearing outer seat 4, and the inner and outer rings of the left end bearing respectively lean on the corresponding positions of the angular contact bearing inner seat 6 and the angular contact bearing outer seat 4 Angular contact bearing inner ring baffle 1 and angular contact bearing outer ring baffle 2 are axially fastened to the inner and outer rings of the right end bearing respectively. The angular contact bearing inner ring baffle 1 and the angular contact bearing inner seat 6 are threaded. The angular contact bearing outer ring baffle 2 is threadedly connected to the angular contact bearing outer seat 4; the resolver transmission device E passes through the resolver input shaft 10 of the resolver transmission device and the harmonic reducer input flange 9 The inner ring and the resolver rotor 16 are connected for transmission, and the movement is transmitted from the input flange 9 of the harmonic reducer to the resolver transmission device E; the electrical device is arranged between the angular contact bearing inner seat 6 and the output flange 27 .

[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 second radial bearing 18 to realize the bearing The preload; the resolver stator 15 is fixed to the second radial bearing support 20, and the resolver rotor 16 is sleeved on the resolver input shaft 10. The resolver stator 15 and resolver rotor 16 of the resolver are used to accurately measure the relative position of the joint; this fusion design method of joint position sensor can be used to accurately detect the rotation angle of the joint. With this setting, the transmission is more reliable. The other composition and connection relationship are the same as in the first 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, and then the resolver accurately measures the relative position of the joint. The fusion design method of this joint position sensor can be used to accurately detect The rotation angle of the joint. The other composition and connection relationship are the same as in the second embodiment.