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
Inactive Publication Date: 2010-03-03
HARBIN INST OF TECH
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The invention relates to a lunar exploration mechanical arm modular joint with the torque retention feature. The lunar exploration mechanical arm modular joint can solve the problems of high launchingcost of the modular joint of the mechanical arm of a lunar exploration vehicle and short service life of the mechanical arm of the lunar exploration vehicle. A driving device is connected with a flange disc at an input end of a harmonic reducer through a rotor shaft of a motor, a rigid gear is fixedly connected with an inner seat of an angular contact bearing, the inner seat of the angular contact bearing is fixedly connected with a casing of an input device, a flexible gear is fixedly connected with the flange disc at an output end of the harmonic reducer and an output flange disc, back-to-back angular contact bearings are arranged between the inner seat of the angular contact bearing and an outer seat of the angular contact bearing, a contact type packing sealing structure and a mechanical limiting structure are arranged between the flange disc of a sealing device and the outer seat of the angular contact bearing, and an electrical device is fixed between the inner seat of the angular contact bearing and the output flange disc. The lunar exploration mechanical arm modular joint has the advantages of power-off protection function, compact structure, light weight, low power consumption, good sealing performance, low launching cost and long service life.
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