Moon-exploration mechanical arm modularization joint based on absolute position measurement

A modular joint and absolute position technology, which is applied in manipulators, program-controlled manipulators, aerospace equipment, etc., can solve the problems of not being able to directly provide global feedback of joint position information, cumbersome signal fusion and fusion algorithms, etc. Effects of electromagnetic interference and high precision

Inactive Publication Date: 2011-04-06
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 problem that the current absolute position sensor of the modular joint of the manipulator cannot directly provide the global feedback of the joint position information by using the potentiometer, and needs to perform signal fusion and fusion algorithm. Lunar Exploration Robotic Arm Modular Joints

Method used

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  • Moon-exploration mechanical arm modularization joint based on absolute position measurement
  • Moon-exploration mechanical arm modularization joint based on absolute position measurement
  • Moon-exploration mechanical arm modularization joint based on absolute position measurement

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specific Embodiment approach 1

[0007] Specific implementation mode one: combine Figure 1-Figure 20 Describe this embodiment, the mechanical arm modular joint of this embodiment includes an input device A, an output device B, a sealing device C, a motor reversing device D, a resolver bracket 1, a sleeve 10, a rotor yoke lock nut 15 and Resolver lock nut 35, the input device A includes a DC brushless motor and a casing 23, the DC brushless motor is installed in the casing 23, the output device B includes the first radial bearing outer seat 2, the joint limit Block 3, inner ring baffle 4, outer ring baffle 5, angular contact bearing outer seat 8, angular contact bearing inner seat 9, gland 17, second radial bearing 18, support seat 19, input shaft 26, back to back Duplex angular contact bearing 28, input interface 31, first radial bearing 32, output flange 36, resolver and harmonic reducer; the sealing device C includes a sealing device flange 27 and an O-ring 29; The small-diameter end of the rotor yoke 24 ...

specific Embodiment approach 2

[0009] Specific implementation mode two: combination figure 2 and image 3 Describe this embodiment, the DC brushless motor of this embodiment comprises rotor 11, stator 12 and rotor yoke 24, the stator 12 of described brushless motor and the rotor 11 of brushless motor are provided with gap, the rotor of described brushless motor The yoke 24 is arranged in the stator 12 of the brushless motor, and the inner diameter of the rotor yoke 24 of the brushless motor is 28 mm. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0010] Specific implementation mode three: combination figure 2 , Figure 4 and Figure 5 Describe this embodiment. The harmonic reducer of this embodiment includes a flex spline 30, a rigid spline 7 and a wave generator 6. The rigid spline 7 is set on the flex spline 30, and the wave generator 6 is mounted on the flex spline 30. Inside, the outer diameter of the flexible spline 30 is 26mm, and the outer diameter of the rigid spline is 40mm. Other components and connections are the same as those in the first embodiment.

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Abstract

The invention discloses a moon-exploration mechanical arm modularization joint based on absolute position measurement, relating to a moon-exploration mechanical arm modularization joint. The invention aims to solve the problems that a potentiometer is used as an absolute position sensor of the current mechanical arm modularization joint, thus global feedback of the joint position information can not be directly provided, signal fusion needs to be carried out, and the fusion algorithm is relatively troublesome. A DC brushless motor is installed in a casing, the small diameter end of a rotator magnet yoke of the DC brushless motor is connected with one end of an input interface; a harmonic reducer is fixedly connected with an internal seat of an angular contact bearing; an outer seat of thebearing, a flexible gear and an output ring flange are fixedly connected; an input shaft is fixedly installed in the outer seat of the bearing; the input shaft is fixedly installed in a supporting seat; the input shaft is fixedly installed in the input interface; a gland is fixedly connected with the supporting seat; a Hall sensor bracket is fixed on a second radial bearing supporting seat; and aback-to back twin angular contact bearing is installed between the inner seat of the angular contact bearing and the outer seat of the angular contact bearing. The invention is used for exploring oreand space environment on the surface of moon.

Description

technical field [0001] The invention relates to a modular joint of a lunar exploration manipulator. Background technique [0002] Lunar probes fly around the moon to detect ores on the surface of the moon and the space environment. To analyze the ore and soil on the surface of the moon more accurately, a probe that can walk on the surface of the moon, such as a lunar exploration vehicle, is needed. The robotic arm carried on the lunar exploration vehicle can detect the surface of the moon by placing various geological analysis instruments at the end. The modular joint of the robotic arm of the lunar exploration vehicle is the main component of the robotic arm of the lunar exploration vehicle. The performance determines the reliability of the entire robotic arm, the terminal output torque, and the accuracy of the terminal position. But at present, the absolute position sensor of the modular joint of the manipulator mostly adopts the potentiometer. Due to its light weight a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08B64G4/00
Inventor 孙奎李操黎田刘宏谢宗武
Owner HARBIN INST OF TECH
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