An integrated driving joint of a robotic arm adapted to the lunar environment
A technology of mechanical arms and joints, which is applied in the field of integrated drive joints of mechanical arms, can solve problems such as no data collected, no explanations or reports found, etc., to improve installation space and carrying capacity requirements, reduce joint quality, and prolong service life Effect
Inactive Publication Date: 2015-01-14
SHANGHAI AEROSPACE SYST ENG INST
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[0003]
At present, there is no description or report of the similar technology of the present invention, and no similar data at home and abroad have been collected yet.
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[0016] specific implementation
[0017] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.
[0018] The invention is developed according to the requirements of the working environment and carrying capacity of the lunar surface, which can realize the functions of moving, adjusting and maintaining the position of the payload in the working space, and can adapt to the environment such as lunar surface neutrality, temperature, radiation, and moon dust. figure 1 It is the outline drawing of the integrated joint of the present invention. figure 1 The left part shown in the figure is the drive part of the joint, the middle part is the sealing assembly and the transmission part of the joint, and the right part is the sensing part, and the parts are fixedly connected by auxiliary parts.
[0019] figure 2 It is a cross-sectional view of the integrated drive joint structure of a manipulator adapted to the lunar ...
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The present invention proposes an integrated driving joint of a manipulator adapted to the lunar surface environment, which is composed of a driving part, a transmission part, a sensing part, a sealing part and an auxiliary part, wherein the motor Hall and the printed circuit board assembly in the driving part Fixed on the stator end cover, the stator and the rotor are split structures, the wave generator of the harmonic reducer in the transmission part is connected with the motor rotor through the harmonic input shaft with fasteners, and the rigid wheel of the harmonic reducer passes through the bearing The seat is fixed with the stator casing of the motor with fasteners. The resolver rotor is fixed on the inner seat of the bearing with fasteners through the compression ring, and the stator of the resolver is connected with the outer seat of the bearing through the output interface and the resolver transition piece with fasteners; the sealing ring is installed in the sealing ring and the sealing ring is compressed Between the rings, the sealing ring carrier is connected with the stator housing of the motor with fasteners; using the present invention to maximize the shared structural parts, reduce the size of the joints, reduce the quality of the joints, and effectively improve the requirements for installation space and carrying capacity. The beneficial effects of light weight and small volume are obtained.
Description
technical field [0001] The invention relates to the technical field of a lunar surface detector mechanical arm, in particular to an integrated driving joint of a mechanical arm adapted to a lunar surface environment. This joint is suitable for use on the lunar surface where the temperature environment is harsh. Background technique [0002] At present, the robotic arm of the lunar patrol probe is an important project of the national lunar exploration project, especially the integrated joint of the robotic arm is widely used in the space station and Mars exploration. The space station manipulators of Canada, Japan, and ESA and the Mars rover manipulators of the United States are usually used. The integrated drive joint is an important part of the manipulator, which can be used to achieve a certain range of detection targets. In my country, in order to adapt to the existing carrying capacity, to adapt to the characteristics of the lunar surface vacuum and the high and low tem...
Claims
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IPC IPC(8): B25J17/02
Inventor 姜洪肖余之叶亮徐荣张洋
Owner SHANGHAI AEROSPACE SYST ENG INST