A gear transmission system for large robotic arm joints in a space station

Abstract

The present invention relates to a gear transmission system for a large-scale mechanical arm joint of a space station, comprising a joint housing, a joint main transmission assembly, a quick-connect male assembly, a quick-connect female assembly and an output gear transmission assembly, wherein the joint main transmission assembly and the quick-connect female assembly are mounted on the joint housing, and the quick-connect male assembly and the output gear transmission assembly are connected to form a combination body, which is supported by two pairs of bearings and mounted in the joint housing; the joint main transmission assembly comprises a dual-drive transmission assembly, a quasi-planetary gear transmission assembly and a 3K planetary gear transmission assembly, and the dual-drive transmission assembly is driven by two motor assemblies, a main motor assembly and a standby motor assembly, and when working, the main motor assembly sequentially drives the quasi-planetary gear transmission assembly and the 3K planetary gear transmission assembly to move, thereby completing motion transmission. The present invention has a compact structure, a large reduction ratio, a large output torque, a high output stiffness and a high output precision.

Description

Technical Field

[0001] The invention relates to a gear transmission system for a large-scale mechanical arm joint of a space station, belonging to the technical field of space station applications. Background Art

[0002] The International Space Station is equipped with a set of SRMS space manipulator system, SSRMS space manipulator system, SPDM dexterous dual-arm robot, JEM / RMS macro-micro manipulator system and ERA space manipulator system. The joints of SRMS space manipulator system, SSRMS space manipulator, SPDM dexterous dual-arm robot, JEM / RMS main arm MA and ERA manipulator are all large manipulators, and the joints are all in the form of spur gear transmission, with the transmission level ranging from 3 to 5 levels. The large space manipulator joint is the core component of the space manipulator, which is of great significance to improving the core technical indicators such as the precision, rigidity and life of the space manipulator.

[0003] Ordinary joints have low transmission accuracy, low rigidity, short life, low temperature adaptability, a motion range not exceeding 360°, and are difficult to repair and replace on-orbit. They are not suitable for space robotic arms. As for the above-mentioned International Space Station robotic arm, its specific structure is unknown due to the blockade of foreign technology. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and to propose a gear transmission system for large robotic arm joints of a space station, so as to solve the problems of low transmission accuracy, low rigidity, short life, low temperature adaptability and difficult on-orbit maintenance and replacement of ordinary joints.

[0005] The solution of the present invention is:

[0006] A gear transmission system for a large mechanical arm joint of a space station comprises a joint housing, a joint main transmission assembly, a quick connection male assembly, a quick connection female assembly and an output gear transmission assembly.

[0007] The joint main transmission assembly and the quick-connect female assembly are installed on the joint housing, and the quick-connect male assembly and the output gear transmission assembly are connected to form a combination, which is supported by two pairs of bearings and installed in the joint housing;

[0008] The joint main transmission includes dual drive transmission, spur gear transmission, quasi-planetary gear transmission and 3K planetary gear transmission four-stage spur gear transmission;

[0009] The joint main transmission assembly includes a dual-drive transmission assembly, a quasi-planetary gear transmission assembly and a 3K planetary gear transmission assembly.

[0010] The dual-drive transmission assembly is driven by two motor assemblies, namely the main motor assembly and the backup motor assembly. When working, the main motor assembly drives the quasi-planetary gear transmission assembly and the 3K planetary gear transmission assembly to move in sequence to complete motion transmission.

[0011] Further, the dual drive transmission assembly includes a dual drive housing, a dual drive housing cover, a main motor, a backup motor, a main motor gear, a backup motor gear, an intermediate large gear, a dual drive assembly output gear, a first 61805 left bearing seal, a first 61805 right bearing seal, a motor seal, a first 61805 left bearing, and a first 61805 right bearing.

[0012] The main motor and the main motor gear are connected together, and a motor seal is installed between the two; the backup motor and the backup motor gear are connected together, and a motor seal is installed between the two;

[0013] The middle large gear meshes with the main motor gear and the backup motor gear at the same time. The middle large gear is connected to the output gear of the dual drive assembly and is supported by a pair of 61805 bearings.

[0014] The 61805 bearing includes a first 61805 left bearing and a first 61805 right bearing; the first 61805 left bearing is mounted on the dual drive housing, the 61804 right bearing is mounted on the dual drive housing cover, and the dual drive housing and the dual drive housing cover are connected together;

[0015] The first 61805 left bearing seal is installed between the middle large gear and the dual drive housing to seal the right side of the first 61805 left bearing, and the left side of the first 61805 left bearing is sealed by the bearing retainer;

[0016] The first 61805 right bearing seal is installed between the dual drive assembly output gear and the dual drive housing cover to seal the left side of the first 61805 right bearing, and the right side of the first 61805 right bearing is sealed by the bearing retainer.

[0017] Furthermore, the quasi-planetary gear transmission assembly includes a quasi-planetary gear transmission assembly retainer, a quasi-planetary gear, a quasi-planetary gear end cover, a 619 / 9 left bearing, a 619 / 9 right bearing and a quasi-planetary gear sleeve.

[0018] A set of planetary gear assemblies is composed of a quasi-planetary gear, a quasi-planetary gear end cover, a pair of 619 / 9 bearings and a quasi-planetary gear sleeve, and the two sets of planetary gear assemblies are 180° apart;

[0019] A pair of 619 / 9 bearings are installed inside the quasi-planetary gear. The left side of the 619 / 9 left bearing is sealed by the quasi-planetary gear end cover, and the right side of the 619 / 9 right bearing is sealed by the quasi-planetary gear end cover, the quasi-planetary gear sleeve and the quasi-planetary gear.

[0020] Further, the 3K planetary gear transmission assembly includes a 3K planetary gear transmission assembly cage, a double planetary gear, a double planetary gear shaft, a second 61805 left bearing seal, a second 61805 right bearing seal, a 61805 right bearing gland, a second 61805 left bearing and a second 61805 right bearing,

[0021] A set of double planetary gear shaft system is composed of 1 double planetary gear, 1 double planetary gear shaft, 1 second 61805 left bearing seal, 1 second 61805 right bearing seal, 1 61805 right bearing gland, 1 second 61805 left bearing and 1 second 61805 right bearing;

[0022] The duplex planetary gear is mounted on the duplex planetary gear shaft, which is supported on the 3K planetary gear cage through two 61805 bearings;

[0023] The second 61805 left bearing seal is installed between the 3K planetary gear cage and the duplex planetary gear to seal the right side of the second 61805 left bearing. The left side of the second 61805 left bearing is sealed by the cage of the 61805 left bearing and the 3K planetary gear cage.

[0024] The second 61805 right bearing seal is installed between the 3K planetary gear retainer and the duplex planetary gear to seal the left side of the second 61805 right bearing. The right side of the second 61805 right bearing is sealed by the 61805 right bearing gland and the retainer of the second 61805 right bearing.

[0025] Further, the output gear transmission assembly includes an output gear, an output shaft, a SMD120BSA7 bearing seal, a SMD120BSA7 left bearing and a SMD120BSA7 right bearing.

[0026] The output gear is installed on the output shaft, and the SMD120BSA7 bearing seal is installed on the outside of the output gear to seal the left side of the SMD120BSA7 left bearing. The SMD120BSA7 right bearing is sealed by the SMD120BSA bearing pressure plate and the SMD120BSA bearing clamping ring.

[0027] Furthermore, the gears adopt a lubrication method of bonding organic molybdenum disulfide lubricating film, and the bearings adopt a spatial solid lubrication method of vacuum sputtering molybdenum disulfide.

[0028] Furthermore, a manual drive mechanism interface is integrated on the middle large gear, which is used in conjunction with a quick-connect male component and a quick-connect female component to support on-track maintenance of the joint.

[0029] Further, the joint main transmission assembly also includes a central transmission gear, an intermediate input gear, a double gear, a left internal gear, a joint left bracket, a 61815 left bearing left seal, a 61815 right bearing right seal, a SLC065BSA7 left bearing right seal, a SLC060BSA7 left bearing right seal, a SLC060BSA7 right bearing left seal, a SLC065BSA7 right bearing left seal, a SLC065BSA7 right bearing right seal, a 61815 left bearing, a 61815 right bearing, a SLC060BSA7 left bearing, a SLC060BSA7 right bearing, a SLC065BSA7 left bearing, a SLC065BSA7 left bearing,

[0030] The double gear is composed of two parts, the inner gear and the outer gear; the double drive transmission assembly, the left inner gear and the quasi-planetary gear transmission assembly are connected to the left bracket of the joint;

[0031] The 3K planetary gear transmission assembly cage in the 3K planetary gear transmission assembly is mounted on the joint left bracket and the quasi-planetary gear transmission assembly cage through a pair of SLC065BSA7 bearings installed internally;

[0032] The double gears are mounted on the joint left bracket and the quasi-planetary gear transmission assembly cage through a pair of SLC060BSA7 bearings installed internally; the center drive gear and the intermediate input gear are connected together, and the center drive gear is supported in the joint left bracket and the quasi-planetary gear transmission assembly cage through a pair of 61815 bearings.

[0033] Further, the 61815 left bearing, the SLC060BSA7 left bearing, and the SLC065BSA7 left bearing are installed on the joint left bracket;

[0034] The 61815 right bearing, SLC060BSA7 right bearing, and SLC065BSA7 right bearing are installed on the retaining frame of the quasi-planetary gear transmission assembly;

[0035] The left seal of the 61815 left bearing is installed between the intermediate input gear and the center transmission gear to seal the left side of the 61815 left bearing. The right side of the 61815 left bearing is completed by the bearing retainer;

[0036] The right seal of the 61815 right bearing is installed on the retainer of the quasi-planetary gear transmission assembly to seal the right side of the 61815 right bearing. The left side of the 61815 right bearing is sealed by the bearing retainer;

[0037] The right seal of the SLC065BSA7 left bearing is installed between the left bracket of the joint and the 3K planetary gear transmission cage to seal the left side of the SLC065BSA7 left bearing. The right seal of the SLC065BSA7 left bearing is installed between the SLC065BSA7 left bearing and the SLC060BSA7 left bearing to seal the right side of the SLC065BSA7 left bearing and the left side of the SLC060BSA7 left bearing.

[0038] The right seal of the SLC060BSA7 left bearing is installed on the left bracket of the joint to seal the right side of the SLC060BSA7 left bearing;

[0039] The left seal of the right bearing of SLC060BSA7 is installed on the retainer of the quasi-planetary gear transmission assembly to seal the left side of the right bearing of SLC060BSA7;

[0040] The left seal of the SLC065BSA7 right bearing is installed between the SLC060BSA7 right bearing and the SLC065BSA7 right bearing to seal the right side of the SLC060BSA7 left bearing and the left side of the SLC065BSA7 right bearing;

[0041] The right seal of the SLC065BSA7 right bearing is installed on the 3K planetary gear cage to seal the right side of the SLC065BSA7 left bearing.

[0042] Furthermore, it comprises five sets of double planetary gear shaft systems, which are spaced 72 degrees apart and evenly mounted on the 3K planetary gear transmission assembly retainer.

[0043] The beneficial effects of the present invention compared with the prior art are:

[0044] (1) The present invention adopts a four-stage spur gear transmission including dual drive transmission, spur gear transmission, quasi-planetary gear transmission and 3K planetary gear transmission, which has a compact structure, a large reduction ratio, a large output torque, a high output stiffness and a high output precision;

[0045] (2) The present invention uses two motor assemblies, a main motor assembly and a backup motor assembly, to back up each other, and the force transmission paths are exactly the same, so that there is no difference between the main and backup transmission paths;

[0046] (3) The bearings and gears in the present invention all adopt space solid lubrication, which simplifies the structure of the reducer and improves the adaptability to the space environment;

[0047] (4) The bearing of the present invention adopts a structural sealing measure to prevent the bonded molybdenum disulfide solid lubricating film from peeling off during joint movement, thereby improving the spatial adaptability of the product;

[0048] (5) The present invention designs a manual drive interface so that the joint will not be unable to move due to the ineffectiveness of the control system or the power supply system, which greatly facilitates the track maintainability of the joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is the transmission principle diagram of the present invention;

[0050] Figure 2 It is a schematic diagram of the layout of each component of the present invention;

[0051] Figure 3 It is the main transmission component diagram of the present invention;

[0052] Figure 4 A schematic diagram of a bearing seal according to the present invention;

[0053] Figure 5 It is a schematic diagram of the structure of the double gear of the present invention;

[0054] Figure 6 is a schematic diagram of a dual drive assembly of the present invention;

[0055] Figure 7 It is a schematic diagram of the gear meshing of the dual drive assembly of the present invention;

[0056] Figure 8 A schematic diagram of sealing of a motor assembly in a dual drive assembly of the present invention;

[0057] Fig. 9 A schematic diagram of the bearing seal of the dual drive assembly in the present invention;

[0058] Fig.10 It is a schematic diagram of the composition of the quasi-planetary gear transmission of the present invention;

[0059] Fig.11 It is a schematic diagram of the bearing seal of the quasi-planetary gear transmission of the present invention;

[0060] Fig.12 It is a schematic diagram of the composition of the 3K planetary gear transmission of the present invention;

[0061] Fig.13 It is a schematic diagram of the bearing seal of the 3K planetary gear transmission of the present invention;

[0062] Fig.14 It is a schematic diagram of the composition and bearing seal of the output gear assembly of the present invention. DETAILED DESCRIPTION

[0063] The present invention will be further described below in conjunction with the embodiments.

[0064] Combination Figure 1 The transmission principle of the joint is explained.

[0065] like Figure 1 As shown, the dual drive assembly 6 is the first stage of the joint transmission. The motor assembly is the input of the dual drive assembly, and the dual drive assembly is equipped with two main and spare motor assemblies. The main motor assembly 12a is connected to gear a1, and the spare motor assembly 12b is connected to gear a2. Gear a1 and gear a2 are meshed with gear b1 at the same time. Gear b1 is installed together with gear j, and gear j is the input gear of the dual drive assembly. Gear j is meshed with gear k. Gear j and gear k are the second stage of the joint transmission. Gear j is the input gear of the second stage transmission, and gear k is the output gear of the second stage transmission. Gear k is installed on the same shaft as gear a3. Gear a3 is meshed with gear c3, and gear c3 is meshed with gear b3. Gears a3, c3 and b3 form the third stage of the joint transmission, which is a quasi-planetary gear transmission. Gear b3 and gear a4 are the inner and outer gears of the same gear, gear a4 meshes with c4, gear c4 and gear d4 are connected in series and mounted on the planetary gear holder, gear c4 meshes with gear b4, gear d4 meshes with gear e4, gear a4, gear c4, gear d4, gear b4 and gear e4 are the fourth stage of the joint transmission, which is a 3K planetary gear transmission, gear e4 is fixed on the joint housing, and gear b4 is the output gear of the 3K planetary gear transmission. Gear b1 and gear j are supported by a pair of deep groove ball bearings 61805, gear k and gear a3 are supported by a pair of deep groove ball bearings 61815, gear c3 is supported by a pair of deep groove ball bearings 619 / 9, gear b3 and gear a4 are supported by a pair of thin-walled bearings SLC060BSA7, and the planetary gear holder is supported by a pair of thin-walled bearings SLC065BSA7.

[0066] Combination Figure 2 – Fig.14 , a specific implementation scheme of the articulated gear transmission system is described. Wherein, the right side is defined as the direction toward the quick-connect male component 3.

[0067] like Figure 2 As shown, the joint gear transmission system for the large-scale mechanical arm of the space station includes a joint housing 1, a joint main transmission assembly 2, a quick connection male assembly 3, a quick connection female assembly 4 and an output gear transmission assembly 5.

[0068] The joint main transmission assembly 2 and the quick connection female assembly 4 are installed on the joint housing 1, and the quick connection male assembly 3 and the output gear transmission assembly 5 are connected to form a combination, which is supported by two pairs of bearings and installed in the joint housing 1.

[0069] like Figure 3-Figure 5 As shown, the joint main transmission assembly 2 includes a dual-drive transmission assembly 6, a quasi-planetary gear transmission assembly 7 and a 3K planetary gear transmission assembly 11.

[0070] The dual-drive transmission assembly 6 is driven by two motor assemblies, namely a main motor assembly and a backup motor assembly. When working, the main motor assembly sequentially drives the quasi-planetary gear transmission assembly and the 3K planetary gear transmission assembly to move, thereby completing motion transmission.

[0071] The joint main transmission assembly 2 also includes a central transmission gear 8, an intermediate input gear 9, a double gear 10, a left internal gear 12, a joint left bracket 13, a 61815 left bearing left seal 14, a 61815 right bearing right seal 15, a SLC065BSA7 left bearing right seal 16, a SLC060BSA7 left bearing right seal 17, a SLC060BSA7 right bearing left seal 18, a SLC065BSA7 right bearing left seal 19, a SLC065BSA7 right bearing right seal 20, a 61815 left bearing 21, a 61815 right bearing 22, a SLC060BSA7 left bearing 23, a SLC060BSA7 right bearing 24, a SLC065BSA7 left bearing 25, and a SLC065BSA7 left bearing 26.

[0072] The double gear 10 is composed of two parts, the inner gear 27 and the outer gear 28; the double drive transmission assembly 6, the left inner gear 12 and the quasi-planetary gear transmission assembly 7 are connected to the joint left bracket 13;

[0073] The 3K planetary gear transmission assembly retainer 49 in the 3K planetary gear transmission assembly 11 is mounted on the joint left bracket 13 and the quasi-planetary gear transmission assembly retainer 43 through a pair of SLC065BSA7 bearings mounted inside;

[0074] The double gear 10 is mounted on the joint left bracket 13 and the quasi-planetary gear transmission assembly holder 43 through a pair of SLC060BSA7 bearings installed internally; the center transmission gear 8 and the intermediate input gear 9 are connected together, and the center transmission gear 9 is supported in the joint left bracket 13 and the quasi-planetary gear transmission assembly holder 43 through a pair of 61815 bearings.

[0075] 61815 left bearing 21, SLC060BSA7 left bearing 23, SLC065BSA7 left bearing 25 are installed on the joint left bracket 13;

[0076] 61815 right bearing 22, SLC060BSA7 right bearing 24, SLC065BSA7 right bearing 26 are installed on the quasi-planetary gear transmission assembly retainer 43;

[0077] The left seal 14 of the left bearing 61815 is installed between the intermediate input gear 9 and the central transmission gear 8 to seal the left side of the left bearing 21 of 61815. The right side of the left bearing 21 of 61815 is completed by the bearing retainer;

[0078] The right seal 15 of the right bearing 61815 is installed on the retainer 43 of the quasi-planetary gear transmission assembly to seal the right side of the right bearing 22 of 61815. The left side of the right bearing 22 of 61815 is sealed by the bearing retainer;

[0079] The right seal 16 of the left bearing of SLC065BSA7 is installed between the left bracket 13 of the joint and the retainer 49 of the 3K planetary gear transmission, and seals the left side of the left bearing 25 of SLC065BSA7. The right seal 16 of the left bearing of SLC065BSA7 is installed between the left bearing 25 of SLC065BSA7 and the left bearing 23 of SLC060BSA7, and seals the right side of the left bearing 25 of SLC065BSA7 and the left side of the left bearing 23 of SLC060BSA7.

[0080] The right seal 17 of the left bearing of SLC060BSA7 is installed on the left bracket 13 of the joint to seal the right side of the left bearing 23 of SLC060BSA7;

[0081] The left seal 18 of the right bearing of SLC060BSA7 is installed on the retainer 43 of the quasi-planetary gear transmission assembly to seal the left side of the right bearing 24 of SLC060BSA7;

[0082] The SLC065BSA7 right bearing left seal 19 is installed between the SLC060BSA7 right bearing 24 and the SLC065BSA7 right bearing 26 to seal the right side of the SLC060BSA7 left bearing 26 and the left side of the SLC065BSA7 right bearing 24;

[0083] The right seal 20 of the SLC065BSA7 right bearing is installed on the 3K planetary gear retainer 49 to seal the right side of the SLC065BSA7 left bearing 26.

[0084] Implementation Plan 4: Figure 6-Figure 9 The figures are respectively a schematic diagram of the composition structure of the dual drive transmission assembly 6, a schematic diagram of the meshing transmission relationship, a schematic diagram of the motor seal, and a schematic diagram of the bearing seal of the dual drive assembly. The dual drive transmission assembly 6 includes a dual drive housing 29, a dual drive housing cover 30, a main motor 31, a backup motor 32, a main motor gear 33, a backup motor gear 34, an intermediate large gear 35, a dual drive assembly output gear 36, a first 61805 left bearing seal 38, a first 61805 right bearing seal 39, a motor seal 37, a first 61805 left bearing 40, a first 61805 right bearing 41,

[0085] The main motor 31 and the main motor gear 33 are connected together, and a motor seal 37 is installed between the two; the backup motor 32 and the backup motor gear 34 are connected together, and a motor seal 37 is installed between the two;

[0086] The middle large gear 35 is meshed with the main motor gear 33 and the backup motor gear 34 at the same time. The middle large gear 35 is connected with the dual drive assembly output gear 36 and is supported by a pair of 61805 bearings;

[0087] The 61805 bearing includes a first 61805 left bearing 40 and a first 61805 right bearing 41; the first 61805 left bearing 40 is mounted on the dual drive housing 29, and the 61804 right bearing 41 is mounted on the dual drive housing cover 30, and the dual drive housing 29 and the dual drive housing cover 30 are connected together;

[0088] The first 61805 left bearing seal 38 is installed between the middle large gear 35 and the dual drive housing 29 to seal the right side of the first 61805 left bearing 40. The left side of the first 61805 left bearing 40 is sealed by the bearing retainer;

[0089] The first 61805 right bearing seal 39 is installed between the dual drive assembly output gear 36 and the dual drive housing cover 30 to seal the left side of the first 61805 right bearing 41, and the right side of the first 61805 right bearing 41 is sealed with a bearing retainer.

[0090] Fig.10 , Fig.11 The figures are respectively a schematic diagram of the structure of the quasi-planetary gear transmission assembly 7 of the present invention and a schematic diagram of the quasi-planetary gear transmission seal. The quasi-planetary gear transmission assembly 7 includes a quasi-planetary gear transmission assembly retainer 43, a quasi-planetary gear 44, a quasi-planetary gear end cover 45, a 619 / 9 left bearing 46, a 619 / 9 right bearing 47 and a quasi-planetary gear sleeve 48.

[0091] A quasi-planetary gear 44, a quasi-planetary gear end cover 45, a pair of 619 / 9 bearings and a quasi-planetary gear sleeve 48 form a set of planetary gear assemblies, and the two sets of planetary gear assemblies are 180 degrees apart;

[0092] A pair of 619 / 9 bearings are installed inside the quasi-planetary gear 44. The left side of the 619 / 9 left bearing 46 is sealed by the quasi-planetary gear end cover 45, and the right side of the 619 / 9 right bearing 49 is sealed by the quasi-planetary gear end cover 47, the quasi-planetary gear sleeve 48 and the quasi-planetary gear 44.

[0093] Fig.12 , Fig.13The figures are respectively a schematic diagram of the composition structure of the 3K planetary gear transmission assembly of the present invention and a schematic diagram of the 3K planetary gear transmission seal. The 3K planetary gear transmission assembly 11 comprises a 3K planetary gear transmission assembly retainer 49, a double planetary gear 50, a double planetary gear shaft 51, a second 61805 left bearing seal 52, a second 61805 right bearing seal 53, a 61805 right bearing gland 54, a second 61805 left bearing 55, and a second 61805 right bearing 56,

[0094] A set of double planetary gear shaft system is composed of 1 double planetary gear 50, 1 double planetary gear shaft 51, 1 second 61805 left bearing seal 52, 1 second 61805 right bearing seal 53, 1 61805 right bearing gland 54, 1 second 61805 left bearing 55 and 1 second 61805 right bearing 56. Five sets of double planetary gear shaft systems are spaced 72° apart and evenly mounted on the 3K planetary gear transmission assembly retainer 49.

[0095] The double planetary gear 50 is mounted on the double planetary gear shaft 51, and the double planetary gear shaft 51 is supported on the 3K planetary gear retainer 49 through two 61805 bearings;

[0096] The second 61805 left bearing seal 52 is installed between the 3K planetary gear holder 49 and the duplex planetary gear 50 to seal the right side of the second 61805 left bearing 55. The left side of the second 61805 left bearing 55 is sealed by the holder of the 61805 left bearing and the 3K planetary gear holder 49.

[0097] The second 61805 right bearing seal 53 is installed between the 3K planetary gear retainer 49 and the duplex planetary gear 50 to seal the left side of the second 61805 right bearing 56. The right side of the second 61805 right bearing 56 is sealed by the 61805 right bearing cover 54 and the retainer of the second 61805 right bearing 56.

[0098] Figure 2 , Fig.14 The output gear transmission assembly 5 includes an output gear 57, an output shaft 58, a SMD120BSA7 bearing seal 59, a SMD120BSA7 left bearing 60 and a SMD120BSA7 right bearing 61.

[0099] The output gear 57 is installed on the output shaft 58, and the SMD120BSA7 bearing seal 59 is installed on the outside of the output gear 57 to seal the left side of the SMD120BSA7 left bearing 60. The SMD120BSA7 right bearing 61 is sealed by the SMD120BSA bearing pressure plate 62 and the SMD120BSA bearing clamping ring 63.

[0100] The articulated gear transmission system for the large robotic arm of the space station of the present invention adopts a lubrication method of bonded organic molybdenum disulfide lubricating film for gears and a space solid lubrication method of vacuum sputtered molybdenum disulfide for bearings, which can meet the lubrication requirements of the space environment.

[0101] The intermediate large gear 35 of the present invention is integrated with a manual drive mechanism interface 42, which is used in conjunction with a quick-connect male component and a quick-connect female component to support on-track maintenance of the joint.

[0102] The present invention adopts dual motor drive, and the gear transmission system is mainly composed of four-stage gear transmissions such as dual drive mechanism, spur gear transmission, quasi-planetary gear transmission, 3K planetary gear transmission, etc. It has the advantages of high rigidity, high precision, adaptability to space thermal environment and radiation environment, and support for on-orbit manual drive.

[0103] The present invention integrates four-stage spur gear transmission and realizes a large center hole and a large reduction ratio of up to 1785 by adopting thin-walled bearings for shaft support; and increases the transmission stiffness and load-bearing capacity of the joint by adopting five double-linked planetary gears and two quasi-planetary gears.

[0104] The present invention adopts a dual motor assembly backup mode, and the dual motor assembly jointly drives a spur gear to realize transmission, which has the characteristics of simple driving and the same main and backup transmission links. The motor assembly is composed of a DC servo motor, a single-channel rotary transformer and a power-off brake. The braking torque of a single power-off brake can meet the joint braking requirements of the space station manipulator. The rated torque of the DC servo motor is greater than the braking torque of the two power-off brakes, and can meet the joint rated torque requirements of the space station manipulator when the brake cannot be opened.

[0105] The present invention adopts sealing measures for the bearing structure to protect the bonded molybdenum disulfide solid lubricating film from peeling off the gear surface during the joint movement, thereby extending the life of the joint transmission system. A quick connection device is adopted, and a manual drive interface is designed, so that the joint has the characteristics of on-track maintenance. Two pairs of thin-walled ball bearings are adopted at the output end, which are fixed near the output end bearing and preloaded with 70kg, and floating away from the output end bearing and preloaded with 70kg, which greatly improves the stiffness and movement stability of the joint output shaft.

[0106] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A gear transmission system for a large robotic arm joint of a space station, characterized in that: It comprises a joint housing (1), a joint main transmission assembly (2), a quick connection male assembly (3), a quick connection female assembly (4) and an output gear transmission assembly (5). The joint main transmission component (2) and the quick connection female component (4) are installed on the joint housing (1), and the quick connection male component (3) and the output gear transmission component (5) are connected to form a combined body, which is supported by two pairs of bearings and installed in the joint housing (1); The joint main drive includes dual drive transmission, spur gear transmission, quasi-planetary gear transmission and 3K planetary gear transmission with four-stage spur gear transmission; The joint main transmission assembly (2) comprises a dual-drive transmission assembly (6), a quasi-planetary gear transmission assembly (7) and a 3K planetary gear transmission assembly (11). The dual-drive transmission assembly (6) is driven by two motor assemblies, namely a main motor assembly and a backup motor assembly. When working, the main motor assembly drives the quasi-planetary gear transmission assembly and the 3K planetary gear transmission assembly to move in sequence to complete motion transmission; The dual drive transmission assembly (6) includes a dual drive housing (29), a dual drive housing cover (30), a main motor (31), a backup motor (32), a main motor gear (33), a backup motor gear (34), an intermediate large gear (35), a dual drive assembly output gear (36), a first 61805 left bearing seal (38), a first 61805 right bearing seal (39), a motor seal (37), a first 61805 left bearing (40), and a first 61805 right bearing (41). The main motor (31) and the main motor gear (33) are connected together, and a motor seal (37) is installed between the two; the backup motor (32) and the backup motor gear (34) are connected together, and a motor seal (37) is installed between the two; The middle large gear (35) is meshed with the main motor gear (33) and the backup motor gear (34) at the same time. The middle large gear (35) is connected with the dual drive assembly output gear (36) and supported by a pair of 61805 bearings; The 61805 bearing comprises a first 61805 left bearing (40) and a first 61805 right bearing (41); the first 61805 left bearing (40) is mounted on the dual drive housing (29), the first 61805 right bearing (41) is mounted on the dual drive housing cover (30), and the dual drive housing (29) and the dual drive housing cover (30) are connected together; The first 61805 left bearing seal (38) is installed between the intermediate large gear (35) and the dual drive housing (29) to seal the right side of the first 61805 left bearing (40), and the left side of the first 61805 left bearing (40) is sealed by the bearing retainer; The first 61805 right bearing seal (39) is installed between the dual drive assembly output gear (36) and the dual drive housing cover (30) to seal the left side of the first 61805 right bearing (41), and the right side of the first 61805 right bearing (41) is sealed using the bearing retainer.

2. A gear transmission system for a large space station mechanical arm joint according to claim 1, characterized in that: The quasi-planetary gear transmission assembly (7) comprises a quasi-planetary gear transmission assembly retainer (43), a quasi-planetary gear (44), a quasi-planetary gear end cover (45), a 619 / 9 left bearing (46), a 619 / 9 right bearing (47) and a quasi-planetary gear sleeve (48). A quasi-planetary gear (44), a quasi-planetary gear end cover (45), a pair of 619 / 9 bearings and a quasi-planetary gear sleeve (48) form a set of planetary gear assemblies, and the two sets of planetary gear assemblies are 180 degrees apart; A pair of 619 / 9 bearings are installed inside the quasi-planetary gear (44), the left side of the 619 / 9 left bearing (46) is sealed by the quasi-planetary gear end cover (45), and the right side of the 619 / 9 right bearing (47) is sealed by the quasi-planetary gear end cover (45), the quasi-planetary gear sleeve (48) and the quasi-planetary gear (44).

3. The gear transmission system for a large space station mechanical arm joint according to claim 1, characterized in that: The 3K planetary gear transmission assembly (11) comprises a 3K planetary gear transmission assembly retainer (49), a double planetary gear (50), a double planetary gear shaft (51), a second 61805 left bearing seal (52), a second 61805 right bearing seal (53), a 61805 right bearing gland (54), a second 61805 left bearing (55) and a second 61805 right bearing (56). A set of double-linked planetary gear shaft system is composed of a double-linked planetary gear (50), a double-linked planetary gear shaft (51), a second 61805 left bearing seal (52), a second 61805 right bearing seal (53), a 61805 right bearing gland (54), a second 61805 left bearing (55) and a second 61805 right bearing (56); The double planetary gear (50) is mounted on the double planetary gear shaft (51), and the double planetary gear shaft (51) is supported on the 3K planetary gear transmission assembly retainer (49) through two 61805 bearings; The second 61805 left bearing seal (52) is installed between the 3K planetary gear transmission assembly retainer (49) and the double planetary gear (50) to seal the right side of the second 61805 left bearing (55), and the left side of the second 61805 left bearing (55) is sealed by the retainer of the 61805 left bearing and the retainer (49) of the 3K planetary gear transmission assembly; The second 61805 right bearing seal (53) is installed between the 3K planetary gear transmission assembly retainer (49) and the double planetary gear (50) to seal the left side of the second 61805 right bearing (56). The right side of the second 61805 right bearing (56) is sealed by the 61805 right bearing pressure cover (54) and the retainer of the second 61805 right bearing (56).

4. The gear transmission system for a large space station mechanical arm joint according to claim 1, characterized in that: The gears are lubricated by bonding organic molybdenum disulfide lubricating film, and the bearings are lubricated by vacuum sputtering molybdenum disulfide in space solid lubrication.

5. The gear transmission system for a large space station mechanical arm joint according to claim 1, characterized in that: The middle large gear (35) is integrated with a manual drive mechanism interface (42), which is used in conjunction with a quick connection male component (3) and a quick connection female component (4) to support on-track maintenance of the joint.

6. The gear transmission system for a large space station mechanical arm joint according to claim 3, characterized in that: The invention comprises five sets of double planetary gear shaft systems, which are spaced 72 degrees apart and evenly mounted on a 3K planetary gear transmission component retainer (49).

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