Space large-scale mechanical, electrical and thermal integrated joints

Abstract

A large-scale space mechatronic thermal integration joint includes a joint body, a joint main transmission assembly, a quick-connect male assembly, a quick-connect female assembly, a forward mechatronic limit device, a reverse mechatronic limit device, a joint controller, a main power module, a backup power module, a one-dimensional torque sensor, a rotary transformer, an output gear assembly, a cable assembly, and a thermal control assembly. The joint controller and the power module both use a hardware backup method, and the thermal control assembly uses a thermal control method that combines active thermal control with passive thermal control. The joint of the present invention has the advantages of high integration, high intelligence, high reliability, and adaptability to space thermal environments and radiation environments, and solves the problems of mechatronic thermal integration design of space joints, weak perception ability, high reliability, and a range of motion not exceeding 360°.

Description

Technical Field

[0001] The invention belongs to the field of space station applications and relates to a large-scale electromechanical and thermal integrated joint for a large-scale space station mechanical arm.

[0002] The joints have the advantages of high integration, high intelligence, high reliability, and adaptability to space thermal and radiation environments. They solve the problems of space joints' electromechanical and thermal integration design, weak perception ability, high reliability, and a range of motion not exceeding 360°. Background Art

[0003] The International Space Station is equipped with a set of SRMS space manipulator system, SSRMS space manipulator system and SPDM dexterous dual-arm robot developed by Canada's MDA company, JEM / RMS macro-micro manipulator system developed by Japan, and ERA space manipulator system developed by Europe. 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, which adopt the design concept of mechatronic thermal integration and center hole routing. Large space manipulator joints are the core components of space manipulators, which are extremely important for improving the core technical indicators such as the intelligence and reliability of space manipulators. At present, domestic space joints are all small drive mechanisms (with a diameter less than φ50mm), which have not realized mechatronic thermal integration design, weak perception ability, and a range of motion not exceeding 360°. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and provide a large-scale electromechanical and thermal integrated joint for a large-scale space station robotic arm, which solves the problems of complex electromechanical and thermal integrated design of space joints, weak perception ability, poor autonomous working ability, and a motion range not exceeding 360°.

[0005] The technical solution of the present invention is:

[0006] A large-scale space electromechanical thermal integration joint, comprising a joint body, a joint main transmission assembly, a quick-connect male assembly, a quick-connect female assembly, a forward electromechanical limit device, a reverse electromechanical limit device, a joint controller, a main power module, a backup power module, a one-dimensional torque sensor, a rotary transformer, an output gear assembly, a cable assembly and a thermal control assembly;

[0007] The quick-connect male component is installed at the axial output end of the joint body, and the quick-connect female component is installed at the radial fixed end of the joint body; the joint main transmission component is installed inside the joint body and connected to the quick-connect male component through the output gear component; the forward electromechanical limit device and the reverse electromechanical limit device are installed on the joint body near the axial output end; the joint controller is assembled into a combination with the main power supply module and the backup power supply module and installed at the axial input end inside the joint body; the one-dimensional torque sensor and the rotary transformer are installed inside the joint body; the cable assembly is located at the center hole inside the joint body, and the thermal control assembly is located outside the joint body and outside the joint controller;

[0008] The joint controller controls the joint in real time according to the output torque, position and speed of the joint; the main power module and the backup power module are used to provide power for the joint; the one-dimensional torque sensor is used to sense the output torque of the joint and send it to the joint controller; the rotary transformer is used to sense the position and speed of the joint and send it to the joint controller; the forward electromechanical limit device and the reverse electromechanical limit device are used to realize the forward and reverse position limit of the joint, and the thermal control component realizes active thermal control and passive thermal control of the joint.

[0009] Preferably, the joint body includes a joint housing, an armrest assembly, a universal armrest base, a joint rear cover, an intermediate heat exchange plate, a manual drive mechanism mounting plate, and a rotary transformer rotor mounting plate;

[0010] The universal armrest base is installed on the outer surface of the joint housing, the armrest assembly is installed on the universal armrest base, the joint rear cover is installed on the axial input end of the joint housing, and the intermediate heat exchange plate and the manual drive mechanism mounting plate are installed in sequence between the joint rear cover and the joint housing; the rotary transformer rotor mounting plate is installed on the output gear assembly near the axial output end of the joint body.

[0011] Preferably, the joint main transmission assembly is installed on the manual drive mechanism mounting plate, including a main motor assembly, a backup motor assembly and a gear assembly; the gear assembly is installed between the main motor assembly and the backup motor assembly, and the gear assembly is simultaneously engaged with the output gear assembly to transmit the rotation of the motor assembly to the output gear assembly.

[0012] Preferably, the main motor assembly is on the same side as the main control unit and the main power supply module of the joint controller, and the backup motor assembly is on the same side as the backup control unit and the backup power supply module of the joint controller; the main motor assembly and the main control unit, the main power supply module, the main circuit of the one-dimensional torque sensor, and the rotating transformer of the joint controller constitute a main control circuit; the backup motor assembly and the backup control unit, the backup power supply module, the backup circuit of the one-dimensional torque sensor, and the rotating transformer of the joint controller constitute a backup control circuit; the rotating transformer has only one path and no backup.

[0013] Preferably, the elastomer of the one-dimensional torque sensor is installed on the output gear assembly, and the circuit part of the one-dimensional torque sensor is installed on the rotary transformer rotor mounting plate; one end of the rotary transformer is connected to the rotary transformer rotor mounting plate, and the other end is connected to the joint main transmission assembly.

[0014] Preferably, the thermal control assembly includes a joint main heat pipe, a motor heat pipe assembly, a joint controller heat pipe, a thermistor, a heating plate, a temperature relay and a heat dissipation surface;

[0015] A joint main heat pipe is connected to each side of the joint housing, and the other end of the joint main heat pipe is connected to the middle heat exchange plate by screws; the main motor assembly and the backup motor assembly are each connected to a set of motor heat pipe assemblies, and the other end of the motor heat pipe assembly is connected to the middle heat exchange plate by screws; one end of the joint controller heat pipe is installed on the joint controller, and the other end is connected to the middle heat exchange plate by screws;

[0016] Thermistors are installed on the outer surfaces of the joint housing, the main motor assembly, the backup motor assembly and the joint controller; the heating plate and the temperature relay are installed on the outer surface of the joint housing; the heat dissipation surface is located on the outer surface of the joint housing near the main power module and the backup power module, and the outer surface of the joint housing other than the heat dissipation surface is covered with multiple layers of thermal insulation materials;

[0017] The thermistor, the heating plate, and the temperature relay constitute a passive thermal control unit of the thermal control component, and the joint main heat pipe, the motor heat pipe assembly, the joint controller heat pipe, and the heat dissipation surface constitute the passive thermal control unit of the thermal control component.

[0018] Preferably, the forward electromechanical limit device and the reverse electromechanical limit device are used to limit the rotation range of the output gear assembly, wherein the forward electromechanical limit device limits the forward rotation angle of the output gear assembly to within 270°, and the reverse electromechanical limit device limits the reverse rotation angle of the output gear assembly to within -270°.

[0019] Preferably, one end of the cable assembly is divided into three bundles, which are respectively connected to the quick-connect female component and the one-dimensional torque sensor and the rotary transformer, and the other end is divided into two bundles, one bundle passes through the center hole of the joint and is connected to the joint controller, and the other bundle is connected to the quick-connect male component.

[0020] Preferably, 8 locations with a total of 16 compression surfaces are left on the joint shell, including 8 side compression surfaces and 8 top and bottom compression seats for joint compression.

[0021] Preferably, the joint has an on-orbit maintenance interface, and the on-orbit maintenance interface includes:

[0022] an opening of the joint rear cover, the opening being used for passing a joint manual drive mechanism;

[0023] An interface on the intermediate heat exchange plate for fixing the manual drive mechanism of the joint;

[0024] A positioning pin interface is reserved on the male component of the quick connection device, and a positioning pin interface is reserved on the female component of the quick connection device;

[0025] Maintenance interface on the gear assembly.

[0026] The advantages of the present invention compared with the prior art are:

[0027] (1) The present invention adopts the concept of mechatronic thermal integration design, integrating the motor assembly to realize joint drive, the joint controller to realize joint control, the power module to provide power for the joint, the one-dimensional torque sensor to realize torque perception, the rotary transformer to realize position perception, the electromechanical limit device to realize position limit, and the thermal control assembly to realize active thermal control and passive thermal control. It has a high degree of integration, strong perception ability, strong autonomous working ability, and a large range of motion.

[0028] (2) The thermal control component in the present invention adopts a combination of active thermal control and passive thermal control, realizing temperature perception through thermistors; realizing active thermal control of joints through heating plates and temperature relays; realizing passive thermal control of joints through heat pipe components, thermal control multi-layer insulation materials, white paint, and heat dissipation surfaces. Under the premise of ensuring the working temperature of the joints, the power consumption of on-track temperature control of the joints is greatly reduced.

[0029] (3) The present invention designs a manual drive mechanism interface. The joint has a manual drive mechanism interface on the rear cover at the input end, the intermediate heat exchange plate and the gear assembly. The quick-connect male component and the quick-connect female component have a positioning pin interface for the installation of maintenance tools, which can realize the on-orbit maintenance of the joint. The joint body is equipped with an armrest assembly and a universal armrest base, which greatly facilitates the on-orbit maintenance of the joint and provides a crawling path for astronauts to return in an emergency.

[0030] (4) All electronic devices in the present invention, such as the joint controller, power module, joint one-dimensional torque sensor processing circuit, etc., are integrated inside the joint. The diameter of the joint center hole is φ58mm, which can accommodate the communication cable, vision cable, power supply cable of the space station robot arm joint and the cable of the rotary transformer and torque sensor inside the joint.

[0031] (5) In the present invention, the motor assembly, joint controller, power module and thermal control assembly all adopt a cold backup method, and the reliability of the product control system and power supply system is improved by switching the backup machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The system composition of the present invention is shown in FIG. Figure 1 ;

[0033] Figure 2The system composition of the present invention is shown in FIG. Figure 2 ;

[0034] Figure 3 The joint body of the present invention is composed of Figure 1 ;

[0035] Figure 4 The joint body of the present invention is composed of Figure 2 ;

[0036] Figure 5 The composition of the joint main transmission assembly and the heat pipe layout diagram of the present invention;

[0037] Figure 6 It is a schematic diagram of the arrangement of the heating plate and thermistor of the present invention;

[0038] Figure 7 It is a schematic diagram of the installation position of the temperature relay and thermistor of the present invention;

[0039] Figure 8 A schematic diagram of the joint rear cover and its maintenance interface of the present invention;

[0040] Fig. 9 It is a schematic diagram of the joint middle heat exchange plate and its maintenance interface of the present invention;

[0041] Fig.10 A schematic diagram of a quick-connect male component and a maintenance interface thereof of the present invention;

[0042] Fig.11 A schematic diagram of a quick-connect female assembly and a maintenance interface thereof of the present invention;

[0043] Fig.12 A schematic diagram of the gear assembly and its maintenance interface of the present invention;

[0044] Fig.13 It is a schematic diagram of the motor assembly of the present invention. DETAILED DESCRIPTION

[0045] Combine the following Figure 1-Figure 13 The embodiments of the present invention are described. Figure 1 The left side, i.e. the output end, is defined as being in the direction of the quick-connect male component 3 , the right side, i.e. the input end, is defined as being in the direction of the joint rear cover 18 , and the fixed end is defined as being in the direction of the quick-connect female component 4 .

[0046] The joint of the present invention has the advantages of high integration, high intelligence, high reliability, and adaptability to space thermal environment and radiation environment, and solves the problems of complex mechanical, electrical and thermal integration design of space joints, weak perception ability, high reliability requirements, and a range of motion not exceeding 360°. The diameter of the joint of the present invention is greater than φ400mm, the output torque is greater than 1200Nm, and all components such as controller, power module, heat pipe, transmission, and cable are integrated inside the joint.

[0047] The specific design is as follows:

[0048] like Figure 1-13 The large-scale electromechanical and thermal integrated joint for the space station robotic arm mainly includes a joint body 1, a joint main transmission assembly 2, a quick-connect male assembly 3, a quick-connect female assembly 4, a positive electromechanical limit device 5, a reverse electromechanical limit device 6, a joint controller 7, a main power supply module 8, a backup power supply module 9, a one-dimensional torque sensor 10, a rotary transformer 11, an output gear assembly 12, a cable assembly 13 and a thermal control assembly 14, which has the characteristics of reliable operation, high degree of integration, strong perception ability, strong autonomous working ability and large range of motion.

[0049] The joint body 1 includes a joint housing 15, an armrest assembly 16, a universal armrest base 17, a joint rear cover 18, an intermediate heat exchange plate 19, a manual drive mechanism mounting plate 20, and a rotary transformer rotor mounting plate 21. The universal armrest base 17 is mounted on the outer surface of the joint housing 15, the armrest assembly 16 is mounted on the universal armrest base 17, the joint rear cover 18 covers the axial input end of the joint housing 15, and the intermediate heat exchange plate 19 and the manual drive mechanism mounting plate 20 are sequentially mounted between the joint rear cover 18 and the joint housing 15; the rotary transformer rotor mounting plate 21 is mounted on the output gear assembly 12 near the axial output end of the joint body 1.

[0050] The joint controller 7 is assembled with the main power supply module 8 and the backup power supply module 9 into a combination and installed inside the joint body 1. The joint main transmission assembly 2 is installed inside the joint. The forward electromechanical limit device 5 and the reverse electromechanical limit device 6 are installed on the joint housing 15. The elastomer of the one-dimensional torque sensor 10 is installed on the output gear assembly 12. The circuit part of the one-dimensional torque sensor is installed on the rotary transformer rotor mounting plate 27. One end of the rotary transformer 11 is connected to the rotary transformer rotor mounting plate 21, and the other end is connected to the joint main transmission assembly 2.

[0051] The joint main transmission assembly 2 is installed on the manual drive mechanism mounting plate 20, and includes a main motor assembly 22, a backup motor assembly 23 and a gear assembly 31; the gear assembly 31 is installed between the main motor assembly 22 and the backup motor assembly 23, and the gear assembly 31 is also engaged with the output gear assembly 12 to transmit the rotation of the motor assembly to the output gear assembly 12.

[0052] The main motor assembly 22 is on the same side as the main control unit and the main power supply module 8 of the joint controller 7, and the backup motor assembly 23 is on the same side as the backup control unit and the backup power supply module 9 of the joint controller 7; the main motor assembly 22 and the main control unit of the joint controller 7, the main power supply module 8, the main circuit of the one-dimensional torque sensor 10, and the rotating transformer 11 constitute a main control circuit; the backup motor assembly 23 and the backup control unit of the joint controller 7, the backup power supply module 9, the backup circuit of the one-dimensional torque sensor 10, and the rotating transformer 11 constitute a backup control circuit; the rotating transformer 11 has only one path and no backup.

[0053] The joint thermal control is divided into active temperature control circuit and passive temperature control circuit. The active temperature control circuit is a heating circuit. The joint active temperature control circuit mainly consists of a thermistor, a heating plate and a temperature relay. There are two temperature relays, which are installed on the joint housing 15. The heating plate is attached to the surface of the joint housing 15. The thermistor is attached to the main motor assembly 22, the backup motor assembly 23, the joint controller 7 and the joint housing 15. Figure 7 As shown, TMR03A, TMR03B, TMR04A, and TMR04B are thermistors attached to the main motor assembly 22 and the backup motor assembly 23, and are used to sense the temperature of the main motor assembly 22 and the backup motor assembly 23. TMR02A and TMR02B are thermistors attached to the main control unit and the backup control unit of the joint controller 7, and are used to sense the temperature of the main control unit and the backup control unit of the joint controller 7. Figure 6 As shown, TMR01A, TMR01 B, and TMR05 are thermistors attached to the shell and are used to sense the temperature of different parts of the shell.

[0054] The passive temperature control measures of the joints are mainly composed of heat pipe assemblies, heat dissipation surfaces and thermal control layers. The heat pipe assembly is mainly composed of two joint main heat pipes 24, eight motor heat pipe assemblies 25 and six joint controller heat pipes 26. The two main heat pipes are distributed on both sides of the joint housing 15. Four motor heat pipes are installed on the main motor assembly 22 and the backup motor assembly 23 respectively, and the other ends of the eight motor heat pipes are connected to the intermediate heat exchange plate 19 by screws. Three joint controller heat pipes are installed on the main control unit and the backup control unit of the joint controller 7 respectively, and the other ends of the six joint controller heat pipes are connected to the intermediate heat exchange plate 19 by screws. One end of the joint main heat pipe is connected to the intermediate heat exchange plate 19 by screws, and the other end is connected to the joint housing 15 by screws. The heat dissipation surface is as follows Figure 3 , Figure 4 As shown, the areas other than the heat dissipation surface are covered with multiple thermal control layers.

[0055] The cable assembly 13 is arranged inside the joint body 1. One end of the cable assembly 13 is divided into three bundles, which are respectively connected to the quick-connect female component 4 and the one-dimensional torque sensor 10 and the rotary transformer 11. The other end is divided into two bundles, one bundle passes through the center hole of the joint and is connected to the joint controller 7, and the other bundle is connected to the quick-connect male component 3.

[0056] An opening 27 is provided on the joint rear cover 18 for passing the joint manual drive mechanism, an interface 28 for fixing the joint manual drive mechanism is provided on the intermediate heat exchange plate 19, a locating pin interface 29 is provided on the quick connection device male component 3, a locating pin interface 30 is provided on the quick connection device female component 4, and a maintenance interface 40 is provided on the gear assembly 31. These interfaces work together to support the on-track replacement and maintenance of the joint.

[0057] An armrest assembly 16 and a universal armrest base 17 are installed on the joint housing 15. With the help of the armrest assembly, astronauts can crawl along the robotic arm and align the robotic arm maintenance tools with the joint maintenance interface. The universal armrest base is used to install the universal armrest to support the in-orbit transfer of joint maintenance spare parts and faulty parts.

[0058] The main motor assembly 22 and the backup motor assembly 23 are composed of the same, consisting of a motor 41, a brake 42 and a rotary transformer 43. The maximum torque of the motor 41 is 2.0Nm, and the maximum braking torque of the two brakes 42 is 0.36Nm. When the brake 42 cannot be opened, one motor 41 can drive the joint to move when two brakes cannot be opened due to failure, and the output torque is greater than the rated output torque of the joint of 400Nm.

[0059] There are 8 places on the joint housing 15 for 16 compression surfaces, including eight side compression surfaces 44 and eight top and bottom compression seats 45, which are used for joint compression and improve the mechanical environment adaptability of the joint.

[0060] The present invention has the characteristics of reliable operation, high degree of integration, strong perception ability, strong autonomous working ability, and large range of motion. All electronic devices such as joint controller, power module, joint one-dimensional torque sensor processing circuit are integrated inside the joint. The elastomer of the one-dimensional torque sensor is integrated on the output gear assembly to directly sense the output torque of the joint. The circuit cold backup method is adopted to complete the backup of the motor assembly, power module, joint controller, and one-dimensional torque sensor, thereby improving the reliability of the joint. The joint integrates a one-dimensional torque sensor (torque perception), a thermistor (temperature perception), and a rotary transformer (position perception) to sense the output torque, temperature, angle information, and speed information of the joint, and has a strong perception ability. The thermal control part adopts a combination of active thermal control and passive thermal control, which greatly reduces the power consumption of the joint's on-orbit temperature control while ensuring the working temperature of the joint. The joint body is equipped with an armrest assembly and a foot limiter mounting base to facilitate astronauts to carry out extravehicular crawling and maintenance. The center hole has a diameter of 58mm, which can accommodate the communication cables, vision cables, power supply cables of the space station's robotic arm joints, and the cables of the rotary transformer and torque sensor inside the joints.

[0061] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A space-based large-scale mechanical, electrical and thermal integrated joint, characterized in that: It comprises a joint body (1), a joint main transmission component (2), a quick connection male component (3), a quick connection female component (4), a forward electromechanical limit device (5), a reverse electromechanical limit device (6), a joint controller (7), a main power module (8), a backup power module (9), a one-dimensional torque sensor (10), a rotary transformer (11), an output gear component (12), a cable component (13) and a thermal control component (14); The quick-connect male component (3) is installed at the axial output end of the joint body (1), and the quick-connect female component (4) is installed at the radial fixed end of the joint body (1); the joint main transmission component (2) is installed inside the joint body (1) and connected to the quick-connect male component (3) through the output gear component (12); the forward electromechanical limit device (5) and the reverse electromechanical limit device (6) are installed on the joint body (1) near the axial output end; the joint controller (7) is assembled into a combination with the main power supply module (8) and the backup power supply module (9) and installed at the axial input end inside the joint body (1); the one-dimensional torque sensor (10) and the rotary transformer (11) are installed inside the joint body (1); the cable component (13) is located at the center hole inside the joint body (1), and the thermal control component (14) is located outside the joint body (1) and outside the joint controller (7); The joint controller (7) controls the joint in real time according to the output torque of the joint, the position and speed of the joint; the main power supply module (8) and the backup power supply module (9) are used to provide power for the joint; the one-dimensional torque sensor (10) is used to sense the output torque of the joint and send it to the joint controller; the rotary transformer (11) is used to sense the position and speed of the joint and send it to the joint controller; the forward electromechanical limit device (5) and the reverse electromechanical limit device (6) are used to realize the forward and reverse position limits of the joint, and the thermal control component (14) realizes active thermal control and passive thermal control of the joint; The thermal control assembly (14) comprises a joint main heat pipe (24), a motor heat pipe assembly (25), a joint controller heat pipe (26), a thermistor, a heating plate, a temperature relay and a heat dissipation surface; A joint main heat pipe (24) is connected to each of the two sides of the joint housing (15), and the other end of the joint main heat pipe (24) is connected to the intermediate heat exchange plate (19) by means of screws; the main motor assembly (22) and the backup motor assembly (23) are each connected to a set of motor heat pipe assemblies (25), and the other end of the motor heat pipe assembly (25) is connected to the intermediate heat exchange plate (19) by means of screws; one end of the joint controller heat pipe (26) is mounted on the joint controller (7), and the other end is connected to the intermediate heat exchange plate (19) by means of screws; The joint housing (15), the main motor assembly (22), the backup motor assembly (23) and the joint controller (7) are all equipped with thermistors on their outer surfaces; a heating plate and a temperature relay are installed on the outer surface of the joint housing (15); a heat dissipation surface is located on the outer surface of the joint housing (15) near the main power module (8) and the backup power module (9); and the outer surface of the joint housing (15) other than the heat dissipation surface is coated with multiple layers of thermal insulation material; The thermistor, the heating plate and the temperature relay constitute a passive thermal control unit of the thermal control component, and the joint main heat pipe (24), the motor heat pipe component (25), the joint controller heat pipe (26) and the heat dissipation surface constitute the passive thermal control unit of the thermal control component.

2. A space large-scale mechanical and electrical integrated joint according to claim 1, characterized in that: The joint body (1) comprises a joint housing (15), an armrest assembly (16), a universal armrest base (17), a joint rear cover (18), an intermediate heat exchange plate (19), a manual drive mechanism mounting plate (20), and a rotary transformer rotor mounting plate (21); A universal armrest base (17) is mounted on the outer surface of a joint housing (15), an armrest assembly (16) is mounted on the universal armrest base (17), a joint rear cover (18) is mounted on the axial input end of the joint housing (15), an intermediate heat exchange plate (19) and a manual drive mechanism mounting plate (20) are sequentially mounted between the joint rear cover (18) and the joint housing (15); and a rotary transformer rotor mounting plate (21) is mounted on the output gear assembly (12) at a position close to the axial output end of the joint body (1).

3. A space large-scale mechanical and electrical integrated joint according to claim 2, characterized in that: The joint main transmission assembly (2) is mounted on a manual drive mechanism mounting plate (20), and comprises a main motor assembly (22), a backup motor assembly (23) and a gear assembly (31); the gear assembly (31) is mounted between the main motor assembly (22) and the backup motor assembly (23), and the gear assembly (31) is simultaneously meshed with the output gear assembly (12) to transmit the rotation of the motor assembly to the output gear assembly (12).

4. A space large-scale mechanical and electrical integrated joint according to claim 3, characterized in that: The main motor assembly (22) is on the same side as the main control unit and the main power module (8) of the joint controller (7), and the backup motor assembly (23) is on the same side as the backup control unit and the backup power module (9) of the joint controller (7); the main motor assembly (22) and the main control unit, the main power module (8) of the joint controller (7), the main circuit of the one-dimensional torque sensor (10), and the rotary transformer (11) form a main control circuit; the backup motor assembly (23) and the backup control unit, the backup power module (9) of the joint controller (7), the backup circuit of the one-dimensional torque sensor (10), and the rotary transformer (11) form a backup control circuit; The rotary transformer (11) has only one circuit and no backup.

5. The space large-scale mechanical and electrical integrated joint according to claim 3, characterized in that: The elastic body of the one-dimensional torque sensor (10) is mounted on the output gear assembly (12), and the circuit part of the one-dimensional torque sensor is mounted on the rotary transformer rotor mounting plate (21); One end of the rotary transformer is connected to the rotary transformer rotor mounting plate (21), and the other end is connected to the joint main transmission component (2).

6. The space large-scale mechanical and electrical integrated joint according to claim 1, characterized in that: The forward electromechanical limit device (5) and the reverse electromechanical limit device (6) are used to limit the rotation range of the output gear assembly (12), wherein the forward electromechanical limit device (5) limits the forward rotation angle of the output gear assembly (12) to within 270°, and the reverse electromechanical limit device (6) limits the reverse rotation angle of the output gear assembly (12) to within -270°.

7. The space large-scale mechanical and electrical integrated joint according to claim 1, characterized in that: One end of the cable assembly (13) is divided into three bundles, which are respectively connected to the quick-connect female assembly (4), the one-dimensional torque sensor (10), and the rotary transformer (11); the other end is divided into two bundles, one of which passes through the center hole of the joint and is connected to the joint controller (7), and the other is connected to the quick-connect male assembly (3).

8. The space large-scale mechanical and electrical integrated joint according to claim 1, characterized in that: A total of 16 pressing surfaces are left at 8 locations on the joint housing (15), including 8 side pressing surfaces (44) and 8 top and bottom pressing seats (45) for joint pressing.

9. The space large-scale mechanical and electrical integrated joint according to claim 1, characterized in that: The joint has an on-orbit maintenance interface, which includes: an opening (27) of the joint rear cover (18), wherein the opening (27) is used to pass a joint manual drive mechanism; An interface (28) on the intermediate heat exchange plate (19) for fixing the joint manual drive mechanism; A positioning pin interface a (29) is reserved on the male component (3) of the quick connection device, and a positioning pin interface b (30) is reserved on the female component (4) of the quick connection device; A maintenance interface (40) on the gear assembly (31).

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