CN103659834B - A kind of multifunctional small-size mechanical arm - Google Patents
A kind of multifunctional small-size mechanical arm Download PDFInfo
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- CN103659834B CN103659834B CN201310586383.0A CN201310586383A CN103659834B CN 103659834 B CN103659834 B CN 103659834B CN 201310586383 A CN201310586383 A CN 201310586383A CN 103659834 B CN103659834 B CN 103659834B
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Abstract
The present invention relates to a kind of multifunctional small-size mechanical arm, this mechanical arm is lightweight, volume is little, be applicable to high vacuum, high/low temperature, many dusty environments, be particularly suitable for using as lunar surface detection, this mechanical arm is connected and installed interface, the first connector, the first driving joint, the second connector, the second driving joint, the 3rd connector, described armed lever, the 4th connector, the 3rd driving joint and locking relieving mechanism by some fastening fastening members successively and forms.This mechanical arm locking relieving mechanism design, possess launch and landing section locking, work time release function, be applicable to launch, land time vibration and impact; The motor of stator pin-connected panel has certain location holding torque, can realize mechanical arm powering up at an arbitrary position, power-off attitude keeps function.
Description
Technical field
The present invention relates to a kind of mechanical arm, particularly relate to a kind of multifunctional small-size mechanical arm being applicable to moon surface detector.
Background technology
At present, inspection tour prober for moon surface mechanical arm is national moon exploration program big event.Mechanical arm has numerous successful Application at space field, especially widely uses in space station and mars exploration.Have Canada, Japan, the space station mechanical arm of European Space Agency and the Marsokhod mechanical arm of the U.S. at present, but these mechanical arms all there is very large volume and weight because it is powerful, be not suitable with the existing carrying capacity of China.And severe in temperature environment, high vacuum, many lunar dust moonscape, need for China's lunar exploration task actual conditions, industry is hoped to some extent to minicomputer mechanical arm, and the mechanical arm being applicable to China's moon exploration program and using is developed in special hope.
Summary of the invention
The object of the present invention is to provide a kind of multifunctional small-size mechanical arm, realize that moon surface detector mechanical arm volume is little, quality is light, possess the function of release when the locking of launch and landing section, work, and under the emergency case such as power-off, there is position retaining function.
To achieve these goals, a kind of multifunctional small-size mechanical arm provided by the invention, 1. a multifunctional small-size mechanical arm, is characterized in that, comprises the first driving joint, the second driving joint, the 3rd driving joint, locking relieving mechanism and accessory, wherein,
Described accessory comprises mounting interface, the first connector, the second connector, the 3rd connector, the 4th connector, some fastening fastening members and armed lever, connect described mounting interface, described first connector, described first driving joint, described second connector, described second driving joint, described 3rd connector, described armed lever, described 4th connector, described 3rd driving joint and described locking relieving mechanism by described some fastening fastening members successively, form described multifunctional small-size mechanical arm;
DC brushless motor, harmonic speed reducer, rotary transformer, seal ring assembly and structural member is included in described first driving joint, described second driving joint and described 3rd driving joint;
Described structural member comprises harmonic wave power shaft, bearing inner seat, bearing outer seat, revolves and becomes transition piece and output interface;
Described DC brushless motor and described harmonic wave power shaft are mechanically connected fixing;
Described harmonic speed reducer and described DC brushless motor and described bearing inner seat are fixed;
Described rotary transformer is made up of rotary transformer stator and rotary transformer rotor, described rotary transformer rotor is fixed on described bearing inner seat, described rotary transformer stator and output interface, described in revolve and become transition piece and described bearing outer seat is connected and fixed, and described rotary transformer stator keeps being synchronized with the movement with described output interface;
Described seal ring assembly is connected with described DC brushless motor;
Described locking relieving mechanism mainly comprises base, firer's cutter, connecting plate, holds down assembly and spring spindle assembly, wherein:
Described firer's cutter, described connecting plate, described in hold down assembly and described spring spindle assembly is all fixedly connected on base, and described connecting plate provides the interface of external device (ED) of other objects of operation for described multifunctional small-size mechanical arm, described base provides the mounting interface of the external device (ED) be fixed on for operating other objects for described multifunctional small-size mechanical arm;
By described fastening fastening members, described connecting plate is connected with described 3rd driving joint, described locking relieving mechanism is connected with described 3rd driving joint, described in hold down assembly at least comprise connect from top to bottom catch cap, cushion pad, impact cap, the first spring, load nut, compressor arm and aluminium honeycomb; Described firer attacks cutter and is connected with described compressor arm, described in hold down assembly and by the pretightning force of described loading nut, described connecting plate and described base compressed, described first spring is in compressive state;
Described spring spindle assembly at least comprises steel ball, the second spring and push rod shell; Described steel ball and described second spring are all placed in the push rod shell of upper end open, and described steel ball is placed on described second spring, and the upper end of described steel ball is against the lower surface of described connecting plate, and described second spring is in compressive state.
Preferably, described DC brushless motor is made up of motor stator component, motor rotor component, electric motor end cap and sensor cluster; Described motor rotor component and described harmonic wave power shaft are mechanically connected fixing;
Described motor rotor component at least comprise axle, main magnet steel, follow the tracks of magnet steel, described axle is columnar hollow shaft, described tracking magnet steel paste be fixed on described axle inwall on, described main magnet steel paste be fixed on described axle outer surface on;
Described motor stator component is made up of motor stator casing and armature, described armature by some wide stator tooth blocks and some narrow stator tooth blocks assembled around described motor stator casing inner ring, and described wide stator tooth block in described armature and described narrow stator tooth block are what be intervally arranged equably, described some wide stator tooth blocks and described some narrow stator tooth blocks are the iron core being wound with winding, and described armature is placed in motor stator casing;
Described sensor cluster is made up of printed circuit board, Hall element and Hall support; Described printed circuit board welds described Hall element, and described printed circuit board is fixed by described Hall support.
Preferably, described sensor cluster is inlayed in the endoporus being fixed on described axle, and described sensor cluster is fixed on described electric motor end cap.
Preferably, the first groove, the second groove and locking nut is respectively equipped with at the two ends of described main magnet steel, tightened at described first groove place by described locking nut, carry out machinery fix main magnet steel, described axle and described main magnet steel carry out machinery to be fixed at described second groove place.
Preferably, the outer surface of described motor stator casing have employed the PROCESS FOR TREATMENT of differential arc oxidation.
Preferably, described seal ring assembly is made up of sealing ring, sealing ring carrier and sealing ring hold-down ring, and sealing ring is loaded between sealing ring carrier and sealing ring hold-down ring, and described sealing ring carrier is fixedly connected with the housing of described motor stator.
Preferably, also comprise at least two limited blocks in described structural member, described sealing ring carrier is provided with at least two projections, and described limited block is fixedly connected with bearing outer seat and output interface, and keeps being synchronized with the movement with described output interface; Described projection is arranged on the motion path of described limited block, and make when described limited block moves to described projection side, described limited block can be blocked by described projection.
Preferably, harmonic speed reducer is made up of wave producer, just wheel and flexbile gear described; Described harmonic wave power shaft and described wave producer are mechanically connected fixing, and described DC brushless motor and described harmonic wave power shaft are mechanically connected fixing; Described firm wheel is fixed by described bearing inner seat and described motor stator casing; Described harmonic speed reducer Driving Torque and Movement transmit give described rotary transformer stator and described output interface.
Preferably, a V-type support back-off is fixed on described base and on described connecting plate and is provided with boss, and described multifunctional small-size mechanical arm does not work during gathering, described boss is fixed in described V-type support.
Preferably, in described locking releasing device, also comprise a microswitch, described microswitch is fixed on described base.
The present invention, owing to adopting above technical scheme, makes it compared with prior art, has following advantage and good effect:
1) this mechanical arm is lightweight, volume is little, is applicable to high vacuum, high/low temperature, many dusty environments;
2) this mechanical arm locking relieving mechanism design, possess launch and landing section locking, work time release function, be applicable to launch, land time vibration and shock environment;
3) the locking relieving mechanism of this mechanical arm devises V-type support and boss structure, be applicable to mechanical arm do not work draw in time, place jolting in whole equipment moving process;
4) the whole sensor cluster of this mechanical arm embeds the endoporus of the axle of motor, reduces motor volume, simultaneously for other follow-up equipment in driving joint provides space, reduces the volume of mechanical arm;
5) the stator pin-connected panel motor of this mechanical arm has certain location holding torque, can realize mechanical arm powering up at an arbitrary position, power-off attitude keeps function.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of multifunctional small-size mechanical arm of the present invention;
Fig. 2 is the structural representation of the first driving joint in Fig. 1, the second driving joint or the 3rd driving joint;
Fig. 3 is the structure sectional view of the locking relieving mechanism of a kind of multifunctional small-size mechanical arm of the present invention;
Fig. 4 is the structure sectional view held down assembly of a kind of multifunctional small-size mechanical arm of the present invention;
Fig. 5 is the structure sectional view of the spring spindle assembly of a kind of multifunctional small-size mechanical arm of the present invention;
Fig. 6 is the driving joint angle range schematic diagram of a kind of multifunctional small-size mechanical arm of the present invention;
Fig. 7 is the structure sectional view of the DC brushless motor of a kind of multifunctional small-size mechanical arm of the present invention;
Fig. 8 is the assembled schematic diagram of armature in Fig. 7;
Fig. 9 is the installation sectional view of main magnet steel in Fig. 7.
Detailed description of the invention
The present invention is further illustrated with reference to the accompanying drawings with specific embodiment.
See the accompanying drawing that the embodiment of the present invention is shown, hereafter in more detail the present invention will be described.But the present invention can realize in many different forms, and should not be construed as by the restriction in the embodiment of this proposition.On the contrary, it is abundant and complete open in order to reach for proposing these embodiments, and makes those skilled in the art understand scope of the present invention completely.
Shown in accompanying drawing 1-9, as the preferred embodiment of a kind of multifunctional small-size mechanical arm provided by the invention, this mechanical arm comprises the first driving joint 1, second driving joint 2, 3rd driving joint 3, locking relieving mechanism 4 and accessory, wherein, accessory comprises mounting interface 51, first connector 52, second connector 53, 3rd connector 54, 4th connector 55, some fastening fastening members and armed lever 56, mounting interface 51 provides external interface for mechanical arm, for providing outside being fixedly connected with for mechanical arm, interface 51 is connected and installed successively by fastening fastening members, first connector 52, first driving joint 1, second connector 53, second driving joint 2, 3rd connector 54, armed lever 56, 4th connector 55, 3rd driving joint 3 and locking relieving mechanism 4, form multifunctional small-size mechanical arm.
DC brushless motor, harmonic speed reducer 15, rotary transformer, seal ring assembly and structural member is included in first driving joint 1, second driving joint 2 and the 3rd driving joint 3.
Structural member comprises harmonic wave power shaft 24, bearing inner seat 13, bearing outer seat 19, revolves and becomes transition piece 20, output interface 22 and limited block 18.
DC brushless motor comprises motor rotor component 11, motor stator component 12, electric motor end cap 49 and sensor cluster.Motor rotor component 11 at least comprises axle 44, main magnet steel 43, follows the tracks of magnet steel 46, and axle 44 is columnar hollow shaft, and tracking magnet steel 46 pastes and is fixed on the inwall of axle, and main magnet steel 43 pastes and is fixed on the outer surface of axle.Main magnet steel 43 preferably fixed form for be respectively equipped with the first groove 431, second groove 432 and locking nut 433 at its two ends, tightened at the first groove 431 place by locking nut 433, carry out machinery to main magnet steel 43 to fix, axle 44 and main magnet steel 43 carry out machinery to be fixed at the second groove 432 place.Motor stator component 12 is made up of motor stator casing 41 and armature 42, armature 42 by some wide stator tooth blocks 421 and some narrow stator tooth blocks 422 assembled around stator case 41 inner ring, and wide stator tooth block 421 in armature 42 and narrow stator tooth block 422 are for being intervally arranged equably, some wide stator tooth blocks 421 and some narrow stator tooth blocks 422 are the iron core being wound with winding, press fit in motor stator casing 41 after armature 42 is assembled; Sensor cluster is made up of printed circuit board 48, Hall element and Hall support 47.Printed circuit board 48 welds Hall element, and printed circuit board 48 is fixed by Hall support 47.
Sensor cluster is inlayed in the endoporus being fixed on axle 44, and sensor cluster is fixed on electric motor end cap 49, can reduce volume and the axial dimension of motor.The assembled motor that makes of stator has certain location holding torque, can realize mechanical arm powering up at an arbitrary position, power-off attitude keeps function.
Motor stator casing 41 outer surface adopts the PROCESS FOR TREATMENT of differential arc oxidation to make it be less than emissivity shining upon lower absorptivity, is applicable to moonscape rugged environment.
As shown in Figure 8, each independent stator tooth block is designed to wide, narrow two kinds of sizes, is assembled into stator armature 42 after the coiling of stator tooth block.Time assembled, each tooth block space arrangement is evenly arranged according to a wide tooth block, a narrow tooth block.Stator armature 42 machines afterwards and motor stator casing 41 carries out press-fiting being combined into motor stator component.The assembled motor that makes of stator has certain location holding torque, can realize mechanical arm powering up at an arbitrary position, power-off attitude keeps function.
When machine operation, adopt reliable printed circuit board and Hall element as position sensor assembly, position sensor assembly and motor body are designed to one, by detecting and tracking rotor-position, integrated circuit in printed circuit board produces the pulse signal of reflection rotor-position, then by the pulsqe distributor of peripheral control unit, control the conducting in turn of final power transistor, give motor winding wheel flow-thru electrode successively, motor stator is made to produce the rotating excitation field of a great-jump-forward, dragging rotor rotates, thus motor is normally run.
Harmonic speed reducer 15 is made up of wave producer, just wheel and flexbile gear; Motor rotor component 11 and harmonic wave power shaft 24 are mechanically connected fixing; Harmonic wave power shaft 24 is by the torque of motor rotor component 11 and Movement transmit to wave producer, and just wheel is fixed by bearing inner seat 13 and the motor stator casing in motor stator component 12; Harmonic speed reducer 15 Driving Torque and Movement transmit are to rotary transformer stator 21 and output interface 22.
Rotary transformer is made up of rotary transformer stator 21 and rotary transformer rotor 23, rotary transformer rotor 23 is fixed on bearing inner seat 13, rotary transformer stator 21 and output interface 22, revolve and becomes transition piece 20 and bearing outer seat 19 is connected and fixed, and rotary transformer stator 21 keeps and output interface 22 is synchronized with the movement.
During mechanical arm work, by controlling the multiple or driving joint in the first driving joint 1, second driving joint 2 and the 3rd driving joint 3, torque and movable information are passed to harmonic speed reducer 15 by harmonic wave power shaft 24 by motor rotor component 11, Driving Torque and motion after harmonic speed reducer 15 slows down.Firm wheel and the bearing inner seat 13 of harmonic speed reducer are connected, and remain motionless.The torque that harmonic speed reducer 15 exports and movable information are through being passed to rotary transformer stator 21, and rotary transformer stator 21 and output interface 22 synchronous axial system, drive related fittings and armed lever to rotate, to realize the motion of mechanical arm by output interface 22.The relative motion of rotary transformer stator 21 and rotary transformer rotor 23 feeds back to peripheral control unit as motion control signal, to control the motion of motor.
Seal ring assembly is made up of sealing ring 17, sealing ring carrier 14 and sealing ring hold-down ring 16, sealing ring 17 is loaded between sealing ring carrier 14 and sealing ring hold-down ring 16, sealing ring carrier 14 is fixedly connected with the motor stator casing 41 in motor stator component 12, and on sealing ring carrier 14, be provided with at least two projections 141, limited block 18 is fixedly connected with bearing outer seat 19 and output interface 22, and keeps being synchronized with the movement with output interface 22; Projection 141 is arranged on the motion path of limited block 18, and make when limited block 18 moves to projection 141 side, limited block 18 can be blocked by projection 141.
The slewing area schematic diagram of multifunctional small-size mechanical arm driving joint as shown in Figure 6.Projection 141 on the mainly sealing ring carrier 14 of restriction and limited block 18 are played to corner.Sealing ring carrier 14 is connected with motor stator casing 41 by securing member, remains static, and limited block 18 is connected with output interface 22 with bearing outer seat 19 by securing member, keeps being synchronized with the movement with output interface 22.The angle range in joint is determined by the position relationship between the projection 141 on sealing ring carrier 14 and limited block 18.Can by changing the angle range in the change joint, position of two projections 141 on sealing ring carrier 14, the realization of assurance function.
Relieving mechanism 4 mainly comprises base 25, firer's cutter 26, microswitch 27, connecting plate 28, hold down assembly 29 and spring spindle assembly 30 in locking, wherein:
Firer's cutter 26, microswitch 27, connecting plate 28, hold down assembly 29 and spring spindle assembly 30 be all fixedly connected on base 25, and connecting plate 28 provides the interface of external device (ED) of other objects of operation for multifunctional small-size mechanical arm, base 25 is provided for the mounting interface being fixed on other objects for multifunctional small-size mechanical arm.
By fastening fastening members, connecting plate 28 is connected with the 3rd driving joint 3, locking relieving mechanism 4 is connected with the 3rd driving joint 3, hold down assembly 29 at least comprise connect from top to bottom catch cap 31, cushion pad 32, impact cap 33, first spring 454, load nut 455, compressor arm 36 and aluminium honeycomb 37; Firer's cutter 42 is connected with compressor arm 36, hold down assembly and 29 by loading the pretightning force of nut, connecting plate 28 and base 25 are compressed, first spring 34 is in compressive state, impact cap 33 is buckled with and catches cap 31, and catch cap 31 internal fixtion cushion pad 32 is housed, impact cap 33, first spring 34, from top to bottom fixed is fixed successively to load nut 35, compressor arm 36 and aluminium honeycomb 37.
Spring spindle assembly 30 at least comprises steel ball 38, second spring 39 and push rod shell 40; Steel ball 38 and the second spring 39 are all placed in the push rod shell 40 of upper end open, and steel ball 38 is placed on the second spring 39, and the upper end of steel ball 38 is against the lower surface of connecting plate 28, and the second spring 39 is in compressive state.
Microswitch 27 is connected on base 25 by fastening fastening members.
In transmit state, mechanical arm is in gathering locking state, and by holding down assembly 29 by compression between connecting plate 28 and base 25, the second spring 39 is compressed.Mechanical arm judges initial position signal by microswitch 27.The loading force compressed is ensured by the pretightning force loading nut 35.
During unblock, firer's cutter 26 is lighted a fire, compressor arm 36 is cut to two sections by cutting knife, cutting-off process produces two impulsive forces along compressor arm 36 draw direction, impulsive force major part is absorbed by aluminium honeycomb 37, and meanwhile, compressor arm upper semisection is caught in cavity that cap 31 and connecting plate 28 formed by being accommodated in completely under the effect of the first spring 34, be convenient to connecting plate 28 and base 25 realizes tangential separation along seal face, be different from the mode of general withdrawing compressor arm.Second spring 39 discharges pretightning force, promote the self-holding force that steel ball 38 overcomes mechanical arm driving joint, connecting plate 28 is backed down certain distance from base 25 seal face, realize without friction tangential separation between connecting plate 28 and base 25 seal face, steel ball 38 gives prominence to the height decision connecting plate 28 of push rod shell 40 and the separating distance of base 25.Mechanical arm locking relieving mechanism design, be applicable to launch, land time vibration, shock environment.
After mechanical arm unlocks, under being in a rounding state of advancing, the V-type support 251 on base 25 and be provided with boss 281 on connecting plate 28, and described multifunctional small-size mechanical arm does not work when drawing in, boss 281 is fixed in V-type support 251.Realize mechanical arm by the engaging of the V-type support on base and the boss on connecting plate spacing along the front and back of the direction of advance of the equipment such as rover at its place, be applicable to the jolt environment of mechanical arm in moving process.
In sum, this mechanical arm is lightweight, volume is little, is applicable to high vacuum, high/low temperature, many dusty environments, is particularly suitable for using as moon surface detector.
Be only specific embodiments of the invention disclosed in above-mentioned, this embodiment is only that clearer explanation the present invention is used, and is not limitation of the invention, and the changes that any person skilled in the art can think of, all should drop in protection domain.
Claims (10)
1. a multifunctional small-size mechanical arm, is characterized in that, comprises the first driving joint, the second driving joint, the 3rd driving joint, locking relieving mechanism and accessory, wherein,
Described accessory comprises mounting interface, the first connector, the second connector, the 3rd connector, the 4th connector, some fastening fastening members and armed lever, connect described mounting interface, described first connector, described first driving joint, described second connector, described second driving joint, described 3rd connector, described armed lever, described 4th connector, described 3rd driving joint and described locking relieving mechanism by described some fastening fastening members successively, form described multifunctional small-size mechanical arm;
DC brushless motor, harmonic speed reducer, rotary transformer, seal ring assembly and structural member is included in described first driving joint, described second driving joint and described 3rd driving joint;
Described structural member comprises harmonic wave power shaft, bearing inner seat, bearing outer seat, revolves and becomes transition piece and output interface;
Described DC brushless motor and described harmonic wave power shaft are mechanically connected fixing;
Described harmonic speed reducer and described DC brushless motor and described bearing inner seat are fixed;
Described rotary transformer is made up of rotary transformer stator and rotary transformer rotor, described rotary transformer rotor is fixed on described bearing inner seat, described rotary transformer stator and output interface, described in revolve and become transition piece and described bearing outer seat is connected and fixed, and described rotary transformer stator keeps being synchronized with the movement with described output interface;
Described seal ring assembly is connected with described DC brushless motor;
Described locking relieving mechanism mainly comprises base, firer's cutter, connecting plate, holds down assembly and spring spindle assembly, wherein:
Described firer's cutter, described connecting plate, described in hold down assembly and described spring spindle assembly is all fixedly connected on base, and described connecting plate provides the interface of external device (ED) of other objects of operation for described multifunctional small-size mechanical arm, described base provides the mounting interface of the external device (ED) be fixed on for operating other objects for described multifunctional small-size mechanical arm;
By described fastening fastening members, described connecting plate is connected with described 3rd driving joint, described locking relieving mechanism is connected with described 3rd driving joint, described in hold down assembly at least comprise connect from top to bottom catch cap, cushion pad, impact cap, the first spring, load nut, compressor arm and aluminium honeycomb; Described firer's cutter is connected with described compressor arm, described in hold down assembly and by the pretightning force of described loading nut, described connecting plate and described base compressed, described first spring is in compressive state;
Described spring spindle assembly at least comprises steel ball, the second spring and push rod shell; Described steel ball and described second spring are all placed in the push rod shell of upper end open, and described steel ball is placed on described second spring, and the upper end of described steel ball is against the lower surface of described connecting plate, and described second spring is in compressive state.
2. a kind of multifunctional small-size mechanical arm as claimed in claim 1, it is characterized in that, described DC brushless motor is made up of motor stator component, motor rotor component, electric motor end cap and sensor cluster; Described motor rotor component and described harmonic wave power shaft are mechanically connected fixing;
Described motor rotor component at least comprise axle, main magnet steel, follow the tracks of magnet steel, described axle is columnar hollow shaft, described tracking magnet steel paste be fixed on described axle inwall on, described main magnet steel paste be fixed on described axle outer surface on;
Described motor stator component is made up of motor stator casing and armature, described armature by some wide stator tooth blocks and some narrow stator tooth blocks assembled around described motor stator casing inner ring, and described wide stator tooth block in described armature and described narrow stator tooth block are what be intervally arranged equably, described some wide stator tooth blocks and described some narrow stator tooth blocks are the iron core being wound with winding, and described armature is placed in motor stator casing;
Described sensor cluster is made up of printed circuit board, Hall element and Hall support; Described printed circuit board welds described Hall element, and described printed circuit board is fixed by described Hall support.
3. a kind of multifunctional small-size mechanical arm as claimed in claim 2, it is characterized in that, described sensor cluster is inlayed in the endoporus being fixed on described axle, and described sensor cluster is fixed on described electric motor end cap.
4. a kind of multifunctional small-size mechanical arm as claimed in claim 2, it is characterized in that, the first groove, the second groove and locking nut is respectively equipped with at the two ends of described main magnet steel, tightened at described first groove place by described locking nut, carry out machinery to main magnet steel to fix, described axle and described main magnet steel carry out machinery to be fixed at described second groove place.
5. a kind of multifunctional small-size mechanical arm as claimed in claim 2, is characterized in that, the outer surface of described motor stator casing have employed the PROCESS FOR TREATMENT of differential arc oxidation.
6. a kind of multifunctional small-size mechanical arm as claimed in claim 2, it is characterized in that, described seal ring assembly is made up of sealing ring, sealing ring carrier and sealing ring hold-down ring, sealing ring is loaded between sealing ring carrier and sealing ring hold-down ring, and described sealing ring carrier is fixedly connected with the housing of described motor stator.
7. a kind of multifunctional small-size mechanical arm as claimed in claim 6, it is characterized in that, at least two limited blocks are also comprised in described structural member, described sealing ring carrier is provided with at least two projections, described limited block is fixedly connected with bearing outer seat and output interface, and keeps being synchronized with the movement with described output interface; Described projection is arranged on the motion path of described limited block, and make when described limited block moves to described projection side, described limited block can be blocked by described projection.
8. a kind of multifunctional small-size mechanical arm as claimed in claim 2, is characterized in that, harmonic speed reducer is made up of described wave producer, just wheel and flexbile gear; Described harmonic wave power shaft and described wave producer are mechanically connected fixing, and described DC brushless motor and described harmonic wave power shaft are mechanically connected fixing; Described firm wheel is fixed by described bearing inner seat and described motor stator casing; Described harmonic speed reducer Driving Torque and Movement transmit give described rotary transformer stator and described output interface.
9. a kind of multifunctional small-size mechanical arm as claimed in claim 1, it is characterized in that, one V-type support back-off is fixed on described base and on described connecting plate and is provided with boss, and described multifunctional small-size mechanical arm does not work during gathering, described boss is fixed in described V-type support.
10. a kind of multifunctional small-size mechanical arm as claimed in claim 1, is characterized in that, in described locking releasing device, also comprise a microswitch, described microswitch is fixed on described base.
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| CN104908045B (en) * | 2015-05-11 | 2016-10-26 | 上海宇航系统工程研究所 | A kind of auto lock and the space manipulator of release |
| CN104999460B (en) * | 2015-08-10 | 2017-03-08 | 苏州驱指自动化科技有限公司 | Articulated robot refers to |
| CN108015798B (en) * | 2017-12-07 | 2023-06-20 | 上海宇航系统工程研究所 | Space manipulator joint capable of being released and locked |
| CN108357699B (en) * | 2018-02-23 | 2021-05-14 | 哈尔滨工业大学 | Space flexible arm tail end tool box pressing and anti-radiation protection mechanism |
| CN108871065B (en) * | 2018-04-27 | 2023-08-22 | 中国科学院沈阳自动化研究所 | Space effective load compressing and releasing device suitable for lunar surface environment |
| CN108870034B (en) * | 2018-04-27 | 2023-09-15 | 中国科学院沈阳自动化研究所 | Robotic panoramic camera turntable adapting to lunar environment |
| CN112006786A (en) * | 2020-08-28 | 2020-12-01 | 无锡华飞杰希科技有限公司 | Medical auxiliary tool |
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