CN104942820B - A kind of space anthropomorphic robot arm joint - Google Patents
A kind of space anthropomorphic robot arm joint Download PDFInfo
- Publication number
- CN104942820B CN104942820B CN201510302523.6A CN201510302523A CN104942820B CN 104942820 B CN104942820 B CN 104942820B CN 201510302523 A CN201510302523 A CN 201510302523A CN 104942820 B CN104942820 B CN 104942820B
- Authority
- CN
- China
- Prior art keywords
- bearing
- joint
- electric machine
- power transmission
- angle measurement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a kind of space anthropomorphic robot arm joint, including joint drive component, joint transmission component and joint electric component；Joint drive component includes：Locking nut（11）, brake rotation dish（12）, brake permanent magnet（13）, bearing gland（14）, electric machine casing（15）, end ring（16）, clutch shaft bearing（17）, power transmission shaft（18）, rotor（19）, motor stator（110）, second bearing（111）, the first angle measurement element rotor（112）, adjustment sleeve（113）, motor card（114）, angle measurement element reading head（115）, the first connecting key（116）, the second connecting key（117）, compress gasket（118）And axle sleeve（119）.
Description
Technical field
The present invention relates to robot for space mechanical arm technical field, more particularly to a kind of space anthropomorphic robot arm is closed
Section.
Background technology
The core component of space anthropomorphic robot is driving joint, and it is fixed that it is that robot arm completes motion planning, end
The basis that position and power are controlled.
China's manned space flight, the substantial amounts of space tasks of manned moon landing's project planning, some are only difficult to independence by astronaut
Complete, in order to improve spatial operation level, expand activity space and working space, mitigate spacefarer's work load, reduce out cabin
Risk is, it is necessary to which robot astronaut is autonomous or auxiliary spacefarer completes many spatial operation tasks.
The research of the space anthropomorphic robot of China still has certain gap away from world lead level, in robot for space joint
Aspect, has mainly carried out prototype design and in-orbit experiment to the joint of space big machinery arm, for space anthropomorphic robot hand
Shoulder joint research is less.Existing space mechanical arm is because arthritic volume quality is larger, power consumption big, positioning precision is not high, be difficult
Rail is unsuitable for using on anthropomorphic robot caused by changing.Accordingly, it would be desirable to which designing one kind is suitable for space anthropomorphic robot
The modularized joint of application, is become more meticulous with meeting spatial operation task, complicated and diversified requirement.
The content of the invention
There is provided a kind of space anthropomorphic robot arm joint for deficiencies of the prior art by the present invention.This
Invention is achieved through the following technical solutions：
A kind of space anthropomorphic robot arm joint, including joint drive component and it is separately positioned on joint drive component
The joint transmission component at two ends, joint electric component；
Joint drive component includes：Locking nut (11), brake rotation dish (12), brake permanent magnet (13), bearing
Gland (14), electric machine casing (15), end ring (16), clutch shaft bearing (17), power transmission shaft (18), rotor (19), motor
Stator (110), second bearing (111), the first angle measurement element rotor (112), adjustment sleeve (113), motor card (114), survey
Angle element reading head (115), the first connecting key (116), the second connecting key (117), compress gasket (118) and axle sleeve (119)；
From left to right be set with electric machine casing (15), brake permanent magnet (13) on power transmission shaft (18), power transmission shaft (18) with
It is provided between electric machine casing (15) on clutch shaft bearing (17), electric machine casing (15) and is installed with end ring (16), bearing rib
Circle (16) is used to encapsulate clutch shaft bearing (17), and rotor (19) is arranged in electric machine casing (15), and rotor (19) with
Axle sleeve (119) is connected, and is fixedly mounted on by the second connecting key (117) on power transmission shaft (18), motor stator (110) is arranged on electricity
In casing body (15), and keep circumferentially positioned by compress gasket (114) and electric machine casing (15), motor stator (110) suit
Outside in rotor (19), is provided with second bearing (111), second bearing between power transmission shaft (18) and bearing gland (14)
(111) axially position, bearing gland (14) and the fixed company of electric machine casing (15) are completed by axle sleeve (119) and bearing gland (14)
Connect, and the axial location of motor stator (110) is limited jointly with electric machine casing (15), adjust sleeve (113) and be sleeved on power transmission shaft
(18) on, brake rotation dish (12) is fixedly mounted on power transmission shaft (18) by the first connecting key (116), and brake is rotated
Disk (12) is located at the right-hand member of adjustment sleeve (113), and adjustment sleeve (113) can adjust the axially mounted position of brake rotation dish (12)
Put, brake rotation dish (12) is fixedly mounted on power transmission shaft (18) by locking nut (11), the first connecting key (116), make
Dynamic device permanent magnet (13) is sleeved on the outside of brake rotation dish (12), and is fixed on bearing gland (14), the first angle measurement member
Part rotor (112) is arranged between adjustment sleeve (113) and axle sleeve (119), and is fixed on axle sleeve (119), and angle measurement element is read
Several (115) are fixed on bearing gland (14) by compress gasket (118).
Preferably, joint transmission component includes torque sensor (21), the second angle measurement element stator (22), the second angle measurement member
Part rotor (23), decelerator flange (24), output shaft (25), adpting flange (26), angle measurement element pressure ring (27), joint inner casing
(28), articular shell (29), 3rd bearing (210), bearing (ball) cover (211), bearing trim ring (212), hollow shaft (213), harmonic wave
Decelerator steel wheel (214), harmonic speed reducer wave producer (215) harmonic decelerator flexbile gear (216)；
Joint inner casing (28) is arranged in articular shell (29), and joint inner casing (29) passes through harmonic speed reducer steel wheel (214)
It is connected with electric machine casing (15), 3rd bearing (210), bearing (ball) cover is installed between electric machine casing (15) and articular shell (29)
(211) it is connected on articular shell (29), bearing trim ring (212) is fixed on electric machine casing (15), with bearing (ball) cover (211) altogether
With the axial location for defining 3rd bearing (210), hollow shaft (213) is arranged in power transmission shaft (18), and power transmission shaft (18) is set
In joint in inner casing (28), and hollow shaft (213) and power transmission shaft (18), joint inner casing (28) and articular shell (29) coaxial line
Set, inner casing (28) left side in joint is connected with electric machine casing (15) indirectly by harmonic speed reducer steel wheel (214), electric machine casing
(15) be used to limiting the axial locations of 3rd bearing (210), harmonic speed reducer wave producer (215) by adpting flange (26) with
Power transmission shaft (18) is connected, and harmonic reducer flexible wheel (216) is sleeved on the outside of harmonic speed reducer wave producer (215), and passes through
Decelerator flange (24) is connected with output shaft (25), and the second angle measurement element rotor (23) is enclosed within the interior axle of articular shell (29),
Its axial location is limited by angle measurement element pressure ring (27), the second angle measurement element stator (22) is fixed on joint inner casing (28),
The inner ring of torque sensor (21) is connected on output shaft (25), and outer ring is connected on articular shell (29).
Preferably, joint electric component includes lid (31), circuit board bonnet (32), the first motherboard (33), the on circuit board
Two motherboards (34) and circuit board support (35)；Cover (31), circuit board bonnet (32) on circuit board to surround to form housing, four electricity
On the fixed inner surface of lid (31) on circuit boards of road board mount (35), the first motherboard (33) and the second motherboard (34) are fixed on four
On individual circuit board support (35), circuit board bonnet (32) is fixedly connected on rear side of the second motherboard (34).
Preferably, the hold-down gear of the second angle measurement element rotor (23) includes angle measurement element stage clip and pressure ring (27), compress
Rotor is fixed on articular shell (29) input shaft by device, and the second angle measurement element stator (22) is fixed using half opening formula screw
On joint inner casing (28), electric machine casing (15) is connected to.
The present invention uses above technical scheme, is allowed to compared with prior art, have the following advantages that and good effect：
1st, the present invention only has two layers of housing of electric machine casing and articular shell, reduces joint total quality；
2nd, the rigidity angle of torque sensor of the present invention, can resist part moment of flexure, therefore only match somebody with somebody an outer layer bearing, drop
Low joint overall volume；
3rd, hollow shaft of the invention is used as cable passage, it is ensured that the reliability that joint is powered and communicated；
4th, joint circuit board of the present invention is on circuit board support, and circuit board support card is covered on circuit boards, Ke Yifang
Just dismounting.
Brief description of the drawings
Fig. 1 is a kind of appearance schematic diagram for space anthropomorphic robot arm joint that the present invention is provided；
Fig. 2 is a kind of main sectional view for space anthropomorphic robot arm joint that the present invention is provided；
Fig. 3 is the main sectional view for the joint drive component that the present invention is provided；
Fig. 4 is the broken section Fig. 1 for the joint drive component that the present invention is provided；
Fig. 5 is the broken section Fig. 2 for the joint drive component that the present invention is provided；
Fig. 6 is the main sectional view for the joint transmission component that the present invention is provided；
Fig. 7 is the main sectional view for the joint electric component that the present invention is provided；
Fig. 8 is the partial sectional view for the joint electric component that the present invention is provided；
Illustrate：
11-locking nut, 12-brake rotation dish, 13-brake permanent magnet, 14-bearing gland, 15-motor
Housing, 16-end ring, 17-clutch shaft bearing, 18-power transmission shaft, 19-rotor, 110-motor stator, 111-the
Two bearings, the 112-the first angle measurement element rotor, 113-adjustment sleeve, 114-motor card, 115-angle measurement element reading head,
116-the first connecting key, the 117-the second connecting key, 118-compress gasket, 119-axle sleeve, 21-torque sensor, 22-the
Two angle measurement element stators, the 23-the second angle measurement element rotor, 24-decelerator flange, 25-output shaft, 26-adpting flange,
27-angle measurement element pressure ring, 28-joint inner casing, 29-articular shell, 210-3rd bearing, 211-bearing (ball) cover, 212-
Bearing trim ring, 213-hollow shaft, 214-harmonic speed reducer steel wheel, 215-harmonic speed reducer wave producer, 216-harmonic wave subtract
Lid, 32-circuit board bonnet, the 33-the first motherboard, the 34-the second motherboard, 35-circuit board branch on fast device flexbile gear, 31-circuit board
Frame.
Embodiment
Below with reference to the accompanying drawing of the present invention, clear, complete description is carried out to the technical scheme in the embodiment of the present invention
And discussion, it is clear that as described herein is only a part of example of the present invention, is not whole examples, based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained on the premise of creative work is not made
Example, belongs to protection scope of the present invention.
For the ease of the understanding to the embodiment of the present invention, make further by taking specific embodiment as an example below in conjunction with accompanying drawing
Illustrate, and each embodiment does not constitute the restriction to the embodiment of the present invention.
As shown in Figures 1 to 8, a kind of space anthropomorphic robot arm joint that present embodiment is provided includes joint drive
Component, joint transmission component and joint electric component；Joint drive group valency includes locking nut 11, brake rotation dish 12, system
Dynamic device permanent magnet 13, bearing gland 14, electric machine casing 15, end ring 16, clutch shaft bearing 17, power transmission shaft 18, rotor 19,
Motor stator 110, second bearing 111, the first angle measurement element rotor 112, adjustment sleeve 113, motor card 114, angle measurement element
First 115, first connecting key 116 of reading, the second connecting key 117, compress gasket 118, axle sleeve 119 and multiple fastening bolts 120；
As shown in Figures 2 to 5, electric machine casing 15, brake permanent magnet 13 are from left to right set with power transmission shaft 18, is driven
It is provided between axle 18 and electric machine casing 15 on clutch shaft bearing 17, electric machine casing 15 and is installed with end ring 16, end ring
16 are used to encapsulate clutch shaft bearing 17, and rotor 19 is arranged in electric machine casing 15, and rotor 19 is connected with axle sleeve 119,
It is fixedly mounted on by the second connecting key 117 on power transmission shaft 18, motor stator 110 is arranged in electric machine casing 15, and passes through pressure
Tight pad 114 keeps circumferentially positioned with electric machine casing 15, and motor stator 110 is sleeved on the outside of rotor 19, power transmission shaft 18
Second bearing 111 is provided between bearing gland 14, second bearing 111 completes axially fixed by axle sleeve 119 and bearing gland 14
Position, bearing gland 14 is fixedly connected with electric machine casing 15, and with the axial position of the common restriction motor stator 110 of electric machine casing 15
Put, adjustment sleeve 113 is sleeved on power transmission shaft 18, and brake rotation dish 12 is fixedly mounted on transmission by the first connecting key 116
On axle 18, and brake rotation dish 12 is located at the right-hand member of adjustment sleeve 113, and adjustment sleeve 113 can adjust brake rotation dish 12
Axially mounted position, brake rotation dish 12 is fixedly mounted on power transmission shaft 18 by locking nut 11, the first connecting key 116
On, brake permanent magnet 13 is sleeved on the outside of brake rotation dish 12, and is fixed on bearing gland 14, the first angle measurement element
Rotor 112 is arranged between adjustment sleeve 113 and axle sleeve 119, and is fixed on axle sleeve 119, and angle measurement cell readings first 115 pass through
Compress gasket 118 is fixed on bearing gland 14；
As shown in fig. 6, joint transmission component includes torque sensor 21, the second angle measurement element stator 22, the second angle measurement member
Part rotor 23, decelerator flange 24, output shaft 25, adpting flange 26, angle measurement element pressure ring 27, joint inner casing 28, articular shell
29th, 3rd bearing 210, bearing (ball) cover 211, bearing trim ring 212, hollow shaft 213, harmonic speed reducer steel wheel 214, harmonic speed reducer
The harmonic decelerator flexbile gear 216 of wave producer 215；
Joint inner casing 28 is arranged in articular shell 29, and joint inner casing 29 passes through harmonic speed reducer steel wheel 214 and motor casing
Body 15 is connected, and 3rd bearing 210 is provided between electric machine casing 15 and articular shell 29, bearing (ball) cover 211 is connected in outside joint
On shell 29, bearing trim ring 212 is fixed on electric machine casing 15, and the axial direction of 3rd bearing 210 is collectively defined with bearing (ball) cover 211
Position, hollow shaft 213 is arranged in power transmission shaft 18, and power transmission shaft 18 is arranged in joint inner casing 28, and hollow shaft 213 and power transmission shaft
18th, joint inner casing 28 and articular shell 29 are coaxially set, and the left side of joint inner casing 28 passes through between harmonic speed reducer steel wheel 214
Connect and be connected with electric machine casing 15, electric machine casing 15 is used for the axial location for limiting 3rd bearing 210, harmonic speed reducer wave producer
215 are connected by adpting flange 26 and power transmission shaft 18, and harmonic reducer flexible wheel 216 is sleeved on harmonic speed reducer wave producer 215
Outside, and be connected by decelerator flange 24 and output shaft 25, the second angle measurement element rotor 23 is enclosed within the interior of articular shell 29
On axle, its axial location is limited by angle measurement element pressure ring 27, the second angle measurement element stator 22 is fixed on joint inner casing 28, power
The inner ring of square sensor 21 is connected on output shaft 25, and outer ring is connected on articular shell 29；
As shown in Figure 7, Figure 8, joint electric component includes lid 31, circuit board bonnet 32, the first motherboard 33, the on circuit board
Two motherboards 34, circuit board support 35；Lid 31, circuit board bonnet 32 surround to form housing on circuit board, four circuit board supports 35
On the fixed inner surface of lid 31 on circuit boards, the first motherboard 33 and the second motherboard 34 are fixed on four circuit board supports 35,
Circuit board bonnet 32 is fixedly connected on the rear side of the second motherboard 34；
The gap of the upper-part of power transmission shaft 18 of present embodiment is adjusted by axle sleeve 119 and adjustment sleeve 113.In joint drive
In component, the first angle measurement element rotor 112 is used for the output angle for detecting power transmission shaft.
The harmonic speed reducer wave producer 215 of present embodiment is fixedly connected by adpting flange 26 with power transmission shaft 18, real
The power connector of joint drive component and joint transmission component is showed, the motion of motor is delivered to outside by adpting flange；
Realized and closed using jackscrew with three and identical screwed hole on motor card 114 are equipped with 120 directional spredings on electric machine casing 15
Save the circumferentially positioned of drive component.
Lid 31 constitutes a component with circuit board support 35 on present embodiment circuit board, and the component can be used as joint electricity
The boundary of pneumatic module and joint transmission component, and support can be provided for the installation of the first motherboard 33 and the second motherboard 34 and fixed.
The operation principle of the present invention：Torque and power are passed through axle sleeve 119 and second by rotor 19, motor stator 110
Connecting key 117 passes to power transmission shaft 18 and exported as the torque of shutdown drive component.The power transmission shaft 18 is by clutch shaft bearing 17 and
Two bearings 111 are supported, and the part on power transmission shaft 18 is compressed by end ring 16 and bearing gland 14.Power transmission shaft 18 is not only realized
The transmission of power, also achieves the function of motor angle measurement and braking.First angle measurement element rotor 112 is fixed on axle sleeve 119,
Realized by the second connecting key 117 circumferentially positioned.Adjustment sleeve 113 is used for the position for adjusting brake rotation dish 12, so that
Realize the adjustment of brake air gap.First connecting key 116 is housed, the circumference for realizing brake rotation dish 12 is determined on power transmission shaft 18
Position.Electromagnetic brake uses dead electricity mode of braking, and brake permanent magnet 13 inhales brake rotation dish 12 in the case of dead electricity
Close, realize braking effect.Whole joint drive component is fixed by locking nut 11.Harmonic speed reducer wave producer 215 passes through even
Acting flange 26 is fixedly connected with power transmission shaft 18, realizes the power connector of joint drive component and joint transmission component, by motor
Motion outside is delivered to by adpting flange；In 120 ° of directional spreding with being equipped with three and motor card on electric machine casing 15
Identical screwed hole on 114, the circumferentially positioned of joint drive component is realized using jackscrew.
Electric machine casing 15 is supported by 3rd bearing 210.3rd bearing 210 carries out axially position by bearing trim ring 212,
The regulation of pretightning force is carried out by bearing (ball) cover 211.Hollow shaft 213 is provided with joint transmission component, directly and circuit
Lid 31 is fixedly connected on plate, and it is as cable passage, therefore not load-bearing.The output shaft 25 and harmonic wave set in joint transmission component
Decelerator flexbile gear 216 is fixedly connected, and power and torque are passed into torque sensor 21, torque sensor 21 and articular shell 29
It is fixedly connected, final power output is realized by articular shell 29.Second angle measurement element rotor 23 passes through angle measurement element pressure ring 27
Compress, be fixed on the input shaft of articular shell 29, the output angle in joint can be detected, this mounting means causes angle measurement member
The measurement result of part contains the windup-degree of torque sensor so that measurement result is more accurate.
The present invention solve existing space mechanical arm because arthritic volume quality is larger, power consumption is big, positioning precision is not high, no
The problem of being unsuitable for using on anthropomorphic robot caused by easy in-orbit replacing, and then propose a kind of applied to space apery
The arm joint of robot, it is adaptable in the anthropomorphic robot of space.
The foregoing is intended to be a preferred embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (3)
1. a kind of space anthropomorphic robot arm joint, it is characterised in that including joint drive component and be arranged on the pass
The joint transmission component of section drive component one end and the joint electric component for being arranged on the joint drive component other end；
The joint drive component includes：Locking nut (11), brake rotation dish (12), brake permanent magnet (13), bearing
Gland (14), electric machine casing (15), end ring (16), clutch shaft bearing (17), power transmission shaft (18), rotor (19), motor
Stator (110), second bearing (111), the first angle measurement element rotor (112), adjustment sleeve (113), motor card (114), survey
Angle cell readings head (115), the first connecting key (116), the second connecting key (117), compress gasket (118) and axle sleeve (119)；
The electric machine casing (15), the brake permanent magnet (13) are from left to right set with the power transmission shaft (18), it is described
Fixed peace on the clutch shaft bearing (17), the electric machine casing (15) is provided between power transmission shaft (18) and the electric machine casing (15)
Equipped with the end ring (16), the end ring (16) is used to encapsulate the clutch shaft bearing (17), the rotor
(19) it is arranged in the electric machine casing (15), and the rotor (19) is connected with the axle sleeve (119), passes through described the
Two connecting keys (117) are fixedly mounted on the power transmission shaft (18), and the motor stator (110) is arranged on the electric machine casing
(15) in, and circumferentially positioned, the motor stator is kept with the electric machine casing (15) by the compress gasket (118)
(110) outside of the rotor (19) is sleeved on, institute is provided between the power transmission shaft (18) and the bearing gland (14)
Second bearing (111) is stated, the second bearing (111) is completed axially by the axle sleeve (119) and the bearing gland (14)
Positioning, the bearing gland (14) is fixedly connected with the electric machine casing (15), and is limited jointly with the electric machine casing (15)
The axial location of the motor stator (110), the adjustment sleeve (113) is sleeved on the power transmission shaft (18), the braking
Device rotation dish (12) is fixedly mounted on the power transmission shaft (18) by first connecting key (116), and the brake turns
Moving plate (12) is located at the right-hand member of the adjustment sleeve (113), and the adjustment sleeve (113) can adjust the brake rotation dish
(12) axially mounted position, the brake rotation dish (12) passes through the locking nut (11), first connecting key
(116) it is fixedly mounted on the power transmission shaft (18), the brake permanent magnet (13) is sleeved on the brake rotation dish
(12) outside, and be fixed on the bearing gland (14), the first angle measurement element rotor (112) is arranged on the adjustment
Between sleeve (113) and the axle sleeve (119), and it is fixed on the axle sleeve (119), the angle measurement cell readings head (115)
It is fixed on by the compress gasket (118) on the bearing gland (14)；
The joint transmission component includes torque sensor (21), the second angle measurement element stator (22), the second angle measurement element rotor
(23), decelerator flange (24), output shaft (25), adpting flange (26), angle measurement element pressure ring (27), joint inner casing (28), pass
Save shell (29), 3rd bearing (210), bearing (ball) cover (211), bearing trim ring (212), hollow shaft (213), harmonic speed reducer steel
Take turns (214), harmonic speed reducer wave producer (215) harmonic decelerator flexbile gear (216)；
The joint inner casing (28) is arranged in the articular shell (29), and the joint inner casing (28) passes through the harmonic reduction
Device steel wheel (214) is connected with the electric machine casing (15), is installed between the electric machine casing (15) and the articular shell (29)
There is the 3rd bearing (210), the bearing (ball) cover (211) is connected on the articular shell (29), the bearing trim ring
(212) it is fixed on the electric machine casing (15), the 3rd bearing (210) is collectively defined with the bearing (ball) cover (211)
Axial location, the hollow shaft (213) is arranged in the power transmission shaft (18), and the power transmission shaft (18) is arranged on the joint
In inner casing (28), and the hollow shaft (213) and the power transmission shaft (18), the joint inner casing (28) and the articular shell
(29) be coaxially set, joint inner casing (28) left side by the harmonic speed reducer steel wheel (214) indirectly with the electricity
Casing body (15) is connected, and the electric machine casing (15) is used for the axial location for limiting the 3rd bearing (210), and the harmonic wave subtracts
Fast device wave producer (215) is connected by the adpting flange (26) and the power transmission shaft (18), the harmonic reducer flexible wheel
(216) be sleeved on the outside of the harmonic speed reducer wave producer (215), and by the decelerator flange (24) with it is described defeated
Shaft (25) is connected, and the second angle measurement element rotor (23) is enclosed within the interior axle of the articular shell (29), is surveyed by described
Angle element pressure ring (27) limits its axial location, and the second angle measurement element stator (22) is fixed on the joint inner casing (28)
On, the inner ring of the torque sensor (21) is connected on the output shaft (25), and outer ring is connected in the articular shell (29)
On.
2. anthropomorphic robot arm joint in space according to claim 1, it is characterised in that the joint electric component bag
Include and (31), circuit board bonnet (32), the first motherboard (33), the second motherboard (34) and circuit board support (35) are covered on circuit board；
Cover (31), circuit board bonnet (32) on the circuit board to surround to form housing, four circuit board supports (35) are fixed on circuit board
On the inner surface of upper lid (31), first motherboard (33) and the second motherboard (34) are fixed on four circuit board supports (35),
Circuit board bonnet (32) is fixedly connected on rear side of the second motherboard (34).
3. anthropomorphic robot arm joint in space according to claim 2, it is characterised in that the second angle measurement element turns
The hold-down gear of sub (23) includes angle measurement element stage clip and pressure ring (27), and rotor is fixed on the articular shell by hold-down gear
(29) on input shaft, the second angle measurement element stator (22) is fixed on the joint inner casing (28) using half opening formula screw
On, it is connected to the electric machine casing (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510302523.6A CN104942820B (en) | 2015-06-05 | 2015-06-05 | A kind of space anthropomorphic robot arm joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510302523.6A CN104942820B (en) | 2015-06-05 | 2015-06-05 | A kind of space anthropomorphic robot arm joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104942820A CN104942820A (en) | 2015-09-30 |
| CN104942820B true CN104942820B (en) | 2017-07-14 |
Family
ID=54158152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510302523.6A Expired - Fee Related CN104942820B (en) | 2015-06-05 | 2015-06-05 | A kind of space anthropomorphic robot arm joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104942820B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171735B (en) * | 2015-10-23 | 2017-04-12 | 哈尔滨工程大学 | Hydraulic mechanical arm swing joint with brake |
| CN105437255A (en) * | 2015-12-12 | 2016-03-30 | 常州大学 | Mechatronics joint with hollow wiring |
| CN105479436A (en) * | 2015-12-25 | 2016-04-13 | 马鞍山永耀智能装备有限公司 | Six-shaft joint robot based on hollow shafts |
| CN105962878A (en) * | 2016-04-22 | 2016-09-28 | 重庆金山科技（集团）有限公司 | Endoscope capsule controller and reducer bending-resisting device thereof |
| CN106113008B (en) * | 2016-07-11 | 2024-04-19 | 广东澳德电子有限公司 | Multi-joint robot |
| CN107554821B (en) * | 2017-07-31 | 2020-04-28 | 上海宇航系统工程研究所 | Space modularization high accuracy servo drive subassembly assembly |
| CN107433616A (en) * | 2017-08-21 | 2017-12-05 | 北京精密机电控制设备研究所 | A kind of high positioning mechanical shoulder joint of high-precision compact |
| CN107504052B (en) * | 2017-08-24 | 2019-09-06 | 合肥工业大学 | A kind of precision rotating pitching articulation mechanism |
| CN108638075A (en) * | 2018-06-12 | 2018-10-12 | 郑宝生 | A kind of steering engine |
| CN110253619B (en) * | 2019-07-11 | 2020-10-16 | 北京理工大学 | Robot joint supporting structure and robot |
| CN112888536B (en) * | 2019-09-30 | 2023-03-24 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN113771086B (en) * | 2021-09-28 | 2023-11-10 | 深圳市零差云控科技有限公司 | Control method of joint module and joint robot |
| CN113606313B (en) * | 2021-09-30 | 2022-03-11 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and harmonic reducer device thereof |
| CN113847404A (en) * | 2021-09-30 | 2021-12-28 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and harmonic reducer device thereof |
| CN114227665B (en) * | 2021-12-24 | 2024-03-26 | 达闼机器人股份有限公司 | Dual-coupling actuator, mechanical limb and robot |
| CN114571498B (en) * | 2022-04-18 | 2023-07-25 | 北京航空航天大学 | Sealed rotary servo joint for underwater robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101722512B (en) * | 2009-11-27 | 2011-04-06 | 哈尔滨工业大学 | Moon-exploration mechanical arm modularization joint based on absolute position measurement |
| CN102107433B (en) * | 2010-12-31 | 2012-09-05 | 哈尔滨工业大学 | Space robot joint with on-track replaceable key component |
| KR101301261B1 (en) * | 2012-04-30 | 2013-09-10 | 순천대학교 산학협력단 | Hollow shaft type bldc motor and robot joint consist of it |
| CN204076277U (en) * | 2014-09-11 | 2015-01-07 | 南京工业职业技术学院 | A kind of joint of robot |
| CN104400794B (en) * | 2014-10-29 | 2016-08-24 | 常州先进制造技术研究所 | A kind of tow-armed robot modularized joint of hollow structure |
-
2015
- 2015-06-05 CN CN201510302523.6A patent/CN104942820B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104942820A (en) | 2015-09-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104942820B (en) | A kind of space anthropomorphic robot arm joint | |
| CN105269589B (en) | A kind of spacing mechanical arm modularization driving joint | |
| CN107186751B (en) | Modularized ball joint of cooperative robot | |
| CN108081946A (en) | The electronic directive wheel of omnidirectional and robot, vehicle with the electronic directive wheel of the omnidirectional | |
| CN106826906B (en) | A kind of mechanical arm modular joint of non-moment sensor | |
| CN104400794A (en) | Double-arm robot modularized joint with hollow structure | |
| CN204076277U (en) | A kind of joint of robot | |
| CN107813963A (en) | A kind of single-gimbal control momentum gyro of full suspension both-end support | |
| CN211841989U (en) | Cooperative robot joint module with torque sensor | |
| CN111890410A (en) | Drive and control integrated cooperative robot joint with running state monitoring function | |
| CN209688345U (en) | Hoofing part mechanism | |
| CN111300476A (en) | Underwater joint driving module | |
| CN107972064A (en) | A kind of modularized joint of seven freedom cooperation mechanical arm | |
| CN105680621B (en) | Hollow torque driver element | |
| CN107792345B (en) | Compact steering engine and rudder engine room | |
| CN202965933U (en) | Hub system driven by electric energy | |
| CN110744585A (en) | Flexible cooperative robot modular joint | |
| CN104669296A (en) | High-power-density modularized rotary joint of space manipulator | |
| CN107792397A (en) | A kind of double-frame magnetic suspension control moment gyro of Entirely contactless | |
| CN101951066B (en) | Power transmission device | |
| CN209224094U (en) | Underwater joint drive module | |
| CN110861120B (en) | Driving joint based on double-stator frameless torque motor and application thereof | |
| CN206673741U (en) | A kind of low speed and large torque integrated form electromechanical actuator applied to deepwater environment | |
| CN103545977B (en) | highly integrated electromechanical actuator | |
| CN202846170U (en) | Locking swing head used for five-axis machine tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170714 Termination date: 20180605 |