CN107554821A - A kind of space module high-precision servo drive component assembly - Google Patents
A kind of space module high-precision servo drive component assembly Download PDFInfo
- Publication number
- CN107554821A CN107554821A CN201710642562.XA CN201710642562A CN107554821A CN 107554821 A CN107554821 A CN 107554821A CN 201710642562 A CN201710642562 A CN 201710642562A CN 107554821 A CN107554821 A CN 107554821A
- Authority
- CN
- China
- Prior art keywords
- module
- angle measurement
- drive component
- revolving support
- component assembly
- 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.)
- Granted
Links
Abstract
A kind of space module high-precision servo drive component assembly, the invention provides one kind to include revolving support module, drive module, angle measurement module, brake module and safety bearing, and revolving support module is used to be arranged on fixed support, to provide revolving support；Drive module is connected with revolving support module, for carrying out torque and angular displacement output；Angle measurement module is connected with revolving support module, and angle measurement module is used for the moving angular displacement for identifying drive component assembly；Brake module is connected with angle measurement module, and brake module is used to adjust the torque of drive module according to moving angular displacement and angular displacement exports, and is exported with limiting the torque of drive component assembly and angular displacement；Safety bearing is installed between revolving support module and angle measurement module, for improving the vibration mechanics tolerance of drive component assembly.The present invention is realized versatility, the interchangeability of product, is reduced developing risk and shorten the lead time, improve product oscillating load tolerance using brand-new modular layout's mode and fixed revolving support shafting design.
Description
Technical field
The present invention relates to space servo-drive component technology field, more particularly to a kind of space module high-precision servo drives
Dynamic modular assembly.
Background technology
Space servo-drive component is the core component of space orientation mechanism, and it is that space orientation mechanism completion motion is defeated
Go out, torque output, angle feed-back, state keep basis.
With Chinese Space research and probe, the development of army (people) thing satellite cause, to the demand of directing mechanism towards polynary
Change direction to develop, wherein especially the most prominent with requirements for high precision, accordingly, as directing mechanism core component drive component also
Develop towards high-precision direction.
The substantial amounts of space tasks of space research and application planning, different task will to the precision of drive component, torque etc.
Ask totally different, cause drive component and often only adapt to supporting directing mechanism, it is poor to form various species, versatility, interchangeability
A variety of drive components；Simultaneously as high accuracy and temperature environment adaptability are contradiction, the good high accuracy of thermal adaptability
Rotary axis system be by largely designing calculating, verification experimental verification determines, during consume a large amount of human and material resources and financial resources；
Shafting is caused constantly to change towards the supporting drive component of directing mechanism, the development cost and lead time for causing product increase, drop
Low product maturity, while increase the technical risk of product development.
Therefore, it is necessary to design a kind of drive component, the drive component possesses high-precision basic shafting, is not changing shafting
In the case of by module exchange realize drive component to different accuracy, the extensive adaptability of torque.
The content of the invention
It is existing to solve it is an object of the invention to provide a kind of space module high-precision servo drive component assembly
The problem of R＆D costs in the presence of technology are high, technical risk is big, poor universality inconvenient exchange.
To achieve the above object, the present invention provides a kind of space module high-precision servo drive component assembly, including returns
Turn supporting module, drive module, angle measurement module, brake module and safety bearing, wherein, the revolving support module is used to install
On fixed support, to provide revolving support；The drive module is connected with the revolving support module, for carrying out torque
Exported with angular displacement；The angle measurement module is connected with the revolving support module, and the angle measurement module is used to identify driving group
The moving angular displacement of part assembly；The brake module is connected with the angle measurement module, and the brake module is used for according to
Moving angular displacement adjusts torque and the angular displacement output of the drive module, to limit the torque of drive component assembly and angular displacement
Output.
It is preferred that the revolving support module includes：Assembly housing, external bushing, stator friction top, jack shaft, output
Semiaxis, neck bush, preloaded bearing are to, disc seat；Wherein, the revolving support module is arranged on by the assembly housing and fixed
On support；The external bushing is arranged in the assembly housing, for by the preloaded bearing to being connected to the assembly housing
On, at the same by the stator friction top by preloaded bearing to axial restraint；The preloaded bearing will by neck bush to inner side
The jack shaft and output axle shaft are linked to be overall and realization and axially fasten connection；The disc seat is fixed on the jack shaft
On to provide and the interface of the angle measurement module.
It is preferred that the drive module includes：Motor stator, rotor, connecting key, gap adjustment ring, locking nut；
Wherein, the motor stator is connected on the inside of the assembly housing, and the rotor is on the inside of motor stator, and the electricity
Machine rotor is connected by the connecting key with the jack shaft to drive the jack shaft, and the locking nut is used for institute
State rotor to lock with the jack shaft, the gap adjustment ring is located between the motor stator, rotor, is used for
Adjustment between the two away from.
It is preferred that the angle measurement module includes：Dynamic grating platen, rubber blanket, dynamic grating disc, quiet lenticular lenses, infrared generator,
Reading head, decode-regulating circuit, circuit bracket, outer casing；Wherein, the angle measurement module passes through the circuit bracket and described group
Part housing connects；The dynamic grating platen is connected with the disc seat；The infrared generator, quiet lenticular lenses layer from bottom to top successively
Pile up on the circuit bracket；The dynamic grating disc is pressed in the disc seat by the rubber blanket by the dynamic grating platen
On；The reading head is connected with decode-regulating circuit and is arranged on the circuit bracket, the outer casing and the circuit support
Frame connects.
It is preferred that the brake module includes：Yoke, coil, armature plate, friction plate；Wherein, the yoke with it is described outer
Case is connected, and the armature plate is connected with the dynamic grating platen, in the friction plate installation and the armature plate, the coil
It is fixed in the yoke.
It is preferred that also including, the dynamic grating disc is controlled by the dynamic grating platen, rubber blanket in the angle measurement module
Thrust is installed.
It is preferred that also include, the preloaded bearing after the neck bush and external bushing transition to via passing through output axle shaft
It is fixed on stator friction top on jack shaft and assembly housing；It is 2 points of controllable mistakes of support between the external bushing and assembly housing
It is full of cooperation；The pretightning force of preloaded bearing pair is realized by the output axle shaft and loaded.
The invention has the advantages that：
1st, the present invention is using brand-new modular layout's mode and the revolving support shafting design of fixation, drive module, survey
Corner Block List Representation and brake module can select the product of different driving forces, angle measurement accuracy, stopping power to carry out machine according to demand
Tool is assembled, realizes versatility, the interchangeability of product, while reduces developing risk and shorten the lead time；
2nd, the setting of safety bearing can be effective against vibrating caused shafting flutter in the present invention, improve product vibration
Load tolerance；
3rd, hollow shaft of the invention is as cable passage or path channels, it is ensured that the use of cable or light path is reliable
Property；
4th, the present invention is designed using inside and outside axle sleeve, is overcome thermal mismatching between different materials, is ensured that the high/low temperature of product is resistance to
By property, while reduce product weight.
Brief description of the drawings
Fig. 1 is the appearance schematic diagram of servo-drive modular assembly provided by the invention；
Fig. 2 is the main sectional view of servo-drive modular assembly provided by the invention；
Fig. 3 is the main sectional view of revolving support module provided by the invention；
Fig. 4 is the main sectional view of drive module provided by the invention；
Fig. 5 is the main sectional view of angle measurement module provided by the invention；
Fig. 6 is the main sectional view of brake module provided by the invention；
Label declaration：1-revolving support module, 11-assembly housing, 12-external bushing, 13-stator friction top, 14-
Jack shaft, 15 output axle shafts, 16-neck bush, 17-preloaded bearing to, 18-disc seat, 2-drive module, 21-motor
Stator, 22-rotor, 23-connecting key, 24-gap adjustment ring, 25-locking nut, 3-angle measurement module, 31-dynamic light
Grid voltage disk, 32-rubber blanket, 33-dynamic grating disc, 34-quiet lenticular lenses, 35-infrared generator, 36-reading head, 37-modulation
Decoding circuit, 38-circuit bracket, 39-outer casing, 4-brake module, 5-safety bearing, 41-yoke, 42-coil,
43-armature plate, 44-friction plate.
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 form the restriction to the embodiment of the present invention.
Example as shown in Figure 1, 2, present embodiments provide for a kind of space module high-precision servo drive component assembly,
The drive component assembly includes revolving support module 1, drive module 2, angle measurement module 3, brake module 4 and safety bearing 5, its
In, the revolving support module 1 is used to be arranged on fixed support, to provide revolving support；The drive module with described time
Turn supporting module 1 to be connected, for carrying out torque and angular displacement output；The angle measurement module 3 and the phase of revolving support module 1
Connection, the angle measurement module 3 are used for the moving angular displacement for identifying drive component assembly；The brake module 4 and the angle measurement mould
Block 3 is connected, and the brake module 4 is used for defeated according to the torque of the moving angular displacement adjustment drive module and angular displacement
Go out, exported with limiting the torque of drive component assembly and angular displacement；Safety bearing 5 is installed on revolving support module 1 and angle measurement mould
Between block 3, for improving the vibration mechanics tolerance of drive component assembly.
As shown in Fig. 2 the revolving support module 1 of the assembly includes：Assembly housing 11, external bushing 12, stator friction top 13,
Jack shaft 14, output axle shaft 15, neck bush 16, preloaded bearing are to (containing spacer ring) 17, disc seat 18；Drive module includes：Electricity
Machine stator 21, rotor 22, connecting key 23, gap adjustment ring 24, locking nut 25；Angle measurement module 3 includes：Dynamic grating platen
31st, rubber blanket 32, dynamic grating disc 33, quiet lenticular lenses 34, infrared generator 35, reading head 36, decode-regulating circuit 37, circuit bracket
38th, outer casing 39；Brake module includes：Yoke 41, coil 42, armature plate 43, friction plate 44.
Example as shown in Figure 3, revolving support module 1 are from left to right set with output axle shaft 15, external bushing 12, assembly housing
11st, preloaded bearing is to (containing spacer ring) 17, neck bush 16, jack shaft 14, stator friction top 13 and disc seat 18；Wherein, turn round
Supporting module 1 is arranged on fixed support by assembly housing 11；Preloaded bearing is to (containing spacer ring) 17 by neck bush 16 with inciting somebody to action
Output axle shaft 15, jack shaft 14 are linked to be entirety, and are realized and axially fastened by screw, and in output axle shaft 15, jack shaft
14, which are equipped with interference pin (not shown), prevents two semiaxis from relatively rotating；By the length and the wall thickness guarantee that control neck bush 16
Preloaded bearing is controllable to the pretightning force of (containing spacer ring) 17；External bushing 12 is arranged in assembly housing 11, by the transition of external bushing 12,
Preloaded bearing is connected to (containing spacer ring) 17 with assembly housing 11, and axial restraint is realized by stator friction top 13；Pass through control
External bushing 1 processed) and assembly housing 11, the mating surface position of neck bush 16 and two semiaxis 14,15, length of fit, fit tolerance
Solves the contradiction between support stiffness, rotating accuracy and hot adaptability；Disc seat 18 is installed on jack shaft 14 by screw,
For providing the interface with angle measurement module 3, and it is aided with interference pin (not shown) and realizes that gyratory directions are anti-slip.
As shown in figure 4, the drive module 2 in present embodiment can be considered a split type motor in the present embodiment.Should
The motor stator 21 of drive module 2 is threaded io the inner side of assembly housing 11 by lower end, and rotor 22 is located at motor stator
21 inner sides, and be connected by connecting key 23 with jack shaft 14 to drive the jack shaft 14, realize drive module 2 and revolution
The connection of supporting module 1, gap adjustment ring 24 is located between motor stator 21, rotor 22, for adjusting motor stator 21
Axial spacing between rotor 22.Locking nut 25 is used to lock rotor 22 and jack shaft 14.In addition, this
Connecting key 23 in embodiment is combined into interference fit with matching somebody with somebody for corresponding keyway, to ensure the transmission of high-precision motion.
As shown in figure 5, the angle measurement module 3 in the present embodiment can be considered a split type photoelectric encoder, it passes through circuit support
Frame 38 is realized with assembly housing 11 and connected.And grating platen 31 is moved in present embodiment and is connected with disc seat 18, realize angle measurement mould
Connection between block 3 and revolving support module 1；Infrared generator 35, quiet lenticular lenses 34 successively from lower to upper by screw it is stacked in
On circuit bracket 38；Dynamic grating disc 33 is pressed on disc seat 18 by the passive grating platen 31 of rubber blanket 32；Reading head 36 is pacified
After decode-regulating circuit 37, and the two assembly is installed on circuit bracket 38 by screw；Outer casing 39 passes through screw
It is connected with circuit bracket 38；The installation thrust of grating platen 31 is moved in present embodiment seam height is compressed by dynamic grating platen 31
Control is realized with the difference of the thickness of rubber blanket 32.
As shown in fig. 6, brake module can be considered a Split electromagnetic friction brake in present embodiment, it passes through yoke
41 are connected with outer casing 39, and armature plate 43 is connected with grating platen 31, so as to realize that intermodule connects.And friction plate 44 passes through riveting
Nail is installed on armature plate 43；Coil 42 is fixed in yoke 41 by gluing.
In preferred embodiment, dynamic grating disc 33 is controlled to install by dynamic grating platen 31, rubber blanket 32 in angle measurement module 3
Thrust.
In another preferred embodiment, preloaded bearing is to 17 via passing through output half after neck bush 16 and the transition of external bushing 12
Axle 12 and stator friction top 13 are fixed on jack shaft 14 and assembly housing 11；It is 2 points between external bushing 12 and assembly housing 11
Support controllable interference fit；Preloaded bearing realizes loading to 17 pretightning force by output axle shaft 12.
The operation principle of the present invention：When the example is installed on fixed support by assembly housing 11, drive module provides power
Square and angular displacement, revolving support module 1 provide revolving support, separate the fixed part and rotating part of drive component assembly, survey
Corner Block List Representation 3 identifies that moving angular displacement, brake module 4 can carry out torque and the angle position of brake limitation drive component assembly as desired
Output is moved, each module division of labor is independent, interface is independent；Such as the characteristic requirements (such as precision, torque) of assembly are changed, can protected
Demonstrate,prove basic shafting --- in the case that revolving support module 1 is constant in corresponding this example, by changing drive module 2, angle measurement module 3
Or brake module 4 realizes that the rapid, inexpensive of the drive component of Oriented Towards New Requirements, low-risk, high generalization, high interchangeability are ground
System.
The present invention realizes drive component to not in the case of basic shafting is not changed, by the exchange between module, renewal
Same precision, the extensive adaptability of torque, it is various in style effectively to solve existing space drive component, poor universality, interchangeability is low,
The deficiencies of lead time is long, developing risk is high.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those skilled in the art the invention discloses technical scope in, to the present invention deformation or replacement done, should all cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by described scope of the claims.
Claims (7)
1. a kind of space module high-precision servo drive component assembly, it is characterised in that including revolving support module (1), drive
Dynamic model block (2), angle measurement module (3), brake module (4) and safety bearing (5), wherein, the revolving support module (1) is used to pacify
On fixed support, to provide revolving support；The drive module is connected with the revolving support module (1), be used for into
Row torque and angular displacement output；The angle measurement module (3) is connected with the revolving support module (1), the angle measurement module (3)
For identifying the moving angular displacement of drive component assembly；The brake module (4) is connected with the angle measurement module (3), described
Brake module (4) is used to adjust the torque of the drive module according to the moving angular displacement and angular displacement exports, and is driven with limiting
The torque of dynamic modular assembly and angular displacement output；The safety bearing (5) is installed on revolving support module (1) and angle measurement module
(3) between, for improving the vibration mechanics tolerance of drive component assembly.
2. space module high-precision servo drive component assembly according to claim 1, it is characterised in that the revolution
Supporting module (1) includes：Assembly housing (11), external bushing (12), stator friction top (13), jack shaft (14), output axle shaft
(15), neck bush (16), preloaded bearing are to (17), disc seat (18)；Wherein, the revolving support module (1) passes through described group
Part housing (11) is arranged on fixed support；The external bushing (12) is arranged in the assembly housing (11), for by described in
Preloaded bearing is connected to (17) on the assembly housing (11), while by the stator friction top (13) by preloaded bearing pair
(17) axial restraint；The preloaded bearing on the inside of (17) by neck bush (16) by the jack shaft (14) and output axle shaft
(15) it is linked to be overall and realization and axially fastens connection；The disc seat (18) be fixed on the jack shaft (14) with provide with
The interface of the angle measurement module (3).
3. space module high-precision servo drive component assembly according to claim 2, it is characterised in that the driving
Module (2) includes：Motor stator (21), rotor (22), connecting key (23), gap adjustment ring (24), locking nut (25)；
Wherein, the motor stator (21) is connected on the inside of the assembly housing (11), and the rotor (22) is located at motor stator
(21) inner side, and the rotor (22) is connected by the connecting key (23) with the jack shaft (14) with described in driving
Jack shaft (14), the locking nut (25) are used to lock the rotor (22) and the jack shaft (14), institute
State gap adjustment ring (24) be located between the motor stator (21), rotor (22), for adjust between the two away from.
4. space module high-precision servo drive component assembly according to claim 2, it is characterised in that the angle measurement
Module (3) includes：Dynamic grating platen (31), rubber blanket (32), dynamic grating disc (33), quiet lenticular lenses (34), infrared generator (35),
Reading head (36), decode-regulating circuit (37), circuit bracket (38), outer casing (39)；Wherein, the angle measurement module (3) passes through
The circuit bracket (38) is connected with the assembly housing；The dynamic grating platen (31) is connected with the disc seat (18)；Institute
It is stacked on the circuit bracket (38) from bottom to top successively to state infrared generator (35), quiet lenticular lenses (34)；The dynamic grating disc
(33) it is pressed in by the rubber blanket (32) by the dynamic grating platen (31) on the disc seat (18)；The reading head
(36) it is connected and on the circuit bracket (38) with decode-regulating circuit (37), the outer casing (39) and the circuit
Bracket (38) connects.
5. space module high-precision servo drive component assembly according to claim 4, it is characterised in that the braking
Module (4) includes：Yoke (41), coil (42), armature plate (43), friction plate (44)；Wherein, the yoke (41) with it is described outer
Case (39) connects, and the armature plate (43) is connected with the dynamic grating platen (31), the friction plate (44) install with it is described
On armature plate (43), the coil (42) is fixed in the yoke (41).
6. space module high-precision servo drive component assembly according to claim 4, it is characterised in that also include,
Dynamic grating disc (33) the installation pressure is controlled by the dynamic grating platen (31), rubber blanket (32) in the angle measurement module (3)
Clamp force.
7. space module high-precision servo drive component assembly according to claim 2, it is characterised in that also include,
The preloaded bearing is to (17) via passing through output axle shaft (12) and stator after the neck bush (16) and external bushing (12) transition
Friction top (13) is fixed on jack shaft (14) and assembly housing (11)；It is between the external bushing (12) and assembly housing (11)
2 points of controllable interference fits of support；Preloaded bearing is realized by the output axle shaft (12) to the pretightning force of (17) and loaded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642562.XA CN107554821B (en) | 2017-07-31 | 2017-07-31 | Space modularization high accuracy servo drive subassembly assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642562.XA CN107554821B (en) | 2017-07-31 | 2017-07-31 | Space modularization high accuracy servo drive subassembly assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107554821A true CN107554821A (en) | 2018-01-09 |
| CN107554821B CN107554821B (en) | 2020-04-28 |
Family
ID=60974168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710642562.XA Active CN107554821B (en) | 2017-07-31 | 2017-07-31 | Space modularization high accuracy servo drive subassembly assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107554821B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109586538A (en) * | 2018-12-06 | 2019-04-05 | 上海航天控制技术研究所 | A kind of autonomous controllable high-precision height response electromechanical servo component |
| CN109597438A (en) * | 2018-11-30 | 2019-04-09 | 上海航天控制技术研究所 | A kind of control-moment gyro |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1150623A (en) * | 1995-11-20 | 1997-05-28 | Woco弗兰兹-约瑟夫·沃尔夫公司 | Damping bearing |
| US6037737A (en) * | 1998-04-30 | 2000-03-14 | Trw Inc. | Simple friction-compensating control algorithm for high precision mechanisms |
| CN201202754Y (en) * | 2008-06-05 | 2009-03-04 | 中国长江航运集团电机厂 | Dry type multiple-sheet triboelectric magnetic disk type betatopic brake |
| CN202260829U (en) * | 2011-09-30 | 2012-05-30 | 宁波中大力德传动设备有限公司 | Electromagnetic clutch brake motor |
| CN103825398A (en) * | 2013-11-21 | 2014-05-28 | 上海宇航系统工程研究所 | Split-type motor for mechanical arm |
| CN110140444B (en) * | 2011-12-14 | 2014-06-25 | 上海宇航系统工程研究所 | A kind of passive developing antenna mechanism |
| CN203948443U (en) * | 2014-07-26 | 2014-11-19 | 慈溪市特种轴承有限公司 | Damping bearing |
| CN204027519U (en) * | 2014-03-14 | 2014-12-17 | 上海宇航系统工程研究所 | Photoelectric encoder position measurement instrument |
| CN204029989U (en) * | 2013-11-27 | 2014-12-17 | 上海宇航系统工程研究所 | A kind of integrated general satellite antenna directing mechanism driven unit |
| CN109743895B (en) * | 2010-12-15 | 2015-01-14 | 上海宇航系统工程研究所 | Three Degree Of Freedom high-precision driving device |
| CN204239450U (en) * | 2014-11-21 | 2015-04-01 | 江苏迪邦三星轴承有限公司 | A kind of damping bearing |
| CN104942820A (en) * | 2015-06-05 | 2015-09-30 | 上海宇航系统工程研究所 | Space humanoid robot arm joint |
| CN105835057A (en) * | 2015-12-01 | 2016-08-10 | 中国科学院上海技术物理研究所 | Two-dimensional pointing mechanism for space optical remote sensing instrument |
| CN106184829A (en) * | 2015-06-01 | 2016-12-07 | 北京空间飞行器总体设计部 | Multiple degrees of freedom regulation directing mechanism and method |
| CN205811762U (en) * | 2016-06-22 | 2016-12-14 | 中国长江航运集团电机厂 | A kind of disc type electric machine brake |
-
2017
- 2017-07-31 CN CN201710642562.XA patent/CN107554821B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1150623A (en) * | 1995-11-20 | 1997-05-28 | Woco弗兰兹-约瑟夫·沃尔夫公司 | Damping bearing |
| US6037737A (en) * | 1998-04-30 | 2000-03-14 | Trw Inc. | Simple friction-compensating control algorithm for high precision mechanisms |
| CN201202754Y (en) * | 2008-06-05 | 2009-03-04 | 中国长江航运集团电机厂 | Dry type multiple-sheet triboelectric magnetic disk type betatopic brake |
| CN109743895B (en) * | 2010-12-15 | 2015-01-14 | 上海宇航系统工程研究所 | Three Degree Of Freedom high-precision driving device |
| CN202260829U (en) * | 2011-09-30 | 2012-05-30 | 宁波中大力德传动设备有限公司 | Electromagnetic clutch brake motor |
| CN110140444B (en) * | 2011-12-14 | 2014-06-25 | 上海宇航系统工程研究所 | A kind of passive developing antenna mechanism |
| CN103825398A (en) * | 2013-11-21 | 2014-05-28 | 上海宇航系统工程研究所 | Split-type motor for mechanical arm |
| CN204029989U (en) * | 2013-11-27 | 2014-12-17 | 上海宇航系统工程研究所 | A kind of integrated general satellite antenna directing mechanism driven unit |
| CN204027519U (en) * | 2014-03-14 | 2014-12-17 | 上海宇航系统工程研究所 | Photoelectric encoder position measurement instrument |
| CN203948443U (en) * | 2014-07-26 | 2014-11-19 | 慈溪市特种轴承有限公司 | Damping bearing |
| CN204239450U (en) * | 2014-11-21 | 2015-04-01 | 江苏迪邦三星轴承有限公司 | A kind of damping bearing |
| CN106184829A (en) * | 2015-06-01 | 2016-12-07 | 北京空间飞行器总体设计部 | Multiple degrees of freedom regulation directing mechanism and method |
| CN104942820A (en) * | 2015-06-05 | 2015-09-30 | 上海宇航系统工程研究所 | Space humanoid robot arm joint |
| CN105835057A (en) * | 2015-12-01 | 2016-08-10 | 中国科学院上海技术物理研究所 | Two-dimensional pointing mechanism for space optical remote sensing instrument |
| CN205811762U (en) * | 2016-06-22 | 2016-12-14 | 中国长江航运集团电机厂 | A kind of disc type electric machine brake |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109597438A (en) * | 2018-11-30 | 2019-04-09 | 上海航天控制技术研究所 | A kind of control-moment gyro |
| CN109586538A (en) * | 2018-12-06 | 2019-04-05 | 上海航天控制技术研究所 | A kind of autonomous controllable high-precision height response electromechanical servo component |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107554821B (en) | 2020-04-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104942820B (en) | A kind of space anthropomorphic robot arm joint | |
| CN109895122B (en) | Cooperative robot joint with force sensing function | |
| CN107554821A (en) | A kind of space module high-precision servo drive component assembly | |
| CN212736068U (en) | Joint with torque sensor | |
| CN207470717U (en) | A kind of straight line actuation mechanism with cramped construction | |
| US20150122058A1 (en) | Macro-micro actuated distended guide rail precision rotation apparatus | |
| CN107627112A (en) | A kind of NC rotary table with harmonic speed reducer | |
| CN103542055A (en) | Swivel nut combination unit | |
| CN105680621A (en) | Hollow torque driving unit | |
| CN206140497U (en) | Horizontal joint four -axis robot that directly drives | |
| CN206263486U (en) | A kind of triple axle servo positioner | |
| CN104505967B (en) | The no split type case of shell servomotor and its installation method and sewing machine | |
| CN205123474U (en) | No shell is housing and sewing machine for servo motor | |
| CN204413721U (en) | A kind of built-in machine tool main spindle driving device | |
| CN201267958Y (en) | Rotatable grinding carriage capable of automatically replacing grinding wheel | |
| CN115149713A (en) | High-thrust direct screw rod output servo electric cylinder | |
| CN103111895B (en) | Shifting fork type precise flexible connection driving mechanism | |
| CN205725307U (en) | The moment driver element of hollow | |
| CN203125228U (en) | Shifting-fork precise flexibly-connected driving mechanism | |
| CN107425635A (en) | Integral type brake motor | |
| CN201693406U (en) | Cylindrical cam divider with built-in speed reducer | |
| CN100555808C (en) | The motor of band pinion | |
| CN209453214U (en) | Milling-boring machine Y-direction dragging system and cnc boring and milling machine | |
| CN208578756U (en) | Low-cost long-life industrial big fan easy to assemble | |
| CN212305001U (en) | Compact electromechanical actuator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |