CN114425786B - Capability aggregation transmission device of self-reconstruction space cell robot - Google Patents
Capability aggregation transmission device of self-reconstruction space cell robot Download PDFInfo
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- CN114425786B CN114425786B CN202110469763.0A CN202110469763A CN114425786B CN 114425786 B CN114425786 B CN 114425786B CN 202110469763 A CN202110469763 A CN 202110469763A CN 114425786 B CN114425786 B CN 114425786B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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Abstract
The invention relates to a two-input and single-output power transmission device which adopts a 2K-H differential planetary gear as a core mechanical component, can realize the aggregation of power of a plurality of cell robots, has high reliability of providing larger torque output, can be replaced randomly, has strong load capacity and controllable output load and strong adaptability, and is characterized by comprising a main shaft, a locking plate, a lower shell of the cell robots, a lower shell of a power assembly, a direct current frameless motor, a planet wheel, an upper end cover of the power assembly, an upper shell of the power assembly, a sun gear, an inner gear ring, a harmonic reducer, a motor input gear, a planet carrier, an outer gear ring, a sun gear shaft, a motor brake, a fixed connecting plate and a sun brake; the main shaft is axially fixed with a bearing of an upper shell of the power assembly through a deep groove ball bearing of the locking plate and is connected with the planet carrier through a shaft end spline, so that power transmission is realized.
Description
Technical field:
the invention relates to the technical field of manufacturing of self-reconfiguration space cell robots, in particular to a two-input and single-output power transmission device which adopts a 2K-H differential planetary gear as a core mechanical component, can realize the aggregation of power of a plurality of cell robots, and has the advantages of high reliability of providing larger torque output, random replacement, strong load capacity, controllable output load and strong adaptability.
The background technology is as follows:
the transmission device is used as a core component of the cell robot, plays a decisive role in the load capacity and flexibility of the cell robot, and meanwhile, the flexibility and the load capacity are important indexes for measuring the performance of the cell robot, and the improvement of the load capacity while not reducing the flexibility of the cell robot is always a great difficulty in the scientific community.
When the cell robot completes a specific task, the cell robot needs to build an optimal topological connection according to the structure of the cell robot. When the space building, on-orbit maintenance, space transportation and other tasks are faced, because the traditional cell robot power source is fixed and is not connected at present, when a plurality of cell robot topological structures are formed, power output is still completed by a single cell, and output moment is limited by the power source and the structure of the single cell robot, so that the possibility and flexibility of topology are greatly reduced, and the on-orbit service quality is seriously influenced.
The invention comprises the following steps:
aiming at the defects and shortcomings in the prior art, the invention provides the capability aggregation transmission device of the self-reconfiguration space cell robot, which can realize capability aggregation, wherein the power of each serial cell robot motor is aggregated by the cell robot capable of realizing capability aggregation, and the capability aggregation transmission device is easy to replace and can realize larger torque output by outputting a main shaft of the terminal cell robot.
The invention is achieved by the following measures:
the capacity aggregation transmission device of the cell robot in the reconstruction space is characterized by comprising a main shaft, a locking plate, a lower shell of the cell robot, a lower shell of a power assembly, a direct current frameless motor, a planet wheel, an upper end cover of the power assembly, an upper shell of the power assembly, a sun gear, an inner gear ring, a harmonic reducer, a motor input gear, a planet carrier, an outer gear ring, a sun gear shaft, a motor brake, a fixed connecting plate and a sun gear brake; the main shaft is axially fixed with a bearing of an upper shell of the power assembly through a deep groove ball bearing of the locking plate and is connected with the planet carrier through a shaft end spline, so that power transmission is realized; the locking plate is fixedly connected with the lower shell of the cell robot through four groups of countersunk screws which are circumferentially and uniformly distributed; the lower shell of the cell robot is fixedly connected with the base through the interface in a butt joint manner, or is in butt joint with other cell robots through the cell robot interface; the fixed connecting plate is fixedly connected with the lower shell of the power assembly through four groups of countersunk screws which are uniformly distributed; the upper shell of the power assembly is fixedly connected with the fixed connecting plate through countersunk screws; the upper end cover of the power assembly is fixedly connected with the upper shell of the power assembly through three groups of countersunk head screws, so that the fixed connection of the locking plate, the lower shell of the cell robot, the lower shell of the power assembly, the fixed connection plate, the upper shell of the power assembly and the upper end cover of the power assembly with the base is realized; the solar wheel brakes are fixedly connected with the lower spherical shell of the cell robot through four groups of countersunk head screws which are uniformly distributed; the outer gear ring is axially fixed on the fixed connecting plate through a pair of deep groove ball bearings; the inner gear ring is fixedly connected with the outer gear ring through four groups of countersunk head screws which are uniformly distributed; the sun gear shaft is axially fixed on the lower shell of the cell robot through a pair of deep groove ball bearings, is fixedly connected with the sun gear brake in the circumferential direction through a key, and is fixedly connected with the sun gear shaft through a shaft shoulder and a check ring; the sun gear is fixedly connected to the sun gear shaft through a key; the planet carrier is axially fixed on the upper shell of the power assembly through a deep groove ball bearing; the planetary gears are axially fixed through four uniformly distributed short shafts sleeved in the planetary gear frame; the direct current frameless motor is fixedly connected with the locking plate through four groups of countersunk screws which are uniformly distributed; the brake is fixedly connected with the locking plate through three groups of countersunk head screws; the harmonic speed reducer is fixedly connected with the upper shell of the power assembly through four groups of evenly distributed countersunk screws; and the motor input gear is axially fixed on the output shaft of the harmonic reducer through a check ring.
The main shaft is used as the power output of the cell robot, and is used for transmitting power, is circumferentially fixed with the planet carrier through the spline at the lower end and is used for transmitting power with another cell robot through the eccentric bulge at the upper end; the locking plate is used for providing axial fixed positioning for the main shaft and fixing the direct-current frameless motor and the motor brake; the cell robot shell is fixedly connected with the base through an interface and used as a fixed base of the cell robot; the lower shell of the power assembly is used for fixing the fixed connection plate, fixing the solar wheel brake and connecting the base, so that the fixed connection plate, the solar wheel brake and the base are fixed; the fixed connection plate is used for connecting the lower shell of the power assembly and the upper shell of the power assembly, never realizing the fixation of the upper shell of the power assembly and the base, and providing axial positioning for the sun gear, the outer gear ring and the inner gear ring; the upper shell of the power assembly has the function of fixing the upper end cover of the power assembly, thereby realizing the fixation of the upper end cover of the power assembly and the base and providing axial fixation for the planet carrier; the direct-current frameless motor, the brake and the harmonic reducer are used for providing power and controlling the motor input gear to rotate; the motor input gear is meshed with the outer gear and drives the outer gear to rotate, and is used as power input in the cell robot to provide power for capacity aggregation; the external gear ring is used for transmitting motor power, and the motor power is transmitted to the internal gear through the fixed connection with the internal gear ring and the engagement with the motor input gear; the annular gear is meshed with the planet gear and serves as an input gear of the planet gear to provide power for rotation and revolution of the planet gear; the planet carrier has the function of axially fixing the planet wheels, and the planet wheels can have rotation and revolution capacity through the axial fixation with the base in the embodiment, and are circumferentially fixed with the main shaft through the spline to provide power for the main shaft; the planet wheel is meshed with the inner gear ring and the sun gear, and drives the planet carrier to rotate through revolution; the sun gear is meshed with the planet gears and serves as external power input of the cell robot to provide power for revolution and rotation of the planet gears, the sun gear and the inner gear ring drive the planet gears to revolve together, and capacity aggregation is achieved through a differential planet gear operation principle; the sun gear shaft is used for transmitting the external power of the cell robot, and in the embodiment, the sun gear shaft is in butt joint with the main shaft of the previous cell robot through the eccentric shaft to transmit the power of the previous cell robot, and the sun gear shaft is fixed with the sun gear through a key.
The invention gathers all cell robot power in series through the power assembly transmission device. When the cell robot tandem body works, a sun wheel shaft of the cell robot at the beginning end of the tandem body is fixed with a lower spherical shell of the cell robot through a brake, a sun wheel gear of the cell robot at the beginning end is fixed with a base, a direct current frameless motor in the tandem body drives a motor input gear to rotate through an output shaft, an inner gear ring meshed with a planet wheel is driven to rotate, a main shaft of the cell robot at the beginning end rotates, and as the main shaft of the cell robot at the beginning end is circumferentially fixed with a sun wheel shaft of a second cell robot in the tandem body, the main shaft of the cell robot at the beginning end and the direct current frameless motor of the cell robot at the second cell robot are gathered in a power assembly of the second cell robot, and the main shaft of the second cell robot is driven to rotate by larger torque. When a plurality of power synthesizing devices are combined, different output torque and rotating speed can be obtained.
Compared with other prior art, the invention has the beneficial effects that: based on 2K-H differential planet gears, a direct current frameless motor is used as a drive, the occupied volume is small, and the output torque is high. The cell robot capacity aggregation is realized by the cell robot docking mode. By adopting the scheme, the number of the butt joint cell robots can be increased or decreased, the output torque of the tail end can be increased or decreased, the control is simple, and the precision requirement is ensured. Compared with other cell robot technologies, the cell robot combination topology capacity control method has the advantages that the capacity aggregation transmission device enables the capacity of each cell robot to be exerted to the greatest extent, the topology capacity of the cell robot combination is greatly improved, and meanwhile the flexibility of the cell robot is guaranteed; the cell robot has the advantages of good flexibility, strong reliability, convenient replacement, simple control and the like when applied to the cell robot.
Description of the drawings:
FIG. 1 is an assembly drawing of the present invention applied to a cell robot.
Fig. 2 is an internal view of the present invention.
Fig. 3 is an assembly view of the planet carrier and the planet wheels of the present invention.
Fig. 4 is an external view of the present invention.
FIG. 5 is a schematic diagram of a two-cell robot in tandem according to the present invention.
FIG. 6 is an external view of a serial mechanical arm of the cell robot according to the present invention.
Reference numerals: the novel cell robot comprises a main shaft (1), a locking plate (2), a cell robot lower shell (3), a power assembly lower shell (4), a direct current frameless motor (5), a planet wheel (6), a power assembly upper end cover (7), a power assembly upper shell (8), a sun gear (9), an inner gear ring (10), a harmonic reducer (11), a motor input gear (12), a planet carrier (13), an outer gear ring (14), a sun gear shaft (15), a motor brake (16), a fixed connection plate (17) and a sun gear brake (18).
The specific embodiment is as follows:
the invention will be further described with reference to the accompanying drawings.
Example 1:
the design of the capacity aggregation transmission device of the cell robot in the reconstruction space comprises a main shaft (1), a locking plate (2), a lower shell (3) of the cell robot, a lower shell (4) of a power assembly, a direct current frameless motor (5), a planet wheel (6), an upper end cover (7) of the power assembly, an upper shell (8) of the power assembly, a sun gear (9), an inner gear ring (10), a harmonic reducer (11), a motor input gear (12), a planet carrier (13), an outer gear ring (14), a sun gear shaft (15), a motor brake (16), a fixed connection plate (17) and a sun gear brake (18); the main shaft (1) is axially fixed with a bearing of a shell (4) on the power assembly through a deep groove ball bearing of the locking plate (2) and is connected with the planet carrier (13) through a shaft end spline, so that power transmission is realized; the locking plate (2) is fixedly connected with the lower shell (3) of the cell robot through four groups of countersunk screws which are circumferentially and uniformly distributed; the lower shell (3) of the cell robot is fixedly connected with the base through a cell robot interface or is in butt joint with other cell robots through a cell robot interface; the power assembly lower shell (4) is fixedly connected with the cell robot lower shell (3) through three groups of evenly distributed countersunk screws; the fixed connecting plate (17) is fixedly connected with the lower shell (4) of the power assembly through four groups of countersunk screws which are uniformly distributed; the power assembly upper shell (8) is fixedly connected with the fixed connecting plate (17) through countersunk screws; the upper end cover (7) of the power assembly is fixed on the upper shell (8) of the power assembly through three groups of countersunk screws, so that the locking plate (2), the lower shell (3) of the cell robot, the lower shell (4) of the power assembly, the fixed connecting plate (17), the upper shell (8) of the power assembly and the upper end cover (7) of the power assembly are fixedly connected with the base; the solar wheel brakes (18) are fixedly connected with the lower spherical shell (3) of the cell robot through four groups of countersunk head screws which are uniformly distributed; the outer gear ring (14) is axially fixed on the fixed connecting plate (17) through a pair of deep groove ball bearings; the inner gear ring (10) is fixedly connected with the outer gear ring (14) through four groups of countersunk head screws which are uniformly distributed; the sun gear shaft (15) is axially fixed on the lower shell (3) of the cell robot through a pair of deep groove ball bearings, is fixedly connected with the sun gear brake (18) in the circumferential direction through a key, and is fixedly connected with the sun gear shaft (15) through a shaft shoulder and a retainer ring; the sun gear (9) is fixedly connected with the sun gear shaft (15) through a key and a check ring; the planet carrier (13) is axially fixed on the upper shell (8) of the power assembly through a deep groove ball bearing; the planetary gears (6) are axially fixed through four uniformly distributed short shafts sleeved on a planetary carrier (13); the direct current frameless motor (5) is fixedly connected with the locking plate (2) through four groups of countersunk screws which are uniformly distributed; the motor brake (16) is fixedly connected with the locking plate (2) through three groups of countersunk screws; the harmonic speed reducer (11) is fixedly connected with the upper shell (8) of the power assembly through four groups of evenly distributed countersunk screws; and the motor input gear (12) is axially fixed on the output shaft of the harmonic reducer through a check ring.
The main shaft (1) in the embodiment is taken as the power output of the cell robot, and is used for transmitting power, is circumferentially fixed with the planet carrier (13) through a lower spline and realizes the power transmission with another cell robot through an upper eccentric bulge; the locking plate (2) is used for providing axial fixed positioning for the main shaft (1) and fixing the direct-current frameless motor (5) and the motor brake (16); the cell robot shell is fixedly connected with the base through an interface and used as a fixed base of the cell robot; the lower shell (4) of the power assembly is used for fixing the fixed connection plate (17), fixing the solar wheel brake (18) and connecting the base, so that the fixed connection plate (17), the solar wheel brake (18) and the base are fixed; the fixed connection plate (17) is used for connecting the power assembly lower shell (4) and the power assembly upper shell (8), never realizing the fixation of the power assembly upper shell (8) and the base, and providing axial positioning for the sun gear (9), the outer gear ring (14) and the inner gear ring (10); the upper shell (8) of the power assembly is used for fixing the upper end cover (7) of the power assembly, so that the upper end cover (7) of the power assembly is fixed with a base, and axial fixation is provided for the planet carrier (13);
the direct current frameless motor (5), the motor brake (16) and the harmonic speed reducer (11) are used for providing power and controlling the motor input gear (12) to rotate; the motor input gear (12) is meshed with the outer gear ring (14) and drives the outer gear ring (14) to rotate, and is used as power input in the cell robot to provide power for capacity aggregation; the outer gear ring (14) is used for transmitting motor power, and the motor power is transmitted to the inner gear through the fixed connection with the inner gear ring (10) and the engagement with the motor input gear (12) in the embodiment; the annular gear (10) is meshed with the planet gear (6) and is used as an input gear of the planet gear (6) to provide power for rotation and revolution of the planet gear (6); the planet carrier (13) is used for axially fixing the planet wheel (6), and the planet wheel (6) can have rotation and revolution capacity through axial fixation with the base in the embodiment, and is circumferentially fixed with the main shaft (1) through a spline to provide power for the main shaft (1); the planet wheel is meshed with the inner gear ring (10) and the sun gear (9), and drives the planet carrier to rotate through revolution; the sun gear is meshed with the planet gears and serves as external power input of the cell robot to provide power for revolution and rotation of the planet gears, the sun gear and the inner gear ring (10) drive the planet gears to revolve together, and capacity aggregation is achieved through a differential planet gear operation principle; the sun gear shaft (15) is used for transmitting the external power of the cell robot, and in the embodiment, the sun gear shaft is in butt joint with the main shaft of the previous cell robot through an eccentric shaft to transmit the power of the previous cell robot, and the sun gear shaft is fixed with the sun gear (9) through a key.
The working process of the example is as follows: before the task is executed, a small number of cell robots are pre-built on a spacecraft, and the lower spherical shell of the initial cell robot is fixed with a base through an interface. According to the torque required by the task, the computer controls the cell robot to reconstruct and optimize, a serial body is formed to improve the output torque, and the serial body controls the starting and the braking of the direct current frameless motor through the controller. When the cell robot transmits power, a starting end cell robot sun wheel shaft of the serial body is fixed with a lower spherical shell of the cell robot through a sun wheel brake, so that the starting end cell robot sun wheel gear is fixed, a direct current frameless motor in the serial body drives a motor input gear to rotate through an output shaft to drive an inner gear ring meshed with a planet wheel to rotate, a starting end cell robot main shaft circumferentially rotates, and as the starting end cell robot main shaft is circumferentially fixed with a second cell robot sun wheel shaft in the serial body, the starting end cell robot transmits power to the second cell robot sun wheel shaft through the main shaft, and the starting end cell robot main shaft and the second cell robot direct current frameless motor are gathered, so that the second cell robot main shaft is driven to rotate by larger torque. Similarly, the spindle of the second cell robot can realize capacity aggregation with the DC frameless motor of the third cell robot in the same way, and the spindle of the third cell robot can output the capacity aggregation. Finally, the direct current frameless motor capability of all cell robots in the concatemer is gathered, and larger moment is output through the main shaft of the terminal cell robot.
Claims (2)
1. The capacity aggregation transmission device of the cell robot in the reconstruction space is characterized by comprising a main shaft, a locking plate, a lower shell of the cell robot, a lower shell of a power assembly, a direct current frameless motor, a planet wheel, an upper end cover of the power assembly, an upper shell of the power assembly, a sun gear, an inner gear ring, a harmonic reducer, a motor input gear, a planet carrier, an outer gear ring, a sun gear shaft, a motor brake, a fixed connecting plate and a sun gear brake; the main shaft is axially fixed with a bearing of an upper shell of the power assembly through a deep groove ball bearing of the locking plate and is connected with the planet carrier through a shaft end spline, so that power transmission is realized; the locking plate is fixedly connected with the lower shell of the cell robot through four groups of countersunk screws which are circumferentially and uniformly distributed; the lower shell of the cell robot is in butt joint with the base through an interface and is fixedly connected, or is in butt joint with other cell robots through a cell robot interface; the fixed connecting plate is fixedly connected with the lower shell of the power assembly through four groups of countersunk screws which are uniformly distributed; the upper shell of the power assembly is fixedly connected with the fixed connecting plate through countersunk screws; the upper end cover of the power assembly is fixedly connected with the upper shell of the power assembly through three groups of countersunk head screws, so that the locking plate, the lower shell of the cell robot, the lower shell of the power assembly, the fixed connecting plate, the upper shell of the power assembly and the upper end cover of the power assembly are fixedly connected with the base; the solar wheel brakes are fixedly connected with the lower spherical shell of the cell robot through four groups of countersunk head screws which are uniformly distributed; the outer gear ring is axially fixed on the fixed connecting plate through a pair of deep groove ball bearings; the inner gear ring is fixedly connected with the outer gear ring through four groups of countersunk head screws which are uniformly distributed; the sun gear shaft is axially fixed on the lower shell of the cell robot through a pair of deep groove ball bearings, is fixedly connected with the sun gear brake in the circumferential direction through a key, and is fixedly connected with the sun gear shaft through a shaft shoulder and a check ring; the sun gear is fixedly connected to the sun gear shaft through a key; the planet carrier is axially fixed on the upper shell of the power assembly through a deep groove ball bearing; the planetary gears are axially fixed through four uniformly distributed short shafts sleeved in the planetary gear frame; the direct current frameless motor is fixedly connected with the locking plate through four groups of countersunk screws which are uniformly distributed; the brake is fixedly connected with the locking plate through three groups of countersunk head screws; the harmonic speed reducer is fixedly connected with the upper shell of the power assembly through four groups of evenly distributed countersunk screws; and the motor input gear is axially fixed on the output shaft of the harmonic reducer through a check ring.
2. The capacity aggregation transmission device for the cell robot in the self-reconstruction space according to claim 1, wherein the main shaft is used as a power output of the cell robot, and is used for transmitting power, is circumferentially fixed with the planet carrier through a lower spline and is used for realizing power transmission with another cell robot through an upper eccentric bulge; the locking plate is used for providing axial fixed positioning for the main shaft and fixing the direct-current frameless motor and the motor brake; the cell robot shell is fixedly connected with the base through an interface and used as a fixed base of the cell robot; the lower shell of the power assembly is used for fixing the fixed connection plate, fixing the solar wheel brake and connecting the base, so that the fixed connection plate, the solar wheel brake and the base are fixed; the fixed connection plate is used for connecting the lower shell of the power assembly and the upper shell of the power assembly, never realizing the fixation of the upper shell of the power assembly and the base, and providing axial positioning for the sun gear, the outer gear ring and the inner gear ring; the upper shell of the power assembly has the function of fixing the upper end cover of the power assembly, thereby realizing the fixation of the upper end cover of the power assembly and the base and providing axial fixation for the planet carrier; the direct-current frameless motor, the brake and the harmonic reducer are used for providing power and controlling the motor input gear to rotate; the motor input gear is meshed with the outer gear and drives the outer gear to rotate, and is used as power input in the cell robot to provide power for capacity aggregation; the external gear ring is used for transmitting motor power, and the motor power is transmitted to the internal gear through the fixed connection with the internal gear ring and the engagement with the motor input gear; the annular gear is meshed with the planet gear and serves as an input gear of the planet gear to provide power for rotation and revolution of the planet gear; the planet carrier has the function of axially fixing the planet wheels, and the planet wheels can have rotation and revolution capacity through the axial fixation with the base in the embodiment, and are circumferentially fixed with the main shaft through the spline to provide power for the main shaft; the planet wheel is meshed with the inner gear ring and the sun gear, and drives the planet carrier to rotate through revolution; the sun gear is meshed with the planet gears and serves as external power input of the cell robot to provide power for revolution and rotation of the planet gears, the sun gear and the inner gear ring drive the planet gears to revolve together, and capacity aggregation is achieved through a differential planet gear operation principle; the sun gear shaft is used for transmitting external power of the cell robot.
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| CN202110469763.0A CN114425786B (en) | 2021-04-28 | 2021-04-28 | Capability aggregation transmission device of self-reconstruction space cell robot |
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| CN202110469763.0A CN114425786B (en) | 2021-04-28 | 2021-04-28 | Capability aggregation transmission device of self-reconstruction space cell robot |
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