CN208132971U - Adapt to the robot modularized turning joint of lunar surface environment - Google Patents
Adapt to the robot modularized turning joint of lunar surface environment Download PDFInfo
- Publication number
- CN208132971U CN208132971U CN201820616601.9U CN201820616601U CN208132971U CN 208132971 U CN208132971 U CN 208132971U CN 201820616601 U CN201820616601 U CN 201820616601U CN 208132971 U CN208132971 U CN 208132971U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- output
- shell
- articular shell
- lunar surface
- 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.)
- Active
Links
Abstract
The utility model belongs to robotic technology field, in particular to a kind of robot modularized turning joint for adapting to lunar surface environment.Including articular shell, output connecting rod, rotation drive device and output flange, wherein output connecting rod is sheathed on the outside of articular shell and is rotatablely connected with articular shell, and rotation drive device is set in articular shell and is connect by output flange with output connecting rod.The utility model is applied to operation, the detection of lunar surface and deep space and high/low temperature badly under unmanned environment, and multi-degree-of-freemechanical mechanical arm required for being formed according to task have the function that complete set complex task.
Description
Technical field
The utility model belongs to robotic technology field, in particular to a kind of robot modularized work for adapting to lunar surface environment
Movable joint.
Background technique
Space manipulator is installed on the space platforms such as space station, lunar rover, satellite, can be used to construction, the dimension of space station
Shield and the work such as lunar surface detection and operation, but capture, carrying, replacement and maintenance that can be used for load etc. operates.It is existing mostly free
It spends space and mostly uses single task role to design with mechanical arm or rotating mechanism, versatility cannot be reached, and design objective amount is big,
Mechanism is complicated, and the period is long.
Utility model content
In view of the above-mentioned problems, the purpose of this utility model is to provide a kind of robot modularized work for adapting to lunar surface environment
Movable joint can form institute according to task to be applied to operation, the detection of lunar surface and deep space and high/low temperature badly under unmanned environment
The multi-degree-of-freemechanical mechanical arm needed has the function that complete set complex task.
To achieve the goals above, the utility model uses following technical scheme：
A kind of robot modularized turning joint adapting to lunar surface environment, including articular shell, output connecting rod, rotation driving
Device and output flange, wherein output connecting rod is sheathed on the outside of the articular shell and is rotatablely connected with the articular shell,
The rotation drive device is set in the articular shell and is connect by output flange with the output connecting rod.
The rotation drive device includes motor and retarder, and wherein the input shaft of the output shaft of motor and retarder connects
It connects, the output shaft of the speed reducer in the articular shell by stretching out and connecting with the output flange.
The inside of the articular shell is hierarchic structure, and the retarder and motor are bolted on outside the joint
In shell and pass through inner stopper axial limiting.
The both ends of the articular shell are respectively equipped with the first joint end cap and second joint end cap, first joint end cap
It is corresponding with the motor and connect with the articular shell, the second joint end cap it is corresponding with the retarder and with
The output connecting rod connection.
The opposite sides of the motor is respectively equipped with one stroke switch, and the contact of the travel switch is stretched out in the output
On rotation interface between connecting rod and the articular shell, the inner wall of the output connecting rod is equipped with one stroke switch contact, institute
Stating output, connecting rod is forward and reverse when turning to extreme position, passes through travel switch contact and triggers the travel switch.
The articular shell and the output connecting rod are hollow L-type structure.
One end of the output connecting rod is connect and by the articular shell with one end of the articular shell by bearing
On shaft shoulder axial limiting.
The outer diameter of the output connecting rod is equal with the outer diameter of the articular shell.
Male connector and female are respectively equipped on the other end inner wall of the articular shell and the output connecting rod.
The advantages of the utility model and beneficial effect are：
1. the utility model is suitable for the versatility of space tasks environment, modularization turning joint, according to the difference of task,
Different interfaces can be quickly designed, the degree-of-freedom manipulator of needs is then assembled into.
2. the utility model joint moduleization designs, i.e., identical shafting structure is connected into using different interfaces
Various dimensions multi-degree-of-freemechanical mechanical arm.
3. the integrated design degree of the utility model joint shafting is very high, articular shell be both rotation reference axis and
It is the mounting base of stepper motor and planetary reduction gear.Stepper motor and planetary reduction gear series connection, are installed in articular shell respectively
Inside so both can guarantee different outer dimensions, be installed together without the unified motor for installing interface and retarder energy precision,
It is can guarantee under high and low temperature environment again, motor and retarder, which are unlikely to be affected by temperature, causes shafting to deform.
4. the utility model shafting is designed using multi-diameter shaft, assembly was not only considered, but also shorten the length of shafting, saved
Space.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is one of the longitudinal sectional view of the utility model；
Fig. 3 is the two of the longitudinal sectional view of the utility model；
Fig. 4 is the transverse sectional view of the utility model；
Fig. 5 is the structural schematic diagram of the articular shell of the utility model；
Fig. 6 is the structural schematic diagram of the output connecting rod of the utility model.
In figure：6 be articular shell, and 7 be output connecting rod, and 8 be motor, and 9 be retarder, and 10 be bearing, and 11 be output flange,
12 be bearing (ball) cover, and 13 be the first joint end cap, and 14 be output screw, and 15 be travel switch, and 16 be travel switch contact, and 17 are
Male connector, 18 be female, and 19 be second joint end cap.
Specific embodiment
According to the feature that space zero-g or gravity are faint, Traditional Space is opened with mechanical arm according to single task role single batch
Hair design, leads to the features such as design is complicated, the period is long.
For this purpose, the utility model provides a kind of versatility suitable for space tasks environment, modularization turning joint.According to
The difference of task can quickly design different interfaces, then be assembled into the degree-of-freedom manipulator of needs.
In order to keep the purpose of this utility model, technical solution and advantage clearer, with reference to the accompanying drawing and it is embodied
The utility model is described in detail in example.
As shown in Figs 1-4, a kind of robot modularized turning joint adapting to lunar surface environment provided by the utility model, packet
Articular shell 6, output connecting rod 7, rotation drive device and output flange 11 are included, wherein output connecting rod 7 is sheathed on articular shell 6
Outside and be rotatablely connected with articular shell 6, rotation drive device be set in articular shell 6 and by output flange 11 with it is defeated
Connecting rod 7 connects out.
Rotation drive device includes that the input shaft of motor 8 and retarder 9, the wherein output shaft of motor 8 and retarder 9 connects
It connects, the output shaft of speed reducer 9 in articular shell 6 by stretching out and connecting with output flange 11.
The inside of articular shell 6 is hierarchic structure, retarder 9 and motor 8 be bolted in articular shell 6 and
Pass through inner stopper axial limiting.The both ends of articular shell 6 are respectively equipped with the first joint end cap 13 and second joint end cap 19, and first
Joint end cap 13 is corresponding with motor 8 and connect with articular shell 6, second joint end cap 19 it is corresponding with retarder 9 and with
Connecting rod 7 is exported to connect.
The opposite sides of motor 8 is respectively equipped with one stroke switch 15, the contact of travel switch 15 stretch out output connecting rod 7 with
On rotation interface between articular shell 1, the inner wall of output connecting rod 7 is equipped with one stroke switch contact 16, and output connecting rod 7 is positive and negative
To when turning to extreme position, travel switch 15 is triggered by travel switch contact 16, plays the role of protection.
In view of the heat that the hot environment and motor 8 itself of lunar surface generate, KS-Z thermal control is coated in articular surface and is applied
Layer, has reached the purpose of temperature control.
Further, in order to meet the requirement of internal cabling, articular shell 6 and output connecting rod 7 are hollow L-type knot
Structure；For beautiful and loss of weight, the outer diameter for exporting connecting rod 7 is equal with the outer diameter of articular shell 6.One end of output connecting rod 7 passes through axis
10 are held to connect with one end of articular shell 6 and by the shaft shoulder axial limiting on articular shell 6.Articular shell 6 and output connecting rod
It is respectively equipped with male connector 17 and female 18 on 7 other end inner wall, as seen in figs. 5-6.
Bearing 10 is angular contact ball bearing, and two angular contact ball bearings are inserted in outside articular shell 6 together with output connecting rod 7
Side, " face-to-face " installation of two bearings 10.Small bearing inner race bearing (ball) cover 12 is fixed, and bearing (ball) cover 12 is screwed
On articular shell 6.The output shaft of D type hole and retarder among output flange 11 is cooperated, intermediate and with output screw 14
It is attached, plays the purpose for eliminating D type hole movement clearance；Output flange 11 is connected by screw with output connecting rod 7, is transmitted
Rotating torque.
Bearing 10 selects a pair of of angular contact ball bearing, using " face-to-face " installation, to guarantee joint in rocket launching process
In can bear axial force.For the interior snare of bearing 10 on the axis of articular shell 1, outer ring is stuck in the inside of output connecting rod 7.Small axis
It holds one end and bearing (ball) cover 12 is installed, bearing is prevented to be detached from from side.
The design of the utility model joint moduleization, i.e., identical shafting structure are connected into more using different interfaces
Dimension multi-degree-of-freemechanical mechanical arm.The integrated design degree of joint shafting is very high, articular shell 6 be both rotation reference axis and
It is the mounting base of stepper motor and planetary reduction gear.Stepper motor and planetary reduction gear series connection, are installed in articular shell 6 respectively
Inside, so both can guarantee different outer dimensions, be mounted on one without the motor and retarder energy precision of unified installation interface
It rises, and can guarantee under high and low temperature environment, motor and retarder, which are unlikely to be affected by temperature, causes shafting to deform.
Shafting is designed using multi-diameter shaft, had not only been considered assembly, but also shorten the length of shafting, and had been saved space.Output method
Part of the orchid 11 as connection rotation input terminal and output end, is connected with planetary reduction gear output shaft and output connecting rod 7 respectively.
Vibration when in view of rocket launching, general holding screw bonding strength is inadequate, and the utility model is selected in planetary reduction gear
Auger shell pit in D profile shaft plane is exported, and is connect output flange 11 with reducer output shaft with a special screw 14.
In order to make full use of space, two travel switches 15 are mounted on 8 two sides of motor, the boundary stretched out in rotation of lifting one's head
On face.And there is one stroke switch contact 16 to be mounted on the inner casing of output connecting rod 7.When articulation to forward and backward direction limit position
When setting, travel switch 15 can be triggered, exempts from shock to play the role of Saving cortilage components.
Connection between joint and joint is connected by the interface of standard.Male connector is respectively disposed on two components being connected
17 and female 18, on one component, female 18 is on another adjacent component for male connector 17.When assembly, male connector 17 and female 18 are matched
It closes, is directed at mounting socket, then fixed by the bolt hole reserved out corresponding in male connector 17 and female 18, achieve that two in this way
The immovable fitting of adjacent component.When needing to convert the installation direction between joint, it is only necessary to design mounting socket corresponding
Position.Joint is connected into required mechanical arm by the cooperation of interface, and the position of male connector 17 and female 18 is according to mechanical arm need
The orientation wanted is changed, and mounting surface is polished surface, guarantees that it installs positioning accuracy.
The utility model is applied to operation, the detection of lunar surface and deep space and high/low temperature badly under unmanned environment, can be according to appointing
Multi-degree-of-freemechanical mechanical arm required for business forms has the function that complete set complex task.
The utility model use the advantages of modularized design have it is reconstitution it is good, redundancy is good, easy to assembly, flexibility is good and
It is convenient for safeguarding.Modularized joint integrates driving, deceleration, sensor, and integrated level is high, not only shortens power transfer path, but also
Sensor signal can be acquired nearby, improve reliability.Modular design method not only makes robot for space and multiple degrees of freedom
The design and modification of space mechanism become easy, and can shorten the development cycle, reduce development cost, become the maintenance of system
It must be easy, and improve the interchangeability of system.
The foregoing is merely the embodiments of the present invention, are not intended to limit the protection scope of the utility model.It is all
Any modification, equivalent substitution and improvement made within spirit of the present utility model and principle, extension etc., are all contained in this reality
With in novel protection scope.
Claims (9)
1. a kind of robot modularized turning joint for adapting to lunar surface environment, which is characterized in that including articular shell (6), output
Connecting rod (7), rotation drive device and output flange (11), wherein output connecting rod (7) is sheathed on the outer of the articular shell (6)
It side and is rotatablely connected with the articular shell (6), the rotation drive device is set in the articular shell (6) and passes through
Output flange (11) is connect with the output connecting rod (7).
2. the robot modularized turning joint according to claim 1 for adapting to lunar surface environment, which is characterized in that the rotation
Rotary driving device includes motor (8) and retarder (9), wherein the input axis connection of the output shaft of motor (8) and retarder (9),
The output shaft of the retarder (9) in the articular shell (6) by stretching out and connecting with the output flange (11).
3. the robot modularized turning joint according to claim 2 for adapting to lunar surface environment, which is characterized in that the pass
The inside for saving shell (6) is hierarchic structure, and the retarder (9) and motor (8) are bolted on the articular shell (6)
It is interior and pass through inner stopper axial limiting.
4. the robot modularized turning joint according to claim 2 for adapting to lunar surface environment, which is characterized in that the pass
The both ends of section shell (6) are respectively equipped with the first joint end cap (13) and second joint end cap (19), first joint end cap
(13) corresponding with the motor (8) and connect with the articular shell (6), the second joint end cap (19) subtracts with described
Fast device (9) is corresponding and connect with the output connecting rod (7).
5. the robot modularized turning joint according to claim 2 for adapting to lunar surface environment, which is characterized in that the electricity
The opposite sides of machine (8) is respectively equipped with one stroke switch (15), and the contact of the travel switch (15) is stretched out to be connected in the output
On rotation interface between bar (7) and the articular shell (6), the inner wall of output connecting rod (7) is switched equipped with one stroke
Contact (16), the output connecting rod (7) is forward and reverse when turning to extreme position, passes through travel switch contact (16) and triggers the row
Cheng Kaiguan (15).
6. the robot modularized turning joint according to claim 1 for adapting to lunar surface environment, which is characterized in that the pass
It saves shell (6) and the output connecting rod (7) is hollow L-type structure.
7. the robot modularized turning joint according to claim 6 for adapting to lunar surface environment, which is characterized in that described defeated
One end of connecting rod (7) is connect with one end of the articular shell (6) by bearing (10) and by the articular shell (6) out
On shaft shoulder axial limiting.
8. the robot modularized turning joint according to claim 7 for adapting to lunar surface environment, which is characterized in that described defeated
The outer diameter of connecting rod (7) is equal with the outer diameter of the articular shell (6) out.
9. the robot modularized turning joint according to claim 7 for adapting to lunar surface environment, which is characterized in that the pass
Male connector (17) and female (18) are respectively equipped on section shell (6) and the other end inner wall of output connecting rod (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820616601.9U CN208132971U (en) | 2018-04-27 | 2018-04-27 | Adapt to the robot modularized turning joint of lunar surface environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820616601.9U CN208132971U (en) | 2018-04-27 | 2018-04-27 | Adapt to the robot modularized turning joint of lunar surface environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208132971U true CN208132971U (en) | 2018-11-23 |
Family
ID=64311199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820616601.9U Active CN208132971U (en) | 2018-04-27 | 2018-04-27 | Adapt to the robot modularized turning joint of lunar surface environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208132971U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858166A (en) * | 2018-04-27 | 2018-11-23 | 中国科学院沈阳自动化研究所 | A kind of robot modularized turning joint adapting to lunar surface environment |
-
2018
- 2018-04-27 CN CN201820616601.9U patent/CN208132971U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858166A (en) * | 2018-04-27 | 2018-11-23 | 中国科学院沈阳自动化研究所 | A kind of robot modularized turning joint adapting to lunar surface environment |
| CN108858166B (en) * | 2018-04-27 | 2024-01-23 | 中国科学院沈阳自动化研究所 | Robot modularized movable joint suitable for lunar environment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5355743A (en) | Robot and robot actuator module therefor | |
| WO2018130154A1 (en) | High power mass density linear driving device of simplified structure | |
| CN107891438B (en) | Driving built-in multi-finger smart hand | |
| CN111906815B (en) | Execution joint integrated structure for exoskeleton robot joint | |
| CN108858166A (en) | A kind of robot modularized turning joint adapting to lunar surface environment | |
| CN208132971U (en) | Adapt to the robot modularized turning joint of lunar surface environment | |
| CN108435447B (en) | Multi-direction operation device | |
| WO2023087869A1 (en) | Portable fully coupled parallel continuum robot arm | |
| CN110104228A (en) | A kind of drive lacking space break catching apparatus with adaptivity | |
| CN103991089A (en) | Body segment unit for multi-body-segment S-shaped robot | |
| CN109304729B (en) | Parallel opening and closing moment control multifunctional robot end effector and application thereof | |
| CN113977625A (en) | Electric joint module integrating double speed reducers | |
| CN110861120B (en) | Driving joint based on double-stator frameless torque motor and application thereof | |
| CN108870034B (en) | Robotic panoramic camera turntable adapting to lunar environment | |
| CN106141415B (en) | The electric main shaft device of spin friction connection equipment | |
| CN108421667B (en) | Paint spraying machine with pressure maintaining spraying function | |
| CN103659840A (en) | Tail end operational tool assembly of mechanical arm | |
| CN106625591B (en) | Three-translation two-rotation five-degree-of-freedom parallel mechanism | |
| CN216577935U (en) | Robot joint | |
| Tang et al. | An integrated joint for cooperative robots | |
| CN220593158U (en) | Mechanical arm and unmanned aerial vehicle | |
| CN210678769U (en) | Mechanical arm joint with double bearing supports and mechanical arm | |
| CN210678768U (en) | Mechanical arm joint with non-shaft encoder and mechanical arm | |
| CN112659175B (en) | Joint with streamline shell envelope | |
| CN103708388A (en) | High-precision heavy-load two-degree-of-freedom lifting and rotating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |