CN100369724C - Modularized joint of space manipulator - Google Patents
Modularized joint of space manipulator Download PDFInfo
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- CN100369724C CN100369724C CNB2006100097553A CN200610009755A CN100369724C CN 100369724 C CN100369724 C CN 100369724C CN B2006100097553 A CNB2006100097553 A CN B2006100097553A CN 200610009755 A CN200610009755 A CN 200610009755A CN 100369724 C CN100369724 C CN 100369724C
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Abstract
The present invention discloses a modularized joint of a space manipulator, which relates to a space robot arm joint. The present invention aims at the problems of the existing space manipulator joint of poor safety and reliability, and complicated structure. A wave generating machine (1-3-1) of the present invention is fixed in a DC brushless motor. A flexible wheel (1-3-3) is arranged on the wave generating machine (1-3-1). A hand wheel (1-3-2) is arranged on the flexible wheel (1-3-3). An inner ring seat (1-5) of a bearing is arranged on the hand wheel (1-3-2). The hand wheel (1-3-2) is fixedly connected with the DC brushless motor. The flexible wheel (1-3-3) is fixedly connected with a torque sensor (1-1). A position sensor is arranged between the torque sensor (1-1) and the inner ring seat (1-5) of a bearing. The torque sensor (1-1) is fixedly connected with an outer ring seat (1-6) of the bearing. The bearing (1-4) is arranged between the inner ring seat (1-5) of a bearing and the outer ring seat (1-6) of the bearing. A magnetic coder (2-2) is arranged on the DC brushless motor. A sleeve (3) is arranged in the DC brushless motor. A drive circuit board (2-3), a control circuit board (2-4) and a power supply circuit board (2-5) are fixedly connected with an interface circuit board (2-6) by a support frame, the DC brushless motor and a pressure ring (2-10). The present invention has the advantages of high intelligent degree and high integration, and can adapt space environment.
Description
Technical field
The present invention relates to a kind of space mechanism shoulder joint.
Background technology
Along with the space science technology rapid development, following development and utilization to the energy will expand to the space.But many space operations all be unable to do without robot for space, building and safeguarding, the release of satellite and recovery as the space station.Since being suggested from the notion of robot for space, up to now, the robot for space arm Canadarm2 of Canadian space office (CSA) is unique robot for space arm of using in real work.ETS-VII by Japanese NASDA (NSADA) emission is that first is equipped with robots arm's satellite in the world.US National Aeronautics and Space Administration (NASA) has developed an assistant who is called " Robonaut " for the astronaut.As efficient, energy-conservation and can help people to implement the instrument of a large amount of space operation tasks and the Robonaut that is suggested is a human emulated robot.German Aerospace Center (DLR) has developed three generations's lightweight robotic, this three generations's lightweight robotic has some common features: the kinematics redundancy feature similar to people's arm, load greater than 1: 2, does not have a large amount of cables and higher dynamics from anharmonic ratio among the robots arm.Be installed in ROCKVISS on the international space station in 2005 and be the experimental system that the lightweight robotic assembly of under the virtual reality condition it being developed of DLR development experimentizes.Modularized joint of space manipulator is as the important component part of space manipulator, and its integrated and intelligent degree is directly connected to the levels of precision of space manipulator control, and this is the problem that the robot for space field is all being studied always.The joint component structure of the robot for space that CSA, NASADA, NASA developed is complicated.And the joint component of the robot for space that DLR developed is simple in structure, in light weight, but what the outer ring seat of its oscillating bearing and interior ring seat adopted all is aluminum alloy materials, is easy to like this in the space the stuck situation of bearing to occur when high low temperature changes, and makes the joint cisco unity malfunction; And do not have redundant motor position sensor system in the joint of DLR development, can not work in case sensor has been broken the joint.At home, many research work have been done in the development aspect of 502 place space mechanism shoulder joints, but all only rest on laboratory conditions, do not form final products.According to the data of grasping at present, domestic also do not have other unit to succeed in developing at the space mechanism shoulder joint of space environment development.
Summary of the invention
The objective of the invention is for the security reliability that solves present robot for space field space mechanism shoulder joint poor, complex structure problem and a kind of intelligent degree height that provides, the integrated level height, reliability height, compact conformation also can adapt to the Modularized joint of space manipulator of space environment.
It is made up of the present invention articulation mechanism, electric machine and sleeve; Described articulation mechanism is made up of torque sensor, position sensor, harmonic speed reducer, bearing, bearing inner ring seat, outer race seat and adpting flange, described harmonic speed reducer by wave producer, just take turns and flexbile gear is formed, described electric machine comprises dc brushless motor, magnetic coder, drive circuit board, control circuit board, power supply circuit board, interface card, first support, second support, the 3rd support and pressure ring; Wave producer is installed on the dc brushless motor, flexbile gear is contained on the wave producer, just wheel is contained on the flexbile gear, the bearing inner ring seat is contained on the firm wheel, just wheel is fixedlyed connected with dc brushless motor, adpting flange is fixedlyed connected with the bearing inner ring seat, between bearing inner ring seat and the outer race seat bearing is housed, the other end of flexbile gear is fixedlyed connected with torque sensor, between torque sensor and the bearing inner ring seat position sensor is housed, torque sensor is fixedlyed connected with the outer race seat, magnetic coder is housed on the dc brushless motor, described sleeve is contained in the dc brushless motor, between the dc brushless motor and first support drive circuit board is housed fixedly, between first support and second support control circuit board is housed fixedly, between second support and the 3rd support power supply circuit board is housed fixedly, interface card fixedly is housed between the 3rd support and the pressure ring.
The present invention has following beneficial effect: one, in the outer space microgravity environment, gravity almost can be left in the basket to the influence of joint of robot moment, the present invention extensively adopts idea of modular, be that entire machine people arm just is made of a kind of modularized joint, use this modularized joint and can develop the mechanical arm of various configurations at short notice, thereby shorten the construction cycle, reduce development cost, and modularized design method can make the design of robot for space and modification become easily, can improve the maintainability of system greatly.Two, the present invention adopts the type of drive of dc brushless motor and harmonic speed reducer associating, have simple in structure, the advantage of reliable transmission.Three, for cable and plug are passed through from the joint easily, in the centre bore of dc brushless motor and harmonic speed reducer, sleeve is housed, all leads of robot (comprising power line and holding wire) and plug all pass in sleeve, thereby the damage that the motion that can avoid variation (the high and low variation of temperature), radiation and robot owing to space environment causes is simultaneously also avoided outside cabling and the cable bad that causes.Four, in order to make Modularized joint of space manipulator debugging and assembling easily, the joint is divided into joint mechanism parts and electric machine part.When the control algolithm of debugging electric machine part, can debug separately and do not need joint mechanism parts.Five, the flexbile gear of harmonic speed reducer of the present invention links to each other with joint moment sensor, and joint moment sensor links to each other with the outer ring seat of oscillating bearing, thereby realizes that the joint position sensor is used for detecting the anglec of rotation in joint by the conversion that outputs to joint output of motor.Six, adopt harmonic speed reducer and joint moment sensor can increase the flexibility in joint, reduce control accuracy.Seven, in order to make the installation of circuit board, debugging and maintenance are easily, adopt the method for attachment of series connection between each circuit board, design has a support between per two circuit boards, and each circuit board is compressed by two supports, avoids because space manipulator causes circuit board damage owing to vibrating in the emission and the course of work.Eight, the present invention has degree of modularity height, and the construction cycle of mechanical arm is short, and development cost is low, the advantage that system maintenance is good, and this modularized joint mainly is that its method for designing also adapts in the ground environment fully at the space environment design.
Description of drawings
Fig. 1 is an overall structure stereogram of the present invention, Fig. 2 is overall structure master's pseudosection of the present invention, Fig. 3 is an articulation mechanism master pseudosection, Fig. 4 is the main pseudosection of electric machine, Fig. 5 is the structural perspective of the mover 1-2-2 of position sensor, and Fig. 6 is the structural perspective of the stator 1-2-1 of position sensor, and Fig. 7 is the isometric front view of torque sensor 1-1, Fig. 8 is the rear isometric view of torque sensor 1-1, and Fig. 9 is the front view of torque sensor 1-1.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1～4 explanation present embodiments, present embodiment is made up of articulation mechanism, electric machine and sleeve 3; Described articulation mechanism is by torque sensor 1-1, position sensor, harmonic speed reducer, bearing 1-4, bearing inner ring seat 1-5, outer race seat 1-6 and adpting flange 1-7 form, described harmonic speed reducer is by wave producer 1-3-1, just wheel 1-3-2 and flexbile gear 1-3-3 form, described electric machine is by dc brushless motor, magnetic coder 2-2, drive circuit board 2-3, control circuit board 2-4, power supply circuit board 2-5, interface card 2-6, the first support 2-7, the second support 2-8, the 3rd support 2-9 and pressure ring 2-10 form, and described dc brushless motor is by motor shaft 2-1-1, motor housing 2-1-2, motor bearings 2-1-3, end cap 2-1-4, rotor 2-1-5 and motor stator 2-1-6 form; Motor stator 2-1-6 fixedly is housed in the motor housing 2-1-2, rotor 2-1-5 is housed in the motor stator 2-1-6, motor shaft 2-1-1 is housed in the rotor 2-1-5, end cap 2-1-4 is fixedlyed connected with motor housing 2-1-2, between motor shaft 2-1-1 and the motor housing 2-1-2 and between motor shaft 2-1-1 and the end cap 2-1-4 motor bearings 2-1-3 is housed respectively, the end of motor shaft 2-1-1 is installed in the wave producer 1-3-1, wave producer 1-3-1 is contained in the flexbile gear 1-3-3, the end of flexbile gear 1-3-3 is contained in the firm 1-3-2 of wheel, just wheel 1-3-2 is contained in the bearing inner ring seat 1-5, just wheel 1-3-2 is fixedlyed connected with the end of motor housing 2-1-2, adpting flange 1-7 is fixedlyed connected with bearing inner ring seat 1-5, between bearing inner ring seat 1-5 and the outer race seat 1-6 bearing 1-4 is housed, the other end of flexbile gear 1-3-3 is fixedlyed connected with torque sensor 1-1, torque sensor 1-1 is fixedlyed connected with outer race seat 1-6, between torque sensor 1-1 and the bearing inner ring seat 1-5 position sensor is housed, magnetic coder 2-2 is housed on the motor shaft 2-1-1, described sleeve 3 passes the centre bore of flexbile gear 1-3-3 and motor shaft 2-1-1 and fixedlys connected with end cap 2-1-4, drive circuit board 2-3 is housed between the other end of motor housing 2-1-2 and the first support 2-7 and fixedlys connected by the first screw 2-11, control circuit board 2-4 is housed between the first support 2-7 and the second support 2-8 and fixedlys connected by the second screw 2-12, power supply circuit board 2-5 is housed between the second support 2-8 and the 3rd support 2-9 and fixedlys connected by the 3rd screw 2-13, interface card 2-6 is housed between the 3rd support 2-9 and the pressure ring 2-10 and fixedlys connected described bearing inner ring seat 1-5 by the 4th screw 2-14, outer race seat 1-6, motor housing 2-1-2, end cap 2-1-4 and motor shaft 2-1-1 make by titanium alloy material.Be respectively equipped with big centre bore on described drive circuit board 2-3, control circuit board 2-4, power supply circuit board 2-5 and the interface card 2-6, the described first support 2-7, the second support 2-8, the 3rd support 2-9 and pressure ring 2-10 are respectively equipped with big central bore.Adopt said structure, in order to realize the big centre bore cabling design of modularized joint, all circuit boards of joint control circuit system and support have all designed a big centre bore, pressure ring 2-10 design has a big central bore, flexbile gear 1-3-3 and motor shaft 2-1-1 have bigger centre bore, the cable of mechanical arm and cable socket can conveniently the larger-size sleeve 3 of endoporus be encased in the centre bore like this, so that can pass through in the middle of this modularized joint.The harmonic speed reducer that is adopted in the present embodiment is manufactured by Harmonic Drive (Japan), model: HFUS-2A-20.
In the present embodiment, bearing inner ring seat 1-5, outer race seat 1-6, motor housing 2-1-2, end cap 2-1-4 and motor shaft 2-1-1 make by titanium alloy (TC4) material.Because the material of bearing 1-4 is 440C (stainless steel) and the thermal coefficient of expansion of titanium alloy (TC4) differs very little, is unlikely to thermal coefficient of expansion owing to bearing inner ring seat 1-5 and outer race seat 1-6 and bearing 1-4 and differs too greatly and make bearing 1-4 stuck; Also being unlikely to simultaneously thermal coefficient of expansion owing to motor housing 2-1-2, end cap 2-1-4 and motor bearings 2-1-3 differs too greatly and makes motor bearings 2-1-3 stuck.
The specific embodiment two: in conjunction with Fig. 2 present embodiment is described, the difference of the present embodiment and the specific embodiment one is: the electric machine of present embodiment also increases digital hall sensor 2-15; Described digital hall sensor 2-15 is contained in the motor housing 2-1-2 and with motor stator 2-1-6 fixedlys connected.The redundant measurement of motor position: can pass through digital hall sensor 2-15 and magnetic coder 2-2 independent measurement respectively, can improve the reliability of system like this, one bad, and another can work independently.
The specific embodiment three: in conjunction with Fig. 7～9 explanation present embodiments, the torque sensor 1-1 of present embodiment is made up of moment input disc 1-1-1, moment output panel 1-1-2, strain beam, foil gauge, four sensor protection beams and four protection cushion blocks; Described strain beam is by the first strain beam 1-1-3-1 along moment input disc 1-1-1 circumference uniform distribution; the second strain beam 1-1-3-2; the 3rd strain beam 1-1-3-3 and the 4th strain beam 1-1-3-4 form; the first strain beam 1-1-3-1; the second strain beam 1-1-3-2; one is made with moment input disc 1-1-1 and moment output panel 1-1-2 respectively in the two ends of the 3rd strain beam 1-1-3-3 and the 4th strain beam 1-1-3-4; described foil gauge is by the first foil gauge 1-1-4-1 and the second foil gauge 1-1-4-2 that stick on respectively on the first strain beam 1-1-3-1; stick on the 3rd foil gauge 1-1-4-3 and the 4th foil gauge 1-1-4-4 on the second strain beam 1-1-3-2; the 7th foil gauge 1-1-4-7 and the 8th foil gauge 1-1-4-8 that stick on the 5th foil gauge 1-1-4-5 and the 6th foil gauge 1-1-4-6 on the 3rd strain beam 1-1-3-3 and stick on the 4th strain beam 1-1-3-4 form; constitute first full-bridge by the 5th foil gauge 1-1-4-5 and the 6th foil gauge 1-1-4-6 on the first foil gauge 1-1-4-1 on the first strain beam 1-1-3-1 and the second foil gauge 1-1-4-2 and the 3rd strain beam 1-1-3-3; constitute second full-bridge by the 7th foil gauge 1-1-4-7 and the 8th foil gauge 1-1-4-8 on the 3rd foil gauge 1-1-4-3 on the second strain beam 1-1-3-2 and the 4th foil gauge 1-1-4-4 and the 4th strain beam 1-1-3-4; orthogonal thereto layout between first full-bridge and second full-bridge; moment input disc 1-1-1 is fixedlyed connected with described flexbile gear 1-3-3; moment output panel 1-1-2 is fixedlyed connected with described outer race seat 1-6; four sensor protection beams are alternately distributed along the circumference uniform distribution of moment input disc 1-1-1 and with the strain transducer beam; the inner end of each sensor protection beam 1-1-5-1 and moment input disc 1-1-1 make one; the outer end of each sensor protection beam 1-1-5-1 be installed in the corresponding protection cushion block 1-1-6-1 by bolt 1-1-7 and with protection cushion block 1-1-6-1 together be contained in the inner edge of pairing moment output panel 1-1-2 poor in; be provided with gap L 1 between the two sides of each sensor protection beam 1-1-5-1 and the two side of inner edge groove, be provided with slit L2 between the two sides of each protection cushion block 1-1-6-1 and the two side of inner edge groove.By wave producer 1-3-1, just take turns harmonic speed reducer that 1-3-2 and flexbile gear 1-3-3 constitute in the course of the work, flexbile gear 1-3-3 can change with the just contact area of wheel 1-3-2.Because the stress influence that the variation of contact force and flexbile gear 1-3-3 distortion produces in the contact area change procedure, the joint whenever rotates a circle, the moment that torque sensor 1-1 records also can produce a bigger harmonic wave, this harmonic wave produces significant effects to the signal of torque sensor 1-1, and it can not well be worked.In order to overcome in the course of work of above-mentioned joint influence to torque sensor 1-1 output signal; this torque sensor 1-1 has designed eight crossbeams; wherein four strain beams are used for pasting foil gauge, and other four protection beams are used for protecting torque sensor 1-1, and it is avoided owing to overload is damaged.Eight crossbeams evenly distribute, and strain beam and protection beam space are interspersed for 90 °.Foil gauge adopts the whole plane method of attaching, is convenient to paste, and the plane of promptly pasting foil gauge on four of torque sensor 1-1 strain beams all in one plane.This torque sensor 1-1 adopts eight foil gauges to form two outputs that full-bridge comes measuring transducer, and each group full-bridge records the joint moment that the result all has harmonic wave.It is T that full-bridge one records joint moment
1, it is T that full-bridge two records joint moment
2,
Then actual moment T is: T=(T
1+ T
2)/2
Other composition and annexation are identical with the specific embodiment one.
The specific embodiment four: present embodiment is described in conjunction with Fig. 9; gap L 1 between the two sides of each sensor protection beam 1-1-5-1 of present embodiment and the two side of inner edge groove is 0.025～0.03mm, and the slit L2 between the two sides of each protection cushion block 1-1-6-1 and the two side of inner edge groove is 0.025～0.03mm.In the course of work of joint, the excessive situation of loading moment might appear, and this situation may produce torque sensor 1-1 and destroy, and makes its cisco unity malfunction.And the overload protection function of general torque sensor all is a more complicated, and patent of the present invention has realized that the moment of torque sensor detects and the incorporate integrated design of overload protection function.By analysis, this torque sensor 1-1 is when full scale is exported, and the gap L 1 of each sensor protection Liang1-1-5-1Chu is changed to 0.025mm, in order to make torque sensor 1-1 working range certain surplus is arranged, and design gaps L1 is 0.03mm.Because the gap of 0.03mm is to be difficult to processing, therefore adopts the mode adjusting play L1 of repair to reach requirement.When this torque sensor of assembling 1-1; by revising the size of each protection cushion block 1-1-6-1, make slit L2 reach 0.03mm, torque sensor 1-1 is when work like this; existing certain margin of operation can avoid torque sensor 1-1 owing to overload is damaged again.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment five: in conjunction with Fig. 2, Fig. 5, Fig. 6 present embodiment is described, the position sensor of present embodiment is made up of stator 1-2-1 and mover 1-2-2; Described stator 1-2-1 and mover 1-2-2 are staggered relatively; stator 1-2-1 is fixedlyed connected with described torque sensor 1-1; mover 1-2-2 is fixedlyed connected with described bearing inner ring seat 1-5; stator 1-2-1 is provided with conducting ring 1-2-3 and Hall limit switch 1-2-4 towards the side end face of mover 1-2-2; mover 1-2-2 is provided with magnet steel 1-2-5 and brush 1-2-6 towards the side end face of stator 1-2-1; constitute potentiometer by brush 1-2-6 and conducting ring 1-2-3, constitute joint extreme position protection electronic switch by magnet steel 1-2-5 and Hall limit switch 1-2-4.In order to improve the precision of control, adopted traditional potentiometer in the position sensor, utilize brush 1-2-6 on conducting ring 1-2-3, to slide and measure the anglec of rotation in joint.When the joint rotates to extreme position; Hall limit switch 1-2-4 detects the joint limit position signal that magnetic field produced that magnet steel 1-2-5 produces; thereby the range of movement in control joint has played protective effect to the joint, avoids because mechanical collision causes the joint to damage.Because robot for space needs high control accuracy, so the method that merges has been adopted in the design of this modularized joint position sensor.Joint position can obtain by the method that merges: measure joint position jointly by potentiometer and magnetic coder 2-2, promptly pass through the initial start position in the potentiometer measurement joint of position sensor, start the back and obtain the joint position (Redundancy Design of joint position by magnetic coder 2-2 detection, after magnetic coder 2-2 has broken, joint position can pass through the potentiometer independent measurement, thereby has improved the reliability of system).Other composition and annexation are identical with the specific embodiment one.
The transmittance process of joint moment is: motor stator 2-1-6 is installed on the motor housing 2-1-2, driving motor shaft 2-1-1 by rotor 2-1-5 rotates relative to motor stator 2-1-6, by motor shaft 2-1-1 moment is delivered on the wave producer 1-3-1, by by wave producer 1-3-1, the deceleration of the harmonic speed reducer of wheel 1-3-2 and flexbile gear 1-3-3 formation just is delivered to moment on the flexbile gear 1-3-3 from wave producer 1-3-1, flexbile gear 1-3-3 passes torque to torque sensor 1-1 again, torque sensor 1-1 transmits torque on the adpting flange 1-7 at last again, thereby has realized the moment output in whole joint.
Claims (10)
1. Modularized joint of space manipulator is characterized in that it is made up of articulation mechanism, electric machine and sleeve (3); Described articulation mechanism is by torque sensor (1-1), position sensor, harmonic speed reducer, bearing (1-4), bearing inner ring seat (1-5), outer race seat (1-6) and adpting flange (1-7) are formed, described harmonic speed reducer is by wave producer (1-3-1), just wheel (1-3-2) and flexbile gear (1-3-3) are formed, and described electric machine comprises dc brushless motor, magnetic coder (2-2), drive circuit board (2-3), control circuit board (2-4), power supply circuit board (2-5), interface card (2-6), first support (2-7), second support (2-8), the 3rd support (2-9) and pressure ring (2-10); Wave producer (1-3-1) is installed on the dc brushless motor, flexbile gear (1-3-3) is contained on the wave producer (1-3-1), just wheel (1-3-2) is contained on the flexbile gear (1-3-3), bearing inner ring seat (1-5) is contained on the firm wheel (1-3-2), just wheel (1-3-2) is fixedlyed connected with dc brushless motor, adpting flange (1-7) is fixedlyed connected with bearing inner ring seat (1-5), between bearing inner ring seat (1-5) and the outer race seat (1-6) bearing (1-4) is housed, the other end of flexbile gear (1-3-3) is fixedlyed connected with torque sensor (1-1), between torque sensor (1-1) and the bearing inner ring seat (1-5) position sensor is housed, torque sensor (1-1) is fixedlyed connected with outer race seat (1-6), magnetic coder (2-2) is housed on the dc brushless motor, described sleeve (3) is contained in the dc brushless motor, between dc brushless motor and first support (2-7) drive circuit board (2-3) is housed fixedly, between first support (2-7) and second support (2-8) control circuit board (2-4) is housed fixedly, between second support (2-8) and the 3rd support (2-9) power supply circuit board (2-5) is housed fixedly, between the 3rd support (2-9) and the pressure ring (2-10) interface card (2-6) is housed fixedly.
2. Modularized joint of space manipulator according to claim 1 is characterized in that described torque sensor (1-1) comprises moment input disc (1-1-1), moment output panel (1-1-2), strain beam and foil gauge; Described strain beam is by first strain beam (1-1-3-1) along moment input disc (1-1-1) circumference uniform distribution, second strain beam (1-1-3-2), the 3rd strain beam (1-1-3-3) and the 4th strain beam (1-1-3-4) are formed, first strain beam (1-1-3-1), second strain beam (1-1-3-2), one is made with moment input disc (1-1-1) and moment output panel (1-1-2) respectively in the two ends of the 3rd strain beam (1-1-3-3) and the 4th strain beam (1-1-3-4), described foil gauge is by first foil gauge (1-1-4-1) and second foil gauge (1-1-4-2) that stick on respectively on first strain beam (1-1-3-1), stick on the 3rd foil gauge (1-1-4-3) and the 4th foil gauge (1-1-4-4) on second strain beam (1-1-3-2), the 7th foil gauge (1-1-4-7) and the 8th foil gauge (1-1-4-8) that stick on the 5th foil gauge (1-1-4-5) and the 6th foil gauge (1-1-4-6) on the 3rd strain beam (1-1-3-3) and stick on the 4th strain beam (1-1-3-4) are formed, constitute first full-bridge by the 5th foil gauge (1-1-4-5) on first foil gauge (1-1-4-1) on first strain beam (1-1-3-1) and second foil gauge (1-1-4-2) and the 3rd strain beam (1-1-3-3) and the 6th foil gauge (1-1-4-6), constitute second full-bridge by the 7th foil gauge (1-1-4-7) on the 3rd foil gauge (1-1-4-3) on second strain beam (1-1-3-2) and the 4th foil gauge (1-1-4-4) and the 4th strain beam (1-1-3-4) and the 8th foil gauge (1-1-4-8), orthogonal thereto layout between first full-bridge and second full-bridge, moment input disc (1-1-1) is fixedlyed connected with described flexbile gear (1-3-3), and moment output panel (1-1-2) is fixedlyed connected with described outer race seat (1-6).
3. Modularized joint of space manipulator according to claim 2 is characterized in that described torque sensor also comprises four sensor protection beams and four protection cushion blocks; Four sensor protection beams are alternately distributed along the circumference uniform distribution of moment input disc (1-1-1) and with the strain transducer beam; the inner end of each sensor protection beam (1-1-5-1) and moment input disc (1-1-1) are made one; the outer end of each sensor protection beam (1-1-5-1) be installed in the corresponding protection cushion block (1-1-6-1) by bolt (1-1-7) and with protection cushion block (1-1-6-1) together be contained in the inner edge of pairing moment output panel (1-1-2) poor in; be provided with gap L 1 between the two sides of each sensor protection beam (1-1-5-1) and the two side of inner edge groove, be provided with slit L2 between the two sides of each protection cushion block (1-1-6-1) and the two side of inner edge groove.
4. Modularized joint of space manipulator according to claim 3 is characterized in that the gap L 1 between the two side of the two sides of described each sensor protection beam (1-1-5-1) and inner edge groove is 0.025～0.03mm.
5. Modularized joint of space manipulator according to claim 3 is characterized in that the two sides of described each protection cushion block (1-1-6-1) and the slit L2 between the two side of inner edge groove are 0.025～0.03mm.
6. Modularized joint of space manipulator according to claim 1 is characterized in that described position sensor is made up of stator (1-2-1) and mover (1-2-2); Described stator (1-2-1) and mover (1-2-2) are staggered relatively; stator (1-2-1) is fixedlyed connected with described torque sensor (1-1); mover (1-2-2) is fixedlyed connected with described bearing inner ring seat (1-5); stator (1-2-1) is provided with conducting ring (1-2-3) and Hall limit switch (1-2-4) towards a side end face of mover (1-2-2); mover (1-2-2) is provided with magnet steel (1-2-5) and brush (1-2-6) towards a side end face of stator (1-2-1); constitute potentiometer by brush (1-2-6) and conducting ring (1-2-3), constitute joint extreme position protection electronic switch by magnet steel (1-2-5) and Hall limit switch (1-2-4).
7. Modularized joint of space manipulator according to claim 1 is characterized in that dc brushless motor is made up of motor shaft (2-1-1), motor housing (2-1-2), motor bearings (2-1-3), end cap (2-1-4), rotor (2-1-5) and motor stator (2-1-6); Motor stator (2-1-6) fixedly is housed in the described motor housing (2-1-2), rotor (2-1-5) is housed in the motor stator (2-1-6), motor shaft (2-1-1) is housed in the rotor (2-1-5), end on the motor shaft (2-1-1) fixedly is equipped with described wave producer (1-3-1), end cap (2-1-4) is fixedlyed connected with motor housing (2-1-2), on the motor shaft (2-1-1) in the motor housing (2-1-2) described magnetic coder (2-2) is housed, one end of motor housing (2-1-2) is fixedlyed connected with described firm wheel (1-3-2), between the other end of motor housing (2-1-2) and described first support (2-7) drive circuit board (2-3) is housed fixedly, between motor shaft (2-1-1) and the motor housing (2-1-2) and between motor shaft (2-1-1) and the end cap (2-1-4) motor bearings (2-1-3) is housed respectively, described sleeve (3) is contained in the motor shaft (2-1-1) and with end cap (2-1-4) fixedlys connected.
8. Modularized joint of space manipulator according to claim 1 is characterized in that described electric machine also comprises digital hall sensor (2-15); Described digital hall sensor (2-15) is contained in the motor housing (2-1-2) and with motor stator (2-1-6) fixedlys connected.
9. Modularized joint of space manipulator according to claim 1 is characterized in that described bearing inner ring seat (1-5) and outer race seat (1-6) make by titanium alloy material.
10. Modularized joint of space manipulator according to claim 7 is characterized in that described motor housing (2-1-2), end cap (2-1-4) and motor shaft (2-1-1) make by titanium alloy material.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100097553A CN100369724C (en) | 2006-02-28 | 2006-02-28 | Modularized joint of space manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100097553A CN100369724C (en) | 2006-02-28 | 2006-02-28 | Modularized joint of space manipulator |
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| CN1807032A CN1807032A (en) | 2006-07-26 |
| CN100369724C true CN100369724C (en) | 2008-02-20 |
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| CNB2006100097553A Expired - Fee Related CN100369724C (en) | 2006-02-28 | 2006-02-28 | Modularized joint of space manipulator |
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