Two-degree-of-freedom joint of space robot

Abstract

The invention discloses a two-degree-of-freedom joint of a space robot. The two-degree-of-freedom joint comprises two joint driving assemblies and a joint transmission assembly. Two-degree-of-freedom movement of the joint can be achieved. Three movement modes of pitching, rotating and combining of pitching and rotating can be achieved by adjusting the rotating speeds and the rotating angles of two motors. The joint transmission assembly is a differential movement mechanism formed by two input bevel gears and an output bevel gear. The two input bevel gears are fixedly connected with corresponding hypoid gears respectively, and an output flange is fixedly connected with the output bevel gear. First-stage speed reduction is carried out on the torque of the motors through planetary reducers connected with the motors, then second-stage speed reduction is carried out through the hypoid gears, and finally the torque is transmitted to the output end through the bevel gear differential mechanism. As the reduction ratios of two stages of speed reduction are large, the output torque of the mechanism is large, and the high load capacity is achieved.

Description

technical field [0001] The invention relates to the field of space robot joints, in particular to a two-degree-of-freedom joint of a space robot. Background technique [0002] A space robot is an automated operation device that can replace or assist astronauts to complete multiple space operations. Its core component is the drive joint, which is the key stand-alone and core technology for robot motion and positioning. Due to the limitation of space station load, energy and other factors, it is hoped that the size and mass of the space robot will be small, and the carrying capacity will be large. Therefore, the drive joint is required to have a small volume and weight under the condition of outputting the same torque. [0003] The concept of foreign space robots can be traced back to the 1970s. Since the Canadian I robotic arm was officially used for space operations in 1981, space robots have been completed in many fields such as manned spaceflight, deep space exploration,...

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a two-degree-of-freedom joint for a space robot, aiming at the problems of loose joint configuration and large volume and weight of the existing space robot.

Images