模块化关节（Modular joint）.docVIP

模块化关节（Modular joint） A space manipulator vertical modular joint, which is composed of a driving device, joint mechanism and electrical parts, wherein the driving device consists of Brushless DC motor (1 - 1), friction type reverse brake, planetary reducer (1 - 3), motor sleeve (1 - 4) and motor sleeve cap (1 - 5). The joint mechanism of the eccentric sleeve by the motor fixing plate (2 - 4), crown gear device, hollow shaft device, harmonic reducer, bearing a thin (2 - 5), two (2 - 6 thin-wall bearing), a supporting seat ring thin-wall bearing (2 - 5 - 1), a Thin-walled bearing ring ring (252), two inner supporting seat (Thin-walled bearing 261), shell (2 7), the first second (2-8), third shell shell (2-9), transmission A flange (2 - 10), joint end cap (2 - 11), sleeve (2 - 12), isolation support ring (2 - 13) (2 - 14) shims and blankets (2 - 15), the electrical part by Holzer switch, position sensor and the switching circuit board (3 - 1), the crown gear device is composed of a crown gear (2 - 1 - 1), a crown gear (2 - 1 - 2), two bearing a (2 - 1 - 1 - 1), circlips for shaft (2 - 1 - 1 - 2) and internal circlips (2 - 1 - 1 - 3), the hollow shaft device consists of a hollow shaft (221), two (222) on the bearing sleeve, a sleeve (223), two (224), hollow bearing 盖（２－２－５）、键一（２－２－６）、键二（２－２－７）、轴用弹性挡圈一（２－２－８）和轴用弹性挡圈二（２－２－９）组成，所述的谐波减速器由柔轮（２－３－１）、刚轮（２－３－２）和波发生器（２－３－３）组成，所述摩擦式反向制动器由一个轴承垫板（１－２－１）、三个销轴（１－２－２）、三个轴承（１－２－３）、一个销轴板（１－２－４）、摩擦片一（１－２－５）、摩擦片二（１－２－６）、一个输出齿轮轴（１－２－７）、一个输出齿轮轴套（１－２－８）、一个输出齿轮轴套轴承（１－２－９）、外壳一（１－２－１０ (1), housing two - 2 - 11) and three case (1 - 2 - 12), the switch from Holzer Hall sensing elements (3 - 2 - 1) and steel (3 - 2 - 2), the position sensor using the traditional potentiometer potentiometer, the conductive ring (3 - 3 - 1) and brush (3 - 3-2) composition, which is characterized in that the brushless DC motor (1-1), friction type reverse brake and planetary reducer (1) are connected in series together and is arranged on a motor sleeve (1-4), motor sl