CN107884178B - Space suit lower limb performance test mechanical arm - Google Patents
Space suit lower limb performance test mechanical arm Download PDFInfo
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- CN107884178B CN107884178B CN201711389351.6A CN201711389351A CN107884178B CN 107884178 B CN107884178 B CN 107884178B CN 201711389351 A CN201711389351 A CN 201711389351A CN 107884178 B CN107884178 B CN 107884178B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明涉及航天服性能测试技术领域，具体地说是一种航天服下肢性能测试机械臂，包括大腿、膝关节组件、小腿、踝关节组件和脚部，大腿通过膝关节组件与小腿相连，小腿通过踝关节组件和脚部相连，所述膝关节组件设有膝关节驱动组件和膝关节传动组件，小腿通过所述膝关节驱动组件驱动摆动，所述膝关节驱动组件通过所述膝关节传动组件传递转矩，所述踝关节组件设有踝关节驱动组件和踝关节传动组件，脚部通过所述踝关节驱动组件驱动摆动，所述踝关节驱动组件通过所述踝关节传动组件传递转矩。本发明运动轨迹控制精度高，且机械臂各段均采用多节外壳套装可伸缩结构，尺寸可调，能够适用于不同尺寸航天服的下肢性能测试。
The invention relates to the technical field of space suit performance testing, in particular to a space suit lower limb performance test mechanical arm, comprising a thigh, a knee joint component, a calf, an ankle joint component and a foot. The thigh is connected to the calf through the knee joint component, and the calf The ankle joint assembly is connected to the foot, the knee joint assembly is provided with a knee joint drive assembly and a knee joint transmission assembly, the calf is driven to swing by the knee joint drive assembly, and the knee joint drive assembly passes through the knee joint transmission assembly For torque transmission, the ankle joint assembly is provided with an ankle joint drive assembly and an ankle joint transmission assembly, the foot is driven to swing through the ankle joint drive assembly, and the ankle joint drive assembly transmits torque through the ankle joint transmission assembly. The motion trajectory control of the invention has high precision, and each section of the manipulator adopts a multi-section shell set retractable structure with adjustable size, which can be suitable for lower limb performance testing of space suits of different sizes.
Description
Technical field
The present invention relates to space suit technical field of performance test, specifically a kind of space suit lower limb performance test is mechanical
Arm.
Background technique
Space suit is the important life support safeguards system that spacefarer carries out star catalogue and space operation.Not with Ground Operation
Together, star catalogue operation and each articular system of space job requirements space suit all have preferable motility and flexibility, to complete
The tasks such as star catalogue walking, detection, maintenance, carrying, therefore the performance tests such as space suit service life, movable resistance square directly affect space flight
The safety of the in-orbit operation of member, and the success or failure of entire space mission.
Existing space suit lower limb performance test apparatus is mostly outlet structure, and using pneumatic mode as driving
Source, there are larger differences with the form of spacefarer's wearing space suit progress star catalogue or space operation, cannot simulate space flight well
Knee joint and ankle-joint song when member's wearing space suit walking extend through journey, and the test equipment occupied space of external is larger.
Summary of the invention
The purpose of the present invention is to provide a kind of space suit lower limb performance test mechanical arm, motion profile controls precision height,
And each section of mechanical arm is all made of more piece outer cover suit retractable structure, size adjustable can be suitable for different size space suits
Lower limb performance test.
The purpose of the present invention is achieved through the following technical solutions:
A kind of space suit lower limb performance test mechanical arm, including thigh, knee components, shank, ankle-joint component and foot
Portion, thigh are connected by knee components with shank, and shank is connected by ankle-joint component with foot, and the knee components are set
There are knee joint driving assembly and knee joint transmission component, shank is swung by knee joint driving assembly driving, and the knee closes
It saves driving assembly and torque is transmitted by the knee joint transmission component, the ankle-joint component is equipped with ankle-joint driving assembly and ankle
Joint transmission component, foot are swung by ankle-joint driving assembly driving, and the ankle-joint driving assembly passes through the ankle
Joint transmission component transmits torque.
The thigh free end be equipped with a connection component, the connection component include the first attachment base, the second attachment base,
Worm screw, worm gear and connection pin shaft, first attachment base and the second attachment base are hinged by connection pin shaft, in first connection
It is equipped with worm screw in seat, worm gear is equipped in second attachment base, and the worm gear set is loaded on the connection pin shaft, the snail
Worm and wheel engagement.
The thigh includes the multiple shells being successively set in together, wherein the first thigh upper shell and a connection group
Part is connected, and the first thigh shell lower end is connected with the second thigh shell, and in the first thigh shell and the second thigh
It is equipped with thigh shell between shell and slides guiding element.
The knee components include knee joint shell, knee joint driving assembly, knee joint transmission component and knee joint hinge
Spindle, the knee joint upper shell and the thigh lower end are connected, and knee joint shell lower end is cut with scissors by the knee joint
Spindle and the shank upper end are hinged, and knee joint transmission component includes the first knee joint transmission group and the second knee joint transmission group,
The knee joint driving assembly and the first knee joint transmission group are set in thigh, and the second knee joint transmission group is set to the knee
In articular shell.
The first knee joint transmission group includes knee-joint active moving gear, knee joint driven gear and knee joint gear reduction
Device, wherein the output shaft fixed connection of knee-joint active moving gear and the knee joint driving assembly, knee joint driven gear are mounted on institute
It states on the input shaft of knee joint gearing speed-reducer and is engaged with the knee-joint active moving gear；
The second knee joint transmission group includes knee-joint active dynamic bevel gear and knee joint driven wheel of differential, the knee joint
Drive bevel gear is installed on the output shaft of the knee joint gearing speed-reducer, and the knee joint driven wheel of differential is installed in described
It is engaged on knee joint articulated shaft and with the knee-joint active dynamic bevel gear；
The knee joint articulated shaft is equipped with knee joint torque sensor, and knee joint light is in addition equipped in the shank upper end
Electric switch is equipped with the knee joint cooperated with the knee joint optoelectronic switch on the knee joint shell and incudes pin shaft.
The shank includes the multiple shells being successively set in together, wherein the first shank upper shell and the knee joint
Member hinges, the first shank shell lower end are connected with the second shank shell, and small in the first shank shell and second
It is equipped with shank shell between leg shell and slides guiding element.
The ankle-joint component includes ankle-joint shell, ankle-joint driving assembly, ankle-joint transmission component and ankle-joint hinge
Spindle, the ankle-joint upper shell and the shank lower end are connected, and ankle-joint shell lower end is cut with scissors by the ankle-joint
Spindle and the foot are hinged, and ankle-joint transmission component includes the first ankle-joint transmission group and the second ankle-joint transmission group, described
Ankle-joint driving assembly and the first ankle-joint transmission group are set in shank, and the second ankle-joint transmission group is set to the ankle-joint
In shell.
The first ankle-joint transmission group includes ankle-joint driving gear, ankle-joint driven gear and ankle-joint gear reduction
Device, ankle-joint driving gear are installed on the output shaft of the ankle-joint driving assembly, and ankle-joint driven gear is mounted on described
It is engaged on the input shaft of ankle-joint gearing speed-reducer and with the ankle-joint driving gear；
The second ankle-joint transmission group includes ankle-joint drive bevel gear and ankle-joint driven wheel of differential, and ankle-joint is actively
Bevel gear is installed on the output shaft of the ankle-joint gearing speed-reducer, and ankle-joint driven wheel of differential is installed in the ankle-joint hinge
It is engaged in spindle and with the ankle-joint drive bevel gear；
The ankle-joint articulated shaft is equipped with ankle-joint torque sensor, is in addition equipped with ankle-joint photoelectricity in the foot and opens
It closes, the ankle-joint cooperated with the ankle-joint optoelectronic switch is equipped on the ankle-joint shell and incudes pin shaft.
The foot includes attachment base, slip pipe, foot's shell and foot's bottom plate, the attachment base upper end and ankle-joint component
Hingedly, lower end is connected by the slip pipe with foot shell, and on the downside of foot's shell and foot's bottom plate is connected.
It is equipped with thigh tracheae component in thigh, the thigh tracheae component includes thigh exhaust tube and thigh gas blow pipe, small
It is equipped with shank tracheae component in leg, the shank tracheae component includes shank exhaust tube, shank gas blow pipe and the spare tracheae of shank,
Temperature sensor is equipped in the thigh and shank, and shank spare tracheae starting when temperature sensor alarm.
Advantages of the present invention and good effect are as follows:
1, the knee components in the present invention and ankle-joint component are respectively used to driving shank and foot swings, motion profile
Precision height is controlled, in addition the present invention is connected by the connection component with worm and gear with other mechanisms, and the connection component can
It is adjusted by the worm and gear and keeps arm angle.
2, the present invention in each section be all made of more piece outer cover suit retractable structure, can in stroke range any position lock
Tightly, various sizes of space suit can be tested as needed, so that mechanical arm has better adaptability.
3, the present invention forms active air in mechanical arm interior of shell using heat dissipation hose and flows back, to prevent due to driving
The heat that motor etc. generates at work scorches space suit internal layer and comfortably serves as a contrast, and has preferable heat dissipation effect.
Detailed description of the invention
Fig. 1 is schematic diagram of the invention,
Fig. 2 is cross-sectional view of the invention in Fig. 1,
Fig. 3 is the connection component schematic diagram in Fig. 1,
Fig. 4 is the connection component cross-sectional view in Fig. 3,
Fig. 5 is the knee components schematic diagram in Fig. 1,
Fig. 6 is another angle schematic diagram of knee components in Fig. 5,
Fig. 7 is the knee joint shell and shank connection schematic diagram in Fig. 5,
Fig. 8 is the ankle-joint component diagram in Fig. 1,
Fig. 9 is foot's cross-sectional view in Fig. 1,
Figure 10 is the heat dissipation hose distribution schematic diagram in Fig. 1
Wherein, 1 is thigh, and 101 be the first thigh shell, and 102 be the second thigh shell, and 103 be third thigh shell,
104 slide guiding element for thigh shell；2 be connection component, and 201 be the first connecting flange, and 202 be the first attachment screw, and 203 be the
Two attachment screws, 204 be the second connecting flange, and 205 be worm screw clip, and 206 be clip fixing screws, and 207 be worm gear, and 208 are
Second attachment base, 209 be pin shaft block, and 210 be block fixing screws, and 211 be connection pin shaft, and 212 be worm screw, and 213 be first
Attachment base；3 be knee components, and 301 be knee joint shell, and 3011 be bearing gland, and 302 be knee joint driving assembly, 3021
It is knee joint motor for knee joint encoder, 3022,3023 be knee joint retarder, and 3024 be knee joint mounting flange, and 303 are
Knee joint transmission component, 3031 be knee-joint active moving gear, and 3032 be knee joint driven gear, and 3033 be knee joint gear reduction
Device, 3034 be knee-joint active dynamic bevel gear, and 3035 be knee joint driven wheel of differential, and 304 be knee joint articulated shaft, and 3041 close for knee
Torque sensor is saved, 305 be knee joint optoelectronic switch, and 3051 incude pin shaft for knee joint, and 3052 be switch mounting；4 be small
Leg, 401 be the first shank shell, and 4011 be connection supporting plate, and 402 be the second shank shell, and 403 slide guiding element for shank shell；5
It is ankle-joint shell for ankle-joint component, 501,502 be ankle-joint driving assembly, and 5021 be ankle-joint encoder, and 5022 be ankle
Joint motor, 5023 be ankle-joint retarder, and 5024 be ankle-joint mounting flange, and 503 be ankle-joint transmission component, and 5031 be ankle
Joint driving gear, 5032 be ankle-joint driven gear, and 5033 be ankle-joint gearing speed-reducer, and 5034 be ankle-joint active conical tooth
Wheel, 5035 be ankle-joint driven wheel of differential, and 504 be ankle-joint articulated shaft, and 5041 be ankle-joint torque sensor, and 505 close for ankle
Optoelectronic switch is saved, 5051 incude pin shaft for ankle-joint；6 be foot, and 601 be slip pipe, and 602 be attachment base, and 603 be foot's shell,
604 be foot's bottom plate；7 be heat dissipation hose, and 701 be thigh exhaust tube, and 702 be thigh gas blow pipe, and 703 blow for shank
Pipe, 704 be shank exhaust tube, and 705 be the spare tracheae of shank.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Fig. 1~10, the present invention includes thigh 1, knee components 3, shank 4, ankle-joint component 5 and foot 6, greatly
Leg 1 is connected by knee components 3 with shank 4, and shank 4 is connected by ankle-joint component 5 with foot 6, the knee components 3
Equipped with knee joint driving assembly 302 and knee joint transmission component 303, shank 4 passes through the knee joint driving assembly 302 driving pendulum
It is dynamic, and the knee joint driving assembly 302 transmits torque by the knee joint transmission component 303, the ankle-joint component 5 is set
There are ankle-joint driving assembly 502 and ankle-joint transmission component 503, foot 6 passes through the ankle-joint driving assembly 502 driving pendulum
It is dynamic, and the ankle-joint driving assembly 502 transmits torque by the ankle-joint transmission component 503.
As shown in Figure 1,1 free end of thigh is equipped with a connection component 2 for being connected with other mechanisms, such as Fig. 3~4
Shown, the connection component 2 includes the first attachment base 213, the second attachment base 208, worm screw 212, worm gear 207 and connection pin shaft
211, first attachment base 213 and the second attachment base 208 are hinged by connection pin shaft 211, in first attachment base 213
Equipped with worm screw 212, worm gear 207 is equipped in second attachment base 208, and the worm gear 207 is set in the connection pin shaft
On 211, the worm screw 212 engages with worm gear 207, and first attachment base 213 is equipped with the first connecting flange 201, and described
First connecting flange 201 is connected by the first attachment screw 202 with other mechanisms, and second attachment base 208 is equipped with second
Connecting flange 204, and second connecting flange 204 is connected by the second attachment screw 203 with the thigh 1.
As shown in figs. 34, the worm screw 212 is installed on the first attachment base 213 by worm screw clip 205, and institute
It states worm screw clip 205 to be fixed on first attachment base 213 by clip fixing screws 206,211 both ends of connection pin shaft
It is installed on the second attachment base 208 by pin shaft block 209, and the pin shaft block 209 passes through block fixing screws 210
It is fixed on second attachment base 208.
As shown in Fig. 1~2, the thigh 1 includes the multiple shells being successively set in together, thigh described in the present embodiment
1 includes three layers of shell, wherein 101 upper end of the first thigh shell and the connection component 2 are connected, 102 upper end of the second thigh shell
It inserts into 101 lower end of the first thigh shell, 103 upper end of third thigh shell is inserted into 102 lower end of the second thigh shell, the third-largest
103 lower end of leg shell and the knee components 3 are connected.
It is slided as shown in Figure 1, being equipped with thigh shell between the first thigh shell 101 and the second thigh shell 102
Guiding element 104, thigh shell sliding 104 upper end of guiding element and 101 lower end inside of the first thigh shell are connected, described the
Two thigh shells, 102 upper end is equipped with the sliding slot cooperated with thigh shell sliding guiding element 104, and works as the first thigh shell
101 and second position between thigh shell 102 determine after, the thigh shell sliding guiding element 104 is fixed on by a screw
On second thigh shell 102.
As shown in Fig. 1~2 and Fig. 5, the knee components 3 include knee joint shell 301, knee joint driving assembly 302,
Knee joint transmission component 303 and knee joint articulated shaft 304, wherein the third of 301 upper end of knee joint shell and the thigh 1
103 lower end of thigh shell is connected, and lower end is hinged by the knee joint articulated shaft 304 and the shank 4, knee joint transmission component
303 include the first knee joint transmission group and the second knee joint transmission group, and the knee joint driving assembly 302 and the first knee joint pass
Dynamic group is set in thigh 1, and the second knee joint transmission group is set in the knee joint shell 301.
As shown in figure 5, the knee joint driving assembly 302 includes knee joint motor 3022 and knee joint retarder 3023,
3022 output end of knee joint motor is connected with the knee joint encoder 3021, and 3022 tail end of knee joint motor is compiled equipped with knee joint
Code device 3021, is equipped with a knee joint mounting flange 3024, the knee joint in the third thigh shell 103 of the thigh 1
Retarder 3023 is installed on the knee joint mounting flange 3024 and output shaft is connected with the first knee joint transmission group.This
In embodiment, the knee joint retarder 3023 is planetary reducer.
As shown in figure 5, the first knee joint transmission group includes knee-joint active moving gear 3031, knee joint driven gear
3032 and knee joint gearing speed-reducer 3033, the wherein output of knee-joint active moving gear 3031 and the knee joint retarder 3023
Axis be connected, knee joint driven gear 3032 be mounted on the input shaft of the knee joint gearing speed-reducer 3033 and with the knee
Joint driving gear 3031 engages, the output shaft of the knee joint gearing speed-reducer 3033 and the second knee joint transmission group phase
Even.In the present embodiment, the knee joint gearing speed-reducer 3033 is harmonic speed reducer.
As shown in figure 5, the second knee joint transmission group includes knee-joint active dynamic bevel gear 3034 and knee joint from mantle
Gear 3035, the knee-joint active dynamic bevel gear 3034 are installed on the output shaft of the knee joint gearing speed-reducer 3033, institute
State knee joint driven wheel of differential 3035 be installed on the knee joint articulated shaft 304 and with the knee-joint active dynamic bevel gear
3034 engagements.
As shown in figure 5, the knee joint articulated shaft 304 is mounted on the knee joint shell 301 by bearing bearing, such as
Shown in Fig. 7, the fixed bearing of bearing gland 3011 is equipped on the knee joint shell 301, in addition in 4 upper end of shank
Equipped with connection supporting plate 4011,304 end of knee joint articulated shaft is inserted after being stretched out by the knee joint shell 301 into the company
Supporting plate 4011 is connect, to realize the hinged of knee joint shell 301 and shank 4.As shown in figure 5, in the knee joint articulated shaft 304
It is equipped with the knee joint torque that knee joint torque sensor 3041 is used for real-time detection mechanical arm, in addition as shown in fig. 6, described
It is equipped with knee joint optoelectronic switch 305 in 4 upper end of shank, is equipped on the knee joint shell 301 and is opened with the knee joint photoelectricity
The knee joint for closing 305 cooperations incudes pin shaft 3051, and switch mounting 3052, the knee joint are equipped in 4 upper end of shank
Optoelectronic switch 305 is mounted on the switch mounting 3052.The knee joint encoder 3021, knee joint torque sensor
3041 and knee joint optoelectronic switch 305 be techniques well known.
As shown in Fig. 1~2, the shank 4 includes multiple shells for being successively set in together, described small in the present embodiment
Leg 4 includes two layers of shell, wherein the knee joint shell 301 in 401 upper end of the first shank shell and the knee components 3 is cut with scissors
It connects, 402 upper end of the second shank shell is inserted into 401 lower end of the first shank shell, and 402 lower end of the second shank shell and the ankle close
It saves component 5 to be connected, be led wherein being equipped with the sliding of shank shell between the first shank shell 401 and the second shank shell 402
Part 403, shank shell sliding 403 upper end of guiding element and 401 lower end inside of the first shank shell are connected, and described second is small
402 upper end of leg shell is equipped with the sliding slot cooperated with shank shell sliding guiding element 403, and 401 He of the first shank shell
After position determines between second shank shell 402, it is small that shank shell sliding guiding element 403 by a screw is fixed on second
On leg shell 402.
As shown in Fig. 1~2 and Fig. 8, the ankle-joint component 5 include ankle-joint shell 501, ankle-joint driving assembly 502,
Ankle-joint transmission component 503 and ankle-joint articulated shaft 504, the second shank of 501 upper end of ankle-joint shell and the shank 4
402 lower end of shell is connected, and lower end is hinged by the ankle-joint articulated shaft 504 and the foot 6, ankle-joint transmission component 503
Including the first ankle-joint transmission group and the second ankle-joint transmission group, the ankle-joint driving assembly 502 and the transmission of the first ankle-joint
Group is set in shank 4, and the second ankle-joint transmission group is set in the ankle-joint shell 501.
As shown in figure 8, the ankle-joint driving assembly 502 includes ankle-joint motor 5022 and ankle-joint retarder 5023,
5022 output end of ankle-joint motor and ankle-joint retarder 5023 are connected, and 5022 tail end of ankle-joint motor is equipped with ankle-joint encoder
5021, it is equipped with an ankle-joint mounting flange 5024 in 402 lower end of the second shank shell of the shank 4, the ankle-joint subtracts
Fast device 5023 is installed on the ankle-joint mounting flange 5024 and output shaft is connected with the first ankle-joint transmission group.This reality
It applies in example, the ankle-joint retarder 5023 is planetary reducer.
As shown in figure 8, the first ankle-joint transmission group includes ankle-joint driving gear 5031, ankle-joint driven gear
5032 and ankle-joint gearing speed-reducer 5033, ankle-joint driving gear 5031 be installed in the output of the ankle-joint retarder 5023
On axis, ankle-joint driven gear 5032 is mounted on the input shaft of the ankle-joint gearing speed-reducer 5033 and closes with the ankle
It saves driving gear 5031 to engage, the output shaft of ankle-joint gearing speed-reducer 5033 is connected with the second ankle-joint transmission group.This
In embodiment, the ankle-joint gearing speed-reducer 5033 is harmonic speed reducer.
As shown in figure 8, the second ankle-joint transmission group includes ankle-joint drive bevel gear 5034 and ankle-joint from mantle
Gear 5035, ankle-joint drive bevel gear 5034 are installed on the output shaft of the ankle-joint gearing speed-reducer 5033, ankle-joint
Driven wheel of differential 5035 is installed on the ankle-joint articulated shaft 504 and engages with the ankle-joint drive bevel gear 5034.
As shown in figure 8, the ankle-joint articulated shaft 504 is mounted on ankle-joint shell 501 by bearing bearing, such as Fig. 9
Shown, the foot 6 is equipped with an attachment base 602, and the ankle-joint shell 501 passes through the ankle-joint articulated shaft 504 and institute
It is hinged to state attachment base 602.It is used for as shown in figure 8, being equipped with ankle-joint torque sensor 5041 on the ankle-joint articulated shaft 504
The ankle-joint torque of real-time detection mechanical arm.In addition as shown in figure 9, being equipped with ankle-joint light in the attachment base 602 of the foot 6
Electric switch 505 is equipped with the ankle-joint induction cooperated with the ankle-joint optoelectronic switch 505 on the ankle-joint shell 501 and sells
Axis 5051.The knee joint encoder 5021, knee joint torque sensor 5041 and knee joint optoelectronic switch 505 are this field
Well-known technique.
As shown in figure 9, the foot 6 includes attachment base 602, slip pipe 601, foot's shell 603 and foot's bottom plate 604, institute
It is hinged to state 602 upper end of attachment base and ankle-joint shell 501, lower end is connected by the slip pipe 601 with foot shell 603, described
To be threadedly coupled between slip pipe 601 and foot shell 603, screwing the slip pipe 601 can be adjusted mechanical arm ankle-joint and foot 6
The distance between, 603 downside of foot's shell is connected with foot's bottom plate 604 by screw.
As shown in Figure 1, being equipped with heat dissipation hose 7 in the present invention, as shown in Figure 10, the heat dissipation hose 7 includes
Thigh tracheae component and shank tracheae component, wherein thigh tracheae component includes thigh exhaust tube 701 and thigh gas blow pipe 702,
The thigh exhaust tube 701 and thigh gas blow pipe 702 are fixedly arranged in thigh 1, and 701 end of thigh exhaust tube extends to knee joint
Near 302 tail end encoder of driving assembly, 702 end of thigh gas blow pipe extends to 302 lower part knee joint of knee joint driving assembly and subtracts
Near fast device 3023, shank tracheae component includes shank exhaust tube 704, shank gas blow pipe 703 and the spare tracheae 705 of shank, institute
It states shank exhaust tube 704, shank gas blow pipe 703 and the spare tracheae 705 of shank to be fixedly arranged in shank 4, and shank exhaust tube 704
End extends near 502 tail end encoder of ankle-joint driving assembly, the spare tracheae 705 of the shank with shank exhaust tube 704 simultaneously
Arrangement is set, and 703 end of shank gas blow pipe extends near 502 lower part ankle-joint retarder 5023 of ankle-joint driving assembly.
The operation principle of the present invention is that:
When the invention works, control system control knee components 3 and ankle-joint component 4 are transported by preset motion profile
It is dynamic, and using knee joint optoelectronic switch 305 and ankle-joint optoelectronic switch 505 at interval of calibrator (-ter) unit after certain period of motion
Zero-bit, and during the test, it is blown into respectively into thigh 1 and shank 4 by thigh gas blow pipe 702 and shank gas blow pipe 703
Cooling gas, while thigh exhaust tube 701 and the pumping of shank exhaust tube 704 form back gas in thigh 1 and shank 4 respectively
Stream is equipped with temperature sensor for supervising in real time in addition to preventing temperature is excessively high from scorching space suit in thigh 1 and shank 4
Controlling temperature variation, is equipped with control valve, the control valve is on small when temperature alarming on the spare tracheae 705 of the shank
The spare tracheae 705 of leg is to cooling gas is blown at shank 4, to ensure that space suit internal temperature is stablized.
Claims (10)
1. a kind of space suit lower limb performance test mechanical arm, it is characterised in that: including thigh (1), knee components (3), shank
(4), ankle-joint component (5) and foot (6), thigh (1) are connected by knee components (3) with shank (4), and shank (4) passes through
Ankle-joint component (5) is connected with foot (6), and the knee components (3) are equipped with knee joint driving assembly (302) and knee joint passes
Dynamic component (303), shank (4) are swung by the knee joint driving assembly (302) driving, the knee joint driving assembly
(302) torque is transmitted by the knee joint transmission component (303), the ankle-joint component (5) is equipped with ankle-joint driving assembly
(502) it is swung with ankle-joint transmission component (503), foot (6) by the ankle-joint driving assembly (502) driving, the ankle
Joint drive component (502) transmits torque by the ankle-joint transmission component (503).
2. space suit lower limb performance test mechanical arm according to claim 1, it is characterised in that: the thigh (1) is freely
End is equipped with a connection component (2), and the connection component (2) includes the first attachment base (213), the second attachment base (208), worm screw
(212), worm gear (207) and connection pin shaft (211), first attachment base (213) and the second attachment base (208) pass through connecting pin
Axis (211) hingedly, is equipped with worm screw (212) in first attachment base (213), is equipped in second attachment base (208)
Worm gear (207), and the worm gear (207) is set on the connection pin shaft (211), the worm screw (212) is nibbled with worm gear (207)
It closes.
3. space suit lower limb performance test mechanical arm according to claim 1 or 2, it is characterised in that: thigh (1) packet
The multiple shells being successively set in together are included, wherein the first thigh shell (101) upper end is connected with a connection component (2), institute
It states the first thigh shell (101) lower end to be connected with the second thigh shell (102), and in the first thigh shell (101) and
Thigh shell sliding guiding element (104) is equipped between two thigh shells (102).
4. space suit lower limb performance test mechanical arm according to claim 1, it is characterised in that: the knee components
It (3) include knee joint shell (301), knee joint driving assembly (302), knee joint transmission component (303) and knee joint articulated shaft
(304), knee joint shell (301) upper end and the thigh (1) lower end are connected, and knee joint shell (301) lower end is logical
It crosses the knee joint articulated shaft (304) and the shank (4) upper end is hinged, knee joint transmission component (303) is closed including the first knee
Section transmission group and the second knee joint transmission group, the knee joint driving assembly (302) and the first knee joint transmission group are set to greatly
In leg (1), the second knee joint transmission group is set in the knee joint shell (301).
5. space suit lower limb performance test mechanical arm according to claim 4, it is characterised in that: first knee joint passes
Dynamic group includes knee-joint active moving gear (3031), knee joint driven gear (3032) and knee joint gearing speed-reducer (3033),
The output shaft fixed connection of middle knee-joint active moving gear (3031) and the knee joint driving assembly (302), knee joint driven gear
(3032) be mounted on the input shaft of the knee joint gearing speed-reducer (3033) and with the knee-joint active moving gear
(3031) it engages；
The second knee joint transmission group includes knee-joint active dynamic bevel gear (3034) and knee joint driven wheel of differential (3035), institute
It states knee-joint active dynamic bevel gear (3034) to be installed on the output shaft of the knee joint gearing speed-reducer (3033), the knee joint
Driven wheel of differential (3035) be installed on the knee joint articulated shaft (304) and with the knee-joint active dynamic bevel gear (3034)
Engagement；
The knee joint articulated shaft (304) is equipped with knee joint torque sensor (3041), in addition sets in shank (4) upper end
There are knee joint optoelectronic switch (305), is equipped on the knee joint shell (301) and matches with the knee joint optoelectronic switch (305)
The knee joint of conjunction incudes pin shaft (3051).
6. space suit lower limb performance test mechanical arm according to claim 1, it is characterised in that: the shank (4) includes
The multiple shells being successively set in together, wherein the first shank shell (401) upper end and the knee components (3) are hingedly, institute
It states the first shank shell (401) lower end to be connected with the second shank shell (402), and in the first shank shell (401) and
Shank shell sliding guiding element (403) is equipped between two shank shells (402).
7. space suit lower limb performance test mechanical arm according to claim 1, it is characterised in that: the ankle-joint component
It (5) include ankle-joint shell (501), ankle-joint driving assembly (502), ankle-joint transmission component (503) and ankle-joint articulated shaft
(504), ankle-joint shell (501) upper end and the shank (4) lower end are connected, and ankle-joint shell (501) lower end is logical
Cross the ankle-joint articulated shaft (504) and the foot (6) hingedly, ankle-joint transmission component (503) is passed including the first ankle-joint
Dynamic group and the second ankle-joint transmission group, the ankle-joint driving assembly (502) and the first ankle-joint transmission group are set to shank (4)
Interior, the second ankle-joint transmission group is set in the ankle-joint shell (501).
8. space suit lower limb performance test mechanical arm according to claim 7, it is characterised in that: first ankle-joint passes
Dynamic group includes ankle-joint driving gear (5031), ankle-joint driven gear (5032) and ankle-joint gearing speed-reducer (5033), ankle
Joint driving gear (5031) is installed on the output shaft of the ankle-joint driving assembly (502), ankle-joint driven gear
(5032) be mounted on the input shaft of the ankle-joint gearing speed-reducer (5033) and with the ankle-joint driving gear
(5031) it engages；
The second ankle-joint transmission group includes ankle-joint drive bevel gear (5034) and ankle-joint driven wheel of differential (5035), ankle
Joint drive bevel gear (5034) is installed on the output shaft of the ankle-joint gearing speed-reducer (5033), and ankle-joint is from mantle tooth
Wheel (5035) is installed on the ankle-joint articulated shaft (504) and engages with the ankle-joint drive bevel gear (5034)；
The ankle-joint articulated shaft (504) is equipped with ankle-joint torque sensor (5041), and ankle is in addition equipped in the foot (6)
Joint optoelectronic switch (505) is equipped on the ankle-joint shell (501) and cooperates with the ankle-joint optoelectronic switch (505)
Ankle-joint incudes pin shaft (5051).
9. space suit lower limb performance test mechanical arm according to claim 1, it is characterised in that: the foot (6) includes
Attachment base (602), slip pipe (601), foot's shell (603) and foot's bottom plate (604), attachment base (602) upper end and ankle close
Save component (5) hingedly, lower end is connected by the slip pipe (601) with foot's shell (603), on the downside of foot's shell (603)
It is connected with foot's bottom plate (604).
10. space suit lower limb performance test mechanical arm according to claim 1, it is characterised in that: be equipped in thigh (1) big
Leg tracheae component, the thigh tracheae component include thigh exhaust tube (701) and thigh gas blow pipe (702), are equipped in shank (4)
Shank tracheae component, the shank tracheae component include shank exhaust tube (704), shank gas blow pipe (703) and shank cushion gas
It manages (705), temperature sensor is equipped in the thigh (1) and shank (4), and the shank is spare when temperature sensor alarm
Tracheae (705) starting.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711389351.6A CN107884178B (en) | 2017-12-21 | 2017-12-21 | Space suit lower limb performance test mechanical arm |
| PCT/CN2018/121934 WO2019120206A1 (en) | 2017-12-21 | 2018-12-19 | Manipulator for testing performance of spacesuit lower limb spacesuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711389351.6A CN107884178B (en) | 2017-12-21 | 2017-12-21 | Space suit lower limb performance test mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107884178A CN107884178A (en) | 2018-04-06 |
| CN107884178B true CN107884178B (en) | 2019-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711389351.6A Active CN107884178B (en) | 2017-12-21 | 2017-12-21 | Space suit lower limb performance test mechanical arm |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107884178B (en) |
| WO (1) | WO2019120206A1 (en) |
Families Citing this family (2)
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|---|---|---|---|---|
| CN107884178B (en) * | 2017-12-21 | 2019-05-28 | 中国科学院沈阳自动化研究所 | Space suit lower limb performance test mechanical arm |
| CN114800171B (en) * | 2021-11-26 | 2023-03-24 | 中国科学院沈阳自动化研究所 | Equipment and method for automatically polishing welding seam of car body side wall skin by robot |
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| CN101024286A (en) * | 2007-03-29 | 2007-08-29 | 廊坊智通机器人系统有限公司 | Active-passive joint-arm type measuring robot |
| CN104913925A (en) * | 2015-06-25 | 2015-09-16 | 北京建筑大学 | Extravehicular spacesuit upper-limb joint service life testing device |
| CN106741277A (en) * | 2015-11-20 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | A kind of hybrid mechanical leg organization |
| CN107773384A (en) * | 2017-11-02 | 2018-03-09 | 武汉大学 | A kind of variation rigidity lower limb exoskeleton robot |
| CN207622996U (en) * | 2017-12-21 | 2018-07-17 | 中国科学院沈阳自动化研究所 | A kind of space suit lower limb performance test mechanical arm |
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|---|---|---|---|---|
| DE60142522D1 (en) * | 2000-11-17 | 2010-08-19 | Honda Motor Co Ltd | LEG CONSTRUCTION FOR ROBOT WITH LEGS |
| US20060229160A1 (en) * | 2004-09-08 | 2006-10-12 | Srikrishna Talluri | System for creating artificial gravity conditions in micro and hypogravity environments |
| CN105241914B (en) * | 2015-09-01 | 2017-12-22 | 东华大学 | Inflatable perspiration thermal manikin |
| CN205785835U (en) * | 2016-05-30 | 2016-12-07 | 深圳市维智纳科技有限公司 | A kind of new automobile H point test dummy |
| CN106650032A (en) * | 2016-11-29 | 2017-05-10 | 北京服装学院 | Astronaut mannequin and making method thereof |
| CN107884178B (en) * | 2017-12-21 | 2019-05-28 | 中国科学院沈阳自动化研究所 | Space suit lower limb performance test mechanical arm |
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2017
- 2017-12-21 CN CN201711389351.6A patent/CN107884178B/en active Active
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2018
- 2018-12-19 WO PCT/CN2018/121934 patent/WO2019120206A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101024286A (en) * | 2007-03-29 | 2007-08-29 | 廊坊智通机器人系统有限公司 | Active-passive joint-arm type measuring robot |
| CN104913925A (en) * | 2015-06-25 | 2015-09-16 | 北京建筑大学 | Extravehicular spacesuit upper-limb joint service life testing device |
| CN106741277A (en) * | 2015-11-20 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | A kind of hybrid mechanical leg organization |
| CN107773384A (en) * | 2017-11-02 | 2018-03-09 | 武汉大学 | A kind of variation rigidity lower limb exoskeleton robot |
| CN207622996U (en) * | 2017-12-21 | 2018-07-17 | 中国科学院沈阳自动化研究所 | A kind of space suit lower limb performance test mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107884178A (en) | 2018-04-06 |
| WO2019120206A1 (en) | 2019-06-27 |
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