CN107082124B

CN107082124B - Aerospace suit hip joint

Info

Publication number: CN107082124B
Application number: CN201710446375.4A
Authority: CN
Inventors: 王振伟; 刘双印; 胥任杰; 徐利梅; 谢晓梅
Original assignee: University of Electronic Science and Technology of China
Current assignee: University of Electronic Science and Technology of China
Priority date: 2017-06-14
Filing date: 2017-06-14
Publication date: 2021-04-06
Anticipated expiration: 2037-06-14
Also published as: CN107082124A

Abstract

The invention discloses a hip joint of a spacesuit, which comprises a connector, wherein two sides of the connector are respectively connected with a rotary frame column, each rotary frame column comprises a plurality of rotary frames which are sequentially and rotatably connected, the uppermost rotary frame in each rotary frame column is rotatably connected with the connector, and a cloth part for fixing cloth is arranged in each rotary frame; the rotary frame comprises an upper connecting piece and a lower connecting piece, the upper connecting piece is connected with one end of the lower connecting piece through a supporting rod, and the other end of the upper connecting piece is connected with the other end of the lower connecting piece through a connecting hinge; an upper connecting hinge and a lower connecting hinge are respectively arranged at two ends of the supporting rod, the upper connecting hinge is connected with the upper connecting piece, and the lower connecting hinge is connected with the lower connecting piece. The aerospace suit hip joint provided by the invention adopts an adjustable 4-section hard full-rotation structure and has a redundant rotation degree of freedom, so that the flexibility of the movement of the hip joint is ensured, the movement resistance is small, the structure is simple, and the manufacture is convenient.

Description

Aerospace suit hip joint

Technical Field

The invention belongs to the technical field of aerospace, and particularly relates to a hip joint of an aerospace suit.

Background

The space suit is an important life support and guarantee system for astronauts to carry out star catalogue and space operation. Different from space operation, star watch operation requires that the upper and lower limb joint systems of the space suit have better motility and flexibility so as to complete the tasks of star watch walking, detection, maintenance, transportation and the like. Under the action of internal pressure, the rigidity of the multi-layer fabric of the aerospace suit is obviously enhanced, and the physical properties and mechanical properties of the material are changed, so that a joint system of the aerospace suit generates larger movement resistance, and the star surface operation difficulty is increased. In order to improve the joint activity of the space suit, joint fabric folds, movable frames, rotary bearing structures and the like are generally adopted, such as American water star space suit, binary star space suit, MARK III, Z-1, Z-2, Russian sea eagle space suit, Chinese flying space suit and the like. Around aerospace suit hip joint systems, many current research works mainly focus on joint design, resistance/moment analysis, dynamic performance calculation, experimental tests, fabric material properties, human-computer interaction performance and other aspects. With the continuous deepening of space exploration tasks, great task requirements exist for the star surface exploration of other celestial bodies, such as the star surface exploration of moon, mars, earth star and the like, and higher requirements are provided for the research of lower limb joint systems of space suits. The design research and development work of the upper limb joint system of the spacesuit has been carried out in countries such as America, Russia, China and the like, and related theoretical research and experimental verification are completed. In contrast, the development of the lower limb joint system of the space suit is relatively delayed. In particular, as a main component influencing the walking performance of the lower limbs of the space suit, the research on the hip joint is not ideal, and problems such as insufficient mobility, large movement resistance and the like still exist.

From a technical point of view, the hip joint of the space suit can be generally divided into a soft joint and a hard joint. The soft joint transmits relative motion mainly through the flexibility of the fabric of the space suit, and relates to influence factors such as deformation damping of the fabric, a fabric structure and the like. The hard joint is a rotary motion mechanism made of hard materials to realize transmission motion, and relates to influence factors such as a connecting bearing, a joint structure and the like. At present, a soft joint structure is mostly used for an upper limb joint system of a space suit, is mostly used for shoulder joints, elbow joints, knee joints and other parts, mainly aims at providing flexibility, and has low requirements on joint bearing. For example, U.S. r.s.colley designed space suits consisting of a soft elbow, hip, and knee; krupp, c.p.u.s.a. proposes a flexible elbow and knee joint design scheme followed by a fully flexible space suit concept design scheme. The hard joints are mostly applied to hip joints, waist joints and shoulder joints, mainly play a role in bearing weight and providing necessary limb movement flexibility, and generally adopt a 3-segment design structure. For example, Hubert c.vykuka in the united states proposed hard 3 segment hip and waist joints in tandem with related experimental tests. Generally, the 3-segment joint has full and complete motion constraint, can realize clear motion, and has the characteristics of equal capacity, small pressure fluctuation in clothes and the like. Thus, a hard joint is more flexible than a soft joint. However, the 3-segment hard joint structure has many disadvantages, such as a limited range of motion, which makes the range of motion of the limbs relatively small, inconvenient adjustment of the joint installation angle, damage or abrasion of the limbs of the astronaut caused by the rotational motion of the connection bearing, and the like.

Disclosure of Invention

The invention aims to solve the problems and provides a hip joint of a spacesuit, which has a simple structure, is convenient to manufacture, has a redundant rotational degree of freedom and can play a role in protection.

In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides a space suit hip joint, includes the connector, and the connector both sides link to each other with a frame row of revolving respectively, and every revolves the frame row and includes a plurality of frames of revolving of rotating the connection in proper order, and every revolves the frame of revolving of the top in the frame row and rotates with the connector to be connected, and every revolves frame internally mounted and has the cloth spare that is used for fixed cloth.

Preferably, the rotating frame comprises an upper connecting piece and a lower connecting piece, wherein the upper connecting piece is connected with one end of the lower connecting piece through a supporting rod, and the other end of the upper connecting piece is connected with the other end of the lower connecting piece through a connecting hinge.

Preferably, the two ends of the supporting rod are respectively provided with an upper connecting hinge and a lower connecting hinge, the upper connecting hinge is connected with the upper connecting piece, and the lower connecting hinge is connected with the lower connecting piece.

Preferably, a through hole is formed in the middle of the upper connecting hinge and the lower connecting hinge, a clamping groove is formed in the through hole, a clamping ring is installed in the clamping groove, and the connecting pin penetrates through the clamping ring.

Preferably, the cloth spare includes upper connection pad and lower connection pad that the structure is the same, and upper connection pad includes that pressure disk and cloth are down pressed from both sides down on the cloth, and the pressure disk links to each other and the middling pressure is equipped with the cloth under pressure on the cloth.

Preferably, the surfaces of the lower connecting piece opposite to the upper connecting piece are provided with annular grooves, the lower connecting disc is arranged in the groove of the lower connecting piece, and the upper connecting disc is arranged in the groove of the upper connecting piece.

Preferably, the connector is a hemispherical shell, the shell is internally provided with reinforcing ribs, and the reinforcing ribs are arranged in the connector in a well shape.

Preferably, the connecting body is provided with a connecting hole along the diameter direction of the shell, the connecting hole is provided with a cylindrical connecting sleeve, and the cylindrical connecting sleeve is rotatably connected with the rotating frame.

Preferably, the cylindrical connecting sleeve is connected with the rotating frame through a rotating bearing, an outer ring of the rotating bearing is connected with the cylindrical connecting sleeve, and a bearing positioning step is arranged at the bottom of the cylindrical connecting sleeve.

Preferably, the rotating frames in the rotating frame column are sequentially connected through a rotating bearing, the lower connecting piece of the previous rotating frame is connected with the outer ring of the rotating bearing, and the inner ring of the rotating bearing is connected with the upper connecting piece of the next rotating frame.

The invention has the beneficial effects that: the aerospace suit hip joint provided by the invention adopts an adjustable 4-section hard full-rotation structure and has a redundant rotation degree of freedom, so that the movement flexibility of the hip joint is ensured, the movement resistance is small, the structure is simple, and the manufacture is convenient.

Drawings

FIG. 1 is a view of the construction of the hip joint of the space suit of the present invention;

FIG. 2 is a schematic view of the bottom view of the hip joint connector of the space suit of the present invention;

FIG. 3 is a side view of a space suit interface of the present invention;

FIG. 4 is a schematic diagram of a side view structure of the space suit of the present invention;

FIG. 5 is a structural view of a spinner of the spacesuit of the invention;

FIG. 6 is a schematic view of the hip joint swing frame of the space suit of the present invention;

FIG. 7 is a view of the configuration of the hip joint fabric component of the aerospace garment of the invention;

FIG. 8 is a cross-sectional view of the upper connecting disc of the hip joint cloth piece of the space suit of the invention;

FIG. 9 is a view of the construction of the hip stay of the space suit of the present invention;

FIG. 10 is a cross-sectional view of the lower hip joint attachment hinge of the aerospace garment of the invention;

description of reference numerals: 1. a linker; 2. rotating the frame; 3. a material distribution member; 101. connecting holes; 102. reinforcing ribs; 103. connecting sleeves; 104. a bearing positioning step; 201. a lower connecting piece; 202. an upper connecting piece; 203. a support bar; 204. connecting a hinge; 205. a fixing hole; 206. a groove; 207. an upper connecting hinge; 208. a lower connecting hinge; 209. a card slot; 210. a connecting pin; 301. an upper connecting disc; 302. a lower connecting disc; 303. pressing a cloth upper pressing plate; 304. a cloth lower pressing plate;

Detailed Description

The invention is further described with reference to the following figures and specific embodiments:

as shown in fig. 1, the aerospace suit hip joint comprises a connector 1, wherein two sides of the connector 1 are respectively connected with a rotary frame column, each rotary frame column comprises a plurality of rotary frames 2 which are sequentially and rotatably connected, the rotary frame 2 at the uppermost end in each rotary frame column is rotatably connected with the connector 1, and a cloth part 3 for fixing cloth is arranged inside each rotary frame 2. In the embodiment, the number of the swing frames 2 in each swing frame column is 4, so that the aerospace suit hip joint has a redundant rotational degree of freedom, and the aerospace suit hip joint has more flexibility in movement.

As shown in fig. 5 and 6, the swing frame 2 includes an upper connecting member 202 and a lower connecting member 201, the upper connecting member 202 is connected to one end of the lower connecting member 201 through a support rod 203, and the other end is connected through a connecting hinge 204; a connecting pin passes through the middle of the connecting hinge 204.

As shown in fig. 9 and 10, the two ends of the supporting rod 203 are respectively provided with an upper connecting hinge 207 and a lower connecting hinge 208, the upper connecting hinge 207 is connected with the upper connecting member 202, and the lower connecting hinge 208 is connected with the lower connecting member 201.

A through hole is formed between the upper connecting hinge 207 and the lower connecting hinge 208, a clamping groove 209 is formed in the through hole, a clamping ring is installed in the clamping groove 209, and the connecting pin 210 penetrates through the clamping ring. A coupling pin passes through the snap ring of the upper coupling hinge 207 and the upper link 202 to couple the upper coupling hinge 207 and the upper link 202, and passes through the snap ring of the lower coupling hinge 208 and the lower link 201 to couple the lower coupling hinge 208 and the lower link 201. The upper and lower connecting

hinges

207 and 208 may be rotated within a certain range about the corresponding connecting pins 210. The supporting rods 203 with different lengths can be designed according to different opening angles of the upper connecting piece 202 and the lower connecting piece 201. In the using process, if the supporting rod 203 needs to be replaced, the clamping ring is taken out from the clamping groove 209 through a tool, and then the supporting rod 203 can be replaced. The replacement mode is simple, convenient and reliable, and the replacement time is short.

As shown in fig. 7 and 8, the cloth member 3 includes an upper connecting disc 301 and a lower connecting disc 302 having the same structure, the upper connecting disc 301 includes an upper cloth platen 303 and a lower cloth platen 304, the upper cloth platen 303 and the lower cloth platen 304 are connected to each other, and cloth is pressed in the middle. Specifically, the cloth upper platen 303 and the cloth lower platen 304 are made of aluminum alloy, and the cloth upper platen 303 and the cloth lower platen 304 are fixedly connected by rivets.

The surfaces of the lower connecting piece 201 opposite to the upper connecting piece 202 are provided with annular grooves, the lower connecting disc 302 is arranged in the groove of the lower connecting piece 201, and the upper connecting disc 301 is arranged in the groove of the upper connecting piece 202. A plurality of connecting holes are uniformly distributed on the upper connecting disc 301 and the lower connecting disc 302, and a plurality of fixing holes are uniformly distributed in the groove of the lower connecting piece 201 and the groove of the upper connecting piece 202.

As shown in fig. 6, for convenience of explanation, the groove on the lower connector 201 is denoted by 206, and the fixing hole in the groove of the upper connector 202 is denoted by 205. The fixing holes in the groove 206 of the lower connecting piece 201 correspond to the connecting holes on the lower connecting disc 302 one by one. The fixing holes 205 in the groove of the upper connection member 202 correspond one-to-one to the connection holes of the upper connection pad 301.

Bolts are inserted through the connecting holes of the lower connecting plate 302 and the fixing holes in the groove 206 to fix the lower connecting plate 302 in the groove 206. In this embodiment, the radial width dimension of the lower connecting disc 302 is smaller than that of the lower connecting piece 201 by 1.5 mm, so that the lower connecting disc 302 can be accurately installed in the groove 206, and meanwhile, the cloth is tightly pressed on the side walls of the groove 206 and the cloth pressing disc, and therefore, the air leakage of the hip joint of the space suit from the bottom and the side of the groove 206 is prevented.

The upper connecting disc 301 is fixed in the same manner as the lower connecting disc 302, that is, the upper connecting disc 301 is fixed in the groove of the upper connecting member 202 by bolts passing through the connecting holes and fixing holes 205 of the upper connecting disc 301.

As shown in fig. 2 to 4, the connector 1 is a hemispherical shell, a reinforcing rib 102 is arranged inside the shell, the reinforcing rib 102 is arranged in the connector 1 in a shaft shape, and the reinforcing rib 102 is a semi-cylindrical structure with a diameter of phi 6 mm. The connector 1 plays a role in fixing and supporting in the hip joint of the spacesuit, and the wall thickness of the connector 1 is 3 mm by adopting a hard material shell.

The connecting body 1 is provided with a connecting hole 101 along the diameter direction of the shell, the connecting hole 101 is provided with a cylindrical connecting sleeve 103, the cylindrical connecting sleeve 103 is rotatably connected with the rotating frame 2, and the inner diameter of the connecting hole 101 is phi 226 mm.

The cylindrical connecting sleeve 103 is connected with the rotary frame 2 through a rotary bearing, the outer ring of the rotary bearing is connected with the cylindrical connecting sleeve 103, and the bottom of the cylindrical connecting sleeve 103 is provided with a bearing positioning step 104. The cylindrical connecting sleeve 103 is formed by extending 10 mm outwards from the connecting hole 101, the wall thickness of the cylindrical connecting sleeve is 3 mm, and the cylindrical connecting sleeve 103 is used for connecting the connecting body 1 and the rotating frame 2. And a bearing positioning step with the thickness of 3 mm is further arranged at the bottom of each cylindrical connecting sleeve 103 and is used for axially positioning the outer ring of the rotary bearing.

The rotary frames 2 in the rotary frame column are connected in sequence through rotary bearings, and the rotary frames can freely rotate. The lower connecting piece 201 of the last rotating frame is connected with the outer ring of the rotating bearing, and the inner ring of the rotating bearing is connected with the upper connecting piece 202 of the next rotating frame. The upper connecting piece 202 is of a flange type structure, the upper connecting piece 202 is connected with an inner ring of the rotary bearing, an outer ring of the rotary bearing is connected with the connector 1, interference fit is formed, and the reliability of connection is guaranteed. The lower connecting piece 201 is a thin-wall shell structure with the thickness of 3 mm, and the lower connecting piece 201 is connected with the rotary frames which are connected in sequence.

It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.

Claims

1. A spacesuit hip joint is characterized in that: the cloth fixing device comprises a connecting body (1), wherein two sides of the connecting body (1) are respectively connected with a rotary frame column, each rotary frame column comprises a plurality of rotary frames (2) which are sequentially and rotatably connected, the rotary frame (2) at the uppermost end in each rotary frame column is rotatably connected with the connecting body (1), and a cloth part (3) for fixing cloth is arranged in each rotary frame (2);

the rotary frame (2) comprises an upper connecting piece (202) and a lower connecting piece (201), wherein the upper connecting piece (202) is connected with one end of the lower connecting piece (201) through a supporting rod (203), and the other end of the upper connecting piece is connected with the other end of the lower connecting piece (201) through a connecting hinge (204); a connecting pin penetrates through the middle of the connecting hinge (204);

an upper connecting hinge (207) and a lower connecting hinge (208) are respectively arranged at two ends of the supporting rod (203), the upper connecting hinge (207) is connected with the upper connecting piece (202), and the lower connecting hinge (208) is connected with the lower connecting piece (201);

a through hole is formed between the upper connecting hinge (207) and the lower connecting hinge (208), a clamping groove (209) is formed in the through hole, a clamping ring is installed in the clamping groove (209), and a connecting pin (210) penetrates through the clamping ring; a connecting pin penetrates through the snap ring of the upper connecting hinge (207) and the upper connecting piece (202) so as to connect the upper connecting hinge (207) and the upper connecting piece (202), and penetrates through the snap ring of the lower connecting hinge (208) and the lower connecting piece (201) so as to connect the lower connecting hinge (208) and the lower connecting piece (201); the upper connecting hinge (207) and the lower connecting hinge (208) can surround the corresponding connecting pins (210);

the cloth part (3) comprises an upper connecting disc (301) and a lower connecting disc (302) which are identical in structure, the upper connecting disc (301) comprises a cloth upper pressing disc (303) and a cloth lower pressing disc (304), the cloth upper pressing disc (303) is connected with the cloth lower pressing disc (304), and cloth is pressed in the middle of the cloth upper pressing disc and the cloth lower pressing disc; the cloth upper pressing plate (303) and the cloth lower pressing plate (304) are made of aluminum alloy, and the cloth upper pressing plate (303) and the cloth lower pressing plate (304) are fixedly connected through rivets; a plurality of connecting holes are uniformly distributed on the upper connecting disc (301) and the lower connecting disc (302), and a plurality of fixing holes are uniformly distributed in the groove of the lower connecting piece (201) and the groove of the upper connecting piece (202);

fixing holes in the groove (206) of the lower connecting piece (201) correspond to connecting holes in the lower connecting disc (302) one by one; fixing holes (205) in the grooves of the upper connecting piece (202) correspond to connecting holes of the upper connecting disc (301) one by one;

the bolts penetrate through the connecting holes of the lower connecting disc (302) and the fixing holes in the groove (206) to fix the lower connecting disc (302) in the groove (206);

the surfaces of the lower connecting piece (201) opposite to the upper connecting piece (202) are provided with annular grooves, the lower connecting disc (302) is arranged in the groove of the lower connecting piece (201), and the upper connecting disc (301) is arranged in the groove of the upper connecting piece (202);

the connector (1) is a hemispherical shell, a reinforcing rib (102) is arranged in the shell, and the reinforcing rib (102) is arranged in the connector (1) in a shaft shape;

the connecting body (1) is provided with a connecting hole (101) along the diameter direction of the shell, a cylindrical connecting sleeve (103) is arranged on the connecting hole (101), and the cylindrical connecting sleeve (103) is rotatably connected with the rotary frame (2);

the cylindrical connecting sleeve (103) is connected with the rotary frame (2) through a rotary bearing, the outer ring of the rotary bearing is connected with the cylindrical connecting sleeve (103), and a bearing positioning step (104) is arranged at the bottom of the cylindrical connecting sleeve (103);

the rotary frames (2) in the rotary frame row are sequentially connected through rotary bearings, a lower connecting piece (201) of the previous rotary frame is connected with an outer ring of the rotary bearing, and an inner ring of the rotary bearing is connected with an upper connecting piece (202) of the next rotary frame; the upper connecting piece (202) is of a flange type structure, the upper connecting piece (202) is connected with an inner ring of the rotating bearing, an outer ring of the rotating bearing is connected with the connecting body (1) and forms interference fit, and the reliability of connection is guaranteed; the lower connecting piece (201) is of a thin-wall shell structure with the thickness of 3 mm, and the lower connecting piece (201) is connected with the rotary frames which are connected in sequence.