CN108127595A - A kind of space suit upper limb performance test apparatus - Google Patents
A kind of space suit upper limb performance test apparatus Download PDFInfo
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- CN108127595A CN108127595A CN201711487964.3A CN201711487964A CN108127595A CN 108127595 A CN108127595 A CN 108127595A CN 201711487964 A CN201711487964 A CN 201711487964A CN 108127595 A CN108127595 A CN 108127595A
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- flange
- space suit
- wrist
- clip
- shoulder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of space suit upper limb performance test apparatus, wrist assembly is mounted on equipment supporter, and space suit ancon locked clip device is on wrist assembly；Shoulder flange fast fixture is located at the both sides of the wrist assembly with wrist connection component respectively, the joint drive component is equipped in the equipment supporter below shoulder flange fast fixture and wrist connection component, each joint drive group can be relatively movably mounted on equipment supporter, the output terminal of the joint drive component of both sides is connected respectively with shoulder flange fast fixture and wrist connection component, shoulder flange fast fixture and wrist connection component is driven to be swung respectively；Being clamped on shoulder flange fast fixture has space suit shoulder flange, which is equipped with the wrist tooling of fixed space suit wrist interface.Structure novel of the present invention, control is flexible, easy to operate, suitable for different size space suit upper limb performance tests.
Description
Technical field
The present invention relates to space suit performance test apparatus, specifically a kind of space suit upper limb performance test apparatus.
Background technology
Space suit is that spacefarer carries out star catalogue and the important life support safeguards system of space operation.With Ground Operation not
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, repair, carrying.Therefore, the performance tests such as space suit service life, movable resistance square directly affect
The safety of the in-orbit operation of spacefarer and the success or failure of entire space mission.
Existing space suit upper limb performance test apparatus is generally pneumatic actuation mode, and shoulder flange passes through both sides mostly
Clamping element and the screw being uniformly distributed along the circumference, nut realize the fixation of shoulder flange.It is this step up mode have it is cumbersome, and
And needing the occasion often repeatedly dismantled less efficient, and the defects of the synchronism in loading procedure is poor.
Invention content
For the above problem existing for existing space suit upper limb performance test, the purpose of the present invention is to provide a kind of space flight
Upper limb performance test apparatus is taken, is applicable to different size space suit upper limb performance tests.
The purpose of the present invention is achieved through the following technical solutions：
The present invention include shoulder flange fast fixture, joint drive component, wrist assembly, wrist connection component and
Equipment supporter, wherein wrist assembly are mounted on equipment supporter, and space suit ancon locked clip device is on the wrist assembly；Institute
The both sides that shoulder flange fast fixture is located at the wrist assembly with wrist connection component respectively are stated, it is quick in shoulder flange
The joint drive component is equipped in equipment supporter below clamping device and wrist connection component, each joint drive
Component can be relatively movably mounted on equipment supporter, and the output terminal of the joint drive component of both sides is fast with shoulder flange respectively
Fast clamping device is connected with wrist connection component, drive respectively the shoulder flange fast fixture and wrist connection component into
Row is swung；Being clamped on the shoulder flange fast fixture has space suit shoulder flange, which is equipped with solid
Determine the wrist tooling of space suit wrist interface；
Wherein：The shoulder flange fast fixture includes shoulder joint stent, compresses end ring, supported flange, pull rod, top
Plate, connecting rod, synchronous slip ring, mandril, copper sheathing flange and central pressing part, the supported flange are respectively arranged in shoulder joint branch with top plate
The both sides of frame, one end of the mandril are connect with the top panel turns, and the other end is threadedly coupled with the central pressing part, the center
Slip ring copper sheathing is arranged on compressing member, the synchronous slip ring can be relatively movably sleeved on outside the slip ring copper sheathing, the slip ring copper
The outer end of set is equipped with copper sheathing flange, and the spring being sleeved on slip ring copper sheathing is equipped between the synchronous slip ring and copper sheathing flange,
The both ends of the spring are connected to synchronous slip ring and copper sheathing flange respectively；The pull rod is multiple, along space suit shoulder flange
Circumferencial direction is evenly distributed with, and one end of each pull rod is hingedly connected on central pressing part, and the other end is compression end, space suit shoulder
Portion's flange is between the supported flange and each pull rod compression end；The compression end of each pull rod and space suit shoulder flange it
Between be equipped with and compress end ring, the both sides of the space suit shoulder flange abut respectively with the compression end cap and supported flange cooperation；Often
Connecting rod is respectively connected between a pull rod and synchronous slip ring, the both ends of the connecting rod are hinged respectively with pull rod and synchronous slip ring；It is logical
Reciprocatingly sliding for the synchronous slip ring is crossed each pull rod is driven to synchronize compression or unclamps space suit shoulder flange；At the beginning of the spring
Beginning state is compressive state, and the synchronous slip ring is acted on by the spring, each pull rod is made to be generated in free state inside
The pretightning force of contraction；
One end of the mandril is equipped with boss flange, which is mounted on by mandril end cap on the top plate, and
Boss flange can relatively described top panel turns in mandril cover internal；The other end of the mandril offers what is screwed convenient for spanner
Counterbore；
The outer surface of the mandril is formed with trapezoidal external screw thread, offers centre bore on the central pressing part, the centre bore
Inner wall is formed with the trapezoidal internal thread being connected with the trapezoidal external screw thread；
The side of the top plate is equipped with cover board, which is connected by guiding axis with top plate, and guiding axis is by central pressing part
Edge pass through, graphite copper sheathing is equipped between the edge of guiding axis and central pressing part；The side position of the central pressing part
Between top plate and cover board, opposite side is boss, and the slip ring copper sheathing is sleeved on the boss, and the copper sheathing flange with it is described convex
The end of platform is connected；The hole passed through for slip ring copper sheathing is offered on the cover board；
The joint drive component includes dust cover, power source, joint support, bearing supports, adapter flange, torque and passes
Sensor, locking pressure plate, joint output shaft and joint output connecting rod, the dust cover, joint support and bearing supports are sequentially connected,
The opposite both sides of the bearing supports are connected with locking pressure plate by lock-screw, which can be relatively movably
It is placed on the equipment supporter, and determines in position and connect by the locking pressure plate and lock-screw with equipment supporter；
The power source is mounted in dust cover, and output terminal is connected by the adapter flange with the bottom of torque sensor, the switching
Flange is rotatablely connected with the bearing supports, and the top of the torque sensor is connected with joint output shaft, and the joint is defeated
Go out one end of connecting rod and the joint and export axis connection, the other end and the shoulder flange fast fixture or wrist connection component
It is connected, which exports connecting rod and pass through power source drive, the drive shoulder flange fast fixture or wrist connection component
It swings；Optoelectronic switch is installed, the torque sensor is equipped with corresponding with optoelectronic switch on the bearing supports inner wall
Optoelectronic switch sensing pin；
The joint output shaft is equipped with stop screw, offers bar hole on the bearing supports, the stop screw
It is inserted into the bar hole, is limited during power source drive joint output shaft is swung by stop screw；
The power source includes encoder, driving motor, planetary reducer and harmonic speed reducer, and the driving motor is first
Tail both ends are connect respectively with planetary reducer, encoder, and the flange face of the planetary reducer passes through circumferentially side
It is fixed together to uniformly distributed motor fixing screws with motor mounting rack, which is installed on the dust cover
It is interior；The adapter flange is divided into the top adapter flange of interconnection and lower part adapter flange, the top adapter flange and lower part
Adapter flange is rotatablely connected respectively by upper bearing and lower bearing with bearing supports；The planetary reducer it is defeated
Shaft is fixed together by transition axis and harmonic speed reducer input terminal, which is transferred method by lower part
Blue, top adapter flange and torque sensor are consolidated；
The wrist assembly includes lower part clip, top clip, bottom support bracket and locked clip device screw, the lower part clip
Side and the side of top clip be hinged, and be equipped on the inside of lower part clip and top clip and match with space suit ancon clip
The groove of conjunction, the opposite side of the lower part clip and the opposite side of top clip are free end, are connected by locked clip device screw
It connects, and by the space suit ancon locked clip device in the groove of lower part clip and top clip；The lower part clip passes through bottom
Portion's bearing installation is on a mounting board；
The bottom of the equipment supporter is equipped with multiple castors easy to remove, and top is fixed with installation along its length
Plate；Power control cabinet, the joint drive component and the control system phase in the electrical resistivity survey cabinet are installed in the side of the equipment supporter
Even.
Advantages of the present invention is with good effect：
1. the present invention is using motor as driving source, and use optoelectronic switch is as zero position switch, position in test process
It is higher to put control accuracy.
2. shoulder fast fixture of the present invention is equipped with synchronous slip ring and spring, it can ensure that six pulling claws are pressing from both sides by connecting rod
During tight and release there is higher synchronism, and there is inside convergent force in relaxation state pull rod.
3. shoulder fast fixture of the present invention is being clamped, mandril need to only tightened and loosened by spanner during release
It can be realized by the clamping of clamping members and loosen, easy to operate, efficiency is higher.
4. coordinated between mandril of the present invention and central pressing part by trapezoidal thread and realize clamping process, due to trapezoidal thread
There is self-locking, be not easy to loosen after clamping, reliability is higher.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structure diagram of shoulder flange fast fixture clamped condition of the present invention；
Fig. 3 is the structure diagram of shoulder flange fast fixture releasing orientation of the present invention；
Fig. 4 is the cross-sectional view of the structure of shoulder flange fast fixture of the present invention；
Fig. 5 is the external structure schematic diagram of joint drive component of the present invention；
Fig. 6 is the internal structure sectional view of joint drive component of the present invention；
Fig. 7 is the dimensional structure diagram of wrist assembly of the present invention；
Wherein：1 is shoulder fast fixture, and 101 be stent fixing screws, and 102 be shoulder joint stent, and 103 be mandril
End cap fixing screws, 104 be mandril end cap, and 105 is compress end ring, and 106 be space suit shoulder flange, and 107 be supported flange,
108 be pull rod, and 109 be top plate, and 110 be connecting rod pull rod fixing screws, and 111 be pull rod fixing screws, and 112 be connecting rod, and 113 is connect
Bar slip ring fixing screws, 114 be synchronous slip ring, and 115 be copper sheathing flange fixing screws, and 116 be mandril, and 117 fix spiral shell for cover board
Nail, 118 be cover board, and 119 be copper sheathing flange, and 120 be guiding axis, and 121 be graphite copper sheathing, and compressing member centered on 122,123 be bullet
Spring, 124 be supported flange fixing screws, and 125 be slip ring copper sheathing, and 126 be top plate fixing screws, and 127 be boss flange；
2 be joint drive component, and 201 be dust cover, and 202 be joint support, and 203 be bearing supports, and 204 be locking screw
Nail, 205 be locking pressure plate, and 206 be joint output shaft, and 207 export connecting rod for joint, and 208 be encoder, and 209 be driving motor,
210 be planetary reducer, and 211 be transition axis, and 212 be motor fixing screws, and 213 be motor mounting rack, and 214 be output
Connecting rod fixing screws, 215 be harmonic speed reducer, and 216 be electric machine support fixing screws, and 217 be lower part adapter flange, under 218 are
Portion's flange fixing screws, 219 be top adapter flange, and 220 be upper flange fixing screws, and 221 be lower bearing, and 222 is turn round
Square sensor, 223 be optoelectronic switch, and 224 be output shaft fixing screws, and 225 be upper bearing, and 226 be stop screw 227 be light
Electric switch senses pin；
3 be wrist assembly, and 301 be lower part clip, and 302 be top clip, and 303 be clamp connection screw, and 304 be space flight
Ancon clip is taken, 305 be locked clip device screw, and 306 be bottom support bracket, and 307 be bearing fixing screws；
4 be wrist connection component, and 401 be wrist tooling, and 402 be wrist joint stent, and 403 be wrist brace lock-screw；
5 be equipment supporter, and 501 be aluminium alloy corner connector, and 502 be corner connector fixing screws, and 503 be castor, and 504 be installation
Plate, 505 be installing plate fixing screws, and 506 be power control cabinet.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, the present invention include shoulder flange fast fixture 1, joint drive component 2, wrist assembly 3,
Wrist connection component 4 and equipment supporter 5, wherein wrist assembly 3 are mounted on equipment supporter 5, and space suit ancon clip 304 is locked
Tightly on wrist assembly 3.Shoulder flange fast fixture 1 is with wrist connection component 4 respectively positioned at the wrist assembly 3
Both sides, in shoulder flange fast fixture) and the equipment supporter 5 of the lower section of wrist connection component 4 in be equipped with joint drive group
Part 2, each joint drive component 2 can relatively movably be mounted on equipment supporter 5 on, the joint drive component 2 of both sides it is defeated
Outlet is connected respectively with shoulder flange fast fixture 1 and wrist connection component 4, drives shoulder flange Quick-clamped dress respectively
Put 1 and wrist connection component 4 swung.Being clamped on shoulder flange fast fixture 1 has space suit shoulder flange 106, should
Wrist connection component 4 is equipped with the wrist tooling 401 of fixed space suit wrist interface, which is equipped with space suit
Inflatable interface.
Equipment supporter 5 is aluminium alloy extrusions stent, and junction is using aluminium alloy corner connector 501, corner connector fixing screws
502 are fixed together.The bottom of equipment supporter 5 is equipped with multiple (the present embodiment is six) castors 503, so as to ensure that test is set
It is standby that there is better mobility；The top of equipment supporter 5 is fixed with installing plate 504 along its length, the one of equipment supporter 5
Side is equipped with power control cabinet 506, and joint drive component 2 is connected with the control system in the electrical resistivity survey cabinet 506.
As shown in figs. 2 to 4, shoulder flange fast fixture 1 includes shoulder joint stent 102, mandril end cap 104, compresses
End ring 105, supported flange 107, pull rod 108, top plate 109, connecting rod 112, synchronous slip ring 114, mandril 116, cover board 118, copper sheathing
Flange 119, guiding axis 120, graphite copper sheathing 121 and central pressing part 122, wherein supported flange 107 pass through respectively with top plate 109
Supported flange fixing screws 124 and top plate fixing screws 126 are installed on the both sides on 102 top of shoulder joint stent, shoulder joint stent
102 lower parts are equipped with the stent fixing screws 101 for being connect with joint drive component 2.
One end of mandril 116 is equipped with boss flange 127, which is placed in mandril end cap 104, mandril end
Lid 104 is fixed on by mandril end cap fixing screws 103 on top plate 109；One side and top of the boss flange 127 towards top plate 109
Plate 109 coordinates, and boss flange 127 can rotate inside mandril end cap 104 relative to top plate 109.The other end of mandril 116 opens up
There is the counterbore screwed convenient for spanner, the counterbore of the present embodiment is interior hexagonal counter sink.
The side of top plate 109 is equipped with cover board 118, which is connected by more guiding axis 120 with top plate 109, is oriented to
Guiding axis 120 and top plate 109, cover board 118 are fixed together by the both ends of axis 120 by cover board fixing screws 117 respectively.This reality
The guiding axis 120 for applying example is three.The side of central pressing part 122 is between top plate 109 and cover board 118, in central pressing
The outer edge of 122 side of part is opened up there are three through-hole, and three guiding axis 120 are passed through respectively by these three through-holes, in each through-hole
Graphite copper sheathing 121 is equipped with, guiding axis 120 is passed through by graphite copper sheathing 121；The inner wall of through-hole is matched with 121 outside of graphite copper sheathing
It closes, 121 inside of graphite copper sheathing can slide axially along guiding axis 120.The opposite side of central pressing part 122 is boss, on the boss
Slip ring copper sheathing 125, outside the boss and 125 fit inside of slip ring copper sheathing are arranged with, synchronous slip ring 114 can relatively movably be sleeved on this
Outside slip ring copper sheathing 125, the outer end of slip ring copper sheathing 125 is equipped with copper sheathing flange 119, and copper sheathing flange 119 and the end of boss lead to
Copper sheathing flange fixing screws 115 are crossed to fix.It is equipped with and is sleeved on slip ring copper sheathing 125 between synchronous slip ring 114 and copper sheathing flange 119
Spring 123, the both ends of spring 123 are connected to synchronous slip ring 114 and copper sheathing flange 119 respectively, and spring 123 is coaxially compressed in
Between synchronous slip ring 114 and copper sheathing flange 119.The hole passed through for slip ring copper sheathing 125 is offered on cover board 118.
The other end of mandril 116 is threadedly coupled with central pressing part 122, and the outer surface of mandril 116 is formed with trapezoidal external screw thread,
Centre bore is offered on central pressing part 122, which is formed with the trapezoidal internal thread being connected with trapezoidal external screw thread.
Mandril 116 and 122 coaxial cooperation of central pressing part.
Pull rod 108 is multiple (the present embodiment is six), is evenly distributed with along the circumferencial direction of space suit shoulder flange 106, each
One end of pull rod 108 is articulated with by pull rod fixing screws 111 on central pressing part 122 respectively, and the other end is compression end.It is each to draw
It is equipped between the compression end of bar 108 and space suit shoulder flange 106 and compresses end ring 105, the both sides point of space suit shoulder flange 106
It is not abutted with the compression end cap 105 and the cooperation of supported flange 107.The compression end of each pull rod 108 is matched with compressing the side of end ring 105
It closes.Connecting rod 112 each is respectively connected between pull rod 108 and synchronous slip ring 114, one end of the connecting rod 112 is consolidated by connecting rod pull rod
It is hinged with pull rod 108 to determine screw 110, the other end is hinged with synchronous slip ring 114 by connecting rod slip ring fixing screws 113.Spring 123
Original state is compressive state, and synchronous slip ring 114 is acted on by the spring 123, make each pull rod 108 free state generate to
The pretightning force of contract.
The material of top plate 109 of the present invention is hardness is higher and the preferable potassium steel of wearability.
As shown in Figure 5, Figure 6, joint drive component 2 includes dust cover 201, power source, joint support 202, bearings
Part 203, adapter flange, torque sensor 222, locking pressure plate 205, joint output shaft 206 and joint output connecting rod 207, this is anti-
Dust hood 201, joint support 202 and bearing supports 203 are sequentially connected, the opposite left and right of bearing supports 203 set there are two with
The threaded hole that lock-screw 204 coordinates, both sides are connected with locking pressure plate 205 by lock-screw 204.It is opened on installing plate 504
Equipped with bar hole, locking pressure plate 205 is located at the outside of installing plate 504, and bearing supports 203 can relatively movably be placed on installation
On plate 504, after being adjusted after the position of bearing supports 203, bar hole and locking pressure plate 205 are passed through using lock-screw 204
Connection locking.Power source is mounted in dust cover 201, and output terminal is connected by adapter flange with the bottom of torque sensor 222,
The adapter flange is rotatablely connected with bearing supports 203, and the top of torque sensor 222 is connected with joint output shaft 206, joint
One end of output connecting rod 207 is connect with the joint output shaft 206, and the other end passes through square hole and wrist joint stent 402, shoulder joint respectively
Section stent 102 coordinate, and pass through wrist brace lock-screw 403, stent fixing screws 101 are fixed together；The joint exports
Connecting rod 207 drives shoulder flange fast fixture 1 or wrist connection component 4 to swing by power source drive.Bearing supports
Optoelectronic switch 223 is installed, torque sensor 222 is equipped with and 223 corresponding optoelectronic switch sense of optoelectronic switch on 203 inner walls
Answer pin 227.Joint output shaft 206 is equipped with stop screw 226, offers bar hole on bearing supports 203, the limiting spiral shell
Nail 226 is inserted into bar hole, is limited during power source drive joint output shaft 206 is swung by stop screw 226
Position.
Power source includes encoder 208, driving motor 209, planetary reducer 210 and harmonic speed reducer 215, switching
Flange is divided into the top adapter flange 219 of interconnection and lower part adapter flange 217.209 head and the tail both ends of driving motor respectively with
Planetary reducer 210, encoder 208 are connected, and 210 flange face of planetary reducer passes through six electricity being uniformly distributed along the circumference
Machine fixing screws 212 are fixed together with motor mounting rack 213, and 210 output shaft of planetary reducer passes through transition axis 211
It is fixed together with 215 input terminal of harmonic speed reducer, 215 output terminal of harmonic speed reducer is turned by lower part adapter flange 217, top
Acting flange 219 is fixed together with torque sensor 222, and 221 outer ring of lower bearing is matched with bearing supports 203, inner ring
Coordinate with top adapter flange 19,203 inner wall of bearing supports is equipped with optoelectronic switch 223, and 222 one end of torque sensor is equipped with light
Electric switch senses pin 227, and 222 top of torque sensor is connected in by output shaft fixing screws 224 and joint output shaft 206
Together, joint output shaft 206 is fixed together by exporting connecting rod fixing screws 214 and joint output connecting rod 207.
As shown in fig. 7, wrist assembly 3 includes lower part clip 301, top clip 302, bottom support bracket 306 and clip lock
Tight screw 305, the side of the lower part clip 301 is hinged by clamp connection screw 303 with the side of top clip 302, and under
The inside of portion's clip 301 and top clip 302 is equipped with the groove coordinated with space suit ancon clip 304, lower part clip 301
Opposite side with the opposite side of top clip 302 is free end, is connect by locked clip device screw 305, and by space suit ancon
Clip 304 is lock onto in the groove of lower part clip 301 and top clip 302；Lower part clip 301 is installed by bottom support bracket 306
On installing plate 504.
The present invention operation principle be：
Before being tested for the property to space suit upper limb, the person's of being operated first one pull rod of hand-drive, 108 outside sidesway
It is dynamic, make be uniformly distributed along the circumference six pulling claws 108 are synchronous under the action of synchronous slip ring 114 to open, by space suit shoulder flange 106
It is placed on and compresses between end ring 105 and supported flange 107, then discharge pull rod 108, make six pulling claws 108 by spring 123
To contract under effect.Then, it is inserted into ratchet spanner in the interior hexagonal counter sink that 116 other end of mandril opens up, utilizes ratchet
Spanner driving mandril 116 rotates, and then be axially moveable central pressing part 122, slip ring copper sheathing 125, copper sheathing flange 119, makes
Each pull rod 118 is clamped space suit shoulder flange 106 by compressing end ring 105 and supported flange 107.
Then, space suit ancon clip 304 is locked using locked clip device screw 305；It is logical after space suit is fixed
Control system (control system of the invention is the prior art) the driving joint drive component 2 crossed in electrical resistivity survey cabinet 506 is by preset angle
Degree is moved, and zero-bit is calibrated at interval of the setting period using optoelectronic switch 223.Space suit disassembly process and installation
Process is opposite.
Claims (10)
1. a kind of space suit upper limb performance test apparatus, it is characterised in that：Including shoulder flange fast fixture (1), joint
Drive component (2), wrist assembly (3), wrist connection component (4) and equipment supporter (5), wherein wrist assembly (3) are installed
On equipment supporter (5), space suit ancon clip (304) is lock onto on the wrist assembly (3)；The shoulder flange quickly presss from both sides
Tight device (1) is located at the both sides of the wrist assembly (3) with wrist connection component (4) respectively, is filled in shoulder flange Quick-clamped
It puts in the equipment supporter (5) below (1) and wrist connection component (4) and is equipped with the joint drive component (2), each pass
Section drive component (2) can be relatively movably mounted on equipment supporter (5), the output terminal of the joint drive component (2) of both sides
It is connected respectively with shoulder flange fast fixture (1) and wrist connection component (4), the shoulder flange is driven quickly to press from both sides respectively
Tight device (1) and wrist connection component (4) are swung；Being clamped on the shoulder flange fast fixture (1) has space suit
Shoulder flange (106), the wrist connection component (4) are equipped with the wrist tooling (401) of fixed space suit wrist interface.
2. space suit upper limb performance test apparatus according to claim 1, it is characterised in that：The shoulder flange quickly presss from both sides
Tight device (1) including shoulder joint stent (102), compress end ring (105), supported flange (107), pull rod (108), top plate (109),
Connecting rod (112), synchronous slip ring (114), mandril (116), copper sheathing flange (119) and central pressing part (122), the supported flange
(107) both sides of shoulder joint stent (102), one end and the top plate of the mandril (116) are respectively arranged in top plate (109)
(109) it is rotatablely connected, the other end is threadedly coupled with the central pressing part (122), and cunning is arranged on the central pressing part (122)
Ring copper sheathing (125), the synchronous slip ring (114) can relatively movably be sleeved on the slip ring copper sheathing (125) outside, the slip ring copper sheathing
(125) outer end is equipped with copper sheathing flange (119), is equipped with and is sleeved between the synchronous slip ring (114) and copper sheathing flange (119)
Spring (123) on slip ring copper sheathing (125), the both ends of the spring (123) are connected to synchronous slip ring (114) and copper sheathing method respectively
Blue (119)；The pull rod (108) is multiple, is evenly distributed with along the circumferencial direction of space suit shoulder flange (106), each pull rod
(108) one end is hingedly connected on central pressing part (122), and the other end is compression end, and space suit shoulder flange (106) is located at
Between the supported flange (107) and each pull rod (108) compression end；The compression end of each pull rod (108) and space suit shoulder
Be equipped between flange (106) and compress end ring (105), the both sides of the space suit shoulder flange (106) respectively with the compression end cap
(105) it is abutted with supported flange (107) cooperation；Each connecting rod is respectively connected between the pull rod (108) and synchronous slip ring (114)
(112), the both ends of the connecting rod (112) are hinged with pull rod (108) and synchronous slip ring (114) respectively；Pass through the synchronous slip ring
(114) reciprocatingly slide drives each pull rod (108) is synchronous to compress or unclamp space suit shoulder flange (106)；The spring
(123) original state is compressive state, acts on the synchronous slip ring (114) by the spring (123), makes each pull rod
(108) pretightning force to contract is generated in free state.
3. space suit upper limb performance test apparatus according to claim 2, it is characterised in that：The one of the mandril (116)
End be equipped with boss flange (127), the boss flange (127) by mandril end cap (104) on the top plate (109), and
Boss flange (127) can rotate inside mandril end cap (104) relative to the top plate (109)；The other end of the mandril (116)
Offer the counterbore screwed convenient for spanner.
4. space suit upper limb performance test apparatus according to claim 2, it is characterised in that：Outside the mandril (116)
Surface is formed with trapezoidal external screw thread, offers centre bore on the central pressing part (122), which is formed with and the ladder
The trapezoidal internal thread that shape external screw thread is connected.
5. space suit upper limb performance test apparatus according to claim 2, it is characterised in that：The one of the top plate (109)
Side is equipped with cover board (118), which is connected by guiding axis (120) with top plate (109), and guiding axis (120) is pressed by center
The edge of tight part (122) passes through, and graphite copper sheathing is equipped between the edge of guiding axis (120) and central pressing part (122)
(121)；The side of the central pressing part (122) is located between top plate (109) and cover board (118), and opposite side is boss, described
Slip ring copper sheathing (125) is sleeved on the boss, and the copper sheathing flange (119) is connected with the end of the boss；The cover board
(118) hole passed through for slip ring copper sheathing (25) is offered on.
6. space suit upper limb performance test apparatus according to claim 1, it is characterised in that：The joint drive component
(2) including dust cover (201), power source, joint support (202), bearing supports (203), adapter flange, torque sensor
(222), locking pressure plate (205), joint output shaft (206) and joint output connecting rod (207), dust cover (201), the joint support
(202) and bearing supports (203) are sequentially connected, and the opposite both sides of the bearing supports (203) pass through lock-screw
(204) locking pressure plate (205) is connected with, which can relatively movably be placed on the equipment supporter (5)
On, and determine in position and connect by the locking pressure plate (205) and lock-screw (204) with equipment supporter (5)；It is described dynamic
Power source is mounted in dust cover (201), and output terminal is connected by the adapter flange with the bottom of torque sensor (222), should
Adapter flange is rotatablely connected with the bearing supports (203), top and the joint output shaft of the torque sensor (222)
(206) it is connected, one end of the joint output connecting rod (207) is connect with the joint output shaft (206), the other end and the shoulder
Flange fast fixture (1) or wrist connection component (4) are connected, and joint output connecting rod (207) passes through power source drive, band
It moves the shoulder flange fast fixture (1) or wrist connection component (4) is swung；On bearing supports (203) inner wall
Optoelectronic switch (223) is installed, the torque sensor (222) is equipped with and optoelectronic switch (223) corresponding optoelectronic switch
Sense pin (227).
7. space suit upper limb performance test apparatus according to claim 6, it is characterised in that：The joint output shaft
(206) stop screw (226) is equipped with, bar hole is offered on the bearing supports (203), which inserts
Enter in the bar hole, power source drive joint output shaft (206) swing during by stop screw (226) into
Row limiting.
8. space suit upper limb performance test apparatus according to claim 6, it is characterised in that：The power source includes coding
Device (208), driving motor (209), planetary reducer (210) and harmonic speed reducer (215), the driving motor (209) are first
Tail both ends are connect respectively with planetary reducer (210), encoder (208), the flange of the planetary reducer (210)
Face is fixed together by along the circumferential direction uniformly distributed motor fixing screws (212) with motor mounting rack (213), motor peace
Dress stent (213) is installed in the dust cover (210)；The adapter flange is divided into the top adapter flange of interconnection
(219) and lower part adapter flange (217), the top adapter flange (219) and lower part adapter flange (217) pass through upper axis respectively
(225) and lower bearing (221) is held to be rotatablely connected with bearing supports (203)；The output of the planetary reducer (210)
Axis is fixed together by transition axis (211) and harmonic speed reducer (211) input terminal, which leads to
Lower part adapter flange (217), top adapter flange (219) and torque sensor (222) is crossed to be connected.
9. space suit upper limb performance test apparatus according to claim 1, it is characterised in that：The wrist assembly (3)
Including lower part clip (301), top clip (302), bottom support bracket (306) and locked clip device screw (305), the lower part clip
(301) side of side and top clip (302) is hinged, and is all provided on the inside of lower part clip (301) and top clip (302)
There are the groove coordinated with space suit ancon clip (304), opposite side and the top clip (302) of the lower part clip (301)
Opposite side is free end, is connected, and the space suit ancon clip (304) is lock onto by locked clip device screw (305)
In the groove of lower part clip (301) and top clip (302)；The lower part clip (301) is mounted on by bottom support bracket (306)
On installing plate (504).
10. space suit upper limb performance test apparatus according to claim 1, it is characterised in that：The equipment supporter (5)
Bottom is equipped with multiple castors easy to remove (503), and top is fixed with installing plate (504) along its length；In the equipment
The side of stent (5) is equipped with power control cabinet (506), the joint drive component (2) and the control system in the electrical resistivity survey cabinet (506)
It is connected.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711487964.3A CN108127595B (en) | 2017-12-30 | 2017-12-30 | Performance test equipment for upper limbs of space suit |
| PCT/CN2018/122508 WO2019128854A1 (en) | 2017-12-30 | 2018-12-21 | Space suit sleeve performance test device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711487964.3A CN108127595B (en) | 2017-12-30 | 2017-12-30 | Performance test equipment for upper limbs of space suit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108127595A true CN108127595A (en) | 2018-06-08 |
| CN108127595B CN108127595B (en) | 2023-03-21 |
Family
ID=62394043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711487964.3A Active CN108127595B (en) | 2017-12-30 | 2017-12-30 | Performance test equipment for upper limbs of space suit |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108127595B (en) |
| WO (1) | WO2019128854A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109580190A (en) * | 2018-10-18 | 2019-04-05 | 中国航天员科研训练中心 | A kind of simulator of complete extravehicular space suit locking mechanism test |
| WO2019128854A1 (en) * | 2017-12-30 | 2019-07-04 | 中国科学院沈阳自动化研究所 | Space suit sleeve performance test device |
| CN112763115A (en) * | 2020-12-25 | 2021-05-07 | 中国人民解放军63919部队 | Controllable space suit joint moment of resistance testing arrangement of orbit |
| CN113211348A (en) * | 2021-05-12 | 2021-08-06 | 四川亚美动力技术有限公司 | Device for accurately positioning screw assembly |
| CN117147302A (en) * | 2023-10-31 | 2023-12-01 | 南通宏大实验仪器有限公司 | Collarband surface fabric anti-stretching test equipment |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115106960B (en) * | 2021-03-22 | 2023-09-19 | 中冶宝钢技术服务有限公司 | Installation tool and installation method for refining dip pipe |
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| US4067070A (en) * | 1976-11-03 | 1978-01-10 | The United States of America as represented by the Administrator of Veterans' Affairs | Prosthetic joint lock and cable mechanism |
| JP2000195923A (en) * | 1998-12-28 | 2000-07-14 | Hitachi Ltd | Robot for carrying, carrier, carrier in vacuum chamber, and process treatment equipment |
| CN104931367A (en) * | 2015-06-25 | 2015-09-23 | 北京建筑大学 | Movement life tester for upper limb joints of hermetic pressure extravehicular spacesuit |
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| CN108127595B (en) * | 2017-12-30 | 2023-03-21 | 中国科学院沈阳自动化研究所 | Performance test equipment for upper limbs of space suit |
| CN207757501U (en) * | 2017-12-30 | 2018-08-24 | 中国科学院沈阳自动化研究所 | Space suit upper limb performance test apparatus |
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2017
- 2017-12-30 CN CN201711487964.3A patent/CN108127595B/en active Active
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2018
- 2018-12-21 WO PCT/CN2018/122508 patent/WO2019128854A1/en active Application Filing
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| US3108498A (en) * | 1958-09-19 | 1963-10-29 | Gen Mills Inc | Remote control manipulator drives |
| US4067070A (en) * | 1976-11-03 | 1978-01-10 | The United States of America as represented by the Administrator of Veterans' Affairs | Prosthetic joint lock and cable mechanism |
| JP2000195923A (en) * | 1998-12-28 | 2000-07-14 | Hitachi Ltd | Robot for carrying, carrier, carrier in vacuum chamber, and process treatment equipment |
| CN104931367A (en) * | 2015-06-25 | 2015-09-23 | 北京建筑大学 | Movement life tester for upper limb joints of hermetic pressure extravehicular spacesuit |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019128854A1 (en) * | 2017-12-30 | 2019-07-04 | 中国科学院沈阳自动化研究所 | Space suit sleeve performance test device |
| CN109580190A (en) * | 2018-10-18 | 2019-04-05 | 中国航天员科研训练中心 | A kind of simulator of complete extravehicular space suit locking mechanism test |
| CN109580190B (en) * | 2018-10-18 | 2020-06-12 | 中国航天员科研训练中心 | Simulation device for locking mechanism test of complete extravehicular space suit |
| CN112763115A (en) * | 2020-12-25 | 2021-05-07 | 中国人民解放军63919部队 | Controllable space suit joint moment of resistance testing arrangement of orbit |
| CN113211348A (en) * | 2021-05-12 | 2021-08-06 | 四川亚美动力技术有限公司 | Device for accurately positioning screw assembly |
| CN117147302A (en) * | 2023-10-31 | 2023-12-01 | 南通宏大实验仪器有限公司 | Collarband surface fabric anti-stretching test equipment |
| CN117147302B (en) * | 2023-10-31 | 2023-12-22 | 南通宏大实验仪器有限公司 | Collarband surface fabric anti-stretching test equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108127595B (en) | 2023-03-21 |
| WO2019128854A1 (en) | 2019-07-04 |
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