CN207585905U - A kind of space suit lower limb performance test robot - Google Patents
A kind of space suit lower limb performance test robot Download PDFInfo
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- CN207585905U CN207585905U CN201721797677.8U CN201721797677U CN207585905U CN 207585905 U CN207585905 U CN 207585905U CN 201721797677 U CN201721797677 U CN 201721797677U CN 207585905 U CN207585905 U CN 207585905U
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Abstract
The utility model is related to space suit technical field of performance test, specifically a kind of space suit lower limb performance test robot, including pressurize case, air circulation component, air cooling unit, heat dissipation hose and two pedipulators, air cooling unit is connected with pressurize case, air circulation component is set in pressurize case, pedipulator is mounted on pressurize case, heat dissipation hose is equipped in pedipulator, the air in pressurize case is cooled down by air cooling unit and is sent into heat dissipation hose through air circulation component；The pedipulator includes thigh, knee components, shank, ankle-joint component and foot, thigh is connected by knee components with shank, shank is connected by ankle-joint component with foot, the knee components are equipped with knee joint drive component and knee joint transmission component, and the ankle-joint component is equipped with ankle-joint drive component and ankle-joint transmission component.The utility model movement locus control accuracy is high and size adjustable, the lower limb for being applicable to different space suits are tested.
Description
Technical field
The utility model is related to space suit technical field of performance test, specifically a kind of space suit lower limb performance test
Robot.
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 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, it is impossible to simulate space flight well
Knee joint and ankle-joint song during member's wearing space suit walking extend through journey, and the test equipment occupied space of external is larger.
Utility model content
The purpose of this utility model is to provide a kind of space suit lower limb performance test robot, pedipulator movement locus controls
Precision processed is high and internal temperature guarantee is constant, and in addition for each section of pedipulator using more piece outer cover suit retractable structure, size can
It adjusts, the lower limb performance test of different size space suits can be suitable for.
The purpose of this utility model is achieved through the following technical solutions：
A kind of space suit lower limb performance test robot including pressurize case, air circulation component, air cooling unit, dissipates
Hot hose and two pedipulators, air cooling unit are connected by pipeline with pressurize case, and air circulation component is set to guarantor
It presses in case, two pedipulators are mounted on pressurize case, and heat dissipation hose is equipped in the pedipulator, the sky in pressurize case
Gas is cooled down by the air cooling unit and is sent into heat dissipation hose by the air circulation component；The pedipulator
Including thigh, knee components, shank, ankle-joint component and foot, thigh is connected by knee components with shank, and shank leads to
It crosses ankle-joint component with foot to be connected, the knee components are equipped with knee joint drive component and knee joint transmission component, described
Ankle-joint component is equipped with ankle-joint drive component and ankle-joint transmission component.
The pedipulator is connected by a connection component with pressurize case, and the connection component includes the first connecting seat, the
Two connecting seats, worm screw, worm gear and connection axis pin, first connecting seat and the second connecting seat are hinged by connecting axis pin, in institute
It states and worm screw is equipped in the first connecting seat, worm gear is equipped in second connecting seat, and the worm gear set is loaded on the connecting pin
On axis, the worm and wheel engagement, first connecting seat is connected with pressurize case, second connecting seat and the pedipulator
Thigh be connected.
The thigh includes the multiple housings being set in together successively, wherein the first thigh shell upper end passes through a connection
Component is connected with pressurize case, and the first thigh shell lower end is connected with the second thigh shell, and in the first thigh shell
And second be equipped with thigh shell between thigh shell and slide guiding element；The shank includes the multiple housings being set in together successively,
Wherein the first shank shell upper end is hinged with the knee components, the first shank shell lower end and the outer shell phase of the second shank
Even, and between the first shank shell and the second shank shell it is equipped with shank shell and slides guiding element.
The knee components include knee joint shell, knee joint drive component, knee joint transmission component and knee joint hinge
Spindle, the knee joint shell upper end are connected with the thigh lower end, and the knee joint shell lower end is cut with scissors by the knee joint
Spindle is hinged with the shank upper end, and knee joint transmission component includes the first knee joint transmission group and the second knee joint transmission group,
The knee joint drive component 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
The output shaft fixed connection of device, wherein knee-joint active moving gear and the knee joint drive component, 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 coordinated with the knee joint optoelectronic switch on the knee joint shell and senses axis pin.
The ankle-joint component includes ankle-joint shell, ankle-joint drive component, ankle-joint transmission component and ankle-joint hinge
Spindle, the ankle-joint shell upper end are connected with the shank lower end, and the ankle-joint shell lower end is cut with scissors by the ankle-joint
Spindle is hinged with the foot, and ankle-joint transmission component includes the first ankle-joint transmission group and the second ankle-joint transmission group, described
Ankle-joint drive component 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 drive component, 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 opened in the foot equipped with ankle-joint photoelectricity
It closes, the ankle-joint coordinated with the ankle-joint optoelectronic switch is equipped on the ankle-joint shell and senses axis pin.
The foot includes connecting seat, slip pipe, foot's shell and foot's bottom plate, the connecting seat upper end and ankle-joint component
Hinged, lower end is connected by the slip pipe and foot's shell, and foot's shell downside is connected with foot bottom plate.
The heat dissipation hose includes the thigh tracheae component being set in thigh and the shank gas being set in shank
Tube assembly, the thigh tracheae component include thigh exhaust tube and thigh gas blow pipe, and the shank tracheae component is taken out including shank
Tracheae, shank gas blow pipe and the spare tracheae of shank.
The air circulation component includes aerofoil fan and vacuum pump, and the thigh gas blow pipe and shank gas blow pipe pass through institute
Aerofoil fan air blowing is stated, the thigh exhaust tube and shank exhaust tube are evacuated by the vacuum pump, in the thigh and shank
Temperature sensor is equipped with, and the spare tracheae of shank starts during temperature sensor alarm.
The advantages of the utility model is with good effect：
1st, the knee components in the utility model and ankle-joint component are respectively used to driving shank and foot swings, machinery
Leg movement locus control accuracy is high, and in addition pedipulator is connected by carrying the connection component of worm and gear with pressurize case, the company
Connected components can be adjusted by the worm and gear and keep pedipulator angle.
2nd, each section of pedipulator in the utility model, can be in the range of stroke using more piece outer cover suit retractable structure
Any position is locked, and can test various sizes of space suit as needed, so that pedipulator has better adaptability.
3rd, the utility model cools down the air in pressurize case using air cooling unit, and is existed using the hose that radiates
Pedipulator enclosure forms active air reflux, so as to prevent scorching boat due to the heat that driving motor etc. generates at work
It takes internal layer and comfortably serves as a contrast, and has preferable heat dissipation effect.
Description of the drawings
Fig. 1 is the schematic diagram of the utility model,
Fig. 2 is the pedipulator schematic diagram in Fig. 1,
Fig. 3 is the pedipulator sectional view in Fig. 2,
Fig. 4 is the connection component schematic diagram in Fig. 2,
Fig. 5 is the connection component sectional view in Fig. 4,
Fig. 6 is the knee components schematic diagram in Fig. 2,
Fig. 7 is another angle schematic diagram of knee components in Fig. 6,
Fig. 8 is the knee joint shell and shank connection diagram in Fig. 6,
Fig. 9 is the ankle-joint component diagram in Fig. 2,
Figure 10 is foot's sectional view in Fig. 2,
Figure 11 is the heat dissipation hose distribution schematic diagram in Fig. 2,
Figure 12 is the pressurize case schematic internal view 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 connecting seat, 209 be axis pin block, and 210 be block fixing screws, and 211 be connection axis pin, and 212 be worm screw, and 213 be first
Connecting seat；3 be knee components, and 301 be knee joint shell, and 3011 be bearing gland, and 302 be knee joint drive component, 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 sense axis pin for knee joint, and 3052 be switch mounting；4 be small
Leg, 401 be the first shank shell, and 4011 be connection support 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 drive component, 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 sense axis pin for ankle-joint；6 be foot, and 601 be slip pipe, and 602 be connecting seat, and 603 be foot's shell,
604 be foot's bottom plate；7 be pressurize case, and 701 be aerofoil fan, and 702 be vacuum pump, and 703 be vacuum pump frame, and 704 be fan bottom
Seat, 705 be evaporator, and 706 be installing plate；8 be trolley；9 be the hose that radiates, and 901 be thigh exhaust tube, and 902 be thigh
Gas blow pipe, 903 be shank gas blow pipe, and 904 be shank exhaust tube, and 905 be the spare tracheae of shank；10 be power control cabinet；11 be air
Cool down unit；12 be coolant interface.
Specific embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Fig. 1~12, the utility model includes pressurize case 7, air circulation component, air cooling unit 11, automatically controlled
Cabinet 10, heat dissipation hose 9 and two pedipulators, wherein as shown in Figure 1, the pressurize case 7, air cooling unit 11 and automatically controlled
Cabinet 10 may be contained on a trolley 8, and air cooling unit 11 passes through pipeline and 12 phase of coolant interface on the pressurize case 7
Even, for the air cooling unit 11 for being cooled down to the air in pressurize case 7, air circulation component is set to the pressurize
In case 7, two pedipulators are mounted on the pressurize case 7, and heat dissipation hose 9, pressurize case 7 are equipped in the pedipulator
Interior cooling air is acted on by the air circulation component to be entered in heat dissipation hose 9, and enter through the hose that radiates
It is cooled down in pedipulator.The air cooling unit 11 is known in the art technology.
As shown in Figures 1 to 3, the pedipulator includes thigh 1, knee components 3, shank 4, ankle-joint component 5 and foot
6, thigh 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 joint
Component 3 is equipped with knee joint drive component 302 and knee joint transmission component 303, and shank 4 passes through the knee joint drive component 302
Driving is swung, and the knee joint drive component 302 transmits torque, the ankle-joint by the knee joint transmission component 303
Component 5 is equipped with ankle-joint drive component 502 and ankle-joint transmission component 503, and foot 6 passes through the ankle-joint drive component 502
Driving is swung, and the ankle-joint drive component 502 transmits torque by the ankle-joint transmission component 503.
As shown in Figure 1, the pedipulator is connected by a connection component 2 with pressurize case 7, it is as shown in Figures 4 and 5, described
Connection component 2 includes the first connecting seat 213, the second connecting seat 208, worm screw 212, worm gear 207 and connection axis pin 211, and described the
213 and second connecting seat 208 of a connecting seat is hinged by connecting axis pin 211, and worm screw is equipped in first connecting seat 213
212, worm gear 207 is equipped in second connecting seat 208, and the worm gear 207 is set on the connection axis pin 211, institute
It states worm screw 212 to engage with worm gear 207, first connecting seat 213 is equipped with the first connecting flange 201, and first connection
Flange 201 is connected by the first attachment screw 202 with pressurize case 7, and second connecting seat 208 is equipped with the second connecting flange
204, and second connecting flange 204 is connected by the thigh 1 of the second attachment screw 203 and the pedipulator.
As shown in Figures 4 and 5, the worm screw 212 is installed in by worm screw clip 205 on the first connecting seat 213, and institute
It states worm screw clip 205 to be fixed on first connecting seat 213 by clip fixing screws 206,211 both ends of the connection axis pin
It is installed on the second connecting seat 208 by axis pin block 209, and the axis pin block 209 passes through block fixing screws 210
It is fixed on second connecting seat 208.
As shown in figures 2-3, the thigh 1 includes the multiple housings being set in together successively, thigh described in the present embodiment
1 includes three layers of housing, wherein 101 upper end of the first thigh shell is connected with the connection component 2,102 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 is connected with the knee components 3.
It is slided as shown in Fig. 2, being equipped with thigh shell between the first thigh shell 101 and the second thigh shell 102
Guiding element 104, the thigh shell slide 104 upper end of guiding element and are connected with 101 lower end inside of the first thigh shell, described the
Two thigh shells, 102 upper end is equipped with the sliding slot for sliding guiding element 104 with the thigh shell and coordinating, and when the first thigh shell
101 and second after location determination between thigh shell 102, and the thigh shell slides guiding element 104 and is fixed on by a screw
On second thigh shell 102.
As shown in Fig. 2~3 and Fig. 6, the knee components 3 include knee joint shell 301, knee joint drive component 302,
Knee joint transmission component 303 and knee joint articulated shaft 304, wherein 301 upper end of knee joint shell and the third of 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 302 and first knee joint of knee joint drive component passes
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 fig. 6, the knee joint drive component 302 includes knee joint motor 3022 and knee joint retarder 3023,
3022 output terminal 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, sets in the third thigh shell 103 of the thigh 1 there are one knee joint mounting flange 3024, the knee joint
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 fig. 6, 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 is connected, knee joint driven gear 3032 be mounted on the knee joint gearing speed-reducer 3033 input shaft on 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 fig. 6, 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 fig. 6, the knee joint articulated shaft 304 is mounted on by bearing bearing on the knee joint shell 301, such as
Shown in Fig. 8, the bearing is fixed equipped with bearing gland 3011 on the knee joint shell 301, in addition in 4 upper end of shank
Equipped with connection support plate 4011,304 end of knee joint articulated shaft is inserted after being stretched out by the knee joint shell 301 into the company
Support plate 4011 is connect, so as to fulfill being hinged for knee joint shell 301 and shank 4.As shown in fig. 6, in the knee joint articulated shaft 304
Knee joint torque sensor 3041 is equipped with for detecting the knee joint torque of pedipulator in real time, in addition as shown in fig. 7, described
Knee joint optoelectronic switch 305 is equipped 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 sensing axis pin 3051 of 305 cooperations is closed, 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 figures 2-3, the shank 4 includes multiple housings for being set in together successively, described small in the present embodiment
Leg 4 includes two layers of housing, wherein 401 upper end of the first shank shell is cut with scissors with the knee joint shell 301 in the knee components 3
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 is closed with the ankle
It saves component 5 to be connected, be led wherein being equipped with the slip of shank shell between the first shank shell 401 and the second shank shell 402
Part 403, the shank shell slide 403 upper end of guiding element and are connected with 401 lower end inside of the first shank shell, and described second is small
402 upper end of leg shell is equipped with the sliding slot for sliding guiding element 403 with the shank shell and coordinating, and 401 He of the first shank shell
Between second shank shell 402 after location determination, the shank shell slides guiding element 403, and by a screw to be fixed on second small
On leg shell 402.
As shown in Fig. 2~3 and Fig. 9, the ankle-joint component 5 include ankle-joint shell 501, ankle-joint drive component 502,
Ankle-joint transmission component 503 and ankle-joint articulated shaft 504,501 upper end of ankle-joint shell and the second shank of 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, 502 and first ankle-joint of the ankle-joint drive component transmission
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 9, the ankle-joint drive component 502 includes ankle-joint motor 5022 and ankle-joint retarder 5023,
5022 output terminal of ankle-joint motor is connected with ankle-joint retarder 5023, and 5022 tail end of ankle-joint motor is equipped with ankle-joint encoder
5021, it is set in 402 lower end of the second shank shell of the shank 4 there are one ankle-joint mounting flange 5024, 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 9, 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 is closed with the ankle
Section driving gear 5031 engages, and 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 9, 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 is engaged with the ankle-joint drive bevel gear 5034.
As shown in figure 9, the ankle-joint articulated shaft 504 is mounted on by bearing bearing on ankle-joint shell 501, such as Figure 10
Shown, the foot 6 is set there are one connecting seat 602, and the ankle-joint shell 501 passes through the ankle-joint articulated shaft 504 and institute
It is hinged to state connecting seat 602.As shown in figure 9, it is used on the ankle-joint articulated shaft 504 equipped with ankle-joint torque sensor 5041
The ankle-joint torque of detection pedipulator in real time.In addition as shown in Figure 10, ankle-joint is equipped in the connecting seat 602 of the foot 6
Optoelectronic switch 505 is equipped with the ankle-joint coordinated with the ankle-joint optoelectronic switch 505 on the ankle-joint shell 501 and senses
Axis pin 5051.The knee joint encoder 5021, knee joint torque sensor 5041 and knee joint optoelectronic switch 505 are ability
Domain known technology.
As shown in Figure 10, the foot 6 includes connecting seat 602, slip pipe 601, foot's shell 603 and foot's bottom plate 604, institute
It is hinged to state 602 upper end of connecting seat 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, screw the slip pipe 601 and can adjust pedipulator ankle-joint and foot 6
The distance between, 603 downside of foot's shell is connected with foot bottom plate 604 by screw.
As shown in figs. 2 and 11, heat dissipation hose 9 includes thigh tracheae component and shank tracheae component, wherein thigh
Tracheae component includes thigh exhaust tube 901 and thigh gas blow pipe 902, and the thigh exhaust tube 901 and thigh gas blow pipe 902 are solid
In thigh 1, and 901 end of thigh exhaust tube is extended near 302 tail end encoder of knee joint drive component, thigh gas blow pipe
902 ends are extended near 302 lower part knee joint retarder 3023 of knee joint drive component, and shank tracheae component is evacuated including shank
Pipe 904, shank gas blow pipe 903 and the spare tracheae 905 of shank, the shank exhaust tube 904, shank gas blow pipe 903 and shank are standby
It is fixedly arranged in shank 4 with tracheae 905, and to extend to 502 tail end encoder of ankle-joint drive component attached for 904 end of shank exhaust tube
Closely, the spare tracheae 905 of the shank is arranged side by side with shank exhaust tube 904, and 903 end of shank gas blow pipe extends to ankle-joint driving
Near 502 lower part ankle-joint retarder 5023 of component.
Air circulation component is set in pressurize case 7, and heat dissipation hose 9 is connected with the air circulation component.Such as figure
Shown in 12, the air circulation component includes aerofoil fan 701 and vacuum pump 702, and the aerofoil fan 701 is used to blow to thigh
It blows in tracheae 902 and shank gas blow pipe 903, the vacuum pump 702 is used for from thigh exhaust tube 901 and shank exhaust tube 904
Interior pumping, so as to be respectively formed air return in thigh 1 and shank 4.704 He of fan base is equipped in the pressurize case 7
Vacuum pump frame 703 is set on 7 bottom plate of pressurize case there are one installing plate 706, and the fan base 704 is set to described
On installing plate 706, the aerofoil fan 701 is set on the fan base 704, in addition on the fan base 704 also
Equipped with multiple evaporators 705, the cooling gas in pressurize case 7 is blown into 902 He of thigh gas blow pipe by the aerofoil fan 701 again
In shank gas blow pipe 903, the vacuum pump 702 is set on the vacuum pump frame 703.The aerofoil fan 701 steams
It is techniques well known to send out device 705 and vacuum pump 702.
The operation principle of the utility model is：
During utility model works, two pedipulators are positioned in space suit lower limb first, and will be in connection component 2
First connecting flange 201 is connected with pressurize case 7, and the thigh 1 of the second connecting flange 204 and pedipulator is connected, and then passes through control
System controls knee components 3 and ankle-joint component 4 to be moved by preset movement locus, and utilizes knee joint optoelectronic switch 305
With ankle-joint optoelectronic switch 505 at interval of calibrator (-ter) unit zero-bit after certain period of motion, and during the test, by big
Leg gas blow pipe 902 and shank gas blow pipe 903 are blown into cooling gas, while thigh exhaust tube 901 into thigh 1 and shank 4 respectively
Gas is made to form reflux in thigh 1 and shank 4 respectively with the pumping of shank exhaust tube 904, in addition to preventing temperature is excessively high from scalding
Bad space suit is equipped with temperature sensor for monitoring temperature change in real time in thigh 1 and shank 4, spare in the shank
Tracheae 905 is equipped with control valve, and when temperature alarming, the control valve is on the spare tracheae 905 of shank to blowing at shank 4
Enter cooling gas, to ensure that space suit internal temperature is stablized.
Claims (10)
1. a kind of space suit lower limb performance test robot, it is characterised in that：Including pressurize case (7), air circulation component, air
Cooling unit (11), heat dissipation hose (9) and two pedipulators, air cooling unit (11) pass through pipeline and pressurize case (7)
It is connected, air circulation component is set in pressurize case (7), and two pedipulators are mounted on pressurize case (7), and in the pedipulator
Interior to be equipped with heat dissipation hose (9), the air in pressurize case (7) cool down by the air cooling unit (11) and described in passing through
Air circulation component is sent into heat dissipation hose (9)；The pedipulator includes 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) pass equipped with knee joint drive component (302) and knee joint
Dynamic component (303), the ankle-joint component (5) is equipped with ankle-joint drive component (502) and ankle-joint transmission component (503).
2. space suit lower limb performance test robot according to claim 1, it is characterised in that：The pedipulator passes through one
A connection component (2) is connected with pressurize case (7), and the connection component (2) includes the first connecting seat (213), the second connecting seat
(208), worm screw (212), worm gear (207) and connection axis pin (211), first connecting seat (213) and the second connecting seat (208)
It is hinged by connecting axis pin (211), worm screw (212) is equipped in first connecting seat (213), in second connecting seat
(208) worm gear (207) is equipped in, and the worm gear (207) is set on connection axis pin (211), the worm screw (212) with
Worm gear (207) engages, and first connecting seat (213) is connected with pressurize case (7), second connecting seat (208) and the machine
The thigh (1) of tool leg is connected.
3. space suit lower limb performance test robot according to claim 1, it is characterised in that：The thigh (1) includes
The multiple housings being set in together successively, wherein the first thigh shell (101) upper end passes through a connection component (2) and pressurize case
(7) it is connected, the first thigh shell (101) lower end is connected with the second thigh shell (102), and in the first thigh shell
(101) thigh shell is equipped between the second thigh shell (102) and slides guiding element (104)；The shank (4) including being set with successively
Multiple housings together, wherein the first shank shell (401) upper end is hinged with the knee components (3), described first is small
Leg shell (401) lower end is connected with the second shank shell (402), and outside the first shank shell (401) and the second shank
Shank shell is equipped between shell (402) and slides guiding element (403).
4. space suit lower limb performance test robot according to claim 1, it is characterised in that：The knee components
(3) including knee joint shell (301), knee joint drive component (302), knee joint transmission component (303) and knee joint articulated shaft
(304), knee joint shell (301) upper end is connected with the thigh (1) lower end, and knee joint shell (301) lower end leads to
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 drive component (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 robot 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 drive component (302), knee joint driven gear
(3032) 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), is in addition set in shank (4) upper end
There is knee joint optoelectronic switch (305), be equipped on the knee joint shell (301) and match with the knee joint optoelectronic switch (305)
The knee joint sensing axis pin (3051) of conjunction.
6. space suit lower limb performance test robot according to claim 1, it is characterised in that：The ankle-joint component
(5) including ankle-joint shell (501), ankle-joint drive component (502), ankle-joint transmission component (503) and ankle-joint articulated shaft
(504), ankle-joint shell (501) upper end is connected with the shank (4) lower end, and ankle-joint shell (501) lower end leads to
It is hinged with the foot (6) to cross the ankle-joint articulated shaft (504), ankle-joint transmission component (503) is passed including the first ankle-joint
Dynamic group and the second ankle-joint transmission group, the ankle-joint drive component (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).
7. space suit lower limb performance test robot according to claim 6, 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 drive component (502), ankle-joint driven gear
(5032) 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 is engaged 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 with what is coordinated with the ankle-joint optoelectronic switch (505) on the ankle-joint shell (501)
Ankle-joint sensing axis pin (5051).
8. space suit lower limb performance test robot according to claim 1, it is characterised in that：The foot (6) includes
Connecting seat (602), slip pipe (601), foot's shell (603) and foot's bottom plate (604), connecting seat (602) upper end are closed with ankle
It is hinged to save component (5), 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).
9. space suit lower limb performance test robot according to claim 1, it is characterised in that：Radiate hose (9)
Including the thigh tracheae component being set in thigh (1) and the shank tracheae component being set in shank (4), the thigh tracheae
Component include thigh exhaust tube (901) and thigh gas blow pipe (902), the shank tracheae component including shank exhaust tube (904),
Shank gas blow pipe (903) and the spare tracheae of shank (905).
10. space suit lower limb performance test robot according to claim 9, it is characterised in that：The air circulation group
Part includes aerofoil fan (701) and vacuum pump (702), and the thigh gas blow pipe (902) and shank gas blow pipe (903) are by described
Aerofoil fan (701) is blown, and the thigh exhaust tube (901) and shank exhaust tube (904) are taken out by the vacuum pump (702)
Temperature sensor, and shank spare tracheae during temperature sensor alarm are equipped in gas, the thigh (1) and shank (4)
(905) start.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721797677.8U CN207585905U (en) | 2017-12-21 | 2017-12-21 | A kind of space suit lower limb performance test robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721797677.8U CN207585905U (en) | 2017-12-21 | 2017-12-21 | A kind of space suit lower limb performance test robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207585905U true CN207585905U (en) | 2018-07-06 |
Family
ID=62739769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721797677.8U Withdrawn - After Issue CN207585905U (en) | 2017-12-21 | 2017-12-21 | A kind of space suit lower limb performance test robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207585905U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107884177A (en) * | 2017-12-21 | 2018-04-06 | 中国科学院沈阳自动化研究所 | Space suit lower limb performance test robot |
-
2017
- 2017-12-21 CN CN201721797677.8U patent/CN207585905U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107884177A (en) * | 2017-12-21 | 2018-04-06 | 中国科学院沈阳自动化研究所 | Space suit lower limb performance test robot |
| CN107884177B (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 robot |
| WO2019120207A1 (en) * | 2017-12-21 | 2019-06-27 | 中国科学院沈阳自动化研究所 | Robot for testing performance of spacesuit lower limb |
| US11241803B2 (en) | 2017-12-21 | 2022-02-08 | Shenyang Institute Of Automation, Chinese Academy Of Sciences | Robot for testing lower limb performance of spacesuit |
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