CN207622996U - A kind of space suit lower limb performance test mechanical arm - Google Patents
A kind of space suit lower limb performance test mechanical arm Download PDFInfo
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- CN207622996U CN207622996U CN201721797573.7U CN201721797573U CN207622996U CN 207622996 U CN207622996 U CN 207622996U CN 201721797573 U CN201721797573 U CN 201721797573U CN 207622996 U CN207622996 U CN 207622996U
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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 mechanical arm, including 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, shank is driven by the knee joint drive component and is swung, the knee joint drive component transmits torque by the knee joint transmission component, the ankle-joint component is equipped with ankle-joint drive component and ankle-joint transmission component, foot is driven by the ankle-joint drive component and is swung, the ankle-joint drive component transmits torque by the ankle-joint transmission component.The utility model movement locus control accuracy is high, and each section of mechanical arm is all made of more piece outer cover suit retractable structure, and size adjustable can be suitable for the lower limb performance test of different size space suits.
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
Mechanical arm.
Background technology
Space suit is the important life support safeguards system that spacefarer carries out star catalogue and space operation.Not with Ground Operation
Together, star catalogue operation and each articular system of space job requirements space suit all have preferable motility and flexibility, to complete
The tasks such as star catalogue walking, detection, 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 entirely success or failure of space mission.
Existing space suit lower limb performance test apparatus is mostly outlet structure, and using pneumatic mode as driving
Source, there are larger differences with the form of spacefarer's wearing space suit progress star catalogue or space operation, cannot simulate space flight well
Knee joint and ankle-joint song when member's wearing space suit walking extend through journey, and the test equipment occupied space of external is larger.
Utility model content
The purpose of this utility model is to provide a kind of space suit lower limb performance test mechanical arm, movement locus control accuracies
Height, and each section of mechanical arm is all made of more piece outer cover suit retractable structure, size adjustable can be suitable for different size space suits
Lower limb performance test.
The purpose of this utility model is achieved through the following technical solutions：
A kind of space suit lower limb performance test mechanical arm, including thigh, knee components, shank, ankle-joint component and foot
Portion, thigh are connected by knee components with shank, and shank is connected by ankle-joint component with foot, and the knee components are set
There are knee joint drive component and knee joint transmission component, shank to drive and swing by the knee joint drive component, the knee closes
It saves drive component and torque is transmitted by the knee joint transmission component, the ankle-joint component is equipped with ankle-joint drive component and ankle
Joint transmission component, foot are driven by the ankle-joint drive component and are swung, and the ankle-joint drive component passes through the ankle
Joint transmission component transmits torque.
The thigh free end is set there are one connection component, the connection component include the first connecting seat, the second connecting seat,
Worm screw, worm gear and connection axis pin, first connecting seat and the second connecting seat are hinged by connecting axis pin, in first connection
It is equipped with worm screw in seat, worm gear is equipped in second connecting seat, and the worm gear set is loaded on the connection axis pin, the snail
Worm and wheel engages.
The thigh includes the multiple shells being set in together successively, wherein the first thigh shell upper end connect group with one
Part is connected, and the first thigh shell lower end is connected with the second thigh shell, and in the first thigh shell and the second thigh
It is equipped with thigh shell between shell and slides guiding element.
The knee components include knee joint shell, knee joint drive component, knee joint transmission component and knee joint hinge
Spindle, knee joint shell upper end are connected with the thigh lower end, and 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 incudes axis pin.
The shank includes the multiple shells being set in together successively, wherein the first shank shell upper end and the knee joint
Member hinges, the first shank shell lower end are connected with the second shank shell, and small in the first shank shell and second
It is equipped with shank shell between leg shell and slides guiding element.
The ankle-joint component includes ankle-joint shell, ankle-joint drive component, ankle-joint transmission component and ankle-joint hinge
Spindle, ankle-joint shell upper end are connected with the shank lower end, and 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 equipped with ankle-joint photoelectricity in the foot
It closes, the ankle-joint coordinated with the ankle-joint optoelectronic switch is equipped on the ankle-joint shell and incudes 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 on the downside of foot's shell and foot's bottom plate is connected.
It is equipped with thigh tracheae component in thigh, the thigh tracheae component includes thigh exhaust tube and thigh gas blow pipe, small
It is equipped with shank tracheae component in leg, the shank tracheae component includes shank exhaust tube, shank gas blow pipe and the spare tracheae of shank,
Temperature sensor is equipped in the thigh and shank, and the spare tracheae of shank starts when temperature sensor alarm.
The advantages of the utility model is with good effect：
1, the knee components in the utility model and ankle-joint component are respectively used to driving shank and foot swings, movement
TRAJECTORY CONTROL precision is high, and in addition the utility model is connected by the connection component with worm and gear with other mechanisms, the company
Connected components can be adjusted by the worm and gear and keep arm angle.
2, in the utility model each section be all made of more piece outer cover suit retractable structure, can in stroke range any position
Locking, can test various sizes of space suit as needed, so that mechanical arm has better adaptability.
3, the utility model using heat dissipation hose mechanical arm enclosure formed active air flow back, to prevent due to
The heat that driving motor etc. generates at work scorches space suit 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 sectional view of the utility model in Fig. 1,
Fig. 3 is the connection component schematic diagram in Fig. 1,
Fig. 4 is the connection component sectional view in Fig. 3,
Fig. 5 is the knee components schematic diagram in Fig. 1,
Fig. 6 is another angle schematic diagram of knee components in Fig. 5,
Fig. 7 is the knee joint shell and shank connection diagram in Fig. 5,
Fig. 8 is the ankle-joint component diagram in Fig. 1,
Fig. 9 is foot's sectional view in Fig. 1,
Figure 10 is the heat dissipation hose distribution schematic diagram in Fig. 1
Wherein, 1 is thigh, and 101 be the first thigh shell, and 102 be the second thigh shell, and 103 be third thigh shell,
104 slide guiding element for thigh shell；2 be connection component, and 201 be the first connecting flange, and 202 be the first attachment screw, and 203 be the
Two attachment screws, 204 be the second connecting flange, and 205 be worm screw clip, and 206 be clip fixing screws, and 207 be worm gear, and 208 are
Second 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 incude 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 incude 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 heat dissipation hose, and 701 be thigh exhaust tube, and 702 be thigh gas blow pipe, and 703 blow for shank
Pipe, 704 be shank exhaust tube, and 705 be the spare tracheae of shank.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Fig. 1~10, the utility model 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 1,1 free end of the thigh is set, there are one connection components 2 to be used to be connected with other mechanisms, such as Fig. 3~4
Shown, 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 second connecting seat 208 is hinged by connecting axis pin 211, in first connecting seat 213
Equipped with worm screw 212, worm gear 207 is equipped in second connecting seat 208, and the worm gear 207 is set in the connection axis pin
On 211, the worm screw 212 engages with worm gear 207, and first connecting seat 213 is equipped with the first connecting flange 201, and described
First connecting flange 201 is connected by the first attachment screw 202 with other mechanisms, and second connecting seat 208 is equipped with second
Connecting flange 204, and second connecting flange 204 is connected by the second attachment screw 203 with the thigh 1.
As shown in figs. 34, the worm screw 212 is installed 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 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 Fig. 1~2, the thigh 1 includes the multiple shells being set in together successively, thigh described in the present embodiment
1 includes three layers of shell, 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 Figure 1, being equipped with thigh shell between the first thigh shell 101 and the second thigh shell 102
Guiding element 104, thigh shell sliding 104 upper end of guiding element 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 coordinated with thigh shell sliding guiding element 104, and works as the first thigh shell
101 and second after location determination between thigh shell 102, and the thigh shell sliding guiding element 104 is fixed on by a screw
On second thigh shell 102.
As shown in Fig. 1~2 and Fig. 5, the knee components 3 include knee joint shell 301, knee joint drive component 302,
Knee joint transmission component 303 and knee joint articulated shaft 304, wherein the third of knee joint shell 301 upper end and the thigh 1
103 lower end of thigh shell is connected, and lower end is hinged by the knee joint articulated shaft 304 and the shank 4, knee joint transmission component
303 include the first knee joint transmission group and the second knee joint transmission group, and 302 and first knee joint of the 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 figure 5, the knee joint drive component 302 includes knee joint motor 3022 and knee joint retarder 3023,
3022 output end of knee joint motor is connected with the knee joint encoder 3021, and 3022 tail end of knee joint motor is compiled equipped with knee joint
Code device 3021, 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 figure 5, the first knee joint transmission group includes knee-joint active moving gear 3031, knee joint driven gear
3032 and knee joint gearing speed-reducer 3033, the wherein output of knee-joint active moving gear 3031 and the knee joint retarder 3023
Axis be connected, knee joint driven gear 3032 be mounted on the 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 figure 5, the second knee joint transmission group includes knee-joint active dynamic bevel gear 3034 and knee joint from mantle
Gear 3035, the knee-joint active dynamic bevel gear 3034 are installed on the output shaft of the knee joint gearing speed-reducer 3033, institute
State knee joint driven wheel of differential 3035 be installed on the knee joint articulated shaft 304 and with the knee-joint active dynamic bevel gear
3034 engagements.
As shown in figure 5, the knee joint articulated shaft 304 is mounted on by bearing bearing on the knee joint shell 301, such as
Shown in Fig. 7, the bearing is fixed equipped with bearing gland 3011 on the knee joint shell 301, in addition in 4 upper end of the shank
Equipped with connection support plate 4011,304 end of knee joint articulated shaft inserts after being stretched out by the knee joint shell 301 into the company
Support plate 4011 is connect, to realize being hinged for knee joint shell 301 and shank 4.As shown in figure 5, in the knee joint articulated shaft 304
It is equipped with the knee joint torque that knee joint torque sensor 3041 is used for real-time detection mechanical arm, in addition as shown in fig. 6, described
It is equipped with knee joint optoelectronic switch 305 in 4 upper end of shank, is equipped on the knee joint shell 301 and is opened with the knee joint photoelectricity
The knee joint for closing 305 cooperations incudes axis pin 3051, and switch mounting 3052, the knee joint are equipped in 4 upper end of the shank
Optoelectronic switch 305 is mounted on the switch mounting 3052.The knee joint encoder 3021, knee joint torque sensor
3041 and knee joint optoelectronic switch 305 be techniques well known.
As shown in Fig. 1~2, the shank 4 includes multiple shells for being set in together successively, described small in the present embodiment
Leg 4 includes two layers of shell, 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 sliding of shank shell between the first shank shell 401 and the second shank shell 402
Part 403, shank shell sliding 403 upper end of guiding element 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 coordinated with shank shell sliding guiding element 403, 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. 1~2 and Fig. 8, 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, the second shank of 501 upper end of ankle-joint shell and the shank 4
402 lower end of shell is connected, and lower end is hinged by the ankle-joint articulated shaft 504 and the foot 6, ankle-joint transmission component 503
Including the first ankle-joint transmission group and the second ankle-joint transmission group, the transmission of 502 and first ankle-joint of the ankle-joint drive component
Group is set in shank 4, and the second ankle-joint transmission group is set in the ankle-joint shell 501.
As shown in figure 8, the ankle-joint drive component 502 includes ankle-joint motor 5022 and ankle-joint retarder 5023,
5022 output end 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 there are one ankle-joint mounting flange 5024 in 402 lower end of the second shank shell of the shank 4, the ankle-joint subtracts
Fast device 5023 is installed on the ankle-joint mounting flange 5024 and output shaft is connected with the first ankle-joint transmission group.This reality
It applies in example, the ankle-joint retarder 5023 is planetary reducer.
As shown in figure 8, the first ankle-joint transmission group includes ankle-joint driving gear 5031, ankle-joint driven gear
5032 and ankle-joint gearing speed-reducer 5033, ankle-joint driving gear 5031 be installed in the output of the ankle-joint retarder 5023
On axis, ankle-joint driven gear 5032 is mounted on the input shaft of the ankle-joint gearing speed-reducer 5033 and is closed with the ankle
It saves driving gear 5031 to engage, the output shaft of ankle-joint gearing speed-reducer 5033 is connected with the second ankle-joint transmission group.This
In embodiment, the ankle-joint gearing speed-reducer 5033 is harmonic speed reducer.
As shown in figure 8, the second ankle-joint transmission group includes ankle-joint drive bevel gear 5034 and ankle-joint from mantle
Gear 5035, ankle-joint drive bevel gear 5034 are installed on the output shaft of the ankle-joint gearing speed-reducer 5033, ankle-joint
Driven wheel of differential 5035 is installed on the ankle-joint articulated shaft 504 and is engaged with the ankle-joint drive bevel gear 5034.
As shown in figure 8, the ankle-joint articulated shaft 504 is mounted on by bearing bearing on ankle-joint shell 501, such as Fig. 9
Shown, the foot 6 sets 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 8, being used for equipped with ankle-joint torque sensor 5041 on the ankle-joint articulated shaft 504
The ankle-joint torque of real-time detection mechanical arm.In addition as shown in figure 9, being equipped with ankle-joint light in the connecting seat 602 of the foot 6
Electric switch 505 is equipped with the ankle-joint coordinated with the ankle-joint optoelectronic switch 505 on the ankle-joint shell 501 and incudes pin
Axis 5051.The knee joint encoder 5021, knee joint torque sensor 5041 and knee joint optoelectronic switch 505 are this field
Known technology.
As shown in figure 9, 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, screws the slip pipe 601 and can be adjusted mechanical arm ankle-joint and foot 6
The distance between, 603 downside of foot's shell is connected with foot's bottom plate 604 by screw.
As shown in Figure 1, being equipped with heat dissipation hose 7, as shown in Figure 10, the heat dissipation hose 7 in the utility model
Including thigh tracheae component and shank tracheae component, wherein thigh tracheae component includes thigh exhaust tube 701 and thigh gas blow pipe
702, the thigh exhaust tube 701 and thigh gas blow pipe 702 are fixedly arranged in thigh 1, and 701 end of thigh exhaust tube extends to knee
Near 302 tail end encoder of joint drive component, 702 end of thigh gas blow pipe extends to 302 lower part knee of knee joint drive component and closes
It saves near retarder 3023, shank tracheae component includes shank exhaust tube 704, shank gas blow pipe 703 and the spare tracheae of shank
705, the shank exhaust tube 704, shank gas blow pipe 703 and the spare tracheae of shank 705 are fixedly arranged in shank 4, and shank is taken out
704 end of tracheae extends near 502 tail end encoder of ankle-joint drive component, and the spare tracheae 705 of shank is evacuated with shank
Pipe 704 is arranged side by side, and 703 end of shank gas blow pipe extends near 502 lower part ankle-joint retarder 5023 of ankle-joint drive component.
The operation principle of the utility model is：
When utility model works, control system controls knee components 3 and ankle-joint component 4 presses preset movement locus
Movement, and set at interval of calibration after certain period of motion using knee joint optoelectronic switch 305 and ankle-joint optoelectronic switch 505
Standby zero-bit, and during the test, blown respectively into thigh 1 and shank 4 by thigh gas blow pipe 702 and shank gas blow pipe 703
Enter cooling gas, while thigh exhaust tube 701 and the pumping of shank exhaust tube 704 make gas be formed in thigh 1 and shank 4 respectively
Reflux is equipped with temperature sensor in thigh 1 and shank 4 and is used in real time in addition to preventing temperature is excessively high from scorching space suit
Temperature change is monitored, control valve is equipped on the spare tracheae of the shank 705, the control valve is on when temperature alarming
The spare tracheae 705 of shank is to cooling gas is blown at shank 4, to ensure that space suit internal temperature is stablized.
Claims (10)
1. a kind of space suit lower limb performance test mechanical arm, it is characterised in that：Including thigh (1), knee components (3), shank
(4), ankle-joint component (5) and foot (6), thigh (1) are connected by knee components (3) with shank (4), and shank (4) passes through
Ankle-joint component (5) is connected with foot (6), and the knee components (3) are equipped with knee joint drive component (302) and knee joint passes
Dynamic component (303), shank (4) are driven by the knee joint drive component (302) and are swung, the knee joint drive component
(302) torque is transmitted by the knee joint transmission component (303), the ankle-joint component (5) is equipped with ankle-joint drive component
(502) it is driven and is swung by the ankle-joint drive component (502) with ankle-joint transmission component (503), foot (6), the ankle
Joint drive component (502) transmits torque by the ankle-joint transmission component (503).
2. space suit lower limb performance test mechanical arm according to claim 1, it is characterised in that：The thigh (1) is freely
End is set there are one connection component (2), 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) pass through connecting pin
Axis (211) is hinged, and worm screw (212) is equipped in first connecting seat (213), is equipped in second connecting seat (208)
Worm gear (207), and the worm gear (207) is set on the connection axis pin (211), the worm screw (212) is nibbled with worm gear (207)
It closes.
3. space suit lower limb performance test mechanical arm according to claim 1 or 2, it is characterised in that：Thigh (1) packet
The multiple shells being set in together successively are included, wherein the first thigh shell (101) upper end is connected with a connection component (2), institute
It states the first thigh shell (101) lower end with the second thigh shell (102) to be connected, and in the first thigh shell (101) and
Thigh shell sliding guiding element (104) is equipped between two thigh shells (102).
4. space suit lower limb performance test mechanical arm according to claim 1, it is characterised in that：The knee components
(3) include 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 is logical
It crosses the knee joint articulated shaft (304) and the shank (4) upper end is hinged, knee joint transmission component (303) is closed including the first knee
Section transmission group and the second knee joint transmission group, the knee joint 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 mechanical arm according to claim 4, it is characterised in that：First knee joint passes
Dynamic group includes knee-joint active moving gear (3031), knee joint driven gear (3032) and knee joint gearing speed-reducer (3033),
The output shaft fixed connection of middle knee-joint active moving gear (3031) and the knee joint drive component (302), knee joint driven gear
(3032) be mounted on the knee joint gearing speed-reducer (3033) input shaft on 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), is equipped on the knee joint shell (301) and matches with the knee joint optoelectronic switch (305)
The knee joint induction axis pin (3051) of conjunction.
6. space suit lower limb performance test mechanical arm according to claim 1, it is characterised in that：The shank (4) includes
The multiple shells being set in together successively, wherein the first shank shell (401) upper end is hinged with the knee components (3), institute
It states the first shank shell (401) lower end with the second shank shell (402) to be connected, and in the first shank shell (401) and
Shank shell sliding guiding element (403) is equipped between two shank shells (402).
7. space suit lower limb performance test mechanical arm according to claim 1, it is characterised in that：The ankle-joint component
(5) include 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 is logical
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).
8. space suit lower limb performance test mechanical arm according to claim 7, it is characterised in that：First ankle-joint passes
Dynamic group includes ankle-joint driving gear (5031), ankle-joint driven gear (5032) and ankle-joint gearing speed-reducer (5033), ankle
Joint driving gear (5031) is installed on the output shaft of the ankle-joint drive component (502), ankle-joint driven gear
(5032) be mounted on the ankle-joint gearing speed-reducer (5033) input shaft on 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 on the ankle-joint shell (501) and coordinates with the ankle-joint optoelectronic switch (505)
Ankle-joint incudes axis pin (5051).
9. space suit lower limb performance test mechanical arm 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).
10. space suit lower limb performance test mechanical arm according to claim 1, it is characterised in that：It is equipped in thigh (1) big
Leg tracheae component, the thigh tracheae component include thigh exhaust tube (701) and thigh gas blow pipe (702), are equipped in shank (4)
Shank tracheae component, the shank tracheae component include shank exhaust tube (704), shank gas blow pipe (703) and shank cushion gas
It manages (705), temperature sensor is equipped in the thigh (1) and shank (4), and the shank is spare when temperature sensor alarm
Tracheae (705) starts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721797573.7U CN207622996U (en) | 2017-12-21 | 2017-12-21 | A kind of space suit lower limb performance test mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721797573.7U CN207622996U (en) | 2017-12-21 | 2017-12-21 | A kind of space suit lower limb performance test mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207622996U true CN207622996U (en) | 2018-07-17 |
Family
ID=62821269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721797573.7U Withdrawn - After Issue CN207622996U (en) | 2017-12-21 | 2017-12-21 | A kind of space suit lower limb performance test mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN207622996U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107884178A (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 mechanical arm |
| CN110394782A (en) * | 2019-07-11 | 2019-11-01 | 北京理工大学 | Shank composite construction and anthropomorphic robot comprising the shank composite construction |
-
2017
- 2017-12-21 CN CN201721797573.7U patent/CN207622996U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107884178A (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 mechanical arm |
| CN107884178B (en) * | 2017-12-21 | 2019-05-28 | 中国科学院沈阳自动化研究所 | Space suit lower limb performance test mechanical arm |
| CN110394782A (en) * | 2019-07-11 | 2019-11-01 | 北京理工大学 | Shank composite construction and anthropomorphic robot comprising the shank composite construction |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180717 Effective date of abandoning: 20190528 |