WO2019120206A1

WO2019120206A1 - Manipulator for testing performance of spacesuit lower limb spacesuit

Info

Publication number: WO2019120206A1
Application number: PCT/CN2018/121934
Authority: WO
Inventors: 刘金国; 王铁军; 肖磊; 孙强; 陈科利; 佟操
Original assignee: 中国科学院沈阳自动化研究所
Priority date: 2017-12-21
Filing date: 2018-12-19
Publication date: 2019-06-27
Also published as: CN107884178A; CN107884178B

Abstract

The present invention relates to the field of techniques for testing spacesuit performance, and more specifically relates to a manipulator for testing performance of a spacesuit lower limb. The manipulator comprises an upper leg, a knee joint assembly, a lower leg, an ankle joint assembly, and a foot member. The upper leg is connected to the lower leg by means of the knee joint assembly. The lower leg is connected to the foot member by means of the ankle joint assembly. The knee joint assembly is provided with a knee joint driving assembly and a knee joint transmission assembly. The knee joint driving assembly drives the lower leg to rotate. The knee joint driving assembly transfers a torque by means of the knee joint transmission assembly. The ankle joint assembly is provided with an ankle joint driving assembly and an ankle joint transmission assembly. The ankle joint driving assembly drives the foot member to rotate. The ankle joint driving assembly transfers a torque by means of the ankle joint transmission assembly. The present invention has high motion track control precision. Each section of the manipulator is sleeved into an extendable multi-section housing, and thus the manipulator has an adjustable size and is applicable to testing of lower limb performance of spacesuits having different sizes.

Description

Space suit lower limb performance test robot

Technical field

The invention relates to the technical field of space service performance testing, in particular to a spacesuit lower limb performance testing robot arm.

Background technique

The space suit is an important life support system for astronauts to perform star and space operations. Unlike ground operations, star-based operations and space operations require that the joint space systems of the space suit have better mobility and flexibility to complete the tasks of walking, detecting, repairing, and transporting the stars, so the space service life and the resistance torque are Performance tests directly affect the safety of astronauts in orbit operations, as well as the success or failure of the entire space mission.

The existing space service lower limb performance testing equipments are mostly external structures, and pneumatically used as a driving source. There is a big difference between the astronauts wearing space suits for star catalog or space operations, which cannot simulate the astronauts' wear. The knee joint and ankle joint flexion process when the space suit is walking, and the external test equipment takes up a large space.

Summary of the invention

The object of the present invention is to provide a lower-limb performance testing robotic arm for a spacesuit, which has high precision of motion track control, and each section of the mechanical arm adopts a multi-section outer casing set and a retractable structure, and the size is adjustable, and can be applied to the lower limbs of different size space suits. Performance Testing.

The object of the present invention is achieved by the following technical solutions:

A space suit lower limb performance testing robot arm includes a thigh, a knee joint assembly, a calf, an ankle joint assembly and a foot, the thigh is connected to the lower leg through a knee joint assembly, and the lower leg is connected to the foot through an ankle joint assembly, the knee joint assembly a knee drive assembly and a knee joint drive assembly are provided, the lower leg driving a swing through the knee joint drive assembly, the knee joint drive assembly transmitting torque through the knee joint drive assembly, the ankle joint assembly being provided with an ankle joint drive The assembly and the ankle joint drive assembly, the foot being driven to oscillate by the ankle joint drive assembly, the ankle joint drive assembly transmitting torque through the ankle joint drive assembly.

The free end of the thigh is provided with a connecting assembly, the connecting assembly comprises a first connecting seat, a second connecting seat, a worm, a worm wheel and a connecting pin, and the first connecting seat and the second connecting seat are hinged by a connecting pin shaft a worm is disposed in the first connecting seat, a worm wheel is disposed in the second connecting seat, and the worm wheel is disposed on the connecting pin shaft, and the worm meshes with the worm wheel.

The thigh includes a plurality of housings that are sequentially nested together, wherein an upper end of the first thigh housing is coupled to a connection assembly, a lower end of the first thigh housing is coupled to the second thigh housing, and the first thigh housing and the first thigh housing A thigh shell sliding guide is provided between the two thigh shells.

The knee joint assembly includes a knee joint casing, a knee joint driving assembly, a knee joint transmission assembly, and a knee joint hinge shaft, the knee joint outer end is fixed to the lower leg end, and the knee joint outer end passes the knee joint The hinge shaft is hinged to the upper end of the lower leg, the knee joint transmission assembly includes a first knee joint transmission set and a second knee joint transmission set, the knee joint drive assembly and the first knee joint transmission set are disposed in the thigh, the second knee joint A drive train is disposed within the knee joint housing.

The first knee joint transmission set includes a knee joint drive gear, a knee joint driven gear and a knee joint drive reducer, wherein the knee joint drive gear is fixedly coupled to the output shaft of the knee joint drive assembly, and the knee joint driven gear is mounted. Engaging on an input shaft of the knee joint transmission reducer and with the knee joint drive gear;

The second knee joint transmission set includes a knee joint driving bevel gear and a knee joint driven bevel gear, and the knee joint driving bevel gear is fixed on an output shaft of the knee joint transmission speed reducer, and the knee joint is driven a bevel gear is fixed on the knee joint hinge shaft and meshes with the knee joint driving bevel gear;

a knee joint torque sensor is disposed on the knee joint hinge shaft, and a knee joint photoelectric switch is disposed in the upper end of the lower leg, and a knee joint induction pin matched with the knee joint photoelectric switch is disposed on the knee joint shell .

The lower leg includes a plurality of housings that are sequentially nested together, wherein an upper end of the first lower leg housing is hinged with the knee joint assembly, a lower end of the first lower leg housing is coupled to the second lower leg housing, and the first lower leg housing is A calf housing sliding guide is provided between the second calf housing.

The ankle joint assembly includes an ankle joint housing, an ankle joint driving assembly, an ankle joint transmission assembly, and an ankle joint hinge shaft, the upper end of the ankle joint housing being fixed to the lower end of the lower leg, and the lower end of the ankle joint housing passes through the ankle joint An articulated shaft is hinged to the foot, the ankle joint transmission assembly includes a first ankle joint drive set and a second ankle joint drive set, the ankle joint drive assembly and the first ankle joint drive set are disposed in the lower leg, the second ankle joint A transmission set is disposed in the ankle joint housing.

The first ankle joint transmission group includes an ankle joint drive gear, an ankle joint driven gear and an ankle joint drive reducer, and the ankle joint drive gear is fixed on the output shaft of the ankle joint drive assembly, and the ankle joint driven gear is mounted. Engaging on an input shaft of the ankle joint speed reducer and engaging the ankle joint drive gear;

The second ankle joint transmission group includes an ankle joint driving bevel gear and an ankle joint driven bevel gear, and an ankle joint driving bevel gear is fixed on an output shaft of the ankle joint transmission reducer, and an ankle joint driven bevel gear is fixed. Engaging on the ankle joint hinge shaft and engaging the ankle joint driving bevel gear;

An ankle joint torque sensor is disposed on the ankle joint hinge shaft, and an ankle joint photoelectric switch is disposed in the foot portion, and an ankle joint induction pin matched with the ankle joint photoelectric switch is disposed on the ankle joint shell .

The foot portion includes a connecting seat, a sliding tube, a foot housing and a foot bottom plate, the upper end of the connecting seat is hinged with the ankle joint assembly, and the lower end is connected to the foot housing through the sliding tube, the lower side of the foot housing is The bottom plate of the foot is fixed.

a thigh trachea assembly is disposed in the thigh, the thigh trachea assembly includes a thigh suction tube and a thigh blow tube, and a calf trachea assembly is disposed in the calf, the calf tracheal assembly including a calf extraction tube, a calf blowing tube and a calf spare air tube, A temperature sensor is provided in both the thigh and the lower leg, and the calf spare air tube is activated when the temperature sensor alarms.

The advantages and positive effects of the present invention are:

1. The knee joint assembly and the ankle joint assembly of the present invention are respectively used for driving the calf and the foot swing, and the movement track control precision is high, and the present invention is connected to other mechanisms through a connection assembly with a worm gear, the connection assembly can be The arm angle is adjusted and maintained by the worm gear.

2. Each segment of the invention adopts a multi-section housing set telescopic structure, which can be locked at any position within the stroke range, and different sizes of space suits can be tested according to needs, so that the robot arm has better adaptability.

3. The invention utilizes a heat-dissipating hose to form an active air recirculation inside the arm housing, thereby preventing the heat generated by the driving motor and the like from being burnt and smearing the inner layer of the space suit, and having a better heat dissipation effect.

DRAWINGS

Figure 1 is a schematic view of the present invention,

Figure 2 is a cross-sectional view of the present invention in Figure 1,

Figure 3 is a schematic view of the connection assembly of Figure 1;

Figure 4 is a cross-sectional view of the connecting assembly of Figure 3,

Figure 5 is a schematic view of the knee joint assembly of Figure 1,

Figure 6 is another perspective view of the knee joint assembly of Figure 5,

Figure 7 is a schematic view showing the connection of the knee joint shell and the lower leg of Figure 5;

Figure 8 is a schematic view of the ankle joint assembly of Figure 1;

Figure 9 is a cross-sectional view of the foot in Figure 1,

Figure 10 is a schematic view of the distribution of the heat sink hose assembly of Figure 1.

Wherein, 1 is the thigh, 101 is the first thigh shell, 102 is the second thigh shell, 103 is the third thigh shell, 104 is the thigh shell sliding guide; 2 is the connecting assembly, 201 is the first connecting flange, 202 is The first connecting screw, 203 is a second connecting screw, 204 is a second connecting flange, 205 is a worm clamp, 206 is a clamp fixing screw, 207 is a worm wheel, 208 is a second connecting seat, and 209 is a pin stop 210 is a stopper fixing screw, 211 is a connecting pin shaft, 212 is a worm, 213 is a first connecting seat; 3 is a knee joint assembly, 301 is a knee joint shell, 3011 is a bearing gland, and 302 is a knee joint driving component. 3021 is a knee joint encoder, 3022 is a knee joint motor, 3023 is a knee joint reducer, 3024 is a knee joint mounting flange, 303 is a knee joint transmission component, 3031 is a knee joint drive gear, and 3032 is a knee joint driven gear. 3033 is the knee joint transmission reducer, 3034 is the knee joint driving bevel gear, 3035 is the knee joint driven bevel gear, 304 is the knee joint hinge shaft, 3041 is the knee joint torque sensor, 305 is the knee joint photoelectric switch, and 3051 is the knee joint. Induction pin, 3052 is the switch Mounting frame; 4 is the lower leg, 401 is the first calf shell, 4011 is the connecting bracket, 402 is the second calf shell, 403 is the calf shell sliding guide; 5 is the ankle joint assembly, 501 is the ankle joint shell, 502 is the 踝Joint drive assembly, 5021 for ankle joint encoder, 5022 for ankle joint motor, 5023 for ankle joint reducer, 5024 for ankle joint mounting flange, 503 for ankle joint drive assembly, 5031 for ankle joint drive gear, 5032 for ankle joint Driven gear, 5033 is an ankle joint speed reducer, 5034 is an ankle joint drive bevel gear, 5035 is an ankle joint driven bevel gear, 504 is an ankle joint hinge shaft, 5041 is an ankle joint torque sensor, and 505 is an ankle joint photoelectric switch. 5051 is the ankle joint pin; 6 is the foot, 601 is the slide tube, 602 is the joint seat, 603 is the foot shell, 604 is the foot bottom plate; 7 is the heat sink hose assembly, 701 is the thigh suction pipe, 702 is The thigh blows the air tube, 703 is the calf air tube, 704 is the calf air pump tube, and 705 is the calf spare air tube.

Detailed ways

The invention will be further described in detail below with reference to the accompanying drawings.

As shown in Figures 1 to 10, the present invention comprises a thigh 1, a knee joint assembly 3, a lower leg 4, an ankle joint assembly 5 and a foot portion 6, the thigh 1 being connected to the lower leg 4 by a knee joint assembly 3, and the lower leg 4 passing through the ankle joint assembly 5 Connected to the foot 6 which is provided with a knee joint drive assembly 302 and a knee joint drive assembly 303 through which the lower leg 4 is driven to swing and the knee joint drive assembly 302 is The knee joint transmission assembly 303 transmits torque, and the ankle joint assembly 5 is provided with an ankle joint drive assembly 502 and an ankle joint drive assembly 503, the foot portion 6 is driven to swing by the ankle joint drive assembly 502, and the ankle joint drive assembly 502 transmits torque through the ankle joint drive assembly 503.

As shown in FIG. 1 , the free end of the thigh 1 is provided with a connecting component 2 for connecting with other mechanisms. As shown in FIGS. 3 to 4 , the connecting component 2 includes a first connecting seat 213 and a second connecting seat 208 . , the worm 212, the worm wheel 207 and the connecting pin 211, the first connecting seat 213 and the second connecting seat 208 are hinged by a connecting pin 211, and a worm 212 is disposed in the first connecting seat 213. A worm wheel 207 is disposed in the second connecting seat 208, and the worm wheel 207 is disposed on the connecting pin shaft 211. The worm 212 is meshed with the worm wheel 207, and the first connecting seat 213 is provided with a first connecting flange 201. And the first connecting flange 201 is connected to other mechanisms by a first connecting screw 202, the second connecting seat 208 is provided with a second connecting flange 204, and the second connecting flange 204 is passed through the second A connecting screw 203 is fixed to the thigh 1 .

As shown in FIG. 3 to FIG. 4 , the worm 212 is fixedly mounted on the first connecting seat 213 by the worm clamp 205 , and the worm clamp 205 is fixed to the first connecting seat 213 by the clamp fixing screw 206 . The two ends of the connecting pin 211 are fixedly mounted on the second connecting base 208 by the pin stop 209, and the pin block 209 is fixed to the second connecting seat 208 by the stopper fixing screw 210. on.

As shown in FIGS. 1 to 2, the thigh 1 includes a plurality of housings that are sequentially assembled together. In the present embodiment, the thigh 1 includes a three-layer housing, wherein the upper end of the first thigh housing 101 and the connecting assembly 2 The upper thigh shell 102 is inserted into the lower end of the first thigh shell 101, the upper end of the third thigh shell 103 is inserted into the lower end of the second thigh shell 102, and the lower end of the third thigh shell 103 is fixed to the knee joint assembly 3. .

As shown in FIG. 1, a thigh housing sliding guide 104 is disposed between the first thigh housing 101 and the second thigh housing 102, and the upper end of the thigh housing sliding guide 104 and the inner side of the lower end of the first thigh housing 101 a slot is provided at an upper end of the second thigh housing 102 to engage with the thigh housing sliding guide 104, and when the position between the first thigh housing 101 and the second thigh housing 102 is determined, The thigh housing sliding guide 104 is secured to the second thigh housing 102 by a screw.

As shown in FIGS. 1-2 and 5, the knee joint assembly 3 includes a knee joint housing 301, a knee joint driving assembly 302, a knee joint transmission assembly 303, and a knee joint hinge shaft 304, wherein the upper end of the knee joint housing 301 is The lower end of the third thigh housing 103 of the thigh 1 is fixed, and the lower end is hinged to the lower leg 4 via the knee joint hinge shaft 304. The knee joint transmission assembly 303 includes a first knee joint transmission group and a second knee joint transmission group. The knee joint drive assembly 302 and the first knee joint drive set are disposed within the thigh 1 and the second knee joint drive set is disposed within the knee joint housing 301.

As shown in FIG. 5, the knee joint driving assembly 302 includes a knee joint motor 3022 and a knee joint reducer 3023. The output end of the knee joint motor 3022 is coupled to the knee joint encoder 3021, and the knee joint motor 3022 has a knee end. The joint encoder 3021 is provided with a knee joint mounting flange 3024 in the third thigh housing 103 of the thigh 1 , and the knee joint reducer 3023 is fixed on the knee joint mounting flange 3024 and the output shaft is coupled with The first knee joint transmission group is connected. In this embodiment, the knee joint reducer 3023 is a planetary gear reducer.

As shown in FIG. 5, the first knee joint transmission group includes a knee joint drive gear 3031, a knee joint driven gear 3032, and a knee joint drive reducer 3033, wherein the knee joint drive gear 3031 and the knee joint reducer 3023 An output shaft fixed, a knee driven gear 3032 is mounted on the input shaft of the knee joint transmission reducer 3033 and meshes with the knee joint drive gear 3031, and an output shaft of the knee joint transmission reducer 3033 is The second knee joint drive set is connected. In this embodiment, the knee joint transmission speed reducer 3033 is a harmonic speed reducer.

As shown in FIG. 5, the second knee joint transmission group includes a knee joint driving bevel gear 3034 and a knee joint driven bevel gear 3035, and the knee joint driving bevel gear 3034 is fixed to the knee joint transmission speed reducer 3033. On the output shaft, the knee driven bevel gear 3035 is fixed to the knee joint hinge shaft 304 and meshes with the knee joint driving bevel gear 3034.

As shown in FIG. 5, the knee joint hinge shaft 304 is mounted on the knee joint casing 301 by bearing support, as shown in FIG. 7, a bearing gland 3011 is provided on the knee joint casing 301 to fix the bearing. Further, at the upper end of the lower leg 4, a connecting support plate 4011 is provided, and the end of the knee joint hinge shaft 304 is extended by the knee joint housing 301 and inserted into the connecting support plate 4011, thereby realizing the knee joint housing 301. Hinged with the calf 4. As shown in FIG. 5, a knee joint torque sensor 3041 is provided on the knee joint hinge shaft 304 for detecting the knee joint torque of the robot arm in real time, and as shown in FIG. 6, a knee is provided in the upper end of the lower leg 4. a joint photoelectric switch 305, on which the knee joint induction pin 3051 is engaged with the knee joint photoelectric switch 305, and a switch mounting bracket 3052 is disposed in the upper end of the lower leg 4, the knee joint A photoelectric switch 305 is mounted on the switch mount 3052. The knee joint encoder 3021, knee joint torque sensor 3041, and knee joint photoelectric switch 305 are all well known in the art.

As shown in FIGS. 1 and 2, the lower leg 4 includes a plurality of housings that are sequentially assembled together. In the present embodiment, the lower leg 4 includes a two-layer housing, wherein the upper end of the first lower leg housing 401 and the knee joint The knee joint housing 301 of the assembly 3 is hinged, the upper end of the second lower leg housing 402 is inserted into the lower end of the first lower leg housing 401, and the lower end of the second lower leg housing 402 is fixedly connected to the ankle joint assembly 5, wherein the first lower leg housing is A lower leg housing sliding guide 403 is disposed between the 401 and the second lower leg housing 402. The upper end of the lower leg housing sliding guide 403 is fixed to the inner side of the lower end of the first lower leg housing 401, and the upper end of the second lower leg housing 402 is provided. a sliding groove that cooperates with the lower leg housing sliding guide 403, and after the position between the first lower leg housing 401 and the second lower leg housing 402 is determined, the lower leg housing sliding guide 403 is fixed to the second lower leg by a screw On the outer casing 402.

As shown in FIGS. 1-2 and 8, the ankle joint assembly 5 includes an ankle joint housing 501, an ankle joint driving assembly 502, an ankle joint transmission assembly 503, and an ankle joint hinge shaft 504, the upper end of the ankle joint housing 501 The lower end of the second lower leg housing 402 of the lower leg 4 is fixed, and the lower end is hinged with the foot 6 through the ankle joint hinge shaft 504, and the ankle joint transmission assembly 503 includes a first ankle joint transmission group and a second ankle joint transmission group. The ankle joint drive assembly 502 and the first ankle joint transmission set are disposed in the lower leg 4, and the second ankle joint transmission set is disposed in the ankle joint housing 501.

As shown in FIG. 8, the ankle joint drive assembly 502 includes an ankle joint motor 5022 and an ankle joint reducer 5023. The output end of the ankle joint motor 5022 is fixed to the ankle joint reducer 5023, and the ankle joint motor 5022 has an ankle joint at the end. The encoder 5021 is provided with an ankle joint mounting flange 5024 at the lower end of the second lower leg housing 402 of the lower leg 4, and the ankle joint reducer 5023 is fixed on the ankle joint mounting flange 5024 and the output shaft and the shaft The first ankle joint transmission group is connected. In this embodiment, the ankle joint reducer 5023 is a planetary gear reducer.

As shown in FIG. 8, the first ankle joint transmission group includes an ankle joint driving gear 5031, an ankle joint driven gear 5032, and an ankle joint speed reducer 5033, and an ankle joint driving gear 5031 is fixed to the ankle joint speed reducer 5023. On the output shaft, an ankle joint driven gear 5032 is mounted on the input shaft of the ankle joint speed reducer 5033 and meshes with the ankle joint drive gear 5031, and an output shaft of the ankle joint speed reducer 5033 and the second The ankle drive train is connected. In this embodiment, the ankle joint speed reducer 5033 is a harmonic reducer.

As shown in FIG. 8, the second ankle joint transmission group includes an ankle joint driving bevel gear 5034 and an ankle joint driven bevel gear 5035, and an ankle joint driving bevel gear 5034 is fixed to an output shaft of the ankle joint speed reducer 5033. Upper ankle driven bevel gear 5035 is fixed to the ankle joint hinge shaft 504 and meshes with the ankle joint driving bevel gear 5034.

As shown in FIG. 8, the ankle joint hinge shaft 504 is mounted on the ankle joint housing 501 by bearing support, as shown in FIG. 9, the leg portion 6 is provided with a joint seat 602, and the ankle joint shell 501 passes through The ankle articulation shaft 504 is hinged to the connector 602. As shown in Fig. 8, an ankle joint torque sensor 5041 is provided on the ankle joint hinge shaft 504 for detecting the ankle joint torque of the robot arm in real time. In addition, as shown in FIG. 9, an ankle joint photoelectric switch 505 is disposed in the connecting seat 602 of the leg portion 6, and an ankle joint sensing pin matched with the ankle joint photoelectric switch 505 is disposed on the ankle joint housing 501. Axis 5051. The knee joint encoder 5021, knee joint torque sensor 5041, and knee joint photoelectric switch 505 are all well known in the art.

As shown in FIG. 9, the leg portion 6 includes a connecting seat 602, a sliding tube 601, a foot housing 603 and a foot bottom plate 604. The upper end of the connecting seat 602 is hinged with the ankle joint housing 501, and the lower end passes through the sliding tube 601. Connected to the foot casing 603, the sliding pipe 601 and the foot casing 603 are screwed together, and the sliding pipe 601 is screwed to adjust the distance between the arm joint of the arm and the leg portion 6, the leg portion The lower side of the outer casing 603 is fixed to the foot bottom plate 604 by screws.

As shown in FIG. 1, the present invention is provided with a heat dissipating hose assembly 7, as shown in FIG. 10, the heat dissipating hose assembly 7 includes a thigh tracheal assembly and a calf tracheal assembly, wherein the thigh tracheal assembly includes a thigh suction tube 701 and a thigh. The air blowing pipe 702 is fixed in the thigh 1 , and the thigh exhaust pipe 701 end extends to the vicinity of the knee end encoder of the knee joint driving assembly 302 , and the thigh blowing pipe 702 extends to the knee end. In the vicinity of the lower knee joint reducer 3023 of the joint drive assembly 302, the calf tracheal assembly includes a calf exhaust tube 704, a calf blow tube 703 and a calf spare air tube 705, and the calf draft tube 704, the calf blow tube 703 and the calf spare air tube 705 are both fixed. In the lower leg 4, and the end of the calf extraction tube 704 extends to the vicinity of the ankle joint drive assembly 502 end encoder, the calf spare air tube 705 is arranged side by side with the calf extraction tube 704, and the end of the calf blow tube 703 extends to the ankle joint drive assembly 502. Near the lower ankle reducer 5023.

The working principle of the invention is:

In the working of the present invention, the control system controls the knee joint assembly 3 and the ankle joint assembly 4 to move according to a preset motion trajectory, and uses the knee joint photoelectric switch 305 and the ankle joint photoelectric switch 505 to calibrate the device zero position after a certain period of motion. And during the test, the cooling gas is blown into the thigh 1 and the calf 4 through the thigh blow pipe 702 and the calf blow pipe 703, respectively, while the thigh exhaust pipe 701 and the calf exhaust pipe 704 draw air to make the gas in the thigh 1 and the lower leg 4, respectively. Reflow is formed inside, and in order to prevent the temperature from being too hot to burn the space suit, a temperature sensor is provided in the thigh 1 and the lower leg 4 for monitoring the temperature change in real time, and a control valve is provided on the calf spare air pipe 705 when the temperature alarm When the control valve is opened, the lower leg spare air pipe 705 is blown with cooling gas to the lower leg 4 to ensure the internal temperature of the space suit is stable.

Claims

The utility model relates to a space suit lower limb performance testing robot, which comprises: a thigh (1), a knee joint assembly (3), a calf (4), an ankle joint assembly (5) and a foot portion (6), and the thigh (1) passes The knee joint assembly (3) is coupled to the lower leg (4), and the lower leg (4) is coupled to the ankle joint assembly (5) and the foot portion (6), the knee joint assembly (3) is provided with a knee joint drive assembly (302) and a knee joint drive assembly (303) through which the lower leg (4) drives a swing, the knee joint drive assembly (302) transmitting torque through the knee joint drive assembly (303), The ankle joint assembly (5) is provided with an ankle joint drive assembly (502) and an ankle joint drive assembly (503) through which the foot portion (6) is driven to swing, the ankle joint drive assembly (502) Transmitting torque through the ankle joint drive assembly (503).
The space suit lower limb performance testing robot according to claim 1, characterized in that: the free end of the thigh (1) is provided with a connecting component (2), and the connecting component (2) comprises a first connecting seat (213). a second connecting seat (208), a worm (212), a worm wheel (207) and a connecting pin (211), the first connecting seat (213) and the second connecting seat (208) passing through the connecting pin (211) Hinged, a worm (212) is disposed in the first connecting seat (213), a worm wheel (207) is disposed in the second connecting seat (208), and the worm wheel (207) is set in the On the connecting pin (211), the worm (212) meshes with the worm wheel (207).
The space suit lower limb performance testing robot according to claim 1 or 2, wherein the thigh (1) comprises a plurality of housings that are sequentially assembled together, wherein the upper end of the first thigh housing (101) is connected to one The assembly (2) is connected, the lower end of the first thigh housing (101) is connected to the second thigh housing (102), and the thigh is disposed between the first thigh housing (101) and the second thigh housing (102) Housing slide guide (104).
The space suit lower limb performance testing robot according to claim 1, wherein the knee joint assembly (3) comprises a knee joint shell (301), a knee joint driving assembly (302), and a knee joint transmission assembly (303). And a knee joint hinge shaft (304), the upper end of the knee joint shell (301) is fixedly coupled to the lower end of the thigh (1), and the lower end of the knee joint shell (301) passes through the knee joint hinge shaft (304) The upper leg (4) is articulated at an upper end, and the knee joint transmission assembly (303) includes a first knee joint drive set and a second knee joint drive set, and the knee joint drive assembly (302) and the first knee joint drive set are disposed on the thigh ( 1) The second knee joint transmission set is disposed in the knee joint casing (301).
The space suit lower limb performance testing robot according to claim 4, wherein the first knee joint transmission group comprises a knee joint driving gear (3031), a knee joint driven gear (3032), and a knee joint transmission speed reducer. (3033), wherein a knee joint drive gear (3031) is fixedly coupled to an output shaft of the knee joint drive assembly (302), and a knee joint driven gear (3032) is mounted at an input of the knee joint drive reducer (3033) On the shaft and meshing with the knee joint drive gear (3031);

The second knee joint transmission set includes a knee joint driving bevel gear (3034) and a knee joint driven bevel gear (3035), and the knee joint driving bevel gear (3034) is fixed to the knee joint transmission reducer (3033) On the output shaft, the knee driven bevel gear (3035) is fixed to the knee joint hinge shaft (304) and meshes with the knee joint driving bevel gear (3034);

a knee joint torque sensor (3041) is disposed on the knee joint hinge shaft (304), and a knee joint photoelectric switch (305) is disposed in the upper end of the lower leg (4), and the knee joint shell (301) is disposed on the knee joint shell (301) There is a knee joint pin (3051) that cooperates with the knee joint photoelectric switch (305).
The space suit lower limb performance testing robot according to claim 1, wherein the lower leg (4) comprises a plurality of housings that are sequentially assembled together, wherein the upper end of the first lower leg housing (401) and the knee joint The assembly (3) is hinged, the lower end of the first lower leg housing (401) is coupled to the second lower leg housing (402), and a lower leg is disposed between the first lower leg housing (401) and the second lower leg housing (402) Housing slide guide (403).
The space suit lower limb performance testing robot according to claim 1, wherein the ankle joint assembly (5) comprises an ankle joint housing (501), an ankle joint driving assembly (502), and an ankle joint transmission assembly (503). And an ankle joint hinge shaft (504), the upper end of the ankle joint shell (501) is fixed to the lower end of the lower leg (4), and the lower end of the ankle joint shell (501) is passed through the ankle joint hinge shaft (504) The foot (6) is hinged, and the ankle joint transmission assembly (503) includes a first ankle joint drive set and a second ankle joint drive set, and the ankle joint drive assembly (502) and the first ankle joint drive set are disposed on the lower leg ( 4) The second ankle joint transmission set is disposed in the ankle joint housing (501).
The space suit lower limb performance testing robot according to claim 7, wherein the first ankle joint transmission group comprises an ankle joint driving gear (5031), an ankle joint driven gear (5032), and an ankle joint transmission speed reducer. (5033), an ankle joint drive gear (5031) is fixed to an output shaft of the ankle joint drive assembly (502), and an ankle joint driven gear (5032) is mounted at an input of the ankle joint drive reducer (5033) a shaft and meshing with the ankle joint drive gear (5031);

The second ankle joint transmission group includes an ankle joint driving bevel gear (5034) and an ankle joint driven bevel gear (5035), and an ankle joint driving bevel gear (5034) is fixed to the ankle joint transmission reducer (5033). On the output shaft, an ankle joint driven bevel gear (5035) is fixed to the ankle joint hinge shaft (504) and meshes with the ankle joint driving bevel gear (5034);

An ankle joint torque sensor (5041) is disposed on the ankle joint hinge shaft (504), and an ankle joint photoelectric switch (505) is disposed in the foot portion (6), and the ankle joint housing (501) is disposed on the ankle joint (501) There is an ankle joint pin (5051) that cooperates with the ankle joint photoelectric switch (505).
The space suit lower limb performance testing robot according to claim 1, wherein the foot (6) comprises a connecting seat (602), a sliding tube (601), a foot housing (603), and a foot bottom plate ( 604), the upper end of the connecting seat (602) is hinged to the ankle joint assembly (5), and the lower end is connected to the foot outer casing (603) through the sliding tube (601), the lower side and the foot of the foot outer casing (603) The bottom plate (604) is fixedly connected.
The space suit lower limb performance testing robot according to claim 1, wherein the thigh (1) is provided with a thigh trachea assembly, and the thigh trachea assembly comprises a thigh exhaust pipe (701) and a thigh blow pipe (702). A calf tracheal assembly is provided in the lower leg (4), the calf tracheal assembly including a calf extraction tube (704), a calf blow tube (703) and a calf spare trachea (705), the thigh (1) and the lower leg (4) Each has a temperature sensor, and the calf spare air tube (705) is activated when the temperature sensor alarms.