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WO2019128854A1 - 一种航天服上肢性能测试设备 - Google Patents

一种航天服上肢性能测试设备 Download PDF

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Publication number
WO2019128854A1
WO2019128854A1 PCT/CN2018/122508 CN2018122508W WO2019128854A1 WO 2019128854 A1 WO2019128854 A1 WO 2019128854A1 CN 2018122508 W CN2018122508 W CN 2018122508W WO 2019128854 A1 WO2019128854 A1 WO 2019128854A1
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WO
WIPO (PCT)
Prior art keywords
flange
joint
space suit
assembly
shoulder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/122508
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English (en)
French (fr)
Inventor
刘金国
李正
迟浩东
刘晓源
陈科利
佟操
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
Original Assignee
Shenyang Institute of Automation of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Institute of Automation of CAS filed Critical Shenyang Institute of Automation of CAS
Publication of WO2019128854A1 publication Critical patent/WO2019128854A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders

Definitions

  • the invention relates to a space suit performance testing device, in particular to a space suit upper limb performance testing device.
  • 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 spacecraft joint systems to have better mobility and flexibility for missions such as walking, detecting, repairing, and moving. Therefore, performance tests such as space service life and active resistance torque directly affect the safety of astronauts in orbit operations and the success or failure of the entire space mission.
  • the existing space suit upper limb performance testing equipment is generally pneumatically driven, and the shoulder flange is mostly fixed by the side clamping members and the circumferentially distributed screws and nuts.
  • This tightening method has the disadvantages of cumbersome operation, low efficiency in the case where frequent disassembly is required, and poor synchronism during loading.
  • the object of the present invention is to provide a space suit upper limb performance testing device, which can be applied to the upper limb performance test of space suits of different sizes.
  • the invention comprises a shoulder flange quick clamping device, a joint driving assembly, an elbow joint assembly, a wrist connecting assembly and a device bracket, wherein the elbow joint assembly is mounted on the equipment bracket, and the space suit elbow clamp is locked to the elbow joint
  • the shoulder flange quick clamping device and the wrist connecting assembly are respectively located at two sides of the elbow joint assembly, and are disposed in the equipment bracket below the shoulder flange quick clamping device and the wrist connecting assembly
  • the joint drive assembly, each of the joint drive assemblies is movably mounted on the equipment bracket, and the output ends of the joint drive assemblies on both sides are respectively connected to the shoulder flange quick clamp device and the wrist joint assembly.
  • the shoulder flange quick clamping device and the wrist connecting component are respectively driven to swing; the shoulder flange quick clamping device is clamped with a spacesuit shoulder flange, and the wrist connecting component is fixed Wrist tooling for the space suit wrist interface;
  • the shoulder flange quick clamping device comprises a shoulder joint bracket, a pressing end ring, a pressing flange, a tie rod, a top plate, a connecting rod, a synchronous slip ring, a ejector rod, a copper sleeve flange and a central pressing member
  • the pressing flange and the top plate are respectively mounted on two sides of the shoulder joint bracket, one end of the jack is rotatably connected to the top plate, and the other end is screwed to the central pressing member, and the center pressing member is sleeved a slip ring copper sleeve
  • the synchronous slip ring can be sleeved on the outside of the slip ring copper sleeve
  • the outer end of the slip ring copper sleeve is provided with a copper sleeve flange
  • the synchronous slip ring and the copper sleeve A spring is disposed on the copper sleeve of the slip ring between the flange
  • each of the pull rods is respectively hinged on the central pressing member, and the other end is a pressing end, and the shoulder flange of the space suit is located between the pressing flange and the pressing end of each tie rod;
  • a compression end ring is provided between the pressing end of each of the drawbars and the shoulder flange of the space suit, and two of the space suit shoulder flanges The side is respectively engaged with the pressing end cover and the pressing flange;
  • a connecting rod is connected between each of the pulling rods and the synchronous sliding ring, and two ends of the connecting rod are respectively hinged with the pulling rod and the synchronous sliding ring; Reciprocating sliding of the synchronous slip ring drives each of the pull rods to synchronously press or loosen the spacesuit shoulder flange;
  • the spring is initially in a compressed state, and the spring acts on the synchronous slip ring to make each of the The lever generates a pre-tightening force that contracts inward in a free state;
  • One end of the ram is provided with a boss flange, the boss flange is mounted on the top plate by a ejector end cover, and the boss flange is rotatable relative to the top plate inside the ejector end cover;
  • the other end of the ram is provided with a counterbore for facilitating the screwing of the wrench;
  • the outer surface of the ejector is formed with a trapezoidal external thread
  • the central pressing member is provided with a central hole
  • the inner wall of the central hole is formed with a trapezoidal internal thread which is coupled with the trapezoidal external thread
  • top plate One side of the top plate is provided with a cover plate, and the cover plate is connected to the top plate through a guide shaft, the guide shaft is passed through the edge of the central pressing member, and a graphite copper sleeve is added between the guide shaft and the edge of the central pressing member.
  • One side of the central pressing member is located between the top plate and the cover plate, and the other side is a boss, the slip ring copper sleeve is sleeved on the boss, and the copper sleeve flange and the boss are The ends are connected; the cover plate is provided with a hole through which the copper sleeve of the slip ring passes;
  • the joint drive assembly includes a dust cover, a power source, a joint support, a bearing support, a transfer flange, a torque sensor, a lock platen, a joint output shaft, and a joint output link, the dust cover, the joint support and the bearing
  • the support members are connected in sequence, and opposite sides of the bearing support member are connected with a locking pressing plate by a locking screw, and the bearing support member is relatively movable on the equipment bracket and is determined to pass the lock at a position
  • the pressing plate and the locking screw are connected to the equipment bracket;
  • the power source is installed in the dust cover, and the output end is connected to the bottom of the torque sensor through the adapter flange, and the adapter flange and the bearing support rotate
  • the top of the torque sensor is connected to the joint output shaft, one end of the joint output link is connected to the joint output shaft, and the other end is connected to the shoulder flange quick clamping device or the wrist connecting assembly
  • the joint output link is driven by the power source to drive the shoulder f
  • a limit screw is arranged on the joint output shaft, and a strip hole is formed in the bearing support member, and the limit screw is inserted into the strip hole to pass the limit during the swing of the power source driving joint output shaft Position the screw to limit;
  • the power source includes an encoder, a driving motor, a planetary gear reducer and a harmonic reducer.
  • the driving motor is respectively connected to the planetary gear reducer and the encoder at both ends, and the flange surface of the planetary gear reducer passes along A motor fixing screw uniformly distributed in the circumferential direction is fixedly coupled to the motor mounting bracket, and the motor mounting bracket is installed in the dust cover;
  • the transfer flange is divided into an upper connecting flange and a lower transfer joint a flange, the upper adapter flange and the lower adapter flange are rotatably connected to the bearing support through the upper bearing and the lower bearing respectively;
  • the output shaft of the planetary gear reducer is fixed at the input end of the harmonic reducer through the transition shaft Together, the output of the harmonic reducer is fixed by the lower adapter flange, the upper adapter flange and the torque sensor;
  • the elbow joint assembly includes a lower clamp, an upper clamp, a bottom support and a clamp locking screw, one side of the lower clamp is hinged to one side of the upper clamp, and the lower clamp and the inner side of the upper clamp Each is provided with a groove matching the elbow clamp of the space suit, the other side of the lower clamp and the other side of the upper clamp are free ends, are connected by a clamp locking screw, and the space is The elbow clamp is locked in the groove of the lower clamp and the upper clamp; the lower clamp is mounted on the mounting plate through the bottom support;
  • the bottom of the equipment bracket is mounted with a plurality of casters for facilitating movement, and the top is fixed with a mounting plate along the length direction; an electric control cabinet is mounted on one side of the equipment bracket, and the joint driving component and the electric induction cabinet are The control system is connected.
  • the invention adopts a motor as a driving source, and adopts a photoelectric switch as a zero position switch, and the position control precision in the test process is high.
  • the shoulder quick clamping device of the invention is provided with a synchronous slip ring and a spring, and the connecting rod can ensure the high synchronism of the six pulling claws during the clamping and releasing process, and the pulling rod has the inward in the relaxed state. Contraction force.
  • the quick clamping device of the shoulder of the invention can only clamp and loosen the clamping member by tightening and loosening the ejector pin during the clamping and releasing process, and the operation is simple and the efficiency is high.
  • the clamping process is realized by the trapezoidal thread cooperation between the ejector rod and the central pressing member of the invention. Since the trapezoidal thread has the function of self-locking, it is not easy to loosen after clamping, and the reliability is high.
  • Figure 1 is a schematic view of the overall structure of the present invention
  • FIG. 2 is a schematic structural view showing a clamping state of a shoulder flange quick clamping device according to the present invention
  • FIG. 3 is a schematic structural view showing the loose state of the shoulder flange quick clamping device of the present invention.
  • Figure 4 is a cross-sectional view showing the structure of the shoulder flange quick clamping device of the present invention.
  • Figure 5 is a schematic view showing the external structure of the joint driving assembly of the present invention.
  • Figure 6 is a cross-sectional view showing the internal structure of the joint driving assembly of the present invention.
  • Figure 7 is a perspective view showing the structure of the elbow joint assembly of the present invention.
  • 1 is the shoulder quick clamping device
  • 101 is the bracket fixing screw
  • 102 is the shoulder joint bracket
  • 103 is the ejector end cap fixing screw
  • 104 is the ejector end cap
  • 105 is the pressing end ring
  • 106 is the space suit Shoulder flange
  • 107 is the compression flange
  • 108 is the tie rod
  • 109 is the top plate
  • 110 is the connecting rod tie rod fixing screw
  • 111 is the tie rod fixing screw
  • 112 is the connecting rod
  • 113 is the connecting rod slip ring fixing screw
  • 114 is Synchronous slip ring
  • 115 is copper sleeve flange fixing screw
  • 116 is ejector rod
  • 117 is cover plate fixing screw
  • 118 is cover plate
  • 119 is copper sleeve flange
  • 120 is guide shaft
  • 121 is graphite copper sleeve
  • 122 is Center pressing member
  • 123 is a spring
  • 124 is a pressing
  • 2 is the joint drive assembly
  • 201 is the dust cover
  • 202 is the joint support
  • 203 is the bearing support
  • 204 is the lock screw
  • 205 is the lock platen
  • 206 is the joint output shaft
  • 207 is the joint output link
  • 208 is Encoder
  • 209 is the drive motor
  • 210 is the planetary gear reducer
  • 211 is the transition shaft
  • 212 is the motor fixing screw
  • 213 is the motor mounting bracket
  • 214 is the output connecting rod fixing screw
  • 215 is the harmonic reducer
  • 216 is the motor Bracket fixing screw
  • 217 is lower adapter flange
  • 218 is lower flange fixing screw
  • 219 is upper adapter flange
  • 220 is upper flange fixing screw
  • 221 is lower bearing
  • 222 is torque sensor
  • 223 is photoelectric switch
  • 224 is an output shaft fixing screw
  • 225 is an upper bearing
  • 3 is the elbow joint assembly, 301 is the lower clamp, 302 is the upper clamp, 303 is the clamp connection screw, 304 is the space suit elbow clamp, 305 is the clamp lock screw, 306 is the bottom support, 307 is Support fixing screw;
  • 4 is a wrist connecting component, 401 is a wrist tooling, 402 is a wrist joint bracket, and 403 is a wrist bracket locking screw;
  • 5 is a device bracket
  • 501 is an aluminum alloy corner piece
  • 502 is a corner piece fixing screw
  • 503 is a caster
  • 504 is a mounting plate
  • 505 is a mounting plate fixing screw
  • 506 is an electric control cabinet.
  • the present invention includes a shoulder flange quick clamping device 1, a joint driving assembly 2, an elbow joint assembly 3, a wrist connecting assembly 4 and an equipment bracket 5, wherein the elbow joint assembly 3 is mounted on the equipment bracket 5.
  • the space suit elbow clamp 304 is locked to the elbow joint assembly 3.
  • each of the joint drive assemblies 2 can be mounted on the device holder 5 in a relatively movable manner, and the output ends of the joint drive assemblies 2 on both sides and the shoulder flange quick clamping device 1 and the wrist connection assembly, respectively 4 connected, respectively, driving the shoulder flange quick clamping device 1 and the wrist connecting assembly 4 to swing.
  • the shoulder flange quick clamping device 1 is clamped with a space suit shoulder flange 106, and the wrist connecting assembly 4 is provided with a wrist tooling 401 for fixing a space suit wrist interface, and the wrist tooling 401 is provided Space suit inflatable interface.
  • the equipment bracket 5 is an aluminum alloy profile bracket, and the joint is fixedly connected by an aluminum alloy angle piece 501 and a corner joint fixing screw 502.
  • a plurality of (six in this embodiment) casters 503 are mounted on the bottom of the equipment bracket 5 to ensure better mobility of the test equipment; the top of the equipment bracket 5 is fixed with a mounting plate 504 along the length direction, and the equipment bracket 5
  • An electric control cabinet 506 is mounted on one side, and the joint drive assembly 2 is coupled to a control system within the electrical detection cabinet 506.
  • the shoulder flange quick clamping device 1 includes a shoulder joint bracket 102, a jack end cover 104, a pressing end ring 105, a pressing flange 107, a tie rod 108, a top plate 109, and a connecting rod 112.
  • a fixing screw 124 and a top plate fixing screw 126 are attached to both sides of the upper portion of the shoulder joint bracket 102, and a lower portion of the shoulder joint bracket 102 is provided with a bracket fixing screw 101 for connection with the joint driving assembly 2.
  • One end of the ejector pin 116 is provided with a boss flange 127, the boss flange 127 is received in the ejector end cover 104, and the ejector end cover 104 is fixed on the top plate 109 by the ejector end cap fixing screw 103;
  • the flange 127 is mated with the top plate 109 toward one side of the top plate 109, and the boss flange 127 is rotatable relative to the top plate 109 inside the jack end cap 104.
  • the other end of the ejector pin 116 is provided with a counterbore for facilitating the screwing of the wrench.
  • the counterbore of the embodiment is a hex socket head hole.
  • the top plate 109 is provided with a cover plate 118.
  • the cover plate 118 is connected to the top plate 109 through a plurality of guide shafts 120.
  • the two ends of the guide shaft 120 respectively guide the shaft 120 and the top plate 109 and the cover plate 118 through the cover fixing screws 117. Solid together.
  • the guide shaft 120 of this embodiment has three.
  • One side of the central pressing member 122 is located between the top plate 109 and the cover plate 118, and three through holes are formed in the outer edge of the central pressing member 122.
  • the three guiding shafts 120 are respectively passed through the three through holes.
  • a graphite copper sleeve 121 is accommodated in each of the through holes, and the guide shaft 120 is passed through the graphite copper sleeve 121; the inner wall of the through hole is matched with the outer side of the graphite copper sleeve 121, and the inner side of the graphite copper sleeve 121 is axially slidable along the guide shaft 120.
  • the other side of the central pressing member 122 is a boss.
  • the boss is sleeved with a slip ring copper sleeve 125.
  • the outer side of the boss is matched with the inner side of the slip ring copper sleeve 125, and the synchronous slip ring 114 can be relatively movably sleeved on the slide.
  • the outer end of the slip ring copper sleeve 125 is provided with a copper sleeve flange 119, and the end of the copper sleeve flange 119 and the boss is fixed by a copper sleeve flange fixing screw 115.
  • a spring 123 is disposed on the slip ring copper sleeve 125 between the synchronous slip ring 114 and the copper sleeve flange 119.
  • the other end of the ejector pin 116 is screwed to the central pressing member 122.
  • the outer surface of the ejector pin 116 is formed with a trapezoidal external thread, and the central pressing member 122 is provided with a central hole, and the inner wall of the central hole is integrally connected with the trapezoidal external thread. Trapezoidal internal thread.
  • the ram 116 is coaxially coupled to the central compression member 122.
  • tie rods 108 there are a plurality of tie rods 108 (six in this embodiment), which are evenly distributed along the circumferential direction of the spacesuit shoulder flange 106, and one end of each pull rod 108 is hinged to the central pressing member 122 by a tie rod fixing screw 111, respectively.
  • One end is a compression end.
  • a pressing end ring 105 is disposed between the pressing end of each tie rod 108 and the shoulder flange 106 of the space suit, and two sides of the space suit shoulder flange 106 respectively cooperate with the pressing end cover 105 and the pressing flange 107. Abut.
  • the pressing ends of the tie rods 108 engage the sides of the compression end rings 105.
  • a connecting rod 112 is connected between each of the tie rods 108 and the synchronizing slip ring 114.
  • One end of the connecting rod 112 is hinged to the pull rod 108 by the connecting rod pull rod fixing screw 110, and the other end passes through the connecting rod slip ring fixing screw 113 and the synchronous slip ring. 114 hinged.
  • the spring 123 is initially in a compressed state, and the spring 123 acts on the synchronizing slip ring 114 to cause the respective pull rods 108 to generate an inwardly contracting preload force in a free state.
  • the material of the top plate 109 of the present invention is a high manganese steel having high hardness and good wear resistance.
  • the joint drive assembly 2 includes a dust cover 201, a power source, a joint support 202, a bearing support member 203, a transfer flange, a torque sensor 222, a lock platen 205, an joint output shaft 206, and
  • the joint output link 207, the dust cover 201, the joint support 202 and the bearing support member 203 are sequentially connected, and the left and right of the bearing support member 203 are provided with two threaded holes which cooperate with the locking screw 204, and both sides are locked.
  • the screw 204 is connected to a locking platen 205.
  • the mounting plate 504 is provided with a strip-shaped hole, the locking pressing plate 205 is located outside the mounting plate 504, and the bearing support member 203 is relatively movable on the mounting plate 504. After the position of the bearing support member 203 is adjusted, the locking is utilized.
  • the screw 204 passes through the strip hole and is locked and locked with the locking platen 205.
  • the power source is mounted in the dust cover 201, and the output end is connected to the bottom of the torque sensor 222 through an adapter flange.
  • the adapter flange is rotatably connected to the bearing support member 203, and the top of the torque sensor 222 is connected to the joint output shaft 206.
  • joint output link 207 is connected to the joint output shaft 206, and the other end is respectively engaged with the wrist joint bracket 402 and the shoulder joint bracket 102 through the square hole, and is fixedly connected by the wrist bracket locking screw 403 and the bracket fixing screw 101. Together, the joint output link 207 is driven by a power source to drive the shoulder flange quick clamping device 1 or the wrist connecting assembly 4 to swing.
  • a photoelectric switch 223 is mounted on the inner wall of the bearing support 203, and a photoelectric switch induction pin 227 corresponding to the photoelectric switch 223 is disposed on the torque sensor 222.
  • a limit screw 226 is disposed on the joint output shaft 206.
  • the bearing support member 203 is provided with a strip hole. The limit screw 226 is inserted into the strip hole, and passes through the limit screw 226 during the swing of the power source driving joint output shaft 206. Carry out the limit.
  • the power source includes an encoder 208, a drive motor 209, a planetary gear reducer 210, and a harmonic reducer 215.
  • the transfer flange is divided into an upper transfer flange 219 and a lower transfer flange 217 that are connected to each other.
  • the first and second ends of the driving motor 209 are respectively fixed to the planetary gear reducer 210 and the encoder 208, and the flange surface of the planetary gear reducer 210 is fixedly connected to the motor mounting bracket 213 by six motor fixing screws 212 uniformly distributed along the circumference.
  • the output shaft of the planetary gear reducer 210 is fixed to the input end of the harmonic reducer 215 through the transition shaft 211, and the output end of the harmonic reducer 215 is fixed to the torque sensor 222 through the lower transfer flange 217 and the upper transfer flange 219.
  • the outer ring of the lower bearing 221 cooperates with the bearing support member 203
  • the inner ring cooperates with the upper adapter flange 19
  • the inner wall of the bearing support member 203 is provided with a photoelectric switch 223
  • one end of the torque sensor 222 is provided with a photoelectric switch induction pin 227.
  • the top of the torque sensor 222 is secured to the joint output shaft 206 by an output shaft set screw 224 that is secured to the joint output link 207 by an output link set screw 214.
  • the elbow joint assembly 3 includes a lower clamp 301, an upper clamp 302, a bottom support 306, and a clamp locking screw 305.
  • One side of the lower clamp 301 and one side of the upper clamp 302 pass.
  • the clamp connection screw 303 is hinged, and the inner side of the lower clamp 301 and the upper clamp 302 are provided with grooves corresponding to the space suit elbow clamp 304, and the other side of the lower clamp 301 and the upper clamp 302 are further One side is a free end, connected by a clamp locking screw 305, and the space suit elbow clamp 304 is locked in the recess of the lower clamp 301 and the upper clamp 302; the lower clamp 301 passes through the bottom support
  • the 306 is mounted on the mounting plate 504.
  • the working principle of the invention is:
  • the operator Before performing the performance test on the upper limb of the space suit, the operator firstly drives a pull rod 108 to move outward, so that the six circumferentially evenly spaced claws 108 are simultaneously opened by the synchronous slip ring 114, and the space is shouldered.
  • the flange 106 is placed between the compression end ring 105 and the compression flange 107, and then the tie rod 108 is released, causing the six claws 108 to contract inwardly by the action of the spring 123.
  • a ratchet wrench is inserted into the hexagon socket counterbore hole opened at the other end of the jack 116, and the ejector pin 116 is rotated by the ratchet wrench, so that the central pressing member 122, the slip ring copper sleeve 125, and the copper sleeve flange 119 are along the shaft.
  • the tie rods 118 are clamped by the compression end ring 105 and the compression flange 107.
  • the space suit elbow clamp 304 is locked by the clamp locking screw 305; after the space suit is fixed, the joint drive assembly is driven by the control system in the electric probe cabinet 506 (the control system of the present invention is prior art) 2
  • the motion is performed according to the preset angle, and the zero position is calibrated by the photoelectric switch 223 every interval setting period.
  • the space suit disassembly process is the opposite of the installation process.

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  • Mechanical Engineering (AREA)
  • Clamps And Clips (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种航天服上肢性能测试设备，包括肩部法兰快速夹紧装置（1）、关节驱动组件（2)、肘关节组件（3）、腕部连接组件（4）及设备支架（5），其中肘关节组件（3）安装在设备支架（5）上，航天服肘部卡箍（304）锁紧于该肘关节组件上；肩部法兰快速夹紧装置与腕部连接组件分别位于该肘关节组件的两侧。在肩部法兰快速夹紧装置和腕部连接组件下方的设备支架内均设有关节驱动组件。每个关节驱动组件均可相对移动地安装在设备支架上，两侧的关节驱动组件的输出端分别与肩部法兰快速夹紧装置和腕部连接组件相连，分别带动肩部法兰快速夹紧装置和腕部连接组件进行摆动。肩部法兰快速夹紧装置上夹紧有航天服肩部法兰，该腕部连接组件上设有固定航天服腕部接口的腕部工装（401）。该设备结构新颖，控制灵活，操作简便，适用于不同尺寸航天服上肢性能测试。

Description

一种航天服上肢性能测试设备 技术领域
本发明涉及航天服性能测试设备，具体地说是一种航天服上肢性能测试设备。
背景技术
航天服是航天员进行星表与太空作业的重要生命支撑保障系统。与地面作业不同，星表作业及太空作业要求航天服各关节系统都具备较好的运动性和灵活性，以便完成星表行走、探测、维修、搬运等任务。因此，航天服寿命、活动阻力矩等性能测试直接影响着航天员在轨作业的安全性，以及整个航天任务的成败。
现有的航天服上肢性能测试设备一般为气动驱动方式，且肩部法兰大多通过两侧夹紧件以及沿圆周均布的螺钉、螺母实现肩部法兰的固定。这种加紧方式具有操作繁琐，并且在需要经常多次拆卸的场合效率较低，且加载过程中的同步性较差等缺陷。
发明内容
针对现有航天服上肢性能测试存在的上述问题，本发明的目的在于提供一种航天服上肢性能测试设备，可适用于不同尺寸航天服上肢性能测试。
本发明的目的是通过以下技术方案来实现的：
本发明包括肩部法兰快速夹紧装置、关节驱动组件、肘关节组件、腕部连接组件及设备支架，其中肘关节组件安装在设备支架上，航天服肘部卡箍锁紧于该肘关节组件上；所述肩部法兰快速夹紧装置与腕部连接组件分别位于该肘关节组件的两侧，在肩部法兰快速夹紧装置和腕部连接组件下方的设备支架内均设有所述关节驱动组件，每个所述关节驱动组件均可相对移动地安装在设备支架上，两侧的关节驱动组件的输出端分别与肩部法兰快速夹紧装置和腕部连接组件相连，分别带动所述肩部法兰快速夹紧装置和腕部连接组件进行摆动；所述肩部法兰快速夹紧装置上夹紧有航天服肩部法兰，该腕部连接组件上设有固定航天服腕部接口的腕部工装；
其中：所述肩部法兰快速夹紧装置包括肩关节支架、压紧端环、压紧法兰、拉杆、顶板、连杆、同步滑环、顶杆、铜套法兰及中心压紧件，该压紧法兰与顶板分别安装于肩关节支架的两侧，所述顶杆的一端与该顶板转动连接，另一端与所述中心压紧件螺纹连接，该中心压紧件上套设有滑环铜套，所述同步滑环可相对移动地套在该滑环铜套外部，所述滑环铜套的外端部设有铜套法兰，在所述同步滑环与铜套法兰之间设有套在滑环铜套上的弹簧，所述弹簧的两端分别抵接于 同步滑环和铜套法兰；所述拉杆为多个，沿航天服肩部法兰的圆周方向均布，每个所述拉杆的一端分别铰接于中心压紧件上，另一端为压紧端，航天服肩部法兰位于所述压紧法兰与各拉杆压紧端之间；各所述拉杆的压紧端与航天服肩部法兰之间设有压紧端环，所述航天服肩部法兰的两侧分别与该压紧端盖和压紧法兰配合抵接；每个所述拉杆与同步滑环之间均连接有连杆，该连杆的两端分别与拉杆和同步滑环铰接；通过所述同步滑环的往复滑动带动各所述拉杆同步压紧或松开航天服肩部法兰；所述弹簧初始状态为压缩状态，通过该弹簧作用于所述同步滑环，使各所述拉杆在自由状态产生向内收缩的预紧力；
所述顶杆的一端设有凸台法兰，该凸台法兰通过顶杆端盖安装在所述顶板上，且凸台法兰在顶杆端盖内部可相对所述顶板转动；所述顶杆的另一端开设有便于扳手旋拧的沉孔；
所述顶杆的外表面制有梯形外螺纹，所述中心压紧件上开设有中心孔，该中心孔内壁制有与所述梯形外螺纹配合连接的梯形内螺纹；
所述顶板的一侧设有盖板，该盖板通过导向轴与顶板相连，导向轴由中心压紧件的边缘穿过，导向轴与中心压紧件的边缘之间加设有石墨铜套；所述中心压紧件的一侧位于顶板与盖板之间，另一侧为凸台，所述滑环铜套套在该凸台上，且所述铜套法兰与所述凸台的端部相连；所述盖板上开设有供滑环铜套穿过的孔；
所述关节驱动组件包括防尘罩、动力源、关节支撑、轴承支撑件、转接法兰、扭矩传感器、锁紧压板、关节输出轴及关节输出连杆，该防尘罩、关节支撑及轴承支撑件依次相连，所述轴承支撑件相对的两侧均通过锁紧螺钉连接有锁紧压板，该轴承支撑件可相对移动地放置在所述设备支架上，并在位置确定好通过所述锁紧压板及锁紧螺钉与设备支架连接；所述动力源安装在防尘罩内，输出端通过所述转接法兰与扭矩传感器的底部相连，该转接法兰与所述轴承支撑件转动连接，所述扭矩传感器的顶部与关节输出轴相连，所述关节输出连杆的一端与该关节输出轴连接，另一端与所述肩部法兰快速夹紧装置或腕部连接组件相连，该关节输出连杆通过动力源驱动、带动所述肩部法兰快速夹紧装置或腕部连接组件摆动；所述轴承支撑件内壁上安装有光电开关，所述扭矩传感器上设有与光电开关相对应的光电开关感应销钉；
所述关节输出轴上设有限位螺钉，所述轴承支撑件上开设有条形孔，该限位螺钉插入所述条形孔中，在所述动力源驱动关节输出轴摆动的过程中通过限位螺钉进行限位；
所述动力源包括编码器、驱动电机、行星齿轮减速器及谐波减速器，该驱动电机首尾两端分别与行星齿轮减速器、编码器连接，所述行星齿轮减速器的法兰面通过沿圆周方向均布的电机固定螺钉与电机安装支架固连在一起，该电机安装支架安装于所述防尘罩内；所述转接法兰分为相互连接的上部转接法兰及下部转 接法兰，该上部转接法兰及下部转接法兰分别通过上部轴承及下部轴承与轴承支撑件转动连接；所述行星齿轮减速器的输出轴通过过渡轴与谐波减速器输入端固定在一起，该谐波减速器输出端通过下部转接法兰、上部转接法兰与扭矩传感器固；
所述肘关节组件包括下部卡箍、上部卡箍、底部支座及卡箍锁紧螺钉，该下部卡箍的一侧与上部卡箍的一侧铰接，且下部卡箍及上部卡箍的内侧均设有与航天服肘部卡箍配合的凹槽，所述下部卡箍的另一侧与上部卡箍的另一侧均为自由端、通过卡箍锁紧螺钉连接，并将所述航天服肘部卡箍锁紧于下部卡箍与上部卡箍的凹槽内；所述下部卡箍通过底部支座安装在安装板上；
所述设备支架的底部安装有多个便于移动的脚轮，顶部沿长度方向固定有安装板；在所述设备支架的一侧安装有电控柜，所述关节驱动组件与该电探柜内的控制系统相连。
本发明的优点与积极效果为：
1.本发明采用电机作为驱动源，并且采用光电开关作为零位开关，测试过程中位置控制精度较高。
2.本发明肩部快速夹紧装置设有同步滑环及弹簧，通过连杆可保证六个拉爪在夹紧及释放的过程中具有较高的同步性，且在放松状态拉杆具有向内的收缩力。
3.本发明肩部快速夹紧装置在夹紧、释放过程中只需通过扳手将顶杆拧紧和放松即可实现被加紧件的夹紧和放松，操作简便，效率较高。
4.本发明顶杆和中心压紧件之间通过梯形螺纹配合实现夹紧过程，由于梯形螺纹具有自锁的功能，夹紧之后不易松动，可靠性较高。
附图说明
图1为本发明的整体结构示意图；
图2为本发明肩部法兰快速夹紧装置夹紧状态的结构示意图；
图3为本发明肩部法兰快速夹紧装置松开状态的结构示意图；
图4为本发明肩部法兰快速夹紧装置的结构剖面图；
图5为本发明关节驱动组件的外部结构示意图；
图6为本发明关节驱动组件的内部结构剖面图；
图7为本发明肘关节组件的立体结构示意图；
其中：1为肩部快速夹紧装置，101为支架固定螺钉，102为肩关节支架，103为顶杆端盖固定螺钉，104为顶杆端盖，105为压紧端环，106为航天服肩部法兰，107为压紧法兰，108为拉杆，109为顶板，110为连杆拉杆固定螺钉，111为拉杆固定螺钉，112为连杆，113为连杆滑环固定螺钉，114为同步滑环，115为铜套法兰固定螺钉，116为顶杆，117为盖板固定螺钉，118为盖板，119为铜 套法兰，120为导向轴，121为石墨铜套，122为中心压紧件，123为弹簧，124为压紧法兰固定螺钉，125为滑环铜套，126为顶板固定螺钉，127为凸台法兰；
2为关节驱动组件，201为防尘罩，202为关节支撑，203为轴承支撑件，204为锁紧螺钉，205为锁紧压板，206为关节输出轴，207为关节输出连杆，208为编码器，209为驱动电机，210为行星齿轮减速器，211为过渡轴，212为电机固定螺钉，213为电机安装支架，214为输出连杆固定螺钉，215为谐波减速器，216为电机支架固定螺钉，217为下部转接法兰，218为下部法兰固定螺钉，219为上部转接法兰，220为上部法兰固定螺钉，221为下部轴承，222为扭矩传感器，223为光电开关，224为输出轴固定螺钉，225为上部轴承，226为限位螺钉227为光电开关感应销钉；
3为肘关节组件，301为下部卡箍，302为上部卡箍，303为卡箍连接螺钉，304为航天服肘部卡箍，305为卡箍锁紧螺钉，306为底部支座，307为支座固定螺钉；
4为腕部连接组件，401为腕部工装，402为腕关节支架，403为腕部支架锁紧螺钉；
5为设备支架，501为铝合金角接件，502为角接件固定螺钉，503为脚轮，504为安装板，505为安装板固定螺钉，506为电控柜。
具体实施方式
下面结合附图对本发明作进一步详述。
如图1所示，本发明包括肩部法兰快速夹紧装置1、关节驱动组件2、肘关节组件3、腕部连接组件4及设备支架5，其中肘关节组件3安装在设备支架5上，航天服肘部卡箍304锁紧于肘关节组件3上。肩部法兰快速夹紧装置1与腕部连接组件4分别位于该肘关节组件3的两侧，在肩部法兰快速夹紧装置)和腕部连接组件4下方的设备支架5内均设有关节驱动组件2，每个关节驱动组件2均可相对移动地安装在设备支架5上，两侧的关节驱动组件2的输出端分别与肩部法兰快速夹紧装置1和腕部连接组件4相连，分别带动肩部法兰快速夹紧装置1和腕部连接组件4进行摆动。肩部法兰快速夹紧装置1上夹紧有航天服肩部法兰106，该腕部连接组件4上设有固定航天服腕部接口的腕部工装401，该腕部工装401上设有航天服充气接口。
设备支架5为铝合金型材支架，且连接处采用铝合金角接件501、角接件固定螺钉502固连在一起。设备支架5的底部安装有多个(本实施例为六个)脚轮503，从而保证测试设备具有更好的可移动性；设备支架5的顶部沿长度方向固定有安装板504，在设备支架5的一侧安装有电控柜506，关节驱动组件2与该电探柜506内的控制系统相连。
如图2～4所示，肩部法兰快速夹紧装置1包括肩关节支架102、顶杆端盖 104、压紧端环105、压紧法兰107、拉杆108、顶板109、连杆112、同步滑环114、顶杆116、盖板118、铜套法兰119、导向轴120、石墨铜套121及中心压紧件122，其中压紧法兰107与顶板109分别通过压紧法兰固定螺钉124和顶板固定螺钉126安装于肩关节支架102上部的两侧，肩关节支架102下部设有用于与关节驱动组件2连接的支架固定螺钉101。
顶杆116的一端设有凸台法兰127，该凸台法兰127容置于顶杆端盖104内，顶杆端盖104通过顶杆端盖固定螺钉103固定在顶板109上；凸台法兰127朝向顶板109的一面与顶板109配合，且凸台法兰127在顶杆端盖104内部可相对顶板109转动。顶杆116的另一端开设有便于扳手旋拧的沉孔，本实施例的沉孔为内六角沉头孔。
顶板109的一侧设有盖板118，该盖板118通过多根导向轴120与顶板109相连，导向轴120的两端分别通过盖板固定螺钉117将导向轴120和顶板109、盖板118固连在一起。本实施例的导向轴120为三根。中心压紧件122的一侧位于顶板109与盖板118之间，在中心压紧件122一侧的外边缘开设有三个通孔，三根导向轴120分别由这三个通孔穿过，每个通孔内均容置有石墨铜套121，导向轴120由石墨铜套121穿过；通孔的内壁与石墨铜套121外侧配合，石墨铜套121内侧可沿导向轴120轴向滑动。中心压紧件122的另一侧为凸台，该凸台上套设有滑环铜套125，凸台外侧与滑环铜套125内侧配合，同步滑环114可相对移动地套在该滑环铜套125外部，滑环铜套125的外端部设有铜套法兰119，铜套法兰119与凸台的端部通过铜套法兰固定螺钉115固定。在同步滑环114与铜套法兰119之间设有套在滑环铜套125上的弹簧123，弹簧123的两端分别抵接于同步滑环114和铜套法兰119，弹簧123被同轴压缩在同步滑环114和铜套法兰119之间。盖板118上开设有供滑环铜套125穿过的孔。
顶杆116的另一端与中心压紧件122螺纹连接，顶杆116的外表面制有梯形外螺纹，中心压紧件122上开设有中心孔，该中心孔内壁制有与梯形外螺纹配合连接的梯形内螺纹。顶杆116与中心压紧件122同轴配合。
拉杆108为多个(本实施例为六个)，沿航天服肩部法兰106的圆周方向均布，每个拉杆108的一端分别通过拉杆固定螺钉111铰接于中心压紧件122上，另一端为压紧端。各拉杆108的压紧端与航天服肩部法兰106之间设有压紧端环105，航天服肩部法兰106的两侧分别与该压紧端盖105和压紧法兰107配合抵接。各拉杆108的压紧端与压紧端环105的侧面配合。每个拉杆108与同步滑环114之间均连接有连杆112，该连杆112的一端通过连杆拉杆固定螺钉110与拉杆108铰接，另一端通过连杆滑环固定螺钉113与同步滑环114铰接。弹簧123初始状态为压缩状态，通过该弹簧123作用于同步滑环114，使各拉杆108在自由状态产生向内收缩的预紧力。
本发明顶板109的材料为硬度较高且耐磨性较好的高锰钢。
如图5、图6所示，关节驱动组件2包括防尘罩201、动力源、关节支撑202、轴承支撑件203、转接法兰、扭矩传感器222、锁紧压板205、关节输出轴206及关节输出连杆207，该防尘罩201、关节支撑202及轴承支撑件203依次相连，轴承支撑件203相对的左右设有两个与锁紧螺钉204配合的螺纹孔，两侧均通过锁紧螺钉204连接有锁紧压板205。安装板504上开设有条形孔，锁紧压板205位于安装板504的外侧，轴承支撑件203可相对移动地放置在安装板504上，待轴承支撑件203的位置调整好后，利用锁紧螺钉204穿过条形孔、与锁紧压板205连接锁紧。动力源安装在防尘罩201内，输出端通过转接法兰与扭矩传感器222的底部相连，该转接法兰与轴承支撑件203转动连接，扭矩传感器222的顶部与关节输出轴206相连，关节输出连杆207的一端与该关节输出轴206连接，另一端分别通过方孔与腕关节支架402、肩关节支架102配合，并通过腕部支架锁紧螺钉403、支架固定螺钉101固连在一起；该关节输出连杆207通过动力源驱动，带动肩部法兰快速夹紧装置1或腕部连接组件4摆动。轴承支撑件203内壁上安装有光电开关223，扭矩传感器222上设有与光电开关223相对应的光电开关感应销钉227。关节输出轴206上设有限位螺钉226，轴承支撑件203上开设有条形孔，该限位螺钉226插入条形孔中，在动力源驱动关节输出轴206摆动的过程中通过限位螺钉226进行限位。
动力源包括编码器208、驱动电机209、行星齿轮减速器210及谐波减速器215，转接法兰分为相互连接的上部转接法兰219及下部转接法兰217。驱动电机209首尾两端分别与行星齿轮减速器210、编码器208固连，行星齿轮减速器210法兰面通过沿圆周均布的六个电机固定螺钉212与电机安装支架213固连在一起，行星齿轮减速器210输出轴通过过渡轴211与谐波减速器215输入端固定在一起，谐波减速器215输出端通过下部转接法兰217、上部转接法兰219与扭矩传感器222固连在一起，下部轴承221外圈与轴承支撑件203相配合，内圈与上部转接法兰19配合，轴承支撑件203内壁设有光电开关223，扭矩传感器222一端设有光电开关感应销钉227，扭矩传感器222顶部通过输出轴固定螺钉224与关节输出轴206固连在一起，关节输出轴206通过输出连杆固定螺钉214与关节输出连杆207固连在一起。
如图7所示，肘关节组件3包括下部卡箍301、上部卡箍302、底部支座306及卡箍锁紧螺钉305，该下部卡箍301的一侧与上部卡箍302的一侧通过卡箍连接螺钉303铰接，且下部卡箍301及上部卡箍302的内侧均设有与航天服肘部卡箍304配合的凹槽，下部卡箍301的另一侧与上部卡箍302的另一侧均为自由端、通过卡箍锁紧螺钉305连接，并将航天服肘部卡箍304锁紧于下部卡箍301与上部卡箍302的凹槽内；下部卡箍301通过底部支座306安装在安装板504上。
本发明的工作原理为：
在对航天服上肢进行性能测试之前，首先操作者用手驱动一个拉杆108向外 侧移动，使沿圆周均布的六个拉爪108在同步滑环114的作用下同步张开，将航天服肩部法兰106放置在压紧端环105和压紧法兰107之间，随后释放拉杆108，使六个拉爪108在被弹簧123的作用下向内收缩。然后，用棘轮扳手插入顶杆116另一端开设的内六角沉头孔中，利用棘轮扳手驱动顶杆116旋转，进而使中心压紧件122、滑环铜套125、铜套法兰119沿轴向移动，使各拉杆118通过压紧端环105和压紧法兰107将航天服肩部法兰106夹紧。
随后，利用卡箍锁紧螺钉305将航天服肘部卡箍304锁紧；将航天服固定好之后通过电探柜506内的控制系统(本发明的控制系统为现有技术)驱动关节驱动组件2按预设角度进行运动，并利用光电开关223每间隔设定周期对零位进行校准。航天服拆卸过程与安装过程相反。

Claims (10)

  1. 一种航天服上肢性能测试设备，其特征在于：包括肩部法兰快速夹紧装置(1)、关节驱动组件(2)、肘关节组件(3)、腕部连接组件(4)及设备支架(5)，其中肘关节组件(3)安装在设备支架(5)上，航天服肘部卡箍(304)锁紧于该肘关节组件(3)上；所述肩部法兰快速夹紧装置(1)与腕部连接组件(4)分别位于该肘关节组件(3)的两侧，在肩部法兰快速夹紧装置(1)和腕部连接组件(4)下方的设备支架(5)内均设有所述关节驱动组件(2)，每个所述关节驱动组件(2)均可相对移动地安装在设备支架(5)上，两侧的关节驱动组件(2)的输出端分别与肩部法兰快速夹紧装置(1)和腕部连接组件(4)相连，分别带动所述肩部法兰快速夹紧装置(1)和腕部连接组件(4)进行摆动；所述肩部法兰快速夹紧装置(1)上夹紧有航天服肩部法兰(106)，该腕部连接组件(4)上设有固定航天服腕部接口的腕部工装(401)。
  2. 根据权利要求1所述的航天服上肢性能测试设备，其特征在于：所述肩部法兰快速夹紧装置(1)包括肩关节支架(102)、压紧端环(105)、压紧法兰(107)、拉杆(108)、顶板(109)、连杆(112)、同步滑环(114)、顶杆(116)、铜套法兰(119)及中心压紧件(122)，该压紧法兰(107)与顶板(109)分别安装于肩关节支架(102)的两侧，所述顶杆(116)的一端与该顶板(109)转动连接，另一端与所述中心压紧件(122)螺纹连接，该中心压紧件(122)上套设有滑环铜套(125)，所述同步滑环(114)可相对移动地套在该滑环铜套(125)外部，所述滑环铜套(125)的外端部设有铜套法兰(119)，在所述同步滑环(114)与铜套法兰(119)之间设有套在滑环铜套(125)上的弹簧(123)，所述弹簧(123)的两端分别抵接于同步滑环(114)和铜套法兰(119)；所述拉杆(108)为多个，沿航天服肩部法兰(106)的圆周方向均布，每个所述拉杆(108)的一端分别铰接于中心压紧件(122)上，另一端为压紧端，航天服肩部法兰(106)位于所述压紧法兰(107)与各拉杆(108)压紧端之间；各所述拉杆(108)的压紧端与航天服肩部法兰(106)之间设有压紧端环(105)，所述航天服肩部法兰(106)的两侧分别与该压紧端盖(105)和压紧法兰(107)配合抵接；每个所述拉杆(108)与同步滑环(114)之间均连接有连杆(112)，该连杆(112)的两端分别与拉杆(108)和同步滑环(114)铰接；通过所述同步滑环(114)的往复滑动带动各所述拉杆(108)同步压紧或松开航天服肩部法兰(106)；所述弹簧(123)初始状态为压缩状态，通过该弹簧(123)作用于所述同步滑环(114)，使各所述拉杆(108)在自由状态产生向内收缩的预紧力。
  3. 根据权利要求2所述的航天服上肢性能测试设备，其特征在于：所述顶杆(116)的一端设有凸台法兰(127)，该凸台法兰(127)通过顶杆端盖(104)安装在所述顶板(109)上，且凸台法兰(127)在顶杆端盖(104)内部可相对 所述顶板(109)转动；所述顶杆(116)的另一端开设有便于扳手旋拧的沉孔。
  4. 根据权利要求2所述的航天服上肢性能测试设备，其特征在于：所述顶杆(116)的外表面制有梯形外螺纹，所述中心压紧件(122)上开设有中心孔，该中心孔内壁制有与所述梯形外螺纹配合连接的梯形内螺纹。
  5. 根据权利要求2所述的航天服上肢性能测试设备，其特征在于：所述顶板(109)的一侧设有盖板(118)，该盖板(118)通过导向轴(120)与顶板(109)相连，导向轴(120)由中心压紧件(122)的边缘穿过，导向轴(120)与中心压紧件(122)的边缘之间加设有石墨铜套(121)；所述中心压紧件(122)的一侧位于顶板(109)与盖板(118)之间，另一侧为凸台，所述滑环铜套(125)套在该凸台上，且所述铜套法兰(119)与所述凸台的端部相连；所述盖板(118)上开设有供滑环铜套(25)穿过的孔。
  6. 根据权利要求1所述的航天服上肢性能测试设备，其特征在于：所述关节驱动组件(2)包括防尘罩(201)、动力源、关节支撑(202)、轴承支撑件(203)、转接法兰、扭矩传感器(222)、锁紧压板(205)、关节输出轴(206)及关节输出连杆(207)，该防尘罩(201)、关节支撑(202)及轴承支撑件(203)依次相连，所述轴承支撑件(203)相对的两侧均通过锁紧螺钉(204)连接有锁紧压板(205)，该轴承支撑件(203)可相对移动地放置在所述设备支架(5)上，并在位置确定好通过所述锁紧压板(205)及锁紧螺钉(204)与设备支架(5)连接；所述动力源安装在防尘罩(201)内，输出端通过所述转接法兰与扭矩传感器(222)的底部相连，该转接法兰与所述轴承支撑件(203)转动连接，所述扭矩传感器(222)的顶部与关节输出轴(206)相连，所述关节输出连杆(207)的一端与该关节输出轴(206)连接，另一端与所述肩部法兰快速夹紧装置(1)或腕部连接组件(4)相连，该关节输出连杆(207)通过动力源驱动、带动所述肩部法兰快速夹紧装置(1)或腕部连接组件(4)摆动；所述轴承支撑件(203)内壁上安装有光电开关(223)，所述扭矩传感器(222)上设有与光电开关(223)相对应的光电开关感应销钉(227)。
  7. 根据权利要求6所述的航天服上肢性能测试设备，其特征在于：所述关节输出轴(206)上设有限位螺钉(226)，所述轴承支撑件(203)上开设有条形孔，该限位螺钉(226)插入所述条形孔中，在所述动力源驱动关节输出轴(206)摆动的过程中通过限位螺钉(226)进行限位。
  8. 根据权利要求6所述的航天服上肢性能测试设备，其特征在于：所述动力源包括编码器(208)、驱动电机(209)、行星齿轮减速器(210)及谐波减速器(215)，该驱动电机(209)首尾两端分别与行星齿轮减速器(210)、编码器(208)连接，所述行星齿轮减速器(210)的法兰面通过沿圆周方向均布的电机固定螺钉(212)与电机安装支架(213)固连在一起，该电机安装支架(213)安装于所述防尘罩(210)内；所述转接法兰分为相互连接的上部转接法兰(219) 及下部转接法兰(217)，该上部转接法兰(219)及下部转接法兰(217)分别通过上部轴承(225)及下部轴承(221)与轴承支撑件(203)转动连接；所述行星齿轮减速器(210)的输出轴通过过渡轴(211)与谐波减速器(211)输入端固定在一起，该谐波减速器(211)输出端通过下部转接法兰(217)、上部转接法兰(219)与扭矩传感器(222)固连。
  9. 根据权利要求1所述的航天服上肢性能测试设备，其特征在于：所述肘关节组件(3)包括下部卡箍(301)、上部卡箍(302)、底部支座(306)及卡箍锁紧螺钉(305)，该下部卡箍(301)的一侧与上部卡箍(302)的一侧铰接，且下部卡箍(301)及上部卡箍(302)的内侧均设有与航天服肘部卡箍(304)配合的凹槽，所述下部卡箍(301)的另一侧与上部卡箍(302)的另一侧均为自由端、通过卡箍锁紧螺钉(305)连接，并将所述航天服肘部卡箍(304)锁紧于下部卡箍(301)与上部卡箍(302)的凹槽内；所述下部卡箍(301)通过底部支座(306)安装在安装板(504)上。
  10. 根据权利要求1所述的航天服上肢性能测试设备，其特征在于：所述设备支架(5)的底部安装有多个便于移动的脚轮(503)，顶部沿长度方向固定有安装板(504)；在所述设备支架(5)的一侧安装有电控柜(506)，所述关节驱动组件(2)与该电探柜(506)内的控制系统相连。
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