本发明公开了一种用于舱外航天服助力的负压式柔性外骨骼系统,属于机器人技术领域,包括、外骨骼气动控制系统、若干惯性传感器、若干负压式柔性驱动器和若干柔性弯曲传感器;其中外骨骼控制系统中气源为外骨骼系统提供气动能量,分水滤气器对压缩的空气进行清洁,保障气动执行元件的正常工作,减压阀和压力表对气源输出压力进行稳压控制,两位两通阀作为气源开关阀,三位三通阀、比例压力阀以及柔性驱动器组成外骨骼系统的左右肘、膝关节的四条气压控制回路。比例压力阀分别控制输入负压式柔性驱动器的流量和压力。用于舱外航天服助力的负压式柔性外骨骼系统设置于舱外航天服内实现内置柔性驱动。

    A power-assisted negative pressure type flexible exoskeleton system used for an extravehicular spacesuit. The system includes an exoskeleton pneumatic control system, a plurality of inertial sensors, a plurality of negative pressure type flexible actuators and a plurality of flexible bending sensors, wherein pneumatic energy is provided for the exoskeleton system by a gas source in the exoskeleton control system, compressed air is cleaned by a water-separating gas filter, normal work of a pneumatic actuating element is guaranteed, a pressure reducing valve and a pressure gauge carry out voltage stability control on the output pressure of the gas source, a two-position two-way valve serves as a gas source switch valve, and three-position three-way valves, proportional pressure valves and the flexible actuators form four pneumatic control loops of the left and right elbow joints and the left and right knee joints of the exoskeleton system.


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    Titel :

    一种用于舱外航天服助力的负压式柔性外骨骼系统


    Erscheinungsdatum :

    2023-06-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B64G Raumfahrt , COSMONAUTICS