Negative pressure type flexible exoskeleton system for assisting extravehicular spacesuit

Abstract

The invention discloses a negative pressure type flexible exoskeleton system for assisting an extravehicular spacesuit, and belongs to the technical field of robots. The system comprises an exoskeleton pneumatic control system, a plurality of inertial sensors, a plurality of negative pressure type flexible drivers and a plurality of flexible bending sensors; an air source in the exoskeleton control system provides pneumatic energy for the exoskeleton system, a water-separating air filter cleans compressed air, normal work of a pneumatic execution element is guaranteed, a pressure reducing valve and a pressure gauge carry out pressure stabilizing control on the output pressure of the air source, a two-position two-way valve serves as an air source switch valve, and three-position three-way valves, proportional pressure valves and the flexible drivers form four pneumatic control loops of left and right elbow and knee joints of the exoskeleton system. The proportional pressure valves respectively control the flow and the pressure input into the negative pressure type flexible drivers. The negative pressure type flexible exoskeleton system used for assisting the extravehicular spacesuit is arranged in the extravehicular spacesuit to achieve built-in flexible driving.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a negative-pressure flexible exoskeleton system used for assisting an extravehicular spacesuit. Background technique [0002] In recent years, exoskeleton robot technology has continued to develop and mature. Its purpose of enhancing and expanding human mobility makes exoskeleton technology have important application prospects in many fields such as medical treatment, military affairs, and transportation. The extravehicular spacesuit is an important equipment to ensure the safety of astronauts leaving the cabin. However, due to the residual pressure caused by the vacuum protection of the spacesuit (the pressure difference between the inside and outside of the spacesuit is about 40kPa), when the astronauts are active, the spacesuit will inevitably produce Considerable joint resistance. Therefore, combining exoskeleton robot technology with extravehicular spacesuits to assist astrona...

AI Technical Summary

Problems solved by technology

However, due to the rigid exoskeleton structure often has a large mass and inertia, the state of the wearer is affected during the movement

Moreover, due to the mismatch between the rigid exoskeleton joints and the actual joint degrees of freedom of the space suit, and the misalignment of the joint activity centers, the exoskeleton produces a certain mechanical reaction force on the space suit during the movement process, which limits the movement capacity of the space suit.

In addition, since the rigid exoskeleton is installed outside the extravehicular spacesuit, the exoskeleton system will be directly exposed to the harsh environment of space when astronauts perform extravehicular operations, posing a major challenge to the safety and maintainability of the exoskeleton system

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