CN107215489A - A kind of maintenance tool test method out of my cabin - Google Patents
A kind of maintenance tool test method out of my cabin Download PDFInfo
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- CN107215489A CN107215489A CN201710372309.7A CN201710372309A CN107215489A CN 107215489 A CN107215489 A CN 107215489A CN 201710372309 A CN201710372309 A CN 201710372309A CN 107215489 A CN107215489 A CN 107215489A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
- B64G2007/005—Space simulation vacuum chambers
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Abstract
A kind of maintenance tool test method out of my cabin, comprises the following steps：(1) exterior compartment space suit glove is installed on vacuum tank flange；(2) maintenance interface on installation and maintenance equipment simulating part, flexible connection maintenance of equipment simulating piece；(3) maintenance tool out of my cabin to be tested is put into vacuum tank, at the top of flexible connection vacuum tank；(4) servo action is controlled, it is to avoid take out during pressure, maintenance of equipment simulating piece damages space suit glove；(5) hatch door of vacuum tank is closed, pressure difference simulation is carried out；(6) relative position of adjustment maintenance of equipment simulating piece and space suit glove；(7) operation experiments are carried out to maintenance interface.Maintenance tool, maintenance interface can be flexibly connected in vacuum tank by the present invention, avoid sliding destructive test equipment during maintenance operation, simultaneously the relative position of space suit glove inside and outside differential pressure and maintenance of equipment and testing crew can be simulated, the ground experiment of manned spacecraft maintenance tool out of my cabin is supported.
Description
Technical field
Present invention relates particularly to a kind of maintenance tool test method out of my cabin, it is adaptable to manned spacecraft maintenance tool out of my cabin
Ground experiment, belongs to manned space flight device field.
Background technology
Maintainable technology on-orbit is the necessary means for extending the manned spacecraft life-span and ensureing reliance security, while being also in-orbit
One of difficulty highest task in activity.74 maintenance maintenances out of my cabin are performed during the in-orbit operation of Russian's Mir space station
Task, completes 384 times by international space station in 2016 and goes out cabin maintenance maintenance activity, China is developing Heavenly Palace space
Stand, design in-orbit more than the 10 years life-span, be the large-scale manned spacecraft of the first long-term in-orbit flight of China.
Spacefarer wears extravehicular space suit when repairing out of my cabin, and space suit glove flexibility ratio drops in extravehicular space suit inside and outside differential pressure
Low, spacefarer's hand perception reduction, operating physical force becomes big, and maintenance tool easily flies away under state of weightlessness, grasps difficulty
Increase, to ensure that maintenance tool can adapt to the influence that weightless and gloves inside and outside differential pressure is brought out of my cabin, improve maintenance operation out of my cabin
The success rate of task, out of my cabin maintenance tool need to carry out sufficient ground experiment checking in development process.
The verification method of maintenance tool mainly includes normal pressure gloves test method(s), glove box test method(s) and neutral buoyancy water out of my cabin
Groove test method(s).Normal pressure gloves test method(s) dresses space suit glove directly to instrument under an atmospheric pressure by testing crew
The operation such as picked and placeed, used, this method can not simulate swelling state of the gloves under inside and outside differential pressure effect, have ignored gloves swollen
The swollen influence to operation, therefore test error is larger；Exterior compartment space suit glove is fixed on by glove box experiment rule using flange
In one small-sized transparent cabinet, pressure in glove box is reduced with aspiration pump, space suit glove inside and outside differential pressure, testing crew is simulated
The maintenance tool being placed in case is tested by the space suit glove on casing, glove box can only be grabbed to small instruments and tools
The simple operations experiment such as hold, rotate, it is impossible to dismantled with reference to maintenance product, experiment is installed, therefore maintenance tool out of my cabin is entered
Row is comprehensively tested and evaluation is a urgent problem to be solved.
The content of the invention
The present invention solve the problem of be：A kind of maintenance tool test method out of my cabin is provided, by with flange-interface
Install the space suit glove containing ancon on vacuum tank additional, and maintenance product is fixed on to the four-degree-of-freedom servo control mechanism in vacuum tank
On, carry out maintenance tool out of my cabin and test, solving normal pressure experiment and glove box experiment can not navigate in combination with maintenance product and simulation
It takes gloves inside and outside differential pressure, carries out the problem of maintenance tool dismounting out of my cabin, installation operation are tested.
The present invention technical solution be：
A kind of maintenance tool test method out of my cabin, the test method repairs ground simulation system out of my cabin based on manned spacecraft
Realize, step is as follows：
(1) exterior compartment space suit glove is installed on the flange-interface of vacuum tank hatch door；
(2) maintenance of equipment simulating piece is arranged on servo control mechanism, the maintenance interface on maintenance of equipment simulating piece is flexible
It is connected in servo control mechanism turntable frame；The maintenance interface includes mechanical interface and electric interfaces；
(3) maintenance tool out of my cabin to be tested is put into vacuum tank, and neighbouring space suit glove, dimension out of my cabin to be tested
Repair instrument flexible connection vacuum tank；
(4) control servo control mechanism to work by console, make maintenance of equipment simulating piece to the direction away from space suit glove
It is mobile；
(5) hatch door of vacuum tank is closed, pressure difference simulation is carried out so that space suit glove inside and outside differential pressure and in-orbit actual conditions
Unanimously；
(6) required according to operating condition of test, servo control mechanism adjusts the relative of the maintenance of equipment simulating piece and space suit glove
Position；
(7) when the maintenance of equipment simulating piece and space suit glove relative position with it is in-orbit when physical location it is identical
When, maintenance tool out of my cabin to be tested is captured by space suit glove, operation experiments are carried out to the maintenance interface
A kind of manned spacecraft repairs ground simulation system out of my cabin, including servo control mechanism, console, vacuum tank, observation window,
Space suit glove and support guide；
Observation window and space suit glove are provided with vacuum tank, space suit glove is extend into inside the vacuum tank, and with
It is tightly connected between vacuum tank；Support guide and servo control mechanism are respectively positioned on inside vacuum tank, and support guide is fixed on vacuum tank bottom
Portion, servo control mechanism is arranged on support guide；Maintenance of equipment simulating piece is arranged on servo control mechanism, is had under the control of console
There are four freedoms of motion.
Four freedoms of motion refer to vacuum tank axially, vertical into, horizontal plane perpendicular to vacuum tank axially, rolling
Turn.
The servo control mechanism includes base, column, slide plate and turntable；
Base is fixed on support guide, and uprights vertical is arranged on base, and is moved axially along vacuum tank；Slide plate is vertical
On column and slide plate is moved along column；Turntable is connected with slide plate, and turntable is moved along slide plate, and maintenance of equipment simulating piece is fixed
On the rotating disk of turntable.
Base includes bedframe, base rail, leading screw and AC servo motor；
Bedframe is fixed on support guide, axial direction of two base rails along vacuum tank, is installed in parallel in base frames
On frame, leading screw and AC servo motor are arranged on inside bedframe, and leading screw uses the structural shape of spiral lift, and exchange is watched
Take motor driving leading screw to rotate, and then drive column to be moved along base rail.
Column includes column frame, column guide rail, sliding block, the second AC servo motor, the second leading screw and nut seat；
Two column guide rails for being parallel to each other are arranged on column frame, and the installation direction of column guide rail for vertical to,
Connected between column frame and base rail using sliding block, by slider support and spacing；Nut seat and the leading screw phase on base
Coordinate, for driving column to be moved along base rail；Second AC servo motor and the second leading screw are arranged on inside column frame,
Second the second leading screw of AC servo machinery driving is rotated, and then drives slide plate to be moved along column guide rail.
Slide plate includes slide plate framework, operating slide guideway rail, the second sliding block, the 3rd AC servo motor, the 3rd leading screw and the second spiral shell
Female seat；
Slide plate framework is arranged on column guide rail by the second sliding block, and installation direction and the column guide rail of slide plate framework hang down
Directly, and slide plate framework installation direction also be normal to vacuum tank axial direction；Two are provided with slide plate framework to be parallel to each other
Operating slide guideway rail, operating slide guideway rail is vertical with column guide rail, and the plane where two operating slide guideway rails is vertical guide；
Second nut seat is engaged with the second leading screw on column, for driving slide plate to be moved along column guide rail；3rd hands over
Flow servo motor and the 3rd leading screw are arranged on slide plate lower portion, the leading screw of the 3rd AC servo machinery driving the 3rd, and then drive
Turntable is moved along operating slide guideway rail.
Turntable includes turntable frame, rotating disk, the 3rd sliding block, the 4th AC servo motor and the 3rd nut seat；
Turntable frame is connected by the 3rd sliding block with operating slide guideway rail, and the 4th AC servo electricity is provided with inside turntable frame
Machine, driving rotating disk rotation, rotating disk is provided with cross recess, and groove cross section is inverse-T-shaped, for fixing maintenance of equipment simulation
Part；3rd nut seat and the 3rd leading screw coordinate, and then drive turntable frame to be moved along operating slide guideway rail.
Also include video camera, the top in vacuum tank.
It is identical with the inside and outside differential pressure of space suit glove with outside pressure differential inside the vacuum tank.
Compared with the prior art, the invention has the advantages that：
(1) wanting for the relative position between simulation space suit glove inside and outside differential pressure and maintenance product and spacefarer is met
Ask, improve the validity of maintenance tool ground experiment out of my cabin；
(2) will maintenance tool, maintenance interface flexible connection out of my cabin, it is to avoid instrument, interface, which slide, in ground experiment damages
Testing equipment；
(3) use camera record process of the test, test personnel to carry out playing back videos before evaluating, improve test evaluation
Objectivity and accuracy；
(4) present invention drives maintenance testing equipment to move by servo control mechanism, can be in the in-orbit dimension of ground 1g environment Imitating
Relative position relation when repairing between spacefarer and equipment, it is ensured that trystate and the uniformity of in-orbit state, improves maintenance examination
Test result validity；
(5) in process of the test, maintenance testing equipment position can be adjusted in real time by console manual control box, spacefarer is simulated
The repair and maintaining of different operating point during maintainable technology on-orbit large scale equipment, without the frequent shift position of testing crew, improves experiment
Continuity and test efficiency, be that the experiment of a large amount of maintenances of equipment is laid a good foundation；
(6) space simulator and space suit glove can be combined, gloves inside and outside differential pressure when simulation is operated out of my cabin improves maintenance
Operating operation test accuracy, while testing equipment can use structural member, matter module etc., without producing underwater test part, is reduced
Cost.
Brief description of the drawings
Fig. 1 is maintenance tool test method FB(flow block) out of my cabin of the invention；
Fig. 2 is ground simulation system composition schematic diagram of the present invention；
Fig. 3 is servo control mechanism structural representation of the present invention；
Fig. 4 is understructure schematic diagram of the present invention；
Fig. 5 is pillar construction schematic diagram of the present invention, wherein, Fig. 5 (a) is column front view, and Fig. 5 (b) is column stereogram；
Fig. 6 is skateboard schematic diagram of the present invention, wherein, Fig. 6 (a) is slide plate top view, and Fig. 6 (b) is slide plate stereogram；
Fig. 7 is turntable structure schematic diagram of the present invention, wherein, Fig. 7 (a) is turntable front view, and Fig. 7 (b) is turntable side view,
Fig. 7 (c) is turntable top view；
Fig. 8 is console structural representation of the present invention.
Embodiment
As shown in figure 1, the FB(flow block) of the test method of maintenance tool out of my cabin for the present invention, specific implementation step is as follows：
(1) exterior compartment space suit glove is installed on the flange-interface of vacuum tank hatch door；Vacuum tank hatch door is opened, and is locked
Hatch door, prevents that hatch door is rotated in operating process, is used to install extravehicular space suit using two on inner hexagon spanner dismounting vacuum tank
The blind flange of gloves, passes through flange by exterior compartment space suit glove, is installed on flange, and be capped blind flange, clamp flange lid.Peace
Need to distinguish space suit glove right-hand man during dress, left hand set is installed to left side flange-interface, the right hand is installed to right side
Flange-interface.
(2) product to be repaired is installed on switching tooling by trip bolt, according to frock upper installing hole position, adjusted
Switching tooling, is installed on servo control mechanism, fastening device by the position of whole servo control mechanism cross recess inner nut using screw, will
Maintenance of equipment simulating piece is arranged on servo control mechanism；Maintenance interface on maintenance of equipment simulating piece is flexibly connected to servo control mechanism
In turntable frame, prevent that maintenance interface drops in process of the test, damage test equipment, maintenance interface includes mechanical interface and electric
Interface；
(3) maintenance tool out of my cabin to be tested is put into vacuum tank, and neighbouring space suit glove, it is to be tested out of my cabin
Maintenance tool is flexibly connected vacuum tank, and link position does not influence maintenance operation, and maintenance tool position is flushed with gloves out of my cabin, is prevented
Instrument drops destructive test equipment in operating process；
(4) servo control mechanism console cable is installed in place, empties servo control mechanism personnel nearby, prevent servo control mechanism from transporting
Testing crew safety is threatened during dynamic, starts servo control mechanism power supply, controls servo control mechanism to work by console, makes maintenance set
Standby simulating piece is moved to the direction away from space suit glove；
(5) vacuum tank illuminating lamp and video camera are opened, it is ensured that illuminating lamp and camera operation are normal, close vacuum tank
Hatch door；The power supply of opening vacuum tank pumping pump group, supply, water supply valve, pumping pump group include screw pump, lobe pump；Open pipe
Closed after road atmospheric valve, blowdown piping；Pressure target value is set by switch board, pumping pump group angle valve is opened, starts screw pump,
When pressure inside vacuum tank is close to goal pressure, lobe pump is opened；Pressure inside vacuum tank is reduced to pressure target value,
And keep automatically；
(6) aerial ladder is placed into the experiment station of the maintenance operation before vacuum tank by testing crew, according to operating condition of test to relative
The requirement of position, using servo control mechanism console, servo control mechanism is adjusted to the position of setting, makes equipment relative with test personnel
Position, which is met, to be required；
(7) when the maintenance of equipment simulating piece and space suit glove relative position with it is in-orbit when physical location it is identical
When, testing crew wears anti-hands wet with perspiration set, and both hands stretch into space suit glove, observes situation in tank by vacuum tank observation window, uses
The maintenance tool out of my cabin is aligned to maintenance interface, dismantled, being installed, tightening operation, completes maintenance operation experiment, and record
Process of the test.
The present invention repairs ground simulation system based on manned spacecraft and realized out of my cabin, manned spacecraft cabin of the prior art
Outer maintenance ground simulation system can not be fully up to expectations, (as described in the background art, ground physical varification method and neutrality inconvenient for use
Buoyancy tank test method(s)).
As shown in Fig. 2 the present invention proposes a kind of brand-new manned spacecraft and repairs ground simulation system out of my cabin, including watch
Mechanism 1, console 2, vacuum tank 3, observation window 4, space suit glove 5 and support guide 6 are taken, above-mentioned six parts constitute a mould
Plan system.
By simulation system, maintenance of equipment simulating piece 7 is arranged on servo control mechanism 1, and is put into vacuum tank, reduction is true
The internal pressure of slack tank 3, makes the inside of vacuum tank 3 identical with the inside and outside differential pressure of space suit glove 5 with outside pressure differential, and keeps true
The internal pressure of slack tank 3 is stable, and spacefarer's space suit glove when space performs maintenance task out of my cabin can be simulated by this method
Influence to maintenance operation, so as to improve the accuracy of ground experiment；Servo control mechanism 1 is driven by console 2 simultaneously, dimension is driven
Repair equipment simulating part 7 to move, simulated test personnel and any relative position of maintenance of equipment simulating piece can be verified by this method
Whether backing up maintenance is operated relative position between Used For Eva person and maintenance of equipment, so as to optimize device layout.
Observation window 4 and space suit glove 5 are provided with vacuum tank 3, space suit glove 5 is extend into inside the vacuum tank 3,
And be tightly connected between vacuum tank 3；During ground experiment, testing crew stretches into both hands in space suit glove 5, passes through space suit
The operation maintenance of equipment of gloves 5 simulating piece 7, while being observed by observation window 4 maintenance operation process；Support guide 6 and watch
Take mechanism 1 to be respectively positioned on inside vacuum tank 3, support guide 6 is fixed on the bottom of vacuum tank 3, servo control mechanism 1 is arranged on support guide 6
On；Maintenance of equipment simulating piece 7 is arranged on servo control mechanism 1, has four freedoms of motion under the control of console 2.
Four freedoms of motion refer to vacuum tank 3 axially, vertical into, horizontal plane perpendicular to vacuum tank 3 axially, rolling.
As shown in figure 3, Y-direction is the axial direction of vacuum tank 3, Z-direction is vertical to X-direction is perpendicular to vacuum tank 3 in horizontal plane
Axially direction；X-direction, Y-direction and Z-direction are vertical two-by-two, and meet right-hand law.
As shown in figure 3, the servo control mechanism 1 includes base 11, column 12, slide plate 13 and turntable 14；Base 11 is fixed on
On support guide 6, the right angle setting of column 12 on the pedestal 11, and is moved axially along vacuum tank 3；Slide plate 13 is vertically mounted on column
On 12 and slide plate 13 is moved along column 12；Turntable 14 is connected with slide plate 13, and turntable 14 is moved along slide plate 13, maintenance of equipment simulating piece
7 are fixed on the rotating disk of turntable 14, and rotating disk can be rotated along its central axis, so as to drive the rolling of maintenance of equipment simulating piece 7.
As shown in figure 4, base 11 includes bedframe 111, base rail 112, leading screw 113 and AC servo motor 114；
Bedframe 111 is fixed on support guide 6, and bedframe 111 uses concave shaped structure, and dented space is used to pacify
Leading screw 113 and AC servo motor 114, axial direction of two base rails 112 along vacuum tank 3 are filled, bedframe is installed in parallel in
On 111, moved for supporting with spacing column 12 along guide rail direction, leading screw 113 and AC servo motor 114 are arranged on base frames
Inside frame 111, and vertical height is below base rail 112, it is to avoid with leading screw 113 and AC servo electricity in column motion process
Machine 114 collides and clamping stagnation, and leading screw 113 is using the structural shape of spiral lift, the driving leading screw of AC servo motor 114
113 rotate, and then drive column 12 to be moved along base rail 112, and AC servo motor 114 connects with band-type brake function, displacement
It is continuous adjustable, and it is positively retained at optional position.
As shown in Fig. 5 (a), 5 (b), column 12 includes column frame 121, column guide rail 122, sliding block 123, second and exchanged
Servomotor 124, the second leading screw 125 and nut seat 126；
Column frame 121 uses right angled triangle reinforcement structure, it is ensured that pillar construction rigidity can carry slide plate 13, turntable
14 and the weight of maintenance of equipment simulating piece 7, the hollow out of column frame 121 reduction weight, two column guide rails 122 being parallel to each other are pacified
On column frame 121, and the installation direction of column guide rail 122 is vertical to for limit skateboard 13 along vertical to moving；
Connected, supported by sliding block 123 and spacing using sliding block 123 between column frame 121 and base rail 112；Nut seat 126 with
Leading screw 113 on base 11 is engaged, and the AC servo motor 114 on base 11 is rotated, and drives leading screw 113 to rotate, leading screw 113
On threaded drive nut seat 126 move, so as to drive column 12 to be moved along base rail 112；Second AC servo motor 124
It is arranged on the second leading screw 125 inside column frame 121, the second AC servo motor 124 has band-type brake function, the second AC servo
Motor 124 drives the second leading screw 125 to rotate, and then drives slide plate 13 to be moved along column guide rail 122.
As shown in Fig. 6 (a), 6 (b), slide plate 13 includes slide plate framework 131, operating slide guideway rail 132, the second sliding block the 133, the 3rd
AC servo motor 134, the 3rd leading screw 135 and the second nut seat 136；
Slide plate framework 131 by the second sliding block 133 be arranged on column guide rail 122 on, the installation direction of slide plate framework 131 with
Column guide rail 122 is vertical, and the installation direction of slide plate framework 131 also is normal to vacuum tank 3 axially, and slide plate framework 131 can edge
Column guide rail 122 is moved；Two operating slide guideway rails being parallel to each other 132 are installed on slide plate framework 131, operating slide guideway rail 132 with
Column guide rail 122 is vertical, and the plane where two operating slide guideway rails 132 is vertical guide, and operating slide guideway rail 132 is used for spacing turntable
14；
Second nut seat 136 is engaged with the second leading screw 125 on column 12, the AC servo motor 124 on column 12
Rotate, drive leading screw 125 to rotate, the threaded drive nut seat 136 on leading screw 125 is moved, so as to drive slide plate 13 along column guide
Rail 122 is moved, the band-type brake of AC servo motor 124, then nut seat 136 stops movement, so that slide plate 13 stops movement, and is maintained at
The position of stopping；3rd AC servo motor 134 and the 3rd leading screw 135 are arranged on inside slide plate framework 131, the 3rd AC servo
Motor 134 has band-type brake function, and the 3rd AC servo motor 134 drives the 3rd leading screw 135, and then drives turntable 14 along operating slide guideway rail
132 movements.
As shown in Fig. 7 (a), 7 (b), 7 (c), turntable 14 includes turntable frame 141, rotating disk 142, the 3rd sliding block the 143, the 4th
The nut seat 145 of AC servo motor 144 and the 3rd；
Turntable frame 141 is connected by the 3rd sliding block 143 with operating slide guideway rail 132, and the 4th is provided with inside turntable frame 141
AC servo motor 144, driving rotating disk 142 rotates, and rotating disk 142 is provided with cross recess, and groove cross section is inverse-T-shaped, is used
In fixed maintenance of equipment simulating piece 7, rotating disk 142 is rotated, then drives the rolling of maintenance of equipment simulating piece 7；3rd nut seat 145 and
Three leading screws 135 coordinate, and then drive turntable frame 141 to be moved along operating slide guideway rail 132.
As shown in Fig. 2 present invention additionally comprises video camera 9, the top in vacuum tank 3 can shoot ground experiment
Process, for test result analysis.
The inside of vacuum tank 3 is identical with the inside and outside differential pressure of space suit glove 5 with outside pressure differential, inside vacuum tank 3
Pressure can be adjusted according to the design objective of different space suits.
As shown in Figure 2 and Figure 8, console 2 includes manual control box 21, keyboard 22, mouse 23, display screen 24, scram button 25
With electric cabinet 26, electric cabinet 26 is interior to include power supply, Measurement ＆control computer and power amplification drive part；Console 2 is placed on very
Near slack tank 3, it is easy in process of the test adjust servo control mechanism 1 temporarily, testing crew can use manual control box 21, keyboard 22, mouse
Mark 23 controls servo control mechanism 1.
Operation principle：
Maintenance tool experiment out of my cabin, it is necessary to maintenance tool, maintenance of equipment simulating piece and servo control mechanism vacuum will be put into out of my cabin
In tank, the interface of maintenance tool operation is mounted with maintenance of equipment simulating piece.The first step of test method be by right-hand man out of my cabin
Space suit glove is installed on the flange-interface of vacuum tank hatch door；Second step is that maintenance of equipment simulating piece is installed into servo control mechanism
On, the maintenance interface on maintenance of equipment simulating piece is flexibly connected in servo control mechanism turntable frame；3rd step is will be to be tested
Maintenance tool out of my cabin be flexibly connected at the top of vacuum tank；4th step is to start servo control mechanism, and controls servo control mechanism to work, and is made
Maintenance of equipment simulating piece is moved to the direction away from space suit glove, prevents space suit glove expansion and servo when vacuum tank is evacuated
Mechanism damaged in collision；5th step is that vacuum tank is pumped into specified pressure, and is kept；6th step is that aerial ladder is placed into maintenance behaviour
Station is tested, servo control mechanism is adjusted to the position of setting, equipment is met with test personnel's relative position and requires；7th step
It is that testing crew stretches into space suit glove, completes experiment.
This test method repairs ground simulation system out of my cabin based on manned spacecraft, is tieed up out of my cabin using the simulation system
, it is necessary to which the system servo control mechanism 1 and maintenance of equipment simulating piece 7 are put into vacuum tank 3 jointly when repairing ground experiment.It will watch first
Take on the support guide 6 that mechanism 1 is fixed on inside vacuum tank 3, servo control mechanism 1 need to suitably be adjusted according to testpieces size when fixed
Position, it is ensured that in process of the test servo control mechanism 1 part motion will not collide vacuum tank 3；Console cable 8 is installed, started
Console 2, is moved, it is ensured that servo control mechanism 1 is working properly using the control servo control mechanism 1 of manual control box 21；By maintenance of equipment simulating piece 7
It is installed to tooling combination body on rotating disk 142；Space suit glove 5 is installed, starts video camera 9, it is ensured that video camera 9 is working properly,
Close the gate of vacuum tank 3, the reduction internal pressure of vacuum tank 3 to specified pressure；Testing crew enters station, and both hands stretch into space flight
Gloves 5 are taken, experiment support staff's adjustment servo control mechanism 1 makes device location and posture and in-orbit state consistency, test operation personnel
Operating operation test is carried out to maintenance of equipment by space suit glove 5 and observation window 4；Support staff records process of the test and experiment is tied
Really.
Embodiment：
The step of according to this test method, as shown in figure 1, maintenance tool is tested out of my cabin to 4 kinds of manned spacecrafts, profit
Vacuum tank control system is used, vacuum tank hatch door is opened, exterior compartment space suit glove is installed to vacuum tank using M6 inner hexagon spanners
On, maintenance of equipment simulating piece is installed on servo control mechanism by four M10 screws, using nylon rope by maintenance of equipment simulating piece
On maintenance interface be flexibly connected in servo control mechanism turntable frame, prevent that maintenance interface drops in process of the test, damage test
Equipment, maintenance interface includes mechanical adapter, M5 pines and does not take off fastener, J599 electric connectors, J14T electric connectors and J36A
Electric connector；Maintenance tool it will be flexibly connected out of my cabin at the top of vacuum tank with nylon rope, maintenance tool position is flushed with gloves out of my cabin；
Servo control mechanism console cable is installed, starts servo control mechanism power supply, servo control mechanism is controlled to away from space suit hand by console
The direction movement 400mm of set；Vacuum tank illuminating lamp and video camera are opened, illuminating lamp and camera operation are normal, close vacuum tank
Hatch door, opens vacuum tank pumping pump group, starts pumping, when the pressure distance objective pressure inside vacuum tank is less than 3kPa, open
Open the pressure inside lobe pump, vacuum tank and be reduced to pressure target value, and keep automatically；Four stratus ladders are placed into by testing crew
Operating operation test station, using servo control mechanism console, servo control mechanism is adjusted to the position of setting；Testing crew completion alignment,
Dismounting, installation, tightening operation experiment.
The manned spacecraft that this test method is used repairs ground simulation system out of my cabin as shown in Fig. 2 vacuum tank 3 is using circle
Cylindricality horizontal type structure, material of main part is 0Cr18Ni9Ti, and internal diameter is 2000mm, the long 2000mm of straight section；Vacuum tank 3 is designed with two
The operation large flange of testing crew maintenance operation is left on gate, side gate, large flange size is diameter 1000mm, big method
Orchid installs two space suit gloves 5 and an observation window 4, a diameter of 200mm of the handle hole of space suit glove 5, spacing
400mm, the center of observation window 4 and the vertical range of 2 space suit glove handle hole lines of centres are 280mm, and testing crew passes through
Observation window 4 is it can be seen that install 2 guide rails, spacing 700mm, guide rail load-bearing 1.2T in whole operation interface, vacuum tank 3.
Servo control mechanism 1, vertical is to stroke 300mm, and vacuum tank axial stroke 1200mm, horizontal plane is interior perpendicular to vacuum tank axle
To stroke 800mm, 0.3~1.5m/min of translational speed, -360 °~+360 ° of rolling orientation angle stroke, rotating speed 1r/min, essence
0.5 ° of degree.
As shown in table 1, result of the test shows that this method can avoid instrument in ground experiment, interface from sliding to result of the test,
Experiment shooting record is complete effective, repairs ground simulation system out of my cabin based on manned spacecraft, can simulate extravehicular space suit hand
Pressure difference is covered, and the inside and outside differential pressure of simulation is adjustable, while the different relative position of simulation, experiment need not produce underwater test part, drops
Low cost.
Table 1
Do not specified in the present invention and partly belong to techniques known.
Claims (10)
1. a kind of maintenance tool test method out of my cabin, it is characterised in that：The test method repairs ground out of my cabin based on manned spacecraft
Face simulation system realizes that step is as follows：
(1) exterior compartment space suit glove is installed on the flange-interface of vacuum tank hatch door；
(2) maintenance of equipment simulating piece is arranged on servo control mechanism, the maintenance interface on maintenance of equipment simulating piece is flexibly connected
Onto servo control mechanism turntable frame；The maintenance interface includes mechanical interface and electric interfaces；
(3) maintenance tool out of my cabin to be tested is put into vacuum tank, and neighbouring space suit glove, maintenance mans out of my cabin to be tested
Tool flexible connection vacuum tank；
(4) control servo control mechanism to work by console, make maintenance of equipment simulating piece be moved to the direction away from space suit glove；
(5) hatch door of vacuum tank is closed, pressure difference simulation is carried out so that space suit glove inside and outside differential pressure and in-orbit actual conditions one
Cause；
(6) required according to operating condition of test, servo control mechanism adjusts the relative position of the maintenance of equipment simulating piece and space suit glove；
(7) when the maintenance of equipment simulating piece and space suit glove relative position with it is in-orbit when physical location it is identical when, lead to
Cross space suit glove and capture maintenance tool out of my cabin to be tested, operation experiments are carried out to the maintenance interface.
2. a kind of maintenance tool test method out of my cabin according to claim 1, it is characterised in that：The manned spacecraft cabin
Outer maintenance ground simulation system includes：Servo control mechanism (1), console (2), vacuum tank (3), observation window (4), space suit glove
And support guide (6) (5)；
Observation window (4) and space suit glove (5) are provided with vacuum tank (3), space suit glove (5) extend into the vacuum tank
(3) it is internal, and be tightly connected between vacuum tank (3)；Support guide (6) and servo control mechanism (1) are respectively positioned in vacuum tank (3)
Portion, support guide (6) is fixed on vacuum tank (3) bottom, and servo control mechanism (1) is arranged on support guide (6)；Maintenance of equipment is simulated
Part (7) is arranged on servo control mechanism (1), has four freedoms of motion under the control of console (2).
3. a kind of manned spacecraft according to claim 2 repairs ground simulation system out of my cabin, it is characterised in that：Described four
Individual freedom of motion refer to vacuum tank (3) axially, vertical into, horizontal plane perpendicular to vacuum tank (3) axially, rolling.
4. a kind of manned spacecraft according to Claims 2 or 3 repairs ground simulation system out of my cabin, it is characterised in that：Institute
Stating servo control mechanism (1) includes base (11), column (12), slide plate (13) and turntable (14)；
Base (11) is fixed on support guide (6), and column (12) is vertically mounted on base (11), and along vacuum tank (3) axle
To movement；Slide plate (13) is vertically mounted on column (12) and slide plate (13) is mobile along column (12)；Turntable (14) and slide plate
(13) connect, turntable (14) is mobile along slide plate (13), maintenance of equipment simulating piece (7) is fixed on the rotating disk of turntable (14).
5. a kind of manned spacecraft according to claim 4 repairs ground simulation system out of my cabin, it is characterised in that：Base
(11) bedframe (111), base rail (112), leading screw (113) and AC servo motor (114) are included；
Bedframe (111) is fixed on support guide (6), axial direction of two base rails (112) along vacuum tank (3), parallel
On bedframe (111), leading screw (113) and AC servo motor (114) are arranged on bedframe (111) inside, silk
Thick stick (113) is using the structural shape of spiral lift, and AC servo motor (114) driving leading screw (113) is rotated, and then is driven vertical
Post (12) is mobile along base rail (112).
6. a kind of manned spacecraft according to claim 5 repairs ground simulation system out of my cabin, it is characterised in that：Column
(12) column frame (121), column guide rail (122), sliding block (123), the second AC servo motor (124), the second leading screw are included
And nut seat (126) (125)；
Two column guide rails (122) being parallel to each other are arranged on column frame (121), and the installation side of column guide rail (122)
To for vertical to, be connected between column frame (121) and base rail (112) using sliding block (123), pass through sliding block (123) prop up
Support and spacing；Nut seat (126) is engaged with the leading screw (113) on base (11), for driving column (12) along base rail
(112) it is mobile；Second AC servo motor (124) and the second leading screw (125) are arranged on column frame (121) inside, and second hands over
Flow servo motor (124) drives the second leading screw (125) to rotate, and then drives slide plate (13) mobile along column guide rail (122).
7. a kind of manned spacecraft according to claim 4 repairs ground simulation system out of my cabin, it is characterised in that：Slide plate
(13) slide plate framework (131), operating slide guideway rail (132), the second sliding block (133), the 3rd AC servo motor (134), the 3rd are included
Leading screw (135) and the second nut seat (136)；
Slide plate framework (131) is arranged on column guide rail (122) by the second sliding block (133), the installation side of slide plate framework (131)
To vertical with column guide rail (122), and the installation direction of slide plate framework (131) also is normal to vacuum tank (3) axially；In slide plate
Two operating slide guideway rails being parallel to each other (132) are installed, operating slide guideway rail (132) hangs down with column guide rail (122) on framework (131)
Directly, the plane and where two operating slide guideway rails (132) is vertical guide；
Second nut seat (136) is engaged with the second leading screw (125) on column (12), for driving slide plate (13) along column guide
Rail (122) is mobile；3rd AC servo motor (134) and the 3rd leading screw (135) are arranged on slide plate framework (131) inside, the 3rd
AC servo motor (134) drives the 3rd leading screw (135), and then drives turntable (14) mobile along operating slide guideway rail (132).
8. a kind of manned spacecraft according to claim 4 repairs ground simulation system out of my cabin, it is characterised in that：Turntable
(14) turntable frame (141), rotating disk (142), the 3rd sliding block (143), the 4th AC servo motor (144) and the 3rd nut are included
Seat (145)；
Turntable frame (141) is connected by the 3rd sliding block (143) with operating slide guideway rail (132), is provided with inside turntable frame (141)
4th AC servo motor (144), driving rotating disk (142) rotation, rotating disk (142) is provided with cross recess, and groove cross section is
It is inverse-T-shaped, for fixing maintenance of equipment simulating piece (7)；3rd nut seat (145) coordinates with the 3rd leading screw (135), and then drives
Turntable frame (141) is mobile along operating slide guideway rail (132).
9. a kind of manned spacecraft according to Claims 2 or 3 repairs ground simulation system out of my cabin, it is characterised in that：Also
Including video camera (9), the top in vacuum tank (3).
10. a kind of manned spacecraft according to Claims 2 or 3 repairs ground simulation system out of my cabin, it is characterised in that：Institute
State vacuum tank (3) internal identical with the inside and outside differential pressure of space suit glove (5) with outside pressure differential.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710372309.7A CN107215489B (en) | 2017-05-24 | 2017-05-24 | A kind of maintenance tool test method out of my cabin |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710372309.7A CN107215489B (en) | 2017-05-24 | 2017-05-24 | A kind of maintenance tool test method out of my cabin |
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| Publication Number | Publication Date |
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| CN107215489B CN107215489B (en) | 2018-08-31 |
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| CN113928596A (en) * | 2021-10-22 | 2022-01-14 | 北京卫星环境工程研究所 | Space station extra-cabin toolbox |
| CN116215897A (en) * | 2022-12-30 | 2023-06-06 | 中国科学院空间应用工程与技术中心 | Space station online cabinet front panel and online cabinet operation box |
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| Publication number | Publication date |
|---|---|
| CN107215489B (en) | 2018-08-31 |
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