CN107215489B - 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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- CN107215489B CN107215489B CN201710372309.7A CN201710372309A CN107215489B CN 107215489 B CN107215489 B CN 107215489B CN 201710372309 A CN201710372309 A CN 201710372309A CN 107215489 B CN107215489 B CN 107215489B
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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, includes the following steps：(1) exterior compartment space suit glove is installed on vacuum tank flange；(2) installation and maintenance equipment simulating part, the maintenance interface being flexibly connected on 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, is avoided during taking out pressure, maintenance of equipment simulating piece damages space suit glove；(5) hatch door for closing vacuum tank, carries out pressure difference simulation；(6) relative position of maintenance of equipment simulating piece and space suit glove is adjusted；(7) operation experiments are carried out to maintenance interface.Maintenance tool, maintenance interface can be flexibly connected in vacuum tank by the present invention, it avoids sliding destructive test equipment during maintenance operation, the relative position of space suit glove inside and outside differential pressure and maintenance of equipment and testing crew can be simulated simultaneously, support the ground experiment of manned spacecraft maintenance tool out of my cabin.
Description
Technical field
Present invention relates particularly to a kind of maintenance tool test method out of my cabin, it is suitable for 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 service life and ensureing reliance security, while being also in-orbit
One of highest task of difficulty 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, and China is developing Heavenly Palace space
It stands, design in-orbit life-span 10 years or more is the large-scale manned spacecraft of the first long-term in-orbit flight in China.
Spacefarer wears extravehicular space suit when repairing out of my cabin, and extravehicular space suit inside and outside differential pressure makes space suit glove flexibility ratio drop
Low, spacefarer's hand sensing capability reduces, and operating force becomes larger, and maintenance tool is easy to fly 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 verification in development process.
The verification method of maintenance tool includes mainly normal pressure gloves test method(s), glove box test method(s) and neutral buoyancy water out of my cabin
Slot test method(s).Normal pressure gloves test method(s) dresses space suit glove directly to tool under an atmospheric pressure, by testing crew
The operations such as picked and placeed, used, this method can not simulate swelling state of the gloves under inside and outside differential pressure effect, it is swollen to have ignored gloves
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, with aspiration pump by pressure reduction in glove box, space suit glove inside and outside differential pressure, testing crew are simulated
The maintenance tool for putting in the case is tested by the space suit glove on babinet, glove box can only grab small instruments and tools
The simple operations experiment such as hold, rotate, can not be dismantled in conjunction with maintenance product, experiment is installed, thus to maintenance tool out of my cabin into
The comprehensive experiment of row and evaluation are a urgent problems to be solved.
Invention content
Problems solved by the invention is：A kind of maintenance tool test method out of my cabin is provided, by with flange-interface
It installs the space suit glove containing ancon on vacuum tank additional, and maintenance product is fixed on to the four-degree-of-freedom servo mechanism in vacuum tank
On, it carries out maintenance tool out of my cabin and tests, 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 out of my cabin is dismantled, installation operation is tested.
Technical solution of the invention is：
It is a kind of that maintenance tool test method, the test method repair ground simulation system out of my cabin based on manned spacecraft out of my cabin
It realizes, steps are 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 mounted in servo mechanism, the maintenance interface on maintenance of equipment simulating piece is flexible
It is connected in servo 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 tool flexible connection vacuum tank；
(4) servo mechanism work is controlled by console, enables maintenance of equipment simulating piece to the direction far from space suit glove
It is mobile；
(5) hatch door for closing vacuum tank, carries out pressure difference simulation so that space suit glove inside and outside differential pressure and in-orbit actual conditions
Unanimously；
(6) it is required according to operating condition of test, servo mechanism adjusts the opposite of the maintenance of equipment simulating piece and space suit glove
Position；
(7) when the maintenance of equipment simulating piece and the relative position of space suit glove 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, and operation experiments are carried out to the maintenance interface
A kind of manned spacecraft repairs ground simulation system out of my cabin, including servo mechanism, console, vacuum tank, observation window,
Space suit glove and support guide；
Observation window and space suit glove are provided on 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 mechanism are respectively positioned on inside vacuum tank, and support guide is fixed on vacuum tank bottom
Portion, servo mechanism are mounted on support guide；Maintenance of equipment simulating piece is mounted in servo mechanism, is had under the control of console
There are four freedom of motion.
Four freedom of motion refer to that vacuum tank is axial, vertical, rolling axial perpendicular to vacuum tank into, horizontal plane
Turn.
The servo mechanism includes pedestal, column, slide plate and turntable；
Pedestal is fixed on support guide, and uprights vertical is mounted on the base, and is moved axially along vacuum tank；Slide plate is vertical
On column and slide plate is moved along column；Turntable is connect with slide plate, and turntable is moved along slide plate, and maintenance of equipment simulating piece is fixed
On the turntable of turntable.
Pedestal includes bedframe, base rail, leading screw and AC servo motor；
Bedframe is fixed on support guide, and two base rails are installed in parallel in base frames along the axial direction of vacuum tank
On frame, leading screw and AC servo motor are mounted on inside bedframe, and leading screw uses the structural shape of spiral lift, exchange to watch
Motor driving leading screw rotation is taken, and then column is driven 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 being mutually parallel are mounted on column frame, and the installation direction of column guide rail be vertical to,
It is connected using sliding block between column frame and base rail, passes through slider support and limit；Nut seat and the leading screw phase on pedestal
Cooperation, for driving column to be moved along base rail；Second AC servo motor and the second leading screw are mounted on inside column frame,
Second the second leading screw of AC servo machinery driving rotates, and then slide plate is driven to be moved along column guide rail.
Slide plate includes slide plate frame, operating slide guideway rail, the second sliding block, third AC servo motor, third leading screw and the second spiral shell
Female seat；
Slide plate frame is mounted on by the second sliding block on column guide rail, and installation direction and the column guide rail of slide plate frame hang down
Directly, and the installation direction of slide plate frame also is normal to vacuum tank axial direction；It is mutually parallel there are two installations on slide plate frame
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 matched with the second leading screw on column, for driving slide plate to be moved along column guide rail；Third is handed over
Flow servo motor and third leading screw are mounted on slide plate lower portion, third AC servo machinery driving third leading screw, and then drive
Turntable is moved along operating slide guideway rail.
Turntable includes turntable frame, turntable, third sliding block, the 4th AC servo motor and third nut seat；
Turntable frame is connect by third sliding block with operating slide guideway rail, and the 4th AC servo electricity is equipped with inside turntable frame
Machine, driving disc rotation, turntable are equipped with cross recess, and groove cross section is inverse-T-shaped, for fixing maintenance of equipment simulation
Part；Third nut seat coordinates with third leading screw, and then turntable frame is driven to be moved along operating slide guideway rail.
Further include video camera, is mounted on the top in vacuum tank.
It is identical as the inside and outside differential pressure of space suit glove as external pressure difference 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
It asks, improves the validity of maintenance tool ground experiment out of my cabin；
(2) it maintenance tool, maintenance interface will be flexibly connected out of my cabin, and avoid tool in ground experiment, interface slides damage
Testing equipment；
(3) it uses camera record to test process, carries out playing back videos before test personnel's evaluation, improve test evaluation
Objectivity and accuracy；
(4) present invention drives repair testing equipment movement by servo mechanism, can be in the in-orbit dimension of ground 1g environment Imitatings
Relative position relation when repairing between spacefarer and equipment, it is ensured that the consistency of trystate and in-orbit state improves repair examination
Test result validity；
(5) during testing, repair testing equipment position can be adjusted by console manual control box in real time, simulate spacefarer
The repair and maintaining of different operating point during maintainable technology on-orbit large scale equipment is not necessarily to the frequent shift position of testing crew, improves experiment
Continuity and test efficiency, for a large amount of maintenances of equipment experiment lay a good foundation；
(6) repair can be improved in conjunction with space simulator and space suit glove, gloves inside and outside differential pressure when boiler-plate operates outside
Operating operation test accuracy, while testing equipment can use structural member, matter module etc., without producing underwater test part, reduce
Cost.
Description of the drawings
Fig. 1 is present invention maintenance tool test method flow diagram out of my cabin；
Fig. 2 is ground simulation system composition schematic diagram of the present invention；
Fig. 3 is servo mechanism structural schematic diagram of the present invention；
Fig. 4 is schematic diagram of base structure 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 vertical 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 vertical view；
Fig. 8 is console structural schematic diagram of the present invention.
Specific implementation mode
As shown in Figure 1, the flow diagram of the test method of maintenance tool out of my cabin for the present invention, specific implementation step are 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 hatch door in operating process from rotating, using two on allen wrench dismounting vacuum tank for installing extravehicular space suit
Exterior compartment space suit glove is passed through flange, is installed on flange, and be capped blind flange, clamp flange lid by the blind flange of gloves.Peace
It needs 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 tooling upper installing hole position, is adjusted
Switching tooling is installed in servo mechanism, fastening device by the position of whole servo mechanism cross recess inner nut using screw, will
Maintenance of equipment simulating piece is mounted in servo mechanism；Maintenance interface on maintenance of equipment simulating piece is flexibly connected to servo mechanism
In turntable frame, maintenance interface is fallen during preventing experiment, damage test equipment, and maintenance interface includes mechanical interface and electrical
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
Tool falls destructive test equipment in operating process；
(4) servo mechanism console cable is installed in place, empties servo mechanism personnel nearby, prevents servo mechanism from transporting
Testing crew safety is threatened during dynamic, starts servo mechanism power supply, and servo mechanism work is controlled by console, repair is enabled to set
Standby simulating piece is moved to the direction far from space suit glove；
(5) vacuum tank headlamp and video camera are opened, it is ensured that headlamp and camera operation are normal, close vacuum tank
Hatch door；The power supply of opening vacuum tank pumping pump group, gas supply, water supply valve, pumping pump group includes screw pump, lobe pump；Open pipe
Road blow valve is closed after blowdown piping；Pressure target value is set by switch board, opens pumping pump group angle valve, starts screw pump,
When pressure inside vacuum tank is close to goal pressure, lobe pump is opened；Pressure reduction inside vacuum tank to pressure target value,
And it automatically keeps；
(6) aerial ladder is placed into the maintenance operation experiment station before vacuum tank by testing crew, according to operating condition of test to opposite
Servo mechanism is adjusted to the position of setting, keeps equipment opposite with test personnel by the requirement of position using servo mechanism console
Position is met the requirements；
(7) when the maintenance of equipment simulating piece and the relative position of space suit glove 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 directed at maintenance interface, dismantled, being installed, tightening operation, completes maintenance operation experiment, and record
Experiment process.
The present invention is based on manned spacecrafts to repair the realization of ground simulation system, manned spacecraft cabin in the prior art out of my cabin
Outer repair ground simulation system cannot be fully up to expectations, (as described in the background art, ground physical varification method and neutrality inconvenient for use
Buoyancy sink test method(s)).
As shown in Fig. 2, the present invention proposes a kind of brand-new manned spacecraft 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 form a mould
Quasi- system.
By simulation system, maintenance of equipment simulating piece 7 is mounted in servo mechanism 1, and is put into vacuum tank, is reduced true
3 internal pressure of slack tank keeps 3 inside of vacuum tank and external pressure difference identical as the inside and outside differential pressure of space suit glove 5, and keeps true
3 internal pressure of slack tank is stablized, and spacefarer's space suit glove when space executes maintenance task out of my cabin can be simulated by this method
Influence to maintenance operation, to improve the accuracy of ground experiment；Servo mechanism 1 is driven by console 2 simultaneously, drives dimension
The movement of equipment simulating part 7, simulation test personnel and the arbitrary relative position of maintenance of equipment simulating piece are repaiied, can be verified by this method
Whether backing up maintenance operates relative position between Used For Eva person and maintenance of equipment, to optimize device layout.
Observation window 4 and space suit glove 5 are provided on vacuum tank 3, space suit glove 5 is extend into inside the vacuum tank 3,
And it is tightly connected between vacuum tank 3；When ground experiment, testing crew stretches into both hands in space suit glove 5, passes through space suit
Gloves 5 operate maintenance of equipment simulating piece 7, while being observed maintenance operation process by observation window 4；It support guide 6 and watches
It takes mechanism 1 to be respectively positioned on inside vacuum tank 3, support guide 6 is fixed on 3 bottom of vacuum tank, and servo mechanism 1 is mounted on support guide 6
On；Maintenance of equipment simulating piece 7 is mounted in servo mechanism 1, and there are four freedom of motion for tool under the control of console 2.
Four freedom of motion refer to that vacuum tank 3 is axial, vertical axial, rolling perpendicular to vacuum tank 3 into, horizontal plane.
As shown in figure 3, Y-direction is that vacuum tank 3 is axial, Z-direction is vertical to X-direction is in horizontal plane perpendicular to vacuum tank 3
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 mechanism 1 includes pedestal 11, column 12, slide plate 13 and turntable 14；Pedestal 11 is fixed on
On support guide 6,12 right angle setting of column 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 connect with slide plate 13, and turntable 14 is moved along slide plate 13, maintenance of equipment simulating piece
7 are fixed on the turntable of turntable 14, and turntable can be rotated along central axis, to drive 7 rolling of maintenance of equipment simulating piece.
As shown in figure 4, pedestal 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 for pacifying
Dress leading screw 113 and AC servo motor 114, two base rails 112 are installed in parallel in bedframe along the axial direction of vacuum tank 3
It on 111, is used to support and is moved along guide rail direction with spacing column 12, leading screw 113 and AC servo motor 114 are mounted on base frames
Inside frame 111, and vertical height is below base rail 112, avoids electric with leading screw 113 and AC servo 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 rotations, and then column 12 is driven to be moved along base rail 112, AC servo motor 114 connects with band-type brake function, displacement distance
It is continuous adjustable, and it is positively retained at any position.
As shown in Fig. 5 (a), 5 (b), column 12 includes column frame 121, column guide rail 122, the exchange of sliding block 123, second
Servo motor 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 maintenance of equipment simulating piece 7 weight, 121 hollow out of column frame reduces weight, and two column guide rails 122 for being mutually parallel 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；
It is connected using sliding block 123 between column frame 121 and base rail 112, supports and limit by sliding block 123；Nut seat 126 with
Leading screw 113 on pedestal 11 matches, and the AC servo motor 114 on pedestal 11 rotates, and drives leading screw 113 to rotate, leading screw 113
On threaded drive nut seat 126 move, to drive column 12 to be moved along base rail 112；Second AC servo motor 124
It is mounted on inside column frame 121 with the second leading screw 125, the second AC servo motor 124 has band-type brake function, the second AC servo
Motor 124 drives the rotation of the second leading screw 125, and then slide plate 13 is driven to be moved along column guide rail 122.
As shown in Fig. 6 (a), 6 (b), slide plate 13 includes slide plate frame 131, operating slide guideway rail 132, the second sliding block 133, third
AC servo motor 134, third leading screw 135 and the second nut seat 136；
Slide plate frame 131 by the second sliding block 133 be mounted on column guide rail 122 on, the installation direction of slide plate frame 131 with
Column guide rail 122 is vertical, and the installation direction of slide plate frame 131 also is normal to vacuum tank 3 axially, and slide plate frame 131 can edge
Column guide rail 122 moves；Installation is there are two the operating slide guideway rail 132 that is mutually parallel on slide plate frame 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 for limiting turntable
14；
Second nut seat 136 is matched with the second leading screw 125 on column 12, the AC servo motor 124 on column 12
Rotation drives leading screw 125 to rotate, and the threaded drive nut seat 136 on leading screw 125 moves, to drive slide plate 13 along column guide
Rail 122 moves, 124 band-type brake of AC servo motor, then nut seat 136 stops movement, to which slide plate 13 stops movement, and is maintained at
The position of stopping；Third AC servo motor 134 and third leading screw 135 are mounted on inside slide plate frame 131, third AC servo
Motor 134 has band-type brake function, and third AC servo motor 134 drives third 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, turntable 142, third sliding block the 143, the 4th
AC servo motor 144 and third nut seat 145；
Turntable frame 141 is connect by third sliding block 143 with operating slide guideway rail 132, and the 4th is equipped with inside turntable frame 141
AC servo motor 144, driving disc 142 rotate, and turntable 142 is equipped with cross recess, and groove cross section is inverse-T-shaped, is used
In fixed maintenance of equipment simulating piece 7, turntable 142 rotates, then drives 7 rolling of maintenance of equipment simulating piece；Third nut seat 145 and
Three leading screws 135 coordinate, and then turntable frame 141 is driven to be moved along operating slide guideway rail 132.
As shown in Fig. 2, the invention also includes video camera 9, it is mounted on the top in vacuum tank 3, ground experiment can be shot
Process is used for test result analysis.
3 inside of the vacuum tank and external pressure difference are identical as the inside and outside differential pressure of space suit glove 5, 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, interior electric cabinet 26 includes power supply, Measurement ＆control computer and power amplification drive part；Console 2 is placed on very
Near slack tank 3, manual control box 21, keyboard 22, mouse can be used convenient for interim adjustment servo mechanism 1, testing crew during experiment
23 control servo mechanism 1 of mark.
Operation principle：
Maintenance tool is tested out of my cabin, needs maintenance tool out of my cabin, maintenance of equipment simulating piece and servo mechanism being put into vacuum
In tank, the interface of maintenance tool operation is mounted on 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 to servo mechanism
On, the maintenance interface on maintenance of equipment simulating piece is flexibly connected in servo mechanism turntable frame；Third 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 mechanism, and control servo mechanism work, is enabled
Maintenance of equipment simulating piece is moved to the direction far from space suit glove, space suit glove expansion and servo when vacuum tank being prevented to be evacuated
Mechanism damaged in collision；5th step is vacuum tank to be pumped to specified pressure, and keep；6th step is that aerial ladder is placed into repair behaviour
It is tested station, servo mechanism is adjusted to the position of setting, equipment is made to be met the requirements with test personnel's relative position；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
When repairing ground experiment, need this system servo mechanism 1 and maintenance of equipment simulating piece 7 being put into jointly in vacuum tank 3.It will watch first
It takes on the support guide 6 that mechanism 1 is fixed on inside vacuum tank 3, servo mechanism 1 need to be suitably adjusted according to testpieces size when fixed
Position, it is ensured that during experiment servo mechanism 1 component movement will not collide vacuum tank 3；Console cable 8 is installed, is started
Console 2 controls servo mechanism 1 using manual control box 21 and moves, it is ensured that servo mechanism 1 is working properly；By maintenance of equipment simulating piece 7
It is installed on turntable 142 with tooling combination body；Space suit glove 5 to be installed, video camera 9 is started, it is ensured that video camera 9 is working properly,
The gate of vacuum tank 3 is closed, reduces by 3 internal pressure of vacuum tank to specified pressure；Testing crew enters station, and both hands stretch into space flight
Gloves 5 are taken, experiment support staff adjusts servo mechanism 1, makes device location and posture and in-orbit state consistency, test operator
Operating operation test is carried out to maintenance of equipment by space suit glove 5 and observation window 4；Support staff records experiment process and experiment is tied
Fruit.
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
With vacuum tank control system, vacuum tank hatch door is opened, exterior compartment space suit glove is installed to vacuum tank using M6 allen wrenches
On, maintenance of equipment simulating piece is installed in servo mechanism by four M10 screws, using nylon rope by maintenance of equipment simulating piece
On maintenance interface be flexibly connected in servo mechanism turntable frame, prevent experiment during maintenance interface fall, damage test
Equipment, maintenance interface include the not de- clamp device of mechanical adapter, M5 pines, J599 electric connectors, J14T electric connectors and J36A
Electric connector；It maintenance tool will be flexibly connected at the top of vacuum tank out of my cabin with nylon rope, maintenance tool position is flushed with gloves out of my cabin；
Servo mechanism console cable is installed, servo mechanism power supply is started, servo mechanism is controlled to far from space suit hand by console
Move 400mm in the direction of set；Vacuum tank headlamp and video camera are opened, headlamp and camera operation are normal, close vacuum tank
Hatch door opens vacuum tank and is evacuated pump group, start pumping, when the pressure distance objective pressure inside vacuum tank is less than 3kPa, opens
Lobe pump is opened, the pressure reduction inside vacuum tank is automatically kept to pressure target value；Four stratus ladders are placed by testing crew
Servo mechanism is adjusted to the position of setting by operating operation test station using servo mechanism console；Testing crew completion alignment,
Dismounting, installation, tightening operation experiment.
The manned spacecraft that this test method uses 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 0Cr18Ni9Ti, internal diameter 2000mm, the long 2000mm of straight section；There are two the designs of vacuum tank 3
Gate, there are the operation large flange of testing crew maintenance operation on the gate of side, large flange size is diameter 1000mm, big method
Orchid two space suit gloves 5 of installation and an observation window 4, a diameter of 200mm of the handle hole of space suit glove 5, spacing
400mm, 4 center of observation window and the vertical range of 2 space suit glove handle hole lines of centres are 280mm, and testing crew passes through
For observation window 4 it can be seen that whole operation interface, vacuum tank 3 is interior to install 2 guide rails, spacing 700mm, guide rail load-bearing 1.2T.
Servo mechanism 1, vertical is to stroke 300mm, vacuum tank axial stroke 1200mm, perpendicular to vacuum tank axis in horizontal plane
To stroke 800mm, 0.3~1.5m/min of movement speed, -360 °~+360 °, rotating speed 1r/min of rolling orientation angle stroke, essence
0.5 ° of degree.
Test result is as shown in table 1, and test result shows that this method can slide to avoid tool, interface in ground experiment,
Experiment camera 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 simulated is adjustable, while simulating different relative positions, experiment is dropped without producing underwater test part
Low cost.
Table 1
It is not specified in the present invention and partly belongs to techniques known.
Claims (9)
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 steps are 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 mounted in servo mechanism, the maintenance interface on maintenance of equipment simulating piece is flexibly connected
Onto servo 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) servo mechanism work is controlled by console, maintenance of equipment simulating piece is enabled to be moved to the direction far from space suit glove；
(5) hatch door for closing vacuum tank, carries out pressure difference simulation so that space suit glove inside and outside differential pressure and in-orbit actual conditions one
It causes；
(6) it is required according to operating condition of test, servo 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 the relative position of space suit glove with it is in-orbit when physical location it is identical when, lead to
It crosses space suit glove and captures maintenance tool out of my cabin to be tested, operation experiments are carried out to the maintenance interface；
The manned spacecraft repairs ground simulation system out of my cabin：Servo mechanism (1), vacuum tank (3), is seen console (2)
Examine window (4), space suit glove (5) and support guide (6)；
Observation window (4) and space suit glove (5) are provided on vacuum tank (3), space suit glove (5) extend into the vacuum tank
(3) internal, and be tightly connected between vacuum tank (3)；Support guide (6) and servo mechanism (1) are respectively positioned in vacuum tank (3)
Portion, support guide (6) are fixed on vacuum tank (3) bottom, and servo mechanism (1) is mounted on support guide (6)；Maintenance of equipment is simulated
Part (7) is mounted in servo mechanism (1), and there are four freedom of motion for tool under the control of console (2).
2. a kind of maintenance tool test method out of my cabin according to claim 1, it is characterised in that：Four freedom of motion
Degree refers to that vacuum tank (3) is axial, vertical axial, rolling perpendicular to vacuum tank (3) into, horizontal plane.
3. a kind of maintenance tool test method out of my cabin according to claim 1 or 2, it is characterised in that：The servo mechanism
(1) include pedestal (11), column (12), slide plate (13) and turntable (14)；
Pedestal (11) is fixed on support guide (6), and column (12) is vertically mounted on pedestal (11), and along vacuum tank (3) axis
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) it connects, turntable (14) is mobile along slide plate (13), and maintenance of equipment simulating piece (7) is fixed on the turntable of turntable (14).
4. a kind of maintenance tool test method out of my cabin according to claim 3, it is characterised in that：Pedestal (11) includes pedestal
Frame (111), base rail (112), leading screw (113) and AC servo motor (114)；
Bedframe (111) is fixed on support guide (6), two base rails (112) along vacuum tank (3) axial direction, it is parallel
On bedframe (111), leading screw (113) and AC servo motor (114) are mounted on bedframe (111) inside, silk
Thick stick (113) uses the structural shape of spiral lift, AC servo motor (114) that leading screw (113) is driven to rotate, and then drives vertical
Column (12) is mobile along base rail (112).
5. a kind of maintenance tool test method out of my cabin according to claim 4, it is characterised in that：Column (12) includes column
Frame (121), column guide rail (122), sliding block (123), the second AC servo motor (124), the second leading screw (125) and nut seat
(126)；
Two column guide rails (122) being mutually parallel are mounted on column frame (121), and the installation side of column guide rail (122)
To for vertical to, connect using sliding block (123) between column frame (121) and base rail (112), pass through sliding block (123) prop up
Support and limit；Nut seat (126) is matched with the leading screw (113) on pedestal (11), for driving column (12) along base rail
(112) mobile；Second AC servo motor (124) and the second leading screw (125) are mounted 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).
6. a kind of maintenance tool test method out of my cabin according to claim 3, it is characterised in that：Slide plate (13) includes slide plate
Frame (131), operating slide guideway rail (132), the second sliding block (133), third AC servo motor (134), third leading screw (135) and
Two nut seats (136)；
Slide plate frame (131) is mounted on by the second sliding block (133) on column guide rail (122), the installation side of slide plate frame (131)
To vertical with column guide rail (122), and also to be normal to vacuum tank (3) axial for the installation direction of slide plate frame (131)；In slide plate
There are two the operating slide guideway rails (132) being mutually parallel, operating slide guideway rail (132) to hang down with column guide rail (122) for installation on frame (131)
Directly, the plane and where two operating slide guideway rails (132) is vertical guide；
Second nut seat (136) is matched with the second leading screw (125) on column (12), for driving slide plate (13) along column guide
Rail (122) is mobile；Third AC servo motor (134) and third leading screw (135) are mounted on slide plate frame (131) inside, third
AC servo motor (134) drives third leading screw (135), and then drives turntable (14) mobile along operating slide guideway rail (132).
7. a kind of maintenance tool test method out of my cabin according to claim 3, it is characterised in that：Turntable (14) includes turntable
Frame (141), turntable (142), third sliding block (143), the 4th AC servo motor (144) and third nut seat (145)；
Turntable frame (141) is connect by third sliding block (143) with operating slide guideway rail (132), is equipped with inside turntable frame (141)
4th AC servo motor (144), driving disc (142) rotation, turntable (142) are equipped with cross recess, and groove cross section is
It is inverse-T-shaped, for fixing maintenance of equipment simulating piece (7)；Third nut seat (145) coordinates with third leading screw (135), and then drives
Turntable frame (141) is mobile along operating slide guideway rail (132).
8. a kind of maintenance tool test method out of my cabin according to claim 1 or 2, it is characterised in that：It further include video camera
(9), it is mounted on the top in vacuum tank (3).
9. a kind of maintenance tool test method out of my cabin according to claim 1 or 2, it is characterised in that：The vacuum tank (3)
It is internal identical as the inside and outside differential pressure of space suit glove (5) as external pressure difference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710372309.7A CN107215489B (en) | 2017-05-24 | 2017-05-24 | A kind of maintenance tool test method out of my cabin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710372309.7A CN107215489B (en) | 2017-05-24 | 2017-05-24 | A kind of maintenance tool test method out of my cabin |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107215489A CN107215489A (en) | 2017-09-29 |
| CN107215489B true CN107215489B (en) | 2018-08-31 |
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ID=59944346
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710372309.7A Active CN107215489B (en) | 2017-05-24 | 2017-05-24 | A kind of maintenance tool test method out of my cabin |
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| Country | Link |
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| CN (1) | CN107215489B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928596B (en) * | 2021-10-22 | 2022-10-11 | 北京卫星环境工程研究所 | Space station extra-cabin toolbox |
| CN116215897B (en) * | 2022-12-30 | 2023-12-19 | 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 |
Citations (5)
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|---|---|---|---|---|
| JP2008145337A (en) * | 2006-12-12 | 2008-06-26 | Shionogi & Co Ltd | Isolator system |
| CN201281653Y (en) * | 2008-09-19 | 2009-07-29 | 南京信息职业技术学院 | Four-freedom-degree movement device |
| CN103083026A (en) * | 2012-12-25 | 2013-05-08 | 北京航空航天大学 | Finger flexibility measuring device of low-pressure protective gloves |
| CN103111777A (en) * | 2013-02-04 | 2013-05-22 | 张家港市永发机器人科技有限公司 | Rectangular coordinate system welding robot device |
| CN204094784U (en) * | 2014-06-10 | 2015-01-14 | 温州职业技术学院 | Servo-controlled four-degree-of-freedom manipulator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATE433917T1 (en) * | 2004-09-17 | 2009-07-15 | Everhard Vissers | DEVICE FOR TESTING PACKAGING MATERIAL |
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2017
- 2017-05-24 CN CN201710372309.7A patent/CN107215489B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008145337A (en) * | 2006-12-12 | 2008-06-26 | Shionogi & Co Ltd | Isolator system |
| CN201281653Y (en) * | 2008-09-19 | 2009-07-29 | 南京信息职业技术学院 | Four-freedom-degree movement device |
| CN103083026A (en) * | 2012-12-25 | 2013-05-08 | 北京航空航天大学 | Finger flexibility measuring device of low-pressure protective gloves |
| CN103111777A (en) * | 2013-02-04 | 2013-05-22 | 张家港市永发机器人科技有限公司 | Rectangular coordinate system welding robot device |
| CN204094784U (en) * | 2014-06-10 | 2015-01-14 | 温州职业技术学院 | Servo-controlled four-degree-of-freedom manipulator |
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| Publication number | Publication date |
|---|---|
| CN107215489A (en) | 2017-09-29 |
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