RU2663791C2 - Manual machine for cosmonauts in spacesuits under excess pressure in process of spacewalking in zero-gravity state - Google Patents

Abstract

FIELD: astronautics.SUBSTANCE: invention relates to space technology, in particular to instruments and devices used by an astronaut in a spacesuit under excessive pressure in the process of spacewalking in zero-gravity state. Hand-held machine for wrapping and loosening fasteners and forming holes, designed for spacewalking of an astronaut in a spacesuit in zero-gravity state, it contains the motor-transmission subsystem to ensure rotation of the working element and the body, handle with the control element. On the hull, at least two handles are fixed by means of hinges, each of which is matched with the supercharged gloves of the cosmonaut's spacesuit. One of the handles is fixed in the third quarter of the hull, the other in the fourth quarter of the hull and in the same vertical plane (V) perpendicular to the longitudinal axis of the hull (X) and symmetrically about the axis (-Y) lying in the vertical plane (V). Each of the handles is made with control elements in the form of push-buttons for fixing and adjusting at an angle of 60±15° to the axis (-Y).EFFECT: technical result consists in increasing the productivity of the cosmonaut-installer, reducing the labor intensity of work and the load on the cosmonaut, increase of technological efficiency, productivity, minimization of labor intensity, increase of reliability and safety at work of a manual machine.3 cl, 17 dwg

Description

The invention relates to space technology, in particular, to instruments and devices used by an astronaut in a spacesuit under excessive pressure in the process of extra-ship activity in zero gravity.

The use of tools by astronauts during technological operations on assembly, installation and repair in flight conditions has become an engineering reality in the operation of space objects. Various tools are used, mainly hand tools, adapted to operating conditions. The most common technological operation is the wrapping / unscrewing of fasteners of threaded joints, as well as the formation of holes. An increase in the volume of technological work necessitates increasing the productivity of the astronaut-installer, reducing the complexity of the work and the load on the astronaut through the use of a manual machine.

Manual is called a machine equipped with an engine, the weight of which during operation is fully or partially perceived by the hands of the operator; the main working movement (movement of the working body) in this machine is carried out using the appropriate engine, and the auxiliary movement (feed) and control are performed by directly acting on the machine manually (Big Soviet Encyclopedia. Vol. 22, p. 436. Publishing House "Soviet Encyclopedia". M. 1975).

A manual machine (RM), as a system, consists of two clearly delineated subsystems:

- an electric motor and a mechanism for transmitting torque from an electric motor shaft to a spindle or other working member of a machine;

- machine body, handle, control.

Known RM (Tsygankov OS, Fiftieth anniversary of extra-ship activity // Space technology and technology. - 2015. - No. 1. - S. 9). In this design, the engine-transmission subsystem is made to satisfy the requirement of minimizing the reactive effect on the astronaut’s arm in an inflated glove, which is mandatory for space applications.

The layout solution of the subsystem, including the body, handle and control, made according to the traditional RM scheme for standard conditions on Earth, without taking into account the requirements of operation in space flight, does not compensate for the restrictions that the spacesuit and means of fixation in zero gravity impose on the cosmonaut’s functionality, not leads to high productivity and reduced labor intensity, does not exclude damage to inflated gloves of the spacesuit, the control is not ergonomic, as it involves the use of vanie only one finger.

The objective of the invention is to ensure ergonomics, technological efficiency, high productivity, minimal labor, reliability and safety of the RM for use by an astronaut in a spacesuit under excessive pressure in the process of extra-ship activity in zero gravity.

The technical result of the invention is to increase ergonomics, technological efficiency, productivity, minimizing laboriousness, increasing the reliability and safety of a manual machine for use by an astronaut in a spacesuit under excessive pressure during non-ship activity in zero gravity conditions by coordinating the design of the RM with the capabilities of the astronaut, the structural and operational characteristics of the spacesuit and the working pose of the astronaut, determined in zero gravity by means of fi ksatsii.

The technical result of the invention is achieved by the fact that the RM for use by an astronaut in a spacesuit under excess pressure during extra-ship activity in zero gravity conditions contains a motor-transmission subsystem, a housing on which at least two handles with controls in the form of pressure push-buttons are fixed by hinges the actions mentioned by the handles are consistent with the inflated gloves of the astronaut's spacesuit and are located in the third and fourth quarters, in one vertical plane (V), perpendicular to the longitudinal hydrochloric housing axis (X) and symmetrically with respect to the axis (-Y), lying in a vertical plane (V), at angles of 60 ° ± 15 with the possibility of adjustment and fixation.

In addition, the hinges can be made spherical or cylindrical.

It follows from the definition of PM that the feed force, for example, during drilling, must be applied by the operator along the bundle "motor axis - spindle - working body". It is known from practice that under normal conditions on Earth, when working with a drill or a screwdriver, the operator occupies the characteristic position of standing "half-turn" to the work surface, for example, to the wall.

Let us evaluate the feasibility of these actions by an astronaut in a pressurized spacesuit with extra-ship activity in zero gravity. To apply the feed force, the astronaut should be fixed on a relatively motionless support, for example, in a device for fastening legs (Tsygankov OS, Fifty years of extra-ship activity // Space Engineering and Technology. - 2015. - No. 1. - P. 10). It is not possible to take the astronaut into a “half-turn” position, being fixed, due to the lack of mobility in the spacesuit area around the waistband and the presence of a certain closure of the spacesuit sleeves.

Thus, with limited coordination of movements of hand-aerobalks and reduced tactile sensitivity of fingers in inflated gloves, the ability to direct a working body, for example, a drill, perpendicular to the work surface and make the necessary effort, can be provided to the astronaut only by changing the layout solution of the RM case , rational arrangement of the handle.

To search for the rational layout of the space mission RM, an experimental technical and operational assessment of the known RM for compatibility with the functionality of a test cosmonaut dressed in a spacesuit under an overpressure of 0.4 ati was carried out. The following are types of layouts and evaluation results (Fig. 1-10).

FIG. 1. PM pistol type, the handle is located under the center of mass (CM). Too much distance (shoulder) between the spindle axis and the point of application of the tester's force on the handle in the direction of movement of the working tool is fraught with breakage of the drill.

FIG. 2. RM with a pistol grip made integrally with the body. The CM is in front of the handle. Deviation of the direction of the force from the axis of the tool leads to breakage of the tool, especially when holes are formed whose depth is greater than the diameter of the drill.

FIG. 3. PM pistol type with a handle in the area of the CM. The left hand is used to support and more reliably adhere to the alignment of the direction of movement of the tool and the application of feed force. Missing gripper for left hand. The glove of the left hand is dangerously close to the tool. Tool breakage is noted.

FIG. 4. RM with a pistol grip, integral with the body. The left hand is used to support and more reliably adhere to the alignment of the direction of movement of the tool and the application of the feed force. Missing gripper for left hand. The glove of the left hand is dangerously close to the tool. Tool breakage is noted.

FIG. 5. PM pistol type. The second handle is introduced. It is much more convenient to hold the PM and the direction of the tool axis. The location of the handles nearby makes it difficult to fully grasp two handles in the inflated gloves at the same time.

FIG. 6. RM with a pistol grip made integral with the body. The second handle is introduced. Holding PM is more convenient. Left glove dangerously close to tool.

FIG. 7. RM with a staple-shaped handle located along the axis of the housing from its rear side. The second handle is introduced. It is convenient to hold PM. There is a deviation of the tool from the technological direction due to the large distance between the handles, as a result of which different positions of the hands and the applied efforts.

FIG. 8. RM with a pistol grip on the back of the case. The second handle is introduced. It is convenient to hold PM. The large distance between the handles determines the different position of the hands and the amount of applied force, which causes the deviation of the axis of the tool from the technological direction.

In FIG. 9, 10 it is clearly seen that with two handles spaced apart along the body length and the same position of each of the hands of the tester, the tool cannot be oriented perpendicular to the machined surface parallel to the frontal plane of the tester.

In FIG. 11, 12 show prototypes of RM with two handles located along the length of the body in one plane perpendicular to the longitudinal axis of the body, which ensures the perpendicularity of the tool to the machined surface and the preservation of its integrity, especially when drilling.

In FIG. Figure 13 shows the configuration of the RM layout as a result of experimental technical and operational optimization of the housing, in which two handles are located symmetrically along the length of the housing at optimal angles to the longitudinal axis of the housing with the possibility of their adjustment and fixing in the range of the spatial angle of 180 °.

For a reasonable and confident choice of the design of the space mission RM, a comparative analysis of the actions for using the RM of the traditional layout (Fig. 14) and the RM layout obtained as a result of an experimental technical and operational assessment of the known types of RM (Fig. 15) was carried out.

In the test position shown in FIG. 14, the forearm of the left hand is in unsafe proximity to the treated surface (clearance " a " → 0). In this position, the effort developed by the right hand may not be enough to carry out the technological operation or excessive overvoltage of the tester will be required. Difficult observation of the process.

In FIG. 15 the frontal plane of the tester is parallel to the surface being machined, which allows the tester to direct the tool perpendicular to that surface. The clearance "b" = 150 ± 25 mm is sufficient for the working stroke of the tool. The presence of two handles allows you to comfortably hold the PM. The tilt of the handles allows you to give your hands a comfortable position, consistent with the closure of the pressure hoses of the spacesuit and apply the necessary effort.

Thus, the design of the PM presented on Fig, is accepted as the most rational.

The figures show:

In FIG. 1, 2, 3, 4 - varieties of traditional RM housing designs with one handle, the usual pose of the tester.

In FIG. 5, 6 7, 8 - RM with two handles, the usual position of the tester.

In FIG. 9, 10 - RM with two differently spaced handles in length, rational position of the tester.

In FIG. 11, 12 - RM with two symmetrically located handles, rational position of the tester.

In FIG. 13 - presents the configuration of the RM as a result of experimental technical and operational optimization of the housing.

In FIG. 14 - the position of the tester when using RM traditional layout of the case.

In FIG. 15 - the position of the tester when using RM optimized layout of the case.

In FIG. 16 is a structural diagram of the RM for use by an astronaut in a spacesuit.

In FIG. 17 is a structural diagram of the RM for use by an astronaut in a spacesuit, type A.

In figures 16-17, the following notation is adopted: 1 - body; 2, 3 - handles; 4, 5 - trigger;

6, 7 - cylindrical or spherical joints;

8 - a working tool.

The manual machine (Figs. 16 and 17) contains a motor-transmission subsystem (not shown in the figures), case 1, handles 2 and 3 with trigger arms 4 and 5, located in quarters III and IV. The handles 2 and 3 are aligned with the inflated gloves of the astronaut's spacesuit and are mounted on the housing 1 by means of cylindrical or spherical hinges 6 and 7 with the possibility of their regulation and fixation in the range of the selected angle 60 ° ± 15 in one vertical plane V, perpendicular to the longitudinal axis (X) of the body 1 and are located symmetrically with respect to the axis (-Y) lying in the vertical plane V.

The use of RM is as follows.

An astronaut-operator occupies a workplace and fixes the spacesuit's shoes in a fixation device (Tsygankov OS, Fifty years of extra-ship activity // Space Engineering and Technology. - 2015. - No. 1. - P. 9-10). Another crew member, holding the PM by one handle 2, gives the PM to the astronaut-operator, who takes it by the grab for the second handle 3. Then the astronaut-operator grabs the handle 2, holding the PM by both handles 2 and 3, directs the working tool 8 to the subject of labor and by pressing the trigger 4 and 5 simultaneously on the handles 2 and 3, makes an effort to implement the stroke. Reverse rotation of the engine is achieved by clicking on any trigger 4 or 5.

The proposed invention during technological operations by an astronaut in a spacesuit under excessive pressure in the process of extra-ship activity in zero gravity conditions provides:

- Compensation for the lack of mobility of the spacesuit in the waist region (expansion of opportunities);

- ease of holding PM and eliminates damage to the gloves of the suit (safety);

- compliance with the necessary technological direction of the working tool (technical efficiency);

- a comfortable posture when applying efforts, reducing the energy consumption of the astronaut-operator (reducing labor intensity);

- an overview of technological zones during group operations (productivity).

Claims (3)

1. A manual machine for wrapping and unscrewing fasteners and forming holes, designed for extra-space activities of an astronaut in a spacesuit in zero gravity conditions, containing a motor-transmission subsystem to ensure rotation of the working body, a body and a handle with a control body, characterized in that on the body by at least two handles are fixed to the hinges, each of which is aligned with the inflated gloves of the astronaut's spacesuit, while one of the handles is fixed in the third quarter of housing, the other - in the fourth quarter of the body and in the same vertical plane (V), perpendicular to the longitudinal axis of the body (X), and symmetrically with respect to the axis (-Y) lying in the vertical plane (V), each of the handles It is made with controls in the form of push-buttons for fixation and adjustment at an angle of 60 ± 15 ° to the axis (-Y). 2. The manual machine according to claim 1, characterized in that the hinges are made spherical. 3. The manual machine according to claim 1, characterized in that the hinges are cylindrical.

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