A microgravity Spider-Man device for inspecting and maintaining the reflecting surface of a giant radio telescope

Abstract

The present invention relates to the technical field of giant radio telescope reflector surface maintenance, and in particular to a microgravity spiderman device used for inspecting and maintaining giant radio telescope reflectors. The device comprises a sphere, an inflation and deflation unit, a rigging device, work clothes, and a hanging rigging. The sphere comprises a main airbag, a secondary airbag, an anchoring rigging, a mooring rigging, a collision protection belt, and an observation window. The present invention can ensure high efficiency, light weight, and no damage to the reflector unit panels during inspection and maintenance of giant radio telescope reflectors. Operators can personally inspect the reflector unit panels, reflector node disks, reflector unit connection mechanisms installed on the node disks, targets, and other parts that need to be inspected from the upper surface of the reflector at close range, and can carry necessary tools to perform necessary manual maintenance on these parts and parts, thereby achieving relatively reliable inspection and maintenance of the giant radio telescope reflector surface.

Description

Technical Field

[0001] The present invention relates to the technical field of giant radio telescope reflecting surface maintenance, and in particular to a microgravity spider-man device used for inspecting and maintaining the reflecting surface of a giant radio telescope. Background Art

[0002] The Five-hundred-meter Aperture Spherical radio Telescope (FAST), a major scientific facility developed during my country's 11th Five-Year Plan, is the world's largest single-aperture radio telescope and the most sensitive within its frequency band. It utilizes three independently developed technologies. The entire telescope system includes the site excavation and base construction system, the active reflector system, the feed support system, the measurement and control system, and the receiver and terminal systems.

[0003] The FAST active reflector system is a massive undertaking, encompassing equipment foundations, ring beam lattice columns, a cable net, actuators, and reflector units. The ring beam lattice columns serve as the cable net's primary load-bearing truss structure. 2,225 hydraulic actuators, through coordinated control, drive the cable net to actively deform, thereby shifting the 4,450 reflector unit panels attached to the cable net from spherical to parabolic fitting, enabling the telescope to focus on specific radio wave signals in real time. The cable net, comprised of 6,670 main cables, 2,225 cable net node disks, and 2,225 pull-down cables, is a key component enabling the reflector to achieve active deformation and fitting. Each reflector unit, approximately 11 meters on a side and weighing approximately 480 kilograms, is constructed from an all-aluminum alloy. Connection mechanisms at each of its three ends securely connect the unit to its corresponding node disk and allow for free sliding on the disk, thus preventing additional internal forces from forming within the unit structure when the cable net deforms.

[0004] Within the aperture of the reflector, 23 measurement piers, part of the measurement and control system, have been constructed. A measurement target is mounted at the center of each cable net node disk. Two laser total stations are mounted on each pier to measure the reflector's surface accuracy and facilitate active deformation control. Each measurement pier protrudes 1-5 meters above the reflector. The operating platform on top is approximately 2.7 meters in diameter, with a 0.9-meter-high guardrail made of welded steel pipe along the edge. The FAST active reflector system spans a vast area, involving numerous and diverse components. The cable net and reflector units are suspended at a height of over 4 meters above the ground, with the edge areas exceeding 50 meters. This massive and complex mechanical structure presents extremely challenging challenges during the future operation and maintenance of the telescope. Specifically, the 6,670 main cables and 2,225 node disks that comprise the cable net are subjected to reciprocating fatigue loading at high altitude. The 4,450 reflector units, secured to the cable net node disks via connecting mechanisms, also slide back and forth within the node disks. The status of these key components needs to be inspected regularly to understand their structural health and lubrication status, and regular maintenance is required to avoid component failure. In addition, the measurement target in the center of each node disk has degraded its laser reflection performance after long-term use and needs to be replaced regularly. Since the reflective surface unit is lightweight and cannot bear the weight of an adult, and the edge unit has an inclination angle of 60° when operating, inspection and maintenance workers cannot get close to the area where work is required (such as the cable net node disk) to work directly. Some existing equipment, such as various cranes and lifting robots, are constrained by the site terrain and the span of the reflective surface. They are either unusable or extremely inefficient, and cannot efficiently complete the "FAST reflective surface inspection and maintenance" task, which is both arduous and requires overcoming technical difficulties.

[0005] The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to those skilled in the art. Summary of the Invention

[0006] The purpose of the present invention is to provide a microgravity spider-man device for inspecting and maintaining the reflecting surface of a giant radio telescope, so as to solve the technical problems existing in the prior art.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] The present invention provides a microgravity spider-man device for inspecting and maintaining the reflecting surface of a giant radio telescope, comprising: a sphere, an inflation and deflation unit, a rigging device, a work suit, and a hanging rigging; the sphere comprises: a main airbag, a secondary airbag, an anchoring rigging, a mooring rigging, an anchoring bowtie, a mooring bowtie, a collision protection belt, and an observation window; the interior of the main airbag is filled with helium, the secondary airbag is arranged inside the main airbag, the interior of the secondary airbag is filled with air, nine mooring bowties are arranged circumferentially at intervals on the lower outer side of the main airbag, the upper ends of the mooring bowties are respectively connected to the corresponding mooring bowties, and the lower ends of the mooring bowtie are connected to the rigging device; the middle outer side of the main airbag is circumferentially arranged with a mooring bowtie. There are 6 mooring bowties arranged at intervals, and the upper ends of the mooring bowties are respectively connected to the corresponding mooring bowties; the collision protection belt is arranged at the middle and lower parts of the main airbag; the observation window is arranged on the outside of the main airbag; the inflation and deflation unit includes: a main airbag helium inflation port and a secondary airbag inflation port, the main airbag helium inflation port is arranged at the middle and lower part of the main airbag, serving as an interface for inflating and deflation of helium of the main airbag; the secondary airbag inflation port is arranged at the bottom of the main airbag, serving as an interface for inflating and deflation of air of the secondary airbag; one end of the hanging sling is connected to the cable gathering device, and the other end of the hanging sling is connected to the work clothes, and a counterweight unit is provided on the cable gathering device.

[0009] As a further technical solution, the main airbag includes: 18 pieces, a sealing strip, a heat-sealing strip and a plug; the cover cloth of the main airbag adopts 18 pieces of pieces heat-sealed to form a round spherical structure; the adjacent pieces located on the inner side of the main airbag are connected by a heat-sealing strip; the adjacent pieces located on the outer side of the main airbag are connected by a sealing strip; the pieces form process openings at their upper and lower ends respectively, and the plug is encapsulated in the process openings.

[0010] As a further technical solution, the auxiliary airbag includes: 18 pieces, a sealing strip, a heat-sealed strip, a plug and a skirt; the auxiliary airbag is arranged inside the main airbag, and the cover of the auxiliary airbag adopts 18 pieces of cut pieces heat-sealed to form a circular spherical crown structure; the adjacent pieces are located on the inner side of the auxiliary airbag and connected by a heat-sealed strip; the adjacent pieces are located on the outer side of the auxiliary airbag and connected by a sealing strip; the cut piece forms a process opening at its upper end, and the plug is encapsulated in the process opening; the upper end of the skirt is heat-sealed to the cover of the auxiliary airbag, and the lower end of the skirt is heat-sealed to the cover of the main airbag using a T-shaped structure.

[0011] As a further technical solution, the mooring rigging adopts brocade rope; the mooring rigging adopts a two-section structure, and the upper section and the lower section are connected by a quick-release ring; the upper end of the mooring rigging is connected to the mooring bow; the lower end of the mooring rigging is connected to the ground anchoring equipment.

[0012] As a further technical solution, the mooring rigging is made of brocade rope; the upper end of the mooring rigging is connected to the mooring bow, and the lower end of the mooring rigging is connected to the rope gathering device.

[0013] As a further technical solution, a safety unit is provided on the sphere, and the safety unit includes: an air valve and a pressure measuring assembly; the air valve is provided at the bottom of the auxiliary airbag, and the air valve has a self-sealing function when the auxiliary airbag pressure is below 700Pa. When the pressure on both sides of the valve core of the air valve is greater than a preset threshold, the valve core automatically opens under the action of pressure to release part of the air inside the auxiliary airbag; the pressure measuring assembly is provided on the work clothes to monitor the pressure of the main airbag.

[0014] As a further technical solution, the cable gathering device includes: a cable gathering ring, a bearing seat, a thrust bearing, a rotary joint and a bearing seat end cover; the cable gathering ring is evenly distributed with 18 limit plates to provide a connection interface for the mooring rigging; the bearing seat is installed at the bottom center position of the cable gathering ring; the thrust bearing is arranged inside the bearing seat; the upper end of the rotary joint is installed in the thrust bearing; the lower end of the rotary joint is connected to the work clothes through a hanging rigging.

[0015] As a further technical solution, the width of the collision protection belt located in the middle of the main airbag is 600 mm; the width of the collision protection belt located at the bottom of the main airbag is 500 mm.

[0016] As a further technical solution, a rain curtain is provided at the annular portion in the lower middle portion of the main airbag.

[0017] As a further technical solution, the surface density of the main airbag material is ≤252g / m 2 The minimum tensile strength in the warp direction is ≥26.7N / mm, and the minimum tensile strength in the weft direction is ≥26.7N / mm; the surface density of the auxiliary airbag material is ≤200g / m 2 , tensile strength ≥2.5N / mm; the diffusion radius of the bow tie ≥150mm, tensile strength ≥6707.2N; the tensile strength of the mooring rigging ≥1339N; the tensile strength of the anchoring rigging ≥6707.2N.

[0018] By adopting the above technical solution, the present invention has the following beneficial effects:

[0019] The present invention provides a microgravity spider-man device for inspecting and maintaining the reflecting surface of a giant radio telescope. The device can meet the requirements of high efficiency during the inspection and maintenance of the reflecting surface of the giant radio telescope, is light in weight and will not damage the reflecting surface unit panel. An operator can personally inspect the reflecting surface unit panel, the cable net node disk, the reflecting surface unit connection mechanism installed on the node disk, the measurement target and other components and other parts that need to be inspected from the upper surface of the reflecting surface at close range, and carry necessary tools to perform necessary manual maintenance on these components and parts, thereby realizing relatively reliable inspection and maintenance of the reflecting surface of the giant radio telescope. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic diagram of a fixed state of a microgravity Spider-Man device provided in an embodiment of the present invention;

[0022] Figure 2 A schematic structural diagram of a microgravity Spider-Man device provided in an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of a method for connecting panels of a main airbag provided in an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of a connection method for panels of a secondary airbag provided in an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of a skirt connection method provided in an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of the structure of a bow tie provided in an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of the structure of a transparent window provided by an embodiment of the present invention

[0028] Figure 8 A schematic diagram of a foot bearing plate assembly provided in an embodiment of the present invention;

[0029] Figure 9 A schematic diagram of a leg bearing plate assembly provided in an embodiment of the present invention;

[0030] Figure 10 A schematic diagram of a forearm bearing plate assembly provided in an embodiment of the present invention;

[0031] Figure 11 Schematic diagram of a microgravity Spider-Man wearing forearm, leg, and foot bearing plates provided in an embodiment of the present invention.

[0032] Icons: 1-sphere; 2-anchoring rigging; 3-mooring rigging; 4-counterweight unit; 5-roping device; 6-hanging rigging; 7-concrete floor of small nest; 8-ground tripod; 9-main airbag; 10-auxiliary airbag; 11-collision protection belt; 12-work clothes; 13-heat sealing strip; 14-sealing strip; 15-cutting piece; 16-skirt; 17-bow; 18-observation window; 32-ankle strap; 33-forefoot strap; 34-toe and forefoot bearing plate; 35-sole plate; 36-bearing plate; 37-front strap; 38-back strap; 39-back strap; 40-front strap; 41-bearing plate. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0034] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0035] Combine Figures 1 to 7As shown, this embodiment provides a FAST microgravity Spider-Man device, which includes: a sphere 1, an inflation and deflation unit, a rigging device 5, a work suit 12, and a hanging rigging 6. The sphere 1 includes: a main airbag 9, a secondary airbag 10, an anchoring rigging 2, a mooring rigging 3, an anchoring bow, a mooring bow, a collision protection belt 11, and an observation window 18; the interior of the main airbag 9 is filled with helium, the secondary airbag 10 is arranged inside the main airbag 9, and the interior of the secondary airbag 10 is filled with air. Nine mooring bows are arranged circumferentially at intervals on the lower outer side of the main airbag 9, and the upper ends of the mooring rigging 3 are respectively connected to the corresponding mooring bows, and the lower ends of the mooring rigging 3 are connected to the rigging device 5; six anchoring bows are arranged circumferentially at intervals on the middle outer side of the main airbag 9, and the upper ends of the anchoring bows are respectively connected to the corresponding mooring bows, and the lower ends of the mooring bows are connected to the rigging device 5; The main airbag 9 is connected to the corresponding anchor bow; the collision protection belt 11 is provided in the middle and lower parts; the observation window 18 is provided on the outside of the main airbag 9; the inflation and deflation unit includes: a main airbag 9 helium filling port and a secondary airbag 10 inflation port. The main airbag 9 helium filling port is provided in the middle and lower part of the main airbag 9, serving as the interface for the main airbag 9 to be filled and deflated with helium; the secondary airbag 10 inflation port is provided at the bottom of the main airbag 9, serving as the interface for the secondary airbag 10 to be filled and deflated with air; one end of the hanging sling 6 is connected to the rigging device 5, and the other end of the hanging sling 6 is connected to the work clothes 12. The rigging device 5 is provided with a counterweight unit 4. In this embodiment, a helium balloon is used to suspend an operator and a counterweight, etc., and the total weight of the equipment is adjusted to 5-15 kg by the counterweight. The operator enters the FAST reflector surface, and can move within the reflector surface to inspect and maintain the reflector surface's mechanism and structure.

[0036] In this embodiment, preferably, the main airbag 9 includes: 18 pieces of cutting pieces 15, a sealing strip 14, a heat sealing strip 13 and a plug; the covering cloth of the main airbag 9 adopts 18 pieces of cutting pieces 15 heat-sealed to form a round sphere 1 structure; the adjacent cutting pieces 15 located on the inner side of the main airbag 9 are connected by the heat sealing strip 13; the adjacent cutting pieces 15 located on the outer side of the main airbag 9 are connected by the sealing strip 14; the cutting pieces 15 respectively form process openings at their upper and lower ends, and the plugs are encapsulated in the process openings.

[0037] In this embodiment, preferably, the auxiliary airbag 10 includes: 18 pieces of cutting pieces 15, a sealing strip 14, a heat-sealing strip 13, a plug and a skirt 16; the auxiliary airbag 10 is arranged inside the main airbag 9, and the cover of the auxiliary airbag 10 adopts 18 pieces of cutting pieces 15 to be heat-sealed and connected to form a circular spherical crown structure; located on the inner side of the auxiliary airbag 10, adjacent cutting pieces 15 are connected by heat-sealing strips 13; located on the outer side of the auxiliary airbag 10, adjacent cutting pieces 15 are connected by sealing strips 14; the cutting piece 15 forms a process opening at its upper end, and the plug is encapsulated in the process opening; the upper end of the skirt 16 is heat-sealed to the cover of the auxiliary airbag 10, and the lower end of the skirt 16 is heat-sealed to the cover of the main airbag 9 using a T-shaped structure.

[0038] Specifically, the detailed design of sphere 1 is as follows:

[0039] 1) Main airbag 9 design

[0040] The main airbag 9 takes into account numerous factors relevant to material engineering applications, including processability, proper force transmission, and material utilization. By butting the main airbag 9 lengthwise (the warp direction), the circumferential direction (the weft direction) is divided into 18 willow-leaf-shaped panels 15. This ensures a more balanced force distribution and maximizes material utilization.

[0041] The main airbag 9 panels 15 are connected by heat-sealing. A 60mm-wide HVH-700 heat seal strip 13 connects adjacent panels 15 on the inside of the main airbag, and a 40mm-wide MF01 sealing strip 14 is adhered to the outside. Because the panels 15 of the main airbag 9 are narrow at both ends, heat-sealing is difficult. To facilitate airbag processing, a 700mm diameter process opening is provided at each end, and plugs are designed for sealing. Furthermore, the main airbag 9 is equipped with an observation window 18, a helium filling port for the main airbag 9, an inflation port for the auxiliary airbag 10, and an air valve. Openings are designed to suit the size of the mounting equipment, and a lining is provided inside the airbag for reinforcement.

[0042] 2) Design of auxiliary airbag 10

[0043] The auxiliary airbag 10 mainly regulates the pressure of the airbag and maintains the airbag's shape. The cover of the auxiliary airbag 10 is made of a high-performance coated fabric material with the advantages of being lightweight, resistant to rubbing, and having low air permeability. The auxiliary airbag 10 is made of 18 pieces 15 that are butt-welded and heat-sealed. The pieces 15 are flat parts formed by splitting a spherical shape into petals and then unfolding them according to a curved surface method. In order to make the auxiliary airbag 10 fit more closely to the airbag, a skirt 16 is arranged at the lower end of the cover of the auxiliary airbag 10. The skirt 16 is connected to the cover of the auxiliary airbag 10 by heat-sealing, and is heat-sealed to the airbag cover using a T-shaped structure.

[0044] 3) Material selection

[0045] Based on the characteristics of the airbag structure, soft composite materials were selected for the airbag and auxiliary airbag 10. These materials were required to meet strength, airtightness, weight, and lifespan requirements. Furthermore, the material variety and specifications should be kept to a minimum, with reasonable pricing and easy processing. After visiting and researching domestic material manufacturers, the final selections for the airbag body were OP22-1000, the auxiliary airbag 10 material HPH-300, the heat-sealed fabric HVH-700, and the sealing strip 14 material MF01. Their performance indicators are shown in the table below.

[0046] Table 1 Main technical properties of airbag materials

[0047]

[0048] In this embodiment, the mooring rigging 2 preferably utilizes a brocade rope; the mooring rigging 2 utilizes a two-section structure, with the upper and lower sections connected by a quick-release ring; the upper end of the mooring rigging 2 is connected to an anchoring bow; the lower end of the mooring rigging 2 is connected to a ground anchoring device (e.g., a ground tripod on a small concrete floor 7). In this embodiment, the mooring rigging 3 preferably utilizes a brocade rope; the upper end of the mooring rigging 3 is connected to a mooring bow, and the lower end of the mooring rigging 3 is connected to a rigging device 5.

[0049] Specifically, the rigging is divided into two groups according to its function: one group is the mooring rigging 3, which is used to hang the manned subsystem on the balloon subsystem, and the other group is the mooring rigging 2, which is used to anchor the system on the ground.

[0050] The mooring rigging 3 uses φ6mm twill rope, with its upper end connected to the mooring bow and its lower end to the rigging device 5. The anchoring rigging 2 uses φ9mm twill rope and is a two-section structure connected by a φ6 stainless steel quick-release ring. The upper end is connected to the mooring bow, and the lower end is connected to the ground anchor. During normal operation, the anchoring rigging 2 is separated from the quick-release ring. Three of the upper sections of the anchoring rigging 2 are fixed to the quick-release rings of the mooring rigging 3, and the other three are connected to the three-way towing device. The lower section of the anchoring rigging 2 is placed on the ground. The mooring rigging 3 is connected to the rigging ring via a quick-release buckle. The rigging ring is made of bent and welded 304 steel pipe and is a key load-bearing connector. Nine connecting lugs are evenly distributed around the circumference of the steel pipe. The total weight of the entire rigging is 1205.4N, with the load on each rigging piece being 133.9N. Mooring sling 3 uses a φ6 brocade rope with a strength limit of 5000N. The strength limit of the quick-release ring and mooring bow is 8000N. Considering the sling's light aging factor of 0.8 and its knotting factor of 0.85, the safety factor of mooring sling 3 is 25.4, meeting the 10-fold safety factor requirement. The safety factor of the quick-release ring and mooring bow is 59.7, also meeting the 10-fold safety factor requirement.

[0051] The maximum load of a single mooring rigging 2 is 1676.8 N. The maximum strength of the φ9 brocade rope of mooring rigging 2 is 10,000 N, while the maximum strength of the quick-release eye and mooring bow tie is 8,000 N. Considering the rigging's light aging factor of 0.8 and its knotting factor of 0.85, the safety factor of mooring rigging 2 is 4.06, meeting the 4-fold safety factor requirement. The safety factor of the quick-release eye and mooring bow tie is 4.77, also meeting the 4-fold safety factor requirement.

[0052] Table 2 Calculation results of rigging load

[0053]

[0054] In this embodiment, nine mooring bows are preferably arranged on the lower outer side of the airbag and connected to the mooring rigging 3 to transmit the concentrated load of the microgravity Spider-Man. Six anchoring bows are evenly distributed around the circumference above the mooring bows to secure the sphere 1 when anchored on the ground. Load calculations indicate that the ultimate strength requirement for a single bow is 6707.2N. The bows consist of two layers of lining cloth and a load-bearing rope. The lining cloth is used to secure the load-bearing rope and connect it to the airbag. The load-bearing rope is connected to the rigging to transmit the concentrated load.

[0055] In this embodiment, preferably, a safety unit is provided on the sphere 1, and the safety unit includes: an air valve and a pressure measuring assembly; the air valve is provided at the bottom of the auxiliary airbag 10, and the air valve has a self-sealing function when the pressure of the auxiliary airbag 10 is below 700Pa. When the pressure on both sides of the valve core of the air valve is greater than the preset threshold, the valve core automatically opens under the action of pressure to release part of the air inside the auxiliary airbag 10; the pressure measuring assembly is provided on the work suit 12 for monitoring the pressure of the main airbag 9.

[0056] During operation, the auxiliary airbag 10 must be vented through an air valve to reduce the pressure of the sphere 1, in order to adapt to changes in atmospheric pressure, solar heat radiation, and other factors, and to maintain the pressure differential between the inside and outside of the sphere within the specified value. This air valve offers two air venting methods: mechanical automatic venting and manual venting. If, after evacuating the auxiliary airbag 10, the entire sphere still exceeds the specified safety pressure differential, the helium in the sphere is manually vented through the helium filling port to reduce the pressure of the sphere 1.

[0057] The upper limit of the working pressure of the air valve should not be greater than the pressure value of sphere 1 corresponding to the maximum design stress of the airbag when sphere 1 is working in the air. The lower limit of the working pressure of the air valve should be the middle value of the working pressure of sphere 1 based on experience, that is, when the airbag pressure is higher than the upper limit of the working pressure of the air valve, the air valve is opened to release air, and when the airbag pressure is lower than the lower limit of the working pressure of the air valve, the air valve is closed.

[0058] Air valve flow area calculation

[0059] a) Total exhaust volume Q

[0060]

[0061] Where:

[0062] g – acceleration due to gravity, 9.8 m / s 2 ;

[0063] R——air gas constant, 287.053m 2 / (s 2 k);

[0064] V Q——Total volume of the sphere, 230m 3 ;

[0065] ν——maximum ascent speed, 2m / s;

[0066] T H ——Atmospheric temperature at a fixed altitude.

[0067] b) Total circulation area A;

[0068]

[0069] Where:

[0070] μ——valve flow coefficient, 0.5;

[0071] ρ H ——The atmospheric density at a fixed altitude has a maximum value of 1.019 kg / m 3 ;

[0072] ΔP H ——Valve opening overpressure value, 700Pa.

[0073] The flow area of ​​the auxiliary airbag air valve calculated by the above equation is not less than 0.0033m 2 .

[0074] Valve sealing pressure analysis

[0075] In order to ensure that when the pressure is too high due to disturbances such as wind, the air valve can be opened by the gas in the auxiliary airbag 10 to reduce the pressure, thereby ensuring the relative safety of the airbag pressure; at the same time, considering the relative airtightness of the auxiliary airbag 10, the sealing pressure of the auxiliary airbag 10 valve is selected to be 700Pa.

[0076] The air valve is installed on the bottom plug of the airbag and connected to the plug through the inner and outer mounting plates. It has a self-sealing function when the pressure of the auxiliary airbag is below 700Pa. When the pressure on both sides of the valve core exceeds the preset threshold, the valve core automatically opens under the action of pressure to release some air. According to calculations, the required flow area of ​​the air valve is 0.0033m 2 The designed air valve diameter is 195mm and the opening is 20mm to meet the use requirements.

[0077] The pressure measuring assembly consists of three main parts: a pressure measuring interface, a silicone tube, and a handheld pressure gauge. The pressure measuring interface consists of a pressure fitting and a compression nut. The pressure fitting is connected to the pressure measuring port and secured with a compression nut. The pressure fitting is similar in appearance to the airtight fitting of the inflation port, allowing for seamless integration. The pressure gauge is an industrial-grade, off-the-shelf product with a range of 10 kPa, an accuracy of ±5 Pa, a built-in 4.5 VDC battery, and a digital LCD display. The pressure gauge is secured to the work suit 12 via a mounting interface, allowing staff to monitor the pressure of the main airbag 9 in real time.

[0078] In this embodiment, preferably, the cable collection device 5 includes: a cable collection ring, a bearing seat, a thrust bearing, a rotary joint and a bearing seat end cover; the cable collection ring is evenly distributed with 18 limit plates to provide a connection interface for the mooring rigging 3; the bearing seat is installed at the bottom center position of the cable collection ring; the thrust bearing is arranged inside the bearing seat; the upper end of the rotary joint is installed in the thrust bearing; the lower end of the rotary joint is connected to the work clothes 12 through the hanging rigging 6.

[0079] In this embodiment, preferably, when the sphere 1 is working at a position where the slope angle reaches 60°, a flexible protective device should be installed at the position on the sphere 1 closest to the slope or the ring beam bridleway to protect the sphere 1 and the slope. In addition, the tensioning of the three-way traction equipment coordinated by the intercom can also prevent the sphere 1 from colliding with the adjacent foundation, slope or ring beam bridleway structure. The flexible protective device uses a 5mm thick rubber-plastic sponge material and is directly attached to the designated area on the airbag. According to the requirements of the overall layout diagram, a collision protection strip 11 with a width of 600mm is arranged in the middle of the sphere 1, and a collision protection strip 11 with a width of 500mm is arranged at the theoretical contact position of the sphere 1 with the 60° slope at the bottom of the sphere 1.

[0080] In this embodiment, preferably, in order to facilitate observation of the interior of the auxiliary airbag 10, an observation window 18 is arranged on the main airbag 9. The observation window 18 is designed as an airtight structure, and aviation organic glass is selected, and is fixed to the airbag cover with bolts through a metal fixing plate, a silicone gasket, etc.

[0081] In this embodiment, a rain curtain is preferably installed in the annular area in the lower middle portion of the main airbag 9. Specifically, since microgravity Spider-Man may operate in rainy weather, a rain curtain is installed in the annular area with a diameter of 5.6m in the lower middle portion of the sphere 1 to protect the operator from the rain. The rain curtain is 100mm high and has a T-shaped connection to the sphere 1, which is glued together.

[0082] In this embodiment, preferably, the inflation and deflation unit includes two parts: the main airbag 9 helium filling port and the auxiliary airbag 10 inflation port. It mainly serves as an interface for the initial helium filling of the main airbag 9, the replenishment of helium when anchored on the ground, the recovery of helium, and the inflation of air in the auxiliary airbag 10. It can also serve as a channel for discharging a small amount of residual helium in the airbag when the sphere 1 is withdrawn. Except for the different installation positions, the main airbag 9 helium filling port and the auxiliary airbag 10 inflation port are exactly the same in other structural forms and installation methods. The main airbag 9 helium filling port and the auxiliary airbag 10 inflation port use a kayak safety valve, which is mainly composed of a valve body and an airtight head. The valve body is connected to the bag skin by threaded connection + gluing. The opening diameter of the main airbag 9 is 40mm. The main airbag 9 helium filling port is installed in the lower middle part of the main airbag 9, and the auxiliary airbag 10 inflation port is installed at the bottom of the main airbag 9.

[0083] In this embodiment, preferably, the surface density of the main airbag 9 material is ≤252g / m 2 The minimum tensile strength in the warp direction is ≥26.7N / mm, and the minimum tensile strength in the weft direction is ≥26.7N / mm; the surface density of the auxiliary airbag 10 material is ≤200g / m 2 , tensile strength ≥ 2.5N / mm; the diffusion radius of the bow tie ≥ 150mm, the tensile strength ≥ 6707.2N; the tensile strength of the mooring rigging 3 ≥ 1339N; the tensile strength of the anchoring rigging 2 ≥ 6707.2N.

[0084] Further, combined with Figures 8 to 11 As shown, in this embodiment, when the microgravity Spider-Man crawls along the upper edge of the reflective surface, the reflective panel, measuring 150mm x 150mm, can withstand a force of 30kg. To ensure that the reflective panel is not damaged while crawling and working in microgravity, a special load-bearing plate is worn where the person contacts the reflective surface to increase the load-bearing area.

[0085] The giant radio telescope reflecting surface inspection and maintenance system also includes a foot support plate assembly, a leg support plate assembly, and a forearm support plate assembly. The foot support plate assembly includes a toe and forefoot support plate 34, a forefoot strap 33, and an ankle strap 32, mounted on a sole plate 35. The toe and forefoot support plate 34 are hinged to the sole plate 35. The foot support plate assembly is used when the user is wearing shoes, with the forefoot strap 34 fastened first, followed by the ankle strap 32. The leg support plate assembly includes a front strap 37 and a rear strap 38 mounted on a support plate 36. The forearm support plate assembly includes a front strap 40 and a rear strap 39 mounted on a support plate 41.

[0086] In summary, this embodiment provides a microgravity Spider-Man device for inspecting and maintaining the reflecting surface of a giant radio telescope. The device uses a helium balloon to suspend an operator and a counterweight, and the total weight of the device is adjusted to 5-15 kg by the counterweight. The device enters the reflecting surface of the giant radio telescope, and the operator can move within the reflecting surface to inspect and maintain the mechanism and structure of the reflecting surface. This embodiment can meet the requirements of high efficiency during the inspection and maintenance of the reflecting surface of the giant radio telescope, is light in weight and will not damage the reflecting panel. People can personally observe and inspect the node axis, target and other components installed on the reflecting surface node disk and other parts that need to be inspected from the upper surface of the reflecting surface at close range with the naked eye, thereby achieving relatively reliable inspection and maintenance of the reflecting surface of the giant radio telescope.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A microgravity spider-man device used for inspection and maintenance of the reflecting surface of a giant radio telescope, characterized in that: include: Sphere, inflation and deflation unit, rigging device, work clothes and hanging rigging; The sphere includes: a main airbag, a secondary airbag, an anchoring rigging, a mooring rigging, an anchoring bow, a mooring bow, a collision protection belt and an observation window; the interior of the main airbag is filled with helium, the secondary airbag is arranged inside the main airbag, the interior of the secondary airbag is filled with air, 9 mooring bows are arranged at intervals in a circumferential direction on the lower outer side of the main airbag, the upper ends of the mooring rigging are respectively connected to the corresponding mooring bows, and the lower ends of the mooring rigging are connected to the cable collection device; 6 anchoring bows are arranged at intervals in a circumferential direction on the middle outer side of the main airbag, the upper ends of the anchoring bows are respectively connected to the corresponding anchoring bows, and the lower ends of the anchoring bows are connected to the cable collection device. The airbag is connected with a bow tie; the collision protection belt is arranged at the middle and lower part of the main airbag; the observation window is arranged on the outside of the main airbag; the inflation and deflation unit includes: a main airbag helium inflation port and a secondary airbag inflation port, the main airbag helium inflation port is arranged at the middle and lower part of the main airbag, serving as an interface for inflating and deflation of helium in the main airbag; the secondary airbag inflation port is arranged at the bottom of the main airbag, serving as an interface for inflating and deflation of air in the secondary airbag; one end of the hanging sling is connected to the cable collection device, and the other end of the hanging sling is connected to the work clothes, and a counterweight unit is provided on the cable collection device; The mooring rigging is made of brocade rope; the mooring rigging is a two-section structure, and the upper section and the lower section are connected by a quick-release ring; the upper end of the mooring rigging is connected to the mooring bow; the lower end of the mooring rigging is connected to the ground anchoring equipment; the mooring rigging is made of brocade rope; The mooring rigging is made of brocade rope; the upper end of the mooring rigging is connected to the mooring bow tie, and the lower end of the mooring rigging is connected to the rope gathering device; The cable gathering device includes: a cable gathering ring, a bearing seat, a thrust bearing, a rotary joint and a bearing seat end cover; the cable gathering ring is evenly distributed with 18 limit plates to provide a connection interface for the mooring rigging; the bearing seat is installed at the bottom center position of the cable gathering ring; the thrust bearing is arranged inside the bearing seat; the upper end of the rotary joint is installed in the thrust bearing; the lower end of the rotary joint is connected to the work clothes through a hanging rigging.

2. The microgravity spider-man device according to claim 1, characterized in that: The main airbag includes: 18 pieces of cutting pieces, sealing strips, heat sealing strips and plugs; The main airbag cover is made of 18 pieces that are heat-sealed to form a round spherical structure. Located on the inner side of the main airbag, adjacent panels are connected by heat-sealing strips; Located outside the main airbag, adjacent panels are connected by sealing strips; The cut piece is provided with process openings at the upper and lower ends thereof, respectively, and the plug is sealed in the process openings.

3. The microgravity spider-man device according to claim 1, characterized in that: The auxiliary airbag includes: 18 pieces of cutting pieces, a sealing strip, a heat sealing strip, a plug and a skirt; The auxiliary airbag is arranged inside the main airbag, and the cover of the auxiliary airbag is made of 18 pieces of cut pieces that are heat-sealed to form a round spherical crown structure; Located on the inner side of the auxiliary airbag, adjacent panels are connected by heat-sealing strips; Located on the outside of the auxiliary airbag, adjacent panels are connected by a sealing strip; The cut piece forms a process opening at its upper end, and the plug is sealed in the process opening; The upper end of the skirt is connected to the auxiliary airbag cover by heat sealing, and the lower end of the skirt is connected to the main airbag cover by heat sealing using a T-shaped structure.

4. The microgravity spider-man device according to claim 1, characterized in that: The sphere is provided with a safety unit, which includes: an air valve and a pressure measuring assembly; The air valve is provided at the bottom of the auxiliary airbag and has a self-sealing function when the auxiliary airbag pressure is below 700Pa. When the pressure on both sides of the valve core of the air valve exceeds a preset threshold, the valve core automatically opens under the action of the pressure to release part of the air inside the auxiliary airbag; The pressure measuring component is arranged on the work clothes and is used to monitor the pressure of the main airbag.

5. The microgravity spider-man device according to claim 1, characterized in that: The width of the collision protection strip located in the middle of the main airbag is 600mm; The width of the collision protection belt located at the lower part of the main airbag is 500mm.

6. The microgravity spider-man device according to claim 1, characterized in that: A rainproof curtain is provided at the annular portion in the middle and lower part of the main airbag.

7. The microgravity spider-man device according to claim 1, characterized in that: The surface density of the main airbag material is ≤252g / m 2 , the minimum tensile strength in the warp direction is ≥26.7N / mm, and the minimum tensile strength in the weft direction is ≥26.7N / mm; The surface density of the auxiliary airbag material is ≤200g / m 2 , tensile strength ≥2.5N / mm; The diffusion radius of the bow tie is ≥150 mm, and the tensile strength is ≥6707.2 N; The tensile strength of the mooring sling is ≥1339N; The tensile strength of the mooring rigging is ≥6707.2N.

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