Ground test device for the cam rotation mechanism of space station maintenance tools

Abstract

This invention discloses a device for testing the operating state of a cam-type rotating mechanism for space station maintenance tools. The device consists of two parts: hardware and software. The hardware primarily includes a swing arm, a swing arm sleeve, a push-pull electromagnet, and a custom spring as the main actuator. A motor provides driving force, and a programmable logic controller (PLC) performs logical control. The software includes a PLC program for device control and testing, and a host computer monitoring program for human-machine operation and data storage. This device, utilizing the test device, can repeatedly lock and unlock the cam-type rotating mechanism in a space environment, thereby verifying the product's operating state, reliability, and environmental adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of environment and reliability testing of a rotating mechanism for a space station, and in particular to a ground testing device for a cam rotating mechanism of a space station maintenance tool. Background Art

[0002] To ensure high-quality spacecraft operation in the space environment, on-orbit servicing and maintenance technology is a hot research topic in the aerospace field. Space station extravehicular maintenance and assist tools are a set of devices used by astronauts. Through the collaborative efforts of humans and tools, they perform on-orbit assembly and maintenance operations to extend the life of the spacecraft. These devices contain numerous mechanical moving components that must first undergo operational status assessment, reliability, and longevity verification on the ground. The "GJB1027A-2005 Test Requirements for Launch Vehicles, Upper Stages, and Spacecraft" stipulates that critical components prone to wear and failure, such as moving mechanical components, must undergo life testing during development testing, and environmental adaptability tests such as thermal vacuum testing during qualification and acceptance testing. For manually operated tools like repair tools, successful ground-based verification requires a drive mechanism suitable for the thermal vacuum environment of space to simulate their operational conditions.

[0003] Cam rotating mechanism is particularly common in maintenance tools. Rotating the cam can achieve the locking and unlocking of the mechanism. The key components of the cam rotating mechanism are as follows: Figure 1 As shown, Figure 1 The cam handle 3 is shown in its initial position and after it is moved. When the cam handle 3 is in its initial position, the spring 2 is in an uncompressed state, and the cam rotation mechanism lock post 1 is fully extended to lock or fix a mechanism. When the astronaut moves the cam handle 3 to the bottom, the bottom surface of the cam handle 3 is tangent to the vertical plane of the mechanism body 5, thereby locking the cam handle 3. The spring 2 is in a compressed state, and the lock post 1 retracts to unlock the mechanism. When the astronaut moves the cam handle 3 in the opposite direction, the compressed spring 2 drives the cam handle 3 back to its initial position, and the locking mechanism returns to a locked state.

[0004] When conducting reliability or environmental adaptability tests on the ground, it is necessary to provide a test device to simulate the locking and unlocking actions of astronauts. In addition, in order to evaluate the effectiveness of spring 2, the action of bringing the handle back to lock should only give an initial force, and then rely on its own spring force to return to the locked state. At present, there is no professional test device for cam rotating mechanisms on the ground. Based on the above requirements for simulating the working state of cam-type rotating mechanisms, the present invention proposes a ground test device for the cam rotating mechanism of space station maintenance tools. When designing the entire ground test device, the first is to consider the particularity of the cam mechanism, which has no fixed center of rotation. The second is to consider how the driving device can make the cam rotating mechanism automatically return to the locked state with the help of the internal spring tension after driving the cam rotating mechanism to unlock. Finally, the adaptability of the test device itself to the space environment must be considered. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a test device that can drive a cam-type rotating mechanism to repeatedly lock and unlock in a space environment, thereby realizing product working state assessment, reliability verification, and environmental adaptability verification.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A ground-based testing device for a cam rotating mechanism of a space station maintenance tool includes a hardware unit and a software unit for the cam rotating mechanism. The hardware unit includes a drive and measurement unit and an action unit placed within a vacuum container, and a control unit placed outside the vacuum container. The software unit includes a PLC program and a host computer monitoring program.

[0008] The driving and measuring part includes a motor bracket, a motor is provided on the motor bracket, a second coupling, a torque sensor, and a first coupling are sequentially provided on the output shaft of the motor, and a torque sensor bracket is provided below the torque sensor;

[0009] The action part includes a transmission shaft installed on the output shaft of the motor, a shaft support is provided on the transmission shaft, a swing arm sleeve is provided on the outer sleeve of the transmission shaft, a baffle and a pin are provided on the port of the swing arm sleeve, a swing arm is provided on the outer sleeve of the swing arm, a micro switch is provided on the side wall of the swing arm, a push-pull electromagnet is provided on the swing arm, and a custom spring, a spring fixing cover, a pressure cover, and a pressure cover nut are sequentially provided on one side of the swing arm and on the outer side of the swing arm sleeve, and the pressure cover nut is screwed together with the swing arm sleeve. After connection, the micro switch is pressed by the baffle, and the pin is in the notch of the swing arm, so as to limit the rotation distance when the swing arm and the swing arm sleeve rotate relative to each other;

[0010] The control part includes: PLC, upper monitoring computer, power supply, motor driver, differential to single-ended conversion board, driver board, converter;

[0011] The PLC program is used to realize the control and detection of the equipment;

[0012] The host computer monitoring program is used to realize human-machine operation and data storage functions.

[0013] Preferably, the PLC is electrically connected to a host monitoring computer, and the PLC is electrically connected to a motor driver, a drive board, and a converter respectively. The motor driver is also electrically connected to a differential-to-single-ended conversion board, and the differential-to-single-ended conversion board is electrically connected to the PLC.

[0014] Preferably, the motor is electrically connected to a motor driver, the torque sensor is electrically connected to a converter, and the push-pull electromagnet is electrically connected to a drive plate.

[0015] Preferably, the cam rotation mechanism includes a lock column, a spring, a cam handle, a cam shaft, and a mechanism body. The spring is sleeved on the outside of the thin column section of the lock column. The mechanism body is provided with the end of the outer lock column and is slidably connected to it. The inner walls on both sides of the mechanism body are provided with sliding grooves. The cam shaft is fixed on the two side walls of the cam handle and is slidably connected to the sliding grooves.

[0016] The parts placed inside the vacuum container mainly include the drive measurement part and the action part. The assembly diagram is as follows: Figure 2 As shown in the figure. For the drive measurement part, the motor provides the driving torque for the whole device. The torque sensor is connected between the motor and the transmission shaft to measure the motor output torque in real time. The assembly details of the action part are shown in the figure. Figure 3 As shown, it primarily comprises a swing arm sleeve and a swing arm. The swing arm sleeve is mounted on the drive shaft and rotates with the motor. A compressed custom spring holds the swing arm and the swing arm sleeve in relative position. When the swing arm and the swing arm sleeve are not rotating relative to each other, the microswitch is pressed by a baffle on the swing arm sleeve, remaining in the closed state. A push-pull electromagnet is mounted on the swing arm, and the extension and retraction of the push-pull electromagnet's internal core are controlled by power on and off. By utilizing the swing arm, which rotates with the motor and controls the extension and retraction of the push-pull electromagnet's core, the swing arm can be freely rotated to either side of the cam handle, and the cam handle can be toggled forward and backward to simulate unlocking and locking actions. This drive method, which does not bind the cam handle to the drive device, solves the problem of the cam handle's motion having no fixed center. Furthermore, when the product returns from the unlocked state to the locked state, the push-pull electromagnet is de-energized, rotates clockwise around to the other side of the cam handle, and then energized counterclockwise, applying a momentary force to the cam handle, thus satisfying the requirement that the cam handle completes the locking action by relying on its own spring force. When the cam handle is moved to the extreme position, the cam handle forms a reaction force on the push-pull electromagnet, and the motor drives the swing arm sleeve to continue to rotate. The swing arm and the swing arm sleeve will overcome the customized spring force and rotate relative to each other. The micro switch is turned on as a signal that the rotation is in place.

[0017] The detailed circuit connection diagram between the control part and the device inside the container is as follows: Figure 4 As shown, it mainly includes PLC, motor controller and upper monitoring computer, which use vacuum wall plug to exchange information with the motor, torque sensor, micro switch and push-pull electromagnet in the container.

[0018] When the control unit is operating, the PLC sends pulse and direction signals to the motor driver. The pulse frequency determines the motor speed, the number of pulses determines the distance the motor rotates, and the direction signal determines the direction of rotation. The motor driver drives the motor according to the control signals. The encoder inside the motor serves as a position feedback device, returning pulse signals to the motor driver. The motor driver accumulates the pulses and calculates the position of the motor shaft. Simultaneously, the motor driver outputs the encoder pulse signal to the PLC, which calculates the position of the motor shaft. The torque sensor output pulse signal is converted into a voltage signal by a converter and transmitted to the PLC. The microswitch signal directly enters the PLC's DI channel, which outputs a switch signal to the driver board. The driver board controls the power on and off of the push-pull electromagnet, thereby controlling the extension and contraction of the electromagnet's core.

[0019] The test device is adapted to the space environment, including the vacuum environment adaptability treatment of the lubricated rotating parts and the thermal environment adaptability treatment of the powered equipment during the test.

[0020] refer to Figure 5, the working principle of the device is explained as follows: adjust the motor output shaft so that the physical origin position of the motor output shaft is located on the opposite side of the unlocking movement direction of the product cam handle. At this time, the relative position of the product cam handle and the push-pull electromagnet is as shown in state 1; the test device is powered on to start working, and the current position of the motor is set as the starting point of the program to start the cycle. During the cycle, first, the push-pull electromagnet is energized at the starting position to extend the iron core, and the motor rotates to drive the push-pull electromagnet on the swing arm. The extended iron core of the push-pull electromagnet drives the cam handle to rotate from the starting position to the horizontal position. The product reaches the limit position and is unlocked, as shown in state 2; at this time, the push-pull electromagnet is blocked from rotating, but the swing arm sleeve, driven by the motor, overcomes the spring resistance and continues to rotate, causing the swing arm and the swing arm sleeve to rotate relative to each other, and the baffle and the micro switch Relative rotation occurs, the micro switch is turned on, and an in-position signal is issued. The motor receives the in-position signal and rotates in the opposite direction by angle 1. The push-pull electromagnet is de-energized and the iron core is retracted, as shown in state 3; the motor continues to rotate forward by angle 2. At this time, the push-pull electromagnet has moved to the other side of the cam handle, as shown in state 4; the push-pull electromagnet is energized to extend the iron core, and the motor returns to the starting point. When the extended iron core of the push-pull electromagnet touches one side of the cam handle, the cam handle obtains an instantaneous thrust, and then relies on its own spring to rebound to the starting point, that is, the locked state, as shown in state 5. On the way back to the starting point, an arbitrary rotation angle 3 is set to de-energize the push-pull electromagnet and retract the iron core to prevent the push-pull electromagnet from being stuck by the cam handle that has rebounded to the starting point when passing through the cam handle. Finally, state 6 is reached, and preparation for the next cycle action is made.

[0021] For software units, the logical flow steps of the PLC program are as follows:

[0022] Step 1: Set Angle 1, Angle 2, Angle 3, number of cycles, and torque limit;

[0023] Step 2: Turn on the motor enable, the motor automatically returns to the physical origin, and set the current position as the loop starting point;

[0024] Step 3: Start looping from state 1;

[0025] Step 4: The push-pull electromagnet is energized and the iron core extends. The motor rotates forward until it receives the in-position signal from the micro switch, then reverses to angle 1, passes through state 2 and reaches state 3.

[0026] Step 5: The push-pull electromagnet is powered off and the core retracts, the motor rotates forward by angle 2 and reaches state 4;

[0027] Step 6: The push-pull electromagnet is energized and the core extends, and the motor reverses by angle 3 to reach state 5;

[0028] Step 7: The push-pull electromagnet is powered off and the core retracts, and the motor continues to reverse back to the starting point, reaching state 6;

[0029] Step 8: Determine whether the number of cycles reaches the set value. If not, follow steps 3 to 7 to start the next cycle. If yes, stop.

[0030] The upper computer monitoring program is developed using industrial configuration software to realize human-machine operation and data storage functions, including equipment operation functions, such as motor enable, motor forward rotation, motor reverse rotation, and motor return to the starting point; parameter setting functions, such as setting parameters such as angle, torque, and number of cycles; real-time status display function, such as the operating status of each device in the test device; and data storage function, which provides test data for the degradation performance research of the spring in the product.

[0031] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0032] 1. In this application, the test device of the present invention can drive a cam-type rotating mechanism to simulate locking and unlocking actions, adapt to a thermal vacuum environment of -100°C to +100°C, and meet the requirements of working state assessment, reliability and long life verification of rotating products in a space environment.

[0033] 2. In this application, the test device can start the automatic cycle function to complete the product working state simulation. At the same time, in the upper computer monitoring program, by controlling the forward and reverse rotation of the motor, comprehensively interpreting the micro switch's in-position signal indication, real-time data of the torque size, and the product's operating angle, the product working state simulation can be completed manually to provide protection when a failure occurs in the PLC automatic control program. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A diagram showing a cam rotating mechanism according to an embodiment of the present invention is shown;

[0035] Figure 2 A schematic diagram of the internal assembly of a container according to an embodiment of the present invention is shown;

[0036] Figure 3 An exploded view of the operating portion of a test device provided according to an embodiment of the present invention is shown;

[0037] Figure 4 A circuit connection diagram of a test device provided in an embodiment of the present invention is shown;

[0038] Figure 5 A schematic diagram of the working state of a test device provided according to an embodiment of the present invention is shown.

[0039] Legend:

[0040] 1. Locking cylinder; 2. Spring; 3. Cam handle; 4. Camshaft; 5. Mechanism body; 6. Swing arm; 7. Push-pull electromagnet; 8. Custom spring; 9. Spring fixing cover; 10. Pressure cover; 11. Pressure cover nut; 12. Micro switch; 13. Swing arm bushing; 14. Pin; 15. Blocking piece; 16. Drive shaft; 17. Coupling 1; 18. Torque sensor; 19. Coupling 2; 20. Motor; 21. Motor bracket; 22. Torque sensor bracket; 23. Shaft support; 24. PLC; 25. Upper monitoring computer; 26. Power supply; 27. Motor driver; 28. Differential to single-ended conversion board; 29. ​​Driver board; 30. Converter. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. The described embodiments are only part of the embodiments of the present invention, not all of the 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.

[0042] The assembly method of the internal part of the container of the device of the present invention is as follows Figure 2 As shown, the motor 20 is fixed on the motor bracket 21, the torque sensor 18 is fixed on the torque sensor bracket 22, the motor 20 is connected to the input end of the torque sensor 18 through the coupling 17, and the output end of the torque sensor 18 is connected to the action part through the coupling 2. Figure 3As shown, the push-pull electromagnet 7 is installed on the swing arm 6 by 4 screws, the customized spring 8 is pressed against the slot of the swing arm 6 on one side, and the customized spring 8 is buckled with the spring fixing cover 9 on the other side. The micro switch 12 is installed on the side of the swing arm 6 by 2 screws, and the baffle 15 is installed on the swing arm sleeve 13 by 1 screw. The pin 14 is tightened on the swing arm sleeve 13. The swing arm 6 with the above small accessories installed is inserted into the swing arm sleeve 13 so that the pin 14 on the swing arm sleeve 13 is in the arc-shaped notch on the side of the swing arm 6 where the micro switch 12 is installed, and the micro switch 12 is pressed by the baffle 15. The swing arm sleeve 13 with the swing arm 6 installed is installed on the transmission shaft 16. The swing arm sleeve 13 and the transmission shaft 16 have an interference fit. The gland 10 and the gland nut 11 are tightened to the head of the transmission shaft 16. Before tightening the gland nut 11, the compression of the custom spring 8 should be adjusted by rotating the spring fixing cover 9. Adjust it to the appropriate position and then tighten the gland nut 11. The spring force acts on the swing arm 6 and the spring fixing cover 9 through the gland nut 11, while the swing arm 6 and the swing arm sleeve 13 are relatively fixed. The action part of the test device is thus installed, and the entire action part is supported by the shaft support 23 to prevent the action part from bending the transmission shaft due to its own weight, affecting its rotation. The entire action part is connected to the output end of the torque sensor 18 using a coupling 17.

[0043] Specifically, when adjusting the compression amount of the customized spring 8, it should be prevented that the compression amount is too small, that is, the spring force is small, resulting in the swing arm 6 and the swing arm shaft sleeve 13 rotating relative to each other due to the deadweight of the swing arm 6 during the rotation process, and the micro switch 12 is opened, issuing an erroneous position information. At the same time, it should be prevented that the compression amount is too large, resulting in the iron core of the push-pull electromagnet 7 needing to exert a greater pressure on the product during the rotation process to overcome the spring resistance and rotate relative to each other. This situation may damage the product on the one hand, and may cause the test device to malfunction on the other hand.

[0044] The circuit connection mode of the device of the present invention is as follows Figure 5 As shown, the motor 20 is connected to the motor driver 27, the push-pull electromagnet 7 is connected to the drive board 29, the torque sensor 18 is connected to the converter 30, the motor driver 27, the drive board 29, the converter 30, and the micro switch 12 are all connected to the PLC 24, the PLC 24 is connected to the upper monitoring computer 25, and the power supply 26 is connected to the motor driver 27 to supply power to the motor 20.

[0045] The test equipment's spatial environmental adaptability is tested, including vacuum environmental adaptability for lubricated rotating components and thermal environmental adaptability for energized equipment during testing. Specifically, the motor bearings are cleaned of grease and filled with vacuum grease. Before installing the swing arm, the arm sleeve is sprayed with molybdenum disulfide. All of these lubrication methods are performed in a vacuum environment. During testing, if the required test temperature exceeds the operating temperature range of the motor 20 and torque sensor 18, heaters are used to independently control the temperature of the motor 20 and torque sensor 18.

[0046] When the device placed in the vacuum container is operating, the output shaft of motor 20 is first adjusted so that its physical origin is to the left of the product's cam handle 3. At this point, the relative position of the product's cam handle 3 and push-pull electromagnet 7 is as shown in State 1. The test device is then powered on, and the current position of motor 20 is set as the program's starting point, initiating a loop. During the loop, the push-pull electromagnet 7 is first energized at the starting position, extending its core. Motor 20 then rotates the push-pull electromagnet 7 on the swing arm 6. The extended core of the push-pull electromagnet 7 then rotates the cam handle 3 from its starting position to a horizontal position. The product reaches its limit position and is unlocked, as shown in State 2. At this time, the push-pull electromagnet 7 is blocked from rotating, but the swing arm sleeve 13, driven by the motor 20, overcomes the spring resistance and continues to rotate, causing the swing arm 6 and the swing arm sleeve 13 to rotate relative to each other, and the baffle 15 and the micro switch 12 to rotate relative to each other. The micro switch 12 is opened, sending an in-position signal. The motor 20 receives the in-position signal and rotates in the reverse direction by angle 1. The push-pull electromagnet 7 is de-energized and the iron core is retracted, as shown in state 3. The motor 20 continues to rotate forward by angle 2. At this time, the push-pull electromagnet 7 has moved to the other side of the cam handle 3, as shown in state 4. The push-pull electromagnet 7 is energized to extend the iron core, and the motor 20 returns to the starting point. When the extended iron core of the push-pull electromagnet 7 hits one side of the cam handle 3, the cam handle 3 obtains an instantaneous thrust, and then relies on its own spring to rebound to the starting point, that is, the locked state, such as state 5. On the way of the motor 20 returning to the starting point, a rotation angle is arbitrarily set to make the push-pull electromagnet 7 de-energized and retract the iron core to prevent the push-pull electromagnet 7 from being stuck by the cam handle 3 that has rebounded to the starting point when passing through the cam handle 3. Finally, state 6 is reached, and preparation for the next cycle action is made.

[0047] For the software part, the PLC program was developed using TIA Portal V13. The specific logical process steps are as follows:

[0048] Step 1: Set Angle 1, Angle 2, Angle 3, number of cycles, and torque limit;

[0049] Step 2: Turn on the motor 20, and the motor 20 automatically returns to the physical origin, setting the current position as the loop starting point;

[0050] Step 3: Start the cycle;

[0051] Step 4: The push-pull electromagnet 7 is energized and the iron core extends. The motor 20 rotates forward until it receives the in-position signal from the microswitch 12, and then reverses by angle 1. Specifically, during the forward rotation of the motor 21, it first switches from state 1 to state 2. The extended iron core of the push-pull electromagnet 7 on the swing arm 6 drives the product cam handle 3 from the locked state to the unlocked state. The motor 20 continues to rotate forward, and the swing arm 6 and the swing arm sleeve 13 rotate relative to each other. The microswitch 12 is opened, sending the in-position signal. The motor 20 reverses by angle 1 and reaches state 3.

[0052] Step 5: The push-pull electromagnet 7 is powered off and the core is retracted, and the motor 20 rotates forward by angle 2 to reach state 4;

[0053] Step 6: The push-pull electromagnet 7 is energized and the iron core extends, the motor 20 reverses by angle 3, the push-pull electromagnet 7 is de-energized and the iron core retracts, and the motor 20 continues to reverse back to the starting point;

[0054] Step 7: Determine whether the number of cycles reaches the set value. If not, follow steps 3 to 6 to start the next cycle. If yes, stop.

[0055] The upper computer monitoring program is developed using the industrial configuration software Forcecontrol 6.1 to realize human-machine operation and data storage functions. In the equipment operation area, six function buttons are set: motor enable, motor forward, motor reverse, return to starting point, and set current position as starting point; in the parameter setting area, five parameter settings are set: angle 1, angle 2, angle 3, number of cycles, and torque upper limit alarm; in the real-time status display area, a chart is used, that is, the horizontal axis is time, and the vertical axis is the real-time angle and torque sensor measurement data of the motor (swing arm) to display the operating status of the test device in real time, and at the same time display four types of status: the number of completions, the electromagnet power-on status, the micro switch status, and the motor switch status; in the data storage area, the chart data is stored in the upper monitoring computer in the form of a database for studying the degradation performance of the spring in the product.

[0056] Although the above description and illustration of the specific embodiments of the present invention are detailed, it should be noted that various equivalent changes and modifications may be made to the above embodiments in accordance with the concepts of the present invention. As long as the resulting functions and effects do not exceed the spirit of the description and drawings, they shall be within the scope of protection of the present invention. Parts not described in detail in the present invention are well known to those skilled in the art.

Claims

1. A ground test device for a cam rotating mechanism of a space station maintenance tool, characterized in that: The invention comprises a hardware unit and a software unit for a cam rotating mechanism, wherein the hardware unit comprises a driving and measuring part and an action part placed in a vacuum container, and a control part placed outside the vacuum container, and the software unit comprises a PLC program and a host computer monitoring program; The driving and measuring part includes a motor bracket (21), a motor (20) is arranged on the motor bracket (21), a second coupling (19), a torque sensor (18), and a first coupling (17) are sequentially arranged on the output shaft of the motor (20), and a torque sensor bracket (22) is arranged below the torque sensor (18); The action part comprises a transmission shaft (16) mounted on the output shaft of the motor (20), a shaft support (23) is provided on the transmission shaft (16), a swing arm sleeve (13) is provided on the outer sleeve of the transmission shaft (16), a baffle (15) and a pin (14) are provided on the end of the swing arm sleeve (13), a swing arm (6) is provided on the outer sleeve of the swing arm sleeve (13), a micro switch (12) is provided on the side wall of the swing arm (6), and a push-pull mechanism is provided on the swing arm (6). The electromagnet (7) is provided with a customized spring (8), a spring fixing cover (9), a pressure cover (10), and a pressure cover nut (11) on one side of the swing arm (6) and outside the swing arm sleeve (13). The pressure cover nut (11) is screwed together with the swing arm sleeve (13). After the connection, the micro switch (12) is pressed by the baffle (15). The pin (14) is in the notch of the swing arm (6) and is used to limit the rotation distance when the swing arm (6) and the swing arm sleeve (13) rotate relative to each other. The control part includes: a PLC (24), a host monitoring computer (25), a power supply (26), a motor driver (27), a differential to single-ended conversion board (28), a drive board (29), and a converter (30); The PLC program is used to realize the control and detection of the equipment; The host computer monitoring program is used to realize human-machine operation and data storage functions.

2. The ground test device for the cam rotating mechanism of a space station maintenance tool according to claim 1, characterized in that: The PLC (24) is electrically connected to the upper monitoring computer (25), and the PLC (24) is electrically connected to the motor driver (27), the drive board (29), and the converter (30) respectively. The motor driver (27) is also electrically connected to the differential-to-single-ended conversion board (28), and the differential-to-single-ended conversion board (28) is electrically connected to the PLC (24).

3. The ground test device for the cam rotating mechanism of a space station maintenance tool according to claim 2, characterized in that: The motor (20) is electrically connected to the motor driver (27), the torque sensor (18) is electrically connected to the converter (30), and the push-pull electromagnet (7) is electrically connected to the drive plate (29).

4. The ground test device for the cam rotating mechanism of a space station maintenance tool according to claim 1, characterized in that: The cam rotating mechanism comprises a lock column (1), a spring (2), a cam handle (3), a cam shaft (4), and a mechanism body (5). The spring (2) is sleeved on the outside of the thin column section of the lock column (1). The mechanism body (5) is provided with the end of the outer lock column (1) and is slidably connected thereto. Both inner walls of the mechanism body (5) are provided with sliding grooves. The cam shaft (4) is fixed to the two side walls of the cam handle (3) and is slidably connected to the sliding grooves.

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