A maintenance tool for astronauts to unlock the clamping device on orbit

Abstract

The present invention discloses a maintenance tool for astronauts to unlock a clamping device on orbit, comprising: a pull rope tool, an impact tool, an unlocking torque tool and an unlocking flexible shaft; wherein the pull rope tool tightens the linkage rope of the linkage clamping device, so that the spring or clamping rod of the linkage clamping device pops out; if the spring or clamping rod of the linkage clamping device does not pop out, the impact tool impacts the connecting shaft of the linkage clamping device until the clamping device spring or clamping rod of the linkage clamping device pops out; the unlocking torque tool unscrews the locking nut of the independent clamping device, and the unlocking flexible shaft loosens the clamping rod of the independent clamping device until the spring or clamping rod of the independent clamping device pops out. The present invention realizes the rapid on-orbit unlocking of the clamping device of the manipulator by astronauts, and has the characteristics of rapid fixation, small size, light weight, retractability and small gripping force, and solves the problem of manual unlocking when the clamping device of the space manipulator fails.

Description

Technical Field

[0001] The invention belongs to the technical field of spacecraft clamping and releasing, and in particular relates to a maintenance tool used by astronauts to unlock a clamping device on orbit. Background Art

[0002] The space robotic arm is an indispensable tool for carrying out manned space activities. The large-scale space robotic arm developed by my country is clamped to the side wall of the cabin through 41 clamping devices for launch. The reliable unlocking and deployment of the robotic arm is related to the success or failure of the entire space station mission. If the unlocking and deployment of the robotic arm clamping device fails, astronauts will need to repair it in orbit. At present, there is no technical reference at home and abroad for the in-orbit maintenance tools used for the clamping devices of large space robotic arms, and there is no precedent for their use. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and provide a maintenance tool for astronauts to unlock the clamping device on orbit, thereby realizing the astronauts' rapid on-orbit unlocking of the clamping device of the robotic arm, having the characteristics of rapid fixation, small size, light weight, retractability, and low gripping force, thus solving the problem of manual unlocking when the clamping device of the space robotic arm fails.

[0004] The objective of the present invention is achieved through the following technical solutions: a maintenance tool for astronauts to unlock a clamping device in orbit, comprising: a rope pulling tool, an impact tool, an unlocking torque tool and an unlocking flexible shaft; wherein the rope pulling tool tightens the linkage rope of the linkage clamping device so that the spring or the clamping rod of the linkage clamping device pops out; if the spring or the clamping rod of the linkage clamping device does not pop out, the impact tool impacts the connecting shaft of the linkage clamping device until the clamping device spring or the clamping rod of the linkage clamping device pops out; the unlocking torque tool unscrews the locking nut of the independent clamping device, and the unlocking flexible shaft loosens the clamping rod of the independent clamping device until the spring or the clamping rod of the independent clamping device pops out.

[0005] In the above-mentioned maintenance tool used for astronauts to unlock the clamping device on orbit, the pull-rope tool includes a pull-rope tool operating part and a rope hook; wherein, one end of the pull-rope tool operating part is connected to the rope hook; the rope hook hooks the linkage rope of the linkage clamping device, and the pull-rope tool operating part can give tension to the linkage rope of the linkage clamping device so that the spring or clamping rod of the linkage clamping device pops out.

[0006] In the above-mentioned maintenance tool for astronauts to unlock and clamp the device on orbit, the rope pulling tool also includes an end positioning block; wherein the end positioning block is connected to the inner side of the rope hook.

[0007] In the above-mentioned maintenance tool for astronauts to unlock and clamp the device on orbit, the impact tool includes an impact tool operating part, an adapter, a guide column block, an A-type positioning block, a B-type positioning block and an impact hook, wherein one end of the impact tool operating part is connected to one end of the adapter; the A-type positioning block and the B-type positioning block are both connected to the other end of the adapter, and the A-type positioning block and the B-type positioning block are arranged in parallel; the guide column block is connected to the side wall of the adapter; one end of the impact hook passes through the adapter and is connected to the impact tool operating part; the other end of the impact hook is used to impact the connecting shaft of the linkage clamping device.

[0008] In the above-mentioned maintenance tool for astronauts' on-orbit unlocking and clamping device, the rope pulling tool operating part and the impact tool operating part have the same structure, both including: a shell, a support sleeve, a spring limit block, a push rod, a push rod return spring, a spring stop block, a limit plug, a paddle, a locking plate, a movable handle, a fixed handle, a return spring, a paddle shaft, a movable handle shaft, a locking plate mounting block, a locking plate shaft, a locking return spring, a trigger and a trigger shaft; wherein, the support sleeve is arranged on the inner wall of one end of the shell; the push rod is arranged inside the shell; one end of the push rod passes through the support sleeve, one end of the shell and the positioning hole formed by the end positioning block; the push rod return spring and the spring stop block are both sleeved on the outer surface of the push rod, and the push rod return spring is located between the spring limit block and the spring stop block; the spring limit block and the shell The locking plate is connected to the fixed handle through the locking plate rotating shaft; the locking plate is connected to the locking plate mounting block through the locking plate rotating shaft, and the locking plate mounting block is connected to the shell; the locking reset spring is arranged between the locking plate rotating shaft and the locking plate mounting block, and the locking reset spring provides the locking plate with a restoring force; the trigger is connected to the shell through the trigger rotating shaft.

[0009] In the above-mentioned maintenance tool for astronauts' on-orbit unlocking and clamping device, the unlocking torque tool includes a handle, a handle inner cylinder, an anti-floating ring, a handle end, an angle adjustment block, a wrench head, a nut joint, a top ball, a positioning plate, a clamp, a fixing interface, a rotating shaft and an inner cylinder limiting combination; wherein, one end of the handle inner cylinder is inserted into the interior of the handle; the inner cylinder limiting combination is arranged on the handle, and the inner cylinder limiting combination is used to limit the handle inner cylinder; the anti-floating ring is arranged at the other end of the handle inner cylinder; one end of the handle end is connected to the handle; the angle adjustment block is connected to the other end of the handle end through the rotating shaft; the wrench head is inserted into the inner cavity of the angle adjustment block, and the nut joint is connected to the wrench head; a top ball is arranged on the outer surface of the nut joint; the clamp is arranged on the side wall of the handle; the fixing interface is arranged on the side wall of the handle; the positioning plate is connected to the bottom end of the angle adjustment block by a screw.

[0010] In the above-mentioned maintenance tool for astronauts' on-orbit unlocking and clamping device, the inner cylinder limiting assembly includes an inner cylinder limiting pin and a ball head top shaft; wherein, the inner cylinder limiting pin and the ball head top shaft are both arranged at one end of the handle; the inner cylinder limiting pin is used for mechanical limiting to prevent the inner cylinder of the handle from falling out of the handle; the ball head top shaft cooperates with the slot on the inner cylinder of the handle to fix the inner cylinder of the handle at different positions to achieve length adjustment.

[0011] In the above-mentioned maintenance tool for astronauts' on-orbit unlocking and clamping device, the unlocking torque tool also includes a ball head, a spring and a cover plate; wherein, the ball head and the spring are both installed in a cylindrical hole opened at the end of the handle, the ball head is pressed against the spring, the cover plate mechanically limits the ball head, and the cover plate is connected to the end of the handle; the ball head and the spring cooperate with the angle adjustment block to achieve angle adjustment.

[0012] In the above-mentioned maintenance tool for astronauts to unlock and clamp the device on orbit, the unlocking flexible shaft includes a clamping rod joint, a flexible rod, an electric tool joint, a cushion block, a wrench, a fixed shaft and a compression spring; wherein the clamping rod joint is connected to one end of the flexible rod, and the other end of the flexible rod is connected to the electric tool joint; the cushion block is connected to the electric tool joint; one end of the fixed shaft is connected to the wrench, and the other end of the fixed shaft passes through the cushion block and is connected to the electric tool joint through the compression spring; the wrench is in contact with the cushion block.

[0013] In the above-mentioned maintenance tool for astronauts to unlock the clamping device on orbit, the wrench is provided with a rotating shaft; wherein, during the movement of the wrench around the rotating shaft, the fixed shaft is driven to swing with the assistance of the compression spring.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] (1) The rope pulling tool of the present invention can adapt to ropes of different lengths through a screw mechanism, and can enable astronauts to quickly unlock the robot arm linkage clamping device on orbit;

[0016] (2) The unlocking torque tool of the present invention can realize the rapid positioning of the independent clamping device of the robotic arm by astronauts on orbit through the design of the top ball, handle, handle extension rod and positioning plate, and realizes the unlocking of different positions of the product through the telescopic mechanism;

[0017] (3) The present invention realizes the large-thrust propulsion movement of the stretching tool and the unlocking impact tool through the propulsion method of the paddle and the tooth groove, and realizes reliable locking through the locking method of the locking plate and the tooth groove; it can be operated with one hand and has the characteristics of quick fixation, small size, light weight, retractability, and low gripping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0019] Figure 1 It is a schematic diagram of the composition of the pressing device provided by an embodiment of the present invention;

[0020] Figure 2 It is a schematic diagram of the composition of a maintenance tool for astronauts to unlock a clamping device on orbit provided by an embodiment of the present invention;

[0021] Figure 3 Schematic diagram of manual unlocking of the linkage type clamping device provided in an embodiment of the present invention;

[0022] Figure 4 is a schematic diagram of manual unlocking of an independent clamping device provided in an embodiment of the present invention;

[0023] FIG5( a ) is an appearance diagram of a rope pulling tool provided by an embodiment of the present invention;

[0024] FIG5( b ) is a cross-sectional view of a rope pulling tool provided in an embodiment of the present invention;

[0025] FIG6( a ) is an appearance diagram of an impact tool provided by an embodiment of the present invention;

[0026] FIG6( b) is a cross-sectional view of an impact tool provided in an embodiment of the present invention;

[0027] FIG. 7( a ) is an appearance diagram of an unlocking torque tool provided in an embodiment of the present invention;

[0028] FIG7( b ) is a cross-sectional view of an unlocking torque tool provided in an embodiment of the present invention;

[0029] FIG7( c ) is another cross-sectional view of the unlocking torque tool provided by an embodiment of the present invention;

[0030] FIG8( a ) is an appearance diagram of an unlocking flexible shaft provided in an embodiment of the present invention;

[0031] FIG8( b ) is a cross-sectional view of an unlocking flexible shaft provided in an embodiment of the present invention;

[0032] FIG8( c ) is a cross-sectional view taken along line AA of FIG8( a ) according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] The space station robotic arm consists of 7 joints, 2 end effectors, 1 central controller, and 1 elbow camera. The clamping device layout is 4 clamping devices for each joint, 4 clamping devices for each end effector, 3 clamping devices for the central controller, and 2 clamping devices for the elbow camera gimbal. There are a total of 41 clamping devices for the entire arm. Figure 1 As shown, the 41 clamping devices are divided into two categories according to the unlocking form, namely, linkage clamping devices (29 devices) and independent clamping devices (12 devices). The linkage clamping device realizes on-track unlocking by using a pull rope tool 1 and an impact tool 2 in combination, while the independent clamping device realizes on-track unlocking by using an unlocking torque tool 3 and an unlocking flexible shaft 4 in combination.

[0035] When the astronaut performs the unlocking operation of the linkage clamping device, he first uses the pull rope tool 1 to press its movable handle, gradually tighten the linkage rope, and the clamping device spring or clamping rod pops out; if it does not pop out, release the pull rope tool 1, use the impact tool 2, put it into the corresponding surface of the clamping device, and the astronaut presses the unlocking hook of the unlocking impact tool to impact the connecting shaft to complete the upward movement of the connecting shaft until the clamping device spring or clamping rod pops out. Figure 3When the astronaut performs the unlocking operation of the independent clamping device, he first uses the unlocking torque tool 3 to align the locking nut interface of the unlocking torque tool with the locking nut of the independent clamping device, loosens the locking nut, and then uses the unlocking soft shaft 4 installed on the electric tool outside the cabin to align the unlocking soft shaft with the clamping rod on the clamping device and loosen it by using the electric tool until the spring or the clamping rod of the clamping device pops out, as shown in FIG. Figure 4 shown.

[0036] Figure 2 FIG. 1 is a schematic diagram of the components of a maintenance tool for astronauts to unlock a clamping device on orbit provided by an embodiment of the present invention. Figure 2 As shown, the maintenance tool for astronauts to unlock the clamping device on orbit includes: a pull rope tool 1, an impact tool 2, an unlocking torque tool 3 and an unlocking flexible shaft 4.

[0037] The rope pulling tool 1 tightens the linkage rope of the linkage clamping device, so that the spring or clamping rod of the linkage clamping device pops out; if the spring or clamping rod of the linkage clamping device does not pop out, the impact tool 2 impacts the connecting shaft of the linkage clamping device until the clamping device spring or clamping rod of the linkage clamping device pops out; the unlocking torque tool 3 unscrews the locking nut of the independent clamping device, and the unlocking soft shaft 4 loosens the clamping rod of the independent clamping device until the spring or clamping rod of the independent clamping device pops out.

[0038] The layout of the mechanical arm clamping device is as follows Figure 1 As shown in FIG. 1 , the on-orbit maintenance tool is composed of four tools: a pull rope tool 1, an impact tool 2, an unlocking torque tool 3, and an unlocking flexible shaft 4. Figure 2 The four tools are independent of each other and are placed in a cargo package. Astronauts can use them in orbit according to their needs.

[0039] like Figure 5a and Figure 5b As shown in the figure, the rope pulling tool 1 includes a rope pulling tool operating part and a rope hook 1-20; wherein, one end of the rope pulling tool operating part is connected to the rope hook 1-20; the rope hook 1-20 hooks the linkage rope of the linkage clamping device, and the rope pulling tool operating part can give tension to the linkage rope of the linkage clamping device so that the spring or clamping rod of the linkage clamping device pops out.

[0040] like Figure 6a and Figure 6bAs shown in FIG. 1 , the impact tool 2 includes an impact tool operating part, an adapter 2-1, a guide column block 2-2, a type A positioning block 2-3, a type B positioning block 2-4 and an impact hook 2-5, wherein one end of the impact tool operating part is connected to one end of the adapter 2-1; the type A positioning block 2-3 and the type B positioning block 2-4 are both connected to the other end of the adapter 2-1, and the type A positioning block 2-3 and the type B positioning block 2-4 are arranged in parallel; the guide column block 2-2 is connected to the side wall of the adapter 2-1; one end of the impact hook 2-5 passes through the adapter 2-1 and is connected to the impact tool operating part; the other end of the impact hook 2-5 is used for the connecting shaft of the impact linkage clamping device.

[0041] The rope tool operating part and the impact tool operating part have the same structure.

[0042] Specifically, as shown in Figures 5(a) and 5(b), the rope pulling tool 1 mainly includes a shell 1-1, a support sleeve 1-2, a spring limit block 1-3, a push rod 1-4, a push rod reset spring 1-5, a spring stop block 1-6, a limit plug 1-7, a paddle 1-8, a locking plate 1-9, a movable handle 1-10, a fixed handle 1-11, a reset spring 1-12, a paddle shaft 1-13, a movable handle shaft 1-14, a locking plate mounting block 1-15, a locking plate shaft 1-16, a locking reset spring 1-17, a trigger 1-18, a trigger shaft 1-19, a rope hook 1-20, an end positioning block 1-21, etc. The operating end of the impact tool is different from that of the rope pulling tool. The operating end of the impact tool 2 is an adapter 2-1, a guide column block 2-2, a type A positioning block 2-3, a type B positioning block 2-4 and an impact hook 2-5, as shown in Figure 6(a) and Figure 6(b). Among them, the shell 1-1 is the installation base of the rope pulling tool, the support sleeve 1-2 is fixed to the shell 1-1 by 4 screws, and the push rod 1-4 passes through the support sleeve 1-2. The support sleeve 1-2 provides support for it and provides it with freedom of axial movement. The end of the push rod 1-4 is fixed to the end positioning block 1-21 by screws, and the spring limit block 1-3 provides a limiting structure for the push rod reset spring 1-5, which is fixed to the shell 1-1 by screws. The spring limit block 1-3 can adjust the position according to the required reset force to adjust the compression length of the reset spring 1-12 and the size of the restoring force; the push rod 1-4 is the main actuating part of the entire rope pulling tool, on which the push rod reset spring 1-5 is installed, the spring stopper 1-6 is fixed to the push rod 1-4 by screws, and the limit plug 1-7 is fixed to the push rod 1-4 by screws. The head 1-7 provides a travel limit for the push rod 1-4; a toothed groove is designed on the push rod 1-4, which cooperates with the paddle 1-8 and the locking plate 1-9; the paddle 1-8 is connected to the fixed handle 1-11 through the paddle shaft 1-13, and the paddle 1-8 cooperates with the toothed groove on the push rod 1-4 to complete the propulsion movement; the reset spring 1-5 provides the restoring force required for the push rod to return; the spring stopper 1-6 and the spring limit block 1-3 jointly provide a limit for the push rod reset spring 1-5; the movable handle 1-10 is connected to the fixed handle 1-11 through the movable handle shaft 1-14, and the movable handle 1-10 is the operation input part of the entire rope pulling tool; the paddle 1-8 is connected to the fixed handle 1-11 through the paddle shaft 1-13, and the paddle 1-8 cooperates with the toothed groove on the push rod 1-4 to complete the propulsion movement; the reset spring 1-12 provides a restoring force for the paddle 1-8.The locking plate 1-9 is connected to the locking plate mounting block 1-15 through the locking plate rotating shaft 1-16, and the locking plate mounting block 1-15 is connected to the shell 1-1. The shape of the locking plate 1-9 matches the tooth groove shape of the push rod 1-4 to achieve the locking of the push rod 1-4; the locking plate return spring 1-17 is installed between the locking plate rotating shaft 1-16 and the locking plate mounting block 1-15 to provide restoring force for the locking plate 1-9; the trigger 1-18 is connected to the shell 1-1 through the trigger rotating shaft 1-19.

[0043] In the impact tool 2, the adapter 2-1 is fixed to the shell 1-1 by screws, and the guide column 2-2 is fixed to the adapter 2-1 by screws, which is used for guiding and positioning when the tool is used; the type A positioning block 2-3 and the type B positioning block 2-4 are fixed to the two sides of the adapter 2-1 by screws, and the impact hook 2-5 is inserted into the push rod 1-4 and fixed by a nut tightening method.

[0044] The main process of tool operation is as follows:

[0045] The operator presses the movable handle 1-10 to make it rotate around the movable handle shaft 1-14, and at the same time, the paddle 1-8 is driven to swing around the paddle shaft 1-13. During the swinging process, it engages and meshes with the tooth grooves of the push rod 1-4 alternately, pushing the push rod 1-4 forward. At the same time, the teeth of the push rod 1-4 push the locking plate 1-9 to swing, and the locking plate 1-9 also engages and meshes under the action of the locking reset spring 1-17 to achieve the locking of the push rod after the advancement. In this way, the advancement and locking of the push rod 1-4 are achieved; when the push rod 1-4 moves into place, the trigger 1-18 is pulled, and the trigger 1-18 prompts the locking plate 1-9 to swing and mesh out of the tooth groove of the push rod, and the push rod 1-4 returns to its initial position under the action of the push rod reset spring 1-5. The whole process can be completed by one hand.

[0046] As shown in Figures 7(a), 7(b) and 7(c), the unlocking torque tool 3 mainly includes a handle 3-1, a handle inner cylinder 3-2, an anti-floating ring 3-3, a handle end 3-4, an angle adjustment block 3-5, a wrench head 3-6, a nut joint 3-7, a top ball 3-8, a positioning plate 3-9, a clamp 3-10, a fixing interface 3-11, a rotating shaft 3-12, an inner cylinder limit pin 3-13, a ball head top shaft 3-14, a ball head 3-15, and a spring 3-16. The handle 3-1 is the main body of the structure. The handle inner tube 3-2 is inserted into the handle 3-1 and has a slot thereon to cooperate with the ball head top shaft 3-14. The inner tube can be pulled out and fixed at different positions. The anti-drift ring 3-3 is fixed to the handle inner tube by screws to prevent the entire tool from drifting. The handle end 3-4 is fixed to the handle 3-1 by the rotating shaft 3-12, and the angle adjustment block 3-5 is fixed to the handle end 3-4 by the rotating shaft 3-12. There are two rows of ball socket holes on it to cooperate with the ball head 3-15. 3-12 can realize angle adjustment; the wrench head 3-6 is inserted into the inner cavity of the angle adjustment block 3-5 and is screwed on the angle adjustment block 3-5; the nut joint 3-7 is fixed on the wrench head 3-6 by screws, and the inner cavity is a polygonal hole, which is connected to the nut on the clamping device; the top ball 3-8 is fixed on the nut joint 3-7 for temporary fixation when the tool is connected to the clamping device; the clamp 3-10 is fixed to the handle 3-1 by screws for temporary fixation of the tool on other products; the fixing interface 3-11 is fixed to the handle 3-1 by screws for fixing the tool on the space suit; the rotating shaft 3-12 passes through the angle adjustment block 3-5 and is fixed to the handle end 3-4 by nuts for small angle rotation of the angle adjustment block; the inner cylinder limit nail 3-13 is installed on the handle 3-1 for mechanical limitation of the handle inner cylinder 3-2 to prevent the handle inner cylinder 3-2 from completely falling out of the handle 3-1; the ball head top shaft 3-14 is fixed to the handle 3-1 by the external thread thereon, The card slot on the handle inner tube 3-2 cooperates to fix the handle inner tube 3-2 at different positions, thereby realizing the length adjustment of the entire tool; the ball head 3-15 and the spring 3-16 are both installed in the cylindrical hole opened in the handle end 3-4, the ball head 3-15 and the spring 3-16 are pressed against each other, the cover plate 3-17 mechanically limits the ball head 3-15, the cover plate 3-17 is connected to the handle end 3-4, and the ball head 3-15 and the spring 3-16 cooperate with the angle adjustment block 3-5 to realize the angle adjustment.

[0047] The unlocking torque tool is provided with a positioning plate 3-9, which is convenient for astronauts to perform preliminary positioning of the torque tool during operation. Through the rotating shaft 3-12 and the angle adjustment block 3-5, the end of the torque tool is given a rotational freedom, which is convenient for astronauts to adapt to different operating angles during use. The nut joint 3-7 is the interface between the tool and the clamping device locking nut, and its interface form is a polygonal inner cavity, which is convenient for adapting to the external hexagonal nut of the clamping device. The top bead 3-8 on the nut joint 3-7 is used to realize the in-place prompt and temporary fixation of the unlocking torque tool on the clamping device, which is convenient for astronauts to perceive whether the tool is in place during operation. The clamp 3-10 is a temporary fixing interface for the unlocking torque tool on the handrail outside the cabin, which is used for astronauts to temporarily change hands and fix the operation. The fixing interface 3-11 is the fixing interface of the unlocking torque tool on the micro-workbench of the space suit, which is used for the tool fixing interface when astronauts exit the cabin.

[0048] The main process of tool operation is as follows:

[0049] The operator first adjusts the angle adjustment block 3-5 to a suitable angle, holds the handle 3-1 close to the independent clamping device, and roughly guides the tool through the positioning plate 3-9 to align the nut connector 3-7 with the locking nut of the faulty clamping device, and turns the handle 3-1 to loosen the locking nut of the clamping device. After 3 to 4 operations, the nut can be loosened.

[0050] As shown in Figures 8(a), 8(b) and 8(c), the unlocking soft shaft tool 4 mainly includes a clamping rod joint 4-1, a flexible rod 4-2, an electric tool joint 4-3, a cushion block 4-4, a wrench 4-5, a rotating shaft 4-6, a fixed shaft 4-7, a compression spring 4-8 and the like; wherein the clamping rod joint 4-1 is connected to the flexible rod 4-2 by a screw, and the clamping rod joint 4-1 is an interface between the tool and the clamping rod of the clamping device, and its interface form is a polygonal inner cavity; the flexible rod 4-2 is a flexible rod that can be bent at a certain angle, and its other end is connected to the electric tool joint 4-3 by a screw; the cushion block 4-4 is fixed to the electric tool joint 4-3 by a screw to support the wrench 4-5; the rotating shaft 4-6 is the rotating shaft of the wrench 4-5, and the astronaut bends the wrench 4-5 to achieve connection and fixation with the electric tool; the fixed shaft 4-7 passes through the wrench 4-5, and during the movement of the wrench 4-5, with the assistance of the compression spring 4-8, the fixed shaft 4-7 is driven to swing left and right.

[0051] The unlocking flexible shaft tool is connected to the clamping rod of the fault clamping device through the clamping rod joint 4-1. Its inner cavity is a polygonal interface, which is convenient for adapting to the clamping rod interface. Its outer shape is a conical joint for fixing and guiding. The flexible rod 4-2 can adapt to bending and deformation at a certain angle according to the astronaut's operating needs. The electric tool joint 4-3 is the interface between the unlocking flexible shaft and the electric tool used by the astronaut outside the cabin, and is connected to the electric tool with screws.

[0052] The main process of tool operation is as follows:

[0053] During operation, the unlocking flexible shaft tool is used in conjunction with a general electric tool outside the cabin. First, the unlocking flexible shaft is installed on the output shaft of the electric tool through the electric tool connector 4-3. Use the clamping rod connector 4-1 to align the faulty clamping device, start the electric tool, and rotate the clamping rod of the faulty clamping device until the clamping rod is removed.

[0054] The rope pulling tool of the present invention can adapt to ropes of different lengths through a screw mechanism, so that astronauts can quickly unlock the linked clamping device of the robotic arm on orbit; the unlocking torque tool of the present invention can realize the rapid positioning of the independent clamping device of the robotic arm on orbit by astronauts through the design of a top bead, a handle, a handle extension rod, and a positioning plate, and realizes unlocking of different positions of the product through a telescopic mechanism; the present invention realizes the high-thrust propulsion movement of the stretching tool and the unlocking impact tool through the propulsion method of the paddle and the tooth groove, and realizes reliable locking through the locking method of the locking plate and the tooth groove; it can realize one-handed operation, and has the characteristics of quick fixation, small size, light weight, retractability, and low grasping force.

[0055] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A maintenance tool for astronauts to unlock and hold down a device on orbit, characterized in that include: A pull rope tool (1), an impact tool (2), an unlocking torque tool (3) and an unlocking flexible shaft (4); wherein: The rope pulling tool (1) pulls the linkage rope of the linkage clamping device to make the spring or clamping rod of the linkage clamping device pop out; if the spring or clamping rod of the linkage clamping device does not pop out, the impact tool (2) impacts the connecting shaft of the linkage clamping device until the clamping device spring or clamping rod of the linkage clamping device pops out; The unlocking torque tool (3) unscrews the locking nut of the independent clamping device, and the unlocking flexible shaft (4) loosens the clamping rod of the independent clamping device until the spring or the clamping rod of the independent clamping device pops out; the rope pulling tool (1) comprises a rope pulling tool operating part and a rope hook (1-20); wherein, One end of the rope-pulling tool operating part is connected to the rope hook (1-20); The rope hook (1-20) hooks the linkage rope of the linkage clamping device, and the rope pulling tool operating part can give tension to the linkage rope of the linkage clamping device so that the spring or the clamping rod of the linkage clamping device pops out; The rope pulling tool (1) further comprises an end positioning block (1-21); wherein, The end positioning block (1-21) is connected to the inner side of the rope hook (1-20); The impact tool (2) comprises an impact tool operating part, an adapter (2-1), a guide column block (2-2), an A-type positioning block (2-3), a B-type positioning block (2-4) and an impact hook (2-5), wherein: One end of the impact tool operating portion is connected to one end of the adapter (2-1); The A-type positioning block (2-3) and the B-type positioning block (2-4) are both connected to the other end of the adapter (2-1), and the A-type positioning block (2-3) and the B-type positioning block (2-4) are arranged in parallel; The guide column block (2-2) is connected to the side wall of the adapter (2-1); One end of the impact hook (2-5) passes through the adapter (2-1) and is connected to the impact tool operating part; The other end of the impact hook (2-5) is used to impact the connecting shaft of the linkage type clamping device; The unlocking torque tool (3) comprises a handle (3-1), a handle inner tube (3-2), an anti-floating ring (3-3), a handle end (3-4), an angle adjustment block (3-5), a wrench head (3-6), a nut joint (3-7), a top ball (3-8), a positioning plate (3-9), a clamp (3-10), a fixing interface (3-11), a rotating shaft (3-12) and an inner tube limiting assembly; wherein, One end of the handle inner tube (3-2) is inserted into the interior of the handle (3-1); The inner cylinder limiting assembly is arranged on the handle (3-1), and the inner cylinder limiting assembly is used to limit the position of the handle inner cylinder (3-2); The anti-floating ring (3-3) is arranged at the other end of the handle inner tube (3-2); One end of the handle end (3-4) is connected to the handle (3-1); The angle adjustment block (3-5) is connected to the other end of the handle end (3-4) via the rotating shaft (3-12); The wrench head (3-6) is inserted into the inner cavity of the angle adjustment block (3-5), and the nut joint (3-7) is connected to the wrench head (3-6); The outer surface of the nut joint (3-7) is provided with a top bead (3-8); The clamp (3-10) is arranged on the side wall of the handle (3-1); The fixing interface (3-11) is arranged on the side wall of the handle (3-1); The positioning plate (3-9) is connected to the bottom end of the angle adjustment block (3-5); the unlocking flexible shaft (4) comprises a clamping rod joint (4-1), a flexible rod (4-2), an electric tool joint (4-3), a cushion block (4-4), a wrench (4-5), a fixed shaft (4-7) and a compression spring (4-8); wherein, The clamping rod connector (4-1) is connected to one end of the flexible rod (4-2), and the other end of the flexible rod (4-2) is connected to the electric tool connector (4-3); The cushion block (4-4) is connected to the electric tool connector (4-3); One end of the fixed shaft (4-7) is connected to the wrench (4-5), and the other end of the fixed shaft (4-7) passes through the cushion block (4-4) and is connected to the electric tool connector (4-3) via the compression spring (4-8); The wrench (4-5) is in contact with the cushion block (4-4).

2. The maintenance tool for astronauts to unlock and hold down devices on orbit according to claim 1, characterized in that: The rope pulling tool operating part and the impact tool operating part have the same structure, and both include: a housing (1-1), a support sleeve (1-2), a spring limit block (1-3), a push rod (1-4), a push rod reset spring (1-5), a spring stop block (1-6), a limit plug (1-7), a paddle (1-8), a locking plate (1-9), a movable handle (1-10), a fixed handle (1-11), a reset spring (1-12), a paddle rotating shaft (1-13), a movable handle rotating shaft (1-14), a locking plate mounting block (1-15), a locking plate rotating shaft (1-16), a locking reset spring (1-17), a trigger (1-18) and a trigger rotating shaft (1-19); wherein, The support sleeve (1-2) is arranged on the inner wall of one end of the shell (1-1); The push rod (1-4) is arranged inside the housing (1-1); One end of the push rod (1-4) passes through the support sleeve (1-2), one end of the housing (1-1) and a positioning hole formed in the end positioning block (1-21); The push rod return spring (1-5) and the spring stopper (1-6) are both sleeved on the outer surface of the push rod (1-4); the push rod return spring (1-5) is located between the spring stopper (1-3) and the spring stopper (1-6); the spring stopper (1-3) is connected to the housing (1-1); The push rod (1-4) is designed with a toothed groove, the paddle (1-8) is connected to one end of the fixed handle (1-11) through the paddle rotating shaft (1-13), the paddle (1-8) cooperates with the toothed groove on the push rod (1-4) to complete the pushing movement of the push rod (1-4), and the push rod return spring (1-5) provides the return force required for the push rod to return; the return spring (1-12) provides the return force for the paddle (1-8); The limit plug (1-7) is connected to the other end of the push rod (1-4), and the limit plug (1-7) provides a travel limit for the push rod (1-4); The movable handle (1-10) is connected to the fixed handle (1-11) via a movable handle rotating shaft (1-14); The locking plate (1-9) cooperates with the toothed groove designed for the push rod (1-4); the locking plate (1-9) is connected to the locking plate mounting block (1-15) via the locking plate rotating shaft (1-16); and the locking plate mounting block (1-15) is connected to the housing (1-1); The locking return spring (1-17) is arranged between the locking plate rotating shaft (1-16) and the locking plate mounting block (1-15), and the locking return spring (1-17) provides a restoring force for the locking plate (1-9); The trigger (1-18) is connected to the housing (1-1) via the trigger rotating shaft (1-19).

3. The maintenance tool for astronauts to unlock and hold down devices on orbit according to claim 1, characterized in that: The inner cylinder limiting assembly comprises an inner cylinder limiting pin (3-13) and a ball head top shaft (3-14); wherein, The inner cylinder limiting pin (3-13) and the ball head top shaft (3-14) are both arranged at one end of the handle (3-1); The inner cylinder limiting pin (3-13) is used to mechanically limit the handle inner cylinder (3-2) to prevent the handle inner cylinder (3-2) from falling out of the handle (3-1); The ball head top shaft (3-14) cooperates with the clamping groove on the handle inner tube (3-2) to fix the handle inner tube (3-2) at different positions, thereby achieving length adjustment.

4. The maintenance tool for astronauts to unlock and hold down devices on orbit according to claim 1, characterized in that: The unlocking torque tool (3) further comprises a ball head (3-15), a spring (3-16) and a cover plate (3-17); wherein: The ball head (3-15) and the spring (3-16) are both installed in a cylindrical hole opened in the handle end (3-4); the ball head (3-15) and the spring (3-16) are pressed against each other; the cover plate (3-17) mechanically limits the ball head (3-15); and the cover plate (3-17) is connected to the handle end (3-4); The ball head (3-15) and the spring (3-16) cooperate with the angle adjustment block (3-5) to achieve angle adjustment.

5. The maintenance tool for astronauts to unlock and hold down devices on orbit according to claim 4, characterized in that: The wrench (4-5) is provided with a rotating shaft (4-6); wherein, During the movement of the wrench (4-5) around the rotating shaft (4-6), the fixed shaft (4-7) is driven to swing with the assistance of the compression spring (4-8).

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