An astronaut on-orbit servicing ground zero-gravity simulation device

Abstract

The application provides a ground zero-gravity simulation device for astronaut on-orbit maintenance, which comprises a truss support system, a maintenance tool zero-gravity support system, an astronaut suit zero-gravity support system, an astronaut foot limiting support system, a space station cabin simulator and a six-degree-of-freedom mechanical arm, and the output end of the six-degree-of-freedom mechanical arm is connected to the space station cabin simulator, and the six-degree-of-freedom mechanical arm is used for simulating different maintenance postures of a space station in orbit. The application has the beneficial effects that the working state of an astronaut for maintaining peripheral equipment of a space station in different postures of the space station is simulated on the ground. The application has important significance for training astronauts for space maintenance operation. Furthermore, the application is the first device in the world which can simulate the zero-gravity state of astronauts for maintaining different postures of a space station on the ground.

Description

Technical Field

[0001] The present invention belongs to the field of zero-gravity simulation test equipment, and in particular relates to a zero-gravity simulation device for astronauts to perform on-orbit maintenance on the ground. Background Art

[0002] With the continuous development of my country's space industry, my country has established a series of on-orbit vehicles, including the space station. During the space station's in-orbit flight, space debris and various external forces often cause certain peripheral components of the space station to loosen or become damaged, necessitating astronauts to use maintenance tools to perform maintenance on the space station's peripheral equipment. When performing on-orbit maintenance work on a real space station, astronauts are in a zero-gravity state, and the space station is in various flight states, resulting in numerous difficulties during the on-orbit maintenance process. Therefore, before astronauts perform on-orbit maintenance, it is crucial to conduct ground-based maintenance training for astronauts and demonstrate the feasibility of maintenance. Therefore, the present invention establishes a zero-gravity simulation device for astronaut on-orbit maintenance on the ground, simulating astronauts performing maintenance on space station peripheral equipment in zero gravity. This device aims to train astronauts' maintenance capabilities, demonstrate the feasibility of astronauts performing maintenance work on the space station in various positions and postures, and provide a ground-based platform for testing astronauts' vital signs during on-orbit maintenance. Summary of the Invention

[0003] In view of this, the present invention aims to propose a ground zero-gravity simulation device for astronauts' on-orbit maintenance, so as to meet the needs of astronauts' ground simulation of on-orbit maintenance of space stations and train astronauts for on-orbit maintenance.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0005] An astronaut on-orbit maintenance ground zero-gravity simulation device, comprising:

[0006] A truss support system, wherein the truss support system is used to support a maintenance tool zero-gravity support system and a space suit zero-gravity support system;

[0007] A zero-gravity support system for a maintenance tool, the zero-gravity support system for the maintenance tool being installed on one side of the top of the truss support system, the zero-gravity support system for the maintenance tool being used to simulate a zero-gravity state of the maintenance tool;

[0008] A space suit zero-gravity support system, installed on one side of the middle of the truss support system, used to reduce the training pressure of test personnel and simulate the real weightlessness in space;

[0009] An astronaut foot limit support system, the astronaut foot limit support system being arranged on one side of the bottom of the truss support system, the astronaut foot limit support system being used to provide body support for the astronaut and to reduce the pressure on the zero-gravity support system of the space suit;

[0010] A space station cabin simulator, the space station cabin simulator being arranged on one side of the space suit zero-gravity support system and being used to simulate the outer shell of a space station cabin;

[0011] A six-degree-of-freedom robotic arm is arranged on a side of the space station cabin simulator away from the space suit zero-gravity support system, and an output end of the six-degree-of-freedom robotic arm is connected to the space station cabin simulator. The six-degree-of-freedom robotic arm is used to simulate different maintenance postures of the space station when it is in orbit.

[0012] Furthermore, the maintenance tool zero-gravity support system and the space suit zero-gravity support system are located on the same side of the truss support system.

[0013] Furthermore, the zero-gravity support system of the maintenance tool includes a mounting base, a rocker base, a bearing seat, an angular contact ball bearing, a rocker shaft, a rocker, a fixed pulley assembly, a fixing screw, a guide rail, a fixing seat, a fixed lifting ring, a steel wire rope, a steel wire rope, a counterweight, a pulley assembly, a movable pulley assembly and a maintenance tool body, one side of the mounting base is mounted to the truss support system; the other side of the mounting base is mounted on the rocker base; the bearing seat is mounted to the rocker base; a receiving space for receiving an angular contact ball bearing is provided inside the bearing seat, and an angular contact ball bearing is respectively mounted at the upper and lower ends of the receiving space, and the two angular contact ball bearings are respectively used to withstand axial pressure and radial pressure, the rocker shaft cooperates with the angular contact ball bearings at the upper and lower ends, and the rocker cooperates with the rocker shaft, which is convenient for the The rocker arm rotates around the axis of the rocker arm shaft; the fixed pulley assembly is installed below the rocker arm near the root of the axis; the guide rail 1 is connected to the mounting base surface of the lower end of the rocker arm through the fixing screw, and the perpendicularity of the guide rail 1 and the rocker arm shaft axis is adjusted by the fixing screw; the fixing seat is installed on the end mounting surface away from the axis end below the rocker arm; the fixed lifting ring is installed on the fixing seat; the pulley assembly is sleeved on the guide rail 1 to facilitate the pulley assembly to slide along the guide rail 1; one end of the wire rope 1 is connected to the counterweight, and the other end of the wire rope 1 is connected to the fixed lifting ring, and the wire rope 1 is respectively passed around the fixed pulley assembly, the movable pulley assembly and the pulley body of the pulley assembly; the movable pulley assembly is pulled by the wire rope 1 passing around the pulley body, and the lower end of the movable pulley assembly is bolted with a wire rope 2, and the end of the wire rope 2 is connected to the maintenance tool body.

[0014] Furthermore, the pulley assembly includes a deep groove ball bearing, a pulley seat, a small shaft, a pulley shaft, a pulley body, and a double pulley seat; the pulley assembly is mounted on a guide rail; the deep groove ball bearing is fixed to the pulley seat through the small shaft, and the deep groove ball bearing is used to perform positioning and auxiliary sliding functions when the pulley assembly slides on the guide rail; the double pulley seat is bolted to the pulley seat; the mounting hole of the pulley body is equipped with a deep groove ball bearing and the pulley shaft passes through the middle; the pulley shaft cooperates with the double pulley seat.

[0015] Furthermore, the space suit zero-gravity support system includes a support bed, a second guide rail, a slider, a slide, a lifting drive mechanism, a support frame, a telescopic column, a cross hanging plate, and a space suit lifting assembly; the support bed is installed on one side of the truss support system; the guide rail two is installed on the support bed; the slider is installed on the slide; the slider and the guide rail two are combined to form a guide rail slider pair; the lifting drive mechanism is installed on the support bed, and the ball nut of the lifting drive mechanism is connected to the slide; the support frame is installed on the slide for lifting and lowering with the slide; the telescopic column penetrates into the square tubes on both sides of the support frame, and the telescopic column is fixed to the support frame by bolts; the cross hanging plate is installed on the connecting surface of the protruding end of the telescopic column; the astronaut lifting assembly is connected to the bottom of the cross hanging plate through a wire rope and a lifting ring, and lifting wire ropes are left at both ends of the tripod of the astronaut lifting assembly for lifting the space suit.

[0016] Furthermore, the lifting drive mechanism includes a fixed-end bearing seat, a bearing body, a nut seat, a trapezoidal screw, a movable-end bearing seat, a nut body, and a handwheel; the bearing body is respectively installed in the fixed-side bearing seat and the movable-end bearing seat, the trapezoidal screw cooperates with the bearing body, and the bearing body in the fixed-end bearing seat is locked by a locking nut; the nut body and the trapezoidal screw are matched with trapezoidal threads for transmitting power and self-locking; the nut body is threadedly installed in the nut seat; the nut seat is installed on the slide, and the handwheel is matched with the fixed-end bearing seat side end of the trapezoidal screw through a shaft key, and the handwheel is used to drive the trapezoidal screw to rotate, thereby realizing the lifting and lowering of the entire system.

[0017] Furthermore, the space suit lifting assembly includes a lifting ring, a lifting adapter, an upper bearing cover, a lower bearing cover, a second angular contact ball bearing, a lifting shaft, a connecting screw, a tripod, a lifting wire rope, and a chain buckle; the lifting ring is connected to the horizontal lifting plate; the lifting adapter is connected to the lifting ring through a wire rope, and the other end of the lifting adapter is connected to the lifting shaft; the upper bearing cover cooperates with the lower bearing cover, and the second angular contact ball bearing is installed in the bearing hole of the upper bearing cover; the lifting shaft cooperates with the second angular contact ball bearing, and the shaft shoulder rests on the inner ring of the second angular contact ball bearing; the protruding end of the lifting shaft is threaded and connected to the lifting adapter; the tripod is connected to the lower bearing cover by screws; both ends of the tripod are connected to the lifting wire rope; the end of the lifting wire rope is connected to the chain buckle, and the chain buckle is used to connect the space suit.

[0018] Compared with the prior art, the zero-gravity simulation device for astronauts to perform on-orbit maintenance on the ground described in the present invention has the following advantages:

[0019] (1) The zero-gravity ground-based simulation device for astronaut in-orbit maintenance, described in the present invention, realistically simulates on the ground the working conditions of astronauts repairing space station peripheral equipment in different station positions. This is of great significance for training astronauts in space maintenance operations. Furthermore, the present invention is the first device in China and abroad that can simulate astronauts repairing space station peripheral equipment in zero-gravity conditions on the ground.

[0020] (2) The zero-gravity ground-based simulation device for astronaut in-orbit maintenance described in the present invention achieves a zero-gravity state for maintenance tools and spacesuits, and utilizes polar coordinate motion to enable the maintenance tools to reach any position within a specified range under zero-gravity. The spacesuit's zero-gravity state not only reduces training stress for test personnel and provides a certain degree of protection for them, but also simulates the true weightlessness of space.

[0021] (3) The present invention relates to a ground zero-gravity simulation device for astronauts to perform in-orbit maintenance. The present invention uses a movable pulley assembly so that the zero-gravity counterweight of the maintenance tool weighs only half of the maintenance tool itself, thereby reducing the system load.

[0022] (4) The present invention relates to a ground zero-gravity simulation device for astronaut in-orbit maintenance. The lifting drive system of the present invention can realize the freedom of the lifting direction of the space suit, the telescopic column can realize the freedom of the forward and backward movement of the space suit by extending and retracting in the support frame, and the astronaut hoisting assembly can realize the freedom of the astronaut to rotate around the hoisting center line. The present invention has the advantage of adjusting the position of the astronaut with multiple degrees of freedom, and also makes up for the defect of insufficient travel range of the six-degree-of-freedom robotic arm to achieve various postures. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0024] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0025] Figure 2 This is an axial schematic diagram of a zero-gravity support system for maintenance tools according to an embodiment of the present invention;

[0026] Figure 3 This is an axial schematic diagram of a zero-gravity support system for a space suit according to an embodiment of the present invention;

[0027] Figure 4 This is a schematic axial view of a pulley assembly according to an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the axial side of the lifting drive mechanism according to an embodiment of the present invention;

[0029] Figure 6 This is an axial schematic diagram of the space suit lifting assembly according to an embodiment of the present invention.

[0030] Description of reference numerals:

[0031] 1. Truss support system;

[0032] 2. Zero-gravity support system for maintenance tools; 2.1. Mounting baseplate; 2.2. Rocker arm baseplate; 2.3. Bearing seat; 2.4. Angular contact ball bearing (1); 2.5. Rocker arm shaft; 2.6. Rocker arm; 2.7. Fixed pulley assembly; 2.8. Fixing screw; 2.9. Guide rail (1); 2.10. Fixing seat; 2.11. Fixing eye; 2.12. Wire rope (1); 2.13. Wire rope (2); 2.14. Counterweight; 2.15. Pulley assembly; 2.15.1. Deep groove ball bearing; 2.15.2. Pulley seat; 2.15.3. Small shaft; 2.15.4. Pulley shaft; 2.15.5. Pulley body; 2.15.6. Double pulley seat; 2.16. Movable pulley assembly; 2.17. Maintenance tool body;

[0033] 3. Spacesuit zero-gravity support system; 3.1. Support bed; 3.2. Guide rail 2; 3.3. Slider; 3.4. Slider; 3.5. Lifting drive mechanism; 3.5.1. Fixed end bearing seat; 3.5.2. Bearing body; 3.5.3. Nut seat; 3.5.4. Lead screw; 3.5.5. Movable end bearing seat; 3.5.6. Nut body; 3.5.7. Handwheel; 3.6. Support Frame; 3.7, Telescopic column; 3.8, Horizontal hanging plate; 3.9, Space suit lifting assembly; 3.9.1, Lifting ring; 3.9.2, Lifting adapter; 3.9.3, Upper bearing cover; 3.9.4, Lower bearing cover; 3.9.5, Angular contact ball bearing II; 3.9.6, Lifting shaft; 3.9.7, Connecting screws; 3.9.8, Tripod; 3.9.9, Lifting wire rope; 3.9.10, Chain link;

[0034] 4. Astronaut foot limit support system; 5. Space station cabin simulator; 6. Six-degree-of-freedom robotic arm. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0038] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0039] like Figures 1 to 6 As shown, a ground zero-gravity simulation device for astronauts to repair on-orbit includes:

[0040] A truss support system 1, wherein the truss support system 1 is used to support a maintenance tool zero-gravity support system 2 and a space suit zero-gravity support system 3;

[0041] A maintenance tool zero-gravity support system 2, the maintenance tool zero-gravity support system 2 being installed to one side of the top of the truss support system 1, the maintenance tool zero-gravity support system 2 being used to simulate a zero-gravity state of the maintenance tool;

[0042] A space suit zero-gravity support system 3, which is installed on one side of the middle portion of the truss support system 1. The space suit zero-gravity support system 3 is used to reduce the training pressure of the test personnel and simulate the real weightlessness state in space;

[0043] An astronaut foot limiting support system 4 is provided on one side of the bottom of the truss support system 1 and is used to provide body support for the astronaut and reduce the pressure of the space suit zero gravity support system 3;

[0044] A space station cabin simulator 5, which is arranged on one side of the space suit zero-gravity support system 3 and is used to simulate the outer shell of a space station cabin;

[0045] A six-degree-of-freedom robotic arm 6 is provided on a side of the space station cabin simulator 5 away from the space suit zero-gravity support system 3, and an output end of the six-degree-of-freedom robotic arm 6 is connected to the space station cabin simulator 5. The six-degree-of-freedom robotic arm 6 is used to simulate different maintenance postures of the space station when it is in orbit.

[0046] In actual use, the control and internal program logic involved in this application are all existing technologies. The truss support system 1 is built by ball-bar components and is located on the ground as a whole, serving as the frame of the maintenance tool support system 2 and the space suit zero-gravity support system 3.

[0047] The astronaut foot limiting support system 4 provides body support for the astronaut, reduces the pressure on the space suit hoisting assembly 3.9, and can adjust its own height as the astronaut's position rises.

[0048] The space station cabin simulator 5 is used to simulate the outer shell of the space station cabin, serves as a carrier for equipment repaired by astronauts, and provides an installation interface.

[0049] The six-degree-of-freedom manipulator 6 is fixedly connected to the foundation, and the output end is connected to the space station cabin simulator 5. By adjusting the posture of the six-degree-of-freedom manipulator 6, different maintenance postures of the space station when it is in orbit can be simulated.

[0050] In a preferred embodiment of the present invention, the maintenance tool zero-gravity support system 2 and the space suit zero-gravity support system 3 are located on the same side of the truss support system 1 .

[0051] In a preferred embodiment of the present invention, the zero-gravity support system 2 of the maintenance tool includes a mounting base 2.1, a rocker base 2.2, a bearing seat 2.3, an angular contact ball bearing 2.4, a rocker shaft 2.5, a rocker 2.6, a fixed pulley assembly 2.7, a fixing screw 2.8, a guide rail 2.9, a fixing seat 2.10, a fixed lifting ring 2.11, a wire rope 1 2.12, a wire rope 2 2.13, a counterweight 2.14, a pulley assembly 2.15, a movable pulley assembly 2.16, and a maintenance tool body 2.17. The mounting base plate 2.1 is fixed to the truss support system 1 by screwing; the rocker arm base plate 2.2 is screwed and fixed to the mounting base plate 2.1; the bearing seat 2.3 is screwed and fixed to the rocker arm base plate 2.2; the angular contact ball bearing 2.4 is installed in the hole of the lower end bearing seat 2.3 to withstand axial pressure; the angular contact ball bearing 2.4 in the hole of the upper end bearing seat 2.3 is used to withstand radial pressure, the rocker arm shaft 2.5 cooperates with the upper and lower end angular contact ball bearings 2.4 respectively, and the rocker arm 2.6 cooperates with the rocker arm shaft 2.5 so that the rocker arm 2.6 can rotate around a fixed axis; the fixed pulley assembly 2.7 is installed below the rocker arm 2.6 near the root of the axis; the guide rail 2.9 is connected to the lower end of the rocker arm 2.6 by the fixing screw 2.8. on the mounting base surface, and the verticality of the guide rail 2.9 and the axis of the rocker shaft 2.5 is adjusted by adjusting the fixing screw 2.8; the fixed seat 2.10 is installed on the end mounting surface below the rocker arm 2.6 away from the axis end; the fixed lifting ring 2.11 is installed on the fixed seat 2.10; the pulley assembly 2.15 is sleeved on the guide rail 2.9 and can slide along the guide rail 2.9; one end of the wire rope 1 2.12 is connected to the counterweight, and one end is connected to the fixed lifting ring 2.11, which passes around the fixed pulley assembly 2.7, the movable pulley assembly 2.16 and the pulley assembly 2.15 respectively; the movable pulley assembly 2.16 is pulled by the wire rope passing around its pulley, and the lower end of the movable pulley assembly 2.16 is bolted with a wire rope 2.13, and the end of the wire rope 2.13 is connected to the maintenance tool body 2.17.

[0052] The trolley assembly 2.15 includes deep groove ball bearing 2.15.1, trolley seat 2.15.2, small shaft 2.15.3, pulley shaft 2.15.4, pulley body 2.15.5, double pulley seat 2.15.6. The trolley assembly 2.15 is sleeved on the guide rail one 2.9, and its main function is to move forward and backward to change position with the forward and backward movement of the maintenance tool body 2.17. The deep groove ball bearing 2.15.1 is fixed on the trolley seat 2.15.2 through the small shaft 2.15.3, and plays a positioning and auxiliary sliding function when the trolley assembly 2.15 slides on the guide rail; the double pulley seat 2.15.6 is screwed with the trolley seat 2.15.2; the mounting hole of the pulley body 2.15.5 is built-in deep groove ball bearing and passes through the pulley shaft 2.15.4 in the middle; the pulley shaft 2.15.4 cooperates with the double pulley seat 2.15.6, and the pulley body 2.15.5 is arranged in front and back.

[0053] In a preferred embodiment of the present application, the spacesuit zero-gravity support system 3 includes support bed 3.1, guide rail two 3.2, sliding block 3.3, sliding seat 3.4, lifting drive mechanism 3.5, support frame 3.6, telescopic column 3.7, cross hanging plate 3.8, spacesuit hoisting assembly 3.9. The support bed 3.1 is screwed and fixed on the truss support system 1; the guide rail two 3.2 is screwed and fixed on the support bed 3.1; the sliding block 3.3 is screwed on the sliding seat 3.4; the sliding block 3.4 and the guide rail two 3.2 form a guide rail sliding block pair; the lifting drive mechanism 3.5 is screwed and fixed on the support bed 3.1, and the ball nut thereof is screwed with the sliding seat 3.4 to provide power for the lifting movement of the sliding seat 3.4; the support frame 3.6 is screwed on the sliding seat 3.4 and moves up and down with the sliding seat 3.4, so that the astronaut can adapt to different maintenance heights; the telescopic column 3.7 penetrates into the two side pipes of the support frame 3.6, and the forward and backward positions of the astronaut can be adjusted by adjusting the telescopic distance of the telescopic column 3.7; the telescopic column 3.7 is fixed with the support frame 3.6 through bolts; the cross hanging plate 3.8 is screwed and fixed on the connecting surface of the extension end of the telescopic column 3.7; the astronaut hoisting assembly 3.9 is connected below the cross hanging plate 3.8 through a steel wire rope and a lifting ring, and the three-legged frame of the astronaut hoisting assembly 3.9 has a lifting steel wire rope at both ends for hoisting the spacesuit. Another function of the spacesuit zero-gravity support system is to compensate for the insufficient stroke range of the six-degree-of-freedom mechanical arm caused by the realization of various poses of the space station cabin simulator.

[0054] The lifting drive mechanism 3.5 includes a fixed end bearing seat 3.5.1, a bearing body 3.5.2, a nut seat 3.5.3, a trapezoidal screw 3.5.4, a movable end bearing seat 3.5.5, a nut body 3.5.6, and a handwheel 3.5.7. The bearing body 3.5.2 is respectively installed in the fixed side bearing seat 3.5.1 and the movable end bearing seat 3.5.5, the trapezoidal screw 3.5.4 cooperates with the bearing body 3.5.2, and the bearing body 3.5.2 in the fixed end bearing seat 3.5.1 is locked by a locking nut; the nut body 3.5.6 and the trapezoidal screw 3.5.4 are matched with trapezoidal threads, and their main functions are to transmit power and self-locking; the nut body 3.5.6 is screwed and installed in the nut seat 3.5.3; the nut seat 3.5.3 is finally screwed on the slide 3.4, and the handwheel 3.5.7 is matched with the end of the fixed end bearing seat 3.5.1 side of the trapezoidal screw 3.5.4 through the shaft key. Turning the handwheel 3.5.7 drives the trapezoidal screw 3.5.4 to rotate, thereby realizing the lifting and lowering of the entire system.

[0055] The space suit lifting assembly 3.9 includes a lifting ring 3.9.1, a lifting adapter 3.9.2, a bearing upper cover 3.9.3, a bearing lower cover 3.9.4, an angular contact ball bearing II 3.9.5, a lifting shaft 3.9.6, connecting screws 3.9.7, a tripod 3.9.8, a lifting wire rope 3.9.9, and a chain buckle 3.9.10. The lifting ring 3.9.1 is connected to the horizontal hanging plate 3.8; the lifting adapter 3.9.2 is connected to the lifting ring 3.9.1 through a wire rope, and the other end of the lifting adapter 3.9.2 is connected to the lifting shaft 3.9.6; the bearing upper cover 3.9.3 cooperates with the bearing lower cover 3.9.4, and the angular contact ball bearing II 3.9.5 is installed in the bearing hole of the bearing upper cover 3.9.3; the lifting shaft 3.9.6 is connected to the angular contact ball bearing II 3.9.5, with the shoulder resting on the inner race of angular contact ball bearing 2 3.9.5. The extended end of the suspension shaft 3.9.6 is threaded and connected to the suspension adapter 3.9.2. The tripod 3.9.8 is connected to the bearing lower cover 3.9.4 via screws. The two ends of the tripod 3.9.8 are connected to the suspension wire 3.9.9. The end of the suspension wire 3.9.9 is connected to the chain link 3.9.10, which is connected to the space suit. The space suit suspension assembly provides the astronaut with the freedom to rotate his body.

[0056] Example 1

[0057] The ball bar truss system 1 is placed at a designated position on the ground after being built by ball bars, the maintenance tool zero-gravity support system 2 is screwed at the top of the ball bar truss support system, and the simulated piece for the astronaut to maintain is installed on the space station cabin simulator 5. During the maintenance process of the simulated astronaut, the maintenance tool zero-gravity support system 2 mainly simulates the zero-gravity state of the maintenance tool, the component swing arm 2.6 can rotate around the root swing arm shaft 2.5, the trolley component 2.15 can slide along the guide rail one 2.9, the steel wire rope one 2.12 is connected with the counterweight 2.14 at one end close to the root of the swing arm 2.6, passes through the pulley of the fixed pulley component 2.7, the pulley of the trolley component 2.15, the pulley of the movable pulley component 2.16 and the other pulley of the trolley component 2.15 in turn, and is finally connected with the fixed lifting ring 2.11. The movable pulley component 2.16 is connected with the steel wire rope two 2.13 at the lower end, and the end of the steel wire rope two 2.13 is connected with the maintenance tool body 2.17. Under the action of the movable pulley component 2.16, the weight of the counterweight 2.14 is 1 / 2 of the weight of the maintenance tool body 2.17, so that the zero-gravity effect of the maintenance tool body 2.17 is realized. While the astronaut holds the maintenance tool body 2.17 to perform the maintenance operation, the upper swing arm 2.6 and the trolley component 2.15 move with the maintenance tool body 2.17, so that the maintenance tool body 2.17 can reach any position of the fan-shaped surface formed by the rotation of the swing arm 2.6 around the root, and the maintenance tool body 2.17 can move up and down. The spacesuit zero-gravity support system 3 is screwed and fixed on the ball bar truss system 1. In the actual maintenance process, the height position of the simulated piece maintained by the astronaut is different under the same space station posture, so the height position of the astronaut needs to be adjusted. On the other hand, in order to make up for the insufficient stroke of the six-degree-of-freedom mechanical arm 6 for realizing various postures of the space station cabin simulator 5, the hand wheel 3.5.7 of the manual rotary lifting driving mechanism 3.5 is rotated, the hand wheel 3.5.7 drives the trapezoidal screw 3.5.4 to rotate, the trapezoidal screw 3.5.4 drives the nut body 3.5.6 to rotate, the rotary motion of the hand wheel 3.5.7 is converted into the linear motion of the nut body 3.5.6, the nut body 3.5.6 is connected with the sliding seat 3.4 through the nut seat 3.5.3, and then drives the sliding seat 3.4 to make lifting motion along the guide rail two 3.2, and then drives the support frame 3.6, the telescopic rod 3.7 and the spacesuit hoisting assembly 3.9 to make lifting motion, and the corresponding spacesuit also reaches the designated position. After the spacesuit is adjusted to the designated position, the astronaut foot limiting support system 4 is adjusted to the corresponding height, so that the astronaut foot limiting support system 4 can effectively support the weight of the astronaut.The astronaut moves forward and changes the position of the space station cabin simulator 5 during the maintenance process, so the astronaut needs to move forward, the telescopic column 3.7 can move in the support frame 3.6, the astronaut suit hoisting assembly 3.9 for hoisting the astronaut suit is connected on the two telescopic columns 3.7 through the cross hoisting plate 3.8, and can move forward and backward together with the telescopic column. The astronaut needs to rotate the body when maintaining the equipment on both sides, and the astronaut suit should be able to rotate accordingly. In the astronaut suit hoisting assembly 3.9, the tripod 3.9.8 is connected with the bearing lower cover 3.9.4 through the connecting screw 3.9.7, the angular contact ball bearing II 3.9.5 is embedded in the bearing upper cover 3.9.3, and the hoisting shaft 3.9.6 matched with the bearing upper cover 3.9.3 and the bearing lower cover 3.9.4 rotates relative to the hoisting shaft 3.9.6, and the hoisting shaft 3.9.6 is fixedly connected with the hoisting adapter 3.9.2, so that the astronaut hoisting assembly 3.9 has the rotational degree of freedom. During the test process, the six-degree-of-freedom mechanical arm 6 drives the space station cabin simulator 5 to realize different positions by changing the posture, so as to simulate the space station maintenance posture under different maintenance working conditions.

[0058] The advantages of the present application are as follows:

[0059] 1. The present application simulates the working state of the astronaut in the process of maintaining the peripheral equipment of the space station in different position states of the space station on the ground. It is of great significance for training astronauts to perform space maintenance operations. And the present application is the first device that can simulate the maintenance of astronauts in different position conditions of the space station in zero-gravity state on the ground;

[0060] 2. The present application realizes the zero-gravity state of the maintenance tool and the astronaut suit, and uses the polar coordinate motion mode to make the maintenance tool reach any position in the specified range in the zero-gravity state. The astronaut suit reaches the zero-gravity state, which not only reduces the training pressure of the test personnel, but also plays a protective role for the test personnel, and can simulate the real space weightlessness state;

[0061] 3. The application of the movable pulley assembly in the present application makes the zero-gravity counterweight of the maintenance tool only half of the weight of the maintenance tool itself, reducing the system load;

[0062] 4. The lifting driving system in the present application can realize the freedom degree of the lifting direction of the astronaut suit, the telescopic column can realize the freedom degree of the forward and backward movement of the astronaut suit in the support frame, and the astronaut hoisting assembly can realize the freedom degree of the rotation of the astronaut around the hoisting center line. The present application has the advantages of multi-degree-of-freedom adjustment of the position of the astronaut, and also makes up for the defect that the six-degree-of-freedom mechanical arm has insufficient stroke range for realizing each position.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A zero-gravity simulation device for astronauts to perform on-orbit maintenance on the ground, characterized by: include: A truss support system (1), wherein the truss support system (1) is used to support a maintenance tool zero-gravity support system (2) and a space suit zero-gravity support system (3); A maintenance tool zero-gravity support system (2), the maintenance tool zero-gravity support system (2) being installed on one side of the top of the truss support system (1), the maintenance tool zero-gravity support system (2) being used to simulate a zero-gravity state of the maintenance tool; A space suit zero-gravity support system (3), the space suit zero-gravity support system (3) being installed on one side of the middle portion of the truss support system (1), the space suit zero-gravity support system (3) being used to reduce the training pressure of test personnel and to simulate a real weightlessness state in space; An astronaut foot limiting support system (4), the astronaut foot limiting support system (4) being arranged on one side of the bottom of the truss support system (1), the astronaut foot limiting support system (4) being used to provide body support for the astronaut and to reduce the pressure of the space suit zero gravity support system (3); A space station cabin simulator (5), the space station cabin simulator (5) being arranged on one side of the space suit zero gravity support system (3), the space station cabin simulator (5) being used to simulate the outer shell of the space station cabin; A six-degree-of-freedom robotic arm (6) is provided on a side of the space station cabin simulator (5) away from the space suit zero-gravity support system (3), and an output end of the six-degree-of-freedom robotic arm (6) is connected to the space station cabin simulator (5). The six-degree-of-freedom robotic arm (6) is used to simulate different maintenance postures of the space station when it is on orbit.

2. The zero-gravity simulation device for astronauts to perform on-orbit maintenance on the ground according to claim 1, characterized in that: The maintenance tool zero-gravity support system (2) and the space suit zero-gravity support system (3) are located on the same side of the truss support system (1).

3. The zero-gravity simulation device for astronauts to perform on-orbit maintenance on the ground according to claim 1, characterized in that: The maintenance tool zero gravity support system (2) comprises a mounting base (2.1), a rocker base (2.2), a bearing seat (2.3), an angular contact ball bearing (2.4), a rocker shaft (2.5), a rocker arm (2.6), a fixed pulley assembly (2.7), a fixing screw (2.8), a guide rail (2.9), a fixing seat (2.10), a fixed lifting ring (2.11), a steel wire rope (2.12), a steel wire rope (2.13), a counterweight (2.14), a pulley assembly (2.15), a movable pulley assembly (2.16) and a maintenance tool body (2.17); one side of the mounting base (2.1) is mounted to the truss support system (1); The rocker arm base plate (2.2) is installed on the other side of the mounting base plate (2.1); the bearing seat (2.3) is installed on the rocker arm base plate (2.2); a receiving space for receiving an angular contact ball bearing (2.4) is provided inside the bearing seat (2.3); an angular contact ball bearing (2.4) is installed at the upper and lower ends of the receiving space respectively, and the two angular contact ball bearings (2.4) are used to withstand axial pressure and radial pressure respectively; the rocker arm shaft (2.5) is respectively matched with the angular contact ball bearings (2.4) at the upper and lower ends; the rocker arm (2.6) is matched with the rocker arm shaft (2.5), so that the rocker arm (2.6) can be rotated around the rocker arm shaft (2.5) The fixed pulley assembly (2.7) is installed at the bottom of the rocker arm (2.6) near the root of the axis; the guide rail 1 (2.9) is connected to the mounting base surface at the lower end of the rocker arm (2.6) through the fixing screw (2.8), and the verticality of the guide rail 1 (2.9) and the axis of the rocker arm shaft (2.5) is adjusted by the fixing screw (2.8); the fixing seat (2.10) is installed on the end mounting surface away from the axis end below the rocker arm (2.6); the fixed lifting ring (2.11) is installed on the fixing seat (2.10); the pulley assembly (2.15) is sleeved on the guide rail 1 (2.9) to facilitate the pulley assembly (2.15) to move along the The guide rail 1 (2.9) slides; one end of the steel wire rope 1 (2.12) is connected to the counterweight (2.14), and the other end of the steel wire rope 1 (2.12) is connected to the fixed lifting ring (2.11); the steel wire rope 1 (2.12) passes around the fixed pulley assembly (2.7), the movable pulley assembly (2.16) and the pulley body (2.15.5) of the pulley assembly (2.15); the movable pulley assembly (2.16) is pulled by the steel wire rope 1 (2.12) passing around the pulley body (2.15.5); the lower end of the movable pulley assembly (2.16) is bolted with the steel wire rope 2 (2.13), and the end of the steel wire rope 2 (2.13) is connected to the maintenance tool body (2.17).

4. The ground zero gravity simulation device for astronaut on-orbit maintenance according to claim 3, characterized in that: The pulley assembly (2.15) includes a deep groove ball bearing (2.15.1), a pulley seat (2.15.2), a small shaft (2.15.3), a pulley shaft (2.15.4), a pulley body (2.15.5), and a double pulley seat (2.15.6); the pulley assembly (2.15) is sleeved on the guide rail (2.9); the deep groove ball bearing (2.15.1) is fixed to the pulley seat (2.15.2) through the small shaft (2.15.3), The deep groove ball bearing (2.15.1) is used to position and assist the sliding of the pulley assembly (2.15) when it slides on the guide rail; the double pulley seat (2.15.6) is bolted to the pulley seat (2.15.2); the mounting hole of the pulley body (2.15.5) is equipped with a deep groove ball bearing (2.15.1) and the pulley shaft (2.15.4) passes through the middle; the pulley shaft (2.15.4) cooperates with the double pulley seat (2.15.6).

5. The ground zero gravity simulation device for astronauts to perform on-orbit maintenance according to claim 4, characterized in that: The space suit zero gravity support system (3) comprises a support bed (3.1), a second guide rail (3.2), a slider (3.3), a slide seat (3.4), a lifting drive mechanism (3.5), a support frame (3.6), a telescopic column (3.7), a horizontal hanging plate (3.8), and a space suit hoisting assembly (3.9); the support bed (3.1) is mounted on one side of the truss support system (1); the second guide rail (3.2) is mounted on the support bed (3.1); the slider (3.3) is mounted on the slide seat (3.4); the slider (3.3) and the second guide rail (3.2) are combined to form a guide rail slider (3.3) pair; the lifting drive mechanism (3.5) is mounted on the support bed (3.1) ), the ball nut of the lifting drive mechanism (3.5) is connected to the slide (3.4); the support frame (3.6) is installed on the slide (3.4) and is used to perform lifting and lowering movements with the slide (3.4); the telescopic column (3.7) penetrates into the square tubes on both sides of the support frame (3.6), and the telescopic column (3.7) is fixed to the support frame (3.6) by bolts; the horizontal hanging plate (3.8) is installed on the connecting surface of the protruding end of the telescopic column (3.7); the space suit hanging assembly (3.9) is connected to the bottom of the horizontal hanging plate (3.8) through a wire rope and a hanging ring (3.9.1), and a hoisting wire rope (3.9.9) is left at both ends of the tripod of the space suit hanging assembly (3.9) for hanging the space suit.

6. The zero-gravity simulation device for astronauts to perform on-orbit maintenance on the ground according to claim 5, characterized in that: The lifting drive mechanism (3.5) includes a fixed end bearing seat (3.5.1), a bearing body (3.5.2), a nut seat (3.5.3), a trapezoidal screw (3.5.4), a movable end bearing seat (3.5.5), a nut body (3.5.6), and a handwheel (3.5.7); the bearing body (3.5.2) is respectively installed in the fixed end bearing seat (3.5.1) and the movable end bearing seat (3.5.5), the trapezoidal screw (3.5.4) cooperates with the bearing body (3.5.2), and the bearing body ( 3.5.2) is locked by a locking nut; the nut body (3.5.6) and the trapezoidal screw (3.5.4) are matched with trapezoidal threads for transmitting power and self-locking; the nut body (3.5.6) is threadedly installed in the nut seat (3.5.3); the nut seat (3.5.3) is installed on the slide seat (3.4), and the handwheel (3.5.7) is matched with the fixed end bearing seat (3.5.1) side end of the trapezoidal screw (3.5.4) through a shaft key. The handwheel (3.5.7) is used to drive the trapezoidal screw (3.5.4) to rotate, thereby realizing the lifting and lowering of the entire system.

7. The zero-gravity simulation device for astronauts to perform on-orbit maintenance on the ground according to claim 5, characterized in that: The space suit lifting assembly (3.9) includes a lifting ring (3.9.1), a lifting adapter (3.9.2), a bearing upper cover (3.9.3), a bearing lower cover (3.9.4), an angular contact ball bearing (3.9.5), a lifting shaft (3.9.6), connecting screws (3.9.7), a tripod (3.9.8), a lifting wire rope (3.9.9), and a chain buckle (3.9.10); the lifting ring (3.9.1) is connected to the horizontal hanging plate (3.8); the lifting adapter (3.9.2) is connected to the lifting ring (3.9.1) via a wire rope, and the other end of the lifting adapter (3.9.2) is connected to the lifting shaft (3.9.6); the bearing upper cover (3.9.3) is connected to the horizontal hanging plate (3.8); The lower bearing cover (3.9.4) cooperates with the angular contact ball bearing (3.9.5), and the angular contact ball bearing (2) (3.9.5) is installed in the bearing hole of the upper bearing cover (3.9.3); the hanging shaft (3.9.6) cooperates with the angular contact ball bearing (2) (3.9.5), and the shaft shoulder rests on the inner ring of the angular contact ball bearing (3.9.5); the protruding end of the hanging shaft (3.9.6) is threaded and connected to the lifting adapter (3.9.2); the tripod is connected to the lower bearing cover (3.9.4) by screws; the two ends of the tripod are connected to the lifting wire rope (3.9.9); the end of the lifting wire rope (3.9.9) is connected to the chain buckle (3.9.10), and the chain buckle (3.9.10) is used to connect the space suit.

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