A set of maintenance devices for on-orbit disassembly and assembly of space manipulator joints

Abstract

The present invention relates to a maintenance device for on-orbit disassembly and assembly of joints of a space manipulator. The maintenance device mainly consists of two identical devices, namely a first joint maintenance device and a second joint maintenance device. Among them, each maintenance device mainly consists of a separation mechanism and a follow-up mechanism. Only when the two mechanisms are used in cooperation can the on-orbit maintenance task of the faulty joint of the manipulator of the core module of the Chinese Space Station be completed. The device has the advantages of small volume, light weight, being convenient for astronauts to carry and operate, etc. It can assist astronauts to complete the on-orbit maintenance work of any joint of the manipulator of the core module of the Chinese Space Station, and solves the problem of on-orbit maintenance and replacement of the joints of the manipulator of the Chinese Space Station.

Description

Technical Field

[0001] The present invention belongs to the field of space technology and provides a maintenance device for on-orbit disassembly and assembly of joints of a space manipulator, which can realize on-orbit rapid disassembly and docking installation operations based on its own support when a joint of the space manipulator fails. Background Technique

[0002] At present, on-orbit maintenance work on joints and end effectors of the large manipulator SSRMS on the International Space Station has been carried out, ensuring the reliable on-orbit operation of the SSRMS and strongly supporting the healthy operation and construction of the International Space Station. In addition, the case of the successful repair of the Hubble Telescope by the Shuttle Remote Manipulator System (SRMS) in the United States has provided a technical introduction for on-orbit maintenance of large manipulators in various countries around the world.

[0003] Before 2021, the core module of the Chinese space station was launched. So far, the manipulator on the core module has been working on orbit for nearly a year. In 2022, China will successively launch Experiment Module I and Experiment Module II to complete the on-orbit assembly and construction of the space station. The experiment module manipulator carried on board Experiment Module I will also operate on orbit and, together with the manipulator on the core module, will undertake more large-scale extravehicular operation tasks. Summary of the Invention

[0004] The technical problem solved by the present invention is: overcoming the deficiencies of the prior art, providing a maintenance device for on-orbit disassembly and assembly of joints of a space manipulator, and using this device to realize the on-orbit replacement of a faulty joint of the manipulator on the core module of the Chinese space station, thus solving the problem of on-orbit maintenance and replacement of joints of the manipulator on the Chinese space station.

[0005] The technical solution adopted by the present invention is: a maintenance device for on-orbit disassembly and assembly of joints of a space manipulator, characterized in that: it includes a first joint maintenance device and a second joint maintenance device; the first joint maintenance device and the second joint maintenance device have the same structure and both include a disassembly and assembly component, a fixing component, a first mounting interface, a second mounting interface, and a third mounting interface; the fixing component includes a fixed end and a follower end;

[0006] The first mounting interface is located on the disassembly and assembly component, and the disassembly and assembly component is also connected to the follower end of the fixing component. The follower end of the fixing component is connected to the fixed end and can perform telescopic movement relative to the fixed end; the follower end of the fixing component is also fixedly connected to the second mounting interface, and the fixed end of the fixing component is also fixedly connected to the third mounting interface;

[0007] The first joint maintenance component and the second joint maintenance component are installed on both sides of the faulty joint; the first mounting interface of the first joint maintenance device is used to connect with the connection component of the faulty joint, and the second mounting interface is used to connect with the connection component of the first adjacent product of the faulty joint; the third mounting interface is used to connect with the connection component of the second adjacent product of the faulty joint;

[0008] The first installation interface of the second joint maintenance device is used to connect with the connection component of the faulty joint, and the second installation interface is used to connect with the connection component of the second adjacent product of the faulty joint; the third installation interface is used to connect with the connection component of the first adjacent product of the faulty joint;

[0009] When the disassembly and assembly component of the first joint maintenance component separates the faulty joint from the first adjacent product through the first installation interface, the follower end of the fixed component of the second joint maintenance component follows. When the disassembly and assembly component of the second joint maintenance component separates the faulty joint from the second adjacent product through the first installation interface, the follower mechanism of the fixed component of the first joint maintenance component follows; the two are used in combination to complete the on-orbit replacement task of the joint.

[0010] Preferably, the follower end of the fixed component is connected to the second installation interface, and the fixed end of the fixed component is connected to the third installation interface by four non-loosening screws.

[0011] Preferably, the disassembly and assembly component includes a disassembly and assembly body, an upper mounting plate, a left mounting plate, a right mounting plate, an upper bearing pressure plate, a front bearing pressure plate, a rear bearing pressure plate, a power tool interface, a first bevel gear, a second bevel gear, a first bevel gear pressure plate, a key, and a lead screw nut;

[0012] Among them, the upper mounting plate, the left mounting plate, and the right mounting plate are all mounted on the disassembly and assembly body. The power tool interface is supported by bearings and pressed on the upper mounting plate by the upper bearing pressure plate. The first bevel gear is mounted on the power tool interface and pressed by the first bevel gear pressure plate. The second bevel gear is connected to the lead screw nut by a key; both sides of the lead screw nut are fixed on the disassembly and assembly body by bearings and pressed by the front bearing pressure plate and the rear bearing pressure plate respectively;

[0013] The power tool interface is used to connect a power tool, drive the first bevel gear, the second bevel gear, and the lead screw nut to move, convert the rotary motion of the power tool into the linear motion of the disassembly and assembly component, and complete the separation of the faulty joint from its adjacent product.

[0014] Preferably, the above-mentioned maintenance device for on-orbit disassembly and assembly of the space manipulator joint further includes a first universal handrail base, and the first universal handrail base is mounted on the disassembly and assembly body. The first universal handrail base is the grasping point when the astronaut transfers the first joint maintenance device and the second joint maintenance device.

[0015] Preferably, the above-mentioned maintenance device for on-orbit disassembly and assembly of the space manipulator joint further includes a fixing device connecting piece, and the fixing device connecting piece is mounted on the upper mounting plate and is used to connect with the follower end of the fixed component;

[0016] Preferably, the fixing device connecting piece is provided with a conical protrusion, and the follower end of the fixed component is provided with a conical groove;

[0017] The disassembly and assembly component and the follower end of the fixing component are connected by two non-loosening screws, and the taper convex on the connecting piece of the fixing device is positioned and connected with the taper groove on the follower end of the fixing component, and the taper convex and the butt taper groove complete rapid positioning.

[0018] Preferably, a pair of positioning scale lines are respectively provided on the upper mounting plate of the disassembly and assembly component and the follower structural member for indicating that the disassembly and assembly component is connected in place with the follower end of the fixing component;

[0019] A horizontal scale line is further provided on the follower structural member for indicating that the mounting end face of the follower end of the fixing component is aligned with the upper mounting plate face of the follower end of the fixing component.

[0020] Preferably, the width of the scale lines of the positioning scale lines and the horizontal scale line is 1 mm, the depth is 0.3 mm, and they are sprayed with black paint, which is significantly different from the surrounding metal natural color.

[0021] Preferably, a separation indicating plate is mounted on the right mounting plate, and a separation pointer is mounted on the mounting interface connecting piece. When the disassembly and assembly component is in the closed state, the separation indicating plate points to one side of the separation pointer. When the disassembly and assembly component is in the open state, the separation indicating plate points to the other side of the separation pointer. When the astronaut drives the disassembly and assembly component through the electric tool interface, the separation pointer moves together with the mounting interface connecting piece. The separation indicating plate is mounted at an inclination angle of 10 degrees. The width of the scale line on the separation indicating plate is 1 mm, the depth is 0.3 mm, and it is sprayed with black paint, which is significantly different from the surrounding metal natural color, facilitating the astronaut to accurately identify.

[0022] Preferably, the follower end of the fixing component includes a follower structural member, an initial tightening non-loosening screw, a follower shaft, a fixed bushing, a bushing tightening screw, a follower sleeve and a guiding key;

[0023] The follower shaft is inserted into the inner hole of the follower structural member. One end of the follower shaft is sleeved in the follower sleeve, and the other end passes through the fixed bushing. The follower shaft can slide relative to the fixed bushing. The follower shaft is provided with guiding keys along the generatrix direction at certain intervals; two upper and lower opposite guiding holes are provided at two positions along the generatrix direction of the follower structural member at the same interval, and an initial tightening non-loosening screw is screwed into each guiding hole; the distance between the two guiding holes of the fixed bushing is the same as the distance between the two guiding keys on the follower shaft; the fixed bushing is fixed in the inner hole of the follower structural member by a tightening screw, and the guiding key plays a guiding role in the installation process of the follower shaft and the follower sleeve;

[0024] In the initial state, the follower sleeve is located at the first position of the inner hole of the follower structural member. At this time, the second guiding key from the inside to the outside on the follower shaft is aligned with the first guiding hole from the inside to the outside on the follower structural member. There is an initial locking and non-loosening screw above and below the first position. The loosening and non-loosening screw above presses against the guiding key, pressing the follower sleeve and the follower structural member tightly together, and the follower sleeve and the follower shaft cannot move. When the two initial locking and non-loosening screws are loosened, the follower sleeve and the follower shaft perform an axial linear movement along the inner hole. When the movement is in place, the follower sleeve is located at the second position of the inner hole of the follower structural member. At this time, the first guiding key from the inside to the outside on the follower shaft is aligned with the first guiding hole from the inside to the outside on the follower structural member, and the second guiding key from the inside to the outside on the follower shaft is aligned with the second guiding hole from the inside to the outside on the follower structural member. The four initial locking and non-loosening screws tighten the follower sleeve on the follower structural member, and the follower sleeve and the fixed shaft sleeve jointly provide support for the follower shaft.

[0025] The beneficial effects of the present invention compared with the prior art are as follows:

[0026] (1) The maintenance device provided by the present invention is developed for the on-orbit maintenance task of a large space manipulator based on its own support, and can be used in the future in the technical field of auxiliary tools for astronauts to maintain large space manipulator joints on orbit.

[0027] (2) The compositions of the first joint maintenance component and the second joint maintenance component of the present invention are exactly the same. Only by the installation positions and combined use of different components, the on-orbit maintenance of the faulty joint is realized, reducing the number of parts and having high reliability.

[0028] (3) The present invention maximally reuses parts. The compositions of the first joint maintenance device and the second joint maintenance device are exactly the same, reusing the separation device, the fixed component, the first installation interface, the second installation interface, and the third installation interface, with a small number of parts and components.

[0029] (4) In the in-place locking state of the present invention, the output shaft is locked by four non-loosening screws, and the stiffness of the joint maintenance device is improved by designing the follower shaft sleeve and the fixed shaft sleeve.

[0030] (5) The present invention adopts passive drive, borrowing the electric tools of astronauts, greatly simplifying the design of the joint maintenance device and improving the environmental adaptability.

[0031] (6) The present invention uses the disassembly and assembly component and the fixed component to complete rapid positioning and in-place judgment in sequence. First, rapid positioning is performed through the vertical positioning pin and the abutting surface, and then in-place judgment is performed through the two alignment scale lines. The positioning is simple and the in-place recognition is reliable.

[0032] (7) All the screws that need to be operated on orbit in the present invention are non-loosening screws, which can be tightened using the electric tools of astronauts, and operation marks are designed. After positioning and adapting the positioning pins on the product with the installation ring, non-loosening screws are used for tightening.

[0033] (8) The operation marks of the present invention comprehensively consider the opening / closing direction and the tightening / loosening direction of the general tools outside the cabin. The separation and docking auxiliary engraved lines fixed on the side adopt engraved lines with an inclination angle of 10 degrees, which are unified with the maintenance interfaces of the space station to ensure the consistency and correctness of the astronauts' operations and cognitions and guarantee the visibility during the astronauts' operation process.

[0034] (9) The present invention is simply and intuitively designed. The processes of positioning, fixing, separating and reinstalling are simple. It adopts a passive design scheme, uses the electric tools of astronauts as the power source, and has strong environmental adaptability.

[0035] (10) The present invention is designed according to the requirements of astronauts' on-orbit use and meets the ergonomic requirements of astronauts' space on-orbit operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is the system composition diagram of the first joint maintenance device in the embodiment of the present invention;

[0037] Figure 2 It is the system composition diagram of the second joint maintenance device in the embodiment of the present invention;

[0038] Figure 3 It is the docking schematic diagram of the disassembly and assembly parts and the fixed parts in the maintenance device in the embodiment of the present invention;

[0039] Figure 4 It is the connection schematic diagram of the fixed part with the second installation interface and the third installation interface in the embodiment of the present invention;

[0040] Figure 5(a) is the overall connection schematic diagram of the disassembly and assembly part and the first installation interface in the embodiment of the present invention;

[0041] Figure 5(b) is the connection schematic diagram of the disassembly and assembly part and the first installation interface in the embodiment of the present invention;

[0042] Figure 6 It is the schematic diagram of the first installation interface in the embodiment of the present invention;

[0043] Figure 7 It is the schematic diagram of the second installation interface in the embodiment of the present invention;

[0044] Figure 8 It is the schematic diagram of the third installation interface in the embodiment of the present invention;

[0045] Figure 9(a) is the upper part composition diagram of the disassembly and assembly part in the embodiment of the present invention;

[0046] Figure 9(b) is the bottom composition diagram of the disassembly and assembly component in the embodiment of the present invention;

[0047] Figure 10 is the sectional view of the disassembly and assembly component in the embodiment of the present invention;

[0048] Figure 11 is the identification and scribing diagram of the disassembly and assembly component in the embodiment of the present invention;

[0049] Figure 12 is the composition diagram of the fixing component in the embodiment of the present invention;

[0050] Figure 13 is the sectional view of the follow-up mechanism of the fixing component in the embodiment of the present invention;

[0051] Figure 14(a) is the initial locking state diagram of the follow-up mechanism of the fixing component in the embodiment of the present invention;

[0052] Figure 14(b) is the in-place locking state diagram of the follow-up mechanism of the fixing component in the embodiment of the present invention;

[0053] Figure 15 is the separation movement route diagram of the robotic arm joint in the embodiment of the present invention;

[0054] Figure 16 is the docking movement route diagram of the robotic arm joint in the embodiment of the present invention;

[0055] Figure 17 is the connection schematic diagram of the faulty joint, the first adjacent product and the second adjacent product in the fixing stage in the embodiment of the present invention;

[0056] Figure 18 is the connection schematic diagram of the faulty joint, the first adjacent product and the second adjacent product in the separation stage in the embodiment of the present invention;

[0057] Figure 19 is the closed state schematic diagram of the disassembly and assembly component of the present invention;

[0058] Figure 20 is the open state schematic diagram of the disassembly and assembly component of the present invention. Detailed implementation manners

[0059] The following mainly combines the accompanying drawings to detail the specific implementation schemes of the on-orbit disassembly and assembly maintenance device for the robotic arm joint in space.

[0060] Based on the function of on-orbit maintenance of the robotic arm joint in space, the present invention designs a special maintenance device, which facilitates astronauts to quickly disassemble the faulty robotic arm on orbit, replace maintenance spare parts, and can ensure that the overall arm structure of the robotic arm has a good connection and fixing posture during the replacement process.

[0061] This device is designed for multi-degree-of-freedom space mechanism products such as space manipulator joints and space robots, or complex space electro-mechanical systems. The device design is universal and can be extended to other space mechanism applications under manned space conditions with a general standard connection interface.

[0062] This maintenance device is small in size and light in weight, making it easy for astronauts to carry and operate. It can adapt to any on-orbit maintenance configuration of the space manipulator joint.

[0063] Such as Figure 1 ˉ Figure 8 As shown in the figure, a set of maintenance devices for on-orbit disassembly and assembly of space manipulator joints provided by the present invention consists of one set of first joint maintenance devices and one set of second joint maintenance devices. When performing on-orbit maintenance tasks, the first joint maintenance device is installed on one side of the faulty joint, and the second joint maintenance device is installed on the other side of the faulty joint. The two cooperate to complete the on-orbit maintenance of the faulty joint.

[0064] The first joint maintenance device and the second joint maintenance device have the same structure, and both include a disassembly and assembly component 1, a fixing component 2, a first installation interface 3, a second installation interface 4, and a third installation interface 5. The first installation interface 3 is located on the disassembly and assembly component 1. The disassembly and assembly component 1 is also connected to the follower end 6 of the fixing component. The follower end of the fixing component is connected to the fixed end and can perform telescopic movement relative to the fixed end. The follower end 6 of the fixing component is also fixedly connected to the second installation interface 4, and the fixed end of the fixing component is also fixedly connected to the third installation interface 5.

[0065] The disassembly and assembly component plays a separating role. The disassembly and assembly component adopts a transmission scheme of bevel gears and lead screw nuts. The electric tool drives the bevel gears and lead screw nuts to move, converting the rotary motion of the electric tool into a linear motion of the disassembly and assembly component to complete the separation of the faulty joint from its adjacent product. The fixing component includes two parts, a follower end and a fixed end, which play a dual role of following and fixing the relative postures of the adjacent joints on both sides of the faulty joint.

[0066] The first installation interface on the disassembly and assembly component of the first joint maintenance device is connected to the quick-connect male component or quick-connect female component of the faulty joint. The second installation interface installed at the follower mechanism end of the fixing component of the first joint maintenance device can be connected to the quick-connect female component of the first adjacent product of the faulty joint. The third installation interface installed at the fixed end of the fixing component of the first joint maintenance device can be connected to the quick-connect female component of the adjacent product 2 of the faulty joint.

[0067] The first installation interface installed on the disassembly and assembly component of the second joint maintenance device is used to connect with the quick-connect male component or the quick-connect female component of the faulty joint. The second installation interface installed at the follow-up end of the fixed component of the second joint maintenance device is used to connect with the quick-connect male component of the adjacent product of the faulty joint. The fixed end of the fixed component of the second joint maintenance device is installed with a second installation interface, and the second installation interface can be connected with the quick-connect male component of the adjacent product of the faulty joint.

[0068] The joint maintenance device mainly consists of two sets of component devices with the same composition but different installation methods, namely the first joint maintenance device and the second joint maintenance device. The first joint maintenance device and the second joint maintenance device need to be used in cooperation to complete the on-orbit maintenance task of the faulty joint. When the disassembly and assembly component 1 of the first joint maintenance component separates the faulty joint from the first adjacent product through the first installation interface 3, the follow-up end of the fixed component of the second joint maintenance component follows. When the disassembly and assembly component 1 of the second joint maintenance component separates the faulty joint from the second adjacent product through the first installation interface 3, the follow-up mechanism of the fixed component of the first joint maintenance component follows; the two are used in cooperation to complete the on-orbit replacement task of the joint.

[0069] The connection between the disassembly and assembly component 1 and the follow-up end 6 of the fixed component is positioned and connected through two non-loosening screws, two vertically arranged positioning pins and a tapered groove 8. For the first joint maintenance device, the follow-up end 6 of the fixed component and the second installation interface 4, and the fixed end 7 of the fixed component and the third installation interface 5 are respectively connected through four non-loosening screws. For the second joint maintenance device, the follow-up end 6 of the fixed component and the third installation interface 5, and the fixed end 7 of the fixed component and the second installation interface 4 are respectively connected through four non-loosening screws.

[0070] The specific implementation scheme of the disassembly and assembly component is shown in Figure 9(a), Figure 9(b), Figure 10 、 Figure 11As shown in the figure, the disassembly and assembly component mainly consists of a disassembly and assembly body 9, an upper mounting plate 11, a left mounting plate 15, a right mounting plate 19, a universal armrest base 10, a fixing device connecting piece 14, an installation interface connecting piece 17, an upper bearing pressing plate 13, a front bearing pressing plate 18, a rear bearing pressing plate 16, a power tool interface 12, a separation pointer 19, a first bevel gear 23, a second bevel gear 22, a first bevel gear pressing plate 27, a key 30, a lead screw nut 29, a first bevel gear pressing plate bearing 24, a left bearing of the lead screw nut 26, and a right bearing of the lead screw nut 25. Among them, the upper mounting plate 11, the left mounting plate 15, the right mounting plate 19, and the universal armrest base 10 are all mounted on the disassembly and assembly body 9. The power tool interface 12 is supported by a pair of first bevel gear bearings and is pressed on the upper mounting plate 11 through the upper bearing pressing plate 13. The first bevel gear 23 is mounted on the power tool interface 12 and is pressed by the first bevel gear pressing plate 27. The second bevel gear 22 is connected to the lead screw nut 29 through the key 30. Both sides of the lead screw nut 29 are fixed on the disassembly and assembly body 9 through bearings and are respectively pressed by the front bearing pressing plate 18 and the rear bearing pressing plate 16. Specifically, a pair of left bearings of the lead screw nut 26 are installed on the left side of the lead screw nut 29, and a pair of right bearings of the lead screw nut 25 are installed on the right side, and the two are respectively pressed by the front bearing pressing plate 18 and the rear bearing pressing plate 16.

[0071] The power tool interface is used to connect a power tool, drive the first bevel gear, the second bevel gear, and the lead screw nut to move, convert the rotary motion of the power tool into the linear motion of the disassembly and assembly component, and complete the separation of the faulty joint and its adjacent product.

[0072] The fixing device connecting piece 14 is mounted on the upper mounting plate 11 and is used to connect with the follower end of the fixing component. The installation interface connecting piece 17 is connected to the lead screw nut, and the separation pointer 19 is connected to the installation interface connecting piece 17. The fixing device connecting piece 14 is mounted on the upper mounting plate 11 and is used to connect the first installation interface.

[0073] The fixing device connecting piece 14 is provided with a tapered convex 6-1, and the follower end 6 of the fixing component is provided with a tapered groove 8.

[0074] The disassembly and assembly component 1 is connected to the follower end 6 of the fixing component through two non-loosening screws, and the tapered convex 6-1 on the fixing device connecting piece 14 is positioned and connected with the tapered groove 8 on the follower end 6 of the fixing component, and the tapered convex 6-1 and the docking tapered groove 8 complete quick positioning.

[0075] A pair of positioning scale lines are respectively provided on the upper mounting plate 11 and the follower structure member 35 of the disassembly and assembly component 1 to indicate that the disassembly and assembly component 1 is connected in place with the follower end 6 of the fixing component.

[0076] The follower structure member 35 is also provided with a horizontal scale line for identifying that the mounting end face of the follower end 6 of the fixed member is aligned with the upper mounting plate 11 of the follower end 6 of the fixed member.

[0077] Specifically: when the disassembly and assembly member 1 is installed in place, the third scale line and the fifth scale line (positioning scale lines) of the upper mounting plate 11 are respectively aligned with the second scale line and the fourth scale line (positioning scale lines) on the follower structure member 35, and the first scale line (horizontal scale line) on the follower structure member 35 is aligned with the end face of the upper mounting plate 11, and the in-place judgment is simple.

[0078] As Figure 11 shown, the width of the scale lines of the above 5 scale lines is 1 mm, the depth is 0.3 mm, and black paint is sprayed, which is significantly different from the surrounding metal natural color, facilitating accurate identification by astronauts.

[0079] The separation indicator plate 20 is installed on the right mounting plate 19, and the separation pointer 19 is installed on the mounting interface connecting member 17. As Figure 19 shown, when the disassembly and assembly member 1 is in the closed state, the separation indicator plate 20 points to one side of the separation pointer 19. As Figure 20 shown, when the disassembly and assembly member 1 is in the open state, the separation indicator plate 20 points to the other side of the separation pointer 19. When the astronaut drives the disassembly and assembly member 1 through the electric tool interface 12, the separation pointer 19 moves together with the mounting interface connecting member 17. The separation indicator plate 20 is installed at an inclination angle of 10 degrees. The width of the scale lines on the separation indicator plate 20 is 1 mm, the depth is 0.3 mm, and black paint is sprayed, which is significantly different from the surrounding metal natural color, facilitating accurate identification by astronauts.

[0080] The specific implementation scheme of the fixed member is as Figure 12 and Figure 13 shown. The fixed member mainly consists of a fixed structure member 33, a follower structure member 35, an anti-floating interface 31, a general armrest base 36, a long key 37, a tool transfer belt 32, 4 initial lock screws 34 that are loose but do not come off, a follower shaft 41, a fixed bushing 42, 2 bushing lock screws 40, a follower sleeve 39, and two guide keys 38. The anti-floating interface 31, the tool transfer belt 32, and the general armrest base 36 are installed on the follower structure member 35 through screws. The fixed structure member 33 and the follower structure member 35 are connected together by four loose but non-removable screws. The long key 37 is installed between the fixed bushing 42 and the follower structure member 35 to restrict the circumferential rotation of the two. The fixed bushing 42 is fixed in the inner hole of the follower structure member 35 by the two lock screws 40 below.

[0081] In the initial state, the follower sleeve 39 is located at the first position of the inner hole of the follower structural member 35. At this time, the second guide key 38 from the inside to the outside on the follower shaft 41 is aligned with the first guide hole from the inside to the outside on the follower structural member 35. There is an initial set screw 34 that is fastened and cannot be removed at each of the upper and lower positions of the first position. The set screw above presses against the guide key 38, and through the guide key 38, the follower sleeve 39 and the follower structural member 35 are pressed tightly together, and the follower sleeve 39 and the follower shaft cannot move. When the two initial set screws 34 that are fastened and cannot be removed are loosened, the follower sleeve 39 and the follower shaft 41 perform an axial linear motion along the inner hole. When the movement reaches the position, the follower sleeve 39 is located at the second position of the inner hole of the follower structural member 35. At this time, the first guide key 38 from the inside to the outside on the follower shaft 41 is aligned with the first guide hole from the inside to the outside on the follower structural member 35, and the second guide key 38 from the inside to the outside on the follower shaft 41 is aligned with the second guide hole from the inside to the outside on the follower structural member 35. The four initial set screws 34 that are fastened and cannot be removed tighten the follower sleeve 39 on the follower structural member 35, and the follower sleeve 39 and the fixed shaft sleeve 42 jointly provide support for the follower shaft 41.

[0082] In-orbit maintenance process of the joint:

[0083] As Figure 15 As shown in ~ As shown in 18, the in-orbit replacement of the faulty joint is divided into two parts: the disassembly and installation of the faulty joint. Among them, the disassembly of the faulty joint is divided into 3 stages: positioning and connection, separation, and release of fixation and connection. The disassembly of the faulty joint is divided into 3 stages: positioning and connection, docking, and release of connection. The operation actions in both processes are similar. Here, only the 3 stages of positioning and connection, separation, and release of fixation and connection in the disassembly of the faulty joint will be described.

[0084] In the positioning and connection stage of the faulty joint, an astronaut holds the universal handrail base 10 on the disassembly and assembly component and the universal handrail base 36 on the fixed component through the astronaut handrail, connects the first installation interface 3 of the disassembly and assembly component of the first joint maintenance device with the quick-connect male component of the faulty joint, connects the second installation interface 4 on the fixed part of the first joint maintenance device with the quick-connect female component of the first adjacent product 1 of the faulty joint, and connects the third installation interface 5 on the fixed part of the first joint maintenance device with the quick-connect male component of the second adjacent product of the faulty joint. Another astronaut holds the universal handrail base 10 on the disassembly and assembly component and the universal handrail base 36 on the fixed component through the astronaut handrail, connects the first installation interface 3 of the disassembly and assembly component of the second joint maintenance device with the quick-connect female component of the faulty joint, connects the third installation interface 4 on the fixed part of the second joint maintenance device with the quick-connect male component of the first adjacent product of the faulty joint, and connects the second installation interface 5 on the fixed part with the quick-connect female component of the second adjacent product of the faulty joint. The work of fixation and connection is completed.

[0085] During the separation phase, the astronaut needs to complete three parts of work, including the disassembly of the expansion bolts of the quick connection device, the separation of the electrical connectors, and the separation of the male and female of the quick connection device. Subsequently, the astronaut needs to loosen the four initial locking and non-loosening screws 34 on the first joint maintenance device and the second joint maintenance device in sequence, release the follower sleeve 39 and the follower shaft 41, and then use the extravehicular operation tools and special maintenance tools carried by himself / herself to operate the operation interfaces of the first joint maintenance device and the second joint maintenance device respectively, drive the disassembly and assembly components to move, and make the faulty joint of the robotic arm move in the direction shown in Figure 15 to complete the separation of the joint from the adjacent products. After the separation is in place, tighten the four initial locking and non-loosening screws 34 to complete the fixation of the release of the follower sleeve 39 and the follower shaft 41.

[0086] During the disconnection phase, the astronaut needs to remove the first mounting interface 3 on the first joint maintenance device and the second joint maintenance device, that is, complete the disassembly of the faulty joint and complete the disconnection work.

[0087] In summary, the maintenance device for the astronaut to disassemble and assemble the space robotic arm joint provided by the present invention mainly consists of two sets of completely identical devices, namely the first joint maintenance device and the second joint maintenance device. Among them, each set of maintenance components consists of 1 disassembly and assembly component, 1 fixing component, 1 first mounting interface, 1 second mounting interface, and 1 third mounting interface. The two sets of mechanisms need to be used in cooperation to complete the on-orbit maintenance task of the faulty joint of the robotic arm in the core module of the Chinese Space Station. The main innovation points are as follows:

[0088] 1. The composition of the first joint maintenance device and the maintenance components of the present invention is completely the same, and the on-orbit maintenance of the faulty joint is realized only through the installation positions and coordinated use of different components;

[0089] 2. In the present invention, the output shaft is locked by four non-loosening screws in the in-place locking state, and the stiffness of the joint maintenance device is improved by designing the follower shaft sleeve and the fixed shaft sleeve;

[0090] 3. The present invention adopts passive drive and borrows the electric tools of the astronaut, which greatly simplifies the design of the joint maintenance device and improves the environmental adaptability;

[0091] 4. The alignment method of the disassembly and assembly component and the fixed component of the present invention: first quickly position through the vertical positioning pin and the mating surface, and then judge the in-place state through two alignment engraved lines, which can ensure the stiffness of the maintenance device itself and reliable alignment;

[0092] 5. The quick positioning of the maintenance device designed by the present invention: use the positioning pin on the product to be adapted to the mounting ring for positioning, and at the same time use the non-loosening screw for precise positioning and fixation;

[0093] 6. Operation identification design of the maintenance device: The operation identification comprehensively considers the opening / closing direction and the tightening / loosening direction of the general tools outside the cabin, ensuring the cognitive consistency of the astronauts' operations;

[0094] 7. Inclination scale of the maintenance device of the present invention: The separation and docking auxiliary scale fixed on the side adopts the design concept with an inclination angle of 10 degrees to ensure visibility during the astronauts' operations.

[0095] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can 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 modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention without departing from 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 device for on-orbit disassembly and assembly of a space manipulator joint, characterized in that: It includes a first joint maintenance component and a second joint maintenance component; the first joint maintenance component and the second joint maintenance component have the same structure, and both include a disassembly and assembly component (1), a fixing component (2), a first installation interface (3), a second installation interface (4), and a third installation interface (5); the fixing component includes a fixed end and a follower end; The first installation interface (3) is located on the disassembly and assembly component (1), and the disassembly and assembly component (1) is also connected to the follower end (6) of the fixing component. The follower end of the fixing component is connected to the fixed end and can perform telescopic movement relative to the fixed end; the follower end (6) of the fixing component is also fixedly connected to the second installation interface (4), and the fixed end of the fixing component is also fixedly connected to the third installation interface (5); The first joint maintenance component and the second joint maintenance component are installed on both sides of the faulty joint; the first installation interface (3) of the first joint maintenance component is used to connect with the connection component of the faulty joint, and the second installation interface (4) is used to connect with the connection component of the first adjacent product of the faulty joint; the third installation interface (5) is used to connect with the connection component of the second adjacent product of the faulty joint; The first installation interface of the second joint maintenance component is used to connect with the connection component of the faulty joint, and the second installation interface is used to connect with the connection component of the second adjacent product of the faulty joint; The third installation interface is used to connect with the connection component of the first adjacent product of the faulty joint; When the disassembly and assembly component (1) of the first joint maintenance component separates the faulty joint from the first adjacent product through the first installation interface (3), the follower end of the fixing component of the second joint maintenance component follows. When the disassembly and assembly component (1) of the second joint maintenance component separates the faulty joint from the second adjacent product through the first installation interface (3), the follower mechanism of the fixing component of the first joint maintenance component follows; the two are used in combination to complete the on-orbit replacement task of the joint.

2. The maintenance device for on-orbit disassembly and assembly of a space robotic arm joint according to claim 1, characterized in that: The follower end (6) of the fixing component is connected to the second installation interface (4), and the fixed end (7) of the fixing component is connected to the third installation interface (5) by four non-loosening screws.

3. The maintenance device for on-orbit disassembly and assembly of a space manipulator joint according to claim 1, wherein: The disassembly and assembly component includes a disassembly and assembly body (9), an upper mounting plate (11), a left mounting plate (15), a right mounting plate (19), an upper bearing pressure plate (13), a front bearing pressure plate (18), a rear bearing pressure plate (16), an electric tool interface (12), a first bevel gear (23), a second bevel gear (22), a first bevel gear pressure plate (27), a key (30), and a lead screw nut (29); Among them, the upper mounting plate (11), the left mounting plate (15), and the right mounting plate (19) are all mounted on the disassembly and assembly body (9). The electric tool interface (12) is supported by bearings and is pressed on the upper mounting plate (11) by the upper bearing pressure plate (13). The first bevel gear (23) is mounted on the electric tool interface (12) and is pressed by the first bevel gear pressure plate (27). The second bevel gear (22) is connected to the lead screw nut (29) by a key (30); both sides of the lead screw nut (29) are fixed on the disassembly and assembly body (9) by bearings and are respectively pressed by the front bearing pressure plate (18) and the rear bearing pressure plate (16); The electric tool interface is used to connect an electric tool, drive the first bevel gear, the second bevel gear and the lead screw nut to move, convert the rotary motion of the electric tool into a linear motion for disassembling and assembling components, and complete the separation of the faulty joint from its adjacent products.

4. The maintenance device for on-orbit disassembly and assembly of a space manipulator joint according to claim 3, wherein: It further includes a first universal armrest base (10), and the first universal armrest base (10) is installed on the disassembly and assembly body (9). The first universal armrest base (10) is the grasping point when the astronaut transfers the first joint maintenance component and the second joint maintenance component.

5. The maintenance device for on-orbit disassembly and assembly of a space manipulator joint according to claim 3, wherein: It further includes a fixing device connecting piece (14), and the fixing device connecting piece (14) is installed on the upper mounting plate (11) and is used to connect with the follower end of the fixing component.

6. The maintenance device for on-orbit disassembly and assembly of a space manipulator joint according to claim 5, characterized in that: The fixing device connecting piece (14) is provided with a conical protrusion (6-1), and the follower end (6) of the fixing component is provided with a conical groove (8); The disassembling and assembling component (1) is connected to the follower end (6) of the fixing component by two non-loosening screws, and the conical protrusion (6-1) on the fixing device connecting piece (14) is positioned and connected with the conical groove (8) on the follower end (6) of the fixing component. The conical protrusion (6-1) and the docking conical groove (8) complete rapid positioning.

7. The maintenance device for on-orbit disassembly and assembly of a space manipulator joint according to claim 5, characterized in that: A pair of positioning scale lines are respectively provided on the upper mounting plate (11) and the follower structure member (35) of the disassembling and assembling component (1) for indicating that the disassembling and assembling component (1) is connected in place with the follower end (6) of the fixing component; The follower structure member (35) is further provided with a horizontal scale line for indicating that the mounting end face of the follower end (6) of the fixing component is aligned with the upper mounting plate (11) of the follower end (6) of the fixing component.

8. The maintenance device for on-orbit disassembly and assembly of a space manipulator joint according to claim 7, characterized in that: The width of the scale lines of the positioning scale lines and the horizontal scale line is 1 mm, and the depth is 0.3 mm, and they are sprayed with black paint, which is significantly different from the surrounding metal natural color.

9. The maintenance device for on-orbit disassembly and assembly of a space manipulator joint according to claim 4, characterized in that: A separation indicating plate (20) is installed on the right mounting plate (19), and a separation pointer is installed on the mounting interface connecting piece (17). When the disassembling and assembling component (1) is in the closed state, the separation indicating plate (20) points to one side of the separation pointer. When the disassembling and assembling component (1) is in the open state, the separation indicating plate (20) points to the other side of the separation pointer. When the astronaut drives the disassembling and assembling component (1) through the electric tool interface (12), the separation pointer moves together with the mounting interface connecting piece (17).

10. The maintenance device for on-orbit disassembly and assembly of a space manipulator joint according to claim 1, characterized in that: The follower end of the fixing component includes a follower structure member (35), 4 initial locking non-loosening screws (34), a follower shaft (41), a fixed bushing (42), 2 bushing locking screws (40), a follower sleeve (39) and 2 guide keys (38); The follower shaft (41) is inserted into the inner hole of the follower structural member (35). One end of the follower shaft (41) is sleeved inside the follower sleeve (39), and the other end passes through the fixed shaft sleeve (42). The follower shaft can slide relative to the fixed shaft sleeve (42). The follower shaft (41) is provided with two guide keys (38) along the generatrix direction, and the two guide keys (38) are kept at a certain interval; the follower structural member (35) is provided with two upper and lower opposite guide holes at two positions along the generatrix direction at the same interval, and an initial locking non-loosening screw (34) is screwed into each guide hole; the distance between the two guide holes of the fixed shaft sleeve (42) is the same as the distance between the two guide keys (38) on the follower shaft (41); the fixed shaft sleeve (42) is fixed in the inner hole of the follower structural member (35) by two set screws (40), and the guide keys (38) play a guiding role during the installation of the follower shaft (41) and the follower sleeve (39); In the initial state, the follower sleeve (39) is located at the first position of the inner hole of the follower structural member (35). At this time, the second guide key (38) from the inside to the outside on the follower shaft (41) is aligned with the first guide hole from the inside to the outside on the follower structural member (35). There is an initial locking non-loosening screw (34) at the upper and lower positions of the first position. The non-loosening screw above presses against the guide key (38), pressing the follower sleeve (39) and the follower structural member (35) tightly together. The follower sleeve (39) and the follower shaft cannot move. When the two initial locking non-loosening screws (34) are loosened, the follower sleeve (39) and the follower shaft (41) move axially in a straight line along the inner hole. When the movement is in place, the follower sleeve (39) is located at the second position of the inner hole of the follower structural member (35). At this time, the first guide key (38) from the inside to the outside on the follower shaft (41) is aligned with the first guide hole from the inside to the outside on the follower structural member (35), and the second guide key (38) from the inside to the outside on the follower shaft (41) is aligned with the second guide hole from the inside to the outside on the follower structural member (35). The four initial locking non-loosening screws (34) tighten the follower sleeve (39) on the follower structural member (35), and the follower sleeve (39) and the fixed shaft sleeve (42) jointly provide support for the follower shaft (41).

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