A space station robotic arm auxiliary fixing device operated by an astronaut with one hand outside the cabin

Abstract

The present invention discloses an auxiliary fixing device for a space station manipulator arm that can be operated by an astronaut with one hand outside the cabin. The device comprises a base assembly and a connecting rod assembly. The base assembly comprises a support and a clamping rod, which is mounted on a circular handrail on the hatch, providing a fixed passive end. The connecting rod assembly comprises a bracket, an unfolding arm, and a clamping claw, which is mounted on an extravehicular operating table on the manipulator arm, serving as a connected and fixed active end. The base assembly and the connecting rod assembly are connected via the clamping claw and the clamping rod. In the present invention, the connecting rod assembly is unfolded and folded on the extravehicular operating table. When not in use, it can be folded on the extravehicular operating table, which not only does not affect the astronaut's subsequent other maintenance operations, but also eliminates the need for storage after use. When needed, it only needs to be unfolded, eliminating the need for searching and taking out the device before use, making it convenient to use.

Description

Technical Field

[0001] The present invention relates to the field of manned space technology, and in particular to a space station robotic arm auxiliary fixing device that can be operated by an astronaut with one hand outside a cabin. Background Art

[0002] According to the plan for astronauts on the space station to carry out extravehicular maintenance tasks, astronauts need to transfer from the circular handrail at the hatch exit and fix themselves to the robotic arm so that they can be mechanically transferred to the work site for maintenance work. In the process of transferring and fixing to the robotic arm (hereinafter referred to as the "upper arm"), the astronauts will have a certain impact on the robotic arm. In order to increase the rigidity of the robotic arm and reduce the impact of astronauts on the robotic arm, it is necessary to establish a certain rigid connection between the extravehicular operating console on the robotic arm and the circular handrail at the hatch exit before the astronauts raise their arms, and the connection can be immediately released after the arms are raised. Moreover, when astronauts operate outside the cabin, they need to hold the circular handrail with one hand to control their posture, and can only free up the other hand to operate. Therefore, it is necessary to develop a space station robotic arm auxiliary fixing device that astronauts can operate with one hand outside the cabin to meet the needs of the astronauts' upper arms. Summary of the Invention

[0003] The purpose of the present invention is to solve the above problems and to propose a space station robotic arm auxiliary fixing device that can be operated by astronauts with one hand outside the cabin.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] An auxiliary fixing device for a space station robotic arm operated by an astronaut with one hand outside the cabin (hereinafter referred to as the "auxiliary fixing device") includes a base assembly and a connecting rod assembly. The base assembly includes a support and a clamping rod, which is installed on an annular handrail on the hatch exit, providing a fixed passive end. The connecting rod assembly includes a bracket, a deployment arm, and a clamping claw, which is installed on an extravehicular operating platform on the robotic arm, serving as a connected and fixed active end. The base assembly and the connecting rod assembly are connected by the clamping claw and the clamping rod, and are used for establishing a certain rigid connection between the extravehicular operating platform on the robotic arm and the annular handrail on the hatch exit during the process of astronauts raising and lowering their arms, thereby reducing the impact on the robotic arm during the process of astronauts raising and lowering their arms.

[0006] Preferably, the support is fixed to the annular handrail bracket by screws, and the clamping rod is installed between the supports. The cross section of the clamping rod is square and cooperates with the clamping claw with the same square cross section. The clamping rod has a toothed concave-convex groove on one side for cooperating with the concave-convex groove in the clamping claw. When plugged into the clamping rod, the axial sliding freedom is locked (partially enlarged in the figure). Figure 13 shown).

[0007] Preferably, the bracket includes a bracket body, a lockable pin shaft, and a connecting screw. The bracket body is mounted on the beam lightening hole on the operating table outside the cabin by the connecting screw and is screwed and fixed. The lockable pin shaft includes a bracket fixed tooth end, a deployment arm movable tooth end, a center shaft, a paddle nut, a fixing frame, and a center screw. The end surface where the bracket and the deployment arm are in contact is provided with small fixed teeth and movable teeth. Each end surface has a tooth at a certain angle, which is evenly distributed 360° along the circumference, so as to realize the locking of the bracket and the deployment arm in the circumferential rotational freedom (see the partial enlarged view). Figure 8 ), the central axis serves as the rotation axis of the deployment arm on the bracket, and is fixed to the bracket body by a fixing frame and a central screw to realize the swing of the deployment arm and the deployment and folding functions. The paddle nut is located below the deployment arm and can be rotated 90° by paddle nut. A stud section connected to the paddle nut is provided on the central axis. When the paddle nut rotates circumferentially on the stud section, the paddle nut rises or falls axially, thereby pushing the fixed teeth and movable teeth between the deployment arm and the bracket to engage and separate, and finally achieving the function of locking or unlocking the deployment arm at any position. The bracket body is engraved with "loose" and "tight" marks (not limited to these marks) to prompt astronauts in the operating direction ( Figure 6 ).

[0008] Preferably, the deployment arm includes a swing rod, a rolling rod, a universal joint, and a pressure block. The rolling rod is provided with a square block at the end of the rolling rod, and the swing rod is provided with a square groove of the swing rod. The swing rod is connected to the bracket through a lockable pin shaft, and performs expansion and retraction actions on the bracket, and the expanded state is locked by the lockable pin shaft. The rolling rod is connected to the end of the swing rod in the form of a rotating shaft, and the gap between the square block at the end of the rolling rod and the square groove of the swing rod is used to achieve that the square block at the end of the rolling rod can only rotate at a small angle of several degrees in the square groove of the swing rod. The amount is obtained, and finally the U-shaped claw of the clamp at the end of the deployment arm is adjusted at a small angle of the rolling axis. The universal joint is connected to the rolling rod and the clamp by a pin screw and a pin nut. The universal joint is allowed to swing at a small angle of several degrees in the up and down directions of the rolling rod, and the clamp is allowed to swing at a small angle of several degrees in the left and right directions of the universal joint. Finally, the U-shaped claw of the clamp at the end of the deployment arm is adjusted at a small angle of the pitch axis and the yaw axis. The flexible fine-tuning of the clamp at the three attitude angles of the rolling axis, pitch axis and yaw axis facilitates the alignment of the clamp and the clamp rod and the connection.

[0009] Preferably, the clamp includes a U-shaped claw and a locking switch, which are used to be plugged into and locked with the clamp rod. The cross-section of the U-shaped opening of the clamp is square, which cooperates with the clamp rod with the same square cross-section. The U-shaped opening of the clamp is provided with a large chamfer, which cooperates with the large fillet on the clamp rod. The locking switch is a cam latch structure commonly used in space station extravehicular maintenance tools. The locking switch includes a switch seat, a locking pin, a switch paddle, a rotating shaft, and a spring. The switch seat is installed on the U-shaped claw by bolts. The locking pin passes through the switch seat and is connected to the switch paddle through the rotating shaft. The spring is arranged on the outside of the locking pin.

[0010] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0011] 1. In this application, the connecting rod assembly is connected using the existing lightening holes of the extravehicular operating platform, and there is no need to modify the extravehicular operating platform.

[0012] 2. In this application, the connecting rod assembly is unfolded and folded on the extravehicular operating table. When not in use, it can be folded on the extravehicular operating table. It not only does not affect the astronauts' subsequent other maintenance operations, but also eliminates the need for storage after use. When needed, it only needs to be unfolded, eliminating the need for searching and removing the device before use, making it convenient to use.

[0013] 3. In this application, the deployment arm can be deployed and locked at any position within a 180° range through a lockable pin. It can not only adapt to the relative position error between the extravehicular operating console and the annular armrest, but also effectively lock the deployment arm at any position, and can withstand the impact of the astronaut's upper arm at any position.

[0014] 4. In this application, the gripper can achieve flexible fine-tuning of the three attitude angles through the rolling rod and the universal joint, so as to automatically adapt to the relative position and angle errors when the gripper and the clamping rod are inserted.

[0015] 5. In the present application, the square cross-section of the clamping jaw and the clamping rod, as well as the tooth-shaped concave-convex grooves, are used to lock the circumferential rotational freedom and axial sliding freedom of the clamping jaw on the clamping rod; at the same time, the clamping rod is longer than the clamping jaw, and in the axial direction of the clamping rod, the clamping jaw can be plugged and locked with the clamping rod at different positions. This function can adapt to the different upper arm heights of male and female astronauts due to their different heights.

[0016] 6. In this application, during the entire operation process, the docking and locking actions can be performed separately without having to be performed simultaneously, thus meeting the astronauts' needs for one-handed operation.

[0017] 7. In this application, the scalability of the base assembly support and clamping rod can meet the needs of different upper arm points of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a device used by astronauts on a space station according to an embodiment of the present invention is shown, wherein 3 is a foot stopper; 4 is a robotic arm; 5 is an astronaut; and 7 is a space station cabin.

[0019] Figure 2 A schematic diagram of a space station without astronauts provided by an embodiment of the present invention is shown;

[0020] Figure 3 It shows a schematic diagram of the overall structure provided by an embodiment of the present invention;

[0021] Figure 4 A schematic structural diagram of a base assembly according to an embodiment of the present invention is shown;

[0022] Figure 5 A schematic structural diagram of a connecting rod assembly according to an embodiment of the present invention is shown;

[0023] Figure 6 A schematic diagram of a bracket structure provided in an embodiment of the present invention is shown;

[0024] Figure 7 A cross-sectional view of a lockable pin structure provided according to an embodiment of the present invention is shown;

[0025] Figure 8 It shows an enlarged view of the coordination between the fixed tooth end of the bracket and the movable tooth end of the deployment arm provided in accordance with an embodiment of the present invention;

[0026] Figure 9 A schematic diagram of the deployment arm and clamping claw structure provided in an embodiment of the present invention is shown;

[0027] Figure 10 A cross-sectional view of a deployment arm structure according to an embodiment of the present invention is shown;

[0028] Figure 11 A cross-sectional view of a clamping jaw structure according to an embodiment of the present invention is shown;

[0029] Figure 12 A schematic diagram of the connection between the clamping claw and the clamping rod of the base according to an embodiment of the present invention is shown;

[0030] Figure 13 It shows a partial enlarged schematic diagram of the connection between the clamping jaw and the clamping rod of the base provided in an embodiment of the present invention;

[0031] Figure 14 A schematic diagram showing a lock pin provided by an embodiment of the present invention installed on an outside operating table and in a retracted state, with a lockable pin shaft paddle in a locked state;

[0032] Figure 15A schematic diagram showing a deployment arm in a folded state and a lockable pin shaft paddle in a released state according to an embodiment of the present invention is shown;

[0033] Figure 16 A schematic diagram showing a deployment arm according to an embodiment of the present invention in the deployment process, a lockable pin shaft paddle in a released state, and a switch paddle of a locking switch on a clamping jaw in a closed state;

[0034] Figure 17 A schematic diagram showing a deployment arm according to an embodiment of the present invention in a deployment process, a lockable pin shaft paddle in a released state, and a switch paddle of a locking switch on a clamping jaw in an open state;

[0035] Figure 18 A schematic diagram showing a deployment arm according to an embodiment of the present invention in the deployment process, with the lockable pin lever in a released state, the clamping jaw and the clamping rod of the base in an engaged state, and the switch lever of the locking switch on the clamping jaw in an on state;

[0036] Figure 19 A schematic diagram showing an unfolding arm according to an embodiment of the present invention in the unfolding process, with the lockable pin lever in a released state, the clamping jaw and the clamping rod of the base in an engaged state, and the switch lever of the locking switch on the clamping jaw in a closed state;

[0037] Figure 20 It shows a schematic diagram showing that the unfolding arm provided according to an embodiment of the present invention is in the unfolded state, the lockable pin shaft paddle is in the locked state, the clamping claw and the clamping rod of the base are in the plugged state, and the switch paddle of the locking switch on the clamping claw is in the closed state.

[0038] Legend:

[0039] 1. Auxiliary fixing device; 2. Extravehicular operating platform; 3. Foot stopper; 4. Robotic arm; 5. Astronaut; 6. Circular handrail; 7. Space station cabin; 1-0. Base assembly; 2-0. Connecting rod assembly; 1-01. Support; 1-02. Clamping rod; 2-10. Bracket; 2-20. Deployment arm; 2-20-1. Deployment arm movable tooth end; 2-30. Clamping claw; 2-11. Bracket body; 2-11-01. Bracket fixed tooth end; 2-12-0. Lockable pin; 2-13. Connecting screw; 2-1 2-01, center shaft; 2-12-02, paddle nut; 2-12-03, fixing bracket; 2-12-04, center screw; 2-21, swing arm; 2-22, roll arm; 2-23, universal joint; 2-24, pressure block; 2-25, pin screw; 2-26, pin nut; 2-31, U-shaped claw; 2-32-0, locking switch; 2-32-1, switch base; 2-32-2, locking pin; 2-32-3, switch paddle; 2-32-4, rotating shaft; 2-32-5, spring. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0041] See also Figure 1-20 , the present invention provides a technical solution:

[0042] An auxiliary fixing device for a space station manipulator arm operated by an astronaut with one hand outside the cabin (hereinafter referred to as "auxiliary fixing device 1") includes a base assembly 1-0 and a connecting rod assembly 2-0. The base assembly 1-0 includes a support 1-01 and a clamping rod 1-02, which are installed on the annular handrail 6 on the hatch to provide a fixed passive end. The connecting rod assembly 2-0 includes a bracket 2-10, an expansion arm 2-20, and a clamping claw 2-30. The bracket 2-10 is used to connect to the extravehicular operating table 2, and the expansion arm 2-20 is used to connect the rod The component 2-0 is expanded and collapsed, and the clamp 2-30 is used to connect with the clamp rod 1-02 of the base component 1-0, which is installed on the extravehicular operating table 2 on the robotic arm. As the active end of the connection, the base component 1-0 and the connecting rod component 2-0 are connected through the clamp 2-30 and the clamp rod 1-02. It is used for the astronaut 5 to establish a certain rigid connection between the extravehicular operating table 2 on the robotic arm 4 and the annular handrail 6 at the hatch when the astronaut 5 raises and lowers the arm, thereby reducing the impact on the robotic arm 4 during the astronaut 5 raising and lowering the arm.

[0043] Specifically, such as Figure 4As shown, the support 1-01 is fixed to the annular armrest 6 bracket by screws (not limited to screws), and the clamping rod 1-02 is installed between the supports 1-01 (in this example, there are three supports 1-01 and two clamping rods 1-02, which provide the upper arm requirements of the robot arm 4 in two postures. In fact, it is not limited to a specific number. It can be expanded according to the upper arm posture requirements and the corresponding number of supports 1-01 and clamping rods 1-02 can be set). The cross-section of the clamping rod 1-02 is square, and it cooperates with the clamping jaw 2-30 with the same square cross-section to achieve the locking of the circumferential rotational freedom of the clamping jaw 2-30 on the clamping rod 1-02. One side of the clamping rod 1-02 is a toothed concave-convex groove 1-02-1, which is used to cooperate with the concave-convex groove 2-31-1 in the clamping jaw 2-30. When plugged with the clamping jaw 2-30, the locking of the axial sliding freedom is achieved ( Figure 13 ).

[0044] Specifically, such as Figure 5 As shown, the bracket 2-10 includes a bracket body 2-11, a lockable pin shaft 2-12-0, and a connecting screw 2-13. The bracket body 2-11 is installed in the beam lightening hole on the extravehicular operating table 2 by the connecting screw 2-13 and is screwed and fixed. The lockable pin shaft 2-12-0 includes a bracket fixed tooth end 2-11-01, a deployment arm movable tooth end 2-20-1, a central shaft 2-12-01, a paddle nut 2-12-02, a fixing frame 2-12-03, and a central screw 2-12-04. The end faces of the bracket 2-10 and the deployment arm 2-20 that are in contact are provided with small fixed teeth and movable teeth. Each end face has a tooth at a certain angle, which is evenly distributed 360° along the circumference to achieve locking of the bracket 2-10 and the deployment arm 2-20 in the circumferential rotational freedom (see the partial enlarged view). Figure 8 ), the central axis 2-12-01 serves as the rotation axis of the deployment arm 2-20 on the bracket 2-10, and is fixed to the bracket body 2-11 by the fixing frame 2-12-03 and the central screw 2-12-04, so as to realize the swing of the deployment arm 2-20 and the expansion and folding functions. The paddle nut 2-12-02 is located below the deployment arm 2-20, and the paddle nut 2-12-02 can be rotated 90° by paddle. A stud section connected to the paddle nut 2-12-02 is provided on the central axis 2-12-01. When the paddle nut 2-12-02 rotates circumferentially on the central axis 2-12-01, the paddle nut 2-12-02 rises or falls along the axial direction, thereby pushing the fixed teeth 2-11-01 and the movable teeth 2-20-1 between the deployment arm 2-20 and the bracket 2-10 to achieve engagement and separation, and finally achieve the function of locking or unlocking the deployment arm 2-20 at any position. The bracket body 2-11 is engraved with "loose" and "tight" marks (not limited to these marks) to prompt astronauts the operating direction ( Figure 6 ).

[0045] Specifically, such as Figure 9 and Figure 10As shown, the unfolding arm 2-20 includes a swing rod 2-21, a rolling rod 2-22, a universal joint 2-23, and a pressure block 2-24. The rolling rod 2-22 is provided with a rolling rod end square block 2-22-1, and the swing rod 2-21 is provided with a swing rod square groove 2-21-1. The swing rod 2-21 is connected to the bracket 2-10 through a lockable pin shaft 2-12-0, and performs unfolding and folding actions on the bracket 2-10, and locks the unfolded state through the lockable pin shaft 2-12-0. The rolling rod 2-22 is connected to the end of the swing rod 2-21 in the form of a rotating shaft, and the gap between the rolling rod end square block 2-22-1 and the swing rod square groove 2-21-1 is realized so that the rolling rod end square block 2-22-1 can only have The small angle rotation within a few degrees finally realizes the small angle posture adjustment of the rolling axis of the U-shaped claw 2-31 of the clamp at the end of the deployment arm 2-20. The universal joint 2-23 is connected to the rolling rod 2-22 and the clamp 2-30 through the pin screw 2-25 and the pin nut 2-26. The small angle swing of the universal joint 2-23 within a few degrees in the up and down directions of the rolling rod 2-22 is realized through the gap. The small angle swing of the clamp 2-30 within a few degrees in the left and right directions of the universal joint 2-23 finally realizes the small angle posture adjustment of the pitch axis and yaw axis of the U-shaped claw 2-31 of the clamp at the end of the deployment arm 2-20. The flexible fine-tuning of the three attitude angles of the clamp 2-30 on the rolling axis, pitch axis and yaw axis facilitates the alignment of the clamp 2-30 and the clamp rod 1-02 and the plugging.

[0046] Specifically, such as Figure 9 and Figure 10 As shown, the clamping jaw 2-30 includes a U-shaped jaw 2-31 and a locking switch 2-32-0, which are used to be plugged in and locked with the clamping rod 1-02. The cross section of the U-shaped opening of the clamping jaw 2-30 is square, which cooperates with the clamping rod 1-02 with the same square cross section. The U-shaped opening of the clamping jaw 2-30 is provided with a large chamfer, which cooperates with the large rounded corner on the clamping rod 1-02. When plugged in with the clamping rod 1-02, the axial sliding freedom is locked (such as Figure 12 As shown, the local enlarged picture is as follows Figure 13As shown), the locking switch 2-32-0 is a cam latch structure commonly used in space station extravehicular maintenance tools. The locking switch 2-32-0 includes a switch base 2-32-1, a locking pin 2-32-2, a switch paddle 2-32-3, a rotating shaft 2-32-4, and a spring 2-32-5. The switch base 2-32-1 is mounted on the U-shaped claw 2-31 by bolts. The locking pin 2-32-2 passes through the switch base 2-32-1 and is connected to the switch paddle 2-32-3 through the rotating shaft 2-32-4. The spring 2-32-5 is arranged on the outside of the locking pin 2-32-2. After the clamping rod 1-02 is inserted into the clamping claw 2-31, the switch paddle 2-32-3 is closed, and the locking pin 2-32-2 is extended to jam the clamping rod 1-02 to prevent the clamping rod 1-02 from falling out of the U-shaped clamping claw 2-31, thereby achieving locking.

[0047] The following is a detailed description of this device through the full process task section:

[0048] 1. Launch Uplink Phase

[0049] The base assembly 1-0 is mounted on the annular handrail 6 on the ground and connected to the annular handrail 6 bracket via the support 1-01. Figure 1 、 Figure 2 , as shown, it is launched upward along with the cabin.

[0050] The connecting rod assembly 2-0 is placed in the inter-cabin tool bag and launched upward with the cabin.

[0051] 2. Preparation before leaving the cabin

[0052] Before the connecting rod assembly 2-0 leaves the cabin, the bracket body 2-11 is installed at the beam lightening hole of the cargo assembly of the outer operating platform 2 using the connecting screws 2-13, and the deployment arm 2-20 is set to the folded state. Figure 14 shown.

[0053] 3. Extravehicular Use Phase

[0054] Before raising the arm, crew member 5 needs to connect the auxiliary fixture's connecting rod assembly 2-0 to the base assembly 1-0. After raising the arm, they need to separate the connecting rod assembly 2-0 from the base assembly 1-0. Before lowering the arm, crew member 5 needs to connect the connecting rod assembly 2-0 to the base assembly 1-0. After lowering the arm, crew member 5 needs to separate the connecting rod assembly 2-0 from the base assembly 1-0. This requires four disassembly and assembly steps in total, and the following describes each of these steps.

[0055] 1. Connect the connecting rod assembly 2-0 to the base assembly 1-0

[0056] 1) Turn the locking pin 2-12-02 90 degrees to make it perpendicular to the bracket 2-10 and in the loose state. Figure 15 shown.

[0057] 2) Rotate and unfold the unfolding arm 2-20 so that the U-shaped claw 2-31 at the end of the clamping claw approaches the clamping rod 1-02 of the base assembly, as shown in FIG. Figure 16 shown.

[0058] 3) Turn the switch paddle 2-32-3 of the locking switch on the clamping jaw 90 degrees, perpendicular to the clamping jaw, and open it. Figure 17 shown.

[0059] 4) Adjust the posture of the end of the clamping jaw 2-31 and insert the clamping jaw 2-31 into the clamping rod 1-02 on the base, as shown in the figure. Figure 18 shown.

[0060] 5) Turn the switch paddle 2-32-3 of the locking switch on the clamp 90° to the closed state, such as Figure 19 shown.

[0061] 6) Turn the locking pin 2-12-02 90 degrees to make it parallel to the bracket and locked. Figure 20 shown.

[0062] The overall connection is in place, the clamping claw 2-31 and the clamping rod 1-02 are in a fit state, the locking switch paddle 2-32-3 is in a closed state, and the lockable pin shaft paddle 2-12-02 is in a locked state.

[0063] 2. Separate the connecting rod assembly 2-0 from the base assembly 1-0

[0064] The process of separating the connecting rod assembly 2-0 and the base assembly 1-0 is the reverse process of the above operation and will not be repeated. Finally, they are separated and retracted into place.

[0065] The above description of the embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A space station robotic arm auxiliary fixing device that can be operated by an astronaut with one hand outside the cabin, characterized in that: It comprises a base assembly (1-0) and a connecting rod assembly (2-0), wherein the base assembly (1-0) comprises a support (1-01) and a clamping rod (1-02), which is mounted on a circular handrail (6) on the hatch, providing a fixed passive end, and the connecting rod assembly (2-0) comprises a bracket (2-10), an unfolding arm (2-20), and a clamping claw (2-30), which is mounted on an extravehicular operating table (2) on a mechanical arm, serving as a connected and fixed active end, and the base assembly (1-0) and the connecting rod assembly (2-0) are connected via the clamping claw (2-30) and the clamping rod (1-02); The support (1-01) is fixed to the annular handrail (6) bracket by screws, and the clamping rod (1-02) is installed between the supports (1-01). The clamping rod (1-02) has a square cross-section and cooperates with the clamping jaw (2-30) which also has a square cross-section. One side of the clamping rod (1-02) is a tooth-shaped concave-convex groove (1-02-1) for cooperating with the concave-convex groove (2-31-1) in the clamping jaw (2-30); The clamping jaw (2-30) includes a U-shaped jaw (2-31) and a locking switch (2-32-0). The U-shaped opening of the clamping jaw (2-30) has a square cross-section, which cooperates with the clamping rod (1-02) which also has a square cross-section. The U-shaped opening of the clamping jaw (2-30) is provided with a large chamfer, which cooperates with the large rounded corner on the clamping rod (1-02). The locking switch (2-32-0) is a cam latch structure commonly used in space station extravehicular maintenance tools. The locking switch (2-32-0) includes a switch seat (2- 32-1), a locking pin (2-32-2), a switch paddle (2-32-3), a rotating shaft (2-32-4), and a spring (2-32-5), wherein the switch base (2-32-1) is mounted on the U-shaped claw (2-31) by means of a bolt, the locking pin (2-32-2) passes through the switch base (2-32-1) and is connected to the switch paddle (2-32-3) by means of a rotating shaft (2-32-4), and the spring (2-32-5) is arranged outside the locking pin (2-32-2).

2. The space station manipulator auxiliary fixing device for astronauts to operate with one hand outside the cabin according to claim 1, characterized in that: The bracket (2-10) includes a bracket body (2-11), a lockable pin shaft (2-12-0), and a connecting screw (2-13). The bracket body (2-11) is installed in a beam lightening hole on an outside operating table (2) through the connecting screw (2-13) and is screwed and fixed. The lockable pin shaft (2-12-0) includes a bracket fixed tooth end (2-11-01), a deployment arm movable tooth end (2-20-1), a center shaft (2-12-01), a paddle nut (2-12-02), a fixing frame (2-12-03), and a center screw (2-12-04). The bracket (2-10) and the deployment arm (2-2 0) are provided with tiny fixed teeth and movable teeth on the end faces in contact with each other, and each end face has a tooth at a certain angle, which is evenly distributed along the circumference of 360°. The central axis (2-12-01) serves as the rotation axis of the deployment arm (2-20) on the bracket (2-10), and is fixed to the bracket body (2-11) by the fixing frame (2-12-03) and the central screw (2-12-04). The paddle nut (2-12-02) is located below the deployment arm (2-20), and the paddle nut (2-12-02) can be rotated 90° by paddle movement. A stud section connected to the paddle nut (2-12-02) is provided on the central axis (2-12-01).

3. The space station manipulator auxiliary fixing device for astronauts to operate with one hand outside the cabin according to claim 1, characterized in that: The deployment arm (2-20) includes a swing rod (2-21), a rolling rod (2-22), a universal joint (2-23), and a pressure block (2-24). The rolling rod (2-22) is provided with a square block (2-22-1) at the end of the rolling rod. The swing rod (2-21) is provided with a swing rod square groove (2-21-1). The swing rod (2-21) is connected to the bracket (2-10) via a lockable pin (2-12-0), performs deployment and retraction actions on the bracket (2-10), and locks the deployment state via the lockable pin (2-12-0). The rolling rod (2-22) is connected to the swing rod (2-21) in the form of a rotating shaft. 21) end, the square block (2-22-1) at the end of the rolling rod is realized by the gap between the square block (2-22-1) at the end of the rolling rod and the square groove (2-21-1) of the swing rod, so that the square block (2-22-1) at the end of the rolling rod can only rotate at a small angle of several degrees in the square groove (2-21-1) of the swing rod. The universal joint (2-23) is connected to the rolling rod (2-22) and the clamping claw (2-30) through the pin screw (2-25) and the pin nut (2-26). The gap enables the universal joint (2-23) to swing at a small angle of several degrees in the vertical direction of the rolling rod (2-22), and the clamping claw (2-30) to swing at a small angle of several degrees in the left and right direction of the universal joint (2-23).

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