Low-gravity unloading device for in-orbit servicing hand-vibration measurement

Abstract

The application discloses a low-gravity unloading device for hand-transmitted vibration measurement of on-orbit maintenance, which comprises a translation release assembly and a rotation release assembly. The translation release assembly comprises an X-axis translation guide rail and a sliding block, a Z-axis translation guide rail and a sliding block, a Y-axis translation release mechanism mounting plate, a spring scale, a Y-axis translation fixed pulley assembly and a flexible rope. The rotation release assembly comprises a main hanger, a three-point hanger arm, a Y-axis rotation bearing and related limiting parts, a bearing hanger arm connecting shaft, a Z-axis rotation fixed pulley assembly and a flexible rope, a tool bracket, an X-axis rotation movable hanger arm, a hand-screwed screw, a hanger arm adapter block, an X-axis rotation limiting block, an X-axis rotation bearing connecting shaft, an X-axis rotation fixed hanger arm, an X-axis rotation bearing and related limiting parts and a flexible rope limiting sheet. The application solves the problem of gravity unloading implementation of hand-transmitted vibration measurement of on-orbit maintenance electric tools in space, and is used for unloading gravity when hand-transmitted vibration measurement of on-orbit maintenance electric tools in space is carried out on the ground.

Description

Technical Field

[0001] The present invention generally relates to the field of on-orbit space maintenance, and in particular to a low-gravity unloading device for measuring hand-transmitted vibration during on-orbit maintenance. Background Art

[0002] Power tools for on-orbit maintenance are one of the core tools astronauts use to perform on-orbit assembly, repair, and maintenance of the space station. They are essential for the precise and efficient assembly and disassembly of extravehicular equipment. Hand-transmitted vibrations are generated by the tool's operation during use, transmitted through the tool itself and pressurized spacesuit gloves to the astronaut's fingers, palms, arms, and shoulders. These vibrations must not affect or harm astronauts during extravehicular activities.

[0003] Hand-transmitted vibration exposure is a key performance indicator for on-orbit space maintenance power tools. To ensure the safety and health of astronauts, clear performance control requirements have been established for the design of hand-transmitted vibration for on-orbit space maintenance power tools. Astronauts may use on-orbit space maintenance power tools to remove and install anti-loosening screws approximately 100 to 200 times during a single extravehicular mission, with the total time spent operating the tools during a single extravehicular mission being approximately 0.5 to 1 hour. The hand-transmitted vibration performance of on-orbit space maintenance power tools has a significant impact on whether astronauts can safely and smoothly complete their extravehicular missions.

[0004] When astronauts conduct extravehicular activities, the hand-transmitted vibration of space on-orbit maintenance power tools can easily cause astronauts to feel uncomfortable or even tired. In addition, due to the combined effects of low-orbit microgravity, thermal cycles, extravehicular spacesuits and other factors, astronauts' muscle movement ability and fine operation ability are reduced to varying degrees. The exposure to hand-transmitted vibration is an important performance indicator of space on-orbit maintenance power tools. It is directly related to the success or failure of on-orbit maintenance activities, and even affects the health and on-orbit safety of astronauts.

[0005] Accurate ground-based simulation of hand-transmitted vibration exposure for on-orbit space maintenance power tools is a key testing item in the development of these tools. These tools operate in the extravehicular environment of low-Earth orbit, operated by astronauts wearing spacesuits. Measuring hand-transmitted vibration for on-orbit maintenance power tools requires ground-based simulation of their on-orbit operating conditions. Microgravity significantly impacts on-orbit vibration, so a low-gravity unloading device is required for on-orbit maintenance hand-transmitted vibration measurement. Summary of the Invention

[0006] Accurate ground-based working condition simulation and measurement of hand-transmitted vibration exposure values ​​of on-orbit maintenance power tools in space are key testing items in the development of the tools. The on-orbit microgravity environment has a significant impact on hand-transmitted vibration. Based on the particularity and importance of accurate ground-based microgravity simulation and verification of hand-transmitted vibration exposure value measurements of the tools, it is hoped to provide a low-gravity unloading device for on-orbit maintenance hand-transmitted vibration measurement, which is used for accurate ground-based microgravity simulation and verification of hand-transmitted vibration exposure value measurements of the tools.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A low-gravity unloading device for on-orbit maintenance hand-transmitted vibration measurement comprises a translation release assembly (1) and a rotation release assembly (2), and is used to unload gravity when a space on-orbit maintenance electric tool performs hand-transmitted vibration measurement on the ground. The translation release assembly (1) is used to unload the gravity resistance of the product's translational movement along the X, Y, and Z linear directions, and the rotation release assembly (2) is used to unload the gravity resistance of the product's rotational movement around the X, Y, and Z axes.

[0009] Furthermore, when in use, the maintenance power tool is placed on the tool holder of the rotary release assembly, and the tool can move freely within a certain range of six degrees of freedom: translation along the X axis, translation along the Y axis, translation along the Z axis, rotation around the X axis, rotation around the Y axis, and rotation around the Z axis.

[0010] Furthermore, it is characterized in that the translation release assembly (1) comprises: a mounting base (1-1), a guide rail (1-2) that translates along the X-axis, a slider (1-3) that translates along the X-axis, a guide rail seat (1-4) that translates along the X-axis, a guide rail seat (1-5) that translates along the Z-axis, a guide rail (1-6) that translates along the Z-axis, and a slider (1-7) that translates along the Z-axis;

[0011] The X-axis translation guide rail (1-2) is arranged on the X-axis translation guide rail seat (1-4), and the X-axis translation slider (1-3) slides along the X-axis translation guide rail (1-2) to realize the X-axis translation release function;

[0012] The Z-axis translation guide rail seat (1-5) is arranged on the X-axis translation slider (1-3), the Z-axis translation guide rail (1-6) is arranged on the Z-axis translation guide rail seat (1-5), and the Z-axis translation slider (1-7) slides along the Z-axis translation guide rail (1-6) to realize the Z-axis translation release function.

[0013] Furthermore, it also includes a release mechanism mounting plate (1-8) that translates along the Y axis, a spring balance (1-9), a spring balance seat (1-10), a fixed pulley assembly (1-11) that translates along the Y axis, and a flexible rope (1-12);

[0014] The Y-axis translation release mechanism mounting plate (1-8) is arranged on the Z-axis translation slider (1-7), the spring scale (1-9) is mounted on the Y-axis translation release mechanism mounting plate (1-8) via the spring scale seat (1-10), one end of the flexible rope (1-12) is connected to the movable end of the spring scale (1-9), and the other end is connected to the rotary release assembly (2) via the Y-axis translation fixed pulley assembly (1-11) mounted on the Y-axis translation release mechanism mounting plate (1-8), thereby jointly realizing the Y-axis translation release function.

[0015] Furthermore, it also includes a Y-axis translation release mechanism mounting plate (1-8), a Y-axis translation fixed pulley assembly (1-11), a flexible rope (1-12), a tension spring (1-13), a horizontal steering fixed pulley assembly (1-14), a vertical steering fixed pulley assembly (1-15), a counterweight block limiting frame (1-16), a counterweight block limiting ring (1-17), a counterweight block mounting rod (1-18), and a counterweight block (1-19);

[0016] The Y-axis translation release mechanism mounting plate (1-8) is arranged on the Z-axis translation slider (1-7); one end of the tension spring (1-13) is arranged on the Y-axis translation release mechanism mounting plate (1-8), and the other end is connected to the flexible rope (1-12); one end of the flexible rope (1-12) away from the tension spring (1-13) is connected to the counterweight mounting rod (1-18) through the horizontal deflection fixed pulley assembly (1-14) and the vertical deflection fixed pulley assembly (1-15) arranged on the Y-axis translation release mechanism mounting plate (1-8); the counterweight mounting rod (1-18) is connected to the counterweight (1-19); the counterweight limiting ring (1-17) is used to limit the displacement of the counterweight mounting rod (1-18), thereby jointly realizing the Y-axis translation release function.

[0017] Further, the rotating release assembly (2) comprises: a main hanger (2-1), a three-point hanger arm (2-2), a small hanger ring (2-3), a ring-shaped hanger rope (2-4), a Y-axis rotating bearing outer sleeve (2-5), a Y-axis rotating bearing (2-6), a Y-axis rotating bearing inner ring stop ring (2-7), a Y-axis rotating bearing snap ring (2-8), a bearing hanger arm connecting shaft (2-9), a Z-axis rotating fixed pulley assembly (2-10), a flexible rope (2-11), a tool bracket (2-12), an X-axis rotating movable hanger arm (2-13), a hand-screwable screw (2-14), a hanger arm adapter block (2-15), an X-axis rotating limiting block (2-16), an X-axis rotating bearing connecting shaft (2-17), an X-axis rotating fixed hanger arm (2-18), a flexible rope stop ring (2-19), an X-axis rotating bearing outer sleeve (2-20), an X-axis rotating bearing (2-21), an X-axis rotating bearing inner ring stop ring (2-22), an X-axis rotating bearing snap ring (2-23), and a flexible rope limiting piece (2-24);

[0018] The small hanger ring provided on the three-point hanger arm is connected with the flexible rope (1-12) through the ring-shaped hanger rope, and the Y-axis rotating bearing outer sleeve, the Y-axis rotating bearing, the Y-axis rotating bearing inner ring stop ring, the Y-axis rotating bearing snap ring, and the bearing hanger arm connecting shaft are cooperatively installed, so that the bearing hanger arm connecting shaft is rotatably connected on the three-point hanger arm, and the main hanger is connected with the bearing hanger arm connecting shaft, thereby realizing the Y-axis rotating release function; in use, the three-point hanger arm and the bearing hanger arm connecting shaft can be freely rotated through the bearing.

[0019] Further, the main hanger is rectangular, four Z-axis rotating fixed pulley assemblies are provided on four corners of the main hanger, the flexible rope (2-11) is two, one flexible rope (2-11) is installed on the two Z-axis rotating fixed pulley assemblies on one side of the main hanger, and the two downward ends of the flexible rope (2-11) are respectively connected with one ends of two X-axis rotating fixed hanger arms (2-18); the other flexible rope (2-11) is installed on the two Z-axis rotating fixed pulley assemblies on the other side of the main hanger, and the two downward ends of the flexible rope (2-11) are respectively connected with the other ends of the two X-axis rotating fixed hanger arms (2-18); in use, the flexible rope (2-11) moves along the Z-axis rotating fixed pulley assembly, drives the two X-axis rotating fixed hanger arms to have a height difference, and realizes the Z-axis free rotation of the tool on the tool bracket; the flexible rope limiting piece is installed on the flexible rope (2-11) and cooperates with the Z-axis rotating fixed pulley assembly to limit the movement of the flexible rope (2-11).

[0020] Furthermore, the X-axis rotating bearing connecting shaft is installed on the middle part of the X-axis rotating fixed boom through the X-axis rotating bearing outer sleeve, the X-axis rotating bearing, the X-axis rotating bearing inner ring retaining ring and the X-axis rotating bearing retaining ring. The X-axis rotating movable boom is connected to the X-axis rotating bearing through the boom adapter block. The X-axis rotating limit block is provided on the boom adapter block to limit its rotation angle. The tool bracket is installed on the X-axis rotating movable boom through the hand-tightening screw to realize the X-axis rotation release function. When in use, the tool bracket and the X-axis rotating fixed boom can rotate freely through the bearing to realize the free rotation of the tool on the tool bracket around the X-axis.

[0021] Furthermore, the X-axis rotation limit block can rotate around the X-axis rotation bearing connecting axis relative to the X-axis rotation fixed arm. After rotating to a certain angle, the X-axis rotation limit block and the X-axis rotation fixed arm come into mechanical contact, thereby realizing the X-axis rotation limit function, and the allowable rotation angle around the X-axis is ±15°.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] According to the technical solution provided in the embodiment of the present application, a low-gravity unloading device for on-orbit maintenance hand-transmitted vibration measurement is proposed, including a translation release component and a rotation release component. The gravity unloading of the space on-orbit maintenance power tool when conducting hand-transmitted vibration measurement on the ground is accurately simulated. When in use, the tool can be in a gravity-unloaded state and move freely within a certain range of six degrees of freedom of translation along the X-axis, translation along the Y-axis, translation along the Z-axis, rotation around the X-axis, rotation around the Y-axis, and rotation around the Z-axis, and can be further improved to realize a specified proportional gravity unloading function. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0025] Figure 1 This is a schematic structural diagram of a low-gravity unloading device for on-orbit maintenance hand-transmitted vibration measurement according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the use of a low-gravity unloading device for on-orbit maintenance hand-transmitted vibration measurement according to an embodiment of the present invention;

[0027] Figure 3 is a schematic structural diagram of a translation release assembly according to an embodiment of the present invention;

[0028] Figure 4 1 is a schematic structural diagram of a fixed pulley assembly according to an embodiment of the present invention;

[0029] Figure 5 1 is a schematic cross-sectional view of the structure of a fixed pulley assembly according to an embodiment of the present invention;

[0030] Figure 6 1 is a schematic diagram of a specified-proportion gravity unloading structure of a translation release assembly according to an embodiment of the present invention;

[0031] Figure 7 is a schematic structural diagram of a rotary release assembly according to an embodiment of the present invention;

[0032] Figure 8 2 is a schematic cross-sectional view of the structure of a release assembly rotating about the Y axis according to an embodiment of the present invention;

[0033] Figure 9 2 is a schematic cross-sectional view of the structure of a release assembly rotating around the X-axis according to an embodiment of the present invention;

[0034] Figure 10 This is a side view of a low-gravity unloading device for on-orbit maintenance hand-transmitted vibration measurement according to an embodiment of the present invention;

[0035] Figure 11 1 is a schematic diagram of the overall mechanical limit of the release assembly for rotating around the X-axis according to an embodiment of the present invention;

[0036] Figure 12 It is a partial schematic diagram of the mechanical limit of the release assembly rotating around the X-axis according to an embodiment of the present invention.

[0037] In the figure: 1 translation release assembly, 1-1 mounting base, 1-2 translation guide rail along the X axis, 1-3 translation slider along the X axis, 1-4 translation guide rail seat along the X axis, 1-5 translation guide rail seat along the Z axis, 1-6 translation guide rail along the Z axis, 1-7 translation slider along the Z axis, 1-8 translation release mechanism mounting plate along the Y axis, 1-9 spring balance, 1-10 spring balance seat, 1-11 translation fixed pulley assembly along the Y axis, 1-11-1 pulley, 1-11-2 pulley bearing, 1- 11-3 anti-slip plate, 1-11-4 pulley bearing inner ring retaining ring, 1-11-5 pulley shaft sleeve, 1-11-6 pulley shaft, 1-11-7 pulley assembly mounting seat, 1-11-8 pulley shaft retaining ring, 1-12 flexible rope, 1-13 tension spring, 1-14 horizontal steering fixed pulley assembly, 1-15 vertical steering fixed pulley assembly, 1-16 counterweight limit frame, 1-17 counterweight limit ring, 1-18 counterweight mounting rod, 1-19 counterweight. 2 Rotation release assembly, 2-1 Main hanger, 2-2 Three-point boom, 2-3 Small lifting ring, 2-4 Annular lifting rope, 2-5 Bearing outer sleeve rotating around the Y axis, 2-6 Bearing rotating around the Y axis, 2-7 Bearing inner ring retaining ring rotating around the Y axis, 2-8 Bearing retaining ring rotating around the Y axis, 2-9 Bearing boom connecting shaft, 2-10 Fixed pulley assembly rotating around the Z axis, 2-11 Flexible rope, 2-12 Tool bracket, 2-13 Rotation around the X axis Movable boom, 2-14 hand-tightening screws, 2-15 boom adapter block, 2-16 limit block for rotation around the X-axis, 2-17 bearing connecting shaft for rotation around the X-axis, 2-18 fixed boom for rotation around the X-axis, 2-19 flexible rope retaining ring, 2-20 bearing outer sleeve for rotation around the X-axis, 2-21 bearing for rotation around the X-axis, 2-22 retaining ring for inner ring of bearing for rotation around the X-axis, 2-23 retaining ring for bearing rotation around the X-axis, 2-24 flexible rope limit piece. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to explain the relevant invention and are not intended to limit the invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention. It should also be noted that, for ease of description, only the portions relevant to the invention are shown in the accompanying drawings.

[0039] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installation," "docking," and "connection" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integral connection; they may also refer to mechanical connection, adhesive connection, direct connection, indirect connection through an intermediate medium, or 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 the specific circumstances.

[0040] It should also be noted that, unless there is any conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0041] The following is a further description of a low-gravity unloading device for on-orbit maintenance hand-transmitted vibration measurement with reference to the accompanying drawings.

[0042] like Figures 1 to 12 As shown, it shows a low-gravity unloading device for on-orbit maintenance hand-transmitted vibration measurement of the present invention.

[0043] like Figure 1 A low-gravity unloading device for hand-transmitted vibration measurement during on-orbit maintenance is shown. It features a translational release assembly and a rotational release assembly connected by a flexible rope and a hook. In this embodiment, the device is used to unload gravity when performing hand-transmitted vibration measurement on ground-based space maintenance power tools.

[0044] like Figure 2 A low-gravity unloading device for measuring hand-transmitted vibration during on-orbit maintenance is shown. It features a translational release assembly and a rotational release assembly connected by a flexible rope and hook. During use, a space-based on-orbit maintenance power tool is placed on the tool bracket of the rotational release assembly, and an operating lever is attached to the tool body.

[0045] It should be noted that, in this embodiment, when conducting hand-transmitted vibration measurement, the handle part of the space on-orbit maintenance power tool body is held by hand, and vibration is generated when the tool is running. The tool can move freely within a certain range of six degrees of freedom: translation along the X-axis, translation along the Y-axis, translation along the Z-axis, rotation around the X-axis, rotation around the Y-axis, and rotation around the Z-axis.

[0046] like Figure 3 As shown, the translation release assembly is characterized in that it mainly includes: 1-1 mounting base, 1-2 translation guide rail along the X-axis, 1-3 translation slider along the X-axis, 1-4 translation guide rail seat along the X-axis, 1-5 translation guide rail seat along the Z-axis, 1-6 translation guide rail along the Z-axis, 1-7 translation slider along the Z-axis, 1-8 translation release mechanism mounting plate along the Y-axis, 1-9 spring scale, 1-10 spring scale seat, 1-11 translation fixed pulley assembly along the Y-axis, and 1-12 flexible rope.

[0047] It should be noted that, in this embodiment, the translation release assembly 1-2 along the X-axis translation guide rail, 1-3 along the X-axis translation slider, 1-4 along the X-axis translation guide rail seat jointly realizes the X-axis translation release function.

[0048] It should be noted that, in this embodiment, the translation release assembly 1-5 along the Z-axis translation guide rail seat, 1-6 along the Z-axis translation guide rail, and 1-7 along the Z-axis translation slider jointly realize the Z-axis translation release function.

[0049] It should be noted that, in this embodiment, the translation release assembly 1-8 along the Y-axis translation release mechanism mounting plate, 1-9 spring scale, 1-10 spring scale seat, 1-11 along the Y-axis translation fixed pulley assembly, and 1-12 flexible rope jointly realize the Y-axis translation release function.

[0050] Furthermore, the 1-9 spring scale of the translation release assembly is installed on one end of the 1-8 Y-axis translation release mechanism mounting plate through the 1-10 spring scale seat, the 1-11 Y-axis translation fixed pulley assembly is installed on the other end of the 1-8 Y-axis translation release mechanism mounting plate, one end of the 1-12 flexible rope is reliably connected to the hanging ring of the 1-9 spring scale, and the other end is reliably connected to the rotation release assembly through the hanging ring.

[0051] like Figure 4-5 As shown, the 1-11 fixed pulley assembly of the translation release assembly along the Y-axis is gradually shown, which is characterized in that it mainly includes: 1-11-1 pulley, 1-11-2 pulley bearing, 1-11-3 anti-slip sheet, 1-11-4 pulley bearing inner ring retaining ring, 1-11-5 pulley shaft sleeve, 1-11-6 pulley shaft, 1-11-7 pulley assembly mounting seat, 1-11-8 pulley shaft retaining ring.

[0052] It should be noted that, in this embodiment, the 1-11 is a fixed pulley assembly that is translated along the Y-axis, and the 1-11-1 pulley has a built-in 1-11-2 pulley bearing to reduce frictional resistance and facilitate the release of degrees of freedom.

[0053] It should be noted that, in this embodiment, the 1-11 fixed pulley assembly is translated along the Y-axis, and is characterized in that the 1-11-2 pulley bearing, the 1-11-3 anti-slip plate, the 1-11-4 pulley bearing inner ring retaining ring, the 1-11-5 pulley shaft sleeve, the 1-11-7 pulley assembly mounting seat, and the 1-11-8 pulley shaft retaining ring are installed on the 1-11-6 pulley shaft as shown in the figure, and when the tolerance chain is designed, the total length of the 1-11-6 pulley shaft is slightly shorter than the cumulative sum of the dimensions of all the aforementioned parts by a certain tolerance value, so that a pre-tightening effect is achieved when the screws on both sides are tightened.

[0054] like Figure 6As shown, the translation release component along the Y axis translation release function, also can be improved to achieve the specified proportion of gravity unloading function, for simulation such as 1 / 6 earth gravity, 3 / 8 earth gravity and other special proportion of gravity unloading. The improved structure is characterized by mainly including: remove: 1-9 spring scale, 1-10 spring scale seat, add: 1-13 tension spring, 1-14 horizontal steering fixed pulley assembly, 1-15 vertical steering fixed pulley assembly, 1-16 counterweight block limiting frame, 1-17 counterweight block limiting ring, 1-18 counterweight block mounting rod, 1-19 counterweight block.

[0055] It should be noted that in the present embodiment, the specified proportion of gravity unloading function, both ends of 1-13 tension spring are reliably connected with flexible rope, one end of the flexible rope is connected with the rotation release component through 1-11 along Y axis translation fixed pulley assembly reversing, the other end of the flexible rope is reliably connected with 1-18 counterweight block mounting rod through small lifting ring after two times reversing through 1-14 horizontal steering fixed pulley assembly and 1-15 vertical steering fixed pulley assembly. 1-16 counterweight block limiting frame is installed on 1-8 along Y axis translation release mechanism mounting plate, 1-17 counterweight block limiting ring is installed on 1-16 counterweight block limiting frame, 1-19 counterweight block is reliably installed on 1-18 counterweight block mounting rod, preferably, the counterweight block can be selected as a counterweight block with hole, the straight rod part of 1-18 counterweight block mounting rod passes through not less than two 1-17 counterweight block limiting rings, the inner diameter of 1-17 counterweight block limiting ring is appropriately larger than the outer diameter of the straight rod of 1-18 counterweight block mounting rod by a certain size, preferably, can be 3-5 mm larger. The structure is used to realize the specified proportion of gravity unloading function, limit the shaking amplitude of the counterweight block and ensure the safety during use.

[0056] As shown in the figure, Figure 7-9 The rotation release component is characterized by mainly including: 2-1 main hanger, 2-2 three-point lifting arm, 2-3 small lifting ring, 2-4 ring-shaped lifting rope, 2-5 Y axis rotation bearing outer sleeve, 2-6 Y axis rotation bearing, 2-7 Y axis rotation bearing inner ring stop ring, 2-8 Y axis rotation bearing snap ring, 2-9 bearing lifting arm connecting shaft, 2-10 Z axis rotation fixed pulley assembly, 2-11 flexible rope, 2-12 tool bracket, 2-13 X axis rotation movable lifting arm, 2-14 hand screwable screw, 2-15 lifting arm adapter block, 2-16 X axis rotation limiting block, 2-17 X axis rotation bearing connecting shaft, 2-18 X axis rotation fixed lifting arm, 2-19 flexible rope stop ring, 2-20 X axis rotation bearing outer sleeve, 2-21 X axis rotation bearing, 2-22 X axis rotation bearing inner ring stop ring, 2-23 X axis rotation bearing snap ring, 2-24 flexible rope limiting piece.

[0057] It should be noted that, as Figure 8As shown, in the embodiment, the 2-2 three-point lifting arm, 2-3 small lifting ring, 2-4 annular lifting rope, 2-5 Y-axis rotating bearing outer sleeve, 2-6 Y-axis rotating bearing, 2-7 Y-axis rotating bearing inner ring stop ring, 2-8 Y-axis rotating bearing snap ring, and 2-9 bearing lifting arm connecting shaft of the rotating release assembly together realize the Y-axis rotating release function.

[0058] Further, in the embodiment, the 2-6 Y-axis rotating bearing is installed in the 2-5 Y-axis rotating bearing outer sleeve, preferably in the form of double bearings. The outer ring of the bearing is installed in cooperation with the bearing outer sleeve, and the inner ring of the bearing is installed in cooperation with the 2-9 bearing lifting arm connecting shaft. The 2-7 Y-axis rotating bearing inner ring stop ring and the 2-8 Y-axis rotating bearing snap ring are respectively used for limiting the inner ring and the outer ring of the bearing. The 2-2 three-point lifting arm is reliably connected with the bearing outer sleeve. In use, the 2-2 three-point lifting arm and the 2-9 bearing lifting arm connecting shaft can be freely rotated through the bearing.

[0059] It should be noted that, in the embodiment, the 2-1 main lifting frame, 2-10 Z-axis rotating fixed pulley assembly, 2-11 flexible rope, 2-18 X-axis rotating fixed lifting arm, 2-19 flexible rope stop ring, and 2-24 flexible rope limiting piece of the rotating release assembly together realize the Z-axis rotating release function.

[0060] Further, in the embodiment, four 2-10 Z-axis rotating fixed pulley assemblies are respectively installed at the four corners of the 2-1 main lifting frame. Two 2-11 flexible ropes pass through two 2-10 Z-axis rotating fixed pulley assemblies respectively. The two ends of the 2-11 flexible ropes are reliably connected with the 2-18 X-axis rotating fixed lifting arm and are blocked by the 2-19 flexible rope stop ring to prevent them from coming out. The middle section of each 2-11 flexible rope is provided with two groups of 2-24 flexible rope limiting pieces. In use, by moving the 2-11 flexible rope along the 2-10 Z-axis rotating fixed pulley assembly, the two 2-18 X-axis rotating fixed lifting arms are driven to generate a height difference, thereby realizing the free rotation of the tool to be measured around the Z-axis.

[0061] It should be noted that, in the embodiment, the 2-12 tool bracket, 2-13 X-axis rotating movable lifting arm, 2-14 hand-tightening screw, 2-15 lifting arm adapter block, 2-16 X-axis rotating limiting block, 2-17 X-axis rotating bearing connecting shaft, 2-20 X-axis rotating bearing outer sleeve, 2-21 X-axis rotating bearing, 2-22 X-axis rotating bearing inner ring stop ring, and 2-23 X-axis rotating bearing snap ring of the rotating release assembly together realize the X-axis rotating release function.

[0062] Further, in the embodiment, two 2-12 tool carriers and two 2-13 X-axis rotary arms are fixed into a square frame by 2-14 hand screws, one end of 2-15 arm adapter block is connected with 2-13 X-axis rotary arm, and the other end is reliably connected with 2-17 X-axis rotary bearing connecting shaft, 2-16 X-axis rotary limiting block is arranged on 2-15 arm adapter block, the inner ring of 2-21 X-axis rotary bearing is matched with 2-17 X-axis rotary bearing connecting shaft, the outer ring of the bearing is matched with 2-20 X-axis rotary bearing outer sleeve, and 2-22 X-axis rotary bearing inner ring stopper and 2-23 X-axis rotary bearing snap ring are respectively used for limiting the inner ring and the outer ring of the bearing. In use, 2-12 tool carrier and 2-18 X-axis rotary fixed arm can be freely rotated through the bearing, so as to realize free rotation of the tool on the tool carrier around the X-axis.

[0063] As shown in Figure 10-12 the use side view of the low-gravity unloading device for in-orbit maintenance hand-transmitted vibration measurement is shown, in use, a space in-orbit maintenance electric tool body is placed on the tool carrier of the rotary release assembly. When rotating around the X-axis, 2-16 X-axis rotary limiting block can rotate around 2-17 X-axis rotary bearing connecting shaft relative to 2-18 X-axis rotary fixed arm, after rotating by a certain angle, 2-16 X-axis rotary limiting block mechanically contacts with 2-18 X-axis rotary fixed arm, so as to realize the X-axis rotation limiting function, preferably, the allowable rotation angle around the X-axis is ±15°.

[0064] The low-gravity unloading device for in-orbit maintenance hand-transmitted vibration measurement can be applied to the gravity unloading of the space in-orbit maintenance electric tool hand-transmitted vibration measurement, and can be further improved into various forms such as specified proportion gravity unloading.

[0065] The above description is only the preferred embodiment of the present application and the explanation of the applied technical principles. It should be understood by those skilled in the art that the scope of the application involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and also covers other technical solutions formed by any combination of the above technical features or equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features disclosed in the present application (but not limited to) having similar functions to form technical solutions.

Claims

1. A low-gravity unloading device for on-orbit maintenance hand-transmitted vibration measurement, characterized in that: It comprises a translation release assembly (1) and a rotation release assembly (2), and is used for unloading gravity when a space on-orbit maintenance electric tool is conducting hand-transmitted vibration measurement on the ground; The translation release assembly (1) is used to unload the gravity resistance of the product's translational movement along the X, Y, and Z linear directions, and the rotation release assembly (2) is used to unload the gravity resistance of the product's rotational movement around the X, Y, and Z axes. The rotary release assembly (2) comprises: a main hanger (2-1), a three-point hanger arm (2-2), a small hanger ring (2-3), an annular hanger rope (2-4), a bearing outer sleeve (2-5) rotating around the Y axis, a bearing (2-6) rotating around the Y axis, a retaining ring (2-7) of the inner ring of the bearing rotating around the Y axis, a retaining ring (2-8) of the bearing rotating around the Y axis, a bearing hanger arm connecting shaft (2-9), a fixed pulley assembly (2-10) rotating around the Z axis, a flexible rope (2-11), a tool bracket (2-12), a movable bracket (2-13) rotating around the X axis, and a fixed pulley assembly (2-14) rotating around the Z axis. Boom (2-13), hand-tightening screw (2-14), boom adapter block (2-15), limit block for rotation around the X-axis (2-16), bearing connecting shaft for rotation around the X-axis (2-17), fixed boom for rotation around the X-axis (2-18), flexible rope retaining ring (2-19), outer sleeve for bearing rotation around the X-axis (2-20), bearing rotation around the X-axis (2-21), retaining ring for inner ring of bearing rotation around the X-axis (2-22), retaining ring for bearing rotation around the X-axis (2-23), flexible rope limit piece (2-24); wherein the small lifting ring provided on the three-point lifting arm is connected to the flexible rope (1-12) via the annular lifting rope; the outer sleeve of the bearing rotating about the Y-axis, the bearing rotating about the Y-axis, the inner ring retaining ring of the bearing rotating about the Y-axis, the retaining ring of the bearing rotating about the Y-axis, the retaining ring of the bearing rotating about the Y-axis, and the bearing lifting arm connecting shaft are cooperatively installed, so that the bearing lifting arm connecting shaft is rotatably connected to the three-point lifting arm; the main hanger is connected to the bearing lifting arm connecting shaft, realizing a release function of rotation about the Y-axis; when in use, the three-point lifting arm and the bearing lifting arm connecting shaft can freely rotate through the bearing; The main hanger is rectangular, and the four fixed pulley assemblies rotating around the Z axis are arranged at the four corners of the main hanger. There are two flexible ropes (2-11). One flexible rope (2-11) is installed on the two fixed pulley assemblies rotating around the Z axis on one side of the main hanger, and its two ends hanging down are respectively connected to one end of the two fixed hanging arms (2-18) rotating around the X axis. The other flexible rope (2-11) is installed on the two fixed pulley assemblies rotating around the Z axis on the other side of the main hanger, and its two ends hanging down are respectively connected to the other ends of the two fixed hanging arms (2-18) rotating around the X axis. When in use, the flexible rope (2-11) moves along the fixed pulley assembly rotating around the Z axis, driving the two fixed hanging arms rotating around the X axis to generate a height difference, so that the tool on the tool bracket can rotate freely around the Z axis. The flexible rope limiting piece is installed on the flexible rope (2-11) and cooperates with the fixed pulley assembly rotating around the Z axis to limit the movement of the flexible rope (2-11).

2. The low gravity unloading device according to claim 1, characterized in that: When in use, the maintenance power tool is placed on the tool holder of the rotary release assembly, and the tool can move freely within a certain range of six degrees of freedom: translation along the X axis, translation along the Y axis, translation along the Z axis, rotation around the X axis, rotation around the Y axis, and rotation around the Z axis.

3. The low gravity unloading device according to claim 1, characterized in that: The translation release assembly (1) comprises: a mounting base (1-1), a guide rail (1-2) that translates along the X axis, a slider (1-3) that translates along the X axis, a guide rail seat (1-4) that translates along the X axis, a guide rail seat (1-5) that translates along the Z axis, a guide rail (1-6) that translates along the Z axis, and a slider (1-7) that translates along the Z axis; The X-axis translation guide rail (1-2) is arranged on the X-axis translation guide rail seat (1-4), and the X-axis translation slider (1-3) slides along the X-axis translation guide rail (1-2) to realize the X-axis translation release function; The Z-axis translation guide rail seat (1-5) is arranged on the X-axis translation slider (1-3), the Z-axis translation guide rail (1-6) is arranged on the Z-axis translation guide rail seat (1-5), and the Z-axis translation slider (1-7) slides along the Z-axis translation guide rail (1-6) to realize the Z-axis translation release function.

4. The low-gravity unloading device according to claim 3, characterized in that: It also includes a Y-axis translation release mechanism mounting plate (1-8), a spring scale (1-9), a spring scale seat (1-10), a Y-axis translation fixed pulley assembly (1-11), and a flexible rope (1-12); The Y-axis translation release mechanism mounting plate (1-8) is arranged on the Z-axis translation slider (1-7), the spring scale (1-9) is mounted on the Y-axis translation release mechanism mounting plate (1-8) via the spring scale seat (1-10), one end of the flexible rope (1-12) is connected to the movable end of the spring scale (1-9), and the other end is connected to the rotation release assembly (2) via the Y-axis translation fixed pulley assembly (1-11) mounted on the Y-axis translation release mechanism mounting plate (1-8), thereby jointly realizing the Y-axis translation release function.

5. The low-gravity unloading device according to claim 3, characterized in that: The invention also includes a Y-axis translation release mechanism mounting plate (1-8), a Y-axis translation fixed pulley assembly (1-11), a flexible rope (1-12), a tension spring (1-13), a horizontal steering fixed pulley assembly (1-14), a vertical steering fixed pulley assembly (1-15), a counterweight block limiting frame (1-16), a counterweight block limiting ring (1-17), a counterweight block mounting rod (1-18), and a counterweight block (1-19); The Y-axis translation release mechanism mounting plate (1-8) is arranged on the Z-axis translation slider (1-7), one end of the tension spring (1-13) is arranged on the Y-axis translation release mechanism mounting plate (1-8), and the other end is connected to the flexible rope (1-12), and the end of the flexible rope (1-12) away from the tension spring (1-13) is connected to the counterweight mounting rod (1-18) through the horizontal steering fixed pulley assembly (1-14) and the vertical steering fixed pulley assembly (1-15) arranged on the Y-axis translation release mechanism mounting plate (1-8), and is connected to the counterweight mounting rod (1-18), the counterweight mounting rod (1-18) is connected to the counterweight (1-19), and the counterweight limiting ring (1-17) is used to limit the displacement of the counterweight mounting rod (1-18), thereby realizing the Y-axis translation release function.

6. The low gravity unloading device according to claim 1, characterized in that: The connecting shaft of the bearing rotating about the X-axis is installed on the middle part of the fixed arm rotating about the X-axis through the outer sleeve of the bearing rotating about the X-axis, the bearing rotating about the X-axis, the inner ring retaining ring of the bearing rotating about the X-axis and the retaining ring of the bearing rotating about the X-axis. The movable arm rotating about the X-axis is connected to the X-axis rotating bearing through the arm adapter block. The limit block rotating about the X-axis is provided on the arm adapter block to limit its rotation angle. The tool bracket is installed on the movable arm rotating about the X-axis through the hand-tightening screw to realize the release function of rotation about the X-axis. When in use, the tool bracket and the fixed arm rotating about the X-axis can rotate freely through the bearing, so that the tool on the tool bracket can rotate freely about the X-axis.

7. The low-gravity unloading device according to claim 6, characterized in that: The X-axis rotation limit block can rotate around the X-axis rotation bearing connecting axis relative to the X-axis rotation fixed boom. After rotating at a certain angle, the X-axis rotation limit block and the X-axis rotation fixed boom come into mechanical contact, thereby realizing the X-axis rotation limit function. The allowable rotation angle around the X-axis is ±15°.

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