Test method for ground operation status of foot limiter for space station

Abstract

The present invention discloses a ground working state test method for a foot limiter for a space station, comprising the following steps: S1, simulating the pressing function of the pedal button of the pedal assembly in the foot limiter; S2, simulating the rotation function of the roll joint and the rotation joint in the foot limiter; S3, simulating the locking and unlocking functions of the installation assembly in the foot limiter. In the present invention, a disassembly simulation scheme is provided for the on-orbit multi-functional simulation of the foot limiter for astronauts in the space station through the test method, so that each functional simulation can be specifically implemented and can be carried out in a limited environmental simulation device, saving test time; this test method can realize the on-orbit button pressing, multi-degree-of-freedom rotation of the joint, and unlocking and locking of the installation assembly for the foot limiter for astronauts in the space station. The test device can adapt to the thermal vacuum environment of -100℃ to +100℃, and meet the requirements of the product's working state assessment, reliability and long-life verification in the space environment.

Description

Technical Field

[0001] The present invention relates to the technical field of environment and reliability testing of maintenance tools for space stations, and in particular to a ground working state testing method for a foot limiter for a space station. Background Art

[0002] To ensure high-quality spacecraft operation in the space environment, on-orbit servicing and maintenance technology is a hot research topic in the aerospace field. Space station extravehicular maintenance and assist tools are a set of devices used by astronauts. Through the collaborative efforts of humans and tools, they perform on-orbit assembly and maintenance operations to extend the life of the spacecraft. These devices contain numerous mechanical moving components that must first undergo operational status assessment, reliability, and longevity verification on the ground. The "GJB1027A-2005 Test Requirements for Launch Vehicles, Upper Stages, and Spacecraft" stipulates that critical components prone to wear and failure, such as moving mechanical components, must undergo life testing during development testing, and environmental adaptability tests such as thermal vacuum testing during qualification and acceptance testing. For manually operated tools like repair tools, successful ground-based verification requires a drive mechanism suitable for the thermal vacuum environment of space to simulate their operational conditions.

[0003] In the maintenance tool series, the foot restraint is mainly used to effectively fix the astronaut on the robotic arm or the cabin wall, realizing the function of extravehicular transfer and body restraint. The foot restraint can restrain the astronaut's feet by fixing the space boots. When conducting reliability or environmental adaptability tests on the ground, it is necessary to provide a test device to simulate the various functions of the astronaut using the foot restraint. Figure 1 As shown, there are two pedal buttons next to the pedal assembly. Astronauts step on the pedal buttons to realize joint rotation control; the rotation of the foot limiter is mainly realized by the rotation joint and the roll joint to realize the rotation of the foot limiter in the YZ horizontal plane. The entire foot limiter can be docked and fixed with the mounting base on the space station or the cabin wall through the mounting assembly. The astronauts need to manually turn the lock handle of the mounting assembly to realize installation locking and unlocking.

[0004] Based on the above requirements for simulating the ground working state of the foot limiter, when designing the ground test method, the first consideration is how to disassemble the product for on-orbit functional simulation, adapt to the spatial size of the environmental simulation equipment, and shorten the test assessment time; the second consideration is how to achieve the simulation of the disassembled function; finally, the adaptability of the test device itself to the spatial environment must be considered. Summary of the Invention

[0005] The purpose of the present invention is to solve the above-mentioned problems and to propose a ground working state test method for the foot limiter for space station, to realize the test method of on-orbit functional simulation of the foot limiter of the maintenance tool series, and to carry out product working state assessment, reliability verification, and environmental adaptability verification.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A ground operating state test method for a space station foot restraint, the foot restraint comprising a space boot retainer, a pedal button, a pedal assembly, a yaw joint, a roll joint, an extravehicular console interface assembly, a right-angle connection assembly, a pitch joint, a rotation joint, a locking handle, and a mounting assembly;

[0008] The test method comprises the following steps:

[0009] S1. Simulate the pressing function of the pedal button of the pedal assembly in the foot limiter; the pressing function simulation device includes a mounting base, a product fixing bracket, a drive system, and a drive system fixing bracket;

[0010] S2. Simulate the rotation function of the roll joint and the rotation joint in the foot limiter; the rotation function simulation device includes a second mounting base, a second product fixing bracket, a second drive system, and a second drive system fixing bracket;

[0011] S3. Simulate the locking and unlocking functions of the installation components in the foot limiter; the locking and unlocking function simulation device includes a mounting base three, a product fixing bracket three, a drive system three and a drive system fixing bracket three.

[0012] Preferably, the driving system 1 includes two telescopic motors, two extended push rods and two tension sensors, and the driving system fixed bracket 1 includes two tension sensor brackets and two extended push rod supports.

[0013] Preferably, the second drive system includes a rotating motor 1, a rotating motor 2, a torque sensor 1, a torque sensor 2, a transmission shaft 1, a transmission shaft 2 with a disc interface, four couplings 1 and a swing arm 1, and the second drive system fixed bracket includes a rotating motor bracket 1, a rotating motor bracket 2, a torque sensor support 1, a torque sensor support 2, a bearing seat 1 and a bearing seat 2.

[0014] Preferably, the drive system three includes a rotating motor three, a torque sensor three, two couplings two, a transmission shaft three and a swing arm two, and the drive system fixed bracket three includes a rotating motor bracket three, a torque sensor support three and a bearing seat three.

[0015] Preferably, when simulating the pressing function in step S1, the right-angle connection component, pitch joint, rotation joint, and mounting component are removed from the product, and the remaining parts are installed on the product fixed bracket 1; in the drive system 1, the tension sensor, telescopic motor, and extended push rod are connected in sequence; all connections between the product fixed bracket 1, the drive system fixed bracket 1 and the mounting base 1 are heat-insulated.

[0016] Preferably, when simulating the rotation function in step S2, the entire product is installed on the product fixing bracket 2; in the drive system 2, the rotating motor 1, the rotating motor 2, the torque sensor 1, the torque sensor 2, the transmission shaft 1, and the transmission shaft 2 are connected in sequence, and the swing arm 1 fixed to the product pedal assembly is installed on the transmission shaft 1, and the transmission shaft 2 is directly docked and fixed with the interface of the product installation assembly; all connections between the product fixing bracket 2, the drive system fixing bracket 2 and the installation base 2 are heat-insulated.

[0017] Preferably, when simulating the locking and unlocking functions in step S3, the mounting assembly is removed and installed on the product fixing bracket three; the three drive systems, the rotating motor three, the torque sensor three, the transmission shaft three, and the swing arm two are connected in sequence; all connections between the product fixing bracket three, the drive system fixing bracket three and the mounting base three are heat-insulated.

[0018] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0019] 1. This application provides a disassembly simulation plan for the on-orbit multifunctional simulation of the astronaut foot limiter on the space station through experimental methods, so that each functional simulation can be implemented specifically and can be carried out in limited environmental simulation equipment, saving test time.

[0020] 2. The test method in this application can simulate the functions of on-orbit button pressing, multi-degree-of-freedom rotation of joints, and unlocking and locking of installed components using foot limiters for astronauts in the space station. The test device can adapt to the thermal vacuum environment of -100℃ to +100℃, and meet the requirements of product working status assessment, reliability and long-life verification in the space environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic structural diagram of a foot stopper provided in an embodiment of the present invention is shown;

[0022] Figure 2 A schematic structural diagram of a device for simulating a pedal assembly button pressing function according to an embodiment of the present invention is shown;

[0023] Figure 3 It shows a diagram of a simulated installation of a pedal assembly stepping on a button pressing function according to an embodiment of the present invention;

[0024] Figure 4 A structural diagram of a device for simulating the rotational function of a roll joint and a rotational joint according to an embodiment of the present invention is shown;

[0025] Figure 5 It shows a rotation function simulation installation diagram of a roll joint and a rotation joint provided in an embodiment of the present invention;

[0026] Figure 6 It shows a structural diagram of a device for simulating locking and unlocking functions of an installation assembly according to an embodiment of the present invention;

[0027] Figure 7 A simulated installation diagram of the locking and unlocking functions of the installation assembly provided according to an embodiment of the present invention is shown.

[0028] Legend:

[0029] 1. Space boot holder; 2. Pedal button; 3. Pedal assembly; 4. Yaw joint; 5. Roll joint; 6. Extravehicular console interface assembly; 7. Right-angle connection assembly; 8. Pitch joint; 9. Rotary joint; 10. Lock handle; 11. Mounting assembly; 12. Product fixing bracket 1; 13. Extended push rod; 14. Telescopic motor; 15. Tension sensor; 16. Mounting base 1; 17. Extended push rod support; 18. Tension sensor bracket; 19. Rotating motor 1; 20. Coupling 1; 21. Torque sensor 1; 22. Drive shaft 1; 23. Swing arm 1; 24. Drive shaft two; 25. Torque sensor two; 26. Rotating motor two; 27. Rotating motor bracket one; 28. Torque sensor support one; 29. Bearing seat one; 30. Product fixing bracket two; 31. Mounting base two; 32. Bearing seat two; 33. Torque sensor support two; 34. Rotating motor bracket two; 35. Product fixing bracket three; 36. Swing arm two; 37. Drive shaft three; 38. Coupling two; 39. Torque sensor three; 40. Rotating motor three; 41. Mounting base three; 42. Bearing seat three; 43. Torque sensor support three; 44 Rotating motor bracket three. DETAILED DESCRIPTION

[0030] 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.

[0031] See also Figure 1-7 , the present invention provides a technical solution:

[0032] Test method for ground working state of foot restraint for space station, the foot restraint includes space boot holder 1, pedal button 2, pedal assembly 3, yaw joint 4, roll joint 5, extravehicular console interface assembly 6, right-angle connection assembly 7, pitch joint 8, rotation joint 9, locking handle 10 and mounting assembly 11;

[0033] The test method includes the following steps:

[0034] S1. Simulate the pressing function of the pedal button 2 of the pedal assembly 3 in the foot limiter; the pressing function simulation device includes a mounting base 16, a product fixing bracket 12, a drive system 1, and a drive system fixing bracket 1;

[0035] S2, simulating the rotation function of the roll joint 5 and the rotation joint 9 in the foot limiter; the rotation function simulation device includes a second mounting base 31, a second product fixing bracket 30, a second drive system and a second drive system fixing bracket;

[0036] S3. Simulate the locking and unlocking functions of the installation component 11 in the foot limiter; the locking and unlocking function simulation device includes a mounting base 3 41, a product fixing bracket 3 35, a drive system 3 and a drive system fixing bracket 3.

[0037] Specifically, such as Figure 2 and Figure 3 As shown, the drive system 1 includes two telescopic motors 14, two extended push rods 13 and two tension sensors 15, and the drive system fixed bracket 1 includes two tension sensor brackets 18 and two extended push rod supports 17;

[0038] The mounting base 16 is used to connect and fix the entire test device to the environmental simulation test equipment, providing a horizontal mounting surface for the environmental simulation test equipment; the product fixing bracket 12 is used to fix the product and is connected to the mounting base 16; the drive system 1 is used to drive the product to achieve pedaling function simulation; the drive system fixing bracket 1 is used to install the drive system 1 and is connected to the mounting base 16;

[0039] Before installing the press function simulator, the telescopic motor 14 in the drive system needs to be pre-treated to adapt to vacuum and high and low temperature environments. First, remove the internal bearings of the telescopic motor 14, degrease them, and fill them with vacuum grease. Then, restore the telescopic motor 14 and attach a heating plate to the outer casing of the telescopic motor 14.

[0040] During the press function simulation in step S1, the right-angle connection assembly 7, pitch joint 8, rotation joint 9, and mounting assembly 11 are removed from the product, and the remaining parts are installed on the product fixing bracket 12. The product fixing bracket 12 is designed with four fixed interfaces with the product, one on the right-angle connection assembly 7 and three on the pedal assembly 3. In the drive system 1, the tension sensor 15, telescopic motor 14, and extension push rod 13 are connected in sequence. All connections between the product fixing bracket 12, the drive system fixing bracket 1, and the mounting base 16 are heat-insulated.

[0041] The tension sensor 15 is installed on the rear interface of the telescopic motor 14, and the extended push rod 13 is installed on the front interface of the telescopic motor 14. Each tension sensor 15 is installed and fixed on the tension sensor bracket 18, and each extended push rod 13 is stabilized by the extended push rod support 17 to prevent shaking in the XZ horizontal plane during the pushing process; after the product and the drive system are fixed, the height should be guaranteed to ensure that the telescopic motor 14 drives the extended push rod 13 to press to the central area of the pedal button 2 of the pedal assembly 3; the mounting base 16 and the mounting surface of the simulation device are the YZ horizontal plane.

[0042] After installation, the telescopic motor 14 drives the extended push rod 13 to perform linear reciprocating motion in the XY horizontal plane. At the same time, the extended push rod 13 presses the pedal button 2 to simulate the pressing action, and the tension sensor 15 measures real-time pressure data.

[0043] Specifically, such as Figure 4 and Figure 5 As shown, the second drive system includes a rotating motor 19, a second rotating motor 26, a torque sensor 21, a second torque sensor 25, a transmission shaft 22, a second transmission shaft with a disc interface 24, four couplings 20, and a swing arm 23. The second drive system fixed bracket includes a rotating motor bracket 27, a rotating motor bracket 34, a torque sensor support 28, a torque sensor support 33, a bearing seat 29, and a bearing seat 32.

[0044] Before installing the rotation function simulation device, pre-condition the rotating motors 19 and 26 in the second drive system to ensure they can adapt to vacuum and high and low temperature environments. First, remove the bearings inside the rotating motors 19 and 26, degrease them, and fill them with vacuum grease. Then, restore the rotating motors 19 and 26. Then, attach heating plates to the outer shells of the rotating motors 19 and 26.

[0045] During the rotation function simulation in step S2, the entire product is installed on the product fixing bracket 2 30; in the drive system 2, the rotating motor 19, the rotating motor 2 26, the torque sensor 1 21, the torque sensor 2 25, the transmission shaft 1 22, and the transmission shaft 2 24 are connected in sequence. On the transmission shaft 1 22, a swing arm 1 23 fixed to the product pedal assembly 3 is installed, and the transmission shaft 2 24 is directly fixed to the interface of the product mounting assembly 11; all connections between the product fixing bracket 2 30, the drive system fixing bracket 2 and the mounting base 2 31 are heat-insulated.

[0046] The rear ends of the rotating motor 19 and the torque sensor 21 are connected through a coupling 20. The transmission shaft 22 and the transmission shaft 24 are stabilized by bearing seat 1 29 and bearing seat 2 32 respectively to prevent the transmission shaft 22 and the transmission shaft 24 from shaking in the YZ horizontal plane during rotation. After the product is fixed and the drive system 2 is fixed, it should be ensured that the axis of the rotating motor 19, the transmission shaft 22 and the axis of the rolling joint 5 are on the same axis, and the axis of the rotating motor 2 26, the transmission shaft 24 and the axis of the rotating joint 9 are on the same axis. The mounting surface of the mounting base 2 31 and the simulation device is the XZ horizontal plane.

[0047] After the installation is completed, the rotating motor 19 drives the transmission shaft 1 22, and at the same time drives the swing arm 1 23. The swing arm 1 23 drives the roll joint 5 to rotate in the YZ plane. The rotating motor 2 26 drives the transmission shaft 2 24, and at the same time drives the rotary joint 9 to rotate in the YZ plane, realizing the rotation function simulation of the two joints. The torque sensor 1 21 and the torque sensor 2 25 measure the real-time torque data.

[0048] Specifically, such as Figure 6 and Figure 7 As shown, the drive system 3 includes a rotating motor 3 40, a torque sensor 3 39, two couplings 2 38, a transmission shaft 3 37 and a swing arm 2 36, and the drive system fixed bracket 3 includes a rotating motor bracket 3 44, a torque sensor support 3 43 and a bearing bracket 3 42;

[0049] Before installing the locking and unlocking simulation device, preconditioning of the rotating motor 3 (40) in the drive system 3 is required to ensure it can withstand vacuum and high and low temperature environments. First, remove the internal bearings of the rotating motor 3 (40), degrease them, and refill them with vacuum grease. The rotating motor 3 (40) is then restored. A heating element is then attached to the outer casing of the rotating motor 3 (40).

[0050] When simulating the locking and unlocking functions in step S3, the mounting assembly 11 is removed and installed on the product fixing bracket three 35; the three drive systems, the rotating motor three 40, the torque sensor three 39, the transmission shaft three 37, and the swing arm two 36 are connected in sequence; all connections between the product fixing bracket three 35, the drive system fixing bracket three and the mounting base three 41 are heat-insulated.

[0051] Thermal insulation is achieved by installing through-hole polyimide posts at the connections.

[0052] The front side of the torque sensor 3 39 is connected to the transmission shaft 3 37 via a coupling 2 38 , and the swing arm 2 36 is installed on the top of the transmission shaft 3 37 . After the product and the drive system 3 are fixed, it should be ensured that the rotation axis of the product lock handle 10 and the rotation axis of the rotating motor 3 40 are on the same axis; the installation base 3 41 and the installation surface of the simulation device are the XZ horizontal plane.

[0053] After the installation is completed, the rotating motor three 40 drives the rotating shaft three 37, and at the same time drives the swing arm two 36 to rotate in the YZ plane. The swing arm two 36 drives the lock handle 10 of the installation component 11 to rotate back and forth in the YZ plane to realize the simulation of locking and unlocking actions, and the torque sensor three 39 measures real-time torque data.

[0054] The telescopic motor 14, the rotating motor 19, the rotating motor 26, the rotating motor 3 40, the tension sensor 15, the torque sensor 1 21, the torque sensor 25, and the torque sensor 3 39 are all covered with a double-sided aluminum-coated polyester film multi-layer insulation component to provide a more suitable working temperature environment for the electrical equipment.

[0055] This application provides a disassembly simulation plan for the on-orbit multifunctional simulation of the astronaut's foot limiter in the space station through experimental methods, so that each functional simulation can be implemented specifically and carried out in limited environmental simulation equipment, saving test time.

[0056] The test method in this application can simulate the functions of on-orbit button pressing, multi-degree-of-freedom rotation of joints, and unlocking and locking of installed components using foot limiters for astronauts in the space station. The test device can adapt to the thermal vacuum environment of -100℃ to +100℃, and meet the needs of product working status assessment, reliability and long-life verification in the space environment.

[0057] 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. The ground working state test method of the space station foot limiter is characterized by: The foot limiter comprises a space boot holder (1), a pedal button (2), a pedal assembly (3), a yaw joint (4), a roll joint (5), an extravehicular operating console interface assembly (6), a right-angle connection assembly (7), a pitch joint (8), a rotation joint (9), a locking handle (10) and a mounting assembly (11); The test method comprises the following steps: S1, simulating the pressing function of the pedal button (2) of the pedal assembly (3) in the foot limiter; the pressing function simulation device includes a mounting base (16), a product fixing bracket (12), a drive system and a drive system fixing bracket; When simulating the pressing function in step S1, the right-angle connection component (7), the pitch joint (8), the rotation joint (9), and the mounting component (11) are removed from the product, and the remaining parts are mounted on the product fixing bracket (12); in the driving system (1), the tension sensor (15), the telescopic motor (14), and the extension push rod (13) are connected in sequence; S2, simulating the rotation function of the roll joint (5) and the rotation joint (9) in the foot limiter; the rotation function simulation device includes a second mounting base (31), a second product fixing bracket (30), a second drive system and a second drive system fixing bracket; When simulating the rotation function in step S2, the entire product is mounted on the second product fixing bracket (30); in the second drive system, the first rotating motor (19), the second rotating motor (26), the first torque sensor (21), the second torque sensor (25), the first transmission shaft (22), and the second transmission shaft (24) are connected in sequence, and the first transmission shaft (22) is mounted with a swing arm (23) fixed to the product pedal assembly (3), and the second transmission shaft (24) is directly fixed to the interface of the product mounting assembly (11); S3, simulating the locking and unlocking functions of the mounting assembly (11) in the foot limiter; the locking and unlocking function simulation device includes a mounting base three (41), a product fixing bracket three (35), a drive system three and a drive system fixing bracket three; When simulating the locking and unlocking functions in step S3, the mounting assembly (11) is disassembled and mounted on the third product fixing bracket (35); in the third drive system, the third rotating motor (40), the third torque sensor (39), the third transmission shaft (37), and the second swing arm (36) are connected in sequence.

2. The ground working state test method of the space station foot stopper according to claim 1 is characterized in that: The driving system 1 comprises two telescopic motors (14), two extended push rods (13) and two tension sensors (15), and the driving system fixed bracket 1 comprises two tension sensor brackets (18) and two extended push rod supports (17).

3. The ground working state test method of the space station foot stopper according to claim 1, characterized in that: The drive system 2 includes a rotating motor 1 (19), a rotating motor 2 (26), a torque sensor 1 (21), a torque sensor 2 (25), a transmission shaft 1 (22), a transmission shaft 2 with a disc interface (24), four couplings 1 (20) and a swing arm 1 (23), and the drive system fixed bracket 2 includes a rotating motor bracket 1 (27), a rotating motor bracket 2 (34), a torque sensor support 1 (28), a torque sensor support 2 (33), a bearing seat 1 (29) and a bearing seat 2 (32).

4. The ground working state test method of the space station foot stopper according to claim 1 is characterized in that: The drive system three includes a rotating motor three (40), a torque sensor three (39), two couplings two (38), a transmission shaft three (37) and a swing arm two (36), and the drive system fixed bracket three includes a rotating motor bracket three (44), a torque sensor support three (43) and a bearing seat three (42).

5. The ground working state test method of the space station foot stopper according to claim 1 is characterized in that: In the step S1: all the connections between the product fixing bracket 1 (12), the drive system fixing bracket 1 and the mounting base 1 (16) are heat-insulated.

6. The ground working state test method of the space station foot stopper according to claim 1 is characterized in that: In the step S2: all the connections between the product fixing bracket 2 (30), the drive system fixing bracket 2 and the mounting base 2 (31) are heat-insulated.

7. The ground working state test method of the space station foot stopper according to claim 1 is characterized in that: In the step S3: the connection points between all product fixing brackets 3 (35), drive system fixing brackets 3 and mounting base 3 (41) are heat-insulated.

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