Space on-orbit maintenance hand drive device used by astronaut suit and control method

Abstract

A hand drive device for on-orbit maintenance of a space manipulator used by an astronaut in a space suit, the hand drive device hardware is divided into a power component, a handle component and a battery component, and the software part is a set of on-orbit maintenance hand drive device control method. The power component provides a specific angle of rotation power for the maintenance tool of the manipulator; the handle component provides a gripping space for the astronaut and a start-stop control interface; the battery component provides energy for the hand drive device and also provides a drift prevention interface. The on-orbit maintenance hand drive device control method includes a self-checking process and a working process. The self-checking process can perform whole system inspection and control enablement before use by the astronaut, and the working process designs multiple error prevention modes, which can effectively prevent output errors caused by on-orbit misoperation of the astronaut, and reasonably ensure the safety of the space station manipulator.

Description

Technical Field

[0001] This disclosure relates to the field of extravehicular maintenance, specifically to a space-based on-orbit maintenance hand-operated device and control method used by astronauts in their suits. Background Technology

[0002] The robotic arm of China's space station is a crucial piece of equipment, supporting various extravehicular activities and playing a vital role in the long-term stable operation and scientific research of the space station. To meet the 15-year on-orbit lifespan requirement, the robotic arm must be capable of on-orbit maintenance by astronauts. Joint failure is the primary failure mode of the robotic arm and a critical component for on-orbit maintenance. To address the technical challenge of inability to drive the robotic arm in the event of joint failure, a method for astronauts to manually drive joint rotation in orbit is proposed. Specifically, an on-orbit maintenance manual drive device is installed at the rear end shell of the failed joint. Movement commands drive a connecting rod to rotate the internal gears of the robotic arm joint, enabling rotation of the failed joint. This assists the robotic arm in moving / crawling to a specific maintenance configuration, providing a convenient maintenance configuration for subsequent on-orbit joint maintenance.

[0003] Currently, there is no research, either domestically or internationally, on technologies specifically designed for driving malfunctioning joints in space station robotic arms. In the field of extravehicular activity (EVA) maintenance, the tightening and loosening of screws using EVA tools employed by astronauts is similar to the operation of on-orbit maintenance hand-drive systems; both are electrically driven rotary output products used outside the space station. For screw tightening, EVA tools only require a low rated torque output and do not need a fixed-angle rotation function. However, for on-orbit maintenance hand-drive systems driving malfunctioning joints, internal joint jamming results in a large joint rotation torque, and the inability to autonomously feedback the rotation angle necessitates a power output with a specific angle and high torque. Clearly, the technology of EVA tools is insufficient to meet the requirements of on-orbit maintenance hand-drive systems.

[0004] Therefore, the on-orbit maintenance manual drive device needs to have the capability of long-term high torque output, indicator lights for all operations, and reliable safety control measures. Furthermore, since the tool is operated by astronauts outside the orbital module, preventative control modes for various protective operations must be considered. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a space-based on-orbit maintenance hand-drive device and control method for use in astronaut suits, which can meet the needs of maintaining the joints of the space station's robotic arm.

[0006] To achieve the above objectives, the present invention adopts the following solution:

[0007] This invention provides a space-based on-orbit maintenance hand-operated device for use in astronaut suits, comprising a power unit (1), a handle unit (2), and a battery unit (3).

[0008] The power unit (1) is used to provide rotational power at a specific angle for the robotic arm repair tool, including: a U-shaped shell (100), a motor assembly (101), a top cover (102), an angle knob cap assembly, an indicator light assembly, a direction knob cap (105), and a power switch (107);

[0009] The handle component (2) is used to provide astronauts with a gripping space and a start / stop control interface, including: a right handle (201); a left handle (203); a start / stop switch cap (204); a start / stop switch element (205); and a circular electrical connector (207);

[0010] The battery component (3) is used to provide power to the manual drive device, including: battery box (301) and battery assembly (302);

[0011] Among them, the power component (1) and the battery component (3) are located above and below the handle component (2) respectively, and are connected by screws. The center of the connection surface between the handle component and the power component is aligned with the center of mass of the power component in the horizontal direction, and the center of the connection surface between the handle component and the battery component is aligned with the center of mass of the battery component in the horizontal direction.

[0012] Furthermore, it also includes an anti-detachment pin (110), which is located on the right side of the U-shaped shell (100) and provides a mechanical connection interface for the spacesuit; the motor assembly (101) is fixed to the front end of the U-shaped shell (100) by screws, and the top cover (102) is fixed on the top of the U-shaped shell (100); the angle knob cap assembly, indicator light assembly, and direction knob (105) are located on the left side of the U-shaped shell, serving as the astronaut's main operating interface. The angle knob cap assembly includes three angle rotating caps (103), which are operated in the order of tens, units, and dots. The two adjacent angle knob caps (103) are arranged to accommodate the width of a single finger of an astronaut. The indicator light assembly is located between the direction knob cap (105) and the angle knob cap assembly. The indicator light assembly includes three indicator lights (104), which are power, working and fault indicators from top to bottom. It also includes a power switch anti-misoperation cover (106), which is fixed behind the U-shaped shell (100) along with the power switch (107). The power switch anti-misoperation cover (106) is designed in a semi-open shape to prevent the power switch (107) from being accidentally touched while making it convenient for astronauts to judge the switch status.

[0013] Furthermore, the power component (1) also includes a cable holder (108), a motor clamp (109), a power switch heat insulation pad (111), an angle knob element (112), an indicator light element (113), a direction knob element (114), a direction knob fixing seat (115), an angle knob fixing seat (116), an angle knob heat insulation pad (117), a motor assembly heat insulation pad (118), a copper pillar (119), and a circuit board (120) disposed within the space of the U-shaped shell (100). The motor clamp (109) is connected to the protrusions on both sides inside the U-shaped shell (100) to fix the tail of the motor assembly (101). The cable holder (108) is connected to the protrusions on both sides inside the U-shaped shell (100). 00) The inner wall is connected to fix the internal cable; a heat insulation pad (111) for the power switch (107) is set between the power switch (107) and the U-shaped shell (100) to prevent the external heat of the power switch (107) from being transferred to the inside of the power component (1); the angle knob element (112), the direction knob element (114), and the indicator light (113) are respectively set close to the inner wall of the left side of the U-shaped shell through the angle knob element (112), the indicator light element (113), and the direction knob element (114), and their other degrees of freedom are restricted by screws except for their rotation around themselves; the circuit board (120) is fixed to the top cover (102) through the copper pillar (119), and the distance between the control chip and the top cover (102) can be adjusted.

[0014] Furthermore, each angle knob cap (103) includes: an angle knob indicator (1031), an angle knob paddle (1032), an angle knob anti-slip structure (1033), and an angle knob flat hole (1034); wherein, the angle knob indicator (1031) is marked with 0 to 9 position markings, and the U-shaped shell (100) is marked with pointer markings; several angle knob paddles (1032) are evenly distributed around the circumference of the angle knob cap (103), so that astronauts can turn the angle knob cap (103) at different angle positions; the angle knob anti-slip structure (103) is designed with convex and concave grooves to prevent the spacesuit gloves from slipping; the angle knob flat hole (1034) cooperates with the angle knob element (112) to change the angle position;

[0015] The hand-operated indicator light (104) includes: a lamp element (1041), a threaded sleeve (1042), an insulating sleeve (1043), a mounting nut (1044), an insulating base (1045), and an end cap nut (1046); wherein, the threaded sleeve (1041) is fixed to the U-shaped shell (100) by the mounting nut (1044), the insulating sleeve (1043) contacts the side of the lamp element (1041), and the insulating base (1045) contacts the bottom of the lamp element (1041). The insulating base (1045) is designed with two small holes to avoid the two metal leads of the lamp element (1041). The internal gaps of the indicator light (104) are filled with insulating flexible material.

[0016] The direction knob mounting base (115) and angle knob mounting base (116) are respectively connected to the U-shaped shell (100) screw. A slotted hole is designed on the direction knob mounting base (115) and angle knob mounting base (116) respectively, which is connected to the direction knob element (114) and angle knob element (112). The direction knob mounting base (115) and angle knob mounting base (116) can limit the rotation of the angle knob element (112) and direction knob element (114) around their own axis when the astronaut rotates the angle knob cap (103) and direction knob cap (105). The angle knob heat insulation pad (117) and motor assembly heat insulation pad (118) can prevent external heat from being transferred to the inside of the power component through the component assembly gap.

[0017] Furthermore, the handle component (2) also includes a start / stop switch heat insulation pad (202) and a circular electrical connector heat insulation pad (206); wherein, the right handle (201) and the left handle (203) are connected by screws, the start / stop switch cap (204) and the start / stop switch element (205) are fixed together on the right handle (201), and the start / stop switch heat insulation pad (202) isolates heat transfer between the start / stop switch element (205) and the right handle (201); the circular electrical connector (207) is located below the handle component (2), and the circular electrical connector heat insulation pad (106) is located between the handle housing and the circular electrical connector (207) to isolate heat transfer.

[0018] Furthermore, the battery component (3) also includes an anti-drift ring (303), a battery side cover (304), a battery bottom cover (305), a bottom cover damping hinge (306), a battery heat insulation pad (307), and a locking pin (308); wherein, the battery box (301) is fixedly connected to the battery side cover (304), the anti-drift ring (303) is located at the rear end of the battery box (301), the battery box bottom cover (305) is connected to the battery box (301) through the bottom cover damping hinge (306), and the battery box bottom cover (305) can rotate around the battery box (301) with friction damping; the battery heat insulation pad (307) and the locking pin (308) are installed on the battery box bottom cover (305). The damping hinge (306) consists of a self-locking nut (3061), a butterfly spring (3062), a rotating hinge (3063), a fixed hinge (3064), and a sector nail (3065). The sector nail (3065) is attached to the sides of the battery box (301) on both sides, preventing rotation. The fixed hinge (3064) is fixedly connected to the battery box (301), and the rotating hinge (3063) is connected to the bottom cover (305) of the battery box. A butterfly spring (3062) is added between the rotating hinge (3063) and the fixed hinge (3064), and a certain preload is applied through the self-locking nut (3061) to achieve friction-damped rotation. A locking pin (…) 308) consists of a front cover (3081), a latch (3082), a sliding pin (3083), a spring (3084), a rear cover (3085), and a latch groove (3086). The head of the latch (3082) is beveled and slides with the battery box (301). The latch (3082) is located in the groove of the bottom cover (305) of the battery box to prevent astronauts from accidentally opening it. The sliding pin (3083) is inserted into the latch (3082) and can slide along the latch groove (3086). The front cover (3081) and the rear cover (3085) are fixed at both ends of the latch groove (3086) to prevent the latch (3082) from coming out of the latch groove (3086).

[0019] Furthermore, the head of the latch (3082) is a bevel with an angle between 10° and 30°. The bottom of the battery box (301) and the position where the latch (3082) meets are arc surfaces. When the bottom cover (305) of the battery box is closed, the bevel of the head of the latch (3082) is always in contact with the battery box (301) line, reducing the closing operation force.

[0020] Furthermore, the U-shaped shell (100) is an integrally machined part, and the connection interface with the motor assembly (101) is integrally formed, which improves the installation accuracy of the motor assembly in the power component. At the same time, the motor clamp tightens the motor assembly, which improves the installation rigidity of the motor assembly, enabling the motor assembly to withstand a large torque. In addition, the direction knob fixing seat, the angle knob fixing seat, and the copper column are respectively fixed to the U-shaped shell and the top cover by screws, which solves the problem of difficult installation of electrical components caused by the integral molding of the U-shaped shell.

[0021] This invention also provides a control method for a space-based on-orbit maintenance hand-operated device used in astronaut suits, for controlling the aforementioned space-based on-orbit maintenance hand-operated device used in astronaut suits, including a self-test process and a working process, and setting multiple abnormal operation control modes to prevent misoperation, wherein the self-test process includes:

[0022] a) Power on the manual drive device;

[0023] b) The system checks the battery and motor temperatures. If the temperature exceeds the normal range, the system displays a tool malfunction and the "Fault" status indicator light stays on.

[0024] c) The system checks whether the battery output voltage is normal. When the battery level is higher than 30% of the total battery level, the system controls the "Battery Level" indicator light to stay on. When the battery level is lower than 30% of the total battery level, the system controls the "Battery Level" indicator light to flash as a reminder, flashing on and off for 1 second each time. When the battery level is lower than 5% of the total battery level, the system controls the "Battery Level" indicator light to turn off.

[0025] d) After the system self-test is normal, it enters sleep mode. At this time, the system control "Work" indicator light is off and the "Battery" indicator light is on. However, the tool will not work if the tool start / stop switch is pressed in sleep mode.

[0026] The workflow includes:

[0027] a) Astronauts use three angle adjustment knobs to set the rotation angle of the robotic arm joints according to mission requirements, but the system does not read the set angle at this time;

[0028] b) Astronauts need to check if the direction adjustment knob is in the zero position. If it is not in the zero position, it needs to be adjusted to the zero position. Then, according to the mission requirements, the direction adjustment knob is used to set the forward and reverse rotation. After the setting is completed, the system enters the standby mode and controls the "Work" indicator light to flash. At this time, the system reads the set angle value.

[0029] c) When the astronaut presses the start / stop switch, the tool enters the working state, drives the joint to rotate according to the set rotation angle, and keeps the "working" indicator light on. When the set angle value is reached, the tool automatically stops, enters the hibernation state, and keeps the "working" indicator light off.

[0030] d) If the system detects an output torque of 12 Nm during tool operation, i.e., the load reaches 12 Nm, the system will control the "Power" and "Working" indicator lights to flash simultaneously, and the tool will remain in working condition. If the system detects an output torque of 16 Nm during tool operation, i.e., the load reaches 16 Nm, the system will control the tool to stop and enter standby mode, and control the "Power", "Working", and "Fault" indicator lights to flash simultaneously. At this time, pressing the start / stop button will allow the tool to continue working and perform torque detection and judgment.

[0031] e) If the start / stop switch is pressed during tool operation, the tool will pause operation and enter standby mode. The system will control the "Work" indicator light to change from solid to flashing. The previous working state will not be cleared. If the start / stop switch is pressed within 5 minutes, the previous task can be resumed. Otherwise, it will enter hibernation mode and the system will clear the previous working state.

[0032] f) If the direction adjustment knob is turned to the 0 position during tool operation, the tool will stop working and enter sleep mode, and the system will clear the previous working state;

[0033] g) If the angle adjustment knob is turned during tool operation, it will have no effect and the angle adjustment knob signal will not be processed in the working state; however, if the angle adjustment knob is not reset, the system will read the angle in real time when the direction adjustment knob is turned to "forward" or "reverse" in the next working process.

[0034] h) Throughout the entire operation, the system continuously monitors the battery voltage, battery temperature, and motor temperature. If any abnormality is detected, the system controls the manual drive to stop working and controls the status indicator light to display the abnormality during the self-test process.

[0035] The abnormal control modes for preventing misoperation include:

[0036] a) If the tool is powered on and the direction adjustment knob is set to "forward" or "reverse" for more than 5 minutes without any operation, the system will automatically put the tool into sleep mode. The direction adjustment knob must be set to "0" and then to "forward" or "reverse" again for the system to set the tool into standby mode. After the tool enters sleep mode, pressing the start / stop switch or restarting the power will not wake the tool into standby mode.

[0037] b) If the direction adjustment knob is not set to "0" before the tool is powered on, the tool will enter sleep mode after power is on. If the start / stop switch is pressed, the tool will not work. The direction adjustment knob needs to be set to "0" and then set to "forward" or "reverse" to wake up the tool and enter standby mode. If the direction adjustment knob is not set to "0" after normal operation, the tool will automatically enter sleep mode and will not work when the start / stop switch is pressed.

[0038] c) Press the start / stop switch before powering on the tool. After powering on, the tool enters sleep mode and does not operate.

[0039] d) The angle adjustment knob was not set to "0" before the tool was powered on. After powering on, the system set the angle according to the knob position.

[0040] e) The power switch is accidentally triggered during tool rotation, the tool loses power and stops working. When the tool is powered on again, it enters sleep mode and the previous working state is reset.

[0041] f) If the direction adjustment knob is accidentally triggered during tool rotation, the tool will stop working and enter sleep mode, resetting the previous working state.

[0042] g) If the start / stop switch is accidentally triggered during tool rotation, the tool will stop working and enter standby mode. The previous working status will not be reset. Pressing the switch will resume the previous task.

[0043] h) The angle adjustment knob is accidentally triggered during tool rotation: It has no effect and does not process the angle adjustment knob signal in the working state;

[0044] i) In case of faults such as battery or motor overheating, or simultaneous failure of both Hall effect sensors in the motor, the system will automatically power off and stop the tool from working and keep the "fault" indicator light on.

[0045] j) If the tool's battery level drops below 5%, the system will automatically power off, stop the tool from working, and turn off the "battery level" indicator light.

[0046] Furthermore, three temperature sensors are attached to the surface of the motor to detect its temperature. The motor over-temperature determination method is as follows: if all three thermistors are overheated, the system determines the motor is overheated; if two thermistors are overheated and one is not, the system determines the motor is overheated; if one thermistor is overheated and the other two are not, the system determines the motor is not overheated. The battery has two temperature sensors installed inside to detect its temperature. The battery over-temperature determination method is as follows: if both thermistors are overheated, the system determines the battery is overheated; if one thermistor is overheated and the other is not, and the motor is overheated, the system determines the battery is overheated; if one thermistor is overheated and the other is not, and the motor is not overheated, the system determines the battery is not overheated; if neither thermistor is overheated, the system determines the battery is not overheated.

[0047] Furthermore, the motor startup process is in the acceleration phase, and the threshold is set to 20 Nm; the motor output torque of 12 Nm and 16 Nm are judged by sampling 100 times continuously for 10 ms and taking the average value as the current current value, and judging whether the torque limit is reached based on the relationship between current and torque.

[0048] The beneficial effects of this invention are:

[0049] This invention discloses a space-based on-orbit maintenance hand-operated device and control method for astronaut suits. A user-friendly hand-operated device configuration is designed, employing a U-shaped shell body with integrated machining to improve the installation accuracy and rigidity of the motor assembly. Angle knob seats, direction knob seats, and copper pillars serve as adapters at the interface with electrical components, connecting the U-shaped shell and top cover to the angle knob elements, direction knob elements, and circuit board. The astronaut's main operating interface features tens, units, and point angle adjustment knobs, using mechanical knob operation to improve the hand-operated device's adaptability to high and low temperature vacuum environments. The battery compartment bottom cover of the hand-operated device closes using a beveled latch, with the latch's operating interface concealed within a groove in the bottom cover, reducing the risk of accidental opening by astronauts and increasing structural reliability. Simultaneously, a hardware circuit control method for the hand-operated device used for on-orbit maintenance of space robotic arms is proposed, improving the fault tolerance of the hand-operated device and increasing system reliability. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the overall composition of the hand-driven device of the present invention.

[0051] Figure 2 This is a schematic diagram of the outer components of the power component of the present invention.

[0052] Figure 3 This is a schematic diagram of the inner components of the power component of the present invention (I).

[0053] Figure 4 This is a schematic diagram (II) of the inner components of the power component of the present invention.

[0054] Figure 5 This is a schematic diagram (III) of the inner components of the power component of the present invention.

[0055] Figure 6 This is a schematic diagram of the angle knob cap structure of the present invention.

[0056] Figure 7 This is a schematic diagram of the indicator light components of the present invention.

[0057] Figure 8 This is a schematic diagram of the inner side of the handle component of the present invention.

[0058] Figure 9 This is a schematic diagram of the battery component composition of the present invention (I).

[0059] Figure 10 This is a schematic diagram (II) of the battery component composition of the present invention.

[0060] Figure 11 This is a schematic diagram of the damping hinge components of the present invention.

[0061] Figure 12 This is a schematic diagram of the locking pin assembly of the present invention.

[0062] Figure 13 This is a schematic diagram of one embodiment of the manual drive device control method of the present invention.

[0063] In the diagram, 100-U-shaped shell; 101-motor assembly; 102-top cover; 103-angle knob cap; 104-indicator light; 105-direction knob cap; 106-power switch anti-misoperation cover; 107-power switch; 108-cable holder; 109-motor clamp; 110-anti-detachment pin; 111-power switch heat insulation pad; 112-angle knob element; 113-indicator light element; 114-direction knob element; 115-direction knob mounting base; 116-angle knob mounting base; 117-angle knob heat insulation pad; 118-motor assembly heat insulation pad; 119-copper pillar; 120-circuit board; 1031-angle knob indicator; 1032-angle knob lever; 1033-angle knob anti-slip structure; 1034-angle knob flat hole; 1041-lamp element; 1042-threaded sleeve; 10 43-Insulating sleeve; 1044-Mounting nut; 1045-Insulating base; 1046-End cap nut; 201-Right handle; 202-Start / stop switch heat insulation pad; 203-Left handle; 204-Start / stop switch cap; 205-Start / stop switch element; 206-Circular electrical connector heat insulation pad; 207-Circular electrical connector; 301-Battery box; 302-Battery assembly; 303-Anti-drift ring; 304-Electric... Battery side cover; 305-Battery bottom cover; 306-Bottom cover damping hinge; 307-Battery heat insulation pad; 308-Locking pin; 3061-Self-locking nut; 3062-Butterfly spring; 3063-Rotating hinge; 3064-Fixing hinge; 3065-Sector pin; 3081-Front end cover; 3082-Lock tongue; 3083-Sliding pin; 3084-Spring; 3085-Rear end cover; 3086-Lock tongue groove Detailed Implementation

[0064] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0065] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can also refer to a mechanical connection, an adhesive connection, a direct connection, or an indirect connection through an intermediate medium, and can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0066] Furthermore, it should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0067] To meet the needs of maintaining the joints of the space station's robotic arm, the on-orbit maintenance hand-drive device needs to have the capabilities of sustained high torque output, indicator lights for all operations, and reliable safety control measures. Furthermore, since the tool is operated by astronauts outside the orbital module, preventative control modes for various protective operations must be considered. Therefore, a hand-drive device for on-orbit maintenance of the space station's robotic arm has been specifically developed.

[0068] like Figures 1 to 11 As shown, it illustrates a hand-operated device for on-orbit maintenance of a space robotic arm used by astronauts in their suits, according to the present invention.

[0069] like Figure 1 As shown, a hand-drive device for on-orbit maintenance of a space robotic arm used by astronauts in their suits is described. The hand-drive device consists of a power unit, a handle unit, and a battery unit. The power unit provides rotational power to the robotic arm's maintenance tools at a specific angle. Astronauts can adjust the tens, units, and dot angle knobs to change the direction of the direction knob, thereby setting the rotation angle of the output shaft of the motor assembly 101. The motor output shaft drives the rotation of the robotic arm's maintenance joints via an adapter rod, changing the configuration of the space robotic arm to facilitate extravehicular activity (EVA) maintenance work. The handle unit provides the astronaut with a gripping space and a start / stop control interface. The handle unit controls the start and stop of the output shaft of the motor assembly 101 of the hand-drive device. The start / stop switch is located at the position of the astronaut's index finger lever for easy pressing. The battery unit is detachable and provides power to the hand-drive device. When the battery is low, the lithium battery in the battery unit can be removed and charged inside the space station. The battery unit is designed with a corresponding battery box 301 bottom cover opening and closing mechanism for easy installation and removal by the astronaut inside the space station. The power unit, handle unit, and battery unit are equipped with multi-layer heat insulation materials on their inner sides, which can effectively isolate heat transfer between the outside and the inside of the casing.

[0070] like Figure 2As shown, the outer part of the power component of the on-orbit maintenance hand drive device of a space robotic arm used in astronaut suits includes: a U-shaped shell 100, a motor assembly 101, a top cover 102, an angle knob cap 103, an indicator light 104, a direction knob cap 105, a power switch 107, an anti-misoperation cover 106, a power switch 107, and an anti-detachment pin 110. The motor assembly 101 extends from the motor drive shaft to provide power output. The top cover 102 is designed with a product logo, which may be engraved, but is not limited to engraving. The angle knob cap 103, indicator light 104, and direction knob cap 105 are also included. The knob cap 105, located on the left side of the U-shaped shell 100, serves as the astronaut's main operating interface, facilitating angle and direction adjustments and status identification. The power switch 107, located behind the U-shaped shell 100 and raised a certain distance above it, allows the astronaut to quickly press it to cut off power in an emergency. Between the angle knob cap 103 and the direction knob is an indicator light 104, preventing accidental operation. The indicator light 104 includes power, working, and fault indicators, and is accompanied by visual markings for easy identification by the astronaut. The power switch 107's anti-accidental activation cover 106 is semi-open, preventing accidental activation while allowing the astronaut to easily determine the switch's status. The anti-detachment pin 110 can be mechanically connected to the spacesuit for easy carrying during extravehicular activity.

[0071] like Figures 3-4As shown, the inner part of the power component of the on-orbit maintenance hand drive device of a space robotic arm used in astronaut suits includes: a cable fixing frame 108, a motor clamp 109, a power switch 107 heat insulation pad, an angle knob element 112, an indicator light element 104, a direction knob element 114, a direction knob fixing seat 115, an angle knob fixing seat 116, an angle knob heat insulation pad 117, a motor assembly 101 heat insulation pad, a copper pillar 119, and a circuit board 120. The cable fixing frame 108 has an approximately H-shaped structure, with both sides connected to the sides of the U-shaped shell 100. The H-shape facilitates the formation of a cable bundle along the cable fixing frame 108 for the signal wires of the motor assembly 101, angle knob element 112, indicator light element 104, direction knob element 114, and power switch 107, and connects them to the circuit board 120 for electrical signal connection. The motor clamp 109 is semi-circular, allowing it to conform to the tail of the motor assembly 101. An increased clearance is added between the bottom of the motor clamp 109 and the U-shaped shell 100, enabling pre-tightening via threaded clamping. The inner wall of the motor clamp 109 features a thermistor signal line avoidance structure for easy routing of the thermistor signal line. Heat insulation pads are added to the contact areas of the angle knob element 112, direction knob element 114, and power switch 107 with the U-shaped shell 100; these pads can be made of, but are not limited to, fiberglass materials. The direction knob element 114 and the angle knob element 112 are fixed to the inner wall of the U-shaped shell 100 by nuts, restricting the other five degrees of freedom except for the direction of rotation around its own axis. However, when the astronaut rotates the angle or direction knob, there is a risk that the angle knob element 112 and the direction knob element 114 will rotate together with the angle knob cap 103 and the direction knob cap 105. At the same time, the U-shaped shell 100 is a one-piece machined part, and it is difficult to machine small holes in the inner wall. Therefore, the angle knob fixing seat 116, the direction knob fixing seat 115 and the copper pillar 119 are embedded and fixed in the inner wall of the U-shaped shell 100. They are connected to the one-piece limit block on the knob element through the slot on the fixing seat to prevent failure during rotation. In addition, the connection interface between the U-shaped shell 100 and the motor assembly 101 is integrally formed, which improves the installation accuracy of the motor assembly in the power component. At the same time, the motor clamp tightens the motor assembly, which improves the installation rigidity of the motor assembly, so that the motor assembly can withstand a large torque.

[0072] like Figure 5 As shown, the copper pillar 119 fixes the circuit board 120 to the top cover 102 through a threaded connection, so that the chip on the circuit board 120 is in contact with the heat dissipation protrusion on the housing through a fixed gap. Thermal grease is added between the chip and the housing to facilitate heat dissipation of the chip.

[0073] like Figure 6As shown, the angle knob cap 103 includes: an angle knob indicator 1031; an angle knob paddle 1032; an angle knob anti-slip structure 1033; and an angle knob flat hole 1034. The angle knob indicator 1031 is marked with 0 to 9 positions, and can be made by mechanical engraving, but is not limited to that. The U-shaped shell 100 is marked with pointer markings. Several angle knob paddles 1032 are evenly distributed around the circumference of the angle knob cap 103, so that astronauts can easily turn the angle knob cap 103 at different angle positions. The angle knob anti-slip structure 1033 is designed with convex and concave grooves to prevent the spacesuit gloves from slipping. The angle knob flat hole 1034 cooperates with the angle knob element 112 to change the angle position.

[0074] like Figure 7 As shown, a hand-operated indicator light 104 includes: a lamp element 1041, a threaded sleeve 1042, an insulating sleeve 1043, a mounting nut 1044, an insulating base 1045, and an end cap nut 1046. The threaded sleeve 1042 is fixed to the U-shaped shell 100 by the mounting nut 1044. The insulating sleeve 1043 contacts the side of the lamp element 1041, and the insulating base 1045 contacts the bottom of the lamp element 1041. The insulating base 1045 is designed with two small holes to avoid the two metal leads of the lamp element 1041. The internal gap of the indicator light 104 is filled with an insulating flexible material. The insulating sleeve 1043 and the insulating base 1045 can be made of, but are not limited to, polyimide material.

[0075] like Figure 8 As shown, a hand-operated device handle component includes a right handle 201 and a left handle 203 connected by screws. A start / stop switch cap and a start / stop switch element are fixed to the right handle 201. A start / stop switch heat insulation pad 202 is used to isolate heat transfer between the start / stop switch element and the right handle 201. A circular electrical connector 207 is located below the handle component, and a circular electrical connector 207 heat insulation pad 206 is located between the handle housing and the circular electrical connector 207 to isolate heat transfer.

[0076] like Figures 9-12As shown, a battery component for a hand-driven device includes a battery box 301 fixedly connected to a battery side cover 304, an anti-drift ring 303 located at the rear end of the battery box 301, and a bottom cover of the battery box 301 connected to the battery box 301 via a bottom cover damping hinge 306. The bottom cover of the battery box 301 can rotate around the battery box 301 with friction damping. A battery heat insulation pad 307 and a locking pin 308 are installed on the bottom cover of the battery box 301. The damping hinge consists of a self-locking nut 3061, a butterfly spring 3062, a rotating hinge 3063, a fixed hinge 3064, and a sector nail 3065. The two sides of the sector nail 3065 are respectively attached to the sides of the battery box 301 to prevent rotation. The fixed hinge 3064 is fixedly connected to the battery box 301, and the rotating hinge 3063 is connected to the bottom cover of the battery box 301. A butterfly spring 3062 is added between the rotating hinge 3063 and the fixed hinge 3064, and a certain preload is applied by the self-locking nut 3061 to achieve friction-damped rotation. A locking pin is also included. 308 consists of a front cover 3081, a locking tongue 3082, a sliding pin 3083, a spring 3084, a rear cover 3085, and a locking tongue 3082 groove. The head of the locking tongue 3082 is beveled and slides with the battery box 301. The locking tongue 3082 is located in the groove of the bottom cover of the battery box 301 to prevent astronauts from accidentally opening it. The sliding pin 3083 is inserted into the locking tongue 3082 and can slide along the locking tongue 3082 groove. The front cover 3081 and the rear cover 3085 are fixed at both ends of the locking tongue 3082 groove to prevent the locking tongue 3082 from coming out of the locking tongue 3082 groove.

[0077] Furthermore, the head of the latch 3082 is beveled with an angle between 10° and 30°. The bottom of the battery box 301 and the position where it mates with the latch 3082 are arc-shaped. When the bottom cover of the battery box 301 is closed, the beveled head of the latch 3082 is always in line contact with the battery box 301, reducing the closing operation force.

[0078] like Figure 13 As shown, a control method for the on-orbit maintenance manual drive device of a space station robotic arm includes the following self-test process:

[0079] a) Power on the manual drive device;

[0080] b) The system checks the battery and motor temperatures. If the temperature exceeds the normal range, the system displays a tool malfunction and controls the "Fault" status indicator 104 to remain constantly lit.

[0081] c) The system checks whether the battery output voltage is normal. When the battery level is higher than 30% of the total battery level, the system controls the "Battery Level" indicator light to stay on. When the battery level is lower than 30% of the total battery level, the system controls the "Battery Level" indicator light to flash as a reminder, flashing on and off for 1 second each time. When the battery level is lower than 5% of the total battery level, the system controls the "Battery Level" indicator light to turn off.

[0082] d) After the system self-test is normal, it enters the sleep mode. At this time, the system control "Work" indicator 104 is off, and the "Power" indicator 104 is always on. However, the tool will not work if the tool start / stop switch is pressed in the sleep mode.

[0083] The workflow includes:

[0084] g) Astronauts use three angle adjustment knobs to set the rotation angle of the robotic arm joints according to mission requirements, but the system does not read the set angle at this time;

[0085] h) Astronauts need to check if the direction adjustment knob is in the zero position. If it is not in the zero position, it needs to be adjusted to the zero position. Then, according to the mission requirements, the direction adjustment knob is used to set the forward and reverse rotation. After the setting is completed, the system enters the standby mode and controls the "Work" indicator light 104 to flash. At this time, the system reads the set angle value.

[0086] i) When the astronaut presses the start / stop switch, the tool enters the working state, drives the joint to rotate according to the set rotation angle, and controls the "Work" indicator light 104 to stay on. When the set angle value is reached, the tool automatically stops, enters the hibernation state, and controls the "Work" indicator light 104 to turn off.

[0087] d) If the system detects an output torque of 12 Nm during tool operation, i.e., the load reaches 12 Nm, the system controls the "Power" and "Work" indicator lights 104 to flash simultaneously, and the tool remains in working condition; if the system detects an output torque of 16 Nm during tool operation, i.e., the load reaches 16 Nm, the system controls the tool to stop and enter standby mode, and controls the "Power", "Work" and "Fault" indicator lights 104 to flash simultaneously. At this time, pressing the start / stop button will allow the tool to continue working and perform torque detection and judgment.

[0088] e) If the start / stop switch is pressed during tool operation, the tool will pause operation and enter standby mode. The system will control the "Work" indicator light 104 to change from solid to flashing. The previous working state will not be cleared. If the start / stop switch is pressed within 5 minutes, the previous task can be resumed. Otherwise, it will enter hibernation mode and the system will clear the previous working state.

[0089] f) If the direction adjustment knob is turned to the 0 position during tool operation, the tool will stop working and enter sleep mode, and the system will clear the previous working state;

[0090] g) If the angle adjustment knob is turned during tool operation, it will have no effect and the angle adjustment knob signal will not be processed in the working state; however, if the angle adjustment knob is not reset, the system will read the angle in real time when the direction adjustment knob is turned to "forward" or "reverse" in the next working process.

[0091] h) Throughout the entire operation, the system continuously monitors the battery voltage, battery temperature, and motor temperature. If any abnormality is detected, the system controls the manual drive to stop working and controls the status indicator light 104 to display the abnormality during the self-test process.

[0092] The abnormal control modes for preventing misoperation include:

[0093] a) If the tool is powered on and the direction adjustment knob is set to "forward" or "reverse" for more than 5 minutes without any operation, the system will automatically control the tool to enter sleep mode. The direction adjustment knob needs to be set to "0" and then set to "forward" or "reverse" to enter standby mode. After the tool enters sleep mode, pressing the start / stop switch or restarting the power will not wake the tool to enter standby mode.

[0094] b) If the direction adjustment knob is not set to "0" before the tool is powered on, the tool will enter sleep mode after power is on. If the start / stop switch is pressed, the tool will not work. The direction adjustment knob needs to be set to "0" and then set to "forward" or "reverse" to wake up the tool and enter standby mode. If the direction adjustment knob is not set to "0" after normal operation, the tool will automatically enter sleep mode and will not work when the start / stop switch is pressed.

[0095] c) Press the start / stop switch before powering on the tool. After powering on, the tool enters sleep mode and does not operate.

[0096] d) The angle adjustment knob was not set to "0" before the tool was powered on; after powering on, the system set the angle according to the knob's position.

[0097] e) During tool rotation, power switch 107 is accidentally triggered, the tool loses power and stops working. When power is restored, the tool enters sleep mode and the previous working state is cleared.

[0098] f) If the direction adjustment knob is accidentally triggered during tool rotation, the tool will stop working and enter sleep mode, resetting the previous working state.

[0099] g) If the start / stop switch is accidentally triggered during tool rotation, the tool will stop working and enter standby mode. The previous working status will not be reset. Pressing the switch will resume the previous task.

[0100] h) The angle adjustment knob is accidentally triggered during tool rotation: It has no effect and does not process the angle adjustment knob signal in the working state;

[0101] i) If a fault occurs, such as battery or motor overheating, or simultaneous failure of both Hall effect sensors in the motor, the system will automatically power off and stop the tool from working and keep the "fault" indicator light 104 constantly lit.

[0102] e) When the tool's battery level drops below 5%, the system will automatically power off and stop the tool from working, and the "Battery" indicator light 104 will turn off.

[0103] The "Working" indicator light 104 is used to indicate the current working status of the manual drive device: when the direction adjustment knob is in the "0" position or the manual drive device is not powered on, the "Working" indicator light 104 is off; when the direction adjustment knob is in the "forward" or "reverse" position and the start / stop switch is not pressed, the manual drive device is in standby mode, and the "Working" indicator light 104 flashes, turning on and off for 1 second each time; when the direction adjustment knob is in the "forward" or "reverse" position and the start / stop switch is pressed, the manual drive device begins to adjust the joint angle of the robotic arm, and the "Working" indicator light 104 remains constantly lit.

[0104] The "battery" indicator light is used to indicate the current battery level of the manual drive device: it stays on when the battery level is above 30% of the total battery level, flashes to remind when the battery level is below 30% of the total battery level, and turns off after 1 second each time. When the battery level is below 5% of the total battery level, the light turns off.

[0105] According to the technical solution provided in the embodiment of the present invention, when the manual drive device has faults such as overheating, overspeeding, or overtorque, the "fault" indicator light 104 will remain on, otherwise it will be turned off.

[0106] The motor has three temperature sensors attached to its surface to detect its temperature. The over-temperature detection method is as follows: if all three thermistors are overheating, the system determines the motor is overheating; if two thermistors are overheating and one is not, the system determines the motor is overheating; if one thermistor is overheating and the other two are not, the system determines the motor is not overheating.

[0107] The battery contains two temperature sensors to detect its temperature. The battery over-temperature determination method is as follows: if both thermistors are overheated, the system determines the battery is overheated; if one thermistor is overheated and the other is not, and the motor is also overheated, the system determines the battery is overheated; if one thermistor is overheated and the other is not, and the motor is not, the system determines the battery is not overheated; if both thermistors are not overheated, the system determines the battery is not overheated.

[0108] The motor startup process is in the acceleration phase, and the threshold is set to 20 Nm.

[0109] The determination of the motor output torque of 12Nm and 16Nm is made by sampling 100 times continuously for 10ms and taking the average value as the current current value, and judging whether the torque limit has been reached based on the relationship between current and torque.

[0110] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to the specific combination of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A space-based on-orbit maintenance hand-operated device for use in astronaut suits, characterized in that, It includes a power unit (1), a handle unit (2), and a battery unit (3). The power unit (1) is used to provide rotational power at a specific angle for the robotic arm repair tool, including: a U-shaped housing (100), a motor assembly (101), a top cover (102), an angle knob cap assembly, an indicator light assembly, a direction knob cap (105), and a power switch (107); The handle component (2) is used to provide astronauts with a gripping space and a start / stop control interface, including: a right handle (201); a left handle (203); a start / stop switch cap (204); a start / stop switch element (205); and a circular electrical connector (207). The battery component (3) is used to provide power to the hand drive device, including: battery box (301) and battery assembly (302). Among them, the power component (1) and the battery component (3) are located above and below the handle component (2) respectively, and are connected by screws. The center of the connection surface between the handle component and the power component is flush with the center of mass of the power component in the horizontal direction, and the center of the connection surface between the handle component and the battery component is flush with the center of mass of the battery component in the horizontal direction. The U-shaped shell (100) is an integrally machined part, and the connection interface with the motor assembly (101) is integrally formed, which improves the installation accuracy of the motor assembly in the power component. At the same time, the motor clamp tightens the motor assembly, which improves the installation rigidity of the motor assembly, enabling the motor assembly to withstand a large torque. In addition, the direction knob fixing seat, the angle knob fixing seat, and the copper column are respectively fixed to the U-shaped shell and the top cover by screws, which solves the problem of difficult installation of electrical components caused by the integral molding of the U-shaped shell. The power component (1) also includes a cable holder (108), a motor clamp (109), a power switch heat insulation pad (111), an angle knob element (112), an indicator light element (113), a direction knob element (114), a direction knob fixing seat (115), an angle knob fixing seat (116), an angle knob heat insulation pad (117), a motor assembly heat insulation pad (118), a copper pillar (119), and a circuit board (120) disposed within the U-shaped shell (100). The motor clamp (109) is connected to the two side bosses inside the U-shaped shell (100) to fix the tail of the motor assembly (101). The cable holder (108) is connected to the inner wall of the U-shaped shell (100) to fix... Internal wiring; a heat insulation pad (111) for the power switch (107) is provided between the power switch (107) and the U-shaped shell (100) to prevent external heat from the power switch (107) from being transferred to the inside of the power component (1); the angle knob element (112), the direction knob element (114), and the indicator light element (113) are respectively closely attached to the inner wall of the left side of the U-shaped shell, and their degrees of freedom other than rotation around themselves are restricted by screws; the circuit board (120) is fixed to the top cover (102) by copper pillars (119), and the distance between the control chip and the top cover (102) can be adjusted; The battery component (3) further includes an anti-drift ring (303), a battery side cover (304), a battery bottom cover (305), a bottom cover damping hinge (306), a battery heat insulation pad (307), and a locking pin (308); wherein, the battery box (301) is fixedly connected to the battery side cover (304), the anti-drift ring (303) is located at the rear end of the battery box (301), and the battery bottom cover (305) is connected to the battery box (301) through the bottom cover damping hinge (306). The battery bottom cover (305) can be rotated around the battery box. The battery box (301) rotates with friction damping; the battery heat insulation pad (307) and locking pin (308) are installed on the battery bottom cover (305); the bottom cover damping hinge (306) consists of a self-locking nut (3061), a butterfly spring (3062), a rotating hinge (3063), a fixing hinge (3064), and a fan-shaped nail (3065); the two sides of the fan-shaped nail (3065) are respectively attached to the sides of the battery box (301) to prevent the fan-shaped nail (3065) from rotating; the fixing hinge (3064) and the battery box (3061 ...5) are respectively attached to the sides of the battery box (301) to prevent the battery box (3061) from rotating; the battery box (3061) is attached to the battery box (3062), the battery box (3063) is attached to the battery box (3064), the battery box (3065) is attached to the battery box (3065) to prevent the battery box (3065) from rotating; the battery box (3064) is attached to the battery box (3065) to prevent the battery box (3065) from rotating; the battery box (3065) is attached to the battery box (3065) to prevent the battery box (3065) from rotating; the battery box (3065) is attached to the battery box (3065) to prevent the battery box (3065) from rotating; the battery box (3065) is attached to the battery box (3065) to prevent the battery The battery box (301) is fixedly connected, the rotating page (3063) is connected to the battery bottom cover (305), a butterfly spring (3062) is added between the rotating page (3063) and the fixed page (3064), and a certain preload is applied by the self-locking nut (3061) to achieve the effect of rotating with friction damping; the locking pin (308) consists of the front cover (3081), the locking tongue (3082), the sliding pin (3083), the spring (3084), the rear cover (3085), and the locking tongue groove (3064). Composed of 086), the head of the locking tongue (3082) is beveled and slides with the battery box (301). The locking tongue (3082) is located in the groove of the bottom cover (305) of the battery to prevent astronauts from accidentally opening it. The sliding pin (3083) is inserted into the locking tongue (3082) and can slide along the locking tongue groove (3086). The front cover (3081) and the rear cover (3085) are fixed at both ends of the locking tongue groove (3086) to prevent the locking tongue (3082) from coming out of the locking tongue groove (3086).

2. The space-based on-orbit maintenance hand-operated device for astronaut suits according to claim 1, characterized in that, It also includes an anti-detachment pin (110), which is located on the right side of the U-shaped shell (100) and provides a mechanical connection interface for the spacesuit; the motor assembly (101) is fixed to the front end of the U-shaped shell (100) by screws, and the top cover (102) is fixed on the top of the U-shaped shell (100); the angle knob cap assembly, indicator light assembly, and direction knob cap (105) are located on the left side of the U-shaped shell and serve as the main operating interface for astronauts. The angle knob cap assembly includes three angle knob caps (103), which are arranged in the order of operation of tens, units, and dots. The width between two adjacent angle knob caps (103) can accommodate the width of a single finger of an astronaut. The indicator light assembly is located between the direction knob cap (105) and the angle knob cap assembly. The indicator light assembly includes three indicator lights (104), which are power, working and fault indicators from top to bottom. It also includes a power switch anti-misoperation cover (106), which is fixed behind the U-shaped shell (100) along with the power switch (107). The power switch anti-misoperation cover (106) is designed in a semi-open shape, which prevents the power switch (107) from being accidentally touched while making it convenient for astronauts to judge the switch status.

3. The space-based on-orbit maintenance hand-operated device for astronaut suits according to claim 1, characterized in that, Each angle knob cap (103) includes: an angle knob indicator (1031), an angle knob paddle (1032), an angle knob anti-slip structure (1033), and an angle knob flat hole (1034); wherein, the angle knob indicator (1031) is marked with 0~9 position markings, and the U-shaped shell (100) is marked with pointer markings; several angle knob paddles (1032) are evenly distributed on the angle knob cap (103) around the circumference, so that astronauts can turn the angle knob cap (103) from above at different angle positions; the angle knob anti-slip structure (1033) is designed with convex and concave grooves to prevent the spacesuit gloves from slipping; the angle knob flat hole (1034) cooperates with the angle knob element (112) to change the angle position; The hand-driven indicator light (104) includes: a lamp element (1041), a threaded sleeve (1042), an insulating sleeve (1043), a mounting nut (1044), an insulating seat (1045), and an end cap nut (1046); wherein, the threaded sleeve (1042) is fixed to the U-shaped shell (100) by the mounting nut (1044), the insulating sleeve (1043) contacts the side of the lamp element (1041), the insulating seat (1045) contacts the bottom of the lamp element (1041), and the insulating seat (1045) is designed with two small holes to avoid the two metal leads of the lamp element (1041); the internal gap of the indicator light (104) is filled with insulating flexible material; The direction knob fixing seat (115) and angle knob fixing seat (116) are respectively connected to the U-shaped shell (100) screw. A slotted hole is designed on the direction knob fixing seat (115) and angle knob fixing seat (116) respectively, which are connected to the direction knob element (114) and angle knob element (112). The direction knob fixing seat (115) and angle knob fixing seat (116) can limit the rotation of the angle knob element (112) and direction knob element (114) around their own axis when the astronaut rotates the angle knob cap (103) and direction knob cap (105). The angle knob heat insulation pad (117) and motor assembly heat insulation pad (118) can prevent external heat from being transferred to the inside of the power component through the component assembly gap.

4. The space-based on-orbit maintenance hand-operated device for astronaut suits according to claim 1, characterized in that, The handle component (2) also includes a start / stop switch heat insulation pad (202) and a circular electrical connector heat insulation pad (206); wherein, the right handle (201) and the left handle (203) are connected by screws, the start / stop switch cap (204) and the start / stop switch element (205) are fixed together on the right handle (201), and the start / stop switch heat insulation pad (202) isolates heat transfer between the start / stop switch element (205) and the right handle (201); the circular electrical connector (207) is located below the handle component (2), and the circular electrical connector heat insulation pad (206) is located between the handle housing and the circular electrical connector (207) to isolate heat transfer.

5. The space-based on-orbit maintenance hand-operated device for astronaut suits according to claim 1, characterized in that, The head of the latch (3082) is a bevel with an angle between 10° and 30°. The bottom of the battery box (301) and the latch (3082) are in contact with each other in an arc. When the battery bottom cover (305) is closed, the bevel of the head of the latch (3082) is always in contact with the battery box (301) to reduce the closing operation force.

6. A control method for a space-based on-orbit maintenance hand-operated device used in astronaut suits, characterized in that, A space-based on-orbit maintenance manual control device for astronaut suits according to any one of claims 1-5, comprising a self-test process and a workflow, and setting multiple abnormal operation control modes to prevent misoperation, wherein the self-test process includes: a) Power on the manual drive device; b) The system checks the battery and motor temperatures. If the temperature exceeds the normal range, the system displays a tool malfunction and the "Fault" status indicator light stays on. c) The system checks whether the battery output voltage is normal. When the battery level is higher than 30% of the total battery level, the system controls the "Battery Level" indicator light to stay on. When the battery level is lower than 30% of the total battery level, the system controls the "Battery Level" indicator light to flash as a reminder, flashing on and off for 1 second each time. When the battery level is lower than 5% of the total battery level, the system controls the "Battery Level" indicator light to turn off. d) After the system self-test is normal, it enters sleep mode. At this time, the system control "Work" indicator light is off and the "Battery" indicator light is on. However, the tool will not work if the tool start / stop switch is pressed in sleep mode. The workflow includes: a) Astronauts use three angle adjustment knobs to set the rotation angle of the robotic arm joints according to mission requirements, but the system does not read the set angle at this time; b) Astronauts need to check if the direction adjustment knob is in the zero position. If it is not in the zero position, it needs to be adjusted to the zero position. Then, according to the mission requirements, the direction adjustment knob is used to set the forward and reverse rotation. After the setting is completed, the system enters the standby mode and controls the "Work" indicator light to flash. At this time, the system reads the set angle value. c) When the astronaut presses the start / stop switch, the tool enters the working state, drives the joint to rotate according to the set rotation angle, and keeps the "working" indicator light on. When the set angle value is reached, the tool automatically stops, enters the hibernation state, and keeps the "working" indicator light off. d) If the system detects an output torque of 12 Nm during tool operation, i.e., the load reaches 12 Nm, the system will control the "Power" and "Working" indicator lights to flash simultaneously, and the tool will remain in working condition. If the system detects an output torque of 16 Nm during tool operation, i.e., the load reaches 16 Nm, the system will control the tool to stop and enter standby mode, and control the "Power", "Working", and "Fault" indicator lights to flash simultaneously. At this time, pressing the start / stop button will allow the tool to continue working and perform torque detection and judgment. e) If the start / stop switch is pressed during tool operation, the tool will pause operation and enter standby mode. The system will control the "Work" indicator light to change from solid to flashing. The previous working state will not be cleared. If the start / stop switch is pressed within 5 minutes, the previous task can be resumed. Otherwise, it will enter hibernation mode and the system will clear the previous working state. f) If the direction adjustment knob is turned to the 0 position during tool operation, the tool will stop working and enter sleep mode, and the system will clear the previous working state; g) If the angle adjustment knob is turned during tool operation, it will have no effect and the angle adjustment knob signal will not be processed in the working state; however, if the angle adjustment knob is not reset, the system will read the angle in real time when the direction adjustment knob is turned to "forward" or "reverse" in the next working process. h) Throughout the entire operation, the system continuously monitors the battery voltage, battery temperature, and motor temperature. If any abnormality is detected, the manual drive device will be stopped, and the status indicator lights will be used to display any abnormalities during the self-test process. The abnormal control modes for preventing misoperation include: a) If the tool is powered on and the direction adjustment knob is set to "forward" or "reverse" for more than 5 minutes without any operation, the system will automatically control the tool to enter sleep mode. The direction adjustment knob needs to be set to "0" and then set to "forward" or "reverse" to enter standby mode. After the tool enters sleep mode, pressing the start / stop switch or restarting the power will not wake the tool into standby mode. b) If the direction adjustment knob is not set to "0" before the tool is powered on, the tool will enter sleep mode after power is on. If the start / stop switch is pressed, the tool will not work. The direction adjustment knob needs to be set to "0" and then set to "forward" or "reverse" to wake up the tool and put it into standby mode. If the direction adjustment knob is not set to "0" after normal operation, the tool will automatically enter sleep mode and will not work when the start / stop switch is pressed. c) Press the start / stop switch before powering on the tool. After powering on, the tool enters sleep mode and does not operate. d) The angle adjustment knob was not set to "0" before the tool was powered on; after powering on, the system set the angle according to the knob's position. e) The power switch is accidentally triggered during tool rotation, the tool loses power and stops working. When the power is restored, the tool enters sleep mode and the previous working state is reset. f) If the direction adjustment knob is accidentally triggered during tool rotation, the tool will stop working and enter sleep mode, resetting the previous working state; g) If the start / stop switch is accidentally triggered during tool rotation, the tool will stop working and enter standby mode. The previous working state will not be reset. Pressing the switch will resume the previous task. h) The angle adjustment knob is accidentally triggered during tool rotation: it has no effect and does not process the angle adjustment knob signal in the working state; i) In case of faults such as battery or motor overheating, or simultaneous failure of both Hall effect sensors in the motor, the system will automatically power off and stop the tool from working and keep the "fault" indicator light on. j) If the tool's battery level drops below 5%, the system will automatically power off, stop the tool from working, and turn off the "battery" indicator light.

7. The method according to claim 6, characterized in that, Three temperature sensors are attached to the surface of the motor, and two temperature sensors are installed inside the battery. The motor over-temperature determination method is as follows: if all three thermistors are overheated or two thermistors are overheated, the system determines the motor is overheated; if one thermistor is overheated, the system determines the motor is not overheated. The battery over-temperature determination method is as follows: if both thermistors are overheated, the system determines the battery is overheated; if one thermistor is overheated and the other is not, and the motor is overheated, the system determines the battery is overheated; otherwise, the battery is not overheated.

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