Vacuum thermal test tooling for hand drive device of space manipulator joint maintenance

Abstract

The application provides a vacuum thermal test tool for a hand drive device of a space mechanical arm joint maintenance, comprising a support structure for fixing the hand drive device to a designated test station, a direction adjusting module provided with a first power assembly and a first operation assembly, the first operation assembly being connected with a direction adjusting knob of the hand drive device installed on the designated test station, a power switch test module provided with a second power assembly and a second operation assembly, the second operation assembly being opposite to a power switch button of the hand drive device, a start-stop switch test module provided with a third power assembly and a third operation assembly, the third operation assembly being opposite to a start-stop switch button of the hand drive device, and a torque test module provided with a transmission assembly and a torque monitoring assembly, the other end of the transmission assembly being connected with an output shaft of the hand drive device. Therefore, the application can realize simulation test under in-orbit working condition, and has simple structure and strong reusability.

Description

Technical Field

[0001] This invention relates to the field of vacuum thermal testing technology, and in particular to a vacuum thermal testing fixture for a hand-driven device for repairing the joints of a space robotic arm. Background Technology

[0002] Thermal vacuum testing is an important environmental test for spacecraft. It mainly involves repeatedly changing the temperature environment of the spacecraft in a vacuum to expose defects in the spacecraft's manufacturing process in advance.

[0003] The space robotic arm joint maintenance hand drive device (hereinafter referred to as the "hand drive device") is mainly used when a single joint of the robotic arm fails. Astronauts carry the device outside the spacecraft and climb to the faulty joint. The dedicated hand drive device is installed on the rear shell of the faulty joint. By setting the motion commands of the dedicated hand drive device, the faulty joint is driven to move, which assists the robotic arm in moving / crawling to the maintenance configuration, providing a convenient maintenance posture for subsequent on-orbit maintenance of the joint.

[0004] To test the on-orbit performance of the manual control unit and verify its environmental adaptability, a vacuum thermal test should be conducted. However, current technology does not provide equipment that can simulate astronauts' on-orbit operations and test the manual control unit to perform the prescribed actions in a vacuum thermal test.

[0005] In summary, existing equipment cannot perform thermal vacuum tests on hand-driven devices, and there is an urgent need for a tooling that can be used to perform thermal vacuum tests on hand-driven devices. Summary of the Invention

[0006] In view of the above-mentioned defects in the prior art, the purpose of this invention is to provide a vacuum thermal testing fixture for the hand drive device of a space robotic arm joint maintenance, so as to realize the simulation test under on-orbit conditions.

[0007] To achieve the above objectives, the present invention provides a vacuum thermal testing fixture for a hand-driven device for repairing the joints of a space robotic arm, comprising:

[0008] A support structure is provided for connecting to the hand-drive device to fix the hand-drive device at a designated test station.

[0009] A direction adjustment module is provided with a first power component and a first operating component driven by the first power component. The first operating component is connected to the direction adjustment knob of the hand drive device installed on the designated test station to drive the direction adjustment knob to rotate.

[0010] A power switch test module is provided with a second power component and a second operating component driven by the second power component. The second operating component is positioned opposite the power switch button of the hand-driven device at the designated test station for pressing the power switch button.

[0011] A start / stop switch test module is provided with a third power component and a third operating component driven by the third power component. The third operating component is positioned opposite the start / stop switch button of the hand-driven device at the designated test station for pressing the start / stop switch button.

[0012] A torque testing module includes a transmission component and a torque monitoring component connected to one end of the transmission component. The other end of the transmission component is connected to the output shaft of the hand drive device at the designated test station. The torque monitoring component obtains the torque information generated by the output shaft through the transmission component.

[0013] Optionally, the support structure is provided with a simulated on-rail mounting interface for detachable connection with the hand-drive device.

[0014] Optionally, the first power assembly includes a rotary motor and a first coupling, wherein the drive end of the rotary motor is connected to one end of the first coupling, and the other end of the first coupling is connected to the first operating assembly for transmission.

[0015] Optionally, the first operating component includes a toggle lever, a toggle lever bracket, and a knob retainer. One end of the toggle lever is connected to the first coupling for transmission, and the other end is connected to the knob retainer. The toggle lever bracket is positioned between the toggle lever and the knob retainer for positioning. The knob retainer is used to connect and fix to the direction adjustment knob of the hand-driven device at the designated test station. The toggle lever is used to drive the direction adjustment knob to rotate through the knob retainer.

[0016] Optionally, the second power assembly includes a first thrust motor and a first thrust sensor, wherein the first thrust sensor is connected to the first thrust motor to detect the output thrust of the first thrust motor.

[0017] Optionally, the second operating component includes a first push rod connector, a first push rod, a first push rod end anti-wear pad, and a first fixed bracket. The two ends of the first push rod connector are respectively connected to the first thrust motor and the first push rod. The first push rod end anti-wear pad is disposed at the end of the first push rod. The first push rod is disposed on the first fixed bracket so as to face the power switch button of the hand drive device at the designated test station. The first push rod is used to push and press the power switch button by being driven by the first thrust motor.

[0018] Optionally, the third power assembly includes a second thrust motor and a second thrust sensor, wherein the second thrust sensor is connected to the second thrust motor to detect the output thrust of the second thrust motor.

[0019] Optionally, the third operating component includes a second push rod connector, a second push rod, a second push rod end anti-wear pad, and a second fixed bracket. The two ends of the second push rod connector are respectively connected to the second thrust motor and the second push rod. The second push rod end anti-wear pad is located at the end of the second push rod. The second push rod is located on the second fixed bracket so as to face the start / stop switch button of the hand drive device at the designated test station. The second push rod is used to push and press the start / stop switch button by being driven by the second thrust motor.

[0020] Optionally, the transmission assembly includes a connecting shaft and a second coupling, and the torque monitoring assembly includes a torque sensor and a magnetic torque generator. The two ends of the connecting shaft are respectively connected to the output shaft of the hand-drive device at the designated test station and the second coupling. The input end of the torque sensor is connected to the second coupling, and its output end is connected to the magnetic torque generator. The torque sensor is used to acquire the output torque of the hand-drive device, and the magnetic torque generator is used to provide rotational resistance based on simulated environmental information to adjust the torque information monitored by the torque sensor.

[0021] Optionally, it also includes a control module connected to the direction adjustment module, the power switch test module, the start / stop switch test module, and the torque test module. The control module is used to generate control commands so that the direction adjustment module, the power switch test module, the start / stop switch test module, and the torque test module operate based on the control commands.

[0022] The vacuum thermal testing fixture for the hand-drive device of the space robotic arm joint maintenance described in this invention includes: a support structure for connecting to the hand-drive device to fix the hand-drive device at a designated test position; a direction adjustment module, comprising a first power component and a first operating component driven by the first power component, the first operating component being connected to the direction adjustment knob of the hand-drive device installed at the designated test position for performing rotation testing on the direction adjustment knob; and a power switch testing module, comprising a second power component and a second operating component driven by the second power component, the second operating component being directly opposite the hand-drive device at the designated test position. The hand-operated device includes a power switch button for pressing tests; a start / stop switch test module with a third power component and a third operating component driven by the third power component, the third operating component being positioned opposite the start / stop switch button of the hand-operated device at a designated test station for pressing tests; and a torque test module with a transmission component and a torque monitoring component connected to one end of the transmission component, the other end of the transmission component being connected to the output shaft of the hand-operated device at the designated test station, the torque monitoring component acquiring torque information generated by the output shaft through the transmission component. Thus, the fixture provided by this invention can effectively simulate the operation of an astronaut using a hand-operated device and monitor and measure the pressing force and rotational force; it adopts a modular installation method, simplifying the structure while achieving functionality; and it has strong reusability. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the vacuum thermal testing fixture of the hand-drive device for repairing the joints of the space robotic arm provided in an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0025] It should be noted that references to "an embodiment," "embodiment," "example embodiment," etc., in this specification refer to the described embodiment including specific features, structures, or characteristics, but not every embodiment must include these specific features, structures, or characteristics. Furthermore, such expressions do not refer to the same embodiment. Moreover, when describing specific features, structures, or characteristics in conjunction with embodiments, whether or not explicitly described, it is indicated that incorporating such features, structures, or characteristics into other embodiments is within the knowledge of those skilled in the art.

[0026] Furthermore, certain terms are used in the specification and subsequent claims to refer to specific components or parts. Those skilled in the art will understand that manufacturers may use different names or terms to refer to the same component or part. This specification and subsequent claims do not distinguish components or parts by differences in name, but rather by differences in function. The terms "comprising" and "including" used throughout the specification and subsequent claims are open-ended and should be interpreted as "including but not limited to." Additionally, the term "connection" here includes any direct and indirect electrical connection means. Indirect electrical connection means include connections made through other means.

[0027] For the space station maintenance tool series, the key to conducting vacuum thermal tests is to design a set of tooling to drive the test product, simulate astronauts' on-orbit operations, complete the prescribed actions, and verify the product's design functions. The hand-operated device is one of the most complex products in the space station maintenance tool series. During the test, it is necessary to verify the operation of the power button, start / stop button, direction knob, and three angle knobs of the hand-operated device according to logical steps, and measure the torque output of the product.

[0028] In response, Figure 1 This invention illustrates a vacuum thermal testing fixture for a space robotic arm joint maintenance hand drive device according to an embodiment of the present invention. The fixture includes a support structure 16, a direction adjustment module, a power switch testing module, a start / stop switch testing module, and a torque testing module, wherein:

[0029] The support structure 16 is used to connect with the hand-drive device to fix the hand-drive device at a designated test station; that is, the support structure 16 is responsible for positioning and fixing the hand-drive device, ensuring that the hand-drive device is in the correct predetermined position and that the actuators of each module are aligned with the corresponding positions of the hand-drive device; the direction adjustment module is provided with a first power component and a first operating component driven by the first power component, the first operating component being connected to the direction adjustment knob of the hand-drive device installed at the designated test station for rotating the direction adjustment knob; the power switch test module is provided with a second power component and a second operating component driven by the second power component, the second operating component being connected to the direction adjustment knob of the hand-drive device installed at the designated test station for rotating the direction adjustment knob for testing ... for rotating the direction adjustment knob for testing. The component is positioned opposite the power switch button of the hand-driven device at the designated test station for pressing the power switch button; the start / stop switch test module has a third power component and a third operating component driven by the third power component, the third operating component being positioned opposite the start / stop switch button of the hand-driven device at the designated test station for pressing the start / stop switch button; the torque test module has a transmission component and a torque monitoring component connected to one end of the transmission component, the other end of the transmission component being connected to the output shaft of the hand-driven device at the designated test station, and the torque monitoring component obtaining the torque information generated by the output shaft through the transmission component.

[0030] The support structure in this embodiment preferably has a simulated on-orbit installation interface for detachable connection with the hand-drive device. The simulated on-orbit installation interface is the same as the connection interface of the hand-drive device when it is installed on a spacecraft. Specifically, the simulated on-orbit installation interface is connected to the hand-drive device in the form of a sleeve, and its locking method is consistent with that of the hand-drive device when it is used in orbit. This can verify the correctness of the mechanical interface of the hand-drive device and lock the displacement of the hand-drive device in three directions (X, Y, Z) at the same time, ensuring that the rotation axis of the hand-drive device is fixed at the designated test position.

[0031] Preferably, as shown in the figure, the first power component of this embodiment includes a rotary motor 1 and a first coupling. The drive end of the rotary motor 1 is connected to one end of the first coupling, and the other end of the first coupling is connected to the first operating component. That is, the kinetic energy generated by the rotary motor 1 drives the first coupling to move, and then drives the first operating component to operate through the first coupling. In this process, the first operating component is driven to rotate the direction adjustment knob of the hand drive device at the designated test station. By rotating the direction adjustment knob, the hand drive device can be controlled to rotate in the forward or reverse direction. Specifically, the starting position of the direction adjustment knob is the "0" position perpendicular to the rotation axis of the hand drive device. Rotating 45° to the left is the forward rotation direction, and rotating 45° to the right from the "0" position is the reverse rotation direction.

[0032] Furthermore, the first operating component includes a toggle lever 3, a toggle lever bracket 2, and a knob retainer 4. One end of the toggle lever 3 is connected to the first coupling for transmission, and the other end is connected to the knob retainer 4. The toggle lever bracket 2 is positioned between the toggle lever 3 and the knob retainer 4 for positioning. The knob retainer 4 is used to connect and fix to the direction adjustment knob of the hand-driven device at the designated test station. The toggle lever 3 is used to drive the direction adjustment knob to rotate through the knob retainer 4. That is, the rotary motor 1 provides the rotational power, the first coupling is responsible for connecting the rotary motor shaft to the toggle lever 3, the toggle lever 3 plays the role of transmitting the power of the rotary motor 1 to the knob retainer 4, the toggle lever bracket 2 positions the end of the toggle lever 3 with the front end of the knob retainer 4 to ensure positional tolerance, and the knob retainer 4 finally applies the kinetic energy transmitted from the rotary motor 1 to the direction adjustment knob of the hand-driven device. That is, the fixture provided in this embodiment can use the direction adjustment module to simulate an astronaut rotating the direction adjustment knob under preset working conditions.

[0033] Preferably, as shown in the figure, the second power component includes a first thrust motor 7 and a first thrust sensor 8. The first thrust sensor 8 is connected to the first thrust motor 7 to detect the output thrust of the first thrust motor 7. The power switch button is the master control switch for powering on the hand drive device. The initial position is power off. Pressing it once powers on, the button sinks, the status indicator light of the hand drive device illuminates and it enters standby mode, and pressing it again powers off. In this embodiment, the first thrust sensor 8 is used to monitor the pressing force required to press the power switch button of the hand drive device under different operating conditions. Specifically, the first thrust motor 7 outputs thrust to the second operating component, and the second operating component performs the pressing operation on the power switch button. The first thrust sensor 8 can then record the output thrust of the first thrust motor 7 when the power switch button is successfully pressed under different operating conditions.

[0034] Furthermore, the second operating component includes a first push rod connector, a first push rod 6, a first push rod end anti-wear pad 5, and a first fixed bracket. The first push rod connector is connected at both ends to the first thrust motor 7 and the first push rod 6, respectively. The first push rod end anti-wear pad 5 is located at the end of the first push rod 6. The first push rod 6 is mounted on the first fixed bracket, facing the power switch button of the hand-driven device at the designated test station. The first push rod 6 is used to push and press the power switch button via the drive of the first thrust motor 7. The first thrust motor 7 provides the pressing force, and the first push rod connector transmits the power from the first push rod motor 7 to the first push rod 6. The first push rod 6 triggers the power switch button of the hand-driven device through its extension and retraction. The first push rod end anti-wear pad 5 mainly prevents wear caused by hard contact between the first push rod 6 and the power switch button. The first fixed bracket specifically includes a push rod bracket and a thrust sensor bracket. The push rod bracket and thrust sensor bracket raise the entire module to the center position aligned with the power switch button and fix the entire module to complete the designated action.

[0035] Preferably, as shown in the figure, the third power assembly includes a second thrust motor 10 and a second thrust sensor 9, the second thrust sensor 9 being connected to the second thrust motor 10 to detect the output thrust of the second thrust motor 10.

[0036] Furthermore, the third operating component includes a second push rod connector, a second push rod 11, a second push rod end anti-wear pad 12, and a second fixed bracket. The two ends of the second push rod connector are respectively connected to the second thrust motor 10 and the second push rod 11. The second push rod end anti-wear pad 12 is located at the end of the second push rod 11. The second push rod 11 is mounted on the second fixed bracket, facing the start / stop switch button of the hand-driven device at the designated test station. The second push rod 11 is used to push and press the start / stop switch button through the drive of the second thrust motor 10. The start / stop switch button of the hand-driven device is a device that triggers the rotation output of the hand-driven device after the direction adjustment knob selects a direction in the power-on state. The specific operating principle of the start / stop switch test module composed of the third power component and the third operating component is the same as that of the power switch test module described above, and will not be repeated here.

[0037] Preferably, as shown in the figure, the transmission assembly includes a connecting shaft 15 and a second coupling, and the torque monitoring assembly includes a torque sensor 14 and a magnetic torque converter 13; the two ends of the connecting shaft 15 are respectively connected to the output shaft of the hand drive device at the designated test station and the second coupling, the input end of the torque sensor 14 is connected to the second coupling and the output end is connected to the magnetic torque converter 13, the torque sensor 14 is used to obtain the output torque of the hand drive device, and the magnetic torque converter 13 is used to provide rotational resistance according to the simulated environment information to adjust the torque information monitored by the torque sensor 14. In practical use, the hand drive device needs to output a minimum rotational torque of 6Nm and a maximum of 12Nm under the required operating conditions; therefore, it is necessary to monitor the torque information of the output shaft of the hand drive device. In this embodiment, the connecting shaft 15 is responsible for transmitting the power output by the hand drive device to the torque sensor 14 through the second coupling. The torque sensor 14 is responsible for monitoring the torque output by the hand drive device, while the magnetic torque generator 13 is responsible for providing rotational resistance that is adjusted between 6Nm and 12Nm according to the test requirements.

[0038] Optionally, this embodiment also includes a control module connected to the direction adjustment module, power switch test module, start / stop switch test module, and torque test module. The control module generates control commands to cause the direction adjustment module, power switch test module, start / stop switch test module, and torque test module to operate based on the control commands. That is, the control module outputs corresponding control commands to the corresponding functional modules to control their operation, thereby achieving automated operation.

[0039] The vacuum thermal test fixture for the hand-drive device of the space robotic arm joint maintenance provided in this embodiment can effectively simulate the operation of astronauts when using the hand-drive device, and monitor and measure the pressing and rotating forces. This ensures that any abnormalities can be reflected in the test data immediately and alert the operator to take effective action. All pressing and rotating mechanisms adopt a modular installation method, which simplifies the structure while achieving the desired functionality. During the test, they can be assembled in batches and debugged centrally, minimizing the preparation time. In addition, the sensors, motors and other parts used in this test are general-purpose products and can be applied to other tests after the test is completed.

[0040] The specific installation process of the vacuum thermal testing fixture for the hand-driven device of the space robotic arm joint maintenance is as follows:

[0041] First, connect the support structure 16 to the mounting base plate and fix it with two M10 screws. Pull the locking structure of the hand drive device to the unlock position and insert it into the support structure 16. After observing that the locking pin passes through the reserved notch position of the support structure 16, push the locking structure to the locked position. At this time, gently pull and push the hand drive device to confirm the locking effect. The support structure 16 is now installed.

[0042] Next, pass the lever 3 through the lever bracket 2, connect the lever 3 to the rotary motor 1 via a coupling, then insert the knob retainer 4 into the direction adjustment knob of the hand drive device and fix it with PTFE M4 screws. Align the toggle mechanism on the lever 3 with the round hole on the knob retainer 4 and insert it, ensuring that the toggle mechanism extends more than 3mm out of the round hole to prevent it from coming out. After that, fix the motor bracket and the lever bracket 2; the direction adjustment module installation is complete.

[0043] Continue connecting the first thrust sensor 8 to the first thrust motor 7 via a connector. The front end of the first thrust motor 7 is connected to the first push rod 6 via a connector. The first push rod 6 is connected to the anti-wear pad 5 at the end of the first push rod via an M4 screw, ensuring that the M4 screw head does not protrude beyond the anti-wear pad at the end of the push rod. Align the entire power switch test module with the power switch button of the hand-drive device using a dedicated bracket. Power supply the first thrust motor 7 separately to its maximum extension position. Press down on the power switch button of the hand-drive device to keep the button in the triggered state. At this time, read the value of the first thrust sensor 8 to ensure that it meets the maximum thrust required to trigger the button. Fix the base of the power switch test module and repeatedly test the pressing force until the requirements are met. The installation of the power switch test module is complete.

[0044] The installation and debugging methods for the start / stop switch test module and the power switch test module are the same.

[0045] Finally, connect the connecting shaft 15 to the input end of the torque sensor 14 via a coupling, and connect the output end of the torque sensor 14 to the magnetic torque converter 13 via a coupling. Push the connecting shaft 15 into the corresponding notch position on the output shaft of the hand drive device and lock the screws on the base of the torque test module. The torque test module installation is now complete.

[0046] In actual testing, each component is fixed on a transport vehicle of the test container and subjected to ambient temperature and pressure testing. After passing the test, it is pushed into a vacuum container for thermal vacuum testing. Testing is conducted at each high and low temperature limit under a high vacuum environment, thereby accurately triggering each technical action of the hand drive device and precisely measuring the actual output torque of the hand drive device through the sensor to complete the test.

[0047] The specific working principle of the vacuum thermal testing fixture of the hand-driven device for space robotic arm joint maintenance described in this embodiment is as follows:

[0048] After the thermal vacuum test chamber enters normal operating conditions, the test begins after the specified holding time. The first thrust motor of the power switch test module is powered by +24V, and the first push rod moves forward under the drive of the first thrust motor. Upon triggering the power switch button on the hand-operated device, -24V power is supplied, and the first push rod retracts to its initial position. During this process, the maximum value of the first thrust sensor in the power switch test module is recorded as test data. The power switch test module then enters standby mode. Standby mode refers to the state where the moving parts have moved to a designated position, cease movement, and are locked in that position.

[0049] The rotary motor of the direction adjustment module is powered by +24V. When the motor rotates to the left, it turns the direction adjustment knob of the hand drive device to the forward direction, and the direction adjustment system is put into standby mode.

[0050] The second push rod motor of the start / stop switch test module is powered by +24V. Driven by the second push rod motor, the second push rod moves forward. After triggering the start / stop switch of the hand drive device, it is powered by -24V. The second push rod retracts to the initial position. During this process, the maximum value of the second thrust sensor in the start / stop switch test module is recorded as test data. The start / stop switch test module is then in standby mode.

[0051] After the start / stop switch is triggered, the hand-driven device begins to rotate forward at a certain angle with a fixed torque. This angle is consistent with the parameters set before the test. The output torque is adjusted to the specified range (6Nm or 12Nm) by adjusting the current of the magnetic torquer according to the test requirements. During the rotation, the output torque of the hand-driven device is continuously recorded as test data.

[0052] After completing the prescribed technical actions, the rotary motor of the direction adjustment module is powered by -24V. The motor rotates to the right, turning the direction adjustment knob of the hand drive device to the "0" position. The motor continues to be powered and rotates to the right to the reverse direction, and the direction adjustment module is put into standby mode.

[0053] The second push rod motor of the start / stop switch test module is powered by +24V. Driven by the second thrust motor, the second push rod moves forward and triggers the start / stop switch of the hand drive device to be powered by -24V. The second push rod then retracts to the initial position. During this process, the maximum value of the second thrust sensor in the start / stop switch test module is recorded as test data. The start / stop switch test module then goes into standby mode.

[0054] After the start / stop switch is triggered, the hand-driven device begins to rotate in the opposite direction at a certain angle with a fixed torque. This angle is consistent with the parameters set before the test. The output torque is adjusted to the specified range (6Nm or 12Nm) by adjusting the current of the magnetic torquer according to the test requirements. The output torque of the hand-driven device is continuously recorded as test data during the rotation.

[0055] The test cycle is repeated until the specified number of rotations (or running time) is reached. After the test is completed and all test data is collected, the rotation motor of the direction adjustment module is powered on with +24V (-24V). The motor rotates, turning the direction adjustment knob of the hand drive device to the "0" position. The first push rod motor of the power switch test module is powered on with +24V, and the first push rod moves forward. After triggering the power switch button of the hand drive device, -24V power is applied, and the first push rod retracts to the initial position. During this process, the maximum value of the first thrust sensor in the power switch test module is recorded as test data. The power switch test module then goes into standby mode. At this time, the hand drive device is powered off, the direction adjustment knob returns to the "0" position, and the test ends.

[0056] In summary, the vacuum thermal testing fixture for the hand-drive device of the space robotic arm joint maintenance described in this invention includes: a support structure for connecting to the hand-drive device to fix the hand-drive device at a designated test position; a direction adjustment module, comprising a first power component and a first operating component driven by the first power component, wherein the first operating component is connected to the direction adjustment knob of the hand-drive device installed at the designated test position for performing rotation testing on the direction adjustment knob; and a power switch testing module, comprising a second power component and a second operating component driven by the second power component, wherein the second operating component is positioned opposite the power switch on the designated test position. The power switch button of the hand-operated device is used for pressing the power switch button to perform a press test; the start / stop switch test module is equipped with a third power component and a third operating component driven by the third power component. The third operating component is positioned opposite the start / stop switch button of the hand-operated device at the designated test station to perform a press test on the start / stop switch button; the torque test module is equipped with a transmission component and a torque monitoring component connected to one end of the transmission component. The other end of the transmission component is connected to the output shaft of the hand-operated device at the designated test station. The torque monitoring component obtains the torque information generated by the output shaft through the transmission component. Thus, the fixture provided by this invention can effectively simulate the operation of an astronaut using a hand-operated device and monitor and measure the pressing force and rotational force; it adopts a modular installation method, simplifying the structure while achieving the functionality; and it has strong reusability.

[0057] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A vacuum thermal testing fixture for a hand-driven device used in the maintenance of a space robotic arm joint, characterized in that, Including: A support structure is provided for connecting to the hand-drive device to fix the hand-drive device at a designated test station. A direction adjustment module is provided with a first power component and a first operating component driven by the first power component. The first operating component is connected to the direction adjustment knob of the hand drive device installed on the designated test station to drive the direction adjustment knob to rotate. A power switch test module is provided with a second power component and a second operating component driven by the second power component. The second operating component is positioned opposite the power switch button of the hand-driven device at the designated test station for pressing the power switch button. A start / stop switch test module is provided with a third power component and a third operating component driven by the third power component. The third operating component is positioned opposite the start / stop switch button of the hand-driven device at the designated test station for pressing the start / stop switch button. A torque testing module includes a transmission component and a torque monitoring component connected to one end of the transmission component. The other end of the transmission component is connected to the output shaft of the hand drive device at the designated test station. The torque monitoring component obtains the torque information generated by the output shaft through the transmission component. The support structure is provided with a simulated on-rail mounting interface for detachable connection with the hand-drive device; The third power assembly includes a second thrust motor and a second thrust sensor, wherein the second thrust sensor is connected to the second thrust motor to detect the output thrust of the second thrust motor; The third operating component includes a second push rod connector, a second push rod, a second push rod end anti-wear pad, and a second fixed bracket. The two ends of the second push rod connector are respectively connected to the second thrust motor and the second push rod. The second push rod end anti-wear pad is located at the end of the second push rod. The second push rod is located on the second fixed bracket so as to face the start / stop switch button of the hand drive device at the designated test station. The second push rod is used to push and press the start / stop switch button by being driven by the second thrust motor. The transmission assembly includes a connecting shaft and a second coupling, and the torque monitoring assembly includes a torque sensor and a magnetic torque generator. The two ends of the connecting shaft are respectively connected to the output shaft of the hand drive device at the designated test station and the second coupling. The input end of the torque sensor is connected to the second coupling and the output end is connected to the magnetic torque generator. The torque sensor is used to acquire the output torque of the hand drive device, and the magnetic torque generator is used to provide rotational resistance based on simulated environmental information to adjust the torque information monitored by the torque sensor.

2. The vacuum thermal testing fixture for the hand-driven device of the space robotic arm joint maintenance according to claim 1, characterized in that, The first power assembly includes a rotary motor and a first coupling. The drive end of the rotary motor is connected to one end of the first coupling, and the other end of the first coupling is connected to the first operating assembly for transmission.

3. The vacuum thermal testing fixture for the hand-driven device of the space robotic arm joint maintenance according to claim 2, characterized in that, The first operating component includes a toggle lever, a toggle lever bracket, and a knob retainer. One end of the toggle lever is connected to the first coupling for transmission, and the other end is connected to the knob retainer. The toggle lever bracket is positioned between the toggle lever and the knob retainer for positioning. The knob retainer is used to connect and fix to the direction adjustment knob of the hand-driven device at the designated test station. The toggle lever is used to drive the direction adjustment knob to rotate through the knob retainer.

4. The vacuum thermal testing fixture for the hand-driven device of the space robotic arm joint maintenance according to claim 1, characterized in that, The second power assembly includes a first thrust motor and a first thrust sensor, wherein the first thrust sensor is connected to the first thrust motor to detect the output thrust of the first thrust motor.

5. The vacuum thermal testing fixture for the hand-driven device of the space robotic arm joint maintenance according to claim 4, characterized in that, The second operating component includes a first push rod connector, a first push rod, a first push rod end anti-wear pad, and a first fixed bracket. The two ends of the first push rod connector are respectively connected to the first thrust motor and the first push rod. The first push rod end anti-wear pad is disposed at the end of the first push rod. The first push rod is disposed on the first fixed bracket so as to face the power switch button of the hand drive device at the designated test station. The first push rod is used to push and press the power switch button by being driven by the first thrust motor.

6. The vacuum thermal testing fixture for the hand-drive device of the space robotic arm joint maintenance according to any one of claims 1 to 5, characterized in that, It also includes a control module connected to the direction adjustment module, the power switch test module, the start / stop switch test module, and the torque test module. The control module is used to generate control commands so that the direction adjustment module, the power switch test module, the start / stop switch test module, and the torque test module operate based on the control commands.

Images