A guiding positioning anti-drifting device and method suitable for on-orbit maintenance of an extravehicular ORU

Abstract

The application discloses a guiding positioning anti-drifting device and method suitable for on-orbit maintenance of an extravehicular ORU. The ORU device needs to be prevented from drifting away from the installation surface by a device and method when being replaced in a zero-gravity environment. The guiding positioning anti-drifting device is composed of two parts, namely, fixed positioning blocks and spring-type positioning blocks. Two fixed positioning blocks and two spring-type positioning blocks are a set of suits and are respectively installed on opposite sides (such as the lower left and the upper right) of the ORU device. The guiding positioning anti-drifting device and method suitable for on-orbit maintenance of an extravehicular ORU include two-stage implementation steps, namely, a ground installation stage and an on-orbit installation stage. The ground installation stage includes device installation, installation of fixed positioning blocks, installation of spring-type positioning blocks, removal of the device, ground reinstallation of the device for inspection, the on-orbit installation stage includes shifting of the device by a hand-held universal handle, device adhesion to the fixed positioning blocks, device adhesion to the spring-type positioning blocks and on-orbit confirmation of the state.

Description

Technical Field

[0001] This invention patent relates to the field of auxiliary tools for astronaut extravehicular activity (EVA) maintenance, specifically to a guiding, positioning, and anti-drift device and method suitable for on-orbit maintenance of extravehicular activity (ORU). Background Technology

[0002] The space station needs to be equipped with a variety of extravehicular activity (EVA) maintenance tools to ensure the stable operation and maintenance of EVA equipment. These tools must allow astronauts to perform repairs or replacements while wearing EVA suits, which will help improve the reliability and stability of the space station's operation in orbit.

[0003] When performing on-orbit maintenance on external ORUs (Orbital Replaceable Units), it is necessary to overcome the zero-gravity environment and alternating hot and cold environment of low Earth orbit. The zero-gravity environment causes the equipment to drift randomly in orbit and cannot be fixed in the designated position, making it impossible to accurately align the mounting holes and thus impossible to tighten the screws. This poses a great challenge to the on-orbit replacement of external ORUs. Summary of the Invention

[0004] The main technical problem solved by this invention is to provide a guidance, positioning and anti-drift device and method for on-orbit maintenance of extravehicular ORUs, which can provide convenient and reliable guidance, positioning and anti-drift measures for ORU equipment when astronauts replace and install ORU equipment in zero gravity.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This invention provides a guiding and positioning anti-drift device suitable for on-orbit maintenance of external ORUs, used for positioning external ORUs installed on the external equipment mounting surface, including a fixed positioning component and a spring-type positioning component; wherein, the fixed positioning component is disposed at a first corner of the equipment mounting surface, and is used to abut against a lug at one corner of the external ORU during positioning; the spring-type positioning component is disposed at the opposite corner of the first corner of the equipment mounting surface, and is used to elastically abut against the lug at the opposite corner of the external ORU during positioning, providing positioning force.

[0006] In some embodiments, the fixed positioning component includes at least two fixed positioning blocks, and the spring positioning component includes two spring positioning blocks.

[0007] In some embodiments, the fixed positioning block is provided with a guide surface, which is an inclined surface with its top end away from the inner side of the device mounting surface and its bottom end close to the inner side of the device mounting surface.

[0008] In some embodiments, the angle between the guide surface and the device mounting surface is 30°.

[0009] In some embodiments, the fixed positioning block further includes a positioning surface, the bottom end of the guide surface is connected to the top end of the positioning surface, the positioning surface is perpendicular to the device mounting surface, and the positioning surfaces of the two fixed positioning blocks are perpendicular to each other.

[0010] In some embodiments, the spring-type positioning block includes an elastic structure that, when not under force, moves close to the inside of the device mounting surface and, when compressed, moves away from the inside of the device mounting surface, providing an elastic force toward the inside of the device mounting surface.

[0011] In some embodiments, the elastic structure is a torsion spring or a leaf spring.

[0012] In some embodiments, both the fixed positioning block and the spring positioning block are provided with mounting holes for fixing the positioning block to the mounting surface of the device.

[0013] This invention also provides a guidance and positioning anti-drift method suitable for on-orbit maintenance of external ORUs, based on the above-mentioned guidance and positioning anti-drift device suitable for on-orbit maintenance of external ORUs, comprising the following steps: S1: During the ground assembly stage of the cabin, the guide positioning and anti-drift device applicable to on-orbit maintenance of the external ORU is installed in place, specifically including steps S1-1 to S1-5. S1-1: Install the external ORU into place; S1-2: Install 2-3 fixed positioning blocks at the ORU ear plate position outside the cabin. The blocks are provided with a chamfered guide surface on the side close to the equipment. During installation, the fixed positioning blocks are close to the equipment ear plate, and the positioning surfaces of the two fixed positioning blocks are at 90 degrees. S1-3: At the diagonal ear position where two fixed positioning blocks have been installed, two spring positioning blocks are installed. Both spring positioning blocks are tightly fitted to the diagonal ear through an elastic structure. S1-4: Remove external equipment; S1-5: Install the external equipment according to the on-orbit installation procedure to verify the effectiveness of the positioning and anti-drift function of the guide positioning and anti-drift device; S2: In-orbit application phase, when the spacecraft is in orbit, the astronauts install the external ORU, which includes steps S2-1 to S2-4. S2-1: When extravehicular equipment needs to be replaced in orbit, the astronaut will carry out an extravehicular activity and use a universal handle to transfer the equipment to the location where it is to be installed. S2-2: Fit the ear piece at one corner of the device tightly with the two fixed positioning blocks; S2-3: Hold the universal handle to control the posture of the equipment, so that the diagonal lugs of the rectangular mounting surface of the ORU equipment are tightly fitted with the two spring-type positioning blocks; S2-4: Hold the universal handle and shake it slightly to confirm that the equipment is in anti-drift condition. Then tighten the screws and remove the universal handle.

[0014] In some embodiments, in steps S1-3, the base portion of the spring-type positioning block has a gap of 0.5-1mm with the device ear piece.

[0015] The beneficial effects of this invention are: To ensure the long-term stable operation of the space station in orbit, it is equipped with extravehicular activity (EVA) maintenance tools, enabling astronauts to replace external equipment in a zero-gravity environment. In the zero-gravity environment of space, astronauts may encounter situations where ORU equipment cannot be positioned or floats in mid-air when replacing it in orbit. To prevent the equipment from drifting during replacement and maintenance, a guiding and anti-drift device needs to be installed on the mounting surface of the equipment to ensure its stability.

[0016] According to the technical solution provided in the embodiments of this application, a guiding, positioning, and anti-drift device and method suitable for on-orbit maintenance of external ORUs are proposed. The invention consists of a fixed positioning block and a spring positioning block. The fixed positioning block is generally installed on the lower left side of the ORU equipment, and its function is to guide and position the ORU equipment; the spring positioning block is generally installed on the upper right side of the ORU equipment, and its function is to position and prevent the ORU equipment from drifting.

[0017] Two anti-drift positioning blocks with anti-drift torsion springs or anti-drift leaf springs, together with two fixed positioning blocks on opposite sides, clamp the ORU device to restrict the degree of freedom of the ORU device, thereby achieving the effects of guidance, positioning and anti-drift.

[0018] The bending structure of the anti-drift torsion spring allows the mounting lugs to be installed normally without jamming, and the fixed positioning block can provide guidance for the installation of products on orbit, making it easier for astronauts to operate in orbit. The guidance and positioning anti-drift device has a simple structure and is easy to operate, which can save astronauts time and effort in orbit and improve work efficiency. Attached Figure Description

[0019] The embodiments of the present invention will now be described with reference to the accompanying drawings, wherein: Figure 1 A guide and positioning anti-drift procedure for replacing external ORU equipment in a zero-gravity environment; Figure 2 A schematic diagram showing the relative positions of the external ORU equipment and the guide positioning and anti-drift device before replacement; Figure 3 A schematic diagram showing the interface between the external ORU equipment and the outside world; Figure 4 For fixed positioning blocks in guide positioning and anti-drift devices; Figure 5 A torsion spring positioning block (the torsion spring is in a free state) in a guide positioning and anti-drift device. Figure 6 The torsion spring positioning block in the guide positioning and anti-drift device (the torsion spring is in a compressed state). Figure 7 For the leaf spring type positioning block in the guide positioning anti-drift device; Figure 8 A top view showing the relative positions of the fixed positioning block and the spring positioning block in the guide positioning and anti-drift device; Figure 9 A perspective view showing the relative positions of the fixed positioning block and the spring positioning block in the guide positioning and anti-drift device; Figure 10 A top-view diagram showing the relative positions of the external ORU equipment installed within the guide positioning and anti-drift device; Figure 11 Oblique view of the relative position of the small external ORU equipment installed in the guide positioning and anti-drift device (2 fixed positioning blocks). Figure 12 Oblique view of the relative position of the large external ORU equipment installed in the guide positioning and anti-drift device (3 fixed positioning blocks). Among them, 1 is the equipment mounting surface, 2 is the ORU equipment, 21 is the ORU equipment lug, 22 is the universal handle connecting base, 3 is the universal handle, 4 is the fixed positioning block, 5 is the spring positioning block, 51 is the anti-drift torsion spring base, 52 is the anti-drift torsion spring, 53 is the pressure-resistant sleeve, 54 is the fastening shaft, 6 is the leaf spring positioning block, 61 is the anti-drift leaf spring, and 62 is the anti-drift leaf spring base. Detailed Implementation

[0020] The present application 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. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] Furthermore, it should be noted that, without conflict, the embodiments and features described in the present invention can be combined with each other.

[0023] Astronauts need to implement necessary anti-drift measures when replacing equipment in zero gravity. Therefore, a method and device are required to quickly and securely fix the external ORU (Extravehicular Unit) in zero gravity to assist astronauts in the installation and replacement of the ORU equipment. The entire operation should be simple and easy to perform, saving time. Because the replacement of the external ORU equipment requires aligning the screw mounting holes, and the replacement requires repeatable installation accuracy, the anti-drift measures must have guiding and positioning functions. Furthermore, the anti-drift measures must be able to withstand long-term use in the alternating temperature environment of the external spacecraft. Therefore, this invention provides a guiding, positioning, and anti-drift device and method suitable for on-orbit maintenance of external ORUs.

[0024] The following description, in conjunction with the accompanying drawings, further illustrates a guiding, positioning, and anti-drift device and method for assisting astronauts in securing their ORU (Optical Ranging Unit) in a zero-gravity environment.

[0025] Figure 1 The process for guiding and positioning to prevent drifting during the replacement of extravehicular equipment in a zero-gravity environment utilizes a guiding and positioning anti-drift device. Figure 2 This is a schematic diagram showing the relative position of the external ORU equipment and the guide positioning and anti-drift device before replacement. In the diagram, the ORU equipment 2 is installed on the equipment mounting surface 1. The universal handle 3 is used to assist in moving the ORU equipment 2. The fixed positioning block 4 and the spring positioning block 5 provide auxiliary positioning for installation. Figure 3 This is a schematic diagram of the interface between the external ORU equipment and the outside world. The ORU equipment 2 has a universal handle connection base 22 on its surface. The guiding and positioning anti-drift device consists of two parts, such as... Figure 4 The image shows fixed positioning block 4 and... Figure 5 The spring-type positioning block 5, through the cooperation of the fixed positioning block 4 and the spring-type positioning block 5, realizes the guiding positioning and anti-drift function when the ORU equipment 2 is installed outside the cabin.

[0026] The spring-type positioning block used to fix the ORU device can be, for example, Figure 5 The torsion spring shown can also be made of, for example Figure 7 The spring-type positioning block 6 shown is used to hold the mounting lugs 21 of the space station ORU equipment, restricting their movement trajectory in two radial directions. The spring-type positioning block 6 includes an anti-drift spring 61 and an anti-drift spring base 62. The top of the anti-drift spring has an arc-shaped limiting structure, which is used to limit the mounting lugs, restricting their axial degree of freedom, and realizing the positioning and anti-drift function of the ORU equipment.

[0027] The spring-type positioning block consists of a 51 anti-drift torsion spring base, a 52 anti-drift torsion spring, a 53 pressure-resistant sleeve, and a 54 fastening shaft. The 52 anti-drift torsion spring can be of various forms, such as an anti-drift leaf spring. Stainless steel spring wire is preferred for the torsion spring to withstand the alternating temperature environment on the rail.

[0028] It should be noted that both the fixed positioning block and the spring positioning block have two elongated through holes on their bottom through surfaces, and the mounting plate has threaded mounting holes that match the through holes, so as to facilitate adjustment of the installation position during ground installation.

[0029] The fixed positioning block and the top of the contact surface with the equipment ear are both provided with a 1×60° chamfer, which can be used as a guide when aligning and installing the equipment.

[0030] In this system, the spring-type positioning block and the equipment lugs are clamped together by anti-drift torsion springs and diagonally fixed positioning blocks. For example... Figure 6 As shown, by pressing down on the anti-drift ORU device, the device is pressed against the anti-drift torsion spring. The reaction force provided by the torsion spring squeezes the ORU device tightly, thus achieving the anti-drift function.

[0031] The guide positioning and anti-drift device for large ORU equipment consists of 3 fixed positioning blocks and 2 spring positioning blocks; the guide positioning and anti-drift device for small ORU equipment consists of 2 fixed positioning blocks and 2 spring positioning blocks, which are respectively installed on the two diagonally opposite mounting lugs on the outermost side of the equipment.

[0032] It should be noted that, as Figure 6 , Figure 7 As shown, when the mounting lug squeezes the anti-drift torsion spring or anti-drift leaf spring, the anti-drift torsion spring or leaf spring undergoes elastic deformation, pressing the lug of the device against the positioning block, thus restricting the three degrees of freedom of the ORU device and preventing the ORU device from drifting out when it is on track.

[0033] It should be noted that, as Figure 8 , Figure 9 , Figure 10 As shown, when using two fixed positioning blocks to position one corner of the rectangular mounting surface of the ORU device, the two fixed positioning blocks must be arranged perpendicular to each other; when using two spring-type positioning blocks to position the other corner of the rectangular mounting surface of the ORU device, the two spring-type positioning blocks must be arranged perpendicular to each other. Figure 9 for Figure 8 (Side view).

[0034] When the ORU device is large, two smaller fixed positioning blocks (such as...) are used. Figure 11 (As shown) It is difficult to determine the precise relative position between the equipment and the fixed positioning block; therefore, three or more fixed positioning blocks can be used for positioning. For example... Figure 12 As shown, this is a corner of the rectangular mounting surface of the ORU device, which is positioned using three fixed positioning blocks.

[0035] It should be noted that, in order to ensure accurate alignment of all mounting holes during the installation of the external ORU, two (or three) mutually perpendicular fixed positioning blocks are required to precisely position the edges of the rectangular mounting surface of the equipment. To ensure sufficient accuracy, the various components of the guide positioning and anti-drift device must be pre-installed at their designated positions on the equipment mounting surface during the ground assembly stage on the equipment mounting surface of the cabin.

[0036] The present invention describes a method for guiding, positioning and preventing drift of an auxiliary astronaut ORU device used in a zero-gravity environment, comprising two implementation steps: a ground installation stage and an on-orbit installation stage.

[0037] The present invention discloses a guidance and positioning anti-drift method applicable to on-orbit maintenance of external ORUs, which involves the following implementation steps: S1: During the ground assembly stage of the cabin, the guide positioning and anti-drift device applicable to on-orbit maintenance of the external ORU is installed in place, specifically including steps S1-1 to S1-5. S1-1: Install the external ORU into place; S1-2: Install 2-3 fixed positioning blocks at the ORU ear plate position outside the cabin. The blocks are provided with a chamfered guide surface on the side close to the equipment. During installation, the fixed positioning blocks are close to the equipment ear plate, and the positioning surfaces of the two fixed positioning blocks are at 90 degrees. S1-3: At the diagonal ear position where two fixed positioning blocks have been installed, two spring positioning blocks are installed. Both spring positioning blocks are tightly fitted to the diagonal ear through an elastic structure. S1-4: Remove external equipment; S1-5: Install the external equipment according to the on-orbit installation procedure to verify the effectiveness of the positioning and anti-drift function of the guide positioning and anti-drift device; S2: In-orbit application phase, when the spacecraft is in orbit, the astronauts install the external ORU, which includes steps S2-1 to S2-4. S2-1: When extravehicular equipment needs to be replaced in orbit, the astronaut will carry out an extravehicular activity and use a universal handle to transfer the equipment to the location where it is to be installed. S2-2: Fit the ear piece at one corner of the device tightly with the two fixed positioning blocks; S2-3: Hold the universal handle to control the posture of the equipment, so that the diagonal lugs of the rectangular mounting surface of the ORU equipment are tightly fitted with the two spring-type positioning blocks; S2-4: Hold the universal handle and shake it slightly to confirm that the equipment is in anti-drift condition. Then tighten the screws and remove the universal handle.

[0038] In some embodiments, in steps S1-3, the base portion of the spring-type positioning block has a gap of 0.5-1mm with the device ear piece.

Claims

1. A guiding and positioning anti-drift device for on-orbit maintenance of external ORUs, used for positioning external ORUs installed on the external equipment mounting surface, characterized in that, It includes a fixed positioning component and a spring-loaded positioning component; wherein, the fixed positioning component is disposed at the first corner of the mounting surface of the equipment, and is used to abut against the lug of one corner of the external ORU during positioning; the spring-loaded positioning component is disposed at the opposite corner of the first corner of the mounting surface, and is used to elastically abut against the lug of the opposite corner of the external ORU during positioning, providing positioning force; The fixed positioning component includes at least two fixed positioning blocks, and the spring positioning component includes two spring positioning blocks; The fixed positioning block is provided with a guide surface, which is an inclined surface, with its top end away from the inner side of the equipment mounting surface and its bottom end close to the inner side of the equipment mounting surface. The fixed positioning block also includes a positioning surface, the bottom end of the guide surface is connected to the top end of the positioning surface, the positioning surface is perpendicular to the equipment mounting surface, and the positioning surfaces of the two fixed positioning blocks are perpendicular to each other.

2. The guiding and positioning anti-drift device for on-orbit maintenance of external ORUs according to claim 1, characterized in that, The angle between the guide surface and the device mounting surface is 30°.

3. The guiding and positioning anti-drift device for on-orbit maintenance of external ORUs according to claim 1, characterized in that, The spring-type positioning block includes an elastic structure. When no force is applied, the elastic structure is close to the inner side of the device mounting surface. When compressed, it is displaced away from the inner side of the device mounting surface and provides an elastic force toward the inner side of the device mounting surface.

4. The guide positioning and anti-drift device for on-orbit maintenance of external ORUs according to claim 3, characterized in that, The elastic structure is a torsion spring or a leaf spring.

5. The guide positioning and anti-drift device for on-orbit maintenance of external ORUs according to claim 1, characterized in that, Both the fixed positioning block and the spring positioning block are provided with mounting holes for fixing the positioning block to the mounting surface of the equipment.

6. A guiding and positioning anti-drift method applicable to on-orbit maintenance of external ORUs, characterized in that, The guide positioning and anti-drift device for on-orbit maintenance of external ORUs according to any one of claims 2-5 includes the following steps: S1: During the ground assembly stage of the cabin, the guide positioning and anti-drift device applicable to on-orbit maintenance of the external ORU is installed in place, specifically including steps S1-1 to S1-5. S1-1: Install the external ORU into place; S1-2: Install 2-3 fixed positioning blocks at the ORU ear plate position outside the cabin. The blocks are provided with a chamfered guide surface on the side close to the equipment. During installation, the fixed positioning blocks are close to the equipment ear plate, and the positioning surfaces of the two fixed positioning blocks are at 90 degrees. S1-3: At the diagonal ear position where two fixed positioning blocks have been installed, two spring positioning blocks are installed. Both spring positioning blocks are tightly fitted to the diagonal ear through an elastic structure. S1-4: Remove external equipment; S1-5: Install the external equipment according to the on-orbit installation procedure to verify the effectiveness of the positioning and anti-drift function of the guide positioning and anti-drift device; S2: In-orbit application phase, when the spacecraft is in orbit, the astronauts install the external ORU, which includes steps S2-1 to S2-4. S2-1: When extravehicular equipment needs to be replaced in orbit, the astronaut will carry out an extravehicular activity and use a universal handle to transfer the equipment to the location where it is to be installed. S2-2: Fit the ear piece at one corner of the device tightly with the two fixed positioning blocks; S2-3: Hold the universal handle to control the device's posture, ensuring that the diagonal lugs on the rectangular mounting surface of the ORU fit tightly against the two spring-loaded positioning blocks; S2-4: Hold the universal handle and shake it slightly to confirm that the equipment is in anti-drift condition. Then tighten the screws and remove the universal handle.

7. The method according to claim 6, characterized in that, In steps S1-3, the base of the spring-type positioning block and the device lug are left with a gap of 0.5-1mm.

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