Maintenance tool suitable for high-precision positioning of space solar wing

Abstract

The invention provides a maintenance tool suitable for high-precision positioning of a space solar wing. The maintenance tool comprises a clamping positioning tool and an electric drilling tool. The clamping and positioning tool comprises a clamping assembly, a handle fixing assembly and an angle positioning assembly. The clamping assembly is used for clamping the space solar wing and providing an alignment window corresponding to a to-be-maintained part on the space solar wing; the handle fixing assembly provides extra pressure for the clamping assembly after the clamping assembly clamps the space solar wing, and reliable fixing of the space solar wing is achieved. The angle positioning assembly drives the electric drilling tool to move to the alignment window; the electric drilling tool comprises a motor driving part, a drilling part and a protection part. The protection component is used for providing outboard protection for the drilling component in a non-operation stage, and during operation, the protection component is taken down, and a tool bit of the drilling component is aligned to a drilling area of outboard equipment; the motor driving part is used for providing stable rotation output in the drilling direction; and the drilling component takes the output of the motor driving component as the input to ensure that the tool bit is always kept in close contact with an object through the applied downward pressing acting force in the operation process to complete drilling maintenance.

Description

Technical Field

[0001] The present invention belongs to the technical field of space maintenance operations for aircraft, and in particular relates to a maintenance tool for aircraft solar wing. Background Art

[0002] With the rise of the global space boom, there will be more and more aircraft in space, which will bring more and more abandoned space debris and micro-meteorites in space. The solar wings of the aircraft are set outside the cabin to collect and transmit the electricity generated by the solar panels to the cabin. Therefore, they are very easy to be hit by space debris or micro-meteorites, which may cause the entire aircraft to be insufficiently powered and cause the entire satellite to fail. In the absence of gravity and floating, it is difficult to consider fixing and accurately drilling. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and provide a maintenance tool suitable for high-precision positioning of space solar panels, so as to disconnect the solar panels from the fault point when a fault occurs in the solar panel on orbit.

[0004] The technical solution of the present invention is: a maintenance tool suitable for high-precision positioning of space solar wings, including a clamping positioning tool and an electric drilling tool;

[0005] The clamping and positioning tool comprises a clamping assembly, a handle fixing assembly and an angle positioning assembly; the clamping assembly is used to clamp the space solar wing and provide an alignment window corresponding to the part to be repaired on the space solar wing; after the clamping assembly clamps the space solar wing, the handle fixing assembly provides additional pressure to the clamping assembly to achieve reliable fixation of the space solar wing; the angle positioning assembly drives the electric drilling tool to move to the alignment window;

[0006] The electric drilling tool includes a motor drive component, a drilling component and a protective component; the protective component is used to provide extravehicular protection for the drilling component in the non-operating stage. During operation, the protective component is removed and the cutter head of the drilling component is aligned with the drilling area of ​​the extravehicular equipment; the motor drive component is used to provide a smooth rotation output in the drilling direction; the drilling component uses the output of the motor drive component as input to ensure that during the operation, the cutter head maintains close contact with the object by applying a downward force to complete the drilling maintenance.

[0007] Preferably, the motor drive component includes a housing armrest, a battery, a motor, a button switch and an output shaft;

[0008] The battery is an energy storage device that drives the motor to rotate; the motor adopts an axial rotation method that is converted into a stable torque output under electromagnetic action; the button switch is a switch that provides astronauts with operation to control the power supply between the battery and the motor; the output shaft converts the output end of the motor into a smooth rotation in the tool output direction.

[0009] Preferably, the button is installed at a position at the front end of the housing armrest for easy holding and operation.

[0010] Preferably, the drilling component includes a rotating transmission rod, a release component, a pressurizing component and a cutter head component;

[0011] It includes a rotating transmission rod, a release component, a pressurizing component and a cutter head component;

[0012] The rotation transmission rod is used to transmit the rotational power to the cutter head component;

[0013] The release component is used to lock the pressure component when not processing; the pressure component is released during processing, and the pressure component applies a downward pressure force on the upper end of the cutter head component to ensure that the cutter head is stably under pressure and in close contact with the cutting object during rotation.

[0014] Preferably, the release component includes an operating handle, a return spring, a locking pin, a baffle, and a housing;

[0015] The shell is provided with a through hole for the rotating transmission rod to pass through, and a groove perpendicular to the axis of the through hole, one end face of the groove is connected to the through hole, and the locking pin is installed in the groove, the large diameter end of the locking pin is a free end, the operating handle and the small diameter end of the locking pin are connected by a rotating shaft, and the movement path of the operating handle is limited by the baffles on both sides installed on the shell to prevent the operating handle from rotating with the positioning pin as the center; the reset spring is sleeved on the small diameter end of the locking pin placed in the groove, and in the locked state, the reset spring is compressed with the shell as the reference and keeps the elastic force acting on the locking pin, and in the pressurized state, the operating handle is subjected to force, and the locking pin is pulled up by the rotating shaft, and the locking pin is released from the locked position and unlocked.

[0016] Preferably, the operating handle includes an operating rod and a triangular platform with angles at the front end, and the triangular platform consists of three surfaces A, B, and C respectively, wherein the A and B planes are state-fixed platforms, and the C plane is connected to the operating rod; the A and B planes are set with arc surfaces to transition to become the rotation contact points of the triangular platform; a positioning pin hole is set between the A and B planes as the center of overall rotation of the operating handle; the length of the A plane is set to be more than twice the length of the B plane to ensure that the distance between the positioning pin hole and the B plane is more than 3 times the distance between the A planes; the operating rod consists of two planes E and F, wherein the E plane is parallel to the B plane, and the F plane is parallel to the A plane; the positioning pin makes the A plane or B plane of the operating handle contact with the shell through the rotating shaft to maintain a stable state; in the pressurized state, the operating handle is subjected to force, and the operating handle rotates from the A plane to the B plane with the front contact point as the fulcrum. Because the distance between the positioning pin hole and the B plane is more than 3 times the distance between the A planes, the rotating shaft is lifted with the position of the positioning pin hole, and the locking pin is pulled up at the same time, and the locking pin is disengaged from the locking position.

[0017] Preferably, the pressurizing component includes an energy storage spring, a housing structure, an observation port and a reset handle;

[0018] The shell structure is a cylindrical structure, the upper end of which is installed below the through hole of the release component shell, forming an integral sleeve outside the cutter head component. The lower end of the shell structure opens an observation port for observing the movement of the cutter head component. The energy storage spring is installed in the shell structure and arranged at the upper end of the cutter head component. In the released state, the energy storage spring expands and releases elastic force, exerting a downward pressure on the upper end of the cutter head component to ensure that the cutter head is stably under pressure and in close contact with the cutting object during rotation; the reset handle is installed at both ends of the release component shell, which is used to overcome the external force of the energy storage spring and drive the shell structure and the release component shell to reset to the locked position.

[0019] Preferably, the rotating transmission rod is composed of an outer shell and an internal power transmission shaft, the upper port of the shell is provided with a mechanical constraint interface of a power device that provides rotational power, and the lower port is provided with an annular locking surface, and the pressure-applying component can effectively achieve a 360° locking state around the annular locking surface.

[0020] Preferably, the upper end of the shell structure is connected to the release component shell through a stepped flange surface, and an annular groove with an opening facing upward is arranged inside the shell structure. A stepped surface is arranged on the outer side of the inner wall of the annular groove for cooperating with the lower end of the annular locking surface. The center through hole of the annular groove is used to place the lower end of the rotating transmission rod and the upper end of the cutter head component, and the cutter head component is fixed at the bottom of the annular groove.

[0021] Preferably, the tool head component includes a transmission shaft adapter, a tool head adapter, and a drilling tool head;

[0022] The drilling cutter head is connected to the rotating transmission rod through a cutter head adapter and a transmission shaft adapter; the transmission shaft adapter is a sleeve structure with a flange, the rotating transmission rod is sleeved in the sleeve structure and connected to the cutter head adapter through a flange.

[0023] Preferably, the drilling head includes a blade body and blades distributed on the blade body, and the blades are multiple and evenly distributed on the blade body in the circumferential direction; each blade includes a front angle indicating the degree of inclination of the front blade face, a back angle indicating the degree of friction of the back blade face during the cutting process, a side angle indicating the beveling angle of the blade during the beveling process, and a blade tip according to the movement mode of the blade; the side angle is set to 24.9°~25.1° to ensure that in a vacuum environment, under the low-speed condition that the blade shaft rotates at a speed not exceeding 50° / s, the blade tip can feed and cut autonomously under constant pressure.

[0024] Preferably, the front angle of the blade is set to 59.9° to 60.1°, the back angle of the blade is set to 28.4° to 28.6°, the tip of the blade is a round head at the front end, and the diameter ranges from 0.5mm to 1mm.

[0025] Preferably, the protective component includes a protective shell, a limiting spring and an anti-drifting hook and loop fastener;

[0026] The protective shell is a five-sided structure, with the open end face facing the direction for inserting extravehicular equipment. The anti-floating Velcro is fixed to the inner side of the protective shell facing the opening direction. The top surface is a U-shaped structure, and a limiting spring is installed on the inner side of the U-shaped structure. The limiting function is achieved through the deformation elastic force of the limiting spring and the cylindrical characteristics of the extravehicular equipment to constrain the freedom in the front and rear directions. Guide limiting grooves are arranged on both sides of the protective shell to cooperate with the extravehicular equipment to constrain the freedom in the four directions of up, down, left and right.

[0027] Preferably, the U-shaped structure on the top surface of the protective shell includes a bottom surface with a U-shaped opening and grooves arranged around the bottom surface for placing limiting springs. The bottom of the groove is a plane, and the two ends of the plane are semicircular grooves. The two side surfaces of the groove are perpendicular to the bottom of the groove, and the insertion guide end of the top surface is formed by a rounded corner between the U-shaped front end of the bottom surface and the front end of the groove side surface.

[0028] Preferably, the limiting spring body is a U-shaped structure placed on the bottom surface, the U-shaped bottom surface of the limiting spring is a plane used to achieve connection with the bottom of the groove, semicircular structures protruding outward on both sides of the bottom surface of the limiting spring serve as spring deformation areas, inwardly protruding semicircles are arranged on the two arms of the U-shape as limiting areas, and the U-shaped opening end is inclined outward as a guide area.

[0029] Preferably, the limiting dimension between the two arms of the U-shape should match the diameter of the limiting object, and the limiting dimension is controlled within 12 to 30 mm; the arc radius of the spring deformation zone is controlled within 2 to 5 mm; the arc radius of the limiting zone is controlled within 1 to 2.5 mm; the outward inclination angle of the guide zone is controlled within the range of 130° to 160° to facilitate the entry of the limiting object.

[0030] Preferably, the clamping assembly comprises a handle clamping mechanism and an alignment constraint component;

[0031] The handle clamping mechanism includes a clamping bracket, a pressure plate handle, a fixed handle, a cross transfer rod, a closed energy storage spring, a connecting rod and a closed bottom plate; the alignment constraint component is used to match and align with the space solar wing, including a characteristic alignment plate and an observation plate, the characteristic alignment plate is fixed on the upper surface of the closed bottom plate; the characteristic alignment plate matches the appearance characteristics of the space solar wing, and the alignment window is arranged on the observation plate;

[0032] Both the pressure plate handle and the fixed handle are frame structures, and the center of the lower end surface of the fixed handle is fixed to the observation plate of the positioning constraint component through a clamping bracket; the clamping bracket is a cylindrical structure, and through holes are processed on the upper and lower frame beams of the fixed handle, and the lower end and side walls of the pressure plate handle pass through the through holes, and the center of the lower end surface of the pressure plate handle is connected to the upper end of the connecting rod through a cross connecting rod, and the connecting rod is located inside the clamping bracket, and the lower end of the connecting rod passes through the positioning constraint component and is fixed to the closed bottom plate; the closed energy storage spring is located inside the clamping bracket and is mounted on the connecting rod, and the lower end is fixed to the clamping bracket, and a spring limiting ring is provided on the connecting rod.

[0033] Preferably, there are two sets of handle fixing assemblies, which are symmetrically distributed on both sides of the alignment constraint component along the clamping bracket.

[0034] Preferably, the handle fixing assembly includes a rotating handle, a fixing bracket, and a threaded sleeve assembly; the threaded sleeve assembly includes a rotating screw, a screw hole sleeve, a locking bracket, and a fixing nut; the fixing bracket includes a cover plate, a partition plate, and a main body bracket;

[0035] The rotating handle is a horizontal bar configuration, with a square mounting hole in the center and symmetrical conical structures on both sides, with the cone angle facing the center;

[0036] The top end of the rotating screw passes through the center of the rotating handle and is gap-matched with the square mounting positioning hole of the rotating handle. The fixing nut is fastened to one end of the rotating screw extending out of the square mounting positioning hole of the rotating handle; the screw hole sleeve is threadedly connected to the lower threaded section of the rotating screw; a screw positioning ring is provided on the rotating screw, and the screw positioning ring is located above the threaded section;

[0037] The screw hole sleeve is located in the main bracket, the partition is located on the main bracket, the screw positioning ring is located on the partition, the cover plate is covered on the screw positioning ring, and the screws pass through the cover plate, the screw positioning ring, the partition and the main bracket in sequence to achieve fastening; the bottom of the screw hole sleeve extends out from the lower end of the main bracket, passes through the alignment constraint component and the closed bottom plate, and is fixedly connected to the locking bracket.

[0038] Preferably, the angle positioning assembly includes a release component, a feeding component and an execution object, and the angle positioning assembly and the clamping assembly share a clamping bracket;

[0039] The front end of the execution object is a positioning rod, the rear end is a positioning cavity, an execution object positioning ring is arranged between the positioning rod and the positioning cavity, and a through hole is arranged in the middle of the execution object positioning ring facing the positioning cavity; the execution object positioning ring is sleeved on the clamping bracket, the clamping bracket is provided with a locking hole and a limiting slide groove, and the upper part of the clamping bracket is provided with an annular limiting observation surface; a clamping mechanism is designed at the front end of the positioning rod for clamping the electric drilling tool;

[0040] The release component includes an operating handle, a locking pin, a rotating shaft, a housing and a reset spring; a through hole is opened on one side of the operating handle, the rotating shaft is installed in the through hole, the locking pin includes a pin body and a pin head, one end of the pin body is fixedly connected to the rotating shaft, and the other end is connected to the pin head; the reset spring is installed on the pin body, and the locking pin and the reset spring are installed in the housing; the housing is fixedly connected to the positioning cavity of the execution object, and when locking, the pin head of the locking pin passes through the through hole on the positioning ring and is inserted into the locking hole of the center slide rod to achieve locking;

[0041] The feeding component includes a feeding energy storage spring, an outer cylinder, a limiting rod, a limiter and a reset handle; the energy storage spring is sleeved on the central sliding rod, the outer cylinder is sleeved on the outside of the feeding energy storage spring, the upper end of the feeding energy storage spring is limited by the limiting observation surface on the upper part of the clamping bracket, the reset handle is sleeved on the central sliding rod, the feeding energy storage spring, the outer cylinder and the reset handle are all located above the execution object, and the lower end surface of the feeding energy storage spring is in contact with the upper end surface of the reset handle; the limiting rod is fixedly connected to the bottom of the execution object, and the limiting rod is installed on the clamping bracket and can slide up and down along the limiting slide groove; the limiter is sleeved on the central sliding rod and is located at the lower end of the limiting slide groove.

[0042] Preferably, baffles are provided on both sides of the rotation direction of the operating handle to limit the rotation angle of the operating handle.

[0043] Preferably, the clamping mechanism designed at the front end of the positioning rod includes an oblique cone guide frame and a limit spring; the oblique cone guide frame is a horizontally placed U-shaped frame, and both sides of the opening end of the U-shaped frame are respectively integrated with inclined surfaces expanding outward to form a cone-shaped guide opening; height guide limit surfaces are arranged on the inner walls of both sides of the U-shaped frame;

[0044] The limit spring piece is a U-shaped piece, and a semicircular protrusion is designed on each side of the U-shaped piece. The two semicircular protrusions are symmetrically positioned and the protrusions are opposite in direction. The limit spring piece is fixed inside the oblique cone guide frame and is located below the height guide limit surface.

[0045] The positioning bushing adopts an integrated design, with a hollow cylindrical structure in the middle, and circular ring structures above and below the hollow cylindrical structure. The inner hollow circle diameter of the circular ring structure is the same as the inner diameter of the hollow cylindrical structure, and the two opposite sides of the outer edge of the upper circular ring structure are flattened; two symmetrical vertical grooves are processed on the outer wall of the hollow cylindrical structure, and the grooves match the size of the semicircular protrusions of the limiting spring sheet, and the grooves and the corresponding flattened parts are located on the same side.

[0046] An application method of a maintenance tool suitable for high-precision positioning of a space solar wing, comprising:

[0047] Before operation, astronauts should rotate the rotary handles on both sides synchronously to open the locking brackets on both sides to the maximum position;

[0048] When the astronaut is at the operating point, he / she squeezes the pressure plate handle and the fixed handle, and opens the feature alignment plate and the observation plate through the connecting rod to form a clamping space;

[0049] The astronauts put the extravehicular space solar wing into the clamping space between the observation plate and the characteristic alignment plate, and align the extravehicular space solar wing with the characteristic alignment plate through complementary matching; and confirm whether the alignment is effective through the observation window. After the alignment is effective, the pressure plate handle is released, and the observation plate and the characteristic alignment plate are automatically closed under the action of the closing energy storage spring, so as to realize the fixed constraint on the freedom of movement of the extravehicular flat equipment;

[0050] The astronauts rotate the rotary handles synchronously from both sides to move the locking bracket upward, compressing the closed bottom plate and increasing the pressure between the observation plate and the feature alignment plate;

[0051] Insert the guide interface on the electric drilling tool into the clamping mechanism of the clamping positioning tool, and make sure that the drilling head is aligned with the alignment hole of the observation plate;

[0052] The astronaut checks the alignment accuracy of the angle positioning assembly. When the accuracy meets the requirements, he presses the operating handle of the angle positioning assembly. Under the action of the feed energy storage spring, the execution object and the reset handle move along the limit slide to the top of the limiter. The drilling head contacts the surface of the solar wing and waits for operation.

[0053] During operation, remove the protective component, use the release component of the drilling component to release the pressure on the drilling head, start the motor drive component, and the drilling component uses the output of the motor drive component as input to ensure that during the operation, the head maintains close contact with the object by applying downward force to complete the drilling maintenance.

[0054] The beneficial effects of the present invention compared with the prior art are:

[0055] The present invention improves the operability of drilling maintenance operations for extravehicular equipment of the space station, thereby ensuring the long-term safe operation of the space station. The maintenance tool of the present invention can disconnect the solar panel from the fault point when a fault occurs on the solar wing in orbit, effectively isolating the fault point, solving the technical problem of fault isolation of the fault point of the solar wing substrate, and restoring the power generation capacity of the solar wing to normal. At the same time, the design of the reaction force elimination device inside the tool reduces the operating intensity of astronauts, ensuring the reliable and safe operation of the aircraft and astronauts.

[0056] The design of the reaction force elimination device inside the tool avoids astronauts from overcoming the motor rotation force during drilling operations, reducing their work intensity; the design of the internal force-bearing path of the tool avoids astronauts from overcoming the motor rotation force during drilling operations, reducing their work intensity; during the drilling process, the force generated by the rotation of the cutter head is limited by the transfer transmission rod in the angle positioning component of the clamping and positioning tool, and then transmitted to the observation plate, feature alignment plate and the clamping surface of the solar wing array through the connecting rod of the clamping tool. The couple formed by the rotation of the cutter head is offset by the couple generated by the friction between the observation plate, feature alignment plate and the solar wing array, ensuring the effective cutting of the cutter head during rotation drilling.

[0057] The drilling component of the present invention is a pressurized drilling tool suitable for a zero-gravity environment, and is an important guarantee for ensuring that astronauts can quickly and conveniently perform rotation operations in a zero-gravity environment. A pressurized rotation mechanism suitable for a zero-gravity environment is composed of a rotation transmission rod, a release component, a pressurized component, and a cutter head component. It can enable Chinese astronauts to conveniently perform tool rotation operations outside the cabin, demonstrating my country's aerospace technology.

[0058] The drilling component of the present invention ensures that the cutter head is stably pressed and in close contact with the cutting object during the rotation process under the action of the pressure component, thereby improving the rotation and grinding efficiency of the cutter head component and solving the technical problem of operability of astronauts in a zero-gravity environment. The pressure component can be repeatedly operated by resetting the handle to ensure the feasibility of repeated operation of astronauts' extravehicular maintenance operations.

[0059] The drilling component of the present invention can realize the stable application of downward pressure on the upper end of the cutter head component through the "release" operation of the release component, and the stable downward pressure is provided by the mechanism through simple operation conversion, so that the tool can still realize the characteristic of rotating grinding of the cutter head component in a zero-gravity environment.

[0060] The drilling component of the present invention has the characteristic of automatically locking the release component after the cutter head component returns to its original initial position through the reset handle, which reduces the locking operation of the astronaut and facilitates the next feeding operation of the cutter head component.

[0061] The drilling component of the present invention is arranged in a specific shape between the transmission shaft adapter and the rotating transmission rod, and adopts a floating connection method to effectively ensure that the cutter head can still effectively transmit the rotational force under the load-bearing downward pressure state.

[0062] The drilling component of the present invention is arranged through the annular locking surface of the power transmission rod shape, and the pressure component can effectively achieve a 360-degree locking state around the locking surface of the power transmission rod.

[0063] The protective component of the present invention can realize the reliable fixation and quick separation operation capability of the astronauts in the weightless environment outside the cabin by conveniently taking and placing and fixing the protective device, thereby reducing the difficulty of the extravehicular operation while ensuring the personal safety of the astronauts. Through the unique limit constraint structure, the connection between the protective device and the extravehicular equipment is effectively realized, and the limit matching of the spring leaf provides a constraint force to prevent the protective device from floating away; at the same time, the separation of the protective device can be realized after overcoming the constraint force of the spring leaf deformation.

[0064] The present invention realizes the fastening operation by the clamping assembly and the handle fixing assembly, thereby effectively and reliably fixing the position of the tool and the flat equipment outside the cabin;

[0065] The present invention ensures that the maintenance point can be reliably and effectively located on the surface of the flat equipment outside the cabin during the movement of the angle positioning component through positioning matching between the angle positioning component and the clamping component. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a schematic diagram of the maintenance tool of the present invention;

[0067] Figure 2 It is a schematic diagram of the drilling tool of the present invention;

[0068] Figure 3 It is a schematic diagram for installing the electric drive component and the drilling component;

[0069] Figure 4 This is a schematic diagram of the hexagonal constraint interface;

[0070] Figure 5 is a schematic diagram of electric drive components;

[0071] Figure 6 It is a schematic diagram of a pressurized rotating mechanism suitable for a zero-gravity environment;

[0072] Figure 7 It is a schematic diagram of the release component composition;

[0073] Figure 8 It is a schematic diagram of the locking state of the release component;

[0074] Fig. 9 It is a schematic diagram of the release state of the release component;

[0075] Fig.10 It is a schematic diagram of the pressurized components;

[0076] Fig.11 It is a schematic diagram of the rotating transmission rod;

[0077] Fig.12 It is a schematic diagram of the cutter head components;

[0078] Fig.13 Schematic diagram of the transmission shaft adapter;

[0079] Fig.14 A schematic diagram of the initial position of a pressurized rotating mechanism suitable for a zero-gravity environment;

[0080] Fig.15 It is a schematic diagram of lifting and releasing the components;

[0081] Fig.16 This is a schematic diagram of the spring release of the pressurized component;

[0082] Fig.17 This is a schematic diagram of the spring pressing down and releasing the pressurized component;

[0083] Fig.18 Schematic diagram of lifting the handle to reset the pressurized component;

[0084] Figure 19-25 It is a schematic diagram of the cutter head components;

[0085] Fig.26 This is a schematic diagram of the operating handle;

[0086] Fig. 27 Schematic diagram of the protection components;

[0087] Fig.28 It is a schematic diagram of the protective shell structure;

[0088] Fig.29 It is a schematic diagram of the limit spring structure;

[0089] Fig.30 The figure is the structural dimension diagram of the limit spring;

[0090] Fig.31 This is a schematic diagram of the anti-floating hook and loop position;

[0091] Fig.32 This is a schematic diagram of the installation direction of the protection device;

[0092] Fig.33 This is a schematic diagram of the completed installation of the protection device;

[0093] Fig.34 It is a schematic diagram of the clamping and positioning tool;

[0094] Fig.35 It is a schematic diagram of the clamping assembly;

[0095] Fig.36 It is a schematic diagram of the handle fixing assembly;

[0096] Fig.37 It is a schematic diagram of the angle positioning component composition;

[0097] Fig.38 The width guide limit surface form and dimension drawing of the oblique cone guide frame;

[0098] Fig.39 It is the form and dimension drawing of the height guide limit surface of the oblique cone guide frame;

[0099] Fig.40 The form and size diagram of the limit spring;

[0100] Fig.41 It is a schematic diagram of the closed state of the clamping and positioning tool;

[0101] Fig.42 It is a schematic diagram of the clamping and positioning tool in the open state;

[0102] Fig.43 This is a schematic diagram of the relationship between the various components of the clamping and positioning tool in the open state;

[0103] Fig.44 It is a schematic diagram of the clamping and positioning tool clamping component feature alignment and closure;

[0104] Fig.45 A schematic diagram of fixing and pressurizing the handle of the clamping and positioning tool;

[0105] Fig.46 A schematic diagram showing the relationship between the components of the clamping and positioning tool to fix the flat equipment;

[0106] Fig.47 It is a schematic diagram of the angle positioning component feeding to the limit position state;

[0107] Fig.48 It is a schematic diagram of the relationship between the angle positioning component and the limiter;

[0108] Fig.49 It is a schematic diagram of the positioner limit surface;

[0109] Fig.50 It is a schematic diagram of the limiting surface of the angle positioning component;

[0110] Fig.51 It is a schematic diagram of the relationship between the angle positioning component and the positioner limit surface;

[0111] Fig.52 This is a schematic diagram showing that the fixing point of the angle positioning component is coaxial with the center of the alignment hole of the observation plate;

[0112] Fig.53 It is a top view of the angle positioning component fixing point and the center of the observation plate alignment hole coaxially;

[0113] Fig.54 It is a schematic diagram of the positioning bushing composition;

[0114] Fig.55 This is the dimension drawing of the positioning bushing;

[0115] Fig.56 It is a schematic diagram of the positioning bushing and clamping mechanism. DETAILED DESCRIPTION

[0116] The present invention will be further described below in conjunction with the embodiments.

[0117] A maintenance tool suitable for high-precision positioning of space solar panels, such as Figure 1 As shown, it includes a clamping and positioning tool and an electric drilling tool;

[0118] The clamping and positioning tool comprises a clamping assembly, a handle fixing assembly and an angle positioning assembly; the clamping assembly is used to clamp the space solar wing and provide an alignment window corresponding to the part to be repaired on the space solar wing; after the clamping assembly clamps the space solar wing, the handle fixing assembly provides additional pressure to the clamping assembly to achieve reliable fixation of the space solar wing; the angle positioning assembly drives the electric drilling tool to move to the alignment window;

[0119] The electric drilling tool includes a motor drive component, a drilling component and a protective component; the protective component is used to provide off-board protection for the drilling component during the non-operation phase. During operation, the protective component is removed and the cutter head of the drilling component is aligned with the drilling area of ​​the off-board equipment; the motor drive component is used to provide a smooth rotation output in the drilling direction; the drilling component uses the output of the motor drive component as input to ensure that the cutter head maintains close contact with the object through the downward pressure applied during the operation to complete the drilling maintenance. The above two parts are described in detail below with reference to specific examples.

[0120] 1. Electric drilling tools

[0121] like Figure 2 The figure shows the motor drive components, drilling components and protection components; tool operation process:

[0122] Before the operation, the astronauts need to assemble the electric drive component, the drilling component and the protection component. The electric drive component and the drilling component are screwed together by screwing the locking screws to deform the deformation lock buckle to provide a pressing force so that the transmission rod housing and the output shaft housing are in close contact and fixed ( Figure 3 ), the power transmission rod and the output shaft adopt a hexagonal constraint interface to realize the quick connection between the electric drive component and the drilling component ( Figure 4 ). The protection component and the drilling component are fixed to the transmission rod housing through a limiting spring.

[0123] When operating, the astronauts remove the protective parts and expose the drill bit of the drilling part in front of the tool. The astronauts aim the drill bit at the drilling area of ​​the extravehicular equipment by pinching the outer shell handrail. Lift the operating handle to pressurize the drilling part and push the drill bit to directly contact the extravehicular equipment.

[0124] The astronaut presses the button switch of the electric drive component, the motor is energized and the output shaft rotates, and the output shaft drives the drilling head to rotate through the power transmission rod, thereby realizing the drilling operation of the space station's extravehicular equipment.

[0125] The preferred embodiments are as follows:

[0126] (I) Electric drive components

[0127] like Figure 5 As shown, the motor drive component consists of a housing, a battery, a motor, a push button switch and an output shaft.

[0128] The battery is the energy storage that drives the motor to rotate; the motor is an axial rotation that is converted into a stable torque output under electromagnetic action; the push button switch is the switch that provides astronauts with operation to control the power supply between the battery and the motor; the output shaft converts the motor output end into a smooth rotation in the tool output direction.

[0129] Astronauts control the rotation and stop of the motor by operating the button switch. By setting up handrails outside the tool, astronauts can conveniently hold the drilling tool and effectively prevent the drilling tool from floating away.

[0130] (2) Drilling parts

[0131] like Figure 6 As shown, the drilling component consists of four parts: a rotating transmission rod, a releasing component, a pressurizing component and a cutter head component.

[0132] The astronauts squeeze the operating handle of the release component, and the operating handle drives the locking pin to release the pressurized component. The pressurized component releases the elastic force in the "released" state through the energy storage spring, exerting a downward pressure on the upper end of the cutter head component to ensure that the cutter head is stably under pressure and in close contact with the cutting object during rotation.

[0133] The cutter head component is the target component of the pressure component. By applying a downward pressure force on the upper end of the cutter head component, the rotational grinding efficiency of the cutter head component is improved. The transmission shaft adapter ensures that the cutter head can still effectively transmit the rotational force under the load and downward pressure.

[0134] 1) Turn the transmission rod

[0135] The rotating transmission rod provides the function of transmitting the rotating power of the power device to the cutter head component, and is composed of an outer shell and an inner power transmission shaft. Fig.11 ) The power transmission shaft can effectively transmit the rotational power source from the power input interface to the lower end cutter head component;

[0136] The upper port of the shell is provided with a mechanical constraint interface of the power device, and the lower port is provided with an annular locking surface. The locking surface of the pressurized component around the power transmission rod can effectively achieve a 360° locking state.

[0137] The power transmission shaft can effectively transmit the rotational power from the power input interface to the lower power output interface, and the lower port is provided with a rotational power rotation feature that matches the cutter head component.

[0138] 2) Release components

[0139] The release component is set to two states, corresponding to the "pressurized" and "locked" states, and there are no other states.

[0140] The release component consists of an operating handle, a locking pin, a rotating shaft, a baffle, a housing and a return spring ( Figure 7 The housing is provided with a through hole for the rotating transmission rod to pass through, and a groove perpendicular to the axis of the through hole, one end face of the groove is connected to the through hole, a locking pin is installed in the groove, the large diameter end of the locking pin is a free end, the operating handle and the small diameter end of the locking pin are connected by a rotating shaft, and the movement path of the operating handle is limited by the baffles on both sides installed on the housing to prevent the operating handle from rotating around the positioning pin as the center; the return spring is sleeved on the small diameter end of the locking pin placed in the groove, in the locked state, the return spring is compressed with the housing as the reference and keeps the elastic force acting on the locking pin, in the pressurized state, the operating handle is subjected to force, and the locking pin is pulled up by the rotating shaft, and the locking pin is released from the locked position and unlocked.

[0141] like Fig.25 As shown, the operating handle includes an operating rod and a triangular platform with angles at the front end. The triangular platform consists of three surfaces A, B, and C, respectively, wherein the A and B planes are state-fixed platforms, and the C plane connects the operating rod. The A and B planes are 60° to each other and a circular arc surface is set to transition to become the rotation contact point of the triangular platform; a positioning pin hole is set between the A and B surfaces, which is also the center of the overall rotation of the operating handle. The length of the A plane is set to be more than twice the length of the B plane, ensuring that the distance between the positioning pin hole and the B plane is more than 3 times the distance between the A planes; the operating rod consists of two planes E and F, wherein the E plane is parallel to the B plane, and the F plane is parallel to the A plane, so that the E plane and the F plane are 120° to each other. When the operating handle is rotated, the E surface or the F surface appears as a state plane, which is convenient for operation.

[0142] After the return spring is compressed with the housing as the reference, it always keeps the elastic force acting on the positioning pin. The positioning pin makes the A plane or B plane of the operating handle contact with the housing through the rotating shaft to maintain a stable state ( Figure 8 ); When the pressure is applied, the operating handle is stressed, and the operating handle rotates from plane A to plane B with the front contact point as the fulcrum. Because the distance between the positioning pin hole and plane B is more than 3 times the distance between the A planes, the rotating shaft is lifted along with the positioning pin hole, and the locking pin is pulled up at the same time, and the locking pin is out of the locking position. ( Fig. 9 )

[0143] The reset spring is compressed at the same time, continuously providing elastic force to act on the positioning pin. When the reset operation is performed, when the locking surface appears at the front end of the transfer transmission rod, it will automatically move forward into the locking position under the action of the spring force. The operating handle plane contacts the housing and maintains a stable state.

[0144] The baffles on both sides of the operating handle are used to limit the movement path of the operating handle to prevent the operating handle from rotating with the positioning pin as the center.

[0145] The return spring force should be controlled within the range of 5N to 10N. When the spring force is too large, it will affect the astronauts' release of the operating handle; when the spring force is too small, it will affect the effective entry of the locating pin into the locating hole.

[0146] 3) Pressurized parts

[0147] like Fig.10 As shown, the pressurizing component consists of an energy storage spring, a housing structure, an observation port and a reset handle.

[0148] The shell structure is a cylindrical structure, the upper end of which is installed below the through hole of the release component shell, forming an integral sleeve outside the cutter head component. The lower end of the shell structure opens an observation port for observing the movement of the cutter head component. The energy storage spring is installed in the shell structure and arranged at the upper end of the cutter head component. In the released state, the energy storage spring expands and releases elastic force, exerting a downward pressure on the upper end of the cutter head component to ensure that the cutter head is stably pressed and in close contact with the cutting object during the rotation process; the reset handle is installed at both ends of the release component shell to overcome the external force of the energy storage spring and drive the shell structure and the release component shell to reset to the locked position. It is convenient for astronauts to evenly bear force on both sides during the reset operation, compress the energy storage spring to restore the pressurized component to the original locked position.

[0149] like Fig.11 As shown, the rotation transmission rod is composed of an outer shell and an inner power transmission shaft. The upper end of the shell is provided with a mechanical constraint interface of a power device that provides rotational power, and the lower end is provided with an annular locking surface. The pressure component can effectively achieve a 360° locking state around the annular locking surface. The annular locking surface and the lower end surface of the shell are a fixed integrated structure. The outer diameter of the annular locking surface is twice the diameter of the middle section of the shell, which is used for limiting the load when the pressure component moves. The shell and the power rotation shaft are connected through bearings A and B. The inner diameter of the annular locking surface is smaller than that of bearing B and larger than the diameter of the power transmission shaft, which can effectively limit the bearing B.

[0150] The upper end of the shell structure is connected to the release component shell through a stepped flange surface. An annular groove with an opening facing upward is arranged inside the shell structure. A stepped surface is arranged on the outer side of the inner wall of the annular groove for cooperating with the lower end of the annular locking surface. The central through hole of the annular groove is used to place the lower end of the rotating transmission rod and the upper end of the cutter head component. The cutter head component is fixed at the bottom of the annular groove.

[0151] The energy storage spring and the housing structure are arranged at the upper end of the cutter head component, and the housing structure is provided with a cutter head component observation port to facilitate astronauts to observe the movement of the cutter head component. Fig.17 As shown in the figure, the energy storage spring expands and releases elastic force in the pressurized state, exerting a downward pressure on the upper end of the cutter head component to ensure that the cutter head is stably under pressure and in close contact with the cutting object during rotation; in the "locked" state, the energy storage spring is compressed to store elastic force, canceling the downward pressure on the upper end of the cutter head component.

[0152] The energy storage spring force should be controlled within the range of 25N to 30N. When the spring force is too large, it will increase the difficulty for astronauts to reset the cutter head component. In order to overcome the 25N to 30N elastic force of the energy storage spring, a reset handle is specially provided on two sides of the cutter head component. When the spring force is too small, it will not be possible to effectively pressurize the cutter head component. In a zero-gravity environment, pressurization by the energy storage spring force can effectively achieve effective contact between the cutter head and the maintenance object.

[0153] 4) Blade head parts

[0154] like Fig.12 As shown, the cutter head component is composed of a transmission shaft adapter, a cutter head adapter, and a drilling cutter head. The device is set in a specific shape between the transmission shaft adapter and the rotating transmission rod, and adopts a floating connection method to effectively ensure that the cutter head can still effectively transmit the rotational force under the load-bearing downward pressure state.

[0155] The drive shaft adapter adopts a regular hexagonal hole with an inscribed circle diameter of 6mm ( Fig.13 ), which matches the regular hexagonal shaft of the output interface of the power transmission shaft, and the two transmit the rotational torque through the hexagonal surface contact.

[0156] The drive shaft adapter hole is 25mm deep, and the pressure component is in the "lock" ( Fig.14 ) and "release" ( Fig.17 ) The moving space distance required for the two states is 10mm. Therefore, there is no mechanical connection between the power transmission shaft and the transmission shaft adapter, and a floating limit is used. Under the action of the energy storage spring of the pressure component, the transmission shaft adapter can move in the axial direction of the power transmission shaft.

[0157] The cutter head is the target part of the pressure component. By applying downward pressure on the upper end of the cutter head, the cutting efficiency of the drilling cutter head is improved. The transmission shaft adapter mainly ensures that the cutter head can effectively transmit the rotational force after the cutter head moves downward due to pressure when the rotating transmission rod is fixed.

[0158] The drilling tool head of the present invention is a low-speed rotating tool head structure suitable for vacuum environment. In order to ensure the safety of drilling operation outside the astronaut cabin, the tool shaft rotation speed is not more than 50° / s. At the same time, the cutting feed of the blade is completed autonomously after the blade is subjected to constant pressure. It consists of a blade body 1 and a blade 2.

[0159] 1) Blade

[0160] The blade is set with a 20mm diameter space and an 11mm hexagonal hole at the bottom. The hexagonal shape facilitates installation while satisfying the transmission of rotational force. The blade is evenly distributed on the top of the blade ( Fig.19 ).

[0161] 2) Blade

[0162] The blade has four parts: front angle 21, back angle 22, side angle 23 and blade tip 24. Fig. 20 ). In order to effectively improve the drilling efficiency, this blade parameter is particularly important. The rake angle indicates the inclination of the front cutting edge, which is the angle between the front cutting edge of the cutting edge and the surface of the material being cut. The larger the rake angle, the sharper the tool, but the blade strength will decrease; the back angle refers to the angle between the back cutting edge of the cutting edge and the surface of the material being cut, indicating the degree of friction of the back cutting edge during the cutting process. The larger the back angle, the less friction, the better the surface quality, and the sharpness of the cutting edge; the side angle refers to the angle between the side surface between the front cutting edge and the back cutting edge and the feed direction of the cutter head, indicating the cutting angle of the cutting edge during the cutting process. The smaller the side angle, the smaller the cutting force, which improves the cutting accuracy.

[0163] In view of the characteristics of low-density metal materials used in the outer shell of space capsule equipment, a large angle is selected in the design of the blade rake angle. When cutting the bevel blade to extrude the metal material, the stealing stress can be reduced, the thermal stress can be reduced, and the cutting surface finish can be effectively improved; a large angle is selected in the design of the blade back angle to improve the processing surface quality; a small angle is selected in the design of the blade side angle to reduce the cutting force and improve the processing accuracy.

[0164] According to the movement of the cutter head, 12 blades are evenly distributed around the blade; one blade is set every 30° ( Fig. 20), according to the characteristics of low-speed rotation of the tool shaft, the structural form of the blade is innovatively designed (the blade side angle is 24.9°~25.1°, the blade front angle is set to 59.9°~60.1°, the blade back angle is set to 28.4°~28.6°, and the metal tip angle at the front end of the tool tip is within the range of 0.5mm~1mm). The front angle design in the direction of blade movement ensures the sharpness of the blade surface, and the blade back angle design reduces blade friction; according to the characteristics of the tool head used by astronauts in a vacuum environment, the above-mentioned parameter design ensures that the tool head can still process the cutting object under the conditions of low-speed movement and small cutting force on the tool tip, and has the characteristics of high-precision processing.

[0165] In a preferred embodiment of the present invention, the blade rake angle is set to 60° ( Fig. 22 ), the blade back angle is set to 28.5°( Fig.23 ) forms a cutting angle of 31.5°, which increases the blade strength while ensuring the sharpness of the front blade and the small friction of the back blade; the blade side angle is set to 25° ( Fig.24 ), ensuring the sharp angle of the blade tip and the strength of the blade tip.

[0166] In order to remind astronauts that the cutter head is a dangerous item and is prohibited from touching it, red vacuum paint is applied to the outside of the cutter head so that astronauts can clearly see the cutter head area inside their space suits outside the cabin.

[0167] (III) Protective components

[0168] There is no electric equipment for drilling operations on extravehicular equipment in the space station in China, and this invention is the only one in China. Ground-based electric drilling equipment all use high-speed rotation output, which can efficiently complete the hole-turning operation, but the tool requires the operator to operate stably, otherwise there will be safety hazards. Drilling operations in extravehicular environments are subject to the low friction of the drill bit and the safety requirements of astronauts, so only a low-speed (2 turns / minute) rotation output method can be used. In low-speed mode, the drilling tools used by astronauts need to take measures to enhance friction in a zero-gravity environment and sharpen the blade of the drilling head. For this purpose, a special safety protection shell is designed to ensure the safety of astronauts.

[0169] The protective component consists of a protective shell, a limit spring and an anti-drifting hook and loop. Fig.26 ).

[0170] 1) Protective case

[0171] The protective shell is mainly used to protect the protection area of ​​extravehicular equipment from being exposed to the extravehicular environment. The outer shape of the protective shell is set to a 5-sided closed configuration. The open end face is the direction for inserting extravehicular equipment. The inner side of the opening is set with an anti-drifting Velcro installation area. The top surface is set with a limit spring to facilitate astronauts to observe the installation process. The two sides are set with guide limit grooves (the reset handle is placed in the guide limit groove) to constrain the four degrees of freedom of up and down and left and right. The shape of the protective shell is ergonomically designed to facilitate astronauts to pinch and hold. ( Fig. 27 ). Made of aluminum alloy, its performance meets the requirements of effectively resisting atomic oxygen, -100℃-100℃ high and low temperature changes and the impact of tiny debris in the extravehicular environment.

[0172] The specific U-shaped structure of the top surface includes a bottom surface with a U-shaped opening and grooves arranged around the bottom surface for placing limiting springs. The bottom of the groove is a plane, and the two ends of the plane are semicircular grooves. The two side surfaces of the groove are perpendicular to the bottom of the groove, and the insertion guide end of the top surface is formed by a rounded corner between the front end of the U-shaped bottom surface and the front end of the side surface of the groove.

[0173] 2) Limiting spring

[0174] like Fig.28 As shown, the limiting spring body is a U-shaped structure placed on the bottom surface, the U-shaped bottom surface of the limiting spring is a plane used to achieve connection with the bottom of the groove, and semicircular structures protruding outward on both sides of the bottom surface of the limiting spring serve as spring deformation areas. Semicircles protruding inwardly as limiting areas are set on the two arms of the U-shape, and the U-shaped opening end is inclined outward as a guide area.

[0175] The limiting spring fixes the protective shell device on the outside of the extravehicular equipment, which is convenient for astronauts to easily take or fix the protective shell. The outer diameter of the transfer transmission rod is 18mm, and the limiting spring is designed to be "U"-shaped. The "U"-shaped limiting size is designed to match the outer diameter of the transfer transmission rod and is designed to be 18mm. The "U"-shaped opening area is designed to be tilted outward at a 150° angle to facilitate the guiding of the protective shell into the extravehicular equipment. A semicircular protrusion of R1.6 is designed on each side of the "U". The size of the "U"-shaped opening is consistent with the size of the extravehicular equipment. The semicircular protrusion surrounds the fixing point of the extravehicular equipment in a ring, effectively constraining the freedom of the protective shell in the front and rear directions. A semicircular arc of R3 is designed on both sides of the root of the limiting spring. When the limiting area is subjected to force, the spring can release the stress borne by the limiting area through deformation. A mounting hole is designed at the root of the limiting spring, which is installed on the protective shell ( Figure 4 ). The limit spring is made of 0.5mm beryllium bronze strip, which has elasticity and forming rigidity.

[0176] 3) Anti-floating Velcro

[0177] The anti-drifting velcro is fixed to the mounting area inside the protective shell opening, and the anti-drifting velcro is also fixed to the same area of ​​the extravehicular equipment ( Fig.30). Astronauts can adjust the operating force and separation force by adjusting the contact area of ​​the anti-drifting buckle according to the operation requirements in orbit. The anti-drifting buckle area is designed in the groove of the protective shell, which can effectively protect the anti-drifting buckle from damage by the atomic oxygen environment outside the cabin.

[0178] 4) Operation process

[0179] During installation, the astronauts pinch the outer shell of the protective device and put it into the protection position of the extravehicular equipment. The protective device is guided and limited by the appearance of the extravehicular equipment, and connected to the extravehicular equipment through the limit spring. The anti-drifting buckle of the protective device is attached to the anti-drifting buckle on the surface of the extravehicular equipment ( Fig.31 , Fig.32 ).

[0180] When removing, the astronauts pinch the outer shell of the protective device and apply pulling force to the outside, separating the anti-drifting Velcro of the protective device from the anti-drifting Velcro on the surface of the extravehicular equipment. The protective device moves outward to deform the limiting spring, and finally the protective device is separated from the extravehicular equipment.

[0181] 2. Clamping and positioning tools

[0182] The clamping and positioning tool of the present invention is an important guarantee for astronauts to reliably fix the surface of flat equipment outside the cabin and accurately locate the maintenance point in the extravehicular environment. Fig.33 As shown, the clamping and positioning tool of the present invention comprises a clamping assembly, a handle fixing assembly and an angle positioning assembly. Each part is described in detail below.

[0183] (I) Clamping assembly

[0184] like Fig.34 As shown, the clamping assembly includes a handle clamping mechanism and an alignment constraint component.

[0185] The handle clamping mechanism includes a clamping bracket, a pressure plate handle, a fixed handle, a cross transfer rod, a closed energy storage spring, a connecting rod and a closed bottom plate; the alignment constraint component is used to match and align with the flat equipment outside the cabin, including a feature alignment plate and an observation plate, and the feature alignment plate is fixed on the upper surface of the closed bottom plate; the feature alignment plate matches the appearance characteristics of the flat equipment outside the cabin.

[0186] Both the pressure plate handle and the fixed handle are frame structures, and the center of the lower end surface of the fixed handle is fixed to the observation plate of the positioning constraint component through a clamping bracket; the clamping bracket is a cylindrical structure, and through holes are processed on the upper and lower frame beams of the fixed handle, and the lower end and side walls of the pressure plate handle pass through the through holes, and the center of the lower end surface of the pressure plate handle is connected to the upper end of the connecting rod through a cross connecting rod, and the connecting rod is located inside the clamping bracket, and the lower end of the connecting rod passes through the positioning constraint component and is fixed to the closed bottom plate; the closed energy storage spring is located inside the clamping bracket and is mounted on the connecting rod, and the lower end is fixed to the clamping bracket, and a spring limiting ring is provided on the connecting rod.

[0187] An observation window and an alignment window are processed on the observation plate. The observation window facilitates the determination of the alignment relationship between the characteristic alignment plate and the appearance characteristics of the extravehicular flat equipment during operation. The alignment window corresponds to the position of the extravehicular flat equipment to be repaired.

[0188] The astronauts squeeze the pressure plate handle to prompt the alignment and constraint component to open the clamping space, making it easier to insert the flat device into the outer surface; when the astronauts release the pressure plate handle, the alignment and constraint component automatically closes the clamping space and, under the action of the closing energy storage spring, automatically clamps on the surface of the flat device, effectively preventing the positioning tool from floating off the product surface.

[0189] The feature alignment plate forms complementary concave and convex features with the flat device mounting surface, and the accuracy of tool alignment is confirmed by the complementary matching between the features.

[0190] (2) Handle fixing assembly

[0191] There are two sets of handle fixing components, which are symmetrically distributed on both sides of the alignment constraint component along the clamping bracket.

[0192] like Fig.35 As shown, each handle fixing assembly includes a rotating handle, a fixing bracket, and a threaded sleeve assembly; the threaded sleeve assembly includes a rotating screw, a screw hole sleeve, a locking bracket, and a fixing nut, and the fixing bracket includes a cover plate, a partition plate, and a main body bracket.

[0193] The rotating handle is a crossbar configuration, with a square mounting positioning hole in the center and symmetrical conical structures on both sides, with the cone angle facing the center. The top of the rotating screw passes through the center of the rotating handle and is gap-matched with the square mounting positioning hole of the rotating handle. The fixing nut is fastened to the end of the rotating screw extending out of the square mounting positioning hole of the rotating handle; the screw hole sleeve is screwed to the lower threaded section of the rotating screw; a screw positioning ring is provided on the rotating screw, and the screw positioning ring is located above the threaded section. The screw hole sleeve is located in the main bracket, the partition is located on the main bracket, the screw positioning ring is located on the partition, and the cover plate is covered on the screw positioning ring. The screw passes through the cover plate, the screw positioning ring, the partition and the main bracket in sequence to achieve fastening; the bottom of the screw hole sleeve extends from the lower end of the main bracket, passes through the alignment constraint component and the closed bottom plate, and is fixedly connected to the locking bracket.

[0194] The handle fixing assembly provides additional pressure to the clamping assembly, improving the fixing reliability of the positioning tool.

[0195] After the astronaut provides the initial rotation speed, the rotating handle continues to maintain the subsequent rotation power according to its own inertia, replacing the astronaut's rotation operation.

[0196] The fixed bracket is connected with the clamping assembly to provide a constraint reference for the rotation of the rotating handle, so that the rotational inertia of the rotating handle is stabilized in the rotation direction.

[0197] The threaded sleeve assembly converts the rotation direction of the rotary handle into the locking direction of the up and down movement of the locking bracket, and locks the rotary handle through the thread self-locking angle. The locking bracket converts the thread locking force into the locking surface pressure.

[0198] (III) Angle positioning component

[0199] like Fig.36 As shown, the angle positioning assembly includes a releasing component, a feeding component and an execution object, and the angle positioning assembly and the clamping assembly share a clamping bracket.

[0200] The front end of the execution object is a positioning rod, and the rear end is a positioning cavity. An execution object positioning ring is arranged between the positioning rod and the positioning cavity, and a through hole is arranged in the middle of the side of the execution object positioning ring facing the positioning cavity; the execution object positioning ring is sleeved on the clamping bracket, and the clamping bracket is provided with a locking hole and a limiting slide groove, and the upper part of the clamping bracket is provided with an annular limiting observation surface; a clamping mechanism is designed at the front end of the positioning rod for clamping maintenance tools.

[0201] The release component includes an operating handle, a locking pin, a rotating shaft, a housing and a reset spring; a through hole is opened on one side of the operating handle, the rotating shaft is installed in the through hole, the locking pin includes a pin body and a pin head, one end of the pin body is fixedly connected to the rotating shaft, and the other end is connected to the pin head; the reset spring is installed on the pin body, and the locking pin and the reset spring are installed in the housing; the housing is fixedly connected to the positioning cavity of the execution object, and when locking, the pin head of the locking pin passes through the through hole on the positioning ring and is inserted into the locking hole of the center slide rod to achieve locking.

[0202] The feeding component includes a feeding energy storage spring, an outer cylinder, a limiting rod, a limiter and a reset handle; the energy storage spring is sleeved on the central slide rod, the outer cylinder is sleeved on the outside of the feeding energy storage spring, the upper end of the feeding energy storage spring is limited by the limiting observation surface on the upper part of the clamping bracket, the reset handle is sleeved on the central slide rod, the feeding energy storage spring, the outer cylinder and the reset handle are all located above the execution object, and the lower end surface of the feeding energy storage spring is in contact with the upper end surface of the reset handle; the limiting rod is fixedly connected to the bottom of the execution object, and the limiting rod is installed on the clamping bracket and can slide up and down along the limiting slide groove; the limiter is sleeved on the central slide rod and is located at the lower end of the limiting slide groove. Baffles are set on both sides of the rotation direction of the operating handle to limit the rotation angle of the operating handle. After installation, the maintenance tool clamped by the front end of the positioning rod of the angle positioning assembly is located directly above the alignment window of the observation plate.

[0203] The astronauts squeeze the operating handle, which uses the side with the through hole as a fulcrum to lift the locking pin, which leaves the original locking position. The feeding component and the execution object are automatically fed to the limiter under the action of the feeding energy storage spring. When the astronauts perform the reset operation through the reset handle, the locking pin automatically clings to the outer surface of the clamping bracket under the action of the reset spring. When it is reset to the original locking position, the locking pin automatically pushes into the locking position under the action of the reset spring, and at the same time compresses the feeding energy storage spring to restore it to its original initial position.

[0204] In the "release" state, the feed energy storage spring expands and releases elastic force, pushing the angle positioning component to move; in the "locked" state, the feed energy storage spring compresses to store elastic force, and the angle positioning component returns to its original locked position. The reset handle is set at the lower end of the feed component and distributed on both sides of the feed component, so that astronauts can evenly apply force on both sides during the reset operation, compressing the feed energy storage spring to restore the feed component to its original initial position.

[0205] The angle positioning component is the interface component that connects the positioning tool with other maintenance tools. The angle positioning component drives the maintenance tool to reach the designated maintenance position.

[0206] The clamping mechanism at the front end of the positioning rod is also called the limit constraint assembly, which is composed of an oblique cone guide frame and a limit spring;

[0207] The oblique cone guide frame is a horizontal U-shaped frame. The "|" parts on both sides of the U-shaped frame opening are respectively designed with outward-expanding inclined surfaces to form a conical guide opening; height guide limit surfaces are set on the inner walls of the "|" parts on both sides of the U-shaped frame. The oblique cone guide frame provides a two-degree-of-freedom guiding function. Two outward inclined surfaces are used at the guide opening to achieve width direction guidance, and a downward inclined cone surface is set at the guide opening to achieve height direction guidance. The oblique cone guide frame achieves two-degree-of-freedom direction guidance through the specific structural forms of the width guide limit surface and the height guide limit surface.

[0208] The limit spring is a U-shaped piece, and a semicircular protrusion is designed on each side of the "|" of the U-shaped piece. The two semicircular protrusions are symmetrically positioned and the protrusions are opposite in direction. The limit spring is fixed inside the oblique cone guide frame and is located below the height guide limit surface. The limit function is achieved by matching the deformation elastic force of the limit spring with the limit groove of the positioning bushing. A mounting hole is designed at the root of the limit spring and is installed on the oblique cone guide frame.

[0209] In a preferred embodiment of the present invention, the oblique cone guide frame realizes directional guidance with two degrees of freedom through the specific structural form of the width guide limit surface and the height guide limit surface; the width guide limit surface adopts two outward inclined surfaces for guidance, the maximum opening size is 51mm, the final guide surface is 30mm, and the width guide limit surface is at a 60° deflection angle. Fig.37As shown. The height guide limit surface uses an inclined cone slope for guidance, the minimum surface is 2.5mm, and the final guide surface is 10.5mm. Fig.38 The limit spring is designed as a "U"-shaped piece, with a semicircular protrusion of R1.6 on both sides of the "U" shape. The distance between the two sides of the "U" shape is 25mm, which matches the limit groove of the positioning bushing; the root of the limit spring is designed with a mounting hole, which is installed on the oblique cone guide frame, as shown. Fig.39 shown.

[0210] (IV) Operation process

[0211] Before operation, astronauts should rotate the rotary handles on both sides synchronously to open the locking brackets on both sides to the maximum position. Fig.40 shown.

[0212] When the astronaut is at the operating point, he / she squeezes the pressure plate handle and the fixed handle, and opens the feature alignment plate and the observation plate through the connecting rod to form a clamping space. Fig.41 , Fig.42 shown.

[0213] The astronauts put the extravehicular flat device into the space between the observation plate and the characteristic alignment plate, and align the extravehicular flat device through the complementary matching of the shape features of the extravehicular flat device and the boss features of the characteristic alignment plate; and after confirming the effective alignment through the observation window, the pressure plate handle is released, and the observation plate and the characteristic alignment plate are automatically closed under the action of the closing energy storage spring, realizing the fixed constraint of the freedom of movement of the extravehicular flat device. Fig.43 shown.

[0214] The astronauts rotate the rotary handles synchronously from both sides of the tool to move the locking bracket upward, press the closed bottom plate, and increase the pressure between the observation plate and the feature alignment plate, such as Fig.44 , Fig.45 shown.

[0215] The astronaut checks the positioning accuracy of the angle positioning component. When the accuracy meets the requirements, press the operating handle of the angle positioning component. The execution object and the reset handle move along the limit slide to the top of the limiter under the action of the feed energy storage spring. Fig.46 , Fig.47 Two angle limiting bosses are set on the limiter, one side of the first limiting boss is set as limiting surface A, and one side of the second limiting boss is set as limiting surface B. The angle between limiting surface A and limiting surface B is set to 180°, as shown in FIG. Fig.48 Two grooves are set on the lower surface of the positioning ring of the execution object, a limiting surface C is set on one side of the first positioning groove, and a limiting surface D is set on one side of the second positioning groove, and the angle between the limiting surface C and the limiting surface D is set to 180°, as shown in FIG. Fig.49As shown. After being released in place, the angle limit boss of the stopper is inserted into the corresponding groove on the positioning ring. The angle positioning component contacts the limiting surfaces A and B on both sides of the stopper through the limiting surfaces C and D on the lower side of the positioning ring to ensure within the angular accuracy range of the limiting surface, such as Fig.50 As shown.

[0216] At this time, the maintenance tool held by the execution object is located above the alignment hole for subsequent use by the astronaut for maintenance.

[0217] The positioning tool sets an alignment hole on the observation board and sets a fixed point on the angle positioning component. As Fig.51 shown, the coaxiality of the two-point center hole is realized to ensure the accurate positioning of the maintenance point, such as Fig.52 .

[0218] III. Operation Process

[0219] In order to more reliably realize the connection between the electric drilling tool and the clamping and positioning tool, a positioning bushing is provided on the transfer drive rod of the electric drilling tool for cooperation with the limiting and constraining component.

[0220] The positioning bushing is formed by splicing two "I"-shaped semi-circular parts with the same structure. After splicing, the middle part is a hollow cylindrical structure, and both the upper and lower parts of the hollow cylindrical structure are circular ring structures. The inner diameter of the hollow circle in the circular ring structure is the same as the inner diameter of the hollow cylindrical structure, and the opposite sides of the outer edge of the upper circular ring structure are flattened; two symmetric vertical grooves are machined on the outer wall of the hollow cylindrical structure. The grooves match the semi-circular protrusions of the limiting spring piece in size, and the grooves and the corresponding flattened parts are on the same side. Among them, the middle area of the "I" shape is the height limiting surface, which slides and matches with the height guiding limiting surface of the inclined cone guiding frame; the planes on both sides of the upper end surface of the "I" shape are the width limiting surfaces, which slide and match with the width guiding limiting surface of the inclined cone guiding frame; the limiting groove in the middle of the "I" shape is limited and matched with the semi-circular protrusions designed on both sides of the limiting spring piece, and the semi-circular protrusions are constrained in the limiting groove through the elasticity of the spring piece.

[0221] In a preferred embodiment given by the present invention, the positioning bushing is formed by splicing two "I"-shaped semi-circular parts with the same structure. Among them, the middle area of the "I" shape controls the dimension of 13.5 mm as the height limiting surface, which slides and matches with the height guiding limiting surface of 10.5 mm of the inclined cone guiding frame, with a reserved gap of 3.5 mm; the planes on both sides of the upper end surface of the "I" shape control the dimension of 30 mm as the width limiting surface, which slides and matches with the width guiding limiting surface of 30 mm of the inclined cone guiding frame; the middle of the "I" shape is a cylinder with a diameter of 25 mm, and a limiting groove is provided on the side of the width guiding limiting surface. The limiting groove is formed by splicing two parts and presents a triangle, with a groove depth of 1.5 mm, which is limited and matched with a semi-circle with an R1.6 on both sides of the limiting spring piece, and the semi-circular protrusions are constrained in the limiting groove through the elasticity of the spring piece. As Fig.53 , Fig.54 shown.

[0222] An application method of a maintenance tool suitable for high-precision positioning of a space solar wing comprises the following steps:

[0223] Before operation, astronauts should rotate the rotary handles on both sides synchronously to open the locking brackets on both sides to the maximum position;

[0224] When the astronaut is at the operating point, he / she squeezes the pressure plate handle and the fixed handle, and opens the feature alignment plate and the observation plate through the connecting rod to form a clamping space;

[0225] The astronauts put the extravehicular solar wing into the clamping space between the observation plate and the characteristic alignment plate, and align the edge features of the extravehicular solar wing and the characteristic alignment plate through complementary matching; and confirm whether the alignment is effective through the observation window. After the alignment is effective, the pressure plate handle is released, and the observation plate and the characteristic alignment plate are automatically closed under the action of the closing energy storage spring, so as to achieve fixed constraints on the freedom of movement of the extravehicular flat equipment;

[0226] The astronauts rotate the rotary handles synchronously from both sides. The handles use the rotation follow-up locking technology to move the locking bracket upward, press the closed bottom plate, and increase the pressure between the observation plate and the feature alignment plate.

[0227] The electric drilling tool adopts the guide constraint technology, and is inserted into the clamping mechanism of the clamping positioning tool (such as Fig.55 As shown), confirm that the drilling head is aligned with the alignment hole of the observation plate;

[0228] The astronaut checks the alignment accuracy of the angle positioning assembly. When the accuracy meets the requirements, the operating handle of the angle positioning assembly is pressed. The directional feeding technology is adopted. The execution object and the reset handle are moved along the limit slide groove to the top of the limiter (moved downward 12 mm in this embodiment) under the action of the feed energy storage spring. The drilling head contacts the surface of the solar wing and waits for operation.

[0229] During operation, remove the protective components, operate the operating handle of the release component, and use pressurized drilling technology to release the pressure on the drilling head, so that the drilling head is in close contact with the surface of the solar wing and maintains stable pressure during the rotation of the head; start the motor drive component, drive the output shaft to rotate and drive the drilling head to rotate, and complete the solar wing drilling operation under the dual effects of stable pressure and rotation.

[0230] After the maintenance tool of the present invention is installed, the positioning sleeve contacts the horizontal plane of the angle positioning assembly, and the electric drilling tool is in a vertical relationship with the angle positioning assembly; the handle at the tail of the angle positioning assembly is opened, and the angle positioning assembly drives the electric drilling tool to move downward along the connecting rod of the clamping assembly under the action of the energy storage spring; the angle positioning assembly execution object positioning ring contacts the connecting rod of the clamping assembly, and the clamping positioning tool is in a vertical relationship with the angle positioning assembly; the angle positioning assembly contacts the limiter to achieve motion limit and angle limit, and at the same time, the tool head of the electric drilling tool is sent to the solar wing maintenance point array surface. The characteristic alignment plate on the clamping positioning tool is fixed and parallel to the solar wing array surface, and the tool head of the electric drilling tool is in a vertical relationship with the solar wing array surface ( Fig.32 ). Open the operating handle of the release component, pressurize the cutter head of the electric drilling tool to ensure that the pressure is stable during the rotation of the cutter head; during the drilling process, the reaction force generated by the rotation of the cutter head is limited by the clamping positioning tool, and then transmitted to the clamping surface of the observation plate, the characteristic alignment plate and the solar wing array through the connecting rod of the clamping tool; the couple formed by the rotation of the cutter head is offset by the couple generated by the friction between the observation plate, the characteristic alignment plate and the solar wing array, ensuring the effective cutting of the cutter head during the drilling process. During the drilling process, the tool does not require additional auxiliary force from the astronauts.

[0231] After drilling is completed, lift the cutter head pressure assembly and the angle positioning assembly, remove the electric drilling tool, release the clamping force between the clamping positioning tool observation plate and the feature alignment plate, open the feature alignment plate, and take out the clamping positioning tool.

[0232] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0233] Parts not described in detail in the present invention belong to common knowledge of those skilled in the art.

Claims

1. A maintenance tool suitable for high-precision positioning of space solar panels, characterized by: Including clamping and positioning tools and electric drilling tools; The clamping and positioning tool comprises a clamping assembly, a handle fixing assembly and an angle positioning assembly; the clamping assembly is used to clamp the space solar wing and provide an alignment window corresponding to the part to be repaired on the space solar wing; after the clamping assembly clamps the space solar wing, the handle fixing assembly provides additional pressure to the clamping assembly to achieve reliable fixation of the space solar wing; the angle positioning assembly drives the electric drilling tool to move to the alignment window; The electric drilling tool includes a motor drive component, a drilling component and a protective component; the protective component is used to provide extravehicular protection for the drilling component in the non-operating stage. During operation, the protective component is removed and the cutter head of the drilling component is aligned with the drilling area of ​​the extravehicular equipment; the motor drive component is used to provide a smooth rotation output in the drilling direction; the drilling component uses the output of the motor drive component as input to ensure that during the operation, the cutter head maintains close contact with the object by applying a downward force to complete the drilling maintenance.

2. The maintenance tool according to claim 1, characterized in that: The motor drive component includes a housing armrest, a battery, a motor, a button switch and an output shaft; The battery is an energy storage device that drives the motor to rotate; the motor adopts an axial rotation method that is converted into a stable torque output under electromagnetic action; the button switch is a switch that provides astronauts with operation to control the power supply between the battery and the motor; the output shaft converts the output end of the motor into a smooth rotation in the tool output direction.

3. The maintenance tool according to claim 2, characterized in that: The button is installed at a position at the front end of the housing armrest that is convenient for holding and operating.

4. The maintenance tool according to claim 2, characterized in that: The drilling component includes a rotating transmission rod, a release component, a pressurizing component and a cutter head component; It includes a rotating transmission rod, a release component, a pressurizing component and a cutter head component; The rotation transmission rod is used to transmit the rotational power to the cutter head component; The release component is used to lock the pressure component when not processing; the pressure component is released during processing, and the pressure component applies a downward pressure force on the upper end of the cutter head component to ensure that the cutter head is stably under pressure and in close contact with the cutting object during rotation.

5. The maintenance tool according to claim 4, characterized in that: The release component includes an operating handle, a return spring, a locking pin, a baffle, and a housing; The shell is provided with a through hole for the rotating transmission rod to pass through, and a groove perpendicular to the axis of the through hole, one end face of the groove is connected to the through hole, and the locking pin is installed in the groove, the large diameter end of the locking pin is a free end, the operating handle and the small diameter end of the locking pin are connected by a rotating shaft, and the movement path of the operating handle is limited by the baffles on both sides installed on the shell to prevent the operating handle from rotating with the positioning pin as the center; the reset spring is sleeved on the small diameter end of the locking pin placed in the groove, and in the locked state, the reset spring is compressed with the shell as the reference and keeps the elastic force acting on the locking pin, and in the pressurized state, the operating handle is subjected to force, and the locking pin is pulled up by the rotating shaft, and the locking pin is released from the locked position and unlocked.

6. The repair tool according to claim 5, characterized in that: The operating handle comprises an operating rod and a triangular platform with angles at the front end, wherein the triangular platform is composed of three surfaces A, B and C respectively, wherein the A and B planes are state-fixing platforms, and the C plane is connected to the operating rod; the A and B planes are provided with arc surfaces to transition to become the rotation contact points of the triangular platform; a positioning pin hole is provided between the A and B planes as the center of rotation of the operating handle as a whole; the length of the A plane is set to be more than twice the length of the B plane, ensuring that the distance between the positioning pin hole and the B plane is more than three times the distance between the A planes; the operating rod is composed of two planes E and F, wherein the E plane is parallel to the B plane, and the F plane is parallel to the A plane; the positioning pin makes the A plane or the B plane of the operating handle contact with the shell through the rotating shaft to maintain a stable state; in the pressurized state, the operating handle is subjected to force, and the operating handle rotates from the A plane to the B plane with the front contact point as the fulcrum, because the distance between the positioning pin hole and the B plane is more than three times the distance between the A planes, the rotating shaft is lifted along with the position of the positioning pin hole, and the locking pin is pulled up at the same time, and the locking pin is disengaged from the locking position.

7. The maintenance tool according to claim 4, characterized in that: The pressurizing component includes an energy storage spring, a housing structure, an observation port and a reset handle; The shell structure is a cylindrical structure, the upper end of which is installed below the through hole of the release component shell, forming an integral sleeve outside the cutter head component. The lower end of the shell structure opens an observation port for observing the movement of the cutter head component. The energy storage spring is installed in the shell structure and arranged at the upper end of the cutter head component. In the released state, the energy storage spring expands and releases elastic force, exerting a downward pressure on the upper end of the cutter head component to ensure that the cutter head is stably under pressure and in close contact with the cutting object during rotation; the reset handle is installed at both ends of the release component shell, which is used to overcome the external force of the energy storage spring and drive the shell structure and the release component shell to reset to the locked position.

8. The maintenance tool according to claim 4, characterized in that: The rotating transmission rod is composed of an outer shell and an inner power transmission shaft. The upper port of the shell is provided with a mechanical constraint interface of a power device that provides rotational power, and the lower port is provided with an annular locking surface. The pressure-applying component can effectively achieve a 360° locking state around the annular locking surface.

9. The repair tool according to claim 8, characterized in that: The upper end of the shell structure is connected to the release component shell through a stepped flange surface. An annular groove with an opening facing upward is arranged inside the shell structure. A stepped surface is arranged on the outer side of the inner wall of the annular groove for cooperating with the lower end of the annular locking surface. The central through hole of the annular groove is used to place the lower end of the rotating transmission rod and the upper end of the cutter head component. The cutter head component is fixed at the bottom of the annular groove.

10. The maintenance tool according to claim 4, characterized in that: The cutter head components include a transmission shaft adapter, a cutter head adapter, and a drilling cutter head; The drilling cutter head is connected to the rotating transmission rod through a cutter head adapter and a transmission shaft adapter; the transmission shaft adapter is a sleeve structure with a flange, the rotating transmission rod is sleeved in the sleeve structure and connected to the cutter head adapter through a flange.

11. The maintenance tool according to claim 4 or 10, characterized in that: The drilling tool head includes a blade body and blades distributed on the blade body, wherein the number of the blades is multiple and uniformly distributed on the blade body in the circumferential direction; each blade includes a front angle indicating the degree of inclination of the front blade face, a back angle indicating the degree of friction of the back blade face during the cutting process, a side angle indicating the beveling angle of the blade during the beveling process, and a blade tip according to the movement mode of the blade; the side angle is set to 24.9°~25.1° to ensure that in a vacuum environment, under the low-speed condition that the blade shaft rotation speed is not greater than 50° / s, the blade tip can feed and cut autonomously under the action of constant pressure.

12. The repair tool according to claim 11, characterized in that: The front angle of the blade is set to 59.9°~60.1°, the back angle of the blade is set to 28.4°~28.6°, the tip of the blade is a round head at the front end, and the diameter ranges from 0.5mm to 1mm.

13. The maintenance tool according to claim 1, characterized in that: The protective component includes a protective shell, a limiting spring and an anti-drifting hook and loop; The protective shell is a five-sided structure, with the open end face facing the direction for inserting extravehicular equipment. The anti-floating Velcro is fixed to the inner side of the protective shell facing the opening direction. The top surface is a U-shaped structure, and a limiting spring is installed on the inner side of the U-shaped structure. The limiting function is achieved through the deformation elastic force of the limiting spring and the cylindrical characteristics of the extravehicular equipment to constrain the freedom in the front and rear directions. Guide limiting grooves are arranged on both sides of the protective shell to cooperate with the extravehicular equipment to constrain the freedom in the four directions of up, down, left and right.

14. The repair tool according to claim 13, characterized in that: The U-shaped structure on the top surface of the protective shell includes a bottom surface with a U-shaped opening and grooves arranged around the bottom surface for placing limiting springs. The bottom of the groove is a plane, and the two ends of the plane are semicircular grooves. The two side surfaces of the groove are perpendicular to the bottom of the groove, and the insertion guide end of the top surface is formed by a rounded corner between the U-shaped front end of the bottom surface and the front end of the groove side surface.

15. The repair tool according to claim 14, characterized in that: The limiting spring body is a U-shaped structure placed on the bottom surface. The U-shaped bottom surface of the limiting spring is a plane used to achieve connection with the bottom of the groove. Semicircular structures protruding outward on both sides of the bottom surface of the limiting spring serve as spring deformation areas. Semicircles protruding inwardly as limiting areas are set on the two arms of the U-shape, and the U-shaped opening end is tilted outward as a guide area.

16. The repair tool according to claim 15, characterized in that: The limiting dimension between the two arms of the U-shape should match the diameter of the limiting object, and the limiting dimension should be controlled within 12 to 30 mm; the arc radius of the spring deformation zone should be controlled within 2 to 5 mm; the arc radius of the limiting zone should be controlled within 1 to 2.5 mm; the outward inclination angle of the guide zone should be controlled within the range of 130° to 160° to facilitate the entry of the limiting object.

17. The repair tool according to claim 1, characterized in that: The clamping assembly includes a handle clamping mechanism and an alignment constraint component; The handle clamping mechanism includes a clamping bracket, a pressure plate handle, a fixed handle, a cross transfer rod, a closed energy storage spring, a connecting rod and a closed bottom plate; the alignment constraint component is used to match and align with the space solar wing, including a characteristic alignment plate and an observation plate, and the characteristic alignment plate is fixed on the upper surface of the closed bottom plate; The characteristic alignment plate matches the appearance characteristics of the space solar wing, and the alignment window is arranged on the observation plate; Both the pressure plate handle and the fixed handle are frame structures, and the center of the lower end surface of the fixed handle is fixed to the observation plate of the positioning constraint component through a clamping bracket; the clamping bracket is a cylindrical structure, and through holes are processed on the upper and lower frame beams of the fixed handle, and the lower end and side walls of the pressure plate handle pass through the through holes, and the center of the lower end surface of the pressure plate handle is connected to the upper end of the connecting rod through a cross connecting rod, and the connecting rod is located inside the clamping bracket, and the lower end of the connecting rod passes through the positioning constraint component and is fixed to the closed bottom plate; the closed energy storage spring is located inside the clamping bracket and is mounted on the connecting rod, and the lower end is fixed to the clamping bracket, and a spring limiting ring is provided on the connecting rod.

18. The repair tool according to claim 17, characterized in that: The handle fixing components are provided in two sets, which are symmetrically distributed on both sides of the alignment constraint component along the clamping bracket.

19. The maintenance tool according to claim 1 or 18, characterized in that: The handle fixing assembly includes a rotating handle, a fixing bracket, and a threaded sleeve assembly; the threaded sleeve assembly includes a rotating screw, a screw hole sleeve, a locking bracket, and a fixing nut; the fixing bracket includes a cover plate, a partition plate, and a main body bracket; The rotating handle is a horizontal bar configuration, with a square mounting hole in the center and symmetrical conical structures on both sides, with the cone angle facing the center; The top end of the rotating screw passes through the center of the rotating handle and is gap-matched with the square mounting positioning hole of the rotating handle. The fixing nut is fastened to one end of the rotating screw extending out of the square mounting positioning hole of the rotating handle; the screw hole sleeve is threadedly connected to the lower threaded section of the rotating screw; a screw positioning ring is provided on the rotating screw, and the screw positioning ring is located above the threaded section; The screw hole sleeve is located in the main bracket, the partition is located on the main bracket, the screw positioning ring is located on the partition, the cover plate is covered on the screw positioning ring, and the screws pass through the cover plate, the screw positioning ring, the partition and the main bracket in sequence to achieve fastening; the bottom of the screw hole sleeve extends out from the lower end of the main bracket, passes through the alignment constraint component and the closed bottom plate, and is fixedly connected to the locking bracket.

20. The repair tool according to claim 17, characterized in that: The angle positioning component includes a releasing component, a feeding component and an execution object, and the angle positioning component and the clamping component share a clamping bracket; The front end of the execution object is a positioning rod, the rear end is a positioning cavity, an execution object positioning ring is arranged between the positioning rod and the positioning cavity, and a through hole is arranged in the middle of the execution object positioning ring facing the positioning cavity; the execution object positioning ring is sleeved on the clamping bracket, the clamping bracket is provided with a locking hole and a limiting slide groove, and the upper part of the clamping bracket is provided with an annular limiting observation surface; a clamping mechanism is designed at the front end of the positioning rod for clamping the electric drilling tool; The release component includes an operating handle, a locking pin, a rotating shaft, a housing and a reset spring; a through hole is opened on one side of the operating handle, the rotating shaft is installed in the through hole, the locking pin includes a pin body and a pin head, one end of the pin body is fixedly connected to the rotating shaft, and the other end is connected to the pin head; the reset spring is installed on the pin body, and the locking pin and the reset spring are installed in the housing; The housing is fixedly connected to the positioning cavity of the execution object. When locking, the pin head of the locking pin passes through the through hole on the positioning ring and is inserted into the locking hole of the central slide rod to achieve locking; The feeding component includes a feeding energy storage spring, an outer cylinder, a limiting rod, a limiter and a reset handle; the energy storage spring is sleeved on the central sliding rod, the outer cylinder is sleeved on the outside of the feeding energy storage spring, the upper end of the feeding energy storage spring is limited by the limiting observation surface on the upper part of the clamping bracket, the reset handle is sleeved on the central sliding rod, the feeding energy storage spring, the outer cylinder and the reset handle are all located above the execution object, and the lower end surface of the feeding energy storage spring is in contact with the upper end surface of the reset handle; the limiting rod is fixedly connected to the bottom of the execution object, and the limiting rod is installed on the clamping bracket and can slide up and down along the limiting slide groove; the limiter is sleeved on the central sliding rod and is located at the lower end of the limiting slide groove.

21. The repair tool according to claim 20, characterized in that: Baffles are arranged on both sides of the rotation direction of the operating handle to limit the rotation angle of the operating handle.

22. The repair tool according to claim 20, characterized in that: The clamping mechanism designed at the front end of the positioning rod includes an oblique cone guide frame and a limit spring; the oblique cone guide frame is a horizontally placed U-shaped frame, and both sides of the opening end of the U-shaped frame are respectively integrated with inclined surfaces expanding outward to form a cone-shaped guide opening; height guide limit surfaces are arranged on the inner walls of both sides of the U-shaped frame; The limit spring piece is a U-shaped piece, and a semicircular protrusion is designed on each side of the U-shaped piece. The two semicircular protrusions are symmetrically positioned and the protrusions are opposite in direction. The limit spring piece is fixed inside the oblique cone guide frame and is located below the height guide limit surface. The positioning bushing adopts an integrated design, with a hollow cylindrical structure in the middle, and an annular structure above and below the hollow cylindrical structure. The inner hollow circle diameter of the annular structure is the same as the inner diameter of the hollow cylindrical structure, and the two opposite sides of the outer edge of the upper annular structure are flattened; Two symmetrical vertical grooves are processed on the outer wall of the hollow columnar structure. The grooves match the size of the semicircular protrusions of the limiting spring sheet, and the grooves and the corresponding flattened parts are located on the same side.

23. An application method of a maintenance tool suitable for high-precision positioning of space solar panels, characterized in that include: Before operation, astronauts should rotate the rotary handles on both sides synchronously to open the locking brackets on both sides to the maximum position; When the astronaut is at the operating point, he / she squeezes the pressure plate handle and the fixed handle, and opens the feature alignment plate and the observation plate through the connecting rod to form a clamping space; The astronauts put the extravehicular space solar wing into the clamping space between the observation plate and the characteristic alignment plate, and align the extravehicular space solar wing with the characteristic alignment plate through complementary matching; and confirm whether the alignment is effective through the observation window. After the alignment is effective, the pressure plate handle is released, and the observation plate and the characteristic alignment plate are automatically closed under the action of the closing energy storage spring, so as to realize the fixed constraint on the freedom of movement of the extravehicular flat equipment; The astronauts rotate the rotary handles synchronously from both sides to move the locking bracket upward, compressing the closed bottom plate and increasing the pressure between the observation plate and the feature alignment plate; Insert the guide interface on the electric drilling tool into the clamping mechanism of the clamping positioning tool, and make sure that the drilling head is aligned with the alignment hole of the observation plate; The astronaut checks the alignment accuracy of the angle positioning assembly. When the accuracy meets the requirements, he presses the operating handle of the angle positioning assembly. Under the action of the feed energy storage spring, the execution object and the reset handle move along the limit slide to the top of the limiter. The drilling head contacts the surface of the solar wing and waits for operation. During operation, remove the protective component, use the release component of the drilling component to release the pressure on the drilling head, start the motor drive component, and the drilling component uses the output of the motor drive component as input to ensure that during the operation, the head maintains close contact with the object by applying downward force to complete the drilling maintenance.

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