A high-precision positioning tool suitable for flat equipment in extravehicular environment

Abstract

The application discloses a high-precision positioning tool suitable for flat equipment in an extravehicular environment and belongs to the technical field of space maintenance. The high-precision positioning tool comprises a clamping assembly, a handle fixing assembly and an angle positioning assembly. The clamping assembly is used for clamping the flat equipment. The handle fixing assembly provides additional pressure for the clamping assembly after the clamping assembly clamps the flat equipment, thereby realizing reliable fixing of the extravehicular flat equipment. The angle positioning assembly drives a maintenance tool to move to a position to be maintained of the extravehicular flat equipment. The application further discloses an application method of the high-precision positioning tool suitable for the flat equipment in the extravehicular environment. The high-precision positioning tool can effectively guarantee that an astronaut reliably fixes a surface of the extravehicular flat equipment in the extravehicular environment and performs precision positioning operation on a maintenance point.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of space maintenance, and relates to a high-precision positioning tool suitable for flat equipment in an extravehicular environment during aircraft maintenance. BACKGROUND

[0002] With the development of China's space technology, extravehicular space maintenance tasks involving astronauts will increase day by day.

[0003] In view of the positioning requirements of extravehicular flat equipment maintenance of a space station, a structure suitable for reliable clamping and fixing on the surface of extravehicular flat equipment needs to be developed, and high-precision positioning of the maintenance point needs to be carried out after the tool is reliably fixed. In view of the characteristics of the shape of extravehicular flat equipment, in order to ensure the matching of the positioning tool and the flat shape of the equipment, the technical problem of reliably fixing the positioning tool on the surface of the product and carrying out related operations by astronauts in the extravehicular environment needs to be solved. SUMMARY

[0004] The technical problem solved by the application is to overcome the shortcomings of the prior art and provide a high-precision positioning tool suitable for flat equipment in an extravehicular environment, which can reliably fix the surface of extravehicular flat equipment and accurately position the maintenance point for astronauts in an extravehicular environment.

[0005] The technical solution of the application is as follows:

[0006] A high-precision positioning tool suitable for flat equipment in an extravehicular environment includes a clamping assembly, a handle fixing assembly, and an angle positioning assembly.

[0007] The clamping assembly is used to clamp the flat equipment.

[0008] The handle fixing assembly provides additional pressure for the clamping assembly after the clamping assembly clamps the flat equipment, so as to reliably fix the extravehicular flat equipment.

[0009] The angle positioning assembly drives the maintenance tool to move to the position to be maintained of the extravehicular flat equipment.

[0010] Preferably, the clamping assembly includes a handle clamping mechanism and a positioning constraint part.

[0011] The handle clamping mechanism includes a clamping bracket, a pressure plate handle, a fixed handle, a cross adapter rod, a closed energy storage spring, a connecting rod, and a closed bottom plate; the positioning constraint part is used to match and position with the extravehicular flat equipment and includes a feature positioning plate and an observation plate, and the feature positioning plate is fixed on the upper surface of the closed bottom plate.

[0012] The pressing plate handle and the fixed handle are both frame structures, the fixed handle is fixed on the observation plate of the alignment constraint component through the clamping support at the center of the lower end surface, the clamping support is a cylindrical structure, the upper and lower frame beams of the fixed handle are processed with through holes, the lower end of the pressing plate handle and the side wall pass through the through holes, and the center of the lower end surface of the pressing plate handle is connected with the upper end of the connecting rod through the cross adapter rod, the connecting rod is located in the clamping support, and the lower end of the connecting rod is fixedly connected with the closing bottom plate through the alignment constraint component, the closing energy storage spring is located in the clamping support and is sleeved on the connecting rod, the lower end of the closing energy storage spring is fixed on the clamping support, and the connecting rod is provided with a spring limiting ring.

[0013] Preferably, the feature alignment plate matches the external feature of the extravehicular flat device.

[0014] Preferably, the observation plate is processed with an observation window and an alignment window, the observation window facilitates the determination of the alignment relationship between the feature alignment plate and the external feature of the extravehicular flat device during operation, and the alignment window corresponds to the position to be maintained of the extravehicular flat device.

[0015] Preferably, the handle fixing assembly has two sets, which are symmetrically distributed on the two sides of the alignment constraint component along the clamping support.

[0016] Preferably, each set of handle fixing assembly comprises a rotating handle, a fixed support, and a threaded sleeve assembly, the threaded sleeve assembly comprises a rotating screw, a threaded sleeve, a locking support and a fixed nut, and the fixed support comprises a cover plate, a partition plate and a main support;

[0017] The rotating handle is in the form of a horizontal rod, the center is a square mounting positioning hole, the two sides are symmetrically conical structures, and the taper angles are towards the center;

[0018] The top end of the rotating screw passes through the center of the rotating handle and is in gap cooperation with the square mounting positioning hole of the rotating handle, the fixed nut is fastened with the end of the rotating screw that protrudes out of the square mounting positioning hole of the rotating handle, the threaded sleeve is screwed with the lower threaded section of the rotating screw, and the rotating screw is provided with a screw positioning ring, and the screw positioning ring is located above the threaded section;

[0019] The threaded sleeve is located in the main support, the partition plate is located on the main support, the screw positioning ring is located on the partition plate, the cover plate covers the screw positioning ring, and the screw is sequentially fastened through the cover plate, the screw positioning ring, the partition plate and the main support; the bottom of the threaded sleeve protrudes out of the lower end of the main support, is fixedly connected with the locking support after passing through the alignment constraint component and the closing bottom plate.

[0020] Preferably, the angle positioning assembly comprises a releasing component, a feeding component and an execution object, and the angle positioning assembly shares the clamping support with the clamping assembly.

[0021] The object to be executed is fitted onto the clamping bracket, which is provided with locking holes and limiting grooves. The upper part of the clamping bracket is provided with a circumferential limiting observation surface. The front end of the object to be executed is designed with a clamping mechanism for clamping the maintenance tool.

[0022] The release component includes an operating handle, a locking pin, a rotating shaft, a housing, and a return spring. A through hole is provided on one side of the operating handle, and 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 return spring is installed on the pin body, and the locking pin and the return spring are installed in the housing. The housing is fixedly connected to the object being executed, and a through hole is provided in the center of the side of the object facing the release component. When locking, the pin head of the locking pin passes through the through hole on the object and inserts into the locking hole of the central slide rod to achieve locking.

[0023] 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, and 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, outer cylinder, and reset handle are all located above the object being executed, and the lower end face of the feeding energy storage spring is in contact with the upper end face of the reset handle. The limiting rod is fixed to the lower part of the object being executed and is mounted on the clamping bracket, allowing it to slide up and down along the limiting groove. The limiter is sleeved on the central slide rod and is located at the lowest end of the limiting groove.

[0024] Preferably, the front end of the object to be executed is a positioning rod, and the rear end is a positioning cavity. An object positioning ring is provided between the positioning rod and the positioning cavity. The object to be executed is fitted onto the clamping bracket through the object positioning ring. The clamping mechanism is located at the front end of the positioning rod. The outer shell of the release component is fixedly connected to the positioning cavity of the object to be executed. A through hole is provided in the middle of the side of the object positioning ring facing the positioning cavity.

[0025] Preferably, baffles are provided on both sides of the operating handle in the direction of rotation to limit the rotation angle of the operating handle.

[0026] Preferably, after installation, the maintenance tool held by the front end of the positioning rod of the angle positioning component is located directly above the alignment window of the observation plate.

[0027] A method for applying a high-precision positioning tool suitable for flat equipment in an extravehicular environment includes:

[0028] Before operation, the astronauts simultaneously rotate the handles from both sides to open the locking brackets on both sides to their maximum position.

[0029] When the astronauts reach the designated operation point, they squeeze the pressure plate handle and the fixing handle, and use the connecting rod to open the feature alignment plate and the observation plate to create a clamping space.

[0030] The astronauts place the extravehicular flat device into the clamping space between the observation plate and the feature alignment plate, and the extravehicular flat device is matched and aligned with the feature alignment plate through the complementary matching of the shape features; and whether the alignment is effective is confirmed through the observation window, the handle of the pressure plate is released after effective alignment, and the observation plate and the feature alignment plate are automatically closed under the action of the closed energy storage spring, so that the movement freedom of the extravehicular flat device is fixed and constrained;

[0031] The astronauts rotate the rotating handle on both sides synchronously, so that the locking support moves upward, the closed bottom plate is pressed and closed, and the pressure between the observation plate and the feature alignment plate is increased;

[0032] The astronauts check the alignment accuracy of the angle positioning assembly, press the operation handle of the angle positioning assembly when the accuracy meets the requirements, and the execution object and the reset handle are moved to above the position limiter under the action of the feeding energy storage spring;

[0033] At this time, the maintenance tool clamped by the execution object is located above the alignment hole for subsequent maintenance of the astronauts.

[0034] Preferably, when the alignment accuracy of the angle positioning assembly meets the requirements, the center of the alignment window is coaxial with the center of the clamping mechanism at the front end of the execution object of the angle positioning assembly.

[0035] Compared with the prior art, the present application has the following beneficial effects:

[0036] (1) The present application realizes fastening operation through the clamping assembly and the handle fixing assembly, and effectively realizes reliable and effective fixing of the tool and the position of the extravehicular flat device;

[0037] (2) The present application realizes positioning matching of the angle positioning assembly and the clamping assembly, so that the maintenance point on the surface of the extravehicular flat device can be reliably and effectively positioned during the movement of the angle positioning assembly;

[0038] (3) The present application sets the alignment hole on the observation plate, the center of the clamping mechanism at the front end of the execution object of the angle positioning assembly is coaxial with the center of the alignment window, and the maintenance point is accurately positioned. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a schematic diagram of a reliable and high-precision positioning tool suitable for extravehicular environment;

[0040] Figure 2 It is a schematic diagram of the composition of the clamping assembly;

[0041] Figure 3 It is a schematic diagram of the composition of the handle fixing assembly;

[0042] Figure 4 It is a schematic diagram of the composition of the angle positioning assembly;

[0043] Figure 5The high-precision positioning tool is closed state composition schematic diagram;

[0044] Figure 6 The high-precision positioning tool is opened state composition schematic diagram;

[0045] Figure 7 The high-precision positioning tool is opened state composition schematic diagram;

[0046] Figure 8 The high-precision positioning tool is closed state composition schematic diagram;

[0047] Figure 9 The high-precision positioning tool is closed state composition schematic diagram;

[0048] Figure 10 The high-precision positioning tool is closed state composition schematic diagram;

[0049] Figure 11 The angle positioning assembly is fed to the limiting state schematic diagram;

[0050] Figure 12 The angle positioning assembly is fed to the limiting state schematic diagram;

[0051] Figure 13 The positioner limiting surface schematic diagram;

[0052] Figure 14 The angle positioning assembly limiting surface schematic diagram;

[0053] Figure 15 The angle positioning assembly limiting surface schematic diagram;

[0054] Figure 16 The angle positioning assembly fixed point and observation plate alignment hole center coaxial schematic diagram;

[0055] Figure 17 The angle positioning assembly fixed point and observation plate alignment hole center coaxial schematic diagram. DETAILED DESCRIPTION

[0056] The application will be further described below in conjunction with the drawings.

[0057] The application is a reliable high-precision positioning tool suitable for extravehicular environment, which is an important guarantee for reliably fixing the surface of extravehicular flat equipment and accurately positioning the maintenance point of astronauts in extravehicular environment.

[0058] As Figure 1As shown, a reliable, high-precision positioning tool suitable for extravehicular environments includes a clamping assembly, a handle fixing assembly, and an angle positioning assembly. This enables Chinese astronauts to conduct precise positioning and effectively perform maintenance operations in extravehicular environments. The clamping assembly is used to clamp flat equipment. After the clamping assembly clamps the flat equipment, the handle fixing assembly provides additional pressure to the clamping assembly, ensuring reliable fixation of the flat equipment. The angle positioning assembly moves the maintenance tool to the maintenance position on the flat equipment.

[0059] Specifically,

[0060] 1) Clamping components

[0061] like Figure 2 As shown, the clamping assembly includes a handle clamping mechanism and an alignment constraint component.

[0062] The handle clamping mechanism includes a clamping bracket, a pressure plate handle, a fixed handle, a cross-shaped adapter rod, a closed energy storage spring, a connecting rod, and a closed base plate; the alignment constraint component is used for matching and aligning with the extravehicular flattening equipment, and includes a feature alignment plate and an observation plate, with the feature alignment plate fixed on the upper surface of the closed base plate; the feature alignment plate matches the shape features of the extravehicular flattening equipment.

[0063] Both the pressure plate handle and the fixed handle are frame structures. The center of the lower end face of the fixed handle is fixed to the observation plate of the alignment constraint component via a clamping bracket. The clamping bracket is a cylindrical structure. Through holes are machined on the upper and lower frame beams of the fixed handle. The lower end and side wall of the pressure plate handle pass through the through holes, and the center of the lower end face of the pressure plate handle is connected to the upper end of the connecting rod via a cross adapter rod. The connecting rod is located inside the clamping bracket, and the lower end of the connecting rod passes through the alignment constraint component and is fixed to the closed base plate. The closed energy storage spring is located inside the clamping bracket and is fitted on the connecting rod. The lower end is fixed to the clamping bracket, and a spring limiting ring is provided on the connecting rod.

[0064] The observation plate is machined with an observation window and an alignment window. The observation window facilitates the determination of the alignment relationship between the feature alignment plate and the external flat equipment shape features during operation. The alignment window corresponds to the maintenance position of the external flat equipment.

[0065] Astronauts squeeze the pressure plate handle to open the clamping space of the alignment constraint component, making it easy to place it on the outer surface of the flat equipment. When the astronauts release the pressure plate handle, the alignment constraint component automatically closes the clamping space and is automatically clamped on the surface of the flat equipment under the action of the closing energy storage spring, effectively preventing the positioning tool from drifting off the product surface.

[0066] The feature alignment plate and the flat equipment mounting surface form complementary concave and convex features, and the accuracy of tool alignment is confirmed by the complementary matching between the features.

[0067] 2) Handle fixing assembly

[0068] The handle fixing assembly has two sets, which are symmetrically distributed on both sides of the alignment constraint component along the clamping support.

[0069] As shown in Figure 3 each set of handle fixing assembly includes a rotating handle, a fixing support, a threaded sleeve assembly; the threaded sleeve assembly includes a rotating screw, a threaded sleeve, a locking support and a fixing nut, the fixing support includes a cover plate, a partition plate and a main support.

[0070] The rotating handle is in the form of a horizontal bar, with a square mounting positioning hole in the center and symmetrical conical structures on both sides, and the taper angle is towards the center. The top end of the rotating screw passes through the center of the rotating handle and cooperates with the square mounting positioning hole of the rotating handle, and the fixing nut is fastened with the end of the rotating screw extending out of the square mounting positioning hole of the rotating handle; the threaded sleeve is screwed with the lower threaded segment of the rotating screw; the rotating screw is provided with a screw positioning ring above the threaded segment. The threaded sleeve is located in the main support, the partition plate is located on the main support, the screw positioning ring is located on the partition plate, the cover plate covers the screw positioning ring, and the screw is fastened in sequence through the cover plate, the screw positioning ring, the partition plate and the main support; the bottom of the threaded sleeve extends out of the lower end of the main support, and is fixedly connected with the locking support after passing through the alignment constraint component and the closing bottom plate.

[0071] The handle fixing assembly provides additional pressure for the clamping assembly, improving the fixing reliability of the positioning tool.

[0072] After the astronauts provide the initial rotation speed, the rotating handle continues to maintain the subsequent rotation power according to its own inertia, replacing the astronauts' rotation operation.

[0073] The fixing support 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 stable in the rotation direction.

[0074] The threaded sleeve assembly converts the rotation direction of the rotating handle into the locking direction of the up and down movement of the locking support, and locks the rotating handle through the thread self-locking angle. The locking support converts the thread locking force into the locking surface pressure.

[0075] 3) Angle positioning assembly

[0076] As shown in Figure 4 the angle positioning assembly includes a release component, a feeding component and an execution object, and the angle positioning assembly shares the clamping support with the clamping assembly.

[0077] The front end of the execution object is a positioning rod, and the rear end is a positioning cavity, and a 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 support, and the clamping support is provided with a locking hole and a limiting sliding groove, and the upper part of the clamping support is provided with a circumferential limiting observation surface; a clamping mechanism is designed at the front end of the positioning rod for clamping maintenance tools.

[0078] The release component includes an operating handle, a locking pin, a rotating shaft, a shell and a reset spring; the operating handle is provided with a through hole on one side, and 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 with the rotating shaft, and the other end is connected with the pin head; the reset spring is installed on the pin body, and the locking pin and the reset spring are installed in the shell; the shell is fixedly connected with the positioning cavity of the execution object; when locked, the pin head of the locking pin is inserted into the locking hole of the center sliding rod through the through hole on the positioning ring to realize locking.

[0079] 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 center sliding rod, the outer cylinder is sleeved outside the feeding energy storage spring, the upper end of the feeding energy storage spring is limited by the limiting observation surface of the upper part of the clamping support, the reset handle is sleeved on the center 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 below the execution object, and the limiting rod is installed on the clamping support and can slide up and down along the limiting sliding groove; the limiter is sleeved on the center sliding rod and located at the lowermost end of the limiting sliding groove. A baffle is arranged on both sides of the rotating direction of the operating handle for limiting the rotating 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 observation window of the observation plate.

[0080] The astronaut holds the operating handle, the operating handle takes the side with the through hole as the fulcrum, drives the locking pin to lift up, and the locking pin leaves the original locking position; the feeding component and the execution object are automatically oriented and fed to the limiter under the action of the feeding energy storage spring. When the astronaut performs the reset operation through the reset handle, the locking pin is automatically attached to the outer surface of the clamping support under the action of the reset spring; when reset to the original locking position, the locking pin is automatically inserted into the locking position under the action of the reset spring, and the feeding energy storage spring is compressed to return to the original initial position.

[0081] In the "release" state, the feeding energy storage spring expands to release the elastic force and push the angle positioning assembly to move; in the "locking" state, the feeding energy storage spring is compressed to store the elastic force, and the angle positioning assembly returns to the original locking position. The reset handle is arranged at the lower end of the feeding component and distributed on both sides of the feeding component, so that the astronaut can bear force evenly on both sides when performing the reset operation, and the feeding energy storage spring is compressed to make the feeding component return to the original initial position.

[0082] The angle positioning assembly is an interface component connecting the positioning tool with the rest of the maintenance tool, and drives the maintenance tool to the designated maintenance position through the angle positioning assembly.

[0083] The application method of the positioning tool is as follows:

[0084] Before operation, the astronaut synchronously rotates the rotating handle from both sides to open the locking support on both sides to the maximum position, as shown in Figure 5 .

[0085] When the astronaut reaches the operation point, the astronaut pinches the pressing plate handle and the fixed handle to open the feature alignment plate and the observation plate through the connecting rod to form a clamping space, as shown in Figure 6 , Figure 7 .

[0086] The astronaut places the extravehicular flat device into the space between the observation plate and the feature alignment plate, and performs complementary matching alignment through the contour features of the extravehicular flat device and the feature alignment plate; and after confirming effective alignment through the observation window, the astronaut releases the pressing plate handle, and the observation plate and the feature alignment plate are automatically closed under the action of the closed energy storage spring to realize the fixed constraint of the movement degree of freedom of the extravehicular flat device, as shown in Figure 8 .

[0087] The astronaut synchronously rotates the rotating handle from both sides to move the locking support upward, press the closed bottom plate, and increase the pressure between the observation plate and the feature alignment plate, as shown in Figure 9 , Figure 10 .

[0088] The astronaut checks the alignment accuracy of the angle positioning assembly, and after the accuracy meets the requirements, the astronaut presses the operation handle of the angle positioning assembly, and the execution object and the reset handle are moved above the limit stop along the limit slot under the action of the feed energy storage spring, as shown in Figure 11 , Figure 12 . The limit stop is provided with two angle limiting protrusions, one side of the first limiting protrusion is provided with a limiting surface A, and one side of the second limiting protrusion is provided with a limiting surface B, the included angle between the limiting surface A and the limiting surface B is set to 180°, as shown in Figure 13 . Two recesses are arranged on the lower surface of the execution object positioning ring, one side of the first positioning recess is provided with a limiting surface C, and one side of the second positioning recess is provided with a limiting surface D, the included angle between the limiting surface C and the limiting surface D is set to 180°, as shown in Figure 14 . After release, the angle limiting protrusions of the limit stop are inserted into the corresponding recesses on the positioning ring, and the angle positioning assembly contacts the limiting surfaces A and B on both sides of the limit stop through the limiting surfaces C and D on the lower side of the positioning ring to ensure that it is within the angle accuracy range of the limiting surfaces, as shown in Figure 15 .

[0089] At this time, the maintenance tool clamped by the execution object is located above the alignment hole for subsequent maintenance by the astronaut.

[0090] The positioning tool sets a locating hole on the observation plate, and sets a fixed point on the angle positioning assembly, as shown in the figure, realizes coaxiality of the two center holes, and guarantees precision positioning of the maintenance point, as shown in the figure, Figure 16 . Figure 17 .

[0091] The application can effectively guarantee that the astronauts reliably fix the surface of the extravehicular flat device under the extravehicular environment and perform precision positioning operation on the maintenance point. By using the application, the astronauts can conveniently use the positioning tool to reliably fix the surface of the product, and then carry out the technical problem of related operation. The application improves the feasibility of extravehicular device maintenance through high-precision positioning, and guarantees long-term safe operation of the space station.

[0092] The contents not described in detail in the specification of the application belong to the known technology of the person skilled in the art.

Claims

1. A high-precision positioning tool for flat devices used in extravehicular environments, characterized in that: The device comprises a clamping assembly, a handle fixing assembly and an angle positioning assembly. The clamping assembly is used for clamping a flat device. The handle fixing assembly provides additional pressure for the clamping assembly after the clamping assembly clamps the flat device, thereby realizing reliable fixing of the extravehicular flat device. The angle positioning assembly drives the maintenance tool to move to a position to be maintained of the extravehicular flat device. The clamping assembly comprises a handle clamping mechanism and an alignment constraint component. The handle clamping mechanism comprises a clamping support, a pressing plate handle, a fixed handle, a cross adapter rod, a closing energy storage spring, a connecting rod and a closing bottom plate. The alignment constraint component is used for matching and aligning with the extravehicular flat device and comprises a feature alignment plate and an observation plate.

2. The high-precision positioning tool for flat equipment in extravehicular environment according to claim 1, characterized in that: The feature alignment plate is fixed on the upper surface of the closing bottom plate.

3. The high-precision positioning tool for flat equipment in extravehicular environment according to claim 1, characterized in that: The fixed handle and the pressing plate handle are both frame structures.

4. The high-precision positioning tool for flat equipment outside the cabin environment according to claim 1, characterized in that: The lower end surface center of the fixed handle is fixed on the observation plate of the alignment constraint component through the clamping support.

5. A high-precision positioning tool for flat devices used in extravehicular environments according to claim 4, characterized in that: The clamping support is a cylindrical structure. The upper and lower frame beams of the fixed handle are provided with through holes. The lower end and the side wall of the pressing plate handle pass through the through holes. The lower end surface center of the pressing plate handle is connected with the upper end of the connecting rod through the cross adapter rod.

6. A high-precision positioning tool for flat devices used in extravehicular environments according to claim 5, characterized in that: The connecting rod is located inside the clamping support. The lower end of the connecting rod is fixed with the closing bottom plate through the alignment constraint component. The closing energy storage spring is located inside the clamping support and is sleeved on the connecting rod. The lower end of the closing energy storage spring is fixed on the clamping support. The connecting rod is provided with a spring limiting ring. The feature alignment plate matches the shape features of the extravehicular flat device. The observation plate is provided with an observation window and an alignment window. The observation window facilitates determination of the alignment relationship between the feature alignment plate and the shape features of the extravehicular flat device during operation. The alignment window corresponds to the position to be maintained of the extravehicular flat device. The handle fixing assembly has two sets which are symmetrically distributed on the two sides of the alignment constraint component along the clamping support. Each set of handle fixing assembly comprises a rotating handle, a fixed support and a threaded sleeve assembly. The threaded sleeve assembly comprises a rotating screw, a threaded sleeve, a locking support and a fixed nut. The fixed support comprises a cover plate, a partition plate and a main support. The rotating handle is in the form of a horizontal rod. The center of the rotating handle is a square mounting positioning hole. The two sides of the rotating handle are symmetrically conical structures. The angle of the conical structure is towards the center. The top end of the rotating screw passes through the center of the rotating handle and is in clearance fit with the square mounting positioning hole of the rotating handle. The fixed nut is fastened with the end of the rotating screw which extends out of the square mounting positioning hole of the rotating handle. The threaded sleeve is screwed with the lower threaded section of the rotating screw. The rotating screw is provided with a screw positioning ring which is located above the threaded section. The threaded sleeve is located in the main support. The partition plate is located on the main support. The screw positioning ring is located on the partition plate. The cover plate covers the screw positioning ring. Screws pass through the cover plate, the screw positioning ring, the partition plate and the main support in sequence to realize fastening. The bottom of the threaded sleeve extends out of the lower end of the main support, is fixed with the locking support after passing through the alignment constraint component and the closing bottom plate. The angle positioning assembly comprises a releasing component, a feeding component and an execution object. The angle positioning assembly shares the clamping support with the clamping assembly. The execution object is sleeved on the clamping support. The clamping support is provided with a locking hole and a limiting sliding slot. The upper part of the clamping support is provided with a limiting observation surface. The front end of the execution object is designed with a clamping mechanism for clamping the maintenance tool. The releasing component comprises an operating handle, a locking pin, a rotating shaft, a shell and a reset spring; the operating handle is provided with a through hole on one side, and the rotating shaft is installed in the through hole; the locking pin comprises a pin body and a pin head, one end of the pin body is fixedly connected with the rotating shaft, and the other end is connected with the pin head; the reset spring is installed on the pin body, and the locking pin and the reset spring are installed in the shell; The shell is fixedly connected with the execution object, and the execution object is provided with a through hole in the middle of the side facing the releasing component; when locked, the pin head of the locking pin is inserted into the locking hole of the center slide rod through the through hole on the execution object, so that the locking is realized; The feeding component comprises 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 center slide rod, the outer cylinder is sleeved outside the feeding energy storage spring, the upper end of the feeding energy storage spring is limited by the limiting observation surface of the upper part of the clamping support, the reset handle is sleeved on the center 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 below the execution object, and the limiting rod is installed on the clamping support and can slide up and down along the limiting sliding groove; the limiter is sleeved on the center slide rod and located at the lowermost end of the limiting sliding groove.

7. A high-precision positioning tool for flat devices used in extravehicular environments according to claim 6, characterized in that: The front end of the execution object is a positioning rod, the rear end is a positioning cavity, and an execution object positioning ring is arranged between the positioning rod and the positioning cavity; the execution object is sleeved on the clamping support through the execution object positioning ring; the clamping mechanism is arranged at the front end of the positioning rod; the shell of the releasing component is fixedly connected with the positioning cavity of the execution object; and the execution object positioning ring is provided with a through hole in the middle of the side facing the positioning cavity.

8. A high-precision positioning tool for flat devices used in extravehicular environments according to claim 6, characterized in that: Baffles are arranged on both sides of the rotating direction of the operating handle, for limiting the rotating angle of the operating handle.

9. A high-precision positioning tool for flat devices used in extravehicular environments according to claim 6, characterized in that: After installation, the maintenance tool clamped by the front end of the positioning rod of the angle positioning assembly is located directly above the observation window of the observation plate.

10. A method of using a high-precision positioning tool for out-of-cabin flat devices, characterized in that, The high-precision positioning tool for flat equipment in extravehicular environment is realized by the method of claim 9, comprising: Before operation, the astronauts synchronously rotate the rotating handles on both sides to open the locking supports on both sides to the maximum position; When the astronauts reach the operation point, they pinch the pressing handle and the fixing handle to open the characteristic alignment plate and the observation plate through the connecting rod to form a clamping space; The astronauts place the extravehicular flat equipment into the clamping space between the observation plate and the characteristic alignment plate, and perform complementary matching alignment through the shape characteristics of the extravehicular flat equipment and the characteristic alignment plate; whether the alignment is effective is confirmed through the observation window; after effective alignment, the pressing handle is released, and the observation plate and the characteristic alignment plate are automatically closed under the action of the closing energy storage spring to realize the fixed constraint of the movement degree of freedom of the extravehicular flat equipment; The astronauts synchronously rotate the rotating handles on both sides to move the locking supports upward to press the closed bottom plate and increase the pressure between the observation plate and the characteristic alignment plate; The astronauts check the alignment accuracy of the angle positioning assembly, and after the accuracy meets the requirements, they press the operating handle of the angle positioning assembly, and the execution object and the reset handle are moved above the limiter under the action of the feeding energy storage spring along the limiting sliding groove. At this time, the maintenance tool clamped by the execution object is located above the observation window of the observation plate for subsequent maintenance by the astronauts.

11. The method of claim 10, wherein the method further comprises: When the angle positioning assembly meets the requirement of positioning accuracy, the center of the positioning window and the center of the clamping mechanism at the front end of the execution object of the angle positioning assembly are coaxial.

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