Manned spacecraft extravehicular movable ground in-situ suspension test verification system and method

Abstract

The invention discloses a manned spacecraft extravehicular movable ground in-situ suspension test verification system and method. The manned spacecraft extravehicular movable ground in-situ suspension test verification system comprises a spacecraft cabin, a horizontal rotating tool, a vertical support tool, an extravehicular spacesuit, extravehicular spacesuit matched ground equipment, a suspension device and a lift truck. Wherein the spacecraft cabin is parked on the horizontal rotating tool or the vertical bracket tool; the horizontal rotating tool controls the spacecraft cabin to rotate along the horizontal axis so as to adjust the position of equipment on the spacecraft; the extravehicular spacesuit is connected with the extravehicular spacesuit matched ground equipment; the extravehicular spacesuit matched ground equipment is placed on the first lifting vehicle and translates and moves up and down along with the first lifting vehicle so as to be matched with the extravehicular spacesuit to move; the suspension device lifts the extravehicular spacesuit and transfers the extravehicular spacesuit to an operation position; and the second lift truck is used for carrying the testee to reach the vicinity of the extravehicular spacesuit and assisting the testee in the extravehicular spacesuit to operate. According to the method, the problem of verifying the outboard operation feasibility during the long-term in-orbit flight of the manned spacecraft is solved.

Description

Technical Field

[0001] The invention relates to a ground in-situ suspension test verification system and method for manned spacecraft extravehicular activities, belonging to the technical field of maintainability. Background Art

[0002] Manned spacecraft have a long on-orbit operating life, high reliability requirements, and need to be upgraded on-orbit. At the same time, manned spacecraft are affected by factors such as size, weight, space environment, and ground-to-space support. Simply achieving the above requirements through long-life and reliability design will not provide engineering real-time performance.

[0003] The Mir space station has an in-orbit lifespan of 15 years, and the International Space Station will have been in orbit for 26 years by 2024. Both of the above manned spacecraft have carried out a large number of maintenance activities during their long-term operation to replace faulty and expired products and restore system functions. Therefore, maintenance is an essential key measure to ensure the normal in-orbit operation of long-term in-orbit spacecraft.

[0004] There are many extravehicular products in manned spacecraft, and their layout is complex. The force characteristics of astronauts wearing extravehicular space suits change, and the extravehicular operation posture can be adjusted arbitrarily, which puts higher requirements on ground test verification. Therefore, for my country's long-term in-orbit manned spacecraft, how to conduct tests to verify the feasibility of extravehicular maintenance is a problem that needs to be solved urgently.

[0005] At present, there are two commonly used ground test methods for extravehicular operations at home and abroad: (1) Hoisting test method, in which the test personnel wear extravehicular space suits and suspend them with hoists, adjust the appropriate operation position, and conduct operation verification tests; (2) Neutral buoyancy tank test method, in which the test personnel wear underwater extravehicular space suits and conduct extravehicular operation verification tests in neutral buoyancy tanks. (3) Air floating platform test method, in which the test product is placed on an air floating platform and an on-orbit operation verification test is conducted. (4) Virtual reality simulation method, by constructing a virtual scene, an immersive on-orbit operation simulation test is conducted.

[0006] Disadvantages of current test methods:

[0007] (1) Ordinary hoisting test methods require the construction of special test equipment to simulate the layout around the object being operated. In addition, considering the test cost, the simulation is usually local and there are differences from the actual layout. In addition, ordinary suspension test methods can only enable astronauts to move horizontally, but cannot adjust the astronauts' position in the vertical direction.

[0008] (2) Neutral buoyancy tank test method: the test product is located underwater and cannot be powered on to simulate the actual working state of the product;

[0009] (3) The air-floating platform test method can only carry out unmanned on-orbit operation test verification, but cannot carry out human-involved extravehicular on-orbit operation test verification.

[0010] (4) Virtual reality simulation methods cannot simulate the working state of the product or the operating characteristics of astronauts wearing space suits. Summary of the invention

[0011] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to provide a ground in-situ suspension test verification system and method for manned spacecraft extravehicular activities, to carry out in-situ on-orbit operation tests on the actual cabin of the manned spacecraft with the help of the ground test system, to solve the problem of verifying the feasibility of extravehicular operations during the long-term on-orbit flight of the manned spacecraft.

[0012] The technical solution of the present invention is:

[0013] The present invention discloses a ground in-situ suspension test verification system for manned spacecraft extravehicular activities, comprising: a spacecraft cabin, a horizontal rotating tool, a vertical support tool, an extravehicular space suit, an extravehicular space suit supporting ground equipment, a suspension device and a lifting vehicle; wherein,

[0014] A lifting vehicle, comprising a first lifting vehicle and a second lifting vehicle;

[0015] The spacecraft cabin is parked on a horizontal rotating fixture or a vertical support fixture; the horizontal rotating fixture controls the spacecraft cabin to rotate along the horizontal axis to adjust the position of equipment on the spacecraft; the extravehicular spacesuit is connected to the supporting ground equipment of the extravehicular spacesuit; the supporting ground equipment of the extravehicular spacesuit is placed on the first lifting vehicle, and moves horizontally and up and down with the first lifting vehicle to coordinate with the movement of the extravehicular spacesuit; the suspension device lifts the extravehicular spacesuit and transfers it to the operating position; the second lifting vehicle is used to carry the participants to the vicinity of the extravehicular spacesuit to assist the subjects in the extravehicular spacesuit in operating.

[0016] Furthermore, in the above system, the extravehicular space suit is equipped with ground equipment, including a trolley, liquid cooling equipment, air supply and decompression equipment, and voice equipment; wherein the trolley is used to fix the extravehicular space suit before the test, the liquid cooling equipment is used to adjust the temperature inside the extravehicular space suit, the air supply and decompression equipment is used to control the pressure inside the extravehicular space suit, and the voice equipment is used for test participants to communicate with test subjects in the extravehicular space suit.

[0017] Furthermore, in the above system, the suspension device includes a mechanical arm, a suspension bracket assembly and a foot limiter; wherein, the suspension bracket assembly is placed at the end of the mechanical arm; the extravehicular space suit, the subject in the space suit, and the foot limiter are placed in the suspension bracket assembly; the mechanical arm lifts the extravehicular space suit, the subject in the space suit, the foot limiter, auxiliary tools and facilities, and the effective lifting weight is >300kg.

[0018] Furthermore, in the above system, the robotic arm includes a base, a plurality of arm rods, a robotic arm end and a plurality of joints; wherein the base can rotate 360°; the arm rods connected to the base through joints can rotate not less than 180°; the arm rods are connected through joints and can rotate not less than 90°; the movement of the robotic arm end is achieved by adjusting the joints; and the robotic arm end is fixedly connected to the suspension bracket assembly.

[0019] Furthermore, in the above system, the suspension bracket assembly includes a suspension bracket main structure, an extravehicular space suit hanging point, a first fixed pulley, a second fixed pulley, a counterweight and a foot limiter fixing device; wherein, the extravehicular space suit hanging point, the first fixed pulley, the second fixed pulley, the counterweight and the foot limiter fixing device are installed on the suspension bracket main structure; the extravehicular space suit hanging point lifts the extravehicular space suit through a hook and a sling; the first fixed pulley and the second fixed pulley are installed on the top of the suspension bracket main structure, and a steel wire rope with hooks on both sides passes through the first fixed pulley and the second fixed pulley, one end of which is connected to the counterweight and the other end is connected to a tool used during operation, the counterweight has the same weight as the tool and is used to offset the gravity of the tool; the bottom of the suspension bracket main structure is connected to the foot limiter fixing device; the foot limiter is installed at the end of the foot limiter fixing device.

[0020] Furthermore, in the above system, the main structure of the suspension bracket is an inverted L-shaped structure; the height of the extravehicular space suit suspension point from the bottom of the extravehicular space suit is not less than 2500mm; and the distance from the main structure of the suspension bracket to one end of the suspension device is not less than 300mm.

[0021] Furthermore, in the above system, the foot limiter fixing device includes a concave beam and a U-shaped beam; the upper part of the concave beam is connected to the main structure of the suspension bracket, and can be slidably adjusted in the height direction along the main structure of the suspension bracket, and the lowest point is not less than 3000mm from the top of the main structure of the suspension bracket; a square opening is provided at the lower part of the concave beam, and the U-shaped beam is installed in the square opening of the concave beam to adjust the position in the front and rear directions; the end of the U-shaped beam is fixedly connected to the foot limiter.

[0022] Furthermore, in the above system, the foot limiter is used to fix the foot of the extravehicular space suit, and includes a first connecting rod, a second connecting rod and a fixing platform; the fixing platform is fixed to the end of the second connecting rod; the other end of the second connecting rod is vertically connected to the first connecting rod; the fixing platform is a flat plate structure, and a first clamp, a second clamp, a first slot and a second slot are arranged on the upper end for fixing the foot of the extravehicular space suit.

[0023] The present invention discloses a ground in-situ suspension test verification method for manned spacecraft extravehicular activity, comprising:

[0024] Place the actual cabin of the manned spacecraft horizontally on the horizontal rotating fixture or the vertical support fixture;

[0025] Open the EVA backpack door and enter the EVA;

[0026] Confirm that there is no foreign matter on the sealing surface of the space suit backpack door and close the backpack door;

[0027] Push the extravehicular space suit to the suspension device;

[0028] Adjust the end of the robotic arm to a suitable height, connect the extravehicular space suit to the suspension device, and lift the suspension device with the robotic arm until the straps are taut;

[0029] Install the foot limiter fixture, connect the foot limiter to the suspension device, connect the foot limiter to the extravehicular space suit, and securely lock the suspension device;

[0030] Use a wire rope with hooks on both sides to pass through the two fixed pulleys of the suspension bracket, one side is connected to the operating tool, and the other side is connected to a counterweight of the same weight as the operating tool to offset the gravity of the operating tool;

[0031] Supplying air to the extravehicular space suit through the ground equipment supporting the extravehicular space suit, and adjusting the air pressure inside the extravehicular space suit to the set air pressure value;

[0032] By adjusting the joint angle of the robotic arm, the extravehicular space suit is transported to the extravehicular operation position;

[0033] The subjects performed operations in an extravehicular space suit, completing the simulation of astronauts performing extravehicular operations in space in an extravehicular space suit;

[0034] By adjusting the joint angle of the robot arm, put the suspension bracket back to the ground;

[0035] Remove the tools, wire rope and counterweight;

[0036] Release the connection between the foot limiter and the suspension device, release the connection between the foot limiter and the extravehicular space suit, and remove the foot limiter fixing device.

[0037] Furthermore, in the above method, it also includes:

[0038] Push the extravehicular space suit carrier to the suspension device;

[0039] Adjust the end of the robotic arm to a suitable height and connect the extravehicular space suit to the extravehicular space suit carrier;

[0040] Adjust the end of the robotic arm until the sling is completely relaxed, and disconnect the extravehicular space suit from the suspension device;

[0041] The air pressure inside the extravehicular space suit is restored to the air pressure of the external environment through the ground equipment supporting the extravehicular space suit;

[0042] Open the EVA space suit backpack door and get out of the EVA space suit;

[0043] Check that there is no foreign matter on the sealing surface of the extravehicular space suit backpack door, close the backpack door and lock it.

[0044] Furthermore, in the above method, if the astronaut's operating posture is perpendicular to the axis of the cabin, he / she is placed on a horizontal rotating fixture, and the cabin is rotated to a suitable angle so that the operating surface of the operated equipment is perpendicular to the horizontal plane; if the astronaut's operating posture is parallel to the axis of the cabin, he / she is placed on a vertical support fixture.

[0045] The beneficial effects of the present invention and the prior art are:

[0046] (1) The test method of the present invention uses a real manned spacecraft cabin, which solves the problem that ground test operations and surrounding layout are difficult to fully simulate 1:1, and the test is more realistic and credible;

[0047] (2) The test method of the present invention realizes the ground simulation of the relative position relationship of the extravehicular operation by grasping the suspension bracket by the mechanical arm, lifting the extravehicular space suit to offset the gravity, adjusting the joint angle of the mechanical arm, and rotating the joint of the mechanical arm to adjust the posture of the extravehicular space suit, thus solving the problem that it is difficult to simulate the weightlessness environment of space on the ground.

[0048] (3) The test method of the present invention uses an extravehicular space suit to pressurize until a pressure difference is formed with the atmospheric pressure, simulating the actual pressure difference environment of the extravehicular space suit glove operation, making the test operation close to the actual situation, and realizing the simulation of the force characteristics of the extravehicular space suit;

[0049] (4) A foot limiter is installed on the suspension device of the present invention, and the feet of the extravehicular space suit are fixed on the foot limiter. A counterweight can be hung on the suspension device to offset the gravity of maintenance tools, etc., which facilitates the realistic simulation of the astronaut's extravehicular operation scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the ground in-situ suspension test verification system for manned spacecraft extravehicular activities under the condition of horizontal rotating tooling of the present invention;

[0051] Figure 2 It is a schematic diagram of the ground in-situ suspension test verification system for manned spacecraft extravehicular activities under the vertical support tooling conditions of the present invention;

[0052] Figure 3 is a schematic diagram of the suspension device of the present invention;

[0053] Figure 4 is a schematic diagram of the foot stopper fixing device of the present invention;

[0054] Figure 5 is a schematic diagram of the foot limiter of the present invention;

[0055] Figure 6The present invention is a flow chart of the ground in-situ suspension test verification method for manned spacecraft extravehicular activities. DETAILED DESCRIPTION

[0056] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The present invention discloses a ground in-situ suspension test verification system for manned spacecraft extravehicular activities, comprising: a spacecraft cabin, a horizontal rotating tool, a vertical support tool, an extravehicular space suit, an extravehicular space suit supporting ground equipment, a suspension device and a lifting vehicle; wherein,

[0058] A lifting vehicle, comprising a first lifting vehicle and a second lifting vehicle;

[0059] The spacecraft cabin is parked on a horizontal rotating fixture or a vertical support fixture; the horizontal rotating fixture controls the spacecraft cabin to rotate along the horizontal axis to adjust the position of equipment on the spacecraft; the extravehicular spacesuit is connected to the supporting ground equipment of the extravehicular spacesuit; the supporting ground equipment of the extravehicular spacesuit is placed on the first lifting vehicle, and moves horizontally and up and down with the first lifting vehicle to coordinate with the movement of the extravehicular spacesuit; the suspension device lifts the extravehicular spacesuit and transfers it to the operating position; the second lifting vehicle is used to carry the participants to the vicinity of the extravehicular spacesuit to assist the subjects in the extravehicular spacesuit in operating.

[0060] Preferably, the extravehicular space suit is equipped with ground equipment, including a trolley, liquid cooling equipment, air supply and decompression equipment and voice equipment; wherein the trolley is used to fix the extravehicular space suit before the test, the liquid cooling equipment is used to adjust the temperature inside the extravehicular space suit, the air supply and decompression equipment is used to control the pressure inside the extravehicular space suit, and the voice equipment is used for test participants to communicate with the subjects in the extravehicular space suit.

[0061] Preferably, the suspension device comprises a robotic arm 1, a suspension bracket assembly and a foot limiter 6; wherein, the suspension bracket assembly is placed at the end of the robotic arm 1; the extravehicular space suit, the subject in the space suit, and the foot limiter 6 are placed in the suspension bracket assembly; the robotic arm 1 lifts the extravehicular space suit, the subject in the space suit, the foot limiter, auxiliary tools and facilities, and the effective lifting weight is >300kg.

[0062] Preferably, the robotic arm 1 includes a base 10, a plurality of arm rods, a robotic arm end 13 and a plurality of joints; wherein the base 10 can rotate 360°; the arm rods connected to the base 10 through the joints can rotate not less than 180°; the arm rods are connected through joints and can rotate by an angle of not less than 90°; the movement of the robotic arm end 13 is achieved by adjusting the joints; the robotic arm end 13 is fixedly connected to the suspension bracket assembly.

[0063] Preferably, the suspension bracket assembly comprises a suspension bracket main structure 2, an extravehicular space suit hanging point 3, a first fixed pulley 7, a second fixed pulley 8, a counterweight 9 and a foot limiter fixing device 14; wherein, the extravehicular space suit hanging point 3, the first fixed pulley 7, the second fixed pulley 8, the counterweight 9 and the foot limiter fixing device 14 are installed on the suspension bracket main structure 2; the extravehicular space suit hanging point 3 lifts the extravehicular space suit 5 by means of hooks and slings; the first fixed pulley 7 and the second fixed pulley 8 are installed on the top of the suspension bracket main structure 2, and a steel wire rope with hooks on both sides passes through the first fixed pulley 7 and the second fixed pulley 8, one end of which is connected to the counterweight 9, and the other end is connected to the tool 4 used during operation, the counterweight 9 has the same weight as the tool 4, and is used to offset the gravity of the tool 4; the bottom of the suspension bracket main structure 2 is connected to the foot limiter fixing device 14; the foot limiter 6 is installed at the end of the foot limiter fixing device 14.

[0064] Preferably, the main structure 2 of the suspension bracket is an inverted L-shaped structure; the height of the extravehicular space suit suspension point 3 from the bottom of the extravehicular space suit is not less than 2500mm; and the distance from the main structure 2 of the suspension bracket to one end of the suspension device is not less than 300mm.

[0065] Preferably, the foot limiter fixing device 14 includes a concave beam 15 and a round beam 16; the upper part of the concave beam 15 is connected to the main structure 2 of the suspension bracket, and can be slidably adjusted in the height direction along the main structure 2 of the suspension bracket, and the lowest point is not less than 3000mm from the top of the main structure 2 of the suspension bracket; a square opening is provided at the lower part of the concave beam 15, and the round beam 16 is installed in the square opening of the concave beam 15 to adjust the position in the front and rear directions; the end of the round beam 16 is fixedly connected to the foot limiter 6.

[0066] Preferably, the foot limiter 6 is used to fix the foot of the extravehicular space suit 5, and includes a first connecting rod 61, a second connecting rod 62 and a fixing platform 63; the fixing platform 63 is fixed to the end of the second connecting rod 62; the other end of the second connecting rod 62 is vertically connected to the first connecting rod 61; the fixing platform 63 is a flat plate structure, and a first clamp 17, a second clamp 18, a first clamp groove 19 and a second clamp groove 20 are provided on the upper end for fixing the foot of the extravehicular space suit 5.

[0067] The present invention discloses a ground in-situ suspension test verification method for manned spacecraft extravehicular activity, comprising:

[0068] Place the actual cabin of the manned spacecraft horizontally on the horizontal rotating fixture or the vertical support fixture;

[0069] Open the EVA backpack door and enter the EVA;

[0070] Confirm that there is no foreign matter on the sealing surface of the space suit backpack door and close the backpack door;

[0071] Push the extravehicular space suit to the suspension device;

[0072] Adjust the end of the robotic arm to a suitable height, connect the extravehicular space suit to the suspension device, and lift the suspension device with the robotic arm until the straps are taut;

[0073] Install the foot limiter fixture, connect the foot limiter to the suspension device, connect the foot limiter to the extravehicular space suit, and securely lock the suspension device;

[0074] Use a wire rope with hooks on both sides to pass through the two fixed pulleys of the suspension bracket, one side is connected to the operating tool, and the other side is connected to a counterweight of the same weight as the operating tool to offset the gravity of the operating tool;

[0075] Supplying air to the extravehicular space suit through the ground equipment supporting the extravehicular space suit, and adjusting the air pressure inside the extravehicular space suit to the set air pressure value;

[0076] By adjusting the joint angle of the robotic arm, the extravehicular space suit is transported to the extravehicular operation position;

[0077] The subjects performed operations in an extravehicular space suit, completing the simulation of astronauts performing extravehicular operations in space in an extravehicular space suit;

[0078] By adjusting the joint angle of the robot arm, put the suspension bracket back to the ground;

[0079] Remove the tools, wire rope and counterweight;

[0080] Release the connection between the foot limiter and the suspension device, release the connection between the foot limiter and the extravehicular space suit, and remove the foot limiter fixing device.

[0081] Preferably, it also includes:

[0082] Push the extravehicular space suit carrier to the suspension device;

[0083] Adjust the end of the robotic arm to a suitable height and connect the extravehicular space suit to the extravehicular space suit carrier;

[0084] Adjust the end of the robotic arm until the sling is completely relaxed, and disconnect the extravehicular space suit from the suspension device;

[0085] The air pressure inside the extravehicular space suit is restored to the air pressure of the external environment through the ground equipment supporting the extravehicular space suit;

[0086] Open the EVA space suit backpack door and get out of the EVA space suit;

[0087] Check that there is no foreign matter on the sealing surface of the extravehicular space suit backpack door, close the backpack door and lock it.

[0088] Preferably, if the astronaut's operating posture is perpendicular to the axis of the cabin, it is placed on a horizontal rotating fixture, and the cabin is rotated to a suitable angle so that the operating surface of the operated equipment is perpendicular to the horizontal plane; if the astronaut's operating posture is parallel to the axis of the cabin, it is placed on a vertical support fixture.

[0089] Example

[0090] like Figure 1 , Figure 2 , Figure 3 As shown, this embodiment provides a manned spacecraft extravehicular activity ground in-situ suspension test verification system, including a spacecraft cabin, a horizontal rotating tool, a vertical bracket tool, an extravehicular space suit, extravehicular space suit supporting ground equipment, a suspension device and two lifting vehicles; the spacecraft cabin is parked on the horizontal rotating tool or the vertical bracket tool, the horizontal rotating tool can control the spacecraft cabin to rotate along the horizontal axis to adjust the position of the equipment on the spacecraft; the extravehicular space suit is connected to the extravehicular space suit supporting ground equipment, and the extravehicular space suit supporting ground equipment is placed on the first lifting vehicle and can be moved horizontally with the first lifting vehicle. The first lift is used to lift the extravehicular space suit and transfer it to the operating position. The second lifting vehicle is used to carry the test personnel to the vicinity of the extravehicular space suit and assist the test subjects in the extravehicular space suit in operating.

[0091] The suspension device includes a mechanical arm 1, a suspension bracket main structure 2, a foot limiter 6 and a suspension device. The suspension device can lift the extravehicular space suit including the space suit's own lifting equipment, cable pipelines, etc., the subject in the space suit, the foot limiter, auxiliary tools and facilities, etc., and the effective lifting weight is >300kg.

[0092] The robot arm is composed of no less than two arms, and the robot arm 1 includes a base 10, a first arm 11, a robot arm end 13, a first joint and a second joint; wherein, the base 10 can rotate 360°; the first arm 11 is connected to the base 10 through the first joint and can rotate not less than 180°; the second arm 12 is connected to the first arm 11 through the second joint and can rotate by an angle of not less than 90°; the movement of the robot arm end 13 can be achieved by adjusting the joints of the robot arm; the end 13 is connected to the main structure 2 of the suspension bracket in the form of a flange and fastened by screws.

[0093] The main structure 2 of the suspension bracket is provided with an extravehicular space suit hanging point 3, a first fixed pulley 7, a second fixed pulley 8, a counterweight 9 and a foot limiter fixing device (14); the main structure 2 of the suspension bracket is a ┏-shaped structure; the main structure 2 of the suspension bracket is provided with an extravehicular space suit hanging point 3, and the extravehicular space suit 5 is hoisted by a hook and a sling, and the height of the extravehicular space suit hanging point 3 from the sole of the extravehicular space suit boots is not less than 2500 mm, and the distance from the rear end of the main structure 2 of the suspension bracket is not less than 300 mm; the first fixed pulley 7 and the second fixed pulley 8 are installed on the top of the main structure 2 of the suspension bracket, and a steel wire rope with hooks on both sides passes through the first fixed pulley 7 and the second fixed pulley 8, one end of which is connected to the counterweight 9, and the other end is connected to a tool 4 used during operation, the counterweight 9 has the same weight as the tool 4, and is used to offset the gravity of the tool 4; the foot limiter 6 is installed on the bottom of the main structure 2 of the suspension bracket by screws.

[0094] like Figure 4 As shown, the foot limiter fixing device 14 includes a concave beam 15 and a round beam 16. The upper part of the concave beam is a concave cross section, which is connected with the main structure of the suspension bracket 2 and can be slid along the main structure of the suspension bracket 2 for height adjustment, and the lowest point is not less than 3000mm from the top of the main structure of the suspension bracket 2; the lower part of the concave beam 15 is a square opening, and the round beam 16 can be installed in it to adjust the position in the front and rear directions. The concave beam 15 is connected to the main structure of the suspension bracket 2 by screws, and the round beam 16 and the concave beam 15 are locked in position by screw top screws; the end of the round beam 16 is fixed to the passive end of the foot limiter 6 by screws, and the active end of the foot limiter 6 is inserted into the passive end to achieve locking.

[0095] like Figure 5 As shown, the foot limiter 6 is used to fix the foot of the extravehicular space suit 5, simulating the state of an astronaut wearing an extravehicular space suit fixed on the foot limiter. The foot limiter is provided with a first clamp 17, a second clamp 18 and a first slot 19, a second slot 20, which can fix the foot of the extravehicular space suit 5; the first clamp 17, the second clamp 18 and the first slot 19, the second slot 20 are all fastened to the foot limiter 6 with screws.

[0096] like Figure 6 As shown, the ground in-situ suspension test verification method for manned spacecraft extravehicular activity of the present invention comprises the following steps:

[0097] Step 1: Place the real cabin of the manned spacecraft horizontally on a horizontal rotating fixture or a vertical support fixture. If the astronaut's operating posture is perpendicular to the cabin axis, place it on the horizontal rotating fixture, and rotate the cabin to a suitable angle so that the operating surface of the operated equipment is perpendicular to the horizontal plane; if the astronaut's operating posture is parallel to the cabin axis, place it on a vertical support fixture.

[0098] Step 2: The participant opens the backpack door of the extravehicular space suit and enters the extravehicular space suit.

[0099] Step 3: The test participants check the sealing surface of the space suit backpack door for foreign matter and close the backpack door. If there is foreign matter on the sealing surface, it will affect the sealing of the space suit, so it must be checked and cleaned.

[0100] Step 4: The test personnel use the extravehicular space suit cart to push the extravehicular space suit to the suspension device.

[0101] Step 5. The robotic arm adjusts the end to a suitable height. The test personnel connect the extravehicular space suit to the suspension device. The robotic arm lifts the suspension device until the strap is taut. The test personnel unlock the extravehicular space suit and connect it to the extravehicular space suit trolley.

[0102] Step 6. Test participants install the foot limiter fixture, connect the foot limiter to the suspension device, connect the foot limiter to the extravehicular space suit, and securely lock the suspension device.

[0103] Step 7. Test participants use wire ropes with hooks on both sides to pass through the two fixed pulleys of the suspension bracket. One side is connected to the operating tool, and the other side is connected to a counterweight of the same weight as the operating tool to offset the gravity of the tool.

[0104] Step 8. Test participants organize and tie up the connecting cables and pipes between the extravehicular space suit and the supporting ground equipment.

[0105] Step 9: supplying air to the extravehicular space suit through the ground equipment supporting the extravehicular space suit, and adjusting the air pressure inside the extravehicular space suit to a set air pressure value, wherein the set air pressure value is the difference between the pressure inside the extravehicular space suit and the atmospheric pressure; in the present invention, the set air pressure value is 140Kpa±2Kpa;

[0106] Setting the air pressure value as the difference between the pressure inside the extravehicular space suit and the atmospheric pressure can make the operating characteristics of the extravehicular space suit in the test consistent with the actual extravehicular on-orbit operation.

[0107] Step 10: By adjusting the joint angle of the robotic arm, the space suit is transported to the extravehicular operation position. During this period, the liquid cooling module moves with the space suit on the lifting vehicle. Ensure that the pipes and cables of the space suit are not pulled during the movement.

[0108] Step 11. The test subjects perform operations in the extravehicular spacesuit, such as maintenance, on-orbit assembly, and testing, to complete the simulation of astronauts performing extravehicular operations in space in an extravehicular spacesuit. Arrange test participants to arrive near the work point by a lifting vehicle to assist the test subjects in completing the test operations, record the test results, test images, and operation time, and if the operation fails, record the reason for the failure.

[0109] Step 12: Put the suspension bracket back to the ground by adjusting the joint angle of the robotic arm. During this period, the liquid cooling module moves with the space suit. Ensure that the pipes and cables of the space suit are not pulled during the movement.

[0110] Step 13: Test participants remove tools, wire ropes and counterweights.

[0111] Step 14: The test participants release the connection between the foot limiter and the suspension device, release the connection between the foot limiter and the extravehicular space suit, and remove the foot limiter fixing device.

[0112] Step 15: Test participants push the extravehicular space suit cart to the suspension device.

[0113] Step 16: The robotic arm adjusts the end to the appropriate height, and the test personnel connect the extravehicular space suit to the extravehicular space suit cart.

[0114] Step 17: The robotic arm adjusts the end until the sling is completely relaxed, and the test personnel release the connection between the extravehicular space suit and the suspension device.

[0115] Step 18: Use the ground equipment supporting the extravehicular space suit to restore the air pressure in the extravehicular space suit to the air pressure of the external environment.

[0116] Step 19: The test participant opens the backpack door of the extravehicular space suit and the test subject gets out of the extravehicular space suit.

[0117] Step 20: The test participants check that there is no foreign matter on the sealing surface of the space suit backpack door, close the backpack door and lock it.

[0118] Step 21: Determine whether the extravehicular operation is feasible based on the operation time, operation image, and operation failure reason obtained in step 7.

[0119] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

[0120] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A ground in-situ suspension test verification system for manned spacecraft extravehicular activities, characterized in that: include: Spacecraft cabin, horizontal rotating tooling, vertical support tooling, extravehicular space suit, extravehicular space suit supporting ground equipment, suspension device and lifting vehicle; among which, A lifting vehicle, comprising a first lifting vehicle and a second lifting vehicle; The spacecraft cabin is parked on a horizontal rotating fixture or a vertical support fixture; the horizontal rotating fixture controls the spacecraft cabin to rotate along the horizontal axis to adjust the position of equipment on the spacecraft; the extravehicular space suit is connected to the supporting ground equipment of the extravehicular space suit; the supporting ground equipment of the extravehicular space suit is placed on the first lifting vehicle, and moves horizontally and up and down with the first lifting vehicle to coordinate with the movement of the extravehicular space suit; the suspension device lifts the extravehicular space suit and transfers it to the operating position; the second lifting vehicle is used to carry the test participants to the vicinity of the extravehicular space suit to assist the subjects in the extravehicular space suit in operating.

2. The ground in-situ suspension test verification system for manned spacecraft extravehicular activity according to claim 1, characterized in that: The extravehicular space suit is equipped with ground equipment, including a trolley, liquid cooling equipment, air supply and decompression equipment, and voice equipment; among them, the trolley is used to fix the extravehicular space suit before the test, the liquid cooling equipment is used to adjust the temperature inside the extravehicular space suit, the air supply and decompression equipment is used to control the pressure inside the extravehicular space suit, and the voice equipment is used for test participants to communicate with the subjects in the extravehicular space suit.

3. The ground in-situ suspension test verification system for manned spacecraft extravehicular activity according to claim 1, characterized in that: The suspension device comprises a mechanical arm (1), a suspension bracket assembly and a foot restraint (6); wherein the suspension bracket assembly is placed at the end of the mechanical arm (1); an extravehicular space suit, a subject in the space suit, and the foot restraint (6) are placed in the suspension bracket assembly; the mechanical arm (1) lifts the extravehicular space suit, the subject in the space suit, the foot restraint, auxiliary tools and facilities, and the effective lifting weight is >300kg.

4. The ground in-situ suspension test verification system for manned spacecraft extravehicular activity according to claim 3, characterized in that: The robot arm (1) comprises a base (10), a plurality of arm rods, a robot arm end (13) and a plurality of joints; wherein the base (10) can rotate 360 ​​degrees; the arm rods connected to the base (10) via joints can rotate by no less than 180 degrees; the arm rods are connected via joints and can rotate by an angle of no less than 90 degrees; the movement of the robot arm end (13) can be achieved by adjusting the joints; and the robot arm end (13) is fixedly connected to a suspension bracket assembly.

5. The ground in-situ suspension test verification system for manned spacecraft extravehicular activity according to claim 3, characterized in that: The suspension bracket assembly comprises a suspension bracket main structure (2), an extravehicular space suit suspension point (3), a first fixed pulley (7), a second fixed pulley (8), a counterweight (9) and a foot stopper fixing device (14); wherein the extravehicular space suit suspension point (3), the first fixed pulley (7), the second fixed pulley (8), the counterweight (9) and the foot stopper fixing device (14) are installed on the suspension bracket main structure (2); the extravehicular space suit suspension point (3) suspends the extravehicular space suit (5) through a hook and a sling; A first fixed pulley (7) and a second fixed pulley (8) are installed on the top of the main structure of the suspension bracket (2); a steel wire rope with hooks on both sides passes through the first fixed pulley (7) and the second fixed pulley (8); one end of the steel wire rope is connected to a counterweight (9) and the other end is connected to a tool (4) used during operation; the counterweight (9) has the same weight as the tool (4) and is used to offset the gravity of the tool (4); the bottom of the main structure of the suspension bracket (2) is connected to a foot limiter fixing device (14); and the foot limiter (6) is installed at the end of the foot limiter fixing device (14).

6. The ground in-situ suspension test verification system for manned spacecraft extravehicular activity according to claim 5, characterized in that: The main structure (2) of the suspension bracket is an inverted L-shaped structure; the height of the extravehicular space suit suspension point (3) from the bottom of the extravehicular space suit is not less than 2500 mm; and the distance from the main structure (2) of the suspension bracket to one end of the suspension device is not less than 300 mm.

7. The ground in-situ suspension test verification system for manned spacecraft extravehicular activity according to claim 5, characterized in that: The foot limiter fixing device (14) comprises a concave beam (15) and a round beam (16); the upper part of the concave beam (15) is connected with the main structure of the suspension bracket (2) and can be slidably adjusted in the height direction along the main structure of the suspension bracket (2), and the lowest point is not less than 3000 mm from the top of the main structure of the suspension bracket (2); the lower part of the concave beam (15) is provided with a square opening, and the round beam (16) is installed in the square opening of the concave beam (15) to adjust the position in the front and rear directions; the end of the round beam (16) is fixedly connected to the foot limiter (6).

8. The ground in-situ suspension test verification system for manned spacecraft extravehicular activity according to claim 3, characterized in that: The foot limiter (6) is used to fix the foot of an extravehicular space suit (5), and comprises a first connecting rod (61), a second connecting rod (62) and a fixing platform (63); the fixing platform (63) is fixed to the end of the second connecting rod (62); the other end of the second connecting rod (62) is vertically connected to the first connecting rod (61); the fixing platform (63) is a flat plate structure, and a first clamp (17), a second clamp (18), a first clamp groove (19) and a second clamp groove (20) are arranged on the upper end thereof, and are used to fix the foot of the extravehicular space suit (5).

9. A ground in-situ suspension test verification method for manned spacecraft extravehicular activity, characterized in that: include: Place the actual cabin of the manned spacecraft horizontally on the horizontal rotating fixture or the vertical support fixture; Open the EVA backpack door and enter the EVA; Confirm that there is no foreign matter on the sealing surface of the space suit backpack door and close the backpack door; Push the extravehicular space suit to the suspension device; Adjust the end of the robotic arm to a suitable height, connect the extravehicular space suit to the suspension device, and lift the suspension device with the robotic arm until the straps are taut; Install the foot limiter fixture, connect the foot limiter to the suspension device, connect the foot limiter to the extravehicular space suit, and securely lock the suspension device; Use a wire rope with hooks on both sides to pass through the two fixed pulleys of the suspension bracket, one side is connected to the operating tool, and the other side is connected to a counterweight of the same weight as the operating tool to offset the gravity of the operating tool; Supplying air to the extravehicular space suit through the ground equipment supporting the extravehicular space suit, and adjusting the air pressure inside the extravehicular space suit to the set air pressure value; By adjusting the joint angle of the robotic arm, the extravehicular space suit is transported to the extravehicular operation position; The subjects performed operations in an extravehicular space suit, completing the simulation of astronauts performing extravehicular operations in space in an extravehicular space suit; By adjusting the joint angle of the robot arm, put the suspension bracket back to the ground; Remove the tools, wire rope and counterweight; Release the connection between the foot limiter and the suspension device, release the connection between the foot limiter and the extravehicular space suit, and remove the foot limiter fixing device.

10. The ground in-situ suspension test verification method for manned spacecraft extravehicular activity according to claim 9, characterized in that: Also includes: Push the extravehicular space suit carrier to the suspension device; Adjust the end of the robotic arm to a suitable height and connect the extravehicular space suit to the extravehicular space suit carrier; Adjust the end of the robotic arm until the sling is completely relaxed, and disconnect the extravehicular space suit from the suspension device; The air pressure inside the extravehicular space suit is restored to the air pressure of the external environment through the ground equipment supporting the extravehicular space suit; Open the EVA space suit backpack door and get out of the EVA space suit; Check that there is no foreign matter on the sealing surface of the extravehicular space suit backpack door, close the backpack door and lock it.

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