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

Abstract

The application discloses a manned spacecraft extravehicular activity ground in-situ suspension test verification system and method, which comprises a spacecraft cabin body, a horizontal rotation tool, a vertical support tool, an extravehicular space suit, an extravehicular space suit matching ground equipment, a suspension device and a lifting vehicle; wherein the spacecraft cabin body is parked on the horizontal rotation tool or the vertical support tool; the horizontal rotation tool controls the spacecraft cabin body to rotate along a horizontal axis to adjust the position of the equipment on the spacecraft; the extravehicular space suit is connected with the extravehicular space suit matching ground equipment; the extravehicular space suit matching ground equipment is placed on the first lifting vehicle and moves horizontally and up and down with the first lifting vehicle to cooperate with the movement of the extravehicular space suit; the suspension device lifts the extravehicular space suit and shifts to an operation position; the second lifting vehicle is used for carrying a test person to the vicinity of the extravehicular space suit to assist the test person in the extravehicular space suit to operate. The application solves the problem of verifying the feasibility of extravehicular operation during long-term on-orbit flight of the manned spacecraft.

Description

Technical Field

[0001] This invention relates to a system and method for in-situ ground suspension test verification of manned spacecraft extravehicular activity, belonging to the field of maintenance technology. Background Technology

[0002] Manned spacecraft have long on-orbit operational lifespans, high reliability requirements, and the need for on-orbit upgrades and replacements. At the same time, manned spacecraft are affected by factors such as size, weight, space environment, and space-to-ground support. Simply achieving the above requirements through long lifespan and reliability design does not have the engineering feasibility.

[0003] The Mir space station had a 15-year operational lifespan, and the International Space Station had been in orbit for 26 years as of 2024. Both of these manned spacecraft underwent extensive maintenance during their long-term operations to replace faulty and expired components and restore system functionality. Therefore, maintenance is an essential and crucial measure to ensure the normal operation of long-term orbiting spacecraft.

[0004] The numerous and complex external components of manned spacecraft, the changing force characteristics of astronauts wearing extravehicular activity (EVA) suits, and the arbitrary adjustment of their EVA posture all place higher demands on ground-based testing and verification. Therefore, for my country's long-term operational manned spacecraft, how to conduct testing and verification of the feasibility of EVA is a pressing problem that needs to be solved.

[0005] Currently, the commonly used ground test methods for extravehicular activity (EVA) operations both domestically and internationally are as follows: (1) Lifting test method: Participants wear EVA spacesuits, which are then suspended by a lifting device and adjusted to a suitable operating position to conduct an operation verification test; (2) Neutral buoyancy tank test method: Participants wear underwater EVA spacesuits and conduct EVA operation verification tests in a neutral buoyancy tank; (3) Air-bearing platform test method: The test product is placed on an air-bearing platform to conduct on-orbit operation verification tests; (4) Virtual reality simulation method: Immersive on-orbit operation simulation tests are conducted by constructing virtual scenarios.

[0006] The shortcomings of existing experimental methods:

[0007] (1) The ordinary hoisting test method requires the special construction of test fixtures to simulate the layout around the object to be operated. Considering the test cost, it is generally an approximate simulation of the local area, which differs from the actual layout. In addition, the ordinary suspension test method can only realize the astronaut's translation on the horizontal plane, and cannot adjust the astronaut's position in the vertical direction.

[0008] (2) Neutral buoyancy tank test method: the test product is located underwater and cannot be powered on to work, which truly simulates the working state of the product.

[0009] (3) The air-bearing test method can only conduct unmanned in-orbit operation test verification and cannot conduct manned extravehicular in-orbit operation test verification.

[0010] (4) The virtual reality simulation method cannot simulate the working state of the product and the operating characteristics of the astronauts in spacesuits. Summary of the Invention

[0011] The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art and provide a ground in-situ suspension test verification system and method for extravehicular activities of manned spacecraft. By means of a ground test system, an in-orbit operation test is carried out in-situ on the real cabin of the manned spacecraft, so as to solve the problem of verifying the feasibility of extravehicular operations during the long-term in-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 extravehicular activities of manned spacecraft, including: a spacecraft cabin, a horizontal rotation tooling, a vertical support tooling, an extravehicular spacesuit, ground equipment supporting the extravehicular spacesuit, a suspension device and a lift truck; wherein,

[0014] The lift truck includes a first lift truck and a second lift truck;

[0015] The spacecraft cabin is parked on the horizontal rotation tooling or the vertical support tooling; the horizontal rotation tooling controls the spacecraft cabin to rotate along the horizontal axis to adjust the position of the equipment on the spacecraft; the extravehicular spacesuit is connected to the ground equipment supporting the extravehicular spacesuit; the ground equipment supporting the extravehicular spacesuit is placed on the first lift truck and moves horizontally and vertically with the first lift truck to cooperate with the movement of the extravehicular spacesuit; the suspension device hoists the extravehicular spacesuit and transfers it to the operation position; the second lift truck is used to carry the test personnel to the vicinity of the extravehicular spacesuit to assist the subject inside the extravehicular spacesuit in operating.

[0016] Further, in the above system, the ground equipment supporting the extravehicular spacesuit includes a rack truck, a liquid cooling device, a gas supply and pressure reduction device and a voice device; wherein, the rack truck is used to fix the extravehicular spacesuit before the test, the liquid cooling device is used to adjust the temperature inside the extravehicular spacesuit, the gas supply and pressure reduction device is used to control the pressure inside the extravehicular spacesuit, and the voice device is used for the test personnel to communicate with the subject inside the extravehicular spacesuit.

[0017] Further, in the above system, the suspension device includes a robotic arm, a suspension support assembly and a foot limiter; wherein, the suspension support assembly is placed at the end of the robotic arm; the extravehicular spacesuit, the subject inside the spacesuit and the foot limiter are placed inside the suspension support assembly; the robotic arm hoists the extravehicular spacesuit, the subject inside the spacesuit, the foot limiter, auxiliary tools and facilities, and the effective hoisting weight > 300 kg.

[0018] Furthermore, in the above system, the robotic arm includes a base, several arm rods, a robotic arm end effector, and several joints; wherein, the base can rotate 360°; the arm rods connected to the base via joints can rotate at least 180°; the arm rods are connected to each other via joints and can rotate at an angle of at least 90°; the robotic arm end effector can move by adjusting each joint; the robotic arm end effector is fixedly connected to the suspension bracket assembly.

[0019] Furthermore, in the above system, the suspension support assembly includes a main suspension support structure, an extravehicular activity (EVA) suit lifting point, a first fixed pulley, a second fixed pulley, a counterweight, and a foot limiter fixing device. The EVA suit lifting point, the first fixed pulley, the second fixed pulley, the counterweight, and the foot limiter fixing device are installed on the main suspension support structure. The EVA suit lifting point suspends the EVA suit via hooks and straps. The first and second fixed pulleys are installed at the top of the main suspension support structure. Steel wire ropes with hooks on both sides pass through the first and second fixed pulleys, with one end connected to the counterweight and the other end connected to the tool used during operation. The counterweight has the same weight as the tool and is used to counteract the tool's weight. The foot limiter fixing device is connected to the bottom of the main suspension support structure. 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 suspension point of the extravehicular spacesuit from the bottom of the extravehicular spacesuit is not less than 2500mm; and the distance from the end of the main structure of the suspension bracket near 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 convex 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, with the lowest point not less than 3000mm from the top of the main structure of the suspension bracket; the lower part of the concave beam is provided with a square opening, and the convex beam is inserted into the square opening of the concave beam for position adjustment in the front and rear directions; the end of the convex beam is fixedly connected to the foot limiter.

[0022] Furthermore, in the above system, the foot restraint is used to fix the feet of the extravehicular spacesuit, 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 perpendicularly connected to the first connecting rod; the fixing platform is a flat plate structure, and the upper end is provided with a first clamp, a second clamp, a first slot, and a second slot for fixing the feet of the extravehicular spacesuit.

[0023] This invention discloses a method for verifying in-situ ground suspension tests during extravehicular activities of manned spacecraft, comprising:

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

[0025] Open the backpack door of the extravehicular spacesuit and enter the extravehicular spacesuit;

[0026] Confirm that there is no foreign object on the sealing surface of the backpack door of the extravehicular spacesuit and close the backpack door;

[0027] Push the extravehicular spacesuit to the suspension device;

[0028] Adjust the end of the robotic arm to a suitable height, connect the extravehicular spacesuit to the suspension device, and the robotic arm lifts the suspension device until the sling is taut;

[0029] Install the foot limiter fixing device, connect the foot limiter to the suspension device, connect the foot limiter to the extravehicular spacesuit, and fix and lock the suspension device;

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

[0031] Supply air to the extravehicular spacesuit through the ground equipment supporting the extravehicular spacesuit and adjust the air pressure inside the extravehicular spacesuit to the set pressure value;

[0032] Transport the extravehicular spacesuit to the extravehicular operation position by adjusting the joint angles of the robotic arm;

[0033] The subject operates wearing the extravehicular spacesuit to complete the simulation of an astronaut performing extravehicular operations wearing an extravehicular spacesuit in space;

[0034] Return the suspension bracket to the ground by adjusting the joint angles of the robotic arm;

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

[0036] Disconnect the foot limiter from the suspension device, disconnect the foot limiter from the extravehicular spacesuit, and remove the foot limiter fixing device.

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

[0038] Push the extravehicular spacesuit racking vehicle to the suspension device;

[0039] Adjust the end of the robotic arm to a suitable height and connect the extravehicular spacesuit to the extravehicular spacesuit racking vehicle;

[0040] Adjust the end of the robotic arm to the state where the sling is completely relaxed and disconnect the extravehicular spacesuit from the suspension device;

[0041] Restore the air pressure inside the extravehicular spacesuit to the air pressure of the external environment through the ground equipment supporting the extravehicular spacesuit;

[0042] Open the backpack door of the extravehicular spacesuit and exit the extravehicular spacesuit;

[0043] Check that there are no foreign objects on the sealing surface of the backpack door of the extravehicular activity suit, close the backpack door and lock it.

[0044] Furthermore, in the above method, if the astronaut's operating posture is perpendicular to the cabin axis, 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 cabin axis, it is placed on a vertical support fixture.

[0045] The advantages of this invention over the prior art are as follows:

[0046] (1) The test method described in this invention uses the actual cabin of a manned spacecraft, which solves the problem that it is difficult to completely simulate the ground test operation and surrounding layout at a 1:1 scale, making the test more realistic and credible;

[0047] (2) The test method described in this invention uses a robotic arm to grab a suspension bracket, which lifts the extravehicular spacesuit to counteract gravity. The robotic arm adjusts the joint angle and rotates the joint to adjust the position of the extravehicular spacesuit, thus realizing the ground simulation of the relative positional relationship of extravehicular operations and solving the problem that it is difficult to simulate the weightless environment of space on the ground.

[0048] (3) The test method described in this invention uses an extravehicular spacesuit pressurized to form a pressure difference with atmospheric pressure, simulating the real pressure difference environment of operating gloves while wearing an extravehicular spacesuit, making the test operation close to the real situation, and realizing the simulation of the force characteristics of wearing an extravehicular spacesuit.

[0049] (4) The suspension device of the present invention is equipped with a foot restraint, and the feet of the extravehicular spacesuit are fixed on the foot restraint. The suspension device can suspend a counterweight to counteract the weight of maintenance tools, etc., which facilitates the realistic simulation of the extravehicular operation scenario of astronauts. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the horizontal rotating tooling condition download system for manned spacecraft extravehicular activity ground in-situ suspension test verification system described in this invention;

[0051] Figure 2 This is a schematic diagram of the vertical support tooling condition download system for manned spacecraft extravehicular activity ground in-situ suspension test verification system described in this invention;

[0052] Figure 3 This is a schematic diagram of the suspension device described in this invention;

[0053] Figure 4 This is a schematic diagram of the foot limiter fixing device described in this invention;

[0054] Figure 5 This is a schematic diagram of the foot limiter described in this invention;

[0055] Figure 6This is the flowchart of the ground in-situ suspension test verification method for extravehicular activities of a manned spacecraft in the present invention. Detailed implementation manners

[0056] The following further elaborates on the present invention patent in detail in conjunction with the attached drawings and specific implementation manners.

[0057] The present invention discloses a ground in-situ suspension test verification system for extravehicular activities of a manned spacecraft, including: a spacecraft cabin body, a horizontal rotation tooling, a vertical support tooling, an extravehicular spacesuit, ground equipment supporting the extravehicular spacesuit, a suspension device, and a lifting vehicle; wherein,

[0058] The lifting vehicle includes a first lifting vehicle and a second lifting vehicle;

[0059] The spacecraft cabin body is parked on the horizontal rotation tooling or the vertical support tooling; the horizontal rotation tooling controls the spacecraft cabin body to rotate along the horizontal axis to adjust the positions of the equipment on the spacecraft; the extravehicular spacesuit is connected to the ground equipment supporting the extravehicular spacesuit; the ground equipment supporting the extravehicular spacesuit is placed on the first lifting vehicle and moves horizontally and vertically with the first lifting vehicle to cooperate with the movement of the extravehicular spacesuit; the suspension device hoists the extravehicular spacesuit and transfers it to the operation position; the second lifting vehicle is used to carry the test personnel to near the extravehicular spacesuit to assist the subject inside the extravehicular spacesuit in operation.

[0060] Preferably, the ground equipment supporting the extravehicular spacesuit includes a rack vehicle, a liquid cooling device, a gas supply and pressure reducing device, and a voice device; wherein, the rack vehicle is used to fix the extravehicular spacesuit before the test, the liquid cooling device is used to adjust the temperature inside the extravehicular spacesuit, the gas supply and pressure reducing device is used to control the pressure inside the extravehicular spacesuit, and the voice device is used for the test personnel to communicate with the subject inside the extravehicular spacesuit.

[0061] Preferably, the suspension device includes a robotic arm 1, a suspension support assembly, and a foot limiter 6; wherein, the suspension support assembly is placed at the end of the robotic arm 1; the extravehicular spacesuit, the subject inside the spacesuit, and the foot limiter 6 are placed inside the suspension support assembly; the robotic arm 1 hoists the extravehicular spacesuit, the subject inside the spacesuit, the foot limiter, auxiliary tools and facilities, and the effective hoisting weight > 300 kg.

[0062] Preferably, the robotic arm 1 includes a base 10, several arm rods, a robotic arm end 13, and several joints; wherein, the base 10 can rotate 360°; the arm rods connected to the base 10 through joints can rotate no less than 180°; the arm rods are connected to each other through joints and can rotate an angle no less than 90°; by adjusting each joint, the movement of the robotic arm end 13 is realized; the robotic arm end 13 is fixedly connected to the suspension support assembly.

[0063] Preferably, the suspension bracket assembly includes a main suspension bracket structure 2, an extravehicular activity (EVA) suit suspension point 3, a first fixed pulley 7, a second fixed pulley 8, a counterweight 9, and a foot limiter fixing device 14; wherein, the EVA suit suspension 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 main suspension bracket structure 2; the EVA suit suspension point 3 suspends the EVA suit 5 through hooks and straps; the first fixed pulley 7 and the second fixed pulley 8 are installed at the top of the main suspension bracket structure 2, and steel wire ropes with hooks on both sides pass through the first fixed pulley 7 and the second fixed pulley 8, with one end connected to the counterweight 9 and the other end connected to the tool 4 used during operation. The counterweight 9 has the same weight as the tool 4 and is used to counteract the weight of the tool 4; the foot limiter fixing device 14 is connected to the bottom of the main suspension bracket structure 2; and 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 spacesuit suspension point 3 from the bottom of the extravehicular spacesuit is not less than 2500mm; and the distance from the end of the main structure 2 of the suspension bracket near the suspension device is not less than 300mm.

[0065] Preferably, the foot limiter fixing device 14 includes a U-shaped beam 15 and a U-shaped beam 16; the upper part of the U-shaped 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, with the lowest point not less than 3000mm from the top of the main structure 2 of the suspension bracket; the lower part of the U-shaped beam 15 is provided with a square opening, and the U-shaped beam 16 is inserted into the square opening of the U-shaped beam 15 for position adjustment in the front and back direction; the end of the U-shaped beam 16 is fixedly connected to the foot limiter 6.

[0066] Preferably, the foot restraint 6 is used to fix the feet of the extravehicular spacesuit 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 perpendicularly connected to the first connecting rod 61; the fixing platform 63 is a flat plate structure, and the upper end is provided with a first clamp 17, a second clamp 18, a first slot 19 and a second slot 20 for fixing the feet of the extravehicular spacesuit 5.

[0067] This invention discloses a method for verifying in-situ ground suspension tests during extravehicular activities of manned spacecraft, comprising:

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

[0069] Open the backpack door of the extravehicular activity suit and enter the extravehicular activity suit;

[0070] Confirm that there are no foreign objects on the sealing surface of the extravehicular spacesuit backpack door, and then close the backpack door;

[0071] Push the extravehicular spacesuit to the suspension device;

[0072] Adjust the end of the robotic arm to an appropriate height, connect the extravehicular spacesuit to the suspension device, and lift the suspension device by the robotic arm until the suspension strap is taut;

[0073] Install the foot limiter fixing device, connect the foot limiter to the suspension device, connect the foot limiter to the extravehicular spacesuit, and fix and lock the suspension device;

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

[0075] Supply air to the extravehicular spacesuit through the ground equipment supporting the extravehicular spacesuit, and adjust the air pressure inside the extravehicular spacesuit to the set value;

[0076] Transport the extravehicular spacesuit to the extravehicular operation position by adjusting the joint angles of the robotic arm;

[0077] The subject operates while wearing the extravehicular spacesuit to complete the simulation of an astronaut performing extravehicular operations while wearing the extravehicular spacesuit in space;

[0078] Place the suspension bracket back on the ground by adjusting the joint angles of the robotic arm;

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

[0080] Disconnect the foot limiter from the suspension device, disconnect the foot limiter from the extravehicular spacesuit, and remove the foot limiter fixing device.

[0081] Preferably, it further includes:

[0082] Push the extravehicular spacesuit trolley to the suspension device;

[0083] Adjust the end of the robotic arm to an appropriate height and connect the extravehicular spacesuit to the extravehicular spacesuit trolley;

[0084] Adjust the end of the robotic arm to the state where the suspension strap is completely loose, and disconnect the extravehicular spacesuit from the suspension device;

[0085] Restore the air pressure inside the extravehicular spacesuit to the air pressure of the external environment through the ground equipment supporting the extravehicular spacesuit;

[0086] Open the backpack door of the extravehicular spacesuit and get out of the extravehicular spacesuit;

[0087] Check that there is no foreign object on the sealing surface of the backpack door of the extravehicular spacesuit, and close and lock the backpack door.

[0088] Preferably, if the astronaut's operating posture is perpendicular to the cabin axis, 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 cabin axis, 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 (EVA) in-situ ground suspension test verification system, including a spacecraft body, a horizontal rotation fixture, a vertical support fixture, an EVA spacesuit, EVA-compatible ground equipment, a suspension device, and two lifting vehicles. The spacecraft body is placed on the horizontal rotation fixture or the vertical support fixture. The horizontal rotation fixture can control the spacecraft body to rotate along the horizontal axis to adjust the position of the equipment on the spacecraft. The EVA spacesuit is connected to the EVA-compatible ground equipment, which is placed on the first lifting vehicle and can move horizontally with the first lifting vehicle. The system allows for both vertical and horizontal movement to coordinate with the movement of the extravehicular activity (EVA) suit. Ground-based equipment for the EVA suit includes a gantry, liquid cooling system, air supply and depressurization system, and voice equipment. The gantry is used to secure the EVA suit before testing; the liquid cooling system adjusts the temperature inside the EVA suit; the air supply and depressurization system controls the pressure inside the EVA suit; and the voice equipment allows participants to communicate with the subjects inside the EVA suit. A suspension device lifts the EVA suit and transfers it to the operating position. A second lift is used to transport participants to the vicinity of the EVA suit to assist the subjects inside.

[0091] The suspension device includes a robotic arm 1, a main suspension support structure 2, and a foot restraint 6. The suspension device can lift extravehicular activity (EVA) suits, including the suit's own lifting gear, cables, etc., as well as the subjects inside the suit, foot restraints, auxiliary tools, and facilities, with an effective lifting weight >300kg.

[0092] The robotic arm consists of at least two arm segments. The robotic arm 1 includes a base 10, a first arm segment 11, a robotic arm end effector 13, a first joint, and a second joint. The base 10 can rotate 360°. The first arm segment 11 is connected to the base 10 through the first joint and can rotate at least 180°. The second arm segment 12 is connected to the first arm segment 11 through the second joint and can rotate at least 90°. The robotic arm end effector 13 can move by adjusting the joints of the robotic arm. The end effector 13 is connected to the main structure 2 of the suspension bracket in the form of a flange and is fastened with screws.

[0093] The main structure 2 of the suspension bracket is equipped with an extravehicular activity (EVA) suit suspension 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 equipped with an EVA suit suspension point 3, which lifts the EVA suit 5 through hooks and straps. The EVA suit suspension point 3 is not less than 2500mm above the EVA suit boot sole and not less than 300mm from the rear end of the main structure 2 of the suspension bracket. The top of the main structure 2 of the suspension bracket is equipped with a first fixed pulley 7 and a second fixed pulley 8. Steel wire ropes with hooks on both sides pass through the first fixed pulley 7 and the second fixed pulley 8. One end 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 counteract the weight of the tool 4. The bottom of the main structure 2 of the suspension bracket is equipped with a foot limiter 6 by screws.

[0094] like Figure 4 As shown, the foot limiter fixing device 14 includes a U-shaped beam 15 and a U-shaped beam 16. The upper part of the U-shaped beam has a U-shaped cross-section, which is connected to the main structure 2 of the suspension bracket and can be adjusted in height along the main structure 2 of the suspension bracket. The lowest point is not less than 3000mm from the top of the main structure 2 of the suspension bracket. The lower part of the U-shaped beam 15 has a square opening into which the U-shaped beam 16 is inserted for position adjustment in the front and back directions. The U-shaped beam 15 is connected to the main structure 2 of the suspension bracket by screws, and the U-shaped beam 16 is locked to the U-shaped beam 15 by screw set screws. The passive end of the foot limiter 6 is fixed to the end of the U-shaped beam 16 by screws, and the active end of the foot limiter 6 can be locked by inserting it into the passive end.

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

[0096] like Figure 6 As shown, the method for verifying the in-situ ground suspension test of a manned spacecraft outside the cabin of the present invention includes the following steps:

[0097] Step 1: Place the actual cabin of the manned spacecraft horizontally on a horizontal rotation fixture or a vertical support fixture. If the astronaut's operating posture is perpendicular to the cabin axis, place it on a horizontal rotation 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 participants open the backpack door of their extravehicular activity (EVA) suits, and the subjects enter the EVA suits.

[0099] Step 3: The test personnel check that there is no foreign object on the sealing surface of the backpack door of the extravehicular spacesuit and close the backpack door. If there is a foreign object on the sealing surface, it will affect the sealing performance of the extravehicular spacesuit. Therefore, inspection and cleaning should be carried out.

[0100] Step 4: The test personnel push the extravehicular spacesuit to the suspension device through the extravehicular spacesuit rack vehicle.

[0101] Step 5: The manipulator adjusts the end to a suitable height. The test personnel connect the extravehicular spacesuit to the suspension device. The manipulator hoists the suspension device until the suspension strap is in a taut state. The test personnel unlock the connection between the extravehicular spacesuit and the extravehicular spacesuit rack vehicle.

[0102] Step 6: The test personnel install the foot limiter fixing device, connect the foot limiter to the suspension device, connect the foot limiter to the extravehicular spacesuit, and fix and lock the suspension device.

[0103] Step 7: The test personnel pass the wire rope with hooks on both sides through the two fixed pulleys of the suspension bracket, connect one side to the operating tool, and connect the other side to a counterweight of the same weight as the operating tool to offset the gravity of the tool.

[0104] Step 8: The test personnel sort out and tie the connection cables and pipelines between the extravehicular spacesuit and the supporting ground equipment.

[0105] Step 9: Supply air to the extravehicular spacesuit through the supporting ground equipment of the extravehicular spacesuit, and adjust the air pressure inside the extravehicular spacesuit to the set air pressure value. The set air pressure value is the difference between the pressure inside the extravehicular spacesuit and the atmospheric pressure; in the present invention, the set air pressure value is 140 Kpa ± 2 Kpa;

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

[0107] Step 10: Transport the extravehicular spacesuit to the extravehicular operation position by adjusting the joint angles of the manipulator. During this period, the liquid cooling module moves with the extravehicular spacesuit on the lift truck. Ensure that the pipelines and cables of the extravehicular spacesuit are not pulled and stressed during the movement.

[0108] Step 11: The test subject operates in the extravehicular spacesuit, such as maintenance, on-orbit assembly, and detection, to complete the simulation of the extravehicular operation of the astronaut wearing the extravehicular spacesuit in space. Arrange the test personnel to take the lift truck to reach near the operation point, assist the test subject to complete the test operation, record the test results, test images, and operation time. If the operation fails, record the reason for the operation failure.

[0109] Step 12: Place the suspension bracket back on the ground by adjusting the joint angles of the manipulator. During this period, the liquid cooling module moves with the extravehicular spacesuit. Ensure that the pipelines and cables of the extravehicular spacesuit are not pulled and stressed during the movement.

[0110] Step 13: The test participants remove the tools, wire ropes, and counterweights.

[0111] Step 14: The test participants disconnect the foot restraint from the suspension device, disconnect the foot restraint from the extravehicular spacesuit, and remove the fixing device of the foot limiter.

[0112] Step 15: The test participants push the extravehicular spacesuit carrier to the suspension device.

[0113] Step 16: The manipulator adjusts the end to a suitable height, and the test participants connect the extravehicular spacesuit to the extravehicular spacesuit carrier.

[0114] Step 17: The manipulator adjusts the end to the state where the sling is completely relaxed, and the test participants disconnect the extravehicular spacesuit from the suspension device.

[0115] Step 18: Through the ground equipment supporting the extravehicular spacesuit, the air pressure inside the extravehicular spacesuit is restored to the air pressure of the external environment.

[0116] Step 19: The test participants open the backpack door of the extravehicular spacesuit, and the subject exits the extravehicular spacesuit.

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

[0118] Step 21: According to the operation time, operation images, and reasons for operation failure obtained in Step 7, determine whether the extravehicular operation is feasible.

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

[0120] The content not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.

Claims

1. A ground-based in-situ suspension test and verification system for extravehicular activities of manned spacecraft, characterized in that, include: Spacecraft hull, horizontal rotation fixtures, vertical support fixtures, extravehicular activity (EVA) suits, EVA suit ground equipment, suspension systems, and lifting vehicles; among which... The lifting platform includes a first lifting platform and a second lifting platform; The spacecraft cabin is positioned 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 activity (EVA) suit is connected to the EVA suit's ground equipment; the EVA suit's ground equipment is placed on a first lifting vehicle and moves horizontally and vertically with the first lifting vehicle to coordinate with the movement of the EVA suit; a suspension device lifts the EVA suit and transfers it to the operating position; a second lifting vehicle is used to transport the test personnel to the vicinity of the EVA suit to assist the test subjects inside the EVA suit in their operations; The extravehicular spacesuit is equipped with ground equipment including a frame vehicle, a liquid cooling system, an air supply and pressure reduction system, and a voice device. The frame vehicle is used to fix the extravehicular spacesuit before the test, the liquid cooling system is used to adjust the temperature inside the extravehicular spacesuit, the air supply and pressure reduction system is used to control the pressure inside the extravehicular spacesuit, and the voice device is used for the test personnel to communicate with the test subjects inside the extravehicular spacesuit. The suspension device includes a robotic arm (1), a suspension bracket assembly, and a foot restraint (6); wherein the suspension bracket assembly is located at the end of the robotic arm (1); the extravehicular spacesuit, the subject inside the spacesuit, and the foot restraint (6) are located inside the suspension bracket assembly; the robotic arm (1) lifts the extravehicular spacesuit, the subject inside the spacesuit, the foot restraint, auxiliary tools, and facilities, with an effective lifting weight >300kg; The robotic arm (1) includes a base (10), several arms, a robotic arm end (13), and several joints; wherein, the base (10) can rotate 360°; the arms connected to the base (10) through joints can rotate at least 180°; the arms are connected to each other through joints and can rotate at an angle of at least 90°; the robotic arm end (13) can move by adjusting each joint; the robotic arm end (13) is fixedly connected to the suspension bracket assembly; The suspension bracket assembly includes a main suspension bracket structure (2), an extravehicular activity (EVA) suit lifting point (3), a first fixed pulley (7), a second fixed pulley (8), a counterweight (9), and a foot limiter fixing device (14); wherein, the EVA suit lifting 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 main suspension bracket structure (2); the EVA suit lifting point (3) lifts the EVA suit (5) through hooks and straps; the main suspension bracket structure (2) The top is equipped with a first fixed pulley (7) and a second fixed pulley (8). The steel wire rope with hooks on both sides passes through the first fixed pulley (7) and the second fixed pulley (8). One end is connected to a 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 counteract the weight of the tool (4). The bottom of the main structure (2) of the suspension bracket is connected to a foot limiter fixing device (14). The foot limiter (6) is installed at the end of the foot limiter fixing device (14). The main structure (2) of the suspension bracket is an inverted L-shaped structure.

2. The manned spacecraft extravehicular activity ground in-situ suspension test verification system according to claim 1, characterized in that: The height of the suspension point (3) of the extravehicular spacesuit from the bottom of the extravehicular spacesuit is not less than 2500 mm; the distance from the main structure (2) of the suspension bracket near the suspension device is not less than 300 mm.

3. The manned spacecraft extravehicular activity ground in-situ suspension test verification system according to claim 1, characterized in that: The foot limiter fixing device (14) includes a concave beam (15) and a square beam (16); the upper part of the concave beam (15) is connected to the main structure (2) of the suspension bracket in a matching manner and can slide up and down along the main structure (2) of the suspension bracket for adjustment. The lowest point is not less than 3000 mm from the top of the main structure (2) of the suspension bracket; a square opening is provided in the lower part of the concave beam (15), and the square beam (16) is installed in the square opening of the concave beam (15) for position adjustment in the front and back directions; the end of the square beam (16) is fixedly connected to the foot limiter (6).

4. The manned spacecraft extravehicular activity ground in-situ suspension test verification system according to claim 1, characterized in that: The foot limiter (6) is used to fix the feet of the extravehicular spacesuit (5), including a first connecting rod (61), a second connecting rod (62) and a fixing table (63); the fixing table (63) is fixed at 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 table (63) is a flat plate structure, and a first clamp (17), a second clamp (18), a first slot (19) and a second slot (20) are provided at the upper end for fixing the feet of the extravehicular spacesuit (5).

5. A method for performing an extravehicular activity ground in-situ suspension test system for a manned spacecraft as described in claim 1, characterized in that, Include: Place the real cabin of the manned spacecraft horizontally on a horizontal rotating tooling or a vertical support tooling. Open the backpack door of the extravehicular spacesuit and enter the extravehicular spacesuit. Confirm that there is no foreign object on the sealing surface of the backpack door of the extravehicular spacesuit and close the backpack door. Push the extravehicular spacesuit to the suspension device. Adjust the end of the robotic arm to an appropriate height, connect the extravehicular spacesuit to the suspension device, and lift the suspension device by the robotic arm until the sling is in a taut state. Install the foot limiter fixing device, connect the foot limiter to the suspension device, connect the foot limiter to the extravehicular spacesuit, and fix and lock the suspension device. Use a wire rope with hooks on both sides to pass through two fixed pulleys of the suspension bracket, connect one side to the operating tool and the other side to a counterweight of the same weight as the operating tool to offset the gravity of the operating tool. Supply air to the extravehicular spacesuit through the ground equipment supporting the extravehicular spacesuit and adjust the air pressure inside the extravehicular spacesuit to the set air pressure value. Transport the extravehicular spacesuit to the extravehicular operation position by adjusting the joint angles of the robotic arm. The subject operates while wearing the extravehicular spacesuit to complete the simulation of an astronaut performing extravehicular operations while wearing the extravehicular spacesuit in space. Place the suspension bracket back on the ground by adjusting the joint angles of the robotic arm. Remove the tools, wire rope and counterweight. Disconnect the foot limiter from the suspension device, disconnect the foot limiter from the extravehicular spacesuit, and remove the foot limiter fixing device. Push the extravehicular spacesuit racking vehicle to the suspension device. Adjust the end of the robotic arm to an appropriate height and connect the extravehicular spacesuit to the extravehicular spacesuit racking vehicle. Adjust the end of the robotic arm to the state where the sling is completely relaxed and disconnect the extravehicular spacesuit from the suspension device. Restore the air pressure inside the extravehicular spacesuit to the air pressure of the external environment through the ground equipment supporting the extravehicular spacesuit. Open the backpack door of the extravehicular spacesuit and get out of the extravehicular spacesuit. Check that there is no foreign object on the sealing surface of the backpack door of the extravehicular spacesuit, close the backpack door and lock it.

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