On-orbit maintenance ground test method under spacecraft cabin condition

Abstract

The invention provides an on-orbit maintenance ground test method under the cabin condition of a manned spacecraft, and the method comprises the steps: S1, employing maintenance simulation software to carry out maintainability simulation under a cabin environment, and determining a maintenance pose; s2, simulating a surrounding layout environment of the on-orbit maintenance unit, and setting a proper position according to a simulation result, so that the relative poses of the simulated astronaut and the on-orbit maintenance unit are kept consistent during ground maintenance; s3, performing maintenance operation verification by the maintenance personnel by adopting the relative poses and the maintenance tools according to the maintenance operation requirements, and verifying accessibility, visibility and operability in the maintenance operation process; s4, carrying out trafficability verification by the on-orbit maintenance unit, and verifying whether the maintenance product can pass through the transfer channel or not; and S5, the maintenance pose is adjusted, and the optimal maintenance state is optimized. According to the invention, maintainability verification in an on-orbit zero-gravity whole cabin environment can be effectively verified, a zero-gravity verification problem under a ground cabin body is solved, and design optimization of on-orbit maintainability can be effectively supported.

Description

Technical Field

[0001] This invention belongs to the field of spacecraft cabin technology, specifically relating to a ground test method for on-orbit maintenance under spacecraft cabin conditions. Background Technology

[0002] The space station provides humanity with a platform for long-term observation and scientific research in space orbit. However, various products on the space station can malfunction, affecting its normal operation. To improve mission reliability, on-orbit maintenance is a crucial means of extending the space station's lifespan and ensuring astronaut safety. Maintainability verification is a key aspect of maintainability work, used to comprehensively assess whether products meet the prescribed maintainability requirements and evaluate the feasibility of on-orbit maintenance.

[0003] Ideally, ground-based verification would employ a neutral buoyancy tank test, but this requires separate production of testing equipment, incurring significant costs and a long development cycle. In a conventional 1g ground environment, the influence of gravity makes it impossible to simulate the various postures of astronauts performing on-orbit maintenance, resulting in insufficient verification of the visibility, accessibility, and operability of maintenance. Therefore, there is an urgent need to propose a relatively simple method to simulate the relative posture during on-orbit maintenance and verify the fulfillment of the requirements for visibility, accessibility, and operability. Summary of the Invention

[0004] In view of the shortcomings and deficiencies of existing technologies, and in order to solve the problem of verifying the ergonomics of maintenance under the conditions of a spacecraft cabin, the purpose of this invention is to provide a ground test method for on-orbit maintenance under the conditions of a spacecraft cabin.

[0005] The specific technical solution of the present invention is as follows:

[0006] A ground test method for on-orbit maintenance under manned spacecraft cabin conditions includes the following steps:

[0007] S1. Use maintenance simulation software to conduct maintainability simulation in the cabin environment and determine the maintenance posture;

[0008] S2. Use spacecraft cabin or local simulation equipment to simulate the layout environment around the on-orbit maintenance unit. Based on the simulation results, set appropriate positions so that the relative posture of the simulated astronaut and the on-orbit maintenance unit remains consistent during ground maintenance.

[0009] S3. Maintenance personnel adopt a relative posture and, in accordance with maintenance operation requirements, use maintenance tools to verify maintenance operations, verifying the accessibility, visibility, and operability of the maintenance operation process;

[0010] S4. The on-orbit maintenance unit conducts passability verification to verify whether the maintenance products can pass through the transfer channel;

[0011] S5. Based on the above process, adjust the maintenance position and optimize the best maintenance state.

[0012] The on-orbit maintenance ground test method under spacecraft cabin conditions described in this invention is a method that combines simulation method and experimental verification.

[0013] The on-orbit maintenance ground test method under spacecraft cabin conditions described in this invention can verify the main verification contents of on-orbit visibility, accessibility, operability, and passability.

[0014] In step S1, the maintenance simulation software is a human-machine ergonomics analysis simulation software.

[0015] In step S1, the optimal hand and foot restraint positions of the astronaut are recorded to form the relative maintenance posture of the astronaut during on-orbit maintenance.

[0016] In step S2, when simulating the cabin environment layout, Option 1 adopts the overall configuration and layout of the structural and electrical cabins, and ensures the relative posture during ground-based simulated maintenance through cabin rotation. Maintaining the same relative posture as during on-orbit maintenance is crucial to the effectiveness of maintenance verification.

[0017] In step S2, when simulating the cabin environment layout, Option 2 adopts a partial layout approach, which only lays out the maintenance equipment and its surrounding equipment, constructs equipment related to maintenance operations, and simulates the space for on-orbit maintenance.

[0018] In step S2, when simulating relative posture, a zero-gravity suspension method is used to constrain the simulated astronaut's position, field of view, and operating range.

[0019] In step S3, when the maintenance personnel adopt a relative posture, a zero-gravity suspension device is used to suspend the astronaut vertically, horizontally, or at a certain angle to simulate a weightless environment and verify the accessibility of maintenance operations under weightlessness.

[0020] In step S3, the content of the maintenance operation verification is as follows:

[0021] Verify that the arm or repair tool has reached the repair operation position;

[0022] Verify that the arm or repair tool is performing the required operation;

[0023] Verify visually observable conditions during maintenance work;

[0024] Verify the interference between the arm or maintenance tool / head and surrounding equipment during the operation, and record the minimum distance.

[0025] During complex operation verification, when changes in the astronaut's maintenance position are involved and relative positions need to be adjusted, the maintenance operation can be verified in segments, verifying the corresponding maintenance operation under different postures. In step S4, if the maintenance equipment is large or the space for transferring the maintenance equipment is small, product passability verification needs to be carried out. During passability verification, a model of the equipment is used as a shape simulation part for verification to avoid safety issues during the verification process. If the passability verification is successful, the next operation is carried out; otherwise, the maintenance posture will be adjusted.

[0026] Compared with the prior art, the beneficial effects achieved by this invention are as follows:

[0027] 1. This invention employs a suspended simulation of maintainability verification under zero gravity, which can effectively verify maintainability verification in an on-orbit zero gravity cabin environment and solve the problem of zero gravity verification under ground cabins.

[0028] 2. This invention adopts a simple maintainability verification method in a cabin environment, which reduces the auxiliary facilities for verification in the entire cabin environment, effectively supports the design optimization of on-orbit maintainability, and improves verification efficiency. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart of the steps of the on-orbit maintenance ground test method under spacecraft cabin conditions in this invention.

[0031] Figure 2 This is a partial layout diagram of the present invention.

[0032] Specific implementation methods

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and use non-precise ratios, and are only used to facilitate and clarify the purpose of illustrating the embodiments of the present invention.

[0034] The specific technical solution of the present invention is as follows:

[0035] A ground test method for on-orbit maintenance under manned spacecraft cabin conditions includes the following steps:

[0036] S1. Use maintenance simulation software to conduct maintainability simulation in the cabin environment and determine the maintenance posture;

[0037] S2. Use spacecraft cabin or local simulation equipment to simulate the layout environment around the on-orbit maintenance unit. Based on the simulation results, set appropriate positions so that the relative posture of the simulated astronaut and the on-orbit maintenance unit remains consistent during ground maintenance.

[0038] S3. Maintenance personnel adopt a relative posture and, in accordance with maintenance operation requirements, use maintenance tools to verify maintenance operations, verifying the accessibility, visibility, and operability of the maintenance operation process;

[0039] S4. The on-orbit maintenance unit conducts passability verification to verify whether the maintenance products can pass through the transfer channel;

[0040] S5. Based on the above process, adjust the maintenance position and optimize the best maintenance state.

[0041] The on-orbit maintenance ground test method under spacecraft cabin conditions described in this invention is a method that combines simulation method and experimental verification.

[0042] The on-orbit maintenance ground test method under spacecraft cabin conditions described in this invention can verify the main verification contents of on-orbit visibility, accessibility, operability, and passability.

[0043] In step S1, the maintenance simulation software is a human-machine ergonomics analysis simulation software.

[0044] In step S1, the optimal hand and foot restraint positions of the astronaut are recorded to form the relative maintenance posture of the astronaut during on-orbit maintenance.

[0045] In step S2, when simulating the cabin environment layout, Option 1 adopts the overall configuration and layout of the structural and electrical cabins, and ensures the relative posture during ground-based simulated maintenance through cabin rotation. Maintaining the same relative posture as during on-orbit maintenance is crucial to the effectiveness of maintenance verification.

[0046] In step S2, when simulating the cabin environment layout, Option 2 adopts a partial layout approach, which only lays out the maintenance equipment and its surrounding equipment, constructs equipment related to maintenance operations, and simulates the space for on-orbit maintenance.

[0047] In step S2, when simulating relative posture, a zero-gravity suspension method is used to constrain the simulated astronaut's position, field of view, and operating range.

[0048] In step S3, when the maintenance personnel adopt a relative posture, a zero-gravity suspension device is used to suspend the astronaut vertically, horizontally, or at a certain angle to simulate a weightless environment and verify the accessibility of maintenance operations under weightlessness.

[0049] In step S3, the content of the maintenance operation verification is as follows:

[0050] Verify that the arm or repair tool has reached the repair operation position;

[0051] Verify that the arm or repair tool is performing the required operation;

[0052] Verify visually observable conditions during maintenance work;

[0053] Verify the interference between the arm or maintenance tool / head and surrounding equipment during the operation, and record the minimum distance.

[0054] During complex operation verification, when changes in the astronaut's maintenance position are involved and relative positions need to be adjusted, the maintenance operation can be verified in segments, verifying the corresponding maintenance operation under different postures. In step S4, if the maintenance equipment is large or the space for transferring the maintenance equipment is small, product passability verification needs to be carried out. During passability verification, a model of the equipment is used as a shape simulation part for verification to avoid safety issues during the verification process. If the passability verification is successful, the next operation is carried out; otherwise, the maintenance posture will be adjusted.

[0055] This embodiment discloses a preferred scheme for an on-orbit maintenance ground test method under manned spacecraft cabin conditions, and the specific steps are as follows:

[0056] S1. Conduct simulation verification of maintenance operations: Based on the cabin layout model and astronaut constraints during on-orbit maintenance, use simulation software to add astronaut restraints, arm extension, and operational constraints to simulate and establish the maintenance posture.

[0057] S2. Construct a physical model for ground maintenance verification: Based on the on-orbit layout structure, build the on-orbit maintenance unit and its surrounding environment, and set appropriate limiting facilities.

[0058] Option 1 is to adopt a whole-cabin configuration and layout including structural cabins and electrical cabins, and to rotate the cabins to facilitate the simulation of relative positions during maintenance on the ground.

[0059] Option 2 is to adopt a partial layout approach, which involves arranging only the maintenance equipment and its surrounding equipment, constructing equipment related to maintenance operations, and simulating the surrounding spatial environment of on-orbit maintenance.

[0060] S3. Relative posture simulation of maintenance personnel and the unit under maintenance and its surrounding products: Based on the relative posture relationship established by simulation, the relative body position between the astronaut and the maintenance unit is reasonably set to form the relative posture of maintenance operation consistent with that in orbit.

[0061] It is recommended to use a zero-gravity suspension device to suspend astronauts vertically, horizontally, or at a certain angle to simulate a weightless environment and verify the accessibility of maintenance operations.

[0062] The zero-gravity suspension device is a test system that uses active control to cancel out gravity through suspension, thereby achieving constant-gravity environmental simulation. The weightlessness simulation system consists of six parts, including: a constant tension system, a servo control system, a sling suspension system, a visual navigation system, an internal and external environmental simulation platform, and a ground monitoring system.

[0063] To simulate a weightless environment, a constant tension mechanism is needed. Since the astronauts and engineers will move vertically, this mechanism must provide constant tension as the sling length changes; this mechanism is called a constant tension system. During simulated on-orbit operations, the astronauts and engineers will move in the horizontal plane. To support the constant tension system and ensure the tension remains vertical, a system is needed to move with the astronauts and engineers in the horizontal plane; this mechanism is called a servo control system. To form a closed loop in the servo control system, a tension gauge and a visual target need to be installed on the sling suspension system to form a closed loop in the control system. To monitor the operating status of the entire system, ensure its safe and stable operation, and achieve adjustable tension, a ground control system is required. In addition, a control system is needed for signal processing and motor drive.

[0064] When verifying complex operations involving changes in the astronaut's maintenance position and adjustments to the relative position, the maintenance operation can be verified in segments, with the corresponding maintenance operation verified under different positions and orientations.

[0065] Maintenance Operation Validation: Based on the constraints imposed by the spacesuits on the astronaut's field of vision, body, and arms inside and outside the vehicle, the accessibility, visibility, and operability of maintenance operations are verified. During the validation process, special consideration must be given to the impact of the astronaut wearing the spacesuit, including the field of vision, body bending restrictions, arm / finger bending restrictions, torque constraints, and the required time for a single maintenance operation.

[0066] The verification content includes: verifying whether the arm (maintenance tool) can reach the maintenance operation position; verifying whether the arm (maintenance tool) can perform the required operation; verifying the visually observable situation during maintenance; verifying the interference between the arm (maintenance tool), head, etc. and surrounding equipment during the operation, and recording the minimum distance if necessary.

[0067] S4. On-orbit Maintenance Unit Capability Verification: When repairing or replacing equipment installed on non-surface surfaces, or when the equipment is large or has limited space for relocation, product capability verification is required. This involves verifying the spatial accessibility of the entire maintenance operation process and the astronauts' positional accessibility during equipment relocation by disassembling, moving, and aligning the equipment.

[0068] S5. Maintenance Operation Optimization Verification: If problems with accessibility, visibility, operability, and passability are found during the maintenance verification process, or if maintenance operations that need to be optimized or improved are found, the maintenance operations should be optimized on-site in conjunction with the physical object, and iterative verification should be carried out to determine the optimal maintenance solution.

[0069] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make possible variations and modifications to the technical solutions of the present invention using the disclosed methods and techniques without departing from the spirit and scope of the invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the invention, are all within the protection scope of the present invention. Content not described in detail in this specification is common knowledge to those skilled in the art.

Claims

1. A ground test method for on-orbit maintenance under manned spacecraft cabin conditions, characterized in that, Includes the following steps: S1. Use maintenance simulation software to conduct maintainability simulation in the cabin environment and determine the maintenance posture; S2. Use spacecraft cabin or local simulation equipment to simulate the layout environment around the on-orbit maintenance unit. Based on the simulation results, set appropriate positions so that the relative posture of the simulated astronaut and the on-orbit maintenance unit remains consistent during ground maintenance. S3. Maintenance personnel adopt a relative posture and, in accordance with maintenance operation requirements, use maintenance tools to verify maintenance operations, verifying the accessibility, visibility, and operability of the maintenance operation process; S4. The on-orbit maintenance unit conducts passability verification to verify whether the maintenance products can pass through the transfer channel; S5. Based on the above process, adjust the maintenance position and optimize the best maintenance state.

2. The method for on-orbit maintenance ground test under manned spacecraft cabin conditions according to claim 1, characterized in that: In step S1, the maintenance simulation software is a human-machine ergonomics analysis simulation software.

3. The on-orbit maintenance ground test method under manned spacecraft cabin conditions according to claim 1, characterized in that: In step S1, the optimal hand and foot restraint positions of the astronaut are recorded to form the relative maintenance posture of the astronaut during on-orbit maintenance.

4. The on-orbit maintenance ground test method under manned spacecraft cabin conditions according to claim 1, characterized in that: In step S2, when simulating the cabin environment layout, the overall configuration and layout of the structural cabin and electrical cabin are adopted. By rotating the cabin, the relative position and posture during ground simulation maintenance are ensured.

5. The on-orbit maintenance ground test method under manned spacecraft cabin conditions according to claim 1, characterized in that: In step S2, when simulating the cabin environment layout, a partial layout method is adopted, which only lays out the maintenance equipment and its surrounding equipment, constructs the equipment related to maintenance operations, and simulates the space for on-orbit maintenance.

6. The on-orbit maintenance ground test method under manned spacecraft cabin conditions according to claim 1, characterized in that: In step S2, when simulating relative posture, a zero-gravity suspension method is used to constrain the simulated astronaut's position, field of view, and operating range.

7. The on-orbit maintenance ground test method under manned spacecraft cabin conditions according to claim 1, characterized in that: In step S3, when the maintenance personnel adopt a relative posture, a zero-gravity suspension device is used to suspend the astronaut vertically, horizontally, or at a certain angle to simulate a weightless environment and verify the accessibility of maintenance operations under weightlessness.

8. The on-orbit maintenance ground test method under manned spacecraft cabin conditions according to claim 1, characterized in that: In step S3, the content of the maintenance operation verification is as follows: Verify that the arm or repair tool has reached the repair operation position; Verify that the arm or repair tool is performing the required operation; Verify visually observable conditions during maintenance work; Verify the interference between the arm or maintenance tool / head and surrounding equipment during the operation, and record the minimum distance.

9. The on-orbit maintenance ground test method under manned spacecraft cabin conditions according to claim 1, characterized in that: In step S4, when conducting passability verification, a device model is used as a shape simulation part for verification to avoid safety issues during the verification process; if the passability verification is successful, the next step is performed; otherwise, the maintenance position will be adjusted.

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