Device and method for astronaut to get on and off mechanical arm tail end during out-of-cabin activity

Abstract

The invention discloses a device for an astronaut to get on and off the tail end of a mechanical arm during out-of-cabin activity. The device comprises a portable joint foot limiter, an out-of-cabin operation table and a base. The base is fixedly mounted on a mechanical arm or a cabin wall; the portable joint foot limiter is used for being mounted on the base after the astronaut leaves the cabin; the portable joint foot limiter comprises a pedal assembly, wherein the pedal assembly is used for locking the spaceflight boot; the outboard operation table is installed on the portable joint foot limiting stopper and comprises a supporting rod and a carrying assembly. The supporting rod is used for supporting the carrying assembly, and the carrying assembly is used for storing astronaut outboard operation tools and equipment. The invention further discloses a method for the out-of-cabin activity astronaut to get on and off the tail end of the mechanical arm. According to the application of the mechanical arm to transfer the astronaut for the manned spacecraft astronaut out-of-cabin task, the function of supporting transfer and operation of the astronaut and related equipment outside a sealed cabin is achieved, and an on-orbit operation basis is provided for the astronaut to get on and off the mechanical arm.

Description

Technical Field

[0001] This invention belongs to the field of manned spacecraft technology in aerospace science and technology, and relates to a method for the end effector of the robotic arm for astronauts to move up and down during extravehicular activities. Background Technology

[0002] Extravehicular activities (EVAs) are a crucial component of manned spaceflight technology and represent the most distinctive feature of manned spaceflight missions. As a large, multi-module, and complex spacecraft, the space station must possess on-orbit assembly and maintenance capabilities to achieve long-term reliable, safe, and stable operation. This requires astronauts to perform a series of extravehicular activities, such as assembling large components, replacing components nearing the end of their lifespan, repairing faulty parts, and caring for extravehicular payloads. Although robotic arm and AI technologies have made significant progress in recent years, they cannot replace the real-time observation, judgment, decision-making, and execution capabilities and human initiative required for a large number of complex and precise tasks. EVA remains an indispensable key technology for supporting space station operation and expanding its application services.

[0003] my country has successfully made breakthroughs in key technologies such as the airlock passage for extravehicular activities and some extravehicular missions through the Shenzhou-7 manned spacecraft. However, these are all single-spacecraft extravehicular function verification flights, and have not involved the execution of extravehicular operation missions of spacecraft combinations. China has not yet broken through and mastered all extravehicular transfer and operation technologies and formed a systematic and complete extravehicular system design scheme. It has not carried out flight work for the assembly and construction of the space station. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned defects and provide a device and method for astronauts to move on and off the end of the robotic arm during extravehicular activities (EVAs). This invention solves the technical problem that the transfer speed of equipment carried by astronauts outside the cabin is not fast enough due to the diverse working modes of different EVA missions, the long EVA time, and the large range of activities. This invention is aimed at the application of robotic arm transfer of astronauts in manned spacecraft EVA missions, and can support the extravehicular transfer and operation of astronauts and related equipment, providing on-orbit operation basis for astronauts to move on and off the robotic arm.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0006] A device for astronauts to move up and down the end of a robotic arm during extravehicular activity includes a portable articulated foot limiter, an extravehicular operating platform, and a base;

[0007] The base is fixedly installed on the robotic arm or bulkhead;

[0008] The portable articulated foot restraint is designed to be installed on a base after the astronaut has exited the spacecraft; the portable articulated foot restraint includes a pedal assembly for locking the space boot.

[0009] The extravehicular operating console is mounted on a portable articulated foot limiter and includes a support rod and a cargo assembly; the support rod is used to support the cargo assembly, and the cargo assembly is used to store the astronaut's extravehicular operating tools and equipment.

[0010] Furthermore, the base is fixedly installed on the robotic arm or cabin wall before the space station is launched; the portable articulated foot limiter and the extravehicular operating console are launched with the space station and installed after the astronauts exit the cabin.

[0011] Furthermore, one end of the base is fixedly connected to the robotic arm or bulkhead, and the other end is provided with an annular locking tongue groove;

[0012] The portable articulated foot limiter also includes a zero-gravity anti-slip disassembly assembly;

[0013] The zero-gravity anti-slip disassembly assembly includes a housing, a pressure rod handle, a transmission rod, a pressure block, and a locking tongue;

[0014] The first end of the transmission rod contacts the pressure rod handle, and the second end of the transmission rod is connected to the pressure block. A return spring is sleeved on the outside of the first end of the transmission rod. Under the clamping force of the astronaut, the pressure rod handle pushes the transmission rod to move, the return spring is compressed, and the transmission rod drives the pressure block to radially press the locking tongue back into the housing.

[0015] After the astronaut releases the clamping hand, the return spring resets the transmission rod and the locking tongue, and the locking tongue extends out of the housing to engage with the annular locking tongue groove provided on the base.

[0016] The other end of the base is provided with a first positioning tooth, and the end of the housing of the zero gravity anti-detachment assembly is provided with a second positioning tooth. The alignment of the base and the zero gravity anti-detachment assembly is achieved through the first positioning tooth and the second positioning tooth.

[0017] Furthermore, the pedal assembly includes a pedal bottom surface and a heel groove, a foot limiting block, and a foot instep retaining ring disposed on the pedal bottom surface; the foot limiting block is an arc-shaped block;

[0018] The space boot includes a space boot sole, a space boot heel, a front top surface of the space boot, and a space boot foot groove; the space boot foot groove is located in front of the space boot heel;

[0019] The front top surface of the space boot enters the instep retaining ring, the heel retaining groove is used to limit the heel of the space boot, and the foot retaining block is used to cooperate with the foot retaining groove of the space boot; the sole of the space boot fits against the bottom surface of the pedal.

[0020] Furthermore, the portable articulated foot limiter also includes a roll assembly and a yaw assembly;

[0021] The roll assembly includes a roll connecting rod, a roll shaft, a roll locating pin, and a roll indexing plate; the yaw assembly includes a yaw connecting rod, a yaw shaft, a yaw locating pin, and a yaw indexing plate.

[0022] The yaw shaft is installed on the lower surface of the pedal base, and the yaw index is located below the yaw shaft. The axis of the yaw index is collinear with the axis of the yaw shaft. One end of the yaw connecting rod is connected to the yaw control pedal, and the other end is connected to the yaw positioning pin. When the yaw control pedal is not pressed, the yaw positioning pin connects both the yaw shaft and the yaw index, locking the yaw shaft and the yaw index. When the yaw control pedal is pressed, the yaw control pedal pulls the yaw positioning pin out of the yaw index through the yaw connecting rod, releasing the lock between the yaw shaft and the yaw index. The astronaut steps on the bottom surface of the pedal to rotate around the yaw shaft, thus adjusting the yaw angle.

[0023] The roll axis is located below the yaw indexing disk, and the roll axis is perpendicular to the yaw axis. The roll indexing disk is mounted on the roll axis, and the axis of the roll indexing disk is collinear with the axis of the roll axis. One end of the roll connecting rod is connected to the roll control pedal, and the other end of the roll connecting rod is connected to the roll positioning pin. When the roll control pedal is not pressed, the roll positioning pin connects both the roll indexing disk and the yaw axis, locking them together. When the roll control pedal is pressed, it pulls the roll positioning pin out of the roll indexing disk through the roll connecting rod, releasing the lock between the roll indexing disk and the yaw axis. The astronaut's foot presses on the bottom of the pedal, causing the yaw axis to rotate around the roll axis, thus adjusting the yaw angle.

[0024] Furthermore, springs are fitted onto the yaw connecting rod and the roll connecting rod respectively to reset the yaw control pedal and the roll control pedal.

[0025] Furthermore, the yaw index is divided into 18° increments per range, and the roll index is divided into 15° increments per range.

[0026] The yaw angle adjustment range is 0 to 360°, and the roll angle adjustment range is -90° to 90°.

[0027] Furthermore, the portable articulated foot limiter also includes an external control console mount;

[0028] The external control console also includes a second installation and disassembly mechanism;

[0029] The second installation and disassembly, in conjunction with the external control console mounting base, enables the installation of the external control console on the portable articulated foot limiter.

[0030] Furthermore, the cargo assembly includes a frame body and a rotatable cargo pole;

[0031] The frame body is installed on top of the support rod;

[0032] Several rotatable load-bearing rods are mounted on the frame body via a damping locking assembly.

[0033] A method for astronauts to move in and out of the end effector of a robotic arm during extravehicular activity, implemented using the aforementioned device, includes:

[0034] After the S1 astronauts exited the spacecraft, they installed the portable articulated foot restraint on the base; locked the space boots to the pedal assembly; and installed the extravehicular operating console on the portable articulated foot restraint.

[0035] After S2 confirms successful locking on the ground, the remote-controlled robotic arm moves to the predetermined position.

[0036] The S3 astronaut adjusted the yaw and roll direction with one foot.

[0037] Compared with the prior art, the present invention has at least one of the following advantages:

[0038] (1) This invention creatively proposes a device for the end of the robotic arm for astronauts to move up and down during extravehicular activities in a space station. It is easy to assemble and disassemble and can enable rapid transfer and operation of astronauts and related equipment outside the cabin.

[0039] (2) The present invention designs a specific structure for the pedal assembly, which can achieve a safe and stable connection with the space boots of the extravehicular suit, and has the function of preventing the space boots from accidentally coming off during the astronaut's exertion of force;

[0040] (3) The present invention enables astronauts to quickly and conveniently adjust their operating posture and force application capabilities in orbit by using a portable foot limiter to adjust the yaw and roll direction under zero gravity conditions, thus saving astronauts' non-equipment operation time. Attached Figure Description

[0041] Figure 1 A schematic diagram illustrating the robotic arm supporting the transfer of astronauts;

[0042] Figure 2 This is a schematic diagram of the device at the end of the robotic arm for astronauts to move up and down during extravehicular activity according to the present invention.

[0043] Figure 3 This is a schematic diagram of the portable foot limiter of the present invention;

[0044] Figure 4 This is a schematic diagram of the pedal assembly of the present invention;

[0045] Figure 5 This is a structural diagram of the base of the present invention, wherein (a) is a front view and (b) is a top view;

[0046] Figure 6 This is a schematic diagram of the extravehicular status unit assembly of the extravehicular space boot of the present invention;

[0047] Figure 7 This is a schematic diagram showing the relative positional relationship between the joints of the portable joint foot limiter of the present invention;

[0048] Figure 8 This is a schematic diagram of the external control panel of the present invention;

[0049] Figure 9 This is a schematic diagram of the zero-gravity anti-detachment assembly and disassembly component of the present invention;

[0050] Figure 10 This is a schematic diagram of the base of the present invention;

[0051] Figure 11 This is a schematic diagram of the rolling component;

[0052] Figure 12 This is a diagram illustrating the roll angle adjustment.

[0053] Figure 13 This is a schematic diagram of the yaw component;

[0054] Figure 14 This is a diagram illustrating yaw angle adjustment.

[0055] Figure 15 This is a schematic diagram of a damping-locking mechanism;

[0056] In the diagram, 1-Portable articulated foot limiter, 2-Extravehicular operating platform, 3-Base, 12-Pedal assembly, 13-Roll assembly, 15-Zero gravity anti-detachment disassembly assembly, 16-Yaw control pedal, 17-Roll control pedal, 18-Heel slot, 19-Foot bottom limit block, 110-Instep clasp, 111-Fixing base, 41-Space boot sole, 42-Space boot heel, 43-Space boot upper, 44-Space boot front top surface, 45-Space boot foot bottom slot, 21-Cargo assembly, 22-Support rod, 23-Operating handle, 24-Second installation and disassembly assembly, 25-Rotable cargo rod, 26-Pitch assembly. Detailed Implementation

[0057] The features and advantages of the present invention will become clearer and more explicit from the following detailed description.

[0058] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0059] This invention relates to a device and method for astronauts to move up and down the end of a robotic arm during extravehicular activity (EVA) at a space station. It solves three major challenges in a single EVA mission: large-scale transfer of astronauts across modules, fixed body position at work points, and transfer of maintenance equipment, all under the constraints of multiple modules, multiple work points, and fixed time. It achieves a system optimization design for astronaut EVA transfer and ensures that astronauts can return to the airlock within 30 minutes from any location outside the spacecraft in the event of a spacesuit malfunction.

[0060] This invention employs a universal extravehicular activity (EVA) device based on a modular standard interface design, simultaneously meeting the requirements of different robotic arms for supporting astronauts' EVA transfers and operations. This invention solves the problem of compatibility between the EVA spacesuit and the robotic arm's end effector interface. One end of the EVA foot restraint is fixed to the robotic arm's end effector, and the other end is fixed to the EVA spacesuit's space boot, thus securing the astronaut. The astronaut can then operate the EVA equipment by applying force with their hands. When most work on the space station involves transporting astronauts to the work site via the robotic arm, this method offers advantages such as rapid astronaut loading and unloading from the robotic arm, a wide range of EVA movement, and quick access to the work site. Furthermore, the robotic arm can carry maintenance equipment and tools, making transportation convenient, fast, and highly efficient.

[0061] This invention is designed for use in manned spacecraft astronaut extravehicular activities (EVAs) and provides installation interfaces for EVA suits and equipment on space station platforms, such as... Figure 1 and Figure 2 It includes the following three types of components: portable articulated foot limiter 1, external control panel 2, and base 3, wherein:

[0062] Before the space station launch, such as Figure 5 The base 3 is installed on the maintenance point on the bulkhead and the target adapter of the robotic arm using 6 M5 screws. After the astronaut exits the spacecraft, the zero-gravity anti-detachment assembly 15 of the portable joint foot limiter 1 is inserted into the hole of the base 3. The axial rotation is restricted by the boss at the end of the assembly and the corresponding groove on the base, thereby achieving an effective connection between the foot limiter and the base.

[0063] like Figure 9 and Figure 10 The zero-gravity anti-slip disassembly assembly 15 includes a pressure handle 51, a transmission rod 52, a pressure block 54, and a locking tongue 55, as well as a butterfly spring 53.

[0064] After exiting the spacecraft, the astronaut presses down on the lever handle 51. The lever handle 51 and the transmission rod 52 are in inclined contact. Pressing down the lever handle 51 pushes the transmission rod 52 to the right through the inclined surface, causing the locking tongue 55 to retract radially. During connection, the serrations (second positioning teeth 56) on the zero-gravity anti-detachment assembly 15 are aligned with the serrations (first positioning teeth 31) on the docking cylinder 33 of the base 3. After releasing the lever, the compression spring 57 causes the locking tongue to return to its original position and engage with the annular locking tongue groove 32 inside the base 3, thus achieving a hard connection between the portable articulated foot limiter and the base interface. The serrations at both ends restrict the relative rotation between the two in the microgravity environment of space. The base 3 is also provided with mounting holes 34 and positioning marks 35.

[0065] like Figure 3 and Figure 4 The portable joint foot limiter 1 includes a pedal assembly 12 for securing the astronaut's boots during extravehicular activity. The pedal assembly 12 serves as the astronaut's standing interface and mainly comprises a heel slot 18, a foot limiting block 19, an instep retainer 110, and a pedal bottom surface. Figure 6 and Figure 7 The connection between the spacesuit's space boots and the portable joint foot restraint 1 is mainly achieved through the space boot sole 41, space boot heel 42, space boot front top surface 44, and space boot foot groove 45. When the astronaut wearing the spacesuit engages the portable joint foot restraint 1, the space boot's front top surface 44 (the front end of the space boot upper 43) first enters the left and right instep retaining rings 11. Then, by using leg force, the space boot heel 42 is rotated into the heel groove 18 and completely locked, completing the fit between the space boot sole 41 and the pedal assembly 12. The foot restraint block 19 is arc-shaped. The heels of the left and right space boots rotate from the center of the pedal to the left and right sides along the foot restraint block 19. During this process, the space boot foot groove 45 and the left and right foot restraint blocks 19 form a biting force, preventing the space boot from separating from the pedal during the astronaut's operation. After the portable articulated foot limiter 1 is matched with the space boot, it ensures that the astronaut is fixedly connected to the robotic arm during the transfer of the astronaut and during the operation at the work point. At the work point, it can provide a rigid limit for the astronaut, enabling him to work stably.

[0066] like Figure 8The extravehicular activity (EVA) control panel 2 mainly consists of four parts: a cargo assembly 21, a support rod 22, a second installation / disassembly assembly 24, and an astronaut operating handle 23. When the EVA control panel is in orbit, the astronaut grips the astronaut operating handle 23 and inserts the connecting column of the second installation / disassembly assembly 24 below the control panel into the foot limiter's fixing seat 111. When it reaches the inner groove of the foot limiter's fixing seat, it automatically springs back and locks. This operation allows the astronaut to perform locking and unlocking actions with one hand. The cargo assembly 21 is the main structure for storing the astronaut's extravehicular operation tools and equipment. It mainly consists of a frame body 27, a left rotatable cargo rod 25, and a right rotatable cargo rod 26. The astronaut can achieve positioning and locking of the stored equipment at three positions: 0°, 50°, and 90° by unlocking the damping-locking components of the left and right rotatable cargo rods 25 and 26, thus ensuring the astronaut's one-handed operation requirements. Astronauts can secure equipment to the control panel using lanyards or universal handles on the equipment end. Specifically, the lanyards or universal handles connect to the left rotatable loading pole 25, the right rotatable loading pole, or the frame body. The enclosed frame structure in the middle of the frame body allows spacesuits and equipment to be safely hooked onto the body, preventing equipment from loosening. The rotatable loading pole 25 uses a damping-locking mechanism to secure the equipment or tools, utilizing a damping spring 66 and a locking spring 67. First, the astronaut flips the toggle switch 61, retracting the locking pin 62 into the base; then, the active end 63 is inserted into the passive end base 64, at which point the damping pin 65 positions it; finally, the astronaut flips the switch again, extending the locking pin and locking the active end. Figure 15 As shown in the image. The entire process can be operated by an astronaut with one hand.

[0067] Extravehicular activities (EVAs) on space stations are characterized by multiple missions, diverse working modes, and dispersed extravehicular work points across different modules. Different EVA missions present challenges such as diverse working modes, long EVA durations, large activity ranges, and strong participation and coupling of large and subsystems. This invention solves the problems of single-unit equipment transmission and cold welding, as well as the rapid transfer of extravehicular equipment carried by astronauts using robotic arms under high vacuum, microgravity, and extreme high and low temperature environments. By configuring relevant foot limiters and bases, it can realize the interface between the transfer and operation of extravehicular suits by astronauts in multiple positions on different manned spacecraft and the manned spacecraft platform. The portable extravehicular operating platform of this invention can be used as an interface for the transfer of various space experimental payloads in each EVA mission.

[0068] Example:

[0069] The following is combined Figure 1-9 The present invention will be described in detail with reference to specific embodiments.

[0070] This invention, designed for astronaut extravehicular activity (EVA) platforms in manned spacecraft, comprises three types of modules: a portable foot restraint, a portable control panel, and a base. After initial prototype production based on requirements and model design, these modules underwent water tank testing as essential support components for EVA. Verification tests were conducted on product gate operation, external installation, transfer, astronaut foot restraint, and on-orbit replacement with external maintenance equipment. Water tank testing verified that the portable foot restraint and its base basically meet operational requirements and can perform maintenance. Single-unit ergonomic testing further validated the product's operational capabilities. Finally, the product met ergonomic requirements, and production of the final prototype began.

[0071] Before launch, bases were installed on the robotic arm and cabin walls of the space station. The articulated foot restraints and portable control panel were folded and placed in the extravehicular toolbox to be launched with the space station. During the astronauts' extravehicular activities, the foot restraints were carried by the astronauts, who then installed the foot restraints into the bases pre-installed on the robotic arm or cabin surface.

[0072] After exiting the spacecraft in their extravehicular activity (EVA) suits, astronauts grasp the circular handrail and first insert the balls of their feet into the instep retainer's clasp. By rotating their ankles, they then engage the space boot's sole and heel into the heel counter and sliding rails, completing the foot restraint. The foot restraint primarily uses the space boot's sole and heel interface dimensions for control, with the instep retainer providing auxiliary restraint. Once the ground confirms successful insertion and removal of the foot restraints, the remotely operated robotic arm begins the transfer. At the EVA work site, the astronaut uses the EVA foot restraints to secure their feet, allowing them to use their hands to operate the equipment. This method offers a wide range of movement, allows for rapid access to the work location, and the robotic arm can carry maintenance equipment and tools, making transport convenient, fast, and highly efficient.

[0073] When astronauts operate extravehicular equipment outside the spacecraft, their bodies remain in a floating state due to zero gravity, causing them to rotate in the opposite direction when applying force with their hands. Therefore, when using power tools to secure extravehicular equipment, they must stand on a portable foot restraint to free their hands for operation. If the body orientation is unsuitable for the extravehicular operation when reaching the work point, the angle of the foot restraint must be adjusted to meet operational requirements. Astronauts achieve body rotation at the work point by gripping the spacecraft wall handrails with their hands and unlocking the portable jointed foot restraint with their feet. The rotation of the foot restraint is a foot-operated operation; the astronaut disengages from the restraint and steps on the pedals on either side to rotate their body. To facilitate adjustment of the foot restraint to accommodate the installation requirements of the object being operated on while standing outside the spacecraft, the portable foot restraint was designed for single-handed adjustment of pitch and rotation direction before installation. Figure 11 , Figure 12 , Figure 13 , Figure 14Specifically, it includes a yaw control pedal 16, a roll control pedal 17, a roll assembly 13, and a yaw assembly; the roll assembly includes a roll connecting rod 131, a roll shaft 132, a roll positioning pin 134, and a roll indexing plate 133; the yaw assembly includes a yaw connecting rod 141, a yaw shaft 142, a yaw positioning pin 144, and a yaw indexing plate 143; the yaw connecting rod 141 and the roll connecting rod 131 are respectively fitted with springs 145 and 135 for reset. The pivot is mounted on the lower surface of the pedal base, and the yaw indexing plate is located below the yaw pivot. The axis of the yaw indexing plate is collinear with the axis of the yaw pivot. One end of the yaw connecting rod is connected to the yaw control pedal 16, and the other end is connected to the yaw positioning pin. When the yaw control pedal 16 is not pressed, the yaw positioning pin connects both the yaw pivot and the yaw indexing plate, locking them together. When the yaw control pedal 16 is pressed, the yaw control pedal 16 is activated via the yaw connecting rod. The connecting rod pulls the yaw positioning pin out of the yaw index plate, releasing the lock between the yaw shaft and the yaw index plate. The astronaut steps on the bottom of the pedal to rotate around the yaw shaft, thus adjusting the yaw angle. The roll shaft is located below the yaw index plate, and its direction is perpendicular to the yaw shaft. The roll index plate is mounted on the roll shaft, and its axis is collinear with the axis of the roll shaft. One end of the roll connecting rod is connected to the roll control pedal 17, and the other end is connected to the roll control pedal 17. Positioning pin; When the rolling control pedal 17 is not pressed, the rolling positioning pin connects both the rolling indexing plate and the yaw shaft, locking them together. When the rolling control pedal 17 is pressed, it pulls the positioning pin out of the rolling indexing plate via the rolling connecting rod, releasing the lock between the plate and the shaft. The astronaut's foot then presses the bottom of the pedal, causing the yaw shaft to rotate around the rolling shaft, thus adjusting the yaw angle. In one specific embodiment, the upper end of the yaw shaft is fixedly connected to the lower surface of the pedal base, and the lower end is connected to the rolling shaft via a rotatable connecting structure such as a bearing. The yaw indexing plate is fitted over the lower end of the yaw shaft and positioned above it. When the positioning pin is pulled out, the yaw shaft can rotate around its own axis. The yaw mechanism and the rolling mechanism are independent of each other; when the positioning pin is pulled out, the entire yaw shaft rotates around the rolling shaft. The roll axis is connected to the zero-gravity anti-detachment disassembly assembly 15 via rotatable connecting structures such as bearings. The yaw assembly is connected to the lower surface of the base plate in the pedal assembly 12. The yaw assembly is sequentially connected to the roll assembly 13 and the pitch assembly 26. The pitch assembly 26 is connected to the zero-gravity anti-detachment disassembly assembly 15. The rotation axes in the yaw assembly, roll assembly 13, and pitch assembly 26 are perpendicular to each other. The roll axis can rotate around the pitch axis to adjust the pitch angle. The locking and unlocking between the roll axis and the pitch axis can be achieved using a conventional locking and unlocking mechanism. It can be manually locked and unlocked. The pitch angle is adjusted by the astronaut before the portable articulated foot limiter 1 is installed.

[0074] Once worn, adjust yaw and roll direction using one foot. The number of adjustable degrees of freedom (based on the coordinate system defined below):

[0075] a) Pitch adjustment angle: Adjust with one hand before installation, ±90°;

[0076] c) Yaw (rotation around Z-axis) adjustment angle: can be adjusted by one foot on the rail, 0~360°;

[0077] d) Roll (rotation around the X-axis) adjustment angle: can be adjusted by one foot on the rail, ±90°;

[0078] In summary, this invention, through the system design of foot limiters and operating consoles, ensures that astronauts can perform a series of activities during extravehicular activities (EVAs) at the space station, including body transfer, material transfer, posture adjustment, body fixation, and operational tasks. Furthermore, by using simple and universally applicable foot limiters and bases, it enables the interface between the astronaut's extravehicular activity transfer and operation at multiple locations on different manned spacecraft and the manned spacecraft platform.

[0079] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

[0080] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A device for the end effector of a robotic arm used by astronauts during extravehicular activity (EVA), characterized in that, Includes a portable articulated foot limiter (1), an external control panel (2), and a base (3); The base (3) is fixedly installed on the robotic arm or bulkhead; The portable articulated foot restraint (1) is used to be installed on the base (3) after the astronaut exits the spacecraft; the portable articulated foot restraint (1) includes a pedal assembly (12) for locking the space boot; The extravehicular operating console (2) is mounted on a portable articulated foot limiter (1) and includes a support rod (22) and a cargo assembly (21); the support rod (22) is used to support the cargo assembly (21), and the cargo assembly (21) is used to store the astronaut's extravehicular operating tools and equipment.

2. The device for the end of the robotic arm for astronauts during extravehicular activity according to claim 1, characterized in that, The base (3) is fixedly installed on the robotic arm or cabin wall before the space station is launched; the portable articulated foot limiter (1) and the extravehicular operating console (2) are launched with the space station and installed after the astronauts exit the cabin.

3. The device for the end of the robotic arm for astronauts during extravehicular activity according to claim 1, characterized in that, One end of the base (3) is fixedly connected to the robotic arm or the bulkhead, and the other end is provided with an annular locking tongue groove; The portable articulated foot limiter (1) also includes a zero-gravity anti-slip disassembly assembly (15); The zero-gravity anti-slip disassembly assembly (15) includes a housing, a pressure rod handle (51), a transmission rod (52), a pressure block (54), and a locking tongue (55); The first end of the transmission rod (52) contacts the pressure rod handle (51), and the second end of the transmission rod (52) is connected to the pressure block (54). A return spring is sleeved on the outer side of the first end of the transmission rod (52). Under the clamping force of the astronaut, the pressure rod handle (51) pushes the transmission rod (52) to move, the return spring is compressed, and the transmission rod (52) drives the pressure block (54) to radially press the locking tongue (55) to retract into the housing. After the astronaut releases the clamping hand, the return spring resets the transmission rod (52), the locking tongue (55) resets, and the locking tongue (55) extends out of the housing and engages with the annular locking tongue groove provided on the base (3); The other end of the base (3) is provided with a first positioning tooth, and the end of the housing of the zero gravity anti-detachment device disassembly assembly (15) is provided with a second positioning tooth (56). The base (3) and the zero gravity anti-detachment device disassembly assembly (15) are aligned through the first positioning tooth and the second positioning tooth.

4. The device for the end of the robotic arm for astronauts during extravehicular activity according to claim 1, characterized in that, The pedal assembly (12) includes a pedal bottom surface and a heel groove (18), a foot limiting block (19), and a foot instep retainer (110) disposed on the pedal bottom surface; the foot limiting block (19) is an arc-shaped block; The space boot includes a space boot sole (41), a space boot heel (42), a space boot front top surface (44), and a space boot foot groove (45); the space boot foot groove (45) is located in front of the space boot heel (42); The front top surface (44) of the space boot enters the instep retainer (110), the heel retainer (18) is used to limit the heel (42) of the space boot, and the foot retainer (19) is used to cooperate with the foot retainer (45) of the space boot; the bottom of the space boot (41) is in contact with the bottom surface of the pedal.

5. The device for the end of the robotic arm for astronauts during extravehicular activity according to claim 4, characterized in that, The portable articulated foot limiter (1) also includes a roll assembly and a yaw assembly; The roll assembly includes a roll connecting rod, a roll shaft, a roll locating pin, and a roll indexing plate; the yaw assembly includes a yaw connecting rod, a yaw shaft, a yaw locating pin, and a yaw indexing plate. The yaw shaft is installed on the lower surface of the pedal base, and the yaw index is located below the yaw shaft. The axis of the yaw index is collinear with the axis of the yaw shaft. One end of the yaw connecting rod is connected to the yaw control pedal (16), and the other end is connected to the yaw positioning pin. When the yaw control pedal (16) is not stepped on, the yaw positioning pin is connected to both the yaw shaft and the yaw indexing plate, thus locking the yaw shaft and the yaw indexing plate. When the yaw control pedal (16) is stepped on, the yaw control pedal (16) pulls the yaw positioning pin out of the yaw indexing plate through the yaw connecting rod, thus releasing the lock between the yaw shaft and the yaw indexing plate. The astronaut steps on the bottom of the pedal to rotate around the yaw shaft, thereby adjusting the yaw angle. The roll axis is located below the yaw indexing plate, and the roll axis is perpendicular to the yaw axis. The roll indexing plate is installed on the roll axis, and the axis of the roll indexing plate is collinear with the axis of the roll axis. One end of the roll connecting rod is connected to the roll control pedal (17), and the other end of the roll connecting rod is connected to the roll positioning pin. When the roll control pedal (17) is not stepped on, the roll positioning pin connects the roll indexing plate and the yaw axis at the same time, realizing the locking between the roll indexing plate and the yaw axis. When the roll control pedal (17) is stepped on, the roll control pedal (17) pulls the roll positioning pin out of the roll indexing plate through the roll connecting rod, releasing the locking between the roll indexing plate and the yaw axis. The astronaut steps on the bottom of the pedal to drive the yaw axis to rotate around the roll axis, thereby realizing the adjustment of the yaw angle.

6. The device for the end of the robotic arm for astronauts during extravehicular activity according to claim 5, characterized in that, Springs are fitted on the yaw connecting rod and the roll connecting rod respectively to reset the yaw control pedal (16) and the roll control pedal (17).

7. The device for the end of the robotic arm for astronauts during extravehicular activity according to claim 6, characterized in that, The yaw indexer has 18° increments per range, and the roll indexer has 15° increments per range. The yaw angle adjustment range is 0 to 360°, and the roll angle adjustment range is -90° to 90°.

8. The device for the end of the robotic arm for astronauts during extravehicular activity according to claim 1, characterized in that, The portable articulated foot limiter (1) also includes an external control console mounting base (111); The external control console (2) also includes a second installation and disassembly mechanism (24); The second installation and disassembly (24) is combined with the external control console mounting base (111) to realize the installation of the external control console (2) on the portable articulated foot limiter (1).

9. The device for the end of the robotic arm for astronauts during extravehicular activity according to claim 1, characterized in that, The cargo assembly (21) includes a frame body and a rotatable cargo pole (25); The frame body is installed on the top of the support rod (22); Several rotatable load-bearing rods (25) are mounted on the frame body via a damping locking assembly.

10. A method for astronauts to move up and down the end effector of a robotic arm during extravehicular activity, characterized in that, Implemented using the apparatus according to any one of claims 1-9, comprising: After the S1 astronauts exit the cabin, they install the portable joint foot limiter (1) on the base (3); lock the space boots on the pedal assembly (12); and install the extravehicular operating console (2) on the portable joint foot limiter (1). After S2 confirms successful locking on the ground, the remote-controlled robotic arm moves to the predetermined position. The S3 astronaut adjusted the yaw and roll direction with one foot.

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