CN108394572A - A kind of analogy method of maintainable technology on-orbit spacecraft - Google Patents
A kind of analogy method of maintainable technology on-orbit spacecraft Download PDFInfo
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- CN108394572A CN108394572A CN201810176029.3A CN201810176029A CN108394572A CN 108394572 A CN108394572 A CN 108394572A CN 201810176029 A CN201810176029 A CN 201810176029A CN 108394572 A CN108394572 A CN 108394572A
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- operating personnel
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- maintainable technology
- mechanical arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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Abstract
The present invention relates to a kind of analogy methods of maintainable technology on-orbit spacecraft, including：S1. the body of operating personnel is arranged and is arranged on the foot limiter of mechanical arm or spacecraft on weightless flight device, and by the foot of the operating personnel；S2. position or the posture for moving the first movement platform truck for being equipped with the weightless flight device and the adjustment foot limiter, make the operating personnel arrive at maintenance position, and the operating personnel is made to reach repair posture；S3. the operating personnel carry out the simulation of spacecraft maintainable technology on-orbit according to maintenance program.Its own gravity of operating personnel is counteracted by using weightless flight device, to the simple and effective and true simulation for realizing weightlessness on the ground, the influence so as to avoid gravity to spacecraft maintainable technology on-orbit.
Description
Technical field
The present invention relates to a kind of analogy method of repair spacecraft more particularly to a kind of simulation sides of maintainable technology on-orbit spacecraft
Method.
Background technology
Space station is the spacecraft of the in-orbit inhabitation of long-term someone, in the in-orbit flight course in space station, goes out cabin by spacefarer
Maintainable technology on-orbit is safeguarded, can effectively extend the service life of space station, the construction of external space station and operating experience show in-orbit
Repair is the necessary means for extending the manned spacecraft service life and ensureing reliance security.Existing maintainable technology on-orbit engineering verification method
Include mainly ground physical varification method and neutral buoyancy flume test method.Ground physical varification method using ground simulation nacelle and
Testing equipment builds repair verification environment, and designer verifies capability of maintenance design according to maintainable technology on-orbit operating process, should
Method can carry out matching verification to maintenance interface, but it is influenced by ground 1g gravity environments, can not Simulated Weightlessness
The relative pose of servant and equipment.The method that neutral buoyancy flume test method takes counterweight using neutral buoyancy and people, makes spacefarer
Cancelling out each other to buoyancy and downward gravity suffered by water, simulates the state of weightlessness in space, and this method can make experiment
Personnel obtain weightless direct feel, but the disadvantage is that water there are viscous drag, makes operating operation test there are error, and flume test
Special corrosion resistance test equipment need to be designed and tool, cost are big.
Invention content
The purpose of the present invention is to provide a kind of analogy methods of maintainable technology on-orbit spacecraft, can exist in ground real simulation
Rail repairs spacecraft.
For achieving the above object, the present invention provides a kind of analogy method of maintainable technology on-orbit spacecraft, including：
S1. the body of operating personnel is arranged on weightless flight device, and the setting of the foot of the operating personnel is existed
On the foot limiter of mechanical arm or spacecraft；
S2. the position of the first movement platform truck for being equipped with the weightless flight device and the adjustment foot limiter is moved
It sets or posture, so that the operating personnel is arrived at maintenance position, and the operating personnel is made to reach repair posture；
S3. the operating personnel carry out the simulation of spacecraft maintainable technology on-orbit according to maintenance program.
It according to an aspect of the present invention, will be positioned at mechanical arm or the spaceborne foot limiter in step S1
The initial angle in joint is adjusted to 0 °.
According to an aspect of the present invention, in step S2, the foot limiter is arranged when on the mechanical arm, passes through shifting
Employ makes the operating personnel arrive at maintenance position in the second sliding platform for installing the mechanical arm, and the foot is made to limit
Device is arranged upward.
According to an aspect of the present invention, in step S2, when the foot limiter is arranged on the mechanical arm, pass through
Each joint angles of the mechanical arm are adjusted, the relative pose of the operating personnel and spacecraft is adjusted, the operating personnel is made to reach
To repair posture.
According to an aspect of the present invention, it when the foot limiter is arranged on spacecraft, is limited by adjusting the foot
The angle in the joint of position device, makes the operating personnel reach repair posture.
According to an aspect of the present invention, in step S3, the operating personnel are in-orbit according to maintenance program development spacecraft
Before maintenance simulation, the relative pose of the operating personnel and spacecraft are calibrated.
According to an aspect of the present invention, if the relative pose of the operating personnel and spacecraft meets the maintenance program
Requirement, then carry out spacecraft maintainable technology on-orbit simulation, otherwise readjust the repair posture of operating personnel.
According to an aspect of the present invention, when the operating personnel carry out the simulation of spacecraft maintainable technology on-orbit, make the machinery
Arm enters space manipulator flexibility simulation model.
According to an aspect of the present invention, after the mechanical arm enters space manipulator flexibility simulation model, pass through acquisition
The operating personnel carry out motion control to the mechanical arm, simulate the operating personnel to the opposite force of the mechanical arm
Carry out the flexibility in spacecraft maintainable technology on-orbit simulation process.
According to an aspect of the present invention, by the seat in place where the body coordinate system of the spacecraft and the spacecraft
Mark system is consistent.
A kind of scheme according to the present invention, its own gravity of operating personnel is counteracted by using weightless flight device, from
And the simple and effective and true simulation for realizing weightlessness on the ground, so as to avoid gravity to spacecraft maintainable technology on-orbit
Influence.Meanwhile using weightless flight device instead of neutral buoyancy sink so as to avoid water to operating personnel's operation process
Viscous drag, further avoid due to operation error caused by viscous drag, and also effectively reduce and exist to spacecraft
The cost of rail maintenance simulation.By weightless flight device and foot limiter can fully Simulated Spacecraft maintainable technology on-orbit when operator
Relative pose between member and spacecraft, while can also prevent foot limiter in simulation process from being broken because of operating personnel's gravity
It is bad, improve the validity, accuracy and safety of spacecraft maintainable technology on-orbit process.
A kind of scheme according to the present invention, during spacecraft maintainable technology on-orbit is simulated, the real-time acquisition operations people of mechanical arm
Opposite force in member's operation process, and so that mechanical arm is simulated the flexibility of space manipulator according to opposite force, to authentic and valid
The motion state for simulating space manipulator during practical maintainable technology on-orbit further improves the true of the analogy method of the present invention
Reality.Meanwhile the flexibility that space manipulator is simulated by mechanical arm further improves the standard during ground simulation repair
True property.
A kind of scheme according to the present invention passes through Spacecraft Control mechanical arm during spacecraft maintainable technology on-orbit is simulated
It simulates space manipulator and pose adjustment is carried out to operating personnel, improve the one of ground simulation process and practical maintainable technology on-orbit operating mode
Cause property also provides support to improve the control of maintenance program and space manipulator.
Description of the drawings
Fig. 1 schematically shows a kind of step block diagram of the analogy method of embodiment according to the present invention；
Fig. 2 schematically shows a kind of structure chart of the simulator of the analogy method of embodiment according to the present invention；
Fig. 3 schematically shows a kind of flow diagram of the analogy method of embodiment according to the present invention.
Specific implementation mode
It, below will be to embodiment in order to illustrate more clearly of embodiment of the present invention or technical solution in the prior art
Needed in attached drawing be briefly described.It should be evident that the accompanying drawings in the following description is only some of the present invention
Embodiment for those of ordinary skills without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
When being described for embodiments of the present invention, term " longitudinal direction ", " transverse direction ", "upper", "lower", " preceding ",
" rear ", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", the orientation or positional relationship expressed by "outside" are to be based on phase
Orientation or positional relationship shown in the drawings is closed, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore above-mentioned term cannot
It is interpreted as limitation of the present invention.
The present invention is described in detail with reference to the accompanying drawings and detailed description, embodiment cannot go to live in the household of one's in-laws on getting married one by one herein
It states, but therefore embodiments of the present invention are not defined in following implementation.
As shown in Figure 1, a kind of embodiment according to the present invention, a kind of simulation side of maintainable technology on-orbit spacecraft of the invention
Method, including：
S1. the body of operating personnel is arranged on weightless flight device, and the foot of operating personnel is arranged in machinery
On the foot limiter of arm or spacecraft；
S2. position or the appearance for moving the first movement platform truck for being equipped with weightless flight device and adjusting foot limiter
State makes operating personnel arrive at maintenance position, and operating personnel is made to reach repair posture；
S3. operating personnel carry out the simulation of spacecraft maintainable technology on-orbit according to maintenance program.
A kind of embodiment according to the present invention, analogy method of the invention are carried out according to actual maintainable technology on-orbit task.
It is completed since actual maintainable technology on-orbit task needs two spacefarer to coordinate, one is located at nacelle surface, and one is located at space machine
Tool arm end, is fixed by foot limiter.Therefore two spacefarer are also needed in the analogy method of the present invention (to grasp
Make personnel) carry out spacecraft maintainable technology on-orbit process simulation.
As shown in Fig. 2, a kind of embodiment according to the present invention, analogy method of the invention passes through ground simulator reality
It is existing.In the present embodiment, ground simulator includes spacecraft 1, weightless flight device 2, foot limiter 3, mechanical arm 4,
One sliding platform 5 and the second sliding platform 6.Wherein, there are two the tools of foot limiter 3, a foot limiter 3 is mounted on space flight
On the lateral wall of the nacelle of device 1, another foot limiter 3 is mounted on the end of mechanical arm 4, and same with the movement of mechanical arm 4
Step movement.In the present embodiment, spacecraft 1 can be consistent with the practical spacecraft structure for executing task, also may be used certainly
Think the model of equal proportion.Weightless flight device 2 is used to offset the gravity of operating personnel, makes operating personnel that can arbitrarily adjust body
Posture, while foot limiter 3 being protected not destroyed by operating personnel's gravity.Foot limiter 3 and the practical foot executed in task process
Limiter is consistent.Mechanical arm 4 is used to simulate the movement of space manipulator.Weightless flight device 2 and first movement platform truck 5
Respectively two.Weightless flight device 2 is fixedly mounted on first movement platform truck 5, is moved with first movement platform truck 5.Machine
Tool arm 4 and the second sliding platform 6 are one, and mechanical arm 4 is fixedly mounted on the second sliding platform 6, with second
Sliding platform 6 moves.
In conjunction with shown in Fig. 2 and Fig. 3, a kind of embodiment according to the present invention, by the coordinate system of spacecraft and spacecraft institute
Coordinate system in place is consistent.It in the present embodiment, will by first movement platform truck 5 and the second sliding platform 6
Weightless flight device 2 and mechanical arm 4 are moved respectively near the operating point that spacecraft needs repairing.Pass through first movement platform truck
5 and second sliding platform 6 can ensure that the motion range by weightless flight device 2 and mechanical arm 4 meet operating personnel reach work
Make the small range movement requirement after point.2 end height of weightless flight device and operating personnel's waist are high together, convenient for follow-up wearing.
The body of operating personnel is connect with weightless flight device 2 respectively, and the foot of operating personnel is fixed on foot limiter 3
On.In the present embodiment, mechanical arm 4 is moved to the second sliding platform 6 near maintenance work point, the foot on mechanical arm 4
Limiter 3 is located near weightless flight device 2, and foot limiter 3 is arranged upward, to ensure foot's energy of operating personnel
It is enough fixed on foot limiter 3.In the present embodiment, after operating personnel are connected with weightless flight device 2, according to operation
The weight of personnel carries out loss of weight debugging, it is ensured that offsets whole gravity of operating personnel.To keep more real simulation of the invention in-orbit
Repair the process of spacecraft, it is also necessary to which operating personnel dress and the clothes etc. during actual task.By the foot of operating personnel
Before portion is fixed on foot limiter 3, respectively by the initial angle in the joint for the foot limiter 3 being connect with mechanical arm 4 and spacecraft 1
Degree is adjusted to 0 °.
In conjunction with shown in Fig. 2 and Fig. 3, a kind of embodiment according to the present invention, when foot limiter 3 is installed on mechanical arm 4
When, by adjusting 4 each joint angles of mechanical arm, the relative pose of operating personnel and spacecraft 1 are adjusted, operating personnel is made to reach dimension
Posture is repaiied, to make the requirement in position, posture and the maintenance program of operating personnel be consistent.When foot limiter 3 is installed on
When on spacecraft 1, by adjusting the angle in the joint of foot limiter 3, operating personnel is made to reach repair posture, to make operator
Requirement in the position of member, posture and maintenance program is consistent.After completing to the adjustment of the posture of operating personnel, pose is utilized
Measuring system calibrates operating personnel and the relative pose of spacecraft 1, if operating personnel and the relative pose of spacecraft 1 are full
The requirement of sufficient maintenance program then carries out the simulation of 1 maintainable technology on-orbit of spacecraft, otherwise readjusts the repair posture of operating personnel.Weight
During the repair posture of new adjustment operating personnel, respectively by adjusting 4 each joint angles of mechanical arm or adjustment foot limiter 3
The angle in joint makes operating personnel reach repair posture.
In conjunction with shown in Fig. 2 and Fig. 3, a kind of embodiment according to the present invention, operating personnel carry out 1 maintainable technology on-orbit of spacecraft
When simulation, mechanical arm 4 is made to enter space manipulator flexibility simulation model.In the present embodiment, start spacecraft 1, setting boat
Its 1 working condition of device is consistent with maintainable technology on-orbit operating mode.Spacecraft 1 maintenance work point operating personnel respectively according to dimension
It repaiies scheme and carries out the simulation of spacecraft maintainable technology on-orbit, while operating personnel can be carried out by communication apparatus with the inside of spacecraft 1
Call.Mechanical arm 4 is operated in spacecraft 1, mechanical arm 4 is made to enter space manipulator flexibility simulation model.It is simulating
In the process, the real-time acquisition operations personnel of force snesor on mechanical arm 4 in operation process to the opposite force of mechanical arm 4, and it is anti-
It feeds the control system of mechanical arm 4, the control system of mechanical arm 4 emulates space manipulator kinetic characteristics, control machine
Space manipulator flexibility is simulated in 4 end of tool arm, and space manipulator flexibility in maintenance process is simulated in realization.In present embodiment
In, when needing to adjust the pose for the operating personnel for being fixedly connected on 4 end of mechanical arm, mechanical arm 4 is sent by spacecraft 1 and is used
In the control instruction of actually control space manipulator, mechanical arm 4 simulates actual space manipulator according to the control instruction of transmission
Movement, the pose of operating personnel is adjusted, and record adjustment after work point coordinates, realize the man-machine association of maintainable technology on-orbit
With simulation, the operating point that operating personnel can be after the adjustment carries out maintainable technology on-orbit simulation.
Analogy method according to the present invention counteracts its own gravity of operating personnel by using weightless flight device 2, from
And the simple and effective and true simulation for realizing weightlessness on the ground, so as to avoid gravity to spacecraft maintainable technology on-orbit
Influence.Meanwhile using weightless flight device 2 instead of neutral buoyancy sink so as to avoid water to operating personnel's operation process
Viscous drag, further avoid due to operation error caused by viscous drag, and also effectively reduce and exist to spacecraft
The cost of rail maintenance simulation.It can be operated when abundant Simulated Spacecraft maintainable technology on-orbit by weightless flight device 2 and foot limiter 3
Relative pose between personnel and spacecraft, while can also prevent in simulation process foot limiter 3 due to operating personnel's gravity
It destroys, improves the validity, accuracy and safety of spacecraft maintainable technology on-orbit process.
Analogy method according to the present invention, during spacecraft maintainable technology on-orbit is simulated, 4 real-time acquisition operations people of mechanical arm
Opposite force in member's operation process, and so that mechanical arm 4 is simulated the flexibility of space manipulator according to opposite force, to authentic and valid
The motion state for simulating space manipulator during practical maintainable technology on-orbit further improves the true of the analogy method of the present invention
Reality.Meanwhile the flexibility that space manipulator is simulated by mechanical arm 4 further improves the standard during ground simulation repair
True property.
Analogy method according to the present invention passes through Spacecraft Control mechanical arm 4 during spacecraft maintainable technology on-orbit is simulated
It simulates space manipulator and pose adjustment is carried out to operating personnel, improve the one of ground simulation process and practical maintainable technology on-orbit operating mode
Cause property also provides support to improve the control of maintenance program and space manipulator.
The above is only enumerating for the concrete scheme of the present invention, for the equipment and structure of wherein not detailed description, is answered
When being interpreted as that the existing common apparatus in this field and universal method is taken to be practiced.
The foregoing is merely the schemes of the present invention, are not intended to restrict the invention, for the technology of this field
For personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of analogy method of maintainable technology on-orbit spacecraft, including：
S1. the body of operating personnel is arranged on weightless flight device, and the foot of the operating personnel is arranged in machinery
On the foot limiter of arm or spacecraft；
S2. move the first movement platform truck for being equipped with the weightless flight device and the adjustment foot limiter position or
Posture makes the operating personnel arrive at maintenance position, and the operating personnel is made to reach repair posture；
S3. the operating personnel carry out the simulation of spacecraft maintainable technology on-orbit according to maintenance program.
2. the analogy method of maintainable technology on-orbit according to claim 1, which is characterized in that in step S1, mechanical arm will be located at
Or the initial angle in the joint of the spaceborne foot limiter is adjusted to 0 °.
3. the analogy method of maintainable technology on-orbit according to claim 2, which is characterized in that in step S2, the foot limiter
It is arranged when on the mechanical arm, makes the operating personnel for installing the second sliding platform of the mechanical arm by mobile
Maintenance position is arrived at, and the foot limiter is made to be arranged upward.
4. the analogy method of maintainable technology on-orbit according to claim 3, which is characterized in that in step S2, when the foot limits
Device is arranged when on the mechanical arm, by adjusting each joint angles of the mechanical arm, adjusts the operating personnel and spacecraft
Relative pose, so that the operating personnel is reached repair posture.
5. the analogy method of maintainable technology on-orbit according to claim 3, which is characterized in that when foot limiter setting is being navigated
When on its device, by adjusting the angle in the joint of the foot limiter, the operating personnel is made to reach repair posture.
6. the analogy method of maintainable technology on-orbit according to claim 1, which is characterized in that in step S3, the operating personnel
Before carrying out the simulation of spacecraft maintainable technology on-orbit according to maintenance program, school is carried out to the relative pose of the operating personnel and spacecraft
It is accurate.
7. the analogy method of maintainable technology on-orbit according to claim 6, which is characterized in that if the operating personnel and spacecraft
Relative pose meet the requirement of the maintenance program, then carry out the simulation of spacecraft maintainable technology on-orbit, otherwise readjust operator
The repair posture of member.
8. the analogy method of maintainable technology on-orbit according to claim 7, which is characterized in that the operating personnel carry out spacecraft
When maintainable technology on-orbit is simulated, the mechanical arm is made to enter space manipulator flexibility simulation model.
9. the analogy method of maintainable technology on-orbit according to claim 8, which is characterized in that the mechanical arm enters space mechanism
After arm flexibility simulation model, by acquiring the operating personnel to the opposite force of the mechanical arm, the mechanical arm is transported
Dynamic control simulates the flexibility in operating personnel's development spacecraft maintainable technology on-orbit simulation process.
10. the analogy method of maintainable technology on-orbit according to claim 1, which is characterized in that sit the ontology of the spacecraft
Mark system and the coordinate system in place where the spacecraft are consistent.
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| CN201810176029.3A CN108394572B (en) | 2018-03-02 | 2018-03-02 | A kind of analogy method of maintainable technology on-orbit spacecraft |
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| CN201810176029.3A CN108394572B (en) | 2018-03-02 | 2018-03-02 | A kind of analogy method of maintainable technology on-orbit spacecraft |
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| CN108394572B CN108394572B (en) | 2019-02-26 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113800010A (en) * | 2021-10-29 | 2021-12-17 | 北京卫星环境工程研究所 | Operating platform for maintaining external rail of space station cabin |
| CN114603603A (en) * | 2022-03-03 | 2022-06-10 | 深圳技术大学 | Ground simulation device and method for on-orbit operation of space manipulator |
| CN115180190A (en) * | 2022-08-24 | 2022-10-14 | 北京卫星环境工程研究所 | Ground simulation system and experimental method for on-orbit operation extra-cabin maintenance tool of astronaut |
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| CN113800010A (en) * | 2021-10-29 | 2021-12-17 | 北京卫星环境工程研究所 | Operating platform for maintaining external rail of space station cabin |
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| CN108394572B (en) | 2019-02-26 |
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