阅读说明：本技术 一种应用于巨型射电望远镜反射面检查维护的微重力蜘蛛人设备 (Microgravity spider man equipment applied to inspection and maintenance of reflection surface of giant radio telescope ) 是由 纪章辉 杜京纬 刘函 龚远虎 李辉 杨清阁 姜鹏 于 2019-09-17 设计创作，主要内容包括：本发明涉及巨型射电望远镜反射面维护技术领域,尤其是涉及一种应用于巨型射电望远镜反射面检查维护的微重力蜘蛛人设备。该设备包括：球体、充放气单元、集索装置、作业服以及吊挂索具；所述球体包括：主气囊、副气囊、锚泊索具、系留索具、碰撞防护带和观察窗；本发明能够满足巨型射电望远镜反射面检查维护时具有较高的效率、重量轻且不会损伤反射面单元面板、作业人员可亲自从反射面上表面近距离检查反射面单元面板、反射面节点盘、节点盘上所安装的反射面单元连接机构、靶标等零部件以及其它需要检查的部位,并携带必要的工具对这些零部件及部位进行必要的人工维护,从而实现对巨型射电望远镜反射面比较可靠的检查和维护。(The invention relates to the technical field of maintenance of reflecting surfaces of giant radio telescopes, in particular to microgravity spider man equipment applied to inspection and maintenance of the reflecting surfaces of the giant radio telescopes. The apparatus comprises: the device comprises a ball body, an air inflation and deflation unit, a cable collecting device, an operation suit and a hanging rigging; the sphere includes: the main airbag, the auxiliary airbag, the anchoring rigging, the mooring rigging, the collision protection belt and the observation window; the invention can meet the requirements of high efficiency, light weight, no damage to the reflecting surface unit panel when the reflecting surface of the giant radio telescope is inspected and maintained, and operators can inspect the reflecting surface unit panel, the reflecting surface node disc, parts such as the reflecting surface unit connecting mechanism and the target arranged on the node disc and other parts needing to be inspected from the upper surface of the reflecting surface at a short distance and carry necessary tools to carry out necessary manual maintenance on the parts and the parts, thereby realizing the relatively reliable inspection and maintenance of the reflecting surface of the giant radio telescope.)

1. A microgravity spider man equipment applied to inspection and maintenance of a reflection surface of a giant radio telescope is characterized by comprising: the device comprises a ball body, an air inflation and deflation unit, a cable collecting device, an operation suit and a hanging rigging;

the sphere includes: the main airbag, the auxiliary airbag, the anchoring rigging, the mooring rigging, the anchoring bow tie, the mooring bow tie, the collision protection belt and the observation window; helium is filled in the main airbag, the auxiliary airbag is arranged in the main airbag, air is filled in the auxiliary airbag, 9 mooring bowties are arranged at intervals on the lower portion of the outer side of the main airbag in the circumferential direction, the upper ends of the mooring riggings are respectively connected with the corresponding mooring bowties, and the lower ends of the mooring riggings are connected with a rope collecting device; 6 anchoring bowties are arranged at intervals in the circumferential direction in the middle of the outer side of the main airbag, and the upper ends of the anchoring riggings are respectively connected with the corresponding anchoring bowties; the collision protection belts are arranged in the middle and at the lower part of the main airbag; the observation window is arranged on the outer side of the main airbag; the air inflation and deflation unit comprises: the helium filling port of the main air bag is arranged at the middle lower part of the main air bag and is used as an interface for filling and discharging helium gas into the main air bag; the auxiliary air bag inflation port is arranged at the bottom of the main air bag and is used as an air inflation and deflation port of the auxiliary air bag; one end of the hanging rigging is connected with the cable collecting device, the other end of the hanging rigging is connected with the operation clothes, and the cable collecting device is provided with a counterweight unit.

2. The microgravity spider human device of claim 1, wherein the main balloon comprises: 18 cut pieces, sealing strips, heat sealing strips and plugs;

the inner surface of the main airbag is provided with 18 pieces of cut pieces which are in heat sealing butt joint to form a circular spherical structure;

the cutting pieces are positioned on the inner side of the main air bag, and the adjacent cutting pieces are connected through a heat sealing strip;

the cutting pieces are positioned on the outer side of the main air bag, and adjacent cutting pieces are connected through a sealing strip;

the upper end and the lower end of the cutting piece are respectively provided with a process opening, and the plug is packaged in the process opening.

3. The microgravity spider human device of claim 1, wherein the ballonet comprises: 18 cutting pieces, sealing strips, heat sealing strips, plugs and skirt edges;

the auxiliary air bag is arranged inside the main air bag, and the covering cloth of the auxiliary air bag is in heat sealing butt joint by adopting 18 pieces of cutting pieces to form a circular spherical crown structure;

the cutting pieces are positioned on the inner side of the auxiliary air bag, and the adjacent cutting pieces are connected through a heat sealing strip;

the cutting pieces are positioned on the outer side of the auxiliary air bag, and the adjacent cutting pieces are connected through a sealing strip;

the upper end of the cutting piece is provided with a process opening, and the plug is packaged in the process opening;

the upper end of the skirt edge is connected with the auxiliary air bag covering cloth in a heat sealing mode, and the lower end of the skirt edge is connected with the main air bag covering cloth in a T-shaped structure in a heat sealing mode.

4. The microgravity spider human device of claim 1,

the anchoring rigging adopts a nylon wire rope;

the anchoring rigging adopts a two-section structure, and the upper section is connected with the lower section through a quick release ring;

the upper end of the anchoring rigging is connected with an anchoring bow tie;

the lower end of the anchoring rigging is connected with ground anchoring equipment.

5. The microgravity spider human device of claim 1,

the mooring rigging adopts a nylon rope;

the upper end of the mooring rigging is connected with a mooring bowknot,

the lower end of the mooring rigging is connected with a cable collecting device.

6. The microgravity spider man device of claim 1, wherein a safety unit is disposed on the ball, the safety unit comprising: an air valve and a pressure measurement assembly;

the air valve is arranged at the bottom of the auxiliary air bag, the air valve has a self-sealing function under the pressure of 700Pa of the auxiliary air bag, and when the pressure on two sides of a valve core of the air valve is greater than a preset threshold value, the valve core is automatically opened under the action of the pressure to release partial air in the auxiliary air bag;

the pressure measuring assembly is arranged on the work clothes and used for monitoring the pressure of the main airbag.

7. The microgravity spider man device of claim 1, wherein the cable collection means comprises: the device comprises a cable collecting ring, a bearing seat, a thrust bearing, a rotary joint and a bearing seat end cover;

18 limiting pieces are uniformly distributed on the cable collecting ring to provide a connecting interface for the mooring rigging;

the bearing seat is arranged at the center of the bottom of the cable collecting ring;

the thrust bearing is arranged inside the bearing seat;

the upper end of the rotary joint is arranged in the thrust bearing;

the lower end of the rotary joint is connected with the operation clothes through a hanging rigging.

8. The microgravity spider human device of claim 1,

the width of the collision protection belt positioned in the middle of the main airbag is 600 mm;

the width of the impact protection zone located at the lower portion of the main airbag was 500 mm.

9. The microgravity spider man device according to claim 1, wherein a rain curtain is provided at an annular portion of a middle-lower portion of the main airbag.

10. The microgravity spider human device of claim 1,

the surface density of the main airbag material is less than or equal to 252g/m²The minimum value of the warp-wise tensile strength is more than or equal to 26.7N/mm, and the minimum value of the weft-wise tensile strength is more than or equal to 26.7N/mm;

the surface density of the ballonet material is less than or equal to 200g/m²The tensile strength is more than or equal to 2.5N/mm;

the diffusion radius of the bowknot is more than or equal to 150mm, and the tensile strength is more than or equal to 6707.2N;

the tensile strength of the mooring rigging is more than or equal to 1339N;

the tensile strength of the anchoring rigging is more than or equal to 6707.2N.

Technical Field

The invention relates to the technical field of maintenance of a reflection surface of a giant radio telescope, in particular to microgravity spider man equipment applied to inspection and maintenance of the reflection surface of the giant radio telescope.

Background

The Spherical radio telescope (FAST) with the Aperture of 500 meters is a major scientific device in the fifteen seasons of China, and is the single-Aperture radio telescope which is the biggest in the world and is the most sensitive in the observation frequency range. The telescope system comprises a site excavation and base construction system, an active reflecting surface system, a feed source supporting system, a measuring and controlling system, a receiver, a terminal system and the like.

The FAST active reflecting surface system is a huge project and comprises an equipment foundation, a ring beam lattice column, a cable net, an actuator, a reflecting surface unit and the like. Wherein the ring beam lattice column is a main body bearing truss structure of the cable net; 2225 hydraulic actuators can drive the cable net to realize active deformation through cooperative control, so that the 4450 reflection surface unit panels connected to the cable net are driven to be converted from spherical fitting to paraboloidal fitting, and the real-time focusing function of the telescope on electric wave signals in a specific direction is completed. The cable net comprises 6670 main cables, 2225 cable net node disks and 2225 inhaul cables, and is a key component of the reflecting surface capable of realizing active deformation fitting. Each reflecting surface unit has the side length of about 11 meters and the weight of about 480 kilograms, is of an all-aluminum alloy structure, is fixedly connected with the corresponding node disc through connecting mechanisms at 3 end parts respectively, and can freely slide on the node disc, so that additional internal force generated inside the unit structure when the cable net deforms is avoided.

23 measurement foundation piers belonging to a measurement and control system are built in the caliber range of the reflecting surface, and a measurement target is installed in the center of each cable net node disc. Each base pier is provided with 2 laser total stations for measuring the surface shape precision of the reflecting surface, so that the active deformation of the reflecting surface can be controlled conveniently. Each measuring base pier is exposed out of the reflecting surface by 1-5 m, the diameter of an operating platform at the top of each measuring base pier is about 2.7 m, and the edge of each measuring base pier is provided with a guardrail with the height of 0.9 m and welded by a steel pipe. The FAST active reflecting surface system has huge span, a plurality of related parts and numerous and various types, the cable net and the reflecting surface unit are suspended at high altitude, the vertical height from the ground is more than 4 meters, and the edge area is even more than 50 meters. Such a large and complex mechanical structure system will face extremely serious challenges in the operation and maintenance of the telescope in the future. Particularly, 6670 main ropes and 2225 node disks forming the cable net bear reciprocating fatigue loading at high altitude, and 4450 reflection surface units fixed with the cable net node disks through the connecting mechanisms also slide in a reciprocating mode on the node disks. The states of the key components need to be regularly checked, the structural health state and the mechanism lubrication state of the key components are known, and the key components are regularly maintained so as to avoid the condition that the components fail. In addition, the measurement targets at the center of each node disk degrade over time and require periodic replacement. Because the reflecting surface unit is light and cannot bear the weight of an adult, and the inclination angle of the edge unit reaches 60 degrees, an inspection operator cannot directly work in a close range close to an area (such as a cable net node disc) needing to work. Some existing devices, such as various cranes and lifting robots, are constrained by site terrain and reflecting surface span, or cannot be used, or have extremely low efficiency, and cannot efficiently complete the 'FAST reflecting surface inspection and maintenance', which is a heavy task and requires overcoming technical difficulties.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

The invention aims to provide microgravity spider man equipment applied to inspection and maintenance of a reflection surface of a giant radio telescope so as to solve the technical problems in the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides microgravity spider man equipment applied to inspection and maintenance of a reflection surface of a giant radio telescope, which comprises: the device comprises a ball body, an air inflation and deflation unit, a cable collecting device, an operation suit and a hanging rigging; the sphere includes: the main airbag, the auxiliary airbag, the anchoring rigging, the mooring rigging, the anchoring bow tie, the mooring bow tie, the collision protection belt and the observation window; helium is filled in the main airbag, the auxiliary airbag is arranged in the main airbag, air is filled in the auxiliary airbag, 9 mooring bowties are arranged at intervals on the lower portion of the outer side of the main airbag in the circumferential direction, the upper ends of the mooring riggings are respectively connected with the corresponding mooring bowties, and the lower ends of the mooring riggings are connected with a rope collecting device; 6 anchoring bowties are arranged at intervals in the circumferential direction in the middle of the outer side of the main airbag, and the upper ends of the anchoring riggings are respectively connected with the corresponding anchoring bowties; the collision protection belts are arranged in the middle and at the lower part of the main airbag; the observation window is arranged on the outer side of the main airbag; the air inflation and deflation unit comprises: the helium filling port of the main air bag is arranged at the middle lower part of the main air bag and is used as an interface for filling and discharging helium gas into the main air bag; the auxiliary air bag inflation port is arranged at the bottom of the main air bag and is used as an air inflation and deflation port of the auxiliary air bag; one end of the hanging rigging is connected with the cable collecting device, the other end of the hanging rigging is connected with the operation clothes, and the cable collecting device is provided with a counterweight unit.

As a further aspect, the primary airbag includes: 18 cut pieces, sealing strips, heat sealing strips and plugs; the inner surface of the main airbag is provided with 18 pieces of cut pieces which are in heat sealing butt joint to form a circular spherical structure; the cutting pieces are positioned on the inner side of the main air bag, and the adjacent cutting pieces are connected through a heat sealing strip; the cutting pieces are positioned on the outer side of the main air bag, and adjacent cutting pieces are connected through a sealing strip; the upper end and the lower end of the cutting piece are respectively provided with a process opening, and the plug is packaged in the process opening.

As a further aspect, the ballonet includes: 18 cutting pieces, sealing strips, heat sealing strips, plugs and skirt edges; the auxiliary air bag is arranged inside the main air bag, and the covering cloth of the auxiliary air bag is in heat sealing butt joint by adopting 18 pieces of cutting pieces to form a circular spherical crown structure; the cutting pieces are positioned on the inner side of the auxiliary air bag, and the adjacent cutting pieces are connected through a heat sealing strip; the cutting pieces are positioned on the outer side of the auxiliary air bag, and the adjacent cutting pieces are connected through a sealing strip; the upper end of the cutting piece is provided with a process opening, and the plug is packaged in the process opening; the upper end of the skirt edge is connected with the auxiliary air bag covering cloth in a heat sealing mode, and the lower end of the skirt edge is connected with the main air bag covering cloth in a T-shaped structure in a heat sealing mode.

As a further technical scheme, the anchoring rigging adopts a nylon wire rope; the anchoring rigging adopts a two-section structure, and the upper section is connected with the lower section through a quick release ring; the upper end of the anchoring rigging is connected with an anchoring bow tie; the lower end of the anchoring rigging is connected with ground anchoring equipment.

As a further technical scheme, the mooring rigging adopts a nylon rope; the upper end of the mooring rigging is connected with the mooring bowknot, and the lower end of the mooring rigging is connected with the rope collecting device.

As a further technical solution, a safety unit is disposed on the ball, and the safety unit includes: an air valve and a pressure measurement assembly; the air valve is arranged at the bottom of the auxiliary air bag, the air valve has a self-sealing function under the pressure of 700Pa of the auxiliary air bag, and when the pressure on two sides of a valve core of the air valve is greater than a preset threshold value, the valve core is automatically opened under the action of the pressure to release partial air in the auxiliary air bag; the pressure measuring assembly is arranged on the work clothes and used for monitoring the pressure of the main airbag.

As a further technical solution, the cable collecting device includes: the device comprises a cable collecting ring, a bearing seat, a thrust bearing, a rotary joint and a bearing seat end cover; 18 limiting pieces are uniformly distributed on the cable collecting ring to provide a connecting interface for the mooring rigging; the bearing seat is arranged at the center of the bottom of the cable collecting ring; the thrust bearing is arranged inside the bearing seat; the upper end of the rotary joint is arranged in the thrust bearing; the lower end of the rotary joint is connected with the operation clothes through a hanging rigging.

As a further technical solution, the width of the collision protection belt located in the middle of the main airbag is 600 mm; the width of the impact protection zone located at the lower portion of the main airbag was 500 mm.

As a further technical scheme, a rain-proof curtain is arranged at the annular position of the middle lower part of the main airbag.

As a further technical proposal, the surface density of the main airbag material is less than or equal to 252g/m²The minimum value of the warp-wise tensile strength is more than or equal to 26.7N/mm, and the minimum value of the weft-wise tensile strength is more than or equal to 26.7N/mm; the surface density of the ballonet material is less than or equal to 200g/m²The tensile strength is more than or equal to 2.5N/mm; the diffusion radius of the bowknot is more than or equal to 150mm, and the tensile strength is more than or equal to 6707.2N; the tensile strength of the mooring rigging is more than or equal to 1339N; the tensile strength of the anchoring rigging is more than or equal to 6707.2N.

By adopting the technical scheme, the invention has the following beneficial effects:

the invention provides microgravity spider man equipment applied to inspection and maintenance of a reflection surface of a giant radio telescope, which can meet the requirements of high efficiency, light weight, no damage to a reflection surface unit panel, capability of leading operators to inspect parts such as the reflection surface unit panel, a cable net node disc, a reflection surface unit connecting mechanism, a measurement target and the like installed on the reflection surface at a short distance from the upper surface of the reflection surface and other parts needing inspection, and carrying necessary tools to carry out necessary manual maintenance on the parts and the parts, thereby realizing more reliable inspection and maintenance of the reflection surface of the giant radio telescope.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view illustrating a fixed state of a microgravity spider-man device according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a microgravity spider-man device provided in an embodiment of the present invention;

FIG. 3 is a schematic view of a cut segment attachment of the main airbag according to an embodiment of the present invention;

FIG. 4 is a schematic view of the attachment of the panels of the ballonet according to an embodiment of the present invention;

FIG. 5 is a schematic view of a skirt attachment arrangement according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a bow tie according to an embodiment of the present invention;

FIG. 7 is a schematic view of a transparent window according to an embodiment of the present invention

Fig. 8 is a schematic view of a foot bearing plate assembly according to an embodiment of the present invention;

fig. 9 is a schematic view of a leg bearing plate assembly provided in an embodiment of the present invention;

fig. 10 is a schematic view of a forearm bearing plate assembly according to an embodiment of the invention;

fig. 11 is a schematic view of a microgravity spider man wearing forearms, legs, and foot bearing plates according to an embodiment of the present invention.

Icon: 1-sphere; 2-mooring rigging; 3-mooring rigging; 4-a counterweight unit; 5-a cable collecting device; 6-hanging rigging; 7-small nest box concrete ground; 8-ground tripod; 9-main airbag; 10-ballonet; 11-collision protection belt; 12-homework clothes; 13-heat sealing strips; 14-a sealing strip; 15-cutting the pieces; 16-skirt edge; 17-a bow tie; 18-a viewing window; 32-ankle ligament; 33-front instep lace; 34-toe and front foot surface bearing plates; 35-a sole plate; 36-bearing plate; 37-front frenulum; 38-posterior frenum; 39-posterior frenulum; 40-front frenulum; 41-bearing plate.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

As shown in fig. 1 to 7, the present embodiment provides a FAST microgravity spider man device, including: the device comprises a ball body 1, an air inflation and deflation unit, a rope collecting device 5, a work clothes 12 and a hanging rigging 6. The sphere 1 comprises: a main airbag 9, an auxiliary airbag 10, a mooring rigging 2, a mooring rigging 3, a mooring bow tie, a collision protection belt 11 and an observation window 18; helium is filled in the main airbag 9, the auxiliary airbag 10 is arranged in the main airbag 9, air is filled in the auxiliary airbag 10, 9 mooring bowties are arranged at intervals on the lower portion of the outer side of the main airbag 9 in the circumferential direction, the upper ends of the mooring riggings 3 are respectively connected with the corresponding mooring bowties, and the lower ends of the mooring riggings 3 are connected with the rope collecting device 5; 6 anchoring bowties are circumferentially arranged at intervals in the middle of the outer side of the main airbag 9, and the upper ends of the anchoring riggings 2 are respectively connected with the corresponding anchoring bowties; the collision-preventing belts 11 are provided in the middle and lower portions of the main bag 9; the observation window 18 is arranged outside the main airbag 9; the air inflation and deflation unit comprises: a helium charging port of the main airbag 9 and an air charging port of the auxiliary airbag 10, wherein the helium charging port of the main airbag 9 is arranged at the middle lower part of the main airbag 9 and is used as an interface for charging and discharging helium gas into and from the main airbag 9; the charging port of the auxiliary air bag 10 is arranged at the bottom of the main air bag 9 and is used as an air charging and discharging port of the auxiliary air bag 10; one end of the hanging rigging 6 is connected with the rope collecting device 5, the other end of the hanging rigging 6 is connected with the operation clothes 12, and the rope collecting device 5 is provided with the counterweight unit 4. In the embodiment, an operator, a counterweight and the like are hung by a helium balloon, the total weight of the equipment is adjusted to 5-15kg through the counterweight, the equipment enters the FAST reflecting surface, and the operator can move in the reflecting surface to inspect and maintain the mechanism and the structure of the reflecting surface.

In the present embodiment, preferably, the main airbag 9 includes: 18 cut pieces 15, sealing strips 14, heat sealing strips 13 and plugs; the cloth covering of the main airbag 9 adopts 18 pieces of cut pieces 15 to be in heat sealing butt joint to form a circular sphere 1 structure; the adjacent cut pieces 15 are connected through a heat sealing strip 13 and are positioned on the inner side of the main air bag 9; the adjacent cut pieces 15 are connected through a sealing strip 14 and positioned on the outer side of the main air bag 9; the upper end and the lower end of the cutting piece 15 are respectively provided with a process opening, and the plug is packaged in the process opening.

In the present embodiment, it is preferable that the sub-bag 10 includes: 18 cut pieces 15, sealing strips 14, heat sealing strips 13, plugs and skirts 16; the auxiliary air bag 10 is arranged inside the main air bag 9, and the covering cloth of the auxiliary air bag 10 is in heat sealing butt joint by adopting 18 cutting pieces 15 to form a circular spherical crown structure; the adjacent cut pieces 15 are connected through a heat sealing strip 13 and are positioned on the inner side of the auxiliary air bag 10; the adjacent cut pieces 15 are connected through a sealing strip 14 and positioned on the outer side of the auxiliary air bag 10; the upper end of the cutting piece 15 is provided with a process opening, and the plug is packaged in the process opening; the upper end of the skirt 16 is connected with the covering cloth of the auxiliary air bag 10 in a heat sealing way, and the lower end of the skirt 16 is connected with the covering cloth of the main air bag 9 in a heat sealing way in a T-shaped structure.

Specifically, the sphere 1 is designed in detail as follows:

one) main airbag 9 design

The main airbag 9 comprehensively considers a plurality of application factors meeting the material engineering, such as processing manufacturability, stress and force transmission rationality, material utilization rate and the like. The main airbag 9 is divided into 18 willow leaf-shaped cut pieces 15 along the circumferential direction (material latitudinal direction) by abutting along the length direction (material longitudinal direction) of the main airbag 9. Therefore, the stress form of the air bag is reasonable, and the air bag material can be fully utilized.

The connection between the cut pieces 15 of the main airbag 9 adopts a heat sealing butt joint mode, the inner side of the main airbag body adopts an HVH-700 heat sealing strip 13 with the width of 60mm to connect the adjacent cut pieces 15, and the outer side is stuck with an MF01 sealing strip 14 with the width of 40 mm. Because the width of the two ends of the cutting piece 15 of the main airbag 9 is smaller, the heat seal is difficult, and in order to facilitate the processing of the airbag, the two ends of the cutting piece are respectively provided with a process opening with the diameter of 700mm, and plugs are designed for sealing. In addition, the surface of the main airbag 9 is provided with components such as an observation window 18, a helium charging port of the main airbag 9, an air charging port of the sub-airbag 10, an air valve, etc., the components are opened on the airbag according to the size of the installation equipment, and lining cloth is designed and reinforced in the airbag.

Second), the design of the ballonet 10

The sub-bag 10 primarily regulates the pressure of the bag and maintains the bag profile. The inner cloth of the auxiliary air bag 10 is made of high-performance coating fabric material, and the material has the advantages of light weight, rubbing resistance, low air permeability and the like. The auxiliary air bag 10 is formed by butt-joint heat sealing of 18 cut pieces 15, and the cut pieces 15 are planar parts formed by splitting a spherical shape and then expanding according to a curved surface. In order to make the sub-airbag 10 and the airbag more closely fit, the lower end of the sub-airbag 10 is covered with a skirt 16. The skirt 16 is in heat sealing butt joint with the covering cloth of the auxiliary air bag 10, and is in heat sealing connection with the covering cloth of the air bag in a T-shaped structure.

Three), selection of materials

According to the characteristics of the air bag structure, the air bag and the auxiliary air bag 10 are made of soft composite materials, the materials are required to meet the requirements of strength, air tightness, weight and service life, meanwhile, the variety and the specification of the materials are required to be as small as possible, the price is proper, and the process is convenient. Through the investigation of domestic material manufacturers, the capsule material is finally determined and selected, the air bag material is OP22-1000, the auxiliary air bag 10 material is HPH-300, the heat seal cloth material is HVH-700, and the sealing strip 14 material is MF 01. The performance indexes are respectively shown in the following tables.

TABLE 1 major technical Properties of the airbag Material

In this embodiment, the mooring rigging 2 is preferably a nylon rope; the anchoring rigging 2 adopts a two-section structure, and the upper section is connected with the lower section through a quick release ring; the upper end of the anchoring rigging 2 is connected with an anchoring bow; the lower end of the mooring rigging 2 is connected to ground anchoring equipment (e.g. ground tripod of the crater concrete ground 7). In this embodiment, preferably, the mooring rigging 3 is a nylon rope; the upper end of the mooring rigging 3 is connected with a mooring bowknot, and the lower end of the mooring rigging 3 is connected with a rope collecting device 5.

Specifically, the rigging is divided into two groups according to functions, one group is a mooring rigging 3 for hanging the manned subsystem on the balloon subsystem. The other group is anchoring rigging 2 for ground anchoring of the system.

The mooring rigging 3 adopts a silk rope with the diameter of 6mm, the upper end of the rigging is connected with the mooring bowknot, and the lower end of the rigging is connected with the rope collecting device 5; the anchoring rigging 2 adopts a phi 9mm nylon wire rope, and the anchoring rigging 2 adopts a two-section structure and adopts a phi 6 stainless steel quick release ring for connection. The upper end is connected with the anchoring bow tie and the lower end is connected with the ground anchor. In normal working state, the anchoring rigging 2 is separated from the quick-release ring, 3 of the upper section of the anchoring rigging 2 are fixed on the quick-release ring of the mooring rigging 3, the other 3 are connected with a three-way traction device, and the lower section of the anchoring rigging 2 is placed on the ground. The mooring rigging 3 is connected to the load ring by a quick release buckle. The cable collecting ring is formed by bending and welding 304 steel pipes and is an important force-bearing connecting piece. The 9 connection lugs are uniformly distributed on the circumference of the steel pipe. The total weight of the whole hanger is 1205.4N, and the load of a single rigging is 133.9N. The mooring rigging 3 adopts a phi 6 nylon wire rope with the strength limit of 5000N, and the strength limits of the quick release ring and the mooring bowknot are 8000N. The photoaging coefficient of the rigging is considered to be 0.8, and the knotting coefficient is considered to be 0.85, so that the safety coefficient of the mooring rigging 3 is 25.4, and the requirement of 10 times of the safety coefficient is met; the safety coefficient of the quick-release ring and the tied bow is 59.7, and the requirement of 10 times of the safety coefficient is met.

The single mooring rig 2 has a maximum load of 1676.8N. The strength limit of the anchoring rigging 2 phi 9 brocade wire rope is 10000N, and the strength limit of the quick release ring and the anchoring bow is 8000N. The photoaging coefficient of the rigging is considered to be 0.8, and the knotting coefficient is considered to be 0.85, so that the safety coefficient of the anchoring rigging 2 is 4.06, and the requirement of 4 times of the safety coefficient is met; the safety coefficient of the quick release ring and the anchoring bow tie is 4.77, and the requirement of 4 times of the safety coefficient is met.

TABLE 2 rigging load calculation results

In the embodiment, preferably, 9 mooring bowties are arranged at the lower position outside the air bag and connected with the mooring rigging 3 to transmit the concentrated load of the microgravity spider man; on the circumference above the mooring bowknot, 6 anchoring bowknots are evenly distributed and used for fixing the ball body 1 during ground anchoring. The strength limit requirement for a single bow tie is 6707.2N based on load calculations. The bowknot is composed of two layers of lining cloth and a force-bearing rope, the lining cloth is used for fixing the force-bearing rope and is connected with the bag body, and the force-bearing rope is connected with the rigging to transfer the concentrated load.

In this embodiment, it is preferable that a safety unit is disposed on the ball 1, and the safety unit includes: an air valve and a pressure measurement assembly; the air valve is arranged at the bottom of the auxiliary air bag 10, the air valve has a self-sealing function under the pressure of 700Pa of the auxiliary air bag 10, and when the pressure on two sides of the valve core of the air valve is greater than a preset threshold value, the valve core is automatically opened under the action of the pressure so as to release partial air in the auxiliary air bag 10; the load cell assembly is provided on the work garment 12 for monitoring the pressure of the primary air bag 9.

In the operation process of the ball body 1, in order to adapt to factors such as external atmospheric pressure change, solar heat radiation and the like, the pressure difference between the inside and the outside of the bag body is kept not to exceed a specified pressure value, the air valve is required to exhaust air from the auxiliary air bag 10, and the purpose of reducing the pressure of the ball body 1 is achieved. The air exhausting mode of the air valve is two modes: mechanical automatic air discharge and manual air discharge. On the other hand, when the air in the ballonet 10 is exhausted and the whole ballonet still exceeds the specified safe pressure difference range, the helium in the ballonet is manually discharged through the helium charging port to realize the depressurization of the sphere 1.

The upper limit of the working pressure of the air valve is not more than the pressure value of the sphere 1 corresponding to the maximum stress of the air bag design when the sphere 1 is in the air working state, the lower limit of the working pressure of the air valve is the middle value of the working pressure of the sphere 1 according to experience, namely, the air valve is opened to release air when the pressure of the air bag is higher than the upper limit of the working pressure of the air valve, and the air valve is closed when the pressure of the air bag is lower than the.

Air valve flow area calculation

a) Total displacement Q

In the formula:

g-acceleration of gravity, 9.8m/s²；

R-air gas constant, 287.053m²/(s²·k)；

V_QTotal volume of sphere, 230m³；

V-maximum rise speed, 2 m/s;

T_Hatmospheric temperature at the setpoint altitude.

b) Total flow area a;

in the formula:

mu-flow coefficient of valve, 0.5;

ρ_Hatmospheric density at the fixed point height, maximum value 1.019kg/m³；

ΔP_H-valve opening overpressure value, 700 Pa.

The flow area of the air valve of the auxiliary air bag is not less than 0.0033m calculated by the equation²。

Valve seal pressure analysis

In order to ensure that the air valve can be pushed open by the air in the auxiliary air bag 10 to deflate and reduce the pressure when the pressure is too high due to disturbance of factors such as wind and the like, so that the relative safety of the air bag pressure is ensured; meanwhile, the relative air tightness of the auxiliary air bag 10 is considered, and the sealing pressure of the valve of the auxiliary air bag 10 is selected to be 700 Pa.

The air valve is installed at the bottom plug of the air bag and is connected with the plug through the inner and outer installation plates. The self-sealing function is realized under the pressure of 700Pa of the auxiliary air bag 10, and when the pressure on the two sides of the valve core is greater than a preset threshold value, the valve core is automatically opened under the action of the pressure to release part of air. The calculated air valve flow area requirement is 0.0033m²The designed air valve has the drift diameter of 195mm and the opening of 20mm, and can meet the use requirement.

The pressure measuring assembly mainly comprises a pressure measuring interface, a silicone tube, a handheld pressure measuring meter and the like. The pressure measuring connector consists of a pressure measuring connector and a compression nut, the pressure measuring pipe is connected with the pressure measuring port and fixed through the compression nut, and the pressure measuring connector is similar to the air-tight head of the inflation inlet in appearance and can be in seamless butt joint with the inflation inlet. The pressure gauge selects an industrial-grade goods shelf product, the measuring range is 10Kpa, the precision is +/-5 Pa, a 4.5VDC battery is arranged in the pressure gauge for power supply, and the digital liquid crystal display screen displays the pressure. The pressure gauge is fixed on the operation suit 12 through the installation interface, so that the pressure of the main airbag 9 can be conveniently observed by the working personnel in real time.

In this embodiment, preferably, the cable collecting device 5 includes: the device comprises a cable collecting ring, a bearing seat, a thrust bearing, a rotary joint and a bearing seat end cover; the cable collecting ring is uniformly distributed with 18 limiting pieces to provide a connecting interface for the mooring rigging 3; the bearing seat is arranged at the center of the bottom of the cable collecting ring; the thrust bearing is arranged in the bearing seat; the upper end of the rotary joint is arranged in the thrust bearing; the lower end of the rotary joint is connected with a working clothes 12 through a hanging rigging 6.

In this embodiment, preferably, when the ball 1 works at a position where the slope inclination angle reaches 60 °, a flexible protection device should be disposed at a position on the ball 1 closest to the slope or the ring beam fairway, so as to protect the ball 1 and the slope. In addition, the ball 1 can be prevented from colliding with an adjacent abutment, slope or ring beam fairway structure by the intercom coordinating the tension of the three-way traction equipment. The flexible protection device is made of rubber and plastic sponge materials with the thickness of 5mm and is directly adhered to a designated area on the air bag. According to the requirement of the overall layout, a collision protection belt 11 with the width of 600mm is arranged in the middle of the sphere 1, and the collision protection belt 11 with the width of 500mm is arranged at the theoretical contact position of the sphere 1 and the 60-degree inclination slope at the lower part of the sphere 1.

In this embodiment, preferably, in order to facilitate the observation of the inside of the sub-airbag 10, the observation window 18 is disposed on the main airbag 9, and the observation window 18 is designed according to an airtight structure, is made of aircraft organic glass, and is fixedly connected with the airbag fabric by bolts through a metal fixing plate, a silicone gasket, and the like.

In this embodiment, preferably, a rain-proof curtain is disposed at an annular portion of the middle-lower portion of the main airbag 9. Specifically, the microgravity spider man may work in rainy weather, and in order to prevent the worker from getting wet, a rain-proof curtain is arranged at an annular part of the middle lower part of the sphere 1, the diameter of which is 5.6 m. The height of the rain-proof curtain is 100mm, the part of the rain-proof curtain connected with the ball body 1 is of a T-shaped structure, and the connection mode of the rain-proof curtain and the ball body 1 adopts glue joint.

In this embodiment, the inflation and deflation unit preferably comprises two parts, namely a helium inflation port of the main airbag 9 and an inflation port of the sub-airbag 10. The connector mainly serves as a connector for initially filling helium into the main air bag 9, supplementing helium during ground anchoring, recovering helium and filling air into the auxiliary air bag 10. And can also be used as a channel for discharging a small amount of residual helium in the air bag when the ball 1 is withdrawn. Except that the helium filling port of the main airbag 9 and the charging port of the auxiliary airbag 10 are different in installation position, other structural forms and installation modes are completely the same. The helium filling port of the main airbag 9 and the air filling port of the auxiliary airbag 10 are safety valves for kayaks, the safety valves mainly comprise a valve body and an airtight head, the valve body is connected with a bag skin in a threaded connection and gluing mode, and the diameter of an opening of the main airbag 9 is 40 mm. The helium charging port of the main airbag 9 is arranged at the middle lower part of the main airbag 9, and the charging port of the auxiliary airbag 10 is arranged at the bottom of the main airbag 9.

In the embodiment, the material of the main airbag 9 preferably has an areal density of 252g/m or less²The minimum value of the warp-wise tensile strength is more than or equal to 26.7N/mm, and the minimum value of the weft-wise tensile strength is more than or equal to 26.7N/mm; the surface density of the material of the auxiliary air bag 10 is less than or equal to 200g/m²The tensile strength is more than or equal to 2.5N/mm; the diffusion radius of the bowknot is more than or equal to 150mm, and the tensile strength is more than or equal to 6707.2N; the tensile strength of the mooring rigging 3 is more than or equal to 1339N; the tensile strength of the anchoring rigging 2 is more than or equal to 6707.2N.

Further, as shown in fig. 8 to 11, in the present embodiment, when the microgravity spider man climbs on the upper edge of the reflecting surface, the reflecting panel can bear a force of 30kg over an area of 150mm × 150 mm. In order to ensure that the micro-gravity spider man does not damage the reflecting panel when climbing and operating on the reflecting panel, a specially-made bearing plate is worn at the position where the man contacts the reflecting surface, and the bearing area is increased.

The inspection and maintenance system for the reflection surface of the giant radio telescope further comprises: foot bearing plate assembly, shank bearing plate assembly and forearm bearing plate assembly. Foot's bearing plate assembly includes: the toe, the front foot face bearing plate 34, the front foot face strap 33 and the ankle strap 32 are arranged on the sole plate 35, the toe, the front foot face bearing plate 34 and the sole plate 35 are hinged, and when the foot bearing plate assembly is used under the condition that a person wears shoes, the front foot face strap 34 is tied first, and then the ankle strap 32 is tied. The shank bearing plate assembly comprises: a front lace 37 and a rear lace 38 arranged on the force bearing plate 36. Forearm bearing plate assembly includes: a front lace 40 and a rear lace 39 arranged on the force bearing plate 41.

In summary, the embodiment provides microgravity spider man equipment applied to inspection and maintenance of a reflection surface of a giant radio telescope, wherein an operator, a counterweight and the like are hung by a helium balloon, the total weight of the equipment is adjusted to 5-15kg by the counterweight and enters the reflection surface of the giant radio telescope, and the operator can move in the reflection surface to inspect and maintain the mechanism and the structure of the reflection surface; the embodiment can meet the requirements that the huge radio telescope reflecting surface has higher efficiency during inspection and maintenance, the weight is light, the reflecting panel cannot be damaged, a person can observe and inspect parts such as a node shaft, a target and the like arranged on the reflecting surface node disk and other parts needing inspection from the upper surface of the reflecting surface at a short distance by naked eyes, and the relatively reliable inspection and maintenance of the huge radio telescope reflecting surface are realized.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.