A robotic satellite

Abstract

A robot satellite includes a fuel tank, an orbit change engine, an attitude control engine, a star sensor, a solar wing, a payload cabin, a first soft arm, a second soft arm, a multi-degree-of-freedom mechanical arm, a smart terminal, and a surveillance camera. The fuel tank is installed at one end of the payload cabin, and the robot head, a central controller, a multi-function tool set, a battery, a reserved payload cabin, an on-orbit replaceable payload, an antenna, a flying net, a first soft arm, a second soft arm, a multi-degree-of-freedom mechanical arm, and a surveillance camera are all installed on the payload cabin, and a smart terminal is installed at the end of each multi-degree-of-freedom mechanical arm. The orbit change engine, the attitude control engine, the star sensor, and the solar wing are all fixedly connected to the fuel tank. The present invention can realize the capture, net capture, fine operation, maintenance, fuel filling, electric energy filling, remote sensing observation of space or ground targets, etc. of space targets.

Description

Technical Field

[0001] The invention relates to a robot satellite and belongs to the field of space robots. Background Art

[0002] With the rapid development of space technology, space missions and their environments are becoming increasingly complex. Ensuring that on-orbit spacecraft can operate stably for a long time in a complex space environment has become an important goal of space technology development. In the 1960s, researchers proposed the concept of "on-orbit service", thus creating a new field of space on-orbit service technology. Space on-orbit service refers to space operations such as space assembly, maintenance and repair involving the extension of the life and capabilities of satellites, platforms, space station modules and space vehicles through the collaboration of humans, robots or both in space. Globally, on-orbit service has been identified by space agencies of many countries and regions as a key technology to support space autonomy and scalability. Through on-orbit repair and maintenance of spacecraft, fault recovery, life extension and function expansion can be achieved, the efficiency of on-orbit resource utilization can be improved, and the use mode of single-star one-time launch can be transformed into a full life cycle repair and maintenance mode. Initial on-orbit services and maintenance can carry out space debris removal, and repair and restoration of faulty spacecraft. As the scale of on-orbit spacecraft rapidly expands, their functions become more and more complex, and the cost of development and launch becomes higher and higher, future on-orbit services and maintenance can carry out more complex operations, such as on-orbit manufacturing, plug-in and reconstruction, etc. This will significantly change the current spacecraft development and operation pattern, and may trigger revolutionary progress in the global aerospace industry.

[0003] At present, the existing approach to servicing or repairing spacecraft on orbit is to use a satellite-carried robotic arm, and there have been successful demonstrations on orbit. However, the main disadvantage of this approach is that the spacecraft to be serviced or repaired is specific, and the service or repair operations that can be performed on this specific object are also relatively simple. The specific service objects and single operation types make the existing approach unable to meet the increasingly diverse and complex on-orbit servicing or repair of spacecraft, and it is urgent to propose new on-orbit servicing or repair technical approaches. Summary of the invention

[0004] The technical problem to be solved by the present invention is: the present invention proposes a robot satellite configuration that can perform complex manipulation or maintenance of on-orbit spacecraft, which integrates the satellite and the robot, can fly autonomously, change orbits, and can perform various operations such as capture, refueling, and maintenance of target spacecraft. It can realize the capture, net capture, fine operation, maintenance, fuel filling, electrical energy filling, optical detection of space or ground targets, etc. of space targets.

[0005] The technical solution adopted by the present invention is: a robot satellite, including a fuel tank, an orbit change engine, an attitude control engine, a star sensor, a solar wing, a payload cabin, a robot head, a central controller, a multi-function tool set, a battery, a reserved payload cabin, an on-orbit replaceable payload, an antenna, a flying net, a first soft arm, a second soft arm, a multi-degree-of-freedom mechanical arm, a smart terminal and a monitoring camera;

[0006] The fuel tank is installed at one end of the payload cabin, and the robot head, central controller, multi-function tool set, battery, reserved payload bay, on-orbit replaceable payload, antenna, flying net, first soft arm, second soft arm, multi-degree-of-freedom robotic arm, and surveillance camera are all installed on the payload cabin. Among them, the robot head, multi-degree-of-freedom robotic arm, first soft arm, and second soft arm are located at the other end of the payload cabin, and the surveillance camera is installed in the hollow cavity section of the payload cabin; a smart end is installed at the end of each multi-degree-of-freedom robotic arm; the orbit change engine, attitude control engine, star sensor, and solar wing are all fixedly connected to the fuel tank.

[0007] Furthermore, the fuel tank carries fuel inside to provide fuel for the robotic satellite, including orbit change, attitude and orbit control when the robotic satellite is flying in orbit, and fuel refueling when repairing the target.

[0008] Furthermore, the orbit change engine realizes the orbital maneuver of the robot satellite; there are four attitude control engines, of which two attitude control engines are installed on the same plane as a group and are symmetrically installed about the payload cabin, and the two groups of attitude control engines are located on different planes respectively, for realizing the attitude and orbit maintenance of the robot satellite; there are three star sensors for determining the spatial position of the robot satellite.

[0009] Furthermore, the solar wings are symmetrically arranged on both sides of the fuel tank to realize the power supply of the robot satellite when it is in orbit; the battery is used to store the power of the solar wings and supply power to the robot satellite.

[0010] Furthermore, the robot head has two degrees of freedom of pitch and rotation, and the internal integrated functions include vision, hearing, light source, and voice functions, which are used to monitor the service object when the robot satellite is in orbit, monitor the operation process of the first soft arm, the second soft arm, and the multi-degree-of-freedom robotic arm, and monitor the status of other payloads on the robot satellite; the monitoring camera is used for remote sensing observation of ground targets or space targets by the robot satellite.

[0011] Furthermore, the first soft arm and the second soft arm are symmetrically arranged at the end of the payload compartment; a fuel filling terminal and a first grasping terminal are arranged at the end of the first soft arm for grasping the service target, and pipelines are arranged inside to fill the service target with fuel; an electric energy filling terminal and a second grasping terminal are arranged at the end of the second soft arm for grasping the service target, and cables are arranged inside to fill the service target with electric energy; the first grasping terminal and the second grasping terminal at the end of the first soft arm and the second soft arm clamp various tools inside the multi-functional tool set, and the service target is repaired and maintained through the first soft arm and the second soft arm.

[0012] Furthermore, there are two multi-degree-of-freedom manipulators, which are symmetrically arranged at the ends of the payload bay and cooperate with the dexterous end to collaboratively complete fine operations on the service target, including grasping and screwing; the multi-degree-of-freedom manipulator clamps various tools inside the multifunctional tool set through the dexterous end to achieve repair and maintenance of the service target; the dexterous end is a three-finger structure, including a first finger, a second finger, a third finger, a tool docking interface, a power output rod and a palm, and the first finger, the second finger and the third finger have the same structure, including several knuckles, and finger bending is achieved through a connecting rod mechanism; a tool docking interface is provided on the palm, and a power output rod is provided in the tool docking interface for driving a tool matching the tool docking interface; the first finger, the second finger and the third finger are evenly installed on the palm along the circumferential direction with the tool docking interface as the center, and the second finger and the third finger achieve synchronous reverse rotation through the mounting base to achieve relative posture adjustment between the first finger (), the second finger and the third finger.

[0013] Furthermore, a variety of special tools are installed inside the multifunctional tool set, including scissors, pliers, tweezers, nozzles, screwdrivers, and clamps. Each special tool has a unified clamping interface and power transmission interface with the dexterous end, including a clamping column, a clamping point, a conical positioning hole, and a driving rod. The clamping point is set on the outside of the clamping column, the driving rod is set inside the clamping column, and the conical positioning hole is set at the end of the clamping column. The conical positioning hole and the driving rod are respectively used for docking with the tool docking interface and the power output rod.

[0014] Furthermore, the reserved payload bay is an empty bay for installing other payloads; the on-orbit replaceable payload is used to replace the failed payload of the service target to repair the service target; the antenna is used for the robot satellite to communicate with the ground and with other spacecraft; the flying net enables the robot satellite to capture space debris and service targets.

[0015] Furthermore, the central controller is the control center of the robot satellite, and the execution of all mechanism actions and information processing on the robot satellite are realized by the central controller.

[0016] Compared with the prior art, the present invention has the following effects:

[0017] (1) The present invention proposes a new configuration of a robotic satellite that integrates the design of a robot and a satellite. The robotic satellite realizes that the aircraft is both a payload platform and a subject for performing operational tasks. The robotic satellite can act as both a satellite and a space robot. The present invention has functions such as orbit change and attitude and orbit control, and can realize the capture, net capture, fine operation, maintenance, fuel filling, power filling, remote sensing observation of space or ground targets, etc. of space targets.

[0018] (2) The robot satellite of the present invention is equipped with a flexible arm and a multi-degree-of-freedom robotic arm at the same time, which fully considers the advantages of the flexible arm's strong non-cooperative target capture capability, low flexible capture impact, and the multi-degree-of-freedom robotic arm's easy and delicate operation, thereby greatly improving the overall performance of the robot satellite.

[0019] (3) The flexible arm used in the present invention has the functions of catching, refueling, and tool operation. Compared with the existing flexible arm that only has the catching function, the function and application field of the flexible arm are expanded. The flexible robotic arm of the present invention not only has the flexible catching function of the traditional flexible robotic arm, but also has a fuel refueling pipeline or charging circuit designed inside the arm, which has the functions of refueling and charging. The robotic satellite can refuel and charge the service target through the flexible arm, and other spacecraft can also refuel and charge the robotic satellite through the flexible arm.

[0020] (4) The dexterous end of the present invention has three fingers, two of which can rotate around its own base to adjust the grasping posture, and a special tool docking interface and a power output interface are designed on the palm. The dexterous end itself can use three fingers to achieve dexterous operation. The three fingers can also clamp special tools and input driving force to the special tools to achieve special operations. The dexterous end of the multi-degree-of-freedom manipulator itself has fine operation functions. At the same time, the dexterous end can also clamp and drive a variety of special tools, greatly expanding the functions of the manipulator.

[0021] (5) The robot satellite of the present invention is equipped with two types of robotic arms, one is a flexible arm and the other is a multi-degree-of-freedom rigid robotic arm. The flexible arm is mainly used for catching, detection and maintenance in narrow spaces, etc. The rigid robotic arm combined with a dexterous end is mainly used for fine operations, etc. The soft arm and the rigid robotic arm share a set of special tools, which expands the scope of use of the special tools.

[0022] (6) The robot satellite of the present invention is equipped with two cameras. The camera on the robot head has a shorter focal length and is mainly used for close-range monitoring of the robot satellite itself and the service target after capture, as well as visual navigation in tool replacement engineering. The monitoring camera in the hollow section of the payload cabin is a large-caliber camera, which is mainly used for optical or remote sensing detection of long-distance space targets or ground targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a diagram of the structure of the robotic satellite;

[0024] Figure 2 This is an axonometric view of the robotic satellite from another angle;

[0025] Figure 3 This is a top-down view of the robotic satellite;

[0026] Figure 4 It is the axonometric view of the smart end;

[0027] Figure 5 Is a versatile tool set axonometric drawing. DETAILED DESCRIPTION

[0028] The present invention will be further described in conjunction with the accompanying drawings.

[0029] like Figures 1 to 5 As shown, the robot satellite of the present invention includes a fuel tank 1, an orbit change engine 2, an attitude control engine 3, a star sensor 4, a solar wing 5, a payload cabin 6, a robot head 7, a central controller 8, a multi-functional tool set 9, a battery 10, a reserved payload cabin space 11, an on-orbit replaceable payload 12, an antenna 13, a flying net 14, a first soft arm 15, a second soft arm 16, two multi-degree-of-freedom robotic arms 17, two dexterous ends 18, and a monitoring camera 19.

[0030] In addition, if Figure 5 As shown, the multifunctional tool set 9 includes a variety of special tools such as scissors 9-1, pliers 9-2, tweezers 9-3, nozzles 9-4, screwdrivers 9-5, and clamps 9-6. Each special tool has a unified clamping interface and power transmission interface with the smart end 18 (mainly a clamping column 9-1-1, a clamping point 9-1-2, a conical positioning hole 9-1-3, a driving rod 9-1-4, etc., a clamping point 9-1-2 is arranged on the outside of the clamping column 9-1-1, a driving rod 9-1-4 is arranged inside the clamping column 9-1-1, a conical positioning hole 9-1-3 is arranged at the end of the clamping column 9-1-1, and the conical positioning hole 9-1-3 and the driving rod 9-1-4 are respectively used for docking with the tool docking interface 18-4 and the power output rod 18-5).

[0031] The end of the first soft arm 15 is designed with a fuel filling end 15-1 and a first catch end 15-2. The end of the second soft arm 16 is designed with an electric energy filling end 16-1 and a second catch end 16-2.

[0032] like Figure 4As shown, the dexterous end 18 is a three-finger structure, which is mainly composed of a first finger 18-1, a second finger 18-2, a third finger 18-3, a tool docking interface 18-4, a power output rod 18-5, a palm 18-6, etc. with the same structure. The first finger 18-1, the second finger 18-2, and the third finger 18-3 have the same structure, including a plurality of knuckles, and the finger bending is achieved through a connecting rod mechanism; a tool docking interface 18-4 is provided on the palm 18-6, and a power output rod 18-5 is provided in the tool docking interface 18-4 for driving a tool matching the tool docking interface 18-4; the first finger 18-1, the second finger 18-2, and the third finger 18-3 are evenly installed on the palm 18-6 along the circumferential direction with the tool docking interface 18-4 as the center, and the second finger 18-2 and the third finger 18-3 can rotate synchronously in opposite directions around the mounting base to achieve relative posture adjustment between the three fingers, which can improve the adaptability to the target shape during grasping.

[0033] like Figure 1 , Figure 2 The payload cabin 6 is the main load-bearing structure of the robot satellite, and most other structures or payloads are installed on it as a bearing platform. The fuel tank 1 is fixedly connected to the payload cabin 6, and the fuel tank 1 is installed at one end of the payload cabin 6. The robot head 7, the central controller 8, the multi-functional tool set 9, the battery 10, the reserved payload cabin space 11, the on-orbit replaceable payload 12, the antenna 13, the flying net 14, the first soft arm 15, the second soft arm 16, two multi-degree-of-freedom mechanical arms 17, the monitoring camera 19, etc. are all installed on the payload cabin 6, among which the robot head 7, the multi-degree-of-freedom mechanical arm 17, the first soft arm 15, and the second soft arm 16 are located at the other end of the payload cabin 6, and the monitoring camera 19 is installed in the hollow cavity section of the payload cabin 6. Two smart ends 18 are respectively installed at the ends of the two multi-degree-of-freedom mechanical arms 17. The orbit change engine 2, the four attitude control engines 3, the three star sensors 4, the two solar wings 5, etc. are all fixedly connected to the fuel tank 1.

[0034] The fuel tank 1 carries fuel inside, which is mainly used to provide fuel for orbit change, attitude and orbit control, and fuel filling during target maintenance when the robot satellite is in orbit. The orbit change engine 2 provides the robot satellite with orbit maneuvering, i.e. orbit change capability. The four attitude control engines 3 are arranged in pairs (two attitude control engines 3 are installed on the same plane as a group and are symmetrically installed about the payload cabin 6, and the two groups of attitude control engines 3 are located on different planes), which are used to realize the attitude and orbit maintenance of the robot satellite. The three star sensors 4 are used to realize the spatial position determination of the robot satellite. The solar wings 5 ​​are symmetrically arranged on both sides of the fuel tank 1, which are used to realize the power supply of the robot satellite when it is in orbit. The payload cabin 6 is the core body of the robot satellite, which is used to install other various structures or payloads. The robot head 7 has two degrees of freedom, pitch and rotation, and integrates vision, hearing, light source, voice and other functions. It is used to monitor the service object when the robot satellite is in orbit. It can also monitor the process of the first soft arm 15, the second soft arm 16, and the multi-freedom mechanical arm 17 when they are operated. At the same time, it can also monitor the status of other payloads on the robot satellite, such as the solar wing 5. The central controller 8 is the control center of the robot satellite, and the execution of the mechanism actions and information processing used on it are all realized by the central controller. The various tools inside the multifunctional tool set 9 are used for the maintenance and repair of the service target. The battery 10 is used to store the power of the solar wing and power the robot satellite. The reserved payload bay 11 is an empty bay, and other payloads can be installed to realize the expansion of the robot satellite function. The on-orbit replaceable payload 12 is used to replace the failed payload of the service target to realize the repair of the service target. The antenna 13 is used for the robot satellite to communicate with the ground and other spacecraft. The flying net 14 realizes the capture of space debris, service targets, etc. by the robot satellite.

[0035] like Figure 3 As shown, the first soft arm 15 and the second soft arm 16 are symmetrically arranged at the end of the payload compartment 6; the first soft arm 15 can hold and capture the service target on the one hand, and on the other hand, it is internally arranged with pipelines to refuel the service target. The second soft arm 16 can also hold and capture the service target, and it is also internally arranged with cables, etc., to refuel the service object. The first capture end 15-2 and the second capture end 16-2 at the ends of the first soft arm 15 and the second soft arm 16 can also clamp various tools inside the multifunctional tool set 9, and the service target can be repaired and maintained through the soft arms.

[0036] Two multi-degree-of-freedom manipulators 17 are symmetrically arranged at the ends of the payload cabin 6, and cooperate with the smart end 18 to collaboratively complete fine operations such as grabbing and screwing the service target. At the same time, the smart end 18 clamps various tools (scissors 9-1, pliers 9-2, tweezers 9-3, nozzle 9-4, screwdriver 9-5, clamp 9-6, etc.) inside the multifunctional tool set to achieve maintenance of the service target. The surveillance camera 19 can be used for optical detection of ground targets or space targets by the robot satellite.

[0037] The robot satellite has functions such as maneuvering orbit change and orbit maintenance. When changing orbit, the orbit change engine 2 is turned on, and the robot satellite quickly realizes orbit transfer under the action of high thrust. The robot satellite maintains its position in orbit through four attitude control engines 3. The four attitude control engines 3 can cooperate to realize the pitch, roll, yaw and other attitude control of the robot satellite, as well as fine-tuning of orbit parameters. At the same time, the robot satellite can quickly track or approach the service target under the action of the four attitude control engines 3. The star sensor 4 realizes the space attitude of the robot satellite, the solar wing 5 increases the power of the robot satellite, and the information exchange between the robot satellite and other spacecraft is realized through the antenna 13.

[0038] After the robot satellite approaches the service target, it realizes low-impact capture of the service target through the first flexible arm 15 and the second flexible arm 16. After capture, the robot head 7 performs visual inspection of the service target, etc.; the multi-degree-of-freedom robot arm 17 and the smart end 18 at its end can also perform fine operations on the service target, such as repair and maintenance, etc.; the smart end 18 can also clamp the special tools in the multi-functional tool set 9 to perform special operations on the service target. The multi-degree-of-freedom robot arm 17 can also perform repair and maintenance on the robot satellite itself through the smart end 18 and special tools. The multi-degree-of-freedom robot arm 17 can replace the failed payload on the service target with the on-orbit replaceable payload 12 through the smart end 18.

[0039] After the robot satellite captures the service target, it can be fixedly connected with the service target through the multi-degree-of-freedom manipulator 17, and then the connection between the first flexible arm 15, the second flexible arm 16 and the service target is released. After the connection is released, the first flexible arm 15 can use the fuel filling terminal 15-1 to refuel the service target, and the second flexible arm 16 can use the power filling terminal 16-1 to charge the service target. At the same time, the first flexible arm 15 and the second flexible arm 16 can use their flexible deformation characteristics to carry the first capture terminal 15-2 and the second capture terminal 16-2 to the back, bottom, cavity and other areas of the service target that are difficult for the multi-degree-of-freedom manipulator 17 to reach for operation. The first capture terminal 15-2 and the second capture terminal 16-2 can also clamp the special tools in the multi-functional tool set 9, and can perform special operations on the service target. The flexible manipulator can also repair and maintain the robot satellite through the capture terminal and special tools. Other spacecraft can also use the first soft arm 15 and the second soft arm 16 to refuel or charge the robot satellite.

[0040] The multi-DOF manipulator 17 can not only use the smart end 18 at the end to repair and maintain the service target, but also use the smart end 18 to clamp the special tools in the multifunctional tool set 9 to repair and maintain the service target. The smart end 18 realizes smart operation through the first finger 18-1, the second finger 18-2, and the third finger 18-3. The second finger 18-2 and the third finger 18-3 can rotate around their own bases, which improves the adaptability of the smart end to the shape of the operation object. When the smart terminal 18 clamps the special tool, the three fingers of the smart terminal 18 clamp the clamping column 9-1-1 of the special tool, and the three clamping points 9-1-2 on the clamping column 9-1-1 fit with the fingertips of the three fingers. After the fingers clamp the clamping column 9-1-1, they are folded toward the palm. The conical positioning hole 9-1-3 of the clamping column 9-1-1 is conically positioned with the tool docking interface 18-4 of the smart terminal 18. At the same time, the power output rod 18-5 is docked with the driving rod 9-1-4. Then, the smart terminal 18 can output power to the special tool through the power output rod 18-5 to realize the operation of the special tool. During the process of the smart terminal 18 replacing different special tools, the robot head 7 can perform visual monitoring and tracking guidance.

[0041] The robot satellite can use the flying net 14 to capture space debris, etc., and can also capture targets with irregular shapes that are difficult to capture with flexible arms. The robot satellite can use the monitoring camera 19 to perform remote sensing detection of space targets or ground targets.

[0042] Parts of the present invention that are not described in detail belong to the well-known technology for those skilled in the art.

Claims

1. A robotic satellite, characterized in that: It includes a fuel tank (1), an orbit change engine (2), an attitude control engine (3), a star sensor (4), a solar wing (5), a payload cabin (6), a robot head (7), a central controller (8), a multi-functional tool set (9), a storage battery (10), an antenna (13), a first soft arm (15), a second soft arm (16), a multi-degree-of-freedom robot arm (17), a smart terminal (18) and a monitoring camera (19); A fuel tank (1) is installed at one end of a payload cabin (6); a robot head (7), a central controller (8), a multifunctional tool set (9), a battery (10), an antenna (13), a first soft arm (15), a second soft arm (16), a multi-degree-of-freedom mechanical arm (17), and a monitoring camera (19) are all installed on the payload cabin (6); the robot head (7), the multi-degree-of-freedom mechanical arm (17), the first soft arm (15), and the second soft arm (16) are located at the other end of the payload cabin (6); and the monitoring camera (19) is installed in a hollow cavity section of the payload cabin (6); a smart end (18) is installed at the end of each multi-degree-of-freedom mechanical arm (17); and the orbit change engine (2), the attitude control engine (3), the star sensor (4), and the solar wing (5) are all fixedly connected to the fuel tank (1); The first soft arm (15) and the second soft arm (16) are symmetrically arranged at the end of the load compartment (6); The end of the first soft arm (15) is provided with a fuel filling end (15-1) and a first capture end (15-2) for capturing the service target, and a pipeline is arranged inside to fill the service target with fuel; The end of the second soft arm (16) is provided with an electric energy filling terminal (16-1) and a second capture terminal (16-2) for capturing the service target, and a cable is arranged inside to fill the service target with electric energy; A first grasping end (15-2) at the end of the first soft arm (15) and a second grasping end (16-2) at the end of the second soft arm (16) clamp various tools inside the multifunctional tool set (9), and the service target is repaired and maintained through the first soft arm (15) and the second soft arm (16); There are two multi-degree-of-freedom manipulators (17), which are symmetrically arranged at the ends of the load compartment (6) and cooperate with the smart terminal (18) to collaboratively complete fine operations on the service target, including grasping and screwing; the multi-degree-of-freedom manipulator (17) clamps various tools inside the multifunctional tool set (9) through the smart terminal (18) to achieve repair and maintenance of the service target; the smart terminal (18) is a three-finger structure, including a first finger (18-1), a second finger (18-2), a third finger (18-3), a tool docking interface (18-4), a power output rod (18-5) and a palm (18-6), and the first finger (18-1), the second finger (18-2) and the third finger (18-3) are structurally similar. The invention relates to a tool for grasping and grasping a hand, comprising a plurality of finger joints, wherein finger bending is achieved through a connecting rod mechanism; a tool docking interface (18-4) is arranged on the palm (18-6), and a power output rod (18-5) is arranged in the tool docking interface (18-4) for driving a tool matched with the tool docking interface (18-4); a first finger (18-1), a second finger (18-2), and a third finger (18-3) are evenly mounted on the palm (18-6) along the circumferential direction with the tool docking interface (18-4) as the center, and the second finger (18-2) and the third finger (18-3) are synchronously rotated in the opposite direction through a mounting base, so that the relative posture adjustment between the first finger (18-1), the second finger (18-2), and the third finger (18-3) is achieved.

2. A robotic satellite according to claim 1, characterized in that: The fuel tank (1) carries fuel inside to provide fuel for the robot satellite, including orbit change, attitude and orbit control when the robot satellite is in orbit, and fuel filling when repairing a target.

3. A robotic satellite according to claim 1, characterized in that: The orbit change engine (2) realizes the orbit maneuver of the robot satellite; the attitude control engines (3) are four in number, two of which are installed in a group on the same plane and symmetrically installed with respect to the payload cabin (6), and the two groups of attitude control engines (3) are respectively located on different planes, and are used to realize the attitude and orbit maintenance of the robot satellite; the star sensors (4) are three in number, and are used to determine the spatial position of the robot satellite; the antenna (13) is used for the robot satellite to communicate with the ground and with other spacecraft.

4. A robotic satellite according to claim 1, characterized in that: The solar wings (5) are symmetrically arranged on both sides of the fuel tank (1) and are used to realize the power supply of the robot satellite when it is in orbit; the storage battery (10) is used to store the power of the solar wings (5) and supply power to the robot satellite.

5. A robotic satellite according to claim 1, characterized in that: The robot head (7) has two degrees of freedom, namely, pitch and rotation, and internally integrated functions include vision, hearing, light source, and voice functions, which are used to monitor the service object when the robot satellite is in orbit, monitor the operation process of the first soft arm (15), the second soft arm (16), and the multi-degree-of-freedom mechanical arm (17), and monitor the status of other payloads on the robot satellite; the monitoring camera (19) is used for the robot satellite to remotely sense and observe ground targets or space targets.

6. A robotic satellite according to claim 1, characterized in that: The multifunctional tool set (9) is internally installed with a variety of special tools, including scissors (9-1), pliers (9-2), tweezers (9-3), a nozzle (9-4), a screwdriver (9-5), and a clamp (9-6). Each special tool has a unified clamping interface and a power transmission interface with the smart end (18), including a clamping column (9-1-1), a clamping point (9-1-2), a conical positioning hole (9-1-3), and a driving rod (9-1-4). The clamping point (9-1-2) is arranged outside the clamping column (9-1-1), the driving rod (9-1-4) is arranged inside the clamping column (9-1-1), and the conical positioning hole (9-1-3) is arranged at the end of the clamping column (9-1-1). The conical positioning hole (9-1-3) and the driving rod (9-1-4) are respectively used for docking with the tool docking interface (18-4) and the power output rod (18-5).

7. A robotic satellite according to claim 1, characterized in that: It also includes a reserved payload bay (11), an on-orbit replaceable payload (12), and a flying net (14), wherein the reserved payload bay (11), the on-orbit replaceable payload (12), and the flying net (14) are all installed on the payload bay (6); the reserved payload bay (11) is an empty bay reserved for installing other extended payloads; the on-orbit replaceable payload (12) is used to replace the failed payload of the service target to repair the service target; the flying net (14) enables the robot satellite to capture space debris and service targets.

8. A robotic satellite according to any one of claims 1 to 7, characterized in that: The central controller (8) is the control center of the robot satellite, and the execution of all mechanism actions and information processing on the robot satellite are realized by the central controller (8).

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