An on-orbit assembly and module replacement integrated ground test system

Abstract

The present invention provides an integrated ground test system for on-orbit assembly and module replacement, including: an assembled sub-platform simulator, a mother platform simulator, a single-unit level replacement module, a distributed vision measurement device, a marble platform, and a dual-simulator integrated ground console. The assembled sub-platform simulator is used to simulate the assembled sub-platform, and the mother platform simulator is used to simulate the mother platform, and perform the tasks of assembling the assembled sub-platform simulator and replacing the single-unit level replacement module. The single-unit level replacement module cooperates with the mother platform simulator to verify the acceptable service capabilities of the system. The present invention has the effects of being able to simultaneously verify the on-orbit assembly technology of large cabin-section-level assembly objects and the on-orbit replacement technology of small single-unit level modules in a microgravity simulation environment, and being able to respectively verify the module replacement operation technology and attitude control technology of modules at different installation positions, etc.

Description

Technical Field

[0001] The present invention relates to the field of on-orbit service and on-orbit assembly ground tests. Specifically, it relates to an integrated ground test system for on-orbit assembly and module replacement. Background Art

[0002] With the development of future large space payloads, the scale of aircraft will inevitably increase gradually. Existing carriers are difficult to meet the launch requirements of ultra-large satellites. Therefore, based on the existing carrier capabilities, it is necessary to adopt the solution of constructing large space aircraft through on-orbit assembly. In addition, in order to give full play to the benefits of large high-value satellites and avoid the scrapping of the entire satellite after a failure, it is necessary to carry out maintainability design to maintain its long-term on-orbit operation. The most direct solution is to carry out modular design of the aircraft and perform maintenance through on-orbit module replacement.

[0003] On-orbit assembly and module replacement operations involve complex dynamic and kinematic behaviors, which are related to multiple technical fields such as the position and attitude control of the aircraft, assembly docking mechanisms, and general interfaces of replaceable modules. Verifying the entire task only through simulation modeling has problems such as large modeling difficulty, incomplete consideration of error models, and low modeling accuracy, and it is difficult to truly simulate the situations faced in actual engineering applications. It is necessary to carry out ground test verification.

[0004] After retrieving the existing technologies, the paper literature "Research on Ground Experiments of On-Orbit Assembly of Multiple Flexible Spacecraft" can verify collision-free on-orbit assembly tasks and verify attitude and orbit control technologies on an air-bearing test bench. The paper literature "Research on Autonomous Docking Control Method and Experiment for On-Orbit Service" is also only applicable to autonomous approach and docking experiments. The patent literature CN105173126A discloses a ground replacement test device for payload modules, which is suitable for simulating the ground functional verification test of on-orbit replacement of modular payloads of spacecraft and mainly focuses on the mechanical scheme design of module interfaces. The patent literature CN106500750A discloses a three-degree-of-freedom double-body satellite vibration isolation ground test system, which mainly verifies non-contact vibration isolation control problems. Summary of the Invention

[0005] Aiming at the defects in the existing technologies, the purpose of the present invention is to provide an integrated ground test system for on-orbit assembly and module replacement.

[0006] An integrated ground test system for on-orbit assembly and module replacement according to the present invention includes: an assembled sub-platform simulator, a mother platform simulator, a single-unit level replacement module, a distributed vision measurement device, a marble platform, and a double-simulator integrated ground console;

[0007] The assembled sub-platform simulator is used to simulate the assembled sub-platform and is placed on the marble platform;

[0008] The master platform simulator is used to simulate the master platform and perform the tasks of assembling the sub-platform simulator to be assembled and replacing the single-unit replacement module;

[0009] The single-unit replacement module cooperates with the master platform simulator to verify the service acceptance ability of the system;

[0010] The distributed vision measurement device measures the position and attitude of the sub-platform simulator to be assembled;

[0011] The marble platform is installed on the ground;

[0012] The dual-simulator integrated ground console is installed on the ground and is responsible for simultaneously controlling the sub-platform simulator to be assembled and the master platform simulator, receiving data from the sub-platform simulator to be assembled, the master platform simulator, and the distributed vision measurement device, and performing data analysis, processing, and display.

[0013] Preferably, the sub-platform simulator to be assembled includes: a passive end of the module and sub-simulator interface, an active end of the mechatronic assembly interface, a sub-platform structure support, and an integrated control industrial computer;

[0014] At least one set of the passive end of the module and sub-simulator interface is installed on the top and side of the sub-platform structure support, and the active end of the mechatronic assembly interface is installed on the adjacent side of the sub-platform structure support;

[0015] The integrated control industrial computer simultaneously controls the movements of the sub-platform simulator to be assembled and the active end of the mechatronic assembly interface.

[0016] Preferably, the sub-platform simulator to be assembled performs two-dimensional translation and one-dimensional rotation on the surface of the marble platform.

[0017] Preferably, the master platform simulator includes an assembly robotic arm, a robotic arm mounting base, a passive end of the mechatronic assembly interface, an assembly interface passive end mounting base, and a passive end of the module and master simulator interface;

[0018] The assembly robotic arm is fixedly installed on the robotic arm mounting base;

[0019] The passive end of the module and master simulator interface is fixedly installed on the robotic arm mounting base;

[0020] The passive end of the mechatronic assembly interface is installed on the assembly interface passive end mounting base.

[0021] Preferably, the master platform simulator is fixed on the ground and is installed on the side close to the marble platform.

[0022] Preferably, the robotic arm mounting base can be adjusted within a limited stroke in the height direction.

[0023] Preferably, the passive end mounting base of the assembly interface can perform translational movements with limited strokes in three orthogonal directions of X, Y, and Z, and the normal direction can be adjusted within a limited range.

[0024] Preferably, the single-unit replacement module includes a module body, an interface between the module and the assembly robotic arm, and an active end of the interface between the module and the simulator; the interface between the module and the assembly robotic arm and the active end of the interface between the module and the simulator are respectively installed on two opposite side surfaces of the module body;

[0025] The interface between the module and the assembly robotic arm serves both as the capture interface between the assembly robotic arm and the single-unit replacement module and as the capture interface between the assembly robotic arm and the satellite simulator to be assembled.

[0026] Preferably, the single-unit replacement module is installed on the simulator of the sub-platform to be assembled or the mother platform simulation, and the active end of the interface between the module and the simulator is connected to the passive end of the interface between the module and the sub-simulator or the passive end of the interface between the module and the mother simulator.

[0027] Preferably, the distributed vision measurement devices are circumferentially distributed around the marble platform, and the field of view completely covers the marble platform.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. It can simultaneously verify the on-orbit assembly technology of large cabin-section-level assembly objects and the on-orbit replacement technology of small single-unit modules in a microgravity simulation environment;

[0030] 2. It can respectively verify the module replacement operation technology and attitude control technology of modules at different installation positions, including the robotic arm completing the full-process replacement operation of the module along the direction perpendicular to the marble platform and the direction parallel to the marble platform, fully simulating various working conditions that may exist in orbit;

[0031] 3. It can verify the module replacement technology in the state of forming a combined body with the object to be operated, and can also verify the on-orbit service technology of directly replacing the module in the free-floating state of the object to be operated.

[0032] 4. It can verify both the autonomous rendezvous, approach, and docking technology and the technology of completing on-orbit assembly based on robotic arm operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more apparent:

[0034] Figure 1Schematic structural diagram of an on-orbit assembly and module replacement integrated ground test system according to an embodiment of the present invention;

[0035] Figure 2 Schematic structural diagram of the sub-platform simulator to be assembled in an embodiment of the present invention;

[0036] Figure 3 Schematic structural diagram of the mother platform simulator in an embodiment of the present invention;

[0037] Figure 4 Schematic structural diagram of the single-machine level replacement module in an embodiment of the present invention.

[0038] Explanation of reference numerals: 1. Sub-platform simulator to be assembled; 2. Mother platform simulator; 3. Single-machine level replacement module; 4. Distributed vision measurement device; 5. Marble platform; 6. Dual simulator integrated ground console; 7. Passive end of the module and sub-simulator interface; 8. Active end of the electro-mechanical-hydraulic integrated assembly interface; 9. Sub-platform structure support; 10. Integrated control industrial computer; 11. Assembly robotic arm; 12. Robotic arm mounting base; 13. Passive end of the electro-mechanical-hydraulic integrated assembly interface; 14. Mounting base of the passive end of the assembly interface; 15. Passive end of the module and mother simulator interface; 16. Module body; 17. Interface between the module and the assembly robotic arm; 18. Active end of the module and simulator interface. Detailed implementation manners

[0039] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all fall within the protection scope of the present invention.

[0040] The present invention designs a set of test systems that can systematically verify the full process technology of on-orbit assembly and module replacement in a ground environment, and proposes an on-orbit assembly and module replacement integrated ground test system. The technical content that can be verified includes: verifying the ability to capture and assemble the aircraft in the vertical and horizontal planes; verifying the ability to capture and assemble the aircraft in the horizontal direction; verifying the ability to remove or install modules along the vertical or horizontal directions respectively; verifying the functions of the replaceable module interface and the on-orbit assembly interface, etc.

[0041] An on-orbit assembly and module replacement integrated ground test system, as Figure 1 shown, includes: a sub-platform simulator 1 to be assembled, a mother platform simulator 2, a single-machine level replacement module 3, a distributed vision measurement device 4, a marble platform 5, and a dual simulator integrated ground console 6.

[0042] As Figure 2As shown in the figure, the assembled sub-platform simulator 1 is used to simulate the assembled sub-platform and is placed on the marble platform 5. The assembled sub-platform simulator 1 includes: the passive end 7 of the module and sub-simulator interface, the active end 8 of the mechatronic assembly interface, the sub-platform structure support member 9, and the integrated control industrial computer 10. At least one set of the passive end 7 of the module and sub-simulator interface is installed on the top and side of the sub-platform structure support member 9, and the active end 8 of the mechatronic assembly interface is installed on the adjacent side of the sub-platform structure support member 9; the integrated control industrial computer 10 simultaneously controls the movement of the assembled sub-platform simulator 1 and the active end 8 of the mechatronic assembly interface, and the assembled sub-platform simulator 1 performs two-dimensional translation and one-dimensional rotation on the surface of the marble platform 5.

[0043] As Figure 3 shown in the figure, the mother platform simulator 2 is used to simulate the mother platform and perform the tasks of assembling the assembled sub-platform simulator 1 and replacing the single-unit replacement module 3. The mother platform simulator 2 includes an assembly robotic arm 11, a robotic arm mounting base 12, a passive end 13 of the mechatronic assembly interface, a passive end mounting base 14 of the assembly interface, and a passive end 15 of the module and mother simulator interface. The assembly robotic arm 11 is fixedly installed on the robotic arm mounting base 12, the passive end 15 of the module and mother simulator interface is fixedly installed on the robotic arm mounting base 12, and the passive end 13 of the mechatronic assembly interface is installed on the passive end mounting base 14 of the assembly interface.

[0044] The mother platform simulator 2 is fixed on the ground and installed on the side close to the marble platform 5.

[0045] The robotic arm mounting base 12 can be adjusted with a limited stroke in the height direction, and the passive end mounting base 14 of the assembly interface can perform translational movements with limited strokes in the three orthogonal directions of X, Y, and Z, and the normal direction can be adjusted within a limited range.

[0046] As Figure 4 shown in the figure, the single-unit replacement module 3 cooperates with the mother platform simulator 2 to verify the acceptable service ability of the system. The single-unit replacement module 3 includes a module body 16, an interface between the module and the assembly robotic arm 11, and an active end 18 of the module and simulator interface; the interface between the module and the assembly robotic arm 11 and the active end 18 of the module and simulator interface are respectively installed on two opposite sides of the module body 16; the interface 17 between the module and the assembly robotic arm can be used as both the capture interface between the assembly robotic arm 11 and the single-unit replacement module 3 and the capture interface between the assembly robotic arm 11 and the assembled satellite simulator.

[0047] The single-unit replacement module 3 is installed on the assembled sub-platform simulator 1 or the mother platform simulator, and the active end 18 of the module and simulator interface is connected to the passive end 7 of the module and sub-simulator interface or the passive end 15 of the module and mother simulator interface.

[0048] The marble platform 5 is installed on the ground. The distributed vision measurement device 4 measures the position and attitude of the assembled sub-platform simulator 1, is circumferentially distributed around the marble platform 5, and its field of view completely covers the marble platform 5;

[0049] The dual-simulator integrated ground console 6 is installed on the ground, responsible for simultaneously controlling the assembled sub-platform simulator 1 and the mother platform simulator 2, receiving data from the assembled sub-platform simulator 1, the mother platform simulator 2, and the distributed vision measurement device 4, and performing data analysis, processing, and display.

[0050] An embodiment of the specific process of the on-orbit assembly and module replacement integrated ground test is as follows:

[0051] Step 1: Adjust the marble platform 5 to be horizontal to meet the accuracy requirements; adjust the installation base 14 of the passive end of the assembly interface to a given height and adjust its normal direction; adjust the height of the robotic arm installation base 12 to a specified position; adjust the position of the distributed vision measurement device to complete the self-test.

[0052] Step 2: Place the assembled sub-platform simulator 1 in the center of the marble platform 5; the distributed vision measurement device 4 measures the position and attitude of the assembled sub-platform simulator 1 and transmits the data to the dual-simulator integrated ground console 6 wirelessly;

[0053] Step 3: After the dual-simulator integrated ground console 6 completes data processing, it sends control instructions to the integrated control industrial computer 10 via wireless transmission;

[0054] Step 4: The integrated control industrial computer 10 controls the position and attitude movement of the assembled sub-platform simulator 1, gradually approaching the mother platform simulator 2, and at the same time aligns the active end 8 of the mechatronic assembly interface with the passive end 13 of the mechatronic assembly interface or establishes a certain relative error as required. During this process, the distributed vision measurement device 4 is always in working state and communicates with the dual-simulator integrated ground console 6 in real time;

[0055] Step 5: After the integrated control industrial computer 10 controls the assembled sub-platform simulator 1 to move to a given position and achieve position and attitude stability, the dual-simulator integrated ground console 6 controls the movement of the assembly robotic arm 11 until it captures the module and the assembly robotic arm interface 17;

[0056] Step 6: The dual-simulator integrated ground console 6 controls the assembly robotic arm 11 to drag the assembled sub-platform simulator 1 to move along the horizontal plane of the marble platform 5 until the active end 8 of the mechatronic assembly interface enters the capture area of the passive end 11 of the mechatronic assembly interface;

[0057] Step 7: The integrated control industrial computer 10 controls the active end of the mechatronic assembly interface to complete the docking with the passive end 11 of the mechatronic assembly interface;

[0058] Step 8: The assembly robotic arm 11 controls the separation of the active end of the module and simulator interface 18 and the passive end 7 of the module and sub-simulator interface. The dual-simulator integrated ground console 6 controls the assembly robotic arm 11 to install the single-unit replacement module 3 onto the robotic arm mounting base 12 and complete the connection with the passive end 15 of the module and mother simulator interface. After that, the assembly robotic arm 11 separates from the module and assembly robotic arm interface 17;

[0059] Step 9: The assembly robotic arm 11 re-captures the module and assembly robotic arm interface 17, controls the separation of the active end of the module and simulator interface 18 and the passive end 15 of the module and mother simulator interface. The assembly robotic arm 11 installs the single-unit replacement module 3 onto the sub-platform simulator 1 to be assembled, controls the locking of the active end of the module and simulator interface 18 and the passive end 7 of the module and sub-simulator interface, and the assembly robotic arm 11 separates from the module and assembly robotic arm interface 17

[0060] Step 10: The integrated control industrial computer 10 controls the active end of the mechatronic assembly interface to complete the unlocking and separation from the passive end 11 of the mechatronic assembly interface.

[0061] Repeat steps 2 to 10 to complete multiple tests.

[0062] A specific process embodiment 2 of the on-orbit assembly and module replacement integrated ground test is as follows:

[0063] Remove steps 6, 7, and 10, and the rest is the same as above.

[0064] Those skilled in the art know that in addition to implementing the system and its various devices, modules, and units provided by the present invention in the form of pure computer-readable program code, the method steps can be logically programmed to enable the system and its various devices, modules, and units provided by the present invention to be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers, etc. to achieve the same functions. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a kind of hardware component, and the devices, modules, and units included therein for implementing various functions can also be regarded as the structures within the hardware component; the devices, modules, and units for implementing various functions can also be regarded as both software modules for implementing the method and structures within the hardware component.

[0065] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0066] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An on-orbit assembly and module replacement integrated ground test system, characterized in that, Including: The assembled sub-platform simulator (1), the mother platform simulator (2), the single-unit replacement module (3), the distributed vision measurement device (4), the marble platform (5), and the dual-simulator integrated ground console (6); The assembled sub-platform simulator (1) is used to simulate the assembled sub-platform and is placed on the marble platform (5); The mother platform simulator (2) is used to simulate the mother platform and perform the tasks of assembling the assembled sub-platform simulator (1) and replacing the single-unit replacement module (3); The single-unit replacement module (3) cooperates with the mother platform simulator (2) to verify the system's service acceptance ability; The distributed vision measurement device (4) measures the position and attitude of the assembled sub-platform simulator (1); The marble platform (5) is installed on the ground; The dual-simulator integrated ground console (6) is installed on the ground, responsible for simultaneously controlling the assembled sub-platform simulator (1) and the mother platform simulator (2), receiving data from the assembled sub-platform simulator (1), the mother platform simulator (2), and the distributed vision measurement device (4), and performing data analysis, processing, and display; The single-unit replacement module (3) includes a module body (16), a module-assembly robotic arm interface (17), and a module-simulator interface active end (18); the module-assembly robotic arm (11) interface and the module-simulator interface active end (18) are respectively installed on two opposite side surfaces of the module body (16); The module-assembly robotic arm interface (17) serves both as the capture interface between the assembly robotic arm (11) and the single-unit replacement module (3) and as the capture interface between the assembly robotic arm (11) and the assembled satellite simulator; The single-unit replacement module (3) is installed on the assembled sub-platform simulator (1) or the mother platform simulator, and the module-simulator interface active end (18) is connected to the module-sub-simulator interface passive end (7) or the module-mother-simulator interface passive end (15).

2. The on-orbit assembly and module replacement integrated ground test system according to claim 1, characterized in that: The assembled sub-platform simulator (1) includes: a module-sub-simulator interface passive end (7), an electro-mechanical-hydraulic integrated assembly interface active end (8), a sub-platform structure support member (9), and an integrated control industrial computer (10); At least one set of the module-sub-simulator interface passive end (7) is respectively installed on the top and side surfaces of the sub-platform structure support member (9), and the electro-mechanical-hydraulic integrated assembly interface active end (8) is installed on adjacent side surfaces of the sub-platform structure support member (9); The integrated control industrial computer (10) simultaneously controls the movement of the assembled sub-platform simulator (1) and the electro-mechanical-hydraulic integrated assembly interface active end (8).

3. The on-orbit assembly and module replacement integrated ground test system according to claim 1, characterized in that: The assembled sub-platform simulator (1) performs two-dimensional translation and one-dimensional rotation on the surface of the marble platform (5).

4. The on-orbit assembly and module replacement integrated ground test system according to claim 1, characterized in that: The mother platform simulator (2) includes an assembly robotic arm (11), a robotic arm mounting base (12), an electro-mechanical-hydraulic integrated assembly interface passive end (13), an assembly interface passive end mounting base (14), and a module-mother-simulator interface passive end (15); The described assembly robot arm (11) is fixedly installed on the robot arm mounting base (12); The module and the passive end of the mother simulator interface (15) are fixedly installed on the robot arm mounting base (12); The electro-mechanical-hydraulic integrated assembly interface passive end (13) is installed on the assembly interface passive end mounting base (14).

5. The on-orbit assembly and module replacement integrated ground test system according to claim 1, characterized in that: The mother platform simulator (2) is fixed on the ground and installed on one side close to the marble platform (5).

6. The on-orbit assembly and module replacement integrated ground test system according to claim 4, characterized in that: The robot arm mounting base (12) can be adjusted with a limited stroke in the height direction.

7. The on-orbit assembly and module replacement integrated ground test system according to claim 4, characterized in that: The assembly interface passive end mounting base (14) can perform translational movements with limited strokes in three orthogonal directions of X, Y, and Z, and the normal direction can be adjusted within a limited range.

8. The on-orbit assembly and module replacement integrated ground test system according to claim 1, characterized in that: The distributed vision measurement devices (4) are circumferentially distributed around the marble platform (5), and the field of view completely covers the marble platform (5).

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