An assembly method for cell satellites

Abstract

The present invention discloses a cell satellite system that can be modularly assembled and reconstructed in orbit, including cell satellites and operation robots. Among them, the cell satellite includes a plurality of cell units arranged arbitrarily. Wherein, standard interfaces are provided on the surface of the cell units, and the cell units are connected through the standard interfaces. The cell unit includes at least one integrated electronic unit, one propulsion unit, one energy unit, and one or more attitude control units. The operation robot is connected to the cell satellite through the standard interface and is used for overhauling or replacing the cell units.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and particularly to a cell satellite system that can be modularly assembled and reconstructed in orbit. Background Art

[0002] With the continuous development of satellite technology, the functions that a single satellite can achieve are becoming more and more numerous. In order to achieve more functions, the number of subsystems or functional modules configured in the satellite increases accordingly, and the structure of the satellite becomes more complex. In order to meet the launch conditions, the layout of each module or subsystem is crucial. Therefore, this leads to an increasing cost and cycle of satellite development. In order to reduce the development cycle of satellites and achieve a rapid layout of satellite structures, a modular design method is increasingly applied in satellite R & D centers. For example, Patent CN106628253 provides a vertebral column type modular satellite platform architecture, which sets standard interfaces on each module of the satellite and realizes the design of the satellite system by self-configuring various modules. Another example is Patent CN106516161, which provides a Rubik's cube type modular satellite. It builds a satellite system by referring to the Rubik's cube structure, divides each subsystem of the spacecraft into physically and functionally independent functional modules, and separately assembles them in a Rubik's cube block. Moreover, standardized electromechanical interfaces, thermal control interfaces, and data interfaces are adopted in any Rubik's cube block.

[0003] Although the above two satellite structures can quickly realize the design of satellites, they both need to be assembled on the ground before being launched, and their in-orbit reconstruction ability is poor, making it difficult to perform in-orbit maintenance or replacement of satellite hardware and mechanical structures. Summary of the Invention

[0004] In view of some or all of the problems in the prior art, the present invention provides a cell satellite system that can be modularly assembled and reconstructed in orbit, including:

[0005] A cell satellite, including a plurality of cell units arranged arbitrarily, wherein standard interfaces are provided on the surface of the cell units, and the plurality of cell units are connected through the standard interfaces. The cell unit includes at least one integrated electronic unit, one propulsion unit, one energy unit, and one or more attitude control units; and

[0006] An operation robot, which is connected to the cell satellite through a standard interface and is used for inspecting or replacing cell units.

[0007] Further, the integrated electronic unit includes a plurality of functional modules, wherein the functional modules are in the form of the same standard board cards and at least include:

[0008] A satellite bus computer, which is used for collecting data for calculation and distributing control instructions;

[0009] A storage module for storing the calculation data and payload data of the on-board computer;

[0010] A data processing module for analyzing and centrally calculating the data collected on the satellite; and

[0011] A TT&C transponder responsible for telemetry, ranging, velocity measurement and time difference measurement functions.

[0012] Furthermore, the cell satellite further includes a patch solar module, and the patch solar module includes:

[0013] A standard interface disposed on the second surface of the patch solar module for connecting to and communicating with the cell unit; and

[0014] Solar cells disposed on the first surface of the patch solar module for solar energy conversion.

[0015] Furthermore, the cell satellite further includes a three-axis rotation unit and a solar wing, wherein:

[0016] The three-axis rotation unit is disposed on both sides of the cell satellite and includes three one-dimensional turntables disposed inside the three-axis rotation unit, and the one-dimensional turntable includes a motor, and the motor is connected to the standard interface on the surface of the three-axis rotation unit and can drive the standard interface to rotate; and

[0017] The solar wing is connected to the three-axis rotation unit and includes a standard interface and a foldable sailboard.

[0018] Furthermore, the cell satellite further includes a patch antenna, and the patch antenna is disposed on the surface of the cell unit and includes:

[0019] A standard interface disposed on the second surface of the patch antenna for connecting to and communicating with the cell unit; and

[0020] An array antenna disposed on the first surface of the patch antenna.

[0021] Furthermore, the operating robot includes at least one multi-degree-of-freedom robotic arm, and a standard interface and a controller are disposed at the bottom of the multi-degree-of-freedom robotic arm. The standard interface is used to connect to the standard interface of the cell unit, and the controller is used to control the multi-degree-of-freedom robotic arm, and a clamping gripper is disposed at the end of the multi-degree-of-freedom robotic arm.

[0022] Furthermore, the operating robot includes three multi-degree-of-freedom robotic arms and a controller. The ends of the three multi-degree-of-freedom robotic arms are connected through the controller, and a standard interface or a clamping gripper is disposed at the bottom of the multi-degree-of-freedom robotic arm. The standard interface is used to connect to the standard interface of the cell unit.

[0023] A cell satellite system capable of on-orbit modular assembly and reconstruction provided by the present invention enables each module and unit to be assembled or replaced on orbit through the operation robot, which endows the satellite system with the on-orbit reconstruction function. After the satellite is launched, the integrated electronic unit can receive ground mission instructions and then control the operation robot to replace various cell units and / or payloads on orbit. Based on the original satellite platform, the corresponding cell units can be replaced, added, or deleted to expand the satellite mission on orbit and realize the on-orbit reconstruction and expansion functions of the satellite system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] To further clarify the above and other advantages and features of the embodiments of the present invention, a more specific description of the embodiments of the present invention will be presented with reference to the accompanying drawings. It can be understood that these drawings only depict typical embodiments of the present invention and will not be considered as limiting its scope. In the drawings, for clarity, the same or corresponding components will be denoted by the same or similar reference numerals.

[0025] Figure 1 A cell satellite capable of on-orbit modular assembly and reconstruction according to an embodiment of the present invention is shown;

[0026] Figures 2a - 2c Schematic structural diagrams of cell satellites in other embodiments of the present invention are respectively shown;

[0027] Figure 3 Schematic structural diagram of a cell unit for a cell satellite according to an embodiment of the present invention is shown;

[0028] Figure 4 Schematic structural diagram of an integrated electronic unit according to an embodiment of the present invention is shown;

[0029] Figure 5 Schematic structural diagram of an energy unit according to an embodiment of the present invention is shown;

[0030] Figure 6 Schematic structural diagram of a propulsion unit according to an embodiment of the present invention is shown;

[0031] Figures 7a - 7c Schematic structural diagrams of attitude control units in multiple embodiments of the present invention are respectively shown;

[0032] Figure 8 Schematic structural diagram of a three-axis rotation unit according to an embodiment of the present invention is shown;

[0033] Figure 9 Schematic structural diagram of a solar wing according to an embodiment of the present invention is shown;

[0034] Figure 10Schematic diagram showing the first side of a patch solar module according to an embodiment of the present invention;

[0035] Figure 11 Schematic diagram showing the first side of a heat insulation component according to an embodiment of the present invention;

[0036] Figure 12 Schematic diagram showing the first side of a heat dissipation component according to an embodiment of the present invention;

[0037] Figures 13a - 13c Schematic structural diagram of a patch antenna according to an embodiment of the present invention;

[0038] Figure 14 Schematic structural diagram of an operating robot in an embodiment of the present invention; and

[0039] Figure 15 Schematic diagram of cell satellite assembly in an embodiment of the present invention. Detailed implementation manners

[0040] In the following description, the present invention is described with reference to the embodiments. However, those skilled in the art will recognize that the embodiments can be implemented without one or more specific details or in combination with other alternative and / or additional methods, materials, or components. In other cases, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring the inventive points of the present invention. Similarly, for purposes of explanation, specific quantities, materials, and configurations are set forth to provide a thorough understanding of the embodiments of the present invention. However, the present invention is not limited to these specific details. In addition, it should be understood that the embodiments shown in the drawings are illustrative representations and not necessarily drawn to scale.

[0041] In this specification, the reference to "an embodiment" or "the embodiment" means that the specific features, structures, or characteristics described in connection with the embodiment are included in at least one embodiment of the present invention. The phrase "in an embodiment" appearing throughout this specification does not necessarily refer to the same embodiment.

[0042] It should be noted that the embodiments of the present invention describe the process steps in a specific order. However, this is only for the purpose of explaining the specific embodiment and not for limiting the order of the steps. On the contrary, in different embodiments of the present invention, the order of the steps can be adjusted according to the adjustment of the process.

[0043] To achieve the long-term on-orbit maintenance and continuous upgrade capabilities of satellites, the present invention provides a modular on-orbit assembled and reconfigurable cell satellite system, which includes cell satellites and operation robots. In the present invention, the cell satellite refers to a satellite assembled by a number of cell units, and the operation robot can be installed on the surface of the cell unit to assemble the cell satellite. Any one of the cell units can independently execute one or more functions of the satellite platform, such as mission planning, energy distribution, attitude control, satellite propulsion, etc. Cell units with different functions can form a satellite product library. When designing a satellite, different cell units can be selected for assembly according to the mission and requirements. With the help of the operation robot, the assembly of the satellite can be carried out on the ground or in space. The following further describes the solution of the present invention in conjunction with the accompanying drawings of the embodiments.

[0044] In the present invention, the "first surface" refers to the outer surface of the cell unit housing, and the "second surface" refers to the inner surface of the cell unit housing.

[0045] Figure 1 A modular on-orbit assembled and reconfigurable cell satellite according to an embodiment of the present invention is shown. As Figure 1 shown, a modular on-orbit assembled and reconfigurable cell satellite includes a main structure 001 and solar wings 002. Among them, the main structure 001 includes a number of cell units 101, and the cell units 101 are connected through a standard interface and communicate with each other. In the embodiment of the present invention, the arrangement of the cell units is not limited. That is to say, the shape of the main structure is not restricted and can be set according to the number and functions of the cell units it contains. For example, the cell units can be arranged in a row; for another example, the cell units can be arranged in multiple rows, and the number of cell units in each row can be the same or different; for still another example, the cell units can be combined into a multi-layer structure, and the number of cell units in any layer can be the same or different. Figures 2a - 2c Schematic diagrams of the structures of cell satellites in other embodiments of the present invention are respectively shown. It should be understood that in practical applications, the number of cell units included in the cell satellite and the assembly method can be different from those in the Figure 1 、 Figures 2a - 2c embodiments shown. The solar wings are arranged on both sides of the main structure 001 and are connected to the cell units through a standard interface and communicate with each other. In an embodiment of the present invention, the cell satellite further includes a patch thermal control module, and the patch thermal control module is arranged on the surface of the cell unit for heat dissipation of the cell unit.

[0046] In another embodiment of the present invention, the cell satellite further includes a patch antenna 1300, and the patch antenna is connected to the cell unit through a standard interface for realizing radio propagation functions. Figures 13a - 13cSchematic structural diagram of a patch antenna showing an embodiment of the present invention, wherein, Figure 13a is a schematic diagram of the overall structure of the patch antenna, Figure 13b is a schematic diagram of the first surface of the patch antenna, and Figure 13c is a schematic diagram of the second surface of the patch antenna. As shown in the figure, the patch antenna is of a plate structure. A standard interface 1301 is provided on the second surface of the patch antenna, which can be mechanically connected to the standard interface on the cell unit by magnetic adsorption. An array antenna 1302 is provided on the first surface of the patch antenna for realizing radio propagation functions. For easy disassembly and assembly, in an embodiment of the present invention, a handle 1303 is further provided on the first surface of the patch antenna. There can be multiple handles 1303, and they are preferably arranged at both ends of the patch antenna.

[0047] In an embodiment of the present invention, the cell unit is of a cube structure and includes a housing, at least one standard interface, and a management module. Among them, the standard interface can be provided on the first surface of any side of the housing. The standard interface is used to undertake functions such as mechanical connection, communication connection, and power supply. The management module is arranged inside the cell unit. Figure 3 Schematic structural diagram of a cell unit for a cell satellite showing an embodiment of the present invention. As Figure 3 shown, the standard interface includes a power-on interface 311, a communication module 312, and a magnetic attraction module, wherein:

[0048] For the power-on interface 311, it includes a thimble and a spring piece. Among them, the spring piece is arranged inside the standard interface and is connected to the management module 302. The thimble is arranged corresponding to the position of the spring piece. When two cell units are connected, the thimble retracts and contacts the spring piece, and then communicates with the management module to realize the identification of module identity and in-place status and provide power transmission;

[0049] The communication module 312 includes a data interface. In an embodiment of the present invention, the data interface includes 2 ring-shaped data interfaces, and it uses the LVDS protocol to realize data interaction and communication; and

[0050] The magnetic attraction module includes a positive magnetic pole and a negative magnetic pole for mechanical connection between cell units. In an embodiment of the present invention, as Figure 3 shown, the positive magnetic pole 331 and the negative magnetic pole 332 are arranged alternately at intervals to form a ring-shaped magnetic attraction module surrounding the outside of the communication module 312.

[0051] In an embodiment of the present invention, the standard interface can also be connected to a motor through a transmission device, so that the standard interface can rotate along the axis of the housing.

[0052] The management module 302 is disposed inside the cell unit and includes:

[0053] A node self-identification chip 321, communicably connected to the power-on interface 311, for identifying and managing other cell units connected in coordination;

[0054] A wireless module 322, for backup data transmission inside each cell unit;

[0055] A lithium battery module 323, electrically connected to the magnetic attraction module, for providing basic power for the cell unit to ensure the basic power consumption inside the cell unit and the power consumption requirements of the electromagnetic interface in the case of no external energy source;

[0056] A power management module 324, for managing the power usage of the cell unit and providing 5V internal power; and

[0057] An electromagnetic unlocking module 325, communicably connected to the magnetic attraction module, mainly for managing the magnetic attraction modules of each standard interface of the cell unit, and further controlling the mechanical connection between the cell unit and other cell units.

[0058] It should be understood that according to the different functions of different cell units, corresponding modules or devices can also be added to the management module as needed to achieve more functions.

[0059] In an embodiment of the present invention, the cell units included in the main structure of the cell satellite generally include: an integrated electronic unit, an energy unit, a propulsion unit, an attitude control unit, and a three-axis rotation unit.

[0060] The integrated electronic unit is used to control the information processing and interaction of the entire satellite, implement the algorithms of each subsystem, allocate energy, receive and process GNSS signals, perform function evolution and upgrade, plan the cell satellite recombination path, etc. The integrated electronic unit is the core component for the in-orbit expansion and reconstruction of the cell satellite, and is also the main body for software task planning and data processing. Therefore, standard interfaces are provided on each surface of the integrated electronic unit, that is, each surface can be connected to other cell units. The integrated electronic unit is a cell unit that needs to be preferentially assembled during the assembly process of the cell satellite. The integrated electronic unit adopts a plug-in card form. Specifically, each functional module is made into a board card of the same standard and inserted into the housing of the integrated electronic unit. Figure 4 A schematic structural diagram of the integrated electronic unit showing an embodiment of the present invention is as Figure 4 shown. In an embodiment of the present invention, the integrated electronic unit includes but is not limited to:

[0061] A satellite mission computer 401, for collecting data for calculation and distributing control instructions;

[0062] A storage module 402 for storing the calculation data of the satellite computer, payload data, etc.; a data processing module 403 for analyzing and centrally calculating the data collected on the satellite; a TT&C transponder 404 for responsible for telemetry, ranging, velocity measurement and time difference measurement functions;

[0063] A GNSS receiver 405, which is an independent unit, is connected to the PCB of the integrated electronic system by a PCB, is placed inside the integrated electronic system box, and except for the antenna interface, the rest of the signals belong to the signals inside the integrated electronic system chassis; and

[0064] A data transmission transmitter 406, which is a communication relay device between the controller and the speed sensor of the terminal device.

[0065] The energy unit is used for the energy supply of the whole satellite. Figure 5 The structural schematic diagram of the energy unit showing an embodiment of the present invention is as Figure 5 shown. In the embodiment of the present invention, the energy unit includes a battery pack 501. Among them, the battery pack 501 is configured by a plurality of batteries grouped together, and the specific number of batteries can be configured according to the actual needs of the satellite. In an embodiment of the present invention, the batteries are preferably arranged on one side close to the housing, and as the number of batteries increases, they are gradually arranged towards the center. The battery pack 501 releases electric energy during on-orbit operation and during the safe mode to supply power to the on-satellite equipment. Through the power management module in the cell unit management module, the management of the primary power supply and the power supply and distribution of the secondary power supply can be realized. Among them, the primary power management refers to the power management of the energy unit, and the secondary power supply and distribution refers to the power supply and distribution management of other units or modules of the satellite. The power management module includes the control of the charging and discharging of the battery pack and the interfaces required by the power sub-system.

[0066] The propulsion unit is used for responsible for the propulsion and orbit change function of the whole satellite. Figure 6 The structural schematic diagram of the propulsion unit showing an embodiment of the present invention is as Figure 6 shown. In the embodiment of the present invention, the propulsion unit includes thrusters 601 and a fuel tank 602. In an embodiment of the present invention, there are four thrusters 601, which are arranged on the first surface of the housing on one side of the propulsion unit, and the thrusters 601 can rotate freely within a certain angle to provide thrust for the satellite for orbit maintenance and attitude regulation. The fuel tank 602 is arranged on the back of the propulsion unit for storing the corresponding fuel to supply energy to the thrusters. To better provide propulsion force for the nano-satellite, the propulsion unit is preferably arranged on the outermost layer of the nano-satellite, and the side with the thrusters installed is perpendicular to the flight direction.

[0067] The attitude control unit is used to adjust the attitude of the entire satellite. One or more attitude control units may be included in a satellite, and the multiple attitude control units can be combined orthogonally in three axes to achieve the control ability of three degrees of freedom. The attitude control unit includes a momentum wheel 701, a magnetic torquer 702, a star sensor 703, and a three-axis gyroscope 704. Among them, the momentum wheel 701 is installed inside the attitude control unit and is used to control the satellite attitude to keep the system angular momentum constant. The magnetic torquer 702 is installed inside the attitude control unit and can interact with the geomagnetic field where it is located, and then generate a magnetic control torque for attitude control of the satellite or momentum wheel unloading management. The star sensor 703 is arranged inside the attitude control unit, but its photosensitive part is exposed on the surface of the housing through a through hole on the housing. The star sensor 703 can measure the three-axis attitude of the satellite relative to the celestial coordinate system by sensing the radiation of stars and output it to the integrated electronic unit to determine the attitude adjustment plan. The three-axis gyroscope 704 is installed inside the attitude control unit and is used to sense the change of the satellite's own attitude and transmit relevant data to the integrated electronic unit to form an attitude adjustment plan. In the embodiments of the invention, the numbers of the momentum wheel 701, the magnetic torquer 702, the star sensor 703, and the three-axis gyroscope 704 can be set according to actual needs, Figures 7a - 7c respectively showing the structural schematic diagrams of the attitude control units of multiple embodiments of the present invention. As Figure 7a shown, in an embodiment of the present invention, the attitude control unit includes a momentum wheel 701 and a magnetic torquer 702. Among them, the momentum wheel 701 is installed at the center of the second surface of one side housing of the attitude control unit, and the magnetic torquer 702 is arranged at the edge of the second surface of the other side housing of the attitude control unit. In this embodiment, the six-sided housings of the attitude control unit can all be replaced by standard interfaces. As Figure 7b shown, in another embodiment of the present invention, the attitude control unit includes a momentum wheel 701, a magnetic torquer 702, a star sensor 703, and a three-axis gyroscope 704. Since a through hole needs to be provided on the housing corresponding to the photosensitive part of the star sensor 703, in this embodiment, the side of the attitude control unit where the star sensor 703 is installed usually cannot be replaced by the standard interface. To meet the satellite mission with a large demand for momentum wheels, in the embodiments of the present invention, several attitude control units as Figure 7a and 7b shown can be installed on the satellite and combined orthogonally in three axes to achieve the control ability of three degrees of freedom. Figure 7cA schematic structural diagram of the attitude control unit in another embodiment of the present invention is shown. In this embodiment, the attitude control unit includes three momentum wheels 701, three magnetic torque actuators 702, a star sensor 703, and a three-axis gyroscope 704. The three momentum wheels 701 and the three magnetic torque actuators 702 are deployed in three axes, enabling the attitude control unit to achieve full attitude control module integration and meet the design requirements of satellites with relatively weak attitude control capabilities.

[0068] The three-axis rotating unit can be used to mount the solar array, and it includes three one-dimensional turntables, enabling it to meet the rotational requirements in different directions. Figure 8 A schematic structural diagram of the three-axis rotating unit in an embodiment of the present invention is shown, as Figure 8 shown. In the embodiment of the present invention, the three-axis rotating unit includes three one-dimensional turntables. The one-dimensional turntables are arranged inside the three-axis rotating unit and are distributed in three orthogonal directions. Any one of the one-dimensional turntables includes a motor 8011 and a transmission mechanism 8012. One end of the transmission mechanism 8012 is connected to the rotating shaft of the motor 8011, and the other end is connected to the standard interface, enabling the standard interface to rotate driven by the motor 801.

[0069] The solar array can be connected to any surface of the three-axis rotating unit through the standard interface. Figure 9 A schematic structural diagram of the solar array in an embodiment of the present invention is shown, as Figure 9 shown. The solar array includes a standard interface 901 and a sailboard 902. Among them, the standard interface 901 has the same structure as the standard interface of the cell unit and can be mechanically connected to the three-axis rotating unit by magnetic adsorption, and then communicate and supply power through the communication module and the power-on interface. To reduce the volume during launch, in an embodiment of the present invention, the sailboard 902 adopts a foldable sailboard, which is in a folded state during launch and unfolds during operation. The foldable sailboard can, for example, include multiple solar panels, and any one of the solar panels is connected to the adjacent solar panel in a rotatable manner. In an embodiment of the present invention, a magnetometer 903 is also installed on the solar array, which is used to measure the magnitude and direction of the geomagnetic field, and determine the components of the geomagnetic field intensity vector where the satellite is located in this system. The magnetometer 903 can be communicatively connected to the attitude control unit. In yet another embodiment of the present invention, a sun sensor 904 is also provided on the solar array. It can analyze the relative attitude between the solar array and the sun by receiving sunlight, and the relative attitude can be transmitted to the integrated electronic unit. The integrated electronic unit can specify an attitude adjustment plan and a rotation plan for the three-axis rotating unit according to the relative attitude.

[0070] In an embodiment of the present invention, the cell satellite may not be provided with a solar array, but obtains energy through a patch solar module.Figure 10 Schematic diagram showing the first side of a patch solar module according to an embodiment of the present invention. The overall structure of the patch solar module is similar to that of the patch antenna, except for a slight difference in the setting of the first side. The patch solar module can be connected to the surface of the cell unit through a standard interface. The patch solar module is of a plate structure, and a standard interface is provided on the second side of the patch solar module, which can be mechanically connected to the standard interface on the cell unit by magnetic adsorption, such as Figure 10 shown, and a solar cell 1001 is provided on the first side of the patch solar module for realizing solar energy conversion. For the convenience of disassembly and assembly, in an embodiment of the present invention, a handle is further provided on the first side of the patch solar module. There can be multiple handles, and they are preferably arranged at both ends of the patch solar module.

[0071] The thermal control of the cell satellite adopts a thermal control scheme mainly based on radiative heat dissipation. Since during the on-orbit operation of the satellite, there will be two sun-facing sides that are irradiated by the sun for a long time, two alternately sun-facing sides are alternately irradiated by the sun, one anti-sun side and one side facing the ground that are hardly irradiated by the sun. Therefore, in the embodiments of the present invention, different thermal control schemes can be adopted for different sides. For example, for the two sun-facing sides that are irradiated by the sun for a long time, the external heat received by them is relatively high. Therefore, they should not be used as heat dissipation surfaces, but should be insulated. The two alternately sun-facing sides that are alternately irradiated by the sun can be provided with heat dissipation surfaces or insulated according to actual needs, and the anti-sun side and the side facing the ground should be used as heat dissipation surfaces. Among them, the external heat flux of the anti-sun side is the smallest and can be used as the main heat dissipation surface, while the external heat flux of the side facing the ground is relatively stable and can be used as an auxiliary heat dissipation surface. Generally speaking, the cell satellite transfers the heat of other internal modules to the thermal control module through an efficient heat dissipation module, and then radiates it to outer space by the thermal control module. In addition, heat insulation components can be provided on the corresponding sides to reduce the influence of external heat flux.

[0072] Figure 11 Schematic diagram showing the first side of a heat insulation component according to an embodiment of the present invention. The overall structure of the heat insulation component is similar to that of the patch antenna, except for a slight difference in the setting of the first side. The heat insulation component can be connected to the surface of the cell unit through a standard interface, and is preferably arranged on the sun-facing side and the alternately sun-facing side. The heat insulation component is of a plate structure, and a standard interface is provided on the second side of the heat insulation component, which can be mechanically connected to the standard interface on the cell unit by magnetic adsorption, such as Figure 11As shown, at least one layer of heat-insulating material is provided on the first surface of the heat-insulating component. In one embodiment of the present invention, the heat-insulating material may be, for example, a heat-insulating gasket or a fiberglass cushion block. For ease of disassembly and assembly, in one embodiment of the present invention, a handle is further provided on the first surface of the heat-insulating component. There may be multiple handles, and they are preferably arranged at both ends of the heat-insulating component. To improve the temperature uniformity between the various bulkheads of the satellite, the heat-insulating component is of an integral structure.

[0073] Figure 12 A schematic diagram showing the first surface of the heat dissipation component according to an embodiment of the present invention. The overall structure of the heat dissipation component is similar to that of the patch antenna, except that the arrangement on the first surface is slightly different. The heat dissipation component can be connected to the surface of the cell unit through a standard interface, and is preferably arranged on the shaded side and facing the ground, and can also be arranged on some alternately sunlit surfaces. The heat dissipation component is of a plate structure. A standard interface is provided on the second surface of the heat dissipation component, which can be mechanically connected to the standard interface on the cell unit by magnetic adsorption. At the same time, a material with a high thermal conductivity, such as a graphene coating film, etc., is coated on the inner side of the second surface and the standard interface. To improve the heat dissipation effect, when the second surface of the heat dissipation component is installed, thermal grease can be filled, such as Figure 12 As shown, the first surface of the heat dissipation component is sprayed with white paint as the radiation heat dissipation surface. For ease of disassembly and assembly, in one embodiment of the present invention, a handle is further provided on the first surface of the heat dissipation component. There may be multiple handles, and they are preferably arranged at both ends of the heat dissipation component. To improve the temperature uniformity between the various bulkheads of the satellite, the heat dissipation component is of an integral structure, and both the handle and the first surface are installed with heat conduction, such as filling thermal grease, etc.

[0074] In one embodiment of the present invention, the operating robot includes at least one robotic arm and a controller. A standard interface is provided at the bottom of the robotic arm, and the standard interface can be connected to the standard interface of the cell unit, so that the operating robot can be fixed on the surface of the cell unit. In one embodiment of the present invention, the robotic arm includes multiple degrees of freedom. In one embodiment of the present invention, the operating robot includes one robotic arm, and the controller is installed at the bottom of the robotic arm. At the same time, the robotic arm includes a clamping gripper, and the clamping gripper is arranged at the end of the robotic arm and can be used to grasp the cell unit, and can also be used to grasp the handles of the heat-insulating component, the heat dissipation component, the patch antenna, and the patch solar module, so as to realize the replacement and installation of the cell unit and / or other modules and components. Figure 15 A schematic diagram showing the structure of the operating robot in another embodiment of the present invention. As Figure 15As shown, the operation robot includes three robotic arms 1401 and a controller 1402. The controller is disposed at the end of the robotic arm, which on one hand realizes the control of each robotic arm and on the other hand realizes the mechanical connection of the three robotic arms. The robotic arm is a multi-degree-of-freedom robotic arm, and a standard interface 1411 is provided at its bottom. In actual operation, two of the robotic arms are fixedly connected to the cell units on the left and right sides of the preset assembly position respectively through the standard interface, and the remaining robotic arm grabs the cell unit to be installed. Then, the two robotic arms alternately adsorb to the surfaces of different cell units and move, and finally move to the preset assembly position for installation. To facilitate the replacement or installation of components or modules such as heat insulation components, heat dissipation components, patch antennas, and patch solar modules, a clamping gripper can be installed at the bottom end of one of the robotic arms instead of a standard interface. In an embodiment of the present invention, a camera may also be provided at the end of the robotic arm, and the camera is used to realize situation awareness.

[0075] As Figure 15 shown, the cell satellite can install or expand different functional modules in any direction through the standard interface, and the operation is simple. Combined with the operation robot, in the satellite system as described above, each module and unit can be assembled in orbit, which enables the satellite system to have the in-orbit reconfigurable function. After the satellite is launched, the integrated electronic unit can receive ground mission instructions, and then control the operation robot to replace various cell units and / or payloads in orbit. Based on the original satellite platform, the corresponding cell units can be replaced, added, or deleted, and the satellite mission can be expanded in orbit to realize the in-orbit reconfiguration and expansion functions of the satellite system. In addition, each cell unit of the cell satellite can be assembled into a satellite on the ground and launched as a whole, or can be launched separately and assembled in space.

[0076] Next, taking the cell satellite with the smallest unit as an example, the process of in-orbit assembly of the cell satellite is introduced. Among them, the cell satellite with the smallest unit is as Figure 2c shown, and includes an integrated electronic unit 1601, a propulsion unit 1602, an energy unit 1603, an attitude control unit 1604, a solar wing 1605, and a patch antenna 1606. Its assembly includes:

[0077] First, the operation robot grabs the propulsion unit to the first side of the integrated electronic unit. After the node self-identification chip built in the integrated electronic unit recognizes the propulsion unit, it transmits an instruction to the standard interface on the side of the integrated electronic unit close to the propulsion unit. At the same time, after the node self-identification chip built in the propulsion unit also recognizes the integrated electronic unit, it transmits an instruction to the standard interface on the side of the propulsion unit close to the integrated electronic unit;

[0078] Next, the two standard interfaces are mechanically docked. At this time, the electromagnetic unlocking module receives a direct current instruction to turn on the locked state of the electromagnetic lock, connecting the integrated electronic unit to the propulsion unit;

[0079] Next, in a manner similar to the foregoing steps, the energy unit is connected to the second side of the integrated electronic unit. The second side is preferably the side opposite to the first side. After the docking is completed, the integrated electronic unit can control the energy unit, thereby achieving task allocation and energy allocation;

[0080] Next, in a manner similar to the foregoing steps, the two attitude control cells are respectively connected to the third side and the fourth side of the integrated electronic unit, and the patch antenna is connected to one side of the energy unit. Among them, the standard interface of the attitude control cell relative to the side connected to the integrated electronic unit is connected to the motor inside the attitude control cell, so that the standard interface can rotate along the axis of the housing on this side; and

[0081] Finally, the solar wing is connected to the standard interface connected to the motor, so that it can adjust the angle in real time according to the satellite attitude and position for energy storage.

[0082] After the whole cell satellite is in orbit, the integrated electronic unit will perform task allocation for each cell unit according to the initial task instruction, and the energy unit will perform energy allocation for each cell unit. After each cell unit is powered on and receives the task, it will start to work normally. As described above, in the embodiments of the present invention, energy and task allocation, as well as data transmission processes are all completed through the standard interfaces on the surfaces of each cell unit. The standard interface is both the key load-bearing structure between cell units and the general interface for transmitting power supply, information, machinery, heat conduction, and data between cell units.

[0083] Although the embodiments of the present invention have been described above, it should be understood that they are presented only as examples and not as limitations. It will be apparent to those skilled in the relevant art that various combinations, variations, and changes can be made to them without departing from the spirit and scope of the present invention. Therefore, the width and scope of the present invention disclosed herein should not be limited by the exemplary embodiments disclosed above, but should be defined only by the appended claims and their equivalents.

Claims

1. An assembly method of a cell satellite, characterized in that, it includes the steps of: Operating a robot to grasp the propulsion unit to the first side of the integrated electronic unit. After the node self-identification chip built in the integrated electronic unit recognizes the propulsion unit, it transmits an instruction to the standard interface on the side of the integrated electronic unit close to the propulsion unit. At the same time, after the node self-identification chip built in the propulsion unit recognizes the integrated electronic unit, it transmits an instruction to the standard interface on the side of the propulsion unit close to the integrated electronic unit, so that the two standard interfaces are mechanically docked. The electromagnetic unlocking module receives a direct current instruction and opens the locked state of the electromagnetic lock to connect the integrated electronic unit and the propulsion unit; Connect the energy unit to the second side of the integrated electronic unit in the same way, so that the integrated electronic unit can control the energy unit, and then realize task allocation and energy allocation; Connect two attitude control cells to the third side and the fourth side of the integrated electronic unit respectively in the same way, and connect the patch antenna to one side of the energy unit. Among them, the standard interface of the attitude control cell relative to the side connected to the integrated electronic unit is connected to the motor inside the attitude control cell, so that the standard interface can rotate along the axis of the shell on this side; and Connect the solar wing to the standard interface connected to the motor, so that it can adjust the angle in real time according to the satellite attitude and position for energy storage. The standard interface is configured for mechanical connection, communication connection, and power supply, and includes: A power-on interface, which includes a thimble and a spring piece. The spring piece is arranged inside the standard interface, and the thimble is arranged corresponding to the position of the spring piece and is configured to be able to retract and contact the spring piece, and then connect to the management module to identify the module identity and in-place status and provide power transmission. The management module is arranged inside the cell unit; 2 ring-shaped data interfaces, which use the LVDS protocol to realize data interaction and communication; and A magnetic attraction module, including a positive magnetic pole and a negative magnetic pole, which is configured for mechanical connection between cell units. The positive magnetic pole and the negative magnetic pole are arranged alternately at intervals to form a ring-shaped magnetic attraction module surrounding the outside of the communication module.

2. The assembly method according to claim 1, characterized in that, The integrated electronic unit includes multiple functional modules. Among them, the functional modules adopt the same standard board form and at least include: A satellite computer, which is configured to be able to collect data for calculation and distribute control instructions; A storage module, which is configured to be able to store the calculation data and payload data of the satellite computer; A data processing module, which is configured to be able to analyze and centrally calculate the data collected on the satellite; and A TT&C transponder, which is configured to be able to be responsible for telemetry, ranging, speed measurement, and time difference measurement functions.

3. The assembly method according to claim 1, characterized in that, It further includes connecting a patch solar module, where the patch solar module includes: A standard interface, which is arranged on the second surface of the patch solar module and is configured to be able to connect and communicate with the cell unit; and A solar cell, disposed on the first surface of the patch solar module and configured to be capable of performing solar energy conversion.

4. The assembly method according to claim 1, wherein, the operating robot includes at least one multi-degree-of-freedom robotic arm, and the multi-degree-of-freedom robotic arm includes: a standard interface, disposed at the bottom of the multi-degree-of-freedom robotic arm and configured to be capable of connecting with the standard interface of the cell unit; a controller, configured to be capable of controlling the multi-degree-of-freedom robotic arm; and a clamping gripper, disposed at the end of the multi-degree-of-freedom robotic arm.

5. The assembly method according to claim 1, wherein, the operating robot includes three multi-degree-of-freedom robotic arms and a controller. The ends of the three multi-degree-of-freedom robotic arms are connected through the controller, and a standard interface or a clamping gripper is disposed at the bottom of the multi-degree-of-freedom robotic arm. The standard interface is configured to be capable of connecting with the standard interface of the cell unit.

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