A space battery replacement aircraft, a satellite, and a method for replacing the battery of a satellite

Abstract

The present invention provides a space battery-changing aircraft, a satellite, and a method for replacing the battery of a satellite. The space battery-changing aircraft includes: a plurality of battery compartments, a power supply docking robotic arm, and a battery plugging and unplugging robotic arm; the plurality of battery compartments are used for placing batteries, and at least one of them is empty; the power supply docking robotic arm and the battery plugging and unplugging robotic arm are arranged on the same side; the power supply docking robotic arm is used for docking with the satellite and temporarily supplying power to it; the battery plugging and unplugging robotic arm is used for connecting to the battery of the satellite, taking it out and putting it into the empty battery compartment, and taking out the spare battery and putting it into the battery compartment of the satellite. This space battery-changing aircraft can achieve on-orbit replacement of the satellite battery and improve the service life of the satellite.

Description

Technical Field

[0001] The present invention relates to the field of satellites, and particularly to a space battery-changing aircraft, a satellite, and a method for replacing the storage battery of a satellite. Background Art

[0002] Modern satellites have increasingly high requirements for their on-orbit service life. Generally, high-orbit satellites are required to have a designed service life of ten years, and low-orbit satellites are required to have a designed service life of five years. The main factor affecting the satellite's service life is the service life of the storage battery 4. In the space operation state, after the lithium battery is charged and discharged 500 times, the loss of the battery capacity exceeds 40%. The large loss of the battery capacity will seriously affect the operation time of the satellite load.

[0003] To achieve the on-orbit replacement of the satellite storage battery and improve the service life of the satellite, it is particularly important to design a space battery-changing aircraft. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a space battery-changing aircraft.

[0005] The present invention provides a space battery-changing aircraft, including: a plurality of battery compartments, a power supply docking robotic arm, and a battery insertion / extraction robotic arm; the plurality of battery compartments are used for placing storage batteries, and at least one of them is empty; the power supply docking robotic arm and the battery insertion / extraction robotic arm are arranged on the same side; the power supply docking robotic arm is used to dock with the satellite and temporarily supply power to it; the battery insertion / extraction robotic arm is used to connect to the storage battery of the satellite, take it out and put it into the empty battery compartment, and take out a spare storage battery and put it into the battery compartment of the satellite.

[0006] According to an embodiment of the present invention, the battery compartment includes a locking mechanism for locking and fixing the storage battery therein.

[0007] According to an embodiment of the present invention, the locking mechanism includes a retractable bolt. After the storage battery is placed in the battery compartment, the retractable bolt extends to fix the storage battery.

[0008] According to one embodiment of the present invention, the locking mechanism includes a central axis and a locking link fixedly connected to the inner wall of the battery compartment; the central axis and the locking link constitute a seesaw structure; a reset rod is arranged on the inner wall of the battery compartment, the reset rod is connected to one end of the locking link, and the one end of the locking link can slide along the axial direction of the reset rod; the other end of the locking link is arranged toward the inner cavity of the battery compartment, and the locking rod is sleeved with a locking spring; the reset rod is sleeved with a reset spring; when one end of the locking link is subjected to a force toward the inner wall of the battery compartment, one end of the locking link compresses the reset spring and slides along the axial direction of the reset rod, and correspondingly, the other end of the locking link rises, driving the locking rod to move toward the battery and get stuck in the locking hole of the battery to lock the battery, and the locking spring is against the outer wall of the battery; when one end of the locking link is not subjected to an external force, the other end of the locking link is reset under the action of the reset spring, and the locking rod is disengaged from the locking hole to unlock the battery.

[0009] According to an embodiment of the present invention, a mounting hole is provided at one end of the locking link, the reset rod passes through the mounting hole, and is fastened with a locking nut to prevent the reset rod from escaping from the mounting hole.

[0010] According to one embodiment of the present invention, the battery is provided with a rotatable central gear, and the central gear is provided with a locking bar meshing therewith; when the central gear rotates, the locking bar extends from the surface of the battery shell, presses against the side of the locking link close to the reset rod, and applies a force toward the inner wall of the battery compartment.

[0011] According to one embodiment of the present invention, the locking mechanism is respectively arranged on the four circumferential sides of the battery compartment; the central gear is a double-layer gear, and two locking strips that move in opposite directions are respectively arranged; when the central gear is rotated, the four locking strips are synchronously extended from the four circumferential sides of the battery casing and abut against one side of the corresponding locking link.

[0012] According to one embodiment of the present invention, the cross-section of the end effector of the battery insertion and extraction robot arm is a cross-shaped structure, and the center gear hole of the center gear is a corresponding shape; the end effector of the robot arm is inserted into the center gear hole and the center gear is rotated to extend or retract the locking bar.

[0013] On the other hand, the present invention provides a satellite, including a docking connection hole and the above-mentioned battery; the battery matches the above-mentioned battery compartment, and the battery is arranged in the battery compartment of the satellite to power the satellite; the docking connection hole is used to connect with the above-mentioned power supply docking robotic arm to power the satellite.

[0014] On the other hand, the present invention provides a method for replacing the battery of a satellite. The above-mentioned space battery replacement aircraft is used to replace the battery of the above-mentioned satellite, including: remotely uploading the orbital parameters of the satellite to the space battery replacement aircraft, and the space battery replacement aircraft changes its orbit to the orbit of the satellite and rendezvous with the satellite; the space battery replacement aircraft docks with the docking connection hole of the satellite through the power supply docking robotic arm; the satellite queries whether the external power supply status is normal connection and power reception. If it is normal connection and power reception, the power supply of the satellite's battery is cut off, and the power supply is changed to be provided by the power supply docking robotic arm; the battery plugging and unplugging robotic arm connects to the central gear hole of the original battery of the satellite, docks with the central gear hole, and rotates the central gear clockwise to unlock the original battery of the satellite from the satellite, and grabs the original battery of the satellite out of the battery compartment of the satellite; the space battery replacement aircraft loads the grabbed original battery of the satellite into the empty battery of the space battery replacement aircraft, rotates the central gear counterclockwise, and locks the battery; the battery plugging and unplugging robotic arm grabs a spare battery from the non-empty original battery of the space battery replacement aircraft, and inserts the spare battery into the empty battery compartment of the satellite, rotates the central gear counterclockwise, and locks and fixes the spare battery with the battery compartment of the satellite; the satellite queries that the battery compartment has the state of a battery inserted, and switches to battery power supply; the power supply docking robotic arm releases the connection with the satellite and leaves the orbit of the satellite.

[0015] According to the space battery replacement aircraft of the present invention, the battery of the satellite is replaced by the battery plugging and unplugging robotic arm, which can greatly improve the service life of the satellite.

[0016] It should be understood that the above general description and the following specific embodiments are only exemplary and explanatory, and cannot limit the scope claimed by the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following drawings are part of the specification of the present invention, which illustrate the exemplary embodiments of the present invention. The accompanying drawings and the description of the specification are used together to explain the principle of the invention.

[0018] Figure 1 is a perspective view of the space battery replacement aircraft according to an embodiment of the present invention;

[0019] Figure 2 is a perspective view of the battery according to an embodiment of the present invention;

[0020] Figure 3 is a front view of the battery and the battery compartment according to an embodiment of the present invention;

[0021] Figure 4 is a top view of the locking mechanism according to an embodiment of the present invention;

[0022] Figure 5 is Figure 4 An enlarged view of A in

[0023] Figure 6 is Figure 4 An enlarged view of A in

[0024] Figure 7 Is a perspective view of the central gear of an embodiment of the present invention;

[0025] Figure 8 Is a front view of the central gear of an embodiment of the present invention;

[0026] Figure 9 Is a left view of the central gear of an embodiment of the present invention;

[0027] Figure 10 Is a perspective view of the locking bar of an embodiment of the present invention;

[0028] Figure 11 Is a schematic diagram of the docking of the battery insertion and extraction robotic arm and the central gear of an embodiment of the present invention;

[0029] Figure 12 Is a schematic diagram of the docking of the battery insertion and extraction robotic arm and the central gear of an embodiment of the present invention;

[0030] Figure 13 Is a schematic diagram of a satellite and its battery in an embodiment of the present invention;

[0031] Figure 14 Is a schematic diagram of the docking of the space battery replacement aircraft and the satellite in an embodiment of the present invention;

[0032] Figure 15 Is a flowchart of the method for the space battery replacement aircraft to replace the battery of the satellite in an embodiment of the present invention.

[0033] Explanation of reference numerals:

[0034] 1 - Power supply docking robotic arm, 2 - Battery insertion and extraction robotic arm, 3 - Battery compartment, 4 - Battery, 5 - Central shaft, 6 - Locking connecting rod, 7 - Reset rod, 8 - Locking rod, 9 - Locking spring, 10 - Reset spring, 11 - Locking hole, 12 - Central gear, 13 - Limiting hole, 14 - Locking groove, 15 - First long gear locking bar, 16 - Second long gear locking bar, 17 - First short gear locking bar, 18 - Second short gear locking bar, 19 - Outer actuator, 20 - Inner actuator, 21 - Docking connection hole, 22 - Satellite battery compartment, 23 - Satellite battery, 24 - Central gear hole, 25 - Locknut, 26 - Central hole, 27 - Limiting groove, 28 - End cover.

[0035] A - Space battery - swapping aircraft, B - Satellite that needs to replace the battery. Detailed implementation mode

[0036] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are used to exemplarily illustrate the principles of the present invention, and are not configured to limit the present invention. In addition, the components in the drawings are not necessarily drawn to scale. For example, the sizes of some components or regions in the drawings may be enlarged for other components or regions to help understand the embodiments of the present invention.

[0037] The orientation terms appearing in the following description are all the directions shown in the drawings and do not limit the specific structure of the embodiments of the present invention. In the description of the present invention, it should be noted that unless otherwise specified, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In addition, the terms "including", "comprising", "having" or any other variant thereof are intended to cover non - exclusive inclusion, so that a series of elements, structures, or components include not only those elements but also other elements that are not explicitly listed or are inherent to the structures and components. Without further limitation, the elements defined by the statement "including..." do not exclude the existence of additional identical elements in the article or device including the elements.

[0039] Spatial relationship terms such as "below", "beneath", "under", "low", "above", "on", "high", etc. are used to facilitate description and to explain the positioning of one element relative to a second element. These terms are intended to cover different orientations of the device, except for the orientations different from those shown in the drawings. In addition, for example, "one element is on / under another element" can mean that the two elements are in direct contact or that there are other elements between the two elements. In addition, terms such as "first", "second", etc. are also used to describe each element, region, part, etc., and do not particularly refer to the order or sequence and should not be regarded as limiting. Similar terms represent similar elements throughout the description.

[0040] For those skilled in the art, the present invention can be implemented without some of these specific details. The following description of the embodiments is only provided to provide a better understanding of the present invention by showing examples of the present invention.

[0041] Figure 1 is a perspective view of a space battery swapping aircraft according to an embodiment of the present invention; Figure 2 is a perspective view of a storage battery according to an embodiment of the present invention; Figure 3 is a front view of a storage battery and a storage battery compartment according to an embodiment of the present invention; Figure 4 is a top view of a locking mechanism according to an embodiment of the present invention; Figure 5 is Figure 4 an enlarged view of A in Figure 6 is Figure 4 an enlarged view of A in Figure 7 is a perspective view of a central gear according to an embodiment of the present invention; Figure 8 is a front view of a central gear according to an embodiment of the present invention; Figure 9 is a left view of a central gear according to an embodiment of the present invention; Figure 10 is a perspective view of a locking bar according to an embodiment of the present invention; Figure 11 is a schematic diagram of the docking of a storage battery insertion and extraction robotic arm and a central gear according to an embodiment of the present invention; Figure 12 is a schematic diagram of the docking of a storage battery insertion and extraction robotic arm and a central gear according to an embodiment of the present invention; Figure 13 is a schematic diagram of a satellite and its storage battery according to an embodiment of the present invention; Figure 14 is a schematic diagram of the docking of a space battery swapping aircraft and a satellite according to an embodiment of the present invention; Figure 15 is a flowchart of a method for a space battery swapping aircraft to replace the storage battery of a satellite according to an embodiment of the present invention.

[0042] As Figure 1 shown, the present invention provides a space battery swapping aircraft, including: a plurality of storage battery compartments 3, a power supply docking robotic arm 1, and a storage battery insertion and extraction robotic arm 2. The plurality of storage battery compartments 3 are used for placing storage batteries 4, and at least one of them is vacant. The power supply docking robotic arm 1 is used for docking with a satellite and temporarily supplying power to it. The storage battery insertion and extraction robotic arm 2 is used for connecting the storage battery 4 of the satellite, taking it out and putting it into the vacant storage battery compartment 3, and taking out a spare storage battery 4 and putting it into the storage battery compartment of the satellite.

[0043] Specifically, the service life of the satellite battery is much lower than that of other structural components, electronic devices, and single units on the satellite. Currently, the space station does not support in-orbit battery replacement, and there is no precedent for using a robotic arm to automatically complete battery replacement. It needs to be manually completed by astronauts. Battery replacement on a few spacecraft also requires manual operation by astronauts. In this embodiment, when rendezvousing with the satellite that needs to replace the battery, it can be docked with the satellite through the power supply docking robotic arm to connect and fix the two. Then, the battery is extracted from the satellite that needs to replace the battery by the battery plugging and unplugging robotic arm, and the spare battery in the space battery replacement vehicle is inserted into the battery compartment of the satellite with the replaced battery, completing the replacement of the in-orbit satellite battery. At the same time, by docking with the satellite through the power supply docking robotic arm, external power supply to the satellite is achieved during battery replacement, avoiding satellite power outage.

[0044] Due to the limitation of the number of charge and discharge cycles of the battery, at the end of its life, when the loss of battery capacity has seriously affected the normal operation of the satellite, replacing the battery of the satellite with this space battery replacement vehicle can greatly improve the service life of the satellite. This space battery replacement vehicle realizes in-orbit automatic battery replacement without manual real-time intervention, making the in-orbit replacement of satellite batteries convenient, reliable, and with low cost.

[0045] Furthermore, the power supply docking robotic arm and the battery plugging and unplugging robotic arm are arranged on the same side of the space battery replacement vehicle.

[0046] According to an embodiment of the present invention, one side of the battery compartment is an open entrance and exit on the cabin wall of the space battery replacement vehicle to facilitate the disassembly and assembly of the battery.

[0047] The space battery replacement vehicle provided in this embodiment facilitates the in-orbit replacement of the battery of a spacecraft (such as a satellite) through a semi-open battery compartment design.

[0048] According to an embodiment of the present invention, the space battery replacement vehicle includes 16 battery compartments.

[0049] The space battery replacement vehicle provided in this embodiment can carry 15 new batteries each time it performs a battery replacement task. The empty battery compartment is used to receive the first old battery removed during the battery replacement process. The space battery replacement vehicle can be sent into low Earth orbit by a rocket and then orbit itself through its high-power electric thrusters to complete the space capture and docking of the satellite that needs to replace the battery.

[0050] According to an embodiment of the present invention, the battery compartment 3 includes a locking mechanism for locking and fixing the battery 4 therein.

[0051] In this embodiment, the battery compartment may include a plurality of locking mechanisms. For example, one or more locking mechanisms are respectively arranged on the circumferential side surface of the battery compartment to fix the battery in the battery compartment.

[0052] According to an embodiment of the present invention, the battery includes a paired locking mechanism that cooperates with the locking mechanism to fix the battery in the battery compartment.

[0053] According to an embodiment of the present invention, the locking mechanism includes a retractable bolt. After the battery 4 is placed in the battery compartment 3, the retractable bolt extends to fix the battery 4.

[0054] As Figure 2 shown, according to an embodiment of the present invention, the outer side surface of the battery includes a locking hole 11, and the retractable bolt of the locking mechanism is inserted into the locking hole 11 to fix the battery.

[0055] According to an embodiment of the present invention, each battery compartment may be provided with 4 retractable bolts, which are respectively arranged on its inner side wall.

[0056] According to an embodiment of the present invention, locking holes are respectively arranged on the circumferential outer side surface of the battery, and the 4 retractable bolts of the battery compartment are respectively inserted into the corresponding locking holes to fix the battery.

[0057] According to an embodiment of the present invention, the retractable bolt can be controlled to extend and retract by an electrical system.

[0058] As Figure 3 、 4 、5 and 6 shown, according to an embodiment of the present invention, the locking mechanism includes a central shaft 5 and a locking link 6 fixedly connected to the inner wall of the battery compartment 3. The central shaft 5 and the locking link 6 form a seesaw structure. A reset rod 7 is arranged on the inner wall of the battery compartment 3, and the reset rod 7 is connected to one end of the locking link 6. One end of the locking link 6 is slidable in the axial direction relative to the reset rod 7. The other end of the locking link 6 is provided with a locking rod 8 facing the inner cavity direction of the battery compartment 3, and the locking rod 8 is sleeved with a locking spring 9. The reset rod 7 is sleeved with a reset spring 10. When a force towards the inner wall of the battery compartment 3 acts on one end of the locking link 6, one end of the locking link 6 compresses the reset spring 10 and slides along the axial direction of the reset rod 7. Correspondingly, the other end of the locking link 6 rises, driving the locking rod 8 to move towards the battery 4 and snap into the locking hole 11 of the battery 4 to lock the battery 4, and the locking spring 9 abuts against the outer wall of the battery 4. When no external force acts on one end of the locking link 6, the other end of the locking link 6 resets under the action of the reset spring 10, and the locking rod 8 disengages from the locking hole 11 to unlock the battery 4.

[0059] In this embodiment, the locking rod is used to fix the storage battery in the storage battery compartment. Multiple locking mechanisms can be provided in the storage battery compartment, and the locking rods of the multiple locking mechanisms lock and fix the storage battery. For example, one or more locking mechanisms are respectively provided on the four circumferential side walls of the storage battery compartment, and one or more locking rods on each side wall fix the storage battery in the storage battery compartment.

[0060] According to an embodiment of the present invention, the outer side surface of the storage battery includes a locking hole, and the locking rod of the locking mechanism of the storage battery compartment can be inserted into the locking hole during the process of the storage battery entering the storage battery compartment to fix the storage battery.

[0061] As Figure 6 shown, according to an embodiment of the present invention, one end of the locking connecting rod 6 is provided with a mounting hole, the reset rod 7 passes through the mounting hole and is fastened with a locknut 25 to prevent the reset rod 7 from coming out of the mounting hole.

[0062] In this embodiment, one end of the reset rod fixedly connected to the inner wall of the storage battery compartment is provided with a fixing boss, and the other end is threaded. After the reset spring is sleeved on the reset rod, the reset rod passes through the mounting hole on the locking connecting rod. One end of the reset spring abuts against the fixing boss, and the other end abuts against the locking connecting rod. After adjusting the compression amount of the reset spring according to the stroke of the relative movement of the reset rod with respect to the locking connecting rod, it is fastened with a locknut. When the locking connecting rod is reset under the elastic force of the reset spring, the locknut can prevent the reset rod from coming out of the mounting hole of the locking connecting rod.

[0063] As Figure 3 shown, according to an embodiment of the present invention, the storage battery 4 is provided with a rotatable central gear 12, and a locking bar meshing with the central gear 12 is provided. When the central gear 12 rotates, the locking bar extends out from the surface of the housing of the storage battery 4, abuts against one side of the locking connecting rod 6 close to the reset rod 7, and applies a force towards the inner wall of the storage battery compartment 3 to it.

[0064] According to an embodiment of the present invention, a rotatable central gear 12 is provided on one outer surface of the storage battery 4, and a locking bar meshing with the central gear 12 is provided. When the central gear 12 rotates, the locking bar extends out from the surface of the housing of the storage battery 4, abuts against one side of the locking connecting rod 6 close to the reset rod 7, and applies a force towards the inner wall of the storage battery compartment 3 to it to fix the storage battery.

[0065] According to an embodiment of the present invention, a rotatable central gear 12 is provided inside the storage battery 4, and a locking bar meshing with the central gear 12 is provided. The housing of the storage battery 4 is provided with a limiting hole 13 corresponding to the locking bar. When the central gear 12 rotates, the locking bar passes through the limiting hole 13 of the housing of the storage battery 4, abuts against one side of the locking connecting rod 6 close to the reset rod 7, and applies a force towards the inner wall of the storage battery compartment 3 to it to fix the storage battery.

[0066] like Figure 7 , 8 As shown in FIGS. 9 and 10, according to an embodiment of the present invention, locking mechanisms are respectively provided on the four circumferential sides of the battery compartment 3. The central gear 12 is a double-layer gear, and two locking bars moving in opposite directions are respectively provided. When the central gear 12 is rotated, the four locking bars synchronously extend from the four circumferential sides of the battery 4 housing and abut against one side of the corresponding locking link 6 to fix the battery.

[0067] In this embodiment, the stability between the battery and the battery compartment is increased by fixing the four circumferential sides of the battery.

[0068] like Figure 2 As shown, according to one embodiment of the present invention, locking holes 11 are respectively provided on the circumferential outer side surfaces of the battery, and the locking rods of the four locking mechanisms of the battery compartment are respectively inserted into the corresponding locking holes 11 to fix the battery.

[0069] In this embodiment, the central gear, locking bar structure and locking mechanism of the battery cooperate to achieve the locking, fixing and unlocking of the battery and the battery compartment. The matching structure and matching method have the advantages of simple configuration, easy processing and manufacturing, low cost and reliable function. In addition, the space battery exchange aircraft adopts a mechanical locking method, which does not require additional energy supply when the mechanism is locked and maintained, avoiding the risk of misoperation caused by energy stability, and also avoiding the situation where electronic functions cannot be realized after the space environment damages the electromagnetic equipment.

[0070] like Figure 7 As shown, according to one embodiment of the present invention, the battery extraction and insertion mechanical arm is inserted into the center gear hole 24 of the center gear, and the center gear is rotated counterclockwise, and the four locking bars are respectively moved in the direction away from the center gear, and abut against the side of the locking link 6 close to the reset rod 7, exerting a force on it toward the inner wall of the battery compartment 3. Correspondingly, the other end of the locking link 6 is tilted, driving the locking rod 8 to move in the direction of the battery 4, and is stuck in the locking hole 11 of the battery 4, and the battery is locked with the battery compartment. The center gear is rotated clockwise, and the four locking bars are respectively moved in the direction of the center gear, and the four locking bars no longer exert a force on the locking link 6. The end of the locking link 6 close to the reset rod is reset under the force of the reset spring 10, and the other end of the locking link 6 is correspondingly reset, and the locking rod 8 is disengaged from the locking hole 11, and the battery 4 is unlocked.

[0071] In this embodiment, when the locking bar extends (moves in the direction away from the central gear), the locking bar pushes the end of the locking link close to the reset rod to compress the reset spring, and the end of the locking link close to the locking rod rises to form a lever. The end of the locking rod close to the battery is pressed against the side wall of the battery under the action of the lever. As the battery moves inward to the appropriate position, the end of the locking rod close to the battery is inserted into the locking hole of the battery, and the battery is locked. When the space battery-exchange vehicle shakes, the locking spring can keep the locking rod in an extended state relative to the locking mechanism to prevent locking failure.

[0072] According to one embodiment of the present invention, a pin expansion structure can be provided at the top of the end effector where the battery extraction and insertion robot arm docks with the battery. The battery extraction and insertion robot arm is inserted into the center gear hole of the center gear of the battery, and rotates through docking with the center gear through the pin expansion structure to achieve locking, fixing, unlocking and grasping of the battery.

[0073] According to an embodiment of the present invention, locking holes 11 are respectively provided on the circumferential outer side walls of the battery, and cooperate with the locking mechanism to lock and fix the battery.

[0074] like Figure 2 As shown, according to one embodiment of the present invention, along the direction in which the battery is placed into the battery compartment, a locking groove 14 is provided on the circumferential outer side wall of the battery housing, which is connected to the locking hole 11. When the battery is placed into the battery compartment, the locking rod slides and pushes along the locking groove 14. After the battery is in place, the locking rod is inserted into the locking hole 11, and the battery is locked in the battery compartment.

[0075] In this embodiment, the battery is placed in the battery compartment, the central gear rotates counterclockwise (the central gear can be rotated counterclockwise by the battery insertion and extraction mechanical arm), and the locking rod is inserted into the locking hole 11 to fix the battery in the battery compartment.

[0076] According to one embodiment of the present invention, the external dimensions of the battery are 400 mm (L) × 280 mm (B) × 250 mm (H) mm.

[0077] Specifically, satellite battery replacement involves three parts: battery transportation, battery removal, and battery installation. Unified design of battery structure (such as external dimensions, component composition, etc.), battery installation and fixing method, battery compartment structure, and battery electrical interface connectors can improve the efficiency and reliability of battery transportation, loading and unloading, and replacement, making the battery replacement process for satellites that need battery replacement safer, more reliable, and more convenient.

[0078] like Figure 10As shown, according to an embodiment of the present invention, to adapt to the size and shape of the storage battery, the locking strip includes a first long gear locking strip 15, a second long gear locking strip 16, a first short gear locking strip 17, and a second short gear locking strip 18 to achieve synchronous locking of the four circumferential sides of the storage battery.

[0079] In this embodiment, the outer layer of the central gear can mesh with the first short gear locking strip 17 and the second short gear locking strip 18. The inner layer of the central gear meshes with the first long gear locking strip 15 and the second long gear locking strip 16.

[0080] According to an embodiment of the present invention, the storage battery is provided with a cross-shaped limiting groove 27. The central gear is arranged at the central position of the cross-shaped limiting groove 27, and the four locking strips are arranged along the length direction of the cross-shaped limiting groove 27. By rotating the central gear, the locking strips slide in the limiting groove 27.

[0081] As Figure 11 shown, according to an embodiment of the present invention, a end cover 28 is provided at the front end of the storage battery. A corresponding cross-shaped groove is provided on the side of the end cover 28 facing the inside of the storage battery, which cooperates with the cross-shaped limiting groove 27 for accommodating the four locking strips.

[0082] As Figure 3 shown, further, a central hole 26 is provided in the front end cover of the storage battery. The storage battery insertion and extraction robotic arm passes through the central hole 26 of the front end cover of the storage battery and docks with the central gear.

[0083] As Figure 10 shown, in this embodiment, the first long gear locking strip 15 and the second long gear locking strip 16 can be installed first, then the central gear is installed, and then the first short gear locking strip 17 and the second short gear locking strip 18 are installed, and finally the front end cover of the storage battery is buckled. When the storage battery insertion and extraction robotic arm needs to dock with the storage battery, the storage battery insertion and extraction robotic arm passes through the central hole of the front end cover of the storage battery and docks with the central gear.

[0084] As Figure 12 shown, according to an embodiment of the present invention, the storage battery insertion and extraction robotic arm is divided into an outer layer actuator 19 and an inner layer actuator 20. The inner layer actuator 20 is slidably connected to the outer layer actuator 19. The outer layer actuator 19 of the storage battery insertion and extraction robotic arm extends towards the storage battery housing and catches the storage battery housing, and the inner layer actuator 20 continues to extend towards the inside of the storage battery and docks with the central gear. The inner layer actuator 20 rotates the central gear to control the extension or contraction of the locking strip.

[0085] In this embodiment, the outer layer actuator and the inner layer actuator of the storage battery insertion and extraction robotic arm dock with the storage battery from the tail of the storage battery (the side facing the outside of the storage battery compartment is the tail).

[0086] According to an embodiment of the present invention, the storage battery consists of 22 battery cells, forming a standard 30Ah storage battery with a 2-in-11 series connection, and the operating voltage is 33V to 45.1V.

[0087] In this embodiment, the number of battery cells can be reduced according to the actual power demand of the satellite, or two or more standard storage batteries can be connected in parallel. For example, if a 60Ah storage battery is required, two standard storage batteries can be connected in parallel for battery combination.

[0088] According to an embodiment of the present invention, the space battery-changing aircraft can output 42V power supply to the satellite that needs to replace the storage battery through the power supply docking robotic arm.

[0089] According to an embodiment of the present invention, the storage battery includes power supply and telemetry acquisition connectors, which can be set at the head of the storage battery.

[0090] In this embodiment, two power supply and telemetry acquisition connectors can be set at the head of the storage battery (the side facing away from the outside of the storage battery compartment is the head). Each power supply and telemetry acquisition connector provides 9-way power supply and 4-way voltage acquisition, and a total of 18-way power supply is provided externally. The unified model can be J6W-26A02JNMB. The node definitions in the power supply and telemetry acquisition connectors are as follows:

[0091] Node number Node definition 1 Power 1 positive line 2 Power 2 positive line 3 Power 3 positive line 4 Power 4 positive line 5 Power 5 positive line 6 Power 6 positive line 7 Power 7 positive line 8 Power 8 positive line 9 Power 9 positive line 10 Power 1 negative line 11 Power 2 negative line 12 Power 3 negative line 13 Power 4 negative line 14 Power 5 negative line 15 Power 6 negative line 16 Power 7 negative line 17 Power 8 negative line 18 Power 9 negative line 19 Sampling 1 positive line 20 Sampling 1 return line 21 Sampling 2 positive line 22 Sampling 2 return line 23 Sampling 3 positive line 24 Sampling 3 return line 25 Sampling 4 positive line 26 Sampling 4 return line

[0092] In this embodiment, the two power supply and telemetry acquisition connectors can also be used as backups for each other.

[0093] According to an embodiment of the present invention, the storage battery is provided with a charging interface, which is docked with the charging connector of the above-mentioned storage battery compartment to connect the power supply for charging.

[0094] According to an embodiment of the present invention, the storage battery is provided with a status monitoring interface, which is docked with the monitoring connector of the above-mentioned storage battery compartment to realize the monitoring of the storage battery status.

[0095] According to an embodiment of the present invention, the above-mentioned charging interface and status monitoring interface can be the same interface.

[0096] According to an embodiment of the present invention, the cross-section of the end effector of the robotic arm of the storage battery insertion and extraction robotic arm 2 is a cross-shaped structure, and the central gear hole of the central gear 12 is of a corresponding shape. The end effector of the robotic arm is inserted into the central gear hole, and the central gear is rotated to extend or retract the locking bar to lock and fix or unlock the storage battery.

[0097] In this embodiment, the end effector of the robotic arm is used to dock with the central gear to rotate the central gear.

[0098] According to an embodiment of the present invention, one end of the reset rod can be fixedly connected to one end of the locking link, and the other end can be slidably connected to the battery compartment along the axial direction of the reset rod.

[0099] In this embodiment, when one end of the locking link 6 is subjected to a force acting toward the inner wall of the battery compartment 3 (for example, the locking bar exerts a force on it), the locking link drives the reset rod to move along the axial direction of the reset rod toward the battery compartment wall. One end of the reset spring abuts against the locking link, and the other end abuts against the battery compartment wall and is squeezed. Correspondingly, the other end of the locking link 6 is lifted.

[0100] According to one embodiment of the present invention, the reset rod is composed of two sections of connecting rods that can slide relative to each other. When one end of the locking connecting rod 6 is subjected to a force acting toward the inner wall of the battery compartment 3 (for example, the locking bar exerts a force on it), the connecting rods at both ends slide and shrink relative to each other along their axial directions, and the reset spring is squeezed. Correspondingly, the other end of the locking connecting rod rises. When the locking connecting rod 6 is not subjected to an external force near one end of the reset rod, the locking connecting rod is reset under the force of the reset spring 10, and the locking rod 8 is disengaged from the locking hole 11, thereby unlocking the battery 4.

[0101] According to one embodiment of the present invention, in addition to multiple battery compartments, a power supply docking robotic arm, a battery insertion and extraction robotic arm, and a locking mechanism, the space battery exchange aircraft also includes a control system for controlling the locking mechanism to lock or unlock the battery.

[0102] Furthermore, the control system controls the retractable latch to extend or retract to fix or unlock the battery.

[0103] In this embodiment, the control system can be used as a backup, that is, the control system can control the locking mechanism to lock or unlock the battery, or the battery can be locked or unlocked by rotating the central gear through the battery insertion and extraction mechanical arm.

[0104] According to one embodiment of the present invention, the battery compartment 3 is provided with a charging connector for charging the battery 4 .

[0105] In this embodiment, the charging connector can be arranged at the bottom of the battery compartment. The battery compartment can also be provided with a monitoring connector to monitor the status of the (on-track) battery (such as power level, whether the power supply is normal, whether the charging is normal, etc.). The monitoring connector can be arranged at the bottom of the battery compartment.

[0106] According to an embodiment of the present invention, the charging connector can also be used to monitor the status of the battery.

[0107] In this embodiment, the charging connector can also monitor the battery status, such as the battery power level, whether it can be charged normally, whether it can supply power normally, etc.

[0108] The present invention does not specifically limit the number of locking strips, locking holes, and locking grooves. For example, locking strips, locking holes, and locking grooves may be provided only on the corresponding sides of the first long gear locking strip 15 and the second long gear locking strip 16.

[0109] On the other hand, the present invention provides a battery, which is provided with a rotatable central gear, and the central gear is provided with a locking bar meshing with the central gear. When the central gear rotates, the locking bar extends from the surface of the battery housing and cooperates with the above-mentioned locking mechanism to lock the battery, so as to replace the battery for power supply to the satellite that needs to replace the battery.

[0110] In this embodiment, the central gear rotates, and the locking bar extends from the surface of the battery shell, pressing against the side of the locking link close to the reset rod, and exerting a force toward the inner wall of the battery compartment. One end of the locking link compresses the reset spring and slides along the axial direction of the reset rod. Correspondingly, the other end of the locking link rises, driving the locking rod to move toward the battery and get into the corresponding locking hole of the battery to lock the battery.

[0111] It can be understood that the battery provided by the present invention can be the same as the battery of the above-mentioned space battery exchange aircraft in shape, structure and connection method with the battery compartment.

[0112] On the other hand, Figure 12 As shown, the present invention provides a satellite including a detachable battery 23.

[0113] According to one embodiment of the present invention, the above-mentioned storage battery is included to supply power to a satellite.

[0114] like Figure 12 As shown, according to one embodiment of the present invention, it includes a docking connection hole 21 and the above-mentioned battery 23, and the battery 23 matches the battery compartment of the above-mentioned space power exchange aircraft. The battery is set in the battery compartment of the satellite to power the satellite. The docking connection hole 21 is used to connect with the above-mentioned power docking robot arm 1 to power the satellite.

[0115] In this embodiment, the mechanical interface of the docking connection hole can be used for the mechanical connection between the satellite and the space power exchange aircraft. The docking connection hole can be provided with a power supply interface, and the power supply docking mechanical arm is connected to the docking hole, so that the space power exchange aircraft can provide off-planet power supply for the satellite that needs to replace the battery. The power supply interface can be a coaxial cable connector, the center wire is the positive pole, and the outer ring wire is the negative pole, so that the power supply is simple and reliable.

[0116] like Figure 12 As shown, according to one embodiment of the present invention, in addition to the battery 23 and the docking connection hole 21, the satellite also includes a battery compartment 22 for placing the battery to power the satellite.

[0117] It can be understood that the battery compartment provided by the present invention can have the same shape, structure, and connection method with the battery as those of the battery compartment of the above-mentioned space battery swapping aircraft.

[0118] According to an embodiment of the present invention, the battery compartment of the satellite includes the above-mentioned locking mechanism to lock the battery 23 of the satellite.

[0119] In this embodiment, the docking connection hole can also be provided with a control interface for controlling the locking mechanism of the battery compartment to lock or unlock the battery. For example, the control interface can control the telescopic plug or locking rod to expand and contract. The control interface can be provided with a serial communication interface, which can be used to transmit fault information and process complex fault plans. This control interface can be used as a backup. That is, the locking mechanism can be controlled through the control interface to lock or unlock the battery, or the battery can be locked or unlocked by rotating the central gear of the battery insertion and extraction robotic arm. Under normal circumstances, the control interface can be not used to replace the battery.

[0120] According to an embodiment of the present invention, the battery compartment of the satellite includes a plurality of the above-mentioned locking structures.

[0121] In this embodiment, the structure of the battery (such as the external dimensions and component composition of the battery of the space battery swapping aircraft and the satellite), the installation and fixing method of the battery, the structure of the battery compartment, and the docking connection hole 21 are uniformly designed (for example, unified interface design), and the connectors of the electrical interface of the battery are also uniformly designed, which can improve the efficiency and reliability of the transportation, loading, unloading, and replacement of the battery, and make the battery swapping process for the satellite that needs to replace the battery safer, more reliable, and more convenient.

[0122] Such as Figure 14 and 15 As shown, on the other hand, the present invention provides a method for replacing the battery of a satellite, using the above-mentioned space battery swapping aircraft to replace the battery of the above-mentioned satellite.

[0123] Specifically, the process of the space battery swapping aircraft (hereinafter referred to as aircraft A) providing battery replacement service for the satellite (referred to as aircraft B) that needs to replace the battery is as follows:

[0124] S01: Remotely upload the orbital parameters of aircraft B to aircraft A, and aircraft A changes its orbit (such as driving the orbit change through an electric thruster) to the orbit of aircraft B and rendezvous with aircraft B.

[0125] S02: Aircraft A docks with the docking connection hole of aircraft B through the power supply docking robotic arm.

[0126] S03: The aircraft B queries whether the external power supply status is normal connection and power reception. If it is normal connection and power reception, cut off the power supply of the battery of the aircraft B and change it to be powered by the power supply docking robotic arm of the aircraft A.

[0127] S04: The battery plugging and unplugging robotic arm of the aircraft B connects to the central gear hole of the original battery of the satellite, docks with the central gear, and rotates the central gear clockwise to unlock the original battery of the satellite from the aircraft B and grabs the original battery of the satellite out of the battery compartment of the aircraft B.

[0128] In this step, since the aircraft A and the aircraft B have completed a hard link, the position of the docking connection hole of the aircraft B is known to the aircraft A. According to the unified design specification, the position of the battery in the battery compartment of the aircraft B relative to the docking connection hole is known. Therefore, through coordinate transformation, the aircraft A can calculate the relative position of the battery in the battery compartment of the aircraft B. The battery plugging and unplugging robotic arm of the space battery replacement aircraft of the present invention can reliably and conveniently connect to the central gear of the original battery of the aircraft B without an auxiliary sensing system such as a camera.

[0129] S05: The aircraft A loads the original battery of the aircraft B grabbed out into the empty battery compartment of the aircraft A and rotates the central gear counterclockwise to lock the battery.

[0130] S06: The battery plugging and unplugging robotic arm of the aircraft A grabs a spare battery from its original non-empty battery compartment and inserts the spare battery into the empty battery compartment of the aircraft B, and rotates the central gear counterclockwise to lock and fix the spare battery with the battery compartment of the aircraft B.

[0131] S07: The aircraft B queries the state that a battery has been inserted into its battery compartment, and its power supply is switched to battery power supply.

[0132] S08: The power supply docking robotic arm of the aircraft A releases the connection with the aircraft B and slowly leaves the orbit of the aircraft B through the electric thruster.

[0133] The above embodiments of the present invention can be combined with each other and have corresponding technical effects.

[0134] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A space battery-swapping aircraft, characterized in that, include: Multiple battery compartments, power supply docking robot arms and battery extraction and insertion robot arms; The plurality of battery compartments are used to store batteries, and at least one of the battery compartments is empty; The power supply docking mechanical arm and the battery extraction and insertion mechanical arm are arranged on the same side; The power supply docking mechanical arm is used to dock with the satellite and temporarily supply power to it; the battery extraction and insertion mechanical arm is used to connect the battery of the satellite, take it out and put it into the empty battery compartment, and take out the spare battery and put it into the battery compartment of the satellite; The battery compartment includes a locking mechanism for locking and fixing the battery therein; The locking mechanism comprises a central shaft and a locking link fixedly connected to the inner wall of the battery compartment; the central shaft and the locking link form a seesaw structure; A reset rod is arranged on the inner wall of the battery compartment, the reset rod is connected to one end of the locking link, and the one end of the locking link can slide along the axial direction of the reset rod; a locking rod facing the inner cavity of the battery compartment is arranged on the other end of the locking link, and a locking spring is sleeved on the locking rod; The reset rod is sleeved with a reset spring; when one end of the locking link is subjected to a force toward the inner wall of the battery compartment, the one end of the locking link compresses the reset spring and slides along the axial direction of the reset rod, and the other end of the locking link correspondingly rises, driving the locking rod to move toward the battery and snap into the locking hole of the battery to lock the battery, and the locking spring presses against the outer wall of the battery; when one end of the locking link is not subjected to an external force, the other end of the locking link is reset under the action of the reset spring, and the locking rod escapes from the locking hole to unlock the battery.

2. The space battery-swapping aircraft according to claim 1, characterized in that, The locking mechanism comprises a retractable latch, and after the battery is placed in the battery compartment, the retractable latch is extended to fix the battery.

3. The space battery-swapping aircraft according to claim 1, characterized in that, A mounting hole is arranged at one end of the locking connecting rod, and the reset rod passes through the mounting hole and is fastened with a locking nut to prevent the reset rod from coming out of the mounting hole.

4. The space battery-swapping aircraft according to claim 1, characterized in that, The battery is provided with a rotatable central gear, and the central gear is provided with a locking bar meshing therewith; when the central gear rotates, the locking bar extends from the surface of the battery shell, presses against the side of the locking link close to the reset rod, and applies a force toward the inner wall of the battery compartment.

5. The space battery-swapping aircraft according to claim 4, characterized in that, The locking mechanisms are respectively arranged on four circumferential sides of the battery compartment; The central gear is a double-layer gear, and is provided with two locking bars that move in opposite directions; when the central gear is rotated, the four locking bars synchronously extend from the four circumferential sides of the battery housing and abut against one side of the corresponding locking connecting rod.

6. The space battery-swapping aircraft according to claim 5, characterized in that, The cross-section of the end effector of the battery extraction robot arm is a cross-shaped structure, and the center gear hole of the center gear is a corresponding shape; the end effector of the robot arm is inserted into the center gear hole and the center gear is rotated to extend or retract the locking bar.

7. A satellite, characterized in that, It includes a docking connection hole and a storage battery. The storage battery matches the storage battery compartment described in any one of claims 1-6. The storage battery is arranged in the storage battery compartment of the satellite to supply power to the satellite. The docking connection hole is used to connect with the power supply docking robotic arm described in any one of claims 1-6 to supply power to the satellite.

8. A method for replacing the storage battery of a satellite, characterized in that, Using the space battery replacement aircraft described in any one of claims 4-6 to replace the storage battery of the satellite described in claim 7, it includes: Remotely uploading the orbital parameters of the satellite to the space battery replacement aircraft, and the space battery replacement aircraft changes its orbit to the orbit of the satellite and rendezvous with the satellite. The space battery replacement aircraft docks with the docking connection hole of the satellite through the power supply docking robotic arm. The satellite queries whether the external power supply status is normal connection for power reception. If it is normal connection for power reception, the power supply of the satellite's storage battery is cut off and the power supply is changed to be supplied by the power supply docking robotic arm. The storage battery insertion / extraction robotic arm connects to the central gear hole of the original storage battery of the satellite, docks with the central gear hole, and rotates the central gear clockwise to unlock the original storage battery of the satellite from the satellite and grabs the original storage battery of the satellite out of the storage battery compartment of the satellite. The space battery replacement aircraft loads the grabbed original storage battery of the satellite into the empty storage battery of the space battery replacement aircraft, rotates the central gear counterclockwise, and locks the storage battery. The storage battery insertion / extraction robotic arm grabs a spare storage battery from the non-empty original storage battery of the space battery replacement aircraft and inserts the spare storage battery into the empty storage battery compartment of the satellite, rotates the central gear counterclockwise, and locks and fixes the spare storage battery with the storage battery compartment of the satellite. The satellite queries that the storage battery compartment has the state of a storage battery inserted and switches to storage battery power supply. The power supply docking robotic arm releases the connection with the satellite and leaves the orbit of the satellite.

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