A method for assembling extravehicular payloads in a human-machine collaborative space station

Abstract

A method for assembling extravehicular payloads on a space station with human-machine collaboration, which relates to the technical fields of manned spaceflight and on-orbit assembly. The present invention aims to solve the problem that existing space manipulators cannot assemble large payloads outside the space station due to reasons such as the hand-eye vision being blocked by the target payload. The present invention includes the following steps: S1: Docking the space manipulator with the target payload and transferring the target payload to the assembly operation point; S2: The astronaut transfers to the assembly operation station and completes the fixation of the feet of the astronaut on the space station module or other auxiliary devices; S3: Switching the space manipulator to the zero-force follow-up control mode; S4: The astronaut drags the target payload to complete the docking with the docking interface on the outer surface of the space station module; S5: The astronaut completes the fixation of the surface interface between the target payload and the space station module; S6: The space manipulator detaches from the target payload. Thus, the assembly of the extravehicular payload on the space station with human-machine collaboration is completed. The present invention is used for assembling extravehicular payloads on a space station.

Description

Technical Field

[0001] The present invention relates to a method for assembling an extravehicular payload, and particularly to a method for assembling a large extravehicular payload on a manned space station through human-machine collaboration, belonging to the technical fields of manned spaceflight and on-orbit assembly. Background Art

[0002] A space station is an important infrastructure for carrying out space scientific research and technology application verification, characterized by large scale and long design life. Effective on-orbit maintenance measures are the key to ensuring the long-term safe operation of the space station in orbit. On-orbit maintenance of the space station involves the replacement of payloads of different scales and weights, and usually adopts working methods such as astronaut assembly, space manipulator assembly, or assembly completed by a space manipulator carrying an astronaut. However, when the payload has a large mass, its inertia is greater, and it is difficult for astronauts to change the motion state of the payload by manpower and complete the transfer and assembly tasks alone. In addition, when the payload has a large volume, the space manipulator cannot work properly because its hand-eye vision is blocked by the target payload, resulting in difficulties in the transfer and assembly tasks of large-scale and large-mass payloads on the space station.

[0003] In summary, due to reasons such as the hand-eye vision of the existing space manipulator being blocked by the target payload, there is a problem that large extravehicular payloads on the space station cannot be assembled. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that large extravehicular payloads on the space station cannot be assembled due to reasons such as the hand-eye vision of the existing space manipulator being blocked by the target payload. Furthermore, a method for assembling an extravehicular payload on a manned space station through human-machine collaboration is provided.

[0005] The technical solution of the present invention is: a method for assembling an extravehicular payload on a manned space station through human-machine collaboration, including the following steps:

[0006] Step 1: Docking the space manipulator with the target payload and transferring the target payload to the assembly operation point;

[0007] Step 2: The astronaut transfers to the assembly operation station and fixes the feet of the astronaut on the foot limiter on the outer surface or the cabin wall of the space station cabin;

[0008] Step 3: Switching the space manipulator to the zero-force follow-up control mode;

[0009] Step 4: The astronaut drags the target payload to complete the docking with the outer surface docking interface of the space station cabin;

[0010] Step 5: The astronaut completes the fixation of the surface interface between the target payload and the space station cabin;

[0011] Step 6: The space manipulator detaches from the target payload, and thus, the assembly of the extravehicular payload on the manned space station through human-machine collaboration is completed.

[0012] Furthermore, the head end of the space manipulator in Step 1 is installed on the space station module, and a payload docking interface is provided at the tail end of the space manipulator.

[0013] Furthermore, the space manipulator in Step 1 docks with the target payload under a remote control command or autonomously, and transfers the target payload to the assembly operation point.

[0014] Furthermore, the astronaut in Step 2 transfers to the assembly operation station of the target payload by climbing or with the assistance of the space manipulator.

[0015] Furthermore, the space manipulator in Step 3 switches from the rigid mode in Step 1 to the zero-force follow-up mode. At this time, the astronaut drags the target payload to move.

[0016] Furthermore, in Step 6, the space manipulator separates from the target payload under a remote control command or autonomously.

[0017] Furthermore, the space manipulator in Step 6 resets under a remote control command.

[0018] Furthermore, in Step 6, the astronaut unfastens the foot fixation and returns to the space station module.

[0019] The present invention has the following effects compared with the prior art:

[0020] 1. The present invention provides a method for man-machine collaborative extravehicular payload assembly of a space station, and completes the transfer and assembly tasks of large extravehicular payloads through the cooperation of astronauts and space manipulators.

[0021] 2. The purpose of the present invention is to achieve safe (mainly reflected in that the astronaut ensures safety during the actual docking process by fixing the feet, and the target payload can also achieve safe docking), efficient (mainly reflected in saving the multiple debuggings caused by the hand-eye vision being blocked by the target payload, and even resulting in the inability to achieve assembly, wasting a large amount of time, manpower and material resources) extravehicular large payload assembly of the space station, and solve the problems that the astronaut and the space manipulator cannot independently complete the extravehicular large payload assembly of the space station, or cannot carry the astronaut through the space manipulator to complete the extravehicular large payload assembly. At the same time, the present invention also has the advantages of small contact stress between the payload and the module, high safety, etc.

[0022] 3. The man-machine collaborative extravehicular payload assembly method proposed by the present invention provides a new idea for the transfer and assembly of large target payloads of the space station through the interaction between the astronaut and the manipulator. At the same time, the payload assembly method of man-machine collaborative interaction reduces the control technical requirements of the space manipulator, has higher precision, can effectively reduce the contact stress during the assembly docking process of the payload and the module, and has high safety. Brief Description of the Drawings

[0023] Figure 1 It is the implementation process of the method for assembling extravehicular payloads in the human-machine collaborative space station developed by the present inventor.

[0024] Figure 2 It is a schematic diagram of the state of the present invention before the space manipulator docks with the target payload.

[0025] Figure 3 It is a schematic diagram of the initial state of the present invention when the space manipulator docks with the target payload.

[0026] Figure 4 It is a schematic diagram of the present invention when the space manipulator transfers the target payload to the working point.

[0027] Figure 5 It is a schematic diagram of the process of the astronaut of the present invention moving to the working point.

[0028] Figure 6 It is a schematic diagram of the present invention when the astronaut completes foot fixation.

[0029] Figure 7 It is the initial state of the astronaut dragging the payload for assembly in the zero-force mode of the space manipulator of the present invention.

[0030] Figure 8 It is the state of the astronaut dragging the payload for assembly to complete docking in the zero-force mode of the space manipulator of the present invention.

[0031] Figure 9 It is a schematic diagram of the separation state between the space manipulator and the target payload of the present invention.

[0032] Figure 10 It is a schematic diagram of the state of the target payload after installation of the present invention. Detailed Description of the Invention

[0033] Detailed Description of the Invention One: In combination with Figures 1 to 10 To illustrate this embodiment, this embodiment includes the following steps:

[0034] Step 1: Docking the space manipulator 3 with the target payload 2 and transferring the target payload 2 to the assembly operation point;

[0035] Step 2: The astronaut 1 transfers to the assembly operation station and completes the foot fixation of the astronaut 1 on the foot limiter on the space station cabin body 4 or on the cabin wall surface to provide body support for carrying out the assembly operation;

[0036] Step 3: Switching the space manipulator 3 to the zero-force follow-up control mode;

[0037] Step 4: The astronaut 1 drags the target payload 2 to complete the docking with the outer surface docking interface 5 of the space station cabin body 4;

[0038] Step Five: Astronaut 1 completes the fixation of the surface interface between the target payload 2 and the space station module 4.

[0039] Step Six: The space manipulator 3 detaches from the target payload 2. Thus, the assembly of the extravehicular payload of the man-machine collaborative space station is completed.

[0040] Specific Embodiment Two: Figures 1 to 10 This embodiment is described as follows. In Step One of this embodiment, the head end of the space manipulator 3 is installed on the space station module 4, and a payload docking interface is provided at the tail end of the space manipulator 3.

[0041] With such a setting, it is convenient for the head end of the space manipulator 3 to be fixed and the other end to be movable, which is used to flexibly control the movement of the space manipulator 3. The other components and connection relationships are the same as those in Specific Embodiment One.

[0042] Specific Embodiment Three: Figure 3 This embodiment is described as follows. In Step One of this embodiment, the space manipulator 3 docks with the target payload 2 under a remote control command or autonomously and transfers the target payload 2 to the assembly operation point.

[0043] With such a setting, the switching of the working mode of the space manipulator 3 is simple. When the space manipulator 3 is in the rigid working mode, it is convenient for the transfer of the target payload 2. When the space manipulator 3 is in the zero-force working mode, it is in a flexible working state, which is convenient for the astronaut to drag at any angle and position. The other components and connection relationships are the same as those in Specific Embodiment One or Two.

[0044] Specific Embodiment Four: Figure 4 and Figure 5 This embodiment is described as follows. In Step Two of this embodiment, Astronaut 1 transfers to the assembly operation station of the target payload 2 by climbing or with the assistance of other devices such as the space manipulator.

[0045] With such a setting, since there are handrails on the space station module 4 and the distance between the assembly operation point and the astronaut is not far, the astronaut can climb with high efficiency. At this time, the astronaut also wears a manipulator for assisting the astronaut to leave the cabin, and with the use of a safety rope, the safety of the astronaut can be ensured.

[0046] The other components and connection relationships are the same as those in Specific Embodiment One, Two, or Three.

[0047] Specific Embodiment Five: Figure 7 This embodiment is described as follows. In Step Three of this embodiment, the space manipulator 3 switches from the rigid mode in Step One to the zero-force follow-up mode. At this time, Astronaut 1 drags the target payload 2 to move.

[0048] With such a setting, it is convenient for the astronaut to drag the target payload 2 to move. Other components and connection relationships are the same as those in the first, second, third, or fourth specific implementation manners.

[0049] Specific implementation manner six: Figure 9 In this specific implementation manner, in step six, the space manipulator 3 separates from the target payload 2 under a remote control command or autonomously. With such a setting, it is convenient to separate from the target payload 2 after assembly, and the astronaut can operate by pressing a button. Other components and connection relationships are the same as any one of the first to fifth specific implementation manners.

[0050] Specific implementation manner seven: Figure 9 and Figure 10 In this specific implementation manner, in step six, the space manipulator 3 resets under a remote control command.

[0051] With such a setting, it is convenient to start the next action. Other components and connection relationships are the same as any one of the first to sixth specific implementation manners.

[0052] Specific implementation manner eight: Figure 1 and Figure 2 In this specific implementation manner, in step six, the astronaut 1 unfastens the foot fixation and returns to the interior of the space station module 4.

[0053] Combined with Figures 1 to 10 to illustrate the working principle of the present invention:

[0054] S1. The space manipulator docks with the target payload and transfers the target payload to the vicinity of the assembly operation point;

[0055] In this example, as shown in Figure 2 , Figure 3 , the target payload 2 docks with the space manipulator 3 at the starting point with the assistance of the astronaut 1, and under the action of a preset command or a remote control command, the space manipulator 3 transfers the target payload 2 to the vicinity of the assembly operation point for subsequent work.

[0056] S2. The astronaut transfers to the assembly operation station and completes the fixation of the astronaut's feet on the foot limiter on the space station module or the cabin wall surface;

[0057] In this example, as shown in Figure 4 , Figure 5 , Figure 6 , after the target payload 2 is transferred to the vicinity of the transfer and assembly operation point, the astronaut 1 reaches the load installation operation station by climbing or with the assistance of other devices such as the space manipulator, and completes the fixation of the astronaut's feet on the space station module 4 or other auxiliary devices to provide support for dragging and fixing the load with the hand;

[0058] S3. The space manipulator switches to the zero-force follow-up control mode;

[0059] In this example, as Figure 7 shown, Astronaut 1 switches the space manipulator 3 to the zero-force follow-up control mode through the controller. In this mode, the stiffness of the manipulator is variable and it can arbitrarily change its configuration under the action of external forces.

[0060] S4. The astronaut drags the payload to complete the docking with the interface on the surface of the cabin;

[0061] In this example, as Figure 8 shown, Astronaut 1 drags the target payload 2 to near the interface 5 on the surface of the cabin and conducts the docking process.

[0062] S5. The astronaut completes the fixation of the payload and the interface on the surface of the cabin;

[0063] In this example, as Figure 9 shown, Astronaut 1 completes the docking work of the target payload 2 and the interface 5 on the surface of the cabin.

[0064] S6. The manipulator detaches from the payload.

[0065] In this example, as Figure 9 , Figure 10 shown, after the docking of the target payload 2 and the interface 5 on the surface of the cabin is completed, the space manipulator 3 detaches from the target payload 2 with the assistance of Astronaut 1 and returns to the initial position under the action of remote control commands or preset instructions. Astronaut 1 unfastens the foot fixation and returns to the cabin. Thus, the extravehicular payload assembly task is completed.

[0066] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Those skilled in the art can still make other changes within the spirit of the present invention and apply them to fields not mentioned in the present invention. Of course, all such changes made according to the spirit of the present invention should be included within the scope claimed by the present invention.

Claims

1. A method for assembling an extravehicular payload in a man-machine collaborative space station, characterized in that: It includes the following steps: Step 1: Docking the space manipulator (3) with the target payload (2), and transferring the target payload (2) to the assembly operation point; Step 2: The astronaut (1) transfers to the assembly operation station, and completes the fixation of the feet of the astronaut (1) on the space station cabin body (4) or the foot limiter on the cabin wall surface; Step 3: Switching the space manipulator (3) to the zero-force follow-up control mode; Step 4: The astronaut (1) drags the target payload (2) to complete the docking with the outer surface docking interface (5) of the space station cabin body (4); Step 5: The astronaut (1) completes the fixation of the surface interface between the target payload (2) and the space station cabin body (4); Step 6: The space manipulator (3) detaches from the target payload (2). Thus, the assembly of the extravehicular payload of the human-machine collaborative space station is completed.

2. The method for assembling an extravehicular payload of a human-machine collaborative space station according to claim 1, wherein: In Step 1, the head end of the space manipulator (3) is installed on the space station cabin body (4), and a payload docking interface is provided at the end of the space manipulator (3).

3. A method for assembling an extravehicular payload of a human-machine collaborative space station according to claim 2, characterized in that: In Step 1, the space manipulator (3) docks with the target payload (2) under a remote control command or autonomously, and transfers the target payload (2) to the assembly operation point.

4. A method for assembling an extravehicular payload of a human-machine collaborative space station, according to claim 1 or 3, characterized in that: In Step 2, the astronaut (1) transfers to the assembly operation station of the target payload (2) by climbing or with the assistance of the space manipulator.

5. A method for assembling an extravehicular payload of a human-machine collaborative space station, according to claim 4, characterized in that: In Step 3, the space manipulator (3) switches from the rigid mode in Step 1 to the zero-force follow-up mode. At this time, the astronaut (1) holds the target payload (2) and moves.

6. A method for assembling an extravehicular payload of a human-machine collaborative space station according to claim 5, characterized in that: In Step 6, the space manipulator (3) detaches from the target payload (2) under a remote control command or autonomously.

7. A method for assembling an extravehicular payload of a man-machine collaborative space station, according to claim 6, wherein: In Step 6, the space manipulator (3) resets under a remote control command.

8. A method for assembling an extravehicular payload of a human-machine collaborative space station, according to claim 7, characterized in that: In Step 6, the astronaut (1) releases the foot fixation and returns to the inside of the space station cabin body (4).

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