Space station on-orbit assembly cargo airlock module

Abstract

The present application relates to a space station on-orbit assembly cargo airlock cabin, belonging to the technical field of manned spacecraft overall design; one is an on-orbit assembly cargo airlock cabin for satellite on-orbit release, comprising a bell-shaped main structure, a mechanical arm adapter, a docking camera, a docking camera target, a universal docking device passive end, a universal docking device active end, an inner cabin door, a satellite release device, a release device manager and a function subsystem; the other is an on-orbit assembly cargo airlock cabin for exposing the load to enter and exit the sealed cabin, comprising a bidirectional straight-through cylindrical main structure, a mechanical arm adapter, a docking camera, a docking camera target, a universal docking device passive end, a universal docking device active end, an inner cabin door, a bidirectional cargo transfer sliding table, an outer cabin door and a function subsystem; the present application can realize the assembly and test of medium and large satellites in the sealed cabin of the space station, and release through the airlock cabin, effectively improving the satellite deployment success rate and reducing the satellite development cost.

Description

Technical Field

[0001] This invention belongs to the field of overall design technology for manned spacecraft, and relates to an on-orbit assembled cargo airlock for space stations. Background Technology

[0002] Artificial satellites can be inserted into orbit through launch vehicle launch and payload release. Most artificial satellites are sent into their predetermined orbits by launch vehicles, which can be broadly categorized into three types: direct orbit insertion, coasting orbit insertion, and transitional orbit insertion. The characteristic of direct orbit insertion by launch vehicle is its fixed timing; that is, the altitude, orientation, speed, and separation time of the satellite are all predetermined before launch and generally cannot be changed afterward.

[0003] Releasing satellites from the payload bay is another method of satellite orbit insertion, a task that space stations, manned spacecraft, and cargo spacecraft can all perform. There are three main methods for releasing satellites from the payload bay: First, the satellite and release device are installed outside the manned / cargo spacecraft cabin. During the manned / cargo spacecraft's orbital flight, the release device ejects the satellite from the cabin, completing the release. Second, astronauts carry the satellite out of the cabin via extravehicular activity (EVA) and then release it manually. Third, astronauts connect the satellite and release device inside the sealed cabin to form a combined module. This module exits through an airlock, a robotic arm grasps the module and adjusts it to the release angle, and the release device ejects the satellite, completing the release. Due to the limitations imposed by the launch vehicle's envelope, the satellite and release device installed outside the cabin at launch are relatively small, allowing only a limited number of CubeSats or microsatellites to be released. Small, medium, or large satellites cannot be released. Furthermore, after experiencing the ascent phase's mechanical environment, the satellite cannot undergo comprehensive functional performance testing before release, resulting in low release efficiency and relatively high mission risk. The method of astronauts manually releasing satellites via extravehicular activity (EVA) is not a mainstream approach for on-orbit satellite release due to the difficulty in controlling the release angle and initial velocity. In the third method, the satellite is carried in a soft cargo package and ascends via a cargo spacecraft. The ascent phase offers a better mechanical environment, reducing the risk of satellite damage. Furthermore, before EVA, a comprehensive inspection can be conducted with the support of astronauts and specialized testing equipment to ensure the satellite is in normal condition, thus improving the success rate of on-orbit deployment. The release is assisted by a robotic arm, allowing for diverse and precise release angles. Therefore, this method has become the mainstream approach for on-orbit satellite release.

[0004] The current common method involves astronauts cooperating with ground control to complete pre-extravehicular activity (EVA) tests on the CubeSat / microsatellite to be released. The astronauts then load the CubeSat / microsatellite onto the release mechanism, which is then installed on the payload transfer mechanism of the cargo airlock. The astronauts close the inner hatch of the cargo airlock, depressurize the airlock, and open the outer hatch. The payload transfer mechanism then delivers the CubeSat / microsatellite release mechanism outside the spacecraft, and a robotic arm retrieves the mechanism. The CubeSat / microsatellite release mechanism detaches the CubeSat / microsatellite from the payload transfer mechanism. The robotic arm adjusts to the release configuration, and under its control, the CubeSat / microsatellite release mechanism ejects and separates from the payload transfer mechanism, completing the on-orbit release. The robotic arm then mounts the CubeSat / microsatellite release mechanism onto the payload transfer mechanism, which retracts and closes the outer hatch. The cargo airlock is repressurized, and the astronauts open the inner hatch and remove the CubeSat / microsatellite release mechanism from the payload transfer mechanism, preparing for the next satellite release mission. Due to the limited passageway between the inner and outer hatches of the cargo airlock, the above method can only support the release of CubeSats and microsatellites, and cannot release medium and large satellites. With the development of satellite technology, the increasing functional and performance requirements have led to a corresponding increase in the size envelope of satellites. On-orbit release of medium and large satellites has become an urgent need, requiring an airlock for releasing medium and large satellites. Summary of the Invention

[0005] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose an on-orbit assembled cargo airlock for space stations. This airlock enables medium and large satellites to be assembled and tested inside the sealed cabin of the space station, and to be released from the airlock and on-orbit, thereby effectively improving the success rate of satellite deployment and reducing the cost of satellite development.

[0006] The solution of the present invention is:

[0007] The space station's on-orbit assembled cargo airlock includes an on-orbit assembled cargo airlock for the on-orbit release of satellites and an on-orbit assembled cargo airlock for the entry and exit of exposed payloads into and out of the sealed compartment.

[0008] The on-orbit assembled cargo airlock for satellite on-orbit release includes a bell-shaped main structure, a robotic arm adapter, a docking camera, a docking camera target, a passive end of a universal docking device, an active end of a universal docking device, an inner door, a satellite release device, a release device manager, and functional subsystems; among which, the functional subsystems include a thermal management subsystem and a depressurization and repressurization subsystem.

[0009] The bell-shaped main structure consists of a shell structure and an internal structure. The shell structure is formed by welding bell-shaped panels, a top flange, and a bottom end frame. The bell-shaped panels are an integral panel structure, composed of four panels welded at approximately 90° angles along the circumference. The top flange is used to install the robotic arm adapter. The bottom end frame is used for mechanical connection with the passive end of the universal docking device. The internal structure is a secondary structure consisting of honeycomb panels and metal supports, used to install the satellite release device and release device manager. The robotic arm adapter is installed on top of the bell-shaped main structure and serves as the interface between the airlock and the space station's robotic arm. The external space station robotic arm... The robotic arm uses an adapter to manipulate the airlock; a docking camera is mounted on the outer wall of the bell-shaped main structural column, near the passive end of the universal descent device; a docking camera target is mounted on the active end of the universal descent device on the outer wall of the space station; the optical axis of the docking camera is coaxial with the central axis of the docking camera target; the docking camera is used to capture relative pose images between the active and passive ends of the universal descent device during the installation or removal of the airlock by the robotic arm, and transmits the images to the robotic arm via the LVDS interface. The robotic arm calculates the relative pose data between the active and passive ends for the robotic arm's movement. The system is controlled by a ring system; the inner hatch is mounted on the wall of the space station's sealed module, located in the center of the universal dock access channel, and is opened or closed manually by astronauts; the satellite release device enables manual connection and automatic separation from the satellite to be released, and provides the satellite with an initial release velocity, allowing it to pass through the passive end of the universal dock and move away from the airlock; the release device manager receives 100V power from the external robotic arm and communicates with the robotic arm via the 1553B bus; upon receiving the satellite release command from the external robotic arm, the release device manager controls the unlocking of the satellite release device's drive mechanism. The ejection mechanism releases the satellite to be released. The thermal management subsystem consists of multiple layers of thermal insulation material covering the outer side of the airlock, with an atomic oxygen-resistant cloth covering the upper surface of the insulation material, and thermal insulation foam covering the inner side of the airlock, with a flame-retardant cloth attached to the upper surface of the foam. The depressurization and repressurization subsystem includes two functional modules: a depressurization module and a repressurization module. The depressurization module consists of a gas reuse component and a depressurization component. After depressurization begins, the gas reuse component reuses most of the air inside the airlock to the space station's sealed compartment. After gas reuse ends, the depressurization component vents the remaining air from the airlock into outer space.

[0010] The on-orbit assembled cargo airlock for exposing loads to and from the sealed compartment includes a two-way straight-through columnar main structure, a robotic arm adapter, a docking camera, a docking camera target, a passive end of a universal docking device, an active end of a universal docking device, an inner hatch, a two-way cargo transfer slide, an outer hatch, and functional subsystems. Among them, the functional subsystems include an electronic distribution system, an information subsystem, a thermal management subsystem, a lighting and camera subsystem, and a depressurization and repressurization subsystem.

[0011] The bidirectional straight-through columnar main structure consists of a shell structure and an internal structure. The shell structure is formed by welding column section panels and two end frames at the front and rear ends. The column section panels are integral wall panel structures, composed of four panels welded at approximately 90° angles along the circumference. The side closest to the passive end of the universal docking device is the front end frame, which enables mechanical connection with the passive end of the universal docking device. The column section side corresponding to the front end frame is the rear end frame, which serves as the outer hatch door frame for installing the outer hatch door hinge, door hinge drive mechanism, door lock, and door lock drive mechanism, and provides a sealing flange surface that matches the outer hatch door body sealing ring. Reinforcing ribs are provided on the inner wall of the airlock panel structure, with evenly distributed mounting holes to provide connection and installation interfaces for the bidirectional cargo transfer slide. The internal structure of the airlock is composed of aluminum honeycomb panels and... The secondary structure of the metal bracket is used to install the airlock core management unit, switch, power supply and distribution unit, camera, lighting, and external hatch control actuator; the robotic arm adapter is installed on the outer wall of the bidirectional straight-through columnar main structure section and serves as the interface device between the airlock and the space station robotic arm; the external robotic arm operates the airlock by grasping the robotic arm adapter; the docking camera is installed on the outer wall of the airlock column section, near the passive end of the universal dock device; the docking camera target is installed next to the active end of the universal dock device on the space station's outer bulkhead; the optical axis of the docking camera is coaxial with the central axis of the docking camera target; the docking camera is used to capture images of the relative pose between the active and passive ends of the universal dock device during the installation or removal of the airlock by the robotic arm, and transmits the images... The data is transmitted to the robotic arm via the LVDS interface, where it calculates the relative pose data between the active and passive ends for closed-loop control of the arm's motion. The inner hatch is mounted on the wall of the space station's sealed module, located in the center of the universal descent control passage, and is manually opened or closed by astronauts. The bidirectional cargo transfer slide consists of a mechanical module and a control module. The mechanical module is used to realize the actions and functions of exposing payloads entering and exiting the module. The control module is used to realize the status monitoring, temperature measurement, power supply and distribution, command control, and fault handling functions of the mechanical module. The outer hatch is mounted on the rear frame of the bidirectional straight-through columnar main structure. The outer hatch is a circular hatch, opening towards the outside of the airlock, allowing the telescopic mechanism of the bidirectional cargo transfer slide to extend outside the airlock and carry... The system includes requirements for the path of exposed load transfer; the electronic distribution system is used for energy distribution, load management and control, and low-frequency cable network connection between electrical equipment in each flight phase of the airlock, and consists of a power supply and distribution unit and a cable network; after the airlock is assembled with the space station sealed cabin, the airlock power supply and distribution unit is connected to the space station bus control unit through the circuit floating disconnector installed on the universal docking device, realizing the connection of the 100V power supply bus; the airlock power supply and distribution unit is connected to each electrical load of the cabin through the cable network to provide controlled 100V power supply; the information subsystem includes two functional modules: 1553B bus network and Ethernet; the 1553B bus network uses the airlock core management unit as the data management center and sets up two sets of buses as local platform buses;One group docks with the space station and connects to the network, while the other group handles command and control within the airlock, telemetry parameter acquisition, and data transmission between functional subnets. Ethernet uses the airlock's switch as the data exchange center. On one hand, the network terminals of the airlock's cameras connect to the switch; on the other hand, the airlock's switch connects to the space station's top-level switch via docking, achieving high-speed network connectivity for image data transmission and control. The thermal management subsystem includes a passive thermal control system and an active thermal control system. The passive thermal control system involves covering the outer wall of the airlock with multiple layers of insulation material, and then covering the surface of these insulation materials with an atom-resistant layer. Oxygen cloth is used to cover the inner wall of the airlock with insulating foam, and a layer of flame-retardant cloth is attached to the upper surface of the insulating foam. The active thermal control system refers to the airlock fluid loop, which collects the heat loss of the airlock equipment and heats the low-temperature zone on the airlock wall. It is connected to the space station's intermediate-temperature internal loop through the inter-module disconnector, and then transferred to the space station's external loop through the heat exchanger on the intermediate-temperature internal loop. Finally, the heat is discharged into outer space through the space station's radiators. The airlock fluid loop does not have drive pumps or regulating valves, but only compensators and sensors. After being connected to the space station's intermediate-temperature internal loop, the working fluid is circulated under the drive of the intermediate-temperature internal loop pump. Lighting The camera subsystem consists of an internal camera, an external camera, internal lighting, and external lighting. The internal camera is located inside the airlock and captures the movement of the bidirectional cargo transfer slide, the opening and closing of the internal and external hatches. The external camera is located on the outer wall of the bidirectional straight-through columnar main structure section and captures the movement of the bidirectional cargo transfer slide, the opening and closing of the external hatch, and the operation of the robotic arm on the exposed loads on the bidirectional cargo transfer slide. The internal lighting is located inside the airlock and provides illumination for astronauts' activities inside the cabin and for the cameras to capture the internal state of the airlock. The external lighting is located on the bidirectional straight-through columnar main structure section. The outer bulkhead provides illumination for external cameras to capture the movement of the bidirectional cargo transfer slide and for the robotic arm to operate exposed loads on the bidirectional cargo transfer slide. The depressurization and repressurization subsystem encompasses two functional modules: a depressurization module and a repressurization module. The depressurization module consists of a gas reuse component and a depressurization component. After depressurization begins, the gas reuse component reuses most of the air from the airlock into the space station's sealed compartment. After gas reuse ends, the depressurization component vents the remaining air from the airlock into outer space. The repressurization module consists of a repressurization component. After repressurization begins, the repressurization component vents air from the space station's sealed compartment into the airlock, achieving airlock repressurization.

[0012] In the aforementioned on-orbit assembled cargo airlock of the space station, the active end of the universal docking device is an active device, installed on the outer bulkhead of the space station; the active end of the universal docking device consists of a structural ring, guide plate, capture lock, electric bolt and controller; the passive end of the universal docking device is a passive device, installed on the front frame of the bell-shaped main structure; it consists of a structural ring, guide plate, capture lock adapter, nut and sealing ring;

[0013] The structural ring is used to maintain the sealed pressurized passage between the airlock and the space station's sealed compartment, and to provide an interface for the installation of other components of the descent device.

[0014] The guide plate is used to pair the active and passive ends in the appropriate direction during the approach and capture process, eliminating the relative position and attitude deviation between the active and passive ends;

[0015] The capture lock, in conjunction with its adapter, compensates for relative position and orientation deviations of the active and passive end mating flanges caused by robotic arm control precision and visual errors; it captures and guides the mating flanges close to achieve final pairing and maintains the paired position.

[0016] The electric bolt and nut work together to establish a rigid structural connection between the active and passive ends, and provide the necessary clamping force to the sealing ring to ensure its sealing performance;

[0017] The controller is a combination of an electric bolt controller, a capture lock controller, and a power module, which realizes the driving functions of electric bolts and capture locks as well as signal acquisition functions;

[0018] The sealing ring on the passive end and the sealing surface of the mating flange on the active end are pressed together by the electric bolts to achieve the sealing function of the mating channel.

[0019] In the aforementioned on-orbit assembled cargo airlock of the space station, the inner hatch is a circular hatch that opens towards the inside of the space station's sealed cabin, meeting the passage requirements for the satellite to be released into the airlock.

[0020] In the aforementioned space station on-orbit assembled cargo airlock, the satellite release device includes a guiding mechanism, an ejection mechanism, a driving mechanism, and a clamping mechanism; the guiding mechanism is used to guide the satellite to be released to move linearly along the separation direction; the driving mechanism is used to drive and unlock the ejection mechanism; the ejection mechanism is used to eject the satellite to be released to achieve the initial separation velocity; and the clamping mechanism is used to fix the ejection mechanism in a clamped state.

[0021] The on-orbit assembly cargo airlock used for satellite on-orbit release operates as follows: The components of the satellite to be released are transported to the space station via a cargo spacecraft. Astronauts transfer these components to the space station's sealed compartment. Inside the sealed compartment, the astronauts assemble the satellite. With the cooperation of ground personnel and astronauts, specialized testing equipment is used to perform pre-exit inspections on the satellite. The astronauts open the inner hatch of the airlock, install the satellite onto the release device, close the inner hatch, depressurize the airlock, and the robotic arm retrieves the airlock. The onboard robotic arm adapter unlocks the active end of the universal docking device on the space station to the passive end of the universal docking device on the airlock. The robotic arm transports the airlock to the satellite release position. The robotic arm supplies power to the release device manager and connects the telemetry and control interface. Under the control of the release device manager, the satellite release device achieves ejection and separation of the satellite to be released. The robotic arm transports the airlock to the active end of the universal docking device outside the space station. The active end of the universal docking device captures and locks with the passive end of the universal docking device on the airlock. The robotic arm releases the airlock. The space station repressurizes the airlock. The astronauts open the inner hatch of the airlock and enter the airlock.

[0022] In the aforementioned on-orbit assembled cargo airlock of the space station, the active end of the universal docking device is an active device, installed on the outer bulkhead of the space station; the active end of the universal docking device consists of a structural ring, a guide plate, a capture lock, an electric bolt, and a controller; the passive end of the universal docking device is a passive device, installed on the front frame of the bidirectional straight-through columnar main structure, and consists of a structural ring, a guide plate, a capture lock adapter, a nut, and a sealing ring;

[0023] The structural ring maintains the sealed pressurized passage between the airlock and the space station's sealed compartment and provides an interface for installing other components of the docking device. The guide plate ensures proper alignment of the active and passive ends during approach and capture, eliminating relative position and attitude deviations. The capture lock, in conjunction with its adapter, compensates for relative position and attitude deviations of the docking flanges on the active and passive ends due to robotic arm control precision and visual errors. It captures and guides the docking flanges to approach, ultimately achieving and maintaining the mating position. The electric bolt and nut work together to establish a rigid structural connection between the active and passive ends and provide the necessary clamping force to the sealing ring to ensure its sealing performance. The controller is a combination of the electric bolt controller, capture lock controller, and power module, enabling the electric bolt and capture lock drive functions as well as signal acquisition. The sealing ring on the passive end and the sealing surface of the active end's docking flange are pressed together by the electric bolt, achieving a sealed docking passage.

[0024] In the aforementioned on-orbit assembled cargo airlock of the space station, the door is a circular door that opens towards the inside of the space station's sealed compartment, satisfying the passage requirements for the telescopic mechanism of the bidirectional cargo transfer slide to extend into the space station's sealed compartment and carry exposed loads for transfer.

[0025] In the aforementioned on-orbit assembled cargo airlock of the space station, the mechanical module of the bidirectional cargo transfer slide consists of three parts: a slide base, a bidirectional telescopic mechanism, and a bidirectional position adjustment mechanism. The slide base supports the bidirectional telescopic mechanism, with one side connected to the airlock wall panel and the other side connected to the bidirectional telescopic mechanism. The bidirectional telescopic mechanism consists of upper and lower plates, with the upper and lower plates sliding precisely relative to each other using ball screws, thereby achieving telescopic movement. The position adjustment mechanism is integrated on the upper plate, and the position adjustment mechanism slides precisely relative to the upper plate using ball screws, driving the exposed load installed on the position adjustment mechanism to move, thereby adjusting the position of the exposed load outside the airlock.

[0026] In the aforementioned space station on-orbit assembled cargo airlock, the on-orbit assembly and construction process of the on-orbit assembled cargo airlock for exposing loads to enter and exit the sealed compartment is as follows:

[0027] The airlock is installed inside the open cargo bay of the cargo spacecraft during launch and ascent. The cargo spacecraft supplies power and connects its telemetry and control interface to the airlock, and controls its thermal insulation. The cargo spacecraft docks with the space station to form a combined module. The space station's robotic arm grabs the robotic arm adapter on the airlock. The cargo spacecraft disconnects its power and telemetry and control interface from the airlock, and unlocks the ascent fixing bracket between the cargo spacecraft and the airlock. The space station's robotic arm supplies power and connects its telemetry and control interface to the airlock, and controls its thermal insulation. The space station's robotic arm removes the airlock from the cargo spacecraft's cargo bay and transports it to the active end of the universal docking device outside the space station. The active end of the universal docking device captures and locks with the passive end of the universal docking device on the airlock. The space station's robotic arm disconnects its power and telemetry and control interface from the airlock, and releases the airlock. The space station connects its power, information, and thermal control fluid circuits to the airlock, and the airlock is actively thermally controlled. The space station repressurizes the airlock, and the astronauts open the inner hatch of the airlock and enter the airlock.

[0028] The on-orbit retraction process of the on-orbit assembled cargo airlock used for exposing loads to and from the sealed compartment is the reverse process of the assembly and construction process.

[0029] In the aforementioned on-orbit assembled cargo airlock of the space station, the process of the exposed load exiting the airlock is as follows:

[0030] The astronauts open the inner hatch of the airlock, and the bidirectional cargo transfer slide extends into the sealed cabin of the space station. The astronauts install the exposure payload on the bidirectional cargo transfer slide. The bidirectional cargo transfer slide retracts into the airlock, the astronauts close the inner hatch, the airlock depressurizes and the outer hatch automatically opens, the bidirectional cargo transfer slide extends into outer space and sends the exposure payload out of the cabin. The robotic arm grabs the exposure payload, supplies power to the exposure payload and connects the telemetry and control interface, the exposure payload unlocks from the bidirectional cargo transfer slide, the robotic arm removes the exposure payload from the bidirectional cargo transfer slide, the robotic arm transfers the exposure payload and installs it on the space station's extravehicular exposure experimental platform, the robotic arm returns to its parking configuration, the bidirectional cargo transfer slide retracts into the airlock, the outer hatch of the airlock automatically closes, the airlock is repressurized, and the astronauts open the inner hatch of the airlock and enter the airlock. The process of the exposure payload returning to the cabin through the airlock is the reverse process of the extravehicular activity (EVA).

[0031] The advantages of this invention compared to the prior art are:

[0032] (1) The on-orbit assembled cargo airlock of the present invention for on-orbit release of satellites can realize the assembly and testing of medium and large satellites in the sealed cabin of the space station, and effectively improve the satellite deployment success rate and reduce the satellite development cost by exiting the cabin and releasing the satellite in orbit through the airlock.

[0033] (2) The on-orbit assembled cargo airlock of the present invention for exposing loads to enter and exit the sealed cabin can realize the on-orbit assembly of the cargo airlock with the space station and can realize the automatic entry and exit of cargo into and out of the sealed cabin of the space station. In particular, the cargo airlock can be replaced as a whole in case of failure.

[0034] (3) The on-orbit assembled cargo airlock of the present invention can realize the on-orbit assembly of the cargo airlock with the space station and realize the automatic entry and exit of cargo into and out of the space station sealed cabin. In particular, the cargo airlock can be replaced as a whole in case of failure, which greatly improves the efficiency of cargo entry and exit from the space station sealed cabin and effectively improves the reliability of the automatic entry and exit of cargo from the space station sealed cabin. Attached Figure Description

[0035] Figure 1 This is a structural diagram of an on-orbit assembled cargo airlock for satellite on-orbit release, according to an embodiment of the present invention.

[0036] Figure 2 This is a diagram of the satellite being released, which is part of an on-orbit assembled cargo airlock used for on-orbit release according to an embodiment of the present invention.

[0037] Figure 3 This is a diagram of a satellite to be released, representing an embodiment of the present invention, using an on-orbit assembled cargo airlock for on-orbit release.

[0038] Figure 4This is a structural diagram of an on-orbit assembled cargo airlock for exposing loads to enter and exit a sealed compartment, according to an embodiment of the present invention.

[0039] Figure 5 This is a diagram of a bidirectional cargo transfer slide entering the airlock of an on-orbit assembled cargo airlock, used for exposing loads to and from the sealed compartment, according to an embodiment of the present invention.

[0040] Figure 6 This is a diagram of a bidirectional cargo transfer slide exiting a sealed cargo airlock for on-orbit assembly, as described in an embodiment of the present invention. Detailed Implementation

[0041] The present invention will be further described below with reference to the embodiments.

[0042] This invention provides an on-orbit assembled cargo airlock for space stations. One type is an on-orbit assembled cargo airlock for satellite on-orbit release, and the other type is an on-orbit assembled cargo airlock for exposing payloads to enter and exit the sealed cabin. The on-orbit assembled cargo airlock for exposing payloads to enter and exit the sealed cabin can realize the on-orbit assembly of the cargo airlock with the space station and can realize the automatic entry and exit of cargo into and out of the space station's sealed cabin. In particular, in the event of a cargo airlock failure, the entire airlock can be replaced, which greatly improves the efficiency of cargo entry and exit from the sealed cabin of the space station and effectively enhances the reliability of the automatic entry and exit of cargo into and out of the sealed cabin of the space station.

[0043] The space station on-orbit assembled cargo airlock designed in this invention includes two types: an on-orbit assembled cargo airlock for satellite on-orbit release and an on-orbit assembled cargo airlock for exposing payloads to enter and exit a sealed compartment.

[0044] The on-orbit assembled cargo airlock for satellite on-orbit release includes a bell-shaped main structure 11, a robotic arm adapter 12, a docking camera 13, a docking camera target 14, a passive end of a universal docking device 15, an active end of a universal docking device 16, an inner door 17, a satellite release device 18, a release device manager 19, and functional subsystems; the functional subsystems include a thermal management subsystem and a depressurization and repressurization subsystem.

[0045] The bell-shaped main structure 11 consists of a shell structure and an internal structure. The shell structure is formed by welding bell-shaped wall panels, a top flange, and a bottom end frame. The bell-shaped wall panels are integral wall panel structures, composed of four wall panels welded at approximately 90° angles along the circumference. The top flange is used to install the robotic arm adapter 12. The bottom end frame is used for mechanical connection with the passive end 15 of the universal docking device. The internal structure is a secondary structure consisting of honeycomb panels and metal brackets, used to install the satellite release device 18 and the release device manager 19. The robotic arm adapter 12 is installed on the top of the bell-shaped main structure 11 and is the interface device between the airlock and the space station robotic arm. The external space station robotic arm connects via... The robotic arm adapter 12 enables the operation of the airlock; the docking camera 13 is installed on the outer wall of the bell-shaped main structure 11 column section, near the passive end 15 of the universal dock device; the docking camera target 14 is installed at the active end 16 of the universal dock device on the outer wall of the space station; the optical axis of the docking camera 13 is coaxial with the central axis of the docking camera target 14; the docking camera 13 is used to capture relative pose images between the active end 16 and the passive end 15 of the universal dock device during the installation or removal of the airlock by the robotic arm, and transmits the images to the robotic arm via the LVDS interface. The robotic arm calculates the relative pose data between the active and passive ends for use in... The robotic arm operates under closed-loop motion control. The inner hatch 17 is mounted on the wall of the space station's sealed module, located at the center of the universal dock access channel, and is manually opened or closed by astronauts. The satellite release device 18 enables manual connection and automatic separation from the satellite 181 to be released, and provides an initial release velocity to the satellite 181, allowing it to pass through the passive end 15 of the universal dock and move away from the airlock. The release device manager 19 receives 100V power from the external robotic arm and communicates with it via the 1553B bus. Upon receiving the satellite release command from the external robotic arm, the release device manager 19 controls the satellite release... The release device 18's drive mechanism unlocks the ejection mechanism, completing the release of the satellite 181 to be released; the thermal management subsystem refers to covering the outer side of the airlock cabin wall with multiple layers of heat insulation material, and covering the upper surface of the multiple layers of heat insulation material with a layer of atomic oxygen-proof cloth, covering the inner side of the airlock cabin wall with heat insulation foam, and attaching a layer of flame-retardant cloth to the upper surface of the heat insulation foam; the depressurization and repressurization subsystem includes two functional modules: a depressurization module and a repressurization module; the depressurization module consists of a gas reuse component and a depressurization component. After depressurization begins, the gas reuse component reuses most of the air in the airlock cabin to the space station's sealed cabin; after gas reuse ends, the depressurization component vents the remaining air in the airlock cabin to outer space.

[0046] The on-orbit assembled cargo airlock for exposing loads to and from the sealed compartment includes a two-way straight-through columnar main structure 21, a robotic arm adapter 22, a docking camera 23, a docking camera target 24, a passive end of a universal docking device 25, an active end of a universal docking device 26, an inner hatch 27, a two-way cargo transfer slide 28, an outer hatch 29, and functional subsystems; among which, the functional subsystems include an electronic distribution system, an information subsystem, a thermal management subsystem, a lighting and camera subsystem, and a depressurization and repressurization subsystem.

[0047] The bidirectional straight-through columnar main structure 21 consists of a shell structure and an internal structure. The shell structure is formed by welding column section wall panels and two end frames at the front and rear ends. The column section wall panels are integral wall panel structures, composed of four wall panels welded together at approximately 90° angles along the circumference. The side closest to the passive end 25 of the universal docking device is the front end frame, which enables mechanical connection with the passive end 25 of the universal docking device. The column section side corresponding to the front end frame is the rear end frame, which serves as the door frame for the outer hatch 29, used to install the door hinge, door hinge drive mechanism, door lock, and door lock drive mechanism, and provides a sealing flange surface that matches the door body sealing ring of the outer hatch 29. Reinforcing ribs are provided on the inner wall of the airlock wall panel structure, with evenly distributed mounting holes to provide connection and installation interfaces for the bidirectional cargo transfer slide 28. The internal structure of the airlock consists of aluminum honeycomb panels and a secondary metal support structure, used to install the airlock core management unit, switches, power supply and distribution unit, cameras, lighting, and external hatch control actuators. The robotic arm adapter 22 is installed on the outer wall of the bidirectional straight-through columnar main structure 21, serving as the interface between the airlock and the space station's robotic arm. The external robotic arm operates the airlock by grasping the robotic arm adapter 22. The docking camera 23 is installed on the outer wall of the airlock column, near the passive end 25 of the universal dock device. The docking camera target 24 is installed next to the active end 26 of the universal dock device on the space station's outer bulkhead. The optical axis of the docking camera 23 is coaxial with the central axis of the docking camera target 24. The docking camera 23 is used to film the universal dock device during the installation or removal of the airlock by the robotic arm. The relative pose image between the active end 26 and the passive end 25 of the universal docking device is transmitted to the robotic arm via the LVDS interface. The robotic arm calculates the relative pose data between the active and passive ends for closed-loop control of the robotic arm's motion. The inner hatch 27 is installed on the wall of the space station's sealed cabin, located at the center of the universal docking device passage, and is opened or closed manually by the astronauts. The bidirectional cargo transfer slide 28 consists of a mechanical module and a control module. The mechanical module is used to realize the actions and functions of the exposed payload 281 entering and leaving the cabin. The control module is used to realize the status monitoring, temperature measurement, power supply and distribution, command control, and fault handling functions of the mechanical module. The outer hatch 29 is installed on the rear frame of the bidirectional straight-through columnar main structure 21. 9 is a circular hatch that opens towards the outside of the airlock, meeting the clearance requirements for the telescopic mechanism of the bidirectional cargo transfer slide 28 to extend outside the airlock and carry exposed loads for transfer. The electronic distribution system is used for energy distribution, load management and control, and low-frequency cable network connection between electrical equipment in various flight phases of the airlock. It consists of a power supply and distribution unit and a cable network. After the airlock is assembled with the space station sealed module, the airlock power supply and distribution unit is connected to the space station bus control unit through the circuit floating disconnector installed on the universal docking device, realizing the connection of the 100V power supply bus. The airlock power supply and distribution unit is connected to the electrical loads of this module through the cable network, providing controlled 100V power supply. The information subsystem includes two functional modules: a 1553B bus network and an Ethernet network.The 1553B bus network uses the airlock core management unit as the data management center, with two sets of buses as local platform buses. One set docks and connects with the space station, while the other set handles command control, telemetry parameter acquisition, and data transmission between functional subnets within the airlock. The Ethernet network uses the airlock switch as the data exchange center. On one hand, the network terminals of the airlock's cameras connect to the switch; on the other hand, the airlock switch connects to the space station's top-level switch via docking, enabling high-speed network connectivity for image data transmission and control. The thermal management subsystem includes a passive thermal control system and an active thermal control system. The passive thermal control system refers to the system encased on the outside of the airlock walls. The airlock uses multi-layered insulation material, with an additional layer of oxygen-resistant fabric covering the top. Insulating foam is wrapped around the inner wall of the airlock, and a flame-retardant fabric is adhered to the top of the foam. The active thermal control system refers to the airlock fluid loop, which collects heat loss from the airlock equipment and heats the low-temperature zones on the airlock wall. This heat is then connected to the space station's intermediate-temperature internal loop via an inter-module disconnector, and transferred to the external loop through heat exchangers on the intermediate-temperature internal loop. Finally, the heat is dissipated into outer space through the space station's radiators. The airlock fluid loop does not have drive pumps or regulating valves, only compensators and sensors. After connecting to the space station's intermediate-temperature internal loop, it is driven by the pumps in the intermediate-temperature internal loop to... The airlock features a mass circulation system. The lighting and camera subsystem comprises an internal camera, an external camera, internal lighting, and external lighting. The internal camera is located inside the airlock and captures the movement of the bidirectional cargo transfer slide 28, the opening and closing of the internal hatch 27, and the opening and closing of the external hatch 29. The external camera is located on the outer wall of the bidirectional straight-through columnar main structure 21 and captures the movement of the bidirectional cargo transfer slide 28, the opening and closing of the external hatch 29, and the exposed load 281 on the bidirectional cargo transfer slide 28 operated by the robotic arm. The internal lighting is located inside the airlock and provides illumination for astronauts' activities inside the cabin and for the cameras to capture the internal state of the airlock. The external lighting is located on the bidirectional straight-through columnar main structure 21. The columnar main structure 21-section outer bulkhead provides illumination support for the external cameras to capture the movement of the bidirectional cargo transfer slide 28 and for the robotic arm to operate the exposed load 281 on the bidirectional cargo transfer slide 28. The depressurization and repressurization subsystem encompasses two functional modules: a depressurization module and a repressurization module. The depressurization module consists of a gas reuse component and a depressurization component. After depressurization begins, the gas reuse component reuses most of the air in the airlock to the space station's sealed compartment. After gas reuse ends, the depressurization component vents the remaining air in the airlock to outer space. The repressurization module consists of a repressurization component. After repressurization begins, the repressurization component vents the air in the space station's sealed compartment to the airlock, achieving airlock repressurization.

[0048] The specific design of the on-orbit assembled cargo airlock for satellite on-orbit release is as follows:

[0049] The universal dock device's active end 16 is an active device, installed on the outer bulkhead of the space station; the active end 16 consists of a structural ring, guide plate, capture lock, electric bolt, and controller; the universal dock device's passive end 15 is a passive device, installed on the front frame of the bell-shaped main structure 11; it consists of a structural ring, guide plate, capture lock adapter, nut, and sealing ring; the structural ring maintains the sealed pressurized passage between the airlock and the space station's sealed compartment and provides an interface for installing other components of the dock device; the guide plate is used to pair the active and passive ends in the appropriate direction during approach and capture, eliminating relative position and attitude deviations between the active and passive ends; the capture lock and the capture lock adapter... The actuators work together to compensate for the relative position and posture deviations of the active and passive end mating flanges caused by the control precision and visual errors of the robotic arm; they capture and guide the mating flanges to approach and ultimately achieve and maintain the mating position; the electric bolts and nuts work together to establish a rigid structural connection between the active and passive ends and provide the necessary clamping force to the sealing ring to ensure its sealing performance; the controller is a combination of an electric bolt controller, a capture lock controller, and a power module, realizing the driving functions of the electric bolts and capture locks as well as signal acquisition functions; the sealing ring on the passive end and the sealing surface of the active end mating flange are pressed together by the electric bolts to achieve the sealing function of the mating channel.

[0050] The inner hatch 17 is a circular hatch that opens towards the inside of the space station's sealed cabin, meeting the passage requirements for the release of satellite 181 to enter the airlock.

[0051] The satellite release device 18 includes a guiding mechanism, an ejection mechanism, a driving mechanism, and a clamping mechanism; the guiding mechanism is used to guide the satellite 181 to be released to move linearly in the separation direction; the driving mechanism is used to drive the ejection mechanism to unlock; the ejection mechanism is used to eject the satellite 181 to be released so that it reaches the initial separation velocity; and the clamping mechanism is used to fix the ejection mechanism in the clamping state.

[0052] The on-orbit assembly-type cargo airlock used for satellite on-orbit release operates as follows: The components of the satellite to be released are transported to the space station via a cargo spacecraft. Astronauts transfer the components of the satellite (181) to the sealed compartment of the space station. Inside the sealed compartment, the astronauts assemble the satellite (181). With the cooperation of ground personnel and astronauts, specialized testing equipment is used to conduct pre-exit inspections on the satellite (181). The astronauts open the inner hatch 17 of the airlock, install the satellite (181) onto the satellite release device 18, close the inner hatch 17, depressurize the airlock, and the robotic arm retrieves the robotic arm adapter 12 from the airlock. The active end 16 of the universal docking device on the space station unlocks with the passive end 15 of the universal docking device on the airlock. The robotic arm transports the airlock to the satellite release position. The robotic arm supplies power to the release device manager 19 and connects the telemetry and control interface. Under the control of the release device manager 19, the satellite release device 18 ejects and separates the satellite 181 to be released. The robotic arm transports the airlock to the active end 16 of the universal docking device outside the space station. The active end 16 of the universal docking device captures and locks with the passive end 15 of the universal docking device on the airlock. The robotic arm releases the airlock. The space station repressurizes the airlock. The astronauts open the inner hatch 17 of the airlock and enter the airlock.

[0053] The specific design of the on-orbit assembled cargo airlock for exposing loads to enter and exit the sealed compartment is as follows:

[0054] The universal dock device's active end 26 is an active device, installed on the outer bulkhead of the space station. The active end 26 consists of a structural ring, guide plate, capture lock, electric bolts, and a controller. The universal dock device's passive end 25 is a passive device, installed on the front frame of the bidirectional straight-through columnar main structure 21, and consists of a structural ring, guide plate, capture lock adapter, nut, and sealing ring. The structural ring maintains the sealed pressurized passage between the airlock and the space station's sealed compartment and provides an interface for installing other components of the dock device. The guide plate ensures proper alignment between the active and passive ends during approach and capture, eliminating relative position and attitude deviations between them. The capture lock... The lock adapter works in conjunction with the robot arm to compensate for the relative position and attitude deviations of the active and passive end mating flange surfaces caused by the robot arm's control precision and visual errors; it captures and guides the mating flanges to approach and ultimately achieve and maintain the mating position; the electric bolt and nut work together to establish a rigid structural connection between the active and passive ends and provide the necessary clamping force to the sealing ring to ensure its sealing performance; the controller is a combination of the electric bolt controller, the capture lock controller, and the power module, realizing the electric bolt and capture lock driving functions as well as signal acquisition functions; the sealing ring on the passive end and the sealing surface of the active end mating flange are pressed together by the electric bolt to achieve the sealing function of the mating channel.

[0055] The inner hatch 27 is a circular hatch that opens towards the inside of the space station's sealed compartment, meeting the clearance requirements for the telescopic mechanism of the bidirectional cargo transfer slide 28 to extend into the space station's sealed compartment and carry the exposed load 281 for transfer.

[0056] The mechanical module of the bidirectional cargo transfer slide 28 consists of three parts: a slide base, a bidirectional telescopic mechanism, and a bidirectional position adjustment mechanism. The slide base supports the bidirectional telescopic mechanism, with one side connected to the airlock wall panel and the other side connected to the bidirectional telescopic mechanism. The bidirectional telescopic mechanism consists of upper and lower plates, with the upper and lower plates sliding precisely relative to each other using ball screws, thus achieving telescopic movement. The position adjustment mechanism is integrated on the upper plate, and the position adjustment mechanism slides precisely relative to the upper plate using ball screws, driving the exposed load 281 mounted on the position adjustment mechanism to move, thereby adjusting the position of the exposed load 281 outside the airlock.

[0057] The on-orbit assembly and construction process of the on-orbit assembled cargo airlock for exposing loads to enter and exit the sealed compartment is as follows:

[0058] The airlock is installed inside the open cargo bay of the cargo spacecraft during launch and ascent. The cargo spacecraft supplies power and connects its telemetry and control interface to the airlock, and controls its thermal insulation. The cargo spacecraft docks with the space station to form a combined module. The space station's robotic arm grabs the robotic arm adapter 22 on the airlock. The cargo spacecraft disconnects its power and telemetry and control interface from the airlock, and unlocks the ascent fixing bracket between the cargo spacecraft and the airlock. The space station's robotic arm connects its power and telemetry and control interface to the airlock and controls its thermal insulation. The space station's robotic arm removes the airlock from the cargo bay and transports it to the active end 26 of the universal docking device outside the space station. The active end 26 of the universal docking device captures and locks with the passive end 25 of the universal docking device on the airlock. The space station's robotic arm disconnects its power and telemetry and control interface from the airlock, and releases the airlock. The space station connects its power, information, and thermal control fluid circuits to the airlock, and the airlock is subjected to active thermal control. The space station repressurizes the airlock, and the astronauts open the inner hatch 27 of the airlock and enter the airlock.

[0059] The on-orbit retraction process of the on-orbit assembled cargo airlock used for exposing loads to and from the sealed compartment is the reverse process of the assembly and construction process.

[0060] The process of exposed loads exiting the airlock is as follows:

[0061] The astronauts open the inner hatch 27 of the airlock, and the bidirectional cargo transfer slide 28 extends into the sealed cabin of the space station. The astronauts then mount the exposed payload 281 onto the bidirectional cargo transfer slide 28. The bidirectional cargo transfer slide 28 retracts into the airlock, and the astronauts close the inner hatch 27. The airlock is depressurized, and the outer hatch 29 automatically opens. The bidirectional cargo transfer slide 28 extends into outer space and delivers the exposed payload 281 outside the cabin. The robotic arm grasps the exposed payload 281, and the robotic arm supplies power to the exposed payload 281 and connects the telemetry and control interface. The exposed payload 281 is unlocked from the bidirectional cargo transfer slide 28. The robotic arm removes the exposed payload 281 from the bidirectional cargo transfer slide 28, transfers the exposed payload 281 to the space station's extravehicular exposure experiment platform, the robotic arm returns to the parking configuration, the bidirectional cargo transfer slide 28 retracts into the airlock, the airlock's external hatch 29 automatically closes, the airlock is repressurized, and the astronauts open the airlock's internal hatch 27 and enter the airlock. The process of the exposed payload 281 returning to the cabin through the airlock is the reverse process of the extravehicular activity (EVA) process.

[0062] Example

[0063] like Figure 1 As shown, according to one embodiment of the present invention, an on-orbit assembled cargo airlock for on-orbit release of a satellite includes: a bell-shaped main structure 11, a robotic arm adapter 12, a docking camera 13, a docking camera target 14, a passive end of a universal docking device 15, an active end of a universal docking device 16, an inner hatch 17, a satellite release device 18, a release device manager 19, and functional subsystems. The functional subsystems include a thermal management subsystem and a depressurization / recompression subsystem.

[0064] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, the bell-shaped main structure 11 consists of a shell structure and an internal structure. The shell structure is welded together from a bell-shaped wall panel, a top flange, and a bottom end frame. The bell-shaped wall panel is an integral wall panel structure, composed of four wall panels welded together at approximately 90° angles along the circumference. The top flange is used to install the robotic arm adapter 12, and the bottom end frame is used for mechanical connection with the passive end 15 of the universal docking device. The internal structure consists of secondary structures such as honeycomb panels and metal supports, mainly used to install equipment such as the satellite release device 18 and the release device manager 19.

[0065] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, the robotic arm adapter 12 is installed on the top of the bell-shaped main structure 11 and serves as the interface device between the airlock and the space station robotic arm. The space station robotic arm operates the airlock by grasping the robotic arm adapter 12, and enables the connection of power supply, 1553B bus, and LVDS interface between the robotic arm end effector and the airlock.

[0066] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, a docking camera 13 is installed on the outer wall of the bell-shaped main structure 11 column segment, near the passive end 15 of the universal dock device. A docking camera target 14 is installed next to the active end 16 of the universal dock device on the outer bulkhead of the space station. The optical axis of the docking camera 13 is coaxial with the central axis of the docking camera target 14. The docking camera 13 is used to capture relative pose images between the active end 16 and the passive end 15 of the universal dock device during the installation or removal of the airlock by the robotic arm, and transmits the images to the robotic arm via the LVDS interface. The robotic arm calculates the relative pose data between the active end and the passive end for closed-loop control of the robotic arm's motion.

[0067] Combination Figure 1 , Figure 2 As shown, according to one embodiment of the present invention, the active end 16 of the universal docking device is an active device, installed on the outer bulkhead of the space station, and consists of a structural ring, a guide plate, a capture lock, an electric bolt, and a controller. The passive end 15 of the universal docking device is a passive device, installed on the front frame of the bell-shaped main structure 11, and consists of a structural ring, a guide plate, a capture lock adapter, a nut, and a sealing ring. The structural ring is used to maintain the sealed pressurized channel between the airlock and the sealed compartment of the space station, and provides an interface for the installation of other components of the docking device. The guide plate is used to pair the active and passive ends in an appropriate direction during approach and capture, eliminating relative position and attitude deviations between the active and passive ends. The capture lock, in conjunction with the capture lock adapter, has a large capture envelope, used to compensate for relative position and attitude deviations of the docking flange surfaces of the active and passive ends caused by robotic arm control accuracy and visual errors, capturing and guiding the docking flanges to approach and ultimately achieve and maintain the paired position. The electric bolt, in conjunction with the nut, establishes a rigid structural connection between the active and passive ends and provides the necessary clamping force to the sealing ring to ensure its sealing performance. The controller is a combined component of an electric bolt controller, a capture lock controller, and a power module, enabling the driving functions of the electric bolt and capture lock, as well as signal acquisition. The sealing ring on the passive end and the sealing surface of the mating flange on the active end are pressed together under the action of the electric bolt, achieving a sealing function for the mating channel.

[0068] Combination Figure 1 and Figure 2 As shown, according to one embodiment of the present invention, the inner hatch 17 is installed on the bulkhead of the space station's sealed module, located at the center of the universal docking device passage, and is manually opened or closed by astronauts. The inner hatch 17 consists of a door body, door frame, door hinge, door lock, porthole, balance valve, and sealing ring. The hatch 17 is a circular hatch, opening inwards towards the inside of the space station's sealed module, meeting the passage requirements for the satellite 181 to be released into the airlock.

[0069] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, the satellite release device 18 realizes manual connection and automatic separation functions with the satellite 181 to be released, and provides the satellite 181 to be released with an initial release velocity, so that the satellite 181 to be released passes through the passive end 15 of the universal docking device and moves away from the airlock. The satellite release device 18 includes a guiding mechanism, an ejection mechanism, a driving mechanism, and a clamping mechanism. The guiding mechanism is used to guide the object to be released to move linearly along the separation direction; the driving mechanism is used to drive the unlocking ejection mechanism; the ejection mechanism is used to eject the satellite 181 to be released, so that it reaches the initial separation velocity; the clamping mechanism is used to fix the ejection mechanism in a clamped state.

[0070] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, the release device manager 19 receives 100V power from the robotic arm and communicates with the robotic arm via a 1553B bus. After receiving the robotic arm's command to release the satellite, the release device manager 19 controls the drive mechanism of the satellite release device 18 to unlock the ejection mechanism, thereby completing the release of the satellite 181 to be released.

[0071] The thermal management subsystem refers to covering the outer side of the airlock chamber wall with multiple layers of thermal insulation material, and covering the upper surface of the multiple layers of thermal insulation material with a layer of atomic oxygen-resistant cloth, covering the inner side of the airlock chamber wall with thermal insulation foam, and attaching a layer of flame-retardant cloth to the upper surface of the thermal insulation foam.

[0072] The depressurization and repressurization subsystem comprises two functional modules: a depressurization module and a repressurization module. The depressurization module consists of a gas reuse component and a depressurization component. After depressurization begins, the gas reuse component reuses most of the air from the airlock into the space station's sealed compartment. After gas reuse is complete, the depressurization component vents the remaining air from the airlock into outer space. The repressurization module consists of a repressurization component. After repressurization begins, the repressurization component vents air from the space station's sealed compartment into the airlock, achieving airlock repressurization.

[0073] Combination Figure 1 As shown, the on-orbit assembly and construction process of the on-orbit assembled cargo airlock for satellite on-orbit release is as follows: the airlock is installed in the open cargo compartment of the cargo spacecraft and launched upwards. The cargo spacecraft docks with the space station to form a combined unit. The space station's robotic arm grabs the robotic arm adapter 12 on the airlock. The cargo spacecraft unlocks the upward fixing bracket between itself and the airlock. The space station's robotic arm removes the airlock from the cargo compartment of the cargo spacecraft and transports it to the active end 16 of the universal docking device outside the space station. The active end 16 of the universal docking device captures and locks with the passive end 15 of the universal docking device on the airlock. The space station's robotic arm releases the airlock. The space station repressurizes the airlock. The astronauts open the inner hatch 17 of the airlock and enter the airlock.

[0074] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, the on-orbit assembly-type cargo airlock for on-orbit release of a satellite is used as follows: The components of the satellite to be released are transported to the space station with the cargo spacecraft. Astronauts transfer the components of the satellite to be released (181) to the sealed cabin of the space station. Astronauts assemble the satellite to be released (181) in the sealed cabin. With the cooperation of ground personnel and astronauts, special testing equipment is used to conduct pre-exit inspections on the satellite to be released (181). Astronauts open the inner hatch 17 of the airlock, install the satellite to be released (181) onto the satellite release device 18, close the inner hatch 17, depressurize the airlock, and a robotic arm grabs the airlock onto the launcher. The robotic arm adapter 12 unlocks the active end 16 of the universal docking device on the space station with the passive end 15 of the universal docking device on the airlock. The robotic arm transports the airlock to the satellite release position. The robotic arm supplies power to the release device manager 19 and connects the telemetry and control interface. Under the control of the release device manager 19, the satellite release device 18 ejects and separates the satellite 181 to be released. The robotic arm transports the airlock to the active end 16 of the universal docking device outside the space station. The active end 16 of the universal docking device captures and locks with the passive end 15 of the universal docking device on the airlock. The robotic arm releases the airlock. The space station repressurizes the airlock. The astronauts open the inner hatch 17 of the airlock and enter the airlock.

[0075] like Figure 4 As shown, according to one embodiment of the present invention, the on-orbit assembled cargo airlock for exposing loads to and from a sealed compartment includes: a bidirectional straight-through cylindrical main structure 21, a robotic arm adapter 22, a docking camera 23, a docking camera target 24, a passive end of a universal docking device 25, an active end of a universal docking device 26, an inner hatch 27, a bidirectional cargo transfer slide 28, an outer hatch 29, and functional subsystems. The functional subsystems include an electronics system, an information subsystem, a thermal management subsystem, a lighting and imaging subsystem, and a depressurization / recompression subsystem.

[0076] Combination Figure 4 , Figure 5 and Figure 6As shown, according to one embodiment of the present invention, the bidirectional straight-through columnar main structure 21 consists of a shell structure and an internal structure. The shell structure is welded together from column section wall panels and two end frames at the front and rear ends. The column section wall panels are integral wall panel structures, composed of four wall panels welded together at approximately 90° angles along the circumference. The side closest to the passive end 25 of the universal docking device is the front end frame, which enables mechanical connection with the passive end 25 of the universal docking device; the column section side corresponding to the front end frame is the rear end frame, which serves as the door frame for the outer hatch 29, used to install the door hinge, door hinge drive mechanism, door lock, and door lock drive mechanism, and provides a sealing flange surface that matches the door body sealing ring of the outer hatch 29. Reinforcing ribs are provided on the inner wall of the airlock wall panel structure, with evenly distributed mounting holes to provide connection and installation interfaces for the bidirectional cargo transfer slide 28. The internal structure of the airlock consists of secondary structures such as aluminum honeycomb panels and metal supports, mainly used to install the airlock core management unit, switch, power supply and distribution unit, camera, lighting, outer hatch control driver, and other equipment.

[0077] Combination Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the robotic arm adapter 22 is installed on the outer wall of the airlock section and serves as the interface device between the airlock and the space station robotic arm. The space station robotic arm operates the airlock by grasping the robotic arm adapter 22, and enables the connection of power supply, 1553B bus, and LVDS interface between the robotic arm end effector and the airlock.

[0078] Combination Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, a docking camera 23 is installed on the outer wall of the airlock section, near the passive end 25 of the universal dock device. A docking camera target 24 is installed next to the active end 26 of the universal dock device on the outer wall of the space station. The optical axis of the docking camera 23 is coaxial with the central axis of the docking camera target 24. The docking camera 23 is used to capture images of the relative pose between the active end 26 and the passive end 25 of the universal dock device during the installation or removal of the airlock by the robotic arm, and transmits the images to the robotic arm via an LVDS interface. The robotic arm calculates the relative pose data between the active end and the passive end for closed-loop control of the robotic arm's motion.

[0079] Combination Figure 4 , Figure 5 and Figure 6As shown, according to one embodiment of the present invention, the active end 26 of the universal docking device is an active device, installed on the outer bulkhead of the space station, and consists of a structural ring, a guide plate, a capture lock, an electric bolt, and a controller. The passive end 25 of the universal docking device is a passive device, installed on the front frame of the bidirectional straight-through columnar main structure 21, and consists of a structural ring, a guide plate, a capture lock adapter, a nut, and a sealing ring. The structural ring is used to maintain the sealed pressurized channel between the airlock and the sealed compartment of the space station, and provides an interface for the installation of other components of the docking device. The guide plate is used to pair the active and passive ends in an appropriate direction during approach and capture, eliminating relative position and attitude deviations between the active and passive ends. The capture lock, in conjunction with the capture lock adapter, has a large capture envelope, used to compensate for relative position and attitude deviations of the docking flange surfaces of the active and passive ends caused by robotic arm control accuracy and visual errors, capturing and guiding the docking flanges to approach and ultimately achieve and maintain the paired position. The electric bolt, in conjunction with the nut, establishes a rigid structural connection between the active and passive ends and provides the necessary clamping force to the sealing ring to ensure its sealing performance. The controller is a combined component of an electric bolt controller, a capture lock controller, and a power module, enabling the driving functions of the electric bolt and capture lock, as well as signal acquisition. The sealing ring on the passive end and the sealing surface of the mating flange on the active end are pressed together under the action of the electric bolt, achieving a sealing function for the mating channel.

[0080] Combination Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the inner hatch 27 is installed on the bulkhead of the space station's sealed module, located at the center of the universal berthing device passage, and is manually opened or closed by astronauts. The inner hatch 27 consists of a door body, door frame, door hinge, door lock, porthole, balance valve, and sealing ring. The hatch 27 is a circular hatch, opening inwards towards the space station's sealed module, satisfying the passage requirements for the telescopic mechanism of the bidirectional cargo transfer slide 28 to extend into the space station's sealed module and carry the exposed payload 281 for transfer.

[0081] Combination Figure 4 , Figure 5 and Figure 6As shown, according to one embodiment of the present invention, the bidirectional cargo transfer slide 28 consists of a mechanical module and a control module. The mechanical module, used to realize the actions and functions required for the exposed load 281 to enter and exit the compartment, comprises three parts: a slide base, a bidirectional telescopic mechanism, and a bidirectional position adjustment mechanism. The slide base supports the bidirectional telescopic mechanism, connected to the airlock wall panel on one side and the bidirectional telescopic mechanism on the other. The bidirectional telescopic mechanism consists of upper and lower plates, with precise relative sliding between the upper and lower plates achieved using ball screws, thereby realizing telescopic movement. The position adjustment mechanism is integrated on the upper plate, and precise relative sliding between the position adjustment mechanism and the upper plate is achieved using ball screws, driving the exposed load 281 mounted on the position adjustment mechanism to move, thereby adjusting the exit position of the exposed load 281. The control module is used to realize functions such as status monitoring, temperature measurement, power supply and distribution, command control, and fault handling of the mechanical module.

[0082] Combination Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the outer hatch 29 is installed on the rear end frame of the bidirectional straight-through columnar main structure 21, and consists of a door body, a door frame, a door hinge, a door hinge drive mechanism, a door lock, a door lock drive mechanism, a control driver, and a sealing ring. Under the control and drive of the control driver, the door lock can automatically unlock or lock, and the door body can automatically rotate along the door hinge to open or close. The outer hatch 29 is a circular hatch, and the opening direction faces outward of the airlock, satisfying the passage requirements for the telescopic mechanism of the bidirectional cargo transfer slide 28 to extend out of the airlock and carry exposed loads for transfer.

[0083] The power distribution system is used for energy distribution, load management and control, and low-frequency cable network connections between electrical equipment in all phases of the airlock's flight. It consists of a power supply and distribution unit and a cable network. After the airlock is assembled with the space station's sealed module, the airlock's power supply and distribution unit is connected to the space station's bus control unit via a floating circuit breaker installed on the universal docking device, thus connecting the 100V power supply bus. The airlock's power supply and distribution unit is connected to all electrical loads in the module via the cable network, providing controlled 100V power.

[0084] The information subsystem comprises two functional modules: a 1553B bus network and an Ethernet network. The 1553B bus network uses the airlock core management unit as its data management center, and sets up two bus sets as local platform buses. One set interfaces with the space station, while the other handles internal airlock command control, telemetry parameter acquisition, and data transmission between functional subnets. The Ethernet network uses the airlock switch as its data exchange center. On one hand, network terminals such as cameras in the airlock connect to the switch; on the other hand, the airlock switch interfaces with the space station's top-level switch, enabling high-speed network connectivity for image data transmission and control.

[0085] The thermal management subsystem includes a passive thermal control system and an active thermal control system. The passive thermal control system involves covering the outer wall of the airlock with multiple layers of insulation material, and then covering the top of this insulation with an oxygen-resistant cloth. The inner wall of the airlock is covered with insulating foam, and a flame-retardant cloth is attached to the top of the foam. The active thermal control system refers to the airlock fluid loop, which collects the heat loss from the airlock equipment and heats the cryogenic zones on the airlock wall. This heat is then connected to the space station's intermediate-temperature internal loop via an inter-module disconnector, and transferred to the space station's external loop through heat exchangers on the intermediate-temperature internal loop. Finally, the heat is dissipated into outer space through the space station's radiators. The airlock fluid loop does not have drive pumps or regulating valves; it only has compensators and sensors. After connecting to the space station's intermediate-temperature internal loop, the working fluid circulates under the drive of the pumps in the intermediate-temperature internal loop.

[0086] The lighting and camera subsystem consists of an internal camera, an external camera, internal lighting, and external lighting. The internal camera is located inside the airlock and captures the movement of the bidirectional cargo transfer slide 28, the opening and closing of the internal hatch 27, and the opening and closing of the external hatch 29. The external camera is located on the outer wall of the bidirectional straight-through columnar main structure 21 and captures the movement of the bidirectional cargo transfer slide 28, the opening and closing of the external hatch 29, and the operation of the exposed payload 281 on the bidirectional cargo transfer slide 28 by the robotic arm. The internal lighting is located inside the airlock and provides illumination for astronauts' activities inside the cabin and for the cameras to capture images of the airlock's interior. The external lighting is located on the outer wall of the bidirectional straight-through columnar main structure 21 and provides illumination for the external cameras to capture images of the movement of the bidirectional cargo transfer slide 28 and for the robotic arm to operate images of the exposed payload 281 on the bidirectional cargo transfer slide 28.

[0087] The depressurization and repressurization subsystem comprises two functional modules: a depressurization module and a repressurization module. The depressurization module consists of a gas reuse component and a depressurization component. After depressurization begins, the gas reuse component reuses most of the air from the airlock into the space station's sealed compartment. After gas reuse is complete, the depressurization component vents the remaining air from the airlock into outer space. The repressurization module consists of a repressurization component. After repressurization begins, the repressurization component vents air from the space station's sealed compartment into the airlock, achieving airlock repressurization.

[0088] Combination Figure 4As shown, according to one embodiment of the present invention, the on-orbit assembly and construction process of the on-orbit assembled cargo airlock for exposing payloads to enter and exit the sealed cabin is as follows: the airlock is installed in the open cargo bay of the cargo spacecraft and launched upwards; the cargo spacecraft supplies power to the airlock, connects its telemetry and control interface, and controls its insulation; the cargo spacecraft docks with the space station to form a combined structure; the space station's robotic arm grasps the robotic arm adapter 22 on the airlock; the cargo spacecraft disconnects its power supply and telemetry and control interface from the airlock; the cargo spacecraft unlocks the upward fixing bracket between itself and the airlock; the space station's robotic arm supplies power to the airlock and connects its telemetry and control interface to the airlock; the cargo spacecraft supplies power to the airlock, connects its telemetry and control interface to the airlock, and controls its insulation; the cargo spacecraft docks with the space station to form a combined structure; the space station's robotic arm grasps the robotic arm adapter 22 on the airlock; the cargo spacecraft disconnects its power supply and telemetry and control interface from the airlock; the cargo spacecraft unlocks the upward fixing bracket between itself and the airlock; the space station's robotic arm supplies power to the airlock, connects its telemetry and control interface to the airlock, and controls its insulation; the cargo spacecraft docks with the space station to form a combined structure; the space station's robotic arm connects with the space station to form a combined structure ... disconnects its power supply and telemetry and control interface from the airlock; the cargo spacecraft The control interface is connected and its insulation is controlled. The space station robotic arm removes the airlock from the cargo compartment of the cargo spacecraft and transports it to the active end 26 of the universal docking device outside the space station. The active end 26 of the universal docking device captures and locks with the passive end 25 of the universal docking device on the airlock. The space station robotic arm supplies power to the airlock and disconnects the telemetry and control interface. The space station robotic arm releases the airlock. The space station supplies power, information, and thermal control fluid circuits to the airlock and performs active thermal control on the airlock. The space station repressurizes the airlock. The astronauts open the inner hatch 27 of the airlock and enter the airlock.

[0089] Combination Figure 5 , Figure 6 , Figure 4 Figure 4 Figure 5 Figure 6 As shown, according to one embodiment of the present invention, the process of the exposed payload exiting the space station via the airlock is as follows: the astronaut opens the inner hatch 27 of the airlock, the bidirectional cargo transfer slide 28 extends into the sealed cabin of the space station, the astronaut installs the exposed payload 281 on the bidirectional cargo transfer slide 28, the bidirectional cargo transfer slide 28 retracts into the airlock, the astronaut closes the inner hatch 27, the airlock is depressurized and the outer hatch 29 automatically opens, the bidirectional cargo transfer slide 28 extends into outer space and sends the exposed payload 281 out of the space station, and the robotic arm grasps the exposed payload. The exposed payload 281 is powered on and its control interface is connected by the robotic arm. The exposed payload 281 is unlocked from the bidirectional cargo transfer slide 28. The robotic arm removes the exposed payload 281 from the bidirectional cargo transfer slide 28, transfers it, and installs it onto the space station's extravehicular exposure experimental platform. The robotic arm returns to its parking configuration, the bidirectional cargo transfer slide 28 retracts into the airlock, the external hatch 29 of the airlock automatically closes, the airlock is repressurized, and the astronauts open the internal hatch 27 and enter the airlock. The process of the exposed payload 281 returning to the space station via the airlock is the reverse of the extravehicular activity (EVA) process.

[0090] The on-orbit retraction process of the on-orbit assembled cargo airlock used for exposing loads to and from the sealed compartment is the reverse process of the assembly and construction process.

[0091] The present invention provides an on-orbit assembled cargo airlock for satellite on-orbit release, which enables medium and large satellites to be assembled and tested in the sealed cabin of the space station, and released on-orbit through the airlock, effectively improving the satellite deployment success rate and reducing the satellite development cost.

[0092] The present invention provides an on-orbit assembled cargo airlock for exposing loads to and from the sealed cabin. It enables the cargo airlock to be assembled with the space station on orbit and allows cargo to automatically enter and exit the sealed cabin. In particular, it can be completely replaced in case of cargo airlock failure, which greatly improves the efficiency of cargo entering and exiting the sealed cabin of the space station and effectively enhances the reliability of the automatic cargo entry and exit mission of the space station.

[0093] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A space station on-orbit assembled cargo airlock, characterized in that: This includes on-orbit assembled cargo airlocks for satellite on-orbit release and on-orbit assembled cargo airlocks for exposing loads to enter and exit sealed compartments. The on-orbit assembled cargo airlock for satellite on-orbit release includes a bell-shaped main structure (11), a robotic arm adapter (12), a docking camera (13), a docking camera target (14), a universal docking device passive end (15), a universal docking device active end (16), an inner door (17), a satellite release device (18), a release device manager (19), and functional subsystems; the functional subsystems include a thermal management subsystem and a depressurization and repressurization subsystem. The bell-shaped main structure (11) consists of a shell structure and an internal structure. The shell structure is formed by welding bell-shaped wall panels, a top flange, and a bottom end frame. The bell-shaped wall panels are integral wall panel structures, consisting of four wall panels welded together at approximately 90° angles along the circumference. The top flange is used to install the robotic arm adapter (12). The bottom end frame is used for mechanical connection with the passive end (15) of the universal docking device. The internal structure is a secondary structure consisting of honeycomb panels and metal brackets, used to install the satellite release device (18) and the release device manager (19). The robotic arm adapter (12) is installed on the top of the bell-shaped main structure (11) and is the interface device between the airlock and the space station robotic arm. The external space station robotic arm connects via... The robotic arm adapter (12) is used to operate the airlock; the docking camera (13) is installed on the outer wall of the bell-shaped main structure (11), near the passive end (15) of the universal docking device; the docking camera target (14) is installed at the active end (16) of the universal docking device on the outer wall of the space station; the optical axis of the docking camera (13) is coaxial with the central axis of the docking camera target (14); the docking camera (13) is used to capture images of the relative pose between the active end (16) and the passive end (15) of the universal docking device during the installation or removal of the airlock by the robotic arm, and transmits the images to the robotic arm through the LVDS interface, so that the robotic arm can calculate the relative pose between the active end and the passive end. The pose data is used for closed-loop control of the robotic arm's motion; the inner hatch (17) is installed on the wall of the space station's sealed cabin, located in the center of the universal docking device channel, and is opened or closed manually by the astronauts; the satellite release device (18) realizes the manual connection and automatic separation functions with the satellite to be released (181), and provides the satellite to be released (181) with the initial release velocity, so that the satellite to be released (181) passes through the passive end (15) of the universal docking device and moves away from the airlock; the release device manager (19) receives 100V power from the external robotic arm and communicates with the robotic arm through the 1553B bus; after receiving the external robotic arm's satellite release command, the release device manager... The device (19) controls the drive mechanism of the satellite release device (18) to unlock the ejection mechanism and complete the release of the satellite (181) to be released; the thermal management subsystem refers to covering the outer side of the airlock cabin wall with multiple layers of heat insulation material, and covering the upper surface of the multiple layers of heat insulation material with a layer of atomic oxygen-proof cloth, covering the inner side of the airlock cabin wall with heat insulation foam, and pasting a layer of flame-retardant cloth on the upper surface of the heat insulation foam; the depressurization and repressurization subsystem includes two functional modules: a depressurization module and a repressurization module; the depressurization module consists of a gas reuse component and a depressurization component. After the depressurization begins, the gas reuse component is used to reuse most of the air in the airlock cabin to the space station sealed cabin; after the gas reuse ends, the remaining air in the airlock cabin is discharged to outer space through the depressurization component; The on-orbit assembled cargo airlock for exposing loads to and from the sealed compartment includes a two-way straight-through columnar main structure (21), a robotic arm adapter (22), a docking camera (23), a docking camera target (24), a passive end of a universal docking device (25), an active end of a universal docking device (26), an inner hatch (27), a two-way cargo transfer slide (28), an outer hatch (29), and functional subsystems; among which, the functional subsystems include an electronic distribution system, an information subsystem, a thermal management subsystem, a lighting and camera subsystem, and a depressurization and repressurization subsystem; The bidirectional straight-through columnar main structure (21) consists of a shell structure and an internal structure. The shell structure is formed by welding column section wall panels and two end frames at the front and rear ends. The column section wall panel is an integral wall panel structure, which is composed of four wall panels welded together at approximately 90° along the circumferential direction. The side closest to the passive end (25) of the universal docking device is the front end frame, which realizes the mechanical connection with the passive end (25) of the universal docking device. The column section side corresponding to the front end frame is the rear end frame, which serves as the door frame of the outer hatch (29) for installing the door hinge, door hinge drive mechanism, door lock, and door lock drive mechanism, and provides a sealing flange surface that matches the door body sealing ring of the outer hatch (29). Reinforcing ribs are provided on the inner wall of the airlock wall panel structure, and mounting holes are evenly distributed to facilitate bidirectional cargo transfer. The sliding platform (28) provides a connection and installation interface; the internal structure of the airlock is an aluminum honeycomb panel and a secondary structure of metal brackets, used to install the airlock core management unit, switch, power supply and distribution unit, camera, lighting, and external hatch control driver; the robotic arm adapter (22) is installed on the outer wall of the column section of the bidirectional straight-through columnar main structure (21), and is the interface device between the airlock and the space station robotic arm; the external robotic arm operates the airlock by grasping the robotic arm adapter (22); the docking camera (23) is installed on the outer wall of the airlock column section, near the passive end (25) of the universal docking device; the docking camera target (24) is installed next to the active end (26) of the universal docking device on the outer wall of the space station; the optical axis of the docking camera (23) is aligned with the docking camera target ( 24) The central axis is coaxial; the docking camera (23) is used to capture the relative pose image between the active end (26) and the passive end (25) of the universal docking device during the installation or removal of the airlock by the robotic arm, and transmits the image to the robotic arm through the LVDS interface. The robotic arm calculates the relative pose data between the active end and the passive end for the closed-loop control of the robotic arm's motion; the inner hatch (27) is installed on the wall of the space station's sealed cabin, located in the center of the universal docking device channel, and is opened or closed manually by the astronauts; the bidirectional cargo transfer slide (28) consists of a mechanical module and a control module; the mechanical module is used to realize the action and function of the exposed load (281) entering and leaving the cabin; the control module is used to realize the status monitoring of the mechanical module. It has functions of measurement, temperature measurement, power supply and distribution, command control, and fault handling; the outer hatch (29) is installed on the rear frame of the bidirectional straight-through columnar main structure (21); the outer hatch (29) is a circular hatch, and the opening direction is towards the outside of the airlock, which meets the requirements of the telescopic mechanism of the bidirectional cargo transfer slide (28) extending out of the airlock and carrying the exposed load transfer; the electronic distribution system is used for energy distribution, load management and control, and low-frequency cable network connection between electrical equipment in each flight phase of the airlock, and consists of a power supply and distribution unit and a cable network; after the airlock and the space station sealed cabin are assembled, the airlock power supply and distribution unit is connected to the space station bus control unit through the circuit floating disconnector installed on the universal docking device, so as to realize the 100V power supply bus connection;The airlock's power supply and distribution unit is connected to all electrical loads within the compartment via a cable network, providing controlled 100V power. The information subsystem includes two functional modules: a 1553B bus network and an Ethernet network. The 1553B bus network uses the airlock's core management unit as its data management center, with two sets of buses serving as local platform buses. One set docks with the space station and is networked, while the other handles internal airlock command control, telemetry parameter acquisition, and data transmission between functional subnets. The Ethernet network uses the airlock's switch as its data exchange center. On one hand, the network terminals of the airlock's cameras connect to the switch; on the other hand, the airlock switch connects to the space station's top-level switch via docking, achieving high-speed network connectivity for image data transmission and control. The thermal management subsystem includes a passive thermal control system and an active thermal control system. The passive thermal control system involves covering the outer wall of the airlock with multiple layers of insulation material, and then covering the surface of this insulation material with an atomic oxygen-resistant cloth. The inner wall of the airlock is covered with insulating foam, and a flame-retardant cloth is adhered to the surface of the insulating foam. The active thermal control system refers to the airlock fluid loop, which collects the heat loss from the airlock equipment and heats the low-temperature zones on the airlock wall. This heat is then connected to the space station's intermediate-temperature internal loop via an inter-module disconnector, and transferred to the space station's external loop via heat exchangers on the intermediate-temperature internal loop. Finally, the heat is discharged into outer space through the space station's radiators. The airlock fluid loop does not have drive pumps or regulating valves; it only has compensators and sensors. After the internal loop is in the warm temperature zone, the working fluid is circulated under the drive of the internal loop pump in the medium temperature zone. The lighting and camera subsystem consists of an in-cabin camera, an external camera, an in-cabin lighting lamp, and an external lighting lamp. The in-cabin camera is located inside the airlock and captures the movement of the bidirectional cargo transfer slide (28), the opening and closing of the inner hatch (27), and the opening and closing of the outer hatch (29). The external camera is located on the outer wall of the bidirectional straight-through columnar main structure (21) and captures the movement of the bidirectional cargo transfer slide (28), the opening and closing of the outer hatch (29), and the exposed load (281) on the bidirectional cargo transfer slide (28) operated by the robotic arm. The in-cabin lighting lamp is located inside the airlock and provides lighting support for astronauts to move around inside the cabin and for the cameras to capture the internal state of the airlock. The external lighting is located on the outer wall of the column section of the bidirectional straight-through main structure (21), providing illumination support for the external camera to capture the movement of the bidirectional cargo transfer slide (28) and for the robotic arm to operate the exposed load (281) on the bidirectional cargo transfer slide (28); the depressurization and repressurization subsystem includes two functional modules: the depressurization module and the repressurization module; the depressurization module consists of a gas reuse component and a depressurization component. After depressurization begins, the gas reuse component reuses most of the air in the airlock to the sealed cabin of the space station; after gas reuse ends, the depressurization component discharges the remaining air in the airlock to outer space; the repressurization module consists of a repressurization component. After repressurization begins, the repressurization component discharges the air in the sealed cabin of the space station to the airlock, realizing the repressurization of the airlock.

2. The space station on-orbit assembled cargo airlock according to claim 1, characterized in that: The active end (16) of the universal docking device is an active device, installed on the outer bulkhead of the space station; the active end (16) of the universal docking device consists of a structural ring, a guide plate, a capture lock, an electric bolt, and a controller; the passive end (15) of the universal docking device is a passive device, installed on the front frame of the bell-shaped main structure (11); it consists of a structural ring, a guide plate, a capture lock adapter, a nut, and a sealing ring; The structural ring is used to maintain the sealed pressurized passage between the airlock and the space station's sealed compartment, and to provide an interface for the installation of other components of the descent device. The guide plate is used to pair the active and passive ends in the appropriate direction during the approach and capture process, eliminating the relative position and attitude deviation between the active and passive ends; The capture lock, in conjunction with its adapter, compensates for relative position and orientation deviations of the active and passive end mating flanges caused by robotic arm control precision and visual errors; it captures and guides the mating flanges close to achieve final pairing and maintains the paired position. The electric bolt and nut work together to establish a rigid structural connection between the active and passive ends, and provide the necessary clamping force to the sealing ring to ensure its sealing performance; The controller is a combination of an electric bolt controller, a capture lock controller, and a power module, which realizes the driving functions of electric bolts and capture locks as well as signal acquisition functions; The sealing ring on the passive end and the sealing surface of the mating flange on the active end are pressed together by the electric bolts to achieve the sealing function of the mating channel.

3. The space station on-orbit assembled cargo airlock according to claim 2, characterized in that: The inner hatch (17) is a circular hatch, which opens towards the inside of the space station's sealed cabin, meeting the passage requirements for the satellite (181) to be released to enter the airlock.

4. The space station on-orbit assembled cargo airlock according to claim 3, characterized in that: The satellite release device (18) includes a guiding mechanism, an ejection mechanism, a driving mechanism, and a clamping mechanism; the guiding mechanism is used to guide the satellite (181) to be released to move linearly along the separation direction; the driving mechanism is used to drive the ejection mechanism to unlock; the ejection mechanism is used to eject the satellite (181) to be released so that it reaches the initial separation velocity; the clamping mechanism is used to fix the ejection mechanism in a clamping state.

5. The space station on-orbit assembled cargo airlock according to claim 4, characterized in that: The on-orbit assembly cargo airlock used for satellite on-orbit release is used as follows: The components of the satellite to be released are transported to the space station with the cargo spacecraft. Astronauts transfer the components of the satellite (181) to the sealed cabin of the space station. Astronauts assemble the satellite (181) in the sealed cabin. With the cooperation of ground personnel and astronauts, special testing equipment is used to conduct pre-exit inspections on the satellite (181). Astronauts open the inner hatch (17) of the airlock, install the satellite (181) on the satellite release device (18), close the inner hatch (17), depressurize the airlock, and the robotic arm grabs the robotic arm adapter (12) on the airlock. The active end (16) of the universal docking device on the space station unlocks with the passive end (15) of the universal docking device on the airlock. The robotic arm transports the airlock to the satellite release position. The robotic arm supplies power to the release device manager (19) and connects the telemetry and control interface. Under the control of the release device manager (19), the satellite release device (18) ejects and separates the satellite (181) to be released. The robotic arm transports the airlock to the active end (16) of the universal docking device outside the space station. The active end (16) of the universal docking device and the passive end (15) of the universal docking device on the airlock capture and lock. The robotic arm releases the airlock. The space station repressurizes the airlock. The astronauts open the inner hatch (17) of the airlock and enter the airlock.

6. The space station on-orbit assembled cargo airlock according to claim 1, characterized in that: The active end (26) of the universal docking device is an active device, which is installed on the outer bulkhead of the space station. The active end (26) of the universal docking device consists of a structural ring, a guide plate, a capture lock, an electric bolt, and a controller. The passive end (25) of the universal docking device is a passive device, which is installed on the front frame of the bidirectional straight-through columnar main structure (21) and consists of a structural ring, a guide plate, a capture lock adapter, a nut, and a sealing ring. The structural ring maintains the sealed pressurized passage between the airlock and the space station's sealed compartment and provides an interface for installing other components of the docking device. The guide plate ensures proper alignment of the active and passive ends during approach and capture, eliminating relative position and attitude deviations. The capture lock, in conjunction with its adapter, compensates for relative position and attitude deviations of the docking flanges on the active and passive ends due to robotic arm control precision and visual errors. It captures and guides the docking flanges to approach, ultimately achieving and maintaining the mating position. The electric bolt and nut work together to establish a rigid structural connection between the active and passive ends and provide the necessary clamping force to the sealing ring to ensure its sealing performance. The controller is a combination of the electric bolt controller, capture lock controller, and power module, enabling the electric bolt and capture lock drive functions as well as signal acquisition. The sealing ring on the passive end and the sealing surface of the active end's docking flange are pressed together by the electric bolt, achieving a sealed docking passage.

7. The space station on-orbit assembled cargo airlock according to claim 6, characterized in that: The inner hatch (27) is a circular hatch that opens towards the inside of the space station's sealed compartment, satisfying the passage requirements for the telescopic mechanism of the bidirectional cargo transfer slide (28) to extend into the space station's sealed compartment and carry the exposed load (281) for transfer.

8. The space station on-orbit assembled cargo airlock according to claim 7, characterized in that: The mechanical module of the bidirectional cargo transfer slide (28) consists of three parts: a slide base, a bidirectional telescopic mechanism, and a bidirectional position adjustment mechanism. The slide base supports the bidirectional telescopic mechanism, with one side connected to the airlock wall panel and the other side connected to the bidirectional telescopic mechanism. The bidirectional telescopic mechanism consists of upper and lower plates. The upper plate and the lower plate are precisely relative to each other using a ball screw, thereby achieving telescopic movement. The position adjustment mechanism is integrated on the upper plate. The position adjustment mechanism and the upper plate are precisely relative to each other using a ball screw, which drives the exposed load (281) installed on the position adjustment mechanism to move, thereby adjusting the position of the exposed load (281) outside the cabin.

9. The space station on-orbit assembled cargo airlock according to claim 8, characterized in that: The on-orbit assembly and construction process of the on-orbit assembled cargo airlock for exposing loads to enter and exit the sealed compartment is as follows: The airlock is installed inside the open cargo bay of the cargo spacecraft for launch and ascent. The cargo spacecraft supplies power to the airlock, connects the telemetry and control interface and controls its insulation. The cargo spacecraft docks with the space station to form a combined unit. The space station's robotic arm grabs the robotic arm adapter (22) on the airlock. The cargo spacecraft disconnects from the airlock's power supply and telemetry and control interface. The cargo spacecraft unlocks the ascent fixing bracket between itself and the airlock. The space station's robotic arm supplies power to the airlock, connects the telemetry and control interface and controls its insulation. The space station robotic arm removes the airlock from the cargo compartment of the cargo spacecraft and transports it to the active end (26) of the universal docking device outside the space station. The active end (26) of the universal docking device captures and locks with the passive end (25) of the universal docking device on the airlock. The space station robotic arm disconnects the power supply and telemetry interface of the airlock. The space station robotic arm releases the airlock. The space station connects the power supply, information, and thermal control fluid circuit of the airlock. The airlock performs active thermal control. The space station repressurizes the airlock. The astronauts open the inner hatch (27) of the airlock and enter the airlock. The on-orbit retraction process of the on-orbit assembled cargo airlock used for exposing loads to and from the sealed compartment is the reverse process of the assembly and construction process.

10. The space station on-orbit assembled cargo airlock according to claim 9, characterized in that: The process of the exposed load exiting the airlock is as follows: The astronauts open the inner hatch (27) of the airlock, and the bidirectional cargo transfer slide (28) extends into the sealed cabin of the space station; the astronauts install the exposed payload (281) on the bidirectional cargo transfer slide (28); the bidirectional cargo transfer slide (28) retracts into the airlock, the astronauts close the inner hatch (27), the airlock is depressurized and the outer hatch (29) opens automatically, the bidirectional cargo transfer slide (28) extends into outer space and sends the exposed payload (281) out of the cabin, the robotic arm grabs the exposed payload (281), and the robotic arm... The power supply and control interface of the payload (281) are connected, the exposed payload (281) is unlocked from the bidirectional cargo transfer slide (28), the robotic arm removes the exposed payload (281) from the bidirectional cargo transfer slide (28), the robotic arm transfers the exposed payload (281) and installs it on the space station's external exposure experiment platform, the robotic arm returns to the parking configuration, the bidirectional cargo transfer slide (28) retracts into the airlock, the external hatch (29) of the airlock closes automatically, the airlock is repressurized, the astronauts open the internal hatch (27) of the airlock and enter the airlock; The process of the exposed load (281) returning to the cabin through the airlock is the reverse process of the exit process.

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