On-orbit Assembly System and Method for Space Solar Power Station Based on Space Assembly Robot

Abstract

A space solar power station on-orbit assembly system and method based on space assembly robots is proposed. The system adopts a modular design for space solar power modules and provides a highly intelligent and standardized on-orbit assembly construction method through the autonomous assembly planning and collaborative operation of multiple sets of space assembly robots with subdivided functions. It has stronger collaborative operation capabilities for large-span deployable structural modules and can adapt to on-orbit assembly construction with longer mission time and larger envelope. It realizes a low-consumption, high-efficiency and high-reliability on-orbit assembly scheme for on-orbit assembly tasks with MW-level power and kilometer-level scale.

Description

Technical Field

[0001] This invention belongs to the field of on-orbit assembly in space technology, specifically involving an on-orbit assembly and construction method for a space solar power station based on an autonomously planned space assembly robot. Background Technology

[0002] With the continuous development of space science and technology and the increasing sophistication of space equipment, space has become a new battleground for competition among major technological powers, making the need to build more powerful large-scale space infrastructure increasingly urgent. Space solar power stations, as crucial infrastructure for the development and utilization of space solar energy, are the most likely way to provide large-scale, stable energy. MW-level space solar power stations reach kilometer-scale dimensions, involving high-power thin-film battery arrays, ultra-large-scale 100-meter-level microwave transmitting antennas, and full-truss load-bearing structures. Due to limitations in launch capacity, large space equipment cannot be directly sent into space using traditional integrated launch methods. Instead, a new construction model is needed, employing modular design, multiple launches into orbit, and on-orbit assembly, representing a typical ultra-large-scale modular on-orbit assembly structure.

[0003] As early as the 1970s, foreign countries began research on on-orbit assembly technology, including the geostationary orbit platform proposed by NASA's Marshall Space Flight Center, the geostationary orbit platform for Earth science proposed by NASA, as well as various modular spacecraft platforms, space solar power station systems, the International Space Station system, and so on. For large space structures with a very high degree of modularity, various countries have successively proposed construction schemes with multiple modular assembly levels, such as Project Dragonfly for large spaceborne antennas, the Space Assembly of Large Structure Systems for Megawatt-class Solar Power Stations (SALSSA), and the Optical Aperture Self-Assembly in Space (OASIS) project for large-aperture optical equipment. Internationally, various on-orbit assembly robots such as Skyworker, Robonaut2, and TALISMAN have been proposed for on-orbit assembly, inspection, and maintenance tasks. They have the ability to autonomously move payloads, with a design coverage area of ​​several kilometers and a payload capacity of tons. Ground experiments of collaborative operation of prototypes have been conducted, and flight tests are planned for the next 2-3 years. These projects are expected to overcome the bottlenecks in the engineering and practical application of assembly technology, ushering in a new stage of large-scale and large-scale development of spacecraft.

[0004] As the cost of commercially reusable launches continues to decline and space robotics technology matures, the deployment of space-based solar power stations has become possible, but the following challenges remain:

[0005] (1) At present, the autonomous rendezvous and docking of modular spacecraft, represented by the space station, is relatively mature, but its scale is limited.

[0006] (2) The on-orbit assembly requirements of centralized spacecraft, such as space telescopes, are relatively concentrated. Space robots perform collaborative operations on the core platform, which cannot adapt to the assembly of large-scale modular structures at the kilometer level or above.

[0007] (3) In the on-orbit assembly and construction of space solar power stations, there are many challenges such as the rapid assembly of a large number of standardized assembly modules, long-distance module transportation, multi-point collaborative operation of large-span deployable structural modules, and long-term on-orbit operation of space robots. The on-orbit assembly operating system proposed at present cannot solve these problems well.

[0008] (4) The current proposed large antenna and telescope assembly methods use a large number of pentagonal and hexagonal modules, which makes the connection relationship of the assembly structure complex and makes it difficult to repair or replace the assembly modules in non-edge positions.

[0009] Space-based solar power stations, typical ultra-large-scale modular structures, involve a massive number of assembled modules. They require multiple sets of space assembly robots with subdivided functions to autonomously plan and coordinate operations on-orbit to achieve MW-level power and kilometer-level on-orbit assembly tasks. Therefore, it is necessary to propose more intelligent and standardized on-orbit assembly and construction methods that have stronger collaborative operation capabilities for flexible structures, adapt to longer mission times, and have a larger envelope. Summary of the Invention

[0010] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide an on-orbit assembly and construction method for a space solar power station based on an autonomously planned space assembly robot. This method provides a highly intelligent and standardized on-orbit assembly and construction method, achieving a low-consumption, high-efficiency, and high-reliability on-orbit assembly solution.

[0011] The technical solution of this invention is as follows:

[0012] on the one hand,

[0013] This invention proposes an on-orbit assembly system for a space solar power station based on a space assembly robot, comprising: a docking platform (210), a free-flying robot (220), and a truss-attached robot (230); the on-orbit assembly operation of the space solar power station is achieved through one or two groups of free-flying robots (220) and truss-attached robots (230);

[0014] The on-orbit assembly process, performed by a group of robots, is as follows:

[0015] After the assembly module of the space solar power station is lifted from the ground, the docking platform robotic arm (212) docks the assembly module to the module docking interface (211) on the docking platform (210). The free-flying robot (220) grabs the folded assembly module on the module docking interface (211) by operating the robotic arm (221), and at the same time, the module docking interface (211) unlocks from the assembly module. The free-flying robot (220) and the assembly module fly together to the operating range of the truss operating robotic arm (231) of the truss attached robot (230) and hover. The truss operating robotic arm (231) grabs the assembly module, and the assembly module unlocks from the free-flying robot (220). The truss attached robot (230) completes the docking operation of the folded assembly module and locks it. The assembly module completes the on-orbit deployment. The control subsystem adjusts the assembled assembly module to the operating posture.

[0016] The on-orbit assembly process, achieved by two sets of robots, is as follows:

[0017] After the assembled module assembly ascends, it is docked by the docking platform's manipulating arm (212) to the module docking interface (211) of the docking platform (210); the free-flying robot (220) grasps the folded assembled module assembly on the module docking interface (211) through the manipulating arm (221), and the module docking interface (211) unlocks from the assembled module assembly; the free-flying robot (220) and the assembled module assembly fly together to hover within the operating range of the truss manipulating arm (231) of the truss-attached robot (230); the truss manipulator... The robotic arm (231) grasps the assembly module assembly, and the assembly module assembly is unlocked from the free-flying robot (220). The assembly module assembly is deployed on track while connected to the truss-attached robot (230). The truss-attached robot (230) at another operating point captures the deployed assembly module assembly. The truss-attached robots (230) at the two operating positions work together to complete the assembly and locking of both ends of the assembly module assembly. The control subsystem adjusts the assembled assembly to the running posture.

[0018] Furthermore, the space solar power station includes: a main support module (110), a main truss module (120), a conductive rotary joint module (130), a battery array module (140), and an antenna array module (150); wherein the main truss module (120) is further divided into a battery array main truss module (121) and an antenna array main truss module (122).

[0019] The main support module (110) and the main truss module (120) constitute the main structural load-bearing frame of the space solar power station. The functional modules are installed and laid out through the above-mentioned truss structure. Among them, the battery array main truss module (121) is connected to the conductive rotating joint module (130) at intervals. The battery array module (140) is installed on the conductive rotating joint module (130) to achieve rotational orientation to the sun and to collect and convert energy. The antenna array module (150) is laid on the frame composed of the antenna array main truss module (122) and transmits the converted electrical energy back to the ground power grid in the form of microwaves through wireless energy transmission.

[0020] Furthermore, the space assembly robot includes a free-flying robot (220) and a truss-attached robot (230). The free-flying robot (220) transports multiple modules from the docking platform to the assembly position over a long distance. The truss-attached robot (230) is attached to the truss structure and completes the assembly and docking operation at the assembly position.

[0021] Furthermore, the free-flying robot (220) includes a robot body, a module interface (221), a parking interface (222), an operating robotic arm (223), and a wireless charging module (224);

[0022] The free-flying robot (220) uses an electric thruster to transport assembly modules between the docking platform (210) and the assembly position through free flight in space. The robot body is equipped with a module interface (221) for carrying assembly modules and a docking interface (222) for docking at the docking platform (210) to retrieve modules. Both interfaces are standardized. The robotic arm (223) is used for the transfer process of assembly modules from the docking position to the free-flying robot (220) and from the free-flying robot (220) to the gantry-attached robot (230). The wireless charging module (214) is used for repeated charging operations.

[0023] Furthermore, the truss-attached robot (230) includes an attachment robot body, a truss manipulator arm (231), a truss attachment system (232), a module interface (233), and a wireless charging module (234).

[0024] The attached robot body serves as a platform and has a core truss attachment system (232), which includes a module interface (233) for carrying modules, a truss manipulator arm (231) for auxiliary operation, and a wireless charging module (234).

[0025] The module interface (233) is used to carry the assembly module to perform multiple assembly operations continuously, and the gantry manipulator (231) is used to complete the docking operation of the specific assembly module; the wireless charging module (234) is used to repeatedly charge within a certain range through wireless energy transmission to provide energy for the drive system of the gantry attached robot (230).

[0026] Furthermore, the parking platform (210) includes: a module parking interface (211), a parking platform robotic arm (212), a robot parking interface (213), and a wireless charging module (214);

[0027] The parking platform (210) is equipped with a module parking interface (211), a parking platform robotic arm (212), a robot parking interface (213), and a wireless charging module (214);

[0028] The module docking interface (211) for placing the uplink transmitting component is placed at the center of the main load-bearing structure of the solar power station and equipped with a docking platform robotic arm (212). A robot docking interface (213) is set on the north and south sides of the module docking interface (211) to perform the transfer process of transferring a certain number of assembly modules from the center position to the free-flying robot (220). A wireless charging module (214) is set on the opposite side of the docking platform robotic arm (212) for charging the free-flying robot (220) and the truss-attached robot (230).

[0029] on the other hand,

[0030] This invention also proposes an on-orbit assembly method for a space solar power station based on a space assembly robot, comprising:

[0031] Step 1: Deploy the main support module (110), the free-flying robot (220), and the gantry-attached robot (230);

[0032] Step 2: Perform typical linear on-orbit assembly of the battery array main truss module (121) and the conductive rotary joint module (130);

[0033] Step 3: Perform on-orbit assembly of the battery array module (140);

[0034] Step 4: Perform large-span collaborative on-orbit assembly of the antenna array main truss module (122);

[0035] Step 5: Perform large-span collaborative on-orbit assembly of the antenna array assembly module (150);

[0036] Step 6: Charge the free-flying robot (220) and the gantry-attached robot (230).

[0037] Furthermore, step one involves the deployment of the main support module (110), the free-flying robot (220), and the gantry-attached robot (230), specifically as follows:

[0038] S1-1. After the launch component is placed at a fixed position near the operating position of the power station by the orbit transferor, the main support module (110) autonomously moves to the operating position, autonomously deploys in orbit, and adjusts to the operating attitude.

[0039] S1-2, The launch component releases a total of four assembled robots, which are paired up. Two free-flying robots (220) are parked on the robot parking interfaces (213) on the north and south sides of the parking platform (210), and two truss-attached robots (230) are deployed on the trusses on the north and south sides of the main support module (110).

[0040] S1-3, The main support module (110) is equipped with a module parking interface (211), and the parking platform robotic arm (212) parks the assembly module assembly to be assembled on the module parking interface (211).

[0041] Furthermore, step two involves the typical linear on-orbit assembly of the battery array main truss module (121) and the conductive rotary joint module (130), specifically as follows:

[0042] S2-1, the free-flying robot (220) docks on the robot docking interface (213) of the docking platform, and uses the truss operation robotic arm (231) to grab the battery array main truss module (121) and the conductive rotary joint module (130) in the retracted state, and unlocks them from the module docking interface (211).

[0043] S2-2, The gantry attachment robot (230) moves to the assembly interface through the gantry attachment system (232) and enters the assembly operation preparation state;

[0044] S2-3, After the free-flying robot (220) unlocks from the robot docking interface (213), it transports the module to be assembled to the vicinity of the assembly interface and hovers there. It then sends the assembly module into the capture corridor of the truss operating robot (231) of the truss attachment robot through the operating robot arm (221).

[0045] S2-4, The truss manipulator (231) captures the battery array main truss module (121) and the conductive rotary joint module (130), while the manipulator (221) of the free-flying robot unlocks and releases the two modules.

[0046] S2-5. The truss manipulator (231) sequentially completes the assembly operations of the battery array main truss module (121), the conductive rotary joint module (130), and the preceding module.

[0047] S2-6, the main truss module (121) of the battery array autonomously deploys to the operating state in orbit.

[0048] Furthermore, step three involves the on-orbit assembly of the battery array module (140), specifically as follows:

[0049] S3-1, the free-flying robot (220) returns to the docking platform (210) to grab the battery array assembly module (140) in the collapsed state and unlock it from the module docking interface (211);

[0050] S3-2, The gantry attachment robot (230) moves to the assembly interface through the gantry attachment system (232) and enters the assembly operation preparation state;

[0051] S3-3, the free-flying robot (220) flies to the assembly interface of the conductive rotary joint module (130) and the battery array module (140) after unlocking the robot docking interface (213), and sends the battery array assembly module (140) into the capture corridor of the gantry manipulator (231).

[0052] S3-4, The gantry manipulator (231) captures the battery array module (140), while the manipulator (221) of the free-flying robot releases it;

[0053] S3-5. The assembly operation of the battery array module (140) and the conductive rotary joint module (130) is completed by the gantry manipulator (231).

[0054] S3-6, the battery array module (140) is autonomously deployed in orbit and rotated to a sun-oriented operating state via the conductive rotary joint module (130).

[0055] Furthermore, step four involves the large-span collaborative on-orbit assembly of the antenna array main truss module (122), specifically as follows:

[0056] S4-1, the free-flying robot (220) flies back to the docking platform (210), docks at the robot docking interface (213), and uses the truss operation robotic arm (231) to grab the retracted antenna array main truss module (122) and unlock it from the module docking interface (211);

[0057] S4-2, The two truss attachment robots (230) move to the two large-span assembly interfaces of the expected assembly position of the antenna array main truss module (122) through the truss attachment system and enter the assembly operation preparation state.

[0058] S4-3, the free-flying robot (220) unlocks the robot parking interface (213) and transports the module to the vicinity of the assembly interface 1 and hovers there. It then sends the assembly module into the capture corridor of the truss operation robot arm (231) at the assembly interface 1 by operating the robotic arm (221).

[0059] S4-4, At the assembly interface 1, the truss operation robotic arm captures the antenna array main truss module (122), while the free-flying robot operation robotic arm (221) unlocks and releases the module;

[0060] S4-5. The attitude and direction of the antenna array main truss module (122) are adjusted by the truss operation robot arm at the assembly interface 1, and the on-orbit autonomous deployment is carried out in the gripping state.

[0061] S4-6. The truss operation robotic arms at the two assembly interfaces capture the free end of the fully deployed antenna array main truss module (122).

[0062] S4-7. The assembly operation at the two assembly interfaces of the antenna array main truss module (122) is completed by the coordinated operation of the truss operation manipulators of the two truss attachment robots (230).

[0063] Furthermore, step five involves the large-span collaborative on-orbit assembly of the antenna array assembly module (150), specifically as follows:

[0064] S5-1, the free-flying robot (220) flies back to the docking platform (210), docks at the robot docking interface (213), and uses the gantry-operated robotic arm (231) to grab the retracted antenna array module (150) and unlock it from the module docking interface (211);

[0065] S5-2, The two truss attachment robots move to the two assembly interfaces 1 and 2 with a large span at the expected assembly position of the antenna array module (150) through the truss attachment system and enter the assembly operation preparation state.

[0066] S5-3, the free-flying robot (220) unlocks the robot parking interface (213) and transports the module to the vicinity of the assembly interface 1 and hovers there. It then sends the assembly module into the capture corridor of the truss operation robot arm of the truss attachment robot by operating the robotic arm (221).

[0067] S5-4, The truss-operated robotic arm captures the antenna array module (150), while the free-flying robot operates the robotic arm (221) to unlock and release the module;

[0068] S5-5. The attitude and direction of the antenna array module (150) are adjusted by the truss operating robot arm attached to the assembly interface 1, and the module is autonomously deployed in orbit while being gripped.

[0069] S5-6. The truss-operated robotic arms at the two assembly interfaces capture the free end of the fully deployed antenna array module (150).

[0070] S5-7. The assembly operations at the two assembly interfaces 1 and 2 of the antenna array module (150) are completed by the coordinated operation of the truss operation manipulators of the two truss attachment robots.

[0071] Compared with the prior art, the present invention has the following advantages:

[0072] 1. This invention proposes a modular structure scheme for a space solar power station. After dividing the structure into assembly modules, the volume is further compressed by folding and collapsing, facilitating high-efficiency launch and ascent. Using foldable and unfoldable structural modules as basic assembly units, the ultra-large-scale structure is constructed after on-orbit unfolding and assembly operations, which can further reduce the system mass and the number of assembly operations.

[0073] 2. This scheme uses the main truss module as the core load-bearing structure, and the battery array and antenna array functional modules are assembled and deployed based on the main truss module. This expands the scope of on-orbit assembly to the kilometer level. The connection relationships between the structural modules ensure the replaceability and scalability of the functional modules, giving the system a "scalable" capability and providing the power station with unparalleled maintainability and reliability.

[0074] 3. A method for the collaborative on-orbit assembly of a space solar power station using multiple space robots is provided. After the assembly modules are transferred into orbit via multiple launches and carriers, the space robots perform collaborative assembly operations. For kilometer-scale mission envelopes, the space robots are subdivided into free-flying robots responsible for long-distance module transportation and gantry-attached robots responsible for assembly operations. The two types of robots are specifically designed: the free-flying robots' flexible maneuverability enables rapid round-trip transportation, while the attached robots can complete complex module assembly operations, thus achieving efficient allocation of assembly tasks.

[0075] 4. The assembly robot mentioned in this method achieves online autonomous assembly task planning through online information transmission and intelligent parameter identification of the structure. This includes planning the assembly sequence of modules, the path planning of robot transport modules, and the action planning of robot operation mechanisms, enabling multiple robots to perform multiple tasks collaboratively. Furthermore, the planning results are updated online in real-time based on the real-time status.

[0076] 5. This method enables large-span, multi-point collaborative operation of deployable structural assembly modules by using multiple groups of attached robots at different assembly positions and through real-time task planning. Attached Figure Description

[0077] Figure 1Schematic diagram of a space-based solar power station configuration;

[0078] Figure 2 A schematic diagram of the modular assembly structure of a space-based solar power station; among which... Figure 2 a is a schematic diagram of the assembly of a space-based solar power station; Figure 2 b is a schematic diagram of the modular assembly structure of a space solar power station;

[0079] Figure 3 Schematic diagram of the mooring platform;

[0080] Figure 4 Schematic diagram of a free-flying robot;

[0081] Figure 5 Schematic diagram of the truss attachment robot;

[0082] Figure 6 A schematic diagram illustrating a task requiring a set of freely flying robots and attached robots;

[0083] Figure 7 A schematic diagram illustrating a task requiring two sets of free-flying robots and an attached robot system. Detailed Implementation

[0084] The multi-rotating jointed space solar power station uses a full truss main structure as its primary load-bearing structure. The battery array and antenna array are also deployed based on this truss structure, as shown in the configuration below. Figure 1 As shown, the truss structure, battery array, and antenna array are divided into assembly modules: the truss structure consists of a main truss module; the battery array structure is divided into multiple battery subarrays from multiple conductive rotary joint modules, and each battery subarray is further divided into two battery array assembly modules; the planar phased array antenna array is laid on the frame formed by assembling the main truss modules, and the planar structure is divided into multiple elongated antenna array modules. In summary, the power station structure is divided into main support module 110, main truss module 120, conductive rotary joint module 130, battery array module 140, antenna array module 150, and other external equipment of subsystems. The assembly modules are connected through standard electromechanical assembly interfaces. The connection relationships of the assembly modules are as follows: Figure 2 As shown. The main truss module 120 is further divided into the battery array main truss module 121 and the antenna array main truss module 122.

[0085] The main support module 110 and the main truss module 120 constitute the main structural load-bearing frame of the space solar power station. The functional modules are installed and laid out through the above-mentioned truss structure. Among them, the battery array main truss module 121 is connected to the conductive rotating joint module 130 at intervals. The battery array module 140 is installed on the conductive rotating joint module 130 to achieve rotational orientation to the sun and to collect and convert energy. The antenna array module 150 is laid on the frame composed of the antenna array main truss module 122 and transmits the converted electrical energy back to the ground power grid in the form of microwaves through wireless energy transmission.

[0086] The main support module, various truss modules, conductive rotary joint assembly modules, battery array modules, and antenna array assembly modules are all foldable and unfoldable structures. After being folded up, multiple modules are stacked and launched into GEO orbit via a launch vehicle and orbital transferor, where they are assembled and constructed in GEO orbit.

[0087] The on-orbit assembly and construction system includes a mooring platform 210, a free-flying robot 220, and a truss-attached robot 230; the on-orbit assembly operation of the space solar power station is achieved through one or two sets of free-flying robots 220 and truss-attached robots 230.

[0088] like Figure 3 As shown, the parking platform 210 includes: a module parking interface 211, a parking platform robotic arm 212, a robot parking interface 213, and a wireless charging module 214;

[0089] The parking platform 210 is equipped with a module parking interface 211, a parking platform robotic arm 212, a robot parking interface 213, and a wireless charging module 214.

[0090] The module docking interface 211, used to place the uplink transmitting components, is placed at the center of the main load-bearing structure of the solar power station and equipped with a docking platform robotic arm 212. A robot docking interface 213 is set on the north and south sides of the module docking interface 211, which is used to perform the transfer process of a certain number of assembly modules from the center position to the free-flying robot 220. A wireless charging module 214 is set on the opposite side of the docking platform robotic arm 212 for charging the free-flying robot 220 and the truss-attached robot 230.

[0091] like Figure 4 As shown, the free-flying robot 220 includes a robot body, a module interface 221, a parking interface 222, an operating robotic arm 223, and a wireless charging module 224.

[0092] The free-flying robot 220 uses an electric thruster to transport assembly modules between the docking platform 210 and the assembly position through free flight in space. The robot body is equipped with a module interface 221 for carrying assembly modules and a docking interface 222 for docking at the docking platform 210 to retrieve modules, both of which use standardized interfaces. The operating robotic arm 223 is used for the transfer process of assembly modules from the docking position to the free-flying robot 220 and from the free-flying robot 220 to the gantry-attached robot 230. The wireless charging module 214 is used for repeated charging operations.

[0093] like Figure 5 As shown, the gantry-attached robot 230 includes an attachment robot body, a gantry manipulator arm 231, a gantry attachment system 232, a module interface 233, and a wireless charging module 234.

[0094] The attached robot body serves as a platform, featuring a core truss attachment system 232, and is equipped with a module interface 233 for carrying modules, a truss operation robotic arm 231 for auxiliary operation, and a wireless charging module 234.

[0095] The module interface 233 is used to carry the assembly module to perform multiple assembly operations continuously, and the gantry manipulator 231 is used to complete the docking operation of the specific assembly module; the wireless charging module 234 can be repeatedly charged within a certain range through wireless energy transmission to provide energy for the drive system of the gantry attached robot 230.

[0096] To ensure assembly envelopes at the kilometer level and assembly scales at the level of hundreds of modules, all on-orbit assembly robots are equipped with the ability to recharge their energy supply.

[0097] The main support module, as the core node of the space solar power station, communicates wirelessly with multiple sets of free-flying robots and truss-attached robots. This, combined with parameter identification of the assembly modules themselves, enables autonomous planning and collaborative operation of the entire power station's on-orbit assembly. Real-time online planning of the mission, including assembly sequences and robot transport module paths, allows the free-flying robots to transport modules to the assembly location according to the mission plan. The attached assembly robots then perform the assembly and docking operations. Specifically, depending on whether multiple attached robots are required to collaborate on module assembly, the operation process is divided into the following two categories:

[0098] Figure 6 The assembly process can be completed using only one set of free-flying robots and attachment robots:

[0099] After the assembly module of the space solar power station is lifted from the ground, the docking platform robotic arm 212 docks the assembly module to the module docking interface 211 on the docking platform 210. The free-flying robot 220 grasps the folded assembly module on the module docking interface 211 through the operation of the robotic arm 221, and at the same time, the module docking interface 211 unlocks from the assembly module. The free-flying robot 220 and the assembly module fly together to the operating range of the truss operation robotic arm 231 of the truss attachment robot 230 and hover. The truss operation robotic arm 231 grasps the assembly module, and the assembly module unlocks from the free-flying robot 220. The truss attachment robot 230 completes the docking operation of the folded assembly module and locks it. The assembly module completes the on-orbit deployment. The control subsystem adjusts the assembled assembly module to the operating posture.

[0100] Figure 7 The assembly process requires the coordinated operation of two sets of free-flying robots and attachment robots:

[0101] After the assembled module assembly ascends, it is docked by the docking platform's manipulating arm 212 to the module docking interface 211 of the docking platform 210. The free-flying robot 220 grasps the folded assembled module assembly on the module docking interface 211 through its manipulating arm 221, and the module docking interface 211 unlocks from the assembled module assembly. The free-flying robot 220 and the assembled module assembly fly together to hover within the operating range of the truss manipulating arm 231 of the truss-attached robot 230. The truss manipulating arm 231 grasps the assembled module assembly, and the assembled module assembly unlocks from the free-flying robot 220. While connected to the truss-attached robot 230, the assembled module assembly completes its on-orbit deployment. The truss-attached robot 230 at another operating point captures the deployed assembled module assembly. The two truss-attached robots 230 at different operating positions work together to complete the assembly and locking of both ends of the assembled module assembly. The control subsystem adjusts the assembled assembly to its operating posture.

[0102] Example:

[0103] This embodiment provides an on-orbit assembly method for a space solar power station based on a space assembly robot, including the following steps:

[0104] Step 1: Deploy the main support module 110, the free-flying robot 220, and the truss-attached robot 230;

[0105] Step 2: Perform typical linear on-orbit assembly of the battery array main truss module 121 and the conductive rotary joint module 130;

[0106] Step 3: Perform on-orbit assembly of battery array module 140;

[0107] Step 4: Perform large-span collaborative on-orbit assembly of the antenna array main truss module 122;

[0108] Step 5: Perform large-span collaborative on-orbit assembly of antenna array assembly module 150;

[0109] Step 6: Charge the free-flying robot 220 and the gantry-attached robot 230.

[0110] Taking a MW-level space solar power station as an example, and using a docking platform 210 in conjunction with two sets of free-flying robots 220 and a truss-attached robot 230, the specific implementation of this method will be illustrated:

[0111] (1) Deployment status of main support module 110, free-flying robot 220, and truss-attached robot 230

[0112] After the S1-1 launch assembly is placed at a fixed position near the power station's operating location by the orbital transfer unit, the main support module 110 autonomously moves to the operating position, autonomously deploys in orbit, and adjusts to the operating attitude.

[0113] S1-2 Simultaneously, the launch components release two robots to form a group, totaling four assembled robots. Two free-flying robots 220 are docked on the robot docking interfaces 213 on the north and south sides of the docking platform 210, and two truss-attached robots 230 are deployed on the trusses on the north and south sides of the main support module 110.

[0114] The S1-3 main support module 110 is equipped with an assembly module parking platform 210. The parking platform operates a robotic arm 212 to park the assembly module assembly to be assembled at the module parking interface 211.

[0115] (2) Typical linear on-orbit assembly conditions of battery array main truss module 121 and conductive rotary joint module 130 (Since the north and south structures of the power station are symmetrical, the assembly process on one side will be described in the following descriptions.)

[0116] The S2-1 free-flying robot 220 docks at the robot docking interface 213 on the docking platform. It then uses the robotic arm 231 to grab the folded battery array main truss module 121 and the conductive rotary joint module 130, and the modules unlock from the module docking interface 211.

[0117] The S2-2 attachment robot 230 moves to the assembly interface via the truss attachment system 232 and enters the assembly operation preparation state.

[0118] S2-3 Simultaneously, after unlocking the robot parking interface 213, the free-flying robot 220 transports the module to the vicinity of the assembly interface and hovers there. It then sends the assembly module into the capture corridor of the attached robot operating robot arm 231 through the operating robot arm 221.

[0119] The S2-4 attachment robot operating arm 231 captures the battery array main truss module 121 and the conductive rotary joint module 130, while the free-flying robot operating arm 221 unlocks and releases the two modules.

[0120] S2-5 is performed by the attachment robot operating the robotic arm 231 to sequentially assemble the battery array main truss module 121, the conductive rotary joint module 130, and the preceding modules.

[0121] The S2-6 battery array main truss module 121 autonomously deploys into operation in orbit.

[0122] (3) On-orbit assembly of battery array module 140

[0123] S3-1, following the same steps as S2-1, the free-flying robot 220 returns to the docking platform 210, grasps the retracted battery array assembly module 140, and the module unlocks from the module docking interface 211.

[0124] The S3-2 attachment robot 230 moves to the assembly interface via the truss attachment system 232 and enters the assembly operation preparation state.

[0125] After unlocking the robot parking interface 213, the S3-3 free-flying robot 220 flies to the assembly interface of the conductive rotary joint module 130 and the battery array module 140, and sends the battery array assembly module 140 into the capture corridor of the attached robot operating arm 231.

[0126] S3-4 The attached robot manipulator 231 captures the battery array module 140, while the free-flying robot manipulator 221 releases it.

[0127] S3-5 uses the attachment robot to operate the robotic arm 231 to complete the assembly operation of the battery array module 140 and the conductive rotary joint module 130.

[0128] The S3-6 battery array module 140 autonomously deploys in orbit and rotates to a sun-oriented operating state via the conductive rotary joint module 130.

[0129] (4) Antenna array main truss module 122: typical large-span collaborative on-orbit assembly conditions

[0130] The S4-1 free-flying robot 220 flies back to the docking platform 210 and docks at the robot docking interface 213. It then uses the robotic arm 231 to grab the retracted antenna array main truss module 122, which is then unlocked from the module docking interface 211.

[0131] S4-2 attachment robots 230-1 and -2 move to the two large-span assembly interfaces -1 and -2 of the expected assembly position of the antenna array main truss module 122 via the truss attachment system 232, and enter the assembly operation preparation state.

[0132] S4-3 Simultaneously, after unlocking the robot parking interface 213, the free-flying robot 220 transports the module to the vicinity of the assembly interface-1 and hovers there. It then uses the robotic arm 221 to send the assembly module into the capture corridor of the attached robot robotic arm 231 at the assembly interface-1.

[0133] At assembly interface S4-4, the attached robot operating arm 231-1 captures the antenna array main truss module 122, while the free-flying robot operating arm 221 unlocks and releases the module.

[0134] S4-5 uses the robot's manipulator arm 231-1 attached to the assembly interface-1 to adjust the attitude and orientation of the antenna array main truss module 122, and performs on-orbit autonomous deployment while gripping.

[0135] S4-6 uses the robot-operated robotic arm 231-2 attached at the assembly interface-2 to capture the free end of the fully deployed antenna array main truss module 122.

[0136] S4-7 completes the assembly operations at the assembly interfaces -1 and -2 of the antenna array main truss module 122 under the coordinated operation of two attached robot manipulators 231-1 and -2.

[0137] (5) Antenna array assembly module 150 Typical large-span collaborative on-orbit assembly conditions

[0138] The S5-1 free-flying robot 220 flies back to the docking platform 210 and docks at the robot docking interface 213. It then uses the robotic arm 231 to grab the retracted antenna array assembly module 150, which is then unlocked from the module docking interface 211.

[0139] S5-2 attachment robots 230-1 and -2 move to the two large-span assembly interfaces -1 and -2 of the antenna array module 160 through the truss attachment system 232, respectively, and enter the assembly operation preparation state.

[0140] S5-3 Simultaneously, after unlocking the robot parking interface 213, the free-flying robot 220 transports the module to the vicinity of the assembly interface-1 and hovers there. It then uses the robotic arm 221 to send the assembly module into the capture corridor of the attached robot operating robotic arm 231-1.

[0141] The S5-4 attachment robot operates the robotic arm 231-1 to capture the antenna array module 160, while the free-flying robot operates the robotic arm 221 to unlock and release the module.

[0142] The S5-5 uses the robot's manipulator arm 231-1 attached to the assembly interface-1 to adjust the attitude and orientation of the antenna array module 160, and performs on-orbit autonomous deployment while being gripped.

[0143] S5-6 uses the robot-operated robotic arm 231-2 attached at the assembly interface-2 to capture the free end of the fully deployed antenna array module 160.

[0144] The S5-7 completes the assembly operations at the antenna array module 160 assembly interface -1 and -2 through the coordinated operation of two attached robot manipulators 231-1 and -2.

[0145] (6) Charging conditions of free-flying robot 220 and attached robot 230

[0146] When the S6-1 free-flying robot 220 runs out of energy, it returns to the robot docking interface to recharge.

[0147] When the S6-2 gantry-attached robot 230 runs out of energy, it returns to the reachable range of the laser wireless energy transmission charging module 214 on the docking platform 210 and is recharged via laser wireless energy transmission.

[0148] The entire on-orbit assembly of the power station is guided by autonomous task planning. The main support module 110, as the core node of the space solar power station, works with multiple sets of free-flying robots 220 and truss attachment robots 230 through wireless communication, and in conjunction with the parameter identification of the assembly module itself, to carry out autonomous planning and collaborative operation of the entire power station task on-orbit assembly. The task is planned online in real time, and the assembly sequence of each assembly module, the path of the free-flying robot 220 to transport the module in typical working conditions (1)-(6), the path of the truss attachment robot 230 to change the assembly position, and the path of both returning to the charging lamp are autonomously planned. The robot arm that performs the collaborative assembly operation is also planned, so that the assembly robot can complete the assembly docking operation online in real time.

[0149] The parts of this invention not described in detail are common knowledge to those skilled in the art.

Claims

1. An on-orbit assembly system for a space solar power station based on a space assembly robot, characterized in that... include: A docking platform (210), a free-flying robot (220), and a truss-attached robot (230); the on-orbit assembly operation of a space solar power station is achieved by one or two sets of free-flying robots (220) and truss-attached robots (230); The on-orbit assembly process, performed by a group of robots, is as follows: After the assembly module of the space solar power station is lifted from the ground, the docking platform robotic arm (212) docks the assembly module to the module docking interface (211) on the docking platform (210). The free-flying robot (220) grabs the folded assembly module on the module docking interface (211) by operating the robotic arm (223), and at the same time, the module docking interface (211) unlocks from the assembly module. The free-flying robot (220) and the assembly module fly together to the operating range of the truss operating robotic arm (231) of the truss attached robot (230) and hover. The truss operating robotic arm (231) grabs the assembly module, and the assembly module unlocks from the free-flying robot (220). The truss attached robot (230) completes the docking operation of the folded assembly module and locks it. The assembled module assembly completes its on-orbit deployment; the control subsystem adjusts the assembled module assembly to its operating posture. The on-orbit assembly process, achieved by two sets of robots, is as follows: After the assembled module assembly ascends, it is docked by the docking platform's manipulating arm (212) to the module docking interface (211) of the docking platform (210); the free-flying robot (220) grasps the folded assembled module assembly on the module docking interface (211) through the manipulating arm (223), and the module docking interface (211) unlocks from the assembled module assembly; the free-flying robot (220) and the assembled module assembly fly together to hover within the operating range of the truss manipulating arm (231) of the truss-attached robot (230); the truss manipulator... The robotic arm (231) grasps the assembly module assembly, and the assembly module assembly is unlocked from the free-flying robot (220); while connected to the truss-attached robot (230), the assembly module assembly is deployed on track; the truss-attached robot (230) at another operating point captures the deployed assembly module assembly; the two truss-attached robots (230) at the two operating positions work together to complete the assembly locking at both ends of the assembly module assembly; the control subsystem adjusts the assembled assembly to the running posture. The space solar power station includes: a main support module (110), a main truss module (120), a conductive rotary joint module (130), a battery array assembly module (140), and an antenna array assembly module (150); wherein the main truss module (120) is further divided into a battery array main truss module (121) and an antenna array main truss module (122). The main support module (110) and the main truss module (120) constitute the main structural load-bearing frame of the space solar power station. The functional modules are installed and laid out through the truss structure. Among them, the battery array main truss module (121) is connected to the conductive rotating joint module (130) at intervals. The battery array assembly module (140) is installed on the conductive rotating joint module (130) to realize rotational orientation to the sun and to collect and convert energy. The antenna array assembly module (150) is laid on the frame composed of the antenna array main truss module (122) and transmits the converted electrical energy back to the ground power grid in the form of microwaves through wireless energy transmission. The space assembly robot includes a free-flying robot (220) and a truss-attached robot (230). The free-flying robot (220) transports multiple modules from the docking platform to the assembly position over a long distance. The truss-attached robot (230) is attached to the truss structure and completes the assembly and docking operation at the assembly position.

2. The on-orbit assembly system for a space solar power station based on a space assembly robot according to claim 1, characterized in that: The free-flying robot (220) includes a robot body, a first module interface (221), a parking interface (222), an operating robotic arm (223), and a first wireless charging module (224). The free-flying robot (220) uses an electric thruster to transport the assembly module between the docking platform (210) and the assembly position through free flight in space. The robot body is provided with a first module interface (221) for carrying the assembly module and a docking interface (222) for docking at the docking platform (210) to retrieve the module. Both interfaces are standardized. The operating robotic arm (223) is used for the transfer process of the assembly module from the docking position to the free-flying robot (220) and from the free-flying robot (220) to the gantry-attached robot (230). The first wireless charging module (224) is used for repeated charging operations.

3. The on-orbit assembly system for a space solar power station based on a space assembly robot according to claim 1, characterized in that: The truss-attached robot (230) includes an attachment robot body, a truss manipulator arm (231), a truss attachment system (232), a second module interface (233), and a second wireless charging module (234). The attached robot body serves as a platform and has a core gantry attachment system (232), a second module interface (233) for carrying modules, a gantry operation robotic arm (231) for auxiliary operation, and a second wireless charging module (234). The second module interface (233) is used to carry the assembly module to perform multiple assembly operations continuously. The gantry manipulator (231) is used to complete the docking operation of the specific assembly module. The second wireless charging module (234) is used to repeatedly charge within a certain range through wireless energy transmission to provide energy for the drive system of the gantry attached robot (230).

4. The on-orbit assembly system for a space solar power station based on a space assembly robot according to claim 1, characterized in that: The parking platform (210) includes: a module parking interface (211), a parking platform robotic arm (212), a robot parking interface (213), and a third wireless charging module (214). The parking platform (210) is equipped with a module parking interface (211), a parking platform robotic arm (212), a robot parking interface (213) and a third wireless charging module (214). The module docking interface (211) for placing the uplink transmitting component is placed at the center of the main load-bearing structure of the solar power station and equipped with a docking platform robotic arm (212). A robot docking interface (213) is set on the north and south sides of the module docking interface (211) to perform the transfer process of transferring a certain number of assembly modules from the center position to the free-flying robot (220). A third wireless charging module (214) is set on the opposite side of the docking platform robotic arm (212) for charging the free-flying robot (220) and the truss-attached robot (230).

5. An assembly method based on the on-orbit assembly system of a space solar power station using the space assembly robot described in claim 1, characterized in that... include: Step 1: Deploy the main support module (110), the free-flying robot (220), and the gantry-attached robot (230); Step 2: Perform typical linear on-orbit assembly of the battery array main truss module (121) and the conductive rotary joint module (130); Step 3: Perform on-orbit assembly of the battery array assembly module (140); Step 4: Perform large-span collaborative on-orbit assembly of the antenna array main truss module (122); Step 5: Perform large-span collaborative on-orbit assembly of the antenna array assembly module (150); Step 6: Charge the free-flying robot (220) and the gantry-attached robot (230); Step one involves the deployment of the main support module (110), the free-flying robot (220), and the truss-attached robot (230), specifically as follows: S1-1. After the launch component is placed at a fixed position near the operating position of the power station by the orbit transferor, the main support module (110) autonomously moves to the operating position, autonomously deploys in orbit, and adjusts to the operating attitude. S1-2, The launch component releases a total of four assembled robots, which are paired up into a group. Two free-flying robots (220) are parked on the robot parking interfaces (213) on the north and south sides of the parking platform (210), and two truss-attached robots (230) are deployed on the trusses on the north and south sides of the main support module (110). S1-3, The main support module (110) is equipped with a module parking interface (211), and the parking platform robotic arm (212) parks the assembly module assembly to be assembled on the module parking interface (211); Step two: Perform typical linear on-orbit assembly of the battery array main truss module (121) and the conductive rotary joint module (130), specifically as follows: S2-1, the free-flying robot (220) docks on the robot docking interface (213) of the docking platform, and uses the truss operation robotic arm (231) to grab the battery array main truss module (121) and the conductive rotary joint module (130) in the folded state, and unlocks them from the module docking interface (211); S2-2, The gantry-attached robot (230) moves to the assembly interface through the gantry attachment system (232) and enters the assembly operation preparation state; S2-3, the free-flying robot (220) unlocks from the robot docking interface (213), transports the module to be assembled to the vicinity of the assembly interface and hovers there, and sends the assembly module into the capture corridor of the truss operating robot (231) of the truss attachment robot through the operating robot arm (223). S2-4, The truss manipulator (231) captures the main truss module (121) of the battery array and the conductive rotary joint module (130), while the manipulator (223) of the free-flying robot unlocks and releases the two modules; S2-5. The truss manipulator (231) sequentially completes the assembly operations of the battery array main truss module (121), the conductive rotary joint module (130), and the preceding module. S2-6, Battery Array Main Truss Module (121) autonomously deploys to operational status in orbit; Step three involves the on-orbit assembly of the battery array assembly module (140), specifically as follows: S3-1, the free-flying robot (220) returns to the docking platform (210) to grab the battery array assembly module (140) in the collapsed state and unlock it from the module docking interface (211); S3-2, The gantry-attached robot (230) moves to the assembly interface through the gantry attachment system (232) and enters the assembly operation preparation state; S3-3, the free-flying robot (220) flies to the assembly interface of the conductive rotary joint module (130) and the battery array assembly module (140) after unlocking the robot docking interface (213), and sends the battery array assembly module (140) into the capture corridor of the gantry manipulator (231). S3-4, The gantry manipulator (231) captures the battery array assembly module (140), while the manipulator (223) of the free-flying robot releases it; S3-5, The assembly operation of the battery array assembly module (140) and the conductive rotary joint module (130) is completed by the gantry manipulator (231); S3-6, the battery array assembly module (140) is autonomously deployed in orbit and rotated to a sun-oriented operating state through the conductive rotary joint module (130); Step four involves the large-span collaborative on-orbit assembly of the antenna array main truss module (122), specifically as follows: S4-1, the free-flying robot (220) flies back to the docking platform (210), docks at the robot docking interface (213), and uses the truss operation robotic arm (231) to grab the retracted antenna array main truss module (122) and unlock it from the module docking interface (211); S4-2, Two truss-attached robots (230) move to the two assembly interfaces with a large span at the expected assembly position of the antenna array main truss module (122) through the truss attachment system and enter the assembly operation preparation state. S4-3, the free-flying robot (220) unlocks the robot parking interface (213) and transports the module to the vicinity of the assembly interface 1 and hovers there. It then sends the assembly module into the capture corridor of the truss operation robot (231) at the assembly interface 1 by operating the robotic arm (223). S4-4, At the assembly interface 1, the truss operation robotic arm captures the antenna array main truss module (122), while the free-flying robot operation robotic arm (223) unlocks and releases the module; S4-5. The attitude and direction of the antenna array main truss module (122) are adjusted by the truss operation robot arm at the assembly interface 1, and the on-orbit autonomous deployment is carried out in the gripping state. S4-6. The truss operation robotic arms at the two assembly interfaces capture the free end of the fully deployed antenna array main truss module (122). S4-7. The assembly operation at the two assembly interfaces of the antenna array main truss module (122) is completed by the coordinated operation of the truss operation manipulators of the two truss-attached robots (230). Step five involves the large-span collaborative on-orbit assembly of the antenna array assembly module (150), specifically as follows: S5-1, the free-flying robot (220) flies back to the docking platform (210), docks at the robot docking interface (213), and uses the gantry-operated robotic arm (231) to grab the retracted antenna array assembly module (150) and unlock it from the module docking interface (211); S5-2, the two truss attachment robots move to the two assembly interfaces 1 and 2 with a large span at the expected assembly position of the antenna array assembly module (150) through the truss attachment system and enter the assembly operation preparation state. S5-3, the free-flying robot (220) unlocks the robot parking interface (213) and transports the module to the vicinity of the assembly interface 1 and hovers there. It then sends the assembly module into the capture corridor of the truss operation robot arm of the truss attachment robot by operating the robotic arm (223). S5-4, The truss manipulator captures the antenna array assembly module (150), while the free-flying robot manipulator (223) unlocks and releases the module; S5-5. The attitude and orientation of the antenna array assembly module (150) are adjusted by the truss operation robot arm attached to the assembly interface 1, and the module is autonomously deployed in orbit while being gripped. S5-6. The truss-operated robotic arms at the two assembly interfaces capture the free ends of the fully deployed antenna array assembly module (150). S5-7. The assembly operations at the two assembly interfaces 1 and 2 of the antenna array assembly module (150) are completed by the coordinated operation of the truss operation manipulators of the two truss attachment robots.

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