A microgravity chain assembly system

Abstract

This invention provides a microgravity chain assembly system, comprising a spacecraft platform, an assembly base, a robot, and modules or combinations of modules to be assembled. The spacecraft platform is a satellite, space station, or other space facility platform with attitude and trajectory control capabilities in a microgravity orbital environment. The assembly base is rigidly connected to the spacecraft platform. The robot is fixed to the assembly base via an end-effector. The modules or combinations of modules are pre-fixed to the spacecraft platform or assembly base via detachable connections and are within the robot's pickup range. This invention addresses the challenge of aligning and assembling large-span, multi-joint assembly.

Description

Technical Field

[0001] This invention relates to the field of on-orbit construction technology for spacecraft, and particularly to a microgravity chain assembly method. Background Technology

[0002] The ever-increasing number of highly challenging space missions in the fields of space science and military applications, such as extraterrestrial life detection, electronic reconnaissance, and remote sensing, urgently require the development of 100-meter-scale reflector antennas, planar array antennas, and solar arrays. Traditional deployment technologies are limited by the kinematic pairs of the deployment mechanism, the thrust of the launch vehicle, and the fairing envelope, resulting in complex deployment mechanisms, low on-orbit deployment reliability, large antenna size, and difficulties in ground-based low-gravity simulation experiments. These limitations prevent them from fully meeting the construction requirements of the aforementioned ultra-large space structures. On-orbit assembly technology decouples the mechanical connections between rocket launch module modules, overcoming the limitations of rocket thrust and fairing envelope. It features high structural efficiency, strong scalability, and the ability to be progressively upgraded, making it particularly suitable for constructing large-size, high-precision, and high-specific-stiffness space structures. However, due to the slow movement speed and low positioning accuracy of space robots (e.g., the end-efficiency positioning accuracy of a typical 5-meter-scale space robotic arm is ±5mm), it is difficult to move efficiently over a large range on a large flexible base. To reduce on-orbit assembly steps and improve mission reliability, it is necessary to perform large-size module (10-meter-scale) assembly operations. The assembly of large-sized ground modules is usually supported by distributed special tooling to achieve high-precision alignment and positioning of all connection points; however, space robots with lower precision do not have the ability to align all joints around a large module at the same time.

[0003] Therefore, given the advantage that the gravitational deformation of large-sized modules can be ignored in the microgravity environment of space, there is an urgent need to explore a method for assembling large-sized module units using low-precision robots with multiple axes (multi-interfaces), high efficiency, and high rigidity, so as to develop a convenient and efficient assembly process for space. Summary of the Invention

[0004] The technical problem solved by this invention is: the purpose of this invention is to provide a microgravity chain assembly method for efficiently assembling large-sized modules for space robots, so as to solve the problem of alignment and assembly of multiple joints with a large span.

[0005] The technical solution adopted in this invention is as follows: In order to achieve the above objectives, this invention provides a microgravity chain assembly system, including a spacecraft platform, an assembly base, a robot, and modules or combinations of multiple modules to be assembled;

[0006] The spacecraft platform is a satellite, space station, or other space facility platform with attitude and trajectory control capabilities in a microgravity orbital environment. The assembly base is rigidly connected to the spacecraft platform. The robot is fixed to the assembly base via an end-effector. Modules or combinations of modules are pre-fixed to the spacecraft platform or assembly base via detachable connections and are within the robot's pickup range.

[0007] Furthermore, the connectors on the assembly base include root connectors that require robot-assisted alignment and connection, and connecting heads that do not require robot-assisted alignment and connection; the connectors on the module or multi-module combination include root connectors that require robot-assisted alignment and connection, and connecting heads that do not require robot-assisted alignment and connection, which correspond one-to-one with the root connectors and connecting heads on the assembly base, and are female connectors and male connectors to each other.

[0008] The connectors, starting from the root connector and proceeding from the nearest to the farthest point, are the first group of connectors, the second group of connectors, ..., the Nth group of connectors, where N≥1;

[0009] After the root connector is assembled and locked with robot-assisted alignment, the first set of connectors on the module or multi-module combination passively enters the capture domain and initiates docking assembly with the first set of connectors on the assembly base. At the same time, the next set of connectors passively enters the capture domain and initiates docking assembly. This process is repeated, and N sets of connectors enter the capture domain in sequence and complete docking assembly without robot-assisted alignment.

[0010] Furthermore, the assembly base can be a structure, an unfolding mechanism, or a fixed module or module combination obtained from previous assembly.

[0011] Furthermore, the robot is a mechanical arm fixed to a base, or a climbing robot with mobility, or a robot carried by other tools.

[0012] Furthermore, the root connector alignment capture tolerance is greater than the pose deviation generated when the robot aligns modules or module groups. The positioning accuracy after the root connector is locked causes the first group of connectors to passively enter the capture domain; the positioning accuracy after the i-th group of connectors is locked causes the (i+1)-th group of connectors to passively enter the capture domain, i = 1, 2, 3, ..., N.

[0013] A space chain assembly system includes a spacecraft platform, an assembly base, a robot, and at least two modules to be assembled or a combination of multiple modules.

[0014] The spacecraft platform is a satellite, space station, or other space facility platform with attitude and trajectory control capabilities in a microgravity orbital environment. The assembly base is rigidly connected to the spacecraft platform. The robot is fixed to the assembly base via an end-effector. The modules or combinations of modules to be assembled are pre-fixed to the spacecraft platform or assembly base via detachable connections and are within the robot's pickup range.

[0015] Furthermore, the connectors on the assembly base are root connectors that require robot-assisted alignment and connection;

[0016] The connectors on the module or multi-module combination to be installed include root connectors that require robot-assisted alignment and connection, and link heads that do not require robot-assisted alignment and connection. The root connectors on the module or multi-module combination to be installed and the root connectors on the assembly base are female connectors and male connectors to each other. The link heads correspond one-to-one with the link heads on adjacent modules or module combinations, and are female connectors and male connectors to each other.

[0017] The connectors, starting from the root connector and proceeding from the nearest to the farthest point, are the first group of connectors, the second group of connectors, ..., the Nth group of connectors, where N≥1;

[0018] After the root connector is assembled and locked with robot-assisted alignment, the first set of connectors on adjacent modules or multi-module combinations passively enters the capture domain and starts to complete the docking assembly. At the same time, the next set of connectors passively enters the capture domain and starts to complete the docking assembly. This process is repeated, and N sets of connectors between adjacent modules or module combinations enter the capture domain in sequence and complete the docking assembly without robot-assisted alignment in sequence.

[0019] Furthermore, the assembly base can be a structure, an unfolding mechanism, or a fixed module or module combination obtained from previous assembly.

[0020] Furthermore, the robot is a mechanical arm fixed to a base, or a climbing robot with mobility, or a robot carried by other tools.

[0021] Furthermore, the root connector alignment capture tolerance is greater than the pose deviation generated when the robot aligns modules or module groups. The positioning accuracy after the root connector is locked causes the first group of connectors to passively enter the capture domain; the positioning accuracy after the i-th group of connectors is locked causes the (i+1)-th group of connectors to passively enter the capture domain, i = 1, 2, 3, ..., N.

[0022] The advantages of this invention compared to the prior art are:

[0023] (1) This invention satisfies the construction goal of convenient robot assembly of large-size modules, specifically elongated, triangular, quadrilateral, hexagonal and other modules, which contain multiple sets of sequentially arranged root joints and connecting heads. Through chain assembly, the robot does not need to align all the joints around the module at once, which greatly reduces the positioning accuracy requirements of the robot end and matches the control capabilities of mainstream space robotic arms. By having the robot perform the assembly of a small number of nearby root joints, the accuracy and force control performance requirements of the robot for the assembly task are reduced.

[0024] (2) The initial positioning capability of the root connector and the relay positioning capability of the preceding connector of the present invention provide alignment and capture conditions for the sequential assembly of subsequent connectors, without the need for direct robot access, thus improving the efficiency of on-orbit assembly. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the chain assembly between a single module and an assembly base provided in preferred embodiment 1 of the present invention;

[0026] Figure 2 This is a schematic diagram of the chain assembly between the two sets of modules and the assembly base provided in the preferred embodiment 2 of the present invention. Detailed Implementation

[0027] To better illustrate the present invention, a preferred embodiment is described below, combining the assembly task of the elongated large-scale modular unit and the large-scale base, with reference to the accompanying drawings.

[0028] Example 1:

[0029] This embodiment provides a microgravity chain assembly method for on-orbit construction of long strip antenna arrays or solar cell arrays, to meet the high reliability and high efficiency splicing requirements of large span gaps.

[0030] like Figure 1 The diagram illustrates a chain assembly between a single module and an assembly base. The system includes a spacecraft platform, an assembly base, a robot, and modules or combinations of modules to be assembled.

[0031] The spacecraft platform is a satellite, space station, or other space facility platform with attitude and trajectory control capabilities in a microgravity orbital environment. The assembly base is rigidly connected to the spacecraft platform. The robot is fixed to the assembly base via an end-effector. Modules or combinations of modules are pre-fixed to the spacecraft platform or assembly base via detachable connections and are within the robot's pickup range.

[0032] The connectors on the assembly base include two types: root connectors that require robot-assisted alignment and connection, and link connectors that do not require robot-assisted alignment and connection.

[0033] The connectors on the module or multi-module combination include two types: root connectors that require robot-assisted alignment and connection, and link connectors that do not require robot-assisted alignment and connection. They correspond one-to-one with the root connectors and link connectors on the assembly base, and are female connectors and male connectors to each other.

[0034] The connectors, starting from the root connector and proceeding from the nearest to the farthest point, are the first group of connectors, the second group of connectors, ..., the Nth group of connectors, where N≥1;

[0035] After the root connector is assembled and locked with robot-assisted alignment, the first set of connectors on the module or multi-module combination passively enters the capture domain and initiates docking assembly with the first set of connectors on the assembly base. At the same time, the next set of connectors passively enters the capture domain and initiates docking assembly. This process is repeated, with N sets of connectors entering the capture domain in sequence and relaying to complete docking assembly without robot-assisted alignment.

[0036] The assembly base can be a high-rigidity structure, a deployment mechanism that facilitates launch and storage, or a fixed module or module combination obtained from previous assembly.

[0037] The robot can be a mechanical arm fixed to a base, a climbing robot with mobility, or a robot carried by other tools.

[0038] The root connector alignment capture tolerance is significantly greater than the pose deviation generated when the robot aligns modules or module groups. The positioning accuracy after the root connector is locked needs to enable the first group of connectors to passively enter the capture domain.

[0039] The positioning accuracy of the i-th group of link heads after locking must be such that the (i+1)-th group of link heads passively enters the capture domain, i = 1, 2, 3, ..., N.

[0040] Example 2:

[0041] To better illustrate the present invention, a preferred embodiment is provided, which, in conjunction with the assembly task between two elongated, large-scale modular units, is described in detail below with reference to the accompanying drawings:

[0042] This embodiment provides a microgravity chain assembly method for on-orbit construction of long strip antenna arrays or solar cell arrays, to meet the high reliability and high efficiency splicing requirements of large span gaps.

[0043] like Figure 2 The diagram illustrates a chain assembly between a single module and an assembly base. The system includes a spacecraft platform, an assembly base, a robot, and at least two modules to be assembled, or combinations of multiple modules.

[0044] The spacecraft platform is a satellite, space station, or other space facility platform with attitude and trajectory control capabilities in a microgravity orbital environment. The assembly base is rigidly connected to the spacecraft platform. The robot is fixed to the assembly base via an end-effector. Modules or combinations of modules are pre-fixed to the spacecraft platform or assembly base via detachable connections and are within the robot's pickup range.

[0045] The connectors on the assembly base are root connectors that require robot-assisted alignment and connection.

[0046] The connectors on the module or combination of modules include two types: root connectors that require robot-assisted alignment and connection, and link connectors that do not require robot-assisted alignment and connection. The root connectors on the module and the root connectors on the assembly base are female and male connectors to each other, and the link connectors on the module and the combination of modules correspond one-to-one with the link connectors on the adjacent module or combination of modules, and are female and male connectors to each other.

[0047] The connectors, starting from the root connector and proceeding from the nearest to the farthest point, are the first group of connectors, the second group of connectors, ..., the Nth group of connectors, where N≥1;

[0048] After the root connector is assembled and locked with robot-assisted alignment, the first set of connectors on adjacent modules or multi-module combinations passively enters the capture domain and starts to complete the docking assembly. At the same time, the next set of connectors passively enters the capture domain and starts to complete the docking assembly. This process is repeated, and N sets of connectors between adjacent modules or module combinations enter the capture domain in sequence and complete the docking assembly without robot-assisted alignment in a relay manner.

[0049] The assembly base can be a high-rigidity structure, a deployment mechanism that facilitates launch and storage, or a fixed module or module combination obtained from previous assembly.

[0050] The robot can be a mechanical arm fixed to a base, a climbing robot with mobility, or a robot carried by other tools.

[0051] The root connector alignment capture tolerance is significantly greater than the pose deviation generated when the robot aligns modules or module groups. The positioning accuracy after the root connector is locked needs to enable the first group of connectors to passively enter the capture domain.

[0052] The positioning accuracy of the i-th group of link heads after locking must be such that the (i+1)-th group of link heads passively enters the capture domain.

[0053] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions made to the present invention by those skilled in the art within the technical scope disclosed herein should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0054] The parts of this invention not described in detail are well-known to those skilled in the art.

Claims

1. A microgravity chain assembly system, characterized in that, This includes spacecraft platforms, assembly bases, robots, and modules or combinations of modules to be assembled. The spacecraft platform is a satellite, space station, or other space facility platform with attitude and trajectory control capabilities in a microgravity orbital environment. The assembly base is rigidly connected to the spacecraft platform. The robot is fixed to the assembly base via an end-effector. Modules or combinations of modules are pre-fixed to the spacecraft platform or assembly base via detachable connections and are within the robot's pickup range. The connectors on the assembly base include root connectors that require robot-assisted alignment and connection, and connecting heads that do not require robot-assisted alignment and connection; the connectors on the module or multi-module combination include root connectors that require robot-assisted alignment and connection, and connecting heads that do not require robot-assisted alignment and connection, which correspond one-to-one with the root connectors and connecting heads on the assembly base, and are female connectors and male connectors to each other. The connectors, starting from the root connector and proceeding from the nearest to the farthest point, are the first group of connectors, the second group of connectors, ..., the Nth group of connectors, where N≥1; After the root connector is assembled and locked with robot-assisted alignment, the first set of connectors on the module or multi-module combination passively enters the capture domain and initiates docking assembly with the first set of connectors on the assembly base. At the same time, the next set of connectors passively enters the capture domain and initiates docking assembly. This process is repeated, and N sets of connectors enter the capture domain in sequence and complete docking assembly without robot-assisted alignment.

2. The microgravity chain assembly system according to claim 1, characterized in that, The assembly base is a structure, an unfolding mechanism, or a fixed module or module combination obtained from previous assembly.

3. The microgravity chain assembly system according to claim 2, characterized in that, The robot is a fixed-base robotic arm, a climbing robot with mobility, or a robot carried by other tools.

4. The microgravity chain assembly system according to claim 3, characterized in that, The root connector alignment capture tolerance is greater than the pose deviation generated when the robot aligns modules or module groups. The positioning accuracy after the root connector is locked causes the first group of connectors to passively enter the capture domain; the positioning accuracy after the i-th group of connectors is locked causes the (i+1)-th group of connectors to passively enter the capture domain, i=1,2,3,…,N.

5. A space chain assembly system, characterized in that, Includes a spacecraft platform, assembly base, robot, and at least two modules to be assembled or a combination of multiple modules; The spacecraft platform is a satellite, space station, or other space facility platform with attitude and trajectory control capabilities in a microgravity orbital environment. The assembly base is rigidly connected to the spacecraft platform. The robot is fixed to the assembly base via an end-effector. The modules or combinations of modules to be assembled are pre-fixed to the spacecraft platform or assembly base via detachable connections and are within the robot's picking range. The connectors on the assembly base are root connectors that require robot-assisted alignment and connection. The connectors on the module or multi-module combination to be installed include root connectors that require robot-assisted alignment and connection, and link heads that do not require robot-assisted alignment and connection. The root connectors on the module or multi-module combination to be installed and the root connectors on the assembly base are female connectors and male connectors to each other. The link heads correspond one-to-one with the link heads on adjacent modules or module combinations, and are female connectors and male connectors to each other. The connectors, starting from the root connector and proceeding from the nearest to the farthest point, are the first group of connectors, the second group of connectors, ..., the Nth group of connectors, where N≥1; After the root connector is assembled and locked with robot-assisted alignment, the first set of connectors on adjacent modules or multi-module combinations passively enters the capture domain and starts docking assembly. At the same time, the next set of connectors passively enters the capture domain and starts docking assembly. This process is repeated, and N sets of connectors between adjacent modules or module combinations enter the capture domain in sequence and complete docking assembly without robot-assisted alignment in sequence.

6. A space chain assembly system according to claim 5, characterized in that, The assembly base is a structure, an unfolding mechanism, or a fixed module or module combination obtained from previous assembly.

7. A space chain assembly system according to claim 6, characterized in that, The robot is a fixed-base robotic arm, a climbing robot with mobility, or a robot carried by other tools.

8. A space chain assembly system according to claim 7, characterized in that, The root connector alignment capture tolerance is greater than the pose deviation generated when the robot aligns modules or module groups. The positioning accuracy after the root connector is locked causes the first group of connectors to passively enter the capture domain; the positioning accuracy after the i-th group of connectors is locked causes the (i+1)-th group of connectors to passively enter the capture domain, i=1,2,3,…,N.

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