Large-scale satellite solar wing auxiliary folding and dismounting device in space environment

Abstract

The application discloses a large-scale satellite solar wing auxiliary folding and dismounting device in a space environment and relates to the technical field. The device comprises a redundancy space mechanical arm, which can capture, fix and release a satellite and assist in folding and dismounting a large-scale satellite solar wing; two trusses, which are arranged in parallel and at intervals; two moving devices, which are fixedly connected to the upper surfaces of the two trusses respectively; the redundancy space mechanical arm and the satellite are connected to the upper surfaces of the two moving devices respectively; a baffle, which is fixedly connected to the upper surface of the truss and arranged at one end of the moving device; and a recovery device, which is fixedly connected to the upper surface of the truss and contains the folded solar wing. The redundancy space mechanical arm and the moving device and other parts work cooperatively, the folding of the satellite solar wing is assisted by the mechanical arm, the large-scale satellite solar wing can be automatically folded, dismounted, fixed, recovered and installed quickly and continuously, and the replacement of the large-scale satellite solar wing can be continuously operated.

Description

Technical Field

[0001] This invention belongs to the field of satellite solar array technology, and more specifically, it relates to a device for assisting in the folding and disassembly of large-scale satellite solar arrays in a space environment. Background Technology

[0002] Currently, space robots for on-orbit services are developing rapidly, and many types of robots have been used on the International Space Station and the Chinese Space Station to complete tasks such as assisting astronauts with extravehicular activities, space debris removal, on-orbit capture, transportation, and refueling.

[0003] However, the large size and complex replacement process of satellite solar panels make it difficult for existing space robots to complete the intended tasks, and robots capable of performing solar panel assembly and disassembly are still in the research gap.

[0004] To address the aforementioned problems, this invention designs a large-scale satellite solar array retrieval and disassembly device for use in space environments. This device can perform tasks such as retrieval, disassembly, recovery, and installation of satellite solar arrays, enabling the replacement of large-scale satellite solar arrays. This device significantly extends satellite lifespan while improving operational efficiency, saving substantial manpower and material costs, and reducing the risks for astronauts performing complex tasks in extreme and harsh space environments. It has broad application prospects. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a large-scale satellite solar array auxiliary folding and disassembly device in a space environment, which can complete the folding, disassembly, recovery and installation of satellite solar arrays, realize the replacement of large-scale satellite solar arrays, improve operational efficiency, save a lot of manpower and material costs, and at the same time reduce the risk of astronauts performing complex tasks in extreme and harsh space environments.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A device for assisting in the retrieval and disassembly of large-scale satellite solar panels in a space environment includes: a redundant space robotic arm that can autonomously select a suitable number of degrees of freedom to capture, fix, and release satellites, as well as assist in the retrieval and disassembly of large-scale satellite solar panels.

[0008] Two trusses, arranged in parallel and spaced apart;

[0009] Two mobile devices are arranged parallel to each other along the length of the truss and are fixedly connected to the top of the two trusses respectively. The redundant space robotic arm and the satellite are slidably connected to the top of the two mobile devices respectively.

[0010] A baffle, vertically fixed to the top of a truss and set at one end of the moving device, applies pressure to the folded solar panel when it is folded to cause it to fold.

[0011] The recovery unit is fixedly connected to a truss that is linked to a redundant space robotic arm, and houses the folded solar array.

[0012] Preferably, the redundant spatial robotic arm includes a base, a rear arm, a forearm, a support sleeve A, a support rod A, a support sleeve B, a telescopic arm, a support rod B, an end effector, a support rod C, and a support sleeve C; the telescopic arm includes a telescopic sleeve and a telescopic rod; the end effector includes an end link, an end gripper base, and an end gripper; one end of the rear arm is rotatably connected to the base via a motor-driven revolute joint; one end of the forearm is rotatably connected to the other end of the rear arm via a motor-driven revolute joint; the telescopic arm is connected to the other end of the forearm via a motor-driven revolute joint; one end of the support sleeve A is rotatably connected to the forearm via a revolute joint; the support rod A is connected to the telescopic sleeve via a revolute joint; the support sleeve A and the support rod... A. Coaxial telescopic connection; B. Support sleeve B is rotatably connected to the telescopic sleeve via a revolute joint; C. Support rod B is rotatably connected to the telescopic rod via a revolute joint; D. Support sleeve B and support rod B are coaxially telescopically connected; E. End linkage in the end effector is rotatably connected to the telescopic rod in the telescopic arm via a motor-driven revolute joint; C. One end of support rod C is rotatably connected to the forearm via a revolute joint; D. Support sleeve C is rotatably connected to the rear arm via a revolute joint; E. Support rod C and support sleeve C are coaxially connected; D. Telescopic rod is telescopically connected to the telescopic sleeve via a motor-driven sliding joint; E. End clamp base is connected to the end linkage via a motor-driven revolute joint; E. End clamp is connected to the end clamp base via a motor-driven revolute joint.

[0013] Preferably, the satellite includes a satellite body, a solar panel insertion device, a solar panel, a solar panel retraction and fixing device, and a positioning post; the solar panel insertion device includes interface A, a spring device, a fixing hook A, interface B, a positioning pin, and a fixing hook B; the solar panel includes a near-end support frame, a solar panel, and a pressure sensor; the solar panel retraction and fixing device includes a solar panel retraction and fixing support post and a solar panel retraction and fixing plate; interface A in the solar panel insertion device is fixedly connected to the satellite body; interface B in the solar panel insertion device is fixedly connected to the near-end support frame in the solar panel; The solar wing retraction and fixing support column in the solar wing retraction and fixing device is fixed to the satellite body; fixing hook B is connected to interface B through a motor-driven sliding joint; fixing hook A is connected to interface A through a spring device; interface A and interface B are connected through fixing hook A, fixing hook B, and positioning pin; the near-end support frame is connected to the solar panel through a hinge; the solar panels are connected to each other through hinges; the pressure sensor is fixed on the near-end support frame; the solar wing retraction and fixing plate is connected to the solar wing retraction and fixing support column through a motor-driven rotating joint, and the positioning column is connected to the sliding device.

[0014] Preferably, the moving device includes a motor, a lead screw fixing block, a lead screw, a slider, a guide rail, a base plate, a robotic arm moving base, a satellite moving base, and a locking buckle; the connection between the components is as follows: the motor, the lead screw fixing block, and the guide rail are fixedly connected to the base plate; the lead screw is coaxially connected to the motor and the lead screw fixing block; the slider is slidably connected to the guide rail and connected to the lead screw via ball bearings; the robotic arm moving base is connected to the slider via a motor-driven rotating joint; the satellite moving base is connected to the slider via a motor-driven rotating joint; and the locking buckle is connected to the satellite moving base via a motor-driven rotating joint.

[0015] Preferably, the recovery device includes a crossbar, a vertical bar, and a solar panel fixing device; the connection between the components is as follows: the crossbar and the vertical bar are connected by a hinge and a foldable panel; the solar panel fixing device is fixed to the bottom of the recovery device.

[0016] The beneficial effects of adopting the above technical solution are as follows:

[0017] 1. The present invention provides a large-scale satellite solar array assisted folding and disassembly device in a space environment. The redundant space robotic arm can realize mutual conversion between 7 and 6 degrees of freedom, so as to autonomously select the number of degrees of freedom according to the operation task, thereby improving the flexibility and applicability of the robotic arm.

[0018] 2. The present invention provides a large-scale satellite solar array auxiliary folding and disassembly device in a space environment. The plug-in mechanism connecting the satellite body and the satellite solar array has a simple, stable and reliable structure, which can realize the rapid disassembly and efficient installation of large-scale satellite solar arrays.

[0019] 3. This invention provides a large-scale satellite solar array assisted folding and disassembly device for a space environment. The satellite's mobile base is tightly connected to the satellite via positioning columns and locking buckles. Combined with a robotic arm, it enables precise positioning and rapid, stable, and reliable satellite fixation and release. Furthermore, the mobile device is driven by a lead screw and guide rail, possessing high precision, high rigidity, high reliability, and a large load-bearing capacity.

[0020] 4. The present invention provides a large-scale satellite solar array assisted folding and disassembly device in a space environment, wherein a redundant space robotic arm assists in the folding of the satellite solar array, preventing the solar array from breaking due to uncontrolled direction during folding, thereby achieving stable and reliable folding of the large-scale satellite solar array.

[0021] 5. The present invention provides a large-scale satellite solar array auxiliary folding and disassembly device in a space environment. The telescopic and foldable recovery device has two modes. In the folded state, it saves space and is easy to place, transport and install. In the unfolded state, it has a large internal space and is equipped with a solar array fixing device, which can store multiple damaged solar arrays at one time.

[0022] 6. The present invention provides a large-scale satellite solar panel retrieval and disassembly device in a space environment, wherein a redundant space robotic arm and a mobile device work together to autonomously complete a sequence of operations such as retrieval, disassembly, recovery, and installation of large-scale satellite solar panels, thereby realizing continuous operation of large-scale satellite solar panel replacement tasks. Attached Figure Description

[0023] Figure 1 Flowchart of satellite solar panel replacement in this invention;

[0024] Figure 2 A schematic diagram of satellite capture in this invention;

[0025] Figure 3 A schematic diagram of a fixed satellite in this invention;

[0026] Figure 4 A schematic diagram of the satellite solar array retracting in this invention;

[0027] Figure 5 A schematic diagram of satellite solar panel disassembly in this invention;

[0028] Figure 6 Schematic diagram of satellite solar panel recovery in this invention;

[0029] Figure 7 Schematic diagram of satellite solar panel installation in this invention;

[0030] Figure 8 Axonometric drawing of a large-scale satellite solar array retrieval and disassembly device in a space environment according to the present invention;

[0031] Figure 9 Schematic diagram of the redundancy space robotic arm in this invention;

[0032] Figure 10 Front view of the telescopic arm of the redundant spatial robotic arm in this invention;

[0033] Figure 11 Front view of the end effector of the redundant spatial robotic arm in this invention;

[0034] Figure 12 Satellite schematic diagram in this invention;

[0035] Figure 13 Front view of the solar panel insertion mechanism in this invention;

[0036] Figure 14 A schematic diagram illustrating the working principle of the solar panel insertion mechanism in this invention;

[0037] Figure 15 Schematic diagram of the solar array in this invention;

[0038] Figure 16 Schematic diagram of the solar panel retraction and fixing device in this invention;

[0039] Figure 17 Axonometric view of the mobile device in this invention;

[0040] Figure 18 Schematic diagram of the recycling device in this invention Figure 1 ;

[0041] Figure 19 Schematic diagram of the recycling device in this invention Figure 2 ;

[0042] In the picture:

[0043] 1. Redundancy Spatial Robotic Arm; 1-1. Base; 1-2. Rear Arm; 1-3. Forearm; 1-4. Support Sleeve A; 1-5. Support Rod A; 1-6. Support Sleeve B; 1-7. Telescopic Arm; 1-8. Support Rod B; 1-9. End Effector; 1-10. Support Rod C; 1-11. Support Sleeve C; 1-7-1. Telescopic Sleeve; 1-7-2. Telescopic Rod; 1-9-1. End Link; 1-9-2. End Grip Base; 1-9-3. End Grip;

[0044] 2. Satellite; 2-1. Satellite body; 2-2. Solar wing connector; 2-3. Solar wing; 2-4. Solar wing retraction and fixing device; 2-5. Positioning pin; 2-2-1. Interface A; 2-2-2. Spring device; 2-2-3. Fixing hook A; 2-2-4. Interface B; 2-2-5. Positioning pin; 2-2-6. Fixing hook B; 2-3-1. Proximal support frame; 2-3-2. Solar panel; 2-3-3. Pressure sensor; 2-4-1. Solar wing retraction and fixing support pin; 2-4-2. Solar wing retraction and fixing plate;

[0045] 3. Moving device; 3-1. Includes motor; 3-2. Lead screw fixing block; 3-3. Lead screw; 3-4. Slider; 3-5. Guide rail; 3-6. Base plate; 3-7. Robotic arm moving base; 3-8. Satellite moving base; 3-9. Locking buckle;

[0046] 4. Truss;

[0047] 5. Baffle;

[0048] 6. Recovery device; 6-1. Includes crossbar; 6-2. Longitudinal bar; 6-3. Solar wing fixing device. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0050] The working principle of this invention is as follows:

[0051] Reference Figure 8 , Figure 9 , Figure 12 , Figure 17 , Figure 18 , Figure 19 As shown, a large-scale satellite solar panel retrieval and disassembly device in a space environment consists of a redundant space robotic arm 1, a satellite 2, a moving device 3, a truss 4, a baffle 5, and a recovery device 6, capable of replacing large-scale satellite solar panels. The telescopic arm of the redundant space robotic arm 1 can be locked via a motor, allowing it to switch between 7 and 6 degrees of freedom. Therefore, when faced with different operational tasks such as capturing, securing, and releasing satellites, as well as assisting in the retrieval and disassembly of large-scale satellite solar panels, the robotic arm can autonomously select the appropriate number of degrees of freedom, thereby improving its flexibility and adaptability.

[0052] Reference Figure 1 , Figure 2 , Figure 3 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 17 The redundant space robotic arm 1 captures satellite 2 in orbit. The end effector 1-9 adjusts its attitude according to the position of the satellite's mobile base 3-8 to secure satellite 2 to the mobile base 3. At this time, due to the large size of the satellite's solar panels 2-3 and the fixed distance between the trusses, the redundant space robotic arm 1 locks the motor-driven sliding joint in the telescopic arm 1-7, reducing its degrees of freedom from 7 to 6 to improve the robotic arm's operational capability in confined workspaces. The robotic arm achieves precise positioning through the positioning post 2-5 in satellite 2, installing satellite 2 onto the satellite mobile base 3-8. Then, the locking buckle 3-9 on the motor-driven base is inserted into the slot in the satellite body 2-1, achieving stable and reliable fixation of satellite 2.

[0053] Reference Figure 1 , Figure 4 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 15 , Figure 16 , Figure 17 The moving device 3 slowly and reliably moves the satellite 2 towards the baffle 5. The solar array 2-3 is compressed inward by the baffle 5. At this time, the redundant space robotic arm 1 moves to the end of the satellite solar array 2-3 and applies pressure vertically to one side according to the solar array's retraction direction, guiding the solar array to retract correctly and preventing it from being compressed and retracting uncontrollably in the opposite direction, which could cause further damage. When the solar array retracts to its near end, the solar array retraction fixing plate 2-4-2 in the satellite solar array retraction fixing device 2-4 rotates 180° via a motor-driven rotating joint to fix the solar array in its folded state. Through the coordinated operation of the moving device 3 and the redundant space robotic arm 1, the large-scale satellite solar array is reliably and stably retracted.

[0054] Reference Figure 1 , Figure 5 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 The end effector 1-9 in the redundant space robotic arm 1 clamps the solar panel 2-3 in its folded state. The pressure sensor 2-3-3 on the near-end support frame 2-3-1 of the solar panel is subjected to pressure from the end gripper 1-9-3 in the robotic arm, which controls the motor in the interface B2-2-4 groove of the solar panel insertion device 2-2 to start, driving the fixing hook B2-2-6 to move in the opposite direction, thereby disconnecting from the fixing hook A2-2-3, so as to realize the rapid and reliable disassembly of the large-scale satellite solar panel.

[0055] Reference Figure 1 , Figure 6 , Figure 9 , Figure 10 , Figure 11 , Figure 15 , Figure 17 , Figure 18 , Figure 19 The redundant space robotic arm 1 clamps the disassembled satellite solar array and adjusts its position, then places it into the extended recovery device 6. The solar array is fixed in place by the solar array fixing device 6-3 at the bottom of the recovery device to facilitate the recovery of the scrapped satellite solar array.

[0056] Reference Figure 1 , Figure 7 , Figure 9 , Figure 10 , Figure 11 , Figure 15 , Figure 16 , Figure 17The redundant space robotic arm 1 grasps the new solar panel 2-3 and adjusts its orientation to install it. First, the four positioning pins 2-2-5 on interface B2-2-4 of the solar panel insertion device 2-2 are inserted into the slots on interface A2-2-1 to achieve precise and reliable positioning. Second, as interface B2-2-4 slowly approaches interface A2-2-1, the top of the fixing hook B2-2-6 continuously presses against the fixing hook A2-2-3. The spring device 2-2-2 compresses and moves the fixing hook A2-2-3 to one side. After the tops of the two fixing hooks are misaligned, the spring device 2-2-2 extends and moves the fixing hook A2-2-3 back to its original position. At this point, the fixing hook A2-2-3 and the fixing hook B2-2-6 are stably and reliably hooked together, achieving efficient installation of the large-scale satellite solar panel.

[0057] Reference Figure 1 , Figure 2 , Figure 4 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 17 The rotating joint driven by the motor on the slider 3-4 of the moving device 3 rotates the satellite moving base 3-8 180°, turning the damaged solar panel on the other side of the satellite toward the baffle side. The steps of folding, disassembling, and installing the satellite solar panel are repeated to complete the replacement of the other side of the satellite solar panel. Afterwards, the locking buckle 3-9 on the satellite moving base 3-8, driven by the motor, releases the satellite, and the robotic arm grabs the satellite, moves it to the designated position, and releases it.

[0058] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A device for assisting in the folding and disassembly of large-scale satellite solar panels in a space environment, characterized in that, include: The redundant space robotic arm (1) can autonomously select the appropriate degree of freedom to capture, fix, and release satellites (2) and assist in the folding and disassembly of large-scale satellite solar panels; Truss (4), two in number, set in parallel at intervals; Two mobile devices (3) are arranged parallel to each other along the length of the truss (4) and are fixedly connected to the top of the two trusses (4) respectively. The redundant space robotic arm (1) and the satellite (2) are slidably connected to the top of the two mobile devices (3) respectively. The baffle (5) is vertically fixed to the top of a truss (4) and set at one end of the moving device (3). When the solar wing is folded, pressure is applied to the folded solar wing to make it fold. The recovery device (6) is fixedly connected to the truss (4) connected to the redundant space robotic arm (1) and accommodates the folded solar array. The redundant spatial robotic arm (1) includes a base (1-1), a rear arm (1-2), a forearm (1-3), a support sleeve A (1-4), a support rod A (1-5), a support sleeve B (1-6), a telescopic arm (1-7), a support rod B (1-8), an end effector (1-9), a support rod C (1-10), and a support sleeve C (1-11); the telescopic arm (1-7) includes a telescopic sleeve (1-7-1) and a telescopic rod (1-7-2); the end effector includes an end link (1-9-1) and an end gripper base (1-9-1). -9-2), end clamp (1-9-3); one end of the rear arm (1-2) is rotatably connected to the base (1-1) via a motor-driven rotating joint; one end of the forearm (1-3) is rotatably connected to the other end of the rear arm (1-2) via a motor-driven rotating joint; the telescopic arm (1-7) is connected to the other end of the forearm (1-3) via a motor-driven rotating joint; one end of the support sleeve A (1-4) is rotatably connected to the forearm (1-3) via a rotating joint; the support sleeve rod A (1-5) is connected to the telescopic sleeve (1-7-1) via a rotating joint; the support sleeve A (1- 4) Coaxial telescopic connection with support sleeve A (1-5); support sleeve B (1-6) rotatably connected to telescopic sleeve (1-7-1) via a rotating joint; support sleeve B (1-8) rotatably connected to telescopic sleeve (1-7-2) via a rotating joint; support sleeve B (1-6) and support sleeve B (1-8) are coaxially telescopically connected; the end link (1-9-1) in the end actuator (1-9) rotatably connected to telescopic sleeve (1-7-2) in the telescopic arm (1-7) via a motor-driven rotating joint; one end of support sleeve C (1-10) The forearm (1-3) is rotatably connected to the support sleeve (1-11) via a rotating joint; the rear arm (1-2) is rotatably connected to the support sleeve (1-10) via a rotating joint; the support rod (1-10) is coaxially connected to the support sleeve (1-11); the telescopic rod (1-7-2) is telescopically connected to the telescopic sleeve (1-7-1) via a motor-driven sliding joint; the end clamp base (1-9-2) is connected to the end connecting rod (1-9-1) via a motor-driven rotating joint; the end clamp (1-9-3) is connected to the end clamp base (1-9-2) via a motor-driven rotating joint. The satellite (2) includes a satellite body (2-1), a solar panel insertion device (2-2), a solar panel (2-3), a solar panel folding and fixing device (2-4), and a positioning post (2-5); the solar panel insertion device (2-2) includes an interface A (2-2-1), a spring device (2-2-2), a fixing hook A (2-2-3), an interface B (2-2-4), a positioning pin (2-2-5), and a fixing hook B (2-2-6); the solar panel (2-3) includes a near-end support frame (2 -3-1), solar panel (2-3-2), pressure sensor (2-3-3); solar wing retraction and fixing device (2-4) includes solar wing retraction and fixing support column (2-4-1) and solar wing retraction and fixing plate (2-4-2); interface A (2-2-1) in solar wing insertion device (2-2) is fixed to the satellite body (2-1); interface B (2-2-4) in solar wing insertion device (2-2) is fixed to the near end support frame (2-3) in solar wing (2-3). -1) On; the solar wing retraction and fixing support column (2-4-1) in the solar wing retraction and fixing device (2-4) is fixed to the satellite body (2-1); the fixing hook B (2-2-6) is connected to the interface B (2-2-4) through the motor-driven moving pair; the fixing hook A (2-2-3) is connected to the interface A (2-2-1) through the spring device (2-2-2); the interface A (2-2-1) and the interface B (2-2-4) are connected through the fixing hook A (2-2-3) and the fixing hook B ( 2-2-6) and positioning pin (2-2-5) are connected; the near end support frame (2-3-1) and the solar panel (2-3-2) are connected by hinges; the solar panels (2-3-2) are connected by hinges; the pressure sensor (2-3-3) is fixed on the near end support frame (2-3-1); the solar wing folding fixing plate (2-4-2) is connected to the solar wing folding fixing support column (2-4-1) through a motor-driven rotating joint, and the positioning column (2-5) is connected to the moving device (3).

2. The large-scale satellite solar array auxiliary folding and disassembly device in a space environment according to claim 1, characterized in that, The moving device (3) includes a motor (3-1), a lead screw fixing block (3-2), a lead screw (3-3), a slider (3-4), a guide rail (3-5), a base plate (3-6), a robotic arm moving base (3-7), a satellite moving base (3-8), and a locking buckle (3-9). The connection between the components is as follows: the motor (3-1), the lead screw fixing block (3-2), and the guide rail (3-5) are fixedly connected to the base plate (3-6); the lead screw (3-3) is connected to the motor... The machine (3-1) and the lead screw fixing block (3-2) are coaxially connected; the slider (3-4) is slidably connected to the guide rail (3-5) and connected to the lead screw (3-3) through ball bearings; the robotic arm moving base (3-7) is connected to the slider (3-4) through a motor-driven rotating joint; the satellite moving base (3-8) is connected to the slider (3-4) through a motor-driven rotating joint; and the locking buckle (3-9) is connected to the satellite moving base (3-8) through a motor-driven rotating joint.

3. The auxiliary device for folding and disassembling large-scale satellite solar panels in a space environment according to claim 1, characterized in that, The recovery device (6) includes a crossbar (6-1), a vertical bar (6-2), and a solar wing fixing device (6-3). The connection between the components is as follows: the crossbar (6-1) and the vertical bar (6-2) are connected by a hinge and a foldable panel; the solar wing fixing device (6-3) is fixed to the bottom of the recovery device (6).

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