On-orbit maintenance service system and method

Abstract

The present invention relates to an on-orbit maintenance service system and method, belonging to the field of space on-orbit maintenance service technology; the service aircraft has the functions of large-scale on-orbit maneuvering and target characteristic detection, and carries multiple micro-sized operating aircraft; the micro-sized operating aircraft has the functions of close-range maneuvering, attachment to a target star, patrol on the target star and maintenance operation; the service aircraft maneuvers to the vicinity of the target star, releases the micro-sized operating aircraft, the micro-sized operating aircraft autonomously maneuvers to the target star attachment area, captures and connects the target star through an attachment device, and the micro-sized operating aircraft is separated from the attachment device and then performs on-orbit service operations on the target star. After completing the service task, the micro-sized operating aircraft is fixedly connected to the attachment device again to form a combination, the attachment device is detached from the target star, and the service aircraft recovers the micro-sized operating aircraft. The present invention solves the problems of poor feasibility and high operation risk of the existing target capture method.

Description

Technical Field

[0001] The present invention belongs to the technical field of space on-orbit maintenance services, and relates to an on-orbit maintenance service system and method. Background Art

[0002] Over the past two decades, the number of spacecraft in orbit has exploded, and space resources have become increasingly scarce. In the future, more spacecraft will be launched into orbit. With the development of science and technology, the functions of spacecraft in orbit are increasing, the cost of development is more expensive, and the life in orbit is required to be longer, so the demand for maintenance services for high-value satellites in orbit is more urgent. The geostationary orbit (GEO) is an extremely important limited space resource, and the orbital position is extremely scarce. As more and more satellites enter the GEO orbit, the need to remove invalid spacecraft in the GEO orbit and efficiently utilize the GEO orbit is becoming more urgent.

[0003] In-orbit services generally include fault repair, debris cleaning, material replenishment, and on-orbit assembly. Fault repair refers to the repair of satellites that have failed in orbit, such as auxiliary deployment of sails or antennas, replacement of functional modules, etc.; debris cleaning refers to the active and passive capture and removal of space debris and abandoned satellites stranded in orbit to maintain the orbital environment; material replenishment refers to the replenishment of satellite consumables to extend the service life, the most typical of which is the replenishment of propellant; on-orbit assembly refers to the construction of large facilities in orbit using functional modules, such as the on-orbit assembly of super-large antennas. At this stage, the design of service vehicles is limited to a single service function, such as propellant replenishment, debris dragging and removal, etc. In the future, the development trend of service vehicles will integrate multiple service functions and develop in the direction of diversified service functions.

[0004] In on-orbit maintenance and operation service missions and towing and removal missions, capturing the target satellite is a prerequisite for carrying out the mission. The faulty satellites currently in orbit do not have adapters installed in advance to adapt to the robotic arm capture tools, and they may have complex movements such as spin and nutation, which require extremely high dynamic capture capabilities. Large and medium-sized service aircraft have the disadvantages of large mass and size, and precise attitude control is difficult. During the capture and operation of target satellites at ultra-close range, there is a high risk of collision. Due to the limitations of mass, size and resources, micro-service aircraft carry limited target characteristic detection payloads and service operation payloads, and their functions are limited, making them unable to perform more complex on-orbit service missions. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to propose an on-orbit maintenance service system and method, and to solve the problems of poor feasibility and high operational risk of the existing target capture method.

[0006] The technical solution of the present invention is: an on-orbit maintenance service system, including a service aircraft and a micro-manipulation aircraft, the micro-manipulation aircraft is equipped with an attachment device;

[0007] The service vehicle has the functions of large-scale maneuvering and target characteristic detection on orbit, and carries multiple micro-manipulation vehicles;

[0008] A micro-sized maneuvering aircraft with the capabilities of close-range maneuvering, attaching to a target satellite, patrolling on the target satellite, and performing maintenance operations;

[0009] The service vehicle maneuvers to the vicinity of the target satellite and releases the micro-operation vehicle. The micro-operation vehicle autonomously maneuvers to the attachment area of ​​the target satellite and captures and connects to the target satellite through the attachment device on the micro-operation vehicle. The micro-operation vehicle separates from the attachment device and the micro-operation vehicle performs in-orbit service operations on the target satellite. After completing the service mission, the micro-operation vehicle and the attachment device are re-fixed and connected to form a combination. The attachment device is detached from the target satellite and the service vehicle recovers the micro-operation vehicle.

[0010] Furthermore, the service aircraft is equipped with a target detection payload for detecting the attitude, motion characteristics and attachment area of ​​the target star. The service aircraft calculates and plans the flight path of the micro-manipulation aircraft based on the detected target star data, and transmits the planning information to the micro-manipulation aircraft.

[0011] Furthermore, one end of the rope is connected to the attachment device, and the other end is connected to the service aircraft.

[0012] Furthermore, the service aircraft is equipped with a cable pulling device and a cable tightening device;

[0013] A cable traction device is used to transport the module that needs to be replaced along the rope to the target satellite;

[0014] The cable tightening device is used to tighten the rope after the attachment device forms a stable connection with the target satellite. The rope is in a slightly taut state, which makes it easier for the cable traction device to transport the module that needs to be replaced to the target satellite. It is also used to retract the rope and pull the combination of the micro-operating aircraft and the attachment device back to the vicinity of the service aircraft.

[0015] Furthermore, the service aircraft is equipped with a robotic arm. After completing the service mission, the micro-manipulation aircraft returns to the vicinity of the service aircraft, and the robotic arm captures the micro-manipulation aircraft and completes the recovery. The robotic arm is also used to remove the module that needs to be repaired or replaced from the service aircraft, install it on a cable traction device, and transport it to the target satellite by the cable traction device.

[0016] Furthermore, the micro-manipulation aircraft is equipped with two micro-robotic arms for performing maintenance operations on the target satellite and grabbing modules that need to be repaired or replaced.

[0017] Furthermore, the micro-manipulator aircraft is equipped with a plurality of movable mechanical legs for moving the micro-manipulator aircraft on the target star. Foot pads are provided at the ends of the mechanical legs, and nano-bristle bionic adhesive material is installed on the side of the foot pads that contacts the surface of the target star.

[0018] Furthermore, the attachment device is equipped with a plurality of landing buffer devices for absorbing the impact energy of contact collision when the combination of the micro-manipulation aircraft and the attachment device lands on the surface of the target star; a foot pad is installed on the landing buffer device, and a nano-bristle bionic adhesive material is installed on the side of the foot pad that contacts the surface of the target star.

[0019] Furthermore, when the mechanical legs of the micro-manipulator aircraft are separated from the target star, and when the landing cushion device is separated from the target star, the nano-bristle bionic adhesive material forms a 30° angle with the contact surface of the target star to achieve separation.

[0020] An on-orbit maintenance service method comprises the following steps:

[0021] The service vehicle carries multiple micro-operational vehicles on standby in orbit. After receiving ground instructions, it uses the target detection payload to detect the target satellite and autonomously maneuvers to the vicinity of the target satellite.

[0022] The service spacecraft conducts flyby detection of the target star, detects the attitude and motion characteristics of the target star, and the flat attachable area on the surface of the target star. Based on the detected information, the service spacecraft calculates and plans the flight path of the micro-manipulation spacecraft, and transmits the planning information to the micro-manipulation spacecraft;

[0023] The service aircraft releases the micro-manipulation aircraft in orbit. The micro-manipulation aircraft carries the attachment device and autonomously flies to the vicinity of the target satellite's attachment area based on the flight path planning information. The attachment device is connected to the service aircraft by a rope, and the rope is in a relaxed state.

[0024] The micro-sized maneuvering aircraft carries the attachment device and lands on the attachable area on the surface of the target satellite, and the landing cushion device is firmly connected to the surface of the target satellite;

[0025] The micro-manipulation aircraft releases the fixed connection state with the attachment device, moves from the attachment device to the surface of the target satellite and crawls. The micro-manipulation aircraft carries a monitoring camera to monitor the status of the equipment on the surface of the target satellite; the rope connecting the service aircraft and the attachment device is tightened to make the rope in a slightly taut state;

[0026] The service vehicle uses its own robotic arm to take out the module that needs to be replaced from the service vehicle storage cabin, and places it on the cable traction device, which then transports it to the target satellite along the rope.

[0027] The micro-manipulation aircraft uses its own micro-manipulator to remove the module, crawls to the area where replacement is required, and performs on-orbit module replacement and maintenance operations;

[0028] After completing the on-orbit maintenance operation mission, the micro-manipulation aircraft moves back to the attachment device and is rigidly connected with the attachment device to form a combination. The attachment device is detached from the target satellite, and the cable tightening device on the service aircraft recycles the rope, and the combination of the micro-manipulation aircraft and the attachment device is recovered to the vicinity of the service aircraft's mechanical arm.

[0029] The robotic arm on the service aircraft grabs and captures the combination of the micro-manipulation aircraft and the attachment device, and recovers it into the service aircraft.

[0030] The beneficial effects of the present invention compared with the prior art are:

[0031] (1) The present invention provides a novel on-orbit service system: a service vehicle carries a plurality of micro-manipulation vehicles, and the service vehicle carries a target characteristic detection payload to detect the motion and attitude characteristics of the target satellite. The micro-manipulation vehicle can perform maintenance service operations on the target satellite alone, or a plurality of micro-manipulation vehicles can perform maintenance service operations on the target satellite in coordination. After completing the service mission, the service vehicle can recover the micro-manipulation vehicle. This on-orbit service mode has a reusable function.

[0032] (2) The on-orbit service system provided by the present invention has the ability to complete a variety of on-orbit service tasks. The micro-operation aircraft can patrol and inspect the surface of the target satellite, and can also carry out on-orbit maintenance tasks such as module replacement on the target satellite. The service aircraft can also carry out towing and removal tasks for faulty satellites, etc., so that the on-orbit service model can achieve diversified service functions.

[0033] (3) The micro-manipulation aircraft adopted in the present invention is used for the "zero" distance operation mode on the target satellite, which avoids the problems of the service aircraft being large in size and mass, the difficulty of precise attitude control technology, and the high risk of collision between the service aircraft and the target satellite during the ultra-close capture and control process. The micro-manipulation aircraft is small in size and mass, and the difficulty of precise attitude control technology is low. At the same time, a landing buffer device is configured to absorb the impact energy generated when the micro-manipulation aircraft lands on the surface of the target satellite. If the micro-manipulation aircraft collides with the target satellite and causes damage, since the service aircraft carries multiple micro-manipulation aircraft, another micro-manipulation aircraft can be released to continue to carry out the on-orbit service mission. Compared with using a service aircraft to capture the target satellite to carry out the service mission, the use of a micro-manipulation aircraft is more efficient and has higher reliability and flexibility in completing the mission.

[0034] (4) As an aircraft, the micro-manipulation aircraft has autonomous navigation, guidance, control and maneuverability capabilities, and also has the function of a mobile operation robot. It is equipped with four mobile mechanical legs for crawling on the surface of the target satellite, and is equipped with two micro-manipulator arms with operating tools installed at the end of the mechanical arms. The two mechanical arms work together to perform on-orbit service operations on the target satellite. The micro-manipulation aircraft combines the two functions of an aircraft and a robot, and has highly integrated functions.

[0035] (5) The present invention uses nano-bristle bionic adhesive material as a technical means to connect the micro-manipulator, the attachment device and the target star surface. The nano-bristle bionic adhesive material is a nano-bristle structure that imitates the toes of a gecko, and can contact the surface of an object to generate an adhesion force based on intermolecular van der Waals force, so that the nano-bristle bionic adhesive material and the target star surface can be firmly connected; the nano-bristle bionic adhesive material and the target star contact surface form an angle of 30° when detaching, which can facilitate the detachment of the micro-manipulator, the attachment device and the target star surface; the nano-bristle bionic adhesive material can be reused and will not cause any damage to the target star surface during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The overall schematic diagram of the aircraft serving the present invention;

[0037] Figure 2 This is an overall schematic diagram of the micro-manipulation aircraft of the present invention;

[0038] Figure 3 It is an overall schematic diagram of the attachment device of the present invention;

[0039] Figure 4 It is an overall schematic diagram of a combination of a micro-sized operating aircraft and an attachment device of the present invention;

[0040] Figure 5 , Figure 6It is a task flow diagram of the novel on-orbit maintenance service method of the present invention. DETAILED DESCRIPTION

[0041] The present invention will be further described below in conjunction with the accompanying drawings.

[0042] In view of the shortcomings of the existing target capture methods, such as poor feasibility and high operational risks, and in combination with the development trend of diversified service functions, the present invention provides a new on-orbit maintenance service system, including a service aircraft and multiple micro-manipulation aircraft, and the micro-manipulation aircraft is equipped with an attachment device. The service aircraft has the functions of large-scale maneuvering on orbit and target characteristic detection, and the micro-manipulation aircraft has the functions of close-range maneuvering, attachment to the target star, patrol on the target star, and maintenance and replacement. The service aircraft maneuvers to the vicinity of the target star, releases the micro-manipulation aircraft, and the micro-manipulation aircraft autonomously maneuvers to the target star attachment area, captures and connects the target star through the attachment device on the micro-manipulation aircraft, separates the micro-manipulation aircraft from the attachment device, and performs on-orbit service operations on the target star. After completing the service mission, the micro-manipulation aircraft and the attachment device are re-fixed and connected to form a combination, the attachment device is detached from the target star, and the service aircraft recovers the micro-manipulation aircraft.

[0043] The service aircraft is equipped with a target detection payload to detect the attitude, motion characteristics and attachment area of ​​the target star. The service aircraft calculates and plans the flight path of the micro-manipulation aircraft based on the detected target star data, and transmits the planning information to the micro-manipulation aircraft.

[0044] The attachment device is equipped with a flexible rope, one end of the rope is connected to the attachment device, and the other end is connected to the service aircraft. The replaceable module is transferred from the service aircraft to the target star through the rope; after the attachment device is detached from the surface of the target star, the service aircraft retracts the flexible rope, pulls the combination of the micro-manipulation aircraft and the attachment device back to the vicinity of the service aircraft, and the mechanical arm on the service aircraft captures the micro-manipulation aircraft and recovers the micro-manipulation aircraft.

[0045] The service aircraft is correspondingly equipped with a cable traction device and a cable tightening device. The cable traction device is used to transport the module that needs to be replaced along the rope to the target satellite; the cable tightening device is used to tighten the rope after the attachment device forms a stable connection with the target satellite. The rope is in a slightly tightened state, which makes it easier for the cable traction device to transport the module that needs to be replaced to the target satellite. At the same time, it is used to retract the rope and pull the combination of the micro-operating aircraft and the attachment device back to the vicinity of the service aircraft.

[0046] like Figure 1As shown, the service aircraft is equipped with a robotic arm. After completing the service mission, the micro-manipulation aircraft returns to the vicinity of the service aircraft, and the robotic arm captures the micro-manipulation aircraft and recovers it into the service aircraft. The robotic arm is also used to remove modules that need to be repaired or replaced from the service aircraft, install them on a cable traction device, and transport them to the target satellite by the cable traction device.

[0047] The micro-manipulation aircraft is rigidly connected to the attachment device to form a combination. After the attachment device completes the capture and connection with the target satellite, the micro-manipulation aircraft and the attachment device are released from the rigid connection, and the micro-manipulation aircraft performs patrol and service operations on the target satellite. After completing the service operation task, the micro-manipulation aircraft returns to the attachment device and is rigidly connected to the attachment device again to form a combination. The combination formed by the micro-manipulation aircraft and the attachment device is as follows: Figure 4 shown.

[0048] like Figure 2 As shown, the micro-manipulation aircraft is equipped with two micro-robotic arms for performing maintenance operations on the target satellite and grasping replaceable modules.

[0049] like Figure 2 As shown, the micro-manipulator aircraft is equipped with four movable mechanical legs, which enable the micro-manipulator aircraft to move on the target star. Foot pads are provided at the ends of the mechanical legs, and nano-bristle bionic adhesive materials are installed on the side of the foot pads that contacts the surface of the target star, so that the micro-manipulator aircraft and the surface of the target star have a certain adhesion force, so that the micro-manipulator aircraft will not be separated from the target star when moving on the surface of the target star.

[0050] like Figure 3 As shown, the attachment device is equipped with four landing buffer devices, which are mainly used to absorb the impact energy of contact collision when the combination of the micro-manipulated aircraft and the attachment device lands on the surface of the target star; each landing buffer device is also equipped with a foot pad, and the side of the foot pad that contacts the surface of the target star is equipped with nano-bristle bionic adhesive material, so that the attachment device and the surface of the target star have a certain adhesion force, which can make the attachment device stably connected to the target star. The attachment device can be detached from the surface of the target star and release the connection with the target star.

[0051] When the mechanical legs of the micro-manipulator are lifted and separated from the target star, and when the landing buffer device is separated from the target star, the nano-bristle bionic adhesive material forms a 30° angle with the contact surface of the target star, and can be easily separated from the surface of the target star. The nano-bristle bionic adhesive material can be reused and will not cause any damage to the surface of the target star during use.

[0052] The on-orbit maintenance service system can carry out on-orbit service tasks such as surface inspection of the target satellite, replacement of functional modules, maintenance operations, and removal of faulty satellites. Taking a more complex module replacement task as an example, Figure 5 , Figure 6 As shown, the task flow and implementation steps are as follows:

[0053] (1) The service vehicle carries multiple micro-operation vehicles on standby in orbit. After receiving ground commands, it uses long-range detection payloads to detect the target satellite. The service vehicle autonomously maneuvers in a large-scale orbit to the vicinity of the target satellite;

[0054] (2) The service vehicle conducts flyby detection of the target satellite to detect the attitude and motion characteristics of the target satellite, as well as the relatively flat attachment area on the target satellite surface. Based on the detected information, the service vehicle calculates and plans the flight path of the micro-manipulation vehicle and transmits the planning information to the micro-manipulation vehicle.

[0055] (3) The service vehicle releases the micro-manipulation vehicle on orbit. The micro-manipulation vehicle carries the attachment device and autonomously flies to the vicinity of the target satellite's attachment area based on the flight path planning information. The attachment device is connected to the service vehicle by a rope, and the rope is in a loose state.

[0056] (4) The micro-manipulation aircraft carrying the attachment device lands on the target satellite surface in an attachable area. The landing cushion device on the attachment device absorbs the impact energy when the micro-manipulation aircraft and the attachment device assembly land and contact the target satellite surface. The nano-bristle bionic adhesive material on the foot pad of the landing cushion device contacts the attachable area on the target satellite surface to generate adhesive force, and the landing cushion device is firmly connected to the target satellite surface.

[0057] (5) The micro-manipulation aircraft is released from the fixed connection state with the attachment device and moves from the attachment device to the surface of the target star. The micro-manipulation aircraft can crawl and move on the target star using four mechanical legs. The nano-bristle bionic adhesive material on the foot pads at the end of the mechanical legs contacts the surface of the target star to generate adhesion, which can make the micro-manipulation aircraft stably connected to the surface of the target star, so that the micro-manipulation aircraft always moves and cruises on the surface of the target star. The micro-manipulation aircraft carries monitoring cameras and other equipment to monitor the status of the equipment on the surface of the target star; the rope tightening device on the service aircraft tightens the rope connecting the service aircraft and the attachment device, so that the rope is in a slightly taut state;

[0058] (6) The service vehicle uses its own robotic arm to take out the module to be replaced from the service vehicle storage cabin and place it on the cable traction device, which then transports it to the target satellite along the rope. The micro-manipulation vehicle uses its own two micro-robotic arms to take down the module.

[0059] (7) The micro-manipulator vehicle uses its two micro-manipulator arms to grab the replacement module, crawls on the surface of the target satellite to the area that needs to be replaced, and uses the two micro-manipulator arms to perform on-orbit module replacement and maintenance operations on the target satellite;

[0060] (8) After completing the on-orbit maintenance operation mission, the micro-manipulation aircraft moves back to the attachment device and is rigidly connected to the attachment device to form a combination; the attachment device is detached from the target satellite, and the cable tightening device on the service aircraft recycles the rope, and the combination of the micro-manipulation aircraft and the attachment device is recovered to the vicinity of the service aircraft's mechanical arm;

[0061] (9) The robotic arm on the service aircraft grabs and captures the combination of the micro-manipulation aircraft and the attachment device, and recycles it into the service aircraft.

[0062] At this point, the on-orbit module replacement service mission is completed, and the service spacecraft orbitally maneuvers to the next service target to carry out the on-orbit service mission.

[0063] The new on-orbit service system carries out an on-orbit service mission of dragging and removing a faulty satellite. The mission flow and implementation steps are basically the same as those described above, wherein steps (1) to (4) are consistent with the module replacement mission flow and steps. After the attachment device is firmly connected to the surface of the target satellite, the service vehicle can drag and remove the faulty satellite out of the current orbit. After completing the dragging and removal mission, the above steps (8) to (9) can be followed to complete the recovery of the micro-manipulation vehicle.

[0064] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0065] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. An on-orbit maintenance service system, characterized in that: It includes a service aircraft and a micro-manipulation aircraft, and the micro-manipulation aircraft is equipped with an attachment device; The service vehicle has the functions of large-scale maneuvering and target characteristic detection on orbit, and carries multiple micro-manipulation vehicles; A micro-sized maneuvering aircraft with the capabilities of close-range maneuvering, attaching to a target satellite, patrolling on the target satellite, and performing maintenance operations; The service vehicle maneuvers to the vicinity of the target satellite and releases the micro-operation vehicle. The micro-operation vehicle autonomously maneuvers to the attachment area of ​​the target satellite and captures and connects to the target satellite through the attachment device on the micro-operation vehicle. The micro-operation vehicle separates from the attachment device and the micro-operation vehicle performs in-orbit service operations on the target satellite. After completing the service mission, the micro-operation vehicle and the attachment device are re-fixed and connected to form a combination. The attachment device is detached from the target satellite and the service vehicle recovers the micro-operation vehicle.

2. The on-orbit maintenance service system according to claim 1, characterized in that: The service aircraft is equipped with a target detection payload for detecting the attitude, motion characteristics and attachment area of ​​the target star. The service aircraft calculates and plans the flight path of the micro-manipulation aircraft based on the detected target star data, and transmits the planning information to the micro-manipulation aircraft.

3. The on-orbit maintenance service system according to claim 2, characterized in that: The attachment device is provided with a rope, one end of the rope is connected to the attachment device, and the other end of the rope is connected to the service aircraft.

4. The on-orbit maintenance service system according to claim 3, characterized in that: The service aircraft is equipped with a cable pulling device and a cable tightening device; A cable traction device is used to transport the module that needs to be replaced along the rope to the target satellite; The cable tightening device is used to tighten the rope after the attachment device forms a stable connection with the target satellite. The rope is in a slightly taut state, which makes it easier for the cable traction device to transport the module that needs to be replaced to the target satellite. It is also used to retract the rope and pull the combination of the micro-operating aircraft and the attachment device back to the vicinity of the service aircraft.

5. The on-orbit maintenance service system according to claim 4, characterized in that: The service aircraft is equipped with a robotic arm. After completing the service mission, the micro-manipulation aircraft returns to the vicinity of the service aircraft, and the robotic arm captures the micro-manipulation aircraft and completes the recovery. The robotic arm is also used to take out the module that needs to be repaired or replaced from the service aircraft, install it on the cable traction device, and transport it to the target satellite by the cable traction device.

6. The on-orbit maintenance service system according to claim 5, characterized in that: The micro-manipulation aircraft is equipped with two micro-mechanical arms for performing maintenance operations on the target satellite and grabbing modules that need to be repaired or replaced.

7. The on-orbit maintenance service system according to claim 6, characterized in that: The micro-manipulation aircraft is equipped with a plurality of movable mechanical legs for moving the micro-manipulation aircraft on a target star. Foot pads are arranged at the ends of the mechanical legs, and nano-bristle bionic adhesive material is installed on the side of the foot pads that contacts the surface of the target star.

8. The on-orbit maintenance service system according to claim 7, characterized in that: The attachment device is equipped with a plurality of landing buffer devices, which are used to absorb the impact energy of contact collision when the combination of the micro-manipulation aircraft and the attachment device lands on the surface of the target star; a foot pad is installed on the landing buffer device, and a nano-bristle bionic adhesive material is installed on the side of the foot pad that contacts the surface of the target star.

9. An on-orbit maintenance service system according to any one of claims 7 or 8, characterized in that: When the mechanical legs of the micro-manipulator aircraft detach from the target star, and when the landing cushion device detaches from the target star, the nano-bristle bionic adhesive material forms a 30° angle with the contact surface of the target star to achieve detachment.

10. An on-orbit maintenance service method based on the system of claim 9, characterized in that: The following steps are involved: The service vehicle carries multiple micro-operational vehicles on standby in orbit. After receiving ground instructions, it uses the target detection payload to detect the target satellite and autonomously maneuvers to the vicinity of the target satellite. The service spacecraft conducts flyby detection of the target star, detects the attitude and motion characteristics of the target star, and the flat attachable area on the surface of the target star. Based on the detected information, the service spacecraft calculates and plans the flight path of the micro-manipulation spacecraft, and transmits the planning information to the micro-manipulation spacecraft; The service aircraft releases the micro-manipulation aircraft in orbit. The micro-manipulation aircraft carries the attachment device and autonomously flies to the vicinity of the target satellite's attachment area based on the flight path planning information. The attachment device is connected to the service aircraft by a rope, and the rope is in a relaxed state. The micro-sized maneuvering aircraft carries the attachment device and lands on the attachable area on the surface of the target satellite, and the landing cushion device is firmly connected to the surface of the target satellite; The micro-manipulation aircraft releases the fixed connection state with the attachment device, moves from the attachment device to the surface of the target satellite and crawls. The micro-manipulation aircraft carries a monitoring camera to monitor the status of the equipment on the surface of the target satellite; the rope connecting the service aircraft and the attachment device is tightened to make the rope in a slightly taut state; The service vehicle uses its own robotic arm to take out the module that needs to be replaced from the service vehicle storage cabin, and places it on the cable traction device, which then transports it to the target satellite along the rope. The micro-manipulation aircraft uses its own micro-manipulator to remove the module, crawls to the area where replacement is required, and performs on-orbit module replacement and maintenance operations; After completing the on-orbit maintenance operation mission, the micro-manipulation aircraft moves back to the attachment device and is rigidly connected with the attachment device to form a combination. The attachment device is detached from the target satellite, and the cable tightening device on the service aircraft recycles the rope, and the combination of the micro-manipulation aircraft and the attachment device is recovered to the vicinity of the service aircraft's mechanical arm. The robotic arm on the service aircraft grabs and captures the combination of the micro-manipulation aircraft and the attachment device, and recovers it into the service aircraft.

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