General fixing device for automatic cargo access of manned spacecraft

Abstract

The present application relates to a kind of manned spacecraft goods automatic access cabin general fixing device, belong to manned spacecraft overall design technical field.It includes upper plate, intermediate connection structure, lower plate, fixed baffle, fixed baffle buffer foam, initial position sensor, control driver, sliding baffle, sliding baffle buffer foam, initial position sensor stop block, limit position sensor stop block, ball nut, limit position sensor, drive motor, bearing, ball screw.The scheme of the present application can realize the fixation of non-cooperative access cabin goods on load transfer mechanism, further realize its egress or access task, and can realize the fixation of access goods on load transfer mechanism in the case of active end failure of quick docking device of cooperative access cabin goods, further realize its access task.

Description

Technical Field

[0001] This invention belongs to the field of overall design technology for manned spacecraft, and relates to a universal fixing device for automatic cargo entry and exit of manned spacecraft. Background Technology

[0002] Long-life large manned spacecraft are equipped with cargo airlocks. The cargo airlocks are equipped with payload transfer mechanisms. With the cooperation of astronauts inside the cabin and robotic arms outside the cabin, cargo can be automatically transferred from inside the manned spacecraft's sealed cabin to outside the sealed cabin, and cargo can also be automatically transferred from outside the manned spacecraft's sealed cabin to inside the sealed cabin, further enabling the on-orbit deployment and recovery of exposed facilities outside the cabin.

[0003] Currently, the cargo airlock and payload transfer mechanism of long-life large manned spacecraft only transfer cargo into and out of the cabin for cooperative cargo entry and exit. That is, a passive end of a quick docking device is installed on the payload transfer mechanism, and an active end of a quick docking device is installed on the cargo to be entered or exited. The passive end of the quick docking device is a passive mechanism, and the active end of the quick docking device is an active mechanism. Under the operation of astronauts or robotic arms, the active end of the quick docking device can automatically lock or unlock with the passive end, thereby realizing the installation or removal of cargo to be entered or exited on the payload transfer mechanism. When cargo needs to exit the spacecraft, the astronauts install the passive end of the quick docking device onto the payload transfer mechanism inside the sealed cabin, and the active end of the quick docking device onto the cargo to be exited. Then, they manually dock and lock the active end of the quick docking device of the cargo to be exited onto the passive end of the quick docking device of the payload transfer mechanism, thus completing the installation of the cargo to be exited onto the payload transfer mechanism. After the payload transfer mechanism transfers the cargo to be exited outside the cabin, the robotic arm grabs the cargo to be exited and supplies power and connects the active end of the quick docking device. Under the control of the robotic arm, the active end and passive end of the quick docking device unlock and separate, and the robotic arm grabs the cargo to be exited and leaves the payload transfer mechanism. When cargo needs to be brought into the cabin, the robotic arm grabs the cargo and transfers it to the payload transfer mechanism. It then supplies power and connects the active end of the quick docking device. The robotic arm controls the active end of the quick docking device on the cargo to be brought into the cabin to automatically dock and lock with the passive end of the quick docking device on the payload transfer mechanism, thus installing the cargo on the payload transfer mechanism. The robotic arm then disconnects power and information support to the active end of the quick docking device. After the payload transfer mechanism has transferred the cargo into the cabin, the astronauts manually unlock and separate the active end of the quick docking device on the cargo from the passive end of the quick docking device on the payload transfer mechanism. The astronauts then detach the active end of the quick docking device from the cargo and the passive end from the payload transfer mechanism.

[0004] The drawback of this design approach is that:

[0005] 1) Every cargo to be taken out of or taken into the hold must be a cooperative cargo and must be equipped with a fast docking device active end, which increases the design difficulty and development cost;

[0006] 2) For cargo to be transported into the cabin, if the active end of the rapid docking device malfunctions outside the cabin, it will be unable to enter the cabin automatically. Astronauts will need to carry the cargo into the cabin through extravehicular activity, which poses challenges such as reduced lifespan of extravehicular suits, consumption of space and ground control resources, and safety risks to astronauts during extravehicular activity. Summary of the Invention

[0007] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose a universal fixing device for automatic cargo entry and exit of manned spacecraft. This device can fix non-cooperative cargo on the load transfer mechanism to further realize its exit or entry mission. It can also fix the cargo on the load transfer mechanism in the event of a failure of the active end of the rapid docking device for cooperative cargo, so as to further realize its entry mission.

[0008] The solution of the present invention is:

[0009] A universal fixing device for automatic cargo entry and exit of manned spacecraft includes an upper plate, an intermediate connecting structure, a lower plate, a fixed baffle, a fixed baffle buffer foam, an initial position sensor, a control driver, a sliding baffle, a sliding baffle buffer foam, an initial position sensor stop block, an extreme position sensor stop block, a ball nut, an extreme position sensor, a drive motor, bearings, and a ball screw.

[0010] Both the upper and lower plates are rectangular plate structures. The two opposite sides of the upper and lower plates are connected by intermediate connecting structures, and bearings are installed at the center of the two intermediate connecting structures. The ball screw is installed on the inner ring of the bearing.

[0011] A rectangular cutout area is provided along the long side of the upper plate, and a linear slide rail is provided on the rectangular cutout area; a fixed baffle and a sliding baffle are installed on the upper plate for clamping cargo entering and exiting the hold; the fixed baffle and the intermediate connecting structure on one side are in the same vertical plane, and the fixed baffle cushioning foam is attached to the side of the fixed baffle facing the cargo entering and exiting the hold, and the control driver is installed on the other side of the fixed baffle; the lower part of the sliding baffle passes through the rectangular cutout area of ​​the upper plate and is installed on the ball screw by a ball nut, and can slide back and forth on the upper plate as the ball screw rotates forward or backward; the sliding baffle cushioning foam is attached to the side of the sliding baffle facing the cargo entering and exiting the hold;

[0012] The intermediate connecting structure that is perpendicular to the fixed baffle is designated as the first intermediate connecting structure, and the intermediate connecting structure on the other side is designated as the second intermediate connecting structure. The initial position sensor is installed inside the first intermediate connecting structure, and the drive motor is installed outside the second intermediate connecting structure. The drive shaft of the drive motor is connected to a ball screw. The extreme position sensor is installed inside the second intermediate connecting structure. The initial position sensor stop is installed on the side of the lower part of the sliding baffle facing the initial position sensor, and the extreme position sensor stop is installed on the side of the lower part of the sliding baffle facing the extreme position sensor.

[0013] The lower surface of the lower plate provides a connection interface for the load transfer mechanism.

[0014] Preferably, the fixing baffle is installed on a short side of the upper surface of the upper plate.

[0015] Preferably, the control driver communicates with the manned spacecraft information system via a communication bus; upon receiving a power-on command from the ground, it activates the power-on switch, receives power from the manned spacecraft power distribution system, and supplies power to the initial position sensor, extreme position sensor, and drive motor.

[0016] Preferably, the control driver sends control signals to the drive motor according to ground commands, and collects the status data of the initial position sensor, the extreme position sensor and the drive motor for closed-loop control of the general-purpose fixed device for automatic cargo entry and exit, and transmits the above status data to the ground.

[0017] Preferably, the sliding baffle is an integrated structure with a plate-shaped upper part and a support lower part. The lower support passes through the rectangular hollow area of ​​the upper plate and is installed on the ball screw through a ball nut.

[0018] Preferably, the lower support is equipped with rollers that cooperate with the linear slide rails on the two long sides of the rectangular hollow area of ​​the upper plate to reduce the friction of the sliding baffle when it slides on the upper plate.

[0019] Preferably, the method for unloading cargo using the universal fixing device is as follows:

[0020] The astronauts opened the cargo airlock hatch, the payload transfer mechanism extended into the work cabin, and the astronauts installed the universal cargo automatic entry and exit device on the payload transfer mechanism. The universal cargo automatic entry and exit device was then connected to the manned spacecraft information system and power distribution system via cable.

[0021] The ground sends a power-on command to the control driver, which then activates the power-on switch, receives power from the manned spacecraft's power distribution system, and supplies power to the initial position sensor, extreme position sensor, and drive motor.

[0022] The ground sends a limit sliding command to the control driver. The control driver generates a limit drive signal based on the command and sends it to the drive motor. The drive motor drives the ball screw to rotate based on the limit drive signal, thereby driving the sliding baffle to slide to the limit position.

[0023] Astronauts place the cargo to be exited into the spacecraft on the upper surface of the upper plate of the universal fixing device for automatic cargo entry and exit. The ground sends a clamping command to the control driver. The control driver generates a clamping drive signal according to the command and sends it to the drive motor. The drive motor drives the ball screw to rotate according to the clamping drive signal, which in turn drives the sliding baffle to slide, so that it cooperates with the fixed baffle to clamp the cargo to be exited into the spacecraft.

[0024] The load transfer mechanism, carrying the automatic cargo entry and exit universal fixing device, retracts into the cargo airlock. The cargo airlock is depressurized, the outer hatch opens, and the load transfer mechanism, carrying the automatic cargo entry and exit universal fixing device, extends out of the cabin. The robotic arm captures the cargo to be exited, and the ground sends a limit sliding command to the control driver to control the sliding baffle to slide to the limit position. The robotic arm carries the cargo to be exited away from the automatic cargo entry and exit universal fixing device in motion mode.

[0025] The ground sends an initial reset command to the control driver. The control driver sends an initial reset drive signal to the drive motor according to the command. The drive motor drives the ball screw to rotate according to the initial reset drive signal, thereby driving the sliding baffle to slide to the initial position.

[0026] The ground sends a power-off command to the control actuator, which then de-energizes the cargo automated entry and exit cabin universal securing device. The payload transfer mechanism, carrying the cargo automated entry and exit cabin universal securing device, retracts into the cargo airlock. The outer hatch of the cargo airlock closes, and the cargo airlock is repressurized. The astronauts open the inner hatch of the cargo airlock, and the payload transfer mechanism, carrying the cargo automated entry and exit cabin universal securing device, extends into the work cabin. The astronauts disconnect the cable connection between the cargo automated entry and exit cabin universal securing device and the manned spacecraft's information system and power distribution system, remove the cargo automated entry and exit cabin universal securing device from the payload transfer mechanism, and the payload transfer mechanism retracts into the cargo airlock. The astronauts then close the inner hatch of the cargo airlock.

[0027] Preferably, the method for loading cargo into the hold using the universal fixing device is as follows:

[0028] The astronauts opened the cargo airlock hatch, the payload transfer mechanism extended into the work cabin, and the astronauts installed the universal cargo automatic entry and exit device on the payload transfer mechanism. The universal cargo automatic entry and exit device was then connected to the manned spacecraft information system and power distribution system via cable.

[0029] The load transfer mechanism, carrying the universal fixing device for automatic cargo entry and exit, retracts into the cargo airlock. The cargo airlock is depressurized, the outer hatch of the cargo airlock opens, and the universal fixing device for automatic cargo entry and exit extends out of the cabin.

[0030] The ground sends a power-on command to the control driver, which then activates the power-on switch, receives power from the manned spacecraft's power distribution system, and supplies power to the initial position sensor, extreme position sensor, and drive motor.

[0031] The ground sends a limit sliding command to the control driver. The control driver generates a limit drive signal based on the command and sends it to the drive motor. The drive motor drives the ball screw to rotate based on the limit drive signal, thereby driving the sliding baffle to slide to the limit position.

[0032] The robotic arm grabs the cargo to be loaded into the cabin and places it on the upper surface of the upper plate of the universal fixing device for automatic cargo loading and unloading. The robotic arm selects the follow-up mode.

[0033] The ground sends a clamping command to the control driver. The control driver generates a clamping drive signal according to the command and sends it to the drive motor. The drive motor drives the ball screw to rotate according to the clamping drive signal, which in turn drives the sliding baffle to slide, so that it cooperates with the fixed baffle to clamp the cargo to be unloaded.

[0034] The robotic arm releases the cargo to be loaded into the cabin and moves away. The load transfer mechanism, carrying the cargo-clamping universal fixing device, retracts into the cargo airlock. The outer hatch of the cargo airlock closes, the cargo airlock is repressurized, the astronauts open the inner hatch of the cargo airlock, and the load transfer mechanism, carrying the cargo-clamping universal fixing device, extends into the work cabin.

[0035] The ground sends a limit sliding command to the control driver. The control driver generates a limit drive signal based on the command and sends it to the drive motor. The drive motor drives the ball screw to rotate based on the limit drive signal, thereby driving the sliding baffle to slide to the limit position.

[0036] Astronauts remove cargo from the universal securing device for automatic cargo entry and exit.

[0037] The ground sends an initial reset command to the control driver. The control driver sends an initial reset drive signal to the drive motor according to the command. The drive motor drives the ball screw to rotate according to the initial reset drive signal, thereby driving the sliding baffle to slide to the initial position.

[0038] The ground sends a power-off command to the control driver, which then controls the automatic cargo entry and exit cabin universal fixing device to de-energize. The astronauts disconnect the cable connection between the automatic cargo entry and exit cabin universal fixing device and the manned spacecraft's information system and power distribution system, and remove the automatic cargo entry and exit cabin universal fixing device from the payload transfer mechanism. The payload transfer mechanism retracts into the cargo airlock, and the astronauts close the cargo airlock's inner hatch.

[0039] Preferably, the control driver generates a limit drive signal according to the instruction and sends it to the drive motor. The drive motor drives the ball screw to rotate according to the limit drive signal, which in turn drives the sliding baffle to slide. When the sliding baffle slides to the limit position far away from the fixed baffle, the limit position sensor block presses against the limit position sensor. The limit position sensor feeds back a signal to the control driver that the sliding baffle has slid to the limit position. The control driver sends a stop signal to the drive motor to control the sliding baffle to stop sliding.

[0040] Preferably, the ground sends an initial reset command to the control driver. The control driver sends an initial reset drive signal to the drive motor according to the command. The drive motor drives the ball screw to rotate according to the initial reset drive signal, which in turn drives the sliding baffle to slide. When the sliding baffle slides to the fixed baffle position, the initial position sensor block on the sliding baffle presses against the initial position sensor. The initial position sensor feeds back a signal to the control driver that the sliding baffle has slid to the initial position. The control driver sends a stop signal to the drive motor to control the sliding baffle to stop sliding.

[0041] The advantages of this invention compared to the prior art are:

[0042] The universal securing device for automated cargo entry and exit in manned spacecraft of this invention can secure non-cooperative cargo on the payload transfer mechanism, enabling its exit or entry missions. It can also secure cargo on the payload transfer mechanism in the event of a failure in the active end of the rapid docking device for cooperative cargo, enabling its entry mission. This universal securing device expands the applicability of automated cargo entry and exit in manned spacecraft from solely cooperative cargo to encompass both cooperative and non-cooperative cargo, effectively improving the efficiency of automated cargo entry and exit. Furthermore, it effectively avoids the mission risks and resource consumption problems associated with astronauts retrieving cargo during exits in the event of a failure in the active end of the rapid docking device for cooperative cargo, significantly enhancing the on-orbit operational efficiency of manned spacecraft. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the universal fixing device for automatic cargo entry and exit from the manned spacecraft according to the present invention;

[0045] Figure 2 This is a flowchart illustrating the use of a universal fixing device for automatic cargo entry and exit in manned spacecraft for cargo unloading in this invention.

[0046] Figure 3 This is a flowchart illustrating the process of implementing cargo loading into the cabin using a universal fixing device for automatic cargo loading and unloading in manned spacecraft, as described in this invention. Detailed Implementation

[0047] The invention will now be further described with reference to the accompanying drawings.

[0048] The descriptions of the embodiments herein, including any references to directions and orientations, are for ease of description only and should not be construed as limiting the scope of the invention. The following description of preferred embodiments involves combinations of features, which may exist independently or in combination; the invention is not particularly limited to the preferred embodiments.

[0049] like Figure 1 As shown, according to one embodiment of the present invention, the universal fixing device for automatic cargo entry and exit of manned spacecraft includes: an upper plate 1, an intermediate connecting structure 2, a lower plate 3, a fixed baffle 4, a fixed baffle buffer foam 5, an initial position sensor 6, a control driver 7, a sliding baffle 8, a sliding baffle buffer foam 9, an initial position sensor stop 10, an extreme position sensor stop 11, a ball nut 12, an extreme position sensor 13, a drive motor 14, a bearing 15, and a ball screw 16.

[0050] like Figure 1 As shown, according to one embodiment of the present invention, the upper plate 1 is a plate-like structure with an outer rectangular and an inner rectangular hollowed-out section. It is the main structure for installing other components of the universal fixing device for automatic cargo entry and exit, and also the main structure for carrying cargo entering and exiting the compartment. The inner rectangular hollowed-out area of ​​the upper plate 1 is used for the sliding baffle 8 to pass through the upper plate 1 and connect with the ball nut 12. In addition, the two long sides of the inner rectangular hollowed-out area provide linear slide rails for the sliding baffle 8 to slide on the upper surface of the upper plate 1.

[0051] like Figure 1As shown, according to one embodiment of the present invention, the intermediate connecting structure 2 is located at the two short sides of the lower surface of the upper plate 1, for connecting the upper plate 1 and the lower plate 3, and has a hole in the center to provide mounting interfaces for two bearings 15.

[0052] like Figure 1 As shown, according to one embodiment of the present invention, the lower plate 3 is a rectangular plate structure. The two short sides of the upper surface of the lower plate 3 are connected to the intermediate connecting structure 2, and the lower surface provides a connection interface between the universal cargo loading and unloading device and the load transfer mechanism, which is used by astronauts to install the universal cargo loading and unloading device on the load transfer mechanism in orbit.

[0053] like Figure 1 As shown, according to one embodiment of the present invention, the fixed baffle 4 is a plate-shaped structure, installed on a short side of the upper surface of the upper plate 1, and fixedly installed with the upper plate 1, for use in conjunction with the upper plate 1 and the sliding baffle 8 to clamp and fix the cargo entering and leaving the cabin.

[0054] like Figure 1 As shown, according to one embodiment of the present invention, the fixed baffle buffer foam 5 is attached to the side of the fixed baffle 4 facing the cargo entering or leaving the hold, and is used to buffer and protect the cargo entering or leaving the hold when the fixed baffle 4 and the sliding baffle 8 clamp the cargo.

[0055] like Figure 1 As shown, according to one embodiment of the present invention, the initial position sensor 6 is a limit switch, which is installed inside the intermediate connecting structure 2 on one side of the fixed baffle 4. When the sliding baffle 8 slides to the position of the fixed baffle 4, the initial position sensor block 10 on the sliding baffle 8 presses against the initial position sensor 6, and the initial position sensor 6 gives a signal that the sliding baffle 8 has slid to the initial position, controlling the sliding baffle 8 to stop sliding.

[0056] like Figure 1 As shown, according to one embodiment of the present invention, the control actuator 7 is installed on the opposite side of the fixed baffle 4, corresponding to the fixed baffle buffer foam 5, and is the control central device of the universal cargo automatic entry and exit cabin fixing device. The control actuator 7 communicates externally with the manned spacecraft information system via a communication bus and receives power from the manned spacecraft power distribution system. Internally, it supplies power to the initial position sensor 6, the extreme position sensor 13, and the drive motor 14, sends control commands to the drive motor 14, and collects the status data of the initial position sensor 6, the extreme position sensor 13, and the drive motor 14 for closed-loop control of the universal cargo automatic entry and exit cabin fixing device, and transmits the status data of the universal cargo automatic entry and exit cabin fixing device to the ground.

[0057] like Figure 1As shown, according to one embodiment of the present invention, the sliding baffle 8 is an integral structure with a plate-shaped upper part and a support lower part. The lower support passes through the rectangular hollow area inside the upper plate 1 and connects to the ball nut 12. The ball nut 12 is mounted on the ball screw 16. The forward or reverse rotation of the ball screw 16 enables the sliding baffle 8 to slide back and forth on the upper surface of the upper plate 1, cooperating with the upper plate 1 and the fixed baffle 4 to clamp and fix the cargo entering and leaving the compartment. The lower support is equipped with rollers that cooperate with the linear slide rails on the two long sides of the rectangular hollow area inside the upper plate 1 to reduce the friction of the sliding baffle 8 when sliding on the upper plate 1.

[0058] like Figure 1 As shown, according to one embodiment of the present invention, the sliding baffle buffer foam 9 is attached to the side of the sliding baffle 8 facing the cargo entering or leaving the hold, and is used to buffer and protect the cargo entering or leaving the hold when the sliding baffle 8 and the fixed baffle 4 clamp the cargo.

[0059] like Figure 1 As shown, according to one embodiment of the present invention, the initial position sensor block 10 is installed on the side of the sliding baffle 8 facing the initial position sensor 6. When the sliding baffle 8 slides to the position of the fixed baffle 4, the initial position sensor block 10 presses against the initial position sensor 6, and the initial position sensor 6 gives a signal that the sliding baffle 8 has slid to the initial position, controlling the sliding baffle 8 to stop sliding.

[0060] like Figure 1 As shown, according to one embodiment of the present invention, the limit position sensor block 11 is installed on the side of the sliding baffle 8 facing the limit position sensor. When the sliding baffle 8 slides to the limit position away from the fixed baffle 4, the limit position sensor block 11 presses against the limit position sensor 13, and the limit position sensor 13 gives a signal that the sliding baffle 8 has slid to the limit position, controlling the sliding baffle 8 to stop sliding.

[0061] like Figure 1 As shown, according to one embodiment of the present invention, a ball nut 12 is mounted on a ball screw 16 and connected to a sliding baffle 8, which drives the sliding baffle 8 to slide when the ball screw 16 rotates.

[0062] like Figure 1 As shown, according to one embodiment of the present invention, the extreme position sensor 13 is installed inside the intermediate connecting structure 2 on the opposite side of the fixed baffle 4. When the sliding baffle 8 slides to the extreme position, the extreme position sensor block 11 presses against the extreme position sensor 13, and the extreme position sensor 13 gives a signal that the sliding baffle 8 has slid to the extreme position, controlling the sliding baffle 8 to stop sliding.

[0063] like Figure 1As shown, according to one embodiment of the present invention, the drive motor 14 is installed outside the intermediate connecting structure 2 on one side of the fixed baffle 4, and the drive shaft is connected to the ball screw 16. Under the control and drive of the control driver 7, it rotates forward or reverse, and simultaneously drives the ball screw 16 to rotate forward or reverse. When the sliding baffle 8 and the fixed baffle 4 clamp the cargo entering or leaving the compartment into place, the sliding baffle 8 stops sliding, the drive motor 14 stalls, the drive current output by the control driver 7 to the drive motor 14 increases, and the drive motor 14 stops outputting drive current when it detects the increase in drive current.

[0064] like Figure 1 As shown, according to one embodiment of the present invention, the bearing 15 is installed at the center through hole position of the intermediate connecting structure 2, and the ball screw 16 passes through the inner ring of the bearing 15 and is assembled with the bearing 15 to realize the rotation of the ball screw 16.

[0065] like Figure 2As shown, according to one embodiment of the present invention, the process of cargo exiting the manned spacecraft using the universal cargo automatic entry and exit device is as follows: The astronaut opens the inner hatch of the cargo airlock, the load transfer mechanism extends into the working cabin, the astronaut installs the universal cargo automatic entry and exit device on the load transfer mechanism, the astronaut connects the universal cargo automatic entry and exit device to the manned spacecraft information system and power distribution system via cable, the ground controls the universal cargo automatic entry and exit device to power up by sending a command to the control actuator 7, the ground controls the sliding baffle 8 to slide to its limit position by sending a command to the control actuator 7, the astronaut places the cargo to be exited on the upper surface of the upper plate 1 of the universal cargo automatic entry and exit device, the ground controls the sliding baffle 8 to slide and cooperate with the fixed baffle 4 to clamp the cargo to be exited by sending a command to the control actuator 7, the load transfer mechanism carries the universal cargo automatic entry and exit device containing the cargo back into the cargo airlock, the cargo airlock is depressurized, the outer hatch of the cargo airlock opens, and the load transfer mechanism carries the universal cargo automatic entry and exit device through... The cargo is extended outside the cabin using a fixed device. The robotic arm captures the cargo to be ejected and switches to follow-up mode. The ground controls the sliding baffle 8 to slide to its limit position by sending a command to the control actuator 7. The robotic arm then switches to motion mode and carries the cargo away from the cargo automatic entry and exit cabin universal fixing device. The ground controls the sliding baffle 8 to slide to its initial position by sending a command to the control actuator 7. The ground controls the power off of the cargo automatic entry and exit cabin universal fixing device by sending a command to the control actuator 7. The payload transfer mechanism carries the cargo automatic entry and exit cabin universal fixing device back into the cargo airlock. The outer hatch of the cargo airlock closes, and the cargo airlock is repressurized. The astronaut opens the inner hatch of the cargo airlock. The payload transfer mechanism carries the cargo automatic entry and exit cabin universal fixing device into the work cabin. The astronaut disconnects the cable connection between the cargo automatic entry and exit cabin universal fixing device and the manned spacecraft information system and power distribution system. The astronaut removes the cargo automatic entry and exit cabin universal fixing device from the payload transfer mechanism. The payload transfer mechanism retracts into the cargo airlock. The astronaut closes the inner hatch of the cargo airlock.

[0066] like Figure 3As shown, according to one embodiment of the present invention, the process of cargo entry into the manned spacecraft using a universal cargo automatic entry and exit device is as follows: The astronaut opens the inner hatch of the cargo airlock, the load transfer mechanism extends into the working cabin, the astronaut installs the universal cargo automatic entry and exit device on the load transfer mechanism, the astronaut connects the universal cargo automatic entry and exit device to the manned spacecraft information system and power distribution system via cables, the load transfer mechanism retracts the universal cargo automatic entry and exit device into the cargo airlock, the cargo airlock is depressurized, the outer hatch of the cargo airlock opens, the load transfer mechanism extends the universal cargo automatic entry and exit device outside the cabin, the ground controls the universal cargo automatic entry and exit device to be powered on by sending a command to the control actuator 7, the ground controls the sliding baffle 8 to slide to its limit position by sending a command to the control actuator 7, the robotic arm grabs the cargo to be entered and places it on the upper surface of the upper plate 1 of the universal cargo automatic entry and exit device, the robotic arm switches to follow-up mode, the ground controls the sliding baffle by sending a command to the control actuator 7. 8. The sliding and fixed baffle 4 engages to clamp the cargo to be entered into the cabin. The robotic arm releases the cargo and moves away. The payload transfer mechanism, carrying the cargo into and out of the cabin, retracts into the cargo airlock. The outer hatch of the cargo airlock closes, and the cargo airlock is repressurized. The astronaut opens the inner hatch of the cargo airlock. The payload transfer mechanism, carrying the cargo into and out of the cabin, extends into the work cabin. The ground controls the sliding baffle 8 to slide to its limit position by sending a command to the control actuator 7. The astronaut removes the cargo from the cargo into and out of the cabin. The ground controls the sliding baffle 8 to slide to its initial position by sending a command to the control actuator 7. The ground controls the cargo into and out of the cabin to de-energize the cargo into and out of the cabin by sending a command to the control actuator 7. The astronaut disconnects the cable connection between the cargo into and out of the cabin and the manned spacecraft information system and power distribution system. The astronaut removes the cargo into and out of the cabin from the payload transfer mechanism. The payload transfer mechanism retracts into the cargo airlock. The astronaut closes the inner hatch of the cargo airlock.

[0067] Traditional automated cargo entry and exit mechanisms for manned spacecraft require a rapid docking device to secure the cargo to the payload transfer mechanism. A passive end of the rapid docking device is mounted on the payload transfer mechanism, while an active end is mounted on the cargo. The active end of the rapid docking device is equipped with an automatic locking or unlocking lock, which, under ground control, can lock or disengage from the passive end, further securing the cargo to the payload transfer mechanism. Since the active and passive ends of the rapid docking devices are in a one-to-one correspondence, a failure in either will prevent the cargo from being secured to the payload transfer mechanism. This invention's universal automated cargo entry and exit securing device for manned spacecraft eliminates the need for an active end of the rapid docking device on the cargo. It can secure non-cooperative cargo to the payload transfer mechanism, enabling its entry or exit. Furthermore, it can secure cargo to the payload transfer mechanism even in the event of a failure of the active end of the rapid docking device for cooperative cargo, enabling its entry. The universal fixation device for automatic cargo entry and exit expands the scope of application of automatic cargo entry and exit for manned spacecraft from solely cooperative cargo to include both cooperative and non-cooperative cargo, effectively improving the efficiency of the automatic cargo entry and exit function. On the other hand, it effectively avoids the mission risks and resource consumption problems caused by astronauts retrieving cargo outside the spacecraft in the event of a failure of the active end of the rapid docking device for cooperative cargo entry and exit, and significantly improves the on-orbit operation efficiency of manned spacecraft.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A universal securing device for automatic cargo entry and exit from a manned spacecraft, characterized in that: Includes an upper plate, an intermediate connecting structure, a lower plate, a fixed baffle, a fixed baffle buffer foam, an initial position sensor, a control driver, a sliding baffle, a sliding baffle buffer foam, an initial position sensor stop block, an extreme position sensor stop block, a ball nut, an extreme position sensor, a drive motor, bearings, and a ball screw; The intermediate connection structure that is perpendicular to the fixed baffle is designated as the first intermediate connection structure, and the intermediate connection structure on the other side is designated as the second intermediate connection structure. An initial position sensor is installed inside the first intermediate connection structure, and a drive motor is installed outside the second intermediate connection structure. The drive shaft of the drive motor is connected to a ball screw. An extreme position sensor is installed inside the second intermediate connection structure. An initial position sensor stop is installed on the lower part of the sliding baffle facing the initial position sensor, and an extreme position sensor stop is installed on the lower part of the sliding baffle facing the extreme position sensor. The lower surface of the lower plate provides a connection interface for the load transfer mechanism. The method for unloading cargo using the aforementioned universal securing device is as follows: The astronauts opened the cargo airlock hatch, the payload transfer mechanism extended into the work cabin, and the astronauts installed the universal cargo automatic entry and exit device on the payload transfer mechanism. The universal cargo automatic entry and exit device was then connected to the manned spacecraft information system and power distribution system via cable. The ground sends a power-on command to the control driver, which then activates the power-on switch, receives power from the manned spacecraft's power distribution system, and supplies power to the initial position sensor, extreme position sensor, and drive motor. The ground sends a limit sliding command to the control driver. The control driver generates a limit drive signal based on the command and sends it to the drive motor. The drive motor drives the ball screw to rotate based on the limit drive signal, thereby driving the sliding baffle to slide to the limit position. Astronauts place the cargo to be exited into the spacecraft on the upper surface of the upper plate of the universal fixing device for automatic cargo entry and exit. The ground sends a clamping command to the control driver. The control driver generates a clamping drive signal according to the command and sends it to the drive motor. The drive motor drives the ball screw to rotate according to the clamping drive signal, which in turn drives the sliding baffle to slide, so that it cooperates with the fixed baffle to clamp the cargo to be exited into the spacecraft. The load transfer mechanism, carrying the automatic cargo entry and exit universal fixing device, retracts into the cargo airlock. The cargo airlock is depressurized, the outer hatch opens, and the load transfer mechanism, carrying the automatic cargo entry and exit universal fixing device, extends out of the cabin. The robotic arm captures the cargo to be exited, and the ground sends a limit sliding command to the control driver to control the sliding baffle to slide to the limit position. The robotic arm carries the cargo to be exited away from the automatic cargo entry and exit universal fixing device in motion mode. The ground sends an initial reset command to the control driver. The control driver sends an initial reset drive signal to the drive motor according to the command. The drive motor drives the ball screw to rotate according to the initial reset drive signal, thereby driving the sliding baffle to slide to the initial position. The ground sends a power-off command to the control actuator, which then de-energizes the cargo automated entry and exit cabin universal securing device. The payload transfer mechanism, carrying the cargo automated entry and exit cabin universal securing device, retracts into the cargo airlock. The outer hatch of the cargo airlock closes, and the cargo airlock is repressurized. The astronauts open the inner hatch of the cargo airlock, and the payload transfer mechanism, carrying the cargo automated entry and exit cabin universal securing device, extends into the work cabin. The astronauts disconnect the cable connection between the cargo automated entry and exit cabin universal securing device and the manned spacecraft's information system and power distribution system, remove the cargo automated entry and exit cabin universal securing device from the payload transfer mechanism, and the payload transfer mechanism retracts into the cargo airlock. The astronauts then close the inner hatch of the cargo airlock.

2. The universal securing device for automatic cargo entry and exit of a manned spacecraft according to claim 1, characterized in that: Both the upper and lower plates are rectangular plate structures. The two opposite sides of the upper and lower plates are connected by intermediate connecting structures, and bearings are installed at the center of the two intermediate connecting structures. The ball screw is installed on the inner ring of the bearing. A rectangular cutout area is provided along the long side of the upper plate, and a linear slide rail is provided on the rectangular cutout area; a fixed baffle and a sliding baffle are installed on the upper plate for clamping cargo entering and exiting the hold; the fixed baffle and the intermediate connecting structure on one side are in the same vertical plane, and the fixed baffle cushioning foam is attached to the side of the fixed baffle facing the cargo entering and exiting the hold, and the control driver is installed on the other side of the fixed baffle; the lower part of the sliding baffle passes through the rectangular cutout area of ​​the upper plate and is installed on the ball screw by a ball nut, and can slide back and forth on the upper plate as the ball screw rotates forward or backward; the sliding baffle cushioning foam is attached to the side of the sliding baffle facing the cargo entering and exiting the hold.

3. The universal securing device for automatic cargo entry and exit of a manned spacecraft according to claim 1, characterized in that: The fixed baffle is installed on one short side of the upper surface of the upper plate.

4. A universal securing device for automatic cargo entry and exit from a manned spacecraft according to claim 1, characterized in that: The control driver communicates with the manned spacecraft's information system via a communication bus; upon receiving a power-on command from the ground, it activates the power-on switch, receives power from the manned spacecraft's power distribution system, and supplies power to the initial position sensor, extreme position sensor, and drive motor.

5. A universal securing device for automatic cargo entry and exit from a manned spacecraft according to claim 1, characterized in that: The control driver sends control signals to the drive motor according to ground commands, and collects status data from the initial position sensor, extreme position sensor and drive motor for closed-loop control of the general-purpose fixed device for automatic cargo entry and exit, and transmits the above status data to the ground.

6. A universal securing device for automatic cargo entry and exit from a manned spacecraft according to claim 1, characterized in that: The sliding baffle is an integrated structure with a plate-shaped upper part and a support lower part. The lower support passes through the rectangular hollow area of ​​the upper plate and is installed on the ball screw through a ball nut.

7. A universal securing device for automatic cargo entry and exit from a manned spacecraft according to claim 6, characterized in that: The lower support is equipped with rollers that cooperate with the linear slide rails on the two long sides of the rectangular hollow area of ​​the upper plate to reduce the friction of the sliding baffle when it slides on the upper plate.

8. A universal securing device for automatic cargo entry and exit in a manned spacecraft according to claim 1, characterized in that: The method for loading cargo into the hold using the aforementioned universal fixing device is as follows: The astronauts opened the cargo airlock hatch, the payload transfer mechanism extended into the work cabin, and the astronauts installed the universal cargo automatic entry and exit device on the payload transfer mechanism. The universal cargo automatic entry and exit device was then connected to the manned spacecraft information system and power distribution system via cable. The load transfer mechanism, carrying the universal fixing device for automatic cargo entry and exit, retracts into the cargo airlock. The cargo airlock is depressurized, the outer hatch of the cargo airlock opens, and the universal fixing device for automatic cargo entry and exit extends out of the cabin. The ground sends a power-on command to the control driver, which then activates the power-on switch, receives power from the manned spacecraft's power distribution system, and supplies power to the initial position sensor, extreme position sensor, and drive motor. The ground sends a limit sliding command to the control driver. The control driver generates a limit drive signal based on the command and sends it to the drive motor. The drive motor drives the ball screw to rotate based on the limit drive signal, thereby driving the sliding baffle to slide to the limit position. The robotic arm grabs the cargo to be loaded into the cabin and places it on the upper surface of the upper plate of the universal fixing device for automatic cargo loading and unloading. The robotic arm selects the follow-up mode. The ground sends a clamping command to the control driver. The control driver generates a clamping drive signal according to the command and sends it to the drive motor. The drive motor drives the ball screw to rotate according to the clamping drive signal, which in turn drives the sliding baffle to slide, so that it cooperates with the fixed baffle to clamp the cargo to be unloaded. The robotic arm releases the cargo to be loaded into the cabin and moves away. The load transfer mechanism, carrying the cargo-clamping universal fixing device, retracts into the cargo airlock. The outer hatch of the cargo airlock closes, the cargo airlock is repressurized, the astronauts open the inner hatch of the cargo airlock, and the load transfer mechanism, carrying the cargo-clamping universal fixing device, extends into the work cabin. The ground sends a limit sliding command to the control driver. The control driver generates a limit drive signal based on the command and sends it to the drive motor. The drive motor drives the ball screw to rotate based on the limit drive signal, thereby driving the sliding baffle to slide to the limit position. Astronauts remove cargo from the universal securing device for automatic cargo entry and exit. The ground sends an initial reset command to the control driver. The control driver sends an initial reset drive signal to the drive motor according to the command. The drive motor drives the ball screw to rotate according to the initial reset drive signal, thereby driving the sliding baffle to slide to the initial position. The ground sends a power-off command to the control driver, which then controls the automatic cargo entry and exit universal fixation device to de-energize. The astronauts disconnect the cable connection between the automatic cargo entry and exit universal fixation device and the manned spacecraft's information system and power distribution system, and remove the automatic cargo entry and exit universal fixation device from the payload transfer mechanism. The payload transfer mechanism retracts into the cargo airlock, and the astronauts close the cargo airlock hatch.

9. A universal securing device for automatic cargo entry and exit from a manned spacecraft according to claim 1 or 8, characterized in that: The control driver generates a limit drive signal according to the instruction and sends it to the drive motor. The drive motor drives the ball screw to rotate according to the limit drive signal, which in turn drives the sliding baffle to slide. When the sliding baffle slides to the limit position far away from the fixed baffle, the limit position sensor block presses against the limit position sensor. The limit position sensor feeds back a signal to the control driver that the sliding baffle has slid to the limit position. The control driver sends a stop signal to the drive motor to control the sliding baffle to stop sliding.

10. A universal securing device for automatic cargo entry and exit from a manned spacecraft according to claim 1 or 8, characterized in that: The ground sends an initial reset command to the control driver. The control driver sends an initial reset drive signal to the drive motor according to the command. The drive motor drives the ball screw to rotate according to the initial reset drive signal, which in turn drives the sliding baffle to slide. When the sliding baffle slides to the fixed baffle position, the initial position sensor block on the sliding baffle presses against the initial position sensor. The initial position sensor sends a signal to the control driver that the sliding baffle has slid to the initial position. The control driver sends a stop signal to the drive motor to control the sliding baffle to stop sliding.

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