Large spaceflight load based on modular design

Abstract

The invention provides a large spaceflight load based on modular design. The large spaceflight load comprises a platform, a docking mechanism, a solar wing / antenna integrated system and a mechanical arm. The docking mechanism is arranged in the platform; the solar wing / antenna integrated system is arranged at the bottom of the platform; the two ends of the mechanical arm are connected to mechanical arm bases arranged on the platform respectively, two-dimensional rotation can be achieved with one base as the axis, and an information / power supply link between loads is established through the mechanical arm. The butt joint mechanism comprises a driving end and a driven end which are connected with each other, when the load is in a butt joint preparation state, the driving end is converted into an extension state from a contraction state, extends out of the side face of the platform and is connected with butt joint hole sites of different loads, and when butt joint is completed, a butt joint lock of the head is locked, and butt joint of the different loads is achieved. According to the load, automatic assembly can be achieved in the on-orbit assembly, replacement and maintenance process, other auxiliary devices are not needed in the assembly process, the flexibility is high, and the use benefits of the system are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of aerospace payloads, and in particular to a large-scale aerospace payload based on modular design. Background Art

[0002] As humankind continues to explore space, large-scale space structures will inevitably be widely used in aerospace engineering. Limited by the structural size of rocket transportation, in-orbit assembly is an inevitable trend and an effective way to build large-scale space structures.

[0003] However, there are deficiencies in the current space payload structure and application, such as:

[0004] The existing methods for assembling large-scale space structures on orbit are mostly in the form of trusses such as hexahedral structures, and do not mention solutions to problems such as information transmission and energy supply;

[0005] The existing on-orbit assembly methods only consider the construction part and do not include on-orbit replacement and maintenance methods;

[0006] The current method of assembling large aerospace payloads on orbit basically uses the space shuttle or space station as a construction base station. During construction, the payloads are constrained by the space shuttle or space station, have no on-orbit maneuverability, and have a small degree of freedom. Summary of the invention

[0007] The technical problem to be solved by the present invention is how to realize the overall replacement and maintenance of any sub-payload in the aerospace payload, or the partial replacement of some components, so as to improve the mission availability of the entire payload; in view of this, the present invention provides a large-scale aerospace payload based on modular design.

[0008] The technical solution adopted by the present invention is a large-scale aerospace payload based on modular design, comprising:

[0009] platform;

[0010] A docking mechanism, arranged inside the platform;

[0011] A solar wing / antenna integrated system is arranged at the bottom of the platform;

[0012] A mechanical arm, both ends of which are connected to a mechanical arm base arranged on the platform, and one of the bases can be used as an axis to achieve rotation and deflection in two dimensions, azimuth and pitch, and establish an information / power supply link between the loads through the mechanical arm;

[0013] Among them, the docking mechanism includes an active end of the docking mechanism and a passive end of the docking mechanism connected to each other. The active end of the docking mechanism is in a retracted state before docking with different loads. When the load is in a docking preparation state, the active end of the docking mechanism is changed from a retracted state to an extended state, and protrudes from the side of the platform to be connected to the docking holes of different loads. When the docking between the front and rear sub-loads is completed, the docking lock at the head of the telescopic mechanism is in a locked state to achieve docking with different loads.

[0014] In one embodiment, at least two locking tongues are evenly arranged circumferentially at the active end of the docking mechanism, and the shape of the locking tongues is designed to prevent misconnection.

[0015] In one embodiment, the platform includes: a robot resting platform;

[0016] Laser docking radars are arranged at both ends of the robot's landing platform to maintain a stable state between different loads during the docking process;

[0017] The robot stay platform is used to support the autonomous flying crawler robot to stay or move on the payload.

[0018] In one embodiment, the platform is arranged with a device to be repaired, and the robotic arm is used to replace the device to be repaired with a replacement device carried by the autonomous flying crawler robot.

[0019] In one embodiment, the robotic arm is further configured to connect to a robotic arm base on different payloads.

[0020] In one embodiment, the payload further includes:

[0021] The propulsion device comprises a reaction flywheel arranged inside the platform and a propeller arranged on the side of the platform, and is used to realize the flight movement of the load.

[0022] In one embodiment, the payload further includes:

[0023] The robot arm catcher is located on the side of the load and is used to connect with the front gripping device of the robot arm.

[0024] In one embodiment, the payload further includes:

[0025] A power supply device is arranged inside the platform.

[0026] In one embodiment, the payload further includes:

[0027] Beidou transmit / receive antenna, used for positioning and navigating the payload.

[0028] In one embodiment, the integrated solar wing / antenna system includes a retracted state and an extended state.

[0029] Compared with the prior art, the present invention has at least the following advantages:

[0030] The payload provided by the present invention can be assembled autonomously during on-rail assembly and replacement and maintenance. No other auxiliary devices are required during the assembly process. The payload has high flexibility and various replacement modes, thereby ensuring that the system has high utilization efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the layout of a single aerospace payload device according to an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of a single load equipment layout from another angle according to an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of a folded state of an aerospace payload according to an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of an aerospace payload assembly process according to an embodiment of the present invention;

[0035] Figure 5a to Figure 5c This is a schematic diagram showing the completion of the assembly of aerospace payload according to an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of a state after the aerospace payload according to an embodiment of the present invention is assembled;

[0037] Figure 7 A schematic diagram of the flight state of an autonomous flying crawler robot according to an embodiment of the present invention;

[0038] Figure 8 A schematic diagram of a scenario of replacing a gas cylinder according to an embodiment of the present invention;

[0039] Fig. 9 A schematic diagram of a scenario of replacing a single machine for comprehensive information processing according to an embodiment of the present invention;

[0040] Fig.10 Schematic diagram of an autonomous flying crawler robot on standby on a payload m according to an embodiment of the present invention;

[0041] Fig.11 Schematic diagram of re-establishing a connection between loads m-1 and m+1 according to an embodiment of the present invention;

[0042] Fig.12 A load m flies away from a load array according to an embodiment of the present invention;

[0043] Fig.13 It is a schematic diagram of the state when the array is re-established after a single whole load is replaced according to an embodiment of the present invention.

[0044] Reference numerals

[0045] 1-gas cylinder; 2-integrated information processing unit; 3-robotic arm catcher; 4-solar wing / antenna integrated system (folded state); 5-Beidou transmit / receive antenna; 6-thruster; 7-active end of docking mechanism (retracted state); 8-laser docking radar; 9-robotic arm seat; 10-robotic arm; 11-robot stay platform; 12-passive end of docking mechanism; 13-solar wing / antenna integrated system (expanded state); 14-active end of docking mechanism (extended state); 15-autonomous flying crawler robot; 16-newly replaced gas cylinder; 17-newly replaced integrated information processing unit; 18-load m-2; 19-load m-1; 20-load m; 21-load m+1; 22-load m+2. DETAILED DESCRIPTION

[0046] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose, the present invention is described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0047] Unless otherwise defined, all terms (including technical terms and scientific terms) used in this article have the same meaning as commonly understood by ordinary technicians in the field to which this application belongs. It should also be understood that terms (such as terms defined in commonly used dictionaries) should be interpreted as having the same meaning as their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined in this article.

[0048] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0049] An embodiment of the present invention is a large-scale aerospace payload based on modular design, comprising:

[0050] platform;

[0051] A docking mechanism, arranged inside the platform;

[0052] A solar wing / antenna integrated system 4, arranged at the bottom of the platform;

[0053] A robotic arm 10, both ends of which are connected to a robotic arm base 9 arranged on the platform, and one of the bases can be used as an axis to achieve rotation and deflection in two dimensions, azimuth and pitch, and establish an information / power supply link between the payloads through the robotic arm 10;

[0054] Among them, the docking mechanism includes an active end 14 of the docking mechanism and a passive end 12 of the docking mechanism connected to each other. The active end 14 of the docking mechanism is in a retracted state before docking of different loads. When the load is in a docking preparation state, the active end 14 of the docking mechanism changes from a retracted state 7 to an extended state 14, and protrudes from the side of the platform to be connected to the docking holes of different loads. When the docking between the front and rear sub-loads is completed, the docking lock at the head of the telescopic mechanism is in a locked state to achieve docking of different loads.

[0055] In this embodiment, at least two locking tongues are evenly arranged circumferentially at the active end 14 of the docking mechanism, and the shape of the locking tongues is designed to prevent misconnection.

[0056] In this embodiment, the platform includes: a robot stop platform 11;

[0057] Laser docking radars 8 are arranged at both ends of the robot stop platform 11 to maintain a stable state between different loads during the docking process;

[0058] The robot stay platform 11 is used to support the autonomous flying crawler robot 15 to stay or move on the load.

[0059] In this embodiment, the platform is arranged with components to be repaired, and the robotic arm 10 is used to replace the components to be repaired with replacement components carried by the autonomous flying crawler robot 15 .

[0060] In this embodiment, the robot arm 10 is further used to connect with the robot arm base 9 on different loads.

[0061] In this embodiment, the load further includes: a propulsion device, including a reaction flywheel arranged inside the platform and a propeller 6 arranged on the side of the platform, for realizing the flight movement of the load.

[0062] In this embodiment, the payload further includes: a robot arm catcher 3 located on the side of the payload and used to connect with the front gripping device of the robot arm 10 .

[0063] In this embodiment, the load further includes: a power supply device arranged inside the platform.

[0064] In this embodiment, the payload further includes: a Beidou receiving / transmitting antenna 5 for positioning and navigating the payload.

[0065] In this embodiment, the solar wing / antenna integrated system 4 includes a retracted state and an extended state.

[0066] Specifically, the device to be repaired may include, for example: a gas cylinder 1 and a comprehensive information processing unit 2 .

[0067] refer to Figure 1 , the method provided in this embodiment will be described in detail below.

[0068] The purpose of the present invention is to solve the problem of low autonomy and many constraints during on-orbit assembly and maintenance of large aerospace payloads, while solving the problem of high-speed, large-capacity signal and information transmission, and providing a method for building a modular large-scale array antenna that can be assembled and replaced on-orbit.

[0069] The purpose of the present invention is achieved through the following technical solutions, and the maintenance methods include 3 types, which are as follows:

[0070] A single payload of the present invention mainly includes a docking mechanism, a solar wing / antenna integrated system 4, an energy storage battery (including a power distribution unit), a robotic arm 10, a robotic arm capturer 3, a comprehensive information processing unit 2, a gas cylinder 1, a thruster 6, a reaction flywheel, a Beidou receiving / transmitting antenna 5, a laser docking radar 8, a robot stay platform 11 and an autonomous flying crawler robot 15, wherein the energy storage battery (including a power distribution unit) and the reaction flywheel are located inside the payload.

[0071] The docking mechanism includes an active end 7 of the docking mechanism and a passive end 12 of the docking mechanism. The active end 7 of the docking mechanism is in a retracted state before the load is docked. When the load is in a docking preparation state, the active end 14 of the docking mechanism changes from a retracted state to an extended state. When the docking between the front and rear sub-loads is completed, the docking lock at the head of the telescopic mechanism is in a locked state. The docking lock has four lock tongues evenly arranged around the circumference. The shape of the lock tongues adopts an anti-mistake design. The locking and tightening can only be completed in the correct docking state to avoid the occurrence of mislocking. The passive end of the docking mechanism is used to connect with the active end of the docking structure to realize the connection of the two loads.

[0072] The solar wing / antenna integrated system 4 adopts an integrated design of solar wings and antennas, arranges a solar cell array on the sky-facing surface of the payload, and designs the ground-facing surface as an antenna, without separately setting up solar panels.

[0073] Energy storage batteries are mainly used for on-orbit energy storage and output. The electric energy converted by solar panels is stored in energy storage batteries, and the electricity consumption of the load is allocated through the built-in power distribution unit.

[0074] The robot arm 10 is composed of a base with two ends that can be fixed, a joint and a front grasping device, which can realize rotation and deflection in two dimensions of azimuth and pitch, and an information / power supply link between sub-payloads can be established through the robot arm 10.

[0075] The robot arm catcher 3 is located on the load side and is used to connect with the front gripping device of the robot arm 10.

[0076] The integrated information processing stand-alone 2 is composed of multiple boards based on the VPX architecture, such as a data processing module, a data storage module, a signal processing module, and an attitude and orbit control module. The entire stand-alone can be disassembled by a robotic arm and fixed on an autonomous flying crawler robot 15, and then transported to a cargo ship or an orbital space station by the robot, and board-level maintenance and testing can be performed in the orbital space station;

[0077] The gas cylinder 1 is loaded with inert gas for ionizing the load motor and can be installed and replaced autonomously by the robot arm 10;

[0078] The propulsion system includes a propeller 6 and a reaction flywheel, etc. The propeller 6 is located outside the payload, and the reaction flywheel is located inside the payload. The entire payload posture and payload flight speed are controlled by the integrated information processing unit 2;

[0079] The Beidou transceiver antenna 5 adopts an integrated design, integrating the transmit / receive antenna into one, reducing the number of devices and reducing the weight of the equipment. By receiving the Beidou system signal, it provides high-precision time synchronization, high-reliability positioning and navigation for the payload system.

[0080] The laser docking radar 8 adopts a decentralized layout, with the light source, transmitter, antenna, processor and other components arranged at the front of the sub-payload (on the upper side of the docking device), and the receiver arranged at the rear of the sub-payload, which is used for searching, capturing and tracking measurements before docking of adjacent sub-payloads.

[0081] The robot stop platform 11 is used for temporary stop of the autonomous flying crawler robot;

[0082] The autonomous flying crawler robot 15 is composed of two six-legged robots connected by a hook and buffer device in the middle. A universal interface for installing a gas cylinder 1 and a comprehensive information processing unit 2 is arranged on the back of the robot, which is convenient for replacing equipment or fixing new equipment. The robot is equipped with a thruster and can fly for a short time and short distance. Bases for mechanical arm grasping are set at the front and rear ends of the robot, which is convenient for grasping and fixing the load mechanical arm.

[0083] Ultimately, multiple independent payloads will be assembled on-orbit to form a large aerospace payload, thus exerting the cluster effect.

[0084] Some application examples will be provided below in conjunction with the accompanying drawings to further illustrate the technical solution of the present application.

[0085] Example 1

[0086] In this embodiment, the docking mechanism, solar wing / antenna integrated system 4, energy storage battery, robotic arm 10, robotic arm capture device 3, integrated information processing unit 2, gas storage bottle 1, thruster system, reaction flywheel, Beidou receiving / transmitting antenna 5, laser docking radar 8, robot stop platform 11 and autonomous flying crawler robot 15 are formed. Figure 1 as well as Figure 2 shown.

[0087] The load is transported upward by the cargo ship, and the antenna 4 is in a folded state and the docking mechanism 7 is in a retracted state. Figure 3 shown.

[0088] The payload group autonomously flies to the orbit. When the first payload flies forward, the antenna is unlocked and deployed. The second payload accelerates from behind the first payload to catch up with the first payload. The docking mechanism 7 of the second payload is adjusted from the contracted state to the extended state 14. Figure 4 As shown. The laser docking radar 8 on the first and second payloads establishes a link to keep the two payloads in a stable relative posture. The propulsion system of the second payload increases the thrust to complete the docking and locking of the first and second payloads.

[0089] The second payload antenna is unlocked and deployed by a pyrotechnics, and the mechanical arms 10 on the first payload and the second payload adjust their positions, and an information path between the first payload and the second payload is established. Figure 5a to Figure 5c shown.

[0090] The third payload, the fourth payload, etc. are then docked and locked in sequence to form a large on-orbit space payload. Figure 6 shown.

[0091] Example 2

[0092] Based on Example 1, the maintenance and replacement operations are carried out as follows:

[0093] When the gas cylinder 1 is replaced, the autonomous flying crawler robot 15 can transport the new gas cylinder 16 to the load ( Figure 7 ), the robot arm 10 removes the insufficient gas cylinder 1 from the load, grabs and installs it to the reserved interface position on the crawler robot 15, and then the robot arm 10 removes the new gas cylinder 16 from the back of the crawler robot 15 and installs it to the replacement gas cylinder position of the load, such as Figure 8 shown.

[0094] Example 3

[0095] To replace the integrated information processing unit 2, the autonomous flying crawler robot 15 transports the new integrated information processing unit 2 to the payload, and the payload mechanical arm 10 removes the faulty integrated information processing unit 2 from the payload, grabs and installs it to the reserved interface position on the crawler robot 15, and then the payload mechanical arm 10 removes the new integrated information processing unit 17 from the back of the crawler robot 15 and installs it to the replacement integrated information processing unit position of the payload, such as Fig. 9 shown.

[0096] Example 4

[0097] Replace a single whole load, the intact load (n+1) autonomously flies to the rear end position of the array of loads (1...n) that have been assembled, and the assembly of Example 1 is completed; the load m20 to be replaced disconnects its mechanical arm from the connection of the mechanical arm base 02 on the load (m-1) 19, and the mechanical arm is converted to be perpendicular to the flight direction of the load array; the load (m-1) 19 disconnects its mechanical arm from the connection of the mechanical arm base 02 on the load (m-2) 22, and moves to the mechanical arm base 02 of the load (m-1) 19; the autonomous flying crawler robot autonomously flies to the load m and waits, as shown in FIG. Fig.10 As shown; the mechanical arm of load (m-1) 19 (the end of the mechanical arm is located at the mechanical arm base 02) grabs the corresponding interface of the crawler robot close to the load (m-1) 19 side, and the mechanical arm of load (m+1) 21 grabs the corresponding interface on the crawler robot to lift it, so that the load (m-1) 19 and the load (m+1) 21 are connected, as shown Fig.11 As shown; the manipulator of the load m20 is connected to the manipulator base 02 of the load m20, and then the docking mechanisms of the load m20 and the load (m+1)21 are unlocked respectively, and the extended state is changed to the retracted state. At this time, the load m20 is disconnected from the entire antenna array, and the propulsion system of the load m20 pushes it away from the antenna array obliquely downward, as shown in FIG. Fig.12 As shown; after the payload m20 is away from the antenna array to a certain distance, the docking mechanism on the payload (m+1)21 is adjusted from the contracted state to the extended state, and the propulsion system and the robotic arm cooperate to move the payload (m+1)21 closer to the payload (m-1)19 in front of the flight, and finally complete the docking and locking of the payload (m+1)21 and the payload (m-1)19; the robotic arms on the payload (m+1)21 and the payload (m-1)19 are unlocked from the crawler robot, the robotic arm of the payload (m-1) moves and resumes the connection with the payload (m-2), and the robotic arm on the payload (m+1)21 establishes a connection with the payload (m-1)19, as shown in FIG. Fig.13 As shown, the replacement of load m is now complete. In the figure, there are load (m-2) 18, load (m-1) 19, load m20, load (m+1) 21, and load (m+2) 22.

[0098] Compared with the prior art, this embodiment has at least the following effects:

[0099] 1) The present invention provides a modular method for on-orbit assembly, replacement and maintenance of large-scale aerospace payloads. The payload is carried up in a folded and compacted state by a transport cargo ship. After being dropped from the cargo ship, the on-orbit assembly is completed by autonomous flight into orbit docking. The payload is deployed on-orbit by a motor. The solar cell array arranged on the back of the antenna and the internal energy storage battery constitute the energy system of the entire payload, thereby realizing the scientific allocation and use of energy.

[0100] 2) The on-orbit assembly and replacement and maintenance method provided by the present invention can realize autonomous assembly, and the assembly process does not require other auxiliary devices, has high flexibility, and has various replacement modes, thus ensuring that the system has high use efficiency;

[0101] 3) The method provided by the present invention supports continuous system updates to ensure long-term use of the system;

[0102] 4) The present invention has an independent flight control system, which can be flexibly arranged on multiple track surfaces.

[0103] Through the description of the specific implementation methods, a deeper and more specific understanding of the technical means and effects adopted by the present invention to achieve the predetermined purpose should be obtained. However, the accompanying drawings are only for reference and illustration purposes and are not intended to limit the present invention.

Claims

1. A large-scale aerospace payload based on modular design, It is characterized in that include: platform; A docking mechanism, arranged inside the platform; A solar wing / antenna integrated system is arranged at the bottom of the platform; A robotic arm, wherein both ends of the robotic arm are respectively connected to a robotic arm base arranged on the platform, and one of the bases can be used as an axis to achieve rotation and deflection in azimuth and pitch, and an information / power supply link between the payloads is established through the robotic arm; Wherein, the docking mechanism includes an active end of the docking mechanism and a passive end of the docking mechanism connected to each other. The active end of the docking mechanism is in a retracted state before docking with different loads. When the load is in a docking preparation state, the active end of the docking mechanism changes from a retracted state to an extended state, and protrudes from the side of the platform to be connected to the docking holes of different loads. When the docking between the front and rear sub-loads is completed, the docking lock at the head of the docking mechanism is in a locked state to achieve docking of different loads.

2. According to the large-scale aerospace payload based on modular design as claimed in claim 1, It is characterized in that At least two locking tongues are evenly arranged circumferentially at the active end of the docking mechanism, and the shape of the locking tongues is designed to prevent misconnection.

3. According to the large-scale aerospace payload based on modular design as claimed in claim 1, It is characterized in that The platform includes: a robot resting platform; Laser docking radars are arranged at both ends of the robot stop platform to maintain a stable state between different loads during the docking process; The robot stay platform is used to support the autonomous flying crawler robot to stay or move on the payload.

4. According to the large-scale aerospace payload based on modular design as claimed in claim 3, It is characterized in that The platform is arranged with components to be repaired, and the robotic arm is used to replace the components to be repaired with replacement components carried by the autonomous flying crawler robot.

5. According to the large-scale aerospace payload based on modular design as claimed in claim 4, It is characterized in that The robotic arm is further used to connect with robotic arm bases on different loads.

6. According to the large-scale aerospace payload based on modular design as claimed in claim 1, It is characterized in that The payload also includes: The propulsion device comprises a reaction flywheel arranged inside the platform and a propeller arranged on the side of the platform, and is used to realize the flight movement of the load.

7. According to the large-scale aerospace payload based on modular design as claimed in claim 1, It is characterized in that The payload also includes: A mechanical arm catcher is located on the side of the load and is used to connect with the front gripping device of the mechanical arm.

8. According to the large-scale aerospace payload based on modular design as claimed in claim 1, It is characterized in that The payload also includes: A power supply device is arranged inside the platform.

9. According to the large-scale aerospace payload based on modular design as claimed in claim 1, It is characterized in that The payload also includes: Beidou transmit / receive antenna, used for positioning and navigating the payload.

10. According to the large-scale aerospace payload based on modular design as claimed in claim 1, It is characterized in that The solar wing / antenna integrated system includes a retracted state and an extended state.

Images