A large space payload based on modular design

Abstract

The application provides a large space load based on modular design, which 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 mechanical arm is connected to the mechanical arm base arranged on the platform at two ends, and can rotate in two dimensions with one base as the shaft, and the information / supply link between the loads is established through the mechanical arm; the docking mechanism comprises a driving end and a passive end connected to each other; when the load is in the docking preparation state, the driving end is changed from the retracted state to the stretched state, and the head of the driving end is connected to the docking hole of the different load from the side of the platform; when the docking is completed, the docking lock of the head is locked, and the docking of the different loads is realized. The load provided by the application can realize autonomous assembly in the process of on-orbit assembly and replacement and maintenance, and the assembly process does not need other auxiliary devices, so that the flexibility is high, and the use benefit of the system is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of space payload, and in particular to a large space payload based on modular design. BACKGROUND

[0002] With the pace of human exploration of space extending, large space structures will be widely used in space engineering, and on-orbit assembly is an inevitable trend and effective way to build large-scale space structures due to the limitation of structure size by rocket transportation.

[0003] However, there are deficiencies in current space payload structures and applications, for example:

[0004] The existing method of on-orbit assembly of large-scale space structures is mostly in the form of hexahedral structure and truss, and does not mention the solution to the problems of information transmission and energy supply;

[0005] The existing on-orbit assembly method only considers the construction part and does not include the method of on-orbit replacement and maintenance;

[0006] The existing on-orbit assembly method of large space payload is basically to use a space shuttle or a space station as a construction base, and the construction is constrained by the space shuttle or the space station, without on-orbit maneuvering capability and small degree of freedom. SUMMARY

[0007] The technical problem to be solved by the present application is how to realize the overall replacement and maintenance of any one sub-payload in the space payload, or the local replacement of part of the device, so as to improve the mission availability of the entire payload.

[0008] The technical scheme adopted by the present application is a large space payload based on modular design, comprising:

[0009] a platform;

[0010] a docking mechanism arranged in the interior of the platform;

[0011] a solar wing / antenna integrated system 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 realize two-dimensional rotation and deflection of azimuth and pitch, and an information / power supply link between payloads is established through the mechanical arm;

[0013] The docking mechanism includes a docking mechanism active end and a docking mechanism passive end connected to each other, the docking mechanism active end is in a retracted state before docking with different loads, and the docking mechanism active end is changed from the retracted state to an extended state when the load is in a docking preparation state, and the docking mechanism active end protrudes from the side of the platform and is used for connection with the docking hole position of the different load, and the docking lock of the telescopic mechanism head is in a locked state when the docking between the front and rear sub-loads is completed, so as to realize the docking of different loads.

[0014] In one embodiment, the docking mechanism active end is circumferentially uniformly arranged with at least two locking tongues, and the locking tongue is in a mistaken connection prevention design.

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

[0016] The two ends of the robot staying platform are arranged with laser docking radars for maintaining the smooth state between different loads during docking.

[0017] The robot staying platform is used for carrying the staying or movement of the autonomous flying crawler robot on the load.

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

[0019] In one embodiment, the mechanical arm is further used for realizing connection with a mechanical arm base on the different load.

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

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

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

[0023] The mechanical arm catcher is located on the side of the load and is used for connection with the front gripping device of the mechanical arm.

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

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

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

[0027] The Beidou receiving / transmitting antenna is used for positioning and navigation of the load.

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

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

[0030] The load provided by the present application can realize autonomous assembly during on-orbit assembly and replacement maintenance, the assembly process does not require other auxiliary devices, has high flexibility, has various replacement modes, and ensures that the system has high use efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a layout schematic diagram of a single spaceflight load device according to an embodiment of the present application;

[0032] Figure 2 is a layout schematic diagram of a single load device from another angle according to an embodiment of the present application;

[0033] Figure 3 is a spaceflight load folded state schematic diagram according to an embodiment of the present application;

[0034] Figure 4 is a spaceflight load assembly process schematic diagram according to an embodiment of the present application;

[0035] Figures 5a to 5c is a spaceflight load assembly completion schematic diagram according to an embodiment of the present application;

[0036] Figure 6 is a spaceflight load state schematic diagram after assembly completion according to an embodiment of the present application;

[0037] Figure 7 is a self-flying crawler robot flight state schematic diagram according to an embodiment of the present application;

[0038] Figure 8 is a scene schematic diagram of replacing a gas cylinder according to an embodiment of the present application;

[0039] Figure 9 is a scene schematic diagram of replacing a comprehensive information processing unit according to an embodiment of the present application;

[0040] Figure 10 is a self-flying crawler robot on standby on a load m according to an embodiment of the present application;

[0041] Figure 11 is a schematic diagram of reestablishing connection of loads m-1 and m+1 according to an embodiment of the present application;

[0042] Figure 12 is a load m flying away from a load array according to an embodiment of the present application;

[0043] Figure 13 is a state schematic diagram of reestablishing an array after single whole load replacement completion according to an embodiment of the present application.

[0044] Reference signs

[0045] 1-gas cylinder; 2-comprehensive information processing unit; 3-robotic arm catcher; 4-solar wing / antenna integrated system (folding state); 5-Beidou receiving / transmitting antenna; 6-propeller; 7-docking mechanism active end (retracted state); 8-laser docking radar; 9-robotic arm base; 10-robotic arm; 11-robotic landing platform; 12-docking mechanism passive end; 13-solar wing / antenna integrated system (unfolded state); 14-docking mechanism active end (extended state); 15-autonomous flying crawler robot; 16-new replacement gas cylinder; 17-new replacement comprehensive 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 clarify the technical means and effects of the present application for achieving the predetermined purposes, the present application will be described in detail as follows in combination with the drawings and preferred embodiments.

[0047] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0048] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0049] An embodiment of the present application is a large spaceflight load based on modular design, comprising:

[0050] a 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 can rotate and deflect in two dimensions of azimuth and pitch with one of the bases as a shaft, and establish information / power supply links between loads through the robotic arm 10;

[0054] Wherein, the docking mechanism comprises a docking mechanism active end 14 and a docking mechanism passive end 12 connected with each other, the docking mechanism active end 14 is in a retracted state before docking with different loads, when the load is in a docking preparation state, the docking mechanism active end 14 is switched from the retracted state 7 to an extended state 14, and the docking mechanism active end 14 protrudes from the side of the platform for connection with the docking hole position of different loads, when the docking between the front and rear sub-loads is completed, the docking lock of the telescopic mechanism head is in a locked state to realize the docking of different loads.

[0055] In the embodiment, the docking mechanism active end 14 is circumferentially uniformly arranged with at least two locking tongues, and the locking tongues are designed in a mistaken docking prevention shape.

[0056] In the embodiment, the platform comprises a robot staying platform 11.

[0057] The laser docking radar 8 is arranged at both ends of the robot staying platform 11 to keep the stable state between different loads during docking.

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

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

[0060] In the embodiment, the mechanical arm 10 is further used to realize connection with the mechanical arm base 9 on the different load.

[0061] In the embodiment, the load further comprises a propulsion device, which comprises a reaction flywheel arranged inside the platform and a propeller 6 arranged at the side of the platform, and is used to realize the flying movement of the load.

[0062] In the embodiment, the load further comprises a mechanical arm catcher 3 located at the side of the load and used to connect with the front gripping device of the mechanical arm 10.

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

[0064] In the embodiment, the load further comprises a Beidou receiving / transmitting antenna 5 used to position and navigate the load.

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

[0066] Specifically, the device to be repaired may, for example, comprise a gas cylinder 1 and a comprehensive information processing single machine 2.

[0067] Reference Figure 1 The method provided in the embodiment will be described in detail below.

[0068] The application aims to solve the problem of low autonomy and many constraints in on-orbit assembly and maintenance of large space loads, and provides a modular large array antenna construction method which can be assembled and replaced on orbit.

[0069] The application aims to solve the problem of low autonomy and many constraints in on-orbit assembly and maintenance of large space loads, and provides a modular large array antenna construction method which can be assembled and replaced on orbit.

[0070] The single load mainly comprises a docking mechanism, a solar wing / antenna integrated system 4, an energy storage battery (containing a power distribution unit), a mechanical arm 10, a mechanical arm catcher 3, an integrated 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 staying platform 11 and an autonomous flying crawler robot 15, wherein the energy storage battery (containing a power distribution unit) and the reaction flywheel are located inside the load.

[0071] The docking mechanism comprises a docking mechanism active end 7 and a docking mechanism passive end 12.

[0072] The solar wing / antenna integrated system 4 adopts an integrated design of solar wings and antennas, and arranges a solar cell array on the surface of the load, and designs the ground surface as an antenna, without separately arranging a solar panel.

[0073] The energy storage battery is mainly used for on-orbit energy storage and output, and the converted electrical energy of the solar wing is stored in the energy storage battery, and the power distribution unit is used to distribute the power of the load.

[0074] The mechanical arm 10 is composed of a fixed base at both ends, a joint and a front grabbing device, can realize two-dimensional rotation and deflection of azimuth and pitch, and can establish an information / power supply link between the sub-loads through the mechanical arm 10.

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

[0076] The comprehensive information processing single machine 2 is composed of a data processing module, a data storage module, a signal processing module, an attitude and orbit control module and other modules of board cards based on VPX architecture. The whole single machine can be disassembled by a mechanical arm and fixed on the autonomous flying crawler robot 15, transported to a cargo ship or an orbit space station by the robot, and realized for maintenance and testing at the board card level in the orbit space station.

[0077] The gas cylinder 1 is loaded with inert gas for ionization of the load motor and can be autonomously installed and replaced by the mechanical arm 10.

[0078] The propulsion system includes a thruster 6 located outside the load and a reaction flywheel located inside the load, and the whole load attitude and flight speed are controlled by the comprehensive information processing single machine 2.

[0079] The Beidou transceiving antenna 5 adopts an integrated design, integrates the receiving / transmitting antenna into one, reduces the number of devices and the weight of the devices, receives the Beidou system signal, and thus provides high-precision time synchronization, high-reliability positioning and navigation for the load system.

[0080] The laser docking radar 8 adopts a scattered layout, and the light source, transmitter, antenna and processor are arranged in the front part (the upper side of the docking device) of the sub-load, and the receiver is arranged in the rear part of the sub-load, for searching, capturing and tracking measurement before docking between adjacent sub-loads.

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

[0082] The autonomous flying crawler robot 15 is composed of two 6-foot robots connected and combined through the intermediate hook buffer device, and the general interface of the gas cylinder 1 and the comprehensive information processing single machine 2 is arranged and installed on the back of the robot, which is convenient for fixing the replacement of devices or new devices, the robot is arranged with a thruster, which can fly for a short time and a short distance, and the base for mechanical arm grabbing is arranged at the front and rear ends of the robot, which is convenient for grabbing and fixing of the load mechanical arm.

[0083] Finally, a large space load is formed by assembling multiple independent loads in orbit, and the cluster efficiency is achieved.

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

[0085] Example 1

[0086] In this embodiment, the docking mechanism, the solar wing / antenna integrated system 4, the energy storage battery, the mechanical arm 10, the mechanical arm catcher 3, the comprehensive information processing single machine 2, the gas cylinder 1, the thruster system, the reaction flywheel, the Beidou receiving / transmitting antenna 5, the laser docking radar 8, the robot resting platform 11 and the autonomous flying crawler robot 15 are composed. As shown inFigure 1 and Figure 2 as shown.

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

[0088] The load group autonomously flies to the orbit, the antenna of the first load is unlocked and unfolded by a pyrotechnic device when ascending, the second load accelerates from behind the first load to catch up with the first load, and the docking mechanism 7 of the second load is adjusted from a retracted state to an extended state 14, as shown in Figure 4 . A link is established through the laser docking radar 8 on the first load and the second load to keep the relative attitude of the two loads stable, and the docking and locking of the first load and the second load are completed by the second load's propulsion system increasing the thrust,

[0089] The antenna of the second load is unlocked and unfolded by a pyrotechnic device, and the mechanical arm 10 on the first load and the second load adjusts the position to establish an information channel between the first load and the second load, as shown in Figures 5a to 5c .

[0090] The docking and locking of the third load, the fourth load, and the like are sequentially completed, thereby assembling a large on-orbit space load, as shown in Figure 6 .

[0091] Example 2

[0092] On the basis of example 1, maintenance and replacement operations are carried out, as follows:

[0093] The gas cylinder 1 is replaced, and the autonomous flying crawler robot 15 transports a new gas cylinder 16 to the load Figure 7 , the mechanical arm 10 removes the gas cylinder 1 with insufficient gas from the load, grabs and installs it to the reserved interface position on the crawler robot 15, and then the mechanical 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, as shown in Figure 8 .

[0094] Example 3

[0095] The comprehensive information processing unit 2 is replaced, and the autonomous flying crawler robot 15 transports a new comprehensive information processing unit 2 to the load, the load mechanical arm 10 removes the faulty comprehensive information processing unit 2 from the load, grabs and installs it to the reserved interface position on the crawler robot 15, and then the load mechanical arm 10 removes the new comprehensive information processing unit 17 from the back of the crawler robot 15 and installs it to the replacement comprehensive information processing unit position of the load, as shown in Figure 9 .

[0096] Example 4

[0097] The single load is replaced, the intact load (n+1) autonomously flies to the rear end position of the arrayed load (1…n) array to complete the assembly of Embodiment 1; the load m20 to be replaced disconnects the mechanical arm from 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 the mechanical arm from 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 standby position of the load m, as shown in FIG. 8; the mechanical arm of the load (m-1) 19 (the mechanical arm end is located at the mechanical arm base 02) grabs the corresponding interface on the side close to the load (m-1) 19, and the corresponding interface on the crawler robot is lifted by the mechanical arm of the load (m+1) 21, so that the load (m-1) 19 and the load (m+1) 21 are connected, as shown in FIG. 9; the mechanical arm of the load m20 is connected with the mechanical arm base 02 of the load m20, and then the docking mechanisms of the load m20 and the load (m+1) 21 are unlocked, and are converted from the extended state to the retracted state, at this time, the load m20 is separated from the entire antenna array, and the propulsion system of the load m20 pushes it away from the antenna array to the obliquely downward direction, as shown in FIG. 10; after the load m20 is away from the antenna array to a certain distance, the docking mechanism on the load (m+1) 21 is adjusted from the retracted state to the extended state, and the propulsion system and the mechanical arm cooperatively move the load (m+1) 21 to the load (m-1) 19 in front of the flight direction, and finally complete the docking and locking of the load (m+1) 21 and the load (m-1) 19; the mechanical arms on the load (m+1) 21 and the load (m-1) 19 are unlocked from the crawler robot, the mechanical arm of the load (m-1) moves and restores the communication with the load (m-2), and the mechanical arm on the load (m+1) 21 is connected with the load (m-1) 19, as shown in FIG. 11; at this time, the replacement of the load m is completed. In the figure, they are the load (m-2) 18, the load (m-1) 19, the load m20, the load (m+1) 21, and the load (m+2) 22. Figure 10 Figure 11 Figure 12 Figure 13

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

[0099] 1) The method for on-orbit assembly and replacement and maintenance of a modular large aerospace load is provided, is shipped on a transport ship in a folded and compressed state, is released from the ship, and is connected to the load (m+1) 21 by using the autonomous flying docking mode to complete the on-orbit assembly, is unfolded on the orbit by using a motor, and is connected to the load (m+1) 21 by using the solar cell array arranged on the back of the antenna and the energy storage battery inside the antenna to form an energy system of the entire load, so that the energy is scientifically allocated and used.

[0100] ​​​​2) The in-orbit assembly and replacement maintenance method provided by the application can realize autonomous assembly, the assembly process does not require other auxiliary devices, has high flexibility, the replacement mode is various, and the use efficiency of the system is ensured to be high;

[0101] 3) The method provided by the application supports continuous updating of the system, and ensures long-life use of the system;

[0102] 4) The application has an autonomous flight control system, which can be flexibly and maneuverably arranged on multiple orbital planes.

[0103] Through the description of the specific embodiments, the technical means and effects adopted by the application to achieve the predetermined purposes can be more deeply and specifically understood. However, the accompanying drawings are only provided for reference and illustration, and are not used to limit the application.

Claims

1. A large space payload based on a modular design, characterized in that, The application relates to a platform, a docking mechanism arranged in the platform, a solar wing / antenna integrated system arranged at the bottom of the platform, and a mechanical arm, two ends of the mechanical arm being connected to mechanical arm bases arranged on the platform, one of the two bases being a shaft to realize two-dimensional rotation and deflection, and an information / supply link between loads being established through the mechanical arm. The docking mechanism comprises a docking mechanism active end and a docking mechanism passive end connected to each other, the docking mechanism active end being in a retracted state before docking with different loads, the docking mechanism active end being switched from the retracted state to an extended state when the loads are in a docking preparation state, the docking mechanism active end extending from the side of the platform to be connected with docking holes of different loads, and a docking lock at the head of the docking mechanism being in a locking state to realize docking of different loads when docking between front and rear sub-loads is completed. The docking mechanism active end is uniformly arranged with at least two lock latches in a circumferential direction, the lock latches being designed in a mistaken docking prevention mode. The platform comprises a robot staying platform. Two ends of the robot staying platform are arranged with laser docking radars for keeping a stable state between different loads during docking. The robot staying platform is used for loading autonomous flying crawler robots to stay or move on the loads.

2. The large space payload based on modular design according to claim 1, characterized in that, The platform is arranged with a device to be maintained, and the mechanical arm is used for replacing the device to be maintained with a replacement device carried by the autonomous flying crawler robot.

3. The large space payload based on modular design according to claim 1, characterized in that, The mechanical arm is further used for realizing connection with the mechanical arm base on the different loads. The load further comprises: A propelling device comprising a reaction flywheel arranged in the platform and a propeller arranged at the side of the platform, and used for realizing flight movement of the load.

4. The large space payload based on modular design according to claim 3, characterized in that, The load further comprises:

5. The large space payload based on modular design according to claim 4, characterized in that, A mechanical arm catcher arranged at the side of the load and used for connecting with a front grabbing device of the mechanical arm.

6. The large space payload based on modular design according to claim 1, characterized in that, The load further comprises: A power supply device arranged in the platform.

7. The large space payload based on modular design according to claim 1, characterized in that, The load further comprises: A Beidou receiving / transmitting antenna used for positioning and navigating the load.

8. The large space payload based on modular design according to claim 1, characterized in that, The solar wing / antenna integrated system comprises a retracted state and an extended state. ​ 9. The large space payload based on modular design according to claim 1, characterized in that, ​ ​ 10. The large space payload based on modular design according to claim 1, characterized in that, ​

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