Liftable mirror replacement system, method and large-aperture space telescope

Abstract

The present invention belongs to the technical field of optical observation equipment, and specifically relates to a liftable mirror replacement system, method and large-aperture space telescope. A liftable mirror replacement system comprises: a mirror; a sub-mirror module, comprising a fixing unit that is detachably fixed to the mirror; the fixing unit comprises a mirror chamber, a lifting part fixedly arranged in the mirror chamber, a one-side fixed connection with the lifting end of the lifting part and a guide fixing part that is detachably fixed to the mirror on the other side; the lifting part selectively drives the guide fixing part to leave the mirror chamber and then replace the mirror. The system solves the problem of increasing the mirror area while realizing the replacement of the mirror and reducing the excessive gap between the mirror and the sub-mirror frame.

Description

Technical Field

[0001] The present invention belongs to the technical field of optical observation equipment, and specifically relates to space observation optical technology, and specifically relates to a liftable mirror replacement system, method and a large-aperture space telescope. Background Art

[0002] The field of space remote sensing technology is one of the key technology fields in which developed countries in the world are currently competing fiercely. With the improvement of the resolution and detection sensitivity of space remote sensors, the precision requirements for reflectors in this field are also getting higher and higher. As a solution for in-orbit splicing and assembly, large-aperture space telescopes can effectively overcome the limitations of existing space carrying capacity and achieve higher-precision remote sensing detection.

[0003] In large-aperture space telescopes, the mirrors of the sub-mirror modules that make up the large-aperture space telescopes are the key parts of space optical remote sensors. The mirror quality needs to be kept intact to avoid affecting the detection results. However, in the complex and harsh working environment of space, factors such as micrometeorite impacts can cause the mirrors to be damaged to varying degrees. These damages will not only reduce the imaging quality of the optical system, but also affect the working efficiency of the entire remote sensor. Therefore, how to replace damaged mirrors in space in a timely manner has become a key issue to ensure the normal operation of space telescopes.

[0004] Some mirror replacement systems and methods have been proposed in the prior art, such as the modular large-aperture space telescope mirror replacement system disclosed in patent application number CN2024111336185. However, a significant problem is that during the mirror replacement process, multiple fixed components need to be provided between the sub-mirror frame and the sub-mirror, resulting in a large gap between the sub-mirror and the sub-mirror frame. This leads to a decrease in the effective mirror area of ​​the overall spliced ​​space telescope, affecting the resolution and reflection effect of the spliced ​​space telescope. This not only limits the observation capability of the telescope, but may also affect the quality and reliability of scientific data. Summary of the invention

[0005] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a liftable mirror replacement system, method and large-aperture space telescope, which solves the problem of increasing the mirror area and reducing the excessive gap between the mirror and the sub-mirror frame while realizing the replacement of the mirror.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: In the first aspect of the present invention, a liftable mirror replacement system is provided, comprising a mirror; a sub-mirror module, comprising a fixing unit detachably fixed to the mirror; the fixing unit comprises a mirror chamber, a lifting part fixedly arranged in the mirror chamber, a one side fixedly connected to the lifting end of the lifting part and the other side of the guide fixing part detachably fixed to the mirror; the lifting part selectively drives the guide fixing part to leave the mirror chamber and then replaces the mirror.

[0007] As an embodiment of the present invention, the guiding and fixing part includes a guiding member, a shell and a base fixedly arranged on the lifting part, the shell is arranged on a side of the base away from the lifting part and is fixed relative to the base, the guiding member is located between the base and the shell and is slidably arranged on the base to selectively extend radially out of the shell; a matching cavity adapted to the shell is provided on the side of the mirror close to the fixing unit, and a fixing groove corresponding to the guiding member is provided on the side wall of the matching cavity to realize detachable fixation with the guiding and fixing part.

[0008] As an embodiment of the present invention, the guide fixing part also includes a rotating table arranged between the base and the shell, the rotating table is rotatably arranged on the base, and a sliding groove that can guide the radial movement of the guide member is arranged on the rotating table; a guide groove that can accommodate the guide member is radially arranged on one side of the shell facing the rotating table; the guide member radially extends and retracts under the restriction of the sliding groove and the guide groove.

[0009] As an embodiment of the present invention, the guiding and fixing part also includes a driving member, which is coaxially fixed on the rotating table, and the rotating table is sleeved on the driving member and is transmission connected to the output end of the driving member; wherein the driving member includes a first output end and a second output end which are independent of each other, the first output end is transmission connected to the rotating table, and the second output end of the driving member is transmission connected to the lifting part.

[0010] As an embodiment of the present invention, the driving member is the base; wherein, the driving member is a disc-type dual-axis motor, the lifting part is a scissors-type lifting device, two of the scissors-type lifting devices are symmetrically arranged along the second output end and are connected to the second output end through a bevel gear transmission; and / or, the slide groove is an arc eccentrically arranged with respect to the rotating table.

[0011] As an embodiment of the present invention, the shell of the guide fixing part is a polyhedral structure, and the matching cavity and each side wall corresponding to the shell are provided with a fixing groove matching the guide member; and / or the size of the guide member gradually decreases from one end close to the axis of the turntable to one end away from the axis of the turntable.

[0012] As an embodiment of the present invention, a plurality of guide members are provided, and the plurality of guide members are arranged without interfering with each other; and / or the sub-mirror module also includes an elastic pad, and the plurality of elastic pads are arranged on the bottom wall of the mirror chamber, and a plurality of pad grooves matching the elastic pads are provided on the side of the mirror surface facing the fixed unit; wherein the plurality of elastic pads are arranged in a set arrangement so that the plurality of pad grooves are symmetrically arranged on the mirror surface.

[0013] As an embodiment of the present invention, it also includes a robotic arm module with a clamping device for grasping the mirror; the robotic arm module includes a base, an arm and a clamping device, one end of the arm is slidably set on the base, and the other end is rotatably connected to a plurality of clamping devices which are configured to selectively abut against the mirror, and the plurality of clamping devices cooperate with each other to achieve the grasping and releasing of the mirror; wherein the clamping device includes a fixedly connected clamping claw and a grasping member, one end of the clamping claw is movably connected to the arm, and the other end is fixedly connected to the grasping member; the grasping member is an elastic panel.

[0014] The second aspect of the present invention provides a mirror replacement method for a large-aperture space telescope, which is implemented based on the liftable mirror replacement system described in the first aspect of the present invention. The liftable mirror replacement system also includes a robotic arm module. The method includes: identifying a faulty mirror that needs to be replaced; controlling the lifting part to move the faulty mirror outside the mirror chamber, and controlling the guide and fixing part to release the fixation of the faulty mirror; controlling the robotic arm module to replace the faulty mirror with a spare mirror; after controlling the guide and fixing part to fix the faulty mirror, controlling the lifting part to move the spare mirror to the set position of the mirror chamber.

[0015] The third aspect of the present invention provides a large-aperture space telescope, comprising the liftable mirror replacement system described in the first aspect of the present invention, wherein a plurality of mirrors are relatively fixed to form an observation mirror of a modular large-aperture space telescope, and further comprising: a storage module for storing a plurality of mirrors; a power supply module for providing electrical connection for the liftable mirror replacement; and a mounting module fixedly connected to the power supply module and the storage module, respectively, having a mounting platform for relatively fixing a plurality of sub-mirror modules to form a modular large-aperture space telescope; wherein the sub-mirror module also comprises a posture adjustment unit capable of posture adjustment, and the posture adjustment unit is fixedly connected to the fixing unit.

[0016] In summary, compared with the prior art, the present invention includes at least one of the following beneficial technical effects: by providing a lifting part and a guide fixing part, the guide fixing part can be detachably connected to the mirror surface, so that when the mirror surface needs to be replaced, the lifting part drives the guide fixing part to perform lifting and lowering motion relative to the mirror chamber, and then takes the guide fixing part out of the mirror chamber. And by fixing and unbinding the guide fixing part and the mirror surface, the sub-mirror module and the mirror surface are disassembled and fixed, and then the mirror surface is replaced by the cooperation of the mechanical arm module and other devices. Then, the circumferential gap between the mirror surface and the mirror chamber can be well reduced, and then the effective mirror surface area of ​​the mirror surface in the sub-mirror module can be well increased, thereby improving the observation capability of the entire large-aperture space telescope. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of 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 work.

[0018] Figure 1 is a schematic structural diagram of a large-aperture space telescope according to a specific embodiment of the present invention;

[0019] Figure 2 is a structural schematic diagram of a mechanical arm module provided by an embodiment of the present invention;

[0020] Figure 3 is a schematic structural diagram of a sub-mirror module provided by an embodiment of the present invention;

[0021] Figure 4 is a structural schematic diagram of a guide fixing portion provided by an embodiment of the present invention;

[0022] Figure 5 is a structural schematic diagram of a guide fixing portion provided by an embodiment of the present invention from another viewing angle;

[0023] Figure 6 A structural schematic diagram of a guide fixing portion provided by an embodiment of the present invention from another perspective;

[0024] Figure 7 is a perspective view of a guide fixing portion provided by an embodiment of the present invention;

[0025] Figure 8 is a schematic structural diagram of a mirror provided by an embodiment of the present invention;

[0026] Fig. 9 It is a structural diagram of a guiding and fixing part and a lifting part provided by another embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 100. Install the module;

[0029] 200, sub-mirror module; 210, posture adjustment unit; 220, fixing unit; 221, mirror chamber; 2211, mirror cavity; 222, lifting unit; 230, guide fixing unit; 231, base; 232, rotating table; 2321, drive adapter hole; 2322, slide groove; 233, driving member; 234, guide member; 235, housing; 2351, guide groove; 240, elastic pad;

[0030] 300, energy supply module;

[0031] 400, robot arm module; 410, base; 420, arm; 430, clamping device; 431, clamping claw; 432, grabbing member;

[0032] 500, mirror surface; 511, matching cavity; 512, fixing groove; 513, pad groove;

[0033] 700. Storage module. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present invention. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. In the present invention, unless otherwise specified, the directional words used, such as "up", "down", "left", "right", "front", and "back", generally refer to the up, down, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0035] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments of the present invention. In addition, in the following embodiments, the description of each embodiment has its own emphasis, and for parts not described in detail in one embodiment, reference can be made to the relevant description of other embodiments.

[0036] See also Figure 1-Figure 2, this solution provides a large-aperture space telescope for replacing the mirror 500, that is, the mirror to be replaced on the sub-mirror module 200 can be replaced with a spare mirror. The large-aperture space telescope includes a liftable mirror replacement system and an installation module 100, a power supply module 300 and a storage module 700. The liftable mirror replacement system includes a sub-mirror module 200, a robotic arm module 400 and a mirror 500. The installation module 100 is respectively fixedly connected to the power supply module 300, the robotic arm module 400 and the storage module 700, and can provide an installation platform for the sub-mirror module 200 to install a modular large-aperture space telescope, so that multiple sub-mirror modules 200 are relatively fixedly arranged on the installation module 100 to form a modular large-aperture space telescope. Figure 1 In this specific embodiment, the upper side of the mounting module 100 provides a mounting platform for the sub-mirror module 200 to mount the large-aperture space telescope; the lower side is fixedly connected to the storage module 700, and the front and rear sides are fixedly connected to the power supply module 300, and the left and right sides are fixedly connected to the robotic arm module 400.

[0037] The storage module 700 is used to store at least the mirror surface 500 that can be installed on the sub-mirror module 200 for replacement, that is, the spare mirror surface. Naturally, it can also further store the replaced mirror surface 500 replaced from the sub-mirror module 200. The energy supply module 300 is used to provide energy for the modular large-aperture space telescope mirror replacement system formed by the storage module 700, the sub-mirror module 200 and the mechanical arm module 400. The mechanical arm module 400 is used to grab the spare mirror surface and / or the replaced mirror surface 500 to drive the spare mirror surface to move to a specified position. The sub-mirror module 200 is used to be detachably fixedly connected with the spare mirror surface or the replaced mirror surface 500, and can adjust the posture of the spare mirror surface or the replaced mirror surface 500.

[0038] The installation module 100 is used to provide installation space for installing multiple sub-mirror modules 200 to form a modular large-aperture space telescope. Of course, the installation module 100 can be integrated with other components, such as Figure 1 In this specific implementation, the installation module 100 is integrated with the energy supply module 300, that is, the sub-mirror module 200 is directly installed on the energy supply module 300. In another alternative implementation, the installation module 100 and the energy supply module 300 are independent of each other but can be detachably fixed, and are carried into space by different space carriers for installation and fixation, which will not be described in detail.

[0039] The mechanical arm module 400 is relatively fixedly connected to the installation module 100 and the storage module 700, and the power supply module 300 is arranged on both sides of the mechanical arm module 400 and does not interfere with the sub-mirror module 200. Figure 1In this specific embodiment, the robot module 400 is relatively fixedly connected to the storage module 700 at the bottom and relatively fixedly connected to the installation module 100 at the top, and the left and right sides of the robot module 400 are fixedly connected to the power supply module 300.

[0040] As mentioned above, the installation module 100 can be provided with a plurality of sub-mirror modules 200, and a plurality of relatively fixed sub-mirror modules 200 together constitute the observation mirror of the modular large-aperture space telescope. For the installation and adjustment process of the plurality of sub-mirror modules 200, there are many ways in the existing scheme, which will not be described in detail. For example, the installation and adjustment method of the optical mirror module to be installed and the target optical mirror module is disclosed in detail in patent application number CN2023116396510. Similarly, for the relatively fixed docking structure between the plurality of sub-mirror modules 200, there are many ways in the existing scheme, which will not be described in detail. For example, the docking structure between the plurality of sub-mirror modules is disclosed in detail in patent application number CN2024104870411.

[0041] It can also be understood that in the solution of the present invention, the mirror 500 includes a spare mirror and a replaced mirror. The spare mirror and the replaced mirror have exactly the same structural design, except that the replaced mirror is installed on the sub-mirror module 200 and is the mirror 500 that needs to be replaced. Since the mirror or structure of the replaced mirror is damaged or destroyed during use, transportation, etc., the mirror accuracy of the replaced mirror cannot meet the accuracy requirements of the space telescope, and thus needs to be replaced with a spare mirror. Therefore, in the description of this article, unless otherwise specified, the mirror 500 can refer to both the spare mirror and the replaced mirror.

[0042] See also Figure 3-Figure 9 The present invention provides a liftable mirror replacement system, which is arranged on a sub-mirror module 200 used to form a large-aperture space telescope. A plurality of sub-mirror modules 200 can be relatively fixedly arranged on a mounting module 100 to jointly form an observation mirror of a modular large-aperture space telescope. The sub-mirror module 200 includes a fixedly arranged posture adjustment unit 210 and a fixed unit 220. The posture adjustment unit 210 can adjust the posture of the fixed unit 220, thereby completing the posture adjustment of the mirror 500 located in the fixed unit 220.

[0043] There are many solutions for the posture adjustment unit 210 in the prior art, which will not be described in detail. For example, the sub-mirror adjustment device for adjusting the posture of the sub-mirror mirror surface in the sub-mirror module disclosed in patent application number CN2024106198109 can achieve a more stable and smooth adjustment of the posture of the mirror surface 500 fixed on the sub-mirror module 200. Of course, the Delta robot disclosed in patent application number CN2024111336185 can also be used to adjust the position of the fixed unit, and the present invention is not limited to this.

[0044] See also Figure 3 , the fixing unit 220 is fixedly arranged on the posture adjustment unit 210. The fixing unit 220 includes a mirror chamber 221, a lifting part 222 and a guiding fixing part 230. The mirror chamber 221 is fixedly arranged on the posture adjustment unit 210 and has an open mirror cavity 2211 that can at least accommodate the mirror 500. The circumferential size of the mirror chamber 221 is slightly larger than the mirror 500, so that the mirror 500 can be installed in the open mirror cavity 2211 of the mirror chamber 221 and the subsequent replacement of the mirror 500 can be achieved. The guiding fixing part 230 is fixedly arranged on the lifting end of the lifting part 222, and can be selectively detachably fixed to the mirror 500. It can be understood that the lifting end of the lifting part 222 corresponds to the reference end of the lifting part, and the lifting end can perform lifting and lowering movements relative to the reference end. Figure 3 In this embodiment, the reference end is fixedly connected to the chamber, so that the lifting end can move up and down relative to the chamber.

[0045] The lifting part 222 is fixedly arranged at the bottom of the open cavity of the chamber, and the lifting end of the lifting part 222 is fixedly connected to the guide fixing part 230. The lifting part 222 can be lifted and lowered relative to the mirror chamber 221, so that the lifting part 222 can drive the guide fixing part 230 to lift and lower, and then the guide fixing part 230 can be selectively accommodated in the open mirror cavity 2211 of the mirror chamber 221. That is, when the guide fixing part 230 needs to be located in the mirror cavity 2211 of the mirror chamber 221, the lifting part 222 descends, so that the guide fixing part 230 can be located in the mirror cavity 2211 of the mirror chamber 221; when the guide fixing part 230 needs to be located outside the cavity of the mirror chamber 221, the lifting part 222 rises, so that the guide fixing part 230 is located outside the mirror cavity 2211 of the mirror chamber 221.

[0046] It is understood that there are many embodiments of the specific structure of the lifting part 222 in the prior art, and the present invention does not limit this. For example, it can be a hydraulic lifting device, a scissor lift device, a gear lift device, and other lifting devices in the prior art.

[0047] Preferably, the present invention uses a scissor lift device. The advantage of this selection is that, on the one hand, compared with other lifting methods, the structure of the scissor lift itself determines that the mass is lighter under the same conditions, thereby reducing the weight of the entire sub-mirror module 200, thereby reducing the load requirement for carrying the sub-mirror module 200 into space. On the other hand, since the scissor lift device essentially achieves lifting by changing the position of the parallelogram, it is determined that it does not need to add other components in the lifting direction to complete the operation, and at the same time, it can increase the contact surface as much as possible during the entire lifting process, and realize the entire lifting process more smoothly, and then in the process of driving the mirror surface 500 to perform lifting movement, the lifting part 222 drives the guiding fixing part 230 to lift more stably.

[0048] Thus, by providing the lifting part 222 and the guide fixing part 230, the guide fixing part 230 can be detachably connected to the mirror surface 500, so that when the mirror surface 500 needs to be replaced, the lifting part 222 drives the guide fixing part 230 to perform lifting movement relative to the mirror chamber 221, and then takes the guide fixing part 230 out of the mirror chamber 221. And by fixing and unbinding the guide fixing part 230 and the mirror surface 500, the sub-mirror module 200 and the mirror surface 500 are disassembled and fixed, and then the mirror surface 500 is replaced by the cooperation of the mechanical arm module 400 and other devices. Please describe the specific installation and replacement process in detail later.

[0049] In this way, by adopting the concept of replacing the mirror 500 outside the mirror chamber 221, the circumferential gap between the mirror 500 and the mirror chamber 221 can be greatly reduced, and then the effective mirror area of ​​the mirror 500 in the sub-mirror module 200 can be greatly improved, thereby improving the observation capability of the entire large-aperture space telescope.

[0050] The inventor further discovered that if the mirror 500 is to be replaced outside the mirror chamber 221, in addition to the mirror 500 being selectively moved relative to the mirror chamber 221 to the mirror cavity 2211 / mirror cavity 2211, the mirror 500 and the sub-mirror module 200 need to be locked and fixed. However, since one side of the mirror 500 is to be combined with the mirror 500 of other sub-mirror modules 200 to form an observation mirror of a large-aperture space telescope, and in order to increase the area of ​​the observation mirror, the side wall of the mirror 500 needs to keep as little space as possible with the mirror chamber 221 of the sub-mirror, and the mirror 500 itself needs to move up and down relative to the mirror chamber 221, so the locking and fixing of the mirror 500 and the sub-mirror module 200 can only be set on the back side of the mirror 500, that is, the side facing the sub-mirror module 200.

[0051] However, considering that the sub-mirror module 200 itself is a consumable component and the inner space of the sub-mirror module 200 on the back side of the mirror surface is limited, if too many additional devices are added to the inner space of the sub-mirror module 200, the maintenance cost of the entire large-aperture telescope will increase. Therefore, the inventors try to further study and improve the present invention.

[0052] Please continue reading Figure 3-Figure 9 , the sub-mirror module 200 also includes a guiding and fixing part 230. The guiding and fixing part 230 is fixedly arranged on the lifting part 222, and can be detachably fixed to the sub-mirror module 200. Specifically, the guiding and fixing part 230 includes a base 231, a rotating table 232, a driving member 233, a guiding member 234 and a shell 235. The base 231 is fixedly arranged on the lifting part 222, that is, it is arranged on a side of the lifting part 222 away from the bottom wall of the mirror chamber 221 so that the base 231 can be lifted and lowered under the drive of the lifting part 222. The side of the base 231 away from the lifting part 222 is rotatably connected to the rotating table 232 through the driving member 233, so that the rotating table 232 can rotate in situ relative to the base 231. Figure 3 and Figure 7 In this specific implementation, the base 231 is fixed to the lifting portion 222 at the bottom and is rotatably connected to the rotating platform 232 at the top.

[0053] The base 231 and the rotating platform 232 are coaxially arranged, the driving member 233 is fixedly arranged at the axis of the base 231 and is fixedly connected to the base 231, and a driving adapter hole 2321 is arranged on the rotating platform 232 so that the rotating platform 232 can pass through the driving member 233 and be arranged on the circumferential outer side of the driving member 233, so as to realize the coaxial arrangement of the driving member 233 and the base 231, so that the rotating platform 232 is sleeved on the driving member 233 and is transmission-connected with the output end of the driving member 233. The output end of the driving member 233 is arranged in the circumferential direction and can be transmission-connected with the rotating platform 232, so that the driving member 233 can drive the rotating platform 232 to be rotationally connected. The present invention does not limit the specific transmission method between the driving member 233 and the rotating table 232, as long as the driving member 233 can drive the rotating table 232 to rotate in situ relative to the base 231. For example, the rotating table 232 can be rotated by the driving member 233 through gear meshing, chain transmission or other transmission methods.

[0054] It can be understood that the rotating table 232 is arranged on the base 231, and can be driven by the driving member 233 to rotate in situ relative to the base 231, which has a specific meaning in the installation process of the large-aperture space telescope: through this design, the circumferential space for the guide fixing part 230 can be reduced as much as possible, so as to better adapt to the small sub-mirror module 200, and then by reducing the size of the sub-mirror module 200 and increasing the number of sub-mirror modules 200, the detection accuracy of the entire large-aperture space telescope can be increased as much as possible.

[0055] Please continue reading Figure 3-Figure 9 The rotating platform 232 is rotatably connected to the base 231 on one side and slidably connected to the guide member 234 on the other side. Figure 7 In this specific embodiment, a base 231 is disposed below the rotating platform 232 and is rotatably connected to the base 231, and a guide member 234 is disposed above the rotating platform 232 and is slidably connected to the guide member 234. A slide groove 2322 is disposed on the rotating platform 232 to guide the movement of the guide member 234, so that the rotating platform 232 can move according to a set trajectory, and the slide groove 2322 is configured to guide the guide member 234 to move in the radial direction. Figure 6 In this specific implementation, the slide groove 2322 is an arc eccentrically arranged relative to the rotating table 232 , and the rotating table 232 drives the slide groove 2322 to move, thereby driving the guide member 234 to move in the radial direction.

[0056] The shell 235 is arranged to cover the base 231, the rotating table 232 and the guide member 234. The shell 235 and the base 231 can enclose a locking cavity that can accommodate the rotating table 232 and the guide member 234. The shell 235 is provided with a guide groove 2351 matching the guide member 234 in the radial direction. The guide groove 2351 is arranged radially to completely accommodate the guide member 234, that is, the guide member 234 can be completely accommodated in the guide groove 2351. The guide member 234 completes radial expansion and contraction under the restriction of the slide groove 2322 and the guide groove 2351, thereby realizing selective locking / detachable fixation with the mirror surface 500. The shell 235 is fixedly connected to the base 231, and there is no relative rotation, that is, the rotating member can rotate relative to the base 231 and the shell 235. It can be understood that the guide groove 2351 can be a through groove that penetrates the shell 235 or a non-through groove that is only provided on the side of the shell 235 facing the base 231 , and the present invention does not limit this.

[0057] Therefore, by setting up a shell 235, setting a guide groove 2351 on the shell 235, and setting a slide groove 2322 on the guide member 234, when the rotating table 232 rotates relative to the base 231, under the action of the slide groove 2322 of the rotating table 232 and the guide groove 2351 of the shell 235, the guide member 234 can only move radially relative to the base 231, so that the guide member 234 can "extend" or "retract" in the radial direction relative to the shell 235, thereby realizing the telescopic movement of the guide member 234 in the radial direction relative to the shell 235.

[0058] It is understandable that other methods can also be used to make the guide member 234 extend in the radial direction relative to the housing 235 or lock it into the housing 235. The present invention does not limit this. For example, it can be achieved by guide rails, gear transmission and other methods in the prior art. However, in the present invention, it is preferred that the rotating table 232 rotates relative to the housing 235 and the base 231, and guides the driving member 233 to move in the radial direction through the guide groove 2351 and the slide groove 2322. The value of such a setting is that, on the one hand, it may well reduce the structural difficulty of the entire guide fixing part 230, that is, there is no need to set more devices in the guide fixing part 230, so as to ensure that the preparation cost of the entire sub-mirror module 200 is controllable, and there is no need for excessive precision requirements and power requirements; on the other hand, such a setting can also reduce the thickness of the entire guide fixing part 230 in the up and down direction (Z direction, that is, the lifting direction), thereby reducing the thickness requirement for the mirror 500 matched therewith as much as possible, and ensuring that the manufacturing cost of the replacement mirror 500 is controllable.

[0059] Correspondingly, an open matching cavity 511 is provided on one side of the mirror surface 500 close to the sub-mirror module 200. The matching cavity 511 is configured to accommodate at least the guide fixing portion 230. A fixing groove 512 is provided on the side wall of the matching cavity 511 along a radial direction, which matches at least the portion of the guide member 234 extending out of the shell, so that the portion of the guide member 234 extending out of the shell can be accommodated in the fixing groove 512, thereby achieving fixation of the mirror surface 500 and the guide fixing portion 230.

[0060] Of course, other components may be provided on the side of the mirror 500 close to the sub-mirror module 200 to achieve detachable fixation of the guide fixing portion 230 and the mirror 500 , for example, a locking device may be directly provided on the side of the mirror 500 close to the sub-mirror module 200 without providing a matching cavity 511 . However, the advantage of setting the matching cavity 511 is that, on the one hand, by setting the matching cavity 511, a certain degree of relative fixation of the mirror 500 and the sub-mirror module 200 can be achieved and a certain degree of position limitation can be performed on the mirror 500, thereby decoupling the unlocking and fixing process of the guide fixing part 230 and the mirror 500 from the lifting process of the mirror 500 driven by the guide fixing part 230, and thereby in the process of replacing the mirror 500, the mirror 500 can be moved out of the mirror chamber 221 while the guide fixing part 230 and the mirror 500 are in contact and relatively fixed without worrying about the problem of a significant change in posture caused by the unlocking of the mirror 500 and the guide fixing part 230, thereby enabling the robot arm module 400 to complete the entire replacement process more quickly and improve the replacement efficiency. On the other hand, due to the existence of the matching cavity 511, compared with the pre-positioning of the mirror 500 and the guide fixing part 230, the difficulty of matching and fixing can be reduced when the guide member 234 and the fixing groove 512 are positioned and fixed in the subsequent process. Please be detailed later.

[0061] Therefore, when the mirror surface 500 on the sub-mirror module 200 needs to be replaced, the guide fixing part 230 and the mirror surface 500 are first driven to leave the mirror cavity 2211 by the lifting part 222, and at the same time or after leaving the mirror cavity 2211, the guide fixing part 230 and the mirror surface 500 are unfixed, that is, the mirror surface 500 can be well replaced outside the mirror chamber 221. After the robot arm module 400 is replaced with the spare mirror surface, the guide fixing part 230 is locked with the spare mirror surface, and then the mirror surface 500 is driven into the mirror cavity 2211 by the lifting part 222 to complete the replacement of the entire mirror surface 500.

[0062] During the research and development process, the inventors also found that, considering the complexity of the actual space environment, it is often difficult to fix the guide 234 and the fixing groove 512 exactly during the installation and matching process. There is often a certain deviation, resulting in low replacement efficiency. Therefore, further research and improvement are attempted.

[0063] Please continue reading Figure 3-Figure 9 The size of the guide member 234 at one end close to the axis of the rotating table 232 is larger than the size of the guide member 234 at one end away from the axis, and the size of the guide member 234 gradually decreases from the end close to the axis of the rotating table 232 to the end away from the axis.

[0064] Therefore, in the process of fixing the guide fixing part 230 and the rotating table 232, since the size of the fixing groove 512 of the mirror 500 close to the axis is larger than the size of the guide member 234 away from the axis, the guide member 234 can enter the fixing groove 512 more easily during the radial extension under the guidance of the rotating table 232 and the shell 235. Subsequently, as the guide member 234 continues to extend in the radial direction, due to the continuous limitation of the size, the guide member 234 slowly adjusts the posture of the mirror 500, and finally achieves that after the guide member 234 is completely extended from the shell 235, the position of the mirror 500 relative to the sub-mirror module 200 is also adjusted.

[0065] It can be understood that, through this design, the gap between the mirror 500 and the mirror chamber 221 can be further reduced, that is, since the relative position of the mirror 500 and the guiding fixing part 230 can be guaranteed to be determined through this design, the redundant gap reserved between the mirror 500 and the mirror chamber 221 can naturally be further reduced, thereby finally realizing an increase in the effective mirror area of ​​the entire large-aperture space telescope.

[0066] Preferably, the dimension of the end of the fixing groove 512 of the mirror 500 close to the axis is larger than the dimension of the end of the guide member 234 away from the axis, and gradually decreases from the end close to the axis of the rotating platform 232 to the end away from the axis, so as to further increase the installation redundancy of the guide member 234 and the fixing groove 512 during the installation process and improve the installation success rate.

[0067] Preferably, a plurality of guide members 234 are provided to further increase the stability of the installation and fixing of the guide fixing portion 230 and the mirror surface 500. Figure 6 In this specific embodiment, three guide members 234 of the guide fixing portion 230 are arranged at intervals, and the stability of the installation is improved through the triangular arrangement.

[0068] Please continue reading Figure 6 The housing 235 of the guide fixing part 230 is a polyhedral structure, and accordingly, the matching cavity 511 of the mirror 500 is a polygonal structure slightly larger than the housing 235 and corresponding thereto. Each side of the matching cavity 511 of the mirror 500 is provided with a fixing groove 512 matching with the guide member 234, so that the number of the fixing grooves 512 of the mirror 500 is greater than the number of the guide members 234 on the guide fixing part 230. Figure 7 and Figure 8 In this specific embodiment, the shell 235 of the guide fixing portion 230 is a regular hexagonal structure, three guide members 234 are arranged at intervals, and fixing grooves 512 capable of accommodating the guide members 234 are arranged on the side walls corresponding to the six sides of the regular hexagonal matching cavity 511 of the mirror 500.

[0069] The advantage of such a configuration is that it can well reduce the difficulty of installing and fixing the guide fixing part 230 and the mirror 500. That is, at this time, for the robot arm module 400, its main task is to take the mirror 500 and place the mirror 500 on the guide fixing part 230, without considering how to adjust the relative position relationship between the mirror 500 and the guide fixing part 230, thereby well reducing the accuracy requirements for the robot arm module 400 and improving the adaptability of the entire device.

[0070] Preferably, the sub-mirror module 200 also includes an elastic pad 240, and the multiple elastic pads 240 are arranged in a set arrangement so that the multiple pad grooves 513 are symmetrically arranged on the mirror surface 500, that is, the pad distribution in the area corresponding to each edge in the polygonal mirror chamber 221 is completely consistent. Correspondingly, a plurality of pad grooves 513 matching the elastic pad 240 are provided on the side of the mirror surface 500 close to the sub-mirror module 200, thereby ensuring that when the mirror surface 500 reaches the setting position in the mirror chamber 221 under the guidance of the lifting part 222, the pad groove 513 matches the elastic pad 240, and the elastic pad 240 is used to achieve buffering and shock absorption of the mirror surface 500, thereby better protecting the mirror surface 500 and reducing the replacement frequency.

[0071] Please continue reading Figure 2 The robot arm module 400 includes a relatively fixed base 410, an arm 420 and a clamping device 430. The base 410 is fixedly mounted on the mounting module 100 and can be slidably connected relative to the mounting module 100, so that the base 410 can generate relative movement relative to the mounting module 100. One end of the arm 420 is slidably mounted on the base 410, so that the arm 420 can move relative to the base; the other end of the arm 420 is rotatably connected to the clamping device 430, so that the clamping device 430 can be rotatably connected relative to the arm 420. The arm 420 has a joint rotation device to have multiple degrees of freedom, preferably a multi-axis joint arm, which will not be described in detail.

[0072] The clamping device 430 includes a clamping jaw 431 and a grabbing member 432. One end of the clamping jaw 431 is rotatably connected to the arm 420, and the other end is fixedly connected to the grabbing member 432. The grabbing member 432 can selectively contact the side wall of the mirror 500 to achieve the grabbing and moving of the mirror 500. A plurality of clamping jaws 431 are provided, so that the plurality of grabbing members 432 can complete the grabbing of the mirror 500 by cooperating with each other.

[0073] The side of the gripping member 432 close to the mirror surface 500 is configured as an elastic panel to minimize damage to the side wall of the sub-mirror.

[0074] Preferably, two clamping jaws 431 are provided and symmetrically arranged, so that the grasping members 432 corresponding to the two clamping jaws 431 are symmetrically arranged, and the grasping members 432 are arranged to be able to fit with multiple side walls of the mirror surface 500, thereby achieving the grasping of the mirror surface 500 by the two grasping members 432 respectively abutting against the side walls of the mirror surface 500. Preferably, when the mirror surface 500 is a regular hexagonal structure, the grasping member 432 can preferably fit with the side walls corresponding to the three adjacent side edges of the mirror surface 500 to achieve better grasping of the mirror surface 500. That is, the inner wall of the grasping member 432 close to the sub-mirror side is set as three elastic panels that fit with the three side edges of the mirror surface 500.

[0075] The advantage of this arrangement is that, on the one hand, compared with directly clamping with two or three fingers, the arrangement of the gripping member 432 having three elastic panels that fit the three sides of the mirror 500 can reduce the pressure on the mirror 500 during clamping, thereby protecting the mirror 500; on the other hand, the elastic panel can increase the friction force during clamping and improve the clamping ability.

[0076] Furthermore, the liftable mirror replacement system also includes a control module, which is in communication with the sub-mirror module 200 and the mechanical arm module 400, and includes an identification submodule, a decoupling submodule, an installation submodule and a reset submodule. The identification submodule is used to identify the faulty mirror that needs to be replaced; the decoupling submodule is used to control the lifting part 222 to move the faulty mirror outside the mirror chamber 221, and control the guide fixing part 230 to release the fixation from the faulty mirror; the installation submodule is used to control the mechanical arm module 400 to replace the faulty mirror with a spare mirror; the reset submodule controls the lifting part 222 to move the spare mirror to the set position of the mirror chamber 221 after the guide fixing part 230 is fixed to the faulty mirror.

[0077] In addition, during the research and development process, the inventors also found that since the lifting part 222 and the guiding and fixing part 230 of the sub-mirror module 200 are both arranged in the mirror chamber 221 and arranged in the up-down direction, the lifting part 222 and the guiding and fixing part 230 in the mirror chamber 221 have large dimensions in the up-down direction (i.e., the axial direction of the mirror chamber 221), which in turn leads to a large radial dimension of the entire sub-mirror module, which in turn leads to a relatively thick and heavy sub-mirror module 200, and the requirements for the carrier device when transporting the sub-mirror module 200 into space are relatively high, which restricts the development of the entire sub-mirror module 200. Therefore, further research and improvement are attempted.

[0078] The driving member 233 of the guide fixing portion 230 is axially arranged on the base 231, and the output end of the driving member 233 is arranged in the circumferential direction to be transmission-connected with the rotating table 232. The driving member 233 is a dual-axis motor, including a first output end and a second output end, the first output end and the second output end are arranged in the up-down direction, the first output end is arranged at the top, and the second output end is arranged at the bottom. The first output end and the second output end can move independently of each other. For a dual-axis motor that can make the first output end and the second output end operate independently of each other, there are many solutions in the prior art, and the specific details are not repeated. For example, by making the first output end and the second output end share a stator and have two different rotors, by making the two rotors drive independently, the two output ends can be moved independently of each other.

[0079] The upper output end of the dual-axis motor is connected to the rotating table 232 in a transmission manner, thereby driving the rotating table 232 to rotate, and the lower output end of the dual-axis motor is connected to the lifting part 222 in a transmission manner, thereby driving the lifting part 222 to achieve the lifting function. Furthermore, through the solution of the present invention, by connecting the two output ends of the dual-axis motor to the rotating table 232 and the lifting part 222 in a transmission manner, the structural optimization of the rotating table 232 and the lifting part 222 can be achieved.

[0080] In a preferred embodiment, the lifting part 222 is a scissor lift device, which realizes the lifting of the scissor structure through a screw drive. The driving member 233 is a disc-type dual-axis motor, and the first output end of the disc-type dual-axis motor is relatively fixed to the base 231. The second output end is connected to the screw of the scissor lift device through a bevel gear (not shown in the figure), and then the force of the second output end rotating in the up and down direction is converted into a force driving the screw to move in the horizontal direction through the bevel gear. There are many technical solutions for the disc-type dual-axis motor, the bevel gear and the disc-type dual-axis motor in the prior art, which will not be repeated here.

[0081] In a preferred embodiment, the driving member 233 is the base 231 . By arranging the driving member 233 and the base 231 as one body, the axial dimensions of the lifting portion 222 and the guide fixing portion 230 can be reduced.

[0082] In a preferred embodiment, see Fig. 9 The lifting part 222 is two scissor lifts that are symmetrically arranged. The two scissor lifts are symmetrically arranged along the output axis of the second output end of the driving member 233 and are transmission-connected to the second output end, thereby improving the load-bearing stability of the lifting part 222 for the guide fixing part 230. Of course, the lifting part 222 can also be a scissor lift, for example Figure 3 In this embodiment, the lifting portion 222 is a scissor lift device.

[0083] In a preferred embodiment, the control module is communicatively connected to the first output end and the second output end of the lifting part respectively, so as to realize selective control over the first output end and the second output end.

[0084] The second aspect of the present invention provides a mirror replacement method for a large-aperture space telescope, which is implemented based on the liftable mirror replacement system described in the first aspect of the present invention, and the method includes: identifying a faulty mirror that needs to be replaced; controlling the lifting part to move the faulty mirror outside the mirror chamber, and controlling the guide and fixing part to release the fixation of the faulty mirror; controlling the robotic arm module to replace the faulty mirror with a spare mirror; after controlling the guide and fixing part to fix the faulty mirror, controlling the lifting part to move the spare mirror to the set position of the mirror chamber.

[0085] The third aspect of the present invention provides a large-aperture space telescope, comprising the liftable mirror replacement system described in the first aspect of the present invention, wherein a plurality of mirrors are relatively fixed to form an observation mirror of a modular large-aperture space telescope, and further comprising: a storage module for storing a plurality of mirrors; a power supply module for providing electrical connection for the liftable mirror replacement; and a mounting module fixedly connected to the power supply module, the robotic arm module and the storage module, respectively, having a mounting platform for making a plurality of sub-mirror modules relatively fixed to form a modular large-aperture space telescope; wherein the sub-mirror module also includes a posture adjustment unit capable of posture adjustment, and the posture adjustment unit is fixedly connected to the fixing unit.

[0086] The scheme of the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

[0087] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0088] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0089] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

Claims

1. A liftable mirror replacement system, characterized in that: include: Mirror surface; The sub-mirror module comprises a fixing unit detachably fixed to the mirror surface; the fixing unit comprises a mirror chamber, a lifting part fixedly arranged in the mirror chamber, a guide fixing part fixedly connected to the lifting end of the lifting part on one side and detachably fixed to the mirror surface on the other side; The lifting part selectively drives the guiding and fixing part to leave the mirror chamber and then replace the mirror surface; wherein The guide fixing part comprises a guide, a shell, a base fixedly arranged on the lifting part, and a rotating table arranged between the base and the shell, wherein the shell is arranged on a side of the base away from the lifting part and is relatively fixed to the base, and the guide is located between the base and the shell and is slidably arranged on the base to selectively extend radially out of the shell; The rotating table is rotatably arranged on the base, and a slide groove capable of guiding the radial movement of the guide member is arranged on the rotating table; a guide groove capable of accommodating the guide member is radially arranged on one side of the housing facing the rotating table; the guide member is radially extended and retracted under the restriction of the slide groove and the guide groove; A matching cavity adapted to the housing is arranged on one side of the mirror surface close to the fixing unit, and a fixing groove corresponding to the guide member is arranged on the side wall of the matching cavity to achieve detachable fixation with the guide fixing portion.

2. The liftable mirror replacement system according to claim 1, characterized in that: The guide fixing part further comprises a driving member, the driving member is coaxially fixedly arranged on the rotating platform, the rotating platform is sleeved on the driving member and is drivingly connected to the output end of the driving member; in The driving member comprises a first output end and a second output end which are independent of each other, wherein the first output end is drivingly connected to the rotating table, and the second output end of the driving member is drivingly connected to the lifting part.

3. The liftable mirror replacement system according to claim 2, characterized in that: The driving member is the base; wherein the driving member is a disc-type dual-axis motor, the lifting part is a scissor lift device, and two scissor lift devices are symmetrically arranged along the second output end and connected to the second output end through a helical gear transmission; And / or, the slide groove is an arc eccentrically arranged with respect to the rotating table.

4. The liftable mirror replacement system according to claim 1, characterized in that: The shell of the guide fixing part is a polyhedron structure, and each side wall of the matching cavity and the shell corresponding to each other is provided with a fixing groove matching the guide member; And / or, the size of the guide member gradually decreases from an end close to the axis of the rotating table to an end far from the axis of the rotating table.

5. The liftable mirror replacement system according to claim 1, characterized in that: There are a plurality of guide members, and the plurality of guide members are arranged without interfering with each other; And / or, the sub-mirror module also includes an elastic pad, a plurality of the elastic pads are arranged on the bottom wall of the mirror chamber, and a plurality of pad grooves matching the elastic pads are arranged on the side of the mirror surface facing the fixed unit; wherein the plurality of elastic pads are arranged in a set arrangement so that the plurality of pad grooves are symmetrically arranged on the mirror surface.

6. The liftable mirror replacement system according to any one of claims 1 to 5, characterized in that: Also included is a robotic arm module having a clamping device for grasping the mirror surface; The robot arm module comprises a base, an arm and a clamping device, one end of the arm is slidably arranged on the base, and the other end is rotatably connected to a plurality of clamping devices which are arranged to selectively abut against the mirror surface, and the plurality of clamping devices cooperate with each other to realize the grasping and placing of the mirror surface; in The clamping device comprises a fixedly connected clamping claw and a grabbing piece, one end of the clamping claw is movably connected to the arm, and the other end is fixedly connected to the grabbing piece; the grabbing piece is an elastic panel.

7. A mirror replacement method for a large-aperture space telescope, implemented based on the liftable mirror replacement system according to any one of claims 1 to 5, characterized in that: The liftable mirror replacement system further includes a mechanical arm module, and the method includes: Identify faulty mirrors that need to be replaced; Controlling the lifting part to move the faulty mirror surface to the outside of the mirror chamber, and controlling the guiding and fixing part to release the fixation from the faulty mirror surface; Control the robot arm module to replace the faulty mirror with a spare mirror; After the guide fixing part is controlled to be fixed to the faulty mirror, the lifting part is controlled to move the spare mirror to a set position of the mirror chamber.

8. A large-aperture space telescope, characterized in that: The invention comprises a liftable mirror replacement system as described in any one of claims 1 to 5, wherein a plurality of mirrors are relatively fixed to form an observation mirror of a modular large-aperture space telescope, and further comprises: A storage module, used for storing a plurality of mirror surfaces; A power supply module, used to provide electrical connection for the liftable mirror replacement; and a mounting module fixedly connected to the energy supply module and the storage module respectively, which has a mounting platform for relatively fixing a plurality of sub-mirror modules to form a modular large-aperture space telescope; wherein The sub-mirror module also includes a posture adjustment unit capable of performing posture adjustment, and the posture adjustment unit is fixedly connected to the fixing unit.

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