Space large load on-orbit construction and maintenance method based on freight spaceship

Abstract

The invention discloses a space large load on-orbit construction and maintenance method based on a freight spaceship. The construction method comprises the steps that a first freight spaceship is launched to a preset orbit height; wherein the first freight spaceship carries a plurality of load devices, a rail robot and an extensible rail platform for the rail robot to walk; a throat pipe capturing device is arranged at the tail part; the load equipment comprises a surface fixed track; the extensible track platform is unfolded, and the track robot grabs the load equipment in the cabin along the extensible track platform, conveys the load equipment to a designated position and installs the load equipment; the rail robot is used for grabbing other load equipment along the surface fixing rail of the load equipment and conveying the other load equipment to a designated position, and interconnection installation between different load equipment is completed; performing power-on detection based on the freight airship; the second freight spaceship is launched to complete butt joint with the first freight spaceship; and repeating the load equipment interconnection step to form a larger-scale space large-scale load array. The on-orbit construction cost is reduced, maintenance is convenient, and flexibility is high.

Description

Technical Field

[0001] The present invention relates to the field of aerospace engineering technology, and in particular to an on-orbit construction and maintenance method for a large space payload based on a cargo spacecraft. Background Art

[0002] With the deepening of human exploration of space and the advancement of technology, the demand for large space structures is growing, such as large telescopes, space station expansion modules, solar power stations, etc. However, due to the limitation of rocket transportation capacity, it is difficult to launch large-scale space structures into the predetermined orbit at one time. Research on the in-orbit construction technology of large space equipment has become an inevitable trend and an effective way.

[0003] The on-orbit construction technology in related technologies relies on the space shuttle or the international space station as the construction base station, has high construction costs, and basically has no ability to expand in scale or change orbits; most of them are truss structures, have many constraints and are limited by power supply and information engineering, and after construction is completed, it is inconvenient to replace or repair them on orbit. Summary of the invention

[0004] The present invention provides an on-orbit construction and maintenance method for a large space payload based on a cargo spacecraft, which solves the problems of high on-orbit construction cost and inconvenient maintenance of large space payloads in related technologies.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, a method for on-orbit construction of a large space payload based on a cargo spacecraft is provided, comprising:

[0007] Step S1, launching a first cargo spacecraft to a predetermined orbital altitude;

[0008] The first cargo spacecraft is equipped with a plurality of payload devices, a track robot and an extendable track platform for the track robot to walk; a throat capture device is arranged at the tail of the first cargo spacecraft; the payload device comprises a surface fixed track, which comprises a transverse track seat and a longitudinal track seat perpendicular to each other, two adjacent ends of the transverse track seat and the longitudinal track seat are provided with plug-in grooves, and the other two ends are provided with retractable plug connectors, and any two payload devices can be electrically connected through the plug-in grooves and the plug connectors;

[0009] Step S2, unfolding the extendable track platform, and using the track robot to grab the load equipment in the cabin along the extendable track platform, transporting it to a designated location and installing it;

[0010] Step S3, the track robot grabs other load devices along the fixed track on the surface of the load device and transports them to a designated location, and interconnects and installs different load devices by controlling the extension and retraction of the plug connector;

[0011] Step S4, performing a power-on test on the newly installed payload equipment based on the cargo spacecraft to verify whether the payload equipment is normally connected;

[0012] Step S5, launching a second cargo spacecraft to the same orbital altitude as the first cargo spacecraft; wherein the second cargo spacecraft carries a plurality of the payload equipment, the orbital robot and the extendable orbital platform; and a throat device is provided at the head of the second cargo spacecraft;

[0013] Step S6, completing the docking of the first cargo spacecraft with the second cargo spacecraft through the throat device and the throat capture device;

[0014] Step S7, repeating steps S2 to S4 to form a larger-scale spatial large-scale payload array.

[0015] In a first possible implementation of the first aspect, the surfaces of the transverse rail seat and the longitudinal rail seat are both provided with grooved slide rails, and the edges of the grooved slide rails along the length direction are both extended inwards and are provided as I-shaped fixed rails for the rail robot to walk;

[0016] The groove-type slide rails adjacent to the transverse rail seat and the longitudinal rail seat intersect and are connected as one;

[0017] A cavity for accommodating a steering device is provided at the intersection of the transverse rail seat and the longitudinal rail seat; the steering device comprises a telescopic mechanism, an output end of the telescopic mechanism is fixedly connected to a rotating mechanism, an output end of the rotating mechanism is fixedly connected to a rotating interface component, and the rotating interface component is used to realize the grasping and releasing of the load equipment and the steering of the rail robot during the walking process; the steering device as a whole can selectively extend or retract into the cavity.

[0018] Based on the first possible implementation of the first aspect, in a second possible implementation of the first aspect, the rotating interface component includes a disc-shaped main body, a gripping connection interface for adapting to the gripping end of the rail robot is provided in the middle, which can selectively cooperate with the gripping end of the rail robot to realize the gripping and release of the load equipment, and a steering connection interface for cooperating with and selectively locking the main body of the rail robot is provided on the side, which can selectively cooperate with the main body of the rail robot to realize the steering of the rail robot during walking.

[0019] Based on the first possible implementation of the first aspect, in a third possible implementation of the first aspect, the telescopic mechanism includes a plurality of evenly distributed electric telescopic rods, the fixed ends of the electric telescopic rods are fixedly connected to the inner wall of the cavity, the telescopic ends are fixedly connected to a bearing plate, a motor is fixedly connected to the bearing plate, the motor output shaft is parallel to the telescopic direction, and the end of the motor output shaft is fixedly connected to the middle of the rotating interface member.

[0020] In a fourth possible implementation of the first aspect, the track robot is a wheeled track robot including at least two sets of wheel pairs, and a rim is provided on the inner side of each wheel for contacting and cooperating with the inner side of an I-shaped fixed track; a brake mechanism is protrudingly provided at the bottom of the track robot, and when the track robot contacts and cooperates with the I-shaped fixed track, the brake mechanism is partially located in the groove of the groove-type slide rail.

[0021] In a fifth possible implementation of the first aspect, a retractable plug connector for use with a steering connection interface is provided on the main body of the rail robot, and the steering connection interface is a groove corresponding to the plug connector.

[0022] In a sixth possible implementation manner of the first aspect, the rail robot achieves payload grabbing and rail robot steering through a steering device.

[0023] In a seventh possible implementation manner of the first aspect, the extendable track platform includes a fixed track platform and a movable track platform.

[0024] The fixed track platform comprises a plurality of fixed plates arranged at intervals, the plurality of fixed plates being fixedly connected in the cabin in a direction perpendicular to a cabin door of a cargo spacecraft, the plurality of fixed plates being fixedly connected at ends near the cabin door with a fixed transverse plate, and each of the fixed plates being provided with a groove-type track at an edge along the length direction; the movable track platform comprises a movable plate corresponding to two of the fixed plates at the outermost parts of the fixed track platform, one end of the two movable plates being fixedly connected with a movable transverse plate; the fixed track platform and the movable track platform are movably connected through two connecting rods, one end of each of the connecting rods being provided with a pulley and being slidably connected to the groove-type track, and the other end being hinged to an end of the movable plate near the movable transverse plate, the pulley being provided with a first motor for controlling the connection rod to rotate at a set angle, the pulley being fixedly connected with a traction line, a second motor being provided at one end of the groove-type track near the fixed transverse plate, and the output end of the second motor being fixedly connected with the other end of the traction line, forming a structure in which the second motor rotates the traction pulley to slide on the groove-type track;

[0025] The extendable track platform also includes a limit baffle; the bottom of the side of the fixed horizontal plate away from the fixed plate is movably connected to the bottom of the limit baffle, and the rotational movement of the limit baffle is controlled by a driving device, and its extreme movement position is: perpendicular to the side of the fixed horizontal plate away from the fixed plate and parallel to the length direction of the fixed plate;

[0026] The surfaces of the fixed plate, the fixed transverse plate, the movable plate and the movable transverse plate are all provided with tracks for the track robot to walk on.

[0027] Based on the seventh possible implementation of the first aspect, in an eighth possible implementation of the first aspect, when the extendable track platform is fully unfolded, the movable track platform and the fixed track platform are in the same plane, and at this time, the movable track platform is connected to the track on the fixed track platform for the track robot to walk.

[0028] In a second aspect, a method for on-orbit maintenance of a large space payload based on a cargo spacecraft is provided, comprising:

[0029] The interconnection between the load device to be replaced and the adjacent load device is released by controlling the extension and contraction of the plug connector;

[0030] The track robot grabs the load equipment to be replaced along the fixed track on the surface of the load equipment, and transports it to the designated position of the warehouse through the extendable track platform;

[0031] The track robot grabs the normal load equipment along the fixed track on the surface of the load equipment and transports it to the position of the load equipment that needs to be replaced, and completes the interconnection and installation between it and the adjacent load equipment by controlling the extension and retraction of the plug connector.

[0032] The present invention has the following advantages:

[0033] 1. The embodiment of the present application provides an on-orbit construction and maintenance method for a large space payload based on a cargo spacecraft. Through an orbital robot and a preset transport activity track, unmanned inspection of the entire array range can be achieved, thereby ensuring the reliability and availability of the large space payload for long-term on-orbit operation.

[0034] 2. The on-orbit construction and maintenance method provided in the embodiment of the present application can realize the continuous expansion of system capacity, solve the system constraints such as power supply and information after expansion, and can flexibly configure different working and operation modes to improve the use efficiency of the system;

[0035] 3. The method provided in the embodiment of the present application supports continuous system updates to ensure long-term use of the system;

[0036] 4. The method provided in the embodiment of the present application can realize track maneuvering and multi-track operation, and embodies the characteristics of high automation and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A three-dimensional diagram of a load device with a running track and a steering device provided in an embodiment of the present application;

[0038] Figure 2 A three-dimensional diagram of another load device with a running track and a steering device provided in an embodiment of the present application;

[0039] Figure 3 A three-dimensional diagram of another load device with a running track and a steering device provided in an embodiment of the present application;

[0040] Figure 4 A three-dimensional diagram of a steering device provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of an on-orbit assembly process of a payload provided in an embodiment of the present application;

[0042] Figure 6 A schematic diagram of a turning process of a mobile device along a track provided in an embodiment of the present application;

[0043] Figure 7 A schematic diagram of a process of moving a mobile device straight along a track provided in an embodiment of the present application;

[0044] Figure 8 A schematic flow chart of an on-orbit construction method of a large space payload based on a cargo spacecraft provided in an embodiment of the present application;

[0045] Fig. 9 A schematic diagram of a cargo spacecraft platform cargo door opened provided in an embodiment of the present application;

[0046] Fig.10 A schematic diagram of a telescopic track platform after extension provided in an embodiment of the present application;

[0047] Fig.11 A schematic diagram of an extendable track platform extending process provided in an embodiment of the present application;

[0048] Fig.12 A schematic diagram of the working process of a throat device and a throat capture device provided in an embodiment of the present application;

[0049] Fig.13 A schematic diagram of an on-orbit assembly of a payload device provided in an embodiment of the present application;

[0050] Fig.14 A schematic diagram of two cargo ships completing the on-orbit construction of a large space payload provided in an embodiment of the present application;

[0051] Fig.15 A schematic diagram of a process for replacing a sub-load unit provided in an embodiment of the present application.

[0052] Reference numerals:

[0053] Load device 100; transverse rail seat 1; longitudinal rail seat 2; grooved slide rail 3; I-shaped fixed rail 4; rail robot 5; steering device 6; rotating interface 7; grabbing connection interface 8; steering connection interface 9; plug-in groove 10; plug connector 11; electric telescopic rod 12; bearing plate 13; motor 14; fixed rail platform 15; fixed plate 16; fixed transverse plate 17; movable rail platform 18; movable plate 19; movable transverse plate 20; connecting rod 21; pulley 22; limit baffle 23; grooved rail 24. DETAILED DESCRIPTION

[0054] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose, the technical solutions in the embodiments of the present application are clearly described. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present application.

[0055] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0056] The description of the method flow in the specification of the present application and the steps of the flowchart in the drawings of the present specification do not have to be strictly executed according to the step numbers, and the method steps can be executed in a different order. Moreover, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0057] In the following, in conjunction with the accompanying drawings and preferred embodiments, the on-orbit construction and maintenance method, device, equipment and medium of a large space payload based on a cargo spacecraft provided in the embodiments of the present application are described in detail as follows.

[0058] The embodiment of the present application provides an on-orbit construction and maintenance method for large space payloads based on cargo spacecraft. The payload is composed of multiple on-orbit sub-payload units, which are carried up by cargo spacecraft and completed on-orbit by orbital robots. Through this method, any sub-payload unit in the payload can be efficiently replaced on-orbit, and the power supply capacity and information link can be expanded. At the same time, orbit change maneuvers can be achieved, which solves the problems of many constraints, power supply and information link expansion, and propellant replenishment during the on-orbit construction and maintenance of large space payloads, improves the mission compatibility and availability of the entire payload, and at the same time extends the service life and improves the use efficiency.

[0059] See also Figure 8 The embodiment of the present application provides a method for on-orbit construction of a large space payload based on a cargo spacecraft, such as Figure 1 As shown, the recommended method of the embodiment of the present application includes:

[0060] Step S1, the first cargo spacecraft is launched to a predetermined orbital altitude; wherein the first cargo spacecraft is equipped with a plurality of payload devices, an orbital robot and an extendable orbital platform for the orbital robot to walk; and a throat capture device is provided at the tail of the first cargo spacecraft.

[0061] The payload equipment 100 is constructed and maintained on-orbit by the orbital robot 5;

[0062] The payload device 100 is a payload device with its own running track and steering device. As a sub-payload unit, a fixed track and a steering device are arranged on the payload surface. The sub-payload unit can be carried up by a cargo spacecraft. During on-orbit construction, a wheeled track robot can move quickly on the fixed track on the payload surface, and a steering device can be used to complete a 90° turn, thereby realizing two-dimensional construction of the payload and completing on-orbit construction.

[0063] See also Figure 1-3 , the embodiment of the present application provides a load device with a running track and a steering device 6, such as Figure 1-3 As shown, the load device of the embodiment of the present application, as a sub-load unit, includes:

[0064] The surface fixed rail comprises a transverse rail seat 1 and a longitudinal rail seat 2 which are perpendicular to each other.

[0065] The surfaces of the transverse rail seat 1 and the longitudinal rail seat 2 are both provided with grooved slide rails 3, and the edges of the grooved slide rails 3 along the length direction are both extended inwards and provided as I-shaped fixed rails 4 for the rail robot 5 to walk;

[0066] The grooved slide rails 3 adjacent to the transverse rail seat 1 and the longitudinal rail seat 2 intersect and are connected as one;

[0067] A cavity for accommodating a steering device 6 is provided at the intersection of the transverse rail seat 1 and the longitudinal rail seat 2; the steering device 6 comprises a telescopic mechanism, the output end of which is fixedly connected to a rotating mechanism, the output end of which is fixedly connected to a rotating interface member 7, the rotating interface member 7 is used to realize the grabbing and releasing of the load equipment and the steering of the track robot 5 during the walking process; the steering device 6 as a whole can be selectively extended or retracted into the cavity;

[0068] The two adjacent ends of the transverse rail seat 1 and the longitudinal rail seat 2 are provided with plug-in grooves 10, and the other two ends are provided with retractable plug connectors 11. Any two load devices can be electrically connected through the plug-in grooves 10 and the plug connectors 11, and the power-on test is used to verify whether the two load devices are normally connected.

[0069] In some possible embodiments, the rotating interface member 7 includes a disc-shaped main body, a gripping connection interface 8 for adapting to the gripping end of the rail robot 5 is provided in the middle, and can selectively cooperate with the gripping end of the rail robot 5 to realize the gripping and release of the load equipment, and a steering connection interface 9 for cooperating with and selectively locking the main body of the rail robot 5 is provided on the side thereof, and can selectively cooperate with the main body of the rail robot 5 to realize the steering of the rail robot 5 during the walking process.

[0070] In some possible implementations, see Figure 4 The telescopic mechanism includes a plurality of evenly distributed electric telescopic rods 12, the fixed ends of which are fixedly connected to the inner wall of the cavity, and the telescopic ends thereof are fixedly connected to a supporting plate 13, to which a motor 14 is fixedly connected, and the output shaft of the motor 14 is parallel to the telescopic direction, and the end of the output shaft of the motor 14 is fixedly connected to the middle of the rotating interface member 7.

[0071] Furthermore, the gripping connection interface 8 is a circular groove and is used to form an electrical connection with the gripping end of the corresponding track robot 5 .

[0072] Furthermore, four steering connection interfaces 9 are provided, which are 90 degrees apart from each other and correspond to four groove-shaped slide rails 3 in different directions respectively.

[0073] Furthermore, the track robot 5 is a wheeled track robot 5, including at least two sets of wheel pairs, and the inner side of each wheel is provided with a rim for contacting and cooperating with the inner side of the I-shaped fixed track 4 (refer to the principle of train wheels); a brake mechanism is protrudingly provided at the bottom of the track robot 5, and when the track robot 5 contacts and cooperates with the I-shaped fixed track 4, the brake mechanism is partially located in the groove of the grooved slide rail 3.

[0074] Furthermore, a retractable plug connector for use with the steering connection interface 9 is provided on the main body of the rail robot 5, and the steering connection interface 9 is a groove corresponding to the plug connector (not shown in the drawings).

[0075] The grasping principle of the track robot 5 is as follows:

[0076] By controlling the rotating interface part 7 to extend out of the cavity to a set distance through the telescopic mechanism, the load device can be grasped by controlling the grasping end of the track robot 5 to align with the robot grasping connection interface 8 set with the rotating interface part 7 and further cooperate and lock it.

[0077] The straight-moving principle of the track robot 5 is as follows:

[0078] The rotating interface member 7 is controlled to retract into the cavity by the telescopic mechanism. When the track robot 5 moves straight at the intersection of the tracks, the brake mechanism is partially located in the groove of the groove-type slide rail 3 and has a guiding effect, so the direction will not be changed and it can move straight through. Figure 7 .

[0079] The steering principle of the track robot 5 is as follows:

[0080] The rotating interface part 7 is controlled by the telescopic mechanism to extend out of the cavity and be higher than the I-shaped fixed track 4 by a set distance. At this time, it can be matched with and locked with the corresponding interface set on the main body of the track robot 5, and then continue to rise to separate the track robot 5 from the I-shaped fixed track 4. At this time, the rotating interface part is controlled by the motor 14 to rotate 790 degrees, and then the height is lowered to make the track robot 5 cooperate with the I-shaped fixed track 4 currently below, release the main body of the track robot 5 and retract the steering device 6 into the cavity as a whole, so as to realize the steering of the track robot 5.

[0081] In the specific implementation process, see Figure 5 , the assembly of multiple load devices is completed by using the track robot 5. The load device a first extends the retractable interface to the left and right. The track robot 5 grabs the load device b and brings it close to align its left and right slots with the interface extended by the load device a. Then, the load device a is docked and locked with the load device b. After power-on detection, it is determined that the connection between the two load devices is normal. The track robot 5 releases the load device b; the load device a is extended forward and backward to the retractable interface. Then, the track robot 5 grabs the load device c and brings it close to align its front and back slots with the interface extended by the load device a. Then, the load device a is docked with the load device b. The track robot 5 releases the load device b; extends the load device b forward and backward to the retractable interface, uses the track robot 5 to grab the load device d and aligns its forward and backward slots with the interface extended from the load device b, then docks and locks the load device d with the load device b, and then performs a power-on test to determine that the two load devices are connected normally. The track robot 5 releases the load device d; extends the load device c left and right to the retractable interface, completes the connection with the left and right slots of the load device d, and powers on to detect the connection. The operation process is shown in the figure below Figure 5 The subsequent payload equipment assembly process is carried out in accordance with the previous steps until all payload equipment is assembled.

[0082] On this basis, further steering operations can be carried out, see Figure 6 :The track robot 5 moving along the fixed track stops in front of the steering device 6 and waits. The steering device 6 is half-lifted. The track robot 5 moves forward until it is in contact with the steering device 6 and connected and locked. The steering device 6 lifting platform carrying the track robot 5 continues to lift to the highest point and stops. Then the inner shaft of the steering device 6 rotates in the direction to be rotated, stops rotating after rotating 90°, and then the steering device 6 lifting platform is lowered to the semi-lifted position. The track robot 5 and the steering device 6 are unlocked, and finally the steering device 6 is lowered to return to the initial state. The entire steering process is completed. The specific process is as follows Figure 6 shown.

[0083] It should be noted that the purpose of the steering device 6 includes two parts: 1. As an interface for the robot arm to grab, when the load equipment is in the transportation process before construction, the robot arm provides equipment insulation power supply and status information monitoring through this interface. At this time, the steering device 6 is not lifted and is in the initial state (such as Figure 1 2. After multiple load devices are assembled, when the robot moves to a load device and needs to turn 90°, the steering device 6 is in a semi-lifted state (such as Figure 2 As shown), the robot body establishes power supply and information connection with the steering device 6, and then the steering device 6 is lifted to the highest point together with the robot (as shown in FIG. Figure 3 After the 90° turn is completed, the steering device 6 is restored to the initial state. One steering device 6 can provide 90° turn operations for up to four robots at the same time.

[0084] The side expansion interface can realize the mechanical, power supply, information and liquid cooling connection between two adjacent payload devices. Each payload device contains two side expansion interfaces (the other two sides are connection slots). The interface is extended when connection is required and is in a retracted state when not working.

[0085] See also Figure 9-11 , the extendable track platform includes a fixed track platform 15 and a movable track platform 18;

[0086] The fixed track platform 15 includes a plurality of fixed plates 16 arranged at intervals, and the plurality of fixed plates 16 are fixedly connected in the cabin in a direction perpendicular to the cabin door of the cargo spacecraft. The ends of the plurality of fixed plates 16 near the cabin door are fixedly connected with a fixed transverse plate 17, and each fixed plate 16 is provided with a groove-shaped track 24 along the edge in the length direction; the movable track platform 18 includes a movable plate 19 corresponding to the two fixed plates 16 at the edge of the fixed track platform 15, and one end of the two movable plates 19 is fixedly connected with a movable transverse plate 20; the fixed track platform 15 and the movable track platform 18 are connected by two The connecting rods 21 are movably connected, one end of each connecting rod 21 is provided with a pulley 22 and is slidably connected to the grooved track 24, and the other end is hinged to the end of the movable plate 19 close to the movable horizontal plate 20, and the pulley 22 is provided with a first motor for controlling the connecting rod 21 to rotate and rotate a set angle, and a traction line is fixedly connected to the pulley 22, and a second motor is provided at one end of the grooved track 24 close to the fixed horizontal plate 17, and the output end of the second motor is fixedly connected to the other end of the traction line, so that a structure is formed in which the second motor rotates the traction pulley 22 to slide on the grooved track 24;

[0087] The extendable track platform also includes a limit baffle 23; the bottom of the side of the fixed cross plate 17 away from the fixed plate 16 is movably connected to the bottom of the limit baffle 23, and the rotational movement of the limit baffle 23 is controlled by a driving device, and its extreme movement position is: perpendicular to the side of the fixed cross plate 17 away from the fixed plate 16 and parallel to the length direction of the fixed plate 16.

[0088] The surfaces of the fixed plate 16, the fixed transverse plate 17, the movable plate 19 and the movable transverse plate 20 are all provided with tracks for the track robot to walk.

[0089] Furthermore, the bottom of the fixed horizontal plate 17 away from the fixed plate 16 is hingedly connected to the bottom of the limit baffle 23; the driving device is a motor with a self-locking function, and its output end is fixedly connected to the hinge shaft; the limit baffle is limited by the self-locking function of the motor.

[0090] In some possible implementations, the bottom of the limiting baffle extends to a set length, thereby forming a limiting structure when it is parallel to the length direction of the fixing plate 16.

[0091] When the extendable track platform is in use, see Fig.11In the initial state, the movable track platform 18 is arranged above the fixed track platform 15, and it is in the retracted state at this time. When the first cargo spacecraft runs to the predetermined track height, the cargo doors on both sides are unfolded and locked, and the limit baffle 23 of the extendable track platform is unlocked and rotated 90° to the horizontal state and locked by the mechanism itself or the driving device. The second motor is started to move the movable track platform 18 to the upper right of the fixed track platform 15, and the first motor is started to rotate the connecting rod 21 to set the angle. Finally, through the action of the limit baffle 23, the movable track platform 18 and the fixed track platform 15 are finally in the same plane. At this time, the movable track platform 18 is connected with the track on the fixed track platform 15 for the track robot to walk, and the extendable track platform is extended.

[0092] Step S2, unfold the extendable track platform, and use the track robot to grab the load equipment in the cabin along the extendable track platform, transport it to the designated location and install it.

[0093] Step S3, using the track robot to grab other load devices along the fixed track on the surface of the load device and transport them to the designated location, and completing the interconnection and installation between different load devices by controlling the extension and retraction of the plug connector.

[0094] Step S4, based on the cargo spacecraft, a power-on test is performed on the newly installed payload equipment to verify whether the payload equipment is normally connected.

[0095] Step S5, the second cargo spacecraft is launched to the same orbital altitude as the first cargo spacecraft; wherein the second cargo spacecraft is equipped with a plurality of payload devices, an orbital robot and the extendable orbital platform for the orbital robot to walk; and a throat device is provided at the head of the second cargo spacecraft.

[0096] Step S6, completing the docking of the first cargo spacecraft with the second cargo spacecraft through the throat device and the throat capture device.

[0097] Step S7, repeating steps S2 to S4 to form a larger-scale spatial large-scale payload array.

[0098] For example, see Figure 12-14 , this application provides a specific on-orbit construction process as follows:

[0099] After the cargo spacecraft platform 1 is launched into orbit, the cargo doors on both sides are unfolded and locked, the limit baffle 23 of the telescopic track platform is unlocked and rotated 90° to a horizontal state and locked, and the telescopic track platform is extended in the horizontal direction and locked in place; the track robot first transfers from the parking position in the cargo hold along the fixed track in the cargo ship to the front of the sub-payload unit to be transferred and installed, and then captures and unlocks the corresponding sub-payload unit through its front-end mechanical arm, and then transports it to the sub-payload unit installation point along the fixed track on the telescopic track platform, and then adjusts the sub-payload unit to the installation posture, and improves power supply and information support, so that the retractable active docking end on the sub-payload unit is changed from a retracted state to an extended state, and finally installs it in place; after each sub-payload unit is completed, the cargo spacecraft platform performs a power-on self-test, and after confirming that the sub-payload unit is in a normal state, the track robot installs the subsequent sub-payload units in place in sequence according to the above process, until the entire array is installed, and the track robot returns to the parking point in the cargo hold of the cargo spacecraft platform 1 for charging.

[0100] Carry out further payload expansion area and scale: After entering orbit, cargo spacecraft platform 2 approaches cargo spacecraft platform 1 from the rear, unlocks the head fairing of cargo spacecraft platform 2 and turns it 90 degrees to lock it. When cargo spacecraft platform 2 approaches the capture position, the throat device of cargo spacecraft platform 2 extends and completes the connection with cargo spacecraft platform 1 after calibration, connects the power supply and information link of the two cargo spacecraft platforms, and then cargo spacecraft platform 2 also repeats the above steps to complete the system construction in sequence, and finally connects the sub-payload unit on cargo spacecraft platform 2 with the payload on cargo spacecraft platform 1 into a whole, such as Figure 4 As shown, it constitutes a new and larger-scale space large payload array.

[0101] See also Fig.15 The embodiment of the present application also provides an on-orbit maintenance method for a large space payload based on a cargo spacecraft. The maintenance method of the embodiment of the present application includes:

[0102] Step A1, releasing the interconnection between the load device to be replaced and the adjacent load device by controlling the extension and contraction of the plug connector.

[0103] Step A2: The track robot grabs the load equipment that needs to be replaced along the fixed track on the surface of the load equipment, and transports it to the designated position in the warehouse through the extendable track platform.

[0104] Step A3, the track robot grabs the normal load device along the fixed track on the surface of the load device and transports it to the position of the load device that needs to be replaced, and completes the interconnection installation between it and the adjacent load device by controlling the extension and retraction of the plug connector.

[0105] For example, this application provides a specific repair and replacement process as follows:

[0106] Track robot A moves along the fixed track on the upper surface of the sub-payload unit to the vicinity of the sub-payload unit to be replaced, and uses its front-end mechanical arm to capture the sub-payload unit to be replaced. The retractable active docking end on the side of the sub-payload unit changes from an extended state to a retracted state, and the other sub-payload units adjacent to it are disconnected from the replacement unit. The track robot then transfers it to the cargo spacecraft platform for fixation; the track robot B completes the installation of the new sub-payload unit in sequence according to the installation process in the above-mentioned construction process, and connects the new sub-payload unit with other sub-payload units adjacent to it.

[0107] Based on the above technical solution, this application has the following effects and advantages:

[0108] 1. The embodiment of the present application provides an on-orbit construction and maintenance method for a large space payload based on a cargo spacecraft. Through an orbital robot and a preset transport activity track, unmanned inspection of the entire array range can be achieved, thereby ensuring the reliability and availability of the large space payload for long-term on-orbit operation.

[0109] 2. The on-orbit construction and maintenance method provided in the embodiment of the present application can realize the continuous expansion of system capacity, solve the system constraints such as power supply and information after expansion, and can flexibly configure different working and operation modes to improve the use efficiency of the system;

[0110] 3. The method provided in the embodiment of the present application supports continuous system updates to ensure long-term use of the system;

[0111] 4. The method provided in the embodiment of the present application can realize track maneuvering and multi-track operation, and embodies the characteristics of high automation and flexibility.

[0112] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0113] It can be understood that the embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific embodiments, which are merely illustrative and not restrictive, and those skilled in the art are aware that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, those of ordinary skill in the art can modify these features and embodiments to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention under the inspiration or teaching of the present application. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application belong to the scope protected by the present invention.

Claims

1. A method for building a large space payload on-orbit based on a cargo spacecraft, characterized in that: include: Step S1, launching a first cargo spacecraft to a predetermined orbital altitude; The first cargo spacecraft is equipped with a plurality of payload devices, a track robot and an extendable track platform for the track robot to walk; a throat capture device is arranged at the tail of the first cargo spacecraft; the payload device comprises a surface fixed track, which comprises a transverse track seat and a longitudinal track seat perpendicular to each other, two adjacent ends of the transverse track seat and the longitudinal track seat are provided with plug-in grooves, and the other two ends are provided with retractable plug connectors, and any two payload devices can be electrically connected through the plug-in grooves and the plug connectors; Step S2, unfolding the extendable track platform, and using the track robot to grab the load equipment in the cabin along the extendable track platform, transporting it to a designated location and installing it; Step S3, the track robot grabs other load devices along the fixed track on the surface of the load device and transports them to a designated location, and interconnects and installs different load devices by controlling the extension and retraction of the plug connector; Step S4, performing a power-on test on the newly installed payload equipment based on the cargo spacecraft to verify whether the payload equipment is normally connected; Step S5, launching a second cargo spacecraft to the same orbital altitude as the first cargo spacecraft; wherein the second cargo spacecraft carries a plurality of the payload equipment, the orbital robot and the extendable orbital platform; and a throat device is provided at the head of the second cargo spacecraft; Step S6, completing the docking of the first cargo spacecraft with the second cargo spacecraft through the throat device and the throat capture device; Step S7, repeating steps S2 to S4 to form a larger-scale spatial large-scale payload array.

2. The method for on-orbit construction of a large space payload based on a cargo spacecraft according to claim 1 is characterized in that: The surfaces of the transverse rail seat and the longitudinal rail seat are both provided with grooved slide rails, and the edges of the grooved slide rails along the length direction are both extended inwards and are provided as I-shaped fixed rails for the rail robot to walk; The groove-type slide rails adjacent to the transverse rail seat and the longitudinal rail seat intersect and are connected as one; A cavity for accommodating a steering device is provided at the intersection of the transverse rail seat and the longitudinal rail seat; the steering device comprises a telescopic mechanism, an output end of the telescopic mechanism is fixedly connected to a rotating mechanism, an output end of the rotating mechanism is fixedly connected to a rotating interface component, and the rotating interface component is used to realize the grasping and releasing of the load equipment and the steering of the rail robot during the walking process; the steering device as a whole can selectively extend or retract into the cavity.

3. The method for on-orbit construction of a large space payload based on a cargo spacecraft according to claim 2 is characterized in that: The rotating interface component includes a disc-shaped main body, a grasping connection interface for adapting to the grasping end of the rail robot is provided in the middle, and can selectively cooperate with the grasping end of the rail robot to realize the grasping and releasing of the load equipment. A steering connection interface for cooperating with and selectively locking the main body of the rail robot is provided on the side thereof, and can selectively cooperate with the main body of the rail robot to realize the steering of the rail robot during walking.

4. The method for on-orbit construction of a large space payload based on a cargo spacecraft according to claim 2 is characterized in that: The telescopic mechanism includes a plurality of evenly distributed electric telescopic rods, the fixed ends of the electric telescopic rods are fixedly connected to the inner wall of the cavity, the telescopic ends are fixedly connected to a bearing plate, a motor is fixedly connected to the bearing plate, the motor output shaft is parallel to the telescopic direction, and the end of the motor output shaft is fixedly connected to the middle of the rotating interface component.

5. The method for on-orbit construction of a large space payload based on a cargo spacecraft according to claim 1 is characterized in that: The track robot is a wheeled track robot, including at least two sets of wheel pairs, and the inner side of each wheel is provided with a rim for contacting and cooperating with the inner side of an I-shaped fixed track; a brake mechanism is protrudingly provided at the bottom of the track robot, and when the track robot contacts and cooperates with the I-shaped fixed track, the brake mechanism is partially located in the groove of the groove-type slide rail.

6. The method for on-orbit construction of a large space payload based on a cargo spacecraft according to claim 1, characterized in that: The main body of the rail robot is provided with a retractable plug connector for use with a steering connection interface, and the steering connection interface is a groove corresponding to the plug connector.

7. The method for on-orbit construction of a large space payload based on a cargo spacecraft according to claim 1, characterized in that: The rail robot realizes the grabbing of the load equipment and the steering of the rail robot through the steering device.

8. The method for on-orbit construction of a large space payload based on a cargo spacecraft according to claim 1 is characterized in that: The extendable track platform includes a fixed track platform and a movable track platform. The fixed track platform comprises a plurality of fixed plates arranged at intervals, the plurality of fixed plates being fixedly connected in the cabin in a direction perpendicular to a cabin door of a cargo spacecraft, the plurality of fixed plates being fixedly connected at ends near the cabin door with a fixed transverse plate, and each of the fixed plates being provided with a groove-type track at an edge along the length direction; the movable track platform comprises a movable plate corresponding to two of the fixed plates at the outermost parts of the fixed track platform, one end of the two movable plates being fixedly connected with a movable transverse plate; the fixed track platform and the movable track platform are movably connected through two connecting rods, one end of each of the connecting rods being provided with a pulley and being slidably connected to the groove-type track, and the other end being hinged to an end of the movable plate near the movable transverse plate, the pulley being provided with a first motor for controlling the connection rod to rotate at a set angle, the pulley being fixedly connected with a traction line, a second motor being provided at one end of the groove-type track near the fixed transverse plate, and the output end of the second motor being fixedly connected with the other end of the traction line, forming a structure in which the second motor rotates the traction pulley to slide on the groove-type track; The extendable track platform also includes a limit baffle; the bottom of the side of the fixed horizontal plate away from the fixed plate is movably connected to the bottom of the limit baffle, and the rotational movement of the limit baffle is controlled by a driving device, and its extreme movement position is: perpendicular to the side of the fixed horizontal plate away from the fixed plate and parallel to the length direction of the fixed plate; The surfaces of the fixed plate, the fixed transverse plate, the movable plate and the movable transverse plate are all provided with tracks for the track robot to walk on.

9. The method for on-orbit construction of a large space payload based on a cargo spacecraft according to claim 8, characterized in that: When the extendable track platform is fully unfolded, the movable track platform and the fixed track platform are in the same plane, and at this time, the movable track platform is connected to the track on the fixed track platform for the track robot to walk.

10. An on-orbit maintenance method for large space payloads based on cargo spacecraft, characterized in that: include: The interconnection between the load device to be replaced and the adjacent load device is released by controlling the extension and contraction of the plug connector; The track robot grabs the load equipment to be replaced along the fixed track on the surface of the load equipment, and transports it to the designated position of the warehouse through the extendable track platform; The track robot grabs the normal load equipment along the fixed track on the surface of the load equipment and transports it to the position of the load equipment that needs to be replaced, and completes the interconnection and installation between it and the adjacent load equipment by controlling the extension and retraction of the plug connector.

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