Space large payload on-orbit construction and servicing method based on cargo spacecraft

Abstract

A space large load on-orbit construction and maintenance method based on cargo spaceship, the construction method comprising: a first cargo spaceship is launched to a predetermined orbit height; wherein the first cargo spaceship carries a plurality of load devices, an orbital robot and an extendable orbital platform for the orbital robot to walk; a tail part is provided with a throat pipe capturing device; the load device comprises a surface fixed track; the extendable orbital platform is unfolded, the load device in the cabin is carried to a designated position by the orbital robot along the extendable orbital platform and installed; other load devices are carried to the designated position by the orbital robot along the surface fixed track of the load device and installed, the interconnection between different load devices is completed; power-on detection is performed based on the cargo spaceship; a second cargo spaceship is launched to complete the docking with the first cargo spaceship; the above load device interconnection step is repeated to form a larger scale space large load array. The application has low on-orbit construction cost, convenient maintenance and high flexibility.

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] As human exploration of space deepens and technology advances, the demand for large-scale space structures, such as large telescopes, space station expansion modules, and solar power plants, is growing. However, due to the limitations of rocket transport capacity, it is difficult to launch large-scale space structures into the desired orbit all at once. Therefore, research on in-orbit construction technology for large-scale space equipment has become an inevitable trend and an effective approach.

[0003] The on-orbit construction technology in related technologies relies on the space shuttle or the International Space Station as the construction base station, which has high construction costs and basically has no ability to expand in scale or change orbits; most of them are truss structures, which 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 large space payloads 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] To achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, a method for in-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 payloads, a track robot, and an extendable track platform for the track robot to travel; a throat capture device is provided at the rear of the first cargo spacecraft; the payload includes a surface-fixed track, which includes a transverse rail seat and a longitudinal rail seat perpendicular to each other, wherein two adjacent ends of the transverse rail seat and the longitudinal rail seat are provided with plug-in grooves, and the other two ends are provided with retractable plug connectors, and any two payloads 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 payload 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 payload devices along the fixed track on the surface of the payload device and transports them to a designated location, and interconnects and installs different payload devices by controlling the expansion and contraction 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 payloads, 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 and 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, grooved slide rails are provided on the surfaces of both the transverse rail seat and the longitudinal rail seat, and the longitudinal edges of the grooved slide rails extend inward and are configured as I-shaped fixed rails for the rail robot to travel.

[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 includes 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 part, and the rotating interface part 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 the second possible implementation of the first aspect, the rotating interface part includes a disc-shaped main body, a grabbing connection interface for adapting to the grabbing end of the rail robot is provided in the middle, which can selectively cooperate with the grabbing end of the rail robot to realize the grabbing and releasing 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 thereof are fixedly connected to a supporting plate, the supporting plate is fixedly connected to a motor, the motor output shaft is parallel to the telescopic direction, and the end of the motor output shaft is fixedly connected to the middle part of the rotating interface component.

[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 engaging 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 engages 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] Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

[0025] The extendable track platform further includes a limit baffle; the bottom of the fixed transverse 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 transverse 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 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;

[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 installation between it and the adjacent load equipment by controlling the extension and contraction of the plug connector.

[0032] The present invention has the following advantages:

[0033] 1. The embodiments of the present application provide a method for on-orbit construction and maintenance of large space payloads based on cargo spacecraft. By using an orbital robot and a pre-set transport track, unmanned inspections can be performed across the entire array, ensuring the reliability and availability of large space payloads during long-term on-orbit operation.

[0034] 2. The on-orbit construction and maintenance method provided in the embodiments of the present application can achieve continuous expansion of system capabilities, resolve system constraints such as power supply and information after expansion, and flexibly configure different working and operating modes to improve the system's efficiency;

[0035] 3. The method provided in the embodiment of the present application supports continuous system updates, ensuring the long life 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 built-in running track and steering device provided in an embodiment of the present application;

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

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

[0045] Figure 9 A schematic diagram of a cargo spacecraft platform with its cargo door open provided in an embodiment of the present application;

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

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

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

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

[0050] Figure 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] Figure 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; carrying 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] To further illustrate the technical means and effects of the present invention to achieve its intended purpose, the technical solutions in the embodiments of this application are clearly described. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of this application are within the scope of protection of this application.

[0055] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "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 this application and the steps in the flowcharts in the drawings of the specification of this application do not necessarily need to be strictly executed according to the step numbers. The method steps can be executed in a different order. In addition, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0057] The following is a detailed description of the on-orbit construction and maintenance method, device, equipment and medium for large space payloads based on cargo spacecraft provided in the embodiments of the present application, in combination with the accompanying drawings and preferred embodiments.

[0058] An embodiment of the present application provides an on-orbit construction and maintenance method for a large space payload based on a cargo spacecraft. The payload is composed of multiple sub-payload units assembled on-orbit. The sub-payload units are carried up by the cargo spacecraft and constructed on-orbit by an orbital robot. 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, orbital maneuvers can be realized, which solves the problems of many constraints, power supply and information link expansion, and propellant replenishment in 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 utilization efficiency.

[0059] See 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] In step S1, a 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 move; 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 the steering device can be used to complete a 90° turn, realizing two-dimensional construction of the payload and completing on-orbit construction.

[0063] See Figure 1-3 , the embodiment of the present application provides a load device with its own running track and 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. The edges of the grooved slide rails 3 along the length direction are extended inward and are provided as I-shaped fixed rails 4 for the rail robot 5 to travel.

[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 includes a telescopic mechanism, the output end of which is fixedly connected to a rotating mechanism, and the output end of the rotating mechanism is fixedly connected to a rotating interface member 7. The rotating interface member 7 is used to realize the grasping 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 track robot 5 is provided in the middle, which can selectively cooperate with the gripping end of the track 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 track robot 5 is provided on the side thereof, which can selectively cooperate with the main body of the track robot 5 to realize the steering of the track 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 end of the electric telescopic rod 12 is fixedly connected to the inner wall of the cavity, and the telescopic end is fixedly connected to a supporting plate 13, and a motor 14 is fixedly connected to the supporting plate 13. 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 part 7.

[0071] Furthermore, the grabbing connection interface 8 is a circular groove and is used to form an electrical connection with the grabbing 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.

[0073] Furthermore, the track robot 5 is a wheeled track robot 5, comprising 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 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 groove-type 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 equipment 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 cooperating and locking.

[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 track intersection, the braking mechanism is partially located in the groove of the grooved slide rail 3 and has a guiding effect. Therefore, the robot will not change direction and 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 a set distance higher than the I-shaped fixed track 4. At this time, it can be matched with the corresponding interface set on the main body of the track robot 5 and locked, 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 match with the current I-shaped fixed track 4 below, releasing the main body of the track robot 5 and retracting the steering device 6 into the cavity as a whole to realize the steering of the track robot 5.

[0081] In the specific implementation process, see Figure 5 , the assembly of multiple payload devices is completed by the track robot 5. The payload device a first extends the left and right retractable interface. The track robot 5 grabs the payload device b and brings it close to align its left and right slots with the interface extended by the payload device a. Then, the payload device a is docked and locked with the payload device b. After the power-on test, it is determined that the connection between the two payload devices is normal. The track robot 5 releases the payload device b; the payload device a is extended forward and backward to the retractable interface. Then, the track robot 5 grabs the payload device c and brings it close to align its front and back slots with the interface extended by the payload device a. Then, the payload device a is docked with the payload device b. Equipment C is docked and locked, and then a power-on test is carried out to confirm that the connection between the two payload devices is normal. The track robot 5 releases payload device b; payload device b is extended forward and backward to the retractable interface, and the track robot 5 is used to grab payload device d and align its forward and backward slots with the interface extended by payload device b. Then payload device d is docked and locked with payload device b. After a power-on test is carried out to confirm that the connection between the two payload devices is normal, the track robot 5 releases payload device d; payload device c is extended left and right to the retractable interface to complete the connection with the left and right slots of payload device d, and the power is turned 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, and 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 degrees, 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 grasp, 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 raised and is in the initial state (such as Figure 1 2. After multiple payload devices are assembled, when the robot moves to a payload device and needs to turn 90 degrees, the steering device 6 is in a semi-lifted state (as shown in FIG. Figure 2 As shown), the robot body establishes power supply and information connection with the steering device 6, and then the steering device 6 and the robot are lifted to the highest point (as shown Figure 3 After completing the 90° turn, the steering device 6 is restored to its initial state. One steering device 6 can provide 90° turning operations for up to four robots at the same time.

[0084] The side expansion joints enable mechanical, power, information, and cooling connections between adjacent payloads. Each payload contains two side expansion joints (the other two are connection slots). These joints are extended when a connection is needed and remain retracted when not in use.

[0085] See 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 to the cabin in a direction perpendicular to the hatch of the cargo spacecraft. The ends of the plurality of fixed plates 16 near the hatch are fixedly connected to 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 outermost part of the fixed track platform 15, and one end of the two movable plates 19 is fixedly connected to a movable transverse plate 20; the fixed track platform 15 and the movable track platform 18 are connected by two fixed plates 16. 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 near the movable horizontal plate 20. The pulley 22 is provided with a first motor for controlling the rotation of the connecting rod 21 by a set angle, and a traction line is fixedly connected to the pulley 22. The grooved track 24 is provided with a second motor at one end near the fixed horizontal plate 17, and the output end of the second motor is fixedly connected to the other end of the traction line, forming a structure 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 transverse 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 transverse 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 on.

[0089] Furthermore, the bottom of the side 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 using the extendable track platform, see Figure 11In the initial state, the movable track platform 18 is arranged above the fixed track platform 15, and is in a retracted state. 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 a 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 to the track on the fixed track platform 15 for the track robot to walk, and the extendable track platform is completely extended.

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

[0093] Step S3: The track robot grabs other payload devices along the fixed track on the surface of the payload device and transports them to the designated location, and completes the interconnection and installation between different payload devices by controlling the extension and contraction of the plug connector.

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

[0095] In 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 equipment, an orbital robot and the extendable orbital platform for the orbital robot to move; 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 and 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 deployed and locked, the telescopic track platform limit baffle 23 is unlocked and rotated 90 degrees to a horizontal position and locked, and the telescopic track platform is extended in the horizontal direction and locked in place. The track robot first moves from its parking position in the cargo hold along the fixed track inside the cargo ship to the front of the sub-payload unit to be transferred and installed. Then, its front-end robotic arm captures and unlocks the corresponding sub-payload unit, and then transports it along the fixed track on the telescopic track platform to the sub-payload unit installation point. The sub-payload unit is then adjusted to the installation posture, and power supply and information support are increased to make the retractable active docking end on the sub-payload unit move from a retracted state to an extended state, and finally it is installed in place. After each sub-payload unit is completed, the cargo spacecraft platform performs a power-on self-test. After confirming that the sub-payload unit is in normal condition, the track robot then installs the subsequent sub-payload units in place according to the above process. After the entire array is installed, 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 cargo spacecraft platform 2 enters orbit, it approaches cargo spacecraft platform 1 from the rear, unlocks the head fairing of cargo spacecraft platform 2 and turns 90 degrees to lock it, and when cargo spacecraft platform 2 approaches the capture position, the throat device of cargo spacecraft platform 2 extends, and after calibration, it is connected with cargo spacecraft platform 1, and the power supply and information links of the two cargo spacecraft platforms are connected. 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, as shown in the figure. Figure 4 As shown, it constitutes a new and larger-scale space large payload array.

[0101] See also Figure 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 expansion and contraction of the plug connector.

[0103] Step A2: The track robot grabs the payload that needs to be replaced along the fixed track on the surface of the payload and transports it to the designated location in the warehouse via the extendable track platform.

[0104] Step A3: The track robot grabs the normal payload device along the fixed track on the surface of the payload device and transports it to the location of the payload device that needs to be replaced, and completes the interconnection installation between it and the adjacent payload device by controlling the extension and contraction 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 robotic 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 connection between the other sub-payload units adjacent to it and the replacement unit is released by the track robot. Then the track robot transfers it to the cargo spacecraft platform for fixation; track robot B completes the installation of the new sub-payload unit in sequence according to the installation process in the above construction process, and connects the new sub-payload unit with the 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 embodiments of the present application provide a method for on-orbit construction and maintenance of large space payloads based on cargo spacecraft. By using an orbital robot and a pre-set transport track, unmanned inspections can be performed across the entire array, ensuring the reliability and availability of large space payloads during long-term on-orbit operation.

[0109] 2. The on-orbit construction and maintenance method provided in the embodiments of the present application can achieve continuous expansion of system capabilities, resolve system constraints such as power supply and information after expansion, and flexibly configure different working and operating modes to improve the system's efficiency;

[0110] 3. The method provided in the embodiment of the present application supports continuous system updates, ensuring the long life 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 variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted 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 the opposite 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 will be appreciated that the embodiments of the present application have been 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 will appreciate that various changes or equivalent replacements may 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 may modify these features and embodiments to adapt to specific circumstances and materials under the inspiration or guidance of this application without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application fall within the scope protected by the present invention.

Claims

1. A method for on-orbit construction of a large space payload 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 payloads, a track robot, and an extendable track platform for the track robot to travel; a throat capture device is provided at the rear of the first cargo spacecraft; the payload includes a surface-fixed track, which includes a transverse rail seat and a longitudinal rail seat perpendicular to each other, wherein two adjacent ends of the transverse rail seat and the longitudinal rail seat are provided with plug-in grooves, and the other two ends are provided with retractable plug connectors, and any two payloads 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 payload in the cabin along the extendable track platform, transporting it to a designated location and installing it; Step S3, the track robot grabs other payload devices along the fixed track on the surface of the payload device and transports them to a designated location, and interconnects and installs different payload devices by controlling the expansion and contraction 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 properly 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 payloads, 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 and 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, characterized in that: The surfaces of the transverse rail seat and the longitudinal rail seat are both provided with grooved slide rails, the edges of the grooved slide rails along the length direction are all 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 includes 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 part, and the rotating interface part 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, characterized in that: The rotating interface component includes a disc-shaped main body, a grabbing connection interface for adapting to the grabbing end of the rail robot is provided in the middle, which can selectively cooperate with the grabbing end of the rail robot to realize the grabbing and releasing 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.

4. The method for on-orbit construction of a large space payload based on a cargo spacecraft according to claim 2, 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 supporting plate, the supporting plate is fixedly connected to a motor, the motor output shaft is parallel to the telescopic direction, and the end of the motor output shaft is fixedly connected to the middle part 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 2, characterized in that: The track robot is a wheeled track robot, comprising at least two sets of wheel pairs, each wheel being provided with a rim on the inner side thereof for contacting and cooperating with the inner side of an I-shaped fixed track; a brake mechanism being protrudingly provided at the bottom of the track robot, and when the track robot is in contact and cooperating 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 3, 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 2, 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, characterized in that: The extendable track platform includes a fixed track platform and a movable track platform. Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion. The extendable track platform further includes a limit baffle; the bottom of the fixed transverse 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 transverse 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. At this time, the movable track platform is connected to the track on the fixed track platform for the track robot to walk.

10. A method for on-orbit maintenance of large space payloads based on cargo spacecraft, characterized in that: The method for on-orbit construction of a large space payload based on a cargo spacecraft according to any one of claims 1 to 9 comprises: 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 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; 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 installation between it and the adjacent load equipment by controlling the extension and contraction of the plug connector.

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