Modularized space facility on-orbit assembly structure

Abstract

The invention discloses a modular space facility on-orbit assembly structure, and belongs to the technical field of aerospace. The locking interface is fixed to the outer side of the base and used for being connected with other interfaces, providing mechanical locking, power transmission, data transmission and heat exchange functions and providing a grabbing position for an end effector of the installation tool, and the six-degree-of-freedom platform is used for being connected with the mirror surface structure and the base which are arranged up and down. And the position and posture of the mirror surface structure can be adjusted according to the working state, and the mirror surface structure is used for collecting effective information such as optical signals in the space. The sub-modules are few in type and high in interchangeability, by reasonably arranging the positions and the number of the locking interfaces, on-orbit installation of large-aperture space facilities such as a space telescope can be achieved only through the two types of sub-modules, and the interchangeability between the sub-modules is improved; the active end interface and the passive end interface used for realizing butt joint of the sub-modules are consistent in structure, and the passive end can replace the active end to realize an active locking function once special situations such as faults of the active end occur.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerospace, and particularly relates to an on-orbit assembly structure of a modular space facility. Background Art

[0002] With the continuous development of modern astronomy and the continuous progress of technologies such as aerospace, the aperture requirements for space facilities such as space telescopes are increasing continuously. However, the carrying capacity of existing launch vehicles, the size of fairings, and the manufacturing and surface treatment technologies of large-aperture lenses are difficult to meet the requirements for on-orbit deployment of a single large-aperture telescope. Therefore, according to the structural characteristics, large-aperture space facilities such as space telescopes (referring to the primary mirror structure of the space telescope, excluding other components of the space telescope such as secondary mirrors, secondary mirror support trusses, and instrument equipment) are designed as modular structures with the same size, and on-orbit assembly and deployment are achieved through batch launches by existing launch vehicles, which has become a key space technology that urgently needs to be mastered.

[0003] In order to enable the modular structures (hereinafter referred to as sub-modules) launched into orbit to function properly, interfaces need to be installed on individual sub-modules to assemble the sub-modules into a whole. To meet the above requirements, the interfaces first need to have a basic connection and locking function to connect multiple modules. Secondly, in order to enable devices such as interfaces and scientific instruments on the sub-modules to function properly, power transmission needs to be achieved between sub-modules. Furthermore, in order to evaluate the on-orbit working status of the sub-modules and implement function control of the sub-modules, data and information transmission need to be achieved between sub-modules. Finally, considering the special environment of the space facility working in orbit and the need to keep the space facility at a certain working temperature, heat exchange also needs to be achieved between sub-modules.

[0004] In order to realize the on-orbit installation and layout of large-aperture space facilities, the interface distribution on the sub-modules not only needs to be used for connection between sub-modules, but also needs to provide a grasping position for installation tools such as robotic arms. Therefore, multiple interfaces need to be installed on one sub-module. In order to save the processing and manufacturing costs of the sub-modules, the interface distribution on the sub-modules should be kept as consistent as possible to increase the interchangeability of the sub-modules; in order to simplify the installation control process, the interfaces at the same position on the same type of sub-modules can only be used as the active end or the passive end. And during the docking process of the sub-modules, the two interfaces used for docking between the sub-modules cannot be used as the active end at the same time. Summary of the Invention

[0005] To meet the above requirements, the present invention provides an on-orbit assembly structure of a modular space facility, which can realize the connection between sub-modules and has hermaphrodite interfaces with mechanical locking, power transmission, data transmission, and heat exchange functions.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A modular space facility on-orbit assembly structure, including sub-module A and sub-module B; both sub-module A and sub-module B include locking interfaces, bases, mirror structures, and six-degree-of-freedom platforms; the locking interfaces are fixed on the outside of the bases, used to connect with other interfaces and provide functions of mechanical locking, power transmission, data transfer, and heat exchange, and provide grasping positions for the end effectors of installation tools, and the six-degree-of-freedom platforms are used to connect the mirror structures and bases arranged up and down, and can adjust the position and attitude of the mirror structures according to the working state, and the mirror structures are used to collect effective information such as optical signals in space.

[0008] The present invention has the following beneficial effects compared with the prior art:

[0009] I. Beneficial effects of the assembly structure:

[0010] 1. Few types of sub-modules and strong interchangeability: By reasonably arranging the positions and quantities of the locking interfaces, only two types of sub-modules are required to realize the on-orbit installation of large-aperture space facilities such as space telescopes, increasing the interchangeability between sub-modules; the interface structures of the active end and the passive end for realizing the docking of sub-modules are the same. In the event of special situations such as a failure of the active end, the passive end can replace the active end to realize the active locking function.

[0011] 2. Simple structure of the sub-module: The redundant locking interfaces of the sub-module can be used for grasping by installation tools such as robots, without the need to additionally design special structures for grasping by installation tools such as space robots, simplifying the structural design of the sub-module itself.

[0012] 3. Reducing the on-orbit installation time: Before being launched into orbit, the sub-modules are assembled into a module combination on the ground in advance. After being launched into orbit, the on-orbit deployment of large-aperture space facilities is directly realized through the grasping and handling operations of the module combination. Compared with installing sub-modules one by one, the working time of installation tools such as space robots is greatly reduced, improving the working efficiency.

[0013] 4. The aperture of the space facility can be expanded: The large-aperture space facility designed in the present invention only requires a 2*2 module combination of one type to complete the on-orbit assembly and deployment. Without reinstallation, the module combination can be added on the outside according to the actual situation to gradually expand the aperture of the space facility, greatly saving the installation time and cost.

[0014] II. Beneficial effects of the locking interface:

[0015] 1. Complete functions: The interface of the present invention simultaneously has functions of mechanical locking, data transfer, power transmission, and heat exchange, and can meet the on-orbit working requirements of the modular space structure.

[0016] 2. Simple control: The interface of the present invention adopts the method of multi-step telescoping of a single motor. Only by controlling the rotation of a single motor to drive the internal drive ring can the pin-hole insertion, lock hook locking, and docking of several electrothermal components be completed, realizing all functions of the interface.

[0017] 3. Simplified structure: The interface of the present invention is designed as a hermaphrodite structure, which can be used as both the active end and the passive end at the same time, and all functions can also be realized only by the movement of the active end.

[0018] 4. Functional redundancy: The overall structure of the interface of the present invention is designed to be rotationally symmetric by 90°, greatly increasing functional redundancy and ensuring that the rest of the interface can work normally and stably when a single part fails.

[0019] 5. Facilitating module replacement: The overall design of the interface of the present invention is a cylindrical structure. After unlocking, the extended parts retract into the cylinder. The interfaces are flatly attached without structural intersection or meshing, facilitating module replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of sub-module A of the present invention;

[0021] Figure 2 is a top view of sub-module A of the present invention;

[0022] Figure 3 is a schematic structural diagram of sub-module B of the present invention;

[0023] Figure 4 is a top view of sub-module B of the present invention;

[0024] Figure 5 is a simplified schematic diagram of the sub-module of the present invention;

[0025] Figure 6 is a schematic classification diagram of the active and passive end interfaces of the present invention;

[0026] Figure 7 is a schematic diagram after the sub-modules of the present invention are combined;

[0027] Figure 8 is a top view after the sub-modules of the present invention are combined;

[0028] Figure 9 is a simplified schematic diagram after the sub-modules of the present invention are combined;

[0029] Figure 10 is the assembly order of large-diameter space facility modules;

[0030] Figure 11 is an explosion diagram of the locking interface;

[0031] Figure 12It is a schematic diagram of the drive ring structure of the present invention;

[0032] Figure 13 It is a schematic diagram of the fixed ring structure of the present invention;

[0033] Figure 14 It is a schematic diagram of the digital electrothermal component structure of the present invention;

[0034] Figure 15 It is a schematic diagram of the rotating base structure of the present invention;

[0035] Figure 16 It is a schematic diagram of the movement of the coupling pin of the present invention;

[0036] Figure 17 It is a schematic diagram of the self-locking of the coupling pin of the present invention;

[0037] Figure 18 It is a schematic diagram of the interface motion chain of the present invention;

[0038] Figure 19 It is a schematic diagram of the locked state of the interface as the active end of the present invention;

[0039] Wherein: 10, locking interface; 11, drive ring; 111, drive gear; 112, outer groove line of drive ring; 113, inner groove line of drive ring; 114, top locking hook of drive ring; 115, outer gear; 12, coupling ring; 121, coupling hole; 122, top locking hook; 13, coupling pin; 14, fixed ring; 141, fixing hole; 142, groove line; 143, positioning hole one; 15, support structure; 151, vertical groove line; 152, bolt hole one; 16, upper cover plate; 161, bolt hole two; 162, positioning hole two; 163, conical hole; 17, spring pin; 18, digital electrothermal component; 181, positioning hole three; 182, rolling bearing; 183, annular thin plate; 184, heat exchange interface; 185, bolt; 186, circuit board; 187, contact plug; 19, pin ring; 191, positioning pin; 192, inner guide pin; 193, positioning hole four; 194, outer guide pin; 20, rotating base; 201, internal gear; 202, annular groove; 203, ramp; 204, step; 21, fixed base; 211, positioning hole five; 212, bolt hole three; 213, central hole; 22, connecting bolt; 40, six-degree-of-freedom platform; 41, mirror structure; 42, base. Detailed implementation manners

[0040] In order to better understand the purpose, structure and function of the present invention, the following further describes the present invention in detail with reference to the accompanying drawings.

[0041] According to the different numbers and distributions of interfaces, the on-orbit assembly structure in the present invention includes two types: sub-module A and sub-module B, as follows respectivelyFigure 1 , Figure 2 and Figure 3 , Figure 4 as shown. The overall structures of sub-module A and sub-module B are basically the same, mainly including a locking interface 10, a base 42, a mirror structure 41, and a six-degree-of-freedom platform 40. Among them, the base 42 serves as the support structure of the sub-module and is an overall hexagonal prism structure; the locking interface 10 is fixed on the outside of the base 42 and is an overall cylindrical structure, which is used to realize the connection with other interfaces and provide functions of mechanical locking, power transmission, data transfer, and heat exchange. It can also provide a grasping position for the end effector of installation tools such as space robots; the six-degree-of-freedom platform 40 is used to connect the base 42 and the mirror structure 41 and adjust the position and attitude of the mirror structure 41 according to the working state; the mirror structure 41 is used to collect effective information such as optical signals in space.

[0042] In order to realize the connection with other sub-modules and provide a grasping position for installation tools such as space robots, each sub-module needs to include multiple interfaces. Sub-module A has a total of five locking interfaces 10, and sub-module B has a total of four locking interfaces 10. Among them, sub-module A includes 3 active-end interfaces and 2 passive-end interfaces, and the active-end interfaces and passive-end interfaces are continuously and alternately distributed; sub-module B includes 2 active-end interfaces and 2 passive-end interfaces. For convenience of representation, a simplified schematic diagram of the sub-module is drawn with the maximum envelope range of the interfaces on the outside of the sub-module. The simplified schematic diagrams of the number of interfaces and the active / passive-end distribution on the outside of sub-module A and sub-module B are as Figure 5 shown, and the simplified schematic diagrams of the locking interface 10 when it serves as the active end and the passive end respectively are as Figure 6 shown.

[0043] In order to reduce the on-orbit installation time of installation tools such as space robots, according to the interface structure characteristics of the sub-modules, two types of sub-modules, sub-module A and sub-module B, are pre-assembled on the ground into a 2×2 module combination, and then it is launched into orbit as a whole through a spacecraft such as a launch vehicle. The overall structure and top view of the module combination are as Figure 7 , Figure 8 shown. Each module combination includes one sub-module A and three sub-module B. Adjacent sub-modules are connected through the locking interfaces 10 that serve as the active end and the passive end respectively. Redundant locking interfaces 10 are left on the outside of the module combination for connection and cooperation with other module combinations, and can also be used as the grasping position for the end effector of installation tools such as space robots. Based on Figure 5 the simplified schematic diagram of the sub-module in, the simplified schematic diagram of the module combination is as Figure 9 shown, and the letters A and B in the figure respectively represent the types of sub-modules.

[0044] After the module combination is launched into orbit, the schematic diagram of the large-aperture space facility assembled by multiple identical module combinations in orbit is as Figure 10As shown in the figure, the combination of "numerical letters" in the figure represents the installation order of 2×2 module combinations. Among them, "0M" located at the central shaded position represents the central module of the large-aperture space facility, which can be used to receive the reflected light of the secondary mirror and connect to other scientific instrument devices at the bottom. The connection between module combinations is also completed by the active end and the passive end of the locking interface 10. Since the structures of the active end and the passive end of the locking interface 10 are exactly the same, in the extreme case where the active end of the locking interface 10 fails and the active end cannot be locked, the passive end of the locking interface 10 can replace the active end to perform functions such as connection and locking, greatly enhancing the redundant function of the locking interface 10. In addition, since Figure 10 all large-aperture space facilities in [the relevant context] are assembled in orbit by the same type of module combination, on the basis of the existing structure, by installing the same type of module combination on the outside, the expansion of the aperture of the space facility can be realized. Compared with re-assembling in orbit, this method can effectively reduce the assembly time and save time and economic costs. Moreover, by using the same type of module combination, the overall size, mass and other properties of the structure are basically the same, greatly simplifying the control process when installation tools such as space robots perform on-orbit installation.

[0045] The structural composition of the locking interface 10 in the present invention is as shown in Figure 11 and mainly includes a driving ring 11, a coupling ring 12, a coupling pin 13, a fixing ring 14, a support structure 15, an upper cover plate 16, a spring pin 17, a number of electrothermal components 18, a pin ring 19, a rotating base 20, a fixed base 21, and a connecting bolt 22.

[0046] The upper cover plate 16 and the fixed base 21 are connected by the support structure 15 to form a circular cavity structure. The fixing ring 14, the coupling ring 12, the driving ring 11, and the pin ring 19 are sleeved in sequence from the inside to the outside and arranged in the circular cavity structure.

[0047] The driving ring 11 is drivingly connected to the pin ring 19 and can drive the pin ring 19 to move up and down. The pin ring 19 is used to achieve the alignment and positioning of the interface. The driving ring 11 and the fixing ring 14 can drive the coupling ring 12 to move up and down through the cooperation of the coupling pin 13. The coupling ring 12 is used to achieve the locking function of the interface. The lower end of the rotating base 20 is drivingly connected to the driving ring 11. The upper end of the rotating base 20 passes through the fixing ring 14 and is connected to a number of electrothermal components 18. The driving ring 11 drives the number of electrothermal components 18 to move up and down through the rotating base 20. The number of electrothermal components 18 is used to cooperate with the opposite interface to achieve data transmission and power transfer functions.

[0048] The structure of the driving ring 11 is as shown in Figure 12 The overall structure of the driving ring 11 is cylindrical. Its outer wall is provided with a driving gear 111 and three outer groove lines 112 of the driving ring. Its inner wall is provided with three inner groove lines 113 of the driving ring. The bottom is provided with an external gear 115, and the top is provided with four top locking hooks 114 of the driving ring.

[0049] The structural dimensions of the outer groove line 112 and the inner groove line 113 of the driving ring are designed to meet the basic principle of the cylindrical cam. Among them, the driving gear 111 meshes with the external motor to realize the power input of the interface; the outer groove line 112 of the driving ring cooperates with the inner guiding pin 192 of the pin ring 19, and can drive the pin ring 19 to move; the inner groove line 113 of the driving ring cooperates with the coupling ring 12 through the coupling pin 13, and can drive the coupling pin 13 and the coupling ring 12 to move; the outer gear 115 meshes with the inner gear 201 of the rotating base 20 (as Figure 15 shown), driving the rotating base 20 to realize the rotational motion;

[0050] In order to realize the hermaphrodite structure of the interface, the driving ring top lock hook 114 of the driving ring 11 and the top lock hook 122 of the coupling ring 12 are designed; when the interface is the active end, the top lock hook 122 is interlocked with the driving ring top lock hook 114 of the opposite interface; when the interface is the passive end, the driving ring top lock hook 114 is interlocked with the coupling ring lock hook of the opposite interface.

[0051] The overall structure of the coupling ring 12 is cylindrical, mainly including three coupling holes 121 at the bottom and four top lock hooks 122. Among them, the coupling holes 121 are used to fix the coupling pins 13, and the coupling ring 12 realizes the rotational extension function under the action of the coupling pins 13 and the inner groove line 113 of the driving ring; if the interface acts as the active end, the top lock hook 122 needs to cooperate with the driving ring top lock hook 114 of the passive end to realize the locking function of the interface.

[0052] The coupling pin 13 is of a cylindrical structure, and both ends are respectively matched with the inner groove line 113 of the driving ring and the groove line 142 of the fixing ring 14 ( Figure 13 shown), and can realize rotational and translational motions under the combined action of the inner groove line 113 of the driving ring and the groove line 142. Since the middle part is located in the coupling hole 121 of the coupling ring 12, the coupling ring 12 is driven to move during the movement of the coupling pin 13.

[0053] The overall structure of the fixing ring 14 is cylindrical ( Figure 13 shown), mainly including three fixing holes 141 at the bottom, three groove lines 142 at the middle position, and three positioning holes one 143 at the top. Among them, the fixing holes 141 are connected to the bolt holes three 212 of the fixing base 21 through the connecting bolts 22 to realize the fixation of the fixing ring 14 itself; the groove lines 142 cooperate with the inner groove line 113 of the driving ring to enable the coupling pin 13 to rotate and translate simultaneously; the positioning holes one 143 are connected to the digital electrothermal component 18 through the spring pins 17 to limit the movement displacement of the digital electrothermal component 18.

[0054] The schematic diagram of the principle that the groove line 142 of the fixed ring 14 cooperates with the inner groove line 113 of the drive ring to cause the coupling pin 13 to rotate and translate is as follows Figure 16 , Figure 17 shown. Since the structural dimensions of the groove line 142 and the inner groove line 113 of the drive ring are designed to meet the spatial cam principle, during the locking process of the interface, the groove line 142 remains stationary, and the inner groove line 113 of the drive ring rotates in a given direction (the rotation direction during the locking process is as shown by the black arrow in Figure 16 , and the rotation direction during the unlocking process is opposite to the direction shown by the black arrow). Under the combined action of the coupling force, the coupling pin 13 rotates and translates, driving the coupling ring 12 to rotate and extend outwards, realizing the locking function of the top locking hook 122. After the inner groove line 113 of the drive ring moves a certain angle in the rotation direction, the coupling pin 13 moves to the end position ( Figure 17 shown). At this time, under the combined action of the groove line 142 and the inner groove line 113 of the drive ring, the coupling pin 13 meets the self-locking condition, and at the same time, the interface remains in the locked state. The locked state of the interface as the active end in the present invention is as shown in Figure 19 , where the pin ring 19 is in contact with the upper cover plate 16. At this time, the positioning pin 191, the top locking hook 122, and the plurality of electric heating components 18 are all in the extended state, and respectively cooperate with the tapered hole, the drive ring locking hook, and the plurality of electric heating components of the opposite interface to realize the functions of mechanical locking, data exchange, power transmission, and heat transfer between modules.

[0055] The support structure 15 is composed of three independent arc-shaped plates, mainly including the vertical groove line 151 on the inner side and the first bolt holes 152 at the upper and lower ends. Among them, the vertical groove line 151 cooperates with the outer guiding pin 194 of the pin ring 19, enabling the pin ring 19 to only move up and down during the movement process; the first bolt holes 152 respectively cooperate with the second bolt holes 161 of the upper cover plate 16 and the fifth positioning holes 211 of the fixed base 21, and are connected by the connecting bolts 22 to realize its own fixing and supporting functions. In order to reduce the overall mass of the interface, the support structure 15 is designed as three independent arc-shaped plates, which is also convenient for processing and manufacturing.

[0056] The overall structure of the upper cover plate 16 is a circular thin plate, mainly including the second bolt holes 161, two second positioning holes 162, and two tapered holes 163. Among them, the second bolt holes 161 cooperate with the first bolt holes 152 of the support structure 15 and are connected by the connecting bolts 22 to realize its own fixing; the second positioning holes 162 allow the positioning pin 191 to pass through to realize the alignment function of the interface; in order to realize the hermaphrodite structure design, when acting as the passive end interface, the tapered holes 163 allow the positioning pins of the opposite active end interface to enter to realize the alignment function of the interface, and the tapered structure design can also increase the tolerance of the interface.

[0057] The overall structure of the spring pin 17 is a cylinder. The spring is located in the middle part, and the diameters at both ends are slightly larger than the middle part. The two ends of the spring pin 17 are respectively fitted with the positioning hole one 143 at the top of the fixed ring 14 ( Figure 13 as shown) and the positioning hole three 181 of the plurality of electrothermal components 18 ( Figure 14 as shown), allowing the plurality of electrothermal components 18 to move up and down when subjected to an external force. And, in order to keep the plurality of electrothermal components 18 stable, the spring at the middle position of the spring pin 17 is always in a compressed state.

[0058] The overall structure of the plurality of electrothermal components 18 ( Figure 14 as shown) is divided into three layers: upper, middle and lower, and is connected and fixed by bolts 185. It mainly includes a cylindrical support structure at the bottom layer, with three positioning holes three 181 and three rolling bearings 182 on the outside; the middle layer is an annular thin plate 183, which provides a fixing function for the four heat exchange interfaces 184; the top layer is a circuit board 186 with four notches around, which provides a supporting function for the contact plug 187. Similarly, the circuit board 186 is divided into four areas, two in a group, to realize the functions of data transmission and power transmission. The positioning hole three 181 is fitted with the positioning hole one 143 at the top of the fixed ring 14 ( Figure 13 as shown) through the spring pin 17, which can not only realize positioning but also move up and down; the rolling bearing 182 is fitted with the slope 203 and the step 204 at the top of the rotating base 20 ( Figure 15 as shown). The slope 203 allows the rolling bearing 182 to move up and down, and the step 204 is used to maintain the moving height of the rolling bearing 182 to realize the connection function between the plurality of electrothermal components 18 and the opposite interface; the heat exchange interfaces 184 are divided into two groups. The interfaces in one group are divided into male interfaces and female interfaces, which cooperate with the opposite interfaces to realize the heat exchange cycle and also have a redundant function; the contact plug 187 is also divided into male interfaces and female interfaces, which cooperate with the opposite interfaces to realize the functions of data transmission and power transmission.

[0059] The overall structure of the pin ring 19 is an annular thin plate, mainly including two positioning pins 191, an inner guiding pin 192, a positioning hole four 193, and an outer guiding pin 194. Among them, the positioning pin 191 passes through the positioning hole two 162 of the upper cover plate 16 and docks with the tapered hole of the upper cover plate of the opposite interface to realize the alignment function of the interface; the inner guiding pin 192 cooperates with the outer groove line 112 of the driving ring to realize its own movement; the positioning hole four 193 is for meeting the hermaphrodite design of the interface. When acting as the passive end, it cooperates with the tapered hole 163 of the upper cover plate 16 to allow the positioning pin of the opposite interface to be inserted to realize the alignment function; the outer guiding pin 194 cooperates with the vertical groove line 151 of the support structure 15, so that the pin ring 19 can only move up and down by itself.

[0060] The rotating base 20 ( Figure 15The overall structure (as shown) is a hollow thin plate with a boss in the middle. An internal gear 201 is provided on the upper surface of the hollow thin plate part. Three annular grooves 202 are opened around the boss on the hollow thin plate part. The top of the boss part is a stepped surface composed of a slope 203 and a step 204. Among them, the internal gear 201 meshes with the external gear 115 at the bottom of the drive ring 11 ( Figure 12 as shown) to realize its own rotation; the annular groove 202 allows the fixed base 21 and the fixed ring 14 to be connected by a connecting bolt 22; the slope 203 cooperates with the rolling bearing 182 of the several electrothermal components 18 ( Figure 14 as shown), allowing the rolling bearing 182 to slide along the slope 203 and at the same time driving the several electrothermal components 18 to move up and down; the step 204 cooperates with the rolling bearing 182 of the several electrothermal components 18 to maintain the rising height of the rolling bearing 182.

[0061] The overall structure of the fixed base 21 is an annular thin plate, mainly including a fifth positioning hole 211, a third bolt hole 212, and a central hole 213. Among them, the fifth positioning hole 211 cooperates with the first bolt hole 152 of the support structure 15 and is connected by a connecting bolt 22 to realize the fixing function of the support structure 15; the third bolt hole 212 cooperates with the connecting bolt 22 to realize the fixing function of the fixed ring 14; the central hole 213 allows the internal circuit of the space module structure to cooperate with the several electrothermal components 18 and realizes data transfer, power transmission, and heat exchange functions between different space module structures through the interface.

[0062] The connecting bolt 22 realizes the fixing function of the fixed ring 14 by cooperating with the third bolt hole 212 of the fixed base 21 and the fixing hole 141 of the fixed ring 14. At the same time, the connecting bolt 22 is also used for the connection and fixation of the first bolt hole 152 of the support structure 15 with the second bolt hole 161 of the upper cover plate 16 and the fifth positioning hole 211 of the fixed base 21 respectively.

[0063] Through the above analysis, when the interface in the present invention is used as the active end, the motion chain transmission process of realizing multiple expansions and contractions by driving the drive ring 11 to rotate through a single motor is as follows Figure 18 shown, and the arrow direction in the figure indicates the motion transmission direction during the locking process.

[0064] The first motion chain: The extended positioning function of the positioning pin 191 is realized (pin-hole insertion). After the drive ring 11 rotates, the inner guide pin 192 and the outer guide pin 194 respectively cooperate with the outer groove line 112 of the drive ring and the vertical groove line 151 of the support structure 15 to move, and drive the pin ring 19 to move up and down. The positioning pin 191 fixed on the pin ring 19 gradually extends out of the second positioning hole 162 of the upper cover plate 16 and is inserted into the tapered hole of the opposite interface to complete the positioning function of the interface.

[0065] The second motion chain: realizing the mechanical locking function of the top locking hook 122 (the locking hook rotates and extends). After the driving ring 11 rotates, under the combined action of the inner groove line 113 of the driving ring and the fixed ring groove line 142 ( Figure 13 as shown), the coupling pin 13 is driven to realize the composite motion of rotation and extension, and then the top locking hook 122 of the coupling ring 12 is driven to rotate and extend, cooperate with the driving ring locking hook of the opposite interface, and realize the locking function of the interface.

[0066] The third motion chain: realizing the data transfer, power transmission and heat exchange functions of the digital electro-thermal component 18 (the extension and docking of the digital electro-thermal component 18). After the driving ring 11 rotates, through the meshing of the bottom external gear 115 and the internal gear 201 of the rotating base 20, the rotating base 20 is driven to rotate, and then through the ramp 203 at the top of the rotating base 20 ( Figure 15 as shown), the rolling bearing 182 at the bottom of the digital electro-thermal component 18 is pushed to extend. After rotating a certain angle, the step 204 cooperates with the rolling bearing 182 to maintain the extension height of the digital electro-thermal component 18, realize the docking with the digital electro-thermal component of the opposite interface, and then realize the data transfer, power transmission and heat exchange functions of the interface.

[0067] In order to realize the connection between sub-modules, the present invention designs a hermaphrodite interface with functions of mechanical locking, power transmission, data transfer and heat exchange. The locking interface 10 can be used as both the active end for sub-module connection (the active end in the present invention refers to the end that needs to extend relevant structures to realize the functions of mechanical locking, power transmission, data transfer and heat exchange), and can also cooperate with the active end as the passive end. The locking interface 10 first realizes the positioning between the docking sub-modules by means of pin-hole insertion; then, the locking hook for realizing the mechanical connection function of the active end interface extends, and cooperates with the relevant structures of the opposite passive end interface to realize the mechanical locking between sub-modules; finally, the digital electro-thermal component located at the center of the active end interface extends and cooperates with the corresponding digital electro-thermal component of the opposite passive end interface to realize the data transfer, power transmission and heat exchange functions between interfaces.

[0068] Based on the hermaphroditic interface in the present invention, the interface distribution and combination scheme of the sub-modules are designed. To achieve the smooth installation of the sub-modules, by reasonably arranging the number and positions of the interfaces (used as the active end or the passive end), only the combination of two types of sub-modules (sub-module A and sub-module B respectively) is required, and the overall connection and on-orbit deployment of space facilities such as large-aperture space telescopes can be realized through the grasping and handling operations of installation tools such as space robots. The end effector of the installation tool such as the robot realizes the handling and installation of the sub-module by grasping the "redundant interface" of the sub-module (this redundant interface still needs to be docked and locked with the interfaces of other sub-modules in subsequent installations), without the need to equip the sub-module with a dedicated grasping mechanism, which greatly simplifies the structural design of the sub-module. In addition, to reduce the on-orbit working time of installation tools such as space robots, according to the structural characteristics of the sub-modules, the two types of sub-modules are combined into a 2×2 module combination on the ground in advance before launch. After being launched into orbit, the installation tool such as the space robot directly grasps and transports the module combination to achieve on-orbit assembly, which greatly reduces the working time and extends the on-orbit service life.

[0069] It can be understood that the present invention is described through some embodiments. As is known to those skilled in the art, without departing from the spirit and scope of the present invention, various changes or equivalent replacements can be made to these features and embodiments. Additionally, under the teaching of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A modular space facility on-orbit assembly structure, characterized in that: The invention comprises a submodule A and a submodule B; the submodule A and the submodule B both comprise a locking interface (10), a base (42), a mirror structure (41) and a six-degree-of-freedom platform (40); the locking interface (10) is fixed on the outside of the base (42), and is used to realize connection with other interfaces and provide mechanical locking, power transmission, data transmission and heat exchange functions, as well as provide a gripping position for an end effector of an installation tool; the six-degree-of-freedom platform (40) is used to connect the mirror structure (41) and the base (42) arranged above and below, and can adjust the position and posture of the mirror structure (41) according to the working state; the mirror structure (41) is used to collect effective information such as optical signals in space.

2. The modular space facility on-orbit assembly structure according to claim 1, characterized in that: The base (42) and the mirror structure (41) are both hexagonal, the submodule A is provided with five locking interfaces (10), the submodule B is provided with four locking interfaces (10), and a plurality of submodules A and submodules B are connected via the locking interfaces (10).

3. The modular space facility on-orbit assembly structure according to claim 1, characterized in that: The locking interface (10) comprises a driving ring (11), a coupling ring (12), a fixing ring (14), a supporting structure (15), an upper cover plate (16), a spring pin (17), a plurality of electric heating components (18), a pin ring (19), a rotating base (20) and a fixing base (21); The upper cover plate (16) and the fixed base (21) are connected by a support structure (15) to form a circular cavity structure, and the fixed ring (14), the coupling ring (12), the driving ring (11) and the pin ring (19) are sequentially mounted from the inside to the outside and arranged in the circular cavity structure. The driving ring (11) is drivingly connected to the pin ring (19) and can drive the pin ring (19) to move up and down. The pin ring (19) is used to realize the alignment and positioning of the interface. The driving ring (11) and the fixed ring (14) can drive the coupling ring (12) to move up and down through the coupling pin (13). The coupling ring (12) is used to realize the locking function of the interface. The lower end of the rotating base (20) is drivingly connected to the driving ring (11). The upper end of the rotating base (20) passes through the fixed ring (14) and is connected to a plurality of electric heating components (18). The driving ring (11) drives the plurality of electric heating components (18) to move up and down through the rotating base (20). The plurality of electric heating components (18) are used to cooperate with the opposite side interface to realize data transmission and power transmission functions.

4. The modular space facility on-orbit assembly structure according to claim 3, characterized in that: The driving ring (11) is a cylindrical structure, with a driving gear (111) and a driving ring outer groove (112) on its outer wall, a driving ring inner groove (113) on its inner wall, an outer gear (115) on its bottom, and a driving ring top locking hook (114) on its top; The drive ring (11) meshes with an external motor through a drive gear (111); the outer groove line (112) of the drive ring cooperates with an inner guide pin (192) of a pin ring (19); the inner groove line (113) of the drive ring cooperates with a coupling ring (12) through a coupling pin (13); the drive ring (11) meshes with an inner gear (201) of a rotating base (20) through an outer gear (115) at the bottom; a top locking hook (122) is provided at the top of the coupling ring (12); when the interface is used as an active end, the top locking hook (122) interlocks with a top locking hook (114) of the drive ring of the opposite interface; when the interface is used as a passive end, the top locking hook (114) of the drive ring interlocks with a coupling ring locking hook of the opposite interface.

5. The modular space facility on-orbit assembly structure according to claim 4, characterized in that: The coupling ring (12) and the fixing ring (14) are both cylindrical structures, and the outer wall of the fixing ring (14) is provided with a groove line (142). The bottom of the coupling ring (12) is provided with a coupling hole (121). The coupling pin (13) passes through the coupling hole (121), and the two ends are respectively matched with the inner groove line (113) of the driving ring (11) and the groove line (142) of the fixing ring (14). The matching design of the groove line (142) of the fixing ring (14) and the inner groove line (113) of the driving ring meets the principle of spatial cam, so that the coupling pin (13) can achieve self-locking conditions during the movement process, and the coupling pin (13) can achieve rotation and translation compound movement.

6. The modular space facility on-orbit assembly structure according to claim 5, characterized in that: The fixing ring (14) is provided with a fixing hole (141) at the bottom and a positioning hole (143) at the top; the fixing hole (141) is connected to a bolt hole (212) of a fixing base (21) via a connecting bolt (22), and the positioning hole (143) is connected to a positioning hole (181) of a plurality of electric heating components (18) via a spring pin (17).

7. The modular space facility on-orbit assembly structure according to claim 4, characterized in that: The pin ring (19) is an annular thin plate structure, an outer guide pin (194) is arranged on its outer circumferential surface, an inner guide pin (192) is arranged on its inner circumferential surface, and a positioning pin (191) is arranged at the outer edge of the upper surface; the pin ring (19) cooperates with a vertical groove line (151) arranged on the support structure (15) through the outer guide pin (194), and the trajectory design of the outer groove line (112) of the driving ring conforms to the principle of a cylindrical cam. The inner guide pin (192) cooperates with the outer groove line (112) of the driving ring to realize the pin ring (19) to move linearly up and down, so that the positioning pin (191) can dock with the tapered hole of the opposite side interface.

8. The modular space facility on-orbit assembly structure according to claim 7, characterized in that: The upper cover plate (16) is an annular thin plate, on which a second bolt hole (161), a second positioning hole (162) and a tapered hole (163) are arranged; the second bolt hole (161) of the upper cover plate (16) cooperates with the first bolt hole (152) of the support structure (15) and is connected by a connecting bolt (22); the second positioning hole (162) allows the positioning pin (191) of the pin ring (19) to pass through, and the tapered hole (163) allows the positioning pin of the active end interface on the opposite side to enter.

9. The modular space facility on-orbit assembly structure according to claim 4, characterized in that: The rotating base (20) is a hollow thin plate with a boss in the middle, an internal gear (201) is arranged on the upper surface of the hollow thin plate part, three annular grooves (202) are arranged around the boss in the hollow thin plate part, the top of the boss part is a slope (203) and a step (204) together form a step surface, the internal gear (201) is meshed with the bottom external gear (115) of the driving ring (11), the annular groove (202) allows the fixed base (21) and the fixed ring (14) to be connected by connecting bolts (22), the slope (203) cooperates with the rolling bearing (182) of the electric heating component (18), allowing the rolling bearing (182) to slide along the slope (203) and drive the electric heating component (18) to move up and down; the step (204) cooperates with the rolling bearing (182) of the electric heating component (18) to maintain the rising height of the rolling bearing (182).

10. The modular space facility on-orbit assembly structure according to claim 4, characterized in that: The electric heating assembly (18) comprises a bottom cylindrical support structure, a middle annular thin plate (183) and an upper circuit board (186), and the three are connected and fixed by bolts (185). A heat exchange interface (184) is provided on the annular thin plate (183), and the circuit board (186) provides support for the contact plug (187). The rolling bearing (182) and the positioning hole (181) are both provided on the outer circumferential surface of the support structure.

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