Modular space facility on-orbit assembly structure

Abstract

A modular space facility on-orbit assembly structure belongs to the technical field of aerospace. The locking interface is fixed outside the base, which is used to realize the connection with other interfaces and provide mechanical locking, power transmission, data transmission and heat exchange functions, and provide a grabbing position for the end effector of the installation tool. The six-degree-of-freedom platform is used to connect the mirror structure arranged above and below the base, and can adjust the position and attitude of the mirror structure according to the working state. The mirror structure is used to collect optical signals and other effective information in space. The sub-modules of the present application have less types and strong interchangeability: by reasonably arranging the position and number of the locking interface, only two types of sub-modules are needed to realize the on-orbit installation of large-aperture space facilities such as space telescopes, which increases the interchangeability between the sub-modules; the active end and passive end interface structures used to realize the docking of the sub-modules are consistent, and once a special situation such as active end failure occurs, the passive end can replace the active end to realize the active locking function.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of aerospace technology, and particularly relates to a modular space facility on-orbit assembly structure. BACKGROUND

[0002] With the continuous development of modern astronomy and the continuous progress of aerospace technology, the aperture demand of space facilities such as space telescopes is increasing. However, the carrying capacity of existing launch vehicles, fairing size, and manufacturing and surface treatment technology of large-aperture lenses cannot meet the on-orbit deployment requirements of single large-aperture telescopes. Therefore, according to the structural characteristics, the large-aperture space facilities (referring to the main mirror structure of the space telescope, not including the secondary mirror, secondary mirror support truss, and other constituent structures of the space telescope) such as space telescopes are designed as modular structures with consistent size, and on-orbit assembly and deployment are achieved through batch launching by existing launch vehicles, which is a key space technology that needs to be mastered.

[0003] In order to make the modular structure launched into orbit (hereinafter referred to as sub-module) function normally, an interface needs to be installed on a single sub-module to assemble the sub-modules into a whole. In order to meet the above requirements, the interface first needs to have a basic connection and locking function to connect multiple modules. Secondly, in order to make the interface and scientific instruments on the sub-module function normally, power transmission between the sub-modules needs to be achieved. Thirdly, in order to evaluate the on-orbit working state of the sub-module and realize the functional control of the sub-module, data and information transmission between the sub-modules needs to be achieved. Finally, considering the special environment of space facilities in on-orbit operation, the space facilities need to maintain a certain working temperature, and heat exchange between the sub-modules is also needed.

[0004] In order to realize the on-orbit installation and arrangement of large-aperture space facilities, the interface distribution on the sub-module not only needs to be used for connection between the sub-modules, but also needs to provide a grabbing position for installation tools such as mechanical arms, so multiple interfaces need to be installed on a sub-module. In order to save the processing and manufacturing cost of the sub-module, the interface distribution on the sub-module needs to be consistent as much as possible to increase the interchangeability of the sub-module; in order to simplify the installation control process, the interfaces at the same position on the same type of sub-module can only be used as active or passive ends. Moreover, during the docking process of the sub-modules, the two interfaces used for docking between the sub-modules cannot be active at the same time. SUMMARY

[0005] In order to meet the above requirements, the present application provides a modular space facility on-orbit assembly structure, which can realize the connection between the sub-modules, and the hermaphroditic interface with the functions of mechanical locking, power transmission, data transmission, and heat exchange.

[0006] The technical scheme adopted by the present application is:

[0007] A modular space facility on-orbit assembly structure, comprising a sub-module A and a sub-module B; the sub-module A and the sub-module B both comprise a locking interface, a base, a mirror structure and a six-degree-of-freedom platform; the locking interface is fixed outside the base, is used for realizing connection with other interfaces and providing mechanical locking, power transmission, data transmission and heat exchange functions and providing a grabbing position for an end effector of an installation tool, and the six-degree-of-freedom platform is used for connecting the mirror structure arranged above and below the base and can adjust the position and posture of the mirror structure according to a working state, and the mirror structure is used for collecting optical signals and other effective information in space.

[0008] Compared with the prior art, the present application has the following beneficial effects:

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

[0010] 1. Fewer sub-module types and high interchangeability: by reasonably arranging the positions and numbers of the locking interfaces, only two types of sub-modules can realize on-orbit installation of large-aperture space facilities such as space telescopes, and the interchangeability between the sub-modules is increased; the active end and the passive end interface structures used for realizing sub-module docking are consistent, and once a special situation such as active end failure occurs, the passive end can replace the active end to realize active locking function.

[0011] 2. Simple sub-module structure: the redundant locking interfaces of the sub-modules can be used for grabbing by a robot and other installation tools, and there is no need to additionally design a special structure for grabbing by a space robot and other installation tools, thereby simplifying the structure design of the sub-modules themselves.

[0012] 3. Reducing on-orbit installation time: before being launched into orbit, the sub-modules are assembled into a module combination on the ground in advance, and after being launched into orbit, the large-aperture space facility is deployed by directly carrying out grabbing and handling operation of the module combination, compared with installing the sub-modules piece by piece, the working time of the space robot and other installation tools is greatly reduced, and the working efficiency is improved.

[0013] 4. Expandable aperture of the space facility: the large-aperture space facility designed in the present application only needs one type of 2*2 module combination to complete on-orbit assembly and deployment, and without reinstallation, the aperture of the space facility can be gradually expanded by adding module combinations outside according to actual conditions, thereby greatly saving installation time and cost.

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

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

[0016] 2. Simple control: the interface of the application adopts a single motor multi-step telescopic mode, only needs to control the rotation of the internal driving ring driven by a single motor to complete the pin-hole insertion, hook locking and the docking of the number of electric heating components, and realizes all functions of the interface.

[0017] 3. Structure simplification: the interface of the application is designed as a hermaphroditic structure, can be used as an active end and a passive end at the same time, and all functions can be realized only through the movement of the active end.

[0018] 4. Function redundancy: the overall structure of the interface of the application is designed as 90° rotational symmetry, greatly increases the function redundancy, and ensures that the remaining parts of the interface can work normally and stably when a single part fails.

[0019] 5. Easy module replacement: the overall design of the interface of the application is a cylindrical structure, each part stretched out after unlocking is retracted to the inside of the cylinder, the interfaces adopt plane lamination, there is no structure intersection or engagement, and it is easy to realize module replacement. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structure schematic diagram of a sub-module A of the application;

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

[0022] Figure 3 is a structure schematic diagram of a sub-module B of the application;

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

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

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

[0026] Figure 7 is a schematic diagram of combination of sub-modules of the application;

[0027] Figure 8 is a top view of the combination of sub-modules of the application;

[0028] Figure 9 is a simplified schematic diagram of combination of sub-modules of the application;

[0029] Figure 10 is an assembly order of a large-diameter space facility module;

[0030] Figure 11 is an exploded view of a locking interface;

[0031] Figure 12is the schematic diagram of the driving ring structure of the present application;

[0032] Figure 13 is the schematic diagram of the fixed ring structure of the present application;

[0033] Figure 14 is the schematic diagram of the electric heating assembly structure of the present application;

[0034] Figure 15 is the schematic diagram of the rotating base structure of the present application;

[0035] Figure 16 is the schematic diagram of the coupling pin movement of the present application;

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

[0037] Figure 18 is the schematic diagram of the interface movement of the present application;

[0038] Figure 19 is the schematic diagram of the interface as the active end in the locked state of the present application;

[0039] Wherein: 10, the locking interface; 11, the driving ring; 111, the driving gear; 112, the outer groove line of the driving ring; 113, the inner groove line of the driving ring; 114, the top locking hook of the driving ring; 115, the outer gear; 12, the coupling ring; 121, the coupling hole; 122, the top locking hook; 13, the coupling pin; 14, the fixed ring; 141, the fixed hole; 142, the groove line; 143, the first positioning hole; 15, the support structure; 151, the vertical groove line; 152, the first bolt hole; 16, the upper cover plate; 161, the second bolt hole; 162, the second positioning hole; 163, the tapered hole; 17, the spring pin; 18, the electric heating assembly; 181, the third positioning hole; 182, the rolling bearing; 183, the annular thin plate; 184, the heat exchange interface; 185, the bolt; 186, the circuit board; 187, the contact plug; 19, the pin ring; 191, the positioning pin; 192, the inner guide pin; 193, the fourth positioning hole; 194, the outer guide pin; 20, the rotating base; 201, the inner gear; 202, the annular groove; 203, the slope; 204, the step; 21, the fixed base; 211, the fifth positioning hole; 212, the third bolt hole; 213, the center hole; 22, the connecting bolt; 40, the six-degree-of-freedom platform; 41, the mirror structure; 42, the base. DETAILED DESCRIPTION

[0040] In order to better understand the purpose, structure and function of the present application, the present application will be described in further detail below in combination with the drawings.

[0041] According to the number and distribution of the interfaces, the on-orbit assembly structure in the present application includes two types of sub-modules A and B, respectively asFigure 1 、 Figure 2 and Figure 3 、 Figure 4 . The overall structure of sub-module A and sub-module B is basically the same, mainly including locking interface 10, base 42, mirror structure 41, and six-degree-of-freedom platform 40. Among them, the base 42 is the supporting structure of the sub-module, which is a hexagonal prism structure as a whole; the locking interface 10 is fixed on the outside of the base 42, which is a cylindrical structure as a whole, used to realize the connection with other interfaces and provide mechanical locking, power transmission, data transmission and heat exchange function, and can also provide a grasping position for the end effector of the installation tool such as a space robot; 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 the installation tool such as a space robot, 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 the 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, the simplified schematic diagram of the sub-module is drawn with the maximum envelope range of the interface on the outside of the sub-module, and the number and active / passive end distribution of the interfaces on the outside of the sub-module A and the sub-module B are shown in the simplified schematic diagram as shown in Figure 5 , and the simplified schematic diagram of the locking interface 10 as an active end and a passive end is shown in Figure 6 .

[0043] In order to reduce the on-orbit installation time of the installation tool such as a space robot, according to the interface structure characteristics of the sub-module, the two types of sub-modules, sub-module A and sub-module B, are assembled on the ground in advance to form a 2*2 module combination, which is then launched into orbit as a whole by a launch vehicle and other spacecraft. The overall structure and top view of the module combination are shown in Figure 7 、 Figure 8 . Each module combination includes one sub-module A and three sub-modules B. The locking interfaces 10 on the outside of the module combination are left as redundant locking interfaces 10, which are connected with other module combinations, and can also be used for the end effector grasping position of the installation tool such as a space robot. Based on the simplified schematic diagram of the sub-module in Figure 5 , the simplified schematic diagram of the module combination is shown in Figure 9 , where the letters A and B represent the types of sub-modules.

[0044] The schematic diagram of a large-diameter space facility assembled by multiple identical module combinations in orbit is shown in Figure 10As shown, the "number-letter" combination in the figure represents the installation order of the 2*2 module combination, wherein "0M" located at the center shadow position represents the center module of the large-aperture space facility, which can be used to receive the reflected light of the secondary mirror and connect with other scientific instruments at the bottom. The connection between the module combinations is also completed by the active end and passive end of the locking interface 10. Since the structure of the active end and passive end of the locking interface 10 is completely consistent, in the case of extreme conditions such as the failure of the active end of the locking interface 10 on one side, the passive end of the locking interface 10 can replace the active end to play the functions of connection and locking, thereby greatly enhancing the redundancy function of the locking interface 10. In addition, since Figure 10 all the large-aperture space facilities in the large-aperture space facility in the large-aperture space facility are assembled in orbit by the same module combination, by installing the same type of module combination on the outside on the basis of the existing structure, the aperture expansion of the space facility can be realized. Compared with reassembling in orbit, this method can effectively reduce the assembly time and save time and economic cost. Moreover, by using the same module combination, the overall size and mass of the structure are basically consistent, which greatly simplifies the control process of the installation tool such as a space robot when performing on-orbit installation.

[0045] The structure of the locking interface 10 in the present application is shown in Figure 11 , mainly including a driving ring 11, a coupling ring 12, a coupling pin 13, a fixed ring 14, a support structure 15, an upper cover plate 16, a spring pin 17, an electrical heating assembly 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 and constitute a circular cavity structure, the fixed ring 14, the coupling ring 12, the driving ring 11 and the pin ring 19 are sequentially sleeved and arranged in the circular cavity structure from inside to outside,

[0047] The driving ring 11 is drivingly connected with the pin ring 19 and can drive the pin ring 19 to move up and down, the pin ring 19 is used for realizing the alignment positioning of the interface, the driving ring 11 and the fixed ring 14 are matched through the coupling pin 13 and can drive the coupling ring 12 to move up and down, the coupling ring 12 is used for realizing the locking function of the interface, the lower end of the rotating base 20 is drivingly connected with the driving ring 11, the upper end of the rotating base 20 penetrates through the fixed ring 14 and is connected with the electrical heating assembly 18, the driving ring 11 drives the electrical heating assembly 18 to move up and down through the rotating base 20, and the electrical heating assembly 18 is used for cooperating with the interface on the opposite side to realize the data transmission and power transmission functions.

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

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

[0050] In order to realize the hermaphroditic structure of the interface, the drive ring top end lock hook 114 of the drive ring 11 and the top lock hook 122 of the coupling ring 12 are designed; when the interface acts as the active end, the top lock hook 122 is interlocked with the drive ring top end lock hook 114 of the opposite interface; when the interface acts as the passive end, the drive ring top end lock hook 114 is interlocked with the top lock hook 122 groove line 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 hole 121 is used to fix the coupling pin 13, and the coupling ring 12 realizes the rotating extension function under the action of the coupling pin 13 and the drive ring inner groove line 113; if the interface acts as the active end, the top lock hook 122 needs to cooperate with the drive ring top end lock hook 114 of the passive end, which is used to realize the locking function of the interface.

[0052] The coupling pin 13 is a cylindrical structure, and the two ends are respectively matched with the drive ring inner groove line 113 and the groove line 142 of the fixed ring 14 (as shown in Figure 13 ), which can realize rotating and translating movement under the joint action of the drive ring inner groove line 113 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 fixed ring 14 is cylindrical (as shown in Figure 13 ), mainly including three fixed 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 fixed hole 141 is connected with the bolt hole three 212 of the fixed base 21 through the connecting bolt 22, which is used to realize the fixation of the fixed ring 14 itself; the groove line 142 cooperates with the drive ring inner groove line 113, so that the coupling pin 13 can simultaneously rotate and translate; the positioning hole one 143 is connected with the digital heating assembly 18 through the spring pin 17, which is used to limit the movement displacement of the digital heating assembly 18.

[0054] The principle diagram of the slot line 142 of the fixed ring 14 cooperating with the inner slot line 113 of the driving ring to make the coupling pin 13 rotate and translate is shown in Figure 16 、 Figure 17 As the structural size of the slot line 142 and the inner slot line 113 of the driving ring is designed to meet the space cam principle, during the locking process of the interface, the slot line 142 is fixed, the inner slot line 113 of the driving ring rotates in a given direction (the rotating direction of the locking process is shown by the black arrow in Figure 16 , and the rotating direction of the unlocking process is opposite to the direction shown by the black arrow), the coupling pin 13 rotates and translates under the comprehensive action of the coupling force, and drives the coupling ring 12 to rotate outward and extend, to realize the locking function of the top locking hook 122. After the inner slot line 113 of the driving ring moves in the rotating direction by a certain angle, the coupling pin 13 moves to the terminal position (shown in Figure 17 ), at this time, under the joint action of the slot line 142 and the inner slot line 113 of the driving ring, the coupling pin 13 meets the self-locking condition, and the interface remains in the locked state. The locked state of the interface as the active end in the present application is shown in Figure 19 , the pin ring 19 is attached to the upper cover plate 16. At this time, the positioning pin 191, the top locking hook 122 and the digital heating assembly 18 are all in the extended state, and are respectively matched with the conical hole, the driving ring locking hook and the digital heating assembly of the opposite interface, to realize the mechanical locking, data exchange, power transmission and heat transfer functions between the modules.

[0055] The support structure 15 is three independent arc-shaped plates, mainly including the vertical slot line 151 on the inner side and the bolt hole one 152 at the upper and lower ends. The vertical slot line 151 cooperates with the outer guide pin 194 of the pin ring 19, so that the pin ring 19 can only move up and down during the movement; the bolt hole one 152 cooperates with the bolt hole two 161 of the upper cover plate 16 and the positioning hole five 211 of the fixed base 21 respectively, and is connected through the connecting bolt 22, to realize the fixation and support of itself. In order to reduce the overall mass of the interface, the support structure 15 is designed as three independent arc-shaped plates, which is convenient for processing and manufacturing.

[0056] The overall structure of the upper cover plate 16 is a ring-shaped thin plate, mainly including the bolt hole two 161, two positioning holes two 162 and two conical holes 163. The bolt hole two 161 cooperates with the bolt hole one 152 of the support structure 15, and is connected through the connecting bolt 22, to realize the fixation of itself; the positioning hole two 162 allows the positioning pin 191 to pass through, to realize the alignment function of the interface; in order to realize the hermaphroditic structure design, when acting as the passive end interface, the conical hole 163 allows the positioning pin of the opposite active end interface to enter, to realize the alignment function of the interface, and the conical structure can also increase the tolerance of the interface.

[0057] The overall structure of the spring pin 17 is a cylinder, with the spring located in the middle and the diameters of both ends slightly larger than the middle. The two ends of the spring pin 17 are respectively connected to the fixing ring 14 ( Figure 13 As shown) the top positioning hole 143 and the number of electric heating components 18 ( Figure 14 The positioning hole 3 181 shown in FIG. 1 is matched to allow the electric heating component 18 to move up and down when pushed by an external force. In addition, in order to maintain the stability of the electric heating component 18, the spring in the middle of the spring pin 17 is always in a compressed state.

[0058] Number of electric heating components 18 ( Figure 14 The overall structure of the device (shown in Figure 1) is divided into three layers, upper, middle, and lower, connected and fixed by bolts 185. The bottom layer is a cylindrical support structure with three positioning holes 181 and three rolling bearings 182 on the outside; the middle layer is an annular thin plate 183, which provides a fixed function for the four heat exchange interfaces 184; and the top layer is a circuit board 186 with four notches around the perimeter, which provides support for the contact plug 187. Similarly, the circuit board 186 is divided into four areas, two by two, to achieve data transmission and power transfer functions. Positioning hole 181 is connected to the fixing ring 14 ( Figure 13 As shown) the top positioning hole 143 cooperates to achieve positioning while also being able to move up and down; the rolling bearing 182 and the rotating base 20 ( Figure 15 The slope 203 and the step 204 at the top cooperate with each other, and 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, thereby realizing the connection function between the electric heating component 18 and the opposite side interface; the heat exchange interface 184 is divided into two groups, and the interfaces in one group are divided into male interfaces and female interfaces, which cooperate with the opposite side interface to realize the heat exchange cycle while also having a redundant function; the contact plug 187 is also divided into male interfaces and female interfaces, which cooperate with the opposite side interface to realize data transmission and power transmission functions.

[0059] The overall structure of the pin ring 19 is a thin annular plate, primarily comprising two positioning pins 191, an inner guide pin 192, a fourth positioning hole 193, and an outer guide pin 194. Positioning pin 191 passes through positioning hole 162 of the upper cover plate 16 and docks with the tapered hole of the upper cover plate on the opposite interface, achieving interface alignment. The inner guide pin 192 engages with the outer groove 112 of the drive ring to achieve self-movement. Positioning hole 193, designed to accommodate the hermaphroditic design of the interface, mates with tapered hole 163 of the upper cover plate 16 when acting as the passive end, allowing insertion of the positioning pin of the opposite interface and achieving alignment. The outer guide pin 194 engages with the vertical groove 151 of the support structure 15, limiting pin ring 19's inherent movement to vertical.

[0060] Rotating base 20 ( Figure 15The overall structure is a hollow thin plate with a boss in the middle, an internal gear 201 is set on the upper surface of the hollow thin plate, three annular grooves 202 are opened around the boss on the hollow thin plate, and the top of the boss is a slope 203 and a step 204 that together form a step surface, wherein the internal gear 201 and the drive ring 11 ( Figure 12 The outer gear 115 at the bottom of the device is engaged with the outer gear 115 to realize its own rotation; the annular groove 202 allows the fixed base 21 and the fixed ring 14 to be connected by the connecting bolts 22; the slope 203 is connected to the number of electric heating components 18 ( Figure 14 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.

[0061] The fixed base 21 is constructed as a thin, annular plate, primarily comprising a fifth positioning hole 211, a third bolt hole 212, and a center hole 213. The fifth positioning hole 211 mates with the first bolt hole 152 of the support structure 15, connected via a connecting bolt 22, securing the support structure 15. The third bolt hole 212 mates with the connecting bolt 22 to secure the retaining ring 14. The center hole 213 allows for connection between the internal wiring of the spatial module structure and the digital heating assembly 18, enabling data transfer, power transmission, and heat exchange between different spatial module structures through the interface.

[0062] Connecting bolt 22 engages with bolt hole 3 212 of fixing base 21 and fixing hole 141 of fixing ring 14, securing fixing ring 14. Connecting bolt 22 also connects bolt hole 152 of support structure 15 to bolt hole 2 161 of upper cover plate 16 and positioning hole 5 211 of fixing base 21.

[0063] Through the above analysis, it can be obtained that when the interface in the present invention is used as the active end, a single motor drives the driving ring 11 to rotate and thus realizes the motion chain transmission process of multiple extensions and retractions as follows: Figure 18 As shown, the direction of the arrow in the figure represents the direction of motion transmission during the locking process.

[0064] First kinematic chain: The positioning function of positioning pin 191 is achieved by extending (pin-hole connection). As drive ring 11 rotates, inner guide pin 192 and outer guide pin 194 cooperate with drive ring outer groove 112 and vertical groove 151 of support structure 15, respectively, driving pin ring 19 up and down. Positioning pin 191, fixed to pin ring 19, gradually extends out of positioning hole 2 162 in upper cover plate 16 and engages with the tapered hole of the opposite interface, completing the interface's positioning function.

[0065] The second movement chain: the mechanical locking function of the top locking hook 122 is realized (the locking hook rotates and extends). After the driving ring 11 rotates, under the joint action of the driving ring inner groove line 113 and the fixed ring groove line 142 (as shown in the figure), the coupling pin 13 is driven to realize the composite motion of rotating and extending, and then the top locking hook 122 of the coupling ring 12 is rotated and extended, cooperates with the driving ring locking hook of the opposite interface, and realizes the locking function of the interface. Figure 13

[0066] The third movement chain: the data transmission, power transmission and heat exchange function of the digital and electrical heating assembly 18 is realized (the extension of the digital and electrical heating assembly 18 is docked). After the driving ring 11 rotates, the rotating base 20 is driven to rotate by the meshing of the bottom outer gear 115 and the inner gear 201 of the rotating base 20, and then the slope 203 at the top of the rotating base 20 (as shown in the figure) pushes the rolling bearing 182 at the bottom of the digital and electrical heating assembly 18 to extend. After rotating through a certain angle, the step 204 cooperates with the rolling bearing 182 to keep the extension height of the digital and electrical heating assembly 18, realizes the docking with the digital and electrical heating assembly of the opposite interface, and then realizes the data transmission, power transmission and heat exchange function of the interface. Figure 15

[0067] In order to realize the connection between the submodules, the present application designs a hermaphroditic interface with mechanical locking, power transmission, data transmission and heat exchange functions. The locking interface 10 can be used as an active end (the active end in the present application refers to the need to extend the related structure for realizing the mechanical locking, power transmission, data transmission and heat exchange functions) for connecting the submodules, and can also be used as a passive end cooperating with the active end. The locking interface 10 first realizes the positioning between the docked submodules through the pin-hole insertion; then, the locking hook of the active end interface for realizing the mechanical connection function extends, cooperates with the related structure of the opposite passive end interface to realize the mechanical locking between the submodules; finally, the digital and electrical heating assembly located at the center of the active end interface extends and cooperates with the corresponding digital and electrical heating assembly of the opposite passive end interface, and is used for realizing the data transmission, power transmission and heat exchange function between the interfaces.

[0068] ​​Based on the hermaphroditic interface in the application, the interface distribution and combination scheme of the sub-modules are designed. In order to realize the smooth installation of the sub-modules, by reasonably arranging the number and position (used as an active end or a passive end) of the interfaces, only the mutual combination of two types of sub-modules (sub-module A and sub-module B) is needed, and the overall connection and on-orbit deployment of the space facilities such as large-aperture space telescopes can be realized through the grabbing and carrying operation of the installation tool such as a space robot. The end effector of the installation tool such as a robot realizes the carrying and installation of the sub-modules by grabbing the "redundant interface" of the sub-modules (which still needs to be connected and locked with the interfaces of other sub-modules in subsequent installation), without the need to equip the sub-modules with a special grabbing mechanism, which greatly simplifies the structural design of the sub-modules. In addition, in order to reduce the on-orbit working time of the installation tool such as a space robot, 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 before launch. After being launched into orbit, the installation tool such as a space robot directly grabs and carries the module combination to realize on-orbit assembly, greatly reducing the working time and prolonging the on-orbit service life.

[0069] It can be understood that the present application is described by some embodiments, and those skilled in the art know that various changes or equivalent replacements can be made to the features and embodiments without departing from the spirit and scope of the present application. In addition, under the guidance of the present application, the features and embodiments can be modified to adapt to specific conditions and materials without departing from the spirit and scope of the present application. Therefore, the present application is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application are within the scope of the present application.

Claims

1. A modular space facility on-orbit assembly structure, characterized by: 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 the end effector of the 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, 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 multiple submodules A and submodules B are connected via the locking interfaces (10). 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. The fixed ring (14), the coupling ring (12), the driving ring (11) and the pin ring (19) are sequentially fitted from the inside to the outside and arranged in the circular cavity structure. The driving ring (11) is connected to the pin ring (19) by driving 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) cooperate through the coupling pin (13) to drive the coupling ring (12) to move up and down. The coupling ring (12) is used to realize the locking function of the interface. The lower end of the rotating base (20) is connected to the driving ring (11) by driving. The upper end of the rotating base (20) passes through the fixed ring (14) and is connected to the electric heating component (18). The driving ring (11) drives the electric heating component (18) to move up and down through the rotating base (20). The electric heating component (18) is used to cooperate with the opposite side interface to realize data transmission and power transmission functions.

2. The modular space facility on-orbit assembly structure according to claim 1, characterized in that: The driving ring (11) is a cylindrical structure, with a driving gear (111) and a driving ring outer groove (112) provided on its outer wall, a driving ring inner groove (113) provided on its inner wall, an outer gear (115) provided on its bottom, and a driving ring top lock hook (114) provided on its top; The drive ring (11) is meshed with the external motor through the drive gear (111); the outer groove line (112) of the drive ring is matched with the inner guide pin (192) of the pin ring (19); the inner groove line (113) of the drive ring is matched with the coupling ring (12) through the coupling pin (13); the drive ring (11) is meshed with the inner gear (201) of the rotating base (20) through the outer gear (115) at the bottom; the top of the coupling ring (12) is provided with a top locking hook (122); when the interface is used as the active end, the top locking hook (122) is interlocked with the top locking hook (114) of the drive ring on the opposite side interface; when the interface is used as the passive end, the top locking hook (114) of the drive ring is interlocked with the top locking hook (122) of the opposite side interface.

3. The modular space facility on-orbit assembly structure according to claim 2, characterized in that: The coupling ring (12) and the fixed ring (14) are both cylindrical structures. The outer wall of the fixed 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). The two ends are respectively matched with the inner groove line (113) of the driving ring (11) and the groove line (142) of the fixed ring (14). The matching design of the groove line (142) of the fixed 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 a self-locking condition during the movement process, and the coupling pin (13) can achieve a combined rotation and translation motion.

4. The modular space facility on-orbit assembly structure according to claim 3, 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 the bolt hole (212) of the fixing base (21) via a connecting bolt (22), and the positioning hole (143) is connected to the positioning hole (181) of the electric heating component (18) via a spring pin (17).

5. The modular space facility on-orbit assembly structure according to claim 2, characterized in that: The pin ring (19) is an annular thin plate structure, with an outer guide pin (194) provided on its outer circumference, an inner guide pin (192) provided on its inner circumference, and a positioning pin (191) provided at the outer edge of the upper surface; the pin ring (19) cooperates with the vertical groove line (151) provided 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.

6. The modular space facility on-orbit assembly structure according to claim 5, 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 provided; 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 opposite active end interface to enter.

7. The modular space facility on-orbit assembly structure according to claim 2, characterized in that: The rotating base (20) is a hollow thin plate with a boss in the middle, and an internal gear (201) is provided on the upper surface of the hollow thin plate portion. Three annular grooves (202) are provided around the boss in the hollow thin plate portion. The top of the boss portion is a slope (203) and a step (204) together form a step surface. The internal gear (201) is engaged 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 at the same time; 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).

8. The modular space facility on-orbit assembly structure according to claim 2, characterized in that: The electric heating assembly (18) includes a cylindrical support structure at the bottom, an annular thin plate (183) at the middle, and a circuit board (186) at the top, 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 circumference of the support structure.

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