Structure for modular facility assembly and maintenance and module replacement method

Abstract

The invention discloses a structure for modular facility assembly and maintenance and a module replacement method, and belongs to the technical field of aerospace. The locking interfaces are fixed to the outer side and the bottom 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. The outer side and the bottom of the sub-module A are provided with six locking interfaces in total, and the outer side and the bottom of the sub-module B are provided with five locking interfaces in total. According to the invention, 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 and the like can be realized only by two types of sub-modules, and the interchangeability between the sub-modules is increased; as the active end interface and the passive end interface for realizing the butt joint of the sub-modules are consistent in structure, 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 field of aerospace technology, and particularly relates to a structure for modular facility assembly and maintenance and a module replacement method. 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 monolithic large-aperture telescopes. 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 by launching in batches with 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 interface first needs to have a basic connection and locking function to connect multiple modules. Secondly, in order to enable the interfaces, scientific instruments and other equipment 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 state of the sub-modules and realize the 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, in order 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 arrangement of large-aperture space facilities, the interface distribution on the sub-module 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, redundant interfaces need to be installed on a sub-module to assist the end effector of the installation tool to achieve the grasping function. In order to save the manufacturing cost of the sub-module, the interface distribution on the sub-module should be kept as consistent 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 the active end or the passive end. And, in order to avoid accidental situations such as collisions between adjacent interfaces, during the docking process of sub-modules, the two interfaces used for docking between adjacent sub-modules cannot be used as the active end at the same time. In addition, considering the on-orbit working characteristics of large-aperture space facilities such as space telescopes, in order to extend the on-orbit service life as much as possible, reduce the economic cost of production and manufacturing and the time cost of on-orbit launch and assembly, and prevent the functional failure of the entire space structure due to accidental situations such as the failure or functional maintenance of a single sub-module, the interfaces between sub-modules also need to have the characteristics of facilitating the replacement of sub-modules. Summary of the Invention

[0005] To meet the above requirements, the present invention provides a structure for modular facility assembly and maintenance and a module replacement method, which can realize the connection between sub-modules and a hermaphrodite interface with functions of mechanical locking, power transmission, data transfer, and heat exchange.

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

[0007] The structure for modular facility assembly and maintenance includes sub-module A and sub-module B; both sub-module A and sub-module B include a locking interface, a base, a mirror structure, and a six-degree-of-freedom platform; the locking interface is fixed on the outer side and bottom of the base, and is used to realize the connection with other interfaces and provide functions of mechanical locking, power transmission, data transfer, and heat exchange, as well as provide a grasping position for the end effector of the installation tool. The six-degree-of-freedom platform is used to connect the mirror structure and the base arranged up and down, and can adjust the position and posture of the mirror structure according to the working state. The mirror structure is used to collect effective information such as optical signals in space.

[0008] Both the base and the mirror structure are hexagonal. A total of six locking interfaces are arranged on the outer side and bottom of sub-module A, and a total of five locking interfaces are arranged on the outer side and bottom of sub-module B. Multiple sub-module A and sub-module B are connected through the locking interfaces.

[0009] The present invention has the following beneficial effects compared with the prior art:

[0010] I. Beneficial effects of the assembly structure:

[0011] 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; since the interface structures of the active end and the passive end for realizing sub-module docking are the same, in case of special situations such as the failure of the active end, the passive end can replace the active end to realize the active locking function.

[0012] 2. Simple structure of sub-modules: The interfaces of the sub-modules can be used for grasping by installation tools such as robots, without the need to design a dedicated structure for grasping by installation tools such as space robots, simplifying the structural design of the sub-modules themselves.

[0013] 3. Reduce on-orbit installation time: Before being launched into orbit, the sub-modules are assembled into a module combination on the ground in advance. After entering 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, the working efficiency is improved, and at the same time, the on-orbit service life of installation tools such as space robots is extended.

[0014] 4. Expandable aperture of space facilities: The large-aperture space facilities designed in the present invention only require one type of 2×2 module combination to complete on-orbit assembly and deployment. Without reinstallation, module combinations can be added on the outside according to actual situations to gradually expand the aperture of the space facilities, greatly reducing the economic cost of production and manufacturing and the time cost of launch and on-orbit assembly.

[0015] II. Beneficial effects of the locking interface:

[0016] 1. Complete functions: The interface of the present invention simultaneously has functions of mechanical locking, data transmission, power transmission, and heat exchange, and can meet the on-orbit working requirements of modular space structures.

[0017] 2. Simple control: The interface of the present invention adopts the method of single-motor multi-step telescoping. Only by controlling the rotation of a single motor to drive the internal drive ring can the pin-hole insertion, hook locking, and docking of the digital electro-thermal components be completed, as well as the extension of the interface end face, realizing all functions of the interface.

[0018] 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.

[0019] 4. Functional redundancy: The overall structure of the interface of the present invention is designed to be rotationally symmetric by 90°, greatly increasing the functional redundancy and ensuring that the remaining parts of the interface can work normally and stably when a single part fails.

[0020] 5. Variable size, facilitating module replacement: The overall design of the interface of the present invention is a cylindrical structure. During the locking process, the locking interface end face extends outward under the driving action of the pin ring (the external dimension of the cylindrical structure becomes larger) and is in planar contact with the opposite locking interface. After unlocking, the locking interface end face contracts to the initial movement position (the external dimension of the cylindrical structure becomes smaller), and the extending structure for realizing various functions retracts into the cylinder. There is no structural intersection or engagement between adjacent locking interfaces, leaving an operating space for module replacement. Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of sub-module A of the present invention;

[0022] Figure 2 is a top view of sub-module A of the present invention;

[0023] Figure 3 is a schematic structural diagram of sub-module B of the present invention;

[0024] Figure 4 is a top view of sub-module B of the present invention;

[0025] Figure 5 It is a simplified schematic diagram of the sub-module of the present invention;

[0026] Figure 6 It is a schematic diagram of the classification of the main and passive end interfaces of the present invention;

[0027] Figure 7 It is a schematic diagram after the combination of the sub-modules of the present invention;

[0028] Figure 8 It is a top view of the combined sub-module of the present invention;

[0029] Figure 9 It is a simplified schematic diagram of the combination of the sub-modules of the present invention;

[0030] Figure 10 It is the assembly order of the large-diameter space facility module;

[0031] Figure 11 It is an explosion diagram of the locking interface;

[0032] Figure 12 It is a schematic diagram of the drive ring structure of the present invention;

[0033] Figure 13 It is a schematic diagram of the fixed ring structure of the present invention;

[0034] Figure 14 It is a schematic diagram of the structure of the digital electrothermal component of the present invention;

[0035] Figure 15 It is a schematic diagram of the rotating base structure of the present invention;

[0036] Figure 16 It is a schematic diagram of the movement of the coupling pin of the present invention;

[0037] Figure 17 It is a schematic diagram of the self-locking of the coupling pin of the present invention;

[0038] Figure 18 It is a schematic diagram of the movement transmission when the interface of the present invention is in the unlocked state;

[0039] Figure 19 It is a schematic diagram of the locked state when the interface of the present invention is the active end;

[0040] Figure 20 It is a schematic diagram of the module replacement of the present invention;

[0041] Wherein: 10, locking interface; 11, driving ring; 111, driving gear; 112, outer groove line of driving ring; 113, inner groove line of driving ring; 114, top locking hook of driving ring; 115, outer gear; 12, coupling ring; 121, coupling hole; 122, top locking hook; 13, coupling pin; 14, fixing ring; 141, fixing hole; 142, groove line; 143, first positioning hole; 15, bottom support structure; 151, vertical groove line; 152, first bolt hole; 153, vertical groove line; 154, eighth positioning hole; 16, upper cover plate; 161, second bolt hole; 162, second positioning hole; 163, tapered hole; 164, seventh positioning hole; 17, compression spring pin; 18, digital electrothermal component; 181, third positioning hole; 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 guiding pin; 193, fourth positioning hole; 194, outer guiding pin; 195, cylindrical boss; 20, rotating base; 201, inner gear; 202, annular groove; 203, slope; 204, step; 205, cylindrical boss; 21, fixed base; 211, fifth positioning hole; 212, third bolt hole; 213, central hole; 22, connecting bolt; 23, top support structure; 231, inner guiding pin; 232, sixth positioning hole; 24, tension spring pin; 30, space module structure; 31, space; 40, six-degree-of-freedom platform; 41, mirror structure; 42, base. Detailed implementation manners

[0042] In order to better understand the purpose, structure and function of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0043] According to the different numbers and distributions of interfaces, the assembly and maintenance structures in the present invention include two types, sub-module A and sub-module B, as shown in Figure 1 、 Figure 2 and Figure 3 、 Figure 4 respectively. 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 a hexagonal prism structure as a whole; the locking interface 10 is fixed on the outer side and bottom of the base 42 and is a cylindrical structure as a whole, which is used to realize the connection with other interfaces and provide functions of mechanical locking, power transmission, data transfer and heat exchange, and 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 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.

[0044] To achieve connection with other sub - modules and provide grasping positions for installation tools such as space robots, each sub - module needs to contain multiple interfaces. Sub - module A has a total of six locking interfaces 10, and sub - module B has a total of five locking interfaces 10. Among them, sub - module A contains 3 active - end interfaces and 3 passive - end interfaces, and the active - end interfaces and passive - end interfaces are distributed alternately in sequence; sub - module B contains 2 active - end interfaces and 3 passive - end interfaces. There is one interface at the bottom of both sub - module A and sub - module B as the passive - end, which provides a grasping position for installation tools such as space robots when the sub - module fails or needs to be replaced during function upgrade.

[0045] For convenient representation, a simplified schematic diagram of the sub - module is drawn based on the maximum envelope range of the interfaces on the outer side of the sub - module. The simplified schematic diagrams of the number of interfaces and the distribution of the active / passive ends on the outer sides of sub - module A and sub - module B are as Figure 5 shown. The simplified schematic diagrams when the locking interface 10 serves as the active - end and the passive - end respectively are as Figure 6 shown.

[0046] 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 by 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 contains one sub - module A and three sub - module B. The adjacent sub - modules are connected through the locking interfaces 10 that serve as the active - end and the passive - end respectively. There are redundant locking interfaces 10 left on the outer side and the bottom of the module combination, which are used for connection and cooperation with other module combinations, and can also be used as the grasping positions for the end - effectors of installation tools such as space robots. Based on Figure 5 the simplified schematic diagram of the sub - module in Figure 9 shown, the simplified schematic diagram of the module combination is as

[0047] shown, where the letters A and B in the figure represent the types of sub - modules respectively.

[0047] 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 10 shown. The "number - letter" combination in the figure represents the installation order of the 2×2 module combination. Among them, "0M" 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 with other scientific instrument devices at the bottom.

[0048] The connection between module combinations is also completed by the locking interface 10, which serves as either the active end or the passive end. 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 a failure occurs on the active end side of the locking interface 10 and the active end cannot perform locking, etc., the passive end of the locking interface 10 can replace the active end to perform functions such as connection and locking, greatly enhancing the redundancy function of the locking interface 10. In addition, since Figure 10 the large-aperture space facilities in Figure 10 are all assembled in orbit from the same type of module combination, by installing the same type of module combination on the outside based on the existing structure, the expansion of the aperture of the space facility can be achieved. 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 dimensions, 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.

[0049] The locking interface 10 in the present invention adopts a hermaphrodite structure and is a cylindrical structure as a whole. It can either be used as the active end for interface docking (during the docking process, the structures for realizing mechanical locking, data transmission, power transmission, and heat exchange actively extend), or as the passive end (during the docking process, each part of the interface remains stationary and cooperates with the structures extended by the active end).

[0050] The structural composition of the locking interface 10 is as Figure 11 shown, mainly including a drive ring 11, a coupling ring 12, coupling pins 13, a fixing ring 14, a bottom support structure 15, an upper cover plate 16, compression spring pins 17, a number of electrothermal components 18, a pin ring 19, a rotating base 20, a fixed base 21, connection bolts 22, a top support structure 23, and tension spring pins 24.

[0051] The upper cover plate 16 and the fixed base 21 are connected by the bottom support structure 15 and the top support structure 23 to form a circular cavity structure. The fixing ring 14, the coupling ring 12, the drive ring 11, and the pin ring 19 are sleeved in sequence from the inside to the outside and arranged in the circular cavity structure.

[0052] The drive 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 drive ring 11 can drive the coupling ring 12 to move up and down through the cooperation of the coupling pins 13 with the fixing ring 14. 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 drive ring 11, and 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 drive 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 realize functions such as data transmission, power transfer, and heat exchange.

[0053] The structure of the drive ring 11 is asFigure 12 As shown. 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;

[0054] 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 an external motor to achieve 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 pin 13 and the coupling ring 12 through the coupling pin 13, and can drive the coupling pin 13 and the coupling ring 12 to move; the external gear 115 meshes with the internal gear 201 of the rotating base 20 (as Figure 15 shown), driving the rotating base 20 to achieve rotational motion;

[0055] In order to achieve the hermaphrodite structure of the interface, the top locking hook 114 of the driving ring 11 and the top locking hook 122 of the coupling ring 12 are designed; when the interface is the active end, the top locking hook 122 is interlocked with the top locking hook 114 of the opposite interface; when the interface is the passive end, the top locking hook 114 is interlocked with the coupling ring locking hook of the opposite interface.

[0056] The overall structure of the coupling ring 12 is cylindrical, mainly including three coupling holes 121 at the bottom and four top locking hooks 122. Among them, the coupling holes 121 are used to fix the coupling pin 13, and the coupling ring 12 realizes the rotational extension function under the action of the coupling pin 13 and the inner groove line 113 of the driving ring; if the interface acts as the active end, the top locking hook 122 needs to cooperate with the top locking hook 114 of the passive end to realize the locking function of the interface.

[0057] The coupling pin 13 is 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.

[0058] The overall structure of the fixing ring 14 is cylindrical ( Figure 13As shown in the figure, it mainly includes three fixing holes 141 at the bottom, three groove lines 142 at the middle position, and three positioning holes 143 at the top. Among them, the fixing holes 141 are connected to the bolt holes 212 of the fixing base 21 through connecting bolts 22 to realize the fixation of the fixing ring 14 itself; the groove lines 142 cooperate with the inner groove lines 113 of the driving ring, enabling the coupling pin 13 to rotate and translate simultaneously; the positioning holes 143 are connected to the digital electro-thermal component 18 through compression spring pins 17 to limit the movement displacement of the digital electro-thermal component 18.

[0059] The schematic diagram of the principle of the groove lines 142 of the fixing ring 14 cooperating with the inner groove lines 113 of the driving ring to make the coupling pin 13 rotate and translate is as Figure 16 、 Figure 17 shown. Since the structural dimensions of the groove lines 142 and the inner groove lines 113 of the driving ring are designed to meet the spatial cam principle, during the locking process of the interface, the groove lines 142 remain stationary, and the inner groove lines 113 of the driving ring rotate 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 to realize the locking function of the top lock hook 122. After the inner groove lines 113 of the driving ring move 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 lines 142 and the inner groove lines 113 of the driving 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 Figure 19 , and the pin ring 19 is in contact with the upper cover plate 16. At this time, the positioning pin 191, the top lock hook 122, and the digital electro-thermal component 18 are all in the extended state and cooperate with the tapered hole, driving ring lock hook, and digital electro-thermal component of the opposite interface respectively to realize the mechanical locking, data exchange, power transmission, and heat transfer functions between modules.

[0060] The bottom support structure 15 consists of three independent arc-shaped plates 1. Each arc-shaped plate 1 is provided with a vertical groove line 151 on the inner side, a bolt hole 152 on the bottom surface, a positioning hole 154 on the top surface, and a vertical groove line 153 on the outer side. 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 bolt hole 152 cooperates with the positioning hole 211 of the fixing base 21 and is connected through a connecting bolt 22 to realize its own fixing and supporting functions; the positioning hole 154 is connected to the upper cover plate 16 through a tension spring pin 24 to limit the movement of the upper cover plate 16 and keep it stable; the outer vertical groove line 153 cooperates with the inner guiding pin 231 of the top support structure 23, enabling the top support structure 23 to move up and down.

[0061] To reduce the overall mass of the interface, the bottom support structure 15 is designed as three independent arc-shaped plates, which is also convenient for processing and manufacturing.

[0062] The overall structure of the upper cover plate 16 is a circular thin plate, mainly including bolt hole two 161, positioning hole seven 164, two positioning holes two 162, and two tapered holes 163. Among them, bolt hole two 161 cooperates with positioning hole six 232 of the top support structure 23 and is connected by connecting bolt 22 to achieve its own fixation; positioning hole two 162 allows the positioning pin 191 to pass through to achieve the alignment function of the interface; in order to achieve the hermaphrodite structure design, when acting as the passive end interface, tapered hole 163 allows the positioning pin of the opposite active end interface to enter to achieve the alignment function of the interface. Designing it as a tapered structure can also increase the tolerance of the interface. Positioning hole seven 164 ( Figure 18 as shown) is connected and cooperated with positioning hole eight 154 of the bottom support structure 15 through the tension spring pin 24 to achieve the self-stability of the upper cover plate 16.

[0063] The overall structure of the compression spring pin 17 is a cylinder, with the spring in the middle part, and the diameters at both ends are slightly larger than the middle part. The two ends of the compression spring pin 17 are respectively matched with positioning hole one 143 at the top of the fixed ring 14 ( Figure 13 as shown) and positioning hole three 181 of the digital electro-thermal component 18 ( Figure 14 as shown), allowing the digital electro-thermal component 18 to move up and down when being pushed by an external force. And, in order to keep the digital electro-thermal component 18 stable, the spring in the middle position of the compression spring pin 17 is always in a compressed state.

[0064] Before starting to work, the digital electro-thermal component 18 is under the action of the compression spring and will not shake up and down, which is beneficial to maintaining stability; after unlocking, since the compression spring pin 17 is connected and fixed to the top positioning hole 143 of the fixed ring 14, the digital / electro / thermal component 18 under the action of the compression spring can return to the starting position of movement through the cooperation of the rolling bearing 182 and the slopes 203 and steps 204 of the rotating base 20.

[0065] The digital electro-thermal component 18 ( Figure 14 as shown) has an overall structure divided into upper, middle and lower layers, which are connected and fixed by bolts 185. It mainly includes a cylindrical support structure in the lowest layer, with three positioning holes three 181 and three rolling bearings 182 on the outside; the middle layer is a circular thin plate 183, which provides fixation for four heat exchange interfaces 184; the top layer is a circuit board 186 with four notches around, which provides support for the contact plug 187. Similarly, the circuit board 186 is divided into four areas, two in a group, to achieve the functions of data transmission and power transfer. Positioning hole three 181 is connected to the fixed ring 14 through the compression spring pin 17 ( Figure 13When it is fitted with the positioning hole 143 at the top (as shown), while achieving positioning, it can also move up and down; the rolling bearing 182 is fitted with the ramp 203 and the step 204 at the top of the rotating base 20 ( Figure 15 as shown). The ramp 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, realizing the connection function of the digital electrothermal component 18 and the interface on the opposite side; the heat exchange interface 184 is divided into two groups. The interfaces in one group are divided into male and female interfaces. While realizing the heat exchange cycle with the interface on the opposite side, it also has a redundancy function; the contact plug 187 is also divided into male and female interfaces, and it realizes the functions of data transmission and power transfer in cooperation with the interface on the opposite side.

[0066] 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 193, an outer guiding pin 194, and a cylindrical boss 195. Among them, the positioning pin 191 passes through the positioning hole 162 of the upper cover plate 16 and is butted with the tapered hole of the upper cover plate of the interface on the opposite side 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 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 interface on the opposite side to be inserted to realize the alignment function; the outer guiding pin 194 cooperates with the vertical groove line 151 of the bottom support structure 15 to enable the pin ring 19 to only move up and down by itself, and the cylindrical boss 195 is used to push the upper cover plate 16 to move, realizing variable interface dimensions, and the height of the cylindrical boss 195 is less than the height of the positioning pin 191.

[0067] The rotating base 20 ( Figure 15 as shown) has an overall structure of a hollow thin plate with a cylindrical boss 205 in the middle. The internal gear 201 is arranged on the upper surface of the hollow thin plate part, and three annular grooves 202 are opened around the boss. The top of the cylindrical boss 205 is a step surface composed of a ramp 203 and a step 204. Among them, the internal gear 201 meshes with the external gear 115 at the bottom of the driving 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 the connecting bolt 22; the ramp 203 cooperates with the rolling bearing 182 of the digital electrothermal component 18 ( Figure 14 as shown) to allow the rolling bearing 182 to slide along the ramp 203 and drive the digital electrothermal component 18 to move up and down at the same time; the step 204 cooperates with the rolling bearing 182 of the digital electrothermal component 18 to maintain the rising height of the rolling bearing 182.

[0068] The overall structure of the fixed base 21 is an annular thin plate, mainly including the fifth positioning hole 211, the third bolt hole 212, and the central hole 213. Among them, the fifth positioning hole 211 cooperates with the first bolt hole 152 of the bottom support structure 15 and is connected by the connecting bolt 22 to realize the fixing function of the bottom support structure 15; the third bolt hole 212 cooperates with the connecting bolt 22 to realize the fixing function of the fixing ring 14; the central hole 213 allows the internal circuits of the space module structure to cooperate and connect with the several electro-thermal components 18, and realizes data transfer, power transmission, and heat exchange functions between different space module structures through the interface.

[0069] The connecting bolt 22 realizes the fixing function of the fixing ring 14 by cooperating with the third bolt hole 212 of the fixed base 21 and the fixing hole 141 of the fixing 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 bottom 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.

[0070] The overall structure of the top support structure 23 is three independent second arc plates. Each second arc plate is provided with an inner guide pin 231 and a sixth positioning hole 232 at the top. Among them, the inner guide pin 231 cooperates with the vertical groove line 153 on the outer side of the bottom support structure 15 and can move up and down in the vertical groove line 153 under the push of the cylindrical boss 195; the sixth positioning hole 232 cooperates with the second bolt hole 161 of the upper cover plate 16 and is connected by the connecting bolt 22 to realize its own fixing function.

[0071] The overall structure of the tension spring pin 24 is similar to that of the compression spring pin 17, both of which are cylinders. The two ends of the tension spring pin 24 cooperate with the seventh positioning hole 164 of the upper cover plate 16 ( Figure 18 ), the eighth positioning hole 154 of the bottom support structure 15 ( Figure 11 ), allowing the upper cover plate 16 to move up and down when pushed by an external force. And, in order to keep the upper cover plate 16 stable, the spring in the middle position of the tension spring pin 24 is always in a stretched state. When not working ( Figure 18 shown), the upper cover plate 16 is affected by the tension spring and will not shake up and down, which is beneficial to maintaining stability; during the unlocking process, since the tension spring pin 24 is connected to the bottom support structure 15 (always in a fixed state), the upper cover plate 16 affected by the tension spring force can return to the starting movement position through the cooperation with the cylindrical boss 195, realizing the end face contraction function of the interface.

[0072] 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 driving ring 11 to rotate through a single motor is as shown in Figure 18 , ( Figure 18The interface in it is in an inoperative state, that is, a closed state). The direction of the dashed arrow in the figure indicates the direction of motion transmission during the locking process. After locking (the schematic diagram of the locked state is as Figure 19 shown), the positioning pins 191, the upper cover plate 16, the locking hooks 122 and the digital electrothermal components 18 of the interface extend outwards, cooperate with the corresponding structures of the opposite interface, and then complete the mechanical locking, end face extension, data transmission, power transmission and heat exchange functions required by the module interface.

[0073] The first motion chain: The positioning function of the positioning pin 191 and the upper cover plate 16 is realized (pin-hole insertion). After the driving ring 11 rotates, the inner guiding pin 192 and the outer guiding pin 194 respectively cooperate with the outer groove line 112 of the driving ring and the vertical groove line 151 of the bottom 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. In addition, due to the cylindrical boss 195 with a certain height on the pin ring 19, after the pin ring 19 rises a certain height, the cylindrical boss 195 contacts the upper cover plate 16 and pushes the upper cover plate 16 to move upwards, realizing the function of the end face of the interface extending outwards (the overall size of the connecting interface becomes larger). Since the movement of the upper cover plate 16 is driven by the cylindrical boss 195 on the pin ring 19, the outward extension of the upper cover plate 16 and the positioning pin 191 is regarded as a motion chain.

[0074] The second motion 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 combined action of the inner groove line 113 of the driving ring and the fixed ring groove line 142 ( Figure 13 shown), it drives the coupling pin 13 to perform a combined motion of rotating and extending, and then drives the top locking hook 122 of the coupling ring 12 to rotate and extend, and cooperate with the driving ring locking hook of the opposite interface to realize the locking function of the interface.

[0075] The third motion chain: The data transmission, power transmission and heat exchange functions of the digital electrothermal component 18 are realized (the extension and docking of the digital electrothermal 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, it drives the rotating base 20 to rotate, and then through the ramp 203 at the top of the rotating base 20 ( Figure 15 shown), it pushes the rolling bearing 182 at the bottom of the digital electrothermal component 18 to extend. After turning a certain angle, the step 204 cooperates with the rolling bearing 182 to maintain the extended height of the digital electrothermal component 18, realize the docking with the digital electrothermal component of the opposite interface, and then realize the data transmission, power transmission and heat exchange functions of the interface.

[0076] The simplified schematic diagram of module replacement is as Figure 20As shown in the figure, it mainly includes a space module structure 30 (the hexagonal solid line represents the maximum size envelope range of the hexagonal prism base of the space module), a locking interface 10 (a solid-line filled rectangular box) installed on the outer side and bottom of the space module, and a blank space 31 between adjacent interfaces after the interface end face shrinks. The hexagonal space module with a shaded part in the center position is a faulty or failed sub-module or a sub-module that needs function upgrade (hereinafter referred to as the "sub-module to be replaced").

[0077] Since the sub-module to be replaced at the center position is connected to other surrounding sub-module structures through the locking interface 10, when the locking interface 10 is in the locked state ( Figure 20 (as shown in (a)), the sub-module to be replaced cannot move in the XY plane; moreover, the adjacent locking interfaces 10 are in plane contact, and when the sub-module to be replaced moves in the direction perpendicular to the XY plane, the frictional force between the contact planes will also affect the on-orbit working state of the adjacent modules, and even cause the failure of the adjacent modules. Therefore, according to the interface working principle in the present invention, after the locking interface 10 of the sub-module to be replaced is unlocked ( Figure 20 (as shown in (b)), due to the shrinkage of the end face of the locking interface 10, a blank action space 31 is formed between the locking interfaces 10 of the adjacent modules. Through the interaction between the installation tool such as a space robot and the locking interface 10 at the bottom of the sub-module to be replaced, the sub-module to be replaced can be disengaged from the specified installation position without affecting the surrounding modules, and the installation tool such as a space robot can complete the reinstallation of the normal sub-module at this position, realizing the replacement of the sub-module to be replaced and the maintenance function of the large-aperture space facility to keep the large-aperture space facility working normally.

[0078] 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, and the overall structure is a cylinder. The locking interface 10 can be used both as the active end for sub-module connection (the active end in the present invention refers to the structure that needs to extend out during the docking process to realize the functions of mechanical locking, power transmission, data transfer and heat exchange), and as the passive end (during the docking process, the structures of each part of the interface do not move) to cooperate with the active end. The locking interface 10 first realizes the positioning between the docking sub-modules by means of pin-hole insertion, and drives the upper end face of the locking interface 10 to extend outward to achieve plane contact with the opposite locking interface 10; then, the locking hook for realizing the mechanical connection function on the active end interface extends out 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 components located at the center of the active end interface extend out and cooperate with the corresponding digital electro-thermal components of the opposite passive end interface to realize the functions of data transfer, power transmission and heat exchange between interfaces. After the interface is unlocked, the outward-extended upper end face shrinks to the starting movement position, and the extended structures for realizing functions such as locking shrink into the cylinder to leave a movement space for module replacement.

[0079] Based on the hermaphroditic interface in the present invention, an interface distribution and combination scheme for sub-modules is designed. To achieve the smooth installation of sub-modules, by reasonably arranging the number and positions of the interfaces (used as active ends or passive ends), only the mutual combination of two types of sub-modules (sub-module A and sub-module B respectively) can realize the overall connection and on-orbit deployment of space facilities such as large-aperture space telescopes through the grasping and handling operations of installation tools such as space robots. The end effector of the installation tool such as a 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 equipping a dedicated grasping mechanism on the sub-module. According to the structural characteristics of the sub-module, 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 a space robot directly grasps and transports the module combination to achieve on-orbit assembly. In addition, the large-aperture space facility is assembled on orbit only by one type of module combination, and the aperture of the space facility can be expanded by installing the same type of module on the outside.

[0080] It can be understood that the present invention is described through some embodiments. Those skilled in the art know that without departing from the spirit and scope of the present invention, various changes or equivalent replacements can be made to these features and embodiments. In addition, 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 structure for modular facility assembly and maintenance, 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 and bottom 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; the base (42) and the mirror structure (41) are both hexagonal; six locking interfaces (10) are arranged on the outside and bottom of the submodule A, and five locking interfaces (10) are arranged on the outside and bottom of the submodule B; and a plurality of submodules A and submodules B are connected via the locking interfaces (10).

2. The structure for modular facility assembly and maintenance 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 bottom supporting structure (15), an upper cover plate (16), a compression 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 bottom support structure (15) and a top support structure (23) 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, power transfer and heat exchange functions.

3. The structure for modular facility assembly and maintenance according to claim 2, 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.

4. The structure for modular facility assembly and maintenance according to claim 3, 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.

5. The structure for modular facility assembly and maintenance according to claim 4, 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 compression spring pin (17).

6. The structure for modular facility assembly and maintenance according to claim 3, 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) and a cylindrical boss (195) are arranged at the outer edge of the upper surface; the pin ring (19) cooperates with a vertical groove line (151) arranged on the bottom support structure (15) through the outer guide pin (194); the track design of the outer groove line (112) of the driving ring conforms to the cylindrical cam principle; the inner guide pin (192) cooperates with the outer groove line (112) of the driving ring to realize the pin ring (19) to move up and down linearly, so that the positioning pin (191) can dock with the tapered hole of the opposite side interface; the cylindrical boss (195) is used to push the upper cover plate (16) to move, and the height of the cylindrical boss (195) is less than the height of the positioning pin (191).

7. The structure for modular facility assembly and maintenance according to claim 6, characterized in that: The bottom support structure (15) is composed of three independent arc-shaped plates, each of which is provided with an inner vertical groove line (151), a bolt hole (152) located on the bottom surface, a positioning hole (154) located on the top surface, and a vertical groove line (153) on the outer side surface. The bolt hole one (152) is connected to the fixed base (21) through the connecting bolt (22), each positioning hole eight (154) is connected to the upper cover plate (16) through the tension spring pin (24), and the outer vertical groove line (153) cooperates with the inner guide pin (231) of the top support structure (23) to enable the top support structure (23) to move up and down; The top support structure (23) is composed of three independent arc-shaped plates (2), each of which is provided with an inner guide pin (231) and a positioning hole (232) at the top, and the positioning hole (232) is connected to the bolt hole (161) of the upper cover plate (16) through a connecting bolt (22).

8. The structure for modular facility assembly and maintenance according to claim 3, characterized in that: The rotating base (20) is a hollow thin plate with a cylindrical boss (205) in the middle. An internal gear (201) is arranged on the upper surface of the hollow thin plate portion. Three annular grooves (202) are arranged around the cylindrical boss (205). The top of the cylindrical boss (205) is a slope (203) and a step (204) together form a step surface. The internal gear (201) is meshed with the external gear (115) at the bottom of the driving ring (11). The annular groove (202) allows the fixed base (21) and the fixed ring (14) to be connected via the connecting bolts (22); the ramp (203) cooperates with the rolling bearing (182) of the electric heating component (18), allowing the rolling bearing (182) to slide along the ramp (203) and simultaneously 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).

9. The structure for modular facility assembly and maintenance according to claim 3, 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.

10. A module replacement method using the structure for modular facility assembly and maintenance according to any one of claims 1 to 9, characterized in that: The locking interface (10) of the submodule to be replaced is unlocked, and a blank action space (31) is formed between the locking interface (10) of the submodule and the locking interface (10) of an adjacent submodule. After the space robot is connected to the locking interface (10) at the bottom of the submodule to be replaced, the space robot pushes the submodule to be replaced out of the designated installation position, and then the space robot reinstalls the normal submodule at that position.

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