On-orbit exposure platform based on revolving cup type load adapter

Abstract

The in-orbit exposure platform based on the revolving cup type load adapter comprises a platform body, a capturing receding rod array and a revolving cup type load adapter passive end array, wherein the capturing receding rod array and the revolving cup type load adapter passive end array are mounted on the same mounting surface of the platform body; the passive ends of the three revolving cup type load adapters which are uniformly distributed on the same circumference form an exposed load mechanical mounting interface; the passive end of the revolving cup type load adapter adopts a layout mode capable of being locally reused to form an exposed platform for the aircraft, which supports exposed loads with multiple dimensions; aiming at a large-size exposed load, the revolving cup type load adapter adopts a distributed mode and comprises three distributed revolving cups which are uniformly distributed along the same circumference, and each distributed revolving cup is a 1 / 3 cylindrical revolving cup. The device can be used as a cabin exterior assembly of large space facilities such as low and high rails, can ascend once, is suitable for on-orbit mounting and dismounting of exposed loads of multiple specifications, and more effectively supports development of space application tasks.

Description

Technical Field

[0001] The present invention relates to an exposure platform for extravehicular payloads configured on a large-scale long-term orbiting spacecraft, and more particularly to an on-orbit exposure platform based on a rotary cup type payload adapter. Background Art

[0002] With the continuous development of space technology, large-scale spacecraft represented by space stations have entered the large-scale application stage and serve as the foothold for human long-term residence, exploration, and space application development. Since it can directly face the space environment, the outer surface of large-scale spacecraft has always been an important place for carrying out application tasks such as space science experiments; usually, a relatively large number of standard interfaces for exposure payloads are set. With the development of the space-earth transportation system, the development of application exposure payloads is separated from the development of the spacecraft platform, and subsequent exposure payloads of different types and scales can be continuously sent into orbit to the spacecraft. The installation interfaces reserved on traditional exposure platforms need to be used corresponding to exposure payloads, lacking adaptability to exposure payloads of different scales.

[0003] Chinese Patent CN 104890901A discloses a small rotary cup type payload adapter for a space station. The rotary cup type payload adapter has the characteristics of a large capture area, a compact configuration, and a small capture, connection, and separation motion envelope; the axes of the three rotating rods at the passive end of the supporting adapter intersect at the center of the structure, and a capture signal trigger retracting rod is arranged at the center position. This type of payload adapter is used as an interface for extravehicular exposure payloads on the experimental module of our country's space station. Summary of the Invention

[0004] The purpose of the present invention is to provide an on-orbit exposure platform based on a rotary cup type payload adapter to solve the problems that the interfaces of existing on-orbit exposure platforms for spacecraft cannot be combined for use and the adaptability to the scale of exposure payloads is poor.

[0005] To achieve the above purpose, the present invention provides an on-orbit exposure platform based on a rotary cup type payload adapter, including a platform body, a capture and retracting rod array, and a passive end array of the rotary cup type payload adapter. The capture and retracting rod array and the passive end array of the rotary cup type payload adapter are installed on the same mounting surface of the platform body; the layout methods of the capture and retracting rod array and the passive end array of the rotary cup type payload adapter are as follows: first, layout the capture and retracting rod Ⅰ for small payloads. The transverse interval of this type of capture and retracting rod is 2a, and the longitudinal interval Arranged, and staggered between adjacent rows; three rotary cup load adapter passive ends are arranged around each capture and retraction rod I for small payloads, and the three rotary cup load adapter passive ends are evenly arranged along the same circumference; then the capture and retraction rod II for medium payloads is arranged. The capture and retraction rod II is arranged between adjacent rows of capture and retraction rods I. There are two or three capture and retraction rods I around each capture and retraction rod II, and the distance between the capture and retraction rod II and each capture and retraction rod I around it is equal; for the case where there are only two capture and retraction rods I around, an additional rotary cup load adapter passive end is added, and the rotary cup load adapter passive end and the two capture and retraction rods I are located at the three corners of an equilateral triangle respectively; finally, the capture and retraction rod III for large payloads is arranged. For each capture and retraction rod III, three capture and retraction rods I can be found, and the distances from the three capture and retraction rods I to the capture and retraction rod III are equal.

[0006] For the above-mentioned on-orbit exposure platform based on the rotary cup load adapter, wherein, the capture and retraction rod includes a rotating rod and a base. The rotating rod is installed on the base, and the base is installed on the platform body; the central axes of the rotating rods of the three rotary cup load adapter passive ends arranged around the capture and retraction rod I intersect at the capture and retraction rod I; the central axis of the rotating rod of the additional rotary cup load adapter passive end passes through the capture and retraction rod II.

[0007] The above-mentioned on-orbit exposure platform based on a rotary cup load adapter, wherein the rotating rods at the passive ends of three rotary cup load adapters around each capture and retraction rod I form a small load mechanical installation interface; if there are three capture and retraction rods I around the capture and retraction rod II, one rotary cup load adapter passive end is selected from the passive ends of the rotary cup load adapters around each capture and retraction rod I. The three selected rotary cup load adapter passive ends are evenly arranged along the same circumference, and the central axes of the rotating rods of the three selected rotary cup load adapter passive ends intersect at the capture and retraction rod II, then the rotating rods of the three selected rotary cup load adapter passive ends form a medium load mechanical installation interface; if there are only two capture and retraction rods I around the capture and retraction rod II, one rotary cup load adapter passive end is selected from the passive ends of the rotary cup load adapters around each capture and retraction rod I. The two selected rotary cup load adapter passive ends and the additional rotary cup load adapter passive end are evenly arranged along the same circumference, and the central axes of the rotating rods of the three rotary cup load adapter passive ends intersect at the capture and retraction rod II, then the rotating rods of the three rotary cup load adapter passive ends form a medium load mechanical installation interface; find three capture and retraction rods I, and the distances from each capture and retraction rod I to the capture and retraction rod III are equal. One rotary cup load adapter passive end is selected from the passive ends of the rotary cup load adapters around each capture and retraction rod I. The three selected rotary cup load adapter passive ends are evenly arranged along the same circumference, and the central axes of the rotating rods of the three selected rotary cup load adapter passive ends intersect at the capture and retraction rod III, then the rotating rods of the three selected rotary cup load adapter passive ends form a large load mechanical installation interface.

[0008] The above-mentioned on-orbit exposure platform based on a rotary cup load adapter, wherein the circumference where the three rotating rods defining the small load mechanical installation interface are located is defined as the pitch circle R0; the circumference where the three rotating rods defining the medium load mechanical installation interface are located is defined as the pitch circle R1, and the pitch circle R1 is externally tangent to the surrounding pitch circle R0; the circumference where the three rotating rods defining the large load mechanical installation interface are located is defined as the pitch circle R2, and the pitch circle R2 is externally tangent to the three pitch circles R0.

[0009] The above-mentioned on-orbit exposure platform based on a rotary cup load adapter, wherein the active end of the rotary cup load adapter is installed on the exposed load; for medium and large exposed loads, the active end of the rotary cup load adapter adopts a distributed manner, including three distributed rotary cups. Each distributed rotary cup is a 1 / 3 circular ring column rotary cup. The three distributed rotary cups are evenly distributed along the same circumference. Each distributed rotary cup is equipped with a V-shaped seat, and the V-shaped seat is provided with a V-shaped notch.

[0010] Compared with the prior art, the beneficial technical effects of the present invention are:

[0011] 1) The passive end of the rotor cup type load adapter adopts a locally reusable layout method to form an exposed platform for aircraft supporting exposed loads of multiple size specifications;

[0012] 2) For large-size exposed loads, a distributed active end design of the rotor cup type load adapter is proposed, effectively solving the problem of excessive structural weight of the active end of the overall rotor cup load adapter, and is applicable to the use of large-size exposed loads on the exposed platform;

[0013] 3) The on-orbit exposed platform based on the rotor cup type load adapter of the present invention can be used as an external component of large space facilities such as low and high orbits, and has the ability to be launched once and adapt to the on-orbit installation and disassembly of exposed loads of multiple size specifications outside the cabin, more effectively supporting the development of space application tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The on-orbit exposed platform based on the rotor cup type load adapter of the present invention is given by the following embodiments and drawings.

[0015] Figure 1 It is a schematic diagram of the on-orbit exposed platform based on the rotor cup type load adapter of the embodiment of the present invention.

[0016] Figure 2 It is a schematic diagram of the passive end of the rotor cup type load adapter in the embodiment of the present invention.

[0017] Figure 3 It is a schematic diagram of the layout of the capture and retraction rod array and the passive end array of the rotor cup type load adapter in the embodiment of the present invention.

[0018] Figure 4 It is a schematic diagram of the layout of the capture and retraction rod array in the embodiment of the present invention.

[0019] Figure 5 It is a schematic diagram of the thermal control multi-layer of the exposed platform in the embodiment of the present invention.

[0020] Figure 6 It is a schematic diagram of the cable distribution on the exposed platform in the embodiment of the present invention.

[0021] Figure 7 It is a schematic diagram of the active end of the load adapter for medium and large-sized loads in the embodiment of the present invention.

[0022] Figure 8 It is a schematic diagram of a small-sized load in the embodiment of the present invention.

[0023] Figure 9 It is a schematic diagram of installing a small-sized load onto the exposed platform in the embodiment of the present invention.

[0024] Figure 10 It is a schematic diagram of a medium (large)-sized load in the embodiment of the present invention.

[0025] Figure 11 Schematic diagram of the capture and retraction rod in the embodiment of the present invention.

[0026] Figure 12 The figure shows a cross-sectional view of the capture signal switch in the embodiment of the present invention.

[0027] Figure 13 Schematic diagram of installing a medium-sized payload onto the exposed platform in the embodiment of the present invention.

[0028] Figure 14 Schematic diagram of installing a small-sized payload and a medium-sized payload onto the exposed platform in the embodiment of the present invention.

[0029] Figure 15 Schematic diagram of installing a large-sized payload onto the exposed platform in the embodiment of the present invention. Detailed implementation manners

[0030] The following will further describe in detail the on-orbit exposed platform based on the rotary cup type payload adapter of the present invention in conjunction with Figures 1 to 15 the present invention.

[0031] Figure 1 The figure shows a schematic diagram of the on-orbit exposed platform based on the rotary cup type payload adapter in the embodiment of the present invention.

[0032] As Figure 1 , the on-orbit exposed platform based on the rotary cup type payload adapter in this embodiment includes a platform body 1, a capture and retraction rod array, a passive end array of the rotary cup type payload adapter, floating connectors (such as a floating electrical connector 4, a floating liquid circuit connector 5, and a floating optical fiber connector 9), a robotic arm calibration target 6, a thermal control multi-layer, and a cable 8.

[0033] In this embodiment, the platform body 1 is 2050 mm wide and 2480 mm high, and adopts an aluminum honeycomb sandwich structure. The entire sandwich structure is 30 mm thick; the honeycomb core uses 5A02 perforated aluminum honeycomb with a specification of 4 mm × 0.05 mm; both side panels use Alclad2024 plates with a thickness of 0.5 mm.

[0034] The capture and retraction rod array and the passive end array of the rotary cup type payload adapter are installed on the same mounting surface of the platform body 1; on the other side and inside of the platform body 1, the layout and installation of power supply, information, and fluid circuit pipelines are carried out to provide power supply, information, and active thermal control interfaces for the equipment installed on the exposed platform; the robotic arm calibration target 6 is installed on the platform body 1, and the relative pose relationship between it and the passive end of each payload adapter is calibrated on the ground to provide a spatial reference for the robotic arm to operate the exposed payload in orbit.

[0035] Figure 2 The figure shows a schematic diagram of the passive end of the rotary cup type payload adapter in the embodiment of the present invention.

[0036] AsFigure 2 For the passive end 3 of the rotor cup type load adapter, it includes a rotating rod 31 and a base 32. The rotating rod 31 is installed on the base 32, and the base 32 is installed on the platform body 1.

[0037] Figure 3 The figure shows a schematic layout diagram of the capture and retractable rod array and the passive end array of the rotor cup type load adapter in an embodiment of the present invention; Figure 4 The figure shows a schematic layout diagram of the capture and retractable rod array in an embodiment of the present invention.

[0038] Combined with Figure 1 、 Figure 3 and Figure 4 ,the layout method of the capture and retractable rod array and the passive end array of the rotor cup type load adapter is as follows:

[0039] First, layout the capture and retractable rods 2A for small loads. These capture and retractable rods are arranged at a lateral interval of 2a and a longitudinal interval arrangement, and there is a stagger between adjacent rows;

[0040] Around each capture and retractable rod 2A for small loads, three passive ends of the rotor cup type load adapter are arranged. The three passive ends of the rotor cup type load adapter are evenly distributed along the same circumference, and the central axes of the rotating rods 31 of the three passive ends of the rotor cup type load adapter intersect at this capture and retractable rod 2A;

[0041] Then, layout the capture and retractable rods 2B for medium loads. The capture and retractable rods 2B are laid out between adjacent rows of capture and retractable rods 2A. There are two or three capture and retractable rods 2A around each capture and retractable rod 2B, and the distances between the capture and retractable rod 2B and each of the surrounding capture and retractable rods 2A are equal; for the case where there are only two capture and retractable rods 2A around, an additional passive end of the rotor cup type load adapter needs to be added. This passive end of the rotor cup type load adapter and the two capture and retractable rods 2A are respectively located at the three corners of an equilateral triangle, and the central axis of the rotating rod 31 of this passive end of the rotor cup type load adapter passes through this capture and retractable rod 2B, as Figure 3 marked as 31A and 31B in

[0042] Finally, layout the capture and retractable rods 2C for large loads. For each capture and retractable rod 2C, three capture and retractable rods 2A can be found, and the distances from these three capture and retractable rods 2A to the capture and retractable rod 2C are equal.

[0043] Such as Figure 4 In this embodiment, a total of six rows of capture and retractable rods are arranged on the platform body 1; the capture and retractable rods in the 1st, 4th, and 6th rows can be installed with small loads, and the interval between adjacent two capture and retractable rods in the same row is 2a. The interval between the 1st row and the 4th row and the interval between the 4th row and the 6th row are both There are three capture retraction rods in each of the 1st and 6th rows, and two capture retraction rods in the 4th row. The capture retraction rods in the 1st row are aligned with those in the 6th row, while the capture retraction rods in the 4th row are offset from those in the 1st row and the 6th row. The capture retraction rods in the 2nd and 5th rows can mount medium loads, and the capture retraction rods in the 3rd row can mount large loads.

[0044] Combined with Figure 3 and Figure 4 , for the capture retraction rods in the 1st, 4th, and 6th rows, they are identified by array sequence numbers. The three capture retraction rods in the 1st row are respectively identified as (2n - 1, m), (2n - 1, m + 1), (2n - 1, m + 2). The two capture retraction rods in the 4th row are respectively identified as (2n, m), (2n, m + 1). The three capture retraction rods in the 6th row are respectively identified as (2n + 1, m), (2n + 1, m + 1), (2n + 1, m + 2).

[0045] For the capture retraction rod 2A in the 1st, 4th, and 6th rows, three passive ends of rotary cup type load adapters are arranged around each capture retraction rod 2A. The three passive ends of rotary cup type load adapters are evenly arranged along the same circumference, and the central axes of the rotating rods of the three passive ends of rotary cup type load adapters intersect at this capture retraction rod. Define the circumference where the three passive ends of rotary cup type load adapters are located as the pitch circle R0, and the three rotating rods on the pitch circle R0 form a mechanical installation interface for small loads.

[0046] For the capture and retraction rods 2B in the 2nd and 5th rows, there are two or three capture and retraction rods 2A for small loads around each capture and retraction rod 2B; if there are three capture and retraction rods 2A around the capture and retraction rod 2B, one passive end of the rotary cup load adapter is selected from the passive ends of the rotary cup load adapters around each capture and retraction rod 2A. The three selected passive ends of the rotary cup load adapters are evenly arranged along the same circumference, and the central axes of the rotating rods of the three selected passive ends of the rotary cup load adapters intersect at the capture and retraction rod 2B. Define the circumference where the three selected passive ends of the rotary cup load adapters are located as the indexing circle R1. The three rotating rods on the indexing circle R1 form a mechanical installation interface for medium loads. For example, the rotating rod at the lower right of (2n - 1, m), the rotating rod at the lower left of (2n - 1, m + 1), and the rotating rod above (2n, m) form a mechanical installation interface for medium loads. The indexing circle R1 is externally tangent to the three indexing circles R0 around it; if there are only two capture and retraction rods 2A for small loads around the capture and retraction rod 2B, then an additional passive end of the rotary cup load adapter needs to be added. One passive end of the rotary cup load adapter is selected from the passive ends of the rotary cup load adapters around each capture and retraction rod 2A. The two selected passive ends of the rotary cup load adapters and the added passive end of the rotary cup load adapter are evenly arranged along the same circumference, and the central axes of the rotating rods of the three passive ends of the rotary cup load adapter intersect at the capture and retraction rod 2B. For example, the rotating rod at the lower left of (2n, m), the rotating rod above (2n + 1, m), and the rotating rod 31A form a mechanical installation interface for medium loads.

[0047] For the capture and retraction rod 2C in the 3rd row, the distance from the capture and retraction rod 2C to (2n - 1, m) = the distance from the capture and retraction rod 2C to (2n - 1, m + 2) = the distance from the capture and retraction rod 2C to (2n + 1, m + 1). One passive end of the rotary cup load adapter is selected from around (2n - 1, m), (2n - 1, m + 2), and (2n + 1, m + 1) respectively. The three selected passive ends of the rotary cup load adapters are evenly arranged along the same circumference, and the central axes of the rotating rods of the three selected passive ends of the rotary cup load adapters intersect at the capture and retraction rod 2C. Define the circumference where the three selected passive ends of the rotary cup load adapters are located as the indexing circle R2. The three rotating rods on the indexing circle R2 form a mechanical installation interface for large loads. For example, the rotating rod at the lower right of (2n - 1, m), the rotating rod at the lower left of (2n - 1, m + 2), and the rotating rod above (2n + 1, m + 1) form a mechanical installation interface for large loads. The indexing circle R2 is externally tangent to the three indexing circles R0 at (2n - 1, m), (2n - 1, m + 2), and (2n + 1, m + 1).

[0048] Figure 5 The following shows the schematic diagram of the thermal control multi-layer of the exposed platform in the embodiment of the present invention. As Figure 5, both sides of the platform body 1 are covered with multiple layers of thermal insulation materials, and then a layer of white anti-atomic external flame-retardant cloth is covered on the outside.

[0049] Figure 6 The following shows the schematic diagram of the cable distribution on the exposed platform in the embodiment of the present invention. As Figure 6 , a floating electrical connector is connected to the end of the cable 8 on the exposed platform, and this electrical connector is used to provide a power supply interface for the payload.

[0050] Figure 7 The following shows the schematic diagram of the active end of the payload adapter for medium and large payloads in the embodiment of the present invention. In this embodiment, the working principle of the active end of the payload adapter for medium and large payloads is the same as that of the active part of the payload adapter disclosed in Chinese Patent CN 104890901A. The difference is that in this embodiment, the rotating cup (a complete circular cylindrical rotating cup) in Chinese Patent CN 104890901A is evenly divided into three parts, that is, the rotating cup in this embodiment is 1 / 3 of the rotating cup in Chinese Patent CN 104890901A, and each rotating cup is equipped with a V-shaped seat (the V-shaped seat is provided with a bayonet, the upper end of the bayonet is V-shaped and the lower end is U-shaped), a set of driving components and a motor. As Figure 7 , the active end of the payload adapter for medium and large payloads in this embodiment includes three distributed rotating cups 9, each distributed rotating cup 9 is a 1 / 3 circular cylindrical rotating cup, the three distributed rotating cups 9 are evenly distributed along the same circumference, each distributed rotating cup 9 is equipped with a V-shaped seat, the V-shaped seat is provided with a bayonet, the upper end of the bayonet is V-shaped and the lower end is U-shaped, a gear ring is arranged on the outer surface of the distributed rotating cup 9, a gear matching the gear ring is arranged on the output shaft of the motor 10, the motor 10 is connected to the distributed rotating cup 9 through the meshing of the gear and the gear ring, and the motor 10 is driven to rotate by the instruction sent by the active end controller 11 of the payload adapter. The rotation of the motor 10 drives the distributed rotating cup 9 to rotate, and captures and locks with the passive end rotating rod on the exposed platform.

[0051] One distributed rotating cup 9 corresponds to one rotating rod of the passive end of the payload adapter.

[0052] Figure 8 The following shows the schematic diagram of the small payload in the embodiment of the present invention. Figure 9 The following shows the schematic diagram of installing the small payload to the exposed platform in the embodiment of the present invention. As Figure 8 , the small payload is installed with an active end 12 of the payload adapter (such as the active part of the payload adapter in Chinese Patent CN104890901A), a small arm target adapter 13, a floating electrical connector 4, and a floating liquid path connector 5. The exposed platform in this embodiment can install 8 small payloads at the same time, and the maximum envelope size of the small payload is 600×600×500mm.

[0053] Figure 10The following shows the schematic diagram of medium (large)-sized payloads in the embodiments of the present invention. As Figure 10 , a payload adapter distributed active end, a capture signal switch, a small arm target adapter, and a floating connector are installed on the medium (large)-sized payload.

[0054] Figure 11 The following shows the schematic diagram of the capture retraction rod in the embodiments of the present invention. Figure 12 The following shows the cross-sectional view of the capture signal switch in the embodiments of the present invention. A spring 2-1 is installed inside the capture retraction rod. When the payload adapter distributed active end captures the rotating rod of the passive end of the payload adapter, the spring 2-1 of the capture retraction rod is compressed, and at the same time, the capture signal switch on the payload is triggered to send a capture success signal.

[0055] In this embodiment, the process of the active end of the payload adapter capturing the passive end is as follows: The robotic arm calibrates the target of the robotic arm on the exposure platform to establish the operation space reference; combined with the precise measurement information obtained during the ground assembly stage of the exposure platform, the installation position of the exposed payload is confirmed on orbit; the end of the robotic arm moves the exposed payload above the center of the installation area; the robotic arm switches to the impedance control mode, operates the exposed payload, and approaches the passive end to a specified height on the premise of ensuring that the pose meets the tolerance conditions required for the capture of the payload adapter. This height enables the rotating rod of the passive end to enter the corresponding V-shaped notch of the active end; subsequently, the robotic arm switches to the force control mode, provides a small downward force output, and approaches the active end and the passive end of the payload adapter until the capture success signal is triggered.

[0056] Figure 13 The following shows the schematic diagram of installing a medium-sized payload on the exposure platform in the embodiments of the present invention. As Figure 13 , in this embodiment, the maximum envelope size of the medium-sized payload is 1100×1100×800 mm.

[0057] Figure 14 The following shows the schematic diagram of installing small-sized and medium-sized payloads on the exposure platform in the embodiments of the present invention. As Figure 14 , in this embodiment, the exposure platform can install 1 medium-sized payload and 4 small-sized payloads simultaneously.

[0058] Figure 15 The following shows the schematic diagram of installing a large-sized payload on the exposure platform in the embodiments of the present invention. As Figure 15 , in this embodiment, the maximum envelope size of the large-sized payload is 2000×2000×1800 mm.

[0059] The present invention can also have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the invention, but these corresponding changes and deformations should all fall within the protection scope of the appended claims of the present invention.

Claims

1. An on-orbit exposure platform based on a rotor-type payload adapter, characterized in that: It includes a platform body, a capture and yield rod array and a passive end array of a rotary cup load adapter, wherein the capture and yield rod array and the passive end array of the rotary cup load adapter are mounted on the same mounting surface of the platform body; The capture and yield rod array and the passive end array of the cup load adapter are arranged as follows: First, arrange the capture and retreat bars I for small loads. This type of capture and retreat bars is arranged at a horizontal interval of 2a and a vertical interval of Arranged, and staggered between two adjacent rows; Three passive ends of the rotary cup load adapters are arranged around each capture and concession rod I for small loads, and the three passive ends of the rotary cup load adapters are evenly arranged along the same circumference; Then, the capture and concession rod II for medium loads is arranged. The capture and concession rod II is arranged between two adjacent rows of capture and concession rods I. There are two or three capture and concession rods I around each capture and concession rod II, and the distance between the capture and concession rod II and the capture and concession rods I around it is equal. In the case where there are only two capture and concession rods I around, a passive end of a rotary cup load adapter is added. The passive end of the rotary cup load adapter and the two capture and concession rods I are respectively located at the three corners of an equilateral triangle. Finally, the capture and concession bars III for large loads are arranged. For each capture and concession bar III, three capture and concession bars I can be found, and the distances between the three capture and concession bars I and the capture and concession bars III are equal.

2. The on-orbit exposure platform based on a rotary cup payload adapter according to claim 1, characterized in that: The capture and retreat rod comprises a rotating rod and a base, the rotating rod is installed on the base, and the base is installed on the platform body.

3. The on-orbit exposure platform based on a rotary cup payload adapter as claimed in claim 2, characterized in that: The central axes of the rotating rods of the three passive ends of the rotary cup load adapters arranged around the capture and concession rod I intersect with the capture and concession rod I; the central axis of the rotating rod of the passive end of the additional rotary cup load adapter passes through the capture and concession rod II.

4. The on-orbit exposure platform based on a rotary cup payload adapter as claimed in claim 3, characterized in that: The three rotating rods at the passive end of the cup-type load adapter around each capture and retreat rod Ⅰ constitute a small load mechanical mounting interface; If there are three capture concession rods I around the capture concession rod II, one passive end of the rotary cup load adapter is selected from the passive ends of the rotary cup load adapter around each capture concession rod I, the three selected passive ends of the rotary cup load adapter are evenly arranged along the same circumference, and the central axes of the rotating rods of the three selected passive ends of the rotary cup load adapter intersect with the capture concession rod II, then the rotating rods of the three selected passive ends of the rotary cup load adapter constitute a medium-sized load mechanical installation interface; If there are only two capture and concession rods I around the capture and concession rod II, one passive end of the rotary cup load adapter is selected from the passive ends of the rotary cup load adapter around each capture and concession rod I, the two selected passive ends of the rotary cup load adapter and the additional passive end of the rotary cup load adapter are evenly arranged along the same circumference, and the central axes of the rotating rods of the three passive ends of the rotary cup load adapter intersect with the capture and concession rod II, then the rotating rods of the three passive ends of the rotary cup load adapter constitute a medium-duty load mechanical installation interface; Find three capture and concession rods I, with the distance from each capture and concession rod I to the capture and concession rod III being equal, select a passive end of the rotary cup load adapter from the passive ends of the rotary cup load adapter around each capture and concession rod I, the three selected passive ends of the rotary cup load adapter are evenly arranged along the same circumference, and the central axes of the rotating rods of the selected three passive ends of the rotary cup load adapter intersect with the capture and concession rod III, then the rotating rods of the selected three passive ends of the rotary cup load adapter constitute a large load mechanical installation interface.

5. The on-orbit exposure platform based on a rotary cup payload adapter according to claim 4, characterized in that: The circumference of the three rotating rods of the small load mechanical installation interface is defined as the pitch circle R0; The circumference of the three rotating rods of the medium load mechanical installation interface is defined as the pitch circle R1, and the pitch circle R1 and the surrounding pitch circle R0 are both circumscribed; The circumference of the three rotating rods of the large load mechanical installation interface is defined as the pitch circle R2, and the pitch circle R2 is circumscribed to the three pitch circles R0.

6. The on-orbit exposure platform based on a rotary cup payload adapter according to claim 4, characterized in that: The active end of the cup load adapter is installed on the exposed load; for medium and large exposed loads, the active end of the cup load adapter adopts a distributed method, including three distributed cups, each of which is a 1 / 3 circular cylinder cup, and the three distributed cups are evenly distributed along the same circumference. Each distributed cup is equipped with a V-shaped seat, and the V-shaped seat has a V-shaped notch.

7. The on-orbit exposure platform based on a rotary cup payload adapter according to claim 1, characterized in that: A robotic arm calibration target is also installed on the platform body. The relative position and posture relationship between the robotic arm calibration target and the passive end of each rotary cup-type payload adapter is calibrated on the ground to provide a spatial reference for exposing the payload during on-orbit operation of the robotic arm.

8. The on-orbit exposure platform based on a rotary cup payload adapter according to claim 1, characterized in that: The power supply, information and fluid circuit pipelines are laid out and installed on the sides and inside of the platform body to provide power supply, information and active thermal control interfaces for the exposed loads installed on the exposed platform.

9. The on-orbit exposure platform based on a rotary cup payload adapter according to claim 1, characterized in that: Both sides of the platform body are covered with multiple layers of insulation material, and then covered with a layer of white anti-atom flame-retardant cloth on the outside.

10. The on-orbit exposure platform based on a rotary cup payload adapter according to claim 6, characterized in that: Each distributed rotor is also equipped with a motor. A gear ring is provided on the outer surface of the distributed rotor. A gear matching the gear ring is provided on the output shaft of the motor. The motor is connected to the distributed rotor through the meshing of the gear and the gear ring. After the rotating rod at the passive end of the rotary cup load adapter enters the V-shaped groove corresponding to the active end of the rotary cup load adapter, the active end controller of the rotary cup load adapter sends a command to drive the motor to rotate. The rotation of the motor drives the distributed rotary cup to rotate, and the rotary rod at the passive end of the rotary cup load adapter is captured and locked. At the same time, the spring of the capture retreat rod is compressed, and the capture signal switch on the exposed load is triggered to send a capture success signal.

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