Extensible track platform for freight spaceship in-orbit engineering

Abstract

An extensible track platform for freight spaceship in-orbit engineering comprises a fixed track platform and a movable track platform. The fixed track platform comprises a plurality of fixed plates, the end parts of the fixed plates are fixedly connected with fixed transverse plates, and the edge part of each fixed plate is provided with a groove type track; the movable track platform comprises two movable plates, and one end of each movable plate is fixedly connected with a movable transverse plate; the fixed track platform and the movable track platform are movably connected through connecting rods, one end of each connecting rod is provided with a pulley and is in sliding connection with the corresponding groove type track, the other end of each connecting rod is hinged to the end of the movable plate, each pulley is provided with a first motor used for controlling the corresponding connecting rod to rotate, and each pulley is fixedly connected with a pull wire; a second motor is arranged at one end of the groove-shaped track, the output end of the second motor is fixedly connected with the other end of the pull wire, and a limiting baffle is movably connected to the bottom of the fixed transverse plate; the surfaces of the fixed plate, the fixed transverse plate, the movable plate and the movable transverse plate are each provided with a track used for walking of the track robot. The device is simple in structure and convenient to operate.

Description

TECHNICAL FIELD

[0001] The utility model relates to space engineering technical field especially relates to a kind of stretchable orbit platform for cargo spaceship on-orbit engineering. BACKGROUND

[0002] With the deepening of human space exploration and the progress of technology, the demand for large space structures is increasing, such as large telescopes, space station expansion modules, solar power stations, etc. However, due to the limitation of rocket transportation capacity, it is difficult to launch large-scale space structures to the predetermined orbit at one time, and the research on space large-scale equipment on-orbit construction technology has become an inevitable trend and effective way.

[0003] The on-orbit construction technology in the related art is mostly a truss structure, which is relatively complex. UTILITY MODEL CONTENT

[0004] The utility model provides a kind of space large-scale load on-orbit construction and maintenance method based on cargo spaceship, solve the problem that truss structure is used in on-orbit construction, and its structure is relatively complex.

[0005] To achieve the above purpose, the application adopts the following technical solutions:

[0006] A stretchable orbit platform for cargo spaceship on-orbit engineering is provided,

[0007] The stretchable orbit platform includes a fixed orbit platform and a movable orbit platform,

[0008] The fixed orbit platform includes a plurality of fixed plates arranged at intervals, which are fixedly connected inside the cabin in a direction perpendicular to the cargo spaceship hatch. The end of each fixed plate near the hatch is fixedly connected with a fixed cross plate. Each fixed plate is provided with a groove-type track along the length direction. The movable orbit platform includes two movable plates corresponding to the two fixed plates at the edge of the fixed orbit platform. One end of the two movable plates is fixedly connected with a movable cross plate. The fixed orbit platform and the movable orbit platform are movably connected by two connecting rods. One end of each connecting rod is provided with a pulley and is slidably connected with the groove-type track. The other end is hingedly connected with the end of the movable plate near the movable cross plate. A first motor is arranged on the pulley to control the rotation of the connecting rod to a specified angle. A traction line is fixedly connected with the pulley. A second motor is arranged at one end of the groove-type track near the fixed cross plate. The other end of the traction line is fixedly connected with the output end of the second motor, forming a structure in which the pulley is slidably connected with the groove-type track by the rotation of the second motor.

[0009] The stretchable track platform further comprises a limiting baffle; the bottom of the side of the fixed horizontal plate away from the fixed plate is movably connected with the bottom of the limiting baffle, and the rotation movement of the limiting baffle is controlled through a driving device.

[0010] The surface of the fixed plate, the fixed horizontal plate, the movable plate and the movable horizontal plate is provided with a track for the track robot to walk.

[0011] Further, the limiting movement position of the limiting baffle is perpendicular to the side of the fixed horizontal plate away from the fixed plate and parallel to the length direction of the fixed plate.

[0012] Further, the bottom of the side of the fixed horizontal plate away from the fixed plate is hingedly connected with the bottom of the limiting baffle; the driving device is a motor with a self-locking function, and the output end of the motor is fixedly connected with a hinge shaft.

[0013] The limiting baffle is limited through the self-locking function of the motor.

[0014] Further, the bottom of the limiting baffle extends by a set length to form a limiting structure when being parallel to the length direction of the fixed plate.

[0015] The utility model has the following advantages:

[0016] The stretchable track platform for in-orbit engineering of a cargo spaceship provided by the embodiment of the application has simple structure and convenient operation, and improves the use efficiency of the system in the process of in-orbit construction and maintenance of a large space load based on a cargo spaceship. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 FIG. 1 is a perspective view of a load device provided by the embodiment of the application and provided with a running track and a steering device;

[0018] Figure 2 FIG. 2 is another perspective view of the load device provided by the embodiment of the application and provided with a running track and a steering device;

[0019] Figure 3 FIG. 3 is still another perspective view of the load device provided by the embodiment of the application and provided with a running track and a steering device;

[0020] Figure 4 FIG. 4 is a perspective view of the steering device provided by the embodiment of the application;

[0021] Figure 5 FIG. 5 is a schematic view of an in-orbit assembly process of a load provided by the embodiment of the application;

[0022] Figure 6 FIG. 6 is a schematic view of a steering process of a track moving device provided by the embodiment of the application;

[0023] Figure 7 A straight moving process diagram of the track moving device is provided for the embodiment of the present application;

[0024] Figure 8 A schematic flow chart of the space large load in-orbit construction method based on the cargo spaceship is provided for the embodiment of the present application;

[0025] Figure 9 A cargo spaceship platform cargo hold door opening schematic diagram is provided for the embodiment of the present application;

[0026] Figure 10 A schematic diagram of the telescopic track platform after extension is provided for the embodiment of the present application;

[0027] Figure 11 A schematic diagram of the telescopic track platform extension process is provided for the embodiment of the present application;

[0028] Figure 12 A schematic diagram of the throat pipe device and the throat pipe capture device working process is provided for the embodiment of the present application;

[0029] Figure 13 A schematic diagram of the load device in-orbit assembly is provided for the embodiment of the present application;

[0030] Figure 14 A schematic diagram of the space large load in-orbit construction completed by two cargo spaceships is provided for the embodiment of the present application;

[0031] Figure 15 A schematic diagram of the sub-load unit replacement process is provided for the embodiment of the present application.

[0032] Reference signs:

[0033] Load device 100; cross rail seat 1; longitudinal rail seat 2; groove type sliding rail 3; I-shaped fixed rail 4; rail robot 5; steering device 6; rotating interface 7; grabbing connection interface 8; steering connection interface 9; plug-in groove 10; plug-in head 11; electric telescopic rod 12; bearing plate 13; motor 14; fixed rail platform 15; fixed plate 16; fixed cross plate 17; movable rail platform 18; movable plate 19; movable cross plate 20; connecting rod 21; pulley 22; limiting baffle 23; groove type rail 24. DETAILED DESCRIPTION

[0034] In order to further illustrate the technical means and effects taken by the present application to achieve the predetermined purposes, the technical solutions in the embodiments of the present application are described clearly. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0035] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the objects before and after are in an "or" relationship.

[0036] The description of the method flow in the specification and the steps of the flowchart in the utility model specification are not necessarily strictly executed in the order of the steps, and the method steps can change the order of execution. Moreover, certain steps can be omitted, multiple steps can be combined into one step for execution, and / or one step can be divided into multiple steps for execution.

[0037] The space large load on-orbit construction and maintenance method, device, equipment and medium based on the cargo spaceship provided by the embodiments of the present application are described in detail as follows in combination with the drawings and preferred embodiments.

[0038] The embodiments of the present application provide a space large load on-orbit construction and maintenance method based on a cargo spaceship. The load is composed of multiple sub-load units, the sub-load units are carried by the cargo spaceship to ascend, and the on-orbit construction is completed by the orbital robot. The method can efficiently realize the on-orbit replacement of any sub-load unit in the load, can also expand the power supply capacity and information link, and can also realize orbit change maneuver, solves the problems of more constraints, power supply and information link expansion, propellant supplement, etc. during the on-orbit construction and maintenance of the space large load, improves the task compatibility and usability of the entire load, prolongs the service life, and improves the use efficiency.

[0039] Please refer to Figure 8 The embodiments of the present application provide a space large load on-orbit construction method based on a cargo spaceship, as shown in Figure 1 The recommended method of the embodiments of the present application includes:

[0040] Step S1, a first cargo spaceship is launched to a predetermined orbit height; wherein the first cargo spaceship carries multiple load devices, an orbital robot and an extendable orbital platform for the orbital robot to walk; a throat pipe capture device is arranged at the tail of the first cargo spaceship.

[0041] The load device 100 is completed on-orbit construction and maintenance by the orbital robot 5;

[0042] The load device 100 is a load device with running track and steering device. As a sub-load unit, the load device is arranged with fixed track and steering device on the load surface. The sub-load unit can be carried by a cargo spaceship to go up. During on-orbit construction, the load device can be quickly moved on the fixed track on the load surface by a wheeled track robot and can complete 90° steering by the steering device to realize two-dimensional construction of the load and complete on-orbit construction.

[0043] Please refer to Figures 1-3 The embodiment of the present application provides a load device with running track and steering device 6. As shown in Figures 1-3 The load device of the embodiment of the present application, as a sub-load unit, comprises:

[0044] The surface fixed track comprises transverse track seat 1 and longitudinal track seat 2 which are perpendicular to each other,

[0045] The transverse track seat 1 and the longitudinal track seat 2 are both provided with groove type sliding rails 3, the edge of the groove type sliding rails 3 along the length direction is inwardly extended and is provided as an I-shaped fixed track 4 for the track robot 5 to walk;

[0046] The groove type sliding rails 3 of the transverse track seat 1 and the longitudinal track seat 2 which are adjacent to each other are intersected and connected as a whole;

[0047] The transverse track seat 1 and the longitudinal track seat 2 are provided with cavities for accommodating the steering device 6 at the intersection; the steering device 6 comprises a telescopic mechanism, the output end of the telescopic mechanism is fixedly connected with a rotating mechanism, the output end of the rotating mechanism is fixedly connected with a rotating interface piece 7, the rotating interface piece 7 is used for realizing the grabbing and releasing of the load device and the steering of the track robot 5 in the walking process; the steering device 6 as a whole can be selectively extended or retracted from the cavity;

[0048] The transverse track seat 1 and the longitudinal track seat 2 are both provided with plug-in grooves 10 at two adjacent ends, and are both provided with telescopic plug-in heads 11 at the other two ends; any two load devices can be electrically connected through the plug-in grooves 10 and the plug-in heads 11, and whether the two load devices are normally connected can be verified through power-on detection.

[0049] In some possible embodiments, the rotating interface piece 7 comprises a disc-shaped main body, a grabbing connection interface 8 for adapting to the grabbing end of the track robot 5 is arranged in the middle of the disc-shaped main body, the grabbing and releasing of the load device can be realized by selectively cooperating with the grabbing end of the track robot 5, a steering connection interface 9 for cooperating with the main body of the track robot 5 and selectively locking is arranged on the side surface of the disc-shaped main body, and the steering of the track robot 5 in the walking process can be realized by selectively cooperating with the main body of the track robot 5.

[0050] In some possible embodiments, please refer to Figure 4The telescopic mechanism includes a plurality of evenly distributed electric telescopic rods 12, the fixed ends of the electric telescopic rods 12 are fixedly connected with the inner wall of the cavity, the telescopic ends are fixedly connected with a bearing plate 13, the bearing plate 13 is fixedly connected with a motor 14, the output shaft of the motor 14 is parallel to the telescopic direction, and the end of the output shaft of the motor 14 is fixedly connected with the middle part of the rotating interface piece 7.

[0051] Further, the grabbing connection interface 8 is a circular groove and is used to form electrical connection with the grabbing end of the corresponding track robot 5.

[0052] Further, the turning connection interface 9 is provided with four, which are spaced 90 degrees from each other and correspond to the four groove type slide rails 3 in different directions respectively.

[0053] Further, the track robot 5 is a wheeled track robot 5, which includes at least two groups of wheel pairs, each wheel is provided with a flange on the inner side for contact and cooperation with the inner side of the I-shaped fixed track 4 (which can refer to the principle of a train wheel); the track robot 5 is provided with a brake mechanism protruding at the bottom, when the track robot 5 is in contact and cooperation with the I-shaped fixed track 4, the brake mechanism is partially located in the groove of the groove type slide rail 3.

[0054] Further, the main body of the track robot 5 is provided with a telescopic plug for cooperation with the turning connection interface 9, and the turning connection interface 9 is a groove corresponding to the plug (not shown in the drawing).

[0055] The grabbing principle of the track robot 5 is as follows:

[0056] The rotating interface piece 7 is controlled to extend out of the cavity by a set distance through the telescopic mechanism, at this time, the grabbing end of the track robot 5 can be aligned with and further cooperated and locked with the robot grabbing connection interface 8 provided on the rotating interface piece 7 through control, and the load equipment is grabbed.

[0057] The straight running principle of the track robot 5 is as follows:

[0058] The rotating interface piece 7 is controlled to retract into the cavity through the telescopic mechanism, when the track robot 5 runs straight at the track intersection, since the brake mechanism is partially located in the groove of the groove type slide rail 3 and has a guiding effect, the direction is not changed and the track robot 5 can run straight through. See Figure 7 .

[0059] The turning principle of the track robot 5 is as follows:

[0060] The rotating interface piece 7 is controlled by the telescopic mechanism to extend into the cavity and be higher than the I-shaped fixed track 4 by a certain distance. At this time, it can be matched and locked with the corresponding interface of the main body of the track robot 5. Then, the I-shaped fixed track 4 is separated from the track robot 5 by further lifting. At this time, the rotating interface piece 7 is controlled by the motor 14 to rotate by 90 degrees. Then, the track robot 5 is matched with the I-shaped fixed track 4 below, the main body of the track robot 5 is released, and the whole turning device 6 is retracted into the cavity, so as to realize the turning of the track robot 5.

[0061] In the specific implementation process, referring to Figure 5 , a plurality of load equipment assemblies are assembled by using the track robot 5. The left and right telescopic interfaces of the load equipment a are extended. The track robot 5 grabs the load equipment b, approaches it, and aligns the left and right telescopic interfaces of the load equipment b with the interfaces of the load equipment a. Then, the load equipment a and the load equipment b are docked and locked. After power-on detection, it is determined that the connection of the two load equipments is normal. The track robot 5 releases the load equipment b. The front and rear telescopic interfaces of the load equipment a are extended. Then, the track robot 5 grabs the load equipment c, approaches it, and aligns the front and rear telescopic interfaces of the load equipment c with the interfaces of the load equipment a. Then, the load equipment a and the load equipment c are docked and locked. After power-on detection, it is determined that the connection of the two load equipments is normal. The track robot 5 releases the load equipment b. The front and rear telescopic interfaces of the load equipment b are extended. Then, the track robot 5 grabs the load equipment d, approaches it, and aligns the front and rear telescopic interfaces of the load equipment d with the interfaces of the load equipment b. Then, the load equipment d and the load equipment b are docked and locked. After power-on detection, it is determined that the connection of the two load equipments is normal. The track robot 5 releases the load equipment d. The left and right telescopic interfaces of the load equipment c are extended to complete the connection with the left and right telescopic interfaces of the load equipment d. The power-on detection is carried out to check the connection. The operation process is shown in Figure 5 . The subsequent load equipment assembly process is carried out according to the above steps until the assembly of all load equipments is completed.

[0062] On this basis, further turning operation can be carried out, referring to Figure 6 : The track robot 5 moving along the fixed track stops in front of the turning device 6 and waits. The turning device 6 is half-lifted. The track robot 5 moves forward to be attached to and locked with the turning device 6. The lifting platform of the turning device 6 behind the track robot 5 continues to lift to the highest point and stops. Then, the inner rotating shaft of the turning device 6 rotates to the direction to be turned. After rotating by 90 degrees, it stops rotating. Then, the lifting platform of the turning device 6 is lowered to the half-lifted position. The track robot 5 is unlocked with the turning device 6. Finally, the turning device 6 is lowered to the initial state. The whole turning process is completed. The specific process is shown in Figure 6 .

[0063] It should be noted that the use of the steering device 6 includes two parts: 1. As an interface when the mechanical arm is grabbing, the interface is used to provide equipment insulation power supply and state information monitoring by the mechanical arm when the load equipment is in the transportation process before construction, at this time the steering device 6 is not lifted and is in the initial state (as shown in Figure 1 ); 2. After the assembly of multiple load equipment, the robot moves to a certain load equipment and needs to turn 90°, the steering device 6 is in a semi-lifted state (as shown in Figure 2 ), the robot body and the steering device 6 establish power supply and information connection, then the steering device 6 is lifted to the highest point with the robot (as shown in Figure 3 ), and then the steering device 6 is restored to the initial state after completing the 90° turning. One steering device 6 can provide 90° turning operation for up to four robots at the same time.

[0064] The side telescopic interface can realize mechanical, power supply, information and liquid cooling connection of adjacent two load equipment, and each load equipment includes two side telescopic interfaces (the other two sides are connection slots). The interface is extended when connection is needed, and is in a retracted state when not working.

[0065] Please refer to Figures 9-11 , the extendable track platform includes a fixed track platform 15 and a movable track platform 18;

[0066] The fixed track platform 15 includes a plurality of fixed plates 16 arranged at intervals, the plurality of fixed plates 16 are fixedly connected in the cabin in a direction perpendicular to the cargo spaceship hatch, and the end of the plurality of fixed plates 16 close to the hatch is fixedly connected with a fixed transverse plate 17. Each fixed plate 16 is provided with a groove type track 24 at the edge portion in the length direction; the movable track platform 18 includes movable plates 19 corresponding to the two fixed plates 16 at the edge of the fixed track platform 15, and the two movable plates 19 are fixedly connected with a movable transverse plate 20 at one end; the fixed track platform 15 and the movable track platform 18 are movably connected through two connecting rods 21, one end of each connecting rod 21 is provided with a pulley 22 and is movably connected with the groove type track 24, and the other end is hingedly connected with the end of the movable plate 19 close to the movable transverse plate 20. A first motor is arranged on the pulley 22 for controlling the rotation of the connecting rod 21 to a set angle. The pulley 22 is fixedly connected with a traction line, and the end of the traction line opposite to the first motor is fixedly connected with the second motor. The second motor is arranged at one end of the groove type track 24 close to the fixed transverse plate 17, and the other end of the traction line is fixedly connected with the second motor, forming a structure in which the second motor rotates to drive the pulley 22 to slide in the groove type track 24;

[0067] The extendable track platform further includes a limiting baffle 23; the bottom of the side of the fixed transverse plate 17 away from the fixed plate 16 is movably connected with the bottom of the limiting baffle 23, and the rotation movement of the limiting baffle 23 is controlled by a driving device, and the limit movement position is that the limiting baffle 23 is perpendicular to the side of the fixed transverse plate 17 away from the fixed plate 16 and parallel to the length direction of the fixed plate 16.

[0068] The fixed plate 16, the fixed transverse plate 17, the movable plate 19 and the movable transverse plate 20 are all provided with tracks for the track robot to walk on.

[0069] Further, the bottom of the side of the fixed transverse plate 17 away from the fixed plate 16 is hingedly connected to the bottom of the limiting baffle 23; the driving device is a motor with a self-locking function, the output end of which is fixedly connected to the hinge shaft; the limiting baffle is limited by the self-locking function of the motor.

[0070] In some possible embodiments, the bottom of the limiting baffle extends by a set length to form a limiting structure when the limiting baffle is parallel to the length direction of the fixed plate 16.

[0071] When the extendable track platform is in use, referring to Figure 11 , the initial state is that the movable track platform 18 is arranged above the fixed track platform 15, which is the retracted state; when the first cargo spaceship runs to a predetermined track height, the two side cargo cabin doors are unfolded and locked, the limiting baffle 23 of the extendable track platform is unlocked and rotated by 90° to a horizontal state and is locked by the mechanism itself or the driving device, the second motor is started to move the movable track platform 18 to the upper right of the fixed track platform 15, the first motor is started to rotate the connecting rod 21 by a set angle, and finally the movable track platform 18 is finally in the same plane as the fixed track platform 15 by the action of the limiting baffle 23, at this time, the movable track platform 18 and the fixed track platform 15 are connected to the tracks for the track robot to walk on, and the extendable track platform is completed.

[0072] Step S2, the extendable track platform is unfolded, and the track robot is used to carry the load equipment in the cabin to a specified position and install the load equipment.

[0073] Step S3, the track robot is used to carry other load equipment along the surface of the load equipment and to a specified position, and the plug-in connector is used to complete the interconnection and installation between different load equipment.

[0074] Step S4, the newly installed load equipment is powered on and detected by the cargo spaceship to verify whether the load equipment is normally connected.

[0075] Step S5, a second cargo spaceship is launched to the same track height as the first cargo spaceship; the second cargo spaceship is loaded with multiple load equipment, track robots and the extendable track platform for the track robot to walk on; the head of the second cargo spaceship is provided with a throat device.

[0076] Step S6, the docking of the first cargo spaceship and the second cargo spaceship is completed by the throat device and the throat capture device.

[0077] Step S7, repeat steps S2 to S4 to form a larger scale space large payload array.

[0078] Exemplarily, referring to Figures 12-14 The specific on-orbit construction process provided by the application is as follows:

[0079] After the cargo spaceship platform 1 is launched into orbit, the cargo cabin doors on both sides are unfolded and locked, the telescopic track platform limiting baffle 23 is unlocked and rotated 90° to the horizontal state and locked, the telescopic track platform is stretched in the horizontal direction, and locked after being in place; the track robot first transfers from the parking position in the cargo cabin to the front of the sub-payload unit to be transferred and installed along the fixed track in the cargo ship, then captures and unlocks the corresponding sub-payload unit through the front end mechanical arm, then carries the sub-payload unit to the sub-payload unit installation point along the fixed track on the telescopic track platform, adjusts the sub-payload unit to the installation attitude, and provides power supply and information support, so that the telescopic active docking end on the sub-payload unit is switched from the retracted state to the extended state, and finally installed in place; after each sub-payload unit is completed, the cargo spaceship platform performs a self-check, and after confirming that the state of the sub-payload unit is normal, the track robot installs the subsequent sub-payload units in place according to the above process, until the installation of the full array is completed, and the track robot returns to the parking point in the cargo cabin of the cargo spaceship platform 1 for charging.

[0080] Further expansion of the payload area and scale: after the cargo spaceship platform 2 is launched into orbit, it approaches the cargo spaceship platform 1 from the rear, unlocks the fairing at the head of the cargo spaceship platform 2 and flips 90° to lock, when the cargo spaceship platform 2 approaches to the capture position, the cargo spaceship platform 2 throat pipe device is stretched, after correction, it is connected with the cargo spaceship platform 1, the power supply and information link of the two cargo spaceship platforms are connected, then the cargo spaceship platform 2 repeats the above working steps to complete the system construction, finally the sub-payload units on the cargo spaceship platform 2 are connected with the payloads on the cargo spaceship platform 1 to form a whole, as shown in Figure 4 , to constitute a new larger scale space large payload array.

[0081] Referring to Figure 15 The application also provides a space large payload on-orbit maintenance method based on a cargo spaceship, and the maintenance method of the application includes:

[0082] Step A1, remove the interconnection between the payload device to be replaced and the adjacent payload device by controlling the plug connector to stretch and retract.

[0083] Step A2, the track robot captures the payload device to be replaced along the surface fixed track of the payload device, and carries it to the designated position of the cargo hold through the extendable track platform.

[0084] Step A3, the normal load device is grabbed by the track robot along the surface of the load device and transported to the position of the load device to be replaced, and the interconnection between the load device and the adjacent load device is completed by controlling the plug-in connector to stretch and retract.

[0085] Exemplarily, the application provides a specific maintenance and replacement process as follows:

[0086] The track robot A moves along the fixed track on the upper surface of the sub-load unit to the vicinity of the sub-load unit to be replaced, captures the sub-load unit to be replaced by using the front end mechanical arm, changes the active docking end on the side of the sub-load unit from the stretched state to the retracted state, disconnects the sub-load unit to be replaced from the adjacent sub-load unit, and then transports the sub-load unit to the cargo spaceship platform.

[0087] Based on the above technical solutions, the application has the following effects and advantages:

[0088] 1. The space large load on-orbit construction and maintenance method provided by the embodiment of the application can realize full-surface unmanned inspection through the track robot and the preset transportation active track, and ensure the reliability and availability of the space large load during long-time on-orbit work.

[0089] 2. The on-orbit construction and maintenance method provided by the embodiment of the application can realize continuous expansion of system capacity, solve the power supply and information system constraints after expansion, and flexibly configure different working and running modes to improve the use efficiency of the system.

[0090] 3. The method provided by the embodiment of the application supports continuous updating of the system to ensure long-life use of the system.

[0091] 4. The method provided by the embodiment of the application can realize track maneuvering and multi-track work, and has the characteristics of high automation and flexibility.

[0092] It should be noted that, in the present document, the terms "comprises / comprising" or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without further constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element. Furthermore, it is to be noted that the scope of the methods and apparatus of this application is not limited by the order of the steps or processes recited, since every hardware structure that is capable of carrying out the functions described in this specification, with an order of steps other than that recited, is within the scope of the present application. For example, the methods described herein can be carried out in an order other than that described, and additional, fewer, or alternative steps can be employed. Also, features described in relation to certain examples can be combined in other examples.

[0093] It can be understood that the embodiments of the present application are described above in conjunction with the drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are only illustrative, but not restrictive. Those skilled in the art know that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the present application. In addition, those skilled in the art can modify these features and embodiments to adapt to specific conditions and materials under the inspiration or teaching of the present application without departing from the spirit and scope of the present application. Therefore, the present application is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application are within the scope of the present application.

Claims

1. An extendable orbit platform for cargo spaceship in-orbit engineering, characterized in that, the extendable orbit platform comprises a fixed orbit platform and a movable orbit platform, the fixed orbit platform comprises a plurality of fixed plates arranged at intervals, the plurality of fixed plates are fixedly connected in the cabin in a direction perpendicular to the cargo spaceship hatch, the end of the plurality of fixed plates close to the hatch is fixedly connected with a fixed transverse plate, and the edge of each fixed plate in the length direction is provided with a groove-shaped track; the movable orbit platform comprises two movable plates corresponding to the two fixed plates at the edge of the fixed orbit platform, and one end of the two movable plates is fixedly connected with a movable transverse plate; the fixed orbit platform and the movable orbit platform are movably connected through two connecting rods, one end of each connecting rod is provided with a pulley and is slidably connected with the groove-shaped track, and the other end is hingedly connected with the end of the movable plate close to the movable transverse plate; a first motor is arranged on the pulley for controlling the rotation of the connecting rod to a set angle, a traction line is fixedly connected to the pulley, one end of the groove-shaped track close to the fixed transverse plate is provided with a second motor, and the other end of the traction line is fixedly connected to the output end of the second motor, forming a structure in which the rotation of the second motor drives the pulley to slide in the groove-shaped track; the extendable orbit platform further comprises a limiting baffle; the bottom of the side of the fixed transverse plate away from the fixed plate is movably connected with the bottom of the limiting baffle, and the rotation of the limiting baffle is controlled by a driving device; the surfaces of the fixed plate, the fixed transverse plate, the movable plate and the movable transverse plate are provided with tracks for the walking of orbit robots.

2. The extendable orbit platform for cargo spaceship in-orbit engineering according to claim 1, characterized in that, the limiting position of the limiting baffle is perpendicular to the side of the fixed transverse plate away from the fixed plate and parallel to the length direction of the fixed plate.

3. The extendable orbit platform for cargo spaceship in-orbit engineering according to claim 2, characterized in that, the bottom of the side of the fixed transverse plate away from the fixed plate is hingedly connected with the bottom of the limiting baffle; the driving device is a motor with a self-locking function, and the output end of the motor is fixedly connected with a hinge shaft; the limiting baffle is limited by the self-locking function of the motor.

4. The extendable orbit platform for cargo spaceship in-orbit engineering according to claim 2, characterized in that, the bottom of the limiting baffle extends to a set length, forming a limiting structure when parallel to the length direction of the fixed plate.

Images