阅读说明：本技术 超大型太空望远镜模块化子镜拼接方案及标准化接口 (Modular sub-mirror splicing scheme and standardized interface for ultra-large space telescope ) 是由 赵京东 杨晓航 赵云鹏 杨国财 赵智远 赵亮亮 蒋再男 谢宗武 刘宏 于 2021-08-11 设计创作，主要内容包括：超大型太空望远镜模块化子镜拼接方案及标准化接口,属于航天器在轨服务技术领域。本发明为了解决现有运载火箭推进能力差无法满足超大型太空望远镜主镜部光学元件运载需求的问题、太空望远镜子镜模块化设计问题以及大型空间设备标准化接口设计问题。本发明通过将超大口径太空望远镜设计成标准的模块化形式,利用运载火箭将模块一次或分多次送入预定位置,利用空间机械臂系统夹持模块进行在轨装配操作,并利用模块上的标准化接口进行最后的锁紧,可以彻底突破运载工具的限制。本发明合理的标准化接口设计可以确保系统具备一定的刚度、强度、可靠性和抗干扰能力,使得大型、超大型空间设备在轨建造成为可能。(A splicing scheme and a standardized interface for modular sub-mirrors of an ultra-large space telescope belong to the technical field of on-orbit service of spacecrafts. The invention aims to solve the problems that the existing carrier rocket has poor propelling capability and cannot meet the carrying requirements of optical elements at the main mirror part of an ultra-large space telescope, the problem of modularized design of sub-mirrors of the space telescope and the problem of design of standardized interfaces of large space equipment. The invention designs the extra-large-caliber space telescope into a standard modular form, utilizes the carrier rocket to send the module into a preset position for one time or multiple times, utilizes the space mechanical arm system to clamp the module for on-orbit assembly operation, and utilizes the standardized interface on the module for final locking, thereby thoroughly breaking through the limitation of a carrier. The reasonable standardized interface design of the invention can ensure that the system has certain rigidity, strength, reliability and anti-interference capability, thus leading the on-orbit construction of large and ultra-large space equipment to be possible.)

1. The utility model provides a super large-scale space telescope modularization son mirror concatenation scheme which characterized in that: the method comprises the following steps:

s1, feeding a modular sub-mirror (8) into a preset track through a carrier rocket for one time or multiple times;

s2, clamping the modular sub-mirror (8) by using a telescopic space manipulator (4) to perform on-orbit assembly operation;

s3, utilizing a standardized interface (10) on the modular sub-mirror (8) to carry out final locking;

and S4, on-orbit replacement and maintenance of the modular sub-mirror (8) of the ultra-large-caliber space telescope can be realized through the reproducible multi-branch ultra-redundant space robot (7).

2. The splicing scheme of the modular sub-mirrors of the ultra-large space telescope of claim 1, which is characterized in that: in S2, the sub-mirror modules (8) are spliced in advance, and the single sub-mirror, the double sub-mirror, the triple sub-mirror, the quintuple sub-mirror and the six sub-mirror modules are designed and assembled according to the principle of layer-by-layer assembly from inside to outside.

3. The splicing scheme of the modular sub-mirrors of the ultra-large space telescope of claim 2, which is characterized in that: the modularized sub-mirror (8) consists of a sub-mirror unit supporting body (9), a standardized interface (10), an active optical adjusting mechanism (11) and a sub-mirror body (12); the sub-mirror body (12) is arranged on a sub-mirror unit supporting body (9) through an active optical adjusting mechanism (11), and a standardized interface (10) is arranged on the sub-mirror unit supporting body (9).

4. The splicing scheme of the modular sub-mirrors of the ultra-large space telescope of claim 1, which is characterized in that: the reproducible multi-branch super-redundant space robot (7) is formed by combining a plurality of branches by a joint with a standardized module interface and a passive telescopic arm rod to form a required space robot configuration, the plurality of branches are divided into a fixed arm and a working arm, and the tail end of the fixed arm is provided with an adapter connected with the surface of a spacecraft, so that the purposes of moving and fixing are achieved.

5. The standardized interface of the modularized sub-mirror of the ultra-large space telescope is characterized in that: comprises a positioning cone (13), a positioning hole (14), a locking frustum (15), a locking sleeve (16), a bolt (17), an electromagnetic mechanism (18) and an electric connector (19); locking frustum (15) bottom surface is installed on son mirror unit supporter (9), locking frustum (15) and locking sleeve (16) suit cooperation, two outside intercommunication extension in locking sleeve (16) inner chamber upper end are inserted a section of thick bamboo, have the annular groove on locking frustum (15), electromagnetic mechanism (18) and spring bolt (17) combination, spring bolt (17), annular groove and two are inserted a section of thick bamboo and are located the same footpath of locking sleeve (16), install electric connector (19) of the big tolerance on son mirror unit supporter (9) and can guarantee modularization son mirror (8) and three mirror modules (5), the electric connection between modularization son mirror (8).

6. The standardized interface for modular sub-mirrors of very large space telescopes as claimed in claim 5, wherein: the positioning hole (14) and the locking sleeve (16) are provided with guiding conical surfaces, the tolerance of the positioning conical surfaces can be adjusted according to the positioning precision of the mechanical arm, the positioning of the tail end of the mechanical arm is guaranteed to have errors, and when the tail end is subjected to residual vibration caused by mechanical flexibility, the positioning cone (13) and the locking cone table (15) can be smoothly inserted into the positioning hole and the locking hole, so that the assembly task is guaranteed to be smoothly completed.

7. The standardized interface for modular sub-mirrors of very large space telescopes as claimed in claim 6, wherein: the positioning cone (13) and the locking frustum (15) are designed in a cone rod type.

Technical Field

The invention belongs to the technical field of on-orbit service of spacecrafts, and particularly relates to a modular sub-mirror splicing scheme and a standardized interface design of an ultra-large space telescope.

Background

Compared with a ground telescope, the large-scale space telescope has the advantages of no interference of earth atmosphere, high image definition and the like, can be used for observation of unknown celestial bodies, space target monitoring and ground environment monitoring, and plays a key role in improving space exploration capacity and space confrontation capacity in China. The larger the caliber of the space telescope is, the higher the resolving power is, the largest space telescope at present is a 2.4m Hubbo telescope, but the caliber of the space telescope cannot meet the requirement, so that how to assemble the space telescope with a large caliber on track becomes a hotspot research problem.

In a traditional integrated launching mode, a spacecraft is limited by the propelling capacity of a carrier rocket and the volume constraint of a fairing, and the existing carrier rocket cannot meet the carrying requirement of a large-scale space telescope. The limitation of the propelling capacity of the carrier rocket brings great difficulty to the deployment of large-scale spacecrafts, the development of the space technology in China is severely restricted, and the appearance of the space on-orbit assembly technology makes the construction of large-scale space equipment possible. The main mirror part of the large-scale space telescope is composed of hexagonal standardized sub-mirror modules, the number of the required standardized sub-mirrors is increased along with the increase of the caliber of the telescope, the time consumption of the traditional method for assembling the modularized sub-mirrors one by utilizing a space manipulator is long, and the matching precision of the main mirror part can be influenced by repeated operation. In order to solve the problem of building a large-caliber space telescope under the existing carrying capacity, the development of a modular sub-mirror splicing scheme and a standardized interface structure design of an ultra-large space telescope are very necessary.

In addition, the first step of the in-orbit construction of the large-scale space telescope is that telescope is required to be subjected to modular design, wherein the connection of the modular sub-mirrors directly influences the mirror surface precision of the large-scale space telescope and the assembly operation difficulty of the mechanical arm, a standardized interface with mechanical and electrical connection capacity needs to be designed, and meanwhile, the standardized interface has reliable unlocking capacity. The existing standardized interface is large in size, low in reliability, unreliable in electrical connection and complex in connection form, the mirror surface splicing precision of the primary mirror part of the space telescope is seriously influenced, the difficulty is brought to the on-orbit assembly of the space manipulator, and the existing standardized interface does not have reliable unlocking capacity, so that the difficulty is brought to the subsequent maintenance and upgrading tasks of the space telescope system.

Disclosure of Invention

The invention provides a splicing scheme and a standardized interface structure of modular sub-mirrors of an ultra-large space telescope in order to solve the current situations that locking and unlocking are unreliable and the splicing scheme is immature between the modular sub-mirrors of the large space telescope;

the technical scheme adopted by the invention is as follows:

the splicing scheme of the modular subscopes of the ultra-large space telescope comprises the following steps:

s1, feeding the modular sub-mirror into a preset track through a carrier rocket for one time or multiple times;

s2, clamping the modular sub-mirror by using a telescopic space manipulator to perform on-orbit assembly operation;

s3, performing final locking by using a standardized interface on the modular sub-mirror;

and S4, on-orbit replacement and maintenance of the modular sub-mirror of the ultra-large-caliber space telescope can be realized through the reproducible multi-branch ultra-redundant space robot.

The standardized interface of the modular sub-mirror of the ultra-large space telescope comprises a positioning cone, a positioning hole, a locking frustum, a locking sleeve, a lock tongue, an electromagnetic mechanism and an electric connector; locking frustum bottom surface is installed on the son mirror unit supporter, locking frustum and locking sleeve suit cooperation, the outside intercommunication of locking sleeve inner chamber upper end is extended two and is inserted a section of thick bamboo, the last annular groove that has of locking frustum, electromagnetic mechanism and spring bolt combination, spring bolt, annular groove and two are inserted a section of thick bamboo and are located the same footpath line of locking sleeve, and the electric connector of installing the large tolerance on the son mirror unit supporter can guarantee the electric connection between modularization son mirror and three mirror modules, the modularization son mirror.

The invention has the beneficial effects that:

1. the invention designs the ultra-large-caliber space telescope into a standard modularization form, utilizes the carrier rocket to send the module into the preset position for one time or multiple times, utilizes the space mechanical arm system to clamp the module for on-orbit assembly operation, and utilizes the standardized interface on the module for final locking, thereby thoroughly breaking through the limitation of a carrier, enabling the construction of large space equipment to be possible, and simultaneously enabling the modularized large space equipment to have maintainability, expansibility and economy which are not possessed by the traditional integrated equipment.

2. The modules and the mechanical arm modules are connected by means of standardized interfaces. The standardized interface design technology is the core of the space large-scale equipment modularization technology, and the reasonable standardized interface design can ensure that the system has certain rigidity, strength, reliability and anti-interference capability, so that the large-scale and ultra-large-scale space equipment can be constructed on track.

Drawings

FIG. 1 is a schematic diagram of the super-large space telescope primary mirror system of the present invention after assembly;

FIG. 2 is a schematic view of the assembly sequence of the modular sub-mirrors of the present invention;

FIG. 3 is a schematic view of a modular sub-mirror structure according to the present invention;

FIG. 4 is a diagram of a standardized interface of the present invention;

FIG. 5 is a mechanical drawing of the locking sleeve of the present invention;

FIG. 6 is a mechanical drawing of the locking frustum of the present invention;

FIG. 7 is a mechanical drawing of a pilot hole of the present invention;

FIG. 8 is a mechanical drawing of a pilot cone according to the present invention;

wherein: 1. a freight transport bin; 2. a rotatable spacecraft platform; 3. a solar wing panel turnover; 4. a telescopic space manipulator; 5. a three-mirror module; 6. an adapter; 7. a reproducible multi-branch super-redundant space robot; 8. a modular sub-mirror; 9. a sub-mirror unit support; 10. a standardized interface; 11. an active optical adjustment mechanism; 12. a sub-mirror body; 13. positioning a cone; 14. positioning holes; 15. locking the frustum; 16. a locking sleeve; 17. a latch bolt; 18. an electromagnetic mechanism; 19. an electrical connector; 20. a target adapter.

Detailed Description

For a better understanding of the objects, structure and function of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings.

The modular sub-mirrors 8 are large in size, the size after pre-splicing exceeds the carrying capacity limit of a carrier rocket, and pre-splicing cannot be carried out on the ground. Conveying the single modular sub-mirror to a preset track through a carrier rocket, and completing the pre-splicing work of the modular sub-mirrors 8 by using a multi-space robot system;

the first embodiment is as follows: the embodiment is described with reference to fig. 1 to 8, and provides a splicing scheme of modular sub-mirrors of an ultra-large space telescope, which comprises the following steps:

s1, conveying a modular sub-mirror 8 into a preset track through a carrier rocket for one time or multiple times;

s2, clamping the modular sub-mirror 8 by using the telescopic space manipulator 4 to perform on-orbit assembly operation;

s3, utilizing a standardized interface 10 on the modular sub-mirror 8 to carry out final locking;

and S4, on-orbit replacement and maintenance of the modular sub-mirror 8 of the ultra-large-caliber space telescope can be realized through the reproducible multi-branch ultra-redundant space robot 7.

In the embodiment, the assembly system comprises a freight cabin 1, a rotatable spacecraft platform 2, a solar wing turning plate 3, a telescopic space manipulator 4, a three-mirror module 5, an adapter 6, a reproducible multi-branch super-redundant space robot 7 and a modular sub-mirror 8. The freight cabin 1 is positioned at the lowest end, the rotatable spacecraft platform 2 is positioned on the freight cabin 1, the rotatable spacecraft platform 2 is mainly divided into two parts, the part fixedly connected with the freight cabin 1 is a fixed part, the other part is a rotatable part and has the capability of rotating relative to the fixed part, two solar wing turning plates 3 are radially and equidistantly arranged on the fixed part of the rotatable spacecraft platform 2, the telescopic space manipulator 4 is positioned on the fixed part of the rotatable spacecraft platform 2, the telescopic space manipulator 4 can grab and carry the modular sub-mirror 8 in the freight cabin 1 and can carry out the assembly operation of the modular sub-mirror 8, the three-mirror module 5 is positioned on the axis of the rotatable spacecraft platform 2 and is fixedly connected with the rotatable part of the rotatable spacecraft platform 2 and rotates along with the rotation of the rotatable spacecraft platform 2, and the adapters 6 are distributed on the freight cabin 1 and the rotatable spacecraft platform 2, the reproducible multi-branch ultra-redundant space robot 7 is mechanically and electrically connected with the cabin body through the adapters 6 and can climb between the adapters 6 to change the position of the robot.

In the embodiment, the large-aperture space telescope is divided into modules according to the principle that the functions of the system are integrated into all the constituent modules and the coupling among all the modules is reduced, and the modular sub-mirror 8 with high strength and high reliability is designed. A standardized interface 10 with mechanical and electrical connection capabilities is designed. The modularized sub-mirrors 8 are sent into a preset orbit once or for multiple times by a carrier rocket, the telescopic space mechanical arm 4 is used for clamping the modules to perform on-orbit assembly operation, mechanical and electrical connection is completed between the modularized sub-mirrors 8 and the three-mirror module 5 through the standardized interfaces 10, and the standardized interfaces 10 on the modularized sub-mirrors 8 are used for final locking. The reproducible multi-branch super-redundant space robot 7 can realize the on-orbit replacement and maintenance of the modular sub-mirror 8 of the super-large-caliber space telescope. The on-orbit assembly and maintenance technology of the ultra-large space equipment enables the on-orbit construction and maintenance of the ultra-large caliber space telescope to be possible.

The second embodiment is as follows: the present embodiment is described with reference to fig. 1 to 3, and is further limited to S2 in the first embodiment, in the present embodiment, the number of turns of the main mirror portion of the space telescope, the shape characteristics of the modular sub-mirror 8 and the operation difficulty of the mechanical arm need to be considered comprehensively, and the pre-splicing scheme and the assembling sequence of the modular sub-mirrors 8 are designed according to the principles of assembling circle by circle, facilitating the operation of the mechanical arm and the like. The splicing sequence of the modular sub-mirrors 8 is shown in fig. 2, in order to improve the assembly efficiency and improve the assembly precision, the hexagonal modular sub-mirrors 8 are spliced into three forms in advance and assembled in a turn-by-turn assembly sequence, and the detailed sequence is shown as the sequence number marked on fig. 2;

in order to reduce the assembly times of the telescopic space manipulator 4 and improve the system precision and reliability, the modular sub-mirrors 8 can be spliced in advance on the premise of not influencing the carrying capacity of a carrying tool and the structural performance of a main mirror, and a single sub-mirror module, a double sub-mirror module, a triple sub-mirror module, a quintuple sub-mirror module and a hexa sub-mirror module are designed. And the assembly sequence shown in fig. 2 is designed according to the principle of assembly layer by layer from inside to outside. The other components and the connection mode are the same as those of the second embodiment.

The third concrete implementation mode: the present embodiment will be described with reference to fig. 1 to 3, and the present embodiment further defines the modular sub-mirror 8 described in the second embodiment, and in the present embodiment, the modular sub-mirror 8 is composed of a sub-mirror unit support 9, a standardized interface 10, an active optical adjustment mechanism 11, a sub-mirror body 12, and a target adapter 20; the sub-mirror body 12 is mounted on a sub-mirror unit supporting body 9 through an active optical adjusting mechanism 11, a standardized interface 10 is arranged on the sub-mirror unit supporting body 9, the target adapter 20 is fixedly connected with the sub-mirror unit supporting body 9, and an end effector of the telescopic space manipulator 4 is fixedly connected with the modularized sub-mirror 8 through a holding target adapter 20. The sub-mirror bodies 12 are main optical elements of a large-scale space telescope, and the active optical adjusting mechanism 11 has six degrees of freedom, so that the splicing precision between the sub-mirror bodies 12 can be ensured. The other components and the connection mode are the same as those of the second embodiment.

In this embodiment, the precision of the sub-mirror 12 is ensured by the positioning mechanism in the standardized interface 10 and the active optical adjustment mechanism 11, coarse positioning is performed through the standardized interface 10, and after the assembly of the space telescope system is completed, the sub-mirror 12 is accurately adjusted by the active optical adjustment mechanism 11.

The standardized interface 10 is provided with a positioning mechanism and a locking mechanism, and can realize positioning, locking and electrical connection;

in the embodiment, the position of the adapter can be selected according to the assembly scheme of the large-scale space telescope and the operation of the mechanical arm. When the aperture of the main mirror part of the space telescope is small and only one circle of sub-mirror modules are assembled, the target adapter 20 can be installed on the side surface of the sub-mirror unit supporting body 9 and corresponds to the standardized interface 10, at the moment, the direction of the adapter at the tail end of the telescopic space manipulator 4 is the same as the assembling direction, the operation of the telescopic space manipulator 4 is facilitated, and the flexibility control difficulty of the tail end of the telescopic space manipulator 4 is reduced. When the aperture of the main mirror part of the space telescope is larger and a plurality of circles of modularized sub-mirrors 8 are needed to be spliced, the target adapter 20 is installed at the bottom of the sub-mirror unit supporting body 9, and at the moment, the terminal compliance control algorithm of the telescopic space mechanical arm 4 needs to be adjusted;

the fourth concrete implementation mode: the present embodiment is described with reference to fig. 1, and the present embodiment is further limited to the reproducible multi-branch ultra-redundant space robot 7 described in the first embodiment, in which the reproducible multi-branch ultra-redundant space robot 7 is configured by combining a plurality of branches with a joint and a passive telescopic arm having standardized module interfaces to form a desired space robot configuration, the plurality of branches are divided into a fixed arm and a working arm, and the fixed arm has an adapter at its end connected to a spacecraft surface for the purpose of moving and fixing.

In the embodiment, the working arms of the reproducible multi-branch super-redundant space robot 7 are used for respectively grabbing the modular sub-mirrors 8 in the freight transport bin 1, the two working arms are used for pre-assembling the modular sub-mirrors 8, and the action is repeated until the modular sub-mirrors 8 are spliced into a double sub-mirror module, a triple sub-mirror module, a quintuple sub-mirror module or a six sub-mirror module according to a modular design result;

the fifth concrete implementation mode: the embodiment is described with reference to fig. 3 to 8, and provides a standardized interface of a modular sub-mirror of an ultra-large space telescope, which comprises a positioning cone 13, a positioning hole 14, a locking frustum 15, a locking sleeve 16, a bolt 17, an electromagnetic mechanism 18 and an electric connector 19; locking frustum 15 bottom surface is installed on the unit supporter 9 of son mirror, locking frustum 15 and the cooperation of locking sleeve 16 suit, the outside intercommunication of 16 inner chambers upper ends of locking sleeve extends two and inserts a section of thick bamboo, there is the annular groove on the locking frustum 15, and electromagnetic mechanism 18 and spring bolt 17 combination, spring bolt 17, annular groove and two are inserted a section of thick bamboo and are located the same footpath line of locking sleeve 16.

In this embodiment, the standardized interface 10 of the modular sub-mirror 8 has positioning, locking and electrical connection capabilities. The positioning function of the standardized interface 10 is mainly ensured by the positioning cone 13, the positioning hole 14, the locking frustum 15 and the locking sleeve 16. The mechanical locking function of the standardized interface 10 is mainly realized by the locking cone 15, the locking sleeve 16, the locking tongue 17 and the electromagnetic mechanism 18. And the electric connector 19 with large tolerance can ensure the electric connection between the modular sub-mirror 8 and the three-mirror module 5 and the modular sub-mirror 8.

In this embodiment, the electrical connector 19 has a certain tolerance, and the connection is performed after the positioning mechanism of the standardized interface 10 completes the coarse positioning, so that the smooth connection of the electrical connector 19 can be ensured.

The sixth specific implementation mode: referring to fig. 3 to 8, this embodiment is described, and the standardized interface 10 according to the fifth embodiment is further defined in this embodiment, the positioning hole 14 and the locking sleeve 16 have guiding tapered surfaces, and the tolerance of the positioning tapered surfaces can be adjusted according to the positioning accuracy of the mechanical arm, so as to ensure that the positioning cone 13 and the locking cone table 15 can be smoothly inserted into the positioning hole and the locking sleeve when there is an error in the positioning of the end of the mechanical arm and residual vibration of the end due to mechanical flexibility, thereby ensuring smooth completion of the assembly task. Other components and connection modes are the same as those of the sixth embodiment.

The seventh embodiment: the present embodiment is described with reference to fig. 3 to 8, and is further limited to the positioning mechanism of the standardized interface 10 according to the sixth embodiment, in the present embodiment, the positioning cone 13 and the locking cone 15 of the standardized interface 10 are designed in a cone rod type, and have the same length, which can limit three rotation directions and two degrees of freedom of movement of the modular sub-mirror 8, and have sufficient tolerance capability, which can ensure the smooth assembly of the space robot system in the presence of errors and end vibration due to the flexibility of the arm joints and the arm rods. The other components and the connection mode are the same as those of the seventh embodiment.

The specific implementation mode is eight: the present embodiment is described with reference to fig. 3 to 8, and is further limited to the locking mechanism of the standardized interface 10 described in the seventh embodiment, in the present embodiment, the locking mechanism of the standardized interface 10 is composed of a locking frustum 15, a locking sleeve 16, a latch 17, and an electromagnetic mechanism 18, the locking frustum 15 and the locking sleeve 16 are in a tapered surface fit, an annular groove is formed on the locking frustum 15, and the electromagnetic mechanism 18 is combined with the latch 17, so that the latch 17 is ejected when the electromagnetic mechanism 18 is powered off, and the latch 17 is retracted when the electromagnetic mechanism 18 is powered on. In the assembling process of the modular secondary mirror 8, the electromagnetic mechanism 18 is electrified, the bolt 17 is retracted, the device is in an unlocking state, after the positioning mechanism of the standardized interface 10 is completely matched, the electromagnetic mechanism 18 is powered off, the bolt 17 is ejected into the annular groove of the locking frustum 15, and the device is in a locking state. The other components and the connection mode are the same as those of the seventh embodiment.

It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.