CN110900621A - Service method for replacing exposed load of manned spacecraft on orbit based on mechanical arm - Google Patents
Service method for replacing exposed load of manned spacecraft on orbit based on mechanical arm Download PDFInfo
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- CN110900621A CN110900621A CN201911136189.6A CN201911136189A CN110900621A CN 110900621 A CN110900621 A CN 110900621A CN 201911136189 A CN201911136189 A CN 201911136189A CN 110900621 A CN110900621 A CN 110900621A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention relates to a service method for replacing exposed load on orbit of a manned spacecraft based on a mechanical arm, which comprises the following steps: a. determining the service content provided by the manned spacecraft for the on-orbit replacement exposure load; b. determining the implementation mode of each service content; c. determining the function and index of each implementation mode; d. defining constraints on the on-track replacement exposure load; e. dividing the stage of the manned spacecraft for on-orbit replacement exposure load service; f. and determining the workflow of the manned spacecraft to the on-orbit replacement exposure load service. According to the service method for replacing the exposure load of the manned spacecraft on orbit based on the mechanical arm, the mechanical arm is applied to provide deployment, transportation and recovery services for the exposure load, compared with the service method for providing the same service for the exposure load when the spacecraft leaves the cabin, the service method can effectively avoid the problems of depreciation service life loss, resource consumption, safety threat of the spacecraft, incapability of caring for the exposure load in the transportation process and the like caused by the activity of leaving the cabin, simultaneously gives full play to the characteristics of large and long service life of the manned spacecraft platform, improves the use efficiency of the manned spacecraft exposure test platform, expands the application range of the exposure test, and is beneficial to acquiring the exposure test result more quickly, better and more widely.
Description
Technical Field
The invention relates to the technical field of overall design of manned spacecrafts, in particular to a service method for replacing exposure load of the manned spacecrafts on orbit, and particularly relates to a service method for replacing exposure load of the manned spacecrafts on orbit based on a mechanical arm.
Background
Exposure load refers to the load placed on the outer surface of the spacecraft and directly exposed to the space environment for various tests. The on-orbit replacement of the exposed load refers to the exposed load which is in a pluggable design with a spacecraft platform interface, and the on-orbit rolling rotation and replacement of the exposed load are realized through the assistance of a spacecraft or a mechanical arm during the on-orbit period, so that the service efficiency of the spacecraft exposed platform is maximized.
The development of space science research and technical tests is an important task of manned spacecraft. The manned spacecraft has large volume and wide exposure area, and is an ideal platform for developing exposure tests. Early manned spacecraft, such as manned spacecraft, space laboratories, etc., because of their short on-orbit flight times or lack of access and robotic arm functions, exposure testing was generally conducted in a disposable manner, i.e., the manned spacecraft was launched with the exposure load in place and only the exposure test was conducted during the on-orbit period, which failed to be replaced on-orbit. With the development of the manned spacecraft flying for a long time, the advantage of the manned spacecraft flying for a long time cannot be exerted by adopting a one-time exposure test mode, a reusable exposure test platform is developed, the on-orbit rolling rotation and replacement of the exposure load are realized, and the development trend of the manned spacecraft is inevitable.
The deployment, recovery and extravehicular transfer operations of the on-orbit replacement exposure load can be completed through manual extravehicular operation of astronauts, and the design method has the disadvantages that:
1. the service frequency of the clothes for taking the astronaut out of the cabin is required, and the service cycle of the clothes for taking the astronaut out of the cabin can be shortened due to frequent taking out of the cabin, so that the task requirement of taking the astronaut out of the cabin within the whole life cycle of the manned spacecraft can not be met;
2. the outbound activities as key flight events need to consume or occupy a large amount of resources, including the working time of spacemen, oxygen, space-ground communication, ground flight control support and the like;
3. compared with the situation that the space aircraft is in a sealed cabin, the frequent exit of the cabin can cause the astronaut to be subjected to excessive space irradiation, and the health of the astronaut is damaged;
4. the safety risk of the astronauts exists in the outbound activities, such as the risk of space micro-planets breaking down outbound clothing, the risk of outbound cabin door leakage, the risk of air lock cabin failure in recompression and the like, and the safety of the astronauts is seriously harmed by any abnormal condition;
5. the astronaut can not provide power supply support and measurement and control support for the exposed load during the process of transporting the exposed load outside the cabin, and can not realize the real-time control and state monitoring of the exposed load.
Disclosure of Invention
The invention aims to solve the problems and provides a service method for replacing exposed load of a manned spacecraft on orbit based on a mechanical arm.
In order to achieve the aim, the invention provides a service method for replacing exposed load of a manned spacecraft on orbit based on a mechanical arm, which comprises the following steps:
a. determining the service content provided by the manned spacecraft for the on-orbit replacement exposure load;
b. determining the implementation mode of each service content;
c. determining the function and index of each implementation mode;
d. defining constraints on the on-track replacement exposure load;
e. dividing the stage of the manned spacecraft for on-orbit replacement exposure load service;
f. and determining the workflow of the manned spacecraft to the on-orbit replacement exposure load service.
According to one aspect of the invention, in the step a, the service contents comprise repeated installation and disassembly on rails, power supply, measurement and control, thermal control, intra-cabin transfer, in-and-out of a cabin and mechanical arm transfer.
According to an aspect of the present invention, in the step b, the implementation manner for each service content is:
1) and (3) repeatedly installing and detaching on the rail: the load adapter mode is adopted, the passive end of the adapter is arranged on the outer surface exposed platform of the manned spacecraft at one time, the active end of the adapter is arranged on the exposed load, and the active end and the passive end of the load adapter adopt standard butt joint interfaces, so that butt joint locking and unlocking separation can be repeatedly realized;
2) power supply: the power supply cable of the power distribution equipment of the manned spacecraft is connected to the passive end of the load adapter, and after the active end and the passive end of the load adapter are locked, the insertion of the power supply connector is synchronously realized, so that the manned spacecraft can supply power to the exposed load;
3) measurement and control: the information management equipment measurement and control cable of the manned spacecraft is connected to the passive end of the load adapter, and after the active end and the passive end of the load adapter are locked, the insertion of the measurement and control connector is synchronously realized, so that the manned spacecraft can support the measurement and control of the exposed load;
4) thermal control: an extra-cabin fluid loop of the manned spacecraft is connected to a passive end of the load adapter, and after a main end and the passive end of the load adapter are locked, the fluid loop disconnector is inserted and connected under the driving of a motor, so that the manned spacecraft is supported by liquid cooling and heat dissipation of an exposed load;
5) transferring in the cabin: sealed passages are formed in the sealed cabins and among the cabins of the manned spacecraft and between the manned spacecraft and the visiting manned spacecraft or freight spacecraft, so that the spaceman can carry the exposed load to a specified position;
6) entering and exiting the cabin: the transfer of the exposed load between the inside and the outside of the cargo compartment is realized through the cargo air lock compartment and the cargo in-out compartment sliding table;
7) the mechanical arm is transported: the manned spacecraft is provided with a mechanical arm outside a cabin, a mechanical arm adapter is arranged on the exposed load, and the mechanical arm adapter on the exposed load is grabbed through a mechanical arm tail end executing mechanism to realize grabbing of the exposed load; after the mechanical arm grabs the exposed load, power supply and measurement and control services are provided for the exposed load, the temperature control and state monitoring of the exposed load are realized, and the locking and unlocking of the driving end and the driven end of the load adapter can also be realized; after the mechanical arm grabs the exposure load, the transfer of the exposure load between the cargo air lock cabin and the exposure platform is realized through joint motion.
According to one aspect of the invention, in step d, defining the constraint condition of the manned spacecraft on the exposure load of on-orbit replacement comprises the following steps: the exposed load quality, the size envelope and the relative position relationship of the driving end of the load adapter, the mechanical arm adapter and the exposed load.
According to one aspect of the invention, in the step e, according to the mission requirement of the in-orbit replacement exposure load, the manned spacecraft is divided into three stages of exposure load deployment, exposure load working and exposure load recovery.
According to one aspect of the invention, in the step f, the work flow of the manned spacecraft to the on-orbit replacement exposed load service is determined in stages according to the service stages divided in the step e.
According to one aspect of the invention, the workflow of providing services for manned spacecraft in the exposed load deployment stage is as follows: the exposed load is conveyed to the manned spacecraft along with the freight spacecraft, an astronaut carries the exposed load to a manned spacecraft cargo air lock cabin from the freight spacecraft through an in-cabin transfer channel, the astronaut installs the exposed load on a cargo in-and-out cabin sliding table, the cargo air lock cabin is decompressed, an out-cabin door is opened, the cargo in-and-out cabin sliding table sends the exposed load out of the cabin, a mechanical arm grabs the exposed load, the mechanical arm provides power supply and measurement and control support for the exposed load, the mechanical arm takes the exposed load off the cargo in-and-out cabin sliding table, the mechanical arm transfers the exposed load to the passive end position of a load adapter, the mechanical arm installs the exposed load on the passive end of the load adapter, the mechanical arm disconnects the power supply and measurement and control support for the exposed load, and releases.
According to one aspect of the invention, the working process of providing the service for the manned spacecraft in the working stage of the exposed load is as follows: the manned spacecraft is powered on the exposed load, the manned spacecraft is powered on the exposed load measurement and control channel, the exposed load is tested, the manned spacecraft is powered off the exposed load measurement and control channel, and the manned spacecraft is powered off the exposed load.
According to one aspect of the invention, the workflow of the manned spacecraft service in the exposed load recovery stage is as follows: the mechanical arm grabs the exposed load, the mechanical arm provides power supply and measurement and control support for the exposed load, the mechanical arm takes the exposed load down from the passive end of the load adapter, the mechanical arm transfers the exposed load to the position of the cargo access sliding table, the mechanical arm installs the exposed load on the cargo access sliding table, the mechanical arm cuts off the power supply and measurement and control support provided for the exposed load, the mechanical arm releases the exposed load and withdraws the exposed load, the cargo access sliding table sends the exposed load into the cargo hold and closes the access door of the cargo hold, the cargo air lock chamber repressurizes, the astronaut takes the exposed load down from the cargo access sliding table, the astronaut carries the exposed load from the cargo air lock chamber to the cargo ship through an intra-cabin transfer channel, and the exposed load goes down to the ground or is destroyed along with the.
According to one scheme of the invention, compared with a service method for replacing the exposure load of the manned spacecraft on orbit based on the mechanical arm, the service method provides service for a one-time exposure test, fully exerts the characteristics of large platform and long service life of the manned spacecraft, improves the service efficiency of the manned spacecraft exposure test platform, expands the application range of the exposure test, and is beneficial to acquiring the exposure test result more quickly, better and more widely.
According to the service method for replacing the exposure load of the manned spacecraft on orbit based on the mechanical arm, the mechanical arm is configured to provide deployment, transportation and recovery services for the exposure load, compared with the service method for providing the same service for the exposure load when the spacecraft leaves the cabin, the problems that the service life of the clothing is damaged during the leaving of the cabin, the resource consumption is low, the safety of the spacecraft is threatened, the exposure load cannot be attended during the transportation process and the like caused by the activity of leaving the cabin can be effectively solved, the use of the minimum resources is finally realized, and the safest, most reliable and most rapid service is provided for the exposure load.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 schematically represents a flow chart of a method of servicing a manned, robotic-arm based spacecraft for in-orbit replacement exposure loads in accordance with the present invention;
FIG. 2 schematically represents a workflow diagram of a manned spacecraft-provided service during an exposed load deployment phase in accordance with the present invention;
FIG. 3 schematically represents a work flow diagram of the manned spacecraft for servicing during an exposed load operational phase in accordance with the present invention;
figure 4 schematically shows a work flow diagram of the manned spacecraft service during the exposure load recovery phase according to the invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In describing embodiments of the present invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship that is based on the orientation or positional relationship shown in the associated drawings, which is for convenience and simplicity of description only, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above-described terms should not be construed as limiting the present invention.
The present invention is described in detail below with reference to the drawings and the specific embodiments, which are not repeated herein, but the embodiments of the present invention are not limited to the following embodiments.
Figure 1 schematically shows a flow chart of a robot-arm based manned spacecraft on-orbit replacement exposure load service method according to the present invention. As shown in FIG. 1, the service method of the manned spacecraft based on the mechanical arm to the on-orbit replacement exposure load comprises the following steps:
a. determining the service content provided by the manned spacecraft for the on-orbit replacement exposure load;
b. determining the implementation mode of each service content;
c. determining the function and index of each implementation mode;
d. defining constraints on the on-track replacement exposure load;
e. dividing the stage of the manned spacecraft for on-orbit replacement exposure load service;
f. and determining the workflow of the manned spacecraft to the on-orbit replacement exposure load service.
According to an embodiment of the present invention, in step a, the service contents provided by the manned spacecraft are combed out according to the characteristics of different types of exposed loads and the requirements of applying the mechanical arm and replacing the on-track, which should include but are not limited to: the device is repeatedly installed and disassembled on the rail, and power supply, measurement and control, thermal control, transportation in a cabin, entry and exit from the cabin, mechanical arm transportation and the like are carried out.
And b, after the service content required to be provided by the manned spacecraft is determined, performing step b, completing the design of a service scheme, and selecting an optimal scheme as an implementation mode of the service. The specific implementation manner for each service content is as follows:
1) and (3) repeatedly installing and detaching on the rail: the load adapter mode is adopted, the passive end of the adapter is arranged on the outer surface exposed platform of the manned spacecraft at one time, the active end of the adapter is arranged on the exposed load, and the active end and the passive end of the load adapter adopt standard butt joint interfaces, so that butt joint locking and unlocking separation can be repeatedly realized;
2) power supply: the power supply cable of the power distribution equipment of the manned spacecraft is connected to the passive end of the load adapter, and after the active end and the passive end of the load adapter are locked, the insertion of the power supply connector is synchronously realized, so that the manned spacecraft can supply power to the exposed load;
3) measurement and control: the information management equipment measurement and control cable of the manned spacecraft is connected to the passive end of the load adapter, and after the active end and the passive end of the load adapter are locked, the insertion of the measurement and control connector is synchronously realized, so that the manned spacecraft can support the measurement and control of the exposed load;
4) thermal control: an extra-cabin fluid loop of the manned spacecraft is connected to a passive end of the load adapter, and after a main end and the passive end of the load adapter are locked, the fluid loop disconnector is inserted and connected under the driving of a motor, so that the manned spacecraft is supported by liquid cooling and heat dissipation of an exposed load;
5) transferring in the cabin: sealed passages are formed in the sealed cabins and among the cabins of the manned spacecraft and between the manned spacecraft and the visiting manned spacecraft or freight spacecraft, so that the spaceman can carry the exposed load to a specified position;
6) entering and exiting the cabin: the transfer of the exposed load between the inside and the outside of the cargo compartment is realized through the cargo air lock compartment and the cargo in-out compartment sliding table;
7) the mechanical arm is transported: the manned spacecraft is provided with a mechanical arm outside a cabin, a mechanical arm adapter is arranged on the exposed load, and the mechanical arm adapter on the exposed load is grabbed through a mechanical arm tail end executing mechanism to realize grabbing of the exposed load; after the mechanical arm grabs the exposed load, power supply and measurement and control services are provided for the exposed load, the temperature control and state monitoring of the exposed load are realized, and the locking and unlocking of the driving end and the driven end of the load adapter can also be realized; after the mechanical arm grabs the exposure load, the transfer of the exposure load between the cargo air lock cabin and the exposure platform is realized through joint motion.
And c, determining the functions and indexes of the specific implementation modes in the step b by combining the requirements of the exposure loads of all types. The functions and indicators of each implementation include:
1) a load adapter: the impact force of rendezvous and docking of the manned spacecraft can be borne under the condition of installation and exposed load; defining a maximum quality indicator for which an exposure load can be installed; the tolerance index between the active end and the passive end caused by the operation precision error of the mechanical arm is definitely adapted;
2) a power distribution device: specifying a supply voltage level for the exposed load; specifying a maximum supply power for the exposed load;
3) an information management apparatus: the method specifically comprises the following steps of determining indexes such as bus instruction number, digital quantity telemetering number in each telemetering period, injection data format, hard line instruction number, analog quantity telemetering number, load data uplink and downlink rates and the like provided for exposed loads;
4) outboard fluid circuit: the maximum heat exchange capacity index provided for the exposed load is determined;
5) an intra-cabin transfer channel: the effective drift diameter indexes of a butt joint channel and an in-cabin movable channel are determined;
6) cargo air lock cabin and cargo business turn over cabin slip table: the initial temperature of air before decompression of the cargo air lock cabin, the cabin wall temperature of the cabin door after decompression in the opening and closing state, the decompression rate, the re-compression rate and other indexes are determined; the cargo loading and unloading mechanism comprises a cargo loading and unloading cabin sliding table, a cargo loading and unloading mechanism and a mechanical arm, wherein the cargo loading and unloading mechanism comprises a cargo loading and unloading mechanism, a cargo loading and unloading mechanism and a cargo loading and unloading mechanism, and the cargo loading and unloading mechanism comprises a cargo loading and unloading mechanism and a cargo loading and unloading mechanism; the maximum allowable quality and size envelope indexes of exposed load transported by the cargo entering and exiting cabin sliding table are determined;
7) mechanical arm: the effective operation radius of the mechanical arm needs to cover the position of the exposed load entering and exiting the cabin and the on-rail installation position; the operation precision of the mechanical arm tail end executing mechanism is determined; determining the power supply voltage grade and the maximum power supply power provided by the mechanical arm for exposing the load; and defining the bus instruction quantity index, the digital telemetering quantity index in each telemetering period and the injection data format requirement of the mechanical arm for exposing the load.
In step d, the constraint conditions of the manned spacecraft on the on-orbit replacement exposure load are determined, and the constraint conditions include but are not limited to: the exposed load quality, the size envelope, and the relative position relationship among the active end of the load adapter, the mechanical arm adapter and the exposed load.
Then in step e, according to the task requirement of the in-orbit replacement exposure load, dividing the service of the manned spacecraft for the in-orbit replacement exposure load into three stages of exposure load deployment, load work and load recovery.
And finally, integrating the design process, and determining the working flow of the manned spacecraft to the on-orbit replacement exposed load service in step f in stages according to the service stages divided in step e.
Figure 2 schematically represents a workflow diagram of the manned spacecraft provisioning service during an exposure load deployment phase according to the invention. As shown in fig. 2, the workflow of the manned spacecraft service in the exposure load deployment phase is as follows: the exposed load is conveyed to the manned spacecraft along with the freight spacecraft, an astronaut carries the exposed load to a manned spacecraft cargo air lock cabin from the freight spacecraft through an in-cabin transfer channel, the astronaut installs the exposed load on a cargo in-and-out cabin sliding table, the cargo air lock cabin is decompressed, an out-cabin door is opened, the cargo in-and-out cabin sliding table sends the exposed load out of the cabin, a mechanical arm grabs the exposed load, the mechanical arm provides power supply and measurement and control support for the exposed load, the mechanical arm takes the exposed load off the cargo in-and-out cabin sliding table, the mechanical arm transfers the exposed load to the passive end position of a load adapter, the mechanical arm installs the exposed load on the passive end of the load adapter, the mechanical arm disconnects the power supply and measurement and control support for the exposed load, and releases.
Figure 3 is a flow chart schematically representing the operation of a manned spacecraft for providing service during an exposed load operational phase in accordance with the present invention. As shown in fig. 3, the working flow of the manned spacecraft for providing service in the exposed load working phase is as follows: the manned spacecraft is powered on the exposed load, the manned spacecraft is powered on the exposed load measurement and control channel, the exposed load is tested, the manned spacecraft is powered off the exposed load measurement and control channel, and the manned spacecraft is powered off the exposed load.
Figure 4 is a flow chart schematically illustrating the operation of the manned spacecraft for service during the phase of exposed load recovery according to the present invention. As shown in fig. 4, the working flow of the manned spacecraft service in the exposed load recovery stage is as follows: the mechanical arm grabs the exposed load, the mechanical arm provides power supply and measurement and control support for the exposed load, the mechanical arm takes the exposed load down from the passive end of the load adapter, the mechanical arm transfers the exposed load to the position of the cargo access sliding table, the mechanical arm installs the exposed load on the cargo access sliding table, the mechanical arm cuts off the power supply and measurement and control support provided for the exposed load, the mechanical arm releases the exposed load and withdraws the exposed load, the cargo access sliding table sends the exposed load into the cargo hold and closes the access door of the cargo hold, the cargo air lock chamber repressurizes, the astronaut takes the exposed load down from the cargo access sliding table, the astronaut carries the exposed load from the cargo air lock chamber to the cargo ship through an intra-cabin transfer channel, and the exposed load goes down to the ground or is destroyed along with the.
Compared with the service method for replacing the exposure load of the manned spacecraft on orbit based on the mechanical arm, the service method for replacing the exposure load of the manned spacecraft on orbit fully exerts the characteristics of large platform and long service life of the manned spacecraft, improves the service efficiency of the manned spacecraft exposure test platform, expands the application range of the exposure test, and is beneficial to acquiring the exposure test result more quickly, better and more widely.
According to the service method for replacing the exposure load of the manned spacecraft on orbit based on the mechanical arm, the mechanical arm is configured to provide mounting, transferring and dismounting services for the exposure load, compared with the service method for providing the same service for the exposure load when the spacecraft leaves the cabin, the problems that the service life of the clothing is damaged, the resource consumption is reduced, the safety of the spacecraft is damaged, the exposure load cannot be attended in the transferring process and the like caused by the activity of leaving the cabin can be effectively solved, the use of the minimum resources is finally realized, and the safest, most reliable and quickest service is provided for the exposure load.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A service method for replacing exposed load on orbit by a manned spacecraft based on a mechanical arm comprises the following steps:
a. determining the service content provided by the manned spacecraft for the on-orbit replacement exposure load;
b. determining the implementation mode of each service content;
c. determining the function and index of each implementation mode;
d. defining constraints on the on-track replacement exposure load;
e. dividing the stage of the manned spacecraft for on-orbit replacement exposure load service;
f. and determining the workflow of the manned spacecraft to the on-orbit replacement exposure load service.
2. The method for servicing in-orbit replacement exposed loads of manned spacecraft based on robotic arms of claim 1, wherein in step a, the service contents include repeated installation and removal in and out of the orbit, power supply, measurement and control, thermal control, in-cabin transfer, entry and exit from the cabin and robotic arm transfer.
3. The service method for the in-orbit replacement exposure load of the manned spacecraft based on the mechanical arm as claimed in claim 2, wherein in the step b, the implementation manner aiming at each service content is as follows:
1) and (3) repeatedly installing and detaching on the rail: the load adapter mode is adopted, the passive end of the adapter is arranged on the outer surface exposed platform of the manned spacecraft at one time, the active end of the adapter is arranged on the exposed load, and the active end and the passive end of the load adapter adopt standard butt joint interfaces, so that butt joint locking and unlocking separation can be repeatedly realized;
2) power supply: the power supply cable of the power distribution equipment of the manned spacecraft is connected to the passive end of the load adapter, and after the active end and the passive end of the load adapter are locked, the insertion of the power supply connector is synchronously realized, so that the manned spacecraft can supply power to the exposed load;
3) measurement and control: the information management equipment measurement and control cable of the manned spacecraft is connected to the passive end of the load adapter, and after the active end and the passive end of the load adapter are locked, the insertion of the measurement and control connector is synchronously realized, so that the manned spacecraft can support the measurement and control of the exposed load;
4) thermal control: an extra-cabin fluid loop of the manned spacecraft is connected to a passive end of the load adapter, and after a main end and the passive end of the load adapter are locked, the fluid loop disconnector is inserted and connected under the driving of a motor, so that the manned spacecraft is supported by liquid cooling and heat dissipation of an exposed load;
5) transferring in the cabin: sealed passages are formed in the sealed cabins and among the cabins of the manned spacecraft and between the manned spacecraft and the visiting manned spacecraft or freight spacecraft, so that the spaceman can carry the exposed load to a specified position;
6) entering and exiting the cabin: the transfer of the exposed load between the inside and the outside of the cargo compartment is realized through the cargo air lock compartment and the cargo in-out compartment sliding table;
7) the mechanical arm is transported: the manned spacecraft is provided with a mechanical arm outside a cabin, a mechanical arm adapter is arranged on the exposed load, and the mechanical arm adapter on the exposed load is grabbed through a mechanical arm tail end executing mechanism to realize grabbing of the exposed load; after the mechanical arm grabs the exposed load, power supply and measurement and control services are provided for the exposed load, the temperature control and state monitoring of the exposed load are realized, and the locking and unlocking of the driving end and the driven end of the load adapter can also be realized; after the mechanical arm grabs the exposure load, the transfer of the exposure load between the cargo air lock cabin and the exposure platform is realized through joint motion.
4. The method for servicing in-orbit replacement exposure loads by manned spacecraft based on robotic arms of claim 1, wherein in step d, defining constraints of the in-orbit replacement exposure loads by the manned spacecraft comprises: the exposed load quality, the size envelope and the relative position relationship of the driving end of the load adapter, the mechanical arm adapter and the exposed load.
5. The service method for the on-orbit replacement exposure load of the manned spacecraft based on the mechanical arm of claim 1, wherein in the step e, the service of the on-orbit replacement exposure load of the manned spacecraft is divided into three stages of exposure load deployment, exposure load work and exposure load recovery according to the mission requirement of the on-orbit replacement exposure load.
6. The method for servicing the in-orbit replacement exposure load of the manned spacecraft based on the mechanical arm of claim 5, wherein in the step f, the workflow of the in-orbit replacement exposure load service of the manned spacecraft is determined in stages according to the service stages divided in the step e.
7. The method for servicing the in-orbit replacement exposure load by the manned spacecraft based on the mechanical arm of claim 6, wherein the workflow of the manned spacecraft to service in the exposure load deployment stage is as follows: the exposed load is conveyed to the manned spacecraft along with the freight spacecraft, an astronaut carries the exposed load to a manned spacecraft cargo air lock cabin from the freight spacecraft through an in-cabin transfer channel, the astronaut installs the exposed load on a cargo in-and-out cabin sliding table, the cargo air lock cabin is decompressed, an out-cabin door is opened, the cargo in-and-out cabin sliding table sends the exposed load out of the cabin, a mechanical arm grabs the exposed load, the mechanical arm provides power supply and measurement and control support for the exposed load, the mechanical arm takes the exposed load off the cargo in-and-out cabin sliding table, the mechanical arm transfers the exposed load to the passive end position of a load adapter, the mechanical arm installs the exposed load on the passive end of the load adapter, the mechanical arm disconnects the power supply and measurement and control support for the exposed load, and releases.
8. The method for servicing the in-orbit replacement exposure load by the manned spacecraft based on the mechanical arm of claim 6, wherein the workflow for servicing the manned spacecraft in the working phase of the exposure load is as follows: the manned spacecraft is powered on the exposed load, the manned spacecraft is powered on the exposed load measurement and control channel, the exposed load is tested, the manned spacecraft is powered off the exposed load measurement and control channel, and the manned spacecraft is powered off the exposed load.
9. The method for servicing the in-orbit replacement exposure load by the manned spacecraft based on the robotic arm of claim 6, wherein the workflow for servicing the manned spacecraft in the recovery phase of the exposure load is as follows: the mechanical arm grabs the exposed load, the mechanical arm provides power supply and measurement and control support for the exposed load, the mechanical arm takes the exposed load down from the passive end of the load adapter, the mechanical arm transfers the exposed load to the position of the cargo access sliding table, the mechanical arm installs the exposed load on the cargo access sliding table, the mechanical arm cuts off the power supply and measurement and control support provided for the exposed load, the mechanical arm releases the exposed load and withdraws the exposed load, the cargo access sliding table sends the exposed load into the cargo hold and closes the access door of the cargo hold, the cargo air lock chamber repressurizes, the astronaut takes the exposed load down from the cargo access sliding table, the astronaut carries the exposed load from the cargo air lock chamber to the cargo ship through an intra-cabin transfer channel, and the exposed load goes down to the ground or is destroyed along with the.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911136189.6A CN110900621B (en) | 2019-11-19 | 2019-11-19 | Service method for replacing exposed load of manned spacecraft on orbit based on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911136189.6A CN110900621B (en) | 2019-11-19 | 2019-11-19 | Service method for replacing exposed load of manned spacecraft on orbit based on mechanical arm |
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