CN112441261A - Method for in-orbit cooperative assembly of ultra-large space telescope by multi-space robot - Google Patents
Method for in-orbit cooperative assembly of ultra-large space telescope by multi-space robot Download PDFInfo
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- CN112441261A CN112441261A CN202011385480.XA CN202011385480A CN112441261A CN 112441261 A CN112441261 A CN 112441261A CN 202011385480 A CN202011385480 A CN 202011385480A CN 112441261 A CN112441261 A CN 112441261A
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64G4/00—Tools specially adapted for use in space
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Abstract
The invention discloses a method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot, belongs to the technical field of in-orbit service of spacecrafts, and aims to solve the problems that the carrying and propelling capacities of the conventional carrier rocket are poor and the carrying requirement of an optical load in an ultra-large-diameter space cannot be met. The invention relates to a telescope, which comprises a main mirror part, a secondary mirror part and a light blocking part, wherein the main mirror part, the secondary mirror part and the light blocking part are respectively arranged in a freight cabin, an on-orbit assembly system consisting of a spacecraft platform with a three-mirror module, a metering ring, a telescopic mechanical arm and the freight cabin with the main mirror part is launched to a preset working orbit of the telescope through a carrier rocket, then the part bins of corresponding parts are launched one by one according to the assembly and splicing requirements so as to be butted with the spacecraft platform, and all parts are spliced together one by one through a telescopic mechanical arm.
Description
Technical Field
The invention belongs to the technical field of on-orbit service of spacecrafts, and particularly relates to a method for on-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot.
Background
The fields of space target monitoring, space situation perception, high-performance astronomical observation and the like have strong demand on ultra-large-diameter optical effective loads, and the development technology of the ultra-large-diameter space optical loads is urgently needed to be broken through, so that a technical foundation is laid for developing the next generation of space monitoring and early warning systems and space astronomical telescopes in China. However, the method is limited by the carrying and propelling capabilities of the carrier rocket, the existing carrier rocket cannot meet the carrying requirement of the ultra-large-diameter space optical load, the bottleneck is met in the development work of the next generation space monitoring and early warning system and the space astronomical telescope in China, and the scientific progress of space exploration in China is seriously influenced, so that the method for assembling the ultra-large space telescope in an in-orbit cooperative manner by the multi-space robot is developed in order to adapt to the carrying and propelling capabilities of the existing carrier rocket and realize launching and carrying the space telescope with the ultra-large-diameter space optical load.
Disclosure of Invention
The invention provides a method for in-orbit cooperative assembly of a multi-space robot and an ultra-large space telescope, aiming at solving the problems that the carrying and propelling capacities of the existing carrier rocket are poor and the carrying requirement of an ultra-large-diameter space optical load cannot be met;
a method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot is realized by the following steps:
the method comprises the following steps: the large-scale space telescope is split into components, and the whole telescope is split into: the main mirror part, the secondary mirror part and the light blocking part are respectively arranged in a freight cabin;
step two: launching an on-orbit assembly system consisting of a spacecraft platform with a three-mirror module, a metering ring, a telescopic mechanical arm and a freight cabin with a main mirror part to a preset working orbit of a telescope through a carrier rocket;
step three: splicing parts in a cargo transport cabin with a main mirror part one by one on the top of a spacecraft platform through a telescopic mechanical arm to form a main mirror;
step four: after all parts in the freight cabin with the main mirror part are spliced, controlling the freight cabin with the main mirror part to be separated from the spacecraft platform, simultaneously launching the freight cabin with the secondary mirror part on the ground, and enabling the freight cabin with the secondary mirror part to replace the freight cabin with the main mirror part to be connected with the spacecraft platform;
step five: parts in a freight cabin with a secondary mirror part are spliced on the top of the primary mirror one by one through a telescopic mechanical arm to form a secondary mirror structure;
step six: after all parts in the freight cabin with the secondary mirror part are spliced, controlling the freight cabin with the secondary mirror part to be separated from the spacecraft platform, simultaneously launching the freight cabin with the light blocking part on the ground, and connecting the freight cabin with the light blocking part with the spacecraft platform instead of the freight cabin with the secondary mirror part;
step seven: parts in the freight cabin with the light blocking part are spliced on the top of the main mirror one by one through the telescopic mechanical arm to form a light blocking structure, and the assembly of the ultra-large space telescope is completed;
furthermore, a plurality of adapters are uniformly distributed on the outer wall of the freight cabin in the first step along the circumferential direction, a multifunctional robot is further arranged on the freight cabin, and the multifunctional robot is locked on the outer wall of the freight cabin through the adapters;
furthermore, the cargo transport cabin with the main mirror part in the second step and the third step is provided with a plurality of modular sub-mirrors as component parts for carrying the main mirror part;
further, the third step is realized by the following steps:
step three, firstly: when the spacecraft platform enters a preset orbit, a solar wing sailboard on the spacecraft platform is unfolded, and the telescopic mechanical arm is controlled to unlock;
step three: taking out a modular sub-mirror from the interior of a cargo transport cabin with a main mirror part through a telescopic mechanical arm, and installing a first modular sub-mirror on an aircraft platform;
step three: repeating the second step until all parts in the freight transport cabin with the main mirror part are assembled to form a hexagonal main mirror with a preset structure;
further, the cargo transport cabin with the secondary mirror part in the fourth step and the fifth step is provided with a secondary mirror module and three secondary mirror brackets as the components for carrying the secondary mirror part;
further, the fifth step is realized by the following steps:
step five, first: taking out a secondary mirror bracket from a freight cabin with a secondary mirror part through a telescopic mechanical arm, and mounting one end of the secondary mirror bracket at the top of a primary mirror;
step five two: the mounted secondary mirror bracket is unfolded through a telescopic mechanical arm;
step five and step three: repeating the fifth step and the fifth step, mounting one end of each secondary mirror bracket in the three secondary mirror brackets at the top of the primary mirror, ensuring that the two adjacent secondary mirror brackets form a 120-degree included angle, and unfolding each secondary mirror bracket;
step five and four: the multifunctional smart robot is controlled to be unlocked with a freight cabin with a secondary mirror part, and the telescopic mechanical arm grabs the multifunctional smart robot and carries the multifunctional smart robot to a secondary mirror bracket;
step five: the multifunctional smart robot is controlled to be fixed with the secondary mirror bracket by the first mechanical arm and the second mechanical arm;
step five and step six: the telescopic mechanical arm is controlled to take out the secondary mirror module from the freight cabin with the secondary mirror part and carry the secondary mirror module to the working space of the multifunctional smart robot, and the multifunctional smart robot grabs the secondary mirror module by utilizing the third mechanical arm;
step five and seven: the multifunctional smart robot is controlled to crawl to a position where the secondary mirror module at the top is to be installed along the first secondary mirror support by utilizing the first mechanical arm and the second mechanical arm, and the assembly of the secondary mirror part of the space telescope is completed;
further, the freight cabin with the light blocking part in the sixth step and the seventh step is provided with six light shields and light shield mounting bases for carrying the secondary mirror part;
further, the seventh step is realized by the following steps:
step seven one: the telescopic mechanical arm is controlled to take out the lens hood mounting base from the freight cabin with the light blocking part, and the lens hood mounting base is mounted on the primary mirror, so that the lens hood mounting base is ensured to be attached to the outline of the primary mirror;
step seven and two: controlling a telescopic mechanical arm to take out a light shield from a freight cabin with a light blocking part, mounting the light shield at a specified position of a light shield mounting base, and unfolding the light shield;
step seven and three: and repeating the action of the step seven and two to install the other five light shields at the appointed positions of the light shield installation base one by one, and unfolding each light shield to ensure that the six light shields form a hollow hexagonal prism structure.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot. The technology thoroughly breaks through the limitation of a carrying tool, enables a space telescope with an ultra-large caliber to become a reality, enables a system to have the capability of being expanded, and has the maintainability and the supportability which are incomparable with the traditional space optical load.
2. The invention provides a method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot, and provides a new idea for in-orbit assembly of a large-caliber telescope.
3. The invention provides a method for in-orbit cooperative assembly of an ultra-large space telescope by multiple space robots, which realizes in-orbit assembly by the cooperation of the multiple space robots, so that the construction of the large and ultra-large space telescopes becomes possible, the detection range and detection precision of the country to the ground and the air are greatly improved, and the technical problem that the caliber of the space telescope is too small due to the capability of a carrier rocket is solved.
Drawings
FIG. 1 is a schematic illustration of an in-orbit mounting system of the present invention after deployment of the solar wings;
FIG. 2 is a schematic diagram of a first layer of module sub-mirror assembly around three mirror modules in an in-orbit assembly system according to the present invention;
FIG. 3 is a schematic diagram showing the state of the on-rail mounting system after all the modular sub-mirrors are assembled into the main mirror;
FIG. 4 is a schematic diagram of the assembled state of the secondary mirror system in the on-rail assembly system according to the present invention;
FIG. 5 is a schematic view of the assembled light-blocking ring structure in the rail assembly system according to the present invention;
the figure includes 1 spacecraft platform, 2 metering rings, 3 telescopic robotic arms, 4 cargo compartments, 5 adapters, 6 modular sub-mirrors, 7 multi-functional smart robots, 8 solar wing sailboards, 9 secondary mirror modules, 10 secondary mirror supports, 11 triple mirror modules, 12 shades, and 13 shade mounting bases.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 5, and provides a method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot, which is realized by the following steps:
the method comprises the following steps: the large-scale space telescope is split into components, and the whole telescope is split into: the main mirror part, the secondary mirror part and the light blocking part, and the components of each part are respectively arranged in a freight cabin 4;
step two: launching an on-orbit assembly system consisting of a spacecraft platform 1 with a three-mirror module 11, a metering ring 2, a telescopic mechanical arm 3 and a freight cabin 4 with a main mirror part to a preset working orbit of a telescope through a carrier rocket;
step three: splicing parts in a freight cabin 4 with a main mirror part one by one on the top of the spacecraft platform 1 through a telescopic mechanical arm 3 to form a main mirror 14;
step four: after all parts in the freight cabin 4 with the main mirror part are spliced, controlling the freight cabin 4 with the main mirror part to be separated from the spacecraft platform 1, simultaneously launching the freight cabin 4 with the secondary mirror part on the ground, and connecting the freight cabin 4 with the secondary mirror part with the spacecraft platform 1 instead of the freight cabin 4 with the main mirror part;
step five: parts in a freight cabin 4 with a secondary mirror part are spliced on the top of the primary mirror 14 one by one through the telescopic mechanical arm 3 to form a secondary mirror structure;
step six: after all parts in the freight cabin 4 with the secondary mirror part are spliced, controlling the freight cabin 4 with the secondary mirror part to be separated from the spacecraft platform 1, simultaneously emitting the freight cabin 4 with the light blocking part on the ground, and connecting the freight cabin 4 with the light blocking part with the spacecraft platform 1 instead of the freight cabin 4 with the secondary mirror part;
step seven: parts in the freight cabin 4 with the light blocking part are spliced on the top of the main mirror 14 one by one through the telescopic mechanical arm 3 to form a light blocking structure, and the assembly of the ultra-large space telescope is completed.
The on-orbit assembly system composed in the second step of the method in the embodiment comprises a spacecraft platform 1, a metering ring 2, a telescopic mechanical arm 3, a freight cabin 4, a three-mirror module 11 and two solar wing sailboards 8, wherein the three-mirror module 11 is positioned on the axis of the spacecraft platform 1, the three-mirror module 11 is fixedly connected with the top of the spacecraft platform 1, the two solar wing sailboards 8 are equidistantly installed on the outer circular surface of the spacecraft platform 1 along the circumferential direction, the metering ring 2 is arranged below the spacecraft platform 1, one end of the metering ring 2 is fixedly connected with the bottom of the spacecraft platform 1, the freight cabin 4 is arranged at the lower part of the metering ring 2, the freight cabin 4 is detachably connected with the metering ring 2, the telescopic mechanical arm 3 is arranged on the metering ring 2, the telescopic mechanical arm 3 is slidably connected with the metering ring 2 through a sliding block, the telescopic mechanical arm 3 can slide along the circumferential direction of the metering ring 2, and the telescopic robot arm 3 is used to grab the parts in the cargo hold 4.
In this embodiment, sliding connection is realized through sliding block and measurement ring 2 to scalable arm 3, makes scalable arm 3 can carry out 360 circular rotary motion along the axis of measurement ring 2, and scalable arm 3 itself has 9 degrees of freedom, including 7 articulated rotational degrees of freedom and 2 arm rods's the degree of freedom that moves, and scalable arm 3 realizes that scalable arm 3 can swing for measurement ring 2 through articulating with the sliding block.
The embodiment provides a method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot, the space telescope is designed into a modularized form, component modules of the space telescope are carried into orbit through one or more times of transmission, and the space telescope is installed and adjusted in an operation orbit, so that the space telescope with an ultra-large caliber and capable of stably operating in space is obtained. The technology thoroughly breaks through the limitation of a carrying tool, enables a space telescope with an ultra-large caliber to become a reality, enables a system to have the capability of being expanded, and has the maintainability and the supportability which are incomparable with the traditional space optical load.
The second embodiment is as follows: the present embodiment is described with reference to fig. 1 to 5, and is further limited to the first step described in the first embodiment, in the present embodiment, a plurality of adapters 5 are uniformly distributed on the outer wall of the freight compartment 4 in the first step along the circumferential direction, a multifunctional robot 7 is further disposed on the freight compartment 4, and the multifunctional robot 7 is locked on the outer wall of the freight compartment 4 through the plurality of adapters 5.
In this embodiment, the freight cabin 4 is a cylindrical structure, the freight cabin 4 is sequentially provided with a modular sub-mirror feeding cabin, a secondary mirror module feeding cabin, a secondary mirror support feeding cabin, a light blocking ring structure mounting base feeding cabin and a light blocking ring structure feeding cabin along the circumferential direction, a plurality of modular sub-mirrors 6, a secondary mirror module 9, three secondary mirror supports 10, a light blocking ring structure 12 and a light blocking ring structure mounting base 13 are correspondingly placed in each feeding cabin, the multifunctional smart robot 7 carries a rechargeable battery, and each adapter 5 carries a floating electric connector with a large tolerance;
the method comprises the steps of splitting an original integral large-scale space telescope into parts, such as a main mirror part, a secondary mirror part and a light blocking part, placing components of the parts in a freight cabin 4 one by one, splicing and assembling the parts one by one through a telescopic manipulator 3, wherein the general operation sequence comprises the steps of firstly splicing the main mirror part, secondly splicing the secondary mirror part and finally splicing the light blocking part, selecting the parts to independently build a freight cabin 4 according to different actual loads of the astronomical telescope, or splitting each part again to form the freight cabin 4, or assembling part of parts of each part in the freight cabin 4, conveying the freight cabin 4 with the main mirror part along with a first lifted carrier to a rocket track during transportation, selecting the parts in the freight cabin 4 one by one through the telescopic manipulator 3 to splice, and sequentially sending the freight cabin 4 with the secondary mirror part and the freight cabin 4 with the light blocking part after the main mirror part is spliced The freight cabin 4 can adopt a mode of replacing one by one (the used freight cabin 4 is actively separated from the spacecraft platform 1 to provide a connecting space for the subsequent freight cabin 4), and can also adopt a superposition mode (the used freight cabin 4 is still connected with the spacecraft platform 1, the subsequent freight cabin 4 is sequentially connected with the prior freight cabin 4 through the metering ring 2 of the subsequent freight cabin 4), the former is favorable for reducing the load of the spacecraft platform 1, and the latter can reduce the space rubbish caused by the random abandonment of the freight cabin 4.
The third concrete implementation mode: the present embodiment will be described with reference to fig. 1 to 5, and the present embodiment further defines the second step and the third step of the second embodiment, and in the present embodiment, the number of the constituent parts for mounting the main mirror portion in the cargo compartment 4 with the main mirror portion in the second step and the third step is a plurality of modular sub-mirrors 6. The other components and the connection mode are the same as those of the second embodiment.
In this embodiment, each modular sub-mirror 6 is provided with a mechanical locking and electrical connection interface.
The fourth concrete implementation mode: the present embodiment will be described with reference to fig. 1 to 4, and the present embodiment further defines the third step described in the third embodiment, and in the present embodiment, the third step is realized by the following steps:
step three, firstly: when the spacecraft platform 1 enters a preset orbit, the solar wing sailboard 8 on the spacecraft platform 1 is unfolded, and the telescopic mechanical arm 3 is controlled to unlock;
step three: taking out a modular sub-mirror 6 from the interior of a freight compartment 4 with a main mirror part through a telescopic mechanical arm 3, and mounting a first modular sub-mirror 6 on the spacecraft platform 1;
step three: and repeating the second step until all parts in the freight compartment 4 with the main mirror part are assembled to form the hexagonal main mirror 14 with the preset structure. Other components and connection modes are the same as those of the third embodiment.
In the embodiment, each modularized sub-mirror 6 of the telescopic mechanical arm 3 is spliced and assembled one by one along the edge profile of the three-mirror module 11, the three-mirror module 11 is expanded layer by layer from inside to outside, and the three-mirror module 11 is also in a hexagonal structure.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 1 to 5, and is further limited to the fourth step and the fifth step described in the fourth embodiment, and in the present embodiment, the constituent components for mounting the secondary mirror portion in the cargo compartment 4 with the secondary mirror portion in the fourth step and the fifth step are the secondary mirror module 9 and the three secondary mirror brackets 10. The other components and the connection mode are the same as those of the fourth embodiment.
The sixth specific implementation mode: the present embodiment will be described with reference to fig. 1 to 5, and the present embodiment further defines step five in the fifth embodiment, and in the present embodiment, the step five is realized by the following steps:
step five, first: taking out a secondary mirror bracket 10 from a cargo transport cabin 4 with a secondary mirror part through a telescopic mechanical arm 3, and mounting one end of the secondary mirror bracket 10 on the top of a primary mirror 14;
step five two: the secondary mirror bracket 10 after being installed is unfolded through the telescopic mechanical arm 3;
step five and step three: repeating the fifth step and the fifth step, mounting one end of each secondary mirror bracket 10 in the three secondary mirror brackets 10 at the top of the primary mirror 14, ensuring that the two adjacent secondary mirror brackets 10 form a 120-degree included angle, and unfolding each secondary mirror bracket 10;
step five and four: the multifunctional smart robot 7 is controlled to be unlocked from the freight cabin 4 with the secondary mirror part, and the telescopic mechanical arm 3 grabs the multifunctional smart robot 7 and carries the multifunctional smart robot 7 to the secondary mirror support 10;
step five: the multifunctional smart robot 7 is controlled to be fixedly grabbed by the secondary mirror support 10 through the first mechanical arm and the second mechanical arm;
step five and step six: the telescopic mechanical arm 3 is controlled to take out the secondary mirror module 9 from the freight cabin 4 with the secondary mirror part and carry the secondary mirror module to the working space of the multifunctional smart robot 7, and the multifunctional smart robot 7 grabs the secondary mirror module 9 by using a third mechanical arm;
step five and seven: the multifunctional smart robot 7 is controlled to crawl to the position to be installed of the top secondary mirror module 9 along the first secondary mirror support 10 by utilizing the first mechanical arm and the second mechanical arm, and the assembly of the secondary mirror part of the space telescope is completed. The other components and the connection mode are the same as the fifth embodiment mode.
In this embodiment, the multifunctional smart robot 7 includes two fixed robot arms for mechanically locking and electrically connecting with the adaptor 5 and a work robot arm for grasping a part, and each of the fixed robot arms in the multifunctional smart robot 7 has 7 joint degrees of freedom and the work robot arm also has 7 joint degrees of freedom.
The seventh embodiment: the present embodiment is described with reference to fig. 1 to 5, and is further limited to step six and step seven in the sixth embodiment, and in the present embodiment, the constituent components of the cargo compartment 4 with the light blocking portion in step six and step seven, on which the secondary mirror portion is mounted, are six light shields 12 and a light shield mounting base 13. Other components and connection modes are the same as those of the sixth embodiment.
The specific implementation mode is eight: the present embodiment will be described with reference to fig. 1 to 5, and the present embodiment further defines step seven in the seventh embodiment, and in the present embodiment, step seven is realized by the following steps:
step seven one: the telescopic mechanical arm 3 is controlled to take the light shield mounting base 13 out of the freight cabin 4 with the light blocking part, and the light shield mounting base 13 is mounted on the main mirror 14, so that the light shield mounting base 13 is ensured to be attached to the contour of the main mirror 14;
step seven and two: controlling the telescopic mechanical arm 3 to take out a light shield 12 from the freight compartment 4 with the light blocking part, mounting the light shield 12 at a specified position of a light shield mounting base 13, and unfolding the light shield 12;
step seven and three: and repeating the action of the step seven and two to install the other five light shields 12 at the appointed positions of the light shield installation base 13 one by one, and unfolding each light shield 12 to ensure that the six light shields 12 form a hollow hexagonal prism structure. The other components and the connection mode are the same as those of the seventh embodiment.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any person skilled in the art can make modifications or changes to the above embodiment without departing from the scope of the present invention.
Claims (8)
1. A method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot is characterized by comprising the following steps: the method is realized by the following steps:
the method comprises the following steps: the large-scale space telescope is split into components, and the whole telescope is split into: the main mirror part, the secondary mirror part and the light blocking part are respectively arranged in a freight cabin (4);
step two: launching an on-orbit assembly system consisting of a spacecraft platform (1) with a three-mirror module (11), a metering ring (2), a telescopic mechanical arm (3) and a freight cabin (4) with a main mirror part to a preset working orbit of a telescope through a carrier rocket;
step three: parts in a freight cabin (4) with a main mirror part are spliced one by one on the top of a spacecraft platform (1) through a telescopic mechanical arm (3) to form a main mirror (14);
step four: after all parts in the freight cabin (4) with the main mirror part are spliced, controlling the freight cabin (4) with the main mirror part to be separated from the spacecraft platform (1), simultaneously launching the freight cabin (4) with the secondary mirror part on the ground, and connecting the freight cabin (4) with the secondary mirror part with the spacecraft platform (1) instead of the freight cabin (4) with the main mirror part;
step five: parts in a freight cabin (4) with a secondary mirror part are spliced on the top of a primary mirror (14) one by one through a telescopic mechanical arm (3) to form a secondary mirror structure;
step six: after all parts in the freight cabin (4) with the secondary mirror part are spliced, controlling the freight cabin (4) with the secondary mirror part to be separated from the spacecraft platform (1), simultaneously emitting the freight cabin (4) with the light blocking part on the ground, and connecting the freight cabin (4) with the light blocking part with the spacecraft platform (1) in place of the freight cabin (4) with the secondary mirror part;
step seven: parts in a freight cabin (4) with a light blocking part are spliced on the top of the main mirror (14) one by one through the telescopic mechanical arm (3) to form a light blocking structure, and the assembly of the ultra-large space telescope is completed.
2. The method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot as claimed in claim 1, wherein: the outer wall of the freight cabin (4) in the step one is uniformly provided with a plurality of adapters (5) along the circumferential direction, the freight cabin (4) is further provided with a multifunctional robot (7), and the multifunctional robot (7) is locked on the outer wall of the freight cabin (4) through the adapters (5).
3. The method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot as claimed in claim 2, wherein: the freight compartment (4) with the main mirror part in the second step and the third step is provided with a plurality of modular sub-mirrors (6) for carrying the main mirror part.
4. The method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot as claimed in claim 3, wherein: the third step is realized by the following steps:
step three, firstly: when the spacecraft platform (1) enters a preset orbit, a solar wing sailboard (8) on the spacecraft platform (1) is unfolded, and the telescopic mechanical arm (3) is controlled to unlock;
step three: taking out a modular sub-mirror (6) from the interior of a freight cabin (4) with a main mirror part through a telescopic mechanical arm (3), and installing a first modular sub-mirror (6) on the spacecraft platform (1);
step three: and repeating the second step until all parts in the freight cabin (4) with the main mirror part are assembled to form the hexagonal main mirror (14) with the preset structure.
5. The method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot as claimed in claim 4, wherein: and the freight transport cabin (4) with the secondary mirror part in the fourth step and the fifth step is provided with the secondary mirror part, and the secondary mirror module (9) and the three secondary mirror brackets (10) are used as the components for carrying the secondary mirror part.
6. The method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot as claimed in claim 5, wherein: the fifth step is realized by the following steps:
step five, first: taking out a secondary mirror bracket (10) from a freight cabin (4) with a secondary mirror part through a telescopic mechanical arm (3), and mounting one end of the secondary mirror bracket (10) at the top of a primary mirror (14);
step five two: the secondary mirror bracket (10) after being installed is unfolded through a telescopic mechanical arm (3);
step five and step three: repeating the fifth step and the fifth step, mounting one end of each secondary mirror bracket (10) in the three secondary mirror brackets (10) on the top of the primary mirror (14), ensuring that the two adjacent secondary mirror brackets (10) form an included angle of 120 degrees, and unfolding each secondary mirror bracket (10);
step five and four: the multifunctional smart robot (7) is controlled to be unlocked from the freight cabin (4) with the secondary mirror part, and the telescopic mechanical arm (3) grabs the multifunctional smart robot (7) and carries the multifunctional smart robot to the secondary mirror bracket (10);
step five: the multifunctional smart robot (7) is controlled to be fixedly grabbed by the secondary mirror support (10) through the first mechanical arm and the second mechanical arm;
step five and step six: controlling the telescopic mechanical arm (3) to take out the secondary mirror module (9) from the freight cabin (4) with the secondary mirror part and carry the secondary mirror module to the working space of the multifunctional smart robot (7), wherein the multifunctional smart robot (7) grabs the secondary mirror module (9) by using a third mechanical arm;
step five and seven: the multifunctional smart robot (7) is controlled to crawl to the position to be installed of the top secondary mirror module (9) along the first secondary mirror support (10) by utilizing the first mechanical arm and the second mechanical arm, and the assembly of the secondary mirror part of the space telescope is completed.
7. The method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot as claimed in claim 3, wherein: and in the sixth step and the seventh step, the freight cabin (4) with the light blocking part is provided with six light shields (12) and a light shield mounting base (13) for carrying the secondary mirror part.
8. The method for in-orbit cooperative assembly of an ultra-large space telescope by a multi-space robot as claimed in claim 3, wherein: the seventh step is realized by the following steps:
step seven one: controlling the telescopic mechanical arm (3) to take the light shield mounting base (13) out of the freight cabin (4) with the light blocking part, and mounting the light shield mounting base (13) on the main mirror (14) to ensure that the light shield mounting base (13) is attached to the contour of the main mirror (14);
step seven and two: controlling the telescopic mechanical arm (3) to take out a light shield (12) from the freight compartment (4) with the light blocking part, mounting the light shield at a specified position of a light shield mounting base (13), and unfolding the light shield (12);
step seven and three: and repeating the action of the step seven and two to install the other five light shields (12) at the appointed positions of the light shield installation base (13) one by one, and unfolding each light shield (12) to ensure that the six light shields (12) form a hollow hexagonal prism structure.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112977895A (en) * | 2021-03-31 | 2021-06-18 | 中国科学院长春光学精密机械与物理研究所 | Foldable visible light and synthetic aperture radar composite integrated lightweight structure |
| CN113525731A (en) * | 2021-07-21 | 2021-10-22 | 中国人民解放军战略支援部队航天工程大学 | Spacecraft |
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| CN115352659A (en) * | 2022-08-22 | 2022-11-18 | 哈尔滨工业大学（深圳） | On-orbit building system based on primary and secondary spacecraft |
| CN117808971A (en) * | 2024-01-02 | 2024-04-02 | 海南国际商业航天发射有限公司 | Rocket launching scene construction method, rocket launching scene construction device, rocket launching scene construction equipment and readable storage medium |
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