CN113589517A - Separable modular sub-mirror structure of large-scale space telescope and on-orbit replacement method - Google Patents
Separable modular sub-mirror structure of large-scale space telescope and on-orbit replacement method Download PDFInfo
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- CN113589517A CN113589517A CN202110921153.XA CN202110921153A CN113589517A CN 113589517 A CN113589517 A CN 113589517A CN 202110921153 A CN202110921153 A CN 202110921153A CN 113589517 A CN113589517 A CN 113589517A
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- 230000007246 mechanism Effects 0.000 claims abstract description 62
- 230000003287 optical effect Effects 0.000 claims abstract description 23
- 238000007667 floating Methods 0.000 claims description 28
- 230000000694 effects Effects 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 7
- 230000010485 coping Effects 0.000 abstract description 2
- 108010066057 cabin-1 Proteins 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/16—Housings; Caps; Mountings; Supports, e.g. with counterweight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/183—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors specially adapted for very large mirrors, e.g. for astronomy, or solar concentrators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
大型太空望远镜可分离模块化子镜结构与在轨更换方法，属于航天器在轨服务技术领域。用于解决大型太空望远镜在轨维护难度大、操作复杂、主镜部镜面精度难以保证的问题。子镜支撑体与子镜支撑体基座之间通过子镜支撑体锁紧机构达到锁紧的目的，子镜支撑体锁紧机构解锁，子镜支撑体与子镜支撑体基座脱离，可实现单独更换子镜镜面、主动光学调整机构和子镜支撑体的目的。本发明可延长大口径太空望远镜的使用寿命，降低我国空间设备运营成本，提升我国在轨服务能力；将模块化的大型太空望远镜主镜部分为镜面组件与子镜模块基座两部分，分别给出两种不同故障位置的应对策略，进一步提升在轨维护大口径太空望远镜的效率。
The invention discloses a separable modular sub-mirror structure and an on-orbit replacement method for a large space telescope, and belongs to the technical field of spacecraft on-orbit services. It is used to solve the problems that large space telescopes are difficult to maintain on-orbit, complicated to operate, and difficult to guarantee the accuracy of the mirror surface of the main mirror. The sub-mirror support body and the sub-mirror support body base are locked by the sub-mirror support body locking mechanism. The sub-mirror support body locking mechanism is unlocked, and the sub-mirror support body is separated from the sub-mirror support body base. The purpose of separately replacing the mirror surface of the sub-mirror, the active optical adjustment mechanism and the sub-mirror support body is realized. The invention can prolong the service life of the large-caliber space telescope, reduce the operating cost of space equipment in my country, and improve the on-orbit service capability of my country; Two coping strategies for different fault locations have been developed to further improve the efficiency of in-orbit maintenance of large-aperture space telescopes.
Description
Technical Field
The invention belongs to the technical field of on-orbit service of a spacecraft, and particularly relates to a structural design and on-orbit replacement method of a separable modular sub-mirror of a large-scale space telescope.
Background
With the increase of space investment in various countries, a new round of space construction has emerged, and the demand of large space equipment is increasing day by day. The continuous development of the on-orbit maintenance technology enables the service life of space equipment to be prolonged, and the operation cost of space assets in China can be effectively reduced. The large-scale space telescope has the characteristics of large mass, large quantity and the like of the sub-mirror modules, which brings great difficulty to on-orbit maintenance tasks. The space telescope has high requirement on-orbit splicing precision, and the mirror surface matching precision is not influenced when a maintenance task is required to be executed. At present, two kinds of modular sub-mirrors are replaced, one is to completely remove the modular sub-mirrors at the periphery of a fault modular sub-mirror, and the scheme has large workload and high on-orbit operation difficulty. The other scheme is that the fault modular secondary mirror is detached independently, and the scheme can damage a positioning chain of a primary mirror system of a large-scale space telescope and influence the positioning precision of the primary mirror of the telescope. Therefore, in order to solve the problem of difficulty in on-orbit maintenance of large space equipment, a separable modular sub-mirror structure design and an on-orbit replacement method for a large space telescope are developed.
Disclosure of Invention
The invention provides a separable modular sub-mirror structure of a large space telescope and an on-orbit replacement method, aiming at solving the problems that the large space telescope is difficult to maintain on-orbit, complex to operate and difficult to ensure the mirror surface precision of a main mirror part.
The technical scheme adopted by the invention is as follows:
the separable modular sub-mirror structure of the large-scale space telescope comprises a sub-mirror surface, an active optical adjusting mechanism, a sub-mirror supporting body base, a sub-mirror supporting body locking mechanism and a standardized interface; the sub-mirror surface is installed on the sub-mirror supporting body through the active optical adjusting mechanism, the standardized interface is arranged on the sub-mirror supporting body, the standardized interface provides mechanical and electrical connection, the precision of the sub-mirror surface is guaranteed by the standardized interface and the active optical adjusting mechanism, the sub-mirror supporting body and the sub-mirror supporting body base achieve the locking purpose through the sub-mirror supporting body locking mechanism, the sub-mirror supporting body locking mechanism is unlocked, the sub-mirror supporting body is separated from the sub-mirror supporting body base, and the purpose of independently replacing the sub-mirror surface, the active optical adjusting mechanism and the sub-mirror supporting body can be achieved.
An on-orbit replacement method for separable modular sub-mirrors of a large space telescope, which is realized by the following steps if faults occur in mirror surface assemblies of the modular sub-mirrors:
s1, unlocking a telescopic space mechanical arm, unlocking a free floating space robot, and unlocking a freight cabin door provided with a modular sub-mirror surface assembly;
s2, flying the free floating space robot to the edge position of the telescope primary mirror;
s3, grabbing spare mirror assemblies in the freight transport bin by using a telescopic space mechanical arm, and carrying the spare mirror assemblies to a working space of the free floating space robot;
s4, grabbing the mirror surface assembly by using a working arm of the free floating space robot, and carrying the mirror surface assembly to a fault modular sub-mirror;
s5, unlocking a sub-mirror support body locking mechanism of the fault modular sub-mirror, and separating the sub-mirror support body from a sub-mirror support body base;
s6, grabbing the fault mirror surface assembly by using a free floating space robot working arm, and disassembling the fault mirror surface assembly; and assembling the spare mirror assembly by using the other working arm of the free floating space robot.
An on-orbit replacement method for separable modular sub-mirrors of a large space telescope is realized by the following steps if faults occur on modular sub-mirror module bases:
s1, unlocking a telescopic space mechanical arm, unlocking a freight cabin door provided with a modular sub-mirror, and extending a telescopic arm rod of the telescopic space mechanical arm;
s2, unlocking a modular sub-mirror standardized interface, and disassembling the modular sub-mirror by using a telescopic space manipulator;
s3, a rotatable spacecraft platform rotatable part drives a main mirror part to rotate, so that the to-be-disassembled modular sub-mirror is located in a flexible operation space of the telescopic space manipulator;
s4, repeating S2 and S3 until the fault modular secondary mirror is disassembled;
and S5, splicing the standby modular sub-mirrors and the undetached modular sub-mirrors with complete functions into a complete main mirror part in sequence.
Compared with the prior art, the invention has the following beneficial effects:
1. the space robot system consisting of the telescopic space mechanical arm and the free floating space robot is used for maintaining the large space telescope in an on-orbit manner, so that the service life of the large-caliber space telescope can be prolonged, the operation cost of space equipment in China is reduced, and the on-orbit service capability of China is improved.
2. The modular large-scale space telescope main mirror is divided into the mirror surface assembly and the sub-mirror module base, two coping strategies of different fault positions are provided respectively, and the efficiency of on-orbit maintenance of the large-scale space telescope is further improved.
Drawings
FIG. 1 is a schematic diagram of an in-orbit maintenance system of an ultra-large space telescope in the invention;
FIG. 2 is a schematic diagram of a primary mirror of the ultra-large space telescope;
FIG. 3 is a schematic structural diagram of a secondary mirror module in a primary mirror system of the ultra-large space telescope;
FIG. 4 is a schematic structural diagram of a locking mechanism of a sub-mirror support in 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 free floating space robot; 8. a modular sub-mirror; 9. a sub-mirror surface; 10. an active optical adjustment mechanism; 11. a sub-mirror support; 12. a sub-mirror support body base; 13. a sub-mirror support body locking mechanism; 14. a standardized interface; 15. an electromagnetic mechanism; 16. a locking core; 17. a housing.
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 first embodiment is as follows: the embodiment provides a separable modular sub-mirror structure of a large-scale space telescope, and the modular sub-mirror is composed of a sub-mirror surface 9, an active optical adjusting mechanism 10, a sub-mirror support body 11, a sub-mirror support body base 12, a sub-mirror support body locking mechanism 13 and a standardized interface 14. The sub-mirror surface 9 is a main optical element of the telescope, the sub-mirror surface 9 is installed on a sub-mirror support body 11 through an active optical adjusting mechanism 10, the precision of the sub-mirror surface is guaranteed by a standardized interface 14 and the active optical adjusting mechanism 10, the standardized interface 14 can provide mechanical and electrical connection, the sub-mirror support body 11 and a sub-mirror support body base 12 are locked through a sub-mirror support body locking mechanism 13, the sub-mirror support body locking mechanism 13 is unlocked, the sub-mirror support body 11 is separated from the sub-mirror support body base 12, and the purpose of independently replacing the sub-mirror surface 9, the active optical adjusting mechanism 10 and the sub-mirror support body 11 can be achieved.
In this embodiment, the mirror surface 9, the active optical adjustment mechanism 10 and the mirror support 11 constitute a spare part of the mirror assembly, and the complete modular sub-mirror 8 is stored in the freight compartment.
In the embodiment, mechanical and electrical connection is completed between the modular sub-mirrors 8, between the modular sub-mirrors 8 and the three-mirror module 5 through the standardized interface 14, the modular sub-mirrors 8 realize coarse positioning through two surface positioning devices in the standardized interface 14, then position fine adjustment is completed through the active optical adjusting mechanism 10, and finally the precision requirement is met;
in the embodiment, the modular sub-mirror 8 in the inner circle is a positioning reference of the modular sub-mirror 8 in the outer circle, and if the modular sub-mirror 8 in the inner circle fails, a method of directly disassembling the modular sub-mirror 8 in the inner circle is adopted, so that a positioning chain of a main mirror part of the space telescope is damaged;
in this embodiment, in order to ensure that the influence on the remaining sub-mirror modules of the main mirror is minimized when the modular sub-mirror 8 is replaced, a method of separating the sub-mirror support body 11 is adopted, so that the sub-mirror surface 9 with the highest failure rate can be ensured, and when the active optical adjustment mechanism 10 fails, the mirror surface assembly can be separated from the sub-mirror module base, so that the modular sub-mirror 8 positioning chain of the main mirror can be ensured not to be damaged;
in this embodiment, the active optical adjustment mechanism 10 is prior art.
The second embodiment is as follows: referring to fig. 3, the present embodiment is described, which further defines a first specific embodiment, in the present embodiment, the sub-mirror support body is composed of a sub-mirror support body 11 and a sub-mirror support body base 12, the active optical adjustment mechanism 10 is fixedly connected to the sub-mirror support body 11, the sub-mirror support body base 12 is provided with a cavity from the upper surface to the inside, the lower end of the sub-mirror support body 11 has a rounded structure, which is convenient for inserting and pulling operation, and the sub-mirror support body 11 can be inserted into the sub-mirror support body base 12 to form a complete sub-mirror support body structure. Other components and connection modes are the same as those of the second embodiment.
The third concrete implementation mode: the present embodiment will be described with reference to fig. 3, which further defines a sub-mirror support locking mechanism 13 in the first embodiment, in which the sub-mirror support 11 and the sub-mirror support base 12 are locked by the sub-mirror support locking mechanism 13, the sub-mirror support 11 has a circular arc-shaped groove, and the sub-mirror support locking mechanism 13 is installed in the cavity of the sub-mirror support base 12;
in this embodiment, the operation principle of the sub-mirror support locking mechanism 13 is as follows: when the sub-mirror supporting body 11 enters a preset locking position, the sub-mirror supporting body locking mechanism 13 is electrified, and the hemispherical mechanism pops up to be matched with the arc-shaped groove of the sub-mirror supporting body 11 to realize locking;
the fourth concrete implementation mode: the present embodiment will be described with reference to fig. 4, which further defines the sub-mirror support locking mechanism 13 in the third embodiment, in which the sub-mirror support locking mechanism 13 includes an electromagnetic mechanism 15 and a lock core 16 mounted on a housing 17; the electromagnetic mechanism 15 provides a locking effect, the electromagnetic mechanism 15 is powered on, the locking core 16 is retracted, the mechanism is in an unlocking state, the electromagnetic mechanism 15 is powered off, and the mechanism is in a locking state.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 1 to 3, and is further limited to the modular sub-mirror 8 described in the first embodiment, in the present embodiment, the sub-mirror surface 9 of the modular sub-mirror 8 is a hexagonal shape and is a main optical element, the sub-mirror surface 9 needs to have extremely high splicing precision to ensure the clarity of imaging, and the primary mirror structure of the large-caliber space telescope is installed by using the telescopic space manipulator 4 to surround the three-mirror module 5 one by one. Other components and connection modes are the same as those of the first embodiment;
and secondly, splitting the ultra-large space telescope module into a mirror surface assembly consisting of a telescope mirror surface 9, an active optical adjusting mechanism 10 and a telescope support body 11 and a telescope module base consisting of a telescope support body base 12, a telescope support body locking mechanism 13 and a standardized interface 14.
The ultra-large space telescope assembling system comprises a freight cabin 1, a rotatable spacecraft platform 2, two solar wing turning plates 3, a telescopic space manipulator 4, a three-mirror module 5, an adapter 6 and a free floating space robot 7, wherein 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, one 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, the 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 assembling operation of the modular sub-mirror 8, the three-mirror module 5 is positioned on the axis of the rotatable spacecraft platform 2, fixedly connected with the rotating part of the rotatable spacecraft platform 2 and rotates along with the rotation of the rotating part of the rotatable spacecraft platform 2, the adapter 6 is distributed on the freight cabin 1 and the rotatable spacecraft platform 2, and the free floating space robot 7 is mechanically and electrically connected with the cabin body through the adapter 6 and can climb between the adapter 6 to change the position of the free floating space robot.
The main mirror part of the space telescope is formed by splicing the modularized secondary mirrors 8 around the three mirror modules 5.
The telescopic space mechanical arm 4 can change the length of the telescopic arm rod according to task needs, and space-changing operation can be achieved.
The sixth specific implementation mode: the embodiment provides an on-orbit replacement method for separable modular sub-mirrors of a large space telescope,
if a fault occurs in the sub-mirror 9, the active optical adjustment mechanism 10 or the sub-mirror support 11, the method is implemented by the following steps:
the method comprises the following steps: the telescopic space mechanical arm 4 is unlocked, the free floating space robot 7 is unlocked, and the door of the freight cabin 1 provided with the mirror surface component of the modularized sub-mirror 8 is unlocked;
step two: the free floating space robot 7 flies to the edge position of the telescope primary mirror;
step three: a retractable space mechanical arm 4 is used for grabbing spare mirror surface components in the freight cabin 1 and carrying the mirror surface components to the working space of a free floating space robot 7;
step four: a working arm of the free floating space robot 7 is used for grabbing the mirror surface assembly and carrying the mirror surface assembly to a fault modular sub-mirror 8;
step five: unlocking a sub-mirror support body locking mechanism 13 of the fault modular sub-mirror 8, and separating the sub-mirror support body 11 from the sub-mirror support body base 12;
step six: grabbing the fault mirror surface assembly by using a working arm of the free floating space robot 7, and disassembling the fault mirror surface assembly; the spare mirror assembly is assembled using the free floating space robot 7 with the other working arm.
According to the embodiment, the task of replacing the fault modular secondary mirror 8 can be completed, and meanwhile, the positioning chain of the modular secondary mirror 8 of the telescope main mirror part is not damaged, and the positioning precision of the main mirror part is ensured.
The seventh embodiment: the present embodiment will be described with reference to fig. 1 to 3, and the present embodiment is further limited to the free-floating-space robot 7 according to the sixth embodiment, in which the free-floating-space robot 7 is a novel space robot, and the free-floating-space robot 7 has a double arm system that is connected to the free-floating-space robot body and can perform a cooperative task using the double arm system of the free-floating-space robot 7;
in this embodiment, two arms of the free floating space robot 7 are SRS humanoid seven-degree-of-freedom space manipulators, which can complete the tasks of grabbing, carrying and assembling of the modular sub-mirror 8, and when the modular sub-mirror 8 is small in size, a single arm can be adopted for operation, and when the modular sub-mirror 8 is large in size, the modular sub-mirror 8 can be carried in a manner of clamping the two arms. Other components and connection modes are the same as those of the sixth embodiment;
the specific implementation mode is eight: the embodiment provides an on-orbit replacement method for separable modular sub-mirrors of a large space telescope,
if a failure occurs in the sub-mirror support base 12, the sub-mirror support locking mechanism 13 or the standardized interface 14, the entire modular sub-mirror 8 needs to be replaced, the method is realized by the following steps:
the method comprises the following steps: unlocking the telescopic space mechanical arm 4, unlocking a cabin door of the freight cabin 1 provided with the modular sub-mirror 8, and extending a telescopic arm rod of the telescopic space mechanical arm 4;
step two: unlocking a standardized interface 14 of the modular sub-mirror 8, and disassembling the modular sub-mirror by using the telescopic space manipulator 4;
step three: the rotatable part of the rotatable spacecraft platform 2 drives the main mirror part to rotate, so that the to-be-disassembled modular sub-mirror 8 is positioned in a flexible operation space of the telescopic space manipulator 4;
step four: repeating S2, S3 until the faulty modular sub-mirror 8 is disassembled;
step five: and splicing the spare modular sub-mirror 8 and the undetached modular sub-mirror 8 with good functions into a complete main mirror part in sequence.
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.
Claims (7)
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| CN115416874A (en) * | 2022-08-22 | 2022-12-02 | 哈尔滨工业大学（深圳） | Modular reconfigurable multi-arm spacecraft and reconfiguration method thereof |
| CN117984096A (en) * | 2024-02-26 | 2024-05-07 | 中国载人航天工程办公室 | Method for assembling space telescope on orbit |
| CN118091924A (en) * | 2024-04-23 | 2024-05-28 | 同济大学 | Docking structure and ground simulation assembly system for space telescope |
| CN118192031A (en) * | 2024-05-20 | 2024-06-14 | 同济大学 | Sub-mirror adjustment device, space telescope and ground simulation adjustment system |
| CN118655693A (en) * | 2024-08-19 | 2024-09-17 | 同济大学 | A modular large-aperture space telescope mirror replacement system and method |
| CN118790739A (en) * | 2024-09-13 | 2024-10-18 | 中国科学院上海技术物理研究所 | Sub-mirror storage compartment, mirror installation system, transmission method and installation method |
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| CN118655693B (en) * | 2024-08-19 | 2024-11-29 | 同济大学 | Modularized large-caliber space telescope mirror surface replacement system and method |
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| CN118790739B (en) * | 2024-09-13 | 2025-02-11 | 中国科学院上海技术物理研究所 | Sub-mirror storage compartment, mirror installation system, transmission method and installation method |
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