CN113589517B - Separable modularized sub-mirror structure of large space telescope and on-orbit replacement method - Google Patents
Separable modularized sub-mirror structure of large space telescope and on-orbit replacement method Download PDFInfo
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- CN113589517B CN113589517B CN202110921153.XA CN202110921153A CN113589517B CN 113589517 B CN113589517 B CN 113589517B CN 202110921153 A CN202110921153 A CN 202110921153A CN 113589517 B CN113589517 B CN 113589517B
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
A separable modularized sub-mirror structure of a large space telescope and an on-orbit replacement method belong to the technical field of on-orbit service of spacecrafts. The method is used for solving the problems that the on-orbit maintenance of the large space telescope is difficult, the operation is complex, and the accuracy of the mirror surface of the main mirror part is difficult to guarantee. The sub-mirror support body and the sub-mirror support body base are locked through the sub-mirror support body locking mechanism, the sub-mirror support body locking mechanism is unlocked, the sub-mirror support body is separated from the sub-mirror support body base, and the purposes of independently replacing the sub-mirror surface, the active optical adjusting mechanism and the sub-mirror support body can be achieved. The invention can prolong the service life of the large-caliber space telescope, reduce the operation cost of space equipment in China and improve the on-orbit service capability in China; the modularized main mirror part of the large space telescope is divided into a mirror surface component and a sub-mirror module base, two coping strategies with different fault positions are respectively provided, and the efficiency of on-orbit maintenance of the large-caliber space telescope is further improved.
Description
Technical Field
The invention belongs to the technical field of on-orbit service of spacecrafts, and particularly relates to a structural design and on-orbit replacement method of a separable modularized sub-mirror of a large space telescope.
Background
With the increase of space investment in various countries, new space construction is already emerging, and the demands of large-scale space equipment are increasing. The on-orbit maintenance technology is continuously developed, so that the service life of the space equipment is prolonged, and the operation cost of the space assets in China can be effectively reduced. The large space telescope has the characteristics of large sub-mirror modules, large quantity and the like, and the on-orbit maintenance task is extremely difficult. The space telescope on-orbit splicing accuracy requirement is high, and the mirror surface matching accuracy is not influenced when the maintenance task is required to be executed. At present, two modularized sub-mirrors are replaced, one is to remove all the modularized sub-mirrors at the periphery of the failed modularized sub-mirror, and the scheme has large workload and high on-orbit operation difficulty. The other scheme is that the fault modularized sub-mirror is detached independently, and the scheme can damage a positioning chain of a large space telescope primary mirror system to influence the positioning precision of the telescope primary mirror. Therefore, in order to solve the problem of difficult on-orbit maintenance of large-scale space equipment, a design and on-orbit replacement method of a detachable modularized sub-mirror structure of a large-scale space telescope is developed.
Disclosure of Invention
The invention aims to solve the problems of large on-orbit maintenance difficulty, complex operation and difficult guarantee of the mirror surface precision of a main mirror part of a large space telescope, and further provides a separable modularized sub-mirror structure of the large space telescope and an on-orbit replacement method.
The technical scheme adopted by the invention is as follows:
the detachable modularized sub-mirror structure of the large space telescope comprises a sub-mirror surface, an active optical adjusting mechanism, a sub-mirror support body base, a sub-mirror support body locking mechanism and a standardized interface; the sub-mirror surface is installed on the sub-mirror support body through the active optical adjustment mechanism, the sub-mirror support body is provided with a standardized interface, the standardized interface is used for providing mechanical and electrical connection, the precision of the sub-mirror surface is ensured by the standardized interface and the active optical adjustment mechanism, the sub-mirror support body and the sub-mirror support body base are locked through the sub-mirror support body locking mechanism, the sub-mirror support body is unlocked, the sub-mirror support body is separated from the sub-mirror support body base, and the purposes of independently replacing the sub-mirror surface, the active optical adjustment mechanism and the sub-mirror support body can be achieved.
An on-orbit replacement method for a separable modular sub-mirror of a large space telescope, which is realized by the following steps if a fault occurs in a mirror surface assembly of the modular sub-mirror:
s1, unlocking a telescopic space mechanical arm, unlocking a free floating space robot, and unlocking a freight cabin door provided with a modularized sub-mirror surface assembly;
s2, flying the free floating space robot to the edge position of a primary mirror of the telescope;
s3, grabbing a standby mirror assembly in a freight warehouse by using a telescopic space mechanical arm, and carrying the standby mirror assembly into a working space of the free-floating space robot;
s4, grabbing a mirror surface assembly by using a working arm of the free floating space robot, and carrying the mirror surface assembly to a fault modularized sub-mirror;
s5, unlocking a sub-mirror support locking mechanism of the fault modularized sub-mirror, and separating the sub-mirror support from a sub-mirror support base;
s6, grabbing the fault mirror surface assembly by using a free floating space robot working arm, and disassembling the fault mirror surface assembly; the spare mirror assembly is assembled using the other working arm of the free-floating space robot.
An on-orbit replacement method for a separable modularized sub-mirror of a large space telescope, which is realized by the following steps if a fault occurs on a modularized sub-mirror module base:
s1, unlocking a telescopic space mechanical arm, unlocking a freight cabin door provided with a modularized sub-mirror, and extending a telescopic arm rod of the telescopic space mechanical arm;
s2, unlocking a standardized interface of the modularized sub-mirror, and disassembling the modularized sub-mirror by using a telescopic space mechanical arm;
s3, the rotatable part of the rotatable spacecraft platform drives the main mirror part to rotate, so that the modularized sub-mirror to be disassembled is positioned in a flexible operation space of the telescopic space mechanical arm;
s4, repeating the steps S2 and S3 until the fault modularized sub-mirror is disassembled;
s5, the standby modularized sub-mirrors and the modularized sub-mirrors which are not disassembled and have complete functions are spliced into a complete main mirror part in sequence.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention uses the space robot system composed of the telescopic space mechanical arm and the free floating space robot to maintain the large space telescope on the orbit, which can prolong the service life of the large-caliber space telescope, reduce the operation cost of space equipment in China and improve the on-orbit service capability in China.
2. According to the invention, the modularized main mirror part of the large space telescope is divided into the mirror surface assembly and the sub-mirror module base, two coping strategies of different fault positions are respectively provided, and the efficiency of on-orbit maintenance of the large-caliber space telescope is further improved.
Drawings
FIG. 1 is a schematic diagram of an on-orbit maintenance system for a very large space telescope according to the present invention;
FIG. 2 is a schematic view of the primary mirror portion of the oversized space telescope of the present invention;
FIG. 3 is a schematic diagram of a neutron mirror module of the primary mirror system of the ultra-large space telescope in the invention;
FIG. 4 is a schematic diagram of a neutron mirror support locking mechanism of the present invention;
wherein: 1. a freight bin; 2. a rotatable spacecraft platform; 3. a solar wing turning plate; 4. a retractable 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 base; 13. a sub-mirror support locking mechanism; 14. a standardized interface; 15. an electromagnetic mechanism; 16. locking the core; 17. a housing.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings for a better understanding of the objects, structures and functions of the present invention.
1. The first embodiment is as follows: the embodiment provides a detachable modularized sub-mirror structure of a large space telescope, which consists of a sub-mirror surface 9, an active optical adjusting mechanism 10, a sub-mirror support 11, a sub-mirror support base 12, a sub-mirror support 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 arranged on the sub-mirror support body 11 through the active optical adjustment mechanism 10, the precision of the sub-mirror surface 9 is ensured by the standardized interface 14 and the active optical adjustment mechanism 10, the standardized interface 14 can be mechanically and electrically connected, the sub-mirror support body 11 and the sub-mirror support body base 12 are locked through the sub-mirror support body locking mechanism 13, the sub-mirror support body locking mechanism 13 is unlocked, the sub-mirror support body 11 and the sub-mirror support body base 12 are separated, and the purpose of independently replacing the sub-mirror surface 9, the active optical adjustment mechanism 10 and the sub-mirror support body 11 can be realized.
In this embodiment, the spare parts of the mirror assembly consisting of the sub-mirror 9, the active optical adjustment mechanism 10 and the sub-mirror support 11, and the complete modular sub-mirror 8 are stored in the shipping bin.
In this embodiment, between the modularized sub-mirrors 8, the modularized sub-mirrors 8 and the three-mirror module 5 are mechanically and electrically connected through the standardized interface 14, the modularized sub-mirrors 8 realize coarse positioning through two surface positioning devices in the standardized interface 14, and then position fine adjustment is completed through the active optical adjustment mechanism 10, so as to finally meet the precision requirement;
in this embodiment, the modularized sub-mirror 8 at the inner ring is a positioning reference of the outer ring modularized sub-mirror 8, if the inner ring modularized sub-mirror 8 fails, the positioning chain of the main mirror part of the space telescope is damaged by adopting a method of directly disassembling the inner ring modularized sub-mirror 8;
in this embodiment, in order to ensure that the influence on the remaining sub-mirror modules of the main mirror is minimal when the modularized sub-mirror 8 is replaced, a method of separating the sub-mirror support 11 is adopted, so that when the sub-mirror 9 with the highest failure rate and the active optical adjustment mechanism 10 fail, the mirror assembly can be separated from the sub-mirror module base, and the positioning chain of the modularized sub-mirror 8 of the main mirror can be ensured not to be damaged;
in this embodiment, the active optical adjustment mechanism 10 is a prior art.
The second embodiment is as follows: referring to fig. 3, the present embodiment is described further to the first embodiment, in the present embodiment, the sub-mirror support body is composed of two parts, namely, a sub-mirror support body 11 and a sub-mirror support body base 12, the active optical adjustment mechanism 10 is fixedly connected with the sub-mirror support body 11, the sub-mirror support body base 12 has a cavity formed inward from the upper surface, the lower end of the sub-mirror support body 11 has a rounded corner structure, so that the insertion and extraction operations are facilitated, 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 compositions and connection modes are the same as those of the second embodiment.
And a third specific embodiment: referring to fig. 3, the present embodiment is described, and the present embodiment further defines a neutron mirror support locking mechanism 13 in a specific embodiment, in the present embodiment, a child mirror support 11 and a child mirror support base 12 are locked by the child mirror support locking mechanism 13, a circular arc-shaped groove is formed on the child mirror support 11, and the child mirror support locking mechanism 13 is installed in a cavity of the child mirror support base 12;
in this embodiment, the working principle of the sub-mirror support locking mechanism 13 is: the sub-mirror support body 11 enters a preset locking position, the sub-mirror support body locking mechanism 13 is electrified, and the hemispherical mechanism pops up to be matched with the circular arc-shaped groove of the sub-mirror support body 11 to realize locking;
the specific embodiment IV is as follows: the present embodiment is described with reference to fig. 4, in which the lock mechanism 13 for a three-neutron-mirror support according to the present embodiment is further limited, and in the present embodiment, the lock mechanism 13 for a three-neutron-mirror support 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 electrified, 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.
Fifth embodiment: the present embodiment is further limited to the modularized sub-mirror 8 according to the first embodiment, in the present embodiment, the sub-mirror surface 9 of the modularized sub-mirror 8 is hexagonal and is a main optical element, the sub-mirror surface 9 needs to have extremely high stitching precision to ensure the definition of imaging, and the main mirror structure of the large caliber space telescope is installed around the three-mirror module 5 by circles by using the telescopic space manipulator 4. Other compositions and connection modes are the same as in the first embodiment;
2. the ultra-large space telescope sub-mirror module is divided into a mirror surface assembly consisting of a sub-mirror surface 9, an active optical adjusting mechanism 10 and a sub-mirror support body 11 and a sub-mirror module base consisting of a sub-mirror support body base 12, a sub-mirror support body locking mechanism 13 and a standardized interface 14.
The ultra-large space telescope assembly system comprises a freight cabin 1, a rotatable spacecraft platform 2, two solar wing turning plates 3, a telescopic space mechanical arm 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 above the freight cabin 1, the rotatable spacecraft platform 2 is mainly divided into two parts, the part fixedly connected with the freight cabin 1 is a fixed part, the other part is a rotatable part, the capacity of rotating relative to the fixed part is provided, the two solar wing turning plates 3 are equidistantly arranged on the fixed part of the rotatable spacecraft platform 2 in the radial direction, the telescopic space mechanical arm 4 is positioned on the fixed part of the rotatable spacecraft platform 2, the telescopic space mechanical arm 4 can grasp a modularized sub-mirror 8 in the freight cabin 1, the three-mirror module 5 is positioned on the axis of the rotatable spacecraft platform 2 and is fixedly connected with the rotating part of the rotatable spacecraft platform 2, the two solar wing turning plates 3 are distributed on the fixed part of the rotatable spacecraft platform 2 along with the rotatable platform 6, the position of the rotatable spacecraft platform 6 can be changed, and the adaptor is freely arranged on the rotatable space mechanical arm 6, and the free floating space robot is connected with the rotatable platform 6.
The space telescope primary mirror part is formed by splicing modularized sub mirrors 8 around the three-mirror module 5.
The telescopic space mechanical arm 4 can change the length of a telescopic arm rod according to task requirements, and can realize variable space operation.
Specific embodiment six: the embodiment provides an on-orbit replacement method for a separable modularized sub-mirror 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:
step one: the retractable space mechanical arm 4 is unlocked, the free floating space robot 7 is unlocked, and the cabin door of the freight cabin 1 provided with the modularized sub-mirror 8 mirror surface assembly is unlocked;
step two: the free floating space robot 7 flies to the edge position of the telescope primary mirror;
step three: grabbing a standby mirror assembly in the freight warehouse 1 by using the telescopic space mechanical arm 4, and carrying the standby mirror assembly into a working space of the free floating space robot 7;
step four: grabbing the mirror surface assembly by using a working arm of the free-floating space robot 7, and carrying the mirror surface assembly to a fault modularized sub-mirror 8;
step five: the sub-mirror support locking mechanism 13 of the fault modularized sub-mirror 8 is unlocked, and the sub-mirror support 11 and the sub-mirror support base 12 are separated;
step six: grabbing the fault mirror assembly by using a working arm of the free floating space robot 7, and disassembling the fault mirror assembly; the spare mirror assembly is assembled with the other working arm of the free-floating space robot 7.
According to the embodiment, the replacement task of the fault modularized sub-mirror 8 can be completed, the positioning chain of the modularized sub-mirror 8 of the telescope main mirror part is not damaged, and the positioning precision of the main mirror part is ensured.
Seventh embodiment: the present embodiment is further limited to the free-floating space robot 7 described in the sixth embodiment, in the present embodiment, the free-floating space robot 7 is a novel space robot, the free-floating space robot 7 has a dual-arm system, and the dual-arm system is connected to the free-floating space robot body, so that the dual-arm system of the free-floating space robot 7 can be used to complete the collaborative task;
in this embodiment, two arms of the free-floating space robot 7 are SRS humanoid seven-degree-of-freedom space mechanical arms, which can complete the tasks of grabbing, carrying and assembling the modularized sub-mirror 8, and when the modularized sub-mirror 8 is small in volume, a single arm can be used for operation, and when the modularized sub-mirror 8 is large in volume, a double-arm clamping mode can be used for carrying the modularized sub-mirror 8. Other compositions and connection modes are the same as those of the sixth embodiment;
eighth embodiment: the embodiment provides an on-orbit replacement method for a separable modularized sub-mirror of a large space telescope,
if a fault 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 implemented by:
step one: unlocking the telescopic space mechanical arm 4, unlocking a cabin door of the freight cabin 1 provided with the modularized sub-mirror 8, and extending a telescopic arm rod of the telescopic space mechanical arm 4;
step two: unlocking the standardized interface 14 of the modularized sub-mirror 8, and disassembling the modularized sub-mirror by using the telescopic space mechanical arm 4;
step three: the rotatable part of the rotatable spacecraft platform 2 drives the main mirror part to rotate, so that the modularized sub-mirror 8 to be disassembled is positioned in a flexible operation space of the telescopic space mechanical arm 4;
step four: repeating S2 and S3 until the fault modularized sub-mirror 8 is disassembled;
step five: and the standby modularized sub-mirror 8 and the undetached modularized sub-mirror 8 with perfect functions are spliced into a complete main mirror part in sequence.
It will be understood that the invention has been described in terms of several embodiments, and that various changes and equivalents may be made to these features and embodiments 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)
1. A large-scale space telescope separable modularization sub-mirror structure which characterized in that: comprises 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 (9) is arranged on the sub-mirror support (11) through the active optical adjusting mechanism (10), a standardized interface (14) is arranged on the sub-mirror support (11), the standardized interface (14) is used for providing mechanical and electrical connection, the precision of the sub-mirror (9) is ensured by the standardized interface (14) and the active optical adjusting mechanism (10), the locking purpose is achieved between the sub-mirror support (11) and the sub-mirror support base (12) through the sub-mirror support locking mechanism (13), the sub-mirror support locking mechanism (13) is unlocked, the sub-mirror support (11) is separated from the sub-mirror support base (12), and the purpose of independently replacing the sub-mirror (9), the active optical adjusting mechanism (10) and the sub-mirror support (11) can be achieved.
2. The detachable modular sub-mirror structure of a large space telescope according to claim 1, wherein: the sub-mirror support base (12) is internally provided with a cavity from the upper surface, and the lower end of the sub-mirror support (11) is provided with a rounding structure, so that the sub-mirror support base (12) can be conveniently inserted and pulled out.
3. The detachable modular sub-mirror structure of a large space telescope according to claim 2, wherein: the sub-mirror support body (11) is provided with a circular arc-shaped groove, and a sub-mirror support body locking mechanism (13) is arranged in a cavity of the sub-mirror support body base (12).
4. A large space telescope separable modular sub-mirror structure according to claim 3, wherein: the sub-mirror support locking mechanism (13) comprises an electromagnetic mechanism (15) and a locking core (16) which are arranged on the shell (17); the electromagnetic mechanism (15) provides a locking effect, the electromagnetic mechanism (15) is electrified, 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.
5. An on-orbit replacement method for a separable modularized sub-mirror of a large space telescope is characterized by comprising the following steps of: modular sub-mirror structure according to claim 1, the mirror assembly comprising a sub-mirror (9), an active optical adjustment mechanism (10) and a sub-mirror support (11), if a fault occurs in the mirror assembly, the method being achieved by:
s1, unlocking a telescopic space mechanical arm (4), unlocking a free floating space robot (7), and unlocking a cabin door of a freight cabin (1) provided with a mirror assembly;
s2, flying the free floating space robot (7) to the edge position of a telescope primary mirror;
s3, grabbing a standby mirror assembly in the freight warehouse (1) by using a telescopic space mechanical arm (4), and carrying the standby mirror assembly into a working space of a free floating space robot (7);
s4, grabbing a mirror surface assembly by using a working arm of the free floating space robot (7), and carrying the mirror surface assembly to a fault modularized sub-mirror structure;
s5, unlocking a sub-mirror support locking mechanism (13) of the fault modularized sub-mirror structure, and separating the sub-mirror support (11) from a sub-mirror support base (12);
s6, 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 other working arm of the free-floating space robot (7).
6. The method for replacing the separable modular sub-mirrors of the large space telescope on orbit according to claim 5, wherein the method comprises the following steps: the free floating space robot (7) is provided with a double-arm system, and the double arms are connected to the free floating space robot body, so that the double-arm system of the free floating robot can be utilized to complete a collaborative operation task; the two double arms of the free floating space robot (7) are SRS humanoid seven-degree-of-freedom space mechanical arms.
7. An on-orbit replacement method for a separable modularized sub-mirror of a large space telescope is characterized by comprising the following steps of: the modular sub-mirror structure of claim 1, the sub-mirror module base comprising a sub-mirror support base (12), a sub-mirror support locking mechanism (13) and a standardized interface (14), if a fault occurs at the sub-mirror module base, the method being achieved by:
s1, unlocking a telescopic space mechanical arm (4), unlocking a cabin door of a freight cabin (1) with a modularized sub-mirror structure, and extending a telescopic arm rod of the telescopic space mechanical arm (4);
s2, unlocking a standardized interface (14) of the modularized sub-mirror structure, and disassembling the modularized sub-mirror structure by using a telescopic space mechanical arm (4);
s3, the rotatable part of the rotatable spacecraft platform (2) drives the main mirror part to rotate, so that the modularized sub-mirror structure to be disassembled is positioned in a flexible operation space of the telescopic space mechanical arm (4);
s4, repeating the steps S2 and S3 until the fault modularized sub-mirror structure is disassembled;
s5, sequentially splicing the standby modularized sub-mirror structure and the modularized sub-mirror structure which is not disassembled and has perfect functions into a complete main mirror part.
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| CN115416874B (en) * | 2022-08-22 | 2023-09-29 | 哈尔滨工业大学（深圳） | Modularized reconfigurable multi-arm spacecraft and reconstruction method thereof |
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