CN106882401A - Multi-function service transfer vehicle device - Google Patents
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- CN106882401A CN106882401A CN201510936950.XA CN201510936950A CN106882401A CN 106882401 A CN106882401 A CN 106882401A CN 201510936950 A CN201510936950 A CN 201510936950A CN 106882401 A CN106882401 A CN 106882401A
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- 238000012546 transfer Methods 0.000 title claims abstract description 53
- 238000003032 molecular docking Methods 0.000 claims abstract description 52
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 238000013461 design Methods 0.000 claims abstract description 19
- 230000010006 flight Effects 0.000 claims abstract description 5
- 238000005516 engineering process Methods 0.000 claims description 16
- 238000012423 maintenance Methods 0.000 claims description 14
- 238000007789 sealing Methods 0.000 claims description 14
- 238000000429 assembly Methods 0.000 claims description 8
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- 238000009434 installation Methods 0.000 claims description 3
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- 238000011161 development Methods 0.000 description 4
- 241000408659 Darpa Species 0.000 description 3
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- 239000000446 fuel Substances 0.000 description 3
- 238000012795 verification Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
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Abstract
The invention provides a kind of multi-function service transfer vehicle device, the in-orbit service for performing multiple target, multi-track, multitask, the device includes：Aircraft body；And two docking mechanisms, the two ends of aircraft body are respectively installed in, wherein, aircraft body is mutually butted by two docking mechanisms with two front and rear other aircraft, so as to form three cabin assembly state of flights.Therefore, using technical scheme, can possess the various service roles of execution, the multiple targets of service, support polytype ability, carry out in-orbit service Flight Vehicle Design and develop with important references value to follow-up.
Description
Technical field
The present invention relates to a kind of new multi-function service transfer vehicle device, can be used for On-orbit servicing, it possesses support
Someone's maintenance, unmanned maintenance, it is in-orbit add, the ability such as Orbit Transformation, possess two ends docking capacity, can simultaneously with two flights
Device is docked, and forms the flight of three device assemblys, can perform multiple target, multi-track, the in-orbit service of multitask.
Background technology
In-orbit service refers to cooperate with completion to be related to extend various spacecraft life-spans, lifting times by people, robot or both in space
The one space-like operation of executive capability of being engaged in.At present, the technical research and research and development of products in the world for in-orbit service enters one
The new stage.
So far, in-orbit service maintenance task the most successful is to the maintenance of Hubble Telescope and based on international space station
Maintainable technology on-orbit task, this two subtask is unmanned maintenance task, and space shuttle is topmost spacecraft.Its tasks carrying master
Will be based on someone's operation, being equipped with mechanical arm carries out the transfer of space person and goods.
In addition to someone repairs, the unmanned maintainable technology on-orbit in the U.S. mainly includes orbit transfer vehicle, Orbital Express, common orbit
Amendment spacecraft (Spacecraft for the Universal Modification of Orbits, hereinafter referred to as SUMO) service boat
Its device and phoenix plan etc..
Microconsm companies of the orbit transfer vehicle U.S. are according to NASA (National Aeronautics and Space
Administration, hereinafter referred to as NASA) the ongoing research of contract, content is that develop can be for international empty
Between station (International Space Station, hereinafter referred to as ISS) provide maneuverable platform and safeguard small-size multifunction track turn
Aircraft is moved, the purposes of rail transport aircraft (Orbit Transfer Vehicle, hereinafter referred to as OTV) can be summarized as follows：
(1) it is that the spacecraft with proper technology state and design feature carries out maintainable technology on-orbit or maneuverable platform：(2) use OTV will
Satellite is sent to the precalculated position on its target track or track；(3) recapture satellite and it is deployed to new track；(4)
Capture the satellite and the provided thrust for disengaging it from track of failure；(5) by formation flight or it is diversion, to other spacecrafts
Carry out approaching observation；(6) for the operation of ISS provides supply, or being simply ISS removes rubbish.
Orbital Express program is ARPA (Defense Advanced Research Projects
Agency, hereinafter referred to as DARPA) in an important ATD plan of proposition in 1999, its main target
It is exploitation and the in-orbit fuel make up of demonstration and verification satellite and maintenance technique, so as to extend the lifetime of satellite, expands satellite application scope.
SUMO Servicing spacecrafts by DARPA support, Naval Research Labratory (Naval Research Laboratory, below
Referred to as NRL) it is main responsible, it mainly uses the technologies such as machine vision, robot, mechanism, autonomous control algorithm, tests
Card Autonomous rendezvous and docking, the service operations ability for arresting Future Satellite various types interface.Can realize to the in-orbit of satellite
Part replacement, fuel adding keeps the task such as passive space vehicle orbital position and attitude and orbital exponent.
" phoenix " plan (Phoenix) is proposed by DARPA, it is intended to dismantle the in-orbit assembling of useful part of inert satellite
New satellite, while being dismantled by Orbit Transformation and part, solution remains in the dead satellite (also known as space junk) of graveyard track
Utilizing question.
In Europe, European Space Agency (European Space Agency, hereinafter referred to as ESA) proposed the earth before and after 1994
The concept of stationary orbit servicing aircraft (Geostationary ServiceVehicle, hereinafter referred to as GSV), it is right to be mainly used in
The in-orbit monitoring of geostationary orbit satellite and service function, can perform the service function of following three types：Visual monitoring；Machine
Device people operates；Discard leaving the right or normal track for satellite.For various reasons, GSV is not introduced into the Practical Project stage, and has only carried out general
Design is read, the project stops between 1997-1998.
Space system demonstration and verification technology satellite (technology satellite for demonstration and verification of a
Servicing system, hereinafter referred to as TECSAS) project Shi De Russia cooperation robot for space project, it is it is intended that senior
Space maintenance and service, particularly docking and the acquisition procedure clarifying space robot software and hardware key technology based on robot.
Target satellites of the TECSAS by Space Robot System (service star) and for demonstrating constitute, wherein, service star and target satellite
Basic module advances platform using the multifunction railway of Russia, and 7 degree-of-freedom manipulators for servicing star use the machine of Germany
People's technology.
Perform in-orbit service, it is necessary to target aircraft spacecrafts rendezvous, formed assembly.Spacecrafts rendezvous can utilize spacecrafts rendezvous
Mechanism, can also be used the devices such as paw capture mechanism.The spacefaring nations such as the current U.S., Russia, China have been equipped with intersection
Docking technique.
Foreign countries have completed multiple spacecrafts rendezvous aerial mission around manned space flight task.
The U.S. first spacecrafts rendezvous be in March, 1966, by the use of launch the third rocket stage Ah Jenner of Gemini seat number airship as
Passive space vehicle, No. 8 airships of Gemini make pursuit spacecraft, realize two device spacecrafts rendezvous.
SPACE RENDEZVOUS AND DOCKING TECHNIQUE has obtained engineering practice and development in the works in american apollo.Apollo moonfall comes and goes and flies
Row one time in space, it is necessary to carry out spacecrafts rendezvous twice.From on July 16th, 1969 succeed in sending up No. 11 airships of Apollo to
In December, 1972 stops, the successive 7 transmittings Apollo mooncraft in the U.S., wherein 6 times are landed on the moon successfully, performs repeatedly intersection
Docking mission.
The U.S. has succeeded in sending up skylab Skylab again after Apollo moonfall in the mesh of May 14 in 1973, this
It is U.S. first experiment space station.In order to transport and taking back the spacefarer of space station, U.S.'s the same year successively transmit 3 Ah
POLO airship carries out spacecrafts rendezvous with skylab.
The U.S. carries out Orbital Express task in recent years.Orbital Express satellite service demonstration plan will launch a pair of satellite ASTRO
(autonomous space transfer and robotic orbiter) and NextSat (next generation satellite), emphasis are dashed forward
The broken satellite in-orbit service technology using spacecrafts rendezvous technology.
Former Soviet Union's development spacecrafts rendezvous technology is in October, 1967, and unmanned universe 186 and universe 188 have been carried out in the world
The automatic spacecrafts rendezvous of first time unmanned spacecraft.
The spacecrafts rendezvous of former Soviet Union's manned spacecraft, are first that No. 4 and No. 5 airships of alliance start to realize.January 14 in 1969
Day, Soviet Union's transmitting is loaded with No. 4 airship lift-offs of alliance of sandcastle love, and January 16 docked successfully for No. 5 with alliance.After docking,
The spaceborne spacefarer A Siyelixie Prokofievs of alliance 5 and Yi Fuhelunuofu wear and are arrived with space suit space walking out of my cabin
On No. 4 airships of alliance that not A Shata loves are taken.
On April 19th, 1971, the former Soviet Union transmits first space station-salvo 1 in the world first.This space station was once
Through there is two airships of alliance 10 and alliance No. 11 to be docked with it.To 19 days April nineteen eighty-two, the former Soviet Union succeeded in sending up salvo
Untill No. 7,9 space stations, i.e. salvo No. 1 to No. 7, and universe 557 and two, universe No. 1443 are transmitted altogether
Spacecraft, from salvo 1 to salvo, No. 5 belong to first generation space station, referred to as experimental space station.This space station, only
One docking port, is single module, it is impossible to specially fed.From salvo 6 to salvo, No. 7 is second generation space station, is claimed
It is simple space station.This space station, relative to the first generation, main improvement is that have two docking ports in the bay section of single module,
One of docking port is used to supply the not manned cargo ship of fuel and necessity --- the docking of progressive number.The former Soviet Union is first
The spacecrafts rendezvous activity that the priority of generation and second generation space station is carried out during 11 years is not lower 70 times.
With international space station build up with operation, around international space station spacecrafts rendezvous flight very frequently, aircraft bag
Include multiple aircraft such as Soyuz vehicle, space shuttle, imperial airship.
From the point of view of the development of countries in the world, the successful case that in-orbit service is carried out at present is someone's maintenance task, is mainly based upon boat
The Hubble Telescope maintenance of its aircraft and space station maintenance, there is no an aircraft to be tieed up with unmanned branch holder maintenance task simultaneously
Task is repaiied, and in-orbit service aircraft service role is single, ability is weaker.Additionally, can perform the aircraft of spacecrafts rendezvous at present
It is the ability for only possessing and being docked with an aircraft, i.e. aircraft and one docking mechanism is only installed, can be with a target flight
Device is docked, and forms the flight of two device assembly states, and an aircraft not yet occur can enter with two target aircrafts simultaneously
Row docking, forms the combination of three cabins and carries the aircraft device of flight, more without flying instrument it is standby simultaneously with cooperative target and non-cooperative target
Mark carries out the ability of spacecrafts rendezvous.
The content of the invention
In order to solve problems of the prior art, the present invention proposes a kind of new multi-function service transfer vehicle device
Design, is equipped with the device and system for supporting unmanned in-orbit service and someone's in-orbit service, tool simultaneously on same aircraft
It is standby to perform various service roles, the multiple targets of service, support polytype ability.Wherein, pacify at the two ends of aircraft first
Two docking mechanisms are filled, forming a two ends has two unique aircraft of docking mechanism, can be while front and rear and two aircraft
Docked, formed three cabin assembly state of flights, also equipped with paw capture mechanism in aircraft one end, can simultaneously with cooperation
Target and noncooperative target carry out spacecrafts rendezvous.Carry out in-orbit service Flight Vehicle Design and develop with important references value to follow-up.
The invention provides a kind of multi-function service transfer vehicle device, for perform multiple target, multi-track, multitask
Rail is serviced, and the device includes：Aircraft body；And two docking mechanisms, the two ends of aircraft body are respectively installed in,
Wherein, aircraft body is mutually butted by two docking mechanisms with two front and rear other aircraft, so as to form the combination of three cabins
Body state of flight.
Wherein, two docking mechanisms for perimetric pattern and be distributed into symmetrical expression relative to aircraft body.
Specifically, multi-function service transfer vehicle device has a high maneuver ability, and docking mechanism be used for two other fly
Row device is mutually butted, so as to shift two target aircrafts of being serviced simultaneously.Docking mechanism is used to turn with other multi-function services
The docking mechanism tandem docking of aircraft device is moved to form stagewise transfer vehicle assembly, so that for the target of being serviced flies
Row device provides big speed increment.In the present invention, multiple multi-function service transfer vehicle devices use serial docking
Mode.
Extraly, multi-function service transfer vehicle device of the invention also includes：Paw capture mechanism, positioned at aircraft body
One end, with cooperative target aircraft and noncooperative target aircraft carry out spacecrafts rendezvous simultaneously for aircraft body：Mechanical arm,
With 7 frees degree, with the ability of creeping, for spacefarer, robot, the transfer of goods and noncooperative target aircraft
Crawl, so as to perform unmanned maintainable technology on-orbit operation and the in-orbit operation task of man-machine joint；Sealed compartment, with through design, uses
In provide sealing function and be configured with airlock and sealing passage；A whole set of ring control life support system, for supporting that spacefarer's is in-orbit
Flight；Airlock, go out cabin door, let out multiple pressure device, for supporting spacefarer's extravehicular activity, so as to realize that spacefarer's is in-orbit
Service operations；Robot, is anthropomorphic humanoid robot device, possess double dexterous arms and double Dextrous Hands, to perform dismounting, installation
Accurate job task simultaneously coordinates spacefarer to complete complex space maintenance activity.
In the present invention, paw capture mechanism be three arm assemblies and for when with noncooperative target aircraft dock arrest when,
Noncooperative target aircraft to being captured by mechanical arm carries out mechanical fasteners, so that assembly is formed, wherein, caught positioned at paw
The docking mechanism of mechanism's opposite end is obtained while being docked with cooperative target aircraft, so that aircraft body flies with noncooperative target simultaneously
The three cabin assemblys that row device is connected with cooperative target aircraft, to strengthen the state adaptability to being serviced aircraft.
The two ends of sealed compartment are connected with two docking mechanisms, so as to possess the aircraft of sealing structure with other by docking mechanism
It is connected, to form many cabin sealed interface.Wherein, robot is connected by its mechanical interface with mechanical arm.
Therefore, by multi-function service transfer vehicle of the invention, low rail, middle rail, rail high or even survey of deep space can be served
Etc. multiple tasks, the stagewise aircraft assembly that multiple service transfer vehicle tandem docking is formed can be met in space tasks
To the demand of big speed increment.By tandem docking mode, service transfer vehicle can be implemented to two other aircraft simultaneously
Orbit Transformation, so as to significantly lift track transfer ability.The design of front and rear insertion sealed compartment, can form larger by docking
Utilization space, so as to meet demand of the spacefarer to sealing space in space tasks.
Brief description of the drawings
Fig. 1 is the design concept figure of multi-function service transfer vehicle device of the invention；
Fig. 2 is that the multi-function service transfer vehicle device involved by the specific embodiment of the invention docks shape with cooperative target two ends
Into three device assemblys concept map；
Fig. 3 be multi-function service transfer vehicle device involved by the specific embodiment of the invention simultaneously with noncooperative target, close
The concept map of the three device assemblys to be formed (there is mechanical arm) is docked as target；
Fig. 4 is the design diagram of the through sealing structure involved by the specific embodiment of the invention；
Fig. 5 is the concept map of the mechanical arm capture aircraft involved by the specific embodiment of the invention；And
Fig. 6 is the concept map of the robot involved by the specific embodiment of the invention.
Specific embodiment
As shown in figure 1, Multifunction of the invention services transfer vehicle device is equipped with support simultaneously on same aircraft
The device and system of unmanned in-orbit service and someone's in-orbit service, possess the various service roles of execution, the multiple targets of service, support
Polytype ability.The present invention installs two docking mechanisms at the two ends of aircraft first, forms a two ends right with two
Unique aircraft of connection mechanism, simultaneously front and rear can be docked with two aircraft, form three cabin assembly state of flights, flown
Row device one end also equipped with paw capture mechanism, can carry out spacecrafts rendezvous with cooperative target and noncooperative target simultaneously.To subsequently opening
Exhibition in-orbit service Flight Vehicle Design is with development with important references value.
The present invention is described in detail for 2-6 and specific embodiment below in conjunction with the accompanying drawings.
First, many device assembly attachment means designs.Wherein, service transfer vehicle possesses and other aircraft formation assembly
Ability.
Next, introduce docking design with multi-function service transfer vehicle device two cooperative targets.
Service transfer vehicle can be docked with two cooperative targets simultaneously, form assembly.Service transfer vehicle is employed
Rear and front end is provided with two designs of androgynous peripheral docking mechanism 1,2, into symmetrical expression distribution.Aircraft can be by two docking mechanisms
Docked with former and later two aircraft simultaneously, formed three device assemblys state of flight (as shown in Figure 2).Multi-function service is shifted
Flying instrument is docked by tandem docking mechanism for larger maneuverability with two aircraft, it is possible to achieve while transfer
Two targets of being serviced target aircraft.In addition service transfer vehicle can also form stagewise transfer by tandem docking
Aircraft assembly, for being serviced aircraft provides bigger speed increment.
In addition, multi-function service transfer vehicle device can also be docked with cooperative target with noncooperative target simultaneously.Service transfer
Aircraft is provided with a paw capture mechanism 3 at one end.As shown in figure 3, paw capture mechanism 3 is three arm assemblies, when
When carrying out spacecrafts rendezvous with noncooperative target, can be captured by mechanical arm, mechanical fasteners, shape are carried out using paw capture mechanism
Into assembly state, while other end docking mechanism can be docked with cooperative target aircraft, formed it is a kind of it is special, while with
The three cabin assembly forms that noncooperative target is connected with cooperation, this design significantly enhances aircraft to being serviced aircraft
State adaptability.
Next, introducing the design that many devices seal pass-through facility.Service transfer vehicle is one and possesses flying for branch holder's task
Row device, therefore, aircraft is provided with airlock 21 and sealing passage 20 with sealing function.Serviced in sealing system design
Transfer vehicle uses the through design of sealed compartment as shown in Figure 4, and sealed compartment two ends are connected with two ends docking mechanism, by right
The manned vehicle that connection mechanism possesses sealing structure with other is connected, and forms many cabin sealed interface, so that effectively increase sealing
Space, for the inhabitation of spacefarer, work provides more comfortably, more easily steric requirements.
Finally, multi-function service transfer vehicle device is the service system being combined with nobody with someone.Wherein, service turns
Move aircraft device and employ the in-orbit service system design that someone is combined with nobody on in-orbit service is supported.Service transfer flies
Row device device is equipped with a sealed compartment and a whole set of ring control life support system, the in-orbit flight of spacefarer can be supported, while being equipped with
Airlock 21, go out cabin door 19, let out the system that multiple pressure device etc. can support spacefarer's extravehicular activity, being capable of achieving the in-orbit of spacefarer
Service operations.
As shown in figure 5, unmanned maintainable technology on-orbit behaviour can be carried out equipped with equipment such as mechanical arm 4, robots 9 simultaneously on board the aircraft
Make and the in-orbit operation task of man-machine joint.Mechanical arm possesses 7 frees degree, possesses the ability of creeping, and can be used for spacefarer, machine
People, the transfer of cargo facility, for the crawl etc. of noncooperative target.
As shown in fig. 6, robot 9 is an anthropomorphic humanoid robot device, possess double dexterous arms 13 and double Dextrous Hands 14, can
The accurate job task such as dismounting, installation is performed, and coordinates spacefarer to complete complex space maintenance activity, robot 9 is by machinery
Interface 15 is connected with mechanical arm 4.
In sum, using the present invention, can be used in servicing the multiple tasks such as low rail, middle rail, rail high or even survey of deep space, it is many
The stagewise aircraft assembly that individual service transfer vehicle tandem docking is formed can be met in space tasks to big speed increment
Demand, and by tandem docking mode, service transfer vehicle can implement Orbit Transformation to two other aircraft simultaneously,
So that Orbit Transformation ability is significantly improved, and the design of front and rear insertion sealed compartment, can form larger using empty by docking
Between, meet demand of the spacefarer to sealing space in space tasks.
Do not specified in the present invention and partly belong to techniques known.
Claims (10)
1. a kind of multi-function service transfer vehicle device, the in-orbit service for performing multiple target, multi-track, multitask,
It is characterised in that it includes：
Aircraft body；And
Two docking mechanisms, are respectively installed in the two ends of the aircraft body,
Wherein, the aircraft body is mutually butted by described two docking mechanisms with two front and rear other aircraft, from
And form three cabin assembly state of flights.
2. multi-function service transfer vehicle device according to claim 1, it is characterised in that described two docking machines
Structure for perimetric pattern and relative to the aircraft body into symmetrical expression be distributed.
3. multi-function service transfer vehicle device according to claim 2, it is characterised in that with high maneuver ability,
And the docking mechanism is used to be mutually butted with described two other aircraft, so as to shift two targets of being serviced simultaneously fly
Row device.
4. multi-function service transfer vehicle device according to claim 2, it is characterised in that the docking mechanism is used
Combined with forming stagewise transfer vehicle in the docking mechanism tandem docking with other multi-function service transfer vehicle devices
Body, so that for the target aircraft of being serviced provides big speed increment,
Wherein, multiple multi-function service transfer vehicle devices use serial docking mode.
5. multi-function service transfer vehicle device according to claim 1, it is characterised in that also include：
Paw capture mechanism, positioned at one end of the aircraft body, flies with cooperative target simultaneously for the aircraft body
Row device and noncooperative target aircraft carry out spacecrafts rendezvous.
6. multi-function service transfer vehicle device according to claim 5, it is characterised in that also include：
Mechanical arm, with 7 frees degree, with the ability of creeping, for spacefarer, robot, the transfer of goods and described
The crawl of noncooperative target aircraft, so as to perform unmanned maintainable technology on-orbit operation and the in-orbit operation task of man-machine joint.
7. multi-function service transfer vehicle device according to claim 6, it is characterised in that the paw catching machine
Structure is three arm assemblies, and is used for：
When externally being captured with the noncooperative target aircraft, to the described non-cooperative target captured by the mechanical arm
Mark aircraft carries out mechanical fasteners, so that assembly is formed,
Wherein, the docking mechanism positioned at the paw capture mechanism opposite end is docked with the cooperative target aircraft simultaneously, from
And the three cabin groups that the aircraft body is connected with the noncooperative target aircraft and the cooperative target aircraft simultaneously
Zoarium, to strengthen the state adaptability to being serviced aircraft.
8. multi-function service transfer vehicle device according to claim 1, it is characterised in that also include：
Sealed compartment, with through design, for providing sealing function and being configured with airlock and sealing passage,
Wherein, the two ends of the sealed compartment are connected with described two docking mechanisms, so as to have with other by the docking mechanism
The aircraft of standby sealing structure is connected, to form many cabin sealed interface.
9. multi-function service transfer vehicle device according to claim 8, it is characterised in that at least also include：
A whole set of ring control life support system, the in-orbit flight for supporting spacefarer；And
The airlock, go out cabin door, let out multiple pressure device, for supporting spacefarer's extravehicular activity, so as to realize spacefarer's
In-orbit service is operated.
10. multi-function service transfer vehicle device according to claim 6, it is characterised in that also include：
Robot, is anthropomorphic humanoid robot device, possesses double dexterous arms and double Dextrous Hands, with perform dismounting, installation it is accurate
Job task simultaneously coordinates spacefarer to complete complex space maintenance activity,
Wherein, the robot is connected by its mechanical interface with the mechanical arm.
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| CN201510936950.XA CN106882401A (en) | 2015-12-16 | 2015-12-16 | Multi-function service transfer vehicle device |
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| CN201510936950.XA CN106882401A (en) | 2015-12-16 | 2015-12-16 | Multi-function service transfer vehicle device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111092328A (en) * | 2019-12-20 | 2020-05-01 | 北京航空航天大学 | A three-level fault-tolerant docking mechanism against on-orbit impact |
| CN111356641A (en) * | 2017-07-21 | 2020-06-30 | 诺思路·格鲁曼创新系统公司 | Spacecraft service device and related components, systems and methods |
| CN113843781A (en) * | 2021-10-28 | 2021-12-28 | 威海海洋职业学院 | Intelligent engineering mechanical arm |
| CN114162353A (en) * | 2021-12-07 | 2022-03-11 | 哈尔滨工业大学（深圳） | A tool spacecraft system for on-orbit manipulation |
| CN114408217A (en) * | 2022-01-26 | 2022-04-29 | 中国科学院空间应用工程与技术中心 | A cargo spaceship for cargo transportation in space station and cargo transportation method |
| CN115783306A (en) * | 2022-12-28 | 2023-03-14 | 北华大学 | Single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and transfer method |
| CN118907435A (en) * | 2024-06-27 | 2024-11-08 | 上海宇航系统工程研究所 | On-orbit maintenance service system and method |
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