CN118655693B - Modularized large-caliber space telescope mirror surface replacement system and method - Google Patents
Modularized large-caliber space telescope mirror surface replacement system and method Download PDFInfo
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- CN118655693B CN118655693B CN202411133618.5A CN202411133618A CN118655693B CN 118655693 B CN118655693 B CN 118655693B CN 202411133618 A CN202411133618 A CN 202411133618A CN 118655693 B CN118655693 B CN 118655693B
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 210000000078 claw Anatomy 0.000 claims abstract description 16
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- 230000000712 assembly Effects 0.000 claims description 8
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- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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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- 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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Abstract
本发明提供一种模块化大口径空间望远镜镜面替换系统和方法。系统包括镜面，包括固定连接的基部和沿基部径向外延的外延部，多个基部形成模块化大口径空间望远镜的观测镜面；子镜模块，包括用于与镜面可拆固定的固定单元，固定单元包括镜室，固定组件和定位槽，固定组件，定位槽和镜面容置在镜室内；机械臂模块，包括用于抓取外延部的机械爪和用于确定不同物体间相对位置关系的视觉相机，机械爪基于视觉相机抓取镜面；其中，多个固定组件设置在镜室的内侧壁上，用于选择性地与镜面的基部侧壁抵接以固定镜面；定位槽不干涉地设置在固定组件间，用于至少部分地容置外延部和机械爪。解决了现有模块化太空望远镜无法更换子镜模块中的镜面的技术问题。
The present invention provides a modular large-aperture space telescope mirror replacement system and method. The system includes a mirror, including a fixedly connected base and an extension extending radially outward along the base, and multiple bases form an observation mirror of a modular large-aperture space telescope; a sub-mirror module, including a fixing unit for detachably fixing with the mirror, the fixing unit includes a mirror chamber, a fixing component and a positioning groove, and the fixing component, the positioning groove and the mirror are accommodated in the mirror chamber; a mechanical arm module, including a mechanical claw for grasping the extension and a visual camera for determining the relative position relationship between different objects, and the mechanical claw grasps the mirror based on the visual camera; wherein, multiple fixing components are arranged on the inner side wall of the mirror chamber, for selectively abutting against the base side wall of the mirror to fix the mirror; the positioning groove is arranged between the fixing components without interference, for at least partially accommodating the extension and the mechanical claw. The technical problem that the mirror in the sub-mirror module of the existing modular space telescope cannot be replaced is solved.
Description
Technical Field
The invention belongs to the technical field of optical observation equipment, in particular relates to a space observation optical technology, and particularly relates to a modularized large-caliber space telescope mirror surface replacement system and method.
Background
The technical field of space remote sensing is one of several key technical fields which are in great competition in various developed countries in the world. With the improvement of the resolution of the space remote sensor and the increase of the detection sensitivity, the precision requirement of the field on the reflecting mirror is also higher and higher. The reflecting mirror component is used as a key part of the space optical remote sensor and has excellent thermal and mechanical properties, but in a complex and severe space working environment, the mirror surface can be damaged at any time, and the timely replacement of the damaged mirror surface needs to be considered to ensure the normal operation of the space telescope.
CN113589517a discloses a detachable modularized sub-mirror structure of a large space telescope and an on-orbit replacement scheme, and the core concept of the scheme is to integrally replace a sub-mirror module main body, which is a sub-mirror surface, an active optical adjusting mechanism and a sub-mirror support body. In an actual space environment, the scheme requires the space telescope system to reserve enough space for storing the sub-mirror module main body, restricts the development trend of the modularized large-caliber space telescope to a larger scale and higher precision, and simultaneously, causes that a large number of normal components in the sub-mirror module main body are not effectively utilized, and causes resource waste.
Disclosure of Invention
The invention provides a modularized large-caliber space telescope mirror surface replacing system and method, which are used for solving the technical problem that the existing modularized space telescope can not replace a mirror surface in a sub-mirror module.
According to a first aspect of the invention, a modularized large-caliber space telescope mirror replacement system is provided, which comprises a sub-mirror module and a fixing unit, wherein the fixing unit is used for detachably fixing the mirror, the mirror comprises a planar base and a plurality of extending parts protruding radially along the base, the fixing unit comprises a mirror chamber, fixing components and positioning grooves, the fixing components are contained in the mirror chamber, the positioning grooves and the mirror are relatively fixed to form the modularized large-caliber space telescope, the mechanical arm module is provided with a mechanical claw used for grabbing the mirror, the fixing components are arranged on the inner side wall of the mirror chamber and used for selectively abutting against the side wall of the base of the mirror to fix the mirror, and the positioning grooves are arranged among the fixing components in a non-interference mode and used for at least partially containing the extending parts and the mechanical claw.
Optionally, in some embodiments of the present invention, the system further includes a control module and a storage module, where the control module is electrically connected to the sub-mirror module and the mechanical arm module, respectively, and the storage module is used to store at least a mirror surface to be replaced, and the control module is used to control the sub-mirror module and the mechanical arm module, so as to implement replacement of the mirror surface to be replaced on the sub-mirror module.
Optionally, in some embodiments of the present invention, the storage module includes a case and a flexible flange, a standby mirror chamber for storing the standby mirror is disposed in the case, a plurality of flexible flanges are fixedly disposed on an inner sidewall of the standby mirror chamber and used for protecting a base of the mirror, a gap is disposed between the flexible flanges and used for at least partially accommodating an extension of the mirror and the gripper, the storage module further includes a first driving member and a first sliding door, the first driving member is fixed relative to the case and is in transmission connection with the first sliding door, the first sliding door is disposed at least at a corresponding position of the standby mirror chamber, and the first driving member selectively controls the first sliding door under the control of the control module.
Optionally, in some embodiments of the present invention, one side of the mechanical arm module is provided with a plurality of detachably fixed sub-mirror modules, the other side of the mechanical arm module is fixedly connected with the storage module, the plurality of detachably fixed sub-mirror modules form the modularized large caliber space telescope, wherein the mechanical arm module further comprises a mechanical arm base and a mechanical arm, one end of the mechanical arm is fixedly arranged on the mechanical arm base, the other end of the mechanical arm is rotatably connected with the mechanical arm, the mechanical arm is used for matching an extension part of the mirror surface with the positioning groove based on information acquired from the vision camera under the control of the control module, and the mechanical arm is used for grabbing the mirror surface and moving to a set position under the control of the control module.
Optionally, in some embodiments of the present invention, the fixing assembly includes a base and a plurality of fixing arms with the same structure fixed on the base, where the fixing arms include a clamping plate, a first supporting seat, a connecting rod, and a second supporting seat, one end of the connecting rod is rotatably connected with the first supporting seat, the other end of the connecting rod is rotatably connected with the second supporting seat, the first supporting seat is fixedly connected with the clamping plate, the second supporting seat is fixedly connected with the base, and the clamping plate is used to abut against a mirror surface on the sub-mirror module.
Optionally, in some embodiments of the present invention, the sub-mirror module further includes a pose adjustment unit, where the pose adjustment unit is fixedly connected with the fixing unit and is used to adjust a pose of the fixing unit, and/or the modular large caliber space telescope mirror replacement system further includes an energy supply module, where the energy supply module is used to supply energy to the modular large caliber space telescope mirror replacement system.
According to a second aspect of the invention, a method for using the modularized large-caliber space telescope mirror replacement system according to the first aspect of the invention is provided, the method comprises the steps of controlling a mechanical arm module to grasp a replaced mirror surface to be replaced on a fault sub-mirror module, decoupling the replaced mirror surface from the sub-mirror module, controlling the mechanical arm module to replace the replaced mirror surface to be a standby mirror surface, pre-adjusting the standby mirror surface to enable an extension part of the standby mirror surface to be matched with a positioning groove of the sub-mirror module, controlling the mechanical arm module to drive the standby mirror surface to a first position based on target position information, and controlling a fixing component of the sub-mirror module to fix the standby mirror surface, wherein the target position is a set position when the standby mirror surface is installed in a mirror chamber.
Optionally, in some embodiments of the present invention, after the fixing component of the control sub-mirror module fixes the spare mirror, the method further includes determining whether the first position is consistent with the target position, and if not, controlling at least some fixing components and/or the mechanical arm module in the plurality of fixing components to adjust the spare mirror to the target position.
Optionally, in some embodiments of the present invention, determining whether the first position is consistent with the target position includes determining a first circumferential position based on rotational angles of the connecting rod and the first support base, and the connecting rod and the second support base in all the fixed assemblies, determining a first axial position based on a vision camera of the robotic arm module, the first position being comprised of the first circumferential position and the first axial position, and comparing the first position with the target position.
According to a third aspect of the invention, a ground simulation debugging system is provided, and the ground simulation debugging system is used for simulating a space mirror replacement process on the ground based on the modularized large-caliber space telescope mirror replacement system according to the first aspect of the invention, or simulating space mirror replacement on the ground according to the mirror replacement method according to the second aspect of the invention.
The invention has the beneficial effects that the invention can only replace the mirror surface, greatly reduce the replacement cost, can complete the repair work by replacing the mirror surface without replacing the whole modularized sub-mirror when the mirror surface is damaged, has more compact integral structure, quick replacement of the mirror surface and greatly reduces the replacement cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a modular large caliber space telescope mirror replacement system according to an embodiment of the present invention;
FIG. 2 is a rear block diagram of a mirror of a modular large caliber space telescope mirror replacement system provided by an embodiment of the invention;
FIG. 3 is a block diagram of a storage module of a modular large caliber space telescope mirror replacement system according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a mechanical arm module of a modular large caliber space telescope mirror replacement system according to an embodiment of the present invention;
FIG. 5 is a sub-mirror block diagram of a modular large caliber space telescope mirror replacement system provided by an embodiment of the invention;
FIG. 6 is a Delta robot block diagram of a modular large caliber space telescope mirror replacement system provided by an embodiment of the invention;
FIG. 7 is a diagram illustrating the structure of the inside of a mirror chamber of a modular large caliber space telescope mirror replacement system according to an embodiment of the present invention;
FIG. 8 is a block diagram of a fixed assembly of a modular large caliber space telescope mirror replacement system provided by an embodiment of the invention;
FIG. 9 is a modular large caliber telescope mirror replacement method provided by an embodiment of the invention;
FIG. 10 is a schematic illustration of another modular large caliber telescope mirror replacement method provided by an embodiment of the present invention.
Reference numerals illustrate:
1. A storage module; 11, a box body, 12, a flexible flange, 14, a first sliding door, 15, a door lintel, 16, a first driving piece, 17, a gear, 18, a rack, 19 and a second sliding door;
2. Sub-mirror module, 201, pose adjusting unit, 21, delta robot, 211, lower base, 212, outer connecting rod, 213, inner connecting rod, 214, upper base, 215 sphere pair, 202, fixing unit, 22, mirror chamber, 23, fixing component, 231, clamping plate, 232, first supporting seat, 233, first motor, 234, base, 235, second supporting seat, 236, connecting rod, 237, second motor, 238, fixing arm, 26, positioning groove;
3. An energy supply module;
4. The mechanical arm comprises a mechanical arm module, 41, a mechanical arm platform, 42, a mechanical arm base, 43, a mechanical claw, 44, a mechanical arm, 45, a second driving piece, 46 and a dustproof grid;
5. Mirror surface, 51, standby mirror surface, 511, base, 512, extension, 52, substituted mirror surface;
6. and a control module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention. Furthermore, it should be understood that the detailed description is presented herein for purposes of illustration and description only, and is not intended to limit the invention. In the present invention, unless otherwise indicated, terms of orientation such as "upper", "lower", "left", "right", "front", "rear" are generally used to refer to the directions of the upper, lower, left and right sides of the device in actual use or operation, and are specifically shown in the drawings.
It should be noted that the following description order of the embodiments is not intended to limit the preferred order of the embodiments of the present invention. In the following embodiments, the descriptions of the embodiments are focused on, and for the part that is not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
Referring to fig. 1-8, the present solution provides a modular large caliber space telescope mirror replacement system for replacing the mirror 5, i.e. replacing the replaced mirror 52 on the sub-mirror module 2, which needs to be replaced, with the spare mirror 51. The modularized large-caliber space telescope mirror replacement system comprises a storage module 1, a sub-mirror module 2, an energy supply module 3 and a mechanical arm module 4. The storage module 1 is used for storing at least the spare mirror surface 51 for mounting on the sub-mirror module 2, and naturally, may further store the replaced mirror surface 52 replaced from the sub-mirror module 2. The energy supply module 3 is used for providing energy sources for the storage module 1, the sub-mirror module 2 and the mechanical arm module 4. The mechanical arm module 4 is used for grabbing the spare mirror 51 and/or the replaced mirror 52 to drive the spare mirror 51 to move to a specified position. The sub-mirror module 2 is detachably and fixedly connected with the spare mirror 51 or the replaced mirror 52, and can adjust the posture of the spare mirror 51 or the replaced mirror 52.
One side of the mechanical arm module 4 is fixedly connected with the plurality of sub-mirror modules 2, the opposite side is fixedly connected with the storage module 1, and the energy supply modules 3 are arranged on two sides of the mechanical arm module 4 and are not interfered with the sub-mirror modules 2. In the embodiment shown in fig. 1, the lower part of the mechanical arm module 4 is fixedly connected with the storage module 1, the upper part of the mechanical arm module 4 is fixedly connected with the plurality of sub-mirror modules 2, and the left side and the right side of the mechanical arm module 4 are fixedly connected with the energy supply module 3.
It can be understood that a plurality of sub-mirror modules 2 are provided, and a plurality of sub-mirror modules 2 which are relatively installed and fixed form an observation mirror surface 5 of the modularized large-caliber space telescope together. For the adjustment of the multiple sub-mirror modules 2, there are numerous ways in the existing scheme, which are not described in detail, for example, the adjustment way of the multiple sub-mirror modules 2 is disclosed in detail in application number CN 2023116396510. Similarly, for the docking structure between the plurality of sub-mirror modules 2, there are a plurality of ways in the existing scheme, which are not described in detail, for example, the docking structure between the plurality of sub-mirror modules 2 is disclosed in detail in application number CN 2024104870411.
It will also be appreciated that in the solution of the invention, mirror 5 comprises a spare mirror 51 and a replaced mirror 52. The structural designs of the spare mirror surface 51 and the replaced mirror surface 52 are identical, and the difference is that the replaced mirror surface 52 is mounted on the sub-mirror module 2 and belongs to the mirror surface 5 to be replaced, and the mirror surface 5 or the structure of the replaced mirror surface 52 is damaged or destroyed in the links of use, transportation and the like, so that the precision of the mirror surface 5 of the replaced mirror surface 52 cannot meet the precision requirement of the space telescope, and the replaced mirror surface 51 is needed to be replaced. Accordingly, in the description herein, mirror 5 may refer to either backup mirror 51 or replaced mirror 52 unless otherwise specified.
Referring first to fig. 2, which shows a back-side structure of the mirror 5, the back/back side of the mirror 5 means that the mirror 5 faces the side of the sub-mirror module 2 after the mirror 5 is mounted to the sub-mirror module 2. The mirror 5 includes a base 511 and an extension 512 which are fixedly connected in a planar (plane/curved) shape. The plurality of extensions 512 are disposed circumferentially outward of the base 511, i.e., the extensions 512 are disposed radially outward of the base 511. The extension 512 is provided for being conveniently grasped by the robot arm module 4. It will be understood, of course, that the portion of the base 511 that does not interfere with the extension 512 on the circumferential outside may also be grasped by the robot arm module 4, but is not the optimal position for the robot arm module 4 to grasp the spare mirror 51. Please refer to the details below. The base 511 is adapted to cooperate with the mirror faces 5 of the other sub-mirror modules 2 to form the observation mirror face 5 of the modular large caliber space telescope.
The modular large caliber space telescope mirror replacement system is further described below.
Referring to fig. 3, the storage module 1 is configured to store at least the spare mirror surface 51 for being mounted on the sub-mirror module 2, and naturally, may further store the replaced mirror surface 52 replaced from the sub-mirror module 2.
The storage module 1 comprises a housing 11, a flexible flange 12, a first sliding door 14, a first drive 16, a gear 17, a rack 18 and a second sliding door 19. The first driving member 16 may be, for example, a servo motor, but may also be other driving members, which will not be described in detail.
The box 11 is provided with at least a spare mirror chamber for accommodating a plurality of spare mirrors 51, and optionally, the box 11 may be provided with a replaced mirror chamber for accommodating a plurality of replaced mirrors 52, where the spare mirror chamber and the replaced mirror chamber do not interfere with each other. In the embodiment of fig. 3, the interior of the case 11 is provided with cavities matching the spare mirror 51 and the replaced mirror 52, preferably two hexagonal prism cavities, for storing the spare mirror 51 and the replaced mirror 52, respectively.
The flexible flanges 12 are fixedly connected, for example, respectively fixed on the inner wall of the spare mirror surface chamber and the inner wall of the replaced mirror surface chamber of the box body 11 in a gluing manner, so as to prevent the edges of the spare mirror surface 51 and/or the replaced mirror surface 52 from colliding with the cavity to generate damage. The spare mirror 51 and the replaced mirror 52 are respectively accommodated in a spare mirror chamber and a replaced mirror chamber of the case 11.
Gaps are provided between the plurality of flexible rims 12 for enabling at least part of the extension 512 of the manipulator module 4 and the mirror 5 to be located in the gaps of the plurality of flexible rims 12 for gripping and placing the spare mirror 51 and the replaced mirror 52.
The first driving member 16 is mounted inside the housing 11, preferably on the upper surface inside the housing 11, and has an output end fixedly connected to the gear 17 for driving connection with the gear 17. The two racks 18 are provided at the upper and lower ends of the gear 17, respectively, and are engaged with the gear 17, i.e., the gear 17 is engaged with the two racks 18 up and down. The two racks 18 are welded and fixed with the first sliding door 14 and the second sliding door 19 respectively, and the relative position relationship between the first driving piece 16 and the two racks 18 is adjusted through the gear 17, so that the control of the first sliding door 14 and the second sliding door 19 is realized.
The first sliding door 14 and the second sliding door 19 are located outside the box 11, connecting blocks are arranged above the first sliding door 14 and the second sliding door 19, and the first sliding door 14 and the second sliding door 19 are respectively welded and fixed with the upper rack 18 and the lower rack 18 through the connecting blocks.
It will be appreciated that the first sliding door 14 and the second sliding door 19 may be opened and closed independently, or may be opened together, without limitation. As in the particular embodiment of fig. 3, both the first sliding door 14 and the second sliding door 19 are in driving connection with the same first driving member 16, the first sliding door 14 being in driving connection with the first driving member 16 via a rack 18 arranged above the gear 17, and the second sliding door 19 being in driving connection with the first driving member 16 via a rack 18 arranged below the gear 17. The first driving piece 16 drives the gear 17 to rotate, so that the first sliding door 14 and the second sliding door 19 can be opened and closed simultaneously. Of course, the first sliding door 14 and the second sliding door 19 may be controlled to be opened and closed by a plurality of first driving members 16, which will not be described in detail.
Preferably, the storage module 1 further comprises a door lintel 15. The door lintel 15 is fixedly arranged on the upper surface of the box 11, preferably in hinged connection with the upper plane of the box 11. The door lintel 15 is internally provided with a cavity for sliding connection with the first sliding door 14 and the second sliding door 19 respectively, and guide rails are respectively arranged above the first sliding door 14 and the second sliding door 19 so that the first sliding door and the second sliding door can slide in the door lintel 15, thereby realizing the opening and closing functions of the storage module 1.
The provision of the door lintel 15 has the advantage that the support of the first and second sliding doors 14, 19 can be further increased, which is achieved by the housing 11.
Thus, by providing the storage module 1 as the case 11, the flexible flange 12, the first sliding door 14, the first driving member 16, the gear 17, the rack 18, and the second sliding door 19, storage of the spare mirror 51 and the replaced mirror 52 can be well achieved, and by providing the first sliding door 14 and the second sliding door 19, influence of other free substances in space, such as space debris, on the spare mirror 51 and the replaced mirror 52 can be effectively prevented.
Referring to fig. 1 and 4, the robot arm module 4 includes a robot arm platform 41, a robot arm base 42, a gripper 43, a robot arm 44, a second driving member 45, a dust-proof grille 46, and a vision camera (not shown). The robot arm platform 41 is fixedly connected to the storage module 1, preferably by a hinge. The arm mount 42 is fixedly attached to the arm platform 41, preferably by bolting, to the front surface of the arm platform 41. The arm mount 42 is in driving connection with the second drive member 45 for enabling movement of the second drive member 45 in a prescribed direction relative to the arm mount 42. In the embodiment of fig. 4, the output end of the second driving member 45 is meshed with an internal gear of the control mechanical arm base 42, so as to realize free sliding of the second driving member 45 relative to the mechanical arm 44 along the oblique inner and outer directions. The second driving piece 45 is fixed relatively to the mechanical arm 44, one end of the mechanical arm 44 is rotatably connected with the second driving piece 45, the other end of the mechanical arm 44 is rotatably connected with the mechanical claw 43, and the mechanical claw 43 is used for grabbing the mirror surface 5.
The gripper 43 is mounted at the end of the mechanical arm 44 for gripping the mirror 5, preferably a three-jaw gripper 43, and the gripper 43 is of flexible material at the end, which has the advantage that the gripper 43 can grip the mirror 5 smoothly without damaging the mirror 5.
For the vision camera of the mechanical arm module 4, the method and the scheme are mainly used for determining the relative position relationship between different objects in the modularized large caliber space telescope, so that the movement of the mechanical arm module 4 is facilitated, and for the method and the scheme for determining the relative position relationship between the objects (including the relative position relationship between the vision camera and other objects and the relative position relationship between two objects excluding the vision camera) by using the vision camera, various schemes exist in the prior art, and are not repeated in detail. Preferably, the visual camera and the mechanical claw 43 are relatively fixedly arranged, and the arrangement has the advantages that the visual camera can directly obtain the position relationship between the mechanical claw 43 and other objects based on the position relationship between the visual camera and other objects, so that the calculation amount requirement for the visual camera is greatly reduced.
Preferably, the mechanical arm module 4 further comprises a dustproof grille 46, and the dustproof grille 46 is arranged on the upper side of the mechanical arm base 42 to prevent space garbage from entering the mechanical arm base 42 to cause blockage.
For the gripper 43 to grip the mirror 5, it is preferable that the gripper 43 grips the extension 512 of the mirror 5, but it is also possible to grip the base 511 of the mirror 5.
It should be noted that, in the prior art, there are various schemes for the specific process of grasping the mirror 5 by the gripper 43 and the specific process of releasing the mirror 5 by the gripper 43, which are not described herein. For example, the relative positional relationship between objects may be determined by a vision camera on the robot arm module 4, and then gripping is performed based on the relative positional relationship.
The energy supply module 3 comprises an energy storage unit (not shown in the figures) and a collecting unit (not shown in the figures) which are electrically connected, wherein the energy storage unit is preferably a battery and is used for storing energy, the collecting unit is preferably a solar panel and is used for converting solar energy into electric energy, and various schemes exist in the prior art for the solar panel and the battery, and detailed descriptions are omitted.
Referring to fig. 1 and fig. 5-8, the sub-mirror module 2 is configured to be detachably fixed to the mirror 5, i.e. to be detachably connected to the spare mirror 51 or the replaced mirror 52, and to adjust the posture of the spare mirror 51 or the replaced mirror 52. Referring to fig. 5, the sub-mirror module 2 includes a pose adjustment unit 201 and a fixing unit 202. The fixing unit 202 is used for fixing the spare mirror 51 or the replaced mirror 52, and the pose adjusting unit 201 is used for fixedly connecting with the fixing unit 202 and adjusting the pose of the fixing unit 202, so as to realize the pose adjustment of the spare mirror 51 or the replaced mirror 52 fixed on the fixing unit.
The pose adjustment unit 201 is preferably a Delta robot 21 for adjusting the pose of the fixing unit 202. Referring to fig. 6, the delta robot 21 includes a lower base 211, an outer link 212, an inner link 213, an upper base 214, and a spherical pair 215. The upper base 214 is fixedly connected with the fixing unit 202. Six outer connecting rods 212 and six inner connecting rods 213 are respectively arranged, the upper ends of the inner connecting rods 213 and the lower ends of the outer connecting rods 212 are respectively connected with an upper base 214 and a lower base 211 through spherical pairs 215, one ends of the inner connecting rods 213 are connected inside the outer connecting rods 212 through threads, and the inner connecting rods 213 are driven to extend and retract through micro motors, so that the function of adjusting the pose of the mirror surface 5 is realized.
It should be noted that there are various ways for the pose adjustment unit 201, and the present invention is not limited thereto. For example, in an alternative manner, the pose adjustment unit 201 is the pose adjustment unit 201 disclosed in chinese patent CN2024106198109, which can achieve more stable and gentle adjustment of the pose of the mirror surface 5 fixed on the sub-mirror module 2.
Referring to fig. 5 to 8, the fixing unit 202 of the sub-mirror module 2 includes a mirror housing 22 and a fixing member 23. The mirror chamber 22 is an open hollow cavity, and the fixing component 23 and the mirror 5 are accommodated in the hollow cavity of the mirror chamber 22. The mirror housing 22 is fixedly arranged on the pose adjustment unit 201, in the specific embodiment of fig. 5 the mirror housing 22 is mounted above the Delta robot 21 by means of a screw connection. The cavity shape of the mirror chamber 22 is preferably set to a shape that can appropriately house the mirror 5. In the present embodiment, the mirror 5 has a substantially hexagonal shape with a certain thickness, and the mirror chamber 22 has a hexahedral cylindrical shape.
The fixing members 23 are provided in plural numbers, preferably in one-to-one correspondence with the respective inner side wall surfaces of the mirror housing 22. The fixing component 23 is used for adjusting the radial position of the mirror surface 5 in the mirror chamber 22, and a plurality of fixing components 23 are used for mutually matching to realize the fixation of the mirror surface 5. In the embodiment of fig. 5, the fixing elements 23 are provided in a total of six parts and do not interfere with each other, i.e. the six side walls of the mirror housing 22 are provided in one piece. The fixing assembly 23 is fixedly mounted on the inner side wall surface of the mirror housing 22 by bolts, and can selectively abut against the circumferential side wall of the mirror 5 to adjust the circumferential and/or radial movement of the mirror 5. And the fixation of the mirror 5 is achieved by the structure in which a plurality of fixing members 23 are provided.
Referring to fig. 7-8, the fixing assembly 23 includes a base 234 and at least two fixing arms 238 with identical structures, and the fixing arms 238 are fixedly disposed on the base 234. The fixing arm 238 includes a clamping plate 231, a first support base 232, a first motor 233, a link 236, a second support base 235, and a second motor 237. One side of the clamping plate 231 is used for contacting with the circumferential side wall of the mirror 5, and the other side is fixedly connected with the first supporting seat 232. In one example, the first support base 232 has a substantially concave structure and is rotatably connected to the connecting rod 236 through the first motor 233, such that the first support base 232 can rotate relative to the connecting rod 236 along a first set direction. One end of the connecting rod 236 far away from the base 234 is fixedly connected with the first supporting seat 232 through the first motor 233, and one end near to the base 234 is fixedly connected with the second supporting seat 235 through the second motor 237. Similarly, the second support 235 has a substantially concave structure and is rotatably connected to the link 236 by a second motor 237, so that the second support 235 can rotate relative to the link 236 in a second set direction.
It will be appreciated that the first motor 233 and the second motor 237 may be identical in structure, or may be different, and preferably identical. Similarly, the first support base 232 and the second support base 235 may have the same structure, or may have different structures, and preferably the same structure. Similarly, the connection between the first motor 233 and the link 236 and the first support base 232 and the connection between the second motor 237 and the link 236 and the second support base 235 may be the same or different, and preferably different. For the connection manner of the first motor 233 and the connecting rod 236 and the first supporting seat 232, the first motor 233 and the first supporting seat 232 can be fixed, and the output end of the first motor 233 is rotationally connected with the connecting rod 236 to realize the rotation of the first supporting seat 232 relative to the connecting rod 236. The output end of the first motor 233 may be rotationally connected with the first supporting seat 232, and the first motor 233 is relatively and fixedly connected with the connecting rod 236 to realize the rotation of the first supporting seat 232 relative to the connecting rod 236.
Preferably, two structurally identical fixed arms 238 are symmetrically mounted on either side of the base 234, in one example, by bolts that are symmetrically mounted left and right on the inner plane of the base 234.
Thus, by providing a plurality of fixing members 23 in the mirror housing 22, and providing each fixing member 23 to include the base 234 and at least two fixing arms 238 having the same structure, abutment fixing to the side wall of the mirror 5 can be well achieved. When the fixing arm 238 is brought into contact with the mirror 5, the position of the clamp plate 231 relative to the link 236 is first adjusted by the first motor 233, and then the link 236 is moved to the set position in the first set direction by the second motor 237, but of course, the relative positions of the link 236 and the second support base 235 may be adjusted by the first motor 233 and the second motor 237 at the same time, so that the relative positions of the link 236 and the clamp plate 231 are also achieved.
With continued reference to fig. 5 and 7, a positioning slot 26 is disposed in the cavity of the mirror chamber 22. In one example, the positioning groove 26 is provided to extend in the radial direction of the cavity of the mirror housing 22 and the radial end portion is fixedly provided on the inner wall surface of the mirror housing 22. In this example, the mirror chamber 22 is a hexahedral column, and is disposed at a connection position of each inner wall surface of the mirror chamber 22, and the positioning groove 26 and the fixing member 23 are disposed without interfering with each other. The number of the positioning grooves 26 is the same as the number of the connecting points of the inner wall surfaces. In the embodiment of fig. 5 and 7, the mirror housing 22 is a hexagonal cavity, and the positioning grooves 26 are provided at the connection points of the inner wall surfaces of the mirror housing 22, and the number of the positioning grooves 26 is also preferably 6.
The chamber of the mirror housing 22 is larger than the size of the mirror 5. The positioning groove 26 is configured to accommodate at least part of the gripper 43 of the robot arm module 4 and the extension 512 of the mirror 5, so that the connection between the robot arm module 4 and the extension 512 of the mirror 5 can be accommodated in the positioning groove 26. For the matching process of the mechanical arm module 4 driving the mirror 5 and the mirror chamber 22, please refer to the following details.
Thus, by providing the fixing member 23 and the positioning groove 26 on the fixing unit 202 of the sub-mirror module 2, the fixing of the sub-mirror module 2 and the appropriate adjustment of the position of the mirror 5 can be well achieved. Meanwhile, the positioning groove 26 and the fixing component 23 are arranged in a non-interference manner, so that the situation that the mirror 5 is failed in the replacement process due to interference between the mechanical arm module 4 and the fixing component 23 in the replacement process of the mirror 5 can be well avoided. On the one hand, the positioning groove 26 can be matched with the extension portion 512 of the mirror surface 5, and a certain positioning and comparison reference are given to the mechanical arm module 4, so that the mechanical arm module 4 can adjust and optimize the mirror surface 5 based on the relative relation between the mirror surface 5 and the positioning groove 26, and the mechanical arm module 4 can be well fixed with the mirror surface 5, on the other hand, the fault tolerance of the mechanical arm module 4 in the mounting and fixing of the mirror surface 5 is increased due to the existence of the positioning groove 26, and the movement range of the mirror surface 5 can be well restrained and the fault tolerance is improved due to the limiting effect of the positioning groove 26 when the extension portion 512 of the mirror surface 5 is at least partially positioned in the positioning groove 26.
Furthermore, the modularized large-caliber space telescope mirror surface replacement system further comprises a control module 6, wherein the control module 6 is respectively and electrically connected with the storage module 1, the sub-mirror module 2, the energy supply module 3 and the mechanical arm module 4, and is used for realizing automatic replacement of the sub-mirror module 2. The sub-mirror module 2 and the mechanical arm module 4 are controlled by a control module 6 to realize that the replaced mirror surface 52 on the sub-mirror module 2 is replaced by a standby mirror surface 51. Please refer to the details below.
For better showing the replacement procedure of the mirror 5, please refer to fig. 9-10, the present invention proposes a modular large caliber telescope mirror replacement method, preferably, the replacement method can be applied to the control module 6, so that the control module 6 controls the sub-mirror module 2 and the mechanical arm module 4 based on the method to replace the replaced mirror 52 on the sub-mirror module 2 with the spare mirror 51, and of course, the method can also be used for other hardware structures, which is not described in detail. The method comprises the following steps:
(optional) S610 determining a failed sub-mirror module.
In a modular large caliber space telescope, a plurality of sub-mirror modules 2 are included. Determining the failed sub-mirror module for the control module 6 may include a variety of ways.
In a specific embodiment, the fault sub-mirror module can be calibrated first, then based on the actual calibration result and the ideal calibration value, comparison analysis is carried out to judge whether the difference is in an allowable range, and if the difference exceeds the allowable range, the sub-mirror module with the fault is determined through the value comparison analysis.
In another alternative embodiment, the failed sub-mirror module is determined by a machine learning algorithm, for example, analysis is performed according to the usage period of the sub-mirror module 2, the space environment condition, etc., the sub-mirror module that may have a failure is inferred, and the sub-mirror module that may have a failure is determined as the failed sub-mirror module.
S620, controlling the mechanical arm module to grasp a replaced mirror surface to be replaced on the failure sub-mirror module, and decoupling the replaced mirror surface from the sub-mirror module.
After determining the failure sub-mirror module, the control module 6 controls the mechanical arm module 4 to grasp the replaced mirror surface 52 on the failure sub-mirror module, preferably, the mechanical claw 43 of the control arm module partially stretches into the positioning groove 26 and abuts against the extension part 512 of the replaced mirror surface 52, so as to grasp the replaced mirror surface 52.
For the control module 6 to control the decoupling of the replaced mirror 52 and the sub-mirror module 2, at least one of the fixed components 23 of the sub-mirror module 2 is mainly controlled to be disconnected from the replaced mirror 52, so that the mechanical arm 44 can conveniently drive the replaced mirror 52 to move.
It will be appreciated that the invention is not limited to controlling the order in which the robotic arm module 4 grips the replaced mirror surface 52 on the failed sub-mirror module and decouples the replaced mirror surface 52 from the sub-mirror module 2. In a preferred embodiment, the mechanical arm module 4 is controlled to grasp the replaced mirror surface 52 on the failed sub-mirror module, and then the replaced mirror surface 52 and the sub-mirror module 2 are decoupled, which has the advantage of reducing the capability requirement on the positioning accuracy of the mechanical arm module 4. In another alternative embodiment, the replaced mirror surface 52 and the sub-mirror module 2 may be decoupled first, and then the mechanical arm module 4 is controlled to grasp the replaced mirror surface 52 on the failed sub-mirror module.
And S630, after the mechanical arm module is controlled to replace the replaced mirror surface to be a standby mirror surface, the extension part of the standby mirror surface is matched with the positioning groove of the sub-mirror module.
After the control arm module 4 grabs the replaced mirror surface 52 on the failure sub-mirror module, the replaced mirror surface 52 can be moved to a specific position, for example, discarded directly in space, or the replaced mirror surface 52 is driven into a cavity of the replaced mirror surface 52 in the storage module 1. When the mechanical arm module 4 drives the bad mirror 5 to the cavity of the replaced mirror 52 in the storage module 1, the gear 17 is controlled first to open the first sliding door 14 and the second sliding door 19, and the replaced mirror 52 is placed in the cavity of the replaced mirror 52. The spare mirror 51 is then grasped by the robot arm module 4.
Of course, a plurality of mechanical arm modules 4 may be provided, so that one mechanical arm module 4 grabs the replaced mirror surface 52, and one mechanical arm module 4 grabs the spare mirror surface 51, and replacement of the replaced mirror surface 52 and the spare mirror surface 51 is achieved by adjusting the relative positions of the two mechanical arm modules 4.
After the manipulator module 4 is controlled to replace the replaced mirror surface 52 with the spare mirror surface 51, the spare mirror surface 51 is pre-adjusted so that the extension 512 of the spare mirror surface 51 matches the positioning groove 26 of the sub-mirror module 2. The relative position relationship between the standby mirror surface 51 and the positioning groove 26 of the mirror chamber 22 is determined mainly by a vision camera on the mechanical arm module 4, so that the mechanical claw 43 on the mechanical arm module 4 is controlled to rotate relative to the mechanical arm 44, and the matching of the extension part 512 of the standby mirror surface 51 and the positioning groove 26 of the sub-mirror module 2 is realized. That is, the positional relationship between the extension 512 of the mirror 5 and the positioning groove 26 of the mirror chamber 22 is determined by visual camera detection of the robot arm module 4, and the mounting angle of the mirror 5 is determined by adjusting the robot arm 44.
S640, controlling the mechanical arm module to drive the standby mirror surface to a first position based on target position information, and controlling the fixing component of the sub-mirror module to fix the standby mirror surface, wherein the target position is a set position when the standby mirror surface is installed in the mirror chamber.
The target position information of the spare mirror 51 to be attached to the mirror chamber 22 generally includes position information of the spare mirror 51 in the circumferential direction, the radial direction, and the axial direction with respect to the axis of the mirror chamber 22, and of course, any one or some of them may be used, and this is not a limitation.
While there are various ways of controlling the determination of the acquisition of the target position information of the backup mirror 51 mounted to the mirror housing 22. In a specific embodiment, the X-direction and Y-direction information of the mirror surface 52 can be determined directly based on the existing target position information of the mirror surface 52 relative to the mirror housing 22, specifically, the X-direction and Y-direction information of the mirror surface 52 can be determined by the information of the first motor 233 and the second motor 237 of all the fixing assemblies 23 of the sub-mirror module 2, and the Z-direction information of the mirror surface 52 can be determined by the robot module 4. For the mechanical arm module 4, which has a visual camera, it can be used to determine the relative positional relationship between different objects, and naturally determine the relationship between the replaced mirror surface 52 and the mirror chamber 22.
In another alternative, the positional information of the axis of the mirror surface 51 for use preset by the operator in the X direction, Y direction, and Z direction with respect to the axis of the mirror chamber 22 is acquired as the target positional information.
After the pre-adjustment of the spare mirror 51 is completed, the mechanical arm module 4 is controlled to drive the spare mirror 51 to the first position based on the target position information obtained previously.
After the mechanical arm module 4 moves to the first position, the fixing components 23 of the control sub-mirror module 2 fix the spare mirror 51, and since there are a plurality of fixing components 23, it is preferable to make all the fixing components 23 abut against the spare mirror 51 at this time, so as to fix the spare mirror 51. Of course, in some specific embodiments, the abutting fixation of the backup mirror 51 may be accomplished by selecting only a portion of the fixation assembly 23, which may also use a portion of the fixation assembly 23.
And (optional) S650, determining whether the first position is consistent with the target position, and if not, controlling at least part of the plurality of fixed components and/or the mechanical arm module to adjust the spare mirror to the target position.
After the spare mirror 51 is fixed by the fixing assembly 23 of the control sub-mirror module 2, the replacement of the mirror 5 of the defective sub-mirror module is theoretically completed. However, considering that in some specific scenarios, there may be a situation where the first position is not consistent with the target position, further adjustments are required in order to ensure the accuracy of the entire space telescope.
In this case, the control module 6 first determines whether the first position of the spare mirror 51 matches the target position according to the rotation angles of the first support base 232, the link 236, and the second support base 235 of each fixing assembly 23 and the vision camera of the mechanical arm module 4 as described above.
Specifically, when determining whether the first position is consistent with the target position, the first circumferential position and the first radial position are determined based on the rotational angles of the link 236 and the first support base 232, and the link 236 and the second support base 235 in all the fixed assemblies 23, and/or the first axial position is determined based on the vision camera of the robot arm module 4.
It will be appreciated that for a target location it generally includes information in three dimensions, circumferential, radial and axial, however, in some special cases it may have only one or some of circumferential, radial and axial. In this case, the first position then comprises the first circumferential position and at least one of the first axial position and the first radial position, respectively.
And comparing the first position with the target position to judge whether the first position is consistent with the target position.
If the first position is found to be inconsistent with the target position, which direction is different among the radial direction, the axial direction and the circumferential direction is judged, if the radial direction and the circumferential direction are different, at least part of the fixing assemblies 23 in the plurality of fixing assemblies 23 are controlled to adjust the radial direction and the circumferential direction of the spare mirror surface 51 to the target position, and if the axial direction is different, the mechanical arm module 4 is controlled to adjust the axial direction of the spare mirror surface 51 to the target position.
Naturally, the invention also provides a ground simulation adjustment system which is used for simulating the mirror 5 replacement process of the space on the ground based on the modularized large-caliber space telescope mirror replacement system disclosed by the invention, or simulating the mirror 5 replacement of the space on the ground based on the modularized large-caliber space telescope mirror replacement method disclosed by the invention.
In summary, the present invention provides a modular large caliber space telescope mirror replacement system, which has the advantages of exquisite device design, compact structure, and capability of rapidly replacing the replaced mirror 52 in the space environment while ensuring that the normal operation of the space telescope is not interfered. The risk that personnel directly participate in space operation is avoided, and the safety of the replacement process is obviously improved. In addition, the system has the advantages of rapid replacement flow, high cost efficiency and convenience and efficiency for maintenance of the space telescope.
The invention can only replace the mirror surface 5, greatly reduce the replacement cost, and can complete the repair work by replacing the mirror surface 5 without replacing the whole modularized sub-mirror when the mirror surface 5 is damaged, and the device has more compact integral structure, quick replacement of the mirror surface 5 and greatly reduced replacement cost.
While the foregoing has described in detail the aspects of the present invention, specific examples have been presented herein to illustrate the principles and embodiments of the present invention, the above examples are provided solely to assist in the understanding of the methods of the present invention and their core concepts; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Reference throughout this specification to "one embodiment," "an embodiment," or "a particular embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment, and not necessarily all embodiments, of the present invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the present invention may be combined in any suitable manner with one or more other embodiments. It will be appreciated that other variations and modifications of the embodiments of the invention described and illustrated herein are possible in light of the teachings herein and are to be considered as part of the spirit and scope of the invention.
It will also be appreciated that one or more of the elements shown in the figures may also be implemented in a more separated or integrated manner, or even removed because of inoperability in certain circumstances or provided because it may be useful depending on the particular application.
In addition, any labeled arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise specifically indicated. Furthermore, the term "or" as used herein is generally intended to mean "and/or" unless specified otherwise. Combinations of parts or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.
Claims (10)
1. A modularized large-caliber space telescope mirror surface replacement system is characterized by comprising,
The sub-mirror module comprises a mirror surface and a fixing unit used for being detachably fixed with the mirror surface, wherein the mirror surface comprises a planar base part and a plurality of extension parts protruding outwards along the radial direction of the base part;
a plurality of sub-mirror modules are relatively fixed to form a modularized large-caliber space telescope;
A robot arm module including a gripper for gripping an extension of the mirror surface;
The storage module comprises a box body and flexible flanges, a mirror surface chamber for storing the mirror surface is arranged in the box body, a plurality of flexible flanges are fixedly arranged on the inner side wall of the mirror surface chamber and used for protecting the base part of the mirror surface, and gaps are formed between the flexible flanges and used for at least partially accommodating the extension part of the mirror surface and the mechanical claws;
Wherein, a plurality of fixed components are arranged on the inner side wall of the mirror chamber and are used for selectively abutting against the base side wall of the mirror surface to fix the mirror surface;
The positioning groove is arranged between the fixing components in a non-interference way and is used for at least partially accommodating the extension part and the mechanical claw.
2. The modular large caliber space telescope mirror replacement system according to claim 1, further comprising a control module electrically connected to the sub-mirror module and the robotic arm module, respectively;
The storage module is used for storing at least the alternative mirror surface;
The control module is used for controlling the sub-mirror module and the mechanical arm module so as to realize replacement of the mirror surface needing replacement on the sub-mirror module.
3. The modular large caliber telescope mirror replacement system of claim 2 wherein,
The storage module further comprises a first driving piece and a first sliding door, wherein the first driving piece is relatively fixed with the box body and is in transmission connection with the first sliding door, the first sliding door is at least arranged at the corresponding position of the mirror surface cavity, and the first driving piece selectively controls the first sliding door to be opened or closed under the control of the control module.
4. The modular large caliber space telescope mirror replacement system according to claim 2, wherein one side of the mechanical arm module is provided with a plurality of detachably fixed sub-mirror modules, and the other side is fixedly connected with the storage module,
The mechanical arm module further comprises a mechanical arm base, a mechanical arm and a visual camera, one end of the mechanical arm is fixedly arranged on the mechanical arm base, the other end of the mechanical arm is connected with the mechanical claw in a rotating mode, the mechanical arm is used for enabling the extending part of the mirror surface to be matched with the positioning groove under the control of the control module based on information acquired by the visual camera, and the mechanical claw is used for grabbing the mirror surface and moving to a set position under the control of the control module.
5. The modular large caliber telescope mirror replacement system according to any one of claims 1-4, wherein the fixing assembly comprises a base and a plurality of fixing arms with identical structures fixed on the base, wherein the fixing arms comprise a clamping plate, a first supporting seat, a connecting rod and a second supporting seat;
one end of the connecting rod is rotationally connected with the first supporting seat, and the other end of the connecting rod is rotationally connected with the second supporting seat;
The first supporting seat is used for being fixedly connected with the clamping plate, the second supporting seat is used for being fixedly connected with the base, and the clamping plate is used for being abutted to the mirror surface on the sub-mirror module.
6. The modular large caliber telescope mirror replacement system according to any one of claims 1-4, wherein the sub-mirror module further comprises a pose adjustment unit fixedly connected to the fixing unit for adjusting the pose of the fixing unit;
And/or the modular large-caliber space telescope mirror replacement system further comprises an energy supply module, wherein the energy supply module is used for supplying energy to the modular large-caliber space telescope mirror replacement system.
7. A method of mirror replacement for a modular large caliber space telescope mirror replacement system according to any of claims 1-6, said method comprising:
The mechanical arm module is controlled to grasp a replaced mirror surface to be replaced on the failure sub-mirror module, and the replaced mirror surface and the sub-mirror module are decoupled;
After the mechanical arm module is controlled to replace the replaced mirror surface to be a standby mirror surface, the extension part of the standby mirror surface is matched with the positioning groove of the sub-mirror module;
and after the mechanical arm module is controlled to drive the standby mirror surface to the first position based on the target position information, the standby mirror surface is fixed by the fixing component of the control sub-mirror module, and the target position is a set position when the standby mirror surface is mounted to the mirror chamber.
8. The method of claim 7, wherein after the backup mirror is fixed by the fixing component of the control sub-mirror module, further comprising the steps of:
And judging whether the first position is consistent with the target position, and if not, controlling at least part of the fixed assemblies and/or the mechanical arm module in the plurality of fixed assemblies to adjust the standby mirror surface to the target position.
9. The mirror replacement method according to claim 8, wherein determining whether the first position coincides with the target position comprises the steps of:
determining a first circumferential position and a first radial position based on rotational angles of the connecting rod and the first support seat, the connecting rod and the second support seat in all the fixed assemblies, and/or determining a first axial position based on a vision camera of the mechanical arm module, wherein the first position comprises at least one of the first circumferential position, the first radial position and the first axial position;
Comparing the first position with the target position.
10. A ground simulation adjustment system, characterized by being used for simulating a space mirror replacement process on the ground based on the modular large-caliber space telescope mirror replacement system according to any one of claims 1-6;
or simulate the mirror replacement of space on the ground according to the mirror replacement method of any one of claims 7-9.
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