Multi-degree-of-freedom flexible docking device and docking method for satellite battery module

Abstract

The invention relates to the technical field of satellite general assembly, in particular to a satellite battery module multi-degree-of-freedom flexible docking device and a docking method.The docking device comprises a lifting seat, a supporting seat and a floating seat; the lifting seat can move up and down; the supporting seat is mounted on the top surface of the lifting seat, can move forwards, backwards, leftwards and rightwards and can move up and down along with the lifting seat; the floating seat is mounted above the top surface of the supporting seat in an up-and-down floating manner, is used for bearing a satellite battery module and can move up and down, front and back and left and right along with the supporting seat. Before the satellite battery module and the whole satellite are fastened, the floating seat is favorable for keeping the levelness of the mounting surface and the levelness of the mounted surface consistent, and meanwhile, the floating seat can float up and down, so that the mounting surface and the mounted surface can be effectively prevented from being locally stressed excessively, and a product is prevented from being damaged. On the whole, manual work can be assisted to complete the assembly task of the satellite battery module in an extremely limited space, the installation difficulty of the satellite battery module is greatly reduced, and the installation period is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite assembly, and in particular to a satellite battery module multi-degree-of-freedom flexible docking device and a docking method. Background Art

[0002] During the production process of a certain type of satellite, there is a specific working condition of disassembling and assembling satellite battery modules in a narrow space under the cabin. The installation position of the satellite battery module is arranged at the bottom of the satellite. The weight of the satellite battery module is about 49kg. In the face of such working conditions, manual operation or manual combined with robotic arms are usually used to complete the assembly task. However, in the actual production process, the operation space reserved in the satellite test site and the satellite cabin is very limited. When the satellite battery module is installed at the bottom of the satellite, the size of the satellite battery module installation channel reserved by the satellite bracket for supporting the satellite is only 1237mm×560mm, and the size of the base of the satellite battery module is 938mm×479mm. Therefore, the gap between the base of the satellite battery module and the satellite bracket is less than 300mm. The robotic arm occupies a large space, and it is no longer possible to use the robotic arm to assist manual assembly of the satellite battery module.

[0003] Currently, the assembly of satellite battery modules can only be completed manually. Multiple operators drill into the bottom of the cabin, jointly lift the satellite battery module, and align the mounting holes on the base of the satellite battery module with the mounting holes on the cabin of the satellite. After that, fasteners are used to fix the satellite battery module and the satellite through the mounting holes. Before fastening the satellite battery module to the satellite, the horizontality of the mounting surface and the mounted surface must be kept consistent to avoid excessive local force and damage to the product. Combined with various installation requirements, the current installation of satellite battery modules is extremely difficult and the installation cycle is extremely long. Summary of the invention

[0004] The present invention provides a satellite battery module multi-degree-of-freedom flexible docking device and a docking method, which are used to solve the problem that the current satellite battery module is extremely difficult to install and has an extremely long installation period.

[0005] In one aspect, the present invention provides a satellite battery module multi-degree-of-freedom flexible docking device, comprising:

[0006] Lifting seat, capable of moving up and down;

[0007] The support seat is installed on the top surface of the lifting seat and can move forward, backward, left and right, and can move up and down with the lifting seat;

[0008] The floating seat can be installed above the top surface of the support seat in a floating manner up and down, and is used to carry the satellite battery module. It can move up and down, front and back, left and right with the support seat.

[0009] In some embodiments, it also includes:

[0010] The locking mechanism is installed on the support base and can limit the support base from moving forward, backward, left, and right or release the restriction on the support base.

[0011] In some embodiments, it also includes:

[0012] The floating assembly is installed between the supporting seat and the floating seat so that the floating seat can float up and down.

[0013] In some embodiments, the floating assembly includes:

[0014] There are multiple elastic support members, the bottom end of which is fixedly connected to the top surface of the support seat, and the top end is connected to the bottom surface of the floating seat;

[0015] The buffer dampers are multiple, and the bottom ends are fixedly connected to the top surface of the support seat.

[0016] In some embodiments, it also includes:

[0017] The sliding assembly is installed between the lifting seat and the supporting seat so that the supporting seat can move forward, backward, left and right.

[0018] In some embodiments, a limiting groove is formed in the middle of the bottom surface of the support seat;

[0019] The sliding assembly includes:

[0020] A base plate is fixedly mounted on the top surface of the lifting seat;

[0021] The ball bearings are multiple and are rotatably mounted on the base plate and are in contact with the top walls of the limiting grooves respectively; the multiple ball bearings are distributed in a rectangular array.

[0022] In some embodiments, it also includes:

[0023] The lifting mechanism is installed at the bottom end of the lifting seat and can drive the lifting seat to move up and down.

[0024] In some embodiments, it also includes:

[0025] The walking mechanism is installed at the bottom end of the lifting mechanism.

[0026] On the other hand, the present invention also provides a satellite battery module multi-degree-of-freedom flexible docking method, comprising the following steps:

[0027] Transfer the satellite to the satellite support;

[0028] The satellite battery module is placed on a floating seat of a satellite battery module multi-degree-of-freedom flexible docking device, and the satellite battery module is transferred to the bottom of the satellite by means of the satellite battery module multi-degree-of-freedom flexible docking device;

[0029] Adjusting the damping force of each buffer damper of the satellite battery module multi-degree-of-freedom flexible docking device;

[0030] The satellite battery module is driven upward by the lifting mechanism of the satellite battery module multi-degree-of-freedom flexible docking device so that the distance between the installation surface of the satellite battery module and the installation surface of the satellite cabin is 15mm-25mm;

[0031] The satellite battery module is driven to move forward, backward, left and right by using the support seat and floating seat of the satellite battery module multi-degree-of-freedom flexible docking device, so that the mounting hole on the satellite battery module is aligned with the mounting hole on the cabin plate of the entire satellite;

[0032] The satellite battery module is driven upward by the lifting mechanism so that the mounting surface of the satellite battery module is in close contact with the mounting surface of the cabin panel of the entire satellite;

[0033] Use fasteners to fix the satellite battery module to the entire satellite through the mounting holes.

[0034] In some of the embodiments, before the satellite battery module is driven to move upward by the lifting mechanism so that the mounting surface of the satellite battery module is in close contact with the mounting surface of the cabin of the entire satellite, the following steps are also included:

[0035] The support base is restricted from moving forward, backward, left and right by means of a locking mechanism.

[0036] The beneficial effects of the present invention are as follows: The satellite battery module multi-degree-of-freedom flexible docking device of the present invention uses a floating seat. Before fastening the satellite battery module to the satellite assembly, the floating seat is conducive to maintaining the horizontality of the installation surface and the installed surface. At the same time, the floating seat can float up and down, which can effectively prevent the installation surface and the installed surface from being locally subjected to excessive force, thereby avoiding damage to the product. In the process of the battery module passing through the satellite battery module installation channel from bottom to top, it is not easy to collide with other equipment under the cabin of the satellite assembly, thereby preventing other equipment from being damaged. During the entire assembly process, the human body and the satellite battery module basically do not come into contact, thereby improving the safety of the operation. On the whole, it can assist humans in completing the assembly task of the satellite battery module in a very limited space, greatly reducing the difficulty of installing the satellite battery module and shortening the installation cycle. Since there is no need to rely on a robotic arm, the robotic arm is prevented from occupying the robotic arm site for a long time, thereby avoiding the problem of pulsation congestion of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1It is a schematic diagram of the combined structure of a satellite assembly and a satellite assembly bracket;

[0038] Figure 2 yes Figure 1 A top view of the satellite's entire support frame;

[0039] Figure 3 It is a schematic diagram of the structure of the satellite battery module;

[0040] Figure 4 It is a structural schematic diagram of some specific embodiments of a satellite battery module multi-degree-of-freedom flexible docking device of the present invention;

[0041] Figure 5 yes Figure 4 The schematic diagram of the combined structure of the support seat, the floating seat and the floating assembly in the multi-degree-of-freedom flexible docking device of the satellite battery module shown;

[0042] Figure 6 yes Figure 5 A schematic diagram of the internal structure of each buffer damper in the floating assembly shown;

[0043] Figure 7 yes Figure 4 The schematic diagram of the combined structure of the sliding assembly and the support seat in the multi-degree-of-freedom flexible docking device of the satellite battery module shown;

[0044] Figure 8 It is a flow chart of a satellite battery module multi-degree-of-freedom flexible docking method of the present invention.

[0045] In the accompanying drawings, 110, lifting seat; 120, supporting seat; 121, limiting groove; 130, floating seat; 140, locking mechanism; 150, floating assembly; 151, elastic support member; 152, buffer damper; 1521, buffer cylinder; 1522, top cover; 1523, lower piston; 1524, upper piston; 1525, bushing; 1526, lower spring; 1527, upper spring; 1528, piston rod; 1529, impact head; 160, sliding assembly; 161, base plate; 162, ball bearing; 170, lifting mechanism; 180, walking mechanism; 200, satellite assembly bracket; 300, satellite assembly; 400, satellite battery module installation channel; 500, satellite battery module; 510, base. DETAILED DESCRIPTION

[0046] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] like Figure 1 , Figure 2 and Figure 3 As shown, the size of the satellite battery module installation channel 400 reserved for the satellite battery module 500 to pass from bottom to top in the satellite whole star bracket 200 for supporting the satellite whole star 300 is only 1237mm×560mm, while the size of the base 510 of the satellite battery module 500 is 938mm×479mm. Therefore, the gap between the base 510 of the satellite battery module 500 and the satellite bracket 200 is less than 300mm. In addition, it should be noted that the distance between the lower edge of the crossbeam of the satellite whole star bracket 200 and the ground is 700mm, and the satellite whole star 300 is detachably connected to the top of the satellite whole star bracket 200 through the heightening block. The distance between the lower edge of the satellite whole star 300 and the ground is 1156mm. The weight of the satellite battery module is about 49kg and the height is 241mm. The minimum distance between the top surface and the bottom surface of the satellite battery module multi-degree-of-freedom flexible docking device is 440mm, and the maximum distance is 1240mm.

[0048] As described in the background technology, currently, the assembly task of the satellite battery module 500 can only be completed in the form of manual operation. Multiple operators drill into the bottom of the cabin, jointly lift the satellite battery module 500, and align the mounting holes on the base 510 of the satellite battery module 500 with the mounting holes on the cabin plate at the bottom of the satellite star 300. Afterwards, fasteners are used to fix the satellite battery module 500 and the satellite star 300 through the mounting holes. Before fastening the satellite battery module 500 to the satellite star 300, it is also necessary to keep the horizontality of the mounting surface and the mounted surface consistent to avoid excessive local force and damage to the product. Taking into account various installation requirements, the current installation of the satellite battery module 500 is extremely difficult and the installation cycle is extremely long.

[0049] In addition, it should be noted that other equipment under the cabin of the satellite 300 is very close to the satellite battery module installation channel 400. For example, the precision measuring mirror under the cabin of the satellite 300 is only 1mm-2mm away from the satellite battery module installation channel 400. During the assembly process of the satellite battery module 500, it is very easy to bump into it, which may cause damage to other equipment. Since the satellite battery module 500 has the characteristics of being charged, there are certain safety hazards in manual operation.

[0050] To solve the above problems, refer to Figure 4 , Figure 5 , Figure 6 and Figure 7On the one hand, the present invention provides a satellite battery module multi-degree-of-freedom flexible docking device, including a lifting seat 110, a support seat 120 and a floating seat 130. The lifting seat 110 can move up and down. The support seat 120 is installed on the top surface of the lifting seat 110, can move forward and backward, left and right, and can move up and down with the lifting seat 110. The floating seat 130 can be installed above the top surface of the support seat 120 in an up and down floating manner, and is used to carry the satellite battery module 500, and can move up and down, forward and backward, left and right with the support seat 120, so as to drive the satellite battery module 500 to move up and down, forward and backward, left and right.

[0051] The working process and principle of installing the satellite battery module 500 on the bottom of the satellite 300 by means of the satellite battery module multi-degree-of-freedom flexible docking device are as follows:

[0052] First, the satellite battery module 500 is placed on the floating seat 130. Then, the docking device is transferred as a whole to the bottom of the satellite 300 to carry the satellite battery module 500 to the bottom of the satellite 300. Then, the lifting seat 110 moves upward to drive the support seat 120 and the floating seat 130 to move upward, so that the satellite battery module 500 gradually approaches the bottom of the satellite 300. Then, the support seat 120 moves forward, backward, left and right to drive the floating seat 130 to move forward, backward, left and right, so that the mounting hole on the base 510 of the satellite battery module 500 is aligned with the mounting hole on the cabin at the bottom of the satellite 300. Then, the lifting seat 110 continues to move upward to drive the support seat 120 and the floating seat 130 to continue to move upward, so that the top surface of the base 510 of the satellite battery module 500 is gradually attached to the bottom surface of the cabin at the bottom of the satellite 300. Finally, the satellite battery module 500 and the satellite whole star 300 are fixedly connected through the mounting hole using fasteners. It should be noted that the size of the floating seat 130 should be smaller than the size of the base 510 of the satellite battery module 500, so as to reserve operating space for the operator to install the fasteners. Before fastening the satellite battery module 500 and the satellite whole star 300, the floating seat 130 is conducive to maintaining the level of the mounting surface and the mounted surface. At the same time, the floating seat 130 can float up and down, which can effectively prevent the mounting surface and the mounted surface from being subjected to excessive local force and avoid damage to the product. In the process of the battery module passing through the satellite battery module installation channel 400 from bottom to top, it is not easy to collide with other equipment under the cabin of the satellite whole star 300, so as to prevent other equipment from being damaged. During the entire assembly process, the human body and the satellite battery module 500 are basically not in contact, which improves the safety of the operation. On the whole, it can assist manual labor in completing the assembly task of the satellite battery module 500 in a very limited space, greatly reducing the difficulty of installing the satellite battery module 500 and shortening the installation cycle. Since there is no need to rely on a robotic arm, the robotic arm does not occupy the robotic arm station for a long time, thus avoiding the pulsation congestion problem of the production line.

[0053] Specifically, in the exemplary embodiment, the satellite battery module multi-degree-of-freedom flexible docking device also includes a locking mechanism 140, a floating assembly 150, a sliding assembly 160, a lifting mechanism 170 and a walking mechanism 180. The locking mechanism 140 is installed on the support seat 120, and can limit the support seat 120 to move forward, backward, left and right or release the restriction on the support seat 120. It should be noted that after the support seat 120 moves forward, backward, left and right to drive the floating seat 130 to move forward, backward, left and right, the locking mechanism 140 is used to limit the support seat 120 to continue to move forward, backward, left and right to ensure that the assembly process is carried out smoothly. The floating assembly 150 is installed between the support seat 120 and the floating seat 130 so that the floating seat 130 can float up and down. The floating assembly 150 cooperates with the floating seat 130, which can not only stably support the satellite battery module 500, but also provide the satellite battery module 500 with appropriate flexible adaptive floating force during the docking process. The sliding assembly 160 is installed between the lifting seat 110 and the support seat 120, which can effectively reduce the resistance of the support seat 120 when it moves forward, backward, left and right, so that the support seat 120 can drive the satellite battery module 500 to move forward, backward, left and right. The lifting mechanism 170 is installed at the bottom end of the lifting seat 110, which can drive the lifting seat 110 to move up and down, so as to drive the support seat 120 and the floating seat 130 to move up and down, and then drive the satellite battery module 500 to move up and down. The walking mechanism 180 is installed at the bottom end of the lifting mechanism 170, so as to facilitate the overall position transfer of the satellite battery module multi-degree-of-freedom flexible docking device.

[0054] Specifically, in the exemplary embodiment, the lifting seat 110 is made of ferromagnetic material. There are two locking mechanisms 140, which are respectively installed at opposite ends of the support seat 120. Each locking mechanism 140 includes a magnetic seat. When the magnetic seat is in an open state, it can be adsorbed on the lifting seat 110 to limit the support seat 120 from continuing to move forward, backward, left, and right; and when the magnetic seat is in a closed state, the support seat 120 can move forward, backward, left, and right.

[0055] Specifically, in the example, Figure 4 , Figure 5 and Figure 6As shown, the floating assembly 150 includes a plurality of elastic support members 151 and a plurality of buffer dampers 152. The bottom ends of the plurality of elastic support members 151 are fixedly connected to the top surface of the support seat 120, and the top ends are connected to the bottom surface of the floating seat 130. The bottom ends of the plurality of buffer dampers 152 are fixedly connected to the top surface of the support seat 120. Preferably, there are four elastic support members 151, which are respectively arranged below the four corners of the floating seat 130. Each elastic support member 151 is a rectangular spring, which is used to flexibly support the floating seat 130 and the satellite battery module 500. Two or more buffer dampers 152 are respectively arranged below the four sides of the floating seat 130. Each buffer damper 152 includes a buffer cylinder 1521, a top cover 1522, a lower piston 1523, an upper piston 1524, a sleeve 1525, a lower spring 1526, an upper spring 1527, a piston rod 1528 and a bumper 1529. The axis of the buffer cylinder 1521 is vertically arranged, and the bottom end is fixedly connected to the top surface of the support seat 120. The top cover 1522 is arranged on the top of the buffer cylinder 1521. The lower piston 1523 is installed in the lower part of the buffer cylinder 1521 so as to be movable up and down. The upper piston 1524 is installed in the upper part of the buffer cylinder 1521 so as to be movable up and down. The bottom end of the piston rod 1528 passes through the upper piston 1524 and the lower piston 1523 in sequence and is inserted into the buffer cylinder 1521. The shaft sleeve 1525 is sleeved on the bottom end of the piston rod 1528. The lower spring 1526 is inserted into the lower part of the buffer cylinder 1521, and the bottom end abuts against the inner bottom surface of the buffer cylinder 1521, and the top end abuts against the lower piston 1523. The upper spring 1527 is sleeved on the lower part of the piston rod 1528, and the top end abuts against the top cover 1522, and the bottom end abuts against the lower piston 1523. The impact head 1529 is fixedly installed on the top of the piston rod 1528. The multiple buffer dampers 152 cooperate with each other to adjust the magnitude of the damping force during docking, have vertical flexible floating ability, provide a restraining effect in the front-to-back direction and the left-to-right direction, improve the rigidity in the front-to-back direction and the left-to-right direction, and avoid tilting, shaking or instability during the lifting and lowering process of the satellite battery module 500.

[0056] Specifically, in the example, Figure 4 and Figure 7As shown, a limiting groove 121 is formed in the middle of the bottom surface of the support seat 120. The limiting groove 121 can prevent the support seat 120 from moving too much in the front, back, left and right directions, and thus prevent the floating seat 130 from moving too much in the front, back, left and right directions, thereby preventing the center of mass from shifting too much during the translation of the satellite battery module 500, and thus preventing the satellite battery module 500 from spontaneously tipping over. It should be pointed out that the travel of the support seat 120 in the front, back, left and right directions is 0-60mm. The sliding assembly 160 includes a base plate 161 and a plurality of ball bearings 162. The base plate 161 is fixedly mounted on the top surface of the lifting seat 110. The plurality of ball bearings 162 are rotatably mounted on the base plate 161, respectively, and are in contact with the top walls of the limiting groove 121. The plurality of ball bearings 162 are distributed in a rectangular array to facilitate the front, back, left and right movement of the support seat 120.

[0057] Specifically, in the exemplary embodiment, the lifting mechanism 170 is a fork-scissor-arm hydraulic lifter, which is provided with a hydraulic lifting rod. By manpower controlling the hydraulic lifting rod, the fork-scissor-arm hydraulic lifter can drive the lifting seat 110 to move up and down.

[0058] Specifically, in the exemplary embodiment, the walking mechanism 180 includes a base and four walking wheels. The base is a frame structure, which realizes a lightweight design. The four walking wheels are respectively installed at the four corners of the base to facilitate the base to transfer its position. Each walking wheel has a lock. The lock can limit the movement of the walking wheel or release the restriction on the walking wheel.

[0059] Reference Figure 8 On the other hand, the present invention also provides a satellite battery module 500 degrees of freedom flexible docking method, comprising the following steps:

[0060] First, S100 , the satellite assembly 300 is transferred to the satellite assembly bracket 200 .

[0061] In this step, first, the satellite assembly bracket 200 is placed on the supporting pier, and then the satellite assembly 300 is transferred to the specified installation position on the satellite assembly bracket 200 .

[0062] Then, S200, the satellite battery module 500 is placed on the floating seat 130 of the satellite battery module multi-degree-of-freedom flexible docking device, and the satellite battery module 500 is transferred to the bottom of the satellite 300 with the help of the satellite battery module multi-degree-of-freedom flexible docking device.

[0063] In this step, first, the satellite battery module 500 is placed on the floating seat 130 of the satellite battery module multi-degree-of-freedom flexible docking device. Then, the satellite battery module 500 mounted on the docking device moves from the bottom of the satellite whole star bracket 200 to the bottom of the satellite whole star 300 along with the docking device, ensuring that the satellite battery module 500 and the upper part of the docking device do not collide with other equipment / satellite whole star bracket 200 under the satellite whole star 300 during the ascent process. Then, the lock on each running wheel is used to limit the movement of each running wheel.

[0064] Next, S300, the damping force of each buffer damper 152 of the satellite battery module multi-degree-of-freedom flexible docking device is adjusted.

[0065] In this step, first, the sum G of the weights of the satellite battery module 500 and the floating seat 130 is calculated, and then, according to the deformation ΔL and elastic coefficient K of each elastic support member 151, the sum F1 of the supporting forces provided by the four elastic support members 151 is calculated. It can be obtained that the supporting force required to be provided by each buffer damper 152 is F2 = (G-F1) / n. Among them, n is the number of buffer dampers 152 used. According to F2, the hydraulic value in each buffer damper 152 is adjusted to control its damping force. Multiple buffer dampers 152 should not only meet the requirements of stable bearing of the satellite battery module 500, but also have the compression buffer stroke required during the contact process between the satellite battery module 500 and the satellite 300. It should be noted that the compression stroke should be reasonably selected so that it can not only meet the flexible buffering requirements, but also be limited after the buffer damper 152 is compressed to a certain stroke, so as to ensure that sufficient and stable pressing force is provided after the satellite battery module 500 is docked with the cabin.

[0066] Afterwards, S400, the satellite battery module 500 is driven to move upward by the lifting mechanism 170 of the satellite battery module multi-degree-of-freedom flexible docking device, so that the distance between the installation surface of the satellite battery module 500 and the installation surface of the cabin of the entire satellite 300 is 15mm-25mm.

[0067] In this step, the operator manipulates the hydraulic lifting rod to make the lifting seat 110 drive the satellite battery module 500 to move upward. When the distance between the top surface of the base 510 of the satellite battery module 500 and the bottom surface of the deck of the satellite 300 is about 20 mm, the satellite battery module 500 stops moving upward.

[0068] Next, S500, the satellite battery module 500 is driven to move forward, backward, left and right by the support base 120 and the floating base 130 of the satellite battery module multi-degree-of-freedom flexible docking device, so that the mounting holes on the satellite battery module 500 are aligned with the mounting holes on the cabin plate of the satellite 300.

[0069] In this step, a locating pin is installed in the mounting hole of the base 510 of the satellite battery module 500, and the floating seat 130 is controlled to rise slowly by operating the hydraulic lifting rod. The distance between the locating pin and the mounting hole on the cabin plate is observed in real time, and the operator moves the support seat 120 to align the locating pin with the mounting hole on the cabin plate to ensure that the mounting hole on the satellite battery module 500 is aligned with the mounting hole on the cabin plate of the entire satellite 300.

[0070] Then, at S600 , the locking mechanism 140 is used to restrict the support base 120 from moving forward, backward, left, and right.

[0071] In this step, when the mounting hole on the satellite battery module 500 is aligned with the mounting hole on the cabin of the satellite 300, the locking mechanism 140 is opened so that the locking mechanism 140 is adsorbed on the support base 120. At this time, the support base 120 can no longer continue to move forward, backward, left and right to prevent the satellite battery module 500 from shaking and shifting in the forward, backward, left and right directions during the docking process.

[0072] Afterwards, S700, the satellite battery module 500 is driven to move upward by using the lifting mechanism 170 so that the mounting surface of the satellite battery module 500 is in close contact with the mounting surface of the cabin of the satellite assembly 300. When a portion of the base 510 of the satellite battery module 500 first contacts the cabin, the purpose of flexible adaptive leveling is achieved through the compression of the elastic support 151 and the buffer damper 152 in the local area. When the top surface of the base 510 of the satellite battery module 500 is in complete contact with the bottom surface of the cabin, check whether the mounting holes of the base 510 are concentrically aligned with the mounting holes on the cabin. Thereafter, continue to apply a clamping force in the vertical direction until it reaches the travel limit of the buffer damper 152, so that the base 510 and the cabin are tightly docked.

[0073] Next, S800, fasteners are used to fix the satellite battery module 500 and the satellite assembly 300 through the mounting holes. After the satellite battery module 500 is installed, the lifting mechanism 170 drives the lifting seat 110 to descend to the lowest position. Each locking mechanism 140 is closed, and the lock on each running wheel releases the restriction on the corresponding running wheel. The docking device is removed from the bottom of the satellite assembly 300 bracket.

[0074] On the whole, it has the capabilities of adaptive leveling, flexible docking and six-degree-of-freedom position alignment and fine-tuning, which can meet the installation requirements of a millimeter-level safety distance below the 300-meter cabin panel of the entire satellite in a narrow space, reduce the installation difficulty of the satellite battery module 500, and improve the installation efficiency of the satellite battery module 500 and the reliability of the pulsating operation of the production line. There is no bump in the installation process, and the safety is relatively high.

[0075] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0076] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0077] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0078] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0079] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A satellite battery module multi-degree-of-freedom flexible docking device, It is characterized in that include: Lifting seat, capable of moving up and down; A support seat, mounted on the top surface of the lifting seat, capable of moving forward, backward, left, and right, and capable of moving up and down with the lifting seat; The floating seat can be installed above the top surface of the support seat in a floating manner up and down, and is used to carry the satellite battery module. It can move up and down, front and back, left and right with the support seat.

2. The satellite battery module multi-degree-of-freedom flexible docking device according to claim 1, It is characterized in that Also includes: The locking mechanism is installed on the support base and can limit the support base from moving forward, backward, left, and right or release the restriction on the support base.

3. The satellite battery module multi-degree-of-freedom flexible docking device according to claim 1, It is characterized in that Also includes: The floating assembly is installed between the supporting seat and the floating seat so that the floating seat can float up and down.

4. The satellite battery module multi-degree-of-freedom flexible docking device according to claim 3, It is characterized in that The floating assembly comprises: A plurality of elastic support members, the bottom ends of which are fixedly connected to the top surface of the support seat, and the top ends of which are connected to the bottom surface of the floating seat; There are multiple buffer dampers, and the bottom ends are fixedly connected to the top surface of the support seat.

5. The satellite battery module multi-degree-of-freedom flexible docking device according to claim 1, It is characterized in that Also includes: The sliding assembly is installed between the lifting seat and the supporting seat so that the supporting seat can move forward, backward, left and right.

6. The satellite battery module multi-degree-of-freedom flexible docking device according to claim 5, It is characterized in that A limiting groove is formed in the middle of the bottom surface of the support seat; The sliding assembly comprises: A base plate, fixedly mounted on the top surface of the lifting seat; There are multiple ball bearings, which are rotatably mounted on the base plate and respectively contact the top walls of the limiting grooves; the multiple ball bearings are distributed in a rectangular array.

7. The satellite battery module multi-degree-of-freedom flexible docking device according to claim 1, It is characterized in that Also includes: The lifting mechanism is installed at the bottom end of the lifting seat and can drive the lifting seat to move up and down.

8. The satellite battery module multi-degree-of-freedom flexible docking device according to claim 7, It is characterized in that Also includes: The walking mechanism is installed at the bottom end of the lifting mechanism.

9. A multi-degree-of-freedom flexible docking method for satellite battery modules. It is characterized in that The following steps are involved: Transfer the entire satellite to the entire satellite support; Placing the satellite battery module on a floating seat of a satellite battery module multi-degree-of-freedom flexible docking device, and transferring the satellite battery module to directly below the entire satellite with the aid of the satellite battery module multi-degree-of-freedom flexible docking device; Adjusting the damping force of each buffer damper of the satellite battery module multi-degree-of-freedom flexible docking device; The satellite battery module is driven to move upward by the lifting mechanism of the satellite battery module multi-degree-of-freedom flexible docking device, so that the distance between the mounting surface of the satellite battery module and the mounting surface of the cabin plate of the entire satellite is 15 mm-25 mm; The satellite battery module is driven to move forward, backward, left and right by using the support seat and the floating seat of the satellite battery module multi-degree-of-freedom flexible docking device, so that the mounting hole on the satellite battery module is aligned with the mounting hole on the cabin plate of the entire satellite; The satellite battery module is driven to move upward by the lifting mechanism so that the mounting surface of the satellite battery module is in close contact with the mounting surface of the cabin panel of the entire satellite; The satellite battery module is fixedly connected to the entire satellite through the mounting hole using fasteners.

10. The satellite battery module multi-degree-of-freedom flexible docking method according to claim 9, It is characterized in that Before using the lifting mechanism to drive the satellite battery module to move upward so that the mounting surface of the satellite battery module is in close contact with the mounting surface of the cabin of the entire satellite, the following steps are also included: The support base is restricted from moving forward, backward, left and right by means of a locking mechanism.

Images