A multi-functional flipping docking system and its usage method

Abstract

The present invention relates to a multi-functional flipping and docking system and its usage method. The system includes a chassis, a flipping unit, and a docking unit. The flipping unit includes a flipping table and a star connection seat. A support swing arm is hinged to the rear side of the flipping table, and the support swing arm is hinged to the chassis. A support seat is hinged to the lower end of the flipping table, and a flipping slider is fixed to the support seat. The flipping slider is slidably engaged with a flipping guide rail. A driving nut is fixed to the support seat, and the driving nut is engaged with a driving lead screw. The driving lead screw is connected to a rotary driving device. The docking unit includes two sets of bracket assemblies. The bracket assembly includes a gantry, an arc-shaped bracket, and an arc-shaped support seat. A docking slider is fixed to the gantry, and the docking slider is slidably engaged with a docking guide rail. The arc-shaped bracket is installed on the gantry through a lifting mechanism. A plurality of rollers are installed on the arc-shaped bracket, and the arc-shaped support seat is placed on the plurality of rollers of the arc-shaped bracket. It has the advantages of compact structure, strong functionality, and high integration; the method has the advantages of simple process and high working efficiency.

Description

Technical Field

[0001] The present invention relates to a flipping and docking technology, and particularly to a multi-functional flipping and docking system and a method for using the system. Background Art

[0002] In the aerospace field, it is often necessary to flip a satellite or a satellite shroud assembly from a horizontal state to a vertical state or perform the reverse operation, and dock the satellite shroud assembly with a rocket body. At present, in this field, flipping devices and docking devices are correspondingly provided to complete the corresponding operations. During the general assembly and debugging process of a rocket, it is generally necessary to flip and dock a satellite or a satellite shroud assembly multiple times. Using the existing flipping devices and docking devices for operation not only consumes time and effort, affects work efficiency, but also increases the floor space occupied by the factory due to the large number of devices. Summary of the Invention

[0003] The object of the present invention is to provide a multi-functional flipping and docking system and a method for using the same. The device has the advantages of compact structure, convenient operation, strong functionality and high integration; the method has the advantages of simple process, high work efficiency, safety and reliability.

[0004] To solve the above problems existing in the prior art, a multi-functional flipping and docking system provided by the present invention includes a chassis, and a flipping unit and a docking unit arranged on the chassis. The flipping unit includes a flipping table. A satellite connection seat is fixed to the front side of the flipping table. A support swing arm is hinged to the rear side of the flipping table. The lower end of the support swing arm is hinged to the rear end of the chassis. A support seat is hinged to the lower end of the flipping table. Flipping sliders are respectively fixed to the left and right bottom ends of the support seat. The flipping sliders are slidably matched with flipping guide rails fixed on the chassis in the front-rear direction. A driving nut is also fixed to the support seat. The driving nut is in threaded cooperation with a driving lead screw installed on the chassis through a bearing seat. The rear end of the driving lead screw is connected with a rotary driving device. The docking unit includes two sets of bracket assemblies. Each bracket assembly includes a gantry, an arc-shaped bracket and an arc-shaped support seat. Docking sliders are respectively fixed to the bottom ends of the two legs of the gantry. The docking sliders are slidably matched with docking guide rails fixed on the chassis in the front-rear direction. The arc-shaped bracket is installed on the gantry through a lifting mechanism. A plurality of rollers distributed along an arc are installed on the arc-shaped bracket. The arc-shaped support seat is placed on the plurality of rollers of the arc-shaped bracket. The arc-shaped support seat of one bracket assembly is connected with an inclined driving cylinder. The piston rod of the driving cylinder is hinged to the arc-shaped bracket.

[0005] Further, in a multi-functional flipping and docking system of the present invention, two driving lead screws are arranged at intervals left and right. The rear ends of the two driving lead screws are respectively connected with a worm and gear transmission box fixed on the chassis. The rotary driving device includes a reducer fixed on the chassis. The input shaft of the reducer is connected with a driving motor. The left and right ends of the output shaft of the reducer are respectively connected with the worm and gear transmission boxes of the two driving lead screws through couplings.

[0006] Further, for a multifunctional flipping and docking system of the present invention, two supporting swing arms are symmetrically arranged on the left and right. The upper ends of the two supporting swing arms are respectively hinged to the middle parts of the left rear side and the right rear side of the flipping table, and the left and right sides of the lower end of the flipping table are respectively hinged to the supporting seats.

[0007] Further, for a multifunctional flipping and docking system of the present invention, the chassis includes a vehicle frame and eight Mecanum wheels. The eight Mecanum wheels are divided into four groups and symmetrically distributed at the bottom of the vehicle frame. Two Mecanum wheels in each group are mounted on the vehicle frame through pendulum suspensions.

[0008] Further, a multifunctional flipping and docking system of the present invention further includes an electric control unit provided on the chassis. The electric control unit includes a power distribution module, a motor control and drive module, and a human-machine interaction module. The electric control unit is used for data acquisition and motion control of the chassis, the flipping unit, and the docking unit.

[0009] Further, for a multifunctional flipping and docking system of the present invention, two flipping sliders are respectively arranged at the bottoms of the left and right ends of the supporting seats at intervals in the front-rear direction, and two docking sliders are respectively arranged at the bottoms of the two legs of the gantry at intervals in the front-rear direction.

[0010] Further, for a multifunctional flipping and docking system of the present invention, the flipping unit is located inside the gantry of the docking unit in the left-right direction; four rollers are provided on the bracket assembly, and the four rollers are symmetrically distributed left and right.

[0011] Further, for a multifunctional flipping and docking system of the present invention, the driving lead screw is a ball screw, and the driving nut is a ball nut.

[0012] A method for using the above multifunctional flipping and docking system of the present invention includes the following steps:

[0013] S1. Move the two bracket assemblies of the docking unit to the front end of the chassis, and turn the flipping table of the flipping unit to the horizontal state through the rotary driving device;

[0014] S2. After hoisting the star cover assembly onto the star body connection seat from top to bottom and vertically fixing the connection between the two, turn the flipping table to the vertical state through the rotary driving device so that the star cover assembly is in the horizontal state;

[0015] S3. Move the two bracket assemblies to the lower side of the star cover assembly, and raise the arc-shaped bracket through the lifting mechanism so that the arc-shaped support seat supports the star cover assembly;

[0016] S4. After releasing the connection between the star cover assembly and the star body connection seat, move the star cover assembly to the front end of the chassis through the two bracket assemblies to make room for the flipping space of the flipping table.

[0017] S5. After the tipping table is tipped to the horizontal state by the rotation drive device, the star cover assembly is moved to the rear end of the chassis by the two sets of bracket assemblies, and the attitude of the star cover assembly is adjusted before docking with the rocket body.

[0018] Furthermore, for the usage method of a multi-functional tipping docking system of the present invention, before step S5, there is also a process of transporting the star cover assembly to the docking position by the chassis; the attitude adjustment of the star cover assembly in step S5 includes the following steps:

[0019] S5-1. Make the arc brackets of the two sets of bracket assemblies perform lifting actions simultaneously to adjust the height of the star cover assembly;

[0020] S5-2. Make the arc bracket of one set of bracket assemblies perform a lifting action to adjust the pitch angle of the star cover assembly;

[0021] S5-3. Push and pull the arc-shaped support seat of one set of bracket assemblies through the driving cylinder to make the arc-shaped support seat roll on the roller, so as to perform rolling on the star cover assembly by using the arc structure and in cooperation with gravity.

[0022] Compared with the prior art, a multi-functional flipping and docking system and its usage method of the present invention have the following advantages: By providing a chassis, a flipping unit and a docking unit disposed on the chassis, the flipping unit is provided with a flipping table, a star connection seat is fixed on the front side of the flipping table, a supporting swing arm is hinged on the rear side of the flipping table, the lower end of the supporting swing arm is hinged to the rear end of the chassis, a supporting seat is hinged to the lower end of the flipping table, flipping sliders are respectively fixed to the left and right bottom ends of the supporting seat, the flipping sliders are slidably engaged with flipping guide rails fixedly arranged on the chassis in the front-back direction, a driving nut is fixed on the supporting seat, the driving nut is in threaded engagement with a driving lead screw installed on the chassis through a bearing block, and a rotary driving device is connected to the rear end of the driving lead screw; the docking unit is provided with two sets of bracket assemblies, each bracket assembly includes a gantry, an arc-shaped bracket and an arc-shaped support seat, docking sliders are respectively fixed to the bottom ends of the two legs of the gantry, the docking sliders are slidably engaged with docking guide rails fixedly arranged on the chassis in the front-back direction, the arc-shaped bracket is installed on the gantry through a lifting mechanism, a plurality of rollers distributed along an arc are installed on the arc-shaped bracket, the arc-shaped support seat is placed on the plurality of rollers of the arc-shaped bracket, wherein, the arc-shaped support seat of one bracket assembly is connected with an inclined driving cylinder, and the piston rod of the driving cylinder is hinged to the arc-shaped bracket. Thus, a multi-functional flipping and docking system with a compact structure, convenient operation, strong functionality and high integration degree is formed. In practical applications, first, after the flipping table of the flipping unit is flipped to the horizontal state, the star cover assembly is lifted onto the star connection seat and vertically fixed; then the flipping table is flipped to the vertical state so that the star cover assembly is in the horizontal state, and the two sets of bracket assemblies of the docking unit are moved to the lower side of the star cover assembly for support; then, after the connection between the star cover assembly and the star connection seat is released, the flipping table is flipped to the horizontal state; subsequently, after the star cover assembly is moved to the docking position through the docking unit, attitude adjustment can be performed and it can be docked with the rocket body. Compared with the prior art, the present invention realizes multi-purpose use of one machine, improves the compactness and integration degree of the structure, reduces the number of devices and the occupied space of the factory building, and can effectively improve the work efficiency. By providing a chassis, the present invention improves the convenience of movement and transportation, and by providing a flipping unit and a docking unit on the chassis, the functionality is improved; by providing a flipping table, a supporting swing arm, a supporting seat, a slider guide rail mechanism and a nut lead screw driving mechanism in the flipping unit, only by controlling the rotation of the driving lead screw, the flipping of the flipping table and the star cover assembly can be performed, which improves the simplicity of operation; by respectively providing a gantry, an arc-shaped bracket and an arc-shaped support seat in the two sets of bracket assemblies, and providing a lifting mechanism between the gantry and the arc-shaped bracket and providing rollers between the arc-shaped bracket and the arc-shaped support seat, the star cover assembly can be lifted, rolled and pitched, which improves the convenience of attitude adjustment and the docking accuracy. The usage method of the multi-functional flipping and docking system provided by the present invention has the advantages of simple process, high work efficiency, safety and reliability.

[0023] The following further elaborates on a multifunctional flipping and docking system and its usage method according to the present invention in conjunction with the specific embodiments shown in the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Isometric view of a multifunctional flipping and docking system according to the present invention Figure 1 ;

[0025] Figure 2 Isometric view of a multifunctional flipping and docking system according to the present invention Figure 2 ;

[0026] Figure 3 Top view structural schematic diagram of the flipping unit in a multifunctional flipping and docking system according to the present invention;

[0027] Figures 4 to 9 Schematic diagram of the usage process of a multifunctional flipping and docking system according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] First, it should be noted that the orientation terms such as up, down, left, right, front, and back described in the present invention are only for description based on the accompanying drawings for ease of understanding, and do not limit the technical solution and the scope of the claimed protection of the present invention.

[0029] As Figures 1 to 9 shown in the detailed embodiment of a multifunctional flipping and docking system according to the present invention, it includes a chassis 1 and a flipping unit 2 and a docking unit 3 provided on the chassis 1. The flipping unit 2 is provided with a flipping table 21, a star connection seat 22 is fixed on the front side of the flipping table 21, a support swing arm 23 is hinged on the rear side of the flipping table 21, and the lower end of the support swing arm 23 is hinged to the rear end of the chassis 1; a support seat 24 is hinged at the lower end of the flipping table 21, flipping sliders 25 are respectively fixed at the left and right bottom ends of the support seat 24, and the flipping sliders 25 are in sliding fit with flipping guide rails 26 fixed on the chassis 1 in the front-rear direction; a drive nut 27 is fixed on the support seat 24, the drive nut 27 is in threaded fit with a drive lead screw 29 installed on the chassis 1 through a bearing block 28, and a rotary drive device is connected to the rear end of the drive lead screw 29. The docking unit 3 is provided with two sets of bracket assemblies, and the bracket assembly includes a gantry 31, an arc-shaped bracket 32, and an arc-shaped support 33; docking sliders (not shown in the figure) are respectively fixed at the bottom of the two legs of the gantry 31, and the docking sliders are in sliding fit with docking guide rails 34 fixed on the chassis 1 in the front-rear direction; the arc-shaped bracket 32 is installed on the gantry 31 through a lifting mechanism, a plurality of rollers 35 distributed along an arc are installed on the arc-shaped bracket 32, and the arc-shaped support 33 is placed on the plurality of rollers 35 of the arc-shaped bracket 32. Among them, the arc-shaped support 33 of one bracket assembly is connected with an inclined drive cylinder (not shown in the figure), and the piston rod of the drive cylinder is hinged to the arc-shaped bracket 32.

[0030] Through the above structural settings, a multi-functional flipping and docking system with a compact structure, convenient operation, strong functionality, and high integration is formed. In practical applications, first, after the flipping table 21 of the flipping unit 2 is flipped to the horizontal state, the star cover assembly 100 is lifted onto the star body connecting seat 22 and vertically fixed; then the flipping table 21 is flipped to the vertical state to make the star cover assembly 100 in the horizontal state, and the two sets of bracket assemblies of the docking unit 3 are moved to the lower side of the star cover assembly 100 for support; then, after disconnecting the connection between the star cover assembly 100 and the star body connecting seat 22, the flipping table 21 is flipped to the horizontal state; subsequently, after the star cover assembly 100 is moved to the docking position through the docking unit 3, the attitude can be adjusted and docked with the rocket body. Compared with the prior art, the present invention realizes multi-purpose use of one machine, improves the structural compactness and integration, reduces the number of devices and the space occupied by the factory building, and can effectively improve the work efficiency. The present invention improves the convenience of movement and transfer by setting the chassis 1, and improves the functionality by setting the flipping unit 2 and the docking unit 3 on the chassis 1; by setting the flipping table 21, the support swing arm 23, the support seat 24, the slider guide rail mechanism and the nut-screw drive mechanism in the flipping unit 2, only by controlling the rotation of the drive screw 29, the flipping of the flipping table 21 and the star cover assembly 100 can be carried out, which improves the simplicity of operation; by setting the gantry 31, the arc-shaped bracket 32 and the arc-shaped support seat 33 in the two sets of bracket assemblies respectively, and setting the lifting mechanism between the gantry 31 and the arc-shaped bracket 32, and setting the roller 35 between the arc-shaped bracket 32 and the arc-shaped support seat 33, the star cover assembly 100 can be lifted, rolled and pitched, which improves the convenience of attitude adjustment and the docking accuracy.

[0031] It should be noted that the above lifting mechanism can adopt various methods such as worm gear screw jacks, hydraulic cylinders, electric cylinders, etc. To ensure the stability of the structure and movement, a lifting guiding mechanism should also be provided between the gantry 31 and the arc-shaped bracket 32. In practical applications, to improve the stability of the structure and movement, the present invention usually arranges two turning sliders 25 at the bottoms of the left and right ends of the support base 24 at intervals in the front-rear direction, and also arranges two docking sliders at the bottoms of the two legs of the gantry 31 at intervals in the front-rear direction. To reduce the volume and improve the structural compactness, the present invention arranges the turning unit 2 inside the gantry 31 of the docking unit 3 in the left-right direction, so that after the turning unit 2 is turned to the horizontal position, the two sets of bracket assemblies and the star cover assembly 100 of the docking unit 3 can smoothly pass through the upper side of the turning unit 2. To simplify the structure and ensure the smooth rolling of the arc-shaped support 33, the present invention usually arranges four rollers 35 on the bracket assembly and arranges the four rollers 35 in a left-right symmetric manner. To prevent the arc-shaped support 33 from shifting radially, the present invention also provides a limiting groove on the roller 35 and provides a retaining edge for blocking the arc-shaped support 33 on the front and rear sides of the arc-shaped bracket 32. To make the star cover assembly 100 roll, since the arc-shaped support 33 is placed on the roller 35, only one set of arc-shaped supports 33 of one of the two sets of bracket assemblies needs to be connected to the driving cylinder, and the arc-shaped supports 33 of the two sets of bracket assemblies can be made to roll synchronously through the action of the driving cylinder. The present invention usually obliquely arranges the driving cylinder at the rear side position of the arc-shaped support 33. To enhance the smoothness of the driving of the turning action, the present invention usually makes the driving screw 29 a ball screw, and correspondingly makes the driving nut 27 a ball nut.

[0032] As a specific embodiment, the present invention arranges two driving screws 29 at intervals in the left-right direction. Among them, the rear ends of the two driving screws 29 are respectively connected to a worm gear and worm transmission box 291 fixed on the chassis 1; and a reduction gearbox 292 fixed on the chassis 1 is provided for the rotation driving device. Among them, the input shaft of the reduction gearbox 292 is connected with a driving motor 293, and the left and right ends of the output shaft of the reduction gearbox 292 are respectively connected to the worm gear and worm transmission boxes 291 of the two driving screws 29 through couplings. This structure enhances the smoothness and reliability of the turning action by arranging two driving screws 29 and making the two driving screws 29 act synchronously. To enhance the stability of the structure, in this specific embodiment, two support swing arms 23 are symmetrically arranged in the left-right direction, the upper ends of the two support swing arms 23 are correspondingly hinged to the middle parts of the left rear side and the right rear side of the turning table 21, and the left and right sides of the lower end of the turning table 21 are respectively hinged to the support base 24.

[0033] As a specific embodiment, the present invention provides a chassis 1 with a frame 11 and eight Mecanum wheels 12. Among them, the eight Mecanum wheels 12 are divided into four groups and symmetrically distributed at the bottom of the frame 11. Two Mecanum wheels 12 in each group are mounted on the frame 11 through a pendulum suspension. This setting can avoid the Mecanum wheels 12 from being suspended through the floating ability of the pendulum suspension within the group, ensuring that the Mecanum wheels 12 at each support point effectively touch the ground and are evenly stressed. It should be noted that the structure and connection method of the pendulum suspension are well-known to those skilled in the art and will not be elaborated here. To improve the self-control ability, an electronic control unit 4 is provided on the chassis 1 in this specific embodiment. The electronic control unit 4 specifically includes a power distribution module, a motor control and drive module, a human-computer interaction module, etc. During operation, the electronic control unit 4 is mainly used for data acquisition and motion control of the chassis 1, the flipping unit 2, and the docking unit 3. It should be noted that the structure and connection method of the electronic control unit 4 are well-known to those skilled in the art.

[0034] Based on the same concept, the present invention also provides a usage method for the above-mentioned multifunctional flipping and docking system, which specifically includes the following steps:

[0035] S1. Move the two sets of bracket assemblies of the docking unit 3 to the front end of the chassis 1, and turn the flipping platform 21 of the flipping unit 2 to the horizontal state through the rotary drive device.

[0036] S2. Lift the star cover assembly 100 onto the star body connection seat 22 from top to bottom and then vertically fix them; and turn the flipping platform 21 to the vertical state through the rotary drive device to make the star cover assembly 100 in a horizontal state.

[0037] S3. Move the two sets of bracket assemblies to the lower side of the star cover assembly 100, and raise the arc-shaped bracket 32 through the lifting mechanism so that the arc-shaped support 33 supports the star cover assembly 100.

[0038] S4. After disconnecting the connection between the star cover assembly 100 and the star body connection seat 22, move the star cover assembly 100 to the front end of the chassis 1 through the two sets of bracket assemblies to make room for the flipping space of the flipping platform 21.

[0039] S5. After turning the flipping platform 21 to the horizontal state through the rotary drive device, move the star cover assembly 100 to the rear end of the chassis 1 by using the two sets of bracket assemblies, and adjust the attitude of the star cover assembly 100 before docking with the rocket body.

[0040] Before step S5, there is usually a process of transporting the star cover assembly 100 to the docking position by using the chassis 1. The attitude adjustment of the star cover assembly 100 described in step S5 includes the following steps:

[0041] S5-1. Simultaneously lift and lower the arc-shaped brackets 32 of the two sets of bracket assemblies to adjust the height of the star cover assembly 100.

[0042] S5-2. Lift and lower the arc-shaped bracket 32 of one set of bracket assemblies to adjust the pitch angle of the star cover assembly 100.

[0043] S5-3. Push and pull the arc-shaped socket 33 of one set of bracket assemblies through the driving cylinder to make the arc-shaped socket 33 roll on the roller 35, so as to roll the star cover assembly 100 by using the arc-shaped structure and in cooperation with gravity.

[0044] The usage method of the multifunctional flipping and docking system provided by the present invention has the advantages of simple process, high working efficiency, safety and reliability, and can effectively simplify the star-ship general assembly process and improve the star-ship general assembly efficiency.

[0045] The above embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of protection requested by the present invention. Without departing from the design concept of the present invention, various deformations made by those skilled in the art based on the technical solution of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A multi-functional flipping docking system, characterized in that, It includes a chassis (1), a tipping unit (2) and a docking unit (3) provided on the chassis (1). The tipping unit (2) includes a tipping table (21). A star connection seat (22) is fixed to the front side of the tipping table (21). A support swing arm (23) is hinged to the rear side of the tipping table (21). The lower end of the support swing arm (23) is hinged to the rear end of the chassis (1). A support seat (24) is hinged to the lower end of the tipping table (21). Tipping sliders (25) are respectively fixed to the left and right bottom ends of the support seat (24). The tipping sliders (25) are slidably engaged with tipping guide rails (26) fixed to the chassis (1) in the front-rear direction. A drive nut (27) is also fixed to the support seat (24). The drive nut (27) is threadedly engaged with a drive lead screw (29) installed on the chassis (1) through a bearing block (28). The rear end of the drive lead screw (29) is connected with a rotary drive device. The docking unit (3) includes two sets of bracket assemblies. The bracket assembly includes a gantry (31), an arc-shaped bracket (32) and an arc-shaped support seat (33). Docking sliders are respectively fixed to the bottom ends of the two legs of the gantry (31). The docking sliders are slidably engaged with docking guide rails (34) fixed to the chassis (1) in the front-rear direction. The arc-shaped bracket (32) is installed on the gantry (31) through a lifting mechanism. A plurality of rollers (35) distributed in an arc are installed on the arc-shaped bracket (32). The arc-shaped support seat (33) is placed on the plurality of rollers (35) of the arc-shaped bracket (32). The arc-shaped support seat (33) of one bracket assembly is connected with an inclined drive cylinder. The piston rod of the drive cylinder is hinged to the arc-shaped bracket (32).

2. The multi-functional flipping docking system according to claim 1, characterized in that, Two drive lead screws (29) are provided at left and right intervals. The rear ends of the two drive lead screws (29) are respectively connected with a worm and gear transmission box (291) fixed to the chassis (1). The rotary drive device includes a reducer (292) fixed to the chassis (1). The input shaft of the reducer (292) is connected with a drive motor (293). The left and right ends of the output shaft of the reducer (292) are respectively connected with the worm and gear transmission boxes (291) of the two drive lead screws (29) through couplings.

3. The multi-functional flipping docking system according to claim 2, characterized in that, Two support swing arms (23) are provided symmetrically at left and right. The upper ends of the two support swing arms (23) are correspondingly hinged to the middle of the left rear side and the middle of the right rear side of the tipping table (21). The left and right sides of the lower end of the tipping table (21) are respectively hinged to the support seat (24).

4. The multi-functional flipping docking system according to claim 3, characterized in that, The chassis (1) includes a vehicle frame (11) and eight Mecanum wheels (12). The eight Mecanum wheels (12) are divided into four groups and symmetrically distributed at the bottom of the vehicle frame (11). Two Mecanum wheels (12) in each group are installed on the vehicle frame (11) through a pendulum suspension.

5. The multi-functional flipping docking system according to claim 4, characterized in that, It also includes an electric control unit (4) provided on the chassis (1). The electric control unit (4) includes a power distribution module, a motor control and drive module and a human-machine interaction module. The electric control unit (4) is used for data acquisition and motion control of the chassis (1), the tipping unit (2) and the docking unit (3).

6. The multi-functional flipping docking system according to any one of claims 1-5, characterized in that, Two turning sliders (25) are respectively arranged at the bottoms of the left and right ends of the support base (24) at intervals in the front-rear direction, and two docking sliders are respectively arranged at the bottoms of the two legs of the gantry (31) at intervals in the front-rear direction.

7. The multi-functional flipping docking system according to any one of claims 1-5, characterized in that, The turning unit (2) is located inside the gantry (31) of the docking unit (3) in the left-right direction; four rollers (35) are provided on the bracket assembly, and the four rollers (35) are symmetrically distributed in the left-right direction.

8. The multi-functional flipping docking system according to any one of claims 1-5, characterized in that, The driving lead screw (29) is a ball screw, and the driving nut (27) is a ball nut.

9. A method for using the multi-functional flipping docking system according to claim 1, characterized in that, It includes the following steps: S1. Move the two bracket assemblies of the docking unit (3) to the front end of the chassis (1), and turn the turning table (21) of the turning unit (2) to the horizontal state through the rotary driving device. S2. Lift the star cover assembly (100) onto the star body connecting seat (22) from top to bottom and then vertically fix them; and turn the turning table (21) to the vertical state through the rotary driving device so that the star cover assembly (100) is in the horizontal state. S3. Move the two bracket assemblies to the lower side of the star cover assembly (100), and raise the arc bracket (32) through the lifting mechanism so that the arc support seat (33) supports the star cover assembly (100). S4. After disconnecting the connection between the star cover assembly (100) and the star body connecting seat (22), move the star cover assembly (100) to the front end of the chassis (1) through the two bracket assemblies to make room for the turning space of the turning table (21). S5. After turning the turning table (21) to the horizontal state through the rotary driving device, move the star cover assembly (100) to the rear end of the chassis (1) by using the two bracket assemblies, and adjust the attitude of the star cover assembly (100) and then dock it with the rocket body.

10. The method for using the multi-functional flipping docking system according to claim 9, characterized in that, Before step S5, there is also a process of transporting the star cover assembly (100) to the docking position through the chassis (1); the attitude adjustment of the star cover assembly (100) in step S5 includes the following steps: S5-1. Make the arc brackets (32) of the two bracket assemblies perform lifting actions simultaneously to adjust the height of the star cover assembly (100). S5-2. Make the arc bracket (32) of one bracket assembly perform a lifting action to adjust the pitch angle of the star cover assembly (100). S5-3. Push and pull the arc support seat (33) of one bracket assembly through the driving cylinder to make the arc support seat (33) roll on the roller (35), so as to perform rolling on the star cover assembly (100) by using the arc structure and in cooperation with gravity.

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