A method for storing and transporting satellite modules

Abstract

This invention discloses a method for storing, transporting, and docking satellite modules. Two auxiliary transfer and docking devices transfer two satellite modules to a platform-type main assembly device. During the transfer, the auxiliary devices perform initial alignment on the satellite modules, which then undergo precise alignment and docking on the main assembly device. This invention improves the efficiency of satellite module transport and the accuracy of docking alignment, making attitude correction more convenient and faster, while avoiding accidents such as collisions during transfer and alignment. This invention is applicable to the technical field of satellite module docking.

Description

Technical Field

[0001] This invention belongs to the technical field of satellite module docking, specifically, it relates to a method for satellite module storage and transportation docking. Background Art

[0002] Currently, during the transportation and assembly of satellite modules, lifting equipment is mostly used to hoist the modules, then lower them onto a transport vehicle, and finally secure them to the vehicle for transport. This hoisting operation is cumbersome and prone to accidents such as collisions. During the docking assembly of satellite modules, inaccurate alignment frequently occurs, leading to docking failure due to misalignment and potential damage to the docking points. Furthermore, the large size and weight of the satellite modules make attitude correction extremely difficult and precise adjustments impossible during docking. Summary of the Invention

[0003] This invention provides a satellite module storage and transportation docking method to improve the transfer efficiency and docking accuracy of satellite modules, making the attitude correction of satellite modules more convenient and faster, while avoiding accidents such as collisions during the transfer and alignment of satellite modules.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A method for storing and transporting satellite modules includes the following steps:

[0006] S1. Use the auxiliary transfer docking device to fix one end of the satellite module at the placement location, and the peristaltic adjustment mechanism of the auxiliary transfer docking device is activated to gradually move the satellite module into the assembly frame, and the satellite module is completely removed from the placement location.

[0007] S2. Transfer the auxiliary transfer docking device to the platform-type main assembly device;

[0008] S3. Repeat steps S1 and S2 using another auxiliary transfer docking device to transfer another satellite module to the platform-type main assembly device.

[0009] S4. Operate the two peristaltic adjustment mechanisms on the two transfer docking devices to gradually transfer the two satellite modules to the platform-type main assembly device. During the transfer process, adjust the auxiliary transfer docking device and gradually correct the attitude of the satellite modules. After the satellite modules are separated from the auxiliary transfer docking device, the two satellite modules on the platform-type main assembly device achieve initial alignment, and at this time the docking ends of the two satellite modules are close to each other.

[0010] S5. The two satellite modules are docked on the platform-type main assembly unit.

[0011] S6. The attitude of at least one of the two satellite modules is precisely corrected using a platform-type main assembly device.

[0012] S7. After precise correction, the two satellite modules are docked through the transmission of the steering correction mechanism and the lifting restriction mechanism of the platform-type main assembly device. Then, the fastening and wiring operations between the docking components are carried out.

[0013] S8. After docking is completed, the control platform-type main assembly device moves the two docked satellite modules to a secondary transfer docking device. The secondary transfer docking device clamps the docked satellite modules and uses a peristaltic adjustment mechanism to bring the satellite modules into the assembly frame. Then, the second secondary transfer docking device is aligned with the satellite modules, and the peristaltic adjustment mechanism of the second secondary transfer docking device clamps the satellite modules in the corresponding assembly frame, thereby achieving the purpose of fixing the satellite modules by the two secondary transfer docking devices.

[0014] S9. Simultaneously manipulate the movement of the two auxiliary transfer docking devices to transfer the satellite module to the predetermined area.

[0015] Furthermore, the auxiliary transfer docking device includes an assembly frame detachably mounted on a universal adjustment seat, a creeping adjustment mechanism mounted on the assembly frame, and a frame lifting mechanism constructed between the assembly frame and the universal adjustment seat. The assembly frame is lifted by the frame lifting mechanism and detached from the universal adjustment seat, and the assembly frame can be vertically flipped under external force. The satellite module is disposed within the assembly frame, and the creeping adjustment mechanism conformally clamps the satellite module and can creep along the extension direction of the assembly frame.

[0016] Furthermore, the positioning and tightening unit includes a connecting frame that is slidably connected to the assembly frame via multiple sliders. Multiple hydraulic positioning and tightening components are installed at intervals along the circumference of the connecting frame, and one end of each hydraulic positioning and tightening component abuts against the corresponding surface of the satellite module. The connecting frame is composed of multiple connecting rods. Each hydraulic positioning and tightening component includes a hydraulic tightening part and at least one tightening part. The hydraulic tightening part is movably connected to the corresponding connecting rod and can be clamped onto the connecting rod. The tightening part is detachably connected to the hydraulic tightening part and can abut against the corresponding surface of the satellite module under the action of hydraulic oil.

[0017] Furthermore, the hydraulic tightening part includes two guide sleeves that are arranged opposite to each other and slidably connected at their close ends. An assembly cylinder is fitted over the two guide sleeves. Guide plates extending radially outward are constructed on the two guide sleeves respectively. The outer edges of the two guide plates are slidably connected to the inner wall of the assembly cylinder, and a hydraulic cavity is formed between the two guide plates. A connecting spring is installed in the hydraulic cavity, and the two ends of the connecting spring are respectively connected to the two guide plates. A tightening sleeve is constructed at the ends of the two guide sleeves that are far apart from each other. A pressure-bearing sleeve is constructed between the tightening sleeve and the guide sleeve. Multiple notches are opened circumferentially on the tightening sleeve. Each notch extends from the outer end of the tightening sleeve to the end of the pressure-bearing sleeve near the guide sleeve. End caps with installation openings in the middle are installed at both ends of the assembly sleeve. Each end cap is fitted onto the pressure-bearing sleeve through its installation opening. A connecting channel is formed in the two guide sleeves, and a tightening opening is formed in the two tightening sleeves. The two tightening openings are respectively connected to the two ends of the connecting channel.

[0018] Furthermore, the peristaltic drive unit includes a drive component mounted on the assembly frame. The drive component includes a power motor or a hydraulic motor. The output end of the drive component is connected to a transmission screw extending along the length direction of the assembly frame. The transmission screw is connected to each clutch component. The clutch component includes an opening and closing sleeve with a pressure regulating chamber. A pressure connector is constructed on the outer wall of the opening and closing sleeve. The pressure connector communicates with the pressure regulating chamber. The inner wall of the opening and closing sleeve has multiple elastic expansion walls and multiple fixed walls. The elastic expansion walls and fixed walls are spaced apart along the circumference of the opening and closing sleeve. A threaded sleeve is movably assembled inside the opening and closing sleeve. The threaded sleeve is threadedly connected to the transmission screw. Retaining rings are detachably connected to both ends of the threaded sleeve. The opening and closing sleeve is located between the two retaining rings. A connecting block is constructed on the opening and closing sleeve. The connecting block is connected to the corresponding part of the assembly frame.

[0019] Furthermore, the platform-type main assembly device includes a working platform mounted on a base. The working platform is equipped with a steering correction mechanism and a lifting restraint mechanism. Multiple wheels are mounted at the lower end of the base. The wheels include omnidirectional wheels or Mecanum wheels. The steering correction mechanism includes multiple steering units evenly arranged along the circumference of the working platform. These steering units are driven to rotate by a drive mechanism installed between the working platform and the base.

[0020] Furthermore, the steering unit includes multiple pneumatic bidirectional steering wheels spaced axially on the shaft. The shaft extends radially along the working platform, and its two ends are rotatably connected to corresponding parts of the working platform. A central connecting body and an outer ring connecting body are respectively constructed at the center and outer edge of the working platform. The two ends of the shaft are rotatably connected to the central connecting body and the outer ring connecting body, respectively. A first gas distribution chamber and a second gas distribution chamber are respectively constructed within the central connecting body and the outer ring connecting body. A first air guide channel and a second air guide channel are constructed side by side within the shaft. The first air guide channel and the second air guide channel are respectively connected to the first gas distribution chamber and the second gas distribution chamber. The pneumatic bidirectional steering wheel has two independent first inflation chambers and second inflation chambers. The first air guide channel and the second air guide channel are respectively connected to the first inflation chamber and the second inflation chamber.

[0021] Furthermore, the pneumatic bidirectional steering wheel includes a first airbag wheel and a second airbag wheel respectively constructed at both axial ends of the fixed sleeve. The radial length of the first airbag wheel increases from one end of the fixed sleeve along the axis of the fixed sleeve towards the direction away from the fixed sleeve. The radial length of the second airbag wheel increases from one end of the fixed sleeve along the axis of the fixed sleeve towards the direction away from the fixed sleeve. The first inflation chamber and the second inflation chamber are respectively formed inside the first airbag wheel and the second airbag wheel. The rotating shaft passes through the first airbag wheel, the fixed sleeve, and the second airbag wheel in sequence. A first guide hole and a second guide hole are provided on the rotating shaft at the locations of the first inflation chamber and the second inflation chamber. The first air guide channel communicates with the first inflation chamber through the first guide hole, and the second air guide channel communicates with the second inflation chamber through the second guide hole. The expansion coefficient of each first airbag wheel on the same rotating shaft decreases inward along the axial direction of the rotating shaft after inflation, and the expansion coefficient of each second airbag wheel on the same rotating shaft decreases outward along the axial direction of the rotating shaft after inflation.

[0022] Furthermore, the drive mechanism includes a drive motor mounted on the base. The output shaft of the drive motor passes through a rotating disk and is rotatably connected to the lower end of the central connecting body via a rotating seat. A connecting flange is constructed on the output shaft, and the connecting flange is connected to the rotating disk by multiple fixing bolts. A transmission gear ring is constructed at the edge of the rotating disk, and transmission gears are assembled on each of the rotating shafts. The transmission gear ring meshes with each transmission gear. A first air passage and a second air passage, respectively communicating with the first gas distribution chamber, are opened on the output shaft. An adapter is rotatably mounted on the output shaft. The adapter has an air inlet chamber and an air outlet chamber, respectively communicating with the first air passage and the second air passage.

[0023] Furthermore, the lifting-type limiting mechanism includes a pneumatic cavity constructed within the working platform. The pneumatic cavity includes independent pneumatic chambers evenly arranged along the circumference of the working platform. Each pneumatic chamber has an air inlet and an air outlet. Multiple ejector components are arranged on the working platform between two adjacent steering units. The lower end of each ejector component is connected to the corresponding pneumatic chamber. The ejection height of each ejector component is not lower than the upper end face of the steering unit.

[0024] Due to the aforementioned structure, the technological advancements achieved by this invention compared to existing technologies are as follows: The peristaltic adjustment mechanism of the auxiliary transfer docking device clamps the satellite module and gradually moves it into the assembly frame until it reaches a predetermined position and is completely detached from its placement location. Then, the auxiliary transfer docking device carries the satellite module to the platform-type main assembly device. Two satellite modules are placed on the working platform of the platform-type main assembly device. By controlling the steering and correction mechanism, the target satellite module is corrected according to a predetermined direction, thereby aligning with the corresponding satellite module. The lifting and limiting mechanism of this invention can raise the working platform to a certain height, effectively lifting the satellite module and allowing it to be properly positioned. The lifted satellite module disengages from the steering and correction mechanism, meaning it is not driven by the mechanism. Lifting the module also allows for height adjustment, achieving alignment between modules in the height dimension. During satellite transport and docking, this invention effectively prevents collisions and vibrations. Furthermore, the alignment process is divided into initial and fine alignment, improving alignment accuracy. In summary, this invention improves the transport efficiency and docking accuracy of satellite modules, making attitude correction more convenient and efficient, while preventing collisions and other accidents during transport and alignment. Attached Figure Description

[0025] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0026] In the attached diagram:

[0027] Figure 1 This is a schematic diagram of the platform-type main assembly device according to an embodiment of the present invention;

[0028] Figure 2 This is a structural schematic diagram of the platform-type main assembly device from another angle according to an embodiment of the present invention;

[0029] Figure 3 This is an axial structural cross-sectional view of the platform-type main assembly device according to an embodiment of the present invention;

[0030] Figure 4for Figure 3 Enlarged view of the structure at part A in the middle;

[0031] Figure 5 This is a schematic diagram of the connection between the working platform and the steering correction mechanism in the platform-type main assembly device according to an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the pneumatic bidirectional steering wheel in the platform-type main assembly device according to an embodiment of the present invention;

[0033] Figure 7 This is an axial structural cross-sectional view of the pneumatic bidirectional steering wheel in the platform-type main assembly device according to an embodiment of the present invention;

[0034] Figure 8 This is an axial structural cross-sectional view of another type of pneumatic bidirectional steering wheel in the platform-type main assembly device of this invention.

[0035] Figure 9 This is a schematic diagram of the connection between the work platform and the drive mechanism in the platform-type main assembly device according to an embodiment of the present invention;

[0036] Figure 10 This is a schematic diagram of the connection between the ejector and the work platform in the platform-type main assembly device according to an embodiment of the present invention;

[0037] Figure 11 This is a partial structural cross-sectional view of the connection between the ejector and the work platform in the platform-type main assembly device according to an embodiment of the present invention;

[0038] Figure 12 This is a structural side view of one configuration of the auxiliary transfer docking device according to an embodiment of the present invention;

[0039] Figure 13 for Figure 12 Main view of the structure;

[0040] Figure 14 A schematic diagram of another form of the auxiliary transfer docking device according to an embodiment of the present invention;

[0041] Figure 15 for Figure 14 Structural side view;

[0042] Figure 16 This is a schematic diagram of the positioning and clamping unit in the auxiliary transfer docking device according to an embodiment of the present invention;

[0043] Figure 17 This is a schematic diagram of the hydraulic positioning top connector in the auxiliary transfer docking device according to an embodiment of the present invention;

[0044] Figure 18 This is a schematic diagram of the disassembled hydraulic clamping part in the hydraulic positioning top connector of the auxiliary transfer docking device according to an embodiment of the present invention;

[0045] Figure 19 This is an axial structural cross-sectional view of a hydraulic clamping part in the auxiliary transfer docking device of the present invention, in a state of contact and clamping with the connecting rod;

[0046] Figure 20 This is an axial structural cross-sectional view of another hydraulic clamping part in the auxiliary transfer docking device of the present invention;

[0047] Figure 21 This is a schematic diagram of the hydraulic clamping part in the auxiliary transfer docking device according to an embodiment of the present invention;

[0048] Figure 22 This is a schematic diagram of the disassembled top connection part in the auxiliary transfer docking device according to an embodiment of the present invention;

[0049] Figure 23 This is an axial structural cross-sectional view of the top connection portion in the auxiliary transfer docking device according to an embodiment of the present invention;

[0050] Figure 24 This is a schematic diagram of the structure of the auxiliary transfer docking device of the present invention after removing the hydraulic positioning top connector;

[0051] Figure 25 This is a schematic diagram of the clutch component in the auxiliary transfer docking device according to an embodiment of the present invention;

[0052] Figure 26 This is a schematic diagram of the disassembled clutch component in the auxiliary transfer docking device according to an embodiment of the present invention;

[0053] Figure 27 This is a schematic diagram of the universal adjustment seat in the auxiliary transfer docking device according to an embodiment of the present invention;

[0054] Figure 28 This is a schematic diagram of the disassembled universal adjustment seat in the auxiliary transfer docking device of this invention.

[0055] Figure 29 This is a schematic diagram of the telescopic adjustment component in the secondary transfer docking device of this invention.

[0056] Components labeled: 100-Working platform, 101-Annular support rib, 102-Pneumatic chamber, 103-Outer ring connector, 104-Second gas distribution chamber, 105-Inlet pipe, 106-Exhaust pipe, 107-Support seat, 108-Base, 109-Wheel, 110-Pneumatic chamber, 111-Inlet, 112-Outlet, 200-Ejector, 201-Guide seat, 202-Top cap, 203-Air expansion chamber, 204-Return spring, 205-Upper fixing plate, 206-Lower fixing plate, 207-First connecting bolt, 208-Second connecting bolt, 300-Central connector, 301-First gas distribution chamber, 400-Steering unit, 401-Shaft, 4011-Shaft body, 4012 - First air guide channel, 4013 - Second air guide channel, 4014 - First through hole, 4015 - Second through hole, 402 - Pneumatic bidirectional adjusting wheel, 4021 - Fixed sleeve, 4022 - Connecting flange, 4023 - First airbag wheel, 4024 - Second airbag wheel, 4025 - First inflation chamber, 4026 - Second inflation chamber, 4027 - First connecting sleeve, 4028 - Second connecting sleeve, 4029 - Elastic skeleton, 403 - Transmission gear, 500 - Drive motor, 501 - Output shaft, 502 - Connecting flange, 503 - Rotating seat, 504 - Adapter, 505 - First air passage, 506 - Second air passage, 507 - Rotating disk, 508 - Transmission gear ring, 600 - Assembly frame, 601 - Horizontal plate, 700-Positioning and tightening unit, 701-Connecting rod, 702-Slider, 703-Top connection part, 7031-Hydraulic conduit, 7032-First fixed edge, 7033-Top rod, 7034-Guide head, 7035-Second fixed edge, 7036-Hard spring, 7037-Rubber bladder, 7038-Air hole, 7039-Control valve, 704-Hydraulic tightening part, 7041-Assembly cylinder, 7042-Guide sleeve, 7043-Annular guide groove, 7044-Guide ring, 7045-Hydraulic chamber, 7046-Hydraulic nozzle, 7047-Connecting channel, 7048-Guide plate, 7049-Limiting port, 7050-Limiting strip, 7051-First pressure surface, 7052-Tightening sleeve, 7053-Notch 7054-Tightening port, 7055-Connecting spring, 7056-End cap, 7057-First annular pressure edge, 7058-Fixing cap, 7059-Second pressure surface, 7060-Second annular pressure edge, 800-Adjustment channel, 900-Bottom mounting plate, 901-Connecting platform, 902-Arc surface, 903-Lifting cylinder, 1000-Connecting seat, 1001-Assembly assembly, 1002-Assembly port, 1003-Moving wheel, 1004-Telescopic adjusting component, 10041-Cylinder body, 10042-First ball joint, 10043-Cylinder rod, 10044-Second ball joint, 1005-Second cup-shaped seat, 1006-First cup-shaped seat, 1100-Drive component, 1101-Transmission screw.1102-Clutch element, 11021-Opening / closing sleeve, 11022-Connecting block, 11023-Fixed wall, 11024-Elastic expansion wall, 11025-Pressure connector, 11026-Threaded sleeve, 11027-Internal thread, 11028-Retaining ring. Detailed Implementation

[0057] The preferred embodiments of the present invention will now be described with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of the invention.

[0058] This invention discloses a satellite module storage and transportation docking method, comprising the following steps:

[0059] S1. Use the auxiliary transfer docking device to fix one end of the satellite module at the placement location, and the peristaltic adjustment mechanism of the auxiliary transfer docking device is activated to gradually move the satellite module into the assembly frame, and the satellite module is completely removed from the placement location.

[0060] S2. Transfer the auxiliary transfer docking device to the platform-type main assembly device;

[0061] S3. Repeat steps S1 and S2 using another auxiliary transfer docking device to transfer another satellite module to the platform-type main assembly device.

[0062] S4. Operate the two peristaltic adjustment mechanisms on the two transfer docking devices to gradually transfer the two satellite modules to the platform-type main assembly device. During the transfer process, adjust the auxiliary transfer docking device and gradually correct the attitude of the satellite modules. After the satellite modules are separated from the auxiliary transfer docking device, the two satellite modules on the platform-type main assembly device achieve initial alignment, and at this time the docking ends of the two satellite modules are close to each other.

[0063] S5. The two satellite modules are docked on the platform-type main assembly unit.

[0064] S6. The attitude of at least one of the two satellite modules is precisely corrected using a platform-type main assembly device.

[0065] S7. After precise correction, the two satellite modules are docked through the transmission of the steering correction mechanism and the lifting restriction mechanism of the platform-type main assembly device. Then, the fastening and wiring operations between the docking components are carried out.

[0066] S8. After docking is completed, the control platform-type main assembly device moves the two docked satellite modules to a secondary transfer docking device. The secondary transfer docking device clamps the docked satellite modules and uses a peristaltic adjustment mechanism to bring the satellite modules into the assembly frame. Then, the second secondary transfer docking device is aligned with the satellite modules, and the peristaltic adjustment mechanism of the second secondary transfer docking device clamps the satellite modules in the corresponding assembly frame, thereby achieving the purpose of fixing the satellite modules by the two secondary transfer docking devices.

[0067] S9. Simultaneously manipulate the movement of the two auxiliary transfer docking devices to transfer the satellite module to the predetermined area.

[0068] The working principle and advantages of this invention are as follows: The peristaltic adjustment mechanism of the auxiliary transfer docking device clamps the satellite module and gradually moves it into the assembly frame 600 until the satellite module reaches the predetermined position and is completely removed from its placement location. Then, the auxiliary transfer docking device carries the satellite module to the platform-type main assembly device. The two satellite modules are placed on the working platform 100 of the platform-type main assembly device. By controlling the steering and correction mechanism, the target satellite module is corrected in a predetermined direction and aligned with the corresponding satellite module. The lifting and limiting mechanism of this invention can raise the working platform 100 to a certain height, which can lift the satellite module, allowing the lifted satellite module to... The module is detached from the steering correction mechanism, meaning the satellite module is not driven by the steering correction mechanism. Furthermore, lifting the satellite module allows for height adjustment, achieving alignment between satellite modules in the height dimension. During satellite transport and docking operations, this invention effectively avoids collisions and vibrations of the satellite modules. Moreover, satellite module alignment is divided into initial alignment and fine alignment, thereby improving the alignment accuracy between satellite modules. In summary, this invention improves the transport efficiency and docking correction accuracy of satellite modules, making attitude correction of satellite modules more convenient and faster, while preventing accidents such as collisions during transport and alignment.

[0069] As a preferred embodiment of the present invention, such as Figure 12-29As shown, the auxiliary transfer docking device includes an assembly frame 600, a peristaltic adjustment mechanism, a frame lifting mechanism, and a universal adjustment seat. The assembly frame 600 is detachably mounted on the universal adjustment seat, the peristaltic adjustment mechanism is mounted on the assembly frame 600, and the frame lifting mechanism is constructed between the assembly frame 600 and the universal adjustment seat. The frame lifting mechanism of this invention includes a lifting cylinder 903. A horizontal plate 601 is mounted on the assembly frame. One end of the lifting cylinder 903 is connected to the universal adjustment seat, and the other end is movably connected to the horizontal plate 601. The assembly frame 600 is lifted by the lifting cylinder 903 and detached from the universal adjustment seat. Then, the assembly frame 600 can be vertically flipped under external force. After flipping, the lifting cylinder 903 drives the assembly frame 600 to gradually descend, causing one end of the assembly frame 600 to contact the universal adjustment seat. Multiple fixing screws are then used to connect the assembly frame 600 to the universal adjustment seat. The satellite module is disposed within the assembly frame 600 of the present invention, and the peristaltic adjustment mechanism has two functions. The first function is to conformally clamp the satellite module, that is, the satellite module is clamped within the adjustment channel 800 of the peristaltic adjustment mechanism. The second function is to peristalt the satellite module along the extension direction of the assembly frame 600.The working principle and advantages of this invention are as follows: The peristaltic adjustment mechanism mounted on the assembly frame 600 of this invention is used to clamp and fix one end of the satellite module from the placement location. Then, controlling the peristaltic function of the peristaltic adjustment mechanism causes the satellite module, clamped by the mechanism, to gradually peristalse into the assembly frame 600 until the satellite module reaches the predetermined position and completely detaches from the placement location. Then, this invention, carrying the satellite module, is transferred to the docking location. This invention can also transfer the satellite module to the placement location, with the operation steps reversed from the above method. Furthermore, during satellite module loading and unloading operations at the placement site, the assembly frame 600 needs to be adjusted. Specifically, the assembly frame 600 is lifted by the frame lifting mechanism and detached from the universal adjustment seat. The assembly frame 600 can also be vertically rotated under external force, placing it in a horizontal or vertical position. This ensures the creeping adjustment mechanism on the assembly frame 600 is aligned with the placement site. Based on the docking angle of the satellite module, this invention adjusts the creeping adjustment mechanism and / or the universal adjustment seat to correct the satellite module's attitude. Then, the creeping motion of the creeping adjustment mechanism... This invention allows satellite modules to gradually move onto a work platform and dock with another satellite module located on the platform. The main reason for docking on the work platform is that it provides a large and open operating space, facilitating wiring and other operations. Alternatively, two sub-assembly devices for rapid docking of satellite modules as described in this invention can be used. Each sub-assembly device has one satellite module fixed on it. Then, the peristaltic adjustment mechanism and / or universal adjustment seat on each sub-assembly device are adjusted to ensure accurate alignment of the two satellite modules, finally achieving docking. This docking method requires less operating space and is suitable for satellite modules with few docking points and exposed wiring. Furthermore, this invention can accommodate satellite modules of different shapes or irregular surfaces. The peristaltic adjustment mechanism can conform to the shape of the satellite module, thus achieving the fixation of satellite modules of different shapes and sizes. In summary, this invention improves the transfer efficiency and docking accuracy of satellite modules, making attitude correction of satellite modules more convenient and faster, while avoiding accidents such as collisions during the transfer and alignment of satellite modules.

[0070] As a preferred embodiment of the present invention, such as Figure 12-15As shown, the peristaltic adjustment mechanism includes a peristaltic drive unit and multiple positioning and tightening units 700. These positioning and tightening units 700 are spaced apart within the assembly frame 600 along its extension direction, and each positioning and tightening unit 700 is slidably connected to the assembly frame 600. The peristaltic drive unit is mounted on the assembly frame 600 and is connected to multiple clutches 1102, each clutch 1102 being drive-connected to a corresponding positioning and tightening unit 700. In this embodiment, the peristaltic drive unit can drive one positioning and clamping unit 700 to slide along the extension direction of the assembly frame 600, or the peristaltic drive unit can simultaneously drive multiple positioning and clamping units 700 to slide synchronously along the extension direction of the assembly frame 600. Specifically, in this embodiment, during the transfer of the satellite module to the assembly frame 600, one or two positioning and clamping units 700 first clamp the corresponding ends of the satellite module. Then, the peristaltic drive unit is driven in the forward direction, causing the clutch 1102 on the positioning and clamping unit 700 clamping the satellite module to rotate and connect with the peristaltic drive unit, so that the positioning and clamping unit 700... The satellite module is gradually moved into the assembly frame 600 until it reaches the next positioning and clamping unit 700. This positioning and clamping unit 700 clamps the satellite module, separating the outermost positioning and clamping unit 700 from the satellite module. Then, the clutch 1102 of the detached positioning and clamping unit 700 remains connected to the peristaltic drive unit, while the other clutches 1102 disengage from the peristaltic drive unit, reversing the operation of the peristaltic drive unit to return the outermost positioning and clamping unit 700 to its original position. Then, the above actions are repeated, causing the satellite module to gradually peristalse within the adjustment channel 800 until it reaches the predetermined position.

[0071] As a preferred embodiment of the present invention, such as Figure 16-17As shown, the positioning and clamping unit 700 includes a connecting frame and multiple hydraulic positioning top connectors. The connecting frame is a structure formed by connecting multiple connecting rods 701 in sequence. Multiple sliders 702 are mounted on the connecting frame, and these sliders 702 are slidably connected to the assembly frame 600. The aforementioned multiple hydraulic positioning top connectors are installed at intervals along the circumference of the connecting frame, with one end of each hydraulic positioning top connector abutting against the corresponding surface of the satellite module. In this embodiment, the hydraulic positioning top connector includes a hydraulic clamping part 704 and at least one top connector 703. The hydraulic clamping part 704 is movably connected to the corresponding connecting rod 701 and can be clamped onto the connecting rod 701. The top connector 703 is detachably connected to the hydraulic clamping part 704. The number of top connectors 703 can be increased or decreased according to the shape of the satellite module, so that the ends of each top connector 703 can fully press against the outer surface of the satellite module under the action of hydraulic oil, allowing the positioning and clamping unit 700 to fully clamp the corresponding part of the satellite module. Furthermore, since the hydraulic clamping part 704 in this embodiment can be movably connected to the connecting rod 701 and can also clamp the connecting rod 701, the position and angle of the hydraulic clamping part 704 on the connecting rod 701 can be adjusted to adapt to the clamping of the corresponding part of the satellite module.

[0072] As a preferred embodiment of the present invention, such as Figure 18-21As shown, the hydraulic clamping part 704 includes an assembly cylinder 7041 and two guide sleeves 7042, wherein the two guide sleeves 7042 are arranged opposite to each other, and an annular guide groove 7043 and a guide ring 7044 are respectively constructed at the ends of the two guide sleeves 7042 that are close to each other, and the guide ring 7044 is slidably assembled in the annular guide groove 7043. In this embodiment, the assembly cylinder 7041 is fitted over two guide sleeves 7042. Guide plates 7048 are respectively constructed on these two guide sleeves 7042. The guide plates 7048 extend radially outward along the guide sleeves 7042, and the outer edges of the two guide plates 7048 are slidably connected to the inner wall of the assembly cylinder 7041. In order to make the assembly cylinder 7041 and the guide sleeves 7042 rotate synchronously during the adjustment of the angle with the connecting rod 701, a limiting port 7049 is uniformly constructed along its circumference on the outer edge of each guide plate 7048, and a limiting strip 7050 is uniformly constructed along its circumference on the inner wall of the assembly cylinder 7041. The limiting strip 7050 is assembled with the corresponding limiting port 7049. In this embodiment, a hydraulic cavity 7045 is formed between two guide plates 7048. A hydraulic nozzle 7046 is constructed on the assembly cylinder 7041, through which hydraulic oil can enter or exit the hydraulic cavity 7045. Two pipelines are connected to the hydraulic nozzle 7046, one for oil supply and the other for oil return. A connecting spring 7055 is installed inside the hydraulic cavity 7045, with its two ends respectively connected and fixed to the corresponding end faces of the two guide plates 7048. In this embodiment, a tightening sleeve 7052 is constructed at the ends of the two guide sleeves 7042 that are far apart from each other. A pressure-bearing sleeve is constructed between the tightening sleeve 7052 and the guide sleeve 7042. Multiple notches 7053 are formed circumferentially on the tightening sleeve 7052, each notch 7053 extending from the outer end of the tightening sleeve 7052 to the end of the pressure-bearing sleeve near the guide sleeve 7042. This embodiment provides two end caps 7056, each with a mounting port in the middle. The two end caps 7056 are detachably mounted at both ends of the assembly cylinder 7041, and each end cap 7056 is fitted onto the pressure sleeve through its mounting port. A connecting channel 7047 is formed within the two guide sleeves 7042, and a tightening port 7054 is formed within the two tightening sleeves 7052, with the two tightening ports 7054 respectively communicating with both ends of the connecting channel 7047.

[0073] In a preferred embodiment of the present invention, the tightening sleeve 7052 tightens the connecting rod 701 in two ways. The first type is a normally closed tightening method, such as... Figure 19As shown, the radial length of the pressure sleeve gradually expands along its axial direction toward the tightening sleeve 7052, and a first pressure surface 7051 is formed on the outer surface of the pressure sleeve. A first annular pressure edge 7057 that abuts against the first pressure surface 7051 is constructed at the mounting port of the end cover 7056. Hydraulic oil enters the hydraulic chamber 7045 and drives the two guide sleeves 7042 to move away from each other, thereby causing the tightening sleeve 7052 to change from the state of tightening the connecting rod 701 to the state of loosening the connecting rod 701. The working principle of this embodiment is as follows: When the guide sleeve 7042 is not driven by hydraulic oil, the connecting spring 7055 is in a stretched state. The connecting spring 7055 pulls the two guide sleeves 7042 to a position close to each other. At this time, the first annular pressure along 7057 presses the first pressure surface 7051 of the pressure sleeve, causing the tightening sleeve 7052 to tighten the connecting rod 701. That is, the tightening sleeve 7052 is in a state of tightening the connecting rod 701 under normal conditions. When hydraulic oil enters the hydraulic chamber 7045, the two guide plates 7048 move away from each other, allowing the guide plates 7048 to drive the guide sleeves 7042 away from each other and release the tightening of the connecting rod 701. However, this tightening method, because the connecting rod 701 is pre-tightened, will cause a certain degree of strain on the connecting rod 701 during the tightening process when the guide sleeve 7042 contacts the connecting rod 701. This places high demands on the material strength of the connecting rod 701 and the tightening sleeve 7052. The second type is a normally open type of tightening, such as... Figure 20As shown, the radial length of the pressure sleeve gradually decreases towards the tightening sleeve 7052 along its axial direction, forming a second pressure surface 7059 on the outer surface of the pressure sleeve. A second annular pressure edge 7060 is constructed at the mounting opening of the end cover 7056 to abut against the second pressure surface 7059. Hydraulic oil enters the hydraulic chamber 7045 and drives the two guide sleeves 7042 away from each other, thereby causing the tightening sleeve 7052 to change from a state of loosening the connecting rod 701 to a state of tightening the connecting rod 701. The working principle of this tightening method is as follows: when the guide sleeve 7042 is not driven by hydraulic oil, the tightening sleeve 7052 is in a state of not tightening the connecting rod 701; when After the hydraulic oil enters the hydraulic chamber 7045, the two guide plates 7048 move away from each other, causing the guide plates 7048 to drive the guide sleeves 7042 to move away from each other. This causes the second annular pressure to gradually press the second pressure surface 7059 along 7060, and causes the tightening opening 7054 of the tightening sleeve 7052 to gradually shrink until the connecting rod 701 is tightened. In this tightening method, after the position and angle of the hydraulic tightening part 704 on the connecting rod 701 are adjusted, the pressure of the hydraulic oil in the hydraulic chamber 7045 must be maintained without releasing its tightening of the connecting rod 701, so that the hydraulic tightening part 704 always tightens the connecting rod 701 under this pressure. In both of the above-mentioned tightening methods, the top connection part 703 is isolated from the hydraulic chamber 7045, that is, the top connection part 703 is driven by a separate hydraulic pipeline. In this way, the tightening of the connecting rod 701 by the hydraulic tightening part 704 and the top connection of the top connection part 703 to the surface of the satellite module can be completed independently.

[0074] As a preferred embodiment of the present invention, such as Figure 22-23As shown, the top connection 703 includes a hydraulic conduit 7031 and a push rod 7033. Multiple fixing ports are spaced apart on the outer circumferential surface of the assembly cylinder 7041. The assembly cylinder 7041 is connected to the corresponding hydraulic conduit 7031 through these fixing ports. Fixing ports not connected to hydraulic conduits 7031 are sealed by fixing caps 7058. An oil inlet and an oil outlet are constructed on the hydraulic conduit 7031, and a control valve 7039, which is a solenoid valve, is installed on the hydraulic conduit 7031. One end of the push rod 7033 is equipped with a guide head 7034, which is slidably fitted inside the hydraulic conduit 7031. The other end of the push rod 7033 extends out of the hydraulic conduit 7031, and a rubber balloon 7037 is installed on the extended end. Multiple air holes 7038 are formed on the rubber balloon 7037. After hydraulic oil enters the hydraulic conduit 7031, it drives the push rod 7033 to push out towards the satellite module, and the rubber balloon 7037 abuts against the surface of the satellite module. Upon contact, the rubber bulb 7037 gradually deforms, preventing hard contact with the satellite module. The deformation allows the bulb to adhere to the surface of the satellite module. A pressure sensor is installed on the push rod 7033. When the pressure exerted by the push rod 7033 on the satellite module reaches a predetermined value, the control valve 7039 closes. Furthermore, in this embodiment, after the rubber bulb 7037 detaches from the satellite module, external gas enters through the vent 7038, restoring its spherical shape. The main structure for the push rod 7033 to return to its original position in this embodiment is as follows: a first fixing edge 7032 is constructed on the push rod 7033; a second fixing edge 7035 is constructed at the end of the hydraulic conduit 7031 away from the assembly cylinder 7041; and a rigid spring 7036 is installed between the first fixing edge 7032 and the second fixing edge 7035 for the return of the push rod 7033.

[0075] As a preferred embodiment of the present invention, such as Figure 24-26As shown, the peristaltic drive unit includes a drive component 1100 mounted on the assembly frame 600. The drive component 1100 includes a power motor or a hydraulic motor, and the length of the power cable connecting the power motor or the hydraulic line connecting the hydraulic motor is sufficient for the drive component 1100 to rotate with the assembly frame. In this embodiment, the output end of the drive component 1100 is connected to a transmission screw 1101, which extends along the length direction of the assembly frame 600, and the transmission screw 1101 is connected to each clutch component 1102. The specific structure of the clutch 1102 in this embodiment is as follows: the clutch 1102 includes an opening and closing sleeve 11021 with a pressure regulating chamber. A pressure connector 11025 is constructed on the outer wall of the opening and closing sleeve 11021, and the pressure connector 11025 communicates with the pressure regulating chamber. The inner wall of the opening and closing sleeve 11021 has multiple elastic expansion walls 11024 and multiple fixed walls 11023, which are spaced apart circumferentially along the opening and closing sleeve 11021. In this embodiment, a threaded sleeve 11026 is movably assembled inside the opening and closing sleeve 11021. The inner wall of the threaded sleeve 11026 has an internal thread 11027, and the threaded sleeve 11026 is threadedly connected to the transmission screw 1101 through the internal thread 11027 thereon. Retaining rings 11028 are detachably connected to both ends of the threaded sleeve 11026. The opening and closing sleeve 11021 is located between the two retaining rings 11028. A connecting block 11022 is constructed on the opening and closing sleeve 11021, and the connecting block 11022 is connected to the corresponding part of the assembly frame 600. The working principle of this embodiment is as follows: When the pressure in the pressure regulating chamber increases, the elastic expansion wall 11024 expands and hugs the outer wall of the threaded sleeve 11026, causing the threaded sleeve 11026 to drive the opening and closing sleeve 11021 to move under the transmission of the transmission screw 1101, thereby realizing that the opening and closing sleeve 11021 drives the corresponding connecting frame to move; when the pressure in the pressure regulating chamber decreases, the elastic expansion wall 11024 disengages from the threaded sleeve 11026, and the outer wall of the threaded sleeve 11026 is rotatably connected to the fixed wall 11023. In this way, during the rotation of the transmission screw 1101, the threaded sleeve 11026 rotates synchronously, while the opening and closing sleeve 11021 does not rotate, thereby keeping the connecting frame connected to the opening and closing sleeve 11021 in an undriven state.

[0076] As a preferred embodiment of the present invention, such as Figure 27-29As shown, the universal adjustment seat includes a bottom mounting plate 900 and a connecting seat 1000. The connecting seat 1000 is disposed at the lower end of the bottom mounting plate 900 and is connected to the bottom mounting plate 900 via multiple telescopic adjustment members 1004. In this embodiment, the telescopic adjustment member 1004 includes a telescopic cylinder. The cylinder body 10041 of the telescopic cylinder has a first ball joint 10042 at its end, and the cylinder rod 10043 of the telescopic cylinder has a second ball joint 10044 at its end. A first cup-shaped seat 1006 and a second cup-shaped seat 1005 are respectively mounted on the corresponding surfaces of the bottom mounting plate 900 and the connecting seat 1000. The first ball joint 10042 and the second ball joint 10044 are respectively assembled to the first cup-shaped seat 1006 and the second cup-shaped seat 1005. In this embodiment, a connecting platform 901 is constructed at the center of the bottom mounting plate 900. The outer peripheral wall of the connecting platform 901 is an arc surface 902. An assembly fitting 1001 with an arc-shaped inner wall is constructed on the connecting seat 1000. The assembly fitting 1001 has an assembly opening 1002 for assembling the connecting platform 901. Multiple movable wheels 1003 are installed at the lower end of the connecting seat 1000. In this embodiment, by adjusting the telescopic adjustment component 1004, the angle between the bottom mounting plate 900 and the connecting seat 1000 can be adjusted, thereby changing the angle of the assembly frame 600 mounted on the bottom mounting plate 900. This achieves the adjustment of the angle of the satellite module it holds, and thus the purpose of adjusting the attitude of the satellite module.

[0077] As a preferred embodiment of the present invention, such as Figure 1-11As shown, the platform-type main assembly device includes a work platform 100, a base 108, a steering correction mechanism, and a lifting restraint mechanism. The work platform 100 is located above the base 108 and is connected to the base 108 via multiple support seats 107. Multiple wheels 109 are mounted on the lower end of the base 108, and the wheels 109 can be omnidirectional wheels or Mecanum wheels. The steering correction mechanism and the lifting restraint mechanism are both constructed on the work platform 100. The working principle and advantages of this invention are as follows: Two satellite modules are placed on the working platform 100 of this invention via a secondary transfer docking device. By controlling the steering and correction mechanism, the target satellite module is corrected in a predetermined direction, thereby aligning with the corresponding satellite module. The lifting and limiting mechanism of this invention can raise the working platform 100 to a certain height, which can lift the satellite module, allowing the lifted satellite module to disengage from the steering and correction mechanism. That is, the satellite module will not be driven by the steering and correction mechanism. Moreover, lifting the satellite module can also achieve height adjustment of the satellite module, realizing alignment between satellite modules in the height dimension. The lifting and limiting mechanism of this invention can also play a limiting role. That is, during the correction process, the partial lifting of the lifting and limiting mechanism makes the extreme position of the satellite module during the adjustment process the protruding part of the lifting and limiting mechanism. The movement of the satellite modules is blocked by a certain part, thus achieving a limiting function. After adjustment and alignment, the satellite modules dock with each other. Then, by controlling the steering and correction mechanism, the docked satellite modules gradually move towards the outer edge of the work platform 100. Then, the lifting and limiting mechanism lifts the satellite modules, and finally the satellite modules are clamped by the auxiliary transfer docking device and creep into the assembly frame 600, thus completing the transfer. Since the lower end of the base 108 is equipped with multiple wheels 109, the work platform 100 can be directly transferred to the target area after the satellite modules are assembled, and the above actions can be repeated to transfer the satellite modules to the auxiliary transfer docking device. In summary, the present invention realizes timely adjustment of the deflection angle of the satellite modules, thereby improving the alignment accuracy between the satellite modules and facilitating the smooth detachment of the assembled satellite modules from the work platform 100.

[0078] As a preferred embodiment of the present invention, such as Figure 3-5As shown, the steering correction mechanism includes a drive mechanism and multiple steering units 400. The drive mechanism is installed between the work platform 100 and the base 108. The steering units 400 are evenly arranged circumferentially along the work platform 100 and are driven by the drive mechanism to rotate. The satellite module is driven by the multiple steering units 400 below it to achieve attitude correction. In this embodiment, the steering unit 400 specifically includes a rotating shaft 401 and multiple pneumatic bidirectional steering wheels 402. These pneumatic bidirectional steering wheels 402 are spaced apart along the axial direction of the rotating shaft 401 and can rotate synchronously with the rotating shaft 401. In this embodiment, the rotating shaft 401 extends radially along the working platform 100, and both ends of the rotating shaft 401 are rotatably connected to corresponding parts of the working platform 100. Multiple annular support ribs 101 with a central axis are constructed on the working platform 100. The rotating shaft 401 passes through each annular support rib 101 in sequence and is rotatably connected to the annular support rib 101. Specifically, in this embodiment, the rotating shaft 401 is connected to the working platform 100 as follows: a central connecting body 300 is constructed at the center of the working platform 100, and a central connecting body 300 and an outer ring connecting body 103 are constructed at the outer edge, respectively. Both ends of the rotating shaft 401 are rotatably connected to the central connecting body 300 and the outer ring connecting body 103, respectively.

[0079] As a preferred embodiment of the present invention, such as Figure 3-4As shown in Figures 6-7, the pneumatic bidirectional steering wheel 402 includes a fixed sleeve 4021, a first airbag wheel 4023, and a second airbag wheel 4024. The first airbag wheel 4023 and the second airbag wheel 4024 are respectively installed at both ends of the fixed sleeve 4021. The first airbag wheel 4023 and the second airbag wheel 4024 can be connected to the fixed sleeve 4021 by multiple locking screws, which facilitates the replacement of the first airbag wheel 4023 or the second airbag wheel 4024 after damage. The first airbag wheel 4023 and the second airbag wheel 4024 can also be fixedly connected to the fixed sleeve 4021 by a vulcanization process, which increases the integrity and connection strength of the three components. In this embodiment, the radial length of the first airbag wheel 4023 increases from one end of the fixed sleeve 4021 along the axis of the fixed sleeve 4021 in a direction away from the fixed sleeve 4021, and the radial length of the second airbag wheel 4024 increases from one end of the fixed sleeve 4021 along the axis of the fixed sleeve 4021 in a direction away from the fixed sleeve 4021. In this embodiment, a first gas distribution cavity 301 is constructed inside the central connecting body 300, and a second gas distribution cavity 104 is constructed inside the outer ring connecting body 103. In this embodiment, the rotating shaft 401 includes a shaft body 4011, and a first gas guiding channel 4012 and a second gas guiding channel 4013 are constructed side by side inside the shaft body 4011, wherein the first gas guiding channel 4012 and the second gas guiding channel 4013 are respectively connected to the first gas distribution cavity 301 and the second gas distribution cavity 104. The pneumatic bidirectional steering wheel 402 of this embodiment has two independent first inflation chambers 4025 and second inflation chambers 4026. The first air guide channel 4012 and the second air guide channel 4013 are respectively connected to the first inflation chamber 4025 and the second inflation chamber 4026. In this embodiment, the first inflation chamber 4025 is formed inside the first airbag wheel 4023, and the second inflation chamber 4026 is formed inside the second airbag wheel 4024. A first connecting sleeve 4027 and a second connecting sleeve 4028 are respectively constructed at the ends of the first airbag wheel 4023 and the second airbag wheel 4024 that are far apart from each other. A connecting flange 4022 is constructed on the inner wall of the fixing sleeve 4021. The shaft body 4011 passes through the first airbag wheel 4023, the fixing sleeve 4021 and the second airbag wheel 4024 in sequence. Sealing rings are provided at the connection points of the shaft body 4011 with the connecting flange 4022, the first connecting sleeve 4027 and the second connecting sleeve 4028. The first connecting sleeve 4027 and the second connecting sleeve 4028 are respectively connected to the shaft body 4011 by multiple locking bolts. In this embodiment, a first through hole 4014 and a second through hole 4015 are provided on the shaft body 4011 and located at the first inflation chamber 4025 and the second inflation chamber 4026. The first air channel 4012 is connected to the first inflation chamber 4025 through the first through hole 4014, and the second air channel 4013 is connected to the second inflation chamber 4026 through the second through hole 4015.In this embodiment, the inflation coefficient of each first airbag wheel 4023 located on the same rotating shaft 401 decreases inward along the axial direction of the rotating shaft 401, and the inflation coefficient of each second airbag wheel 4024 located on the same rotating shaft 401 decreases outward along the axial direction of the rotating shaft 401. The working principle of this embodiment is as follows: During the rotation of the pneumatic bidirectional steering wheel 402 driven by the rotating shaft 401, in order to correct the attitude of the satellite module, there are two adjustment methods. In the first method, gas enters each of the first inflation chambers 4025 through the first gas distribution chamber 301 and the first air guide channel 4012, thereby causing each of the first airbag wheels 4023 to gradually expand. Each of the first airbag wheels 4023 is frustum-shaped. Moreover, according to the gradual decrease of the expansion coefficient of the first airbag wheels 4023 on the same shaft body 4011 (the expansion coefficient, that is, the larger the expansion coefficient under the same pressure, the greater the expansion under air pressure), the first airbag wheels 4023 on the outermost part of the same shaft body 4011 expand larger. In this way, in the steering unit 4 During the rotation of the steering unit 400, the satellite module on it deflects inward toward the working platform 100; secondly, gas enters each of the second inflation chambers 4026 through the second gas distribution chamber 104 and the second air guide channel 4013, thereby causing each of the second airbag wheels 4024 to gradually expand. Each of the second airbag wheels 4024 is frustum-shaped, and according to the gradual decrease in the expansion coefficient of the second airbag wheels 4024 on the same shaft body 4011, the innermost second airbag wheel 4024 on the same shaft body 4011 expands larger. Thus, during the rotation of the steering unit 400, the satellite module on it deflects outward toward the working platform 100, thereby realizing the inward or outward correction of the satellite module by the pneumatic bidirectional steering wheel 402. This embodiment also includes a third adjustment method: when the pneumatic bidirectional steering wheel 402 is not pressurized, the first airbag wheel 4023 and the second airbag wheel 4024 are in their original state, not inflated. This ensures that the pneumatic bidirectional steering wheels 402 at different locations are the same size, and the first airbag wheel 4023 and the second airbag wheel 4024 on the same pneumatic bidirectional steering wheel 402 are also the same size, resulting in a symmetrical structure. Thus, the satellite module located on the pneumatic bidirectional steering wheel 402 moves circumferentially along the working platform 100 under its transmission, rather than shifting towards the inside or outside of the working platform 100. In this embodiment, since the main components of the pneumatic bidirectional steering wheel 402 that perform the adjustment function are the first airbag wheel 4023 and the second airbag wheel 4024, and the satellite module is in direct contact with the first airbag wheel 4023 and / or the second airbag wheel 4024, the first airbag wheel 4023 and the second airbag wheel 4024 act as elastic buffers, thereby preventing damage to the satellite module during assembly.This embodiment can change the expansion degree of the first airbag wheel 4023 or the second airbag wheel 4024 by changing the air pressure. That is, the higher the air pressure, the greater the expansion coefficient of the first airbag wheel 4023 or the second airbag wheel 4024, and the greater the expansion degree. In this way, when the gas pressure is low, the skew adjustment of the satellite module is more subtle; when the gas pressure is high, the skew adjustment of the satellite module is larger. Thus, the purpose of coarse and fine adjustment of the satellite module can be achieved according to the different gas pressures.

[0080] As a preferred embodiment of the present invention, such as Figure 8 As shown, both the first airbag wheel 4023 and the second airbag wheel 4024 include an elastic skeleton 4029. The elastic skeleton 4029 is formed by connecting ring springs, and rubber is used to cover the elastic skeleton 4029 through a vulcanization process. The function of the elastic skeleton 4029 in this embodiment is to improve the performance of the first airbag wheel 4023 and the second airbag wheel 4024. Specifically, it enables the pneumatic bidirectional steering wheel 402 to have excellent elasticity during the process of being compressed and inflated; it improves the inflation and return performance of the pneumatic bidirectional steering wheel 402, and enhances the support capacity of the pneumatic bidirectional steering wheel 402; at the same time, it increases the service life of the pneumatic bidirectional steering wheel 402. To enhance the corrective capability of the pneumatic bidirectional steering wheel 402, this embodiment primarily employs measures to increase the friction between the pneumatic bidirectional steering wheel 402 and the satellite module contact surface. Specifically, friction textures (different shapes and patterns) are constructed on the outer surfaces of the pneumatic bidirectional steering wheel 402 (the outer surfaces of the first airbag wheel 4023 and the second airbag wheel 4024). In this embodiment, the elastic frame 4029 is formed by interlocking ring springs, improving overall integrity. Furthermore, when compressed or expanded, external forces are smoothly transmitted between the interlocking ring springs, preventing fatigue fracture due to localized stress.

[0081] As a preferred embodiment of the present invention, such as Figure 3-4As shown in Figure 9, the drive mechanism includes a drive motor 500 and a transmission gear ring 508. The drive motor 500 is a reversible motor and is mounted on the base 108. A rotating seat 503 is constructed at the end of the output shaft 501 of the drive motor 500. The rotating seat 503 is rotatably connected to the lower end of the central connecting body 300. A rotating disk 507 is disposed below the rotating seat 503. A connecting flange 502 is constructed on the output shaft 501. The rotating disk 507 and the connecting flange 502 are connected by multiple fixing bolts, thereby realizing the connection between the output shaft 501 and the rotating disk 507. In this embodiment, a transmission gear ring 508 is constructed at the edge of the rotating disk 507, and a transmission gear 403 is assembled on each rotating shaft 401. The transmission gear ring 508 meshes with each transmission gear 403. The working principle of this embodiment is as follows: the drive motor 500 drives the rotating disk 507 to rotate through the output shaft 501, which in turn causes the transmission gear ring 508 to rotate synchronously with the rotating disk 507. In this way, the transmission gear 403 drives the rotating shaft 401 to rotate, realizing the transmission and correction of the satellite module by the pneumatic bidirectional steering wheel 402 installed on the rotating shaft 401.

[0082] In a preferred embodiment of the present invention, to achieve independent ventilation of the first air guide channel 4012 and the second air guide channel 4013 of the rotating shaft 401, the measures taken are as follows: Figure 3-4As shown, a first air passage 505 and a second air passage 506 are provided on the output shaft 501. Both the first air passage 505 and the second air passage 506 are connected to the first gas distribution chamber 301. A connector 504 is rotatably mounted on the output shaft 501. The connector 504 has an air inlet chamber and an air outlet chamber that are connected to the first air passage 505 and the second air passage 506, respectively. Pressurized gas enters the first air guide channel 4012 through the air inlet chamber, the first air passage 505, and the first gas distribution chamber 301, thereby inflating the first airbag wheel 4023. The pressurized gas passes through the first air guide channel 4012, the first gas distribution chamber 301, and the second air passage 506 in sequence, and is discharged through the air outlet chamber of the connector 504, thereby deflating the first airbag wheel 4023. In this embodiment, an air inlet pipe 105 and an exhaust pipe 106 are installed on the outer ring connector 103. Both the air inlet pipe 105 and the exhaust pipe 106 are connected to the second gas distribution chamber 104. Pressurized gas enters the second air guide channel 4013 through the air inlet pipe 105 and the second gas distribution chamber 104, thereby inflating the second airbag wheel 4024. The pressurized gas passes sequentially through the second air guide channel 4013 and the second gas distribution chamber 104 and is discharged through the exhaust pipe 106, thereby deflating the second airbag wheel 4024. In this embodiment, the first airbag wheel 4023 or the second airbag wheel 4024 can be inflated individually, or the first airbag wheel 4023 and the second airbag wheel 4024 can be inflated simultaneously. By changing the air pressure, the degree of inflation of the first airbag wheel 4023 and / or the second airbag wheel 4024 can be different.

[0083] As a preferred embodiment of the present invention, such as Figure 1 , 9As shown in Figure -11, the lifting-type limiting mechanism includes multiple ejector components 200. In this embodiment, a pneumatic cavity 102 is constructed within the work platform 100. This pneumatic cavity 102 has multiple independent pneumatic chambers 110, which are uniformly arranged circumferentially along the work platform 100. An air inlet 111 and an air outlet 112 are respectively constructed on the lower end surface of the work platform 100 at each pneumatic chamber 110. In this embodiment, the multiple ejector components 200 are in multiple groups, the same number as the number of pneumatic chambers 110. Each group of ejector components 200 is constructed at a corresponding pneumatic chamber 110 on the work platform 100, and the lower end of each ejector component 200 communicates with the corresponding pneumatic chamber 110. The ejection height of the ejector component 200 is not lower than the upper end surface of the steering unit 400. In this embodiment, each ejector component 200 is located between two adjacent steering units 400. The working principle of this embodiment is as follows: the air inlet 111 pressurizes the corresponding pneumatic chamber 110, causing the ejector 200 on it to be ejected upward and higher than the upper end face of the pneumatic bidirectional steering wheel 402, thereby limiting the satellite module at the adjacent position; or the satellite module located above the ejector 200 can be lifted up to achieve alignment of the satellite module in height, or the satellite module can be lifted up to disengage it from the steering correction mechanism, so as to avoid the situation where its position is changed due to being driven by the steering correction mechanism.

[0084] As a preferred embodiment of the present invention, such as Figure 10-11 As shown, the ejector 200 includes a guide seat 201, a top cap 202, and a return spring 204. The guide seat 201 is constructed on the upper surface of the working platform 100, and its upper end is open. The lower end of the guide seat 201 communicates with the pneumatic chamber 110. In this embodiment, the top cap 202 is movably assembled within the guide seat 201 and can slide vertically. The upper surface of the top cap 202 may be provided with a buffer layer, typically a polyethylene foam board or a rubber layer, thereby ensuring that the satellite module in contact with the upper end of the top cap 202 is not damaged due to hard contact. An air expansion cavity 203 is formed between the top cap 202 and the guide seat 201. A return spring 204 is disposed within the air expansion cavity 203. An upper fixing plate 205 and a lower fixing plate 206 are respectively constructed at both axial ends of the return spring 204. The upper fixing plate 205 is connected to the top cap 202 by a first connecting bolt 207, and the lower fixing plate 206 is connected to the lower end of the working platform 100 by a second connecting bolt 208. After the gas enters the air expansion cavity 203, it pushes the top cap 202 out and beyond the upper surface of the steering unit 400. At this time, the return spring 204 is in a stretched state. When the gas leaves the air expansion cavity 203, the top cap 202 returns to its original position under the action of the return spring 204, and the upper end surface of the top cap 202 is lower than the steering unit 400. In this way, the top cap 202 will not interfere with the steering unit 400 when adjusting the attitude of the satellite module.

[0085] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for storing and transporting satellite modules, characterized in that, Includes the following steps: S1. Use the auxiliary transfer docking device to fix one end of the satellite module at the placement location, and the peristaltic adjustment mechanism of the auxiliary transfer docking device is activated to gradually move the satellite module into the assembly frame, and the satellite module is completely removed from the placement location. S2. Transfer the auxiliary transfer docking device to the platform-type main assembly device; S3. Repeat steps S1 and S2 using another auxiliary transfer docking device to transfer another satellite module to the platform-type main assembly device. S4. Operate the two peristaltic adjustment mechanisms on the two transfer docking devices to gradually transfer the two satellite modules to the platform-type main assembly device. During the transfer process, adjust the auxiliary transfer docking device and gradually correct the attitude of the satellite modules. After the satellite modules are separated from the auxiliary transfer docking device, the two satellite modules on the platform-type main assembly device achieve initial alignment, and at this time the docking ends of the two satellite modules are close to each other. S5. The two satellite modules are docked on the platform-type main assembly unit. S6. The attitude of at least one of the two satellite modules is precisely corrected using a platform-type main assembly device. S7. After precise correction, the two satellite modules are docked through the transmission of the steering correction mechanism and the lifting restriction mechanism of the platform-type main assembly device. Then, the fastening and wiring operations between the docking components are carried out. S8. After docking is completed, the control platform-type main assembly device moves the two docked satellite modules to a secondary transfer docking device. The secondary transfer docking device clamps the docked satellite modules and uses a peristaltic adjustment mechanism to bring the satellite modules into the assembly frame. Then, the second secondary transfer docking device is aligned with the satellite modules, and the peristaltic adjustment mechanism of the second secondary transfer docking device clamps the satellite modules in the corresponding assembly frame, thereby achieving the purpose of fixing the satellite modules by the two secondary transfer docking devices. S9. Simultaneously manipulate the movement of the two auxiliary transfer docking devices to transfer the satellite module to the predetermined area; The auxiliary transfer docking device includes an assembly frame detachably mounted on a universal adjustment seat, a peristaltic adjustment mechanism mounted on the assembly frame, and a frame lifting mechanism constructed between the assembly frame and the universal adjustment seat. The assembly frame is lifted by the frame lifting mechanism and detached from the universal adjustment seat, and the assembly frame can be vertically flipped under external force. The satellite module is disposed within the assembly frame, and the peristaltic adjustment mechanism conformally clamps the satellite module and can peristally move the satellite module along the extension direction of the assembly frame. The peristaltic adjustment mechanism includes multiple positioning and tightening units spaced apart along the extension direction of the assembly frame, and a peristaltic drive unit mounted on the assembly frame. The peristaltic drive unit is connected to each positioning and tightening unit one by one via multiple clutches. The platform-type main assembly device includes a working platform mounted on a base. The working platform is equipped with a steering correction mechanism and a lifting restraint mechanism. Multiple wheels are mounted at the lower end of the base. The wheels include omnidirectional wheels or Mecanum wheels. The steering correction mechanism includes multiple steering units evenly arranged along the circumference of the working platform. These steering units are driven to rotate by a drive mechanism installed between the working platform and the base.

2. The satellite module storage and transportation docking method according to claim 1, characterized in that: The positioning and tightening unit includes a connecting frame that is slidably connected to the assembly frame via multiple sliders. Multiple hydraulic positioning and top-fitting components are installed at intervals along the circumference of the connecting frame. One end of each hydraulic positioning and top-fitting component abuts against the corresponding surface of the satellite module. The connecting frame is composed of multiple connecting rods. Each hydraulic positioning and top-fitting component includes a hydraulic tightening part and at least one top-fitting part. The hydraulic tightening part is movably connected to the corresponding connecting rod and can be clamped onto the connecting rod. The top-fitting part is detachably connected to the hydraulic tightening part and can abut against the corresponding surface of the satellite module under the action of hydraulic oil.

3. The satellite module storage and transportation docking method according to claim 2, characterized in that: The hydraulic tightening part includes two guide sleeves that are arranged opposite each other and slidably connected at their close ends. An assembly cylinder is fitted over the two guide sleeves. Guide plates extending radially outward are constructed on the two guide sleeves respectively. The outer edges of the two guide plates are slidably connected to the inner wall of the assembly cylinder, and a hydraulic cavity is formed between the two guide plates. A connecting spring is installed in the hydraulic cavity, and the two ends of the connecting spring are respectively connected to the two guide plates. A tightening sleeve is constructed at the far ends of the two guide sleeves respectively. A pressure-bearing sleeve is constructed between the tightening sleeve and the guide sleeve. Multiple notches are opened circumferentially on the tightening sleeve. Each notch extends from the outer end of the tightening sleeve to the end of the pressure-bearing sleeve near the guide sleeve. End caps with installation openings in the middle are installed at both ends of the assembly sleeve. Each end cap is fitted onto the pressure-bearing sleeve through its installation opening. A connecting channel is formed in the two guide sleeves. A tightening opening is formed in the two tightening sleeves. The two tightening openings are respectively connected to the two ends of the connecting channel.

4. The satellite module storage and transportation docking method according to claim 1, characterized in that: The peristaltic drive unit includes a drive component mounted on an assembly frame. The drive component includes a power motor or a hydraulic motor. The output end of the drive component is connected to a transmission screw extending along the length of the assembly frame. The transmission screw is connected to various clutch components. The clutch components include an opening and closing sleeve with a pressure regulating chamber. A pressure connector is constructed on the outer wall of the opening and closing sleeve. The pressure connector communicates with the pressure regulating chamber. The inner wall of the opening and closing sleeve has multiple elastic expansion walls and multiple fixed walls. The elastic expansion walls and fixed walls are spaced apart circumferentially around the opening and closing sleeve. A threaded sleeve is movably mounted inside the opening and closing sleeve. The threaded sleeve is threadedly connected to the transmission screw. Retaining rings are detachably connected to both ends of the threaded sleeve. The opening and closing sleeve is located between the two retaining rings. A connecting block is constructed on the opening and closing sleeve. The connecting block is connected to a corresponding part of the assembly frame.

5. A satellite module storage and transportation docking method according to claim 1, characterized in that: The steering unit includes multiple pneumatic bidirectional steering wheels spaced axially on the shaft. The shaft extends radially along the working platform, and its two ends are rotatably connected to corresponding parts of the working platform. A central connecting body and an outer ring connecting body are respectively constructed at the center and outer edge of the working platform. The two ends of the shaft are rotatably connected to the central connecting body and the outer ring connecting body, respectively. A first gas distribution chamber and a second gas distribution chamber are respectively constructed within the central connecting body and the outer ring connecting body. A first air guide channel and a second air guide channel are constructed side by side within the shaft. The first air guide channel and the second air guide channel are respectively connected to the first gas distribution chamber and the second gas distribution chamber. The pneumatic bidirectional steering wheel has two independent first inflation chambers and second inflation chambers. The first air guide channel and the second air guide channel are respectively connected to the first inflation chamber and the second inflation chamber.

6. A satellite module storage and transportation docking method according to claim 5, characterized in that: The pneumatic bidirectional steering wheel includes a first airbag wheel and a second airbag wheel respectively constructed at both axial ends of the fixed sleeve. The radial length of the first airbag wheel increases from one end of the fixed sleeve along the axis of the fixed sleeve towards the direction away from the fixed sleeve. The radial length of the second airbag wheel increases from one end of the fixed sleeve along the axis of the fixed sleeve towards the direction away from the fixed sleeve. The first inflation chamber and the second inflation chamber are respectively formed inside the first airbag wheel and the second airbag wheel. The rotating shaft passes through the first airbag wheel, the fixed sleeve, and the second airbag wheel in sequence. A first guide hole and a second guide hole are provided on the rotating shaft at the first inflation chamber and the second inflation chamber. The first air guide channel communicates with the first inflation chamber through the first guide hole, and the second air guide channel communicates with the second inflation chamber through the second guide hole. The expansion coefficient of each first airbag wheel on the same rotating shaft decreases inward along the axial direction of the rotating shaft after inflation, and the expansion coefficient of each second airbag wheel on the same rotating shaft decreases outward along the axial direction of the rotating shaft after inflation.

7. A satellite module storage and transportation docking method according to claim 5, characterized in that: The drive mechanism includes a drive motor mounted on a base. The output shaft of the drive motor passes through a rotating disk and is rotatably connected to the lower end of a central connecting body via a rotating seat. A connecting flange is constructed on the output shaft, and the connecting flange is connected to the rotating disk by multiple fixing bolts. A transmission gear ring is constructed at the edge of the rotating disk, and transmission gears are assembled on each of the rotating shafts. The transmission gear ring meshes with each of the transmission gears. A first air passage and a second air passage, respectively communicating with a first gas distribution chamber, are opened on the output shaft. An adapter is rotatably mounted on the output shaft. The adapter has an intake chamber and an exhaust chamber, respectively communicating with the first air passage and the second air passage.

8. A satellite module storage and transportation docking method according to claim 1, characterized in that: The lifting-type limiting mechanism includes a pneumatic cavity constructed within the working platform. The pneumatic cavity includes independent pneumatic chambers evenly arranged along the circumference of the working platform. Each pneumatic chamber has an air inlet and an air outlet. Multiple ejector components are arranged on the working platform between two adjacent steering units. The lower end of each ejector component is connected to the corresponding pneumatic chamber. The ejection height of each ejector component is not lower than the upper end face of the steering unit.

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