Spaceborne Multi-Mechanism Integrated Gravity Unloading Device and Method

Abstract

This invention provides a spaceborne multi-mechanism integrated gravity unloading device and method. The device includes a support fixture, a first gravity unloading mechanism located on the left rear side of the support fixture, a third gravity unloading mechanism located on the left front side, a second gravity unloading mechanism located on the right rear side, a fourth gravity unloading mechanism located on the right front side, a fifth gravity unloading mechanism located on the front side, and an assembly and adjustment transport vehicle located below the support fixture. Counterweights to unload the antenna weight are installed on each gravity unloading mechanism. Using the high-precision pads on the assembly and adjustment transport vehicle as a reference, the horizontality, verticality, and coaxiality of each gravity unloading mechanism are precisely adjusted on the ground. This invention, with only one device, one to two operators, and 4 to 5 hours of test preparation, can complete the deployment test of the three major moving components of a satellite with high quality and high efficiency within one day, and has significant potential for widespread application.

Description

Technical Field

[0001] This invention relates to the field of aerospace satellite technology, specifically to a spaceborne multi-mechanism integrated gravity unloading device and method. Background Technology

[0002] Currently, the conventional deployment methods for satellite movable components are as follows: using an air-floating platform for air-floating support or using a suspension frame for gravity unloading. The common features are that the air-floating platform and suspension frame are built on the ground, gravity unloading is based on ground support, one set of gravity unloading mechanism is equipped with one set of air-floating platform or one set of suspension frame, and before each movable component is deployed, the horizontal and vertical accuracy of the gravity unloading mechanism and the satellite attitude must be adjusted. Moreover, only one type of movable component can be deployed in one deployment test.

[0003] With the increasing demand for mass-produced satellites and the increasingly shorter development cycles, the problem of rapid mass deployment of satellite moving parts urgently needs to be solved. Conventional methods such as splicing and assembling air-bearing platforms and building and assembling suspension frames involve a huge workload and require high precision, all of which take 2 to 3 days. The long test preparation time and low efficiency cannot meet the demand for rapid mass deployment of multiple moving parts of mass-produced satellites. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a spaceborne multi-mechanism integrated gravity unloading device and method.

[0005] According to the present invention, a spaceborne multi-mechanism integrated gravity unloading device includes a support fixture, a first gravity unloading mechanism arranged on the left rear side of the support fixture, a third gravity unloading mechanism on the left front side, a second gravity unloading mechanism on the right rear side, a fourth gravity unloading mechanism on the right front side, a fifth gravity unloading mechanism on the front side, and an assembly and transport vehicle arranged below the support fixture.

[0006] Counterweights to unload the required antenna weight are installed on the first, second, third, fourth, and fifth gravity unloading mechanisms. Using the horizontal plane of the high-precision pad on the loading and unloading vehicle as the precision adjustment reference, the horizontality, verticality, and coaxiality of the first, second, third, fourth, and fifth gravity unloading mechanisms are adjusted on the ground.

[0007] Preferably, the support fixture includes a main support fixture frame, a first frame and a second frame arranged on both sides of the main support fixture frame, and a lifting ring arranged at the top of the main support fixture frame.

[0008] Preferably, the first gravity unloading mechanism and the second gravity unloading mechanism have the same structure, each equipped with a first antenna mounting base installed on the main frame of the support fixture, a first antenna swing arm mechanism that is rotatably engaged with the first antenna mounting base through a first antenna rotating shaft mechanism at one end, a first antenna hanging mechanism arranged below the other end of the first antenna swing arm mechanism, and a first antenna connecting fixture arranged below the first antenna hanging mechanism.

[0009] The first antenna mounting base is a precision mounting and adjusting mechanism for the first gravity unloading mechanism and the second gravity unloading mechanism, and can adjust the horizontality, verticality, and coaxiality of the first antenna rotating shaft mechanism through the set screw mechanism.

[0010] Preferably, the first antenna hanging mechanism includes a first slide rail, a first bearing trolley that can slide on the first slide rail, a first spring connected to the lower end of the first bearing trolley via a first sensor, and a first rotating mechanism connected to the lower end of the first spring via a first turnbuckle, with the first antenna connecting fixture arranged below the first rotating mechanism.

[0011] Preferably, the third gravity unloading mechanism and the fourth gravity unloading mechanism have the same structure, and are both equipped with a second antenna mounting and adjusting base installed on the main frame of the support fixture, a second antenna swing arm mechanism that can be rotatably engaged with the second antenna mounting and adjusting base through the second antenna rotating shaft mechanism, a second antenna hanging mechanism that can slide on the second antenna swing arm mechanism, and a second antenna connecting fixture at the lower part of the second antenna hanging mechanism.

[0012] The second antenna mounting base is a precision mounting and adjustment mechanism of the third and fourth gravity unloading mechanisms, which can adjust the horizontality, verticality, and coaxiality of the second antenna rotating shaft mechanism through its own set screw mechanism.

[0013] Preferably, the second antenna suspending mechanism includes a second bearing trolley that can slide on the second antenna swing arm mechanism, a second spring whose upper end is connected to the bottom of the second bearing trolley via a second sensor, and a moving and rotating mechanism connected to the lower end of the second spring via a second turnbuckle.

[0014] The second antenna connection fixture is located below the moving and rotating mechanism.

[0015] Preferably, the fifth gravity unloading mechanism is equipped with a third antenna mounting base installed on the main frame of the support fixture, a third antenna swing arm mechanism whose end is rotatably engaged with the third antenna mounting base, a third antenna suspension mechanism whose upper end can move on the third antenna swing arm mechanism, and a third antenna connecting fixture arranged at the bottom of the third antenna suspension mechanism.

[0016] The third antenna mounting base is a precision coarse adjustment mechanism for the gravity unloading mechanism, which can coarsely adjust the horizontality and verticality of the third antenna swing arm mechanism, and the third antenna swing arm mechanism can adjust its own horizontality.

[0017] Preferably, the third antenna suspension mechanism includes a third bearing trolley that can move on the third antenna swing arm mechanism, and a constant force spring, a third sensor, a third turnbuckle, a wire rope, and a suspension mechanism counterweight arranged sequentially from top to bottom below the third bearing trolley.

[0018] Preferably, the loading and transport vehicle is equipped with a main frame, a handle at the front end of the main frame, casters at the bottom, and folding arms respectively arranged on the left front side, left rear side, right front side, and right rear side of the main frame.

[0019] The folding arm can switch between a folded state and an unfolded support state. In the folded state, the casters are grounded and supported, and in the unfolded support state, the adjustment mechanism on the folding arm is grounded and supported.

[0020] According to the present invention, a spaceborne multi-mechanism integrated gravity unloading method includes the following steps:

[0021] S1: Hoist the support fixture onto the assembly and transport vehicle, and adjust the folding arm of the assembly and transport vehicle from the folded state to the unfolded support state;

[0022] S2: Assemble the first, second, third, fourth, and fifth gravity unloading mechanisms on the supporting fixture, and install counterweights to unload the antenna weight on each of the five gravity unloading mechanisms. Using the horizontal plane of the high-precision pad above the transport vehicle as the precision adjustment reference, complete the precision adjustment of the horizontality, verticality, and coaxiality of the first, second, third, fourth, and fifth gravity unloading mechanisms on the ground.

[0023] S3: After precision adjustment, remove all counterweights; perform precision adjustments such as levelness on the satellite attitude;

[0024] S4: Disconnect the support fixture from the assembly and transport vehicle, and hoist the support fixture together with the first gravity unloading mechanism, the second gravity unloading mechanism, the third gravity unloading mechanism, the fourth gravity unloading mechanism, and the fifth gravity unloading mechanism to the interface above the satellite; among them, the device will not be adjusted for horizontality, verticality, or coaxiality above the satellite, and the deployment test of multiple moving parts will be carried out directly.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] This invention employs a spaceborne, multi-force unloading mechanism integration, simultaneous deployment of multiple satellite moving parts, and a one-time, rapid, and precise ground-based assembly and adjustment mode for gravity unloading during the deployment tests of multiple satellite moving parts. The preparation time for the deployment tests of the three major moving parts is reduced from 3-4 days in existing technologies to 4-5 hours; the deployment test time is reduced from 3 days to 1 day; and the deployment time of the vacuum thermal test antenna is reduced from 1 day using conventional methods to 1 hour. This device achieves process standardization for all deployment tests in the entire satellite AIT (Automatic Intervention Test). With one set of equipment, 1-2 operators, and 4-5 hours of test preparation, the deployment tests of the three major satellite moving parts can be completed with high quality and efficiency within one day, demonstrating significant potential for widespread application. Attached Figure Description

[0027] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0028] Figure 1 This is an isometric view of a device according to an embodiment of the present invention;

[0029] Figure 2 This is an isometric drawing of a support fixture according to an embodiment of the present invention;

[0030] Figure 3 This is an isometric view of the gravity unloading mechanism of the XX1 antenna according to an embodiment of the present invention;

[0031] Figure 4 This is an isometric view of the gravity unloading mechanism of the XX2 antenna according to an embodiment of the present invention;

[0032] Figure 5 This is an isometric view of the fifth gravity unloading mechanism according to an embodiment of the present invention;

[0033] Figure 6 This is an axle-view drawing of a loading and unloading transport vehicle according to an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of a spaceborne deployment mode according to an embodiment of the present invention.

[0035] The diagram shows:

[0036] Support fixture 1

[0037] First gravity unloading mechanism 2

[0038] Second gravity unloading mechanism 3

[0039] Third gravity unloading mechanism 4

[0040] Fourth gravity unloading mechanism 5

[0041] Fifth gravity unloading mechanism 6

[0042] 7 loading and transport vehicles

[0043] Supporting tooling main frame 8

[0044] First framework 9

[0045] Second Frame 10

[0046] Rings 11

[0047] First antenna mounting base 12

[0048] First antenna rotating mechanism 13

[0049] First antenna swing arm mechanism 14

[0050] First antenna suspending mechanism 15

[0051] First slide rail 151

[0052] First bearing trolley 152, first sensor 153, first spring 154

[0053] First turnbuckle 155; First rotating mechanism 156

[0054] First antenna connection fixture 16

[0055] 17 Second antenna mounting base; 18 Second antenna pivot mechanism; 19 Second antenna swing arm mechanism; 20 Second antenna suspension mechanism.

[0056] Second bearing trolley 201, second sensor 202, second spring 203, moving and rotating mechanism 204

[0057] Second turnbuckle 205

[0058] Second antenna connection fixture 21

[0059] Third antenna mounting base 22 Third antenna swing arm mechanism 23

[0060] Second basket screw 231 Third antenna suspending mechanism 24

[0061] 241 Third bearing trolley; 242 Third sensor; 243 Constant force spring; 244 Suspension mechanism counterweight; 245

[0062] Third turnbuckle bolt 245 steel wire rope 246

[0063] Third antenna connection fixture 25 crossbeam 251 adapter fixture shaft 252 adapter fixture 253

[0064] Handle 26

[0065] 27 main frame of loading and transport vehicle

[0066] 28-inch folding arm loading and unloading vehicle

[0067] Regulation mechanism 29

[0068] Casters 30 Detailed Implementation

[0069] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0070] Example 1:

[0071] This invention provides a spaceborne multi-mechanism integrated gravity unloading device, comprising a support fixture 1, a first gravity unloading mechanism 2 arranged on the left rear side of the support fixture 1, a third gravity unloading mechanism 4 arranged on the left front side, a second gravity unloading mechanism 3 on the right rear side, a fourth gravity unloading mechanism 5 on the right front side, a fifth gravity unloading mechanism 6 on the front side, and an assembly and adjustment transport vehicle 7 arranged below the support fixture 1. The invention installs counterweights on the first gravity unloading mechanism 2, second gravity unloading mechanism 3, third gravity unloading mechanism 4, fourth gravity unloading mechanism 5, and fifth gravity unloading mechanism 6 to unload the required antenna weight. Using the horizontal plane of the high-precision pad on the assembly and adjustment transport vehicle 7 as a precision adjustment reference, the invention completes the precision adjustment of the horizontality, verticality, and coaxiality of the first gravity unloading mechanism 2, second gravity unloading mechanism 3, third gravity unloading mechanism 4, fourth gravity unloading mechanism 5, and fifth gravity unloading mechanism 6 on the ground.

[0072] Specifically, the loading and transport vehicle 7 is equipped with a main frame 27, a handle 26 arranged at the front end of the main frame 27, casters 30 arranged below, and folding arms 28 arranged on the left front side, left rear side, right front side, and right rear side of the main frame 27. The folding arms 28 can switch between a folded state and an unfolded support state. In the folded state, the casters 30 are grounded and supported. In the unfolded support state, the adjustment mechanism 29 on the folding arm 28 is grounded and supported. The support fixture 1 includes a main frame 8, a first frame 9 and a second frame 10 arranged on both sides of the main frame 8, and a lifting ring 11 arranged at the top of the main frame 8.

[0073] Specifically, the first gravity unloading mechanism 2 and the second gravity unloading mechanism 3 have the same structure. They are both equipped with a first antenna mounting and adjusting base 12 installed on the main frame 8 of the supporting fixture, a first antenna swing arm mechanism 14 that is rotatably engaged with the first antenna mounting and adjusting base 12 through a first antenna rotating shaft mechanism 13 at one end, a first antenna hanging mechanism 15 arranged below the other end of the first antenna swing arm mechanism 14, and a first antenna connecting fixture 16 arranged below the first antenna hanging mechanism 15. The first antenna mounting and adjusting base 12 is the precision mounting and adjusting mechanism of the first gravity unloading mechanism 2 and the second gravity unloading mechanism 3 and can realize the horizontality, verticality and coaxiality adjustment of the first antenna rotating shaft mechanism 13 through the set screw mechanism.

[0074] Specifically, the first antenna hanging mechanism 15 includes a first slide rail 151, a first bearing trolley 152 that can slide on the first slide rail 151, a first spring 154 connected to the lower end of the first bearing trolley 152 via a first sensor 153, and a first rotating mechanism 156 connected to the lower end of the first spring 154 via a first turnbuckle 155. The first antenna connecting fixture 16 is arranged below the first rotating mechanism 156.

[0075] The third gravity unloading mechanism 4 and the fourth gravity unloading mechanism 5 have the same structure. They are both equipped with a second antenna mounting and adjusting base 17 installed on the main frame 8 of the supporting fixture, a second antenna swing arm mechanism 19 that can be rotatably engaged with the second antenna mounting and adjusting base 17 via a second antenna rotating shaft mechanism 18, a second antenna hanging mechanism 20 that can slide on the second antenna swing arm mechanism 19, and a second antenna connecting fixture 21 at the lower part of the second antenna hanging mechanism 20. The second antenna mounting and adjusting base 17 is the precision mounting and adjusting mechanism of the third gravity unloading mechanism 4 and the fourth gravity unloading mechanism 5. It can adjust the horizontality, verticality, and coaxiality of the second antenna rotating shaft mechanism 18 through its own set screw mechanism. The second antenna hanging mechanism 20 includes a second bearing trolley 201 that can slide on the second antenna swing arm mechanism 19, a second spring 203 connected to the bottom of the second bearing trolley 201 via a second sensor 202 at the upper end, and a moving and rotating mechanism 204 connected to the lower end of the second spring 203 via a second turnbuckle 205. The second antenna connecting fixture 21 is arranged below the moving and rotating mechanism 204.

[0076] Specifically, the fifth gravity unloading mechanism 6 is equipped with a third antenna mounting and adjusting base 22 installed on the main frame 8 of the supporting fixture, a third antenna swing arm mechanism 23 with its end rotating in cooperation with the third antenna mounting and adjusting base 22, a third antenna hanging mechanism 24 with its upper end able to move on the third antenna swing arm mechanism 23, and a third antenna connecting fixture 25 arranged at the bottom of the third antenna hanging mechanism 24; the third antenna mounting and adjusting base 22 is a precision coarse adjustment mechanism of the gravity unloading mechanism 6, which can coarsely adjust the horizontality and verticality of the third antenna swing arm mechanism 23, and the third antenna swing arm mechanism 23 can adjust its own horizontality.

[0077] Furthermore, the third antenna suspension mechanism 24 includes a third bearing trolley 241 that can move on the third antenna swing arm mechanism 23, and a constant force spring 243, a third sensor 242, a third turnbuckle 245, a wire rope 246, and a suspension mechanism counterweight 244 arranged sequentially from top to bottom below the third bearing trolley 241.

[0078] This invention also provides a spaceborne multi-mechanism integrated gravity unloading method, comprising the following steps:

[0079] S1: Hoist the support fixture 1 onto the assembly and transport vehicle 7, and adjust the folding arm 28 of the assembly and transport vehicle 7 from the folded state to the unfolded support state;

[0080] S2: Assemble the first gravity unloading mechanism 2, the second gravity unloading mechanism 3, the third gravity unloading mechanism 4, the fourth gravity unloading mechanism 5, and the fifth gravity unloading mechanism 6 on the support fixture 1 respectively, and install the counterweight blocks required to unload the antenna weight on the first gravity unloading mechanism 2, the second gravity unloading mechanism 3, the third gravity unloading mechanism 4, the fourth gravity unloading mechanism 5, and the fifth gravity unloading mechanism 6 respectively; using the horizontal plane of the high-precision pad block above the assembly and adjustment vehicle 7 as the precision adjustment benchmark, complete the precision adjustment of the horizontality, verticality, and coaxiality of the first gravity unloading mechanism 2, the second gravity unloading mechanism 3, the third gravity unloading mechanism 4, the fourth gravity unloading mechanism 5, and the fifth gravity unloading mechanism 6 on the ground;

[0081] S3: After precision adjustment, remove all counterweights; perform precision adjustments such as levelness on the satellite attitude;

[0082] S4: Disconnect the support fixture 1 from the assembly and transport vehicle 7, and hoist the support fixture 1 together with the first gravity unloading mechanism 2, the second gravity unloading mechanism 3, the third gravity unloading mechanism 4, the fourth gravity unloading mechanism 5, and the fifth gravity unloading mechanism 6 to the interface above the satellite; wherein, the device will not be adjusted for horizontality, verticality, or coaxiality above the satellite, and the deployment test of multiple moving parts will be carried out directly.

[0083] This invention fills a gap in the domestic deployment testing field by using an onboard gravity unloading method supported by the satellite body. A set of support fixtures is highly integrated with five gravity unloading mechanisms, enabling the simultaneous deployment of multiple moving parts of the satellite. At the same time, the new deployment testing mode of one-time precision assembly and adjustment on the ground and direct deployment on the satellite greatly improves the test efficiency and ensures the high-efficiency, high-quality and batch deployment of multiple moving parts of the satellite.

[0084] Example 2:

[0085] This embodiment is a preferred example of Embodiment 1.

[0086] In this embodiment, as Figure 7 As shown, a spaceborne multi-mechanism integrated gravity unloading device is installed above the satellite, using the satellite itself as the force-bearing support point to unload the antennas. It mainly includes: the spaceborne multi-mechanism integrated gravity unloading device, various types of antennas, and parking devices.

[0087] like Figure 1 As shown, the spaceborne multi-mechanism integrated gravity unloading device includes: support fixture 1, first gravity unloading mechanism 2, second gravity unloading mechanism 3, third gravity unloading mechanism 4, fourth gravity unloading mechanism 5, fifth gravity unloading mechanism 6, and loading and unloading transport vehicle 7.

[0088] like Figure 2 As shown, the support fixture 1 includes: a main support fixture frame 8, a first frame 9, a second frame 10, and a lifting ring 11. The main support fixture frame 8 is made of channel aluminum and features a closed frame structure design, integrally welded to effectively reduce weight and increase rigidity. Simultaneously, the main frame base is precision machined to ensure high flatness of the connection surface between the device and the satellite. The first frame 9 and the second frame 10 are both made of aluminum alloy and are asymmetrically staggered in the Y and Z directions to ensure the coaxiality accuracy requirements of the third gravity unloading mechanism 4 and the fourth gravity unloading mechanism 5 installed on the first frame 9 and the second frame 10. The first frame 9 and the second frame 10 are fastened to the main support fixture frame 8 by bolts. The design configuration of the support fixture 1 is based on the layout of the satellite's moving parts on the satellite body. The support fixture 1 has a highly integrated design layout of five sets of gravity unloading mechanisms: the first gravity unloading mechanism 2, the second gravity unloading mechanism 3, the third gravity unloading mechanism 4, the fourth gravity unloading mechanism 5, and the fifth gravity unloading mechanism 6. The rotation axis of the first gravity unloading mechanism 2, the second gravity unloading mechanism 3, the third gravity unloading mechanism 4, the fourth gravity unloading mechanism 5, and the fifth gravity unloading mechanism 6 coincide with the rotation axis / hinge axis of the satellite's moving parts, and coincide with the projection relative to the ground direction. This is a new type of integrated deployment fixture design mode.

[0089] like Figure 3As shown, the first gravity unloading mechanism 2 and the second gravity unloading mechanism 3 have the same structure, both equipped with: a first antenna mounting and adjusting base 12, a first antenna rotating shaft mechanism 13, a first antenna swing arm mechanism 14, a first antenna hanging mechanism 15, and a first antenna connecting fixture 16. The first antenna mounting and adjusting base 12 is the precision mounting and adjusting mechanism for the first gravity unloading mechanism 2 and the second gravity unloading mechanism 3, which can realize the adjustment of the horizontality, verticality, and coaxiality of the rotating shaft. The adjustment method is to rotate around the X-axis, rotate around the Z-axis, move along the X-axis, and move along the Z-axis through the set screw mechanism in the X and Z directions. After the precision adjustment is in place, the screws are tightened. The first antenna rotating shaft mechanism 13 is coaxial with the hinge shaft of the satellite's first antenna. High-precision ball bearings are used to reduce the rotational friction of the first antenna rotating shaft mechanism 13, so as to realize the rotation of the first gravity unloading mechanism 2 and the second gravity unloading mechanism 3. The first antenna swing arm mechanism 14 adopts a triangular structure and is screwed to the first antenna rotating shaft mechanism 13. Reinforcing ribs are designed to strengthen the swing arm, and a lightweight structural design is implemented through topology optimization, ensuring both strength and lightweight construction. A snap-fit ​​structure is designed on the side wall of the swing arm for sensor wiring. The first antenna suspension mechanism 15 includes a first slide rail 151, a first bearing trolley 152, a first sensor 153, a first spring 154, a first turnbuckle 155, and a first rotating mechanism 156. The first slide rail 151 is used for minor movements during the rotation of the first antenna swing arm mechanism 14 and for adjusting the levelness of the slide rail 151. The first bearing trolley 152 is used for the overall displacement movement of the suspension mechanism 15. The first sensor 153 is used for monitoring the gravity unloading of the first antenna. The first spring 154 provides damping during the deployment process. The first rotating mechanism 156 allows for adaptive rotation of the first antenna connecting fixture 16. The first turnbuckle 155 is used for adjusting the Y-axis height, adjusting the unloading force, and for transition connections. The first antenna connection fixture 16 is used to connect the first gravity unloading mechanism 2, the second gravity unloading mechanism 3 and the antenna. It is designed to reduce weight and improve aesthetics through topology optimization. The adjustment holes enable X-axis and Z-axis movement adjustment. The adapter block 161 is designed to avoid interference between the first gravity unloading mechanism 2, the second gravity unloading mechanism 3 and the antenna.

[0090] like Figure 4As shown, the third gravity unloading mechanism 4 and the fourth gravity unloading mechanism 5 have the same structure, both equipped with: a second antenna mounting and adjusting base 17, a second antenna rotating shaft mechanism 18, a second antenna swing arm mechanism 19, a second antenna hanging mechanism 20, and a second antenna connecting fixture 21. The second antenna mounting and adjusting base 17 is the precision mounting and adjusting mechanism for the third gravity unloading mechanism 4 and the fourth gravity unloading mechanism 5, which can realize the adjustment of the horizontality, verticality, and coaxiality of the rotating shaft. The adjustment method is to rotate around the X-axis, rotate around the Z-axis, move along the X-axis, and move along the Z-axis through the X-axis and Z-axis set screw mechanisms. After the precision adjustment is in place, the screws are tightened. The second antenna rotating shaft mechanism 18 is coaxial with the hinge shaft of the satellite antenna. High-precision ball bearings are used to reduce the rotational friction of the second antenna rotating shaft mechanism 18, so as to realize the rotation of the third gravity unloading mechanism 4 and the fourth gravity unloading mechanism 5. The second antenna swing arm mechanism 19 is made of high-rigidity stainless steel pipe, and the horizontality of the second antenna swing arm mechanism 19 is adjusted by the first turnbuckle 191. The second antenna sling mechanism 20 includes a second bearing trolley 201, a second sensor 202, a second spring 203, a moving and rotating mechanism 204, and a second turnbuckle 205. The second bearing trolley 201 is used for the overall displacement movement of the second antenna sling mechanism 20. The second sensor 202 is used for monitoring the gravity unloading of the antenna. The second spring 203 is used for damping during the deployment process. The moving and rotating mechanism 204 is used for the adaptive movement and rotation of the second antenna connecting fixture 21. The second turnbuckle 205 is used for adjusting the Y-axis height, adjusting the unloading force, and transition connection. The second antenna connecting fixture 21 is used for connecting the antenna to the third gravity unloading mechanism 4 and the fourth gravity unloading mechanism 5.

[0091] like Figure 5As shown, the fifth gravity unloading mechanism 6 is equipped with: a third antenna mounting and adjusting base 22, a third antenna swing arm mechanism 23, a third antenna hanging mechanism 24, and a third antenna connecting fixture 25. The third antenna mounting and adjusting base 22 is the precision coarse adjustment mechanism of the gravity unloading mechanism 6, which can realize coarse adjustment of the horizontal and verticality of the swing arm. The third antenna swing arm mechanism 23 is screwed to the third antenna mounting and adjusting base 22, and the second turnbuckle 231 realizes the horizontal adjustment of the swing arm. The third antenna sling mechanism 24 includes a third bearing trolley 241, a third sensor 242, a constant force spring 243, a sling mechanism counterweight 244, a third turnbuckle 245, and a steel wire rope 246. The third bearing trolley 241 enables the overall movement of the third antenna sling mechanism 24. The third sensor 242 is used for monitoring the antenna's gravity unloading. The constant force spring 243 keeps the sling force constant. The sling mechanism counterweight 244 ensures that the unloading force equals the weight of the antenna body. The third turnbuckle 245 is used to adjust the Y-axis height, adjust the sling force of the constant force spring 243, and for transition connections. The third antenna connection fixture 25 includes a crossbeam 251, a transition fixture shaft 252, and a transition fixture 253. The crossbeam 251 is used to connect and enable Z-axis movement. The transition fixture shaft 252 is used for rotation around the Z-axis. The transition fixture 253 is used to connect the third antenna and enable X-axis movement.

[0092] like Figure 6 As shown, the assembly and transport vehicle 7 is equipped with: a handle 26, a main frame 27, a folding arm 28, an adjustment mechanism 29, and casters 30. The handle 26 is used for transporting the device. The main frame 27, using the surface of a high-level pad as a reference, adjusts the levelness, verticality, and coaxiality of the first gravity unloading mechanism 2, the second gravity unloading mechanism 3, the third gravity unloading mechanism 4, the fourth gravity unloading mechanism 5, and the fifth gravity unloading mechanism 6. The folding arm 28 retracts during transport and unfolds during precision assembly and adjustment, ensuring that the device's center of gravity is located inside the assembly and transport vehicle 7. The adjustment mechanism 29 is used for adjusting the levelness of the assembly and transport vehicle 7, and the casters 30 are used for transporting the device.

[0093] The deployment test procedure of this invention is as follows:

[0094] The overhead crane hoists the support fixture 1 onto the assembly and transport vehicle 7; all support legs of the assembly and transport vehicle 7 are extended, and the adjustment mechanism 29 is adjusted to lift the casters 30 off the ground; the first gravity unloading mechanism 2, the second gravity unloading mechanism 3, the third gravity unloading mechanism 4, the fourth gravity unloading mechanism 5, and the fifth gravity unloading mechanism 6 are screwed onto the support fixture 1; counterweights to unload the antenna weight are installed on the first gravity unloading mechanism 2, the second gravity unloading mechanism 3, the third gravity unloading mechanism 4, the fourth gravity unloading mechanism 5, and the fifth gravity unloading mechanism 6; using the horizontal plane of the high-precision pad above the assembly and transport vehicle 7 as the precision adjustment reference, the first gravity unloading mechanism 2, the second gravity unloading mechanism 3, the third gravity unloading mechanism 4, the fourth gravity unloading mechanism 5, and the fifth gravity unloading mechanism 6 are completed on the ground. The horizontal, vertical, and coaxiality of the gravity unloading mechanism 6 are adjusted with precision. After the precision adjustment, all counterweights are removed. The satellite attitude is adjusted with precision, including horizontality. The screws connecting the support fixture 1 and the assembly and transport vehicle 7 are removed. A sling is connected above the support fixture 1, and the support fixture 1, together with the first gravity unloading mechanism 2, the second gravity unloading mechanism 3, the third gravity unloading mechanism 4, the fourth gravity unloading mechanism 5, and the fifth gravity unloading mechanism 6, are hoisted to the interface above the satellite. The device is no longer adjusted with precision in horizontality, verticality, and coaxiality above the satellite, and the deployment test of multiple moving parts is carried out directly. After the deployment test, the device is hoisted onto the assembly and transport vehicle 7. This is a new type of deployment test mode that involves one-time precision assembly and adjustment below the satellite and direct deployment on the satellite.

[0095] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0096] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A spaceborne multi-mechanism integrated all-in-one gravity unloading device, characterized in that, It includes support tooling (1), first gravity unloading mechanism (2) arranged on the left rear side of the support tooling (1), third gravity unloading mechanism (4) on the left front side, second gravity unloading mechanism (3) on the right rear side, fourth gravity unloading mechanism (5) on the right front side, fifth gravity unloading mechanism (6) on the front side and setting and adjusting transport vehicle (7) arranged below the support tooling (1); The counterweight blocks required to unload the antenna weight are installed on the first gravity unloading mechanism (2), the second gravity unloading mechanism (3), the third gravity unloading mechanism (4), the fourth gravity unloading mechanism (5) and the fifth gravity unloading mechanism (6) to complete the precision adjustment of the levelness, perpendicularity and coaxiality of the first gravity unloading mechanism (2), the second gravity unloading mechanism (3), the third gravity unloading mechanism (4), the fourth gravity unloading mechanism (5) and the fifth gravity unloading mechanism (6) on the ground with the high-precision cushion block horizontal plane on the setting and adjusting transport vehicle (7) as the precision adjustment reference.

2. The space-borne multi-mechanism integrated gravity unloading device according to claim 1, wherein, The support tooling (1) includes support tooling main frame (8), first frame (9) arranged on both sides of the support tooling main frame (8), second frame (10) and lifting ring (11) arranged at the top end of the support tooling main frame (8).

3. The space-borne multi-mechanism integrated gravity unloading device according to claim 2, wherein, The first gravity unloading mechanism (2) and the second gravity unloading mechanism (3) are the same in structure, both are provided with first antenna setting and adjusting base (12) installed on the support tooling main frame (8), first antenna swing arm mechanism (14) rotatably connected with the first antenna setting and adjusting base (12) through first antenna pivot mechanism (13) at one end, first antenna hanging mechanism (15) arranged below the other end of the first antenna swing arm mechanism (14) and first antenna connecting tooling (16) arranged below the first antenna hanging mechanism (15). The first antenna setting and adjusting base (12) is the precision setting and adjusting mechanism of the first gravity unloading mechanism (2) and the second gravity unloading mechanism (3) and can realize the levelness, perpendicularity and coaxiality adjustment of the first antenna pivot mechanism (13) through the jackscrew mechanism.

4. The space-borne multi-mechanism integrated gravity unloading device according to claim 3, wherein, The first antenna hanging mechanism (15) includes first sliding rail (151), first bearing trolley (152) capable of sliding on the first sliding rail (151), first spring (154) connected with the lower end of the first bearing trolley (152) through first sensor 153, first rotating mechanism (156) connected with the lower end of the first spring (154) through first flower basket bolt (155), and the first antenna connecting tooling (16) is arranged below the first rotating mechanism (156).

5. The space-borne multi-mechanism integrated gravity unloading device of claim 2, wherein, The third gravity unloading mechanism (4) and the fourth gravity unloading mechanism (5) are the same in structure, both are provided with second antenna setting and adjusting base (17) installed on the support tooling main frame (8), second antenna swing arm mechanism (19) rotatably connected with the second antenna setting and adjusting base (17) through second antenna pivot mechanism (18), second antenna hanging mechanism (20) capable of sliding on the second antenna swing arm mechanism (19) and second antenna connecting tooling (21) below the second antenna hanging mechanism (20). The second antenna adjustment base (17) is a precision adjustment mechanism of the third gravity unloading mechanism (4) and the fourth gravity unloading mechanism (5), and can realize the levelness, perpendicularity and coaxiality adjustment of the second antenna rotating shaft mechanism (18) through the top screw mechanism.

6. The space-borne multi-mechanism integrated gravity unloading device according to claim 5, wherein, The second antenna hanging mechanism (20) comprises a second bearing trolley (201) capable of sliding on the second antenna swing arm mechanism (19), a second spring (203) connected to the bottom of the second bearing trolley (201) through a second sensor (202) at the upper end, and a moving rotating mechanism (204) connected to the lower end of the second spring (203) through a second flower basket bolt (205). The second antenna connecting tool (21) is arranged below the moving rotating mechanism (204).

7. The space-borne multi-mechanism integrated gravity unloading device of claim 2, wherein The fifth gravity unloading mechanism (6) is provided with a third antenna adjustment base (22) mounted on the support tool main frame (8), a third antenna swing arm mechanism (23) in rotational cooperation with the third antenna adjustment base (22) at the end, a third antenna hanging mechanism (24) capable of moving on the third antenna swing arm mechanism (23) at the upper end, and a third antenna connecting tool (25) arranged at the bottom of the third antenna hanging mechanism (24). The third antenna adjustment base (22) is a precision coarse adjustment mechanism of the fifth gravity unloading mechanism (6), which can coarsely adjust the levelness and perpendicularity of the third antenna swing arm mechanism (23), and the third antenna swing arm mechanism (23) can adjust the levelness of itself.

8. The space-borne multi-mechanism integrated gravity unloading device according to claim 7, wherein, The third antenna hanging mechanism (24) comprises a third bearing trolley (241) capable of moving on the third antenna swing arm mechanism (23), and a constant force spring (243), a third sensor (242), a third flower basket bolt (245), a steel wire rope (246) and a hanging mechanism counterweight (244) arranged below the third bearing trolley (241) from top to bottom.

9. The space-borne multi-mechanism integrated gravity unloading device of claim 1, wherein, The adjustment and transportation vehicle (7) is provided with an adjustment and transportation vehicle main frame (27), a handle (26) arranged at the front end of the adjustment and transportation vehicle main frame (27), a caster (30) arranged below, and folding arms (28) arranged at the left front side, the left rear side, the right front side and the right rear side of the adjustment and transportation vehicle main frame (27) respectively. The folding arm (28) can be switched between a folded state and an unfolded supporting state, wherein in the folded state, the caster (30) supports the ground, and in the unfolded supporting state, the adjusting mechanism (29) on the folding arm (28) supports the ground.

10. A space-borne multi-mechanism integrated all-in-one gravity unloading method, characterized in that, The method comprises the following steps: S1: hoist the support tool (1) onto the adjustment and transportation vehicle (7), and adjust the folding arm (28) of the adjustment and transportation vehicle (7) from the folded state to the unfolded supporting state; S2: Assemble the first gravity unloading mechanism (2), the second gravity unloading mechanism (3), the third gravity unloading mechanism (4), the fourth gravity unloading mechanism (5), and the fifth gravity unloading mechanism (6) on the supporting tooling (1) respectively, and install the counterweight blocks of the required unloading antenna weight on the first gravity unloading mechanism (2), the second gravity unloading mechanism (3), the third gravity unloading mechanism (4), the fourth gravity unloading mechanism (5), and the fifth gravity unloading mechanism (6) respectively; take the horizontal plane of the high-precision pad block above the transport vehicle (7) as the precision adjustment reference, and complete the precision adjustment of the levelness, perpendicularity, and coaxiality of the first gravity unloading mechanism (2), the second gravity unloading mechanism (3), the third gravity unloading mechanism (4), the fourth gravity unloading mechanism (5), and the fifth gravity unloading mechanism (6) on the ground; S3: After the precision adjustment, remove all the counterweight blocks; and perform the levelness precision adjustment on the satellite attitude; S4: Remove the connection state between the supporting tooling (1) and the transport vehicle (7), and hoist the supporting tooling (1) together with the first gravity unloading mechanism (2), the second gravity unloading mechanism (3), the third gravity unloading mechanism (4), the fourth gravity unloading mechanism (5), and the fifth gravity unloading mechanism (6) to the interface above the satellite; wherein the device no longer performs the precision adjustment of the levelness, perpendicularity, and coaxiality above the satellite, and directly performs the deployment test of multiple movable components.

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