Satellite transfer equipment and operation method thereof

Abstract

The invention discloses satellite transfer equipment and an operation method thereof. The satellite transfer equipment comprises a transfer cart, a positioning device and a rocker arm type lifting device. The transfer cart is in butt joint with the table top of the positioning device. The rocker arm type lifting devices are symmetrically distributed on the left side and the right side of the table top. The transfer cart comprises a first conveying support and a second conveying support which are symmetrically arranged, the first conveying support and the second conveying support are connected through at least one connecting rod, and the upper end face and the edge of the upper end face are provided with a heavy-load roller set and a protection roller set respectively. The positioning device comprises a table board, positioning pins are symmetrically arranged on the table board, and a fixed fine adjustment device and a rotary fine adjustment device are further arranged on the table board; the rocker arm type lifting device comprises a lifting table board, universal balls which are evenly distributed at intervals are installed on the lifting table board, and at least one turbine lifter is arranged at the bottom of the lifting table board. According to the satellite transfer equipment, the problems of ground transfer and high-precision positioning installation of the satellite under the condition of no hoisting condition are solved, and the safety and the installation precision of the whole process are guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of production line product transportation, and in particular to a satellite transportation device and an operation method thereof. Background Art

[0002] In the aerospace field, satellites are high-precision, high-value equipment, and their assembly, integration and testing processes are crucial. Satellite products have significant characteristics such as large payload, high positioning accuracy, and high safety requirements. Therefore, during the transportation, assembly and testing of satellites, special tools must be used to transport between various test stations to ensure the safety of the satellite and the accuracy of the test.

[0003] The current satellite transportation method mainly relies on large-scale transportation tools such as gantry cranes for hoisting. This method has high requirements for factory facilities and space and is not suitable for all environments. In particular, in some factories or test stations that do not have hoisting conditions, the hoisting method is difficult to implement and cannot meet the satellite transportation needs in space-constrained or special environments. A dedicated satellite transport vehicle must be used to realize the transportation of satellites and on-stage operations. During the transportation process, the safety and positioning accuracy of the satellite transport vehicle are extremely high, and the key step of docking and positioning the satellite transport vehicle with the installation table must be considered.

[0004] Therefore, developing a new type of satellite transfer equipment to meet the needs of satellite transfer in special environments has become an important research direction in the aerospace field. Summary of the invention

[0005] The purpose of the present invention is to provide a satellite transfer device and an operation method thereof, so as to realize the ground transfer and high-precision installation of the satellite when there are no lifting conditions, and solve the problem of satellite transfer under special circumstances.

[0006] In order to achieve the above-mentioned object, the present invention provides a satellite transport device, comprising a transport cart, a positioning device, and a rocker-type lifting device;

[0007] The transfer cart is connected to the table surface of the positioning device, and the rocker-type lifting device is symmetrically distributed on the left and right sides of the table surface;

[0008] The transfer cart comprises a first conveying bracket and a second conveying bracket which are symmetrically arranged, and the first conveying bracket and the second conveying bracket are connected by at least one connecting rod to realize the unfolding and folding of the transfer cart; the upper end surfaces and upper end surface edges of the first conveying bracket and the second conveying bracket are respectively provided with a heavy-load roller group and a protective roller group;

[0009] The positioning device comprises a table, positioning pins are symmetrically arranged on the table, fixed fine-tuning devices are arranged on the left and right sides of the table and on the side away from the transfer cart, and a rotating fine-tuning device is symmetrically arranged on the side of the table close to the transfer cart;

[0010] The rocker-arm lifting device comprises a lifting platform, on which universal balls are installed at even intervals; at least one turbine lift is arranged at the bottom of the lifting platform to drive the lifting platform to rise or fall.

[0011] Optionally, the first conveying bracket and the second conveying bracket are connected by a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are both multi-layered, and the first connecting rod and the second connecting rod of each layer are connected by a third connecting rod; the first connecting rod, the second connecting rod, the third connecting rod, the first conveying bracket, and the second conveying bracket form a four-rod connection.

[0012] Optionally, the first and second conveying brackets are provided with first and second blocking blocks respectively on their inner sides near the first connecting rod; and the first and second conveying brackets are provided with positioning pins on one side near the positioning device.

[0013] Optionally, the heavy-load roller group includes a plurality of first rollers, which are evenly spaced on the upper end surfaces of the first conveying bracket and the second conveying bracket; the protective roller group includes a plurality of second rollers, which are evenly spaced on the upper end surface edges of the first conveying bracket and the second conveying bracket.

[0014] Optionally, the upper end surfaces of the first conveying bracket and the second conveying bracket are also symmetrically provided with operating handles, a level is installed at the middle position of the upper end surface edges of the first conveying bracket and the second conveying bracket, and lockable pulleys and adjustable foot cups are installed at the bottom of the first conveying bracket and the second conveying bracket.

[0015] Optionally, a rotating long connecting rod is provided on the outer side of the bottom of the first conveying bracket, one end of the rotating long connecting rod is connected to the first conveying bracket through a hinge structure, and a first clamp joint is installed at the other end; a rotating short connecting rod is provided on the inner side of the bottom of the second conveying bracket, one end of the rotating short connecting rod is connected to the second conveying bracket through a hinge structure, and a second clamp joint is installed at the other end.

[0016] Optionally, rubber buffer pads are symmetrically installed inside the fixed fine-tuning device, and first adjustment screws are installed between the rubber buffer pads.

[0017] Optionally, the rotation fine-tuning device includes a mounting shaft and a rotating component, the mounting shaft is fixed to the side of the table top, the mounting shaft is embedded in one end of the rotating component, and a second adjusting screw is installed at the other end of the rotating component.

[0018] Optionally, a first worm gear elevator and a second worm gear elevator are provided at the bottom of the lifting platform, and the first worm gear elevator and the second worm gear elevator are connected by a fourth connecting rod; a handwheel device is also provided at the end of the second worm gear elevator away from the first worm gear elevator; a scale is also provided on the side of the lifting platform close to the handwheel device, and a vernier is provided at the bottom of the scale.

[0019] The present invention also provides an operating method of the satellite transfer device, the operating method comprising:

[0020] Step 1: Move the transfer cart to the working position, align the positioning pin of the transfer cart with the table surface of the positioning device, pull the first conveying bracket and the second conveying bracket away from each other by operating the handle, and gradually expand the first connecting rod and the second connecting rod. When both ends of the first connecting rod reach the positions of the first blocking block and the second blocking block, the transfer cart is in the maximum expansion state. At this time, rotate the rotating long connecting rod to clamp the second conveying bracket with the first clamp joint at the other end thereof;

[0021] Step 2: Adjust the adjusting foot cup to adjust the horizontal state of the first conveying bracket and the second conveying bracket, and stop when the bubble in the level is observed to be in the middle position of the level;

[0022] Step 3: The production line automatic guided vehicle places the satellite on the first roller of the heavy-load roller group of the transfer cart;

[0023] Step 4: Turn the hand wheel device to make the first worm gear elevator and the second worm gear elevator rise or fall synchronously, thereby driving the lifting platform to rise or fall, and finally aligning the lifting platform with the heavy-load roller group of the transfer cart horizontally;

[0024] Step 5: The rotating part of the rotary fine-tuning device rotates around the installation axis to the bottom of the table, and the satellite is pushed to slide from the heavy-loaded roller group to the heavy-loaded steel universal ball until the satellite completely enters the area surrounded by the fixed fine-tuning device and the rotary fine-tuning device, and the rotating part of the rotary fine-tuning device rotates around the installation axis to the top of the table;

[0025] Step 6: After the satellite is surrounded by the fixed fine-tuning device and the rotating fine-tuning device, observe the relative position of the satellite body pin hole and the positioning pin, and adjust the first adjustment screw and the second adjustment screw at the same time to move the satellite in the forward, backward, left and right directions accordingly, until the satellite body pin hole and the positioning pin are inserted into the corresponding direction;

[0026] Step 7: Turn the hand wheel device and observe the indication of the scale displayed by the cursor. When the indications of the scales on both sides are consistent, the lifting platforms on both sides rise and fall synchronously, and the satellite lands on the platform. The precise landing of the satellite is completed, and the hand wheel device is continued to be turned to hide the rocker arm lifting device under the platform.

[0027] Step eight, put away the adjusting foot cup, rotate the rotatable long connecting rod to the folded state, push the first conveying bracket and the second conveying bracket closer to each other by operating the handle, the first connecting rod and the second connecting rod gradually shrink, and finally the transfer cart is in a folded state. At this time, rotate the rotatable short connecting rod, clamp the first conveying bracket with the second clamp joint at the other end, and finally move the transfer cart out.

[0028] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects:

[0029] 1) Satellite transfer equipment solves the problem of ground transfer and high-precision installation of satellites when there are no lifting conditions during satellite assembly, integration and testing, ensuring the safety and installation accuracy of the entire process.

[0030] 2) Furthermore, the transfer cart in the satellite transfer equipment is designed to be foldable, which can achieve high-precision transfer of the satellite when unfolded and reduce storage space when folded. It has the characteristics of high precision, high reliability and high practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic structural diagram of the satellite transport equipment of the present invention.

[0032] Figure 2 It is a schematic diagram of the structure of the transfer cart of the present invention; wherein, a is a folded state, and b is an unfolded state.

[0033] Figure 3 It is a top view of the transfer cart of the present invention; wherein, a is the unfolded state, and b is the folded state.

[0034] Figure 4 Schematic diagram of the structure of the four-bar connection method of the present invention; wherein a is a local enlarged diagram and b is a simplified diagram.

[0035] Figure 5 It is a structural schematic diagram of the positioning device of the present invention.

[0036] Figure 6 It is a structural schematic diagram of the fixed fine-tuning device of the present invention.

[0037] Figure 7 It is a structural schematic diagram of the rotation fine-tuning device of the present invention.

[0038] Figure 8 It is a schematic structural diagram of the positioning pin of the present invention.

[0039] Fig. 9 It is a structural schematic diagram of the rocker arm lifting device of the present invention.

[0040] Fig.10 It is a partial enlarged view of the rocker arm lifting device of the present invention.

[0041] Figure symbols: transfer cart 1, positioning device 2, rocker lifting device 3, operating handle 102, level 103, protective roller set 104, positioning pin 106, lockable pulley 107, heavy-duty roller set 108, adjustment foot cup 109, first connecting rod 110, second connecting rod 111, first conveying bracket 112, second conveying bracket 112', third connecting rod 115, rotating long connecting rod 117, rotating short connecting rod 118, first blocking block 119, second positioning block 119', rotation fine-tuning device 201, positioning pin 202, table 203, first adjusting screw 204, rubber buffer pad 205, fixed fine-tuning device 206, fixed plate 207, second adjusting screw 208, handwheel device 301, scale 302, heavy steel universal ball 303, lifting table 304, first worm gear lift 305, fourth connecting rod 306, second worm gear lift 307, cursor 308. DETAILED DESCRIPTION

[0042] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0044] As described in the background technology, the current satellite lifting and transportation method has high requirements for factory facilities and space, and is not suitable for all environments. In some factories or test stations that do not have the conditions for lifting, the lifting method is difficult to implement and a special satellite transfer vehicle must be used to realize the transfer of satellites and on-stage operations.

[0045] In order to solve the problem of difficulty in ground transportation and high-precision installation of satellites when there is no hoisting condition, the present invention provides a satellite transportation device, such as Figure 1 As shown, it includes a transfer cart 1, a positioning device 2 and a rocker-arm lifting device 3. The transfer cart 1 is docked with the positioning device 2, and the rocker-arm lifting device 3 is located on the upper surface of the positioning device 2, which is described in detail below.

[0046] like Figure 2 As shown in a in the figure, the transfer cart 1 includes a first transfer bracket 112 and a second transfer bracket 112' of symmetrical design, which are connected by a first connecting rod 110 and a second connecting rod 111. The first connecting rod 110 and the second connecting rod 111 are V-shaped structures and both have two layers. The intersection of the V-shape of the first connecting rod 110 and the second connecting rod 111 of the first layer is connected by a third connecting rod 115, and the intersection of the V-shape of the first connecting rod 110 and the second connecting rod 111 of the second layer is also connected by the third connecting rod 115. The first connecting rod 110 and the second connecting rod 111 can rotate around the intersection of the V shape, so that the V-shaped structure can be expanded or contracted. Among them, the first connecting rod 110, the second connecting rod 111, the third connecting rod 115, the first transfer bracket 112 and the second transfer bracket 112' form a four-bar connection method (see Figure 4 a), when the first conveying bracket 112 and the second conveying bracket 112' are close to each other, the first connecting rod 110 and the second connecting rod 111 are contracted to realize the folding of the transfer cart 1; when the first conveying bracket 112 and the second conveying bracket 112' are away from each other, the first connecting rod 110 and the second connecting rod 111 are unfolded to realize the unfolding of the transfer cart 1 (see Figure 2 b) Figure 4 As shown in b, the first positioning block 119 and the second positioning block 119' are respectively provided on the inner side surfaces of the first conveying bracket 112 and the second conveying bracket 112' near the first connecting rod 110. When the first conveying bracket 112 is away from the second conveying bracket 112', the first connecting rod 110 and the second connecting rod 111 are driven to gradually unfold. When both ends of the first connecting rod 110 reach the positions of the first positioning block 119 and the second positioning block 119', they are unfolded to the maximum limit, which is the maximum unfolding distance of the transfer trolley 1. Therefore, the functions of the first positioning block 119 and the second positioning block 119' are to control the unfolding distance of the transfer trolley 1 and ensure the structural stability of the transfer trolley 1.

[0047] like Figure 2 and Figure 4As shown, the upper end surfaces of the first transmission bracket 112 and the second transmission bracket 112' are both installed with a heavy-load roller group 108, which includes a plurality of first rollers, which are evenly spaced and distributed on the upper end surfaces of the first transmission bracket 112 and the second transmission bracket 112'; the upper end surface edges of the first transmission bracket 112 and the second transmission bracket 112' are both installed with a protective roller group 104, which includes a plurality of second rollers, which are evenly spaced and distributed on the upper end surface edges. During the shipping process, the bottom surface of the satellite is placed on the top of the heavy-load roller group 108, and the side surface of the satellite is in contact with the protective roller group 104. When the position of the satellite is offset, the protective roller group 104 can support the side surface of the satellite to ensure the safety of the satellite transportation process.

[0048] like Figure 2 As shown in a in the figure, the upper end surfaces of the first conveying bracket 112 and the second conveying bracket 112' are symmetrically provided with operating handles 102 to facilitate the operator to unfold and fold the transfer cart 1.

[0049] A positioning pin 106 is provided on one side of the first conveying bracket 112 and the second conveying bracket 112 ′ close to the positioning device 2 , and its function is to achieve docking and transfer operations with the positioning device 2 .

[0050] The bottom of the first conveying bracket 112 and the second conveying bracket 112' are both installed with lockable pulleys 107 to enable the brackets to move.

[0051] A spirit level 103 is installed in the middle position of the upper end surface edge of the first conveying bracket 112 and the second conveying bracket 112', and an adjusting foot cup 109 is installed at the bottom. By adjusting the adjusting foot cup 109, the first conveying bracket 112 and the second conveying bracket 112' are moved up and down. When the bubble in the spirit level 103 is located in the middle position of the spirit level 103, the upper end surface of the bracket has been adjusted to a horizontal state.

[0052] A rotating long connecting rod 117 is arranged on the outer side of the bottom of the first conveying bracket 112, and a rotating short connecting rod 118 is arranged on the inner side of the bottom of the second conveying bracket 112'. One end of the rotating long connecting rod 117 is connected to the first conveying bracket 112 through a hinge structure, and a first clamp joint is installed at the other end. When the transfer trolley 1 is unfolded, the rotating long connecting rod 117 rotates to a certain angle so that the first clamp joint at the other end clamps the second conveying bracket 112' and keeps the two brackets parallel (see Figure 3 a); one end of the rotating short link 118 is connected to the second conveying bracket 112' through a hinge structure, and the other end is provided with a second clamp joint. When the transfer cart 1 is folded, the rotating short link 118 rotates a certain angle so that the second clamp joint at the other end clamps the first conveying bracket 112 and keeps the two brackets parallel (see Figure 3 b) The rotatable long connecting rod 117 and the rotatable short connecting rod 118 can ensure the structural stability of the transfer cart 1 when it is in the unfolded and folded state.

[0053] like Figure 5 As shown, the positioning device 2 includes a table 203, and fixed fine-tuning devices 206 are installed on the left and right sides of the table 203 and the side away from the transfer cart 1. The fixed fine-tuning device 206 is fixed to the table 203 by screws, and each fixed fine-tuning device 206 is symmetrically installed with a rubber buffer pad 205 inside, and a first adjustment screw 204 is installed between the rubber buffer pads 205 (see Figure 6 ). When the satellite enters the table 203, the cushioning effect of the rubber cushion 205 can make the satellite move slightly without large slippage. At the same time, because the multiple first adjustment screws 204 are in close contact with the satellite, the position of the satellite can be fine-tuned by adjusting the multiple first adjustment screws 204, so that it can move in the front, back, left and right directions, which is conducive to the precise placement of the satellite. The table 203 is symmetrically distributed on one side close to the transfer cart 1 with a rotating fine-tuning device 201, which includes a mounting shaft and a rotating component. The mounting shaft is embedded in one end of the rotating component, and the rotating component can rotate up and down around the mounting shaft. The mounting shaft is fastened to the side of the table 203 by a fixing plate 207 and screws, and the other end of the rotating component is installed with a second adjusting screw 208 (see Figure 7 ), because the second adjusting screw 208 is in close contact with the satellite, the position of the satellite can be fine-tuned by adjusting the second adjusting screw 208 to move it in the front and back directions. The fixed fine-tuning device 206 and the rotating fine-tuning device 201 form a quadrilateral area. Before the satellite enters, the rotating part of the rotating fine-tuning device 201 rotates around the installation axis to the bottom of the table 203 without hindering the entry of the satellite. When the satellite enters the table 203 for landing, the rotating part of the rotating fine-tuning device 201 rotates around the installation axis to the top of the table 203, and the first adjusting screw 204 and the second adjusting screw 208 are adjusted at the same time to move the satellite in the front, back, left and right directions to ensure the accuracy of the satellite landing.

[0054] There are four positioning pins 202 (see Figure 8 ), the end of the positioning pin 202 away from the table 203 is a conical surface, which can achieve high-precision positioning of the satellite and prevent it from getting stuck by docking with the pin hole of the satellite body.

[0055] like Fig. 9As shown, the rocker-type lifting device 3 is symmetrically distributed on the left and right sides of the table 203. The rocker-type lifting device 3 includes a lifting table 304. A row of heavy-duty steel universal balls 303 evenly spaced are fixedly installed on the lifting table 304, which can realize the low-resistance sliding of the satellite on the plane. The bottom of the lifting table 304 is provided with a first worm gear lift 305 and a second worm gear lift 307. The tops of the first worm gear lift 305 and the second worm gear lift 307 are fixed to the lifting table 304 by screws. The first worm gear lift 305 and the second worm gear lift 307 are connected by a fourth connecting rod 306 to ensure that the two lift synchronously.

[0056] A hand wheel device 301 is also provided at one end of the second worm gear lift 307 away from the first worm gear lift 305. The hand wheel device 301 is turned to make the first worm gear lift 305 and the second worm gear lift 307 rise or fall synchronously, thereby driving the lifting table 304 to rise or fall, and finally making the lifting table 304 horizontally aligned with the heavy-load roller group 108 of the transfer cart 1, so as to facilitate the satellite to slide into the top of the table 203. After the transfer is completed, the rocker type lifting device 3 can be hidden under the table 203. A scale 302 is provided on the side of the lifting table 304 (the side close to the hand wheel device 301), and a cursor 308 is provided at the bottom of the scale 302 (see Fig.10 ), the scale 302 rises or falls with the lifting platform 304, and the cursor 308 displays the reading of the scale 302. When the readings of the scales 302 on the left and right sides are consistent, the lifting platforms 304 on the left and right sides can be raised and lowered synchronously, so that the satellite can be quickly and accurately positioned.

[0057] The following describes in detail the method for using the satellite transport device of the present invention in conjunction with the embodiments.

[0058] Example

[0059] 1) The transfer cart 1 is moved from the storage position to the working position, the positioning pin 106 is docked with the table 203, and the first conveying bracket 112 and the second conveying bracket 112' are pulled away from each other by operating the handle 102, and the first connecting rod 110 and the second connecting rod 111 are gradually unfolded. When both ends of the first connecting rod 110 reach the positions of the first blocking block 119 and the second blocking block 119', the transfer cart 1 is in the maximum unfolded state. At this time, the rotating long connecting rod 117 is rotated to clamp the second conveying bracket 112' with the first clamp joint at the other end thereof and keep the two brackets parallel;

[0060] 2) Adjust the adjusting foot cup 109 to move the first conveying bracket 112 and the second conveying bracket 112' up and down. When the bubble in the level 103 is observed to be located in the middle of the level 103, the upper end surface of the bracket has been adjusted to a horizontal state;

[0061] 3) The production line automatic guided vehicle loaded with satellite enters the designated position in the first conveying bracket 112 and the second conveying bracket 112' from the opening of the transfer cart 1, and proceeds to the next step after confirming that the position is correct;

[0062] 4) The production line automatic guided vehicle slowly lowers and places the satellite on the first roller of the heavy-load roller assembly 108 of the transfer cart 1;

[0063] 5) The production line automatic guided vehicle exits the transfer cart 1;

[0064] 6) Turn the hand wheel device 301 to make the first worm gear elevator 305 and the second worm gear elevator 307 rise or fall synchronously, thereby driving the lifting platform 304 to rise or fall, and finally aligning the lifting platform 304 with the heavy-load roller group 108 of the transfer cart 1 horizontally;

[0065] 7) The rotating part of the rotating fine-tuning device 201 rotates around the installation axis to the bottom of the table 203, and the satellite is slowly and uniformly pushed from the heavy-loaded roller group 108 to the top of the heavy-loaded steel universal ball 303 until the satellite completely enters the quadrilateral area surrounded by the fixed fine-tuning device 206 and the rotating fine-tuning device 201, and the rotating part of the rotating fine-tuning device 201 rotates around the installation axis to the top of the table 203;

[0066] 8) After the satellite is surrounded by the fixed fine-tuning device 206 and the rotating fine-tuning device 201, observe the relative position of the satellite body pin hole and the positioning pin 202. Since the first adjusting screw 204 and the second adjusting screw 208 are in close contact with the satellite, adjusting the first adjusting screw 204 and the second adjusting screw 208 at the same time can make the satellite move slightly in the front, back, left and right directions until the satellite body pin hole falls into the range of the positioning pin 202;

[0067] 9) Turn the hand wheel device 301 and observe the indication of the scale 302 displayed by the cursor 308. When the indications of the scales 302 on the left and right sides are consistent, the lifting platforms 304 on the left and right sides rise and fall synchronously, and the satellite slowly and evenly falls on the platform 203 to complete the precise landing of the satellite. Continue to turn the hand wheel device 301 to hide the rocker arm lifting device 3 under the platform 203;

[0068] 10) Fold the adjusting foot cup 109, rotate the rotatable long connecting rod 117 to the folded state, push the first conveying bracket 112 and the second conveying bracket 112' by operating the handle 102 to make the two closer to each other, and the first connecting rod 110 and the second connecting rod 111 gradually shrink, and finally the transfer trolley 1 is in a folded state. At this time, rotate the rotatable short connecting rod 118, and clamp the second clamp joint at the other end of the rotatable short connecting rod 118 to clamp the first conveying bracket 112 and keep the two brackets parallel. Finally, push the transfer trolley 1 out of the working position and fold it to the storage position.

[0069] In summary, the satellite transfer equipment of the present invention solves the problem of ground transfer and high-precision installation of satellites when there are no hoisting conditions, ensuring the safety and installation accuracy of the entire process. Among them, the transfer cart is designed to be foldable, which can achieve high-precision transfer of satellites when unfolded, and reduces storage space when folded, and has the characteristics of high precision, high reliability and high practicality.

[0070] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A satellite transport device, characterized in that: It includes a transfer cart, a positioning device, and a rocker-type lifting device; The transfer cart is connected to the table surface of the positioning device, and the rocker-type lifting device is symmetrically distributed on the left and right sides of the table surface; The transfer cart comprises a first conveying bracket and a second conveying bracket which are symmetrically arranged, and the first conveying bracket and the second conveying bracket are connected by at least one connecting rod to realize the unfolding and folding of the transfer cart; the upper end surfaces and upper end surface edges of the first conveying bracket and the second conveying bracket are respectively provided with a heavy-load roller group and a protective roller group; The positioning device comprises a table, positioning pins are symmetrically arranged on the table, fixed fine-tuning devices are arranged on the left and right sides of the table and on the side away from the transfer cart, and a rotating fine-tuning device is symmetrically arranged on the side of the table close to the transfer cart; The rocker-arm lifting device comprises a lifting platform, on which universal balls are installed at even intervals; at least one turbine lift is arranged at the bottom of the lifting platform to drive the lifting platform to rise or fall.

2. The satellite transport device according to claim 1, characterized in that: The first conveying bracket and the second conveying bracket are connected by the first connecting rod and the second connecting rod, the first connecting rod and the second connecting rod are both multi-layered, and the first connecting rod and the second connecting rod of each layer are connected by the third connecting rod; the first connecting rod, the second connecting rod, the third connecting rod, the first conveying bracket, and the second conveying bracket form a four-rod connection method.

3. The satellite transport device according to claim 2, characterized in that: The first conveying bracket and the second conveying bracket are respectively provided with a first blocking block and a second blocking block on the inner side surfaces close to the first connecting rod; and the first conveying bracket and the second conveying bracket are provided with a positioning pin on one side close to the positioning device.

4. The satellite transport device according to claim 1, characterized in that: The heavy-load roller group includes a plurality of first rollers, which are evenly spaced and distributed on the upper end surfaces of the first conveying bracket and the second conveying bracket; the protective roller group includes a plurality of second rollers, which are evenly spaced and distributed on the upper end surface edges of the first conveying bracket and the second conveying bracket.

5. The satellite transport device according to claim 1, characterized in that: The upper end surfaces of the first conveying bracket and the second conveying bracket are also symmetrically provided with operating handles, a level is installed in the middle position of the upper end surface edges of the first conveying bracket and the second conveying bracket, and lockable pulleys and adjustable foot cups are installed at the bottom of the first conveying bracket and the second conveying bracket.

6. The satellite transport device according to claim 1, characterized in that: A rotating long connecting rod is arranged on the outer side of the bottom of the first conveying bracket, one end of the rotating long connecting rod is connected to the first conveying bracket through a hinge structure, and a first clamp joint is installed at the other end; a rotating short connecting rod is arranged on the inner side of the bottom of the second conveying bracket, one end of the rotating short connecting rod is connected to the second conveying bracket through a hinge structure, and a second clamp joint is installed at the other end.

7. The satellite transport device according to claim 1, characterized in that: The fixing fine-tuning device is symmetrically provided with rubber buffer pads, and first adjusting screws are provided between the rubber buffer pads.

8. The satellite transport device according to claim 1, characterized in that: The rotary fine-tuning device comprises a mounting shaft and a rotary component. The mounting shaft is fixed to the side of the table top, the mounting shaft is embedded in one end of the rotary component, and a second adjusting screw is installed at the other end of the rotary component.

9. The satellite transport device according to claim 1, characterized in that: A first worm gear elevator and a second worm gear elevator are arranged at the bottom of the lifting platform, and the first worm gear elevator and the second worm gear elevator are connected by a fourth connecting rod; a handwheel device is also arranged at the end of the second worm gear elevator away from the first worm gear elevator; a scale is also arranged on the side of the lifting platform close to the handwheel device, and a vernier is arranged at the bottom of the scale.

10. A method for operating a satellite transport device, using the satellite transport device according to any one of claims 1 to 9, characterized in that: The operation method comprises: Step 1: Move the transfer cart to the working position, align the positioning pin of the transfer cart with the table surface of the positioning device, pull the first conveying bracket and the second conveying bracket away from each other by operating the handle, and gradually expand the first connecting rod and the second connecting rod. When both ends of the first connecting rod reach the positions of the first blocking block and the second blocking block, the transfer cart is in the maximum expansion state. At this time, rotate the rotating long connecting rod to clamp the second conveying bracket with the first clamp joint at the other end thereof; Step 2: Adjust the adjusting foot cup to adjust the horizontal state of the first conveying bracket and the second conveying bracket, and stop when the bubble in the level is observed to be in the middle position of the level; Step 3: The production line automatic guided vehicle places the satellite on the first roller of the heavy-load roller group of the transfer cart; Step 4: Turn the hand wheel device to make the first worm gear elevator and the second worm gear elevator rise or fall synchronously, thereby driving the lifting platform to rise or fall, and finally aligning the lifting platform with the heavy-load roller group of the transfer cart horizontally; Step 5: The rotating part of the rotary fine-tuning device rotates around the installation axis to the bottom of the table, and the satellite is pushed to slide from the heavy-loaded roller group to the heavy-loaded steel universal ball until the satellite completely enters the area surrounded by the fixed fine-tuning device and the rotary fine-tuning device, and the rotating part of the rotary fine-tuning device rotates around the installation axis to the top of the table; Step 6: After the satellite is surrounded by the fixed fine-tuning device and the rotating fine-tuning device, observe the relative position of the satellite body pin hole and the positioning pin, and adjust the first adjustment screw and the second adjustment screw at the same time to move the satellite in the forward, backward, left and right directions accordingly, until the satellite body pin hole and the positioning pin are inserted into the corresponding direction; Step 7: Turn the hand wheel device and observe the indication of the scale displayed by the cursor. When the indications of the scales on both sides are consistent, the lifting platforms on both sides rise and fall synchronously, and the satellite lands on the platform. The precise landing of the satellite is completed, and the hand wheel device is continued to be turned to hide the rocker arm lifting device under the platform. Step eight, put away the adjusting foot cup, rotate the rotatable long connecting rod to the folded state, push the first conveying bracket and the second conveying bracket closer to each other by operating the handle, the first connecting rod and the second connecting rod gradually shrink, and finally the transfer cart is in a folded state. At this time, rotate the rotatable short connecting rod, clamp the first conveying bracket with the second clamp joint at the other end, and finally move the transfer cart out.

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