Connection and reconstruction method for spacecraft assembly driven by electro-permanent magnet array

Abstract

A spacecraft assembly connecting and reconstructing method driven by an electro-permanent magnet array comprises the steps that the states of electro-permanent magnets between the connecting faces of a first module and a second module are adjusted, the electro-permanent magnets away from a third module are in a repulsive state, the electro-permanent magnets in the middle are in a non-magnetic state, and the electro-permanent magnets in the middle are in a non-magnetic state; the electro-permanent magnets close to the third module are in an attraction state, and all the electro-permanent magnets on the to-be-butted surfaces of the first module and the third module are in an attraction state; after the state of the electro-permanent magnet is adjusted, the repulsive force and the attractive force between the first module and the second module are equal in size and opposite in direction, the first module is subjected to the repulsive force of the second module and the attractive force of the third module after rotation, then the first module and the third module are completely attracted and connected together, and reconstruction is completed. According to the invention, the module reconstruction of the spacecraft assembly is realized by utilizing the relationship between the attraction force and the repulsive force of the electro permanent magnet array and the connection and reconstruction functions of the electro permanent magnet array, and a weightlessness simulation environment is provided for the spacecraft assembly under the two-dimensional motion.

Description

Technical Field

[0001] The present invention relates to a method for connecting and reconstructing a spacecraft assembly, and in particular to a method for connecting and reconstructing a spacecraft assembly driven by an electro-permanent magnet array, and belongs to the field of aerospace technology. Background Art

[0002] With the advancement of society and technology, aerospace has developed rapidly, and various aerospace technologies have emerged. However, as work tasks and working environments become increasingly diversified, traditional spacecraft or space robots will not be able to adapt to the changing unstructured environment and cannot solve unexpected situations.

[0003] Spacecraft assemblies are composed of multiple unit modules or modular robots, and they will play a unique role in space exploration. The space environment is full of uncertainty and diversity, including different gravity, terrain, obstacles, etc. How spacecraft assemblies can autonomously adjust their shapes according to environmental changes to adapt to different work tasks and conditions needs to be solved urgently.

[0004] It is mainly manifested in the following aspects:

[0005] First, in the space environment, mechanical failure and damage are common, and it is particularly important for spacecraft assemblies to self-repair by reassembling modules or replacing damaged modules to enhance their fault tolerance and robustness.

[0006] Second, in space missions, resources are limited and expensive. It is also important for spacecraft assemblies to maximize the use of limited resources and extend the mission life by optimizing module configuration and morphological changes.

[0007] Third, the modules of spacecraft assemblies are usually designed as relatively small units. How these units are combined together when needed so that they can be stacked tightly during the space transportation phase allows them to adjust their volume and weight before launch to adapt to different payload requirements. Summary of the invention

[0008] In view of this, the purpose of the present application is to overcome the shortcomings of the prior art and propose a method for reconstructing a spacecraft assembly in a weightless environment, specifically a spacecraft assembly connection and reconstruction method driven by an electropermanent magnet array. The method utilizes a module where the electropermanent magnet array is located and where adjustable gravity and repulsion are connected to achieve rotational reconstruction and / or ejection capture reconstruction.

[0009] The spacecraft assembly is composed of multiple modules (unit modules or modular robots). The modules are connected by permanent magnet arrays. Various aerospace assemblies can be obtained through various structures to complete various tasks.

[0010] A method for connecting and reconstructing a spacecraft assembly driven by an electro-permanent magnet array, wherein the method is reconstructed in a weightless environment, wherein each module comprises four panels arranged in a ring, wherein the four panels are perpendicular to each other, and each panel is provided with four electro-permanent magnets; wherein the four electro-permanent magnets are evenly arranged in a ring, wherein the magnetic poles of the four electro-permanent magnets all pass through a surface of the panel and are fixed to the panel; and wherein a permanent magnet array is formed.

[0011] The connection and reconstruction method is:

[0012] S1. Initially, module No. 1 is placed on module No. 1, and modules No. 2 to No. 3 are arranged side by side.

[0013] Adjacent modules are connected together by the attraction of electro-permanent magnets; the angle between the docking surfaces of module No. 2 and module No. 3 is 90°;

[0014] S2, adjusting the state of the electro-permanent magnets, adjusting the state of the electro-permanent magnets between the connecting surfaces of the No. 1 module and the No. 2 module, wherein the electro-permanent magnets far from the No. 3 module are in a repulsive state, the electro-permanent magnets in the middle are in a non-magnetic state, the electro-permanent magnets near the No. 3 module are in an attractive state, and all the electro-permanent magnets on the surfaces to be connected between the No. 1 module and the No. 3 module are in an attractive state;

[0015] S3, module reconstruction. After the state of the electropermanent magnet is adjusted, the repulsive force and attractive force between module No. 1 and module No. 2 are equal in magnitude and opposite in direction. At this time, module No. 1 generates a torque around the lower right side, and module No. 1 starts to rotate. After the rotation, module No. 1 is subject to the repulsive force of module No. 2 and the attractive force of module No. 3. Then module No. 1 and module No. 3 are completely attracted and finally connected together to complete the reconstruction.

[0016] A method for connecting and reconfiguring a spacecraft assembly driven by an electro-permanent magnet array, wherein the method is reconfigured in a weightless environment, wherein each module comprises two shells that can rotate relative to each other, each shell is a right-angle structure, and four electro-permanent magnets are arranged on two panels of each shell; the four electro-permanent magnets are evenly arranged along a ring, and the magnetic poles of the four electro-permanent magnets all pass through the panels and are fixed to the panels;

[0017] The connection and reconstruction method is:

[0018] S1. Initially, module No. 1, module No. 2 and module No. 3 are stacked in sequence, and adjacent modules are connected together by the attraction of electro-permanent magnets;

[0019] S2, the No. 1 module and the No. 2 module are driven by one shell of the No. 3 module to rotate 90° around the vertical axis relative to the other shell of the No. 3 module. Then, the No. 1 module is driven by one shell of the No. 2 module to rotate 90° around the horizontal axis relative to the other shell of the No. 2 module. At this time, the angle between the connection surface of the No. 1 module and the No. 3 module is 90°;

[0020] S3, adjust the state of the electro-permanent magnets, adjust the state of the magnets between the connecting surfaces of the No. 1 module and the No. 2 module, wherein the electro-permanent magnets far from the No. 3 module are in a repulsive state, the middle electro-permanent magnets are in a non-magnetic state, the electro-permanent magnets close to the No. 3 module are in an attractive state, and all the electro-permanent magnets on the connecting surfaces of the No. 1 module and the No. 3 module are in an attractive state; after the state of the electro-permanent magnets is adjusted, the repulsive force and the attractive force between the No. 1 module and the No. 2 module are equal in magnitude and opposite in direction, at which time the No. 1 module generates a torque around the lower right side, and the No. 1 module starts to rotate. After the rotation, the No. 1 module is subject to the repulsive force of the No. 2 module and the attractive force of the No. 3 module, and the No. 1 module starts to rotate forward, and then the No. 1 module and the No. 3 module are completely attracted and connected together;

[0021] S4, one housing of the No. 2 module rotates 90° in the opposite direction around the horizontal axis relative to the other housing thereof, and then, driven by one housing of the No. 3 module, the No. 2 module rotates 90° in the opposite direction around the vertical axis relative to the other housing of the No. 3 module;

[0022] S5, adjusting the state of the electro-permanent magnets again, adjusting the state of the magnets between the connecting surfaces of the No. 1 module and the No. 3 module, wherein the electro-permanent magnets far from the No. 2 module are in a repulsive state, the electro-permanent magnets in the middle are in a non-magnetic state, the electro-permanent magnets close to the No. 2 module are in an attractive state, and all the electro-permanent magnets on the connecting surfaces of the No. 1 module and the No. 2 module are in an attractive state;

[0023] After the state of the electropermanent magnet is adjusted, the repulsive force and attractive force between module No. 1 and module No. 2 are equal in magnitude and opposite in direction. At this time, module No. 1 generates a torque toward the upper side, and module No. 1 starts to rotate in the opposite direction. After the rotation, module No. 1 is subject to the repulsive force of module No. 3 and the attractive force of module No. 2. Then module No. 1 and module No. 2 are completely attracted and finally connected together to complete the reconstruction.

[0024] A method for connecting and reconstructing a spacecraft assembly driven by an electro-permanent magnet array, wherein the spacecraft assembly is composed of a plurality of modules, and the modules are connected by an electro-permanent magnet array; each module comprises four panels arranged in a ring, the four panels are perpendicular to each other, and each panel is provided with four electro-permanent magnets;

[0025] The four electro-permanent magnets are evenly arranged in a ring shape, and the magnetic poles of the four electro-permanent magnets all pass through a surface of the panel and are fixed to the panel;

[0026] The connection and reconstruction method is as follows: in a stable state, the electro-permanent magnets on the docking surfaces between the modules in the spacecraft assembly are in an attractive state. In the ejection stage, all the electro-permanent magnets on the connecting surfaces between the modules are adjusted to a repulsive state, and the magnitude of the repulsive forces is the same. Then, a certain module receives the repulsive force, separates from the spacecraft assembly and moves. When the module approaches the adsorption position of the target module, the module is captured by magnetic traction. At this point, the launch and capture of the module is completed, and the reconstruction of the spacecraft assembly is completed.

[0027] The beneficial effects of the present invention compared with the prior art are as follows:

[0028] 1. Traditional modules need external help for their own reconstruction. The novel reconstruction method of the present application utilizes the connecting permanent magnets of the spacecraft assembly to allow the module robot to complete the reconstruction. Moreover, the module does not need to add new structures, so that a single module can have reconstruction capabilities.

[0029] 2. Compared with the traditional method of reconstructing modules, the present application utilizes the relationship between the attraction and repulsion of the electropermanent magnet array to demonstrate the connection and reconstruction functions, realize the reconstruction of the spacecraft assembly, and can greatly reduce energy loss.

[0030] 3. This application is a completely new construction method and reconstruction method. Modules (unit modules or modular robots) can be combined together by rotation or ejection capture when needed, so that they can be stacked tightly during the space transportation phase. This flexible reconstruction can adjust the volume and weight before launch to adapt to different load requirements. In addition, in the weightless environment of space, the load capacity of unit modules or modular robots will be greatly improved, and large-scale self-reconstruction and configuration construction can be achieved, which will be conducive to the use of spacecraft assemblies for more space operations or on-orbit services and other tasks.

[0031] The present application scheme is further described with reference to the accompanying drawings and embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the unit module or modular robot and the distribution of the electro-permanent magnets combined with the method of the present application;

[0033] Figure 2 This is a schematic diagram of the structure of the electropermanent magnet of the present application;

[0034] Figure 3 The working principle diagram of the electropermanent magnet with and without magnetism;

[0035] Figure 4 It is the initial state diagram of the reconstruction module in the embodiment;

[0036] Figure 5is a process diagram of a rotation reconstruction module of an embodiment;

[0037] Figure 6 It is a force analysis diagram of the rotational reconstruction module in the embodiment;

[0038] Figure 7 A process diagram of another rotation and reconstruction module of an embodiment;

[0039] Figure 8 A process diagram of ejection capture reconstruction according to an embodiment. DETAILED DESCRIPTION

[0040] The embodiments of the technical solution of the present application are described in detail below in conjunction with the accompanying drawings. Unless otherwise specified, the technical terms or scientific terms used in the present application are generally understood by those skilled in the art.

[0041] The module connection surface and electro-permanent magnet design are as follows Figure 1 As shown, due to the poor shear and torsion resistance of the magnet, four sets of bosses and recesses are added in pairs in a centrally symmetrical manner on the connection surface to enhance its shear and torsion resistance. Moreover, since the four sets of bosses and recesses are centrally symmetrically distributed, the modules can be connected normally in the four directions of 0°, 90°, 180°, and 270° when connected, and the connection surface is distributed.

[0042] Each of the modules comprises four panels C arranged in a ring, the four panels C are perpendicular to each other, and each panel C is provided with four electro-permanent magnets A;

[0043] The four electro-permanent magnets A are evenly arranged in a ring or array, and the magnetic poles A4 of the four electro-permanent magnets A all pass through a surface of the panel C and are fixed to the panel C;

[0044] It is possible that two panels C are vertically fixed to form a shell, and the two shells can rotate relative to each other, that is, any one of the shells is in a right-angle structure.

[0045] Reference Figure 2 Each electro-permanent magnet A comprises a winding A1 and two Alnico cores A2. The two Alnico cores A2 are of equal length and arranged in parallel. The two magnetic poles A4 are fixed at both ends of the Alnico magnetic rod A2. The winding A1 is wound on the outside of the Alnico magnetic rod A2. Both ends of the winding A1 are driving signal input ends of the electro-permanent magnet A.

[0046] The basic principle of electro-permanent magnet is Figure 3As shown, the polarity of the AlNiCo core can be changed by a momentary current pulse, and the permanent magnet A can be changed from having apparent magnetism to having no magnetism by controlling the time of the current pulse. Therefore, the connection surface between the modules has three states: suction, magnetic force, and no force. In view of this, the connection between the modules is connected by a permanent magnet array to form a spacecraft assembly, and various aerospace assemblies are obtained through various structures to complete various tasks.

[0047] In view of the magnetic, suction and non-magnetic states between modules and the connection and reconstruction functions of the permanent magnet array, a new spacecraft assembly reconstruction method is designed.

[0048] One is to use the relationship between the repulsive force and magnetic force between modules to complete the reconstruction of the spacecraft assembly by rotation in a weightless environment. The reconstruction method is as follows:

[0049] S0, the initial state of the module, the module number and the connection surface number are Figure 4 As shown, specifically, 1-1 represents the first connection surface of module No. 1, 1-2 represents the second connection surface of module No. 1, 1-3 represents the third connection surface of module No. 1, and 1-4 represents the fourth connection surface of module No. 1;

[0050] Similarly, 2-1 represents the first connection surface of the second module 2, 2-2 represents the second connection surface of the second module 2, 2-3 represents the third connection surface of the second module 2, and 2-4 represents the fourth connection surface of the second module 2;

[0051] 3-1 represents the first connection surface of the third module 3, 3-2 represents the second connection surface of the third module 3, 3-3 represents the third connection surface of the third module 3, and 3-4 represents the fourth connection surface of the third module 3;

[0052] The initial connection between modules is connected by the attraction of permanent magnets. At the beginning, the connection surface 1-3 is connected to the connection surface 2-1, and the connection surface 2-2 is connected to the connection surface 3-4. When the reconstruction begins, the state of the magnet between the connection surface 1-3 and the connection surface 2-1 changes. Figure 5-Figure 6 Execution, as follows:

[0053] S1. Initially, module 1 is placed on module 2, and modules 2 to 3 are arranged side by side. The angle between the surfaces to be connected between module 2 and module 3 is 90°. Adjacent modules are connected together by the attraction of the electro-permanent magnet A. At the beginning, connection surface 1-3 is connected to connection surface 2-1, and connection surface 2-2 is connected to connection surface 3-4. When reconstruction is to begin, the state of the magnet between connection surface 1-3 and connection surface 2-1 changes.

[0054] S2, adjust the state of the electro-permanent magnets, adjust the state of the electro-permanent magnets between the connection surfaces of the No. 1 module 1 and the No. 2 module 2, wherein the connection surface 1-3 and the electro-permanent magnets A far from the No. 3 module 3 in the connection surface 2-1 are in a repulsive state, the middle electro-permanent magnets A are in a non-magnetic state, the electro-permanent magnets A near the No. 3 module 3 are in an attractive state, and all the electro-permanent magnets A on the surfaces to be connected between the No. 1 module 1 and the No. 3 module 3 are in an attractive state;

[0055] S3, module reconstruction. After the state of the electropermanent magnet is adjusted, the repulsive force and attractive force between module No. 1 and module No. 2 are equal in magnitude and opposite in direction. At this time, module No. 1 generates a torque around the lower right side, and module No. 1 starts to rotate. After the rotation, module No. 1 is subject to the repulsive force of module No. 2 and the attractive force of module No. 3. After that, the 1-2 connecting surface of module No. 1 and the 3-1 connecting surface of module No. 3 are completely attracted and finally connected together to complete the reconstruction.

[0056] At this time, module 1 is reconstructed from module 2 to module 3. Through this reconstruction method, when the angle between the two connection surfaces is 90 degrees, the module can be transferred from one module to another. Compared with the traditional method of reconstructing the module using external mechanisms, this is a new reconstruction method. Since only a short-term current is passed between the four permanent magnets to complete the above operation, the energy required for reconstructing the module can be greatly reduced. In addition, this reconstruction method combines the connection of the module with the reconstruction function, which can reduce the parts and weight of the module.

[0057] During the reconstruction process in this manner, the electropermanent magnets of the connection surface 1-1, the connection surface 1-4, the connection surface 2-4, the connection surface 2-4, the connection surface 3-2 and the connection surface 3-3 are adjusted according to the situation and maintained.

[0058] The effect of this implementation scheme is: through the rotational reconstruction of the module, the damaged module is reconstructed into the corner to complete self-repair, thereby enhancing its fault tolerance and robustness, and then it bounces off and is captured, or is grabbed by other actuators (such as a robotic arm, etc.) to meet the work task requirements.

[0059] During the above adjustment process, the magnetic poles A4 of the four permanent magnets A are also connected to the power bus of the control circuit board through spring contacts; the drive signal input terminals of the four permanent magnets A are all connected to the pulse current output terminals of the control circuit board; the control circuit board is used to supply power to the permanent magnets A, and is also used to send positive or reverse pulse currents to the drive signal input terminals of the four permanent magnets A according to the connection or disconnection control signal, and the two ends of the winding A1 are the drive signal input terminals of the permanent magnets A. It can be that switching the magnetization or demagnetization state of the permanent magnet requires sending two groups of 1ms wide positive or negative current pulses, and the time interval between the two groups of current pulses is 10ms. A 10us wide positive pulse is sent at intervals during communication.

[0060] In another embodiment, for a module with two degrees of freedom (such as a modular robot), the relationship between the repulsive force and the magnetic force between the electropermanent magnet arrays is used to complete the reconstruction of the spacecraft assembly by rotation in a weightless environment, that is, a module (such as module 1) can be rotated and reconstructed to another surface of the same module (module 2). The reconstruction method is as follows:

[0061] Reference Figure 7 Execute. First, after the module is rotated, module 1 can be reconstructed onto module 3 first, and then the positions of module 2 and module 3 are adjusted and rotated, and finally module 1 is reconstructed onto the target position of module 2. The details are as follows:

[0062] Each housing is a right-angle structure, and four electro-permanent magnets A are arranged on two panels C of each housing;

[0063] The four electro-permanent magnets A are evenly arranged in a ring shape, and the magnetic poles A4 of the four electro-permanent magnets A all pass through the panel C and are fixed to the panel C; the method is:

[0064] S1. Initially, module 1, module 2 and module 3 are stacked in sequence, and adjacent modules are connected together by the attraction of the electro-permanent magnet A;

[0065] S2, the first module 1 and the second module 2 are driven by one shell of the third module 3 to rotate 90° around the vertical axis relative to the other shell of the third module 3, and then, the first module 1 is driven by one shell of the second module 2 to rotate 90° around the horizontal axis relative to the other shell of the second module 2, and at this time, the angle between the connection surface of the first module 1 and the third module 3 is 90°;

[0066] S3, adjusting the state of the electro-permanent magnets, adjusting the state of the magnets between the connecting surfaces of the No. 1 module 1 and the No. 2 module 2, wherein the electro-permanent magnets A far from the No. 3 module 3 are in a repulsive state, the electro-permanent magnets A in the middle are in a non-magnetic state, the electro-permanent magnets A near the No. 3 module 3 are in an attractive state, and all the electro-permanent magnets on the connecting surfaces of the No. 1 module 1 and the No. 3 module 3 are in an attractive state;

[0067] After the state of the electropermanent magnet is adjusted, the repulsive force and the attractive force between module No. 1 and module No. 2 are equal in magnitude and opposite in direction. At this time, module No. 1 generates a torque around the lower right side, and module No. 1 starts to rotate. After the rotation, module No. 1 is subject to the repulsive force of module No. 2 and the attractive force of module No. 3, and module No. 1 starts to rotate forward. After that, module No. 1 and module No. 3 are completely attracted and connected together.

[0068] S4, one shell of the second module 2 rotates 90° in the opposite direction relative to the other shell thereof around the horizontal axis, and then the second module 2 is driven by one shell of the third module 3 to rotate 90° in the opposite direction relative to the other shell of the third module 3 around the vertical axis;

[0069] S5, adjust the state of the electro-permanent magnets again, and adjust the state of the magnets between the connecting surfaces of the No. 1 module 1 and the No. 3 module 3, wherein the electro-permanent magnets A far from the No. 2 module 2 are in a repulsive state, the electro-permanent magnets A in the middle are in a non-magnetic state, the electro-permanent magnets A near the No. 2 module 2 are in an attractive state, and all the electro-permanent magnets on the connecting surfaces of the No. 1 module 1 and the No. 2 module 2 are in an attractive state;

[0070] After the state of the electropermanent magnet is adjusted, the repulsive force and the attractive force between module No. 1 and module No. 2 are equal in magnitude and opposite in direction. At this time, module No. 1 generates a torque toward the upper side, and module No. 1 starts to rotate in the opposite direction. After the rotation, module No. 1 is subject to the repulsive force of module No. 3 and the attractive force of module No. 2. Then, module No. 1 and module No. 2 are completely attracted and finally connected together to complete the reconstruction.

[0071] Similarly, during the above adjustment process, the magnetic poles A4 of the four permanent magnets A are also connected to the power bus of the control circuit board through spring contacts; the drive signal input terminals of the four permanent magnets A are all connected to the pulse current output terminals of the control circuit board; the control circuit board is used to supply power to the permanent magnets A, and is also used to send positive or reverse pulse currents to the drive signal input terminals of the four permanent magnets A according to the connection or disconnection control signal, and the two ends of the winding A1 are the drive signal input terminals of the permanent magnets A. It can be that switching the magnetization or demagnetization state of the permanent magnet requires sending two groups of 1ms wide positive or negative current pulses, the time interval between the two groups of current pulses is 10ms, and a 10us wide positive pulse is sent at the communication interval.

[0072] The effect of this implementation scheme is: in the space environment, the modules are arranged together in the most space-saving way, and then reconstructed. By changing the magnetic distribution of a certain surface of the module, the module can be rotated around the axis. Through rotational reconstruction, the spacecraft assembly is reconstructed to complete the mission configuration.

[0073] In another embodiment, a method for reconstructing module ejection and docking using a spacecraft assembly is provided by utilizing the relationship between the repulsive force and the magnetic force between electropermanent magnet arrays.

[0074] Reference Figure 8 In the stable state, the electro-permanent magnets between the modules (e.g., unit modules or modular robots) in the spacecraft assembly are in an attractive state. In the ejection phase, all the electro-permanent magnets on the connecting surfaces between the modules are adjusted to a repulsive state, and the magnitude of the repulsive forces is the same. Then, a module receives the repulsive force and leaves the spacecraft assembly to move in a straight line. When the module approaches the adsorption position of the target module, it is captured by magnetic traction. At this point, the launch and capture of the module is completed, and the reconstruction of the spacecraft assembly is completed.

[0075] The technical effect of this implementation scheme is that the reconstruction can be completed by itself, and the energy required for reconstruction is greatly reduced.

[0076] The present application has been disclosed as above with preferred implementation cases, but it is not intended to limit the present application. Any technician familiar with the profession can make slight changes or modifications to the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present application, and the equivalent implementation cases with equivalent changes are still within the scope of the technical solution of the present application.

Claims

1. A method for connecting and reconstructing a spacecraft assembly driven by an electro-permanent magnet array, characterized in that: The spacecraft assembly is composed of multiple modules, and the modules are connected by an electro-permanent magnet array; Each of the modules comprises four panels (C) arranged in a ring, the four panels (C) are perpendicular to each other, and each panel (C) is provided with four electropermanent magnets (A); The four electro-permanent magnets (A) are evenly arranged in a ring shape, and the magnetic poles (A4) of the four electro-permanent magnets (A) all pass through a surface of the panel (C) and are all fixed to the panel (C); The connection and reconstruction method is: S1. Initially, the first module (1) is placed on the second module (2), the second module (2) to the third module (3) are arranged side by side, and the adjacent modules are connected together by the attraction of the electropermanent magnet (A); the angle between the surfaces to be connected between the second module (2) and the third module (3) is 90°; S2, adjusting the state of the electro-permanent magnets, adjusting the state of the electro-permanent magnets between the connecting surfaces of the No. 1 module (1) and the No. 2 module (2), wherein the electro-permanent magnets (A) far from the No. 3 module (3) are in a repulsive state, the electro-permanent magnets (A) in the middle are in a non-magnetic state, the electro-permanent magnets (A) close to the No. 3 module (3) are in an attractive state, and all the electro-permanent magnets (A) on the surfaces to be connected between the No. 1 module (1) and the No. 3 module (3) are in an attractive state; S3, module reconstruction. After the state of the electropermanent magnet is adjusted, the repulsive force and the attractive force between module No. 1 (1) and module No. 2 (2) are equal in magnitude and opposite in direction. At this time, module No. 1 (1) generates a torque around the lower right side, and module No. 1 (1) starts to rotate. After the rotation, module No. 1 (10) is subject to the repulsive force of module No. 2 (2) and the attractive force of module No. 3 (3). Then, module No. 1 (1) and module No. 3 (3) are completely attracted and finally connected together to complete the reconstruction.

2. The method for connecting and reconstructing a spacecraft assembly driven by an electro-permanent magnet array according to claim 1, characterized in that: The magnetic poles (A4) of the four electropermanent magnets (A) are also connected to the power bus of the control circuit board through spring contacts; the drive signal input ends of the four electropermanent magnets (A) are all connected to the pulse current output ends of the control circuit board; the control circuit board is used to supply power to the electropermanent magnets (A), and is also used to send positive or reverse pulse currents to the drive signal input ends of the four electropermanent magnets (A) according to the connection or disconnection control signal.

3. A method for connecting and reconstructing a spacecraft assembly driven by an electro-permanent magnet array according to claim 1 or 2, characterized in that: Each electropermanent magnet (A) comprises a winding (A1) and two AlNiCo magnetic cores (A2), the two AlNiCo magnetic cores (A2) are of equal length and arranged in parallel, the two magnetic poles (A4) are fixed at two ends of the AlNiCo magnetic rod (A2), and the winding (A1) is wound on the outside of the AlNiCo magnetic rod (A2).

4. The method for connecting and reconstructing a spacecraft assembly driven by an electro-permanent magnet array according to claim 1, characterized in that: The two panels are vertically fixed to form a shell, and the two shells can rotate relatively.

5. A method for connecting and reconstructing a spacecraft assembly driven by an electro-permanent magnet array, characterized in that: The spacecraft assembly is composed of a plurality of modules, and the modules are connected by an electro-permanent magnet array; each module comprises two shells that can rotate relative to each other, each shell is a right-angle structure, and four electro-permanent magnets (A) are arranged on two panels (C) of each shell; The four electro-permanent magnets (A) are evenly arranged in a ring shape, and the magnetic poles (A4) of the four electro-permanent magnets (A) all pass through the panel (C) and are fixed to the panel (C); The connection and reconstruction method is: S1. Initially, module No. 1 (1), module No. 2 (2) and module No. 3 (3) are stacked in sequence, and adjacent modules are connected together by the attraction of the electropermanent magnet (A); S2, the first module (1) and the second module (2) are driven by one shell of the third module (3) to rotate 90° in the positive direction around the vertical axis relative to the other shell of the third module (3), and then, the first module (1) is driven by one shell of the second module (2) to rotate 90° in the positive direction around the horizontal axis relative to the other shell of the second module (2), and at this time, the angle between the connection surface of the first module (10) and the third module (3) is 90°; S3, adjust the state of the electro-permanent magnet, adjust the state of the magnet between the connection surfaces of the first module (1) and the second module (2), The electro-permanent magnets (A) far from the third module (3) are in a repulsive state, the electro-permanent magnets (A) in the middle are in a non-magnetic state, the electro-permanent magnets (A) near the third module (3) are in an attractive state, and all the electro-permanent magnets on the interface between the first module (1) and the third module (3) are in an attractive state; After the state of the electropermanent magnet is adjusted, the repulsive force and the attractive force between the No. 1 module (1) and the No. 2 module (2) are equal in magnitude and opposite in direction. At this time, the No. 1 module (1) generates a torque around the lower right side, and the No. 1 module (1) starts to rotate. After the rotation, the No. 1 module (1) is subject to the repulsive force of the No. 2 module (2) and the attractive force of the No. 3 module (3). The No. 1 module (1) starts to rotate in the positive direction, and then the No. 1 module (1) and the No. 3 module (3) are completely attracted and connected together. S4, one shell of the second module (2) rotates 90° in the opposite direction around the horizontal axis relative to the other shell thereof, and then, driven by one shell of the third module (3), the second module (2) rotates 90° in the opposite direction around the vertical axis relative to the other shell of the third module (3); S5, adjusting the state of the electro-permanent magnets again, adjusting the state of the magnets between the connecting surfaces of the first module (1) and the third module (3), wherein the electro-permanent magnets (A) far from the second module (2) are in a repulsive state, the electro-permanent magnets (A) in the middle are in a non-magnetic state, the electro-permanent magnets (A) close to the second module (2) are in an attractive state, and all the electro-permanent magnets on the connecting surfaces of the first module (1) and the second module (2) are in an attractive state; After the state of the electropermanent magnet is adjusted, the repulsive force and the attractive force between module No. 1 (1) and module No. 2 (2) are equal in magnitude and opposite in direction. At this time, module No. 1 (1) generates a torque directed upwards, and module No. 1 (1) begins to rotate in the opposite direction. After the rotation, module No. 1 (1) is subject to the repulsive force of module No. 3 (3) and the attractive force of module No. 2 (2). Then, module No. 1 (1) and module No. 2 (2) are completely attracted and finally connected together to complete the reconstruction.

6. A method for connecting and reconstructing a spacecraft assembly driven by an electro-permanent magnet array, characterized in that: The spacecraft assembly is composed of a plurality of modules, and the modules are connected by an electro-permanent magnet array; each module comprises four panels (C) arranged in a ring, the four panels (C) are perpendicular to each other, and each panel (C) is provided with four electro-permanent magnets (A); The four electro-permanent magnets (A) are evenly arranged in a ring shape, and the magnetic poles (A4) of the four electro-permanent magnets (A) all pass through a surface of the panel (C0) and are all fixed to the panel (C); The connection and reconstruction method is: In the stable state, the electro-permanent magnets on the docking surfaces between the modules in the spacecraft assembly are in an attractive state. In the ejection phase, all the electro-permanent magnets on the connecting surfaces between the modules are adjusted to a repulsive state, and the magnitude of the repulsive forces is the same. Then a module receives the repulsive force, separates from the spacecraft assembly and moves. When the module approaches the adsorption position of the target module, it is captured by magnetic traction. At this point, the launch and capture of the module is completed, and the reconstruction of the spacecraft assembly is completed.

7. According to the method for connecting and reconstructing a spacecraft assembly driven by an electro permanent magnet array as described in claim 5 or 6, the magnetic poles (A4) of the four electro permanent magnets (A) are also connected to the power bus of the control circuit board through spring contacts; the drive signal input ends of the four electro permanent magnets (A) are all connected to the pulse current output ends of the control circuit board; the control circuit board is used to supply power to the electro permanent magnets (A), and is also used to send forward or reverse pulse currents to the drive signal input ends of the four electro permanent magnets (A) according to the connection or disconnection control signal.

8. The method for connecting and reconstructing a spacecraft assembly driven by an electro-permanent magnet array according to claim 7, characterized in that: Each electropermanent magnet (A) comprises a winding (A1) and two AlNiCo magnetic cores (A2), the two AlNiCo magnetic cores (A2) are of equal length and arranged in parallel, the two magnetic poles (A4) are fixed at both ends of the AlNiCo magnetic rod (A2), and the winding (A1) is wound on the outside of the AlNiCo magnetic rod (A2).

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