Spacecraft assembly connection and reconfiguration method driven by an array of electro-permanent magnets

Abstract

A spacecraft assembly connection and reconstruction method driven by an electromagnet array, the method comprises adjusting the state of the electromagnet between the connecting surface of the first module and the second module, the electromagnet away from the third module is in repulsion state, the electromagnet in the middle is in non-magnetic state, the electromagnet close to the third module is in attraction state, and all the electromagnets of the first module and the third module are in attraction state; after the state of the electromagnet is adjusted, the repulsion and attraction between the first module and the second module are equal in size and opposite in direction, the first module is rotated and subjected to the repulsion of the second module and the attraction of the third module, then the first module and the third module are completely attracted and connected together, and the reconstruction is completed. The application utilizes the attraction and repulsion relationship of the electromagnet array and the connection and reconstruction functions to realize the module reconstruction of the spacecraft assembly and provide a weightlessness simulation environment for the spacecraft assembly under two-dimensional motion.

Description

TECHNICAL FIELD

[0001] The application relates to a method for connecting and reconfiguring a spacecraft assembly, in particular to a method for connecting and reconfiguring a spacecraft assembly driven by an array of electro-permanent magnets, and belongs to the technical field of space technology. BACKGROUND

[0002] With the progress of society and technology, aerospace is developing rapidly, and various space technologies are emerging. However, as the work tasks and work environment become increasingly diversified, traditional spacecraft or space robots will not be able to adapt to the changing unstructured environment and cannot solve the sudden situation.

[0003] The spacecraft assembly is composed of multiple unit modules or modular robots, and the spacecraft assembly will play a unique advantage in space exploration. The space environment is full of uncertainty and diversity, including different gravity, terrain, obstacles, etc. How the spacecraft assembly autonomously adjusts the morphology according to the environmental changes to adapt to different work tasks and conditions needs to be solved urgently.

[0004] The main aspects are as follows:

[0005] First, in the space environment, mechanical failure and damage are common, and how the spacecraft assembly repairs itself by recombining modules or replacing damaged modules to enhance its fault tolerance and robustness is particularly important.

[0006] Second, in space missions, resources are limited and expensive, and how the spacecraft assembly optimizes module configuration and morphology changes to maximize the use of limited resources and prolong the mission life is also important.

[0007] Third, the modules of the spacecraft assembly are usually designed as relatively small units. How these units are combined when needed so that they can be tightly stacked during the space transportation phase, so that they can adjust the volume and weight before launch to adapt to different load requirements. SUMMARY

[0008] In view of this, the purpose of the present application is to overcome the shortcomings of the prior art and provide a method for reconfiguring a spacecraft assembly in a weightless environment, specifically a method for connecting and reconfiguring a spacecraft assembly driven by an array of electro-permanent magnets. The method uses the adjustable attractive and repulsive forces of the array of electro-permanent magnets to connect the modules, to achieve rotational reconfiguration and / or ejection capture reconfiguration.

[0009] The spacecraft assembly is composed of multiple modules (unit modules or modular robots), and the connection between the modules uses an array of permanent magnets. Various spacecraft assemblies are obtained through various structures to complete various tasks.

[0010] A spacecraft assembly connection and reconstruction method driven by an electromagnet array, the method is reconstructed in a weightless environment, each module contains four panels arranged in a ring, two panels are perpendicular to each other, and four electromagnets are arranged on each panel; The four electromagnets are uniformly arranged in a ring, the magnetic poles of the four electromagnets all pass through one surface of the panel, and are fixed with the panel; Form a permanent magnet array

[0011] The connection and reconstruction method is:

[0012] S1, initially, a module is placed on a module, a second module and a third module are arranged side by side,

[0013] The adjacent modules are connected together by the attraction of the electromagnets; The included angle between the to-be-connected surfaces of the second module and the third module is 90°;

[0014] S2, adjust the state of the electromagnet, adjust the state of the electromagnet between the connection surface of the first module and the second module, wherein the electromagnets away from the third module are in repulsion state, the electromagnets in the middle are in non-magnetic state, and the electromagnets close to the third module are in attraction state; All electromagnets between the to-be-connected surfaces of the first module and the third module are in an attractive state;

[0015] S3, module reconstruction, after the state of the electromagnet is adjusted, the repulsion and attraction between the first module and the second module are equal in size and opposite in direction, at this time the first module generates a torque around the lower right, the first module starts to rotate, after rotating the first module is subjected to the repulsion of the second module and the attraction of the third module, then the first module and the third module are completely attracted, and finally connected together, complete reconstruction.

[0016] A spacecraft assembly connection and reconstruction method driven by an electromagnet array, the method is reconstructed in a weightless environment, each module contains two outer shells that can rotate relative to each other, each outer shell is a right angle structure, and four electromagnets are arranged on the two panels of each outer shell; The four electromagnets are uniformly arranged in a ring, and the magnetic poles of the four electromagnets all pass through the panel and are fixed with the panel;

[0017] The connection and reconstruction method is:

[0018] S1, initially, a first module, a second module and a third module are sequentially stacked, and the adjacent modules are connected together by the attraction of the electromagnets;

[0019] S2, the first module and the second module are driven by one shell of the third module to rotate 90° around a vertical axis relative to the other shell of the third module, then the first module is driven by one shell of the second module to rotate 90° around a horizontal axis relative to the other shell of the second module, at this time, the included angle between the connecting surface of the first module and the third module is 90°;

[0020] S3, adjust the state of the electromagnet, adjust the state of the electromagnet between the connecting surface of the first module and the second module, wherein the electromagnets far from the third module are in repulsion state, the electromagnets in the middle are in non-magnetic state, the electromagnets close to the third module are in attraction state, and all the electromagnets on the connecting surface of the first module and the third module are in attraction state; after adjusting the state of the electromagnet, the repulsive force and the attractive force between the first module and the second module are equal in size and opposite in direction, at this time, the first module generates a torque around the lower right, the first module starts to rotate, after rotating, the first module is subjected to the repulsive force of the second module and the attractive force of the third module, the first module starts to rotate forward, and then the first module and the third module are completely attracted and connected together;

[0021] S4, one shell of the second module is driven to rotate 90° around a horizontal axis relative to the other shell of the second module, then the second module is driven by one shell of the third module to rotate 90° around a vertical axis relative to the other shell of the third module;

[0022] S5, adjust the state of the electromagnet again, adjust the state of the electromagnet between the connecting surface of the first module and the third module, wherein the electromagnets far from the second module are in repulsion state, the electromagnets in the middle are in non-magnetic state, the electromagnets close to the second module are in attraction state, and all the electromagnets on the connecting surface of the first module and the second module are in attraction state;

[0023] After adjusting the state of the electromagnet, the repulsive force and the attractive force between the first module and the second module are equal in size and opposite in direction, at this time, the first module generates a torque around the upper, the first module starts to rotate reversely, after rotating, the first module is subjected to the repulsive force of the third module and the attractive force of the second module, then the first module and the second module are completely attracted and finally connected together, completing the reconstruction.

[0024] A spacecraft assembly connection and reconstruction method driven by an electromagnet array, the spacecraft assembly is composed of multiple modules, the connection between the modules adopts an electromagnet array connection; each module comprises four panels arranged in a ring, the four panels are perpendicular to each other in pairs, and four electromagnets are arranged on each panel;

[0025] The four electromagnets are uniformly arranged in a ring, the magnetic poles of the four electromagnets all pass through one surface of the panel, and are fixed to the panel;

[0026] The connecting and reconfiguring method is that: in a steady state, the electric permanent magnets of the docking surfaces between the modules in the spacecraft assembly are in an attractive state, in a launching stage, the electric permanent magnets of the connecting surfaces between the modules are all adjusted to repulsive state, and the repulsive force is the same, then a certain module receives repulsive force, separates from the spacecraft assembly and moves, when the module approaches the target module adsorption position, the module is captured by magnetic force traction, thus, the launching and capturing of the module are completed, and the reconfiguration of the spacecraft assembly is completed.

[0027] The application has the following beneficial effects compared with the prior art:

[0028] I. The traditional module needs external help for reconfiguration, the novel reconfiguration method of the application can make the module robot complete reconfiguration by using the connecting permanent magnet of the spacecraft assembly, and the module does not need to increase new structure, so that the single module has reconfiguration capability.

[0029] II. Compared with the traditional reconfiguration module, the application uses the attractive force and repulsive force relationship of the electric permanent magnet array to show the connecting and reconfiguration functions, realizes the reconfiguration of the spacecraft assembly, and can greatly reduce the energy loss.

[0030] III. The application is a novel structure and reconfiguration method. The module (unit module or modular robot) can be combined by rotating or launching and capturing when needed, so that they can be tightly stacked in the space transportation stage. This flexible reconfiguration can adjust the volume and weight before launching to adapt to different load requirements. In addition, in the space weightless environment, the load capacity of the unit module or modular robot will be greatly improved, and large-scale self-reconfiguration and configuration building can be realized, which will be beneficial to the spacecraft assembly for more space operations or on-orbit services and other tasks.

[0031] The application scheme is further described in combination with the drawings and embodiments: DETAILED DESCRIPTION

[0032] Figure 1 The unit module or modular robot and the electric permanent magnet distribution diagram combined with the method of the application;

[0033] Figure 2 The structure diagram of the electric permanent magnet of the application;

[0034] Figure 3 The magnetic and non-magnetic working principle diagram of the electric permanent magnet;

[0035] Figure 4 The initial state diagram of the reconfiguration module in the embodiment;

[0036] Figure 5A process diagram of a rotating reconstruction module for an embodiment;

[0037] Figure 6 A force analysis diagram of a rotating reconstruction module for an embodiment;

[0038] Figure 7 A process diagram of another rotating reconstruction module for an embodiment;

[0039] Figure 8 A process diagram of a catapult capture reconstruction for an embodiment. DETAILED DESCRIPTION

[0040] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the technical terms or scientific terms used in the present application are understood by those skilled in the art in their usual meanings.

[0041] The module connecting surface and the electric permanent magnet are designed as shown in Figure 1 Since the shear resistance and the torsion resistance of the magnet are poor, four sets of protrusions and recesses are added in pairs in the center of the connecting surface to enhance the shear resistance and the torsion resistance, and since the four sets of protrusions and recesses are distributed in a central symmetry, the module can be connected normally in the four directions of 0°, 90°, 180° and 270°, and the connecting surface is distributed.

[0042] Each of the modules comprises four panel C arranged in a ring, and the four panel C are perpendicular to each other in pairs, and four electric permanent magnets A are arranged on each panel C;

[0043] The four electric permanent magnets A are uniformly arranged or arrayed in a ring, and the magnetic poles A4 of the four electric 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 of the panel C are fixed vertically as a shell, and the two shells can rotate relative to each other. That is, any one shell is in a right angle structure.

[0045] Referring to Figure 2 Each electric permanent magnet A comprises a winding A1 and two aluminum-nickel-cobalt magnetic rods A2, the two aluminum-nickel-cobalt magnetic rods A2 are equal in length and arranged in parallel, the two magnetic poles A4 are fixed at the two ends of the aluminum-nickel-cobalt magnetic rod A2, the winding A1 is wound outside the aluminum-nickel-cobalt magnetic rod A2, and the two ends of the winding A1 are the driving signal input ends of the electric permanent magnet A.

[0046] The basic principle of the electric permanent magnet is Figure 3As shown, the polarity of the aluminum-nickel-cobalt magnetic core can be changed by a momentary current pulse, and the magnetic property of the electropermanent magnet A can be changed from magnetic to non-magnetic by controlling the time of the current pulse. Therefore, the connecting surface between the modules has three states of attraction, magnetic force and no force, and thus the modules are connected by the array of permanent magnets to form a spacecraft assembly, and various spacecraft assemblies are obtained by various structures to complete various tasks.

[0047] In view of the three states of magnetic force, attraction and no magnetic force between the modules and the connection and reconstruction functions of the array of permanent magnets, a new spacecraft assembly reconstruction method is designed.

[0048] One is to use the repulsive force and magnetic force between the modules, and 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 connecting surface number are shown in Figure 4 Specifically, 1-1 represents the first connecting surface of module 1, 1-2 represents the second connecting surface of module 1, 1-3 represents the third connecting surface of module 1, and 1-4 represents the fourth connecting surface of module 1.

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

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

[0052] The initial connection between the modules is connected together by the attraction of the electropermanent magnet, and at the beginning, the connecting surface 1-3 is connected together with the connecting surface 2-1, and the connecting surface 2-2 is connected together with the connecting surface 3-4. When the reconstruction starts, the state of the magnet between the connecting surface 1-3 and the connecting surface 2-1 changes. Refer to Figures 5-6 Execution, specifically as follows:

[0053] S1, initially, module 1 is placed on module 2, module 2 to module 3 are arranged side by side, the angle between the to-be-connected surfaces of module 2 and module 3 is 90°; adjacent modules are connected together by the attraction of the electropermanent magnet A; at the beginning, the connecting surface 1-3 is connected together with the connecting surface 2-1, and the connecting surface 2-2 is connected together with the connecting surface 3-4. When the reconstruction starts, the state of the magnet between the connecting surface 1-3 and the connecting surface 2-1 changes.

[0054] S2, adjust the state of the electric permanent magnet, adjust the state of the electric permanent magnet between the connecting surface of the first module 1 and the second module 2, wherein the electric permanent magnets A in the connecting surface 1-3 and the connecting surface 2-1 far away from the third module 3 are in repulsion state, the electric permanent magnets A in the middle are in non-magnetic state, the electric permanent magnets A close to the third module 3 are in attraction state, and all the electric permanent magnets A in the to-be-docking surfaces of the first module 1 and the third module 3 are in attraction state;

[0055] S3, module reconstruction, after the state of the electric permanent magnet is adjusted, the repulsion and the attraction between the first module 1 and the second module 2 are equal in size and opposite in direction, at this time the first module 1 generates a moment of force around the right lower side, the first module 1 starts to rotate, after rotation the first module 1 is subjected to the repulsion of the second module 2 and the attraction of the third module 3, then the 1-2 connecting surface of the first module 1 and the 3-1 connecting surface of the third module 3 are completely attracted, and finally connected together to complete the reconstruction.

[0056] At this time, the first module 1 is reconstructed from the second module 2 to the third module 3, through the reconstruction method, when the included angle between the two connecting surfaces is 90 degrees, the module can be transferred from one module to another module, compared with the traditional method of using external mechanism to reconstruct the module, this is a new reconstruction method, because only a short time of current needs to be passed through between the four permanent magnets, the above operation can be completed, so the energy required for reconstructing the module can be greatly reduced. And this reconstruction method combines the functions of module connection and reconstruction, which can reduce the parts and weight of the module.

[0057] In the reconstruction process of this mode, the electric permanent magnets of the connecting surface 1-1, the connecting surface 1-4, the connecting surface 2-4, the connecting surface 2-4, the connecting surface 3-2 and the connecting surface 3-3 are adjusted to the state and maintained.

[0058] The effect of the embodiment is that through the rotation reconstruction of the module, the damaged module is reconstructed to the corner to complete self-repairing, thereby enhancing the fault tolerance and robustness, and then the captured module is bounced away or grabbed away by other execution mechanism (such as a mechanical arm), to meet the work task demand.

[0059] In the above adjustment process, the magnetic pole A4 of the four electric permanent magnets A is also connected with the power bus of the control circuit board through the spring contact; the driving signal input end of the four electric permanent magnets A is connected with the pulse current output end of the control circuit board; the control circuit board is used for supplying power for the electric permanent magnet A, and is also used for sending forward or reverse pulse current to the driving signal input end of the four electric permanent magnets A according to the connection or disconnection control signal, and the winding A1 is the driving signal input end of the electric permanent magnet A. It can be that two groups of 1ms wide forward or negative current pulses need to be sent to switch the magnetization or demagnetization state of the electric permanent magnet, and the time interval of the two groups of current pulses is 10ms. A 10us wide forward pulse is sent in the communication time interval.

[0060] In another embodiment, for the module with two degrees of freedom (for example, a modular robot), the relationship between the repulsive force and the magnetic force possessed by the array of electric permanent magnets is utilized, and in the weightless environment, the spacecraft assembly is reconstructed by rotation, that is, one module (for example, module 1) is rotated and reconstructed to another face of the same module (module 2). The reconstruction mode is as follows:

[0061] Referring to Figure 7 is performed. First, after the module is rotated, module 1 can be first reconstructed to module 3, and then the positions of module 2 and module 3 are adjusted and rotated, and finally module 1 is reconstructed to the target position of module 2. The specific process is as follows:

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

[0063] The four electric permanent magnets A are uniformly arranged along the ring, the magnetic pole A4 of the four electric permanent magnets A penetrates the panel C and is fixed with the panel C; and the method is as follows:

[0064] S1, initially, module 1, module 2 and module 3 are sequentially stacked, and adjacent modules are connected together by the attractive force of the electric permanent magnets A;

[0065] S2, module 1 and module 2 are positively rotated 90° around the vertical shaft under the driving of one shell of module 3 relative to the other shell of module 3, and then module 1 is positively rotated 90° around the horizontal shaft under the driving of one shell of module 2 relative to the other shell of module 2, at this time, the included angle between module 1 and module 3 is 90°;

[0066] S3, adjust the state of the electromagnet, adjust the state of the electromagnet between the connecting surface of the first module 1 and the second module 2, wherein the electromagnet A away from the third module 3 is in repulsion state, the electromagnet A in the middle is in non-magnetic state, and the electromagnet A close to the third module 3 is in attraction state, and all the electromagnets on the connecting surface of the first module 1 and the third module 3 are in attraction state;

[0067] After the state of the electromagnet is adjusted, the repulsion and attraction between the first module 1 and the second module 2 are equal in size and opposite in direction, at this time the first module 1 generates a torque around the lower right, the first module 1 starts to rotate, after rotating the first module 1 is subjected to the repulsion of the second module 2 and the attraction of the third module 3, the first module 1 starts to rotate positively, and then the first module 1 and the third module 3 are completely attracted and connected together;

[0068] S4, one shell of the second module 2 is rotated 90° around the horizontal axis relative to the other shell, and then the second module 2 is rotated 90° around the vertical axis relative to the other shell of the third module 3 under the driving of one shell of the third module 3;

[0069] S5, adjust the state of the electromagnet again, adjust the state of the electromagnet between the connecting surface of the first module 1 and the third module 3, wherein the electromagnet A away from the second module 2 is in repulsion state, the electromagnet A in the middle is in non-magnetic state, and the electromagnet A close to the second module 2 is in attraction state, and all the electromagnets on the connecting surface of the first module 1 and the second module 2 are in attraction state;

[0070] After the state of the electromagnet is adjusted, the repulsion and attraction between the first module 1 and the second module 2 are equal in size and opposite in direction, at this time the first module 1 generates a torque around the upper, the first module 1 starts to rotate reversely, after rotating the first module 1 is subjected to the repulsion of the third module 3 and the attraction of the second module 2, then the first module 1 and the second module 2 are completely attracted and finally connected together, completing the reconstruction.

[0071] Similarly, in the above adjustment process, the magnetic pole A4 of the four electromagnets A is also connected with the power bus of the control circuit board through the spring contact; the driving signal input end of the four electromagnets A is connected with the pulse current output end of the control circuit board; the control circuit board is used for supplying power to the electromagnet A, and is also used for sending forward or reverse pulse current to the driving signal input end of the four electromagnets A according to the connection or disconnection control signal; the winding A1 at both ends is the driving signal input end of the electromagnet A. It can be that switching the magnetization or demagnetization state of the electromagnet needs to send two groups of 1ms wide forward or negative current pulses, and the time interval of the two groups of current pulses is 10ms, and the communication time interval sends a 10us wide forward pulse.

[0072] The effect of the embodiment is that in the space environment, the modules are arranged together in the most space-saving way, then reconfigured, the magnetic force distribution of a certain surface of the module is changed, the module is rotated around the axis, the spacecraft assembly is reconfigured by rotating reconfiguration, and the task configuration is completed.

[0073] In another embodiment, a reconfiguration method for launching and docking modules by using a spacecraft assembly is provided by using the repulsive force and magnetic force relationship between the electric permanent magnet arrays.

[0074] Reference Figure 8 In the stable state, the electric permanent magnets between the modules (such as unit modules or modular robots) in the spacecraft assembly are in an attractive state, in the launching stage, the electric permanent magnets on the connecting surface between the modules are all adjusted to a repulsive state, and the repulsive force is the same, then a certain module is separated from the spacecraft assembly by repulsive force and moves in a straight line, when the module approaches the target module adsorption position, the module is captured by magnetic force traction, thus, the launching and capturing of the module are completed, and the reconfiguration of the spacecraft assembly is completed.

[0075] The technical effect of the embodiment is that the reconfiguration can be completed by itself, and the energy required for reconfiguration is greatly reduced.

[0076] The above has been disclosed in the preferred embodiment, however, it is not used to limit the application, any skilled person in the art can make some changes or modifications to the equivalent embodiments within the scope of the technical scheme of the application, and the equivalent embodiments still belong to the scope of the technical scheme of the application.

Claims

1. A method for connecting and reconfiguring a spacecraft assembly driven by an electro-permanent magnet array, characterized in that: The spacecraft assembly consists of multiple modules, and the modules are connected by an array of electro-permanent magnets. Each module comprises four panels (C) arranged in a ring, the four panels (C) being perpendicular to each other in pairs, and each panel (C) being provided with four electro-permanent magnets (A); The four electro-permanent magnets (A) are evenly arranged in a ring, and the magnetic poles (A4) of the four electro-permanent magnets (A) all pass through one surface of the panel (C) and are fixed to the panel (C); The connection and reconstruction method is as follows: S1. Initially, module 1 (1) is placed on module 2 (2), and modules 2 (2) to 3 (3) are arranged side by side. Adjacent modules are connected by the attraction of electro-permanent magnet (A); the angle between the surfaces to be docked of module 2 (2) and module 3 (3) is 90°. S2. Adjust the state of the electro-permanent magnets. Adjust the state of the electro-permanent magnets between the connecting surfaces of module 1 (1) and module 2 (2). Among them, the electro-permanent magnets (A) far away from module 3 (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 module 3 (3) are in an attractive state, and all the electro-permanent magnets (A) on the connecting surfaces of module 1 (1) and module 3 (3) are in an attractive state. S3. Module Reconstruction: After the state of the electro-permanent magnet is adjusted, the repulsive force and the attractive force between module 1 (1) and module 2 (2) are equal in magnitude and opposite in direction. At this time, module 1 (1) generates a torque around the lower right. Module 1 (1) starts to rotate. After rotation, module 1 (10) is subjected to the repulsive force of module 2 (2) and the attractive force of module 3 (3). Then, module 1 (1) and module 3 (3) are completely attracted and finally connected together, completing the reconstruction.

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

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

4. The method for connecting and reconfiguring a spacecraft assembly driven by an electro-permanent magnet array according to claim 1, characterized in that: Two panels are vertically fixed to form a housing, and the two housings can rotate relative to each other.

5. A method for connecting and reconfiguring a spacecraft assembly driven by an electro-permanent magnet array, characterized in that: The spacecraft assembly consists of multiple modules, which are connected by an array of electro-permanent magnets. Each module contains two relatively rotatable outer shells, each shell is a right-angled structure, and four electro-permanent magnets (A) are provided on the two panels (C) of each shell. The four electro-permanent magnets (A) are evenly arranged in a ring, 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 as follows: S1. Initially, module 1 (1), module 2 (2), and module 3 (3) are stacked in sequence, and adjacent modules are connected together by the attraction of electro-permanent magnet (A). S2. Module 1 (1) and Module 2 (2) rotate 90° in the positive direction around the vertical axis relative to the other shell of Module 3 (3) under the influence of one shell of Module 3 (3). Then, Module 1 (1) rotates 90° in the positive direction around the horizontal axis relative to the other shell of Module 2 (2) under the influence of one shell of Module 2 (2). At this time, the angle between the connecting surfaces of Module 1 (10) and Module 3 (3) is 90°. S3. Adjust the state of the electro-permanent magnet, and adjust the state of the magnet between the connecting surfaces of module 1 (1) and module 2 (2). Among them, the electro-permanent magnets (A) far away from module 3 (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 module 3 (3) are in an attractive state, and all the electro-permanent magnets on the mating surface of module 1 (1) and module 3 (3) are in an attractive state. After the state of the electro-permanent magnet is adjusted, the repulsive force and the attractive force between module 1 (1) and module 2 (2) are equal in magnitude and opposite in direction. At this time, module 1 (1) generates a torque around the lower right, and module 1 (1) starts to rotate. After rotating, module 1 (1) is subjected to the repulsive force of module 2 (2) and the attractive force of module 3 (3). Module 1 (1) starts to rotate in the forward direction. After that, module 1 (1) and module 3 (3) are completely attracted and connected together. S4. One shell of module 2 (2) rotates 90° in the opposite direction about the horizontal axis relative to its other shell. Then, module 2 (2) rotates 90° in the opposite direction about the vertical axis relative to the other shell of module 3 (3) under the influence of one shell of module 3 (3). S5. Adjust the state of the electro-permanent magnets again, and adjust the state of the magnets between the connecting surfaces of module 1 (1) and module 3 (3). Among them, the electro-permanent magnets (A) far away from module 2 (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 module 2 (2) are in an attractive state, and all the electro-permanent magnets on the docking surfaces of module 1 (1) and module 2 (2) are in an attractive state. After the state of the electro-permanent magnet is adjusted, the repulsive force and the attractive force between module 1 (1) and module 2 (2) are equal in magnitude and opposite in direction. At this time, module 1 (1) generates a torque that rotates upwards. Module 1 (1) starts to rotate in the opposite direction. After rotation, module 1 (1) is subjected to the repulsive force of module 3 (3) and the attractive force of module 2 (2). Then, module 1 (1) and module 2 (2) are completely attracted and finally connected together to complete the reconstruction.

6. A method for connecting and reconfiguring a spacecraft assembly driven by an electro-permanent magnet array, characterized in that: The spacecraft assembly consists of multiple modules, which are connected by an array of electro-permanent magnets. Each module includes four panels (C) arranged in a ring, which are perpendicular to each other. Each panel (C) is provided with four electro-permanent magnets (A). The four electro-permanent magnets (A) are evenly arranged in a ring, and the magnetic poles (A4) of the four electro-permanent magnets (A) all pass through one surface of the panel (C0) and are all fixed to the panel (C). 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. During the ejection phase, all the electro-permanent magnets on the docking surfaces between the modules are adjusted to a repulsive state, and the magnitude of the repulsive force is the same. Then, a certain module receives the repulsive force, detaches 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 reconfiguration of the spacecraft assembly is finished.

7. The method for connecting and reconfiguring a spacecraft assembly driven by an electro-permanent magnet array according to claim 5 or 6, wherein the magnetic poles (A4) of the four electro-permanent magnets (A) are also connected to the power bus of the control circuit board via spring contacts; the drive signal input terminals of the four electro-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 electro-permanent magnets (A) and is also used to send positive or reverse pulse currents to the drive signal input terminals of the four electro-permanent magnets (A) according to the connection or disconnection control signal.

8. The method for connecting and reconfiguring a spacecraft assembly driven by an electro-permanent magnet array according to claim 7, characterized in that: Each electro-permanent magnet (A) includes a winding (A1) and two AlNiCo magnetic cores (A2) 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 around the outside of the AlNiCo magnetic rod (A2).

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