Multi-pose regulation and control device and method for large-size flat satellite

Abstract

The invention provides a multi-pose regulation and control device and method for a large-size panel satellite, and relates to the technical field of satellite production.The device comprises a satellite tool frame, a gantry type tool, a rotating mechanism, a lifting mechanism, a lead screw and Mecanum wheels, the satellite tool frame is driven by a rotating motor to rotate to achieve panel satellite overturning angle adjustment, and the panel satellite overturning angle is adjusted; the driving unit drives the lead screw to rotate so that the sliding unit and the satellite tool frame can ascend and descend along the lead screw to achieve lifting height adjustment of the panel satellite, the advantages of integration, multiple degrees of freedom, high reliability and easy assembly are achieved, meanwhile, technical supports such as satellite parking, lifting, overturning and transportation are provided, excessive dependence of a crown block and multiple sets of auxiliary tools is reduced, and the working efficiency is improved. The general assembly, integration and test efficiency of the large flat plate satellite and the batch production capacity of the satellite are greatly improved, and the problems that existing satellite technological equipment lacks coupling design, is single in function and is not beneficial to batch production work of the large flat plate satellite are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite production, and in particular to a multi-posture control device and method for a large-size flat-panel satellite. Background Art

[0002] Flat-panel satellites are heavy and large in size. During operations such as satellite flipping and lifting, a variety of auxiliary tooling and overhead crane support are required. The operation steps are complicated and the efficiency is extremely low. The assembly, integration and testing (AIT) of large flat-panel satellites in the existing technology requires multiple sets of process equipment such as parking and flipping to cooperate with the assembly, experiment and testing of satellites. The operation is complicated and requires high labor and time costs. In addition, the existing satellite process equipment lacks coupling design and has relatively single functions, which is not conducive to the mass production of large flat-panel satellites. Therefore, there is an urgent need for a means to solve the convenience of satellite transportation and parking and the complexity of attitude change in the assembly, integration and testing (AIT) of large flat-panel satellites, so as to improve the assembly, integration and testing (AIT) efficiency of large flat-panel satellites. Summary of the invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defects in the prior art, thereby providing a large-size flat-panel satellite multi-attitude control device and method.

[0004] A large-size flat-panel satellite multi-position control device comprises: a satellite tooling frame and a gantry tooling, wherein rotating mechanisms are arranged on both sides of the satellite tooling frame, a rotating motor power output end on the rotating mechanism is connected to the satellite tooling frame, a lifting mechanism is arranged on the gantry tooling, the lifting mechanism comprises a driving unit, a lead screw and a sliding unit, the power output end of the driving unit is connected to the lead screw, the sliding unit is slidably arranged on the lead screw, the sliding unit is connected to the rotating mechanism, a plurality of Mecanum wheels are also arranged at the bottom of the gantry tooling, and the flat-panel satellite is arranged on the satellite tooling frame.

[0005] Furthermore, a plurality of first frame adapters are provided on the satellite tooling frame, one end of the first frame adapter is connected to the flat-panel satellite, and the other end of the first frame adapter is connected to the satellite tooling frame.

[0006] Furthermore, the rotating mechanism includes an adapter, a turntable and a turntable fixing device, the rotating motor is arranged on the turntable fixing device, the power output end of the rotating motor is connected to the turntable, the turntable is connected to the adapter, and the adapter is connected to the satellite tooling frame.

[0007] Furthermore, the adapter device includes a second frame adapter device, a third frame adapter device and a fourth frame adapter device which are sequentially connected in a horizontal direction, the second frame adapter device is connected to the satellite tooling frame, and the fourth frame adapter device is connected to the turntable.

[0008] Furthermore, the driving unit includes a first servo motor and a motor fixing device, the first servo motor is arranged on the motor fixing device, and a power output end of the first servo motor is connected to the lead screw.

[0009] Furthermore, the regulating device also includes a screw fixing device, one end of which is connected to the motor fixing device, and the other end of which is connected to the gantry tooling.

[0010] Furthermore, the sliding unit includes a first screw adapter and a second screw adapter, the first screw adapter is arranged in the second screw adapter, the first screw adapter is threadedly connected to the screw, and the second screw adapter is connected to the turntable fixing device.

[0011] Furthermore, the gantry-type tooling is also provided with a slide rail, on which a slider is slidably provided, and the slider is connected to the second lead screw adapter.

[0012] Furthermore, the regulating device also includes a bearing seat and a bearing seat fixing device, the bearing seat is connected to the bearing seat fixing device, the bearing seat fixing device is connected to the gantry-type tooling, a bearing is provided on the bearing seat, and the end of the lead screw away from the first servo motor is connected to the bearing.

[0013] The present invention also includes a large-size flat-panel satellite multi-posture control method, which is implemented based on a large-size flat-panel satellite multi-posture control device as described in any one of the above items, starting a rotating motor, driving a satellite tooling frame to rotate to adjust the flipping angle of the flat-panel satellite, starting a driving unit, driving a lead screw to rotate so that a sliding unit and the satellite tooling frame move up and down along the lead screw to adjust the lifting height of the flat-panel satellite.

[0014] The technical solution of the present invention has the following advantages:

[0015] In the technical solution provided by the present invention, a rotating motor is used to drive the satellite tooling frame to rotate so as to adjust the flipping angle of the flat-panel satellite, and a driving unit is used to drive the lead screw to rotate so as to make the sliding unit and the satellite tooling frame move up and down along the lead screw so as to adjust the lifting height of the flat-panel satellite, thereby achieving the advantages of integration, multiple degrees of freedom, high reliability, and easy assembly. At the same time, technical support for satellite parking, lifting, flipping, and transportation is provided, thereby reducing excessive reliance on overhead cranes and multiple sets of auxiliary tooling. The solution is applied to the entire process of assembly, integration, testing, and delivery of large flat-panel satellites, forming a movable satellite production line, greatly improving the assembly, integration, and testing (AIT) efficiency of large flat-panel satellites, and improving the mass production capacity of satellites. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is an exploded schematic diagram of the overall structure of the present invention;

[0019] Figure 3 This is a schematic diagram of the auxiliary support tooling structure of the present invention;

[0020] Figure 4 This is a schematic structural diagram of the first frame switching device of the present invention;

[0021] Figure 5 It is a schematic diagram of the structure of the lead screw and the turntable of the present invention;

[0022] Figure 6 It is a schematic diagram of the positional relationship between the first screw adapter device and the second screw adapter device of the present invention;

[0023] Figure 7 It is a schematic structural diagram of the second frame adapter, the third frame adapter and the fourth frame adapter of the present invention;

[0024] Figure 8 It is a schematic diagram of the structure of the spring vibration reduction device of the present invention.

[0025] Description of reference numerals:

[0026] 1-satellite tooling frame; 1.1-first frame adapter; 1.2-second frame adapter; 1.3-third frame adapter; 1.4-fourth frame adapter; 2-flat satellite; 3-lifting mechanism; 3.1-first servo motor; 3.2-screw; 3.3-slide rail; 3.4-motor fixture; 3.5-bearing seat; 3.6-screw fixture; 3.7-bearing seat fixture; 3.8-coupling; 3.9-first screw adapter; 3.10-second screw adapter; 3.11-slider; 4-rotating mechanism; 4.1-turntable; 4.2-turntable fixture; 5-gantry tooling; 6-Mecanum wheel; 6.1-spring vibration reduction device; 7-auxiliary support tooling. DETAILED DESCRIPTION

[0027] 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.

[0028] In the description of the present invention, it should be noted that the terms "center", "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.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] like Figure 1 , Figure 2 , Figure 5 and Figure 8A large-size flat-panel satellite multi-position control device shown in the figure includes: a satellite tooling frame 1 and a gantry tooling 5, wherein a rotating mechanism 4 is arranged on both sides of the satellite tooling frame 1, and the power output end of the rotating motor on the rotating mechanism 4 is connected to the satellite tooling frame 1, and a lifting mechanism 3 is arranged on the gantry tooling 5, and the lifting mechanism 3 includes a driving unit, a lead screw 3.2 and a sliding unit, wherein the power output end of the driving unit is connected to the lead screw 3.2, and the sliding unit is slidably arranged on the lead screw 3.2, and the sliding unit is connected to the rotating mechanism 4, and a plurality of Mecanum wheels 6 are also arranged at the bottom of the gantry tooling 5, and the flat-panel satellite 2 is arranged on the satellite tooling frame 1; wherein the satellite tooling frame 1 has the function of fixing the flat-panel satellite 2, and the satellite tooling frame 1 can be made of square steel pipes, aluminum pipes or aluminum profiles, and the frame is lightweight while ensuring the rigidity of its structure, and the gantry tooling 5 is welded by rectangular square steel pipes, and due to the large size of the flat-panel satellite 2 and the large span of the gantry tooling 5 , the stiffness needs to have sufficient safety margin. According to the overall structural design requirements, the mobile platform needs to have high-precision positioning and a large load-bearing capacity. Therefore, an omnidirectional mobile platform based on Mecanum wheels 6 is selected. There are four sets of Mecanum wheels 6 in total, and the wheel set can also be a double steering wheel device. In order to make the overall mobile control more convenient, a four-wheel drive method is adopted, and each Mecanum wheel 6 has a separate drive motor. The use of Mecanum wheels 6 can achieve omnidirectional movement, but it is still necessary to add a spring damping device 6.1 to it. The spring damping device 6.1 is set on the wheel axle of the Mecanum wheel 6. The setting of the spring damping device 6.1 effectively reduces the uncontrollable sliding of the Mecanum wheel 6 when starting and stopping, so that the Mecanum wheel 6 is closer to the ground to obtain greater sliding friction. The weight of the flat satellite 2 exceeds 500kg, and its lateral size exceeds 3 meters. The Mecanum wheel 6 drives the gantry tooling 5 to achieve omnidirectional movement, separate movement in two directions in the plane, and combined movement.

[0032] The above-mentioned large-size flat-panel satellite multi-attitude control device drives the satellite tooling frame 1 to rotate by a rotating motor to achieve the flip angle adjustment of the flat-panel satellite 2, and drives the screw 3.2 to rotate by a driving unit to make the sliding unit and the satellite tooling frame 1 move up and down along the screw 3.2 to achieve the lifting height adjustment of the flat-panel satellite 2, thereby achieving the advantages of integration, multiple degrees of freedom, high reliability, and easy assembly. At the same time, it provides technical support for satellite parking, lifting, flipping, and transportation, reduces excessive dependence on overhead cranes and multiple sets of auxiliary tooling, and is applied to the entire process of assembly, integration and testing and delivery of large flat-panel satellites 2, forming a movable satellite production line, greatly improving the assembly, integration and testing (AIT) efficiency of large flat-panel satellites 2, and improving the mass production capacity of satellites.

[0033] like Figure 4As shown, in this embodiment, a plurality of first frame adapters 1.1 are provided on the satellite tooling frame 1, one end of the first frame adapter 1.1 is connected to the flat-panel satellite 2, and the other end of the first frame adapter 1.1 is connected to the satellite tooling frame 1; threaded holes are provided at both connecting ends of the first frame adapter 1.1 as connecting holes, so that the bolt connection between the first frame adapter 1.1 and the satellite tooling frame 1 and the flat-panel satellite 2 is more stable and reliable.

[0034] like Figure 5 and Figure 7 As shown, in this embodiment, the rotating mechanism 4 includes an adapter, a turntable 4.1 and a turntable fixing device 4.2, the rotating motor is arranged on the turntable fixing device 4.2, the power output end of the rotating motor is connected to the turntable 4.1, the turntable 4.1 is connected to the adapter, and the adapter is connected to the satellite tooling frame 1; the adapter includes a second frame adapter 1.2, a third frame adapter 1.3 and a fourth frame adapter 1.4 which are sequentially connected in the horizontal direction, the second frame adapter 1.2 is connected to the satellite tooling frame 1, and the fourth frame adapter 1.4 is connected to the turntable 4.1; the turntable 4.1, the fourth frame adapter 1.4 and the third frame adapter 1.3 are driven by the rotating motor. And the second frame adapter 1.2 rotates to realize the rotation of the satellite tooling frame 1, so as to meet the flip angle adjustment of the flat-panel satellite 2. The rotating motor is a second servo motor. A reducer can also be set on the second servo motor to slow down. At the same time, hovering at any angle can be achieved to meet the adjustment needs of different angles. The adapter is arranged in the form of a second frame adapter 1.2, a third frame adapter 1.3 and a fourth frame adapter 1.4 connected in sequence along the horizontal direction. The flexibility and scalability of the adapter can be effectively increased. Multiple frame adapters can be merged or reduced according to usage requirements. When a single frame adapter fails, it can be replaced separately to facilitate later maintenance.

[0035] like Figure 5 and Figure 6As shown, in this embodiment, the driving unit includes a first servo motor 3.1 and a motor fixing device 3.4, the first servo motor 3.1 is arranged on the motor fixing device 3.4, and the power output end of the first servo motor 3.1 is connected to the screw 3.2 through a coupling 3.8; the motor fixing device 3.4 is used to install the first servo motor 3.1, and the control device also includes a screw fixing device 3.6, one end of the screw fixing device 3.6 is connected to the motor fixing device 3.4, and the other end of the screw fixing device 3.6 is connected to the gantry tooling 5; the screw fixing device 3.6 is used to provide installation support for the first servo motor 3.1, the motor fixing device 3.4 and the screw 3.2 to achieve the purpose of vertical lifting. At the same time, the lifting method is not limited to the above method, and can also be achieved by chain transmission and hydraulic transmission. A reducer can also be installed on the first servo motor 3.1 to control the speed, so that the screw 3.2 drives the satellite tooling frame 1 and the flat satellite 2 to perform vertical lifting relative to the ground. The screw 3.2 can be selected as a sliding screw or a rolling screw according to needs.

[0036] like Figure 6 As shown, in this embodiment, the sliding unit includes a first screw adapter 3.9 and a second screw adapter 3.10, the first screw adapter 3.9 is arranged in the second screw adapter 3.10, the first screw adapter 3.9 is threadedly connected to the screw 3.2, and the second screw adapter 3.10 is fastened to the turntable fixing device 4.2 by screws; a nut is arranged in the first screw adapter 3.9, and the nut is threadedly connected to the screw 3.2, so that when the screw 3.2 rotates, it can drive the first screw adapter 3.9 and the second screw adapter 3.10 to move up and down, thereby making the turntable fixing device 4.2 and the flat-panel satellite 2 move up and down.

[0037] like Figure 5 As shown, in this embodiment, the gantry tooling 5 is further provided with a slide rail 3.3, on which a slider 3.11 is slidably provided, and the slider 3.11 is connected to the second lead screw adapter 3.10; the slide rail 3.3 is parallel to the lead screw 3.2, and is used to assist the turntable fixing device 4.2 and the flat satellite 2 in the process of lifting and lowering. A plurality of slide rails 3.3 can be provided according to actual use requirements, and the slider 3.11 is connected to the second lead screw adapter 3.10, and the slider 3.11 slides The slider 3.11 is dynamically arranged on the slide rail 3.3. When the screw 3.2 rotates to drive the second screw adapter 3.10 and the turntable fixing device 4.2 to move up and down, the slider 3.11 will also move on the slide rail 3.3 to increase the stability of the lifting process. The number of sliders 3.11 can be designed as needed to increase stability. Due to the heavy weight of the flat-panel satellite 2, the lateral load borne by the screw 3.2 is large. The setting of the slider 3.11 can also improve the stiffness of the screw 3.2 and the accuracy of the movement trajectory of the nut on the screw 3.2.

[0038] like Figure 5 As shown, in this embodiment, the regulating device also includes a bearing seat 3.5 and a bearing seat fixing device 3.7, the bearing seat 3.5 is connected to the bearing seat fixing device 3.7, the bearing seat fixing device 3.7 is connected to the gantry-type tooling 5, a bearing is provided on the bearing seat 3.5, and the end of the screw 3.2 away from the first servo motor 3.1 is connected to the bearing; the bearing and the bearing seat 3.5 support the screw 3.2 to ensure that the screw 3.2 rotates smoothly, and at the same time, the bearing seat fixing device 3.7 ensures a stable connection between the bearing seat 3.5 and the gantry-type tooling 5.

[0039] like Figure 3 As shown, in this embodiment, the control device also includes an auxiliary support tooling 7, which is assembled from square steel material. There are three support points on the auxiliary support tooling 7, and each support point is provided with a telescopic support foot. The auxiliary support tooling 7 is suitable for satellite transfer and parking in a small space area, and can also cooperate with the control device to fix the satellite and the control device to realize the transfer of the satellite in a large space. The position of the satellite tooling frame 1 can be fixed without using an overhead crane, which is convenient for the transfer of the flat-panel satellite 2 between different devices.

[0040] like Figure 1 , Figure 5 , Figure 6 and Figure 7 As shown, the present invention also includes a large-size flat-panel satellite multi-position control method, which is implemented based on a large-size flat-panel satellite multi-position control device described in any one of the above items, starting the rotating motor, the rotating motor drives the satellite tooling frame 1 to rotate to achieve the flip angle adjustment of the flat-panel satellite 2, starting the driving unit, the driving unit drives the lead screw 3.2 to rotate so that the sliding unit and the satellite tooling frame 1 move up and down along the lead screw 3.2 to achieve the lifting height adjustment of the flat-panel satellite 2;

[0041] Specifically, the second servo motor is started, and the second servo motor drives the turntable 4.1, the fourth frame adapter 1.4, the third frame adapter 1.3 and the second frame adapter 1.2 to rotate, so as to realize the rotation of the satellite tooling frame 1 and the flat-panel satellite 2 to achieve the flip angle adjustment, and the flip angle is 0° to 360°; then, the first servo motor 3.1 is started, and the first servo motor 3.1 drives the lead screw 3.2 to rotate through the coupling 3.8, and the second lead screw adapter 3.10 and the turntable fixing device 4.2 are lifted and lowered accordingly, and at the same time, the slider 3.11 will also move on the slide rail 3.3, so as to increase the stability of the lifting process of the satellite tooling frame 1 and realize the lifting height adjustment of the flat-panel satellite 2.

[0042] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A large-size flat-panel satellite multi-position control device, comprising: A satellite tooling frame (1) and a gantry tooling (5), characterized in that a rotating mechanism (4) is provided on both sides of the satellite tooling frame (1), a power output end of a rotating motor on the rotating mechanism (4) is connected to the satellite tooling frame (1), a lifting mechanism (3) is provided on the gantry tooling (5), the lifting mechanism (3) comprises a driving unit, a lead screw (3.2) and a sliding unit, the power output end of the driving unit is connected to the lead screw (3.2), the sliding unit is slidably arranged on the lead screw (3.2), the sliding unit is connected to the rotating mechanism (4), a plurality of Mecanum wheels (6) are also provided at the bottom of the gantry tooling (5), and a flat-panel satellite (2) is arranged on the satellite tooling frame (1).

2. A large-size flat-panel satellite multi-attitude control device according to claim 1, characterized in that: The satellite tooling frame (1) is provided with a plurality of first frame adapters (1.1), one end of the first frame adapter (1.1) is connected to the flat-panel satellite (2), and the other end of the first frame adapter (1.1) is connected to the satellite tooling frame (1).

3. The large-size flat-panel satellite multi-attitude control device according to claim 1, characterized in that: The rotating mechanism (4) comprises a switching device, a turntable (4.1) and a turntable fixing device (4.2); the rotating motor is arranged on the turntable fixing device (4.2); the power output end of the rotating motor is connected to the turntable (4.1); the turntable (4.1) is connected to the switching device; and the switching device is connected to the satellite tooling frame (1).

4. The large-size flat-panel satellite multi-attitude control device according to claim 3 is characterized in that: The switching device comprises a second frame switching device (1.2), a third frame switching device (1.3) and a fourth frame switching device (1.4) which are connected in sequence along a horizontal direction; the second frame switching device (1.2) is connected to a satellite tooling frame (1), and the fourth frame switching device (1.4) is connected to a turntable (4.1).

5. The large-size flat-panel satellite multi-attitude control device according to claim 1, characterized in that: The drive unit comprises a first servo motor (3.1) and a motor fixing device (3.4); the first servo motor (3.1) is arranged on the motor fixing device (3.4); and a power output end of the first servo motor (3.1) is connected to the lead screw (3.2).

6. A large-size flat-panel satellite multi-attitude control device according to claim 5, characterized in that: The control device also includes a screw fixing device (3.6), one end of the screw fixing device (3.6) is connected to the motor fixing device (3.4), and the other end of the screw fixing device (3.6) is connected to the gantry tooling (5).

7. The large-size flat-panel satellite multi-attitude control device according to claim 3, characterized in that: The sliding unit comprises a first screw adapter (3.9) and a second screw adapter (3.10), the first screw adapter (3.9) being arranged in the second screw adapter (3.10), the first screw adapter (3.9) being threadedly connected to the screw (3.2), and the second screw adapter (3.10) being connected to the turntable fixing device (4.2).

8. The large-size flat-panel satellite multi-attitude control device according to claim 7, characterized in that: The gantry-type tooling (5) is also provided with a slide rail (3.3), a slider (3.11) is slidably provided on the slide rail (3.3), and the slider (3.11) is connected to the second lead screw adapter (3.10).

9. The large-size flat-panel satellite multi-attitude control device according to claim 5, characterized in that: The control device further comprises a bearing seat (3.5) and a bearing seat fixing device (3.7), the bearing seat (3.5) being connected to the bearing seat fixing device (3.7), the bearing seat fixing device (3.7) being connected to the gantry-type tooling (5), a bearing being arranged on the bearing seat (3.5), and an end of the lead screw (3.2) away from the first servo motor (3.1) being connected to the bearing.

10. A method for controlling a large-sized flat-panel satellite in multiple postures, the method being implemented based on a large-sized flat-panel satellite in multiple postures control device according to any one of claims 1 to 9, characterized in that: The rotating motor is started, and the rotating motor drives the satellite tooling frame (1) to rotate to adjust the flipping angle of the flat-panel satellite (2). The driving unit is started, and the driving unit drives the lead screw (3.2) to rotate so that the sliding unit and the satellite tooling frame (1) move up and down along the lead screw (3.2) to adjust the lifting height of the flat-panel satellite (2).

Images