Satellite common base device

Abstract

The invention discloses a satellite common base device which comprises a satellite fixing and releasing device and a multi-degree-of-freedom bending and telescopic attitude control device and further comprises a height fine adjustment frame and a rotating platform, the rotating platform is arranged on the upper end face of the height fine adjustment frame, and supporting legs of the height fine adjustment frame are provided with vertical telescopic devices. A parallel folding telescopic device is arranged on the rotating platform, and a satellite fixing and releasing device is arranged on the parallel folding telescopic device. The device can be installed on a truss of a space station, the satellites are captured through a large mechanical arm of the space station, two satellites can be fixed at the same time, the multiple satellites can be checked, maintained and the like conveniently at the same time, and efficiency is greatly improved. The parallel folding telescopic device is adopted, parallel folding telescopic and large-angle bending can be achieved through the device, the large telescopic ratio and good fault tolerance are achieved, and the parallel folding telescopic device has good self-adaptability under the conditions that two satellites shake and the attitude difference is large.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite on-orbit maintenance, and particularly to a satellite common base device. Background Art

[0002] As of 2024, the number of satellites in orbit globally has exceeded 8,000, which are widely used in military, communication, navigation, meteorological monitoring and other fields. However, situations where satellites are unstable or malfunction in orbit occur frequently. The reasons include insufficient satellite ground verification and reliability tests, complex satellite manufacturing processes, component quality problems, quality problems during the overall satellite assembly process, harsh space radiation environments, improper ground command operations, etc. Currently, it is very difficult to detect and repair satellites in orbit. The most common on-orbit satellite capture technology is that the mother satellite carries a robotic arm to capture the target satellite through technologies such as orbit transfer and space rendezvous and docking. However, the target satellite and the mother satellite are relatively fixed, and the attitudes of the two satellites are prone to disturbance during the operation of the robotic arm, bringing great difficulties to motion planning and control. In addition, there is a lack of a device in the existing technology that can quickly fix, lock, release, and adjust the attitude of multiple satellites with different sizes, shapes, and attitudes at the same time, and it cannot efficiently meet the needs of satellite on-orbit maintenance.

[0003] In view of the above, it is necessary to propose a satellite common base device to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects existing in the prior art and provide a satellite common base device for quickly fixing, locking, releasing, and adjusting the attitude of satellites.

[0005] To achieve the above purpose, the technical solution of the present invention is as follows: A satellite fixing and releasing device includes a frame base for capturing a satellite. The middle part of the frame base is vacant to form a receiving cavity for the end of the satellite to enter. An opening for the satellite to enter the receiving cavity is formed on the side of the frame base facing the target satellite. A circumferential fixing mechanism for grasping and positioning the satellite is provided around the opening. The circumferential fixing mechanism has a plurality of locking mechanisms that are based on the frame base and move and control radially. The plurality of locking mechanisms cooperate to simultaneously apply forces pointing to the satellite to form a resultant force for clamping and fixing.

[0006] Furthermore, the frame base is provided with an outer camera for detecting the attitude of the target satellite, and an inner camera for identifying the outer shape of the target satellite is provided on the end face facing the target satellite side; the frame base includes a cylindrical frame. A plurality of outer cameras are distributed on the circumferential outer wall of the cylindrical frame, and a plurality of inner cameras are circumferentially provided on the upper end face of the cylindrical frame.

[0007] Further, the locking mechanism includes a rack slide rail fixedly arranged on the frame base along the radial direction, and a sliding rack is slidably arranged in the rack slide rail; The circumferential fixing mechanism is provided with a synchronous driving part for keeping multiple locking mechanisms moving radially synchronously, and a power driving part for driving the synchronous driving part to operate.

[0008] Further, the circumferential fixing mechanism further includes a clutch control unit corresponding to each locking mechanism, and the clutch control unit controls the corresponding locking mechanism to engage or disengage from the synchronous driving part, and is used to control the number of locking mechanisms driven simultaneously or the sequence of actions of the locking mechanisms.

[0009] Further, the power driving part includes a rack driving part arranged on the frame base at the end of the rack slide rail away from the center; a terminal gripper is arranged at the end of the rack driving part facing the center, an elastic member for providing an elastic holding force is arranged inside the terminal gripper, and a pressure sensor is arranged at the end of the terminal gripper in contact with the satellite surface.

[0010] A multi-degree-of-freedom bending and telescopic attitude control device includes a parallel folding and telescopic device arranged at the bottom of the satellite fixing and releasing device. The parallel folding and telescopic device includes a plurality of universal hinge units connected end to end, so that the parallel folding and telescopic device has the ability of large expansion ratio telescopic adjustment and the function of universal large-angle bending.

[0011] Further, the universal hinge unit includes an annular substrate, and a plurality of telescopic arm units are circumferentially arranged on the end face of the annular substrate. The telescopic arm unit includes a control servo, a lower connecting rod, a middle universal hinge, an upper connecting rod, and a top universal hinge connected in sequence. The control servo is based on the annular substrate of this unit, and the top universal hinge is connected to the annular substrate of the next unit.

[0012] Further, one end of the upper connecting rod is provided with an F head, the other end is connected to the top universal hinge, a cross universal joint is arranged in the F head, one end of the lower connecting rod is connected to the cross universal joint, and the other end is connected to the output end of the control servo.

[0013] A satellite common base device includes the above-mentioned satellite fixing and releasing device and the above-mentioned multi-degree-of-freedom bending and telescopic attitude control device, and further includes a height fine-tuning frame and a rotating platform. The upper end face of the height fine-tuning frame is provided with a rotating platform, the support legs of the height fine-tuning frame are provided with an up and down telescopic device, the parallel folding and telescopic device is arranged on the rotating platform, and the satellite fixing and releasing device is arranged on the parallel folding and telescopic device.

[0014] Further, there are at least two height fine-tuning frames, and the distance between the two height fine-tuning frames is controlled by a horizontal telescopic device.

[0015] The advantages and beneficial effects of the present invention are as follows: 1. The present invention proposes a satellite common base device, which can be installed on the truss of the space station. By capturing the satellite with the large robotic arm of the space station, the simultaneous fixation of two satellites can be achieved, facilitating the inspection, maintenance, etc. of multiple satellites at the same time, and greatly improving the efficiency.

[0016] 2. For the satellite common base device proposed by the present invention, its fixing and releasing device adopts mechanisms such as gears, racks, sliding gears, and underactuated end grippers to enable the rapid fixation, locking, and release of satellites of different sizes and different shapes such as cylinders and cuboids.

[0017] 3. For the satellite common base device proposed by the present invention, its main body adopts a parallel folding and telescoping device, which can achieve parallel folding and telescoping as well as large-angle bending, has a large telescopic ratio and good fault tolerance, and has good self-adaptability in the case of shaking and large attitude differences between two satellites.

[0018] 4. The satellite common base device proposed by the present invention can achieve telescoping in both horizontal and vertical directions to adjust the horizontal distance and vertical height of the two satellites, facilitating the operation of the satellites.

[0019] 5. For the satellite common base device proposed by the present invention, the end of its fixing and releasing device adopts a spring and an end gripper made of a material with a relatively large elastic modulus, and its surface is covered with a layer of flexible material, which can effectively reduce the buffering force. In addition, a pressure sensor is added to the inner wall of the end gripper to monitor the force on the satellite at any time, effectively avoiding damage to the satellite body or the locking mechanism due to excessive pressure. Description of the Drawings

[0020] Figure 1 is one of the schematic diagrams of the satellite common base device of the present invention for fixing the satellite; Figure 2 is the exploded view of the satellite common base device of the present invention for fixing the satellite; Figure 3 is the axonometric view of the satellite fixing and releasing device in the present invention; Figure 4 is the exploded view of the satellite fixing and releasing device in the present invention; Figure 5 is the axonometric view of the parallel folding and telescoping device in the present invention; Figure 6 is the schematic diagram of a unit in the parallel folding and telescoping device in the present invention; Figure 7 is the schematic diagram of the contraction and movement of part of the locking mechanism in the satellite fixing and releasing device in the present invention; Figure 8 It is a comparison diagram of the telescopic structure of the parallel folding and telescopic device in the present invention; Figure 9 It is the second schematic diagram of the satellite common base device fixing the satellite in the present invention; In the figure: 1. Height fine-tuning frame; 2. Rotating platform; 3. Up and down telescopic motor; 4. Height telescopic leg; 5. Horizontal telescopic device; 6. Horizontal telescopic motor; 7. Horizontal lead screw; 8. Horizontal telescopic leg; 9. Frame base; 10. Accommodation cavity; 11. Locking mechanism; 12. Rack slide rail; 13. Sliding rack; 14. Internal gear ring; 15. Sliding gear; 16. Locking electric push rod; 17. Clutch control unit; 18. Sliding guide shaft; 19. Gear electric push rod; 20. Moving platform; 21. End gripper; 22. Elastic member; 23. Pressure sensor; 24. Outer camera; 25. Inner camera; 26. Parallel folding and telescopic device; 27. Ring-shaped substrate; 28. Telescopic arm unit; 29. Control servo; 30. Lower connecting rod; 31. Middle universal hinge; 32. Upper connecting rod; 33. Top universal hinge; 34. First unit; 35. Second unit; 36. Third unit. Specific embodiments

[0021] The following will further describe the specific embodiments of the present invention in conjunction with the drawings and embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and cannot be used to limit the protection scope of the present invention.

[0022] Embodiment 1: The present invention aims to provide a satellite common base device, as shown in Figure 1 , 2 , 9, which can be installed on the truss of the space station, capture the target satellite by using the large robotic arm on the space station, and then fix it on the base for easy operation. When the target satellite enters the working space of the device, the device can adjust itself to adapt to satellites in various postures, perform rapid fixing, locking and releasing, and has good self-adaptability. At the same time, the device can adapt to satellites of different sizes and shapes and has good versatility. In addition, the device can fix multiple satellites at the same time and adjust the vertical height and horizontal distance between two satellites, improving the efficiency and reliability of on-orbit satellite maintenance and reducing the operation difficulty.

[0023] Specifically, a satellite common base device includes a satellite fixing and releasing device and a multi-degree-of-freedom bending and telescopic attitude control device, and further includes a height fine-tuning frame 1 and a rotating platform 2. The upper end surface of the height fine-tuning frame 1 is provided with a rotating platform 2, and the support legs of the height fine-tuning frame 1 are provided with up and down telescopic devices. A parallel folding and telescopic device 26 is arranged on the rotating platform 2, and a satellite fixing and releasing device is arranged on the parallel folding and telescopic device 26.

[0024] The parallel folding and telescoping device 26 and the satellite fixing and releasing device are used to capture and fix the target satellite at the upper end. The attitude is adjusted by the parallel folding and telescoping device 26 so that the satellite fixing and releasing device is aligned with the grasping position of the satellite. After the grasping is completed, the parallel folding and telescoping device 26 can be folded and retracted in parallel and positioned on the height fine adjustment frame 1. Then, the rotation platform 2 adjusts the rotation orientation of the whole upper part. Specifically, the rotation platform 2 drives the parallel folding and telescoping device 26, the fixing and releasing device and the satellite to rotate by a certain angle to adjust the attitude of the satellite. Then, the up-and-down telescoping motor 3 in the up-and-down telescoping device drives the lead screw to rotate, and the nut is fixedly arranged. Therefore, the rotation of the lead screw drives the height telescoping leg 4 to realize linear up-and-down movement, so as to adjust the height of the two satellites. Specifically, by way of example, the height fine adjustment frame 1 has an upper plane. The middle part of the upper plane is provided with a rotation platform 2. Below the four corners of the upper plane are height telescoping legs 4. Up-and-down telescoping motors 3 are respectively arranged at the four corners of the upper plane to drive the lead screw to rotate, so as to change the length of the height telescoping leg 4.

[0025] In order to improve the maintenance efficiency of the satellite, the present application is designed to fix multiple satellites simultaneously. Specifically, at least two height fine adjustment frames 1 are provided, and the distance between the two height fine adjustment frames 1 is controlled by a horizontal telescoping device 5, such as Figure 1 、 2 、9 shown. In the figure, two height fine adjustment frames 1 are exemplarily provided, and the distance is adjusted by the horizontal telescoping device 5, so as to adapt to the operations between satellites of different sizes. The horizontal telescoping motor 6 in the horizontal telescoping device 5 drives the horizontal lead screw 7 to rotate, and the horizontal nut drives the horizontal telescoping leg 8 to realize linear movement in the horizontal direction, so that the distance between the two satellites can be adjusted. It is convenient to check, maintain, etc. two satellites at the same time, greatly improving the work efficiency.

[0026] The motor drive, lead screw-nut transmission, telescoping leg movement, etc. of the up-and-down telescoping device and the horizontal telescoping device 5 are used to adjust the vertical height and horizontal distance of the satellite. The connection mode and cooperative mechanism between the devices ensure the efficient and stable fixation, locking, release and attitude adjustment of the satellite.

[0027] Embodiment 2: A satellite fixing and releasing device includes a frame base body 9 for capturing the satellite. The middle part of the frame base body 9 is vacant to form a receiving cavity 10 for the end of the satellite to enter. An opening for the satellite to enter the receiving cavity 10 is formed on the side of the frame base body 9 facing the target satellite. A circumferential fixing mechanism for grasping and positioning the satellite is arranged around the opening. The circumferential fixing mechanism has a plurality of locking mechanisms 11 that are based on the frame base body 9 and are controlled to move radially. The plurality of locking mechanisms 11 cooperate to simultaneously apply a force pointing to the satellite to form a resultant force for clamping and fixing.

[0028] Specifically, asFigure 3 , 4 As shown in , 7, the frame base 9 includes a cylindrical frame in a cylindrical shape, and the locking mechanism 11 includes a rack slide 12 fixedly arranged on the frame base 9 along the radial direction. A sliding rack 13 is slidably arranged in the rack slide 12. The cross-sectional shape of the cylindrical frame is circular, and the setting direction of the rack slide 12 can be radially set, so the moving direction of the sliding rack 13 is restricted by the rack slide 12 and moves toward the center of the circle.

[0029] Furthermore, the circumferential fixing mechanism is provided with a synchronous driving part for keeping the multiple locking mechanisms 11 in synchronous radial movement, and a power driving part for driving the synchronous driving part to operate.

[0030] As an embodiment, the synchronous drive unit includes an inner gear ring 14 rotatably arranged in a cylindrical frame, the rotation of the inner gear ring 14 is controlled by the power drive unit to rotate, and a sliding gear 15 is meshedly arranged on the inner side of the inner gear ring 14, and the number of the sliding gears 15 corresponds to the locking mechanism 11; the rack of the sliding rack 13 is arranged on the side, and the sliding gear 15 has a certain thickness, so that it can mesh with the inner gear ring 14 and the sliding rack 13 at the same time, and then when the inner gear ring 14 rotates, the transmission of the sliding gear 15 causes the bad rack to move linearly. It can be understood that Figure 3 In the exemplary embodiment, six sets of locking mechanisms 11 are provided. When the sliding racks 13 of the six sets of locking mechanisms 11 are simultaneously engaged with the inner gear ring 14 and the sliding racks 13, the effect of synchronously driving all the locking mechanisms 11 can be achieved.

[0031] Furthermore, the power drive unit that drives the synchronous drive unit to operate may include a locking electric push rod 16 that is arranged on the frame base 9 and is located at the end of the rack slide 12 away from the center; it pushes the sliding rack 13 in the locking mechanism 11 to move linearly along the rack slide 12, and the locking electric push rod 16 pushes the rack in the locking mechanism 11 to move linearly along the rack slide 12, and then drives the inner gear ring 14 to rotate through the sliding rack 13; then the operation of the inner gear ring 14 drives other locking mechanisms 11 to move synchronously.

[0032] Furthermore, the circumferential fixing mechanism further includes a clutch control unit 17 corresponding to each locking mechanism 11, and the clutch control unit 17 controls the corresponding locking mechanism 11 to engage or disengage the synchronous drive unit, and is used to control the number of locking mechanisms 11 driven simultaneously (e.g. Figure 7 ) or the sequence of actions of the locking mechanism 11.

[0033] Specifically, for example, in the synchronous drive mode in which the inner gear ring 14 is provided, the clutch control unit 17 includes a sliding guide shaft 18, a gear electric push rod 19, and a mobile platform 20. The sliding guide shaft 18 is a guide rod axially slidingly provided along the cylindrical frame. A mobile platform 20 is provided on the top of the sliding guide shaft 18, and a sliding gear 15 is provided on the platform. The gear electric push rod 19 is provided on one side of the sliding guide shaft 18, and its driving end is connected to the bottom of the mobile platform 20. In actual use, according to different satellite shapes such as cylinders and cuboids, the gear electric push rod 19 in the sliding gear 15 mechanism can push the mobile platform 20 to move downward, thereby driving the sliding gear 15 to make upward and downward linear motions along the sliding guide shaft 18, so that the sliding gear 15 and the rack can be controllably disengaged or meshed, thereby adjusting the number of locking mechanisms 11 moving simultaneously.

[0034] Furthermore, the rack drive unit is provided with an end gripper 21 at one end facing the center, an elastic member 22 providing elastic gripping force is provided inside the end gripper, and a pressure sensor 23 is provided at the end of the end gripper contacting the satellite surface. Figure 3 , 4 As shown, the end clamp is an X-shaped hinged clamping jaw, an elastic member 22 is arranged in the opening of the clamping jaw, and a spring can be selected to be used, and a pressure sensor 23 is arranged at the end of the clamping jaw.

[0035] Taking a cylindrical satellite as an example, the six locking mechanisms 11 are simultaneously moved toward the center of the circle through the transmission of the sliding gear 15 and the inner gear ring 14. At this time, the two sides of the end gripper 21 are stretched open, but the outer wall of the satellite can be pressed under the tension of the spring, and the pressure sensor 23 inside the end gripper 21 senses the pressure in real time, which can fix and lock the satellite while effectively reducing damage to the outer wall of the satellite and the base body.

[0036] For example, Figure 1 , 2 As shown, when two sets of height fine-tuning frames 1 and satellite fixing and releasing devices are set, each power driving part can be set on the side where the two satellite fixing and releasing devices are away from each other, so as to avoid mutual interference between the two sets of devices when they are deformed in spatial position.

[0037] Furthermore, the frame base 9 is provided with an outer camera 24 for detecting the attitude of the target satellite, and an inner camera 25 for identifying the shape of the target satellite is provided on the end face facing the target satellite; a plurality of outer cameras 24 are distributed on the circumferential outer wall of the cylindrical frame, and a plurality of inner cameras 25 are circumferentially provided on the upper end face of the cylindrical frame.

[0038] The coordinated operation of components such as the locking mechanism 11, sliding gear 15 mechanism, rack slide rail 12, inner camera 25, and outer camera 24 of the fixed release device realizes the rapid fixation, locking, and release of satellites with different sizes and shapes.

[0039] Embodiment 3: A multi-degree-of-freedom bending and telescopic attitude control device includes a parallel folding and telescopic device 26 provided at the bottom of the satellite fixed release device. The parallel folding and telescopic device 26 includes a plurality of universal hinge units connected end to end, enabling the parallel folding and telescopic device 26 to have a large folding ratio telescopic adjustment ability and a universal large-angle bending function. The three-unit structure of the parallel folding and telescopic device 26 and the connection relationship and movement mode of each branch chain realize parallel folding and telescoping as well as large-angle bending, adapting to satellite attitude differences, such as Figure 5 、 6 、as shown in Figure 9.

[0040] Specifically, the universal hinge unit includes an annular substrate 27. A plurality of telescopic arm units 28 are circumferentially provided on the end face of the annular substrate 27. The telescopic arm unit 28 includes a control servo 29, a lower link 30, a middle universal hinge 31, an upper link 32, and a top universal hinge 33 connected in sequence. The control servo 29 is based on the annular substrate 27 of this unit, and the top universal hinge 33 is connected to the annular substrate 27 of the next unit. One end of the upper link 32 is provided with an F-head, and the other end is connected to the top universal hinge 33. A cross universal joint is arranged in the F-head. One end of the lower link 30 is connected to the cross universal joint, and the other end is connected to the output end of the control servo 29.

[0041] Exemplarily, as Figure 5 、 8 shown, three universal hinge units can be set as the first unit 34, the second unit 35, and the third unit 36 from bottom to top. Specifically, when the large manipulator on the space station grips the target satellite and reaches the working space of the satellite common base device, the manipulator remains stationary. The outer camera 24 mounted on the outer wall of the fixed release device detects the attitude of the target satellite, and the attitude of the base is adjusted through the parallel folding and telescopic device 26 and the rotating platform 2 to adapt to the satellite. At this time, the servos in the first unit 34 and the second unit 35 of the parallel folding and telescopic device 26 rotate different angles. Through the transmission between the lower link 30, the middle universal hinge 31, the upper link 32, and the top universal hinge 33, the first unit 34 and the second unit 35 extend and bend to one side, and cooperate with the rotating platform 2 to rotate a certain angle, so that the whole base approaches the target satellite. Then, the third unit 36 in the parallel folding and telescopic device 26 slowly adjusts its own attitude according to the inner camera 25 mounted on the top of the fixed release device, so that the bottom of the satellite enters the fixed release device.

[0042] The three units set in this embodiment each have three branches and a total of five degrees of freedom, capable of realizing parallel folding and telescoping as well as large-angle bending. During parallel folding and telescoping, all servos rotate by the same angle to achieve telescoping motion with a large folding ratio. During large-angle bending, the rotation angles of the servos are different to achieve large-angle bending of the device and adapt to the attitude differences of satellites.

[0043] In this embodiment, components such as the locking mechanism 11, the sliding gear 15 mechanism, and the rack slide rail 12 are adopted. The locking electric push rod 16 is used to push the rack to move linearly along the slide rail to achieve rapid fixation and release of the satellite. The end gripper 21 is made of a material with a relatively large elastic modulus, with a flexible material covering its surface and a pressure sensor 23 installed inside. It can effectively reduce the buffering force when fixing the satellite and avoid damage to the satellite body or the device. The sliding gear 15 mechanism pushes the moving platform 20 up and down through the electric push rod to enable the movement of different numbers of locking mechanisms 11 to adapt to satellites of different sizes and shapes.

[0044] When the operation on the satellite is completed, the outer camera 24 mounted on the outer wall of the fixing and releasing device identifies the position of the space station robotic arm. Through the coordinated cooperation of the parallel folding and telescoping device 26, the rotating platform 2, the up and down telescoping device, and the horizontal telescoping device 5, the target satellite is brought closer to the robotic arm to facilitate the successful capture of the satellite by the robotic arm. Then, the locking electric push rod 16 of the fixing and releasing device pushes the rack in the locking mechanism 11 to move linearly outward along the rack slide rail 12. Through the transmission of the sliding gear 15 and the internal gear ring 14, multiple locking mechanisms 11 can move simultaneously until the end gripper 21 separates from the outer wall of the satellite to achieve rapid release of the satellite. Finally, each part in the satellite common base device returns to its initial working state.

[0045] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A satellite fixing and releasing device, characterized in that, The invention comprises a frame base (9) for capturing a satellite, wherein the middle part of the frame base (9) is left vacant to form a receiving cavity (10) for the end of the satellite to enter, and the frame base (9) forms an opening towards the target satellite side for the satellite to enter the receiving cavity (10), and a circumferential fixing mechanism for capturing and positioning the satellite is arranged around the opening, wherein the circumferential fixing mechanism comprises a plurality of locking mechanisms (11) based on the frame base (9) and controlled to move in a radial direction, and the plurality of locking mechanisms (11) cooperate to simultaneously apply a force directed toward the satellite to form a combined force for clamping and fixing.

2. The satellite fixing and releasing device according to claim 1, characterized in that, The frame base (9) is provided with an outer camera (24) for detecting the attitude of the target satellite, and an inner camera (25) for identifying the shape of the target satellite is provided on the end surface facing the target satellite; the frame base (9) comprises a cylindrical frame, a plurality of outer cameras (24) are distributed on the circumferential outer wall of the cylindrical frame, and a plurality of inner cameras (25) are provided on the circumferential upper end surface of the cylindrical frame.

3. The satellite fixing and releasing device according to claim 1, characterized in that, The locking mechanism (11) comprises a rack slide rail (12) fixedly arranged on the frame base (9) in a radial direction, and a sliding rack (13) is slidably arranged in the rack slide rail (12); The circumferential fixing mechanism is provided with a synchronous driving part for keeping the multiple locking mechanisms (11) in synchronous radial movement, and a power driving part for driving the synchronous driving part to operate.

4. The satellite fixing and releasing device according to claim 3, characterized in that, The circumferential fixing mechanism further comprises a clutch control unit (17) arranged corresponding to each locking mechanism (11), wherein the clutch control unit (17) controls the corresponding locking mechanism (11) to engage with or disengage from the synchronous drive unit, and is used to control the number of locking mechanisms (11) driven simultaneously or the sequence of actions of the locking mechanisms (11).

5. The satellite fixing and releasing device according to claim 4, characterized in that, The power drive unit comprises a rack drive unit arranged on a frame base (9) and located at an end of a rack slide rail (12) away from the center; an end gripper (21) is provided at an end of the rack drive unit facing the center, an elastic member (22) providing an elastic gripping force is provided inside the end gripper, and a pressure sensor (23) is provided at the end of the end gripper that contacts the satellite surface.

6. A multi-degree-of-freedom bending and telescopic attitude control device, characterized in that, The invention comprises a parallel folding and telescopic device (26) arranged at the bottom of the satellite fixing and releasing device, wherein the parallel folding and telescopic device (26) comprises a plurality of universal hinge units connected end to end, so that the parallel folding and telescopic device (26) has a large folding and unfolding ratio telescopic adjustment capability and a universal large-angle bending function.

7. A multi-degree-of-freedom bending and telescopic attitude control device according to claim 6, characterized in that, The universal hinge unit comprises an annular base plate (27), a plurality of telescopic arm units (28) are arranged in the circumferential direction of the end surface of the annular base plate (27), and the telescopic arm unit (28) comprises a control servo (29), a lower end connecting rod (30), a middle universal hinge (31), an upper end connecting rod (32), and a top universal hinge (33) which are connected in sequence, the control servo (29) being based on the annular base plate (27) of the unit, and the top universal hinge (33) being connected to the annular base plate (27) of the next unit.

8. A multi-degree-of-freedom bending and telescopic attitude control device according to claim 7, characterized in that, One end of the upper connecting rod (32) is provided with an F-head, and the other end is connected to the top universal hinge (33). A cross universal joint is arranged inside the F-head. One end of the lower connecting rod (30) is connected to the cross universal joint, and the other end is connected to the output end of the control servo (29).

9. A satellite common base device, characterized in that, It includes the satellite fixing and releasing device according to any one of claims 1-5 and the multi-degree-of-freedom bending and telescopic attitude control device according to any one of claims 6-8, and further includes a height fine-tuning frame (1) and a rotating platform (2). The upper end surface of the height fine-tuning frame (1) is provided with the rotating platform (2). The support legs of the height fine-tuning frame (1) are provided with an up-and-down telescopic device. A parallel folding and telescopic device (26) is arranged on the rotating platform (2), and the satellite fixing and releasing device is arranged on the parallel folding and telescopic device (26).

10. The satellite common base device according to claim 9, wherein, There are at least two height fine-tuning frames (1), and the distance between the two height fine-tuning frames (1) is controlled by a horizontal telescopic device (5).

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