Pose adjusting mechanism and satellite fairing vertical covering device

Abstract

The invention provides a pose adjusting mechanism and a satellite fairing vertical covering device. Wherein the pose adjusting mechanism comprises a spherical hinge seat, a spherical hinge seat fixing frame, a vertical elevator and a vertical elevator mounting seat; the vertical elevator is arranged on the vertical elevator mounting seat, the spherical hinge seat fixing frame is arranged on the vertical elevator, the spherical hinge seat is arranged on the spherical hinge seat fixing frame, and the vertical elevator drives the spherical hinge seat fixing frame to move up and down in the vertical direction so as to drive the spherical hinge seat to move up and down in the vertical direction. And the spherical hinge seat moves to drive the spherical hinge to rotate, so that the pose is adjusted. According to the pose adjusting mechanism, the angle of the fixture is adjusted by arranging the spherical hinge seat, and the fixture is adjusted in the vertical direction by arranging the vertical lifter, so that the purpose of accurately adjusting the pose of the fixture is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite fairings, and in particular relates to a pose adjustment mechanism and a vertical fairing assembly device for a satellite fairing. Background Art

[0002] Large-diameter satellite fairings are usually limited by the inability of large satellites to be flipped and adopt a vertical fairing assembly method. The fairing assembly operation involves precise docking of the separation surface and depends on the adjustment and cooperation of the fairing assembly device. The fairing assembly device usually consists of a jig, a multi-degree-of-freedom adjustment mechanism, etc., to realize the combination of two half fairings. The inventor found that the existing fairing assembly device cannot achieve precise adjustment during the attitude adjustment of the jig when implementing this embodiment. Summary of the Invention

[0003] Aiming at the problems existing in the prior art, the present invention provides a pose adjustment mechanism and a vertical fairing assembly device for a satellite fairing, which at least partially solve the problem that precise adjustment cannot be achieved during the attitude adjustment of the jig in the prior art.

[0004] In a first aspect, an embodiment of the present disclosure provides a pose adjustment mechanism, including: a ball hinge seat, a ball hinge seat fixing frame, a vertical elevator, and a vertical elevator mounting seat;

[0005] The vertical elevator is arranged on the vertical elevator mounting seat, the ball hinge seat fixing frame is arranged on the vertical elevator, the ball hinge seat is arranged on the ball hinge seat fixing frame, the vertical elevator drives the ball hinge seat fixing frame to move up and down in the vertical direction, thereby driving the ball hinge seat to move up and down in the vertical direction, and the movement of the ball hinge seat drives the ball hinge to rotate, thereby performing pose adjustment.

[0006] Optionally, it further includes a horizontal adjustment elevator and a roller-type horizontal slide rail. The vertical elevator mounting seat is arranged on the roller-type horizontal slide rail, and the horizontal adjustment elevator is connected to the vertical elevator mounting seat. The horizontal adjustment elevator drives the vertical elevator mounting seat to move on the roller-type horizontal slide rail.

[0007] Optionally, slide rail limits are arranged on the roller-type horizontal slide rail, and the slide rail limits are used to limit the position of the vertical elevator mounting seat moving on the roller-type horizontal slide rail.

[0008] Optionally, it further includes rollers. The horizontal adjustment elevator or the vertical elevator mounting seat is arranged on the rollers, and the rollers enable the pose adjustment mechanism to roll on the horizontal plane.

[0009] Optionally, a brake is arranged on the rollers, and the brake is used to limit the rolling of the rollers.

[0010] Optionally, it further includes a ball joint limit pin, a leg guide pin, and a jig connecting plate. The leg guide pin is arranged on the ball joint seat, the jig connecting plate is fixedly connected to the leg guide pin, one end of the ball joint limit pin is connected to the ball joint seat, and the other end of the ball joint limit pin is connected to the jig connecting plate. When the jig connecting plate is connected to the jig, the leg guide pin plays a guiding role, and the ball joint limit pin assists the ball joint to be in a vertical state, facilitating the vertical docking of the jig connecting plate and the jig. After the jig connecting plate is fixedly connected to the jig, the ball joint limit pin is used to lock the degrees of freedom of the ball joint.

[0011] Optionally, it further includes a lateral force balance column. The lateral force balance column is arranged on the side of the vertical elevator mounting seat, and the lateral force balance column is used to ensure the lateral force balance of the vertical elevator mounting seat.

[0012] Optionally, it further includes a rotating lifting ring. The rotating lifting ring is used to connect the lifting mechanism when hoisting the pose adjustment mechanism.

[0013] In a second aspect, an embodiment of the present disclosure further provides a satellite fairing vertical closing device, including a jig and the pose adjustment mechanism according to any one of the first aspect. The bottom of the jig is mounted on the pose adjustment mechanism, and the pose adjustment mechanism is used to adjust the pose of the jig.

[0014] Optionally, the closing device further includes: a satellite support platform and an orbit group. The pose adjustment mechanism is arranged on the orbit group, and the satellite support platform is connected to the orbit group. When the fairing is hoisted into the jig, the pose adjustment mechanism adjusts the angular deviation existing during the docking of the jig. After the adjustment is completed, the pose adjustment mechanism slides on the orbit group to place the fairing on the satellite support platform.

[0015] The pose adjustment mechanism and the satellite fairing vertical closing device provided by the present invention, wherein the pose adjustment mechanism adjusts the angle of the jig by setting a ball joint seat, and adjusts the jig in the vertical direction by setting a vertical elevator, so as to achieve the purpose of accurately adjusting the pose of the jig. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By describing the exemplary embodiments of the present disclosure in more detail in conjunction with the accompanying drawings, the above and other objects, features, and advantages of the present disclosure will become more obvious. Among them, in the exemplary embodiments of the present disclosure, the same reference numerals generally represent the same components.

[0017] Figure 1 It is a schematic structural diagram of the pose adjustment mechanism provided by the embodiment of the present disclosure;

[0018] Figure 2 It is a schematic structural diagram of the satellite fairing vertical closing device provided by the embodiment of the present disclosure;

[0019] Figure 3Schematic diagram of the jig provided by the embodiments of the present disclosure;

[0020] Figure 4 Schematic diagram of the ball head adjusting seat provided by the embodiments of the present disclosure;

[0021] Figure 5 Schematic diagram of the docking guiding mechanism provided by the embodiments of the present disclosure;

[0022] Figure 6 Schematic diagram of the tensioning mechanism provided by the embodiments of the present disclosure;

[0023] Figure 7 Schematic diagram of the jig head cone provided by the embodiments of the present disclosure;

[0024] Figure 8 Schematic diagram of the bottom column section of the jig provided by the embodiments of the present disclosure;

[0025] Figure 9 Schematic diagram of the lying state of the jig provided by the embodiments of the present disclosure;

[0026] Figure 10 Schematic diagram of the track group provided by the embodiments of the present disclosure;

[0027] Figure 11 Schematic diagram of the connection between the track group and the satellite support platform provided by the embodiments of the present disclosure;

[0028] Figure 12 Schematic diagram of the satellite support platform provided by the embodiments of the present disclosure;

[0029] Figure 13 Schematic diagram of the fairing hoisting provided by the embodiments of the present disclosure;

[0030] Figure 14 Schematic diagram of the fairing closing provided by the embodiments of the present disclosure;

[0031] Figure 15 Schematic diagram of the docking connection of the fairing provided by the embodiments of the present disclosure. Detailed implementation manners

[0032] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0033] It should be clear that the following uses specific specific examples to illustrate the implementation modes of the present disclosure, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The present disclosure can also be implemented or applied through other different specific implementation modes, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present disclosure.

[0034] It should be noted that the following describes various aspects of embodiments within the scope of the appended claims. It should be obvious that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on the present disclosure, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement a device and / or practice a method. Additionally, this device and / or method can be implemented using other structures and / or functionality in addition to one or more of the aspects described herein.

[0035] It should also be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present disclosure in a schematic manner. The diagrams only show the components related to the present disclosure, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in its actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0036] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0037] The currently existing covering device mainly has the following problems:

[0038] 1. The docking connection between the jig and the pose adjustment mechanism requires a high docking accuracy and has no guiding structure;

[0039] 2. The pose adjustment mechanism usually needs to carry the jig for large-range adjustment, which has requirements for the flatness of the foundation;

[0040] 3. The pose adjustment structure has a single function and cannot achieve precise six-degree-of-freedom adjustment of the jig.

[0041] As Figure 1 This embodiment discloses a pose adjustment mechanism, including: a ball hinge seat 404, a ball hinge seat fixing frame 406, a vertical elevator 407 and a vertical elevator mounting seat 409;

[0042] The vertical elevator 407 is arranged on the vertical elevator mounting seat 409, and the ball hinge seat fixing frame 406 is arranged on the vertical elevator 407. The ball hinge seat 404 is arranged on the ball hinge seat fixing frame 406. The vertical elevator 407 drives the ball hinge seat fixing frame 406 to move up and down in the vertical direction, thereby driving the ball hinge seat 404 to move up and down in the vertical direction. By driving the rotation of the ball hinge through the height of the ball hinge seat of the pose adjustment mechanism, various pitching postures of the jig can be driven. The vertical direction in this embodiment is Figure 2 the Y-axis direction in

[0043] Optionally, it further includes a horizontal adjustment elevator 416 and a roller-type horizontal slide rail 412. The vertical elevator mounting seat 409 is arranged on the roller-type horizontal slide rail 412, and the horizontal adjustment elevator 416 is connected to the vertical elevator mounting seat 409. The horizontal adjustment elevator 416 drives the vertical elevator mounting seat 409 to move on the roller-type horizontal slide rail 412.

[0044] Optionally, a slide rail limit 413 is arranged on the roller-type horizontal slide rail 412, and the slide rail limit 413 is used to limit the position of the vertical elevator mounting seat 409 moving on the roller-type horizontal slide rail 412.

[0045] Optionally, it further includes rollers 415. The horizontal adjustment elevator 416 or the vertical elevator mounting seat 409 is arranged on the rollers 415, and the rollers 415 enable the pose adjustment mechanism to roll on the horizontal plane.

[0046] Optionally, a brake 414 is arranged on the rollers 415, and the brake 414 is used to limit the rolling of the rollers 415.

[0047] Optionally, the pose adjustment mechanism further includes a ball hinge limit pin 402, a leg guide pin 403 and a jig connecting plate 401. The leg guide pin 403 is arranged on the ball hinge seat 404, the jig connecting plate 401 is fixedly connected to the leg guide pin 403, one end of the ball hinge limit pin 402 is connected to the ball hinge seat 404, and the other end of the ball hinge limit pin 402 is connected to the jig connecting plate 401. When the jig connecting plate 401 is connected to the jig, the leg guide pin 403 plays a guiding role, and the ball hinge limit pin 402 can assist the ball hinge to be in a vertical state, facilitating the vertical docking of the jig and the jig connecting plate. After the jig connecting plate is fixedly connected to the jig leg, the ball hinge limit pin is used to lock the degrees of freedom of the ball hinge, improving the stability when the jig is pushed over a long distance.

[0048] Optionally, it further includes a lateral force balance column 405 which is arranged at the side of the vertical elevator mounting seat 409 and is used to ensure the balance of the lateral force of the vertical elevator mounting seat 409.

[0049] Optionally, the pose adjustment mechanism includes a rotating sling 411, a vertical scale 408 and a horizontal scale 410. The rotating sling is used to connect the hoisting mechanism when hoisting the pose adjustment mechanism. The vertical scale is used to mark the vertical moving distance, and the horizontal scale is used to mark the horizontal moving distance.

[0050] As Figure 1 shown, the pose adjustment mechanism includes a jig connecting plate 401, a ball joint limit pin 402, a leg guide pin 403, a ball joint seat 404, a lateral force balance column 405, a ball joint seat fixing bracket 406, a vertical elevator 407, a vertical scale 408, a vertical elevator mounting seat 409, a horizontal scale 410, a rotating sling 411, a roller type horizontal slide rail 412, a slide rail limit 413, a brake 414, a roller 415 and a horizontal adjustment elevator 416. As Figure 2 shown, the pose adjustment mechanism includes a first pose adjustment mechanism 4 and a second pose adjustment mechanism 5. The difference between the second pose adjustment mechanism 5 and the first pose adjustment mechanism 4 is that the second pose adjustment mechanism 5 does not have a horizontal adjustment elevator 416 and follows in the oy direction when the first pose adjustment mechanism 4 performs horizontal adjustment. The horizontal adjustment elevator 416 drives the vertical elevator mounting seat 409 to move on the roller type horizontal slide rail 412 through a lead screw. When the jig is not completely parallel to the fairing, there will be an angular deviation between the two jigs when the two half fairings are butted. At this time, the first pose adjustment mechanism 4 is required to perform angular adjustment. There are three uniformly distributed jig legs 132 at the bottom of the jig, and a stable support state can be formed after being connected and combined with the first pose adjustment mechanism 4.

[0051] The first pose adjustment mechanism 4 is connected to the jig through the jig connecting plate 401 and can be guided by the leg guide pin 403 during docking. The ball hinge limit pin 402 is a limit pin for locking the ball hinge. After the jig is connected to it, the overall stability can be ensured when moving in a large range in the ox direction on the track group 3. When the two jigs approach and are finely adjusted for docking, the ball hinge limit pin 402 needs to be pulled out to release the freedom of the ball hinge. By adjusting the height of the vertical lifter 407 of the two pose adjustment mechanisms, namely the first pose adjustment mechanism 4 and the second pose adjustment mechanism 5, various pose adjustments such as the overall lifting of the jig, the overall lowering, the pitching rotation around the oy axis, and the roll around the ox axis can be achieved. For the rotation working condition around the oz axis, it is necessary to keep the first pose adjustment mechanism 4 locked in position on the track group 3 through the brake 414, and push the second pose adjustment mechanism 5 to move back and forth on the track group 3 to realize the overall rotation of the jig around the ball hinge where the first pose adjustment mechanism 4 is located. The oy direction of the second pose adjustment mechanism 5 is a horizontal sliding rail, so the overall rotation angle can be calculated according to the moving distances of the vertical lifter mounting seat 409 of the second pose adjustment mechanism 5 in the ox and oy directions. Different from other types of fairing closing devices, this device has the ball hinge built into the pose adjustment mechanism and is connected to the jig through guidance. The ball hinge joint is protected because it is not exposed, and the docking operation becomes convenient.

[0052] In a specific embodiment, as Figure 2 shown, a satellite fairing vertical closing device includes a jig 1, a satellite support platform 2, a track group 3, a first pose adjustment mechanism 4, and a second pose adjustment mechanism 5.

[0053] As Figure 3 shown, the jig 1 is mainly composed of two symmetric half jigs, and the half jigs are welded by steel pipes. The jig is divided into three parts according to the characteristics of the fairing: the nose cone section 110, the straight section 120, and the tail cone section 130. The sections are connected and positioned by bolts and positioning pins. This segmentation mode is divided according to the structural characteristics of the fairing. For fairings of other model lengths, only the intermediate straight section module needs to be added. At the same time, the jig modules are relatively easier to transport after separation, reducing the product transportation cost. The jig has good rigidity, and an independent modular adjustable interface ball head adjustment seat 160 is designed on the side of the jig, symmetrically designed along the xoz plane, and connected and fixed to the jig through long-hole bolts, which is used to dock with the longitudinal separation surface of the fairing to correct the possible deformation before the fairing docking.

[0054] As Figure 3 shown, the ball head adjustment seats 160 are distributed corresponding to the interface distribution of the longitudinal separation surface of the fairing. As Figure 4As shown, the ball head adjustment seat 160 includes an adjustment screw 161, a positioning screw 164, an outer locking nut 162, an inner locking nut 165, a locking nut 166, a ball hinge bowl 167 and a mounting seat 163. Its mounting interface is a long hole, which can be adjusted in a small range in the Z direction on the side of the jig, reducing the dimensional accuracy requirements in this direction. The adjustment screw 161 is threadedly connected to the positioning screw 164, the inner hole of the positioning screw 164 is a tapping thread, and the outer surface of the positioning screw 164 is a threaded structure. A plane 168 is longitudinally arranged in the threaded structure. The plane 168 limits the rotation of the positioning screw 164 in the mounting seat 163, but the positioning screw 164 can move forward and backward in the mounting seat 163.

[0055] Continue to see Figure 4 The hexagonal head on the end face of the adjusting screw 161 can be used with tools to realize the screwing in the positioning screw 164. The end of the adjusting screw 161 is the connecting thread of the fairing, which forms a step structure with its body thread, which can prevent the adjusting screw 161 from being over-screwed when connected to the fairing. After the adjusting screw and the fairing connection interface are fixed, loosen the outer locking nut 162, and by tightening the inner locking nut 165, the positioning screw 164 drives the adjusting screw 161 to move inward and outward as a whole, realizing the external pulling and internal pressure correction of the fairing.

[0056] In this embodiment, the module can adapt to various possible postures of the fairing. After loosening the outer locking nut 162, the inner locking nut 165, and the locking nut 166, the positioning screw 164 can rotate at a small angle with the ball joint bowl 167 to adapt to the small range of angular deviation of the fairing connection interface. After the angle is aligned, the inner locking nut 165 and the outer locking nut 162 can be tightened to fix the relative position of the positioning screw 164 and the mounting seat 163. After the adjusting screw 161 is connected to the fairing and tightened, the locking nuts 166 at both ends are further tightened to fix the adjusting screw 161.

[0057] The ball head adjustment seat for the jig of the present application can adapt to the position deviation of the fairing in the jig, reduce the equipment processing accuracy requirements, and reduce the difficulty of connecting the fairing and the jig.

[0058] like Figure 5As shown in the figure, a docking guiding mechanism 150 is also symmetrically designed on the side of the tooling rack along the xoz plane for guiding and positioning when two tooling racks approach and dock, so as to keep the relative positions of the two tooling racks fixed. The docking guiding mechanism 150 includes a horizontal guiding mounting base 151, an I-shaped horizontal sliding block 152, a guiding rod 153, a horizontal sliding block sealing plate 154, a locking nut 155, a vertical guiding mounting base 156, an I-shaped vertical sliding block 157 and a vertical sliding block sealing plate 158. Among them, the I-shaped horizontal sliding block 152 and the vertical guiding mounting base 156 are respectively installed on two independent half tooling racks. The guiding rod 153 can be adjusted horizontally and vertically in cooperation with the I-shaped horizontal sliding block 152 and the I-shaped vertical sliding block 157 to meet the guiding and fixing function when the two half tooling racks are not completely symmetrically docked. During docking, after adjusting the guiding rod 153 to insert into the I-shaped horizontal sliding block 152, it is connected and fixed through the long holes on the surfaces of the horizontal guiding mounting base 151 and the vertical sliding block sealing plate 158 and the bolt holes of the I-shaped horizontal sliding block 152 and the I-shaped vertical sliding block 157, and the relative position is locked by the locking nut 155. Since at least two groups of docking guiding mechanisms 150 are distributed on the side of the tooling rack, the relative positions of the tooling racks during docking can be ensured to remain unchanged. The docking guiding mechanism 150 on the tooling rack also has the ability to adapt to the deflection angle.

[0059] As Figure 6 shown in the figure, a tooling rack tensioning mechanism 140 is also designed on the side of the tooling rack. This mechanism includes: a horizontal locking mounting base 141, an I-shaped horizontal locking sliding block 142, an end face locking nut 143, a horizontal locking sliding block sealing plate 144, a locking screw 145, an I-shaped vertical locking sliding block 146, and a vertical locking mounting base 147. This mechanism can also adapt to the situation where there is a certain misalignment when the two half tooling racks are docked, and the two half tooling racks are tightened through docking to drive the docking and tightening between the fairing interfaces. Among them, the locking screw 145 is a screw structure, and the I-shaped horizontal locking sliding block 142 and the I-shaped vertical locking sliding block 146 can slide horizontally and vertically. After the position of the tooling rack is adjusted to align the fairing interfaces, the I-shaped horizontal locking sliding block 142 and the I-shaped vertical locking sliding block 146 can also be tightened and fixed through the long holes on the horizontal locking mounting base 141 and the vertical locking mounting base 147 and the threaded holes of each sliding block after adapting to the deflection angle. The locking screw 145 is also threadedly connected to the I-shaped horizontal locking sliding block 142 and the I-shaped vertical locking sliding block 146, and the relative position is locked by the end face locking nut 143. Finally, the two half fairings are tightened by screwing the external hexagon in the middle of the locking screw 145.

[0060] As Figure 7 and Figure 8As shown in the figure, the nose cone section 110 of the tooling fixture is designed with a front lifting point interface 111, which is connected to a lifting ring screw and cooperates with the rear lifting point 131 of the tooling fixture for the lifting and flipping of the tooling fixture. In addition, the installation position of the lifting point interface is adjustable. Since the cone section is a common module for various types of fairings, setting the lifting point structure on the cone section can ensure that when adding or reducing the column section of the fairing combining device later, the lifting point position is still at the head. That is, the position of the lifting and installation opening is adjustable, which can adapt to the centroid deviation within a certain range and the change of the centroid position of the tooling fixture fairing combination, and ensure that the tooling fixture is in a vertical state during the vertical lifting of the combination. In this embodiment, the nose cone adapter plate 112 is connected and fixed to the nose cone section 110 through bolts and positioning pins, and can be replaced according to the nose cone forms of different fairings to adapt to various types of fairings. The adjustable auxiliary support 113 is lifted and assisted in adjustment by combining a lead screw and a handwheel to reduce the deformation at the nose cone of the fairing.

[0061] As Figure 8 Shown in the figure is the bottom of the column section of the tooling fixture, including the rear lifting point 131 of the tooling fixture, the tooling fixture legs 132, the fairing support ring 133, and the fairing guiding and positioning U-groove 134. The tooling fixture legs 132 are detachably connected to the tooling fixture through bolts, and the legs can continue to be used when replacing the tooling fixture with other diameters later. As Figure 9 shown in the figure, a positioning hole 135 and a limit hole 136 are opened at the center of the bottom of the leg for connecting to the first pose adjustment mechanism 4 and / or the second pose adjustment mechanism 5 and locking the degrees of freedom. The fairing support ring 133 provides support when the fairing falls into the tooling fixture. The fairing guiding and positioning U-groove 134 opened on the side of the tooling fixture cooperates with the guiding rod on the fairing to determine the relative position of the fairing and the tooling fixture in the oz direction, reducing the docking difficulty when the fairing is lifted and installed into the tooling fixture.

[0062] As Figure 10 、 11 Shown in the figure is the structural composition of the track group. The track group provides a guiding track in the ox direction for the pose adjustment mechanisms (i.e., the first pose adjustment mechanism 4 and the second pose adjustment mechanism 5). The track group is composed of 6 track units. The middle track unit is connected to the satellite support platform 2 through the Figure 11 shown v-shaped guiding pin 309. This guiding form is convenient for the up and down non-constraint during the track height adjustment and provides a median reference during the fairing docking. After the guiding is completed, it is connected and fixed to the satellite support platform 2 through the track unit fixed interface 308. The track units are connected through the adjustable connecting rod of the track bearing frame 310. The adjustable connecting rod is in the form of a telescopic sleeve driven by a thread. Taking the middle track as the reference, as Figure 2As shown in the figure, after the three groups of tracks on one side are connected, a triangular stable structure is formed between the connecting rods, which is also convenient for determining the relative positions during installation. The track unit itself includes a track bearing frame 301, a track 302, track rollers 303, track footrests 304, track end limiters 305, corner fine-tuning mechanisms 306, spirit levels 307, and track unit fixed interfaces 308. Among them, the track rollers 303 are used to facilitate the pushing and positioning during the combined installation of track units. The track footrests 304 and the spirit levels 307 can be used together to level the tracks and avoid large-angle tilting. The track end limiters 305 are limit structures to prevent derailment when the pose adjustment mechanism reaches its limit stroke. The main function of the corner fine-tuning mechanism 306 is that when the rollers of the pose adjustment mechanism press against the corner fine-tuning mechanism 306, the relative positions of the rollers on both sides of the middle part of the pose adjustment mechanism and the track end limiters 305 are finely adjusted by adjusting the screw of the corner fine-tuning mechanism 306, thereby adjusting the rotation of the entire jig around the z-axis.

[0063] As Figure 12 Shown in the figure is the satellite support platform 2 of the fairing device. Its main function is to provide fixation and support for the rocket support module, and at the same time provide a middle reference for the installation of the track group. The satellite support platform 2 mainly consists of the following structures: an adapter ring 201, a satellite bearing frame 202, a track positioning connection port 203, satellite support platform footrests 204, and satellite support platform rollers 205. Among them, the adapter ring 201 can be replaced according to different satellite support modules, having good adaptability. The whole of the satellite support platform 2 can be leveled through the satellite support platform footrests 204.

[0064] As Figure 13 、 Figure 14 and Figure 15 As shown in the figure, place the jig 1 on the bracket, hoist the fairing into the jig 1, flip and hoist the fairing to the vertical state and dock it with the pose adjustment mechanism, and push the two half-jigs together to complete the fairing closing process.

[0065] This embodiment has the following effects:

[0066] 1. The jig and the pose adjustment mechanism are designed with a guiding connection, reducing the difficulty of hoisting and assembly;

[0067] 2. The pose adjustment mechanism cooperates with the tracks to achieve six-degree-of-freedom adjustment, with low requirements for the ground levelness and strong docking and adjustment capabilities.

[0068] The basic principles of the present disclosure have been described in connection with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present disclosure. Additionally, the specific details disclosed above are only for illustrative and easy-to-understand purposes, rather than limitations, and these details do not limit the present disclosure to necessarily adopt the above specific details for implementation.

[0069] In the present disclosure, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The block diagrams of devices, apparatuses, equipment, and systems involved in the present disclosure are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The words "or" and "and" used herein refer to the word "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with it.

[0070] In addition, as used herein, the "or" used in the listing of items starting with "at least one" indicates a separate listing, so that for example, the listing of "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the term "exemplary" does not mean that the described examples are preferred or better than other examples.

[0071] It should also be noted that in the systems and methods of the present disclosure, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present disclosure.

[0072] Various changes, substitutions, and alterations to the technologies described herein can be made without departing from the teachings of the technology defined by the appended claims. Additionally, the scope of the claims of the present disclosure is not limited to the specific aspects of the processes, machines, manufactures, compositions of events, means, methods, and acts described above. Current or later-developed processes, machines, manufactures, compositions of events, means, methods, or acts that perform substantially the same function or achieve substantially the same result as the corresponding aspects described herein can be utilized. Accordingly, the appended claims include such processes, machines, manufactures, compositions of events, means, methods, or acts within their scope.

[0073] The foregoing description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0074] The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some of their variations, modifications, alterations, additions, and subcombinations.

Claims

1. A pose adjustment mechanism, characterized in that, Including: Spherical hinge seat, spherical hinge seat fixing bracket, vertical lift, and vertical lift mounting seat; The vertical lift is arranged on the vertical lift mounting seat, the spherical hinge seat fixing bracket is arranged on the vertical lift, and the spherical hinge seat is arranged on the spherical hinge seat fixing bracket; the vertical lift drives the spherical hinge seat fixing bracket to move up and down in the vertical direction, thereby driving the spherical hinge seat to move up and down in the vertical direction, and the movement of the spherical hinge seat drives the spherical hinge to rotate, so as to perform pose adjustment.

2. The pose adjustment mechanism according to claim 1, wherein It further includes a horizontal adjustment lift and a roller-type horizontal slide rail. The vertical lift mounting seat is arranged on the roller-type horizontal slide rail. The horizontal adjustment lift is connected to the vertical lift mounting seat, and the horizontal adjustment lift drives the vertical lift mounting seat to move on the roller-type horizontal slide rail.

3. The pose adjustment mechanism according to claim 2, characterized in that, A slide rail limit is arranged on the roller-type horizontal slide rail, and the slide rail limit is used to limit the position of the vertical lift mounting seat moving on the roller-type horizontal slide rail.

4. The pose adjustment mechanism according to claim 2, wherein It further includes rollers. The horizontal adjustment lift or the vertical lift mounting seat is arranged on the rollers, and the rollers enable the pose adjustment mechanism to roll on the horizontal plane.

5. The pose adjustment mechanism according to claim 4, characterized in that, A brake is arranged on the rollers, and the brake is used to limit the rolling of the rollers.

6. The pose adjustment mechanism according to claim 1, wherein It further includes a spherical hinge limit pin, a leg guide pin, and a jig connecting plate; the leg guide pin is arranged on the spherical hinge seat, the jig connecting plate is fixedly connected to the leg guide pin, one end of the spherical hinge limit pin is connected to the spherical hinge seat, and the other end of the spherical hinge limit pin is connected to the jig connecting plate; when the jig connecting plate is connected to the jig, the leg guide pin plays a guiding role, and the spherical hinge limit pin assists the spherical hinge to be in a vertical state, facilitating the vertical docking of the jig connecting plate and the jig. After the jig connecting plate is fixedly connected to the jig, the spherical hinge limit pin is used to lock the degrees of freedom of the spherical hinge.

7. The pose adjustment mechanism according to claim 1, characterized in that, It further includes a lateral force balance column, and the lateral force balance column is arranged on the side of the vertical lift mounting seat, and the lateral force balance column is used to ensure the lateral force balance of the vertical lift mounting seat.

8. The pose adjustment mechanism according to claim 1, wherein It further includes a rotating sling, a vertical scale, and a horizontal scale. The rotating sling is used to connect the hoisting mechanism when hoisting the pose adjustment mechanism. The vertical scale is used to mark the vertical movement distance, and the horizontal scale is used to mark the horizontal movement distance.

9. A vertical cover assembly device for a satellite fairing, characterized in that, Including a jig and the pose adjustment mechanism according to any one of claims 1 to 8, the bottom of the jig is mounted on the pose adjustment mechanism, and the pose adjustment mechanism is used to adjust the pose of the jig.

10. The satellite fairing vertical closing device according to claim 9, wherein The fairing device further includes: a satellite support platform and an orbit group. The pose adjustment mechanism is arranged on the orbit group, and the satellite support platform is connected to the orbit group; when the fairing is hoisted into the jig, the pose adjustment mechanism adjusts the angular deviation existing during the docking of the jig. After the adjustment is completed, the pose adjustment mechanism slides on the orbit group to place the fairing on the satellite support platform.

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