Satellite supporting and overturning device and working method thereof

Abstract

The invention discloses a satellite supporting and overturning device and a working method thereof, and belongs to the technical field of spacecraft ground supporting equipment. The device comprises a base, an overturning platform, a power mechanism and a control system. The base provides stable support and has a leveling function; the overturning platform is connected with the base through the rotating support set and used for bearing a satellite. The power mechanism is driven by an electric cylinder, provides overturning power and controls the speed and the angle. The core lies in that the control system adopts a closed-loop control scheme based on a PLC (Programmable Logic Controller), an angle sensor and a proximity switch, so that the overturning process can be accurately and automatically controlled, the running state is monitored in real time, data is fed back, faults are processed, and process load data is recorded; and the safety, the precision and the reliability of the satellite in the process of overturning from the vertical state to the horizontal state are ensured. The method is particularly suitable for the horizontal final assembly test work of the star cover assembly in a three-level test-launch mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacecraft ground support equipment, in particular to a satellite supporting and overturning device and a working method thereof. BACKGROUND

[0002] In recent years, with the vigorous development of domestic and foreign private aerospace industry, the "three-horizontal-launching" mode represented by the Falcon series launch vehicles of SpaceX company has gradually shown great advantages in high-frequency and rapid launching. Unlike the "three-vertical-launching" and "two-horizontal-one-vertical-launching" modes, the "three-horizontal-launching" mode needs to complete the assembly, filling and testing of the missile body and the fairing assembly in the technical area workshop. In order to realize the horizontal assembly and testing of the missile body and the fairing assembly, a set of overturning platform is needed to overturn the satellite from a vertical state to a horizontal state, and then complete the assembly and testing of the fairing assembly.

[0003] The existing patents of satellite supporting and overturning device in China are: 1) Patent No. CN104117981A: external turning two-axis turntable based on electric push rod, including shaft turntable, including support platform, adjustable support, telescopic electric push rod, sinking type overturning frame, anti-overturning device, adapter, rotary system, and electric control system, which can realize the support and fixation of satellite. 2) Patent No. CN109911754B: multifunctional overturning and hoisting equipment, including first fixing piece, first connecting rod assembly, second fixing piece and second connecting rod assembly, which can realize the overturning of microsatellite.

[0004] The above two patent technologies are innovations around the satellite supporting and overturning device, which can improve the efficiency and safety of satellite operation, but still have some problems and shortcomings, including: 1) The control of overturning belongs to open control, which requires higher requirements for operators, and may not meet the high-precision satellite overturning operation requirements; 2) The control system of overturning process has no feedback and monitoring mechanism, which cannot monitor the running state of the overturning platform in real time, cannot find and handle the faults in the overturning process, and cannot clearly know whether the process load in the overturning process meets the requirements of each index of the satellite; 3) There is lack of integration among the existing patent technologies, and further research and development of integrated satellite supporting and overturning device are needed to improve the efficiency and reliability of satellite operation.

[0005] In summary, the existing patent technologies of satellite supporting and overturning device still have some problems and shortcomings, which need to be further researched and improved. SUMMARY

[0006] The purpose of the present application is to provide a satellite supporting and overturning device, which can improve the automation and whole-process control of the equipment under the condition of ensuring the safety of the satellite, and solve the problems of real-time monitoring, feedback and handling caused by open control in the process of satellite supporting and overturning.

[0007] To this end, the application provides a satellite supporting and overturning device, comprising: a base for providing a stable mounting reference and support for the entire device;

[0008] an overturning platform connected to the base via a rotating support group for receiving and fixing a satellite supporting cabin;

[0009] a power mechanism connected between the base and the overturning platform for driving the overturning platform to rotate around the rotating shaft of the rotating support group, thereby realizing the overturning of the satellite supporting cabin between the vertical state and the horizontal state;

[0010] a control system electrically connected to the power mechanism for controlling the motion parameters of the power mechanism and monitoring the running state of the device in real time; the control system is a closed-loop control system, which comprises a programmable PLC controller, an angle sensor for monitoring the overturning angle, and a proximity switch for position limiting.

[0011] Preferably, the base comprises a welded frame, a plurality of height-adjustable supporting legs and side supporting legs, and a track wheel set for facilitating the movement of the device.

[0012] Preferably, the base further comprises a buffer support and a vertical limit near the fixed end side of the overturning platform.

[0013] Preferably, the base further comprises an auxiliary push rod fixedly installed on the upper end of the welded frame and close to the movable end of the overturning platform.

[0014] Preferably, the overturning platform comprises a main support frame, an electric cylinder support, and a supporting ring for installing and fixing the satellite supporting cabin, the supporting ring being provided with a limiting structure and a mounting interface.

[0015] Preferably, the power mechanism comprises an electric cylinder, a speed reducer and a servo motor connected to the electric cylinder, a rotating shaft, and front and rear end limit blocks for limiting the stroke of the electric cylinder.

[0016] Preferably, the control system further comprises a servo driver, a switching power supply, and a display, the servo driver being electrically connected to the servo motor.

[0017] Preferably, the angle sensor is arranged at the rotating support group for monitoring the real-time angle of the overturning platform; the proximity switches are correspondingly arranged at the vertical limit, the auxiliary push rod, the front end limit block, and the rear end limit block.

[0018] Preferably, the control system is configured to record and store the running data during the overturning process, including speed, angle, acceleration, and angular acceleration.

[0019] The application further provides a working method of the satellite supporting and overturning device.

[0020] S1, leveling preparation: controlling the action of the plurality of telescopic legs on the base to separate the track wheel set of the base from the ground track; using a level to detect the levelness of the overturning platform, and performing fine leveling by controlling the telescoping of the legs to make the overturning platform reach a horizontal state;

[0021] S2, installation and fixation: installing and fixing the satellite supporting cabin on the horizontal overturning platform, and controlling the action of the auxiliary push rod on the base to make the satellite supporting cabin reliably contact with the overturning platform; then vertically hoisting and fixing the satellite on the satellite supporting cabin;

[0022] S3, closed-loop overturning: issuing an instruction by the control system to control the servo motor of the power mechanism to drive the electric cylinder to act, and to push the overturning platform to rotate around the rotating support set on the base; in the process, the overturning angle is monitored in real time by an angle sensor and is fed back to a PLC controller of the control system, the PLC controller dynamically adjusts the operation parameters of the servo motor according to the real-time angle feedback signal and a preset program, to realize closed-loop control of the overturning angle and speed, until the satellite reaches a target state;

[0023] S4, back to horizontal operation: controlling the servo motor of the power mechanism to reversely operate, driving the electric cylinder to reversely act, and stably returning the overturning platform and the satellite from the vertical state to the horizontal state under the closed-loop control.

[0024] Preferably, in the overturning and back to horizontal process of the steps S3 and S4, a safety monitoring step is further included: monitoring the limit position by the proximity switch arranged at the vertical limit, the front end limit block and the rear end limit block of the electric cylinder; when any proximity switch is triggered or the control system monitors that the operation parameter is abnormal, the PLC controller immediately controls the power mechanism to stop operating and issues an alarm.

[0025] Compared with the prior art, the satellite supporting and overturning device provided by the application has the following beneficial effects:

[0026] 1) The control system composed of the PLC controller and the sensor group can realize automatic operation, reduce labor cost, and improve the precision and efficiency of the system;

[0027] 2) The power mechanism provides driving force for the overturning platform, so that the overturning platform can perform overturning movement, the angle and direction of the overturning platform can be adjusted, the accurate overturning and tilting of the object can be realized, the speed, angle and other parameters can be adjusted according to different satellite shapes and sizes to adapt to different overturning requirements. Meanwhile, the mechanism is equipped with a safety protection device, which can monitor the position and state of the satellite during the overturning process, and automatically stops overturning and issues an alarm signal once an abnormal condition is found.

[0028] 3) The control system can realize accurate control and monitoring of parameters such as turning angle, speed, direction, etc. The running state of the turning platform can be monitored in real time through sensors and controllers, etc. to discover and handle faults in time. The running data of the turning platform can also be recorded and stored to provide data support for subsequent maintenance and optimization.

[0029] In addition to the purposes, features and advantages described above, the present application has other purposes, features and advantages. The present application will be described in further detail below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0030] The drawings accompanying the specification of the present application form a part thereof, serve to provide further understanding of the present application, and together with the description of the present application, serve to explain the present application. The present application is shown in the drawings as follows:

[0031] Figure 1 It is a general view of the satellite supporting and turning device of the present application;

[0032] Figure 2 It is a structural schematic view of the base assembly in the satellite supporting and turning device of the present application;

[0033] Figure 3 It is a structural schematic view of the turning platform assembly in the satellite supporting and turning device of the present application;

[0034] Figure 4 It is a structural schematic view of the power mechanism in the satellite supporting and turning device of the present application;

[0035] Figure 5 It is a structural schematic view of the control system in the satellite supporting and turning device of the present application;

[0036] Legend: 1, base; 2, turning platform; 3, power mechanism; 4, control system; 5, satellite supporting cabin; 11, welding frame; 12, supporting leg; 13, track wheel set; 14, pulling ring; 15, auxiliary push rod; 16, buffer support; 17, vertical limit; 18, rotating support set; 19, side supporting leg; 21, main supporting frame; 22, electric cylinder support; 23, decoration panel; 24, supporting ring; 31, electric cylinder; 32, speed reducer; 33, servo motor; 34, rotating shaft; 35, front end limit block; 36, rear end limit block; 37, support; 41, switching power supply; 42, PLC controller; 43, display; 44, servo driver; 46, angle sensor; 47, proximity switch. DETAILED DESCRIPTION

[0037] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0038] In combination Figures 1-5 A satellite supporting and overturning device is further described in detail. The present application aims to provide a satellite supporting and overturning device and its working method, which can be used for satellite total assembly test after overturning from a vertical state to a horizontal state, and is particularly suitable for horizontal overturning of satellites in a "three-horizontal test and launch" mode. In order to achieve the above-mentioned purpose, the satellite supporting and overturning device provided by the present application comprises a base 1, an overturning platform 2, a power mechanism 3, and a control system 4.

[0039] The base is the installation reference of the overturning platform, which is used to support and fix the main body part of the overturning platform, and its main functions include: 1) providing stable support to prevent the device from shaking or tilting during overturning, enhancing the safety and stability of the device; 2) fixing the overturning platform to avoid movement or sliding of the device during overturning, ensuring the accuracy and reliability of overturning; 3) leveling the overturning platform to adapt to different site overturning requirements, reducing the construction requirements of the site.

[0040] The overturning platform is connected with the base through a rotating support group and rotates around the rotating shaft of the rotating support group during overturning. When installed, the support cabin bears the weight and load of the satellite structure and transmits them to the base of the overturning platform, thereby supporting the overall structure of the satellite. The overturning platform is installed on the base through a slewing shaft, which is mainly used for: 1) overturning the satellite from a vertical state to a horizontal state to realize the overturning of the object; 2) adjusting according to different satellite shapes and sizes to adapt to different satellite overturning requirements.

[0041] The power mechanism refers to the power source that drives the movement of the overturning platform, which is connected to the base shaft at one end and to the overturning platform electric cylinder support at the other end. Its main functions include: 1) providing power: the power mechanism provides driving force for the overturning platform, enabling it to rotate, overturn or tilt, etc. 2) controlling speed: the power mechanism can control the movement speed of the overturning platform to adapt to different operation requirements and object shapes. 3) adjusting angle: the power mechanism can adjust the angle and direction of the overturning platform to realize accurate overturning and tilting of the object. 4) automatic control: the power mechanism can reduce manual intervention through an automatic control system, improving the accuracy and safety of operation; 5) adapting to satellites of different sizes: the power mechanism can adjust the speed, angle, etc. according to different satellite shapes and sizes to adapt to different overturning requirements.

[0042] The control system is installed in the base electrical equipment installation cabin, and the main functions include: 1) can control the movement of the turnover platform, including the turning angle, speed, direction and other parameters, realize the accurate turning and tilting of the object. 2) can reduce manual intervention through automation control, improve the precision and safety of operation. 3) can monitor the running state of the turnover platform in real time through sensors and controllers, and timely discover and handle faults. 4) can be adjusted according to different object shapes and sizes to adapt to different turning needs. 5) can record and store the running data of the turnover platform to provide data support for subsequent maintenance and optimization.

[0043] Specifically, the base 1 is welded by a frame body, which is the installation and operation reference of the whole device, and a plurality of supporting points are arranged thereon, each of which can be adjusted and controlled by an electric cylinder to adapt to the adjustment and installation needs of different sites. Among them, the base 1 is mainly composed of a welded frame 11, a supporting leg 12, a track wheel set 13, a pulling ring 14, an auxiliary push rod 15, a buffer support 16, a vertical limit 17, a rotating support set 18 and a side supporting leg 19.

[0044] As shown in Figure 2 , four supporting legs 12 are arranged at the four corners of the welded frame 11, and four side supporting legs 19 are arrayed on the left and right sides of the welded frame 11, and the supporting legs 12 and the side supporting legs 19 are telescopic supporting legs for adjusting the levelness. A pair of track wheel sets 13 are fixedly installed on the welded frame 11, which is compatible with domestic standard rails, and the pulling ring 14 is installed on the front upper end of the welded frame 11, which is convenient for short barge transfer in the technical area workshop.

[0045] A pair of auxiliary push rods 15 are fixedly installed on the upper end of the welded frame 11 and close to the side of the movable end of the turnover platform 2, and the buffer support 16 is also fixedly installed on the upper end of the welded frame 11 and close to the side of the fixed end of the turnover platform 2; the rotating support set 18 is installed on the upper end of the rear of the welded frame 11 and is used for rotating connection with the turnover platform 2, and the vertical limit 17 is fixedly installed on the outermost end of the side close to the fixed end of the turnover platform 2 of the welded frame 11, which abuts against the turnover platform 2 when the turnover platform 2 rotates to the vertical angle, thereby limiting the continuous rotation of the turnover platform 2 and playing a vertical limiting role.

[0046] As shown in Figure 3 , the turnover platform 2 is mainly composed of a main support frame 21, an electric cylinder support 22, a decorative panel 23 and a supporting ring 24. One end of the main support frame 21 of the turnover platform 2 is rotationally connected with the rotating support set 18, and the other end has the electric cylinder support 22 connected with the power mechanism 3. The supporting ring 24 is a ring-shaped plate structure installed on the periphery of the main support frame 21, and the supporting ring 24 is provided with a limiting structure and a plurality of mounting interfaces for installing the satellite supporting cabin 5 to adapt to different sizes and shapes of satellites.

[0047] The main operation of the base 1 is to adjust the height of the legs 12 and side legs 19 on the base 1 before turning over. The adjustment method is to send a signal to the driver of the control system 4 to control the servo motor on the legs to adjust the length of the lead screw. The adjustment is achieved by step-by-step incremental control to separate the transfer track wheel set 13 from the track, place the satellite horizontally on the three pre-set positions on the turning platform 2, and continue to adjust the length of the lead screw of the legs 12 and side legs 19 to the horizontal level of the platform, and complete the leveling operation.

[0048] As shown in Figure 4 , the power mechanism 3 provides driving force for the turning platform, enabling it to perform turning motion; the angle and direction of the turning platform can be adjusted to achieve precise turning and tilting of the object; the speed, angle, etc. parameters can be adjusted according to different satellite shapes and sizes to adapt to different turning requirements. At the same time, the mechanism is equipped with safety protection devices to monitor the position and state of the satellite support cabin during turning, and automatically stops turning and sends an alarm signal once an abnormal condition is found.

[0049] As shown in Figure 4 , the power mechanism 3 mainly consists of an electric cylinder 31, a speed reducer 32, a servo motor 33, a rotating shaft 34, a front end limit block 35, a rear end limit block 36 and a support 37; wherein the servo motor 33 drives the electric cylinder 31 to perform extension and retraction motion through the speed reducer 32, the support 37 is rotatably connected to one end of the electric cylinder 31 through the rotating shaft 34, the other end of the support 37 is fixedly connected to the base 1, and the front end limit block 35 and the rear end limit block 36 limit the movement range of the piston rod in the electric cylinder 31.

[0050] As shown in Figure 5 , the control system 4 mainly consists of a switching power supply 41, a PLC controller 42, a display 43, a servo driver 44, an angle sensor 46 and a proximity switch 47, etc.

[0051] The PLC controller 42 is bidirectionally connected to the servo driver 44 for controlling the servo motor of the legs 12 and side legs, and also for controlling the servo motor 33 of the power mechanism 3, controlling the extension and retraction of the electric cylinder 31, while the electric cylinder 31 is linked with the angle sensor 46 arranged at the position of the rotating support group 18, and the angle sensor 46 timely transmits monitoring signals to the PLC controller 42.

[0052] The base 1 and the power mechanism 3 are also provided with a plurality of proximity switches 47, which are correspondingly distributed at the positions of the vertical limit 17, the auxiliary push rod 15, the front end limit block 35 and the rear end limit block 36; the proximity switch 47 contacts the contact and transmits a stop signal to the PLC controller, thereby controlling the servo motor and the electric cylinder 31 to stop extension and retraction; realizing closed-loop control.

[0053] The control system 4 can realize accurate control and monitoring of the overturning angle, speed, direction and other parameters; the control system can monitor the running state of the overturning platform in real time through sensors and controllers and the like, discover and handle faults in time; and can also record and store the running data of the overturning platform, providing data support for subsequent maintenance and optimization.

[0054] It should be noted that the satellite supporting and overturning device of the present application can also adopt other structures to realize the same function. For example: 1. automatic control technology can be introduced into the control system, the supporting and overturning scheme can be automatically optimized through analysis of satellite parameters and overturning data, and the intelligence and adaptability of the system can be improved; 2. an industrial computer or a computer can be used to replace the PLC controller, and the reliability of the control system can be further improved; 3. a hydraulic system can be used to replace the electrical system.

[0055] The working principle and working process of the satellite supporting and overturning device of the present application will be briefly described below.

[0056] Before overturning, the height of the supporting legs 12 and the side supporting legs 19 on the base 1 is adjusted to separate the transfer track wheel set 13 from the track, the satellite instrument is placed horizontally at three pre-set positions on the overturning platform 2, and the height of the supporting legs 12 and the side supporting legs is adjusted to level the platform; the satellite supporting cabin 5 is hoisted onto the overturning platform 2 and is reliably connected through the mounting interface on the supporting ring 24 with fasteners, and the connection state of the supporting cabin is checked. If there is a large deformation or a gap at the cabin body connection, the supporting cabin is reliably contacted with the overturning platform 2 by adjusting the auxiliary push rod 15 on the base 1 through the control system; the satellite is hoisted vertically on the satellite supporting cabin 5 again through the special lifting appliance; and the overturning platform control system 4 is checked to prepare for overturning.

[0057] During overturning, the operator issues an overturning start instruction through the display 43 interface of the control system 4. The PLC controller 42 of the control system 4 issues a pulse instruction to the servo drive 44 of the servo motor 33 of the power mechanism 3, the servo motor 33 realizes speed reduction and torque increase through the speed reducer 32, and then converts the rotary motion of the motor into the linear motion of the electric cylinder through the screw-nut pair, the electric cylinder push rod is gradually elongated to push the overturning platform 2 to rotate slowly around the rotating support group 18, and the overturning platform 2 is overturned from the horizontal state to the vertical state.

[0058] In this process, since the center of mass of the satellite carried is continuously moving forward as the overturning platform 2 is overturned, the electric cylinder 31 exists in a state switching from push force to pull force when the overturning platform 2 is overturned to a certain angle. In order to avoid the impact load of the push-pull switching from affecting the satellite, a spring damper installed on the base 1 can be used for shock absorption, and the spring damper can realize smooth switching of the push-pull of the overturning platform.

[0059] The control system 4 monitors the running state of the turnover platform 2 in real time during the turnover process through the servo driver 44, the limit sensor and the angle sensor 46 and the like electronic elements, and feeds back signals to the PLC controller 42. According to the preset angle-speed curve, the PLC controller 42 dynamically adjusts the rotating speed of the servo motor 33 through the servo driver 44, so as to realize smooth and accurate variable-speed turnover.

[0060] When the turnover platform 2 approaches the vertical end position, the vertical limit 17 on the base 1 triggers the proximity switch 47 nearby, and after the signal is transmitted to the PLC controller 42, the control system controls the turnover to run at low speed until it stops, ensuring accurate and impact-free positioning. Similarly, the front-end limit block 35 and the rear-end limit block 36 of the electric cylinder 31 are also prevented from overtraveling by the proximity switch 47. At the same time, the control system 4 records the speed, angle, acceleration, angular acceleration real-time information fed back by the angle sensor, servo motor encoder and the like in real time, which can be used for subsequent state tracing and processing.

[0061] When returning to the horizontal state, the control flow of the turnover platform 2 from the vertical state to the horizontal state is consistent, and the control system 4 sends a reverse rotation instruction to the servo motor 33, so that the electric cylinder 31 moves reversely to drive the turnover platform 2 to return to the horizontal state smoothly. Similarly, it has the functions of closed-loop control, real-time monitoring and safety protection.

[0062] If the control system 4 detects abnormal vibration, load overrun, movement overrun or limit alarm and the like faults through the sensor during the process, the PLC controller 42 will immediately terminate the output, control the power mechanism 3 to stop moving, and notify the operator to handle through the audible and visual alarm or pop-up warning information on the display 43, greatly improving the safety.

[0063] The satellite supporting and turnover device and the working method thereof have the following innovative points:

[0064] 1. Technical advantage: The control system of the existing satellite turnover platform belongs to open control, which has higher requirements for the operator and cannot necessarily meet the high-precision satellite turnover operation requirements. At the same time, there is no feedback and monitoring mechanism, which cannot monitor the running state of the turnover platform in real time, cannot discover and handle the faults in the turnover process, and cannot clearly know whether the process load in the turnover process meets the requirements of various indexes of the satellite. The control system of the present patent adopts a closed-loop control scheme to overcome the shortcomings of the existing patents.

[0065] 2. Economic advantage: The control system composed of the PLC controller and the sensor is adopted to realize automatic operation, reduce labor cost, and thus reduce the operating cost of the whole system.

[0066] 3. Social benefits: The satellite support and overturning system is widely used in satellite manufacturing, launching and operation, etc., and has important social significance. The support and overturning mechanism of the patent can significantly improve the efficiency and safety of satellite assembly and testing, and help promote the development and application of satellite technology.

[0067] In summary, the patent has higher technical advantages, economic advantages and social benefits than existing patents, and is expected to have a greater impact and value in the field of satellite support and overturning systems.

[0068] The above is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A satellite support and inversion device, characterized in that, It comprises: a base (1) for providing a stable installation reference and support for the entire device; a turnover platform (2) rotatably connected to the base (1) through a rotating support group (18) for receiving and fixing a satellite support cabin (5); a power mechanism (3) connected between the base (1) and the turnover platform (2) for driving the turnover platform (2) to rotate around the rotating shaft of the rotating support group (18), thereby realizing the turnover of the satellite support cabin (5) between the vertical state and the horizontal state; a control system (4) electrically connected with the power mechanism (3) for controlling the motion parameters of the power mechanism (3) and monitoring the running state of the device in real time; the control system (4) is a closed-loop control system, which comprises a programmable PLC controller (42), an angle sensor (46) for monitoring the turnover angle, and a proximity switch (47) for position limiting.

2. The satellite support and inversion device of claim 1, wherein, The base (1) comprises a welded frame (11), a plurality of height-adjustable legs (12) and side legs (19), and a track wheel set (13) for facilitating the movement of the device.

3. A satellite support and inversion device according to claim 1 or 2, characterised in that, The base (1) further comprises a buffer support (16) near one side of the fixed end of the turnover platform (2) and a vertical limiting part (17).

4. A satellite support and inversion device according to claim 1 or 2, characterised in that, The base (1) further comprises an auxiliary push rod (15) fixedly installed on the upper end of the welded frame (11) and near one side of the movable end of the turnover platform (2).

5. The satellite support and inversion device of claim 1, wherein, The turnover platform (2) comprises a main support frame (21), an electric cylinder support (22), and a support ring (24) for installing and fixing the satellite support cabin (5), wherein the support ring (24) is provided with a limiting structure and an installation interface.

6. The satellite support and inversion device of claim 1, wherein, The power mechanism (3) comprises an electric cylinder (31), a speed reducer (32) and a servo motor (33) connected with the electric cylinder (31), a rotating shaft (34), and front and rear end limiting blocks (35) and (36) for limiting the stroke of the electric cylinder.

7. The satellite support and inversion device of claim 6, wherein, The control system (4) further comprises a servo driver (44), a switching power supply (41), and a display (43), wherein the servo driver (44) is electrically connected with the servo motor (33).

8. A satellite support and inversion device according to claim 1 or 7, characterised in that, The angle sensor (46) is arranged at the rotating support group (18) for monitoring the real-time angle of the turnover platform (2); and the proximity switch (47) is correspondingly arranged at the vertical limiting part (17), the auxiliary push rod (15), the front and rear end limiting blocks (35) and (36).

9. A method of operating a satellite support and roll-over apparatus, characterized by, The method comprises the following steps: S1, leveling preparation: controlling the action of the plurality of telescopic legs on the base (1) to separate the track wheel set (13) of the base (1) from the ground track; using a level to detect the levelness of the turnover platform (2), and performing fine leveling by controlling the extension and retraction of the legs to make the turnover platform (2) reach the horizontal state; S2, installation and fixation: installing and fixing the satellite support cabin (5) on the horizontal turnover platform (2), and controlling the action of the auxiliary push rod (15) on the base (1) to make the satellite support cabin (5) reliably contact with the turnover platform (2); then vertically hoisting and fixing the satellite on the satellite support cabin (5); S3, closed-loop flipping: the control system (4) sends a command to control the servo motor (33) of the power mechanism (3) to drive the electric cylinder (31) to act, and push the flipping platform (2) to rotate around the rotating support group (18) on the base (1); in this process, the angle sensor (46) monitors the flipping angle in real time and feeds back to the PLC controller (42) of the control system (4), and the PLC controller (42) dynamically adjusts the operating parameters of the servo motor (33) according to the real-time angle feedback signal and the preset program, realizes closed-loop control of the flipping angle and speed, and the satellite reaches the target state; S4, back to flat operation: the servo motor (33) of the power mechanism (3) is controlled to operate reversely, drives the electric cylinder (31) to act reversely, and under the closed-loop control, the flipping platform (2) and the satellite are smoothly returned from the vertical state to the horizontal state.

10. The method of working according to claim 9, characterized in that, In the flipping and back to flat process of steps S3 and S4, a safety monitoring step is further included: the proximity switches (47) arranged at the vertical limit (17), the front end limit block (35) and the rear end limit block (36) of the electric cylinder are used to monitor the limit positions; when any proximity switch (47) is triggered or the control system (4) monitors abnormal operating parameters, the PLC controller (42) immediately controls the power mechanism (3) to stop running and issues an alarm.

Images