Spacecraft overturning, attitude adjusting and transferring equipment and method based on multi-axis parallel system

Abstract

The invention provides a multi-axis parallel system-based spacecraft overturning, attitude adjusting and transferring device and method, and the device comprises an overturning system, an omnidirectional moving system, a platform, a multi-axis parallel attitude adjusting system for attitude adjustment, and a control system. The overturning system is hinged to the platform, the omni-directional moving system, the posture adjusting system and the control system are all installed at the bottom of the platform, and the overturning system, the omni-directional moving system and the posture adjusting system are all connected with the control system.

Description

Technical Field

[0001] This invention relates to the field of spacecraft carrier equipment technology, and in particular to a spacecraft tilting and attitude adjustment transfer device and method based on a multi-axis parallel system. Background Technology

[0002] Spacecraft bearing systems, as crucial equipment for supporting and adjusting the attitude of spacecraft, have a wide range of applications. Traditional spacecraft bearing systems suffer from complex adjustment mechanisms, high failure rates, and the tendency for unnecessary linkages during attitude adjustments, resulting in low adjustment accuracy and cumbersome procedures. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a spacecraft tilting and attitude adjustment transfer device and method based on a multi-axis parallel system, which addresses the shortcomings of the prior art.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A spacecraft tilting and attitude adjustment transfer device based on a multi-axis parallel system, comprising: a tilting system, an omnidirectional moving system, a platform, a multi-axis parallel attitude adjustment system for attitude adjustment, and a control system. The tilting system is hinged to the platform. The omnidirectional moving system, the attitude adjustment system, and the control system are all installed at the bottom of the platform. The tilting system, the omnidirectional moving system, and the attitude adjustment system are all connected to the control system.

[0005] The beneficial effects of adopting the technical solution of this invention are as follows: The flipping system is the core actuator that enables the spacecraft to rotate smoothly around its bottom axis at large angles. It can safely and reliably support the spacecraft body and drive it to complete a precise flipping action at a preset angle, so as to meet the accessibility requirements of the spacecraft's spatial position in testing, maintenance, or docking processes. The omnidirectional movement system provides the entire device with flexible and high-precision movement capabilities. Its core function is to enable the spacecraft carried by the equipment to translate in any direction in a two-dimensional plane and rotate around the vertical axis, which is achieved through the coordinated action of independently driven and steered omnidirectional steering wheels. The omnidirectional movement system can move laterally and obliquely without changing its own attitude, which greatly improves the maneuverability and obstacle avoidance capabilities in narrow and complex factory layouts. The precise attitude adjustment system is the core of the equipment to realize the six-degree-of-freedom end-effector attitude fine-tuning and precise positioning of the spacecraft. It adopts a high-rigidity, low-inertia three-coordinate parallel mechanism. This system is directly connected to the spacecraft docking interface or adapter. After the flipping and movement systems complete the coarse positioning, it is responsible for performing higher-precision position compensation and attitude angle fine-tuning. The control system is the central system that integrates and coordinates the flipping, moving, and attitude adjustment systems. Each subsystem can operate independently or work together in an integrated manner. It can realize omnidirectional movement of the product to a designated workstation within the site and complete its flipping, pitching, yaw, and roll attitude adjustments.

[0006] Furthermore, the posture adjustment system includes multiple parallel support mechanisms; the parallel support mechanisms include: a lifting mechanism, a ball joint, a first moving mechanism, a second moving mechanism, and a motion platform. The bottom of the lifting mechanism is connected to the ball joint, the first moving mechanism is connected to the top of the lifting mechanism, the second moving mechanism is slidably mounted on the first moving mechanism, the motion platform is slidably mounted on the second moving mechanism, and the motion platform is mounted below the platform.

[0007] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: The precision attitude adjustment system is the core of the equipment for realizing the six-degree-of-freedom end-effector attitude fine-tuning and precise positioning of the spacecraft, and it adopts a high-rigidity, low-inertia three-coordinate parallel mechanism. This system is directly connected to the spacecraft docking interface or adapter, and after the flipping and moving system completes the coarse positioning, it is responsible for performing higher-precision position compensation and attitude angle fine-tuning. Each support column is designed to have only three translational degrees of freedom, with one end connected to the bottom platform and the other end connected to the workpiece through a spherical hinge, thereby realizing the coordinated adjustment of the six-degree-of-freedom attitude of the working object. The support parallel mechanism is used to connect and adjust the workpiece through four fulcrums. A spherical hinge is installed on the end mover of the lifting mechanism. The centers of the four spherical hinges are connected to and support the motion platform. Due to the constraint of the spherical hinges, each branch only provides thrust or tension along its axial direction without applying bending moment to the platform, thereby achieving motion decoupling. This four-point parallel configuration distributes the load evenly and has extremely high structural rigidity and load-bearing capacity. Its symmetrical layout makes the kinematic model of the mechanism regular and the control solution simple. At the same time, the inherent error averaging effect of the parallel mechanism ensures that the overall attitude adjustment accuracy reaches the micron level.

[0008] Furthermore, the lifting mechanism is a Z-linear motion module, the first moving mechanism is an X-linear motion module, and the second moving mechanism is a Y-linear motion module. The Z-linear motion module is vertically arranged, while the X-linear motion module and the Y-linear motion module are both horizontally arranged. The axis of the X-linear motion module is perpendicular to the axis of the Y-linear motion module.

[0009] The beneficial effects of adopting the above-mentioned further technical solution are as follows: Each support column is designed to have only three translational degrees of freedom, with one end connected to the bottom platform and the other end connected to the workpiece via a spherical hinge, thereby achieving coordinated adjustment of the six degrees of freedom of the working posture. This facilitates the formation of three orthogonally connected linear motion modules, resulting in a simple structure, easy installation and maintenance, and reduced costs. A spherical hinge is installed on the end mover of the Z-linear motion module. The centers of the four spherical hinges connect and support the motion platform. Due to the constraint of the spherical hinges, each branch only provides thrust or tension along its axial direction without applying bending moment to the platform, thus achieving motion decoupling. This four-point parallel configuration evenly distributes the load, possessing extremely high structural stiffness and load-bearing capacity. Its symmetrical layout makes the kinematic model of the mechanism regular and the control calculation simple. Simultaneously, the inherent error averaging effect of the parallel mechanism ensures that the overall posture adjustment accuracy reaches the micrometer level.

[0010] Furthermore, the number of parallel support mechanisms is four, namely a first support chain, a second support chain, a third support chain, and a fourth support chain. The platform is a rectangular frame, and the first support chain, the second support chain, the third support chain, and the fourth support chain are located at the four corners of the platform.

[0011] The beneficial effects of adopting the above-mentioned further technical solution are as follows: The parallel support mechanism is used to connect and adjust the workpiece through four fulcrums. Ball joints are installed on the end mover of the lifting mechanism. The centers of the four ball joints connect and support the motion platform. Due to the constraint of the ball joints, each branch only provides thrust or tension along its axial direction without applying bending moment to the platform, thus achieving motion decoupling. This four-point parallel configuration evenly distributes the load and has extremely high structural stiffness and load-bearing capacity. Its symmetrical layout makes the kinematic model of the mechanism regular and the control calculation simple. At the same time, the inherent error averaging effect of the parallel mechanism ensures that the overall attitude adjustment accuracy reaches the micrometer level.

[0012] Furthermore, the flipping system is located at the top of the platform; the flipping system includes: a flipping back frame, an auxiliary support mechanism, and a flipping drive system. The flipping drive system is installed on the platform, the bottom of the flipping back frame is hinged to the flipping drive system, and both ends of the auxiliary support mechanism are respectively hinged to the platform and the middle of the flipping back frame.

[0013] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: The flipping system is the core actuator that enables the spacecraft to rotate smoothly and at large angles around its bottom axis. It can safely and reliably support the spacecraft body and drive it to complete a precise flipping action at a preset angle, thereby meeting the accessibility requirements of the spacecraft's spatial position during testing, maintenance, or docking processes. The flipping system uses rigid, high-load-bearing precision rotary support bearings combined with a drive mechanism, and has self-locking and safety braking functions to ensure reliable locking at any angle, preventing safety risks caused by unexpected power interruption.

[0014] Furthermore, the flipping drive system includes: a drive mechanism, a ball screw, and a screw nut mounting seat. The drive mechanism is mounted on the platform and connected to the ball screw. The screw nut mounting seat is slidably mounted on the platform. The ball screw and the screw nut mounting seat are connected by threads. The bottom of the flipping back frame is hinged to the screw nut mounting seat. The auxiliary support mechanism is a flipping connecting rod, and both ends of the flipping connecting rod are respectively hinged to the platform and the middle of the flipping back frame.

[0015] The beneficial effects of adopting the above-mentioned further technical solutions are: the drive mechanism can achieve low-speed, stable, and high-torque output under the command of the control system, so as to adapt to the load fluctuations caused by the change of the spacecraft's center of gravity and ensure that there is no impact or shaking during the flipping process.

[0016] Furthermore, the drive mechanism includes a servo motor, a reducer, and a coupling. The servo motor is mounted on the platform, connected to the reducer, connected to the coupling, and connected to the ball screw. An active hinge is mounted at the bottom of the tilting back frame, and a first fixed hinge is mounted on the ball screw nut mounting base. The active hinge is rotatably connected to the first fixed hinge. A driven hinge is mounted in the middle of the tilting back frame, and a second fixed hinge is mounted on the platform. Both ends of the tilting linkage are rotatably connected to the driven hinge and the second fixed hinge, respectively.

[0017] The beneficial effects of adopting the above-mentioned further technical solution are: the drive mechanism can achieve low-speed, stable, and high-torque output under the command of the control system to adapt to load fluctuations caused by changes in the spacecraft's center of gravity, ensuring that the flipping process is shock-free and vibration-free. The flipping system mainly consists of a flipping drive system composed of servo motors, reducers, etc., which provides driving force. The driving force is transmitted to the ball screw through a coupling, thereby driving the ball screw nut mounting seat to perform linear motion. The middle part of the flipping back frame is hinged to the second fixed hinge above the platform through a driven hinge, and a flipping connecting rod is connected between the two, together forming the flipping driven end. The bottom of the flipping back frame is hinged to the first fixed hinge on the ball screw nut mounting seat through an active hinge, together forming the flipping active end. During operation, the ball screw nut mounting seat moves linearly under the driving action, pushing the flipping back frame through the active hinge, causing it to rotate around the axis of the driven hinge in the middle, thereby accurately converting the linear motion into flipping motion and realizing large-angle flipping motion.

[0018] Furthermore, the omnidirectional movement system includes multiple steering wheel assemblies, each comprising: a drive motor, a steering motor, a rubber-coated wheel, a slewing support, and a spring. The rubber-coated wheel is rotatably mounted on the bottom of the slewing support. The drive motor is mounted on the slewing support and is drive-connected to the rubber-coated wheel. The steering motor is mounted on the bottom of the platform and is drive-connected to the slewing support. The slewing support is connected to the bottom of the platform via the spring.

[0019] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: The omnidirectional motion system provides the entire device with flexible and high-precision movement capabilities. Its core function is to enable the spacecraft carried by the equipment to translate in any direction in a two-dimensional plane and rotate around the vertical axis, which is achieved through the coordinated action of four sets of independently driven and steered omnidirectional steering wheels. This system can move laterally and obliquely without changing its own attitude, greatly improving maneuverability and obstacle avoidance capabilities in narrow and complex factory layouts. The spring-elastic suspension system connects to the vehicle body, ensuring a rigid foundation for the platform during attitude adjustment and avoiding errors introduced by suspension deformation. By coordinating the steering angle and drive speed of each wheel, omnidirectional movement with three degrees of freedom in a plane and zero-turning-radius rotation in place are achieved.

[0020] In addition, the present invention also provides a spacecraft tilting and attitude adjustment transport method based on a multi-axis parallel system. Based on the above-mentioned spacecraft tilting and attitude adjustment transport device based on a multi-axis parallel system, the spacecraft tilting and attitude adjustment transport method based on a multi-axis parallel system includes: controlling the tilting system, the omnidirectional movement system and the attitude adjustment system through the control system to realize tilting, omnidirectional movement and attitude adjustment.

[0021] The beneficial effects of adopting the technical solution of this invention are as follows: The flipping system is the core actuator that enables the spacecraft to rotate smoothly around its bottom axis at large angles. It can safely and reliably support the spacecraft body and drive it to complete a precise flipping action at a preset angle, so as to meet the accessibility requirements of the spacecraft's spatial position in testing, maintenance, or docking processes. The omnidirectional movement system provides the entire device with flexible and high-precision movement capabilities. Its core function is to enable the spacecraft carried by the equipment to translate in any direction in a two-dimensional plane and rotate around the vertical axis, which is achieved through the coordinated action of independently driven and steered omnidirectional steering wheels. The omnidirectional movement system can move laterally and obliquely without changing its own attitude, which greatly improves the maneuverability and obstacle avoidance capabilities in narrow and complex factory layouts. The precise attitude adjustment system is the core of the equipment to realize the six-degree-of-freedom end-effector attitude fine-tuning and precise positioning of the spacecraft. It adopts a high-rigidity, low-inertia three-coordinate parallel mechanism. This system is directly connected to the spacecraft docking interface or adapter. After the flipping and movement systems complete the coarse positioning, it is responsible for performing higher-precision position compensation and attitude angle fine-tuning. The control system is the central system that integrates and coordinates the flipping, moving, and attitude adjustment systems. Each subsystem can operate independently or work together in an integrated manner. It can realize omnidirectional movement of the product to a designated workstation within the site and complete its flipping, pitching, yaw, and roll attitude adjustments.

[0022] Furthermore, the steps of controlling the flipping system, omnidirectional movement system, and attitude adjustment system through the control system to achieve flipping, omnidirectional movement, and attitude adjustment include: when the pitch angle of the motion platform around the X-axis needs to be adjusted, the control system controls the Z-linear motion modules of the first support chain and the second support chain to perform equal and synchronous lifting or lowering movements; and the control system controls the Z-linear motion modules of the third support chain and the fourth support chain to maintain a locked or floating position; when the yaw angle of the motion platform around the Y-axis needs to be adjusted, the control system controls the Z-linear motion modules of the first support chain and the third support chain to perform equal and synchronous movements. However, the lifting and lowering movements are in opposite directions; and the control system controls the Z-linear motion modules of the second and fourth support chains to maintain a locked or floating position; when the rolling angle of the motion platform around the Z-axis needs to be adjusted, the control system controls the Z-linear motion modules of the first and fourth support chains to perform equal and synchronous lifting or lowering movements; and the control system controls the Z-linear motion modules of the second and third support chains to perform equal and synchronous lowering or lifting movements; wherein, the X-axis is horizontal and parallel to the axial direction of the platform, the Y-axis is horizontal and perpendicular to the axial direction of the platform, and the Z-axis is vertical and perpendicular to the axial direction of the platform.

[0023] The beneficial effects of adopting the above-mentioned further technical solution are as follows: the equipment's rotational attitude adjustment around the x-axis, i.e., roll angle adjustment, is mainly accomplished by adjusting the synchronous and coordinated movement of the four-point support parallel mechanism. When it is necessary to adjust the pitch angle of the motion platform around the X-axis, the attitude adjustment main control module executes a single-sided drive strategy. Specifically, the module controls the Z-linear motion modules of the first and second support chains located on one side of the platform to perform equal and synchronous lifting or lowering movements; at the same time, the Z-linear motion modules of the third and fourth support chains located on the other side of the platform remain in a locked or floating state. Under the lifting action of the drive side, the motion platform rotates about the line connecting the centers of the two ball joints on the drive side as an approximate axis. When it is necessary to adjust the yaw angle of the motion platform around the Y-axis, the attitude adjustment main control module executes another single-sided drive strategy. Specifically, the module controls the Z-line motion modules of the first and third support chains on one side of the platform to perform equal and synchronous but opposite lifting and lowering movements; simultaneously, the Z-line motion modules of the second and fourth support chains on the other side of the platform remain in a locked or floating state. Under the reverse movement of the two Z-axis modules on the drive side, the motion platform rotates around its geometric center along the Y-axis. When the roll angle of the motion platform around the Z-axis needs to be adjusted, the attitude adjustment main control module executes a diagonal cooperative drive strategy. Specifically, the module controls the Z-axis modules of the four support chains to perform paired, synchronous, and opposite movements. That is, it controls the Z-line motion modules of two chains located diagonally on the platform, such as the first and fourth support chains, to perform equal and synchronous lifting movements; simultaneously, it controls the Z-line motion modules of two chains located on the other diagonal, such as the second and third support chains, to perform equal and synchronous lowering movements. Driven by the diagonal counter-rotating collaborative drive of the four Z-axis modules, the motion platform generates a rolling motion around its central Z-axis.

[0024] The advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A schematic diagram of the structure of a spacecraft tilting and attitude adjustment transfer device based on a multi-axis parallel system provided in an embodiment of the present invention.

[0027] Figure 2This is a schematic diagram of the four-point support POGO column parallel mechanism provided in an embodiment of the present invention.

[0028] Figure 3 This is a schematic diagram of the device rotating and adjusting its orientation around the X-axis, as provided in an embodiment of the present invention.

[0029] Figure 4 This is a schematic diagram of the device rotating and adjusting its orientation around the Y-axis, as provided in an embodiment of the present invention.

[0030] Figure 5 This is a schematic diagram of the device rotating and adjusting its orientation around the Z-axis, as provided in an embodiment of the present invention.

[0031] Reference numerals: 1. Tilting system; 11. Tilting back frame; 12. Driven hinge; 13. Tilting linkage; 14. Driving hinge; 15. First fixed hinge; 16. Screw and nut mounting base; 17. Second fixed hinge; 18. Tilting drive system; 181. Servo motor; 182. Reducer; 183. Coupling; 184. Ball screw; 2. Omnidirectional movement system; 21. Platform; 22. Steering wheel assembly; 221. Drive motor 1. Machine; 222. Steering motor; 223. Rubber-coated wheel; 224. Slewing bearing; 225. Spring; 3. Attitude adjustment system; 31. Support parallel mechanism; 311. Z linear motion module; 312. Ball joint; 313. X linear motion module; 314. Y linear motion module; 315. Motion platform; 32. First support chain; 33. Second support chain; 34. Third support chain; 35. Fourth support chain; 4. Control system. Detailed Implementation

[0032] The principles and features of the present invention are described below with reference to the accompanying drawings. The embodiments described are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper", "lower", "horizontal", "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0037] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0038] like Figures 1 to 5 As shown, this embodiment of the invention provides a spacecraft tilting and attitude adjustment transport device based on a multi-axis parallel system, including: a tilting system 1, an omnidirectional moving system 2, a platform 21, a multi-axis parallel attitude adjustment system 3 for attitude adjustment, and a control system 4. The tilting system 1 is hinged to the platform 21. The omnidirectional moving system, the attitude adjustment system 3, and the control system 4 are all installed at the bottom of the platform 21. The tilting system 1, the omnidirectional moving system 2, and the attitude adjustment system 3 are all connected to the control system 4.

[0039] The beneficial effects of adopting the technical solution of this invention are as follows: The flipping system is the core actuator that enables the spacecraft to rotate smoothly around its bottom axis at large angles. It can safely and reliably support the spacecraft body and drive it to complete a precise flipping action at a preset angle, so as to meet the accessibility requirements of the spacecraft's spatial position in testing, maintenance, or docking processes. The omnidirectional movement system provides the entire device with flexible and high-precision movement capabilities. Its core function is to enable the spacecraft carried by the equipment to translate in any direction in a two-dimensional plane and rotate around the vertical axis, which is achieved through the coordinated action of independently driven and steered omnidirectional steering wheels. The omnidirectional movement system can move laterally and obliquely without changing its own attitude, which greatly improves the maneuverability and obstacle avoidance capabilities in narrow and complex factory layouts. The precise attitude adjustment system is the core of the equipment to realize the six-degree-of-freedom end-effector attitude fine-tuning and precise positioning of the spacecraft. It adopts a high-rigidity, low-inertia three-coordinate parallel mechanism. This system is directly connected to the spacecraft docking interface or adapter. After the flipping and movement systems complete the coarse positioning, it is responsible for performing higher-precision position compensation and attitude angle fine-tuning. The control system is the central system that integrates and coordinates the flipping, moving, and attitude adjustment systems. Each subsystem can operate independently or work together in an integrated manner. It can realize omnidirectional movement of the product to a designated workstation within the site and complete its flipping, pitching, yaw, and roll attitude adjustments.

[0040] This invention provides a spacecraft tilting, attitude adjustment, and transfer device based on a multi-axis parallel system. It is an automated six-degree-of-freedom spacecraft attitude adjustment and transfer device based on a non-traditional parallel drive mechanism, primarily covering tooling applications related to spacecraft docking, ground attitude adjustment, and transfer. The automated spacecraft attitude adjustment and transfer device consists of a tilting system, an omnidirectional movement system, a precise attitude adjustment system (attitude adjustment system), and a control system.

[0041] The flipping system is the core actuator that enables the spacecraft to rotate smoothly and at large angles around its bottom axis. It safely and reliably supports the spacecraft body and drives it to complete a precise flipping motion at a preset angle, meeting the spacecraft's spatial position accessibility requirements during testing, maintenance, or docking processes. This system (flipping system) employs rigid, high-load-bearing precision rotary support bearings combined with a drive mechanism, featuring self-locking and safety braking functions to ensure reliable locking at any angle and prevent safety risks caused by unexpected power interruptions. The drive unit (drive mechanism) can achieve low-speed, smooth, high-torque output under control system commands to adapt to load fluctuations caused by changes in the spacecraft's center of gravity, ensuring a shock-free and vibration-free flipping process.

[0042] The omnidirectional mobility system provides the entire device with flexible and high-precision movement capabilities. Its core function is to enable the spacecraft carried by the equipment to translate in any direction in a two-dimensional plane and rotate around the vertical axis, which is achieved through the coordinated action of four independently driven and steerable omnidirectional steering wheels. This system (omnidirectional mobility system) can move laterally and diagonally without changing its own attitude, greatly improving maneuverability and obstacle avoidance capabilities in narrow and complex factory layouts.

[0043] The precision attitude adjustment system is the core of the equipment, enabling fine-tuning and precise positioning of the spacecraft's six degrees of freedom (three translations and three rotations) end-effectors. It employs a high-rigidity, low-inertia parallel three-coordinate mechanism. This system connects directly to the spacecraft docking interface or adapter, and after the flipping and traversing systems complete coarse positioning, it performs higher-precision position compensation and attitude angle fine-tuning. Each degree of freedom is equipped with a high-resolution feedback sensor to form a closed-loop control system, compensating for errors caused by uneven ground, structural deformation, and other factors. Ultimately, this ensures that the relative attitude between the spacecraft interface and the target docking surface achieves extremely high alignment accuracy and repeatability.

[0044] The control system is the central system that integrates and coordinates the collaborative work of the flipping, moving, and attitude adjustment systems. It is based on a hierarchical distributed control architecture, with the upper layer being the central control computer responsible for task planning, status monitoring, and human-machine interaction; the lower layer consists of independent motion controllers for each subsystem. The control system receives positioning data from the omnidirectional moving system, real-time feedback from the precise attitude adjustment system, and absolute pose information from external measuring devices. Through its built-in kinematic model and calculation algorithms, it generates a sequence of coordinated motion commands.

[0045] like Figures 1 to 5 As shown, the posture adjustment system 3 further includes multiple parallel support mechanisms 31; each parallel support mechanism 31 includes a lifting mechanism, a ball joint 312, a first moving mechanism, a second moving mechanism, and a motion platform 315. The bottom of the lifting mechanism is connected to the ball joint 312, the first moving mechanism is connected to the top of the lifting mechanism, the second moving mechanism is slidably mounted on the first moving mechanism, and the motion platform 315 is slidably mounted on the second moving mechanism. The motion platform 315 is mounted below the platform 21.

[0046] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: The precision attitude adjustment system is the core of the equipment for realizing the six-degree-of-freedom end-effector attitude fine-tuning and precise positioning of the spacecraft, and it adopts a high-rigidity, low-inertia three-coordinate parallel mechanism. This system is directly connected to the spacecraft docking interface or adapter, and after the flipping and moving system completes the coarse positioning, it is responsible for performing higher-precision position compensation and attitude angle fine-tuning. Each support column is designed to have only three translational degrees of freedom, with one end connected to the bottom platform and the other end connected to the workpiece through a spherical hinge, thereby realizing the coordinated adjustment of the six-degree-of-freedom attitude of the working object. The support parallel mechanism is used to connect and adjust the workpiece through four fulcrums. A spherical hinge is installed on the end mover of the lifting mechanism. The centers of the four spherical hinges are connected to and support the motion platform. Due to the constraint of the spherical hinges, each branch only provides thrust or tension along its axial direction without applying bending moment to the platform, thereby achieving motion decoupling. This four-point parallel configuration distributes the load evenly and has extremely high structural rigidity and load-bearing capacity. Its symmetrical layout makes the kinematic model of the mechanism regular and the control solution simple. At the same time, the inherent error averaging effect of the parallel mechanism ensures that the overall attitude adjustment accuracy reaches the micron level.

[0047] like Figures 1 to 5 As shown, the lifting mechanism is a Z-linear motion module 311, the first moving mechanism is an X-linear motion module 313, and the second moving mechanism is a Y-linear motion module 314. The Z-linear motion module 311 is vertically arranged, and the X-linear motion module 313 and the Y-linear motion module 314 are both horizontally arranged. The axis of the X-linear motion module 313 is perpendicular to the axis of the Y-linear motion module 314.

[0048] The beneficial effects of adopting the above-mentioned further technical solution are as follows: Each support column is designed to have only three translational degrees of freedom, with one end connected to the bottom platform and the other end connected to the workpiece via a spherical hinge, thereby achieving coordinated adjustment of the six degrees of freedom of the working posture. This facilitates the formation of three orthogonally connected linear motion modules, resulting in a simple structure, easy installation and maintenance, and reduced costs. A spherical hinge is installed on the end mover of the Z-linear motion module. The centers of the four spherical hinges connect and support the motion platform. Due to the constraint of the spherical hinges, each branch only provides thrust or tension along its axial direction without applying bending moment to the platform, thus achieving motion decoupling. This four-point parallel configuration evenly distributes the load, possessing extremely high structural stiffness and load-bearing capacity. Its symmetrical layout makes the kinematic model of the mechanism regular and the control calculation simple. Simultaneously, the inherent error averaging effect of the parallel mechanism ensures that the overall posture adjustment accuracy reaches the micrometer level.

[0049] like Figures 1 to 5As shown, further, the number of the parallel support mechanisms 31 is four, namely the first support branch 32, the second support branch 33, the third support branch 34 and the fourth support branch 35. The platform 21 is a rectangular frame, and the first support branch 32, the second support branch 33, the third support branch 34 and the fourth support branch 35 are respectively located at the four corners of the platform 21.

[0050] The beneficial effects of adopting the above-mentioned further technical solution are as follows: The parallel support mechanism is used to connect and adjust the workpiece through four fulcrums. Ball joints are installed on the end mover of the lifting mechanism. The centers of the four ball joints connect and support the motion platform. Due to the constraint of the ball joints, each branch only provides thrust or tension along its axial direction without applying bending moment to the platform, thus achieving motion decoupling. This four-point parallel configuration evenly distributes the load and has extremely high structural stiffness and load-bearing capacity. Its symmetrical layout makes the kinematic model of the mechanism regular and the control calculation simple. At the same time, the inherent error averaging effect of the parallel mechanism ensures that the overall attitude adjustment accuracy reaches the micrometer level.

[0051] like Figures 1 to 5 As shown, the flipping system 1 is located on top of the platform 21; the flipping system 1 includes: a flipping back frame 11, an auxiliary support mechanism and a flipping drive system 18, the flipping drive system 18 is mounted on the platform 21, the bottom of the flipping back frame 11 is hinged to the flipping drive system 18, and the two ends of the auxiliary support mechanism are respectively hinged to the platform 21 and the middle of the flipping back frame 11.

[0052] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: The flipping system is the core actuator that enables the spacecraft to rotate smoothly and at large angles around its bottom axis. It can safely and reliably support the spacecraft body and drive it to complete a precise flipping action at a preset angle, thereby meeting the accessibility requirements of the spacecraft's spatial position during testing, maintenance, or docking processes. The flipping system uses rigid, high-load-bearing precision rotary support bearings combined with a drive mechanism, and has self-locking and safety braking functions to ensure reliable locking at any angle, preventing safety risks caused by unexpected power interruption.

[0053] like Figures 1 to 5As shown, the flipping drive system 18 further includes: a drive mechanism, a ball screw 184, and a screw nut mounting seat 16. The drive mechanism is mounted on the platform 21 and connected to the ball screw 184. The screw nut mounting seat 16 is slidably mounted on the platform 21. The ball screw 184 and the screw nut mounting seat 16 are connected by threads. The bottom of the flipping back frame 11 is hinged to the screw nut mounting seat 16. The auxiliary support mechanism is a flipping connecting rod 13, and the two ends of the flipping connecting rod 13 are respectively hinged to the platform 21 and the middle of the flipping back frame 11.

[0054] The beneficial effects of adopting the above-mentioned further technical solutions are: the drive mechanism can achieve low-speed, stable, and high-torque output under the command of the control system, so as to adapt to the load fluctuations caused by the change of the spacecraft's center of gravity and ensure that there is no impact or shaking during the flipping process.

[0055] like Figures 1 to 5 As shown, the drive mechanism further includes: a servo motor 181, a reducer 182, and a coupling 183. The servo motor 181 is mounted on the platform 21, the servo motor 181 is connected to the reducer 182, the reducer 182 is connected to the coupling 183, and the coupling 183 is connected to the ball screw 184. An active hinge 14 is installed at the bottom of the tilting back frame 11, and a first fixed hinge 15 is installed on the screw nut mounting seat 16. The active hinge 14 is rotatably connected to the first fixed hinge 15. A driven hinge 12 is installed in the middle of the tilting back frame 11, and a second fixed hinge 17 is installed on the platform 21. The two ends of the tilting connecting rod 13 are rotatably connected to the driven hinge 12 and the second fixed hinge 17, respectively.

[0056] The beneficial effects of adopting the above-mentioned further technical solution are: the drive mechanism can achieve low-speed, stable, and high-torque output under the command of the control system to adapt to load fluctuations caused by changes in the spacecraft's center of gravity, ensuring that the flipping process is shock-free and vibration-free. The flipping system mainly consists of a flipping drive system composed of servo motors, reducers, etc., which provides driving force. The driving force is transmitted to the ball screw through a coupling, thereby driving the ball screw nut mounting seat to perform linear motion. The middle part of the flipping back frame is hinged to the second fixed hinge above the platform through a driven hinge, and a flipping connecting rod is connected between the two, together forming the flipping driven end. The bottom of the flipping back frame is hinged to the first fixed hinge on the ball screw nut mounting seat through an active hinge, together forming the flipping active end. During operation, the ball screw nut mounting seat moves linearly under the driving action, pushing the flipping back frame through the active hinge, causing it to rotate around the axis of the driven hinge in the middle, thereby accurately converting the linear motion into flipping motion and realizing large-angle flipping motion.

[0057] like Figures 1 to 5 As shown, the omnidirectional movement system 2 further includes multiple steering wheel assemblies 22. Each steering wheel assembly 22 includes a drive motor 221, a steering motor 222, a rubber-coated wheel 223, a slewing support 224, and a spring 225. The rubber-coated wheel 223 is rotatably mounted on the bottom of the slewing support 224. The drive motor 221 is mounted on the slewing support 224 and is drive-connected to the rubber-coated wheel 223. The steering motor 222 is mounted on the bottom of the platform 21 and is drive-connected to the slewing support 224. The slewing support 224 is connected to the bottom of the platform 21 via the spring 225.

[0058] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: The omnidirectional motion system provides the entire device with flexible and high-precision movement capabilities. Its core function is to enable the spacecraft carried by the equipment to translate in any direction in a two-dimensional plane and rotate around the vertical axis, which is achieved through the coordinated action of four sets of independently driven and steered omnidirectional steering wheels. This system can move laterally and obliquely without changing its own attitude, greatly improving maneuverability and obstacle avoidance capabilities in narrow and complex factory layouts. The spring-elastic suspension system connects to the vehicle body, ensuring a rigid foundation for the platform during attitude adjustment and avoiding errors introduced by suspension deformation. By coordinating the steering angle and drive speed of each wheel, omnidirectional movement with three degrees of freedom in a plane and zero-turning-radius rotation in place are achieved.

[0059] like Figure 1As shown, the spacecraft tilting and attitude adjustment transport equipment based on a multi-axis parallel system provided in this embodiment of the invention mainly includes four functional subsystems: a tilting system 1, an omnidirectional movement system 2, an attitude adjustment system 3, and a control system 4. Each subsystem can operate independently or be integrated and work collaboratively. This system can realize omnidirectional movement of the product to a designated workstation within the site and complete its tilting, pitching, yaw, and roll attitude adjustments. All actions can be remotely controlled by the operator via a remote controller (the control system 4 can be remotely wirelessly connected to a remote controller), or controlled separately through the independent human-machine interface of each subsystem. The tilting system 1 is located above the platform 21, the omnidirectional movement system 2 and the precise attitude adjustment system 3 are both located below the platform 21, and the control system 4 is located inside the platform 21. The tilting system 1 is mainly driven by a tilting drive system 18 composed of a servo motor 181, a reducer 182, etc. The driving force is transmitted to the ball screw 184 through a coupling 183, which in turn drives the screw nut mounting seat 16 to perform linear motion. The tilting mechanism includes a tilting back frame 11. The middle part of the tilting back frame 11 is hinged to the second fixed hinge 17 above the platform 21 via a driven hinge 12, and a tilting link 13 connects the two, together forming the driven end of the tilting mechanism. The bottom of the tilting back frame 11 is hinged to the first fixed hinge 15 on the lead screw nut mounting seat 16 via an active hinge 14, together forming the active end of the tilting mechanism. During operation, the lead screw nut mounting seat 16 moves linearly under the drive, pushing the tilting back frame 11 through the active hinge 14, causing it to rotate around the axis of the driven hinge 12 in the middle, thereby accurately converting the linear motion into tilting motion and achieving large-angle tilting motion. The omnidirectional movement system 2 includes four independently controlled steering wheel groups 22, composed of a drive motor 221, a steering motor 222, rubber-coated wheels 223, and a slewing support 224. The entire system is located at the four corners of the platform, symmetrically distributed in a rectangle, and connected to the vehicle body through a spring 225 elastic suspension system, ensuring that the platform 21 has a rigid foundation during attitude adjustment and avoiding errors introduced by suspension deformation. By coordinating the steering angle and drive speed of each wheel, omnidirectional movement in three degrees of freedom (X, Y, θ) and zero-turning-radius rotation in place are achieved. The precise attitude adjustment mechanism includes four sets of parallel support mechanisms 31 symmetrically arranged at the four corners of the motion platform 315. Each set of parallel support mechanisms 31 includes linear motion modules connected in series in three orthogonal directions: X-axis linear motion module 313, Y-axis linear motion module 314, and Z-axis linear motion module 311. A ball joint 312 is installed on the end mover of the Z-axis module (Z-axis linear motion module 311). The centers of the four ball joints 312 are connected to and support the motion platform 315. During operation, the attitude adjustment main control module receives the target pose command and generates independent displacement commands for twelve linear motion modules in four branches through inverse kinematics calculation. Each module extends and retracts precisely under the drive of the drive control module, propelling the motion platform 315 to generate six degrees of freedom spatial motion.Due to the constraint of ball joint 312, each branch only provides thrust or tension along its axis without applying bending moment to the platform, thus achieving motion decoupling. This four-point parallel configuration distributes the load evenly, exhibiting extremely high structural stiffness and load-bearing capacity. Its symmetrical layout makes the kinematic model of the mechanism regular and the control calculation simple. At the same time, the inherent error averaging effect of the parallel mechanism ensures that the overall attitude adjustment accuracy reaches the micrometer level.

[0060] like Figure 2 As shown, Figure 2 In this diagram, a cuboid represents a prismatic joint, a cylinder represents a revolute joint, and a circle represents a ball joint. The coordinate axes X, Y, and Z represent the X-axis, Y-axis, and Z-axis, respectively, with O as the origin. Branches 1, 2, 3, and 4 can be designated as the first support branch 32, the second support branch 33, the third support branch 34, and the fourth support branch 35, respectively. The four-point support parallel mechanism 31 is a redundant drive parallel mechanism based on an n-PPPS configuration, where n=4, indicating that it has four structurally identical kinematic branches. Each branch contains three prismatic joints (P) orthogonally arranged along the X, Y, and Z axes as drive units, and a ball joint (S) connecting the branch to the motion platform. According to the formula for the degrees of freedom of spatial mechanisms, the mechanism as a whole possesses six degrees of freedom. The four kinematic branches are symmetrically distributed in a rectangular or parallelogram shape, collectively forming a parallel system containing 12 drive mechanisms.

[0061] The four-point support parallel mechanism 31 is used to connect and adjust the posture of a workpiece through four fulcrums. It comprises a bottom platform (motion platform 315) and four parallel, vertically arranged support columns, which are divided into two groups of two. Each support column is designed to have only three translational degrees of freedom. One end is connected to the bottom platform, and the other end is connected to the workpiece via a spherical hinge (spherical hinge 312), thereby achieving coordinated adjustment of the workpiece's six degrees of freedom posture.

[0062] The parallel mechanism adjustment signal is used to control the pose of the four-point support parallel mechanism 31. The adjustment process is as follows: First, the required displacement of each support column in its three translational degrees of freedom is calculated based on the target pose. Then, each support column is independently controlled by the adjustment signal to precisely drive it to the corresponding coordinate position. During this process, two support columns in the same group receive a synchronization control signal to ensure the coordination and consistency of their displacements.

[0063] In addition, the present invention also provides a spacecraft tilting and attitude adjustment transport method based on a multi-axis parallel system. Based on the above-mentioned spacecraft tilting and attitude adjustment transport device based on a multi-axis parallel system, the spacecraft tilting and attitude adjustment transport method based on a multi-axis parallel system includes: controlling the tilting system 1, the omnidirectional movement system 2 and the attitude adjustment system 3 through the control system 4 to realize tilting, omnidirectional movement and attitude adjustment.

[0064] The beneficial effects of adopting the technical solution of this invention are as follows: The flipping system is the core actuator that enables the spacecraft to rotate smoothly around its bottom axis at large angles. It can safely and reliably support the spacecraft body and drive it to complete a precise flipping action at a preset angle, so as to meet the accessibility requirements of the spacecraft's spatial position in testing, maintenance, or docking processes. The omnidirectional movement system provides the entire device with flexible and high-precision movement capabilities. Its core function is to enable the spacecraft carried by the equipment to translate in any direction in a two-dimensional plane and rotate around the vertical axis, which is achieved through the coordinated action of independently driven and steered omnidirectional steering wheels. The omnidirectional movement system can move laterally and obliquely without changing its own attitude, which greatly improves the maneuverability and obstacle avoidance capabilities in narrow and complex factory layouts. The precise attitude adjustment system is the core of the equipment to realize the six-degree-of-freedom end-effector attitude fine-tuning and precise positioning of the spacecraft. It adopts a high-rigidity, low-inertia three-coordinate parallel mechanism. This system is directly connected to the spacecraft docking interface or adapter. After the flipping and movement systems complete the coarse positioning, it is responsible for performing higher-precision position compensation and attitude angle fine-tuning. The control system is the central system that integrates and coordinates the flipping, moving, and attitude adjustment systems. Each subsystem can operate independently or work together in an integrated manner. It can realize omnidirectional movement of the product to a designated workstation within the site and complete its flipping, pitching, yaw, and roll attitude adjustments.

[0065] Furthermore, the steps of controlling the flipping system 1, the omnidirectional movement system 2, and the attitude adjustment system 3 through the control system 4 to achieve flipping, omnidirectional movement, and attitude adjustment include: when the pitch angle of the motion platform 315 around the X-axis needs to be adjusted, the control system 4 controls the Z-linear motion module 311 of the first support branch 32 and the Z-linear motion module 311 of the second support branch 33 to perform equal and synchronous lifting or lowering movements; and the control system 4 controls the Z-linear motion module 311 of the third support branch 34 and the Z-linear motion module 311 of the fourth support branch 35 to maintain a locked or floating state; when the yaw angle of the motion platform 315 around the Y-axis needs to be adjusted, the control system 4 controls the Z-linear motion module 311 of the first support branch 32 and the Z-linear motion module 311 of the third support branch 34 to perform equal and synchronous movements. However, the lifting and lowering movements are in opposite directions; and the Z-linear motion module 311 of the second support chain 33 and the Z-linear motion module 311 of the fourth support chain 35 are controlled by the control system 5 to maintain a locked or floating state; when it is necessary to adjust the rolling angle of the motion platform 315 around the Z-axis, the Z-linear motion module 311 of the first support chain 32 and the Z-linear motion module 311 of the fourth support chain 35 are controlled by the control system 5 to perform equal and synchronous lifting or lowering movements; and the Z-linear motion module 311 of the second support chain 33 and the Z-linear motion module 311 of the third support chain 34 are controlled by the control system 4 to perform equal and synchronous lowering or lifting movements; wherein, the X-axis is horizontal and parallel to the axial direction of the platform 21, the Y-axis is horizontal and perpendicular to the axial direction of the platform 21, and the Z-axis is vertical and perpendicular to the axial direction of the platform 21.

[0066] The beneficial effects of adopting the above-mentioned further technical solution are as follows: the equipment's rotational attitude adjustment around the x-axis, i.e., roll angle adjustment, is mainly accomplished by adjusting the synchronous and coordinated movement of the four-point support parallel mechanism. When it is necessary to adjust the pitch angle of the motion platform around the X-axis, the attitude adjustment main control module executes a single-sided drive strategy. Specifically, the module controls the Z-linear motion modules of the first and second support chains located on one side of the platform to perform equal and synchronous lifting or lowering movements; at the same time, the Z-linear motion modules of the third and fourth support chains located on the other side of the platform remain in a locked or floating state. Under the lifting action of the drive side, the motion platform rotates about the line connecting the centers of the two ball joints on the drive side as an approximate axis. When it is necessary to adjust the yaw angle of the motion platform around the Y-axis, the attitude adjustment main control module executes another single-sided drive strategy. Specifically, the module controls the Z-line motion modules of the first and third support chains on one side of the platform to perform equal and synchronous but opposite lifting and lowering movements; simultaneously, the Z-line motion modules of the second and fourth support chains on the other side of the platform remain in a locked or floating state. Under the reverse movement of the two Z-axis modules on the drive side, the motion platform rotates around its geometric center along the Y-axis. When the roll angle of the motion platform around the Z-axis needs to be adjusted, the attitude adjustment main control module executes a diagonal cooperative drive strategy. Specifically, the module controls the Z-axis modules of the four support chains to perform paired, synchronous, and opposite movements. That is, it controls the Z-line motion modules of two chains located diagonally on the platform, such as the first and fourth support chains, to perform equal and synchronous lifting movements; simultaneously, it controls the Z-line motion modules of two chains located on the other diagonal, such as the second and third support chains, to perform equal and synchronous lowering movements. Driven by the diagonal counter-rotating collaborative drive of the four Z-axis modules, the motion platform generates a rolling motion around its central Z-axis.

[0067] like Figure 3 As shown, Figure 3In this system, Z-direction lifting can refer to lifting along the Z-axis. The attitude adjustment of the equipment (a spacecraft tilting and attitude adjustment transport equipment based on a multi-axis parallel system) around the X-axis, i.e., the roll angle adjustment, is mainly accomplished by adjusting the synchronous and coordinated movement of the four-point support parallel mechanism 31. When it is necessary to adjust the pitch angle of the motion platform 315 around the X-axis, the attitude adjustment main control module executes a single-side drive strategy. Specifically, the module controls the Z-direction linear modules (Z-linear motion modules 311) of the first support branch 32 and the second support branch 33 located on one side of the platform to perform equal and synchronous lifting or lowering movements; at the same time, the Z-direction modules (Z-linear motion modules 311) of the third support branch 34 and the fourth support branch 35 located on the other side of the platform remain in a locked or floating state. Under the lifting action of the drive side, the motion platform 315 rotates about the line connecting the centers of the two ball joints 312 on the drive side as an approximate axis. At this point, the ball joint 312 on the driven side acts as a passive joint, with its internal ball socket and ball head rotating relative to each other, thereby adapting to the platform's attitude changes and allowing for small lateral compensation displacement at the branch ends. This design only requires driving two modules to achieve efficient and precise pitch motion of the platform.

[0068] like Figure 4 As shown, Figure 4 In this design, Z-direction lifting can be performed along the Z-axis. When the yaw angle of the motion platform 315 needs to be adjusted around the Y-axis, the attitude control module executes another single-sided drive strategy. Specifically, the module controls the Z-direction linear modules (Z-linear motion modules 311) of the first support chain 32 and the third support chain 34 located on one side of the platform to perform equal, synchronous but opposite lifting and lowering movements; at the same time, the Z-direction modules (Z-linear motion modules 311) of the second support chain 33 and the fourth support chain 35 located on the other side of the platform remain in a locked or floating state. Under the counter-movement of the two Z-direction modules on the drive side, the motion platform 315 rotates around its geometric center along the Y-axis. At this time, the ball joint 312 on the driven side acts as a passive joint, and the ball socket and ball head inside rotate relative to each other, thereby adapting to the yaw attitude change of the platform and allowing the end of the chain to generate corresponding compensating displacement. This design also only requires driving two modules to achieve efficient and accurate yaw movement of the platform.

[0069] like Figure 5 As shown, Figure 5 In this context, horizontal displacement in the XY direction can be horizontal displacement along the X-axis and Y-axis. Rotation in the RZ direction can be rotation between the X-axis and Y-axis. Figure 5The arc-shaped arrows in the diagram represent the direction and trajectory of rotation. When the roll angle of the motion platform 315 around the Z-axis needs to be adjusted, the attitude adjustment main control module executes a diagonal cooperative drive strategy. Specifically, the module (control system 4) controls the Z-axis modules (Z-linear motion modules 311) of the four sets of support chains to perform paired, synchronous, and opposite-direction movements. That is, it controls the Z-axis linear modules (Z-linear motion modules 311) of the two sets of chains located diagonally on the platform, such as the first support chain 32 and the fourth support chain 35, to perform equal and synchronous lifting movements; at the same time, it controls the Z-axis modules (Z-linear motion modules 311) of the two sets of chains located on the other diagonal, such as the second support chain 33 and the third support chain 34, to perform equal and synchronous descending movements. Under the diagonal counter-cooperative drive of the four sets of Z-axis modules, the motion platform 315 generates a roll motion around its central Z-axis. At this point, all four ball joints 312 function as passive joints, with their internal ball sockets and ball heads rotating relative to each other to adapt to the attitude changes of the platform rotating around the vertical axis, and allowing for minute lateral compensation displacements at the ends of each branch. This design, through the precise coordination of the four modules, achieves high-precision, torque-based rotational attitude adjustment of the platform around the vertical axis.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spacecraft tilting and attitude adjustment transfer device based on a multi-axis parallel system, characterized in that, include: The system includes a flipping system (1), an omnidirectional movement system (2), a platform (21), a multi-axis parallel attitude adjustment system (3) for attitude adjustment, and a control system (4). The flipping system (1) is hinged to the platform (21). The omnidirectional movement system, the attitude adjustment system (3), and the control system (4) are all installed at the bottom of the platform (21). The flipping system (1), the omnidirectional movement system (2), and the attitude adjustment system (3) are all connected to the control system (4).

2. The spacecraft tilting and attitude adjustment transfer device based on a multi-axis parallel system according to claim 1, characterized in that, The posture adjustment system (3) includes multiple supporting parallel mechanisms (31); the supporting parallel mechanism (31) includes: a lifting mechanism, a ball joint (312), a first moving mechanism, a second moving mechanism and a motion platform (315), the bottom of the lifting mechanism is connected to the ball joint (312), the first moving mechanism is connected to the top of the lifting mechanism, the second moving mechanism is slidably mounted on the first moving mechanism, the motion platform (315) is slidably mounted on the second moving mechanism, and the motion platform (315) is mounted below the platform (21).

3. The spacecraft tilting and attitude adjustment transfer device based on a multi-axis parallel system according to claim 2, characterized in that, The lifting mechanism is a Z linear motion module (311), the first moving mechanism is an X linear motion module (313), and the second moving mechanism is a Y linear motion module (314). The Z linear motion module (311) is vertically arranged, and the X linear motion module (313) and the Y linear motion module (314) are both horizontally arranged. The axis of the X linear motion module (313) is perpendicular to the axis of the Y linear motion module (314).

4. The spacecraft tilting and attitude adjustment transfer device based on a multi-axis parallel system according to claim 2, characterized in that, The number of the parallel support mechanisms (31) is 4. The 4 parallel support mechanisms (31) are the first support branch (32), the second support branch (33), the third support branch (34) and the fourth support branch (35). The platform (21) is a rectangular frame. The first support branch (32), the second support branch (33), the third support branch (34) and the fourth support branch (35) are located at the four corners of the platform (21).

5. A spacecraft tilting and attitude adjustment transfer device based on a multi-axis parallel system according to claim 1, characterized in that, The flipping system (1) is located on top of the platform (21); the flipping system (1) includes: a flipping back frame (11), an auxiliary support mechanism and a flipping drive system (18), the flipping drive system (18) is installed on the platform (21), the bottom of the flipping back frame (11) is hinged to the flipping drive system (18), and the two ends of the auxiliary support mechanism are respectively hinged to the platform (21) and the middle of the flipping back frame (11).

6. The spacecraft tilting and attitude adjustment transfer device based on a multi-axis parallel system according to claim 5, characterized in that, The flipping drive system (18) includes: a drive mechanism, a ball screw (184) and a screw nut mounting seat (16). The drive mechanism is mounted on the platform (21) and connected to the ball screw (184). The screw nut mounting seat (16) is slidably mounted on the platform (21). The ball screw (184) and the screw nut mounting seat (16) are connected by threads. The bottom of the flipping back frame (11) is hinged to the screw nut mounting seat (16). The auxiliary support mechanism is a flipping connecting rod (13). The two ends of the flipping connecting rod (13) are respectively hinged to the platform (21) and the middle of the flipping back frame (11).

7. A spacecraft tilting and attitude adjustment transfer device based on a multi-axis parallel system according to claim 6, characterized in that, The drive mechanism includes a servo motor (181), a reducer (182), and a coupling (183). The servo motor (181) is mounted on the platform (21). The servo motor (181) is connected to the reducer (182). The reducer (182) is connected to the coupling (183). The coupling (183) is connected to the ball screw (184). An active hinge (14) is installed at the bottom of the flipping back frame (11). A first fixed hinge (15) is installed on the screw nut mounting seat (16). The active hinge (14) is rotatably connected to the first fixed hinge (15). A driven hinge (12) is installed in the middle of the flipping back frame (11). A second fixed hinge (17) is installed on the platform (21). The two ends of the flipping connecting rod (13) are rotatably connected to the driven hinge (12) and the second fixed hinge (17), respectively.

8. A spacecraft tilting and attitude adjustment transfer device based on a multi-axis parallel system according to claim 1, characterized in that, The omnidirectional moving system (2) includes multiple steering wheel assemblies (22). Each steering wheel assembly (22) includes a drive motor (221), a steering motor (222), a rubber-coated wheel (223), a slewing support (224), and a spring (225). The rubber-coated wheel (223) is rotatably mounted on the bottom of the slewing support (224). The drive motor (221) is mounted on the slewing support (224) and is connected to the rubber-coated wheel (223) in a transmission connection. The steering motor (222) is mounted on the bottom of the platform (21) and is connected to the slewing support (224) in a transmission connection. The slewing support (224) is connected to the bottom of the platform (21) through the spring (225).

9. A spacecraft tilting and attitude adjustment transport method based on a multi-axis parallel system, characterized in that, According to any one of claims 1 to 8, a spacecraft tilting and attitude adjustment transfer device based on a multi-axis parallel system, and a spacecraft tilting and attitude adjustment transfer method based on a multi-axis parallel system, the following are provided: The flipping system (1), omnidirectional movement system (2) and posture adjustment system (3) are controlled by the control system (4) to achieve flipping, omnidirectional movement and posture adjustment.

10. A spacecraft tilting and attitude adjustment transport method based on a multi-axis parallel system according to claim 9, characterized in that, The steps of controlling the flipping system (1), omnidirectional movement system (2), and posture adjustment system (3) through the control system (4) to achieve flipping, omnidirectional movement, and posture adjustment include: When the pitch angle of the motion platform (315) around the X-axis needs to be adjusted, the Z-linear motion module (311) of the first support branch (32) and the Z-linear motion module (311) of the second support branch (33) are controlled by the control system (4) to perform equal and synchronous lifting or lowering movements; and the Z-linear motion module (311) of the third support branch (34) and the Z-linear motion module (311) of the fourth support branch (35) are controlled by the control system (4) to maintain the position locked or floating state. When the yaw angle of the motion platform (315) around the Y-axis needs to be adjusted, the Z linear motion module (311) of the first support branch (32) and the Z linear motion module (311) of the third support branch (34) are controlled by the control system (4) to perform equal and synchronous but opposite lifting and lowering movements; and the Z linear motion module (311) of the second support branch (33) and the Z linear motion module (311) of the fourth support branch (35) are controlled by the control system (4) to maintain the position locked or floating state. When the rolling angle of the motion platform (315) around the Z-axis needs to be adjusted, the Z-linear motion module (311) of the first support branch (32) and the Z-linear motion module (311) of the fourth support branch (35) are controlled by the control system (4) to perform equal and synchronous lifting or lowering movements; and the Z-linear motion module (311) of the second support branch (33) and the Z-linear motion module (311) of the third support branch (34) are controlled by the control system (4) to perform equal and synchronous lowering or lifting movements. Among them, the X-axis is horizontal and parallel to the axial direction of the platform (21), the Y-axis is horizontal and perpendicular to the axial direction of the platform (21), and the Z-axis is vertical and perpendicular to the axial direction of the platform (21).

Images