Satellite transportation attitude adjusting platform

Abstract

The utility model discloses a satellite transportation attitude adjusting platform which comprises a chassis module and an attitude adjusting module arranged on the chassis module, the chassis module supports a satellite, the attitude adjusting module adjusts the position and the angle of the satellite relative to the chassis module, and the chassis module can drive the satellite to move in all directions in a horizontal plane. The attitude adjusting module comprises an overturning mechanism, a rotating mechanism and a lifting mechanism which are used for pulling the satellite to overturn, rotate and ascend and descend respectively. The omni-directional moving ability is highly integrated with the overturning, rotating and lifting functions of the attitude adjusting module, automation of satellite transportation and attitude adjusting is achieved, the operation precision and safety are improved, the requirements of different scenes can be flexibly met, and various complex working environments and task requirements can be met. Compared with a traditional method for completing satellite transportation and attitude adjustment depending on multiple sets of equipment, the integrated platform reduces the number of equipment, reduces the operation complexity, and facilitates cost saving in a long term.

Description

TECHNICAL FIELD

[0001] The utility model relates to satellite transportation equipment technical field, especially in a kind of satellite transportation posture adjustment platform. BACKGROUND

[0002] Satellite is an important component of modern space technology, its research and development, test and assembly process to precision, stability, security and automation level has put forward very high requirements, to ensure that after launch can be stable, accurately perform tasks.In the specific research and development and testing process, commonly used transportation posture adjustment platform, in particular, its particularity is mainly reflected in: the assembly of platform to satellite, test and attitude adjustment all need to achieve very high precision standard;Satellite usually has larger mass and volume, the carrying capacity and stability of transportation equipment are challenged;Satellite needs to adjust attitude frequently in testing process, requires transportation equipment to have the ability of multi-degree-of-freedom motion and flexible adjustment;And the value of satellite is expensive, any damage can lead to huge economic losses, so transportation equipment must ensure the absolute safety of satellite in transportation and testing process.

[0003] Although existing general transportation trolley has made remarkable progress in industrial automation, but in this special field of satellite still has the following problems: traditional trolley is mainly designed for linear or simple curve transportation, lack of flexible adjustment ability in three-dimensional space;For the satellite with larger weight and volume, the carrying capacity and stability of existing trolley are often insufficient, there are security risks;Existing trolley still needs to be improved in safety monitoring to adapt to the high reliability requirements of satellite testing. UTILITY MODEL CONTENTS

[0004] According to the utility model embodiment, to solve the above insufficient of prior art, provide a kind of satellite transportation posture adjustment platform, containing chassis module and being located on it posture adjustment module, chassis module supports satellite, posture adjustment module adjusts the position and angle of satellite relative to chassis module, chassis module can drive satellite to move in horizontal plane in all directions, posture adjustment module contains turnover mechanism, slewing mechanism and lifting mechanism, turnover mechanism, slewing mechanism and lifting mechanism respectively drag satellite to overturn, slewing and lifting.

[0005] Preferably, chassis module contains polygonal frame and several driving assemblies arranged in the circumferential direction thereof, driving assembly drives frame to move in any direction, support foot screw is arranged between opposite sides of frame.

[0006] Preferably, frame is rectangular, and one driving assembly is arranged at each corner thereof.

[0007] Preferably, driving assembly contains servo motor, planetary reducer connected with the output end of servo motor and Mecanum wheel.

[0008] Preferably, the absolute value encoder of the servo motor is 23 bits, and the reduction ratio of the planetary reducer is 80-110.

[0009] Preferably, the overturning mechanism comprises a support base arranged on the chassis module, an adapter base hingedly connected to one end of the support base, and an electric cylinder having two ends connected to the support base and the adapter base respectively, and the electric cylinder can be extended and retracted to drive the adapter base to overturn relative to the support base.

[0010] Preferably, the electric cylinder is provided with a servo motor and a manual input end.

[0011] Preferably, the rotating mechanism is arranged on the adapter base, the satellite bottom is coupled with the rotating mechanism, and the rotating mechanism comprises a circumferential gear ring and a self-rotation gear which are engaged with each other, and when the self-rotation gear rotates, the circumferential gear ring rotates to drive the satellite to rotate relative to the plane where the adapter base is located.

[0012] Preferably, the lifting mechanism comprises a lifting platform and a plurality of screw jacks for driving the lifting platform.

[0013] Preferably, a protection assembly is arranged on the outer edge of the chassis module, and the protection assembly comprises an obstacle avoidance sensor which receives laser reflected by external obstacles, and a controller instructs the chassis module to make a response of alarming, decelerating or stopping.

[0014] The satellite transportation and attitude adjustment platform according to the embodiment of the present application has high integration of the omnidirectional movement ability and the overturning, rotating and lifting functions of the attitude adjustment module, realizes automation of satellite transportation and attitude adjustment, improves operation precision and safety, and can flexibly cope with the needs of different scenes, adapt to various complex operation environments and task requirements, whether in the ground test, transportation transfer or launch preparation stage. Compared with the traditional method of completing satellite transportation and attitude adjustment by relying on multiple sets of equipment, the integrated platform reduces the number of devices and reduces the operation complexity, which helps to save costs in the long run.

[0015] It is to be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further explanation of the subject technology. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 FIG. 1 is a schematic diagram of the overall structure of a satellite transportation and attitude adjustment platform according to an embodiment of the present application;

[0017] Fig. 2 FIG. 4 is a schematic diagram of a chassis module of a satellite transportation and attitude adjustment platform according to an embodiment of the present application;

[0018] Fig. 3 FIG. 6 is a schematic diagram of a rotating mechanism of a satellite transportation and attitude adjustment platform according to an embodiment of the present application;

[0019] Fig. 4The utility model discloses a satellite transportation attitude adjusting platform lifting mechanism schematic diagram according to the embodiment of the utility model,

[0020] Fig. 5 The utility model discloses a satellite transportation attitude adjusting platform protection system schematic diagram according to the embodiment of the utility model, DETAILED DESCRIPTION

[0021] The preferred embodiments of the utility model will be described in detail below with reference to the drawings, and the utility model will be further described.

[0022] Firstly, the satellite transportation attitude adjusting platform according to the embodiment of the utility model will be described in combination with Figs. 1~5 The satellite transportation attitude adjusting platform according to the embodiment of the utility model is widely applied in the scene of transportation bearing equipment in research and development, testing and operation. In the embodiment, the satellite testing is taken as an example for illustration.

[0023] As shown in Figs. 1~5 The satellite transportation attitude adjusting platform according to the embodiment of the utility model has a chassis module 1 and an attitude adjusting module 2 arranged thereon.

[0024] Specifically, as shown in Figs. 1~5 The chassis module 1 supports the satellite, the attitude adjusting module 2 adjusts the position and angle of the satellite relative to the chassis module 1, and the chassis module 1 can drive the satellite to move in all directions in the horizontal plane, so that the satellite can realize the movement and accurate positioning at any angle of 360 degrees in the horizontal plane without relying on external handling equipment. This is very important for the deployment, testing or maintenance of the satellite in complex environment, and improves the operation efficiency and flexibility. The attitude adjusting module 2 comprises a turnover mechanism 21, a rotating mechanism 22 and a lifting mechanism 23, and the turnover mechanism 21, the rotating mechanism 22 and the lifting mechanism 23 respectively drag the satellite to turn over, rotate and lift. The turnover mechanism 21 allows the satellite to turn around an axis, and the rotating mechanism 22 enables the satellite to rotate around the center point in the horizontal plane to realize the adjustment of the azimuth angle, which is very important for adjusting the pitch angle of the satellite, ensuring the satellite antenna to be aligned in a specific direction or meeting the specific orbit requirements; the lifting mechanism 23 can adjust the height of the satellite relative to the ground by vertically moving the satellite, which is very useful for the loading, unloading of the satellite and the testing on the testing platform at different heights.

[0025] Preferably, the chassis module 1 comprises a polygonal frame and a plurality of driving assemblies 11 arranged in the circumferential direction thereof, the driving assemblies 11 drive the frame to move in any direction, and a support screw rod 12 is arranged between the opposite sides of the frame, which enhances the stability and bearing capacity of the frame, prevents the side turning or tilting on the uneven ground and improves the safety and reliability of the equipment.

[0026] Preferably, the frame is rectangular, and each of the four corners is provided with a driving assembly 11, which realizes flexible movement of the frame in any direction, while having strong stability and carrying capacity. In particular, the frame can be welded with steel, and the rectangular structure has relatively low cost and saves cost.

[0027] Preferably, the driving assembly 11 comprises a servo motor, a planetary reducer connected to the output end of the servo motor, and a Mecanum wheel. The Mecanum wheel is used as the driving wheel, which can realize omnidirectional movement, and further improve the flexibility and operation convenience of the equipment.

[0028] Preferably, the absolute value encoder of the servo motor is 23 bits, and the reduction ratio of the planetary reducer is 80-110. The servo motor, 23-bit absolute value encoder and high-precision planetary reducer are used, and the angle resolution of the system reaches the order of 0.0000001°, which is much lower than the industry technical requirement of 0.01°. At the same time, the servo motor cooperates with the reducer to ensure that the repeat positioning accuracy is within ±0.1°.

[0029] Preferably, the turnover mechanism 21 comprises a support base 211 arranged on the chassis module 1, an adapter base 212 hingedly connected to one end of the support base 211, and an electric cylinder 213 connecting the support base 211 and the adapter base 212. The electric cylinder 213 can be extended and retracted to drive the adapter base 212 to overturn relative to the support base 211, thereby realizing the attitude adjustment of the satellite overturning.

[0030] Preferably, the electric cylinder 213 is provided with a servo motor and a manual input end. The servo motor and the manual input end are provided to ensure the accuracy of automatic control and provide the flexibility of manual operation, thereby increasing the emergency handling capacity of the equipment.

[0031] Preferably, the rotation mechanism 22 is arranged on the adapter base 212, and the satellite bottom is coupled with the rotation mechanism 22. The rotation mechanism 22 comprises a circumferential gear ring 221 and a rotation gear 222 which are engaged with each other. When the rotation gear 222 rotates, the circumferential gear ring 221 rotates to drive the satellite to rotate relative to the plane of the adapter base 212, thereby realizing the rotation function of the satellite relative to the plane of the adapter base 212, and providing the possibility for accurate alignment and attitude adjustment of the satellite.

[0032] Preferably, the lifting mechanism 23 comprises a lifting platform 231 and a plurality of screw jacks 232 driving the lifting platform 231. The lifting mechanism 23 has the advantages of compact structure, strong carrying capacity, stable lifting, etc., and can meet the lifting requirements of satellites with different heights and weights.

[0033] Preferably, the chassis module 1 is provided with a protection assembly, which comprises an obstacle avoidance sensor 3 that receives laser light reflected by external obstacles, and the controller instructs the chassis module 1 to respond by alarming, decelerating or stopping, effectively avoiding collision between the device and obstacles during movement, improving the safety and service life of the device, and improving the safety performance of the platform through three-level condition handling.

[0034] In use, first of all, ensure that the platform is in a safe state, the surrounding environment is free of obstacles, and the power supply is connected normally. The operator starts the platform and selects the transportation mode or the posture adjustment mode. In the transportation mode, the flexible characteristics of the omnidirectional mobile chassis are utilized, and the controller is used to accurately control the moving direction and speed of the platform, so that the platform is moved stably and safely to the designated working area. This process benefits from the omnidirectional movement ability of the Mecanum wheel, so that the platform can be flexibly operated in a small space. After reaching the designated position, the platform switches to the posture adjustment mode. According to the specific requirements of the satellite assembly test, the controller is used to operate the overturning, rotating and lifting functions. The overturning function can realize the conversion between the vertical state and the horizontal state of the satellite, the rotating function can make the satellite continuously rotate 360 degrees around the Z axis in positive and negative directions, and the lifting function is used to adjust the height position of the satellite. During the entire operation process, the safety protection system of the platform will automatically start. The three-color operation indicator lights installed on the four corners flicker and emit a ringing sound, warning the surrounding personnel to pay attention. At the same time, the non-contact anti-collision system uses a laser scanner to monitor the surrounding environment in real time, and once an obstacle is detected, the alarm, deceleration or stop function will be automatically triggered to ensure operation safety.

[0035] The above, with reference to Figs. 1~5 The satellite transportation and posture adjustment platform according to the embodiments of the present application is described, the omnidirectional movement ability is highly integrated with the overturning, rotating and lifting functions of the posture adjustment module 2, the automation of satellite transportation and posture adjustment is realized, the operation precision and safety are improved, whether it is ground test, transportation transfer or launch preparation stage, the platform can flexibly cope with the requirements of different scenes, and adapt to various complex operation environments and task requirements. Compared with the traditional method of relying on multiple sets of equipment to complete satellite transportation and posture adjustment, the integrated platform reduces the number of devices and reduces the operation complexity, which is helpful for saving costs in the long run.

[0036] In the description of the present application, it should be explained that, unless otherwise stated, the meaning of "multiple" is two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "top", "bottom" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as limiting the device or element indicated to have a specific orientation, to be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application.

[0037] It should be noted that in the present specification, the terms "comprising", "containing" or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, the elements defined by the phrase "comprising" do not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the elements.

[0038] Although the content of the present application has been described in detail through the above preferred embodiments, it should be recognized that the above description should not be considered as a limitation of the present application. After reading the above content, various modifications and alternatives of the present application will be apparent to those skilled in the art. Therefore, the protection scope of the present application should be defined by the appended claims.

Claims

1. A satellite transport and attitude adjustment platform, comprising a chassis module and an attitude adjustment module disposed thereon, wherein the chassis module supports a satellite, and the attitude adjustment module adjusts the position and angle of the satellite relative to the chassis module, characterized in that, The chassis module can drive the satellite to move in all directions in the horizontal plane. The attitude adjustment module includes a flipping mechanism, a slewing mechanism, and a lifting mechanism. The flipping mechanism, slewing mechanism, and lifting mechanism respectively pull the satellite to flip, slew, and lift.

2. The satellite transportation attitude adjustment platform as described in claim 1, characterized in that, The chassis module includes a polygonal frame and several drive components arranged around it. The drive components drive the frame to move in any direction. Support leg screws are provided between opposite sides of the polygonal frame.

3. The satellite transportation attitude adjustment platform as described in claim 2, characterized in that, The polygonal frame is rectangular, with a drive assembly at each of its four corners.

4. The satellite transportation attitude adjustment platform as described in claim 3, characterized in that, The drive assembly includes a servo motor, a planetary gearbox connected to the output of the servo motor, and a Mecanum gear.

5. The satellite transport attitude adjustment platform as described in claim 4, characterized in that, The servo motor has a 23-bit absolute encoder and a planetary gearbox with a reduction ratio of 80-110.

6. The satellite transport attitude adjustment platform as described in any one of claims 1-5, characterized in that, The flipping mechanism includes a support base mounted on the chassis module, an adapter base hinged to one end of the support base, and an electric cylinder connected to the support base and the adapter base at both ends respectively. The electric cylinder can extend and retract to drive the adapter base to flip relative to the support base.

7. The satellite transportation attitude adjustment platform as described in claim 6, characterized in that, The electric cylinder is equipped with a servo motor and a hand-crank input terminal.

8. The satellite transportation attitude adjustment platform as described in claim 6, characterized in that, The rotating mechanism is located on the adapter base, and the bottom of the satellite is coupled to the rotating mechanism. The rotating mechanism includes a meshing circumferential gear ring and a self-rotating gear. When the self-rotating gear rotates, the circumferential gear ring rotates to drive the satellite to rotate relative to the plane where the adapter base is located.

9. The satellite transportation attitude adjustment platform as described in claim 6, characterized in that, The lifting mechanism includes a lifting platform and several screw jacks that drive the lifting platform.

10. The satellite transportation attitude adjustment platform as described in claim 1, characterized in that, The chassis module is equipped with a protective component on its outer edge. The protective component includes an obstacle avoidance sensor. The obstacle avoidance sensor receives laser light reflected from external obstacles. The controller instructs the chassis module to respond by alarming, slowing down, or stopping.

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