Satellite support and inversion device

Abstract

The utility model discloses a satellite support and turnover device belongs to spacecraft ground support equipment technical field. The device includes base, turnover platform, power mechanism and control system. Base provides stable support and has the leveling function, and turnover platform is connected with base through rotating support group, is used for carrying satellite, and power mechanism adopts electric cylinder drive, provides the turnover power and controls speed and angle, and the core lies in, control system adopts the closed loop control scheme based on PLC controller, angle sensor and proximity switch, can carry out accurate automation control to the turnover process, real -time monitoring operation state, feedback data, handle the failure and record process load data, has guaranteed the safety, precision and reliability in the process that satellite is from vertical state and turns to horizontal state. The utility model is especially suitable for the horizontal general assembly test work of the fairing assembly under the " three -level survey and launch " mode.

Description

Technical Field

[0001] This utility model relates to the field of spacecraft ground support equipment technology, specifically to a satellite support and flipping device. Background Technology

[0002] In recent years, with the vigorous development of the private aerospace industry both domestically and internationally, the "three-horizontal launch" mode, represented by SpaceX's Falcon series launch vehicles, has gradually demonstrated its significant advantages in high-frequency, rapid launches. Unlike the "three-vertical launch" and "two-horizontal-one-vertical launch" modes, the "three-horizontal launch" mode requires the assembly, fueling, and testing of the rocket body and satellite array within the technical area's factory. To achieve the horizontal assembly and testing of the rocket body and satellite array, a flipping platform is needed to flip the satellite from a vertical to a horizontal position before completing the assembly and testing of the satellite array.

[0003] The existing domestic patents for satellite support and flipping devices include: 1) Patent No. CN104117981A: An outward-flipping two-axis turntable based on electric push rods, including a turntable, a support platform, adjustable support, a telescopic electric push rod, a sunken flipping frame, an anti-tipping device, an adapter, a rotation system, and an electrical control system, which can support and fix the satellite. 2) Patent No. CN109911754B: A multi-functional flipping and hoisting device, including a first fixing component, a first connecting rod assembly, a second fixing component, and a second connecting rod assembly, which can flip microsatellites.

[0004] Both of the aforementioned patented technologies are innovations centered around satellite support and flipping devices, which can improve the efficiency and safety of satellite operations. However, they still have some problems and shortcomings, including: 1) The flipping control is an open control, which requires high operator skills and may not meet the needs of high-precision satellite flipping operations; 2) The flipping process control system lacks feedback and monitoring mechanisms, making it impossible to monitor the operating status of the flipping platform in real time, detect and handle faults during the flipping process, or clarify whether the process load during the flipping process meets the various performance requirements of the satellite; 3) There is a lack of integration between the existing patented technologies, requiring further research and development of integrated satellite support and flipping devices to improve the efficiency and reliability of satellite operations.

[0005] In summary, the existing patented technologies for satellite support and flipping devices still have some problems and shortcomings, which require further research and improvement. Utility Model Content

[0006] The purpose of this invention is to provide a satellite support and flipping device that can improve equipment automation and full-process control while ensuring satellite safety, and solve the problem of inability to monitor, provide feedback and process in real time due to open control during satellite support and flipping.

[0007] Therefore, this utility model proposes a satellite support and flipping device, comprising: Base; A flipping platform, one end of which is rotatably connected to the base via a rotating support assembly, is used to support and fix the satellite support cabin. A power mechanism, with its two ends hinged to the base and the tilting platform respectively, is used to drive the tilting platform to rotate around the axis of the rotating shaft mechanism; The control system is electrically connected to the power mechanism; and A sensing unit, mounted on the device, is used to monitor the attitude of the tilting platform and / or the operating status of the power actuator, and to feed the monitoring signal back to the control system. The control system is configured to perform closed-loop control of the power actuator based on feedback signals from the sensing unit.

[0008] Preferably, the base includes a welding frame, multiple height-adjustable legs and side legs, and a set of track wheels to facilitate the movement of the device.

[0009] Preferably, the base also includes a buffer support and a vertical limiter on the side near the fixed end of the flipping platform.

[0010] Preferably, the base also includes an auxiliary push rod that is fixedly installed on the upper end of the welding frame and close to the movable end of the flipping platform.

[0011] Preferably, the flipping platform includes a main support frame, an electric cylinder support, and a support ring for installing and fixing the satellite support cabin. The support ring is provided with a limiting structure and an installation interface.

[0012] Preferably, the power mechanism includes an electric cylinder, a reducer and a servo motor connected to the electric cylinder, a rotating shaft, and a front limit block and a rear limit block for limiting the stroke of the electric cylinder.

[0013] Preferably, the control system further includes a servo driver, a switching power supply, and a display, wherein the servo driver is electrically connected to the servo motor.

[0014] Preferably, the sensing unit includes an angle sensor for monitoring the flip angle, the angle sensor being disposed at the rotating support assembly for monitoring the real-time angle of the flip platform.

[0015] Preferably, the sensing unit includes a proximity switch for position limiting, and the proximity switch is correspondingly disposed at the vertical limit, the auxiliary push rod, the front limit block and the rear limit block.

[0016] Preferably, the control system is configured to record and store operating data during the flipping process, including speed, angle, acceleration, and angular acceleration.

[0017] Compared with existing patents, the satellite support and flipping device provided by this utility model has the following advantages: 1) A control system composed of PLC controllers and sensors can realize automated operation, reduce labor costs, and improve the accuracy and efficiency of the system; 2) The power mechanism provides driving force to the flipping platform, enabling it to perform flipping motions. The angle and direction of the flipping platform can be adjusted to achieve precise flipping and tilting of objects. Parameters such as speed and angle can be adjusted according to different satellite shapes and sizes to adapt to different flipping requirements. Simultaneously, the mechanism is equipped with safety protection devices that monitor the satellite's position and status during the flipping process. If any abnormality is detected, the flipping will automatically stop and an alarm signal will be issued.

[0018] 3) The control system can accurately control and monitor parameters such as flipping angle, speed, and direction. It can monitor the operating status of the flipping platform in real time through sensors and controllers, promptly detect and handle faults, and record and store the operating data of the flipping platform to provide data support for subsequent maintenance and optimization.

[0019] In addition to the purposes, features, and advantages described above, this application has other purposes, features, and advantages. A further detailed description of this application will be provided below with reference to the figures. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings: Figure 1 This is an overall diagram of the satellite support and flipping device of this utility model; Figure 2 This is a schematic diagram of the base assembly in the satellite support and flipping device of this utility model; Figure 3 This is a schematic diagram of the structure of the flipping platform assembly in the satellite support and flipping device of this utility model; Figure 4 This is a schematic diagram of the power mechanism in the satellite support and flipping device of this utility model; Figure 5 This is a schematic diagram of the control system in the satellite support and flipping device of this utility model; Explanation of reference numerals in the attached drawings: 1. Base; 2. Tilting platform; 3. Power mechanism; 4. Control system; 5. Satellite support cabin; 11. Welding frame; 12. Support leg; 13. Track wheel assembly; 14. Pull ring; 15. Auxiliary push rod; 16. Buffer support; 17. Vertical limit; 18. Rotary support assembly; 19. Side support leg; 21. Main support frame; 22. Electric cylinder support; 23. Decorative panel; 24. Support ring; 31. Electric cylinder; 32. Reducer; 33. Servo motor; 34. Rotating shaft; 35. Front limit block; 36. Rear limit block; 37. Support; 41. Switching power supply; 42. PLC controller; 43. Display; 44. Servo driver; 46. Angle sensor; 47. Proximity switch. Detailed Implementation

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] Combination Figures 1-5 This invention provides a more detailed description of a satellite support and flipping device. The purpose of this invention is to provide a satellite support and flipping device that can be used for satellite assembly and testing after flipping from a vertical to a horizontal position, and is particularly suitable for horizontal flipping of satellites in a "three-horizontal launch and test" mode. To achieve the above objective, the satellite support and flipping device provided by this invention includes a base 1, a flipping platform 2, a power mechanism 3, and a control system 4.

[0023] The base is the installation reference for the tilting platform, used to support and fix the main body of the tilting platform. Its main functions include: 1) providing stable support to prevent the device from shaking or tilting during the tilting process, thereby enhancing the safety and stability of the device; 2) fixing the tilting platform to prevent the device from moving or sliding during the tilting process, ensuring the accuracy and reliability of the tilting; 3) leveling the tilting platform to adapt to different site tilting requirements and reduce site construction requirements.

[0024] The flipping platform is connected to the base via a rotating support assembly, rotating around the axis of the assembly during flipping. During installation, the support cabin bears the weight and load of the satellite structure, transferring it to the base of the flipping platform, thus supporting the overall structure of the satellite. The flipping platform is mounted on the base via a rotating shaft and is primarily used for: 1) flipping the satellite from a vertical to a horizontal position, achieving object flipping; 2) adjusting to different satellite shapes and sizes to adapt to different satellite flipping requirements.

[0025] The power mechanism refers to the power source that drives the tilting platform. One end is connected to the base shaft, and the other end is connected to the electric cylinder support of the tilting platform. Its main functions include: 1) Providing power: The power mechanism provides driving force to the tilting platform, enabling it to rotate, tilt, or tilt. 2) Controlling speed: The power mechanism can control the movement speed of the tilting platform to adapt to different operational needs and object shapes. 3) Adjusting angle: The power mechanism can adjust the angle and direction of the tilting platform to achieve precise tilting and tilting of objects. 4) Automated control: The power mechanism can reduce manual intervention and improve operational accuracy and safety through an automated control system. 5) Adapting to satellites of different sizes: The power mechanism can adjust parameters such as speed and angle according to different satellite shapes and sizes to adapt to different tilting requirements.

[0026] The control system is installed in the electrical equipment mounting compartment of the base. Its main functions include: 1) Controlling the movement of the tilting platform, including parameters such as tilting angle, speed, and direction, to achieve precise tilting and rotation of objects. 2) Reducing manual intervention and improving operational accuracy and safety through automated control. 3) Monitoring the operating status of the tilting platform in real time through sensors and controllers, enabling timely detection and handling of faults. 4) Adjusting to accommodate different object shapes and sizes to meet various tilting requirements. 5) Recording and storing the operating data of the tilting platform, providing data support for subsequent maintenance and optimization.

[0027] Specifically, the base 1 is welded from a frame and serves as the installation and operation benchmark for the entire device. Multiple support points are arranged on it, each adjustable and controllable via an electric cylinder to adapt to different site conditions and installation requirements. The base 1 mainly consists of a welded frame 11, support legs 12, track wheel assembly 13, traction ring 14, auxiliary push rod 15, buffer support 16, vertical limiter 17, rotating support assembly 18, and side support legs 19.

[0028] like Figure 2 As shown, four support legs 12 are located at the four corners of the welding frame 11, and four side support legs 19 are arrayed on the left and right sides of the welding frame 11. Both the support legs 12 and the side support legs 19 are telescopic support legs used to adjust the levelness. A pair of track wheel sets 13 are fixedly installed on the welding frame 11, which is compatible with domestic standard railway rails, while the traction ring 14 is installed on the upper front side of the welding frame 11 to facilitate short-distance transfer within the technical area workshop.

[0029] A pair of auxiliary push rods 15 are fixedly installed on the upper end of the welding frame 11 and close to the movable end of the flipping platform 2. The buffer support 16 is also fixedly installed on the upper end of the welding frame 11 and close to the fixed end of the flipping platform 2. The rotating support assembly 18 is installed at the upper rear end of the welding frame 11 for rotational connection with the flipping platform 2. The vertical limit 17 is fixedly installed at the outermost end of the welding frame 11 close to the fixed end of the flipping platform 2. When the flipping platform 2 rotates to the vertical angle, the vertical limit 17 abuts against the flipping platform 2, restricting its continued rotation and playing a vertical limiting role.

[0030] like Figure 3 As shown, the tilting platform 2 mainly consists of a main support frame 21, an electric cylinder support 22, a decorative panel 23, and a support ring 24. One end of the main support frame 21 is rotatably connected to the rotating support assembly 18, and the other end has an electric cylinder support 22 connected to the power mechanism 3. The support ring 24 is an annular plate structure, installed around the main support frame 21. The support ring 24 is equipped with a limiting structure and multiple mounting interfaces for installing the satellite support cabin 5 to accommodate satellites of different sizes and shapes.

[0031] The main operation involving base 1 is adjusting the height of the support legs 12 and side support legs 19 before flipping. The adjustment method is that the driver of control system 4 sends a signal to control the servo motor 2 on the support legs to adjust the length of the lead screw. The adjustment method adopts step-by-step jogging control to separate the transfer track wheel assembly 13 from the track. The gimbal is placed horizontally at three preset positions on the flipping platform 2. The lead screw lengths of support legs 12 and side support legs 19 are adjusted until the platform is horizontal, completing the leveling operation.

[0032] like Figure 4 As shown, the power mechanism 3 provides driving force to the flipping platform, enabling it to perform flipping motion; the angle and direction of the flipping platform can be adjusted to achieve precise flipping and tilting of the object; parameters such as speed and angle can be adjusted according to different satellite shapes and sizes to adapt to different flipping requirements. Simultaneously, the mechanism is equipped with a safety protection device that can monitor the position and status of the satellite support cabin during the flipping process. If any abnormality is detected, the flipping will automatically stop and an alarm signal will be issued.

[0033] like Figure 4 As shown, the power mechanism 3 mainly consists of an electric cylinder 31, a reducer 32, a servo motor 33, a rotating shaft 34, a front limit block 35, a rear limit block 36, and a support 37. The servo motor 33 drives the electric cylinder 31 to perform telescopic movements through the reducer 32. The support 37 is rotatably connected to one end of the electric cylinder 31 through the rotating shaft 34, and the other end of the support 37 is fixedly connected to the base 1. The front limit block 35 and the rear limit block 36 limit the movement range of the piston rod in the electric cylinder 31.

[0034] like Figure 5As shown, the control system 4 mainly consists of a switching power supply 41, a PLC controller 42, a display 43, a servo driver 44, and various sensing units; the sensing units specifically include an angle sensor 46 for monitoring the flip angle and a proximity switch 47 for position limiting.

[0035] The PLC controller 42 is bidirectionally connected to the servo driver 44 to control the servo motors of the support leg 12 and the side support leg, as well as the servo motor 33 of the power mechanism 3 and the extension and retraction of the electric cylinder 31. At the same time, the electric cylinder 31 is linked with the angle sensor 46 located at the position of the rotating support group 18, and the angle sensor 46 transmits monitoring signals to the PLC controller 42 in a timely manner.

[0036] The base 1 and the power mechanism 3 are also equipped with multiple proximity switches 47, which are distributed at the vertical limit 17, the auxiliary push rod 15, the front limit block 35, and the rear limit block 36. The proximity switches 47 contact the contacts and transmit a stop signal to the PLC controller, thereby controlling the servo motor and the electric cylinder 31 to stop extending and retracting, thus realizing closed-loop control.

[0037] The control system 4 can achieve precise control and monitoring of parameters such as flipping angle, speed, and direction; the control system can monitor the operating status of the flipping platform in real time through sensors and controllers, and promptly detect and handle faults; it can also record and store the operating data of the flipping platform to provide data support for subsequent maintenance and optimization.

[0038] It should be noted that the satellite support and flipping device of this application can also achieve the same function using other structures. For example: 1. Using automatic control technology: Automatic control technology can be introduced into the control system to automatically optimize the support and flipping scheme by analyzing satellite parameters and flipping data, thereby improving the intelligence and adaptability of the system; 2. Replacing the PLC controller with an industrial control computer or computer to further improve the reliability of the control system; 3. Replacing the electrical system with a hydraulic system.

[0039] The working principle and process of the satellite support and flipping device of this utility model are briefly described below.

[0040] Before flipping, adjust the height of the support legs 12 and side support legs 19 on the base 1 until the transfer track wheel assembly 13 is separated from the track. Place the gimbal horizontally at three pre-set positions on the flipping platform 2, and continue to adjust the height of the support legs 12 and side support legs until the platform is horizontal. Hoist the satellite support cabin 5 onto the flipping platform 2 and reliably connect it with fasteners through the mounting interface on the support ring 24. Check the connection status of the support cabin. If there is significant deformation or gap at the cabin connection, adjust the auxiliary push rod 15 on the base 1 through the control system to ensure reliable contact between the support cabin and the flipping platform 2. Then, use a special lifting tool to vertically hoist the satellite onto the satellite support cabin 5. Check the status of the flipping platform control system 4 to prepare for flipping.

[0041] During the flipping process, the operator issues a flipping start command through the display 43 interface of the control system 4. The PLC controller 42 of the control system 4 sends a pulse command to the servo driver 44 of the servo motor 33 of the power mechanism 3. The servo motor 33 reduces speed and increases torque through the reducer 32, and then converts the rotational motion of the motor into the linear motion of the electric cylinder through the lead screw and nut pair. The push rod of the electric cylinder gradually extends, pushing the flipping platform 2 to slowly rotate around the axis of the rotating support group 18, flipping it from a horizontal state to a vertical state.

[0042] During this process, as the center of mass of the satellite continuously moves forward as the flipping platform 2 flips, the electric cylinder 31 switches from thrust to pull when it flips to a certain angle. To avoid the impact load of the push-pull transition affecting the satellite, a spring damper installed on the base 1 can be used to buffer and absorb vibrations. This spring damper enables a smooth push-pull transition of the flipping platform.

[0043] During the flipping process, the control system 4 monitors the operating status of the flipping platform 2 in real time through electronic components such as servo driver 44, limit sensor, and angle sensor 46, and feeds the signals back to the PLC controller 42. According to the preset angle-speed curve, the PLC controller 42 dynamically adjusts the speed of the servo motor 33 through the servo driver 44 to achieve smooth and precise variable speed flipping.

[0044] When the tilting platform 2 approaches its vertical endpoint, the vertical limit switch 17 on the base 1 triggers the proximity switch 47 nearby. The signal is transmitted to the PLC controller 42, and the control system controls the tilting operation to run at a low speed until it stops, ensuring accurate positioning and no impact. Similarly, the front limit block 35 and rear limit block 36 of the electric cylinder 31 are also prevented from exceeding their travel limits via proximity switches 47. Simultaneously, the control system 4 records real-time information on speed, angle, acceleration, and angular acceleration fed back by angle sensors, servo motor encoders, etc., which can be used for subsequent status tracing and processing.

[0045] When returning to normal operation, the control process for the tilting platform 2 to tilt from a vertical to a horizontal state is consistent. The control system 4 sends a reverse rotation command to the servo motor 33, causing the electric cylinder 31 to move in the opposite direction, driving the tilting platform 2 to smoothly return from a vertical to a horizontal state. It also has closed-loop control, real-time monitoring, and safety protection functions.

[0046] If the control system 4 detects abnormal vibration, overload, motion error, or limit alarm through sensors during the process, the PLC controller 42 will immediately terminate the output, control the power mechanism 3 to stop moving, and notify the operator to handle the situation through an audible and visual alarm or by displaying a warning message on the display 43, which greatly improves safety.

[0047] The satellite support and flipping device of this utility model also has the following innovative features: 1. Technical Advantages: Existing satellite flipping platform control systems are all open-loop control systems, which require highly skilled operators and may not meet the demands of high-precision satellite flipping operations. Furthermore, they lack feedback and monitoring mechanisms, making it impossible to monitor the platform's operational status in real time, detect and handle faults during the flipping process, or clearly determine whether the process loads meet the satellite's performance requirements. This patented control system employs a closed-loop control scheme, overcoming the shortcomings of existing patents.

[0048] 2. Economic advantages: This patent uses a control system composed of PLC controllers and sensors to achieve automated operation, reducing labor costs and thus lowering the overall operating cost of the system.

[0049] 3. Social Benefits: Satellite support and flipping systems are widely used in satellite manufacturing, launch, and operation, and have significant social implications. The support and flipping mechanism of this patent can significantly improve the efficiency and safety of satellite assembly and testing, contributing to the development and application of satellite technology.

[0050] In summary, this patent has greater technological, economic, and social advantages than existing patents, and is expected to have a significant impact and value in the field of satellite support and flipping systems.

[0051] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A satellite support and flipping device, characterized in that, include: Base (1); The flipping platform (2) is rotatably connected to the base (1) at one end via a rotating support assembly (18) and is used to support and fix the satellite support cabin (5). The power mechanism (3) is hinged at both ends to the base (1) and the flipping platform (2) respectively, and is used to drive the flipping platform (2) to rotate around the axis of the rotating shaft mechanism; The control system (4) is electrically connected to the power mechanism (3); and A sensing unit is installed on the device to monitor the attitude of the flipping platform (2) and / or the operating status of the power actuator, and to feed the monitoring signal back to the control system (4). The control system (4) is configured to perform closed-loop control of the power actuator based on the feedback signal from the sensing unit.

2. The satellite support and flipping device according to claim 1, characterized in that, The base (1) includes a welding frame (11), multiple height-adjustable legs (12) and side legs (19), and a set of track wheels (13) to facilitate the movement of the device.

3. The satellite support and flipping device according to claim 1 or 2, characterized in that, The base (1) also includes a buffer support (16) and a vertical limiter (17) on the side near the fixed end of the flipping platform (2).

4. The satellite support and flipping device according to claim 1 or 2, characterized in that, The base (1) also includes an auxiliary push rod (15) fixedly installed on the upper end of the welding frame (11) and close to the movable end of the flipping platform (2).

5. The satellite support and flipping device according to claim 1, characterized in that, The flipping platform (2) includes a main support frame (21), an electric cylinder support (22), and a support ring (24) for installing and fixing the satellite support cabin (5). The support ring (24) is provided with a limiting structure and an installation interface.

6. The satellite support and flipping device according to claim 1, characterized in that, The power mechanism (3) includes an electric cylinder (31), a reducer (32) and a servo motor (33) connected to the electric cylinder (31), a rotating shaft (34), and a front limit block (35) and a rear limit block (36) that limit the stroke of the electric cylinder.

7. The satellite support and flipping device according to claim 6, characterized in that, The control system (4) also includes a servo driver (44), a switching power supply (41), and a display (43), wherein the servo driver (44) is electrically connected to the servo motor (33).

8. The satellite support and flipping device according to claim 1 or 7, characterized in that, The sensing unit includes an angle sensor (46) for monitoring the flip angle. The angle sensor (46) is located at the rotating support group (18) and is used to monitor the real-time angle of the flip platform (2).

9. The satellite support and flipping device according to claim 1 or 7, characterized in that, The sensing unit includes a proximity switch (47) for position limiting, which is correspondingly disposed at the vertical limit (17), the auxiliary push rod (15), the front limit block (35) and the rear limit block (36).

10. The satellite support and flipping device according to claim 1, characterized in that, The control system (4) is configured to record and store operating data during the flipping process, including speed, angle, acceleration and angular acceleration.

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