CN108557115B - Space extending arm based on telescopic lead screw drive - Google Patents
Space extending arm based on telescopic lead screw drive Download PDFInfo
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- CN108557115B CN108557115B CN201810380799.XA CN201810380799A CN108557115B CN 108557115 B CN108557115 B CN 108557115B CN 201810380799 A CN201810380799 A CN 201810380799A CN 108557115 B CN108557115 B CN 108557115B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
Abstract
A space extending arm based on a telescopic lead screw drive relates to the technical field of aerospace. The invention solves the problem that the existing rocket can not provide the space required by the large-size space extending arm in the furled state due to limited space. Three fixed plates are uniformly distributed on a base along the circumference, a connecting plate is arranged between every two adjacent fixed plates to form a triangular prism-shaped closed structure with a hollow interior, three telescopic lead screw driving systems are uniformly distributed in the triangular prism-shaped closed structure, a linear guide rail is arranged on the inner side of each fixed plate, three stepping motors are respectively arranged on the upper portions of the three telescopic lead screw driving systems, the three stepping motors drive the three telescopic lead screw driving systems through synchronous belt transmission mechanisms, three telescopic lead screw in-place locking mechanisms are respectively arranged on the outer sides of the three fixed plates, three sequential expansion control devices are respectively fixed on the three connecting plates, and an extension arm is arranged in the triangular prism-shaped closed structure. The invention is used for improving the folding-unfolding ratio of the extension arm.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a space extending arm based on telescopic lead screw driving.
Background
Along with the deep space exploration, the size of the artificial spacecraft is increased. How to support large-sized spacecraft is a leading problem in current space technology. The space extending arm is very suitable for providing support for various spacecrafts in space due to larger folding-unfolding ratio and unfolding rigidity, and can also provide driving force for unfolding of the spacecraft component by virtue of the unfolding process.
The space stretching arm mainly comprises a rod piece, a rope and other slender structures, the rod piece and the rope form individual unfolding units, the unfolding process is modularized, the number of the unfolding units can be increased or reduced according to needs, and the space stretching arm is high in adaptability to external conditions. The method can be applied to the fields of construction of large space stations, large-caliber communication satellite antennas, solar cell arrays, solar sails and the like.
For example, in the field of communication satellite antennas, the space extending arm is mainly used for supporting structures of satellite antennas in space and the like. The larger the size of the antenna is, the larger the size of the antenna can be supported, and the better the communication effect with the ground is. Therefore, designing a large-scale extending arm is a main requirement of current satellite communication, but the larger size of the extending arm means that the space occupied by the extending arm in a folded state is larger, and the large-scale extending arm and the small space of the rocket cannot be adapted to each other. Under the condition of limited furling space, the expansion length of the extension arm is required to be increased only by increasing the folding-unfolding ratio of the extension arm.
In summary, the existing rocket has the problem that the space for accommodating the large-size space extending arm in the folded state cannot be provided due to the limited space.
Disclosure of Invention
The invention aims to solve the problem that the space required by a large-size space extending arm in a furled state cannot be provided due to limited space of the conventional rocket, and further provides a space extending arm based on telescopic lead screw driving.
The technical scheme of the invention is as follows:
a space extending arm based on a telescopic lead screw drive comprises a synchronous belt drive mechanism, an extending arm, fixing plates, connecting plates, a base, three stepping motors, three telescopic lead screw drive systems, three telescopic lead screw in-place locking mechanisms, three linear guide rails and three sequential expansion control devices, wherein the base is of a triangular plate-shaped structure, the three fixing plates are uniformly distributed on the base along the circumference, a connecting plate is arranged between every two adjacent fixing plates to form a triangular prism-shaped closed structure with a hollow interior, the three telescopic lead screw drive systems are uniformly distributed in the triangular prism-shaped closed structure along the circumference, the inner side of each fixing plate is provided with one linear guide rail along the vertical direction, the telescopic lead screw in-place locking mechanisms are arranged corresponding to the telescopic lead screw drive systems, the three stepping motors are respectively arranged at the upper parts of the three telescopic lead screw drive systems, and the three stepping motors drive the three telescopic lead screw drive systems through the synchronous belt drive mechanisms, the three telescopic lead screw in-place locking mechanisms are respectively arranged on the outer sides of the three fixing plates, the three sequential unfolding control devices are respectively fixed on the three connecting plates, and the stretching arms are arranged in the triangular prism-shaped closed structure.
Furthermore, the synchronous belt transmission mechanism comprises a first synchronous belt transmission unit and three second synchronous belt transmission units, the three second synchronous belt transmission units are uniformly distributed on the upper portions of the three telescopic lead screw driving systems along the circumference, and the first synchronous belt transmission units are located on the upper portions of the three second synchronous belt transmission units.
Furthermore, each second synchronous belt transmission unit comprises a first synchronous belt wheel, a third synchronous belt wheel and a first synchronous belt, the first synchronous belt wheel and the stepping motor are coaxially arranged, the second synchronous belt wheel and the telescopic lead screw in-place locking mechanism are coaxially arranged, the first synchronous belt wheel and the third synchronous belt wheel are in transmission through the first synchronous belt, the first synchronous belt transmission unit comprises a second synchronous belt and three second synchronous belt wheels, the second synchronous belt wheels and the stepping motor are coaxially arranged, and the three second synchronous belt wheels are in transmission through the second synchronous belt.
Furthermore, each telescopic lead screw driving system comprises a lead screw, a lead screw sleeve, a shaft sleeve and a shaft sleeve end cover, the lead screw sleeve is sleeved on the lead screw, one end of the lead screw is connected with a third synchronous belt pulley, the other end of the lead screw is connected with the shaft sleeve, and the end part of the connecting shaft sleeve is provided with the shaft sleeve end cover.
Furthermore, each telescopic lead screw in-place locking mechanism comprises a locking connecting plate and two locking units, the locking connecting plate is fixedly connected with the fixed plate, the two locking units are symmetrically arranged on two sides of the locking connecting plate along the length direction of the locking connecting plate, each locking unit comprises a locking sleeve, a locking pin, a locking end cover and a spring, one end of each locking sleeve is fixedly connected with the locking connecting plate, the other end of each locking sleeve is provided with a locking end cover, sliding grooves are formed in two sides of each locking sleeve along the longitudinal axis of the locking sleeve, the tail end of each T-shaped locking pin penetrates through the sliding grooves in two sides of each locking sleeve and is in sliding fit with the locking sleeve, the head end of each locking pin penetrates through the locking connecting plate and is matched with a reserved rectangular through hole in the fixed plate, and the spring is arranged between each locking pin and the locking end cover.
Furthermore, each linear guide rail comprises a guide rail, a sliding block and a sliding block end limiting piece, the end part of each guide rail is fixedly connected with the sliding block end limiting piece, one side of each sliding block is in sliding fit with the corresponding guide rail, the other side of each sliding block is fixedly connected with the end part of the corresponding lead screw sleeve, and pin positioning holes matched with the locking pins are formed in the two sides of each sliding block end limiting piece.
Furthermore, the stretching arm is formed by connecting a plurality of unfolding units in series, each unfolding unit comprises a triangular frame, three cylindrical pins and three connecting rod assemblies, the triangular frame is formed by sequentially connecting the three rods end to end, the joint of every two adjacent rods is a node, the three connecting rod assemblies are uniformly distributed at the node of the lower end of the triangular frame along the axial direction, the upper end of each connecting rod assembly is hinged to the triangular frame, and the lower end of each connecting rod assembly is hinged to the triangular frame of the next unfolding unit.
Furthermore, each connecting rod component comprises a synchronous hinge and two connecting rods, one ends of the two connecting rods are hinged through the synchronous hinge, and the other ends of the two connecting rods are respectively hinged with the upper triangular frame and the lower triangular frame which are adjacent to each other.
Furthermore, each unfolding unit also comprises a plurality of tensioning ropes, the plurality of tensioning ropes are obliquely arranged between two adjacent triangular frames, and two ends of each tensioning rope are respectively hinged with the nodes of the two triangular frames.
Furthermore, the sequential unfolding control device comprises a locking sleeve 7-1, a lock tongue, a locking end cover and a spring, wherein the lock tongue is arranged at one end of the locking sleeve, the locking end cover is arranged at the other end of the locking sleeve, the spring is arranged between the lock tongue and the locking end cover, the locking sleeve is fixedly connected onto the connecting plate, and the lock tongue limits the triangular frame.
Compared with the prior art, the invention has the following effects:
1. the telescopic arm can reduce the height of the large-scale space extending arm in the furled state, and the screw rod is retracted in the furled state of the extending arm, so that the furled height is further reduced, and the folding-unfolding ratio of the extending arm is improved. The folding-unfolding ratio of the extension arm is improved by the same factor as that of the telescopic lead screw driving system, and the folding-unfolding ratio of the telescopic lead screw driving system is 1.6, so that the folding-unfolding ratio of the extension arm can be improved by 1.6 times.
2. The invention effectively realizes the telescopic (lifting) motion of the lead screw and the lifting of the triangular frame of the extension arm after the lead screw is lifted by mutually matching the stepping motor, the synchronous belt transmission mechanism, the extension lead screw driving system, the extension lead screw in-place locking mechanism, the linear guide rail, the extension arm and the sequential unfolding control device.
3. In the invention, a synchronous belt transmission mechanism is adopted for transmission between the stepping motor and the telescopic lead screw driving system, and the torque of the stepping motor needs to be 1: the transmission ratio of 1 is larger, the distance between the stepping motor and the lead screw is larger, and the radius of a reference circle of a gear is larger if gear transmission is adopted, so that interference is caused to the unfolding motion of the stretching arm. Therefore, synchronous belt transmission is adopted, and a belt wheel with a smaller outer diameter is selected to avoid interference.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of a synchronous belt drive mechanism;
FIG. 3 is a side view of FIG. 2;
FIG. 4 is a schematic structural diagram of a telescopic lead screw drive system;
FIG. 5 is a side view of the telescoping lead screw in position locking mechanism;
FIG. 6 is a top view of FIG. 5;
FIG. 7 is a schematic structural view of a linear guide;
FIG. 8 is a schematic view of the structure of the extension arm in a folded state;
FIG. 9 is a schematic structural view of a sequential deployment control device;
FIG. 10 is a schematic view of the screw in a raised condition;
FIG. 11 is a schematic structural view of the fully extended state of the extending arm driven by the lead screw.
Detailed Description
The first embodiment is as follows: the present embodiment will be described with reference to fig. 1, 10, and 11, and the space extending arm driven by the telescopic screw according to the present embodiment is characterized in that: the automatic control device comprises a synchronous belt transmission mechanism 2, an extension arm 6, fixing plates 8, connecting plates 9, a base 10, three stepping motors 1, three telescopic lead screw driving systems 3, three telescopic lead screw in-place locking mechanisms 4, three linear guide rails 5 and three sequential expansion control devices 7, wherein the base 10 is of a triangular plate-shaped structure, the three fixing plates 8 are uniformly distributed on the base 10 along the circumference, one connecting plate 9 is arranged between every two adjacent fixing plates 8 to form a triangular prism-shaped closed structure with a hollow interior, the three telescopic lead screw driving systems 3 are uniformly distributed in the triangular prism-shaped closed structure along the circumference, the linear guide rail 5 is arranged on the inner side of each fixing plate 8 along the vertical direction, the telescopic lead screw in-place locking mechanisms 4 are arranged corresponding to the telescopic lead screw driving systems 3, the three stepping motors 1 are respectively arranged on the upper portions of the three telescopic lead screw driving systems 3, the three stepping motors 1 drive the three telescopic lead screw driving systems 3 through the synchronous belt transmission mechanism 2, the three telescopic screw in-place locking mechanisms 4 are respectively arranged on the outer sides of the three fixing plates 8, the three sequential expansion control devices 7 are respectively fixed on the three connecting plates 9, and the extension arms 6 are arranged in the triangular prism-shaped closed structure.
In this embodiment, three sequential deployment control devices 7 are located on the same horizontal plane, and the placement height of each sequential deployment control device 7 is greater than the height of the extension arm 6 in the collapsed state.
The second embodiment is as follows: referring to fig. 2 and 3, the synchronous belt drive mechanism 2 of the present embodiment includes a first synchronous belt drive unit and three second synchronous belt drive units, the three second synchronous belt drive units are uniformly distributed on the upper portions of the three telescopic lead screw drive systems 3 along the circumference, and the first synchronous belt drive unit is located on the upper portions of the three second synchronous belt drive units. According to the arrangement, on one hand, the stepping motor 1 and the telescopic lead screw driving system 3 are driven by the synchronous belt driving mechanism 2, so that the interference on the expansion motion of the extension arm 6 is avoided; on the other hand, the three stepping motors 1 drive the three second synchronous belt transmission units to drive the first synchronous belt transmission units to transmit, so that synchronous operation of the three telescopic lead screw driving systems 3 is realized. Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: the embodiment is described with reference to fig. 2 to 4, each second synchronous belt transmission unit of the embodiment includes a first synchronous pulley 2-1, a third synchronous pulley 2-3 and a first synchronous belt 2-4, the first synchronous pulley 2-1 is coaxially disposed with a stepping motor 1, the second synchronous pulley 2-2 is coaxially disposed with a telescopic lead screw in-place locking mechanism 4, the first synchronous pulley 2-1 and the third synchronous pulley 2-3 are transmitted through a first synchronous belt 2-4, the first synchronous belt transmission unit includes a second synchronous belt 2-5 and three second synchronous pulleys 2-2, the second synchronous pulley 2-2 is coaxially disposed with the stepping motor 1, and the three second synchronous pulleys 2-2 are transmitted through a second synchronous belt 2-5. By the arrangement, the first synchronous belt wheel 2-1, the second synchronous belt wheel 2-2 and the third synchronous belt wheel 2-3 are belt wheels with the same size and smaller outer diameter, so that interference to the unfolding motion of the stretching arm 6 is avoided. Other compositions and connections are the same as in the first or second embodiments.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 4, each telescopic lead screw driving system 3 of the embodiment includes a lead screw 3-1, a lead screw sleeve 3-2, a shaft sleeve 3-3 and a shaft sleeve end cover 3-4, the lead screw sleeve 3-2 is sleeved on the lead screw 3-1, one end of the lead screw 3-1 is connected with a third synchronous pulley 2-3, the other end of the lead screw 3-1 is connected with the shaft sleeve 3-3, and the end of the connecting shaft sleeve 3-3 is provided with the shaft sleeve end cover 3-4. According to the arrangement, the screw rod 3-1 and the screw rod sleeve 3-2 are matched through the shaft sleeve 3-3, compared with the bearing matching, the expansion of the extending arm 6 is interfered due to the fact that the bearing is large in size, and the shaft sleeve 3-3 is matched, so that the interference can be effectively avoided. Other compositions and connection relationships are the same as in the first, second or third embodiment.
In the embodiment, the shaft sleeve end covers 3-4 are distributed with taper pin holes along the circumferential direction and are provided with grooves so as to avoid interference with the extending arms 6 when the extending arms are unfolded.
The fifth concrete implementation mode: the embodiment is described with reference to fig. 5 and 6, each telescopic lead screw in-place locking mechanism 4 of the embodiment comprises a locking connecting plate 4-5 and two locking units, the locking connecting plate 4-5 is fixedly connected with a fixing plate 8, the two locking units are symmetrically arranged on two sides of the locking connecting plate 4-5 along the length direction of the locking connecting plate 4-5, each locking unit comprises a locking sleeve 4-1, a locking pin 4-2, a locking end cover 4-3 and a spring 4-4, one end of the locking sleeve 4-1 is fixedly connected with the locking connecting plate 4-5, the other end of the locking sleeve 4-1 is provided with the locking end cover 4-3, two sides of the locking sleeve 4-1 are provided with sliding grooves along the longitudinal axis of the locking sleeve 4-1, the tail end of a T-shaped locking pin 4-2 penetrates through the sliding grooves on two sides of the locking sleeve 4-1 and is in sliding fit with the locking sleeve 4-1, the head end of the locking pin 4-2 penetrates through the locking connecting plate 4-5 and is matched with the reserved rectangular through hole on the fixing plate 8, and a spring 4-4 is arranged between the locking pin 4-2 and the locking end cover 4-3. So set up, through flexible lead screw locking mechanical system 4 that targets in place the removal of slider in the linear guide 5 of restriction. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.
The sixth specific implementation mode: the embodiment is described with reference to fig. 7, each linear guide rail 5 of the embodiment includes a guide rail 5-1, a slider 5-2 and a slider end limiting piece 5-3, the end of the guide rail 5-1 is fixedly connected with the slider end limiting piece 5-3, one side of the slider 5-2 is in sliding fit with the guide rail 5-1, the other side of the slider 5-2 is fixedly connected with the end of a screw rod sleeve 3-2, and two sides of the slider end limiting piece 5-3 are provided with pin positioning holes matched with locking pins 4-2. According to the arrangement, the linear guide rail 5 can effectively limit the lifting motion track of the lead screw 3-1, internal torque is avoided, and the limiting piece 5-3 at the end part of the sliding block and the locking pin 4-2 act together to limit the sliding block 5-2 in the vertical direction. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: the embodiment is described with reference to fig. 8, the extending arm 6 of the embodiment is formed by connecting a plurality of extending units in series, each extending unit comprises a triangular frame 6-1, three cylindrical pins 6-4 and three connecting rod assemblies, the triangular frame 6-1 is formed by sequentially connecting three rod members end to end, the joint of two adjacent rod members is a node, three connecting rod assemblies are uniformly distributed at the node of the lower end of the triangular frame 6-1 along the axial direction, the upper end of each connecting rod assembly is hinged with the triangular frame 6-1, and the lower end of each connecting rod assembly is hinged with the triangular frame 6-1 of the extending unit of the next stage. According to the arrangement, the tail end of the cylindrical pin 6-4 is matched with the triangular frame 6-1 through a shaft system, the taper pin part at the front end of the cylindrical pin 6-4 is inserted into the thread groove of the screw rod 3-1, the rotary driving force of the screw rod 3-1 is transmitted to the triangular frame 6-1, and the extending arm 6 is matched with the screw rod 3-1 through the cylindrical pin 6-4, so that meshing is easier. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.
The specific implementation mode is eight: the embodiment is described with reference to fig. 8, each link assembly of the embodiment includes a synchronous hinge 6-3 and two links 6-2, one end of each link 6-2 is hinged by the synchronous hinge 6-3, and the other end of each link 6-2 is hinged to two adjacent triangular frames 6-1. According to the arrangement, the two connecting rods 6-2 are hinged through the synchronous hinge 6-3, the connecting rods 6-2 can be unfolded completely from 0 degrees to 180 degrees, the torsion spring for providing torque is arranged in the synchronous hinge 6-3, and the connecting rods 6-2 are unfolded through the cooperation of the two same gears in the synchronous hinge 6-3. Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six or seven.
The specific implementation method nine: the embodiment is described with reference to fig. 8 and 11, each unfolding unit of the embodiment further comprises a plurality of tensioning ropes 6-5, the plurality of tensioning ropes 6-5 are obliquely arranged between two adjacent triangular frames 6-1, and two ends of each tensioning rope 6-5 are respectively hinged with the nodes of the two triangular frames 6-1. Due to the arrangement, the tensioning ropes 6-5 are arranged on the stretching arms 6, so that the connecting strength of the stretching arms 6 can be ensured. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment.
The detailed implementation mode is ten: the present embodiment is described with reference to fig. 9, the sequence deployment control device 7 of the present embodiment includes a locking sleeve 7-1, a locking tongue 7-2, a locking end cover 7-3 and a spring 7-4, one end of the locking sleeve 7-1 is provided with the locking tongue 7-2, the other end of the locking sleeve 7-1 is provided with the locking end cover 7-3, the spring 7-4 is arranged between the locking tongue 7-2 and the locking end cover 7-3, the locking sleeve 7-1 is fixedly connected to a connecting plate 9, and the locking tongue 7-2 limits the triangular frame 6-1. With this arrangement, the sequential deployment control device 7 can ensure that the deployment units of the deployment arms 6 are deployed step by step while ensuring that the tension ropes 6-5 of the deployment units have a certain tension. Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six, seven, eight or nine.
Principle of operation
The working principle of the present invention is explained with reference to fig. 1 to 11:
firstly, the cylindrical pin 6-4 of the extending arm 6 is used as a nut which is meshed with the screw rod 3-1, the screw rod 3-1 rotates anticlockwise to rise to the position shown in figure 10, and then the movement of the sliding block 5-2 is limited through the combined action of the locking pin 4-2 and the limiting piece 5-3 at the end part of the sliding block, so that the rising movement of the screw rod 3-1 is finished. The screw rod 3-1 is reversed, and the triangular frame 6-1 at the uppermost part of the stretching arm 6 is lifted to move upwards through the cylindrical pin 6-4 of the stretching arm 6, and due to the existence of the sequential unfolding control device 7, downward constraint force is formed on the second-stage triangular frame 6-1, so that the complete unfolding of the first-stage unfolding unit can be ensured. After the first-stage unfolding unit is completely unfolded, the screw 3-1 continues to rotate, and the triangular frame 6-1 at the uppermost part still moves upwards, so that the second-stage triangular frame 6-1 breaks through the constraint force of the sequential unfolding control device 7 and starts to move upwards, and the second-stage unfolding unit is driven to be unfolded. This in turn achieves the complete deployment of the extending arms 6.
Claims (6)
1. The utility model provides a space extending arm based on flexible lead screw drive which characterized in that: the automatic control device comprises a synchronous belt transmission mechanism (2), an extension arm (6), fixing plates (8), connecting plates (9), a base (10), three stepping motors (1), three telescopic lead screw driving systems (3), three telescopic lead screw in-place locking mechanisms (4), three linear guide rails (5) and three sequential expansion control devices (7), wherein the base (10) is of a triangular plate-shaped structure, the three fixing plates (8) are uniformly distributed on the base (10) along the circumference, one connecting plate (9) is arranged between every two adjacent fixing plates (8) to form a triangular prism-shaped closed structure with a hollow interior, the three telescopic lead screw driving systems (3) are uniformly distributed in the triangular prism-shaped closed structure along the circumference, the linear guide rail (5) is arranged on the inner side of each fixing plate (8) along the vertical direction, and the telescopic lead screw in-place locking mechanisms (4) are arranged corresponding to the telescopic lead screw driving systems (3), the three stepping motors (1) are respectively arranged at the upper parts of the three telescopic lead screw driving systems (3), the three stepping motors (1) drive the three telescopic lead screw driving systems (3) through synchronous belt transmission mechanisms (2), the three telescopic lead screw in-place locking mechanisms (4) are respectively arranged at the outer sides of three fixing plates (8), three sequential unfolding control devices (7) are respectively fixed on three connecting plates (9), and the extending arm (6) is arranged inside the triangular prism-shaped closed structure;
the synchronous belt transmission mechanism (2) comprises a first synchronous belt transmission unit and three second synchronous belt transmission units, the three second synchronous belt transmission units are uniformly distributed on the upper portions of three telescopic lead screw driving systems (3) along the circumference, the first synchronous belt transmission unit is positioned on the upper portions of the three second synchronous belt transmission units, each second synchronous belt transmission unit comprises a first synchronous belt pulley (2-1), a third synchronous belt pulley (2-3) and a first synchronous belt (2-4), the first synchronous belt pulley (2-1) and the stepping motor (1) are coaxially arranged, the second synchronous belt pulley (2-2) and the telescopic lead screw driving system (3) are coaxially arranged, the first synchronous belt pulley (2-1) and the third synchronous belt pulley (2-3) are transmitted through a first synchronous belt (2-4), and the first synchronous belt transmission unit comprises a second synchronous belt (2-5) and three second synchronous belt pulleys (2-2) The second synchronous belt wheels (2-2) and the stepping motor (1) are coaxially arranged, and the three second synchronous belt wheels (2-2) are driven by a second synchronous belt (2-5);
the extension arm (6) is formed by connecting a plurality of unfolding units in series, each unfolding unit comprises a triangular frame (6-1), three cylindrical pins (6-4) and three connecting rod assemblies, the triangular frame (6-1) is formed by sequentially connecting three rod pieces end to end, the joint of two adjacent rod pieces is a node, the three connecting rod assemblies are uniformly distributed at the node of the lower end of the triangular frame (6-1) along the axial direction, the upper end of each connecting rod assembly is hinged with the triangular frame (6-1), and the lower end of each connecting rod assembly is hinged with the triangular frame (6-1) of the next-stage unfolding unit;
each connecting rod component comprises a synchronous hinge (6-3) and two connecting rods (6-2), one ends of the two connecting rods (6-2) are hinged through the synchronous hinge (6-3), and the other ends of the two connecting rods (6-2) are respectively hinged with two adjacent triangular frames (6-1) up and down; the two connecting rods (6-2) are hinged through the synchronous hinge (6-3), the connecting rods (6-2) can be unfolded completely from 0 degree to 180 degrees, torsion springs for providing torque are arranged inside the synchronous hinge (6-3), and the connecting rods (6-2) are unfolded through the cooperation of two identical gears in the synchronous hinge (6-3).
2. The space extending arm based on the telescopic lead screw drive is characterized in that: each telescopic lead screw driving system (3) comprises a lead screw (3-1), a lead screw sleeve (3-2), a shaft sleeve (3-3) and a shaft sleeve end cover (3-4), the lead screw sleeve (3-2) is sleeved on the lead screw (3-1), one end of the lead screw (3-1) is connected with a third synchronous belt pulley (2-3), the other end of the lead screw (3-1) is connected with the shaft sleeve (3-3), the end part of the connecting shaft sleeve (3-3) is provided with the shaft sleeve end cover (3-4), and the shaft sleeve end cover (3-4) is provided with a taper pin hole and a groove along the circumferential direction.
3. The space extending arm based on the telescopic lead screw drive is characterized in that: each telescopic lead screw in-place locking mechanism (4) comprises a locking connecting plate (4-5) and two locking units, the locking connecting plate (4-5) is fixedly connected with a fixing plate (8), the two locking units are symmetrically arranged on two sides of the locking connecting plate (4-5) along the length direction of the locking connecting plate (4-5), each locking unit comprises a locking sleeve (4-1), a locking pin (4-2), a locking end cover (4-3) and a spring (4-4), one end of each locking sleeve (4-1) is fixedly connected with the locking connecting plate (4-5), the other end of each locking sleeve (4-1) is provided with a locking end cover (4-3), two sides of each locking sleeve (4-1) are provided with sliding grooves along the longitudinal axis of the locking sleeve (4-1), and the tail end of each T-shaped locking pin (4-2) penetrates through the sliding grooves on two sides of the locking sleeves (4-1) and is connected with the locking sleeves (4-2) 4-1), the head end of the locking pin (4-2) passes through the locking connecting plate (4-5) and is matched with the reserved rectangular through hole on the fixing plate (8), and a spring (4-4) is arranged between the locking pin (4-2) and the locking end cover (4-3).
4. The space extending arm based on the telescopic lead screw drive is characterized in that: each linear guide rail (5) comprises a guide rail (5-1), a sliding block (5-2) and a sliding block end limiting piece (5-3), the end part of the guide rail (5-1) is fixedly connected with the sliding block end limiting piece (5-3), one side of the sliding block (5-2) is in sliding fit with the guide rail (5-1), the other side of the sliding block (5-2) is fixedly connected with the end part of the screw rod sleeve (3-2), and pin positioning holes matched with the locking pins (4-2) are formed in the two sides of the sliding block end limiting piece (5-3).
5. The space extending arm based on the telescopic lead screw drive is characterized in that: each unfolding unit further comprises a plurality of tensioning ropes (6-5), a plurality of tensioning ropes (6-5) are obliquely arranged between every two adjacent triangular frames (6-1), and two ends of each tensioning rope (6-5) are hinged to the nodes of the two triangular frames (6-1) respectively.
6. The space extending arm based on the telescopic lead screw drive is characterized in that: the sequential unfolding control device (7) comprises a locking sleeve (7-1), a bolt (7-2), a locking end cover (7-3) and a spring (7-4), wherein the bolt (7-2) is arranged at one end of the locking sleeve (7-1), the locking end cover (7-3) is installed at the other end of the locking sleeve (7-1), the spring (7-4) is arranged between the bolt (7-2) and the locking end cover (7-3), the locking sleeve (7-1) is fixedly connected onto a connecting plate (9), and the bolt (7-2) limits the triangular frame (6-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810380799.XA CN108557115B (en) | 2018-04-25 | 2018-04-25 | Space extending arm based on telescopic lead screw drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810380799.XA CN108557115B (en) | 2018-04-25 | 2018-04-25 | Space extending arm based on telescopic lead screw drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108557115A CN108557115A (en) | 2018-09-21 |
| CN108557115B true CN108557115B (en) | 2022-03-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109546282A (en) * | 2018-12-17 | 2019-03-29 | 西北工业大学 | A kind of truss-like space antenna extending arm |
| CN109760853B (en) * | 2019-01-28 | 2022-07-01 | 哈尔滨工业大学 | Folding and unfolding supporting arm driven by hinged automatic driving unit and folding lead screw |
| CN110254750B (en) * | 2019-05-29 | 2020-11-27 | 北京航空航天大学 | Rope-driven unfolding and folding mechanism capable of fitting parabolic cylinder |
| CN110510151B (en) * | 2019-08-13 | 2023-01-20 | 上海宇航系统工程研究所 | Articulated formula extends arm deployment mechanism |
| CN110775303B (en) * | 2019-09-26 | 2021-07-13 | 上海宇航系统工程研究所 | High-bearing single-drive linked storage box of unfolding mechanism |
| CN111924137B (en) * | 2020-08-18 | 2022-02-15 | 天津航天机电设备研究所 | Miniaturized scalable mechanism capable of being produced in batches |
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| US4062156A (en) * | 1976-01-30 | 1977-12-13 | Dornier System Gmbh | Extensible rod |
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| CN102937171A (en) * | 2012-11-16 | 2013-02-20 | 哈尔滨工业大学 | Driving device of space-unfolded supporting arm |
| WO2013086422A1 (en) * | 2011-12-07 | 2013-06-13 | Merrifield Donald V | Deployable truss with orthogonally-hinged primary chords |
| CN107804484A (en) * | 2017-09-25 | 2018-03-16 | 上海卫星工程研究所 | High storage applied to spacecraft is than controllable expanded truss device |
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| US7028442B2 (en) * | 2001-07-03 | 2006-04-18 | Merrifield Donald V | Deployable truss beam with orthogonally-hinged folding diagonals |
| JP6141957B1 (en) * | 2015-12-25 | 2017-06-07 | 日本飛行機株式会社 | Extension mast feeding device |
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| US4062156A (en) * | 1976-01-30 | 1977-12-13 | Dornier System Gmbh | Extensible rod |
| JPH04331699A (en) * | 1991-01-21 | 1992-11-19 | Japan Aircraft Mfg Co Ltd | Unfolding and storage device of extension mast |
| WO2013086422A1 (en) * | 2011-12-07 | 2013-06-13 | Merrifield Donald V | Deployable truss with orthogonally-hinged primary chords |
| CN102937171A (en) * | 2012-11-16 | 2013-02-20 | 哈尔滨工业大学 | Driving device of space-unfolded supporting arm |
| CN107804484A (en) * | 2017-09-25 | 2018-03-16 | 上海卫星工程研究所 | High storage applied to spacecraft is than controllable expanded truss device |
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