CN113374762B - Multi-stage heavy-load socket-type extending arm based on rope driving - Google Patents
Multi-stage heavy-load socket-type extending arm based on rope driving Download PDFInfo
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- CN113374762B CN113374762B CN202110820643.0A CN202110820643A CN113374762B CN 113374762 B CN113374762 B CN 113374762B CN 202110820643 A CN202110820643 A CN 202110820643A CN 113374762 B CN113374762 B CN 113374762B
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- 229910000838 Al alloy Inorganic materials 0.000 claims description 2
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
- F16B7/10—Telescoping systems
- F16B7/105—Telescoping systems locking in discrete positions, e.g. in extreme extended position
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
- F16M11/28—Undercarriages for supports with one single telescoping pillar
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Abstract
The invention discloses a rope-driven multistage heavy-load sleeved type extending arm, and belongs to the technical field of aerospace. The relative position is restrained through clearance fit in the unfolding process, the clamping phenomenon is prevented, and the matching rigidity is improved by utilizing the designed locking and interlocking modules and the matching surfaces of the conical surface, the cylindrical surface, the guide rail and the like which are optimally designed after the unfolding is in place. Through the three-section structural design, the matching precision between all levels of superposed sections is improved while the structural rigidity of the superposed sections is improved. The design keeps the technical characteristics of the original sleeved stretching arm, enables the stretching arm to adapt to a heavy-load task with higher requirement, and designs the multistage heavy-load sleeved stretching arm with long expansion-contraction ratio and high rigidity.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a multi-stage heavy-load sleeved type extending arm based on rope driving.
Background
The space developable mechanism is used as an important space mechanism and widely applied to space exploration activities, and along with the continuous deepening of human beings on space exploration, the requirements on the space developable mechanism and the use requirements are increasingly improved.
As an important component of the space deployable mechanism, the space sleeved type extending arm is composed of a plurality of stages of deployable units, the number and the single-stage length of the deployable units can be adjusted according to task requirements, and the space sleeved type extending arm has the characteristics of long expansion ratio, high rigidity, reusability, convenience in transportation and storage and the like. In practical application, the device can be used as a supporting mechanism of equipment such as a radar, a space telescope and the like, and can also be used as a structural framework and a driving device to unfold the solar wing; the structure body can also be used as a functional part, such as a gravity gradient rod, a magnetic strength needle and the like, and has strong adaptability.
However, although the existing spatial sleeving type extending arm can complete various tasks, the existing spatial sleeving type extending arm can only meet the conditions that the load mass is light and the requirements on the strength and the rigidity of the extending arm are low. The extensible units at all levels are mostly made of light materials, and the units are limited by the manufacturing process after being lengthened, so that the conditions of local deformation, bending and the like can occur. Therefore, in order to realize reliable unfolding and matching, the existing stretching arm often needs to arrange a larger radial clearance between the two adjacent overlapped sections, and the locking matching of two stages for decades is realized by a locking mechanism.
With the further increase of the difficulty and the requirement of the space exploration task, the extending arm is required to complete some heavy-load long-distance unfolding tasks. The extension arm for executing the task needs to have the characteristics of large single-stage length, large load mass, more stages and the like, and the technical characteristics of the conventional sleeved extension arm cause the extension arm to be easily unstable or even partially broken under the conditions, so that the serious reliability problem is caused.
Disclosure of Invention
Aiming at the problems, the invention provides a multi-stage heavy-load sleeved type stretching arm structure based on rope driving, and all stages of stretchable units of the stretching arm can still keep strength and rigidity under the condition that the length of a single stage is longer; after the various stages of extensible units of the extensible arm are sequentially unfolded, the extensible units can be tightly matched, fixed and locked, so that the extensible arm has higher unfolding rigidity.
The invention relates to a rope-driven multi-stage heavy-load sleeved type extension arm, which comprises an extensible unit module, a locking and interlocking module and an extension driving module, wherein the extensible unit module consists of a base-stage extensible unit, at least one middle-stage extensible unit and a last-stage extensible unit; the base-stage deployable unit, the intermediate-stage deployable unit and the final-stage deployable unit are all sleeve structures, the outer diameters of which are gradually reduced and are sequentially nested from outside to inside. The base-level expandable units are used as outermost sleeves, the bottom ends of the base-level expandable units are fixedly connected with the bearing mechanism and are provided with the expansion driving mechanisms, the expandable units at all levels are sequentially expanded from outside to inside by the power provided by the expansion driving modules, and the expandable units at all levels are locked by the locking and interlocking modules after being expanded.
The base-stage deployable unit, the middle-stage deployable unit and the final-stage deployable unit are all formed by coaxially connecting and fixing an upper section, a middle section and a lower section which are coaxially arranged. In the middle-stage extensible unit, an upper conical matching surface is designed on the upper part of the inner wall of the upper section, and a lower conical matching surface is arranged on the upper part of the outer wall of the lower section; in addition, the outer wall of the lower part of the lower section is gradually increased from top to bottom, so that the diameter of the outer cylindrical surface of a section close to the bottom end of the lower section is equal to the diameter of the inner cylindrical surface of the lower part of the upper section of the expandable unit of the adjacent outer layer, and a cylindrical surface matching section is formed. Guide rail grooves are designed on the outer edge of the flange at the bottom end of the lower section at equal angles in the circumferential direction, and guide rails with the same number as the guide rail grooves are arranged on the inner wall of the middle section at equal angular intervals in the circumferential direction; and the upper end of each guide rail is provided with a hole on the outer wall of the upper section.
The guide rails comprise two types of uniform-section guide rails and variable-section guide rails, and are alternately arranged on the circumferential direction of the outer wall of the middle section. Wherein, the equal cross-section guide rail is in clearance fit with the guide rail groove; the variable cross-section guide rail can be divided into a gap section and a matching section in the axial space, wherein the cross section of the variable cross-section guide rail near the upper end gradually becomes wider until the width of the variable cross-section guide rail is larger than the width of the guide rail groove to form the matching section; the rest positions of the guide rail with the variable cross section are gap sections, and the gap sections are consistent with the guide rail with the equal cross section in size and shape and are in clearance fit with the guide rail grooves.
The difference between the structure of the base-stage expandable unit and the last-stage expandable unit and the structure of the middle-stage expandable unit is that the outer wall of the lower section of the base-stage expandable unit does not have a lower conical matching surface; and the inner wall of the upper section of the deployable unit of the final base stage does not have an upper conical matching surface.
The locking and interlocking module comprises a locking portion and an interlocking portion; the sleeve locking part is arranged on the peripheral direction of the side wall of the lower section of the rest of the expandable units except the base-stage expandable unit 1. Interlocking parts are arranged on the base-removing-level deployable units and the bottom ends of the deployable units adjacent to the base-removing-level deployable units in the circumferential direction; and the circumferential positions of the locking part and the interlocking part in the circumferential direction correspond to the positions of the guide rails one to one.
The locking part comprises a lock box, a lock tongue, a lock column, a tail end stop block, a lock tongue roller and a spring; the interlocking part comprises an interlocking lock block and an interlocking lock catch.
In the locking part, the lock box is arranged at the opening of the lower section and is positioned inside the deployable unit, the lock box is internally provided with a bolt moving channel, and the lock column coaxially penetrates into the lock box from the tail end face of the lock box and can move along the bolt moving channel. The front end of the lock cylinder is connected with a lock tongue; the tail end of the lock cylinder is provided with a tail end stop block for limiting the maximum outward displacement of the lock tongue; the lock cylinder is also sleeved with a spring, two ends of the spring are respectively contacted with the tail end of the lock tongue and the tail end of the lock box, and the lock tongue roller is positioned outside the lock box when the spring is in a free state.
In the interlocking part, interlocking locking blocks are fixed on the left side and the right side of the tail end of the locking column. The interlocking lock catch is provided with a connecting seat and two side plates which are symmetrically designed on the connecting seat left and right and are perpendicular to the connecting seat, the tail ends of the two side plates are connected with the connecting seat, and the connecting seat is used for connecting the bottom ends of the deployable units. The front ends of the two side plates are provided with locking grooves which are used for being matched with interlocking locking blocks to realize interlocking between the inner-stage extensible unit and the outer-stage extensible unit.
When the adjacent expandable units are in a furled state, the lock tongue on the locking part in the middle-stage expandable unit is limited by the inner wall of the outer-stage expandable unit to retract into the lock box, the tail end of the lock column extends out, the lock column is positioned between two side plates in the interlocking part on the inner-stage expandable unit, the interlocking lock blocks on two sides of the lock column are respectively positioned in the locking grooves at the front ends of the two side plates, and at the moment, the middle-stage expandable unit and the inner-stage expandable unit are in a locking state; the locking mode between adjacent deployable units of the other stages is the same as that described above.
The unfolding mode of each stage of the expandable unit is as follows: the rope driving module drives the deployable unit A adjacent to the base-level deployable unit to be firstly deployed, the bolt roller in the locking part mounted on the deployable unit A rolls along the inner wall of the base-level deployable unit, the compression spring is always in a compression state in the process until the bolt of the deployable unit A is ejected out from the opening on the side wall of the base-level deployable unit, and the deployable unit A is deployed in place. Meanwhile, the lock tongue is popped out to enable the lock column to move outwards, so that the interlocking lock blocks on the two sides of the lock column are separated from the locking grooves on the two side plates in the interlocking part on the deployable unit B adjacent to the deployable unit A; at the moment, the deployable unit A and the base-level deployable unit are in a locked state, and the deployable unit A and the deployable unit B are in an unlocked state; the processes are repeated to realize the sequential unfolding from outside to inside among all levels of the unfoldable units.
Compared with the prior art, the invention has the following effects:
1. the rope-driven multi-stage heavy-load sleeved type extending arm sequentially expands from outside to inside through the interlocking effect between adjacent stages of expandable units, the matching surfaces of the adjacent units are only in clearance fit to restrict the relative positions in the expanding process, the phenomenon of fit locking caused by manufacturing process errors is prevented, and the fixed locking function is realized through the locking mechanism in the overlapped section and the gradually changed matching surfaces after the extending is in place.
2. The rope-driven multi-stage heavy-load sleeved type stretching arm improves the matching rigidity of two adjacent stages of deployable units after being unfolded by arranging the cone matching surface, the cylindrical surface matching surface, the guide rail matching surface and other multiple unfolding matching surfaces.
3. According to the rope-driven multi-stage heavy-load sleeved extension arm, the weight increase problem after material replacement is reduced as much as possible on the premise of improving the structural rigidity of the superposed sections through the three-section structural design, and meanwhile, the matching precision among the superposed sections is further improved due to the adoption of a precision machining technology.
4. According to the rope-driven multi-stage heavy-load sleeve type extending arm, in order to avoid the situation that various matching surfaces are over-constrained and cannot be unfolded in place, the locking inclined plane of the interlocking mechanism is optimally designed, and when the situation occurs, auxiliary power can be provided to assist the unfolding unit to be unfolded in place.
5. The multi-stage heavy-load sleeved extension arm based on rope driving can still keep high overall extension rigidity when the extension arm is long in extension and retraction and high in load mass.
Drawings
FIG. 1 is a schematic structural diagram of a furled state of a multi-stage heavy-duty sleeved extension arm based on rope driving according to the present invention;
FIG. 2 is a schematic structural diagram of a middle-stage extensible unit in the multi-stage heavy-duty telescopic extendable arm based on rope driving according to the present invention;
FIG. 3 is a schematic diagram of the manner of matching the guide rail and the guide groove between adjacent sleeves in the multi-stage heavy-duty telescopic extending arm based on rope driving according to the present invention;
FIG. 4 is a schematic diagram of the deployment state coordination of adjacent deployable units in the multi-stage heavy-duty telescopic extendable arm based on rope driving according to the present invention;
FIG. 5 is a schematic structural diagram of a locking and interlocking module structure and a locking state of the locking and interlocking module structure in a multi-stage heavy-duty sleeved type extending arm based on rope driving according to the present invention;
FIG. 6 is a schematic view of the installation of the driving device in the rope driving module of the multi-stage heavy-duty telescopic boom based on rope driving according to the present invention;
fig. 7 is a schematic diagram of a connection mode of driving ropes in the rope driving module of the multi-stage heavy-duty telescopic arm based on rope driving according to the present invention.
In the figure:
1-base stage expandable unit 2-intermediate stage expandable unit 3-final stage expandable unit
4-locking and interlocking module 5-rope driving module 201-upper section
202-middle section 203-lower section 204-upper tapered mating surface
205-lower conical mating surface 206-cylindrical mating surface 207-guide rail groove
208-guide track 209-arc plate 210-matching hole
211-Flange 401-locking part 402-interlocking part
401 a-lock box 401 b-bolt 401 c-lock cylinder
401 d-end stop 401 e-deadbolt roller 401 f-spring
402 a-interlock locking piece 402 b-interlock locking buckle b 1-connecting seat
b 2-side plate b 3-guide wheel b 4-dovetail groove
501-drive rope 502-rope guide 503-rope drive device
504-drive support
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention relates to a rope-driven multi-stage heavy-load socket type extending arm, which comprises an extensible unit module, a locking and interlocking module 4 and an unfolding driving module 5, wherein the extensible unit module comprises a base-stage extensible unit 1, n (n is more than or equal to 1) intermediate-stage extensible units 2 and a final-stage extensible unit 3, and is shown in figure 1.
The base-stage deployable unit 1, the n middle-stage deployable units 2 and the final deployable unit 3 are all of sleeve structures, the outer diameters of the base-stage deployable units, the n middle-stage deployable units and the final deployable unit are gradually reduced, and the base-stage deployable units, the n middle-stage deployable units and the final deployable units are sequentially nested from outside to inside. The base-level expandable units 1 serve as outermost sleeves, the bottom ends of the base-level expandable units are fixedly connected with the bearing mechanism, the expandable units of all levels are sequentially expanded from outside to inside by the power provided by the expansion driving module 5, and the expandable units of all levels are locked by the locking and interlocking module 4 after being expanded.
The base-stage deployable unit 1, the n middle-stage deployable units 2 and the final-stage deployable unit 3 are all composed of three sections of circular-section sleeve structures including an upper section 201, a middle section 202 and a lower section 203 which are coaxially arranged, and the adjacent two sections of joint parts are fixed in a gluing mode, a threaded mode, a transition fit mode and the like, as shown in fig. 2.
The n middle-stage expandable units 2 have the same structure, the upper part of the inner wall of the upper section 201 is provided with an upper conical matching surface 204, and the upper part of the outer wall of the lower section 203 is provided with a lower conical matching surface 205; in addition, the outer wall of the lower part of the lower section 203 is gradually increased from top to bottom, so that the diameter of the outer cylindrical surface of a section close to the bottom end of the lower section is equal to the diameter of the inner cylindrical surface of the lower part of the upper section of the expandable unit of the adjacent outer layer, and a cylindrical surface matching section 206 with the diameter of 5mm is formed.
The top end of the upper section 201 and the bottom end of the lower section 203 are designed with flanges 211, wherein the outer edge of the flange at the bottom end of the lower section 203 is designed with 6 guide rail grooves 207 with completely the same shape and size at equal angles in the circumferential direction, as shown in fig. 3. 6 guide rails 208 are arranged on the inner wall of the middle section 202 at equal circumferential angular intervals; and at the upper end of each guide rail 208, an opening is formed in the outer wall of the upper section 201, a fixed thin-wall arc plate 209 is embedded in the opening, a matching hole 210 is formed in the center of the arc plate 209, and the bottom surface of the matching hole 210 is a guide inclined plane with the inner side inclined downwards.
The 6 guide rails 208 include two types, i.e., a uniform-section guide rail and a variable-section guide rail, and 3 guide rails are alternately arranged on the outer wall of the middle section 202 in the circumferential direction. Wherein, the equal cross section guide rail is in clearance fit with the guide rail groove 207; the variable cross-section guide rail can be divided into a gap section and a matching section in the axial space, wherein the cross section of the variable cross-section guide rail near the upper end gradually becomes wider until the width of the variable cross-section guide rail is larger than the width of the guide rail groove 207, so that the matching section is formed; the rest positions of the guide rail with the variable cross section are gap sections, and the size and the shape of the gap sections are completely consistent with those of the guide rail with the equal cross section and can be in clearance fit with the guide rail groove 207.
The structures of the base-stage deployable unit 1 and the last-stage deployable unit 3 are basically the same as the structure of the middle-stage deployable unit 2, and the difference is that the base-stage deployable unit 1 is used as the outermost stage, the upper part of the outer wall of the lower section 203 does not have a lower conical matching surface 205, and the thickness of the lower part is gradually changed into a section; while the last base stage deployable unit 1 is the innermost stage, the upper section 201 has no upper tapered mating surface 204 on the inner wall, openings on the outer wall, and guide rails 208 on the inner wall.
In each stage of the expandable units with the structure, the expansion locking mode between two adjacent stages of the expandable units is as follows:
the 6 guide rail grooves 207 on the outer edge of the bottom section flange 211 of the inner-stage deployable unit are respectively connected with the 6 guide rails 208 on the inner wall of the outer-stage deployable unit 1 in a sliding fit manner and slide upwards along the guide rails 208, and a gap is always formed between the guide rails with the medium cross section and the guide rail grooves 207 in the sliding process; while the variable cross-section rail and rail channel 207, during deployment, the rail channel 207 gradually approaches the mating section of the variable cross-section rail. When the adjacent deployable units are in the fully deployed state, the lower conical mating surface 205 of the outer wall of the lower section 203 of the inner-stage deployable unit is attached to the upper conical mating surface 204 of the inner wall of the upper section 201 of the outer-stage deployable unit; meanwhile, the outer wall of the lower cylindrical surface matching section 206 of the lower section 203 of the inner-stage deployable unit is matched with the inner wall of the upper section 201 of the outer-stage deployable unit to form an attaching section which is 5mm upward in the axial direction, as shown in fig. 4, and the rest positions of the upper section 201 and the lower section 203 of the inner-stage deployable unit are in clearance fit; meanwhile, the outer edge of the flange at the bottom of the inner-stage extensible unit is in fit contact with the bottom end of the inner-stage extensible unit. Therefore, the axial locking and positioning between the inner-stage expandable unit and the outer-stage expandable unit after expansion are realized; at this time, the guide rail groove 207 sliding along the guide rail with the variable cross section reaches the matching section, and the circumferential locking between the inner-stage deployable unit and the outer-stage deployable unit after deployment is realized under the limitation of the matching section.
In order to improve the matching rigidity of the overlapped part, the upper section 201 and the lower section 203 corresponding to the overlapped part between the lower section 203 of the inner-stage extensible unit and the upper section 201 of the outer-stage extensible unit are made of aluminum alloy materials, the middle section 202 of each extensible unit is made of carbon fiber materials, and the influence caused by weight increment is reduced as much as possible while the rigidity is improved.
The locking and interlocking module 4 includes a locking portion 401 and an interlocking portion 402, as shown in fig. 5. 6 sets of locking parts 401 are arranged on the circumferential direction of the side wall of the lower section 203 of the other expandable units except the base-level expandable unit 1; 6 interlocking parts 402 are arranged on the circumference of the bottom ends of the base-removing stage deployable units 1 and the deployable units adjacent to the base-removing stage deployable units; and the circumferential positions of the 6 sets of locking portions 401 and interlocking portions 402 in the circumferential direction each correspond one-to-one to the 6 guide rail positions.
Wherein the locking portion 401 comprises a lock case 401a, a locking tongue 401b, a lock cylinder 401c, an end stop 401d, a locking tongue roller 401e, and a spring 401f; the interlocking portion 402 includes an interlocking lock piece 402a and an interlocking lock 402b.
In the locking portion 401, a lock box 401a is installed at an opening of the lower section 203 and is located inside the deployable unit, a bolt moving channel is formed inside the deployable unit, and an axis of the bolt moving channel is perpendicular to an axis of the deployable unit. The lock cylinder 401c coaxially penetrates the lock case 401a from the end surface of the lock case 401a, and is movable along the tongue movement path. The front end of the lock cylinder 401c is provided with external threads which are matched and connected with an internal thread hole designed at the tail end of the bolt 401b, and the outer wall of the bolt 401b is matched with the inner wall of the lock box 401a and can move along the axial direction of the lock box 401 a; a groove is formed in the front end of the bolt 401b, and a bolt roller 401e is installed in the groove through a rotating shaft; meanwhile, the bottom surface of the front end of the locking tongue 401b is designed to be a matching inclined surface for matching with the guide inclined surface in the unfolding process. The end stop 401d is designed at the end of the lock cylinder 401c to limit the maximum outward displacement of the latch bolt 401 b. The lock cylinder is further sleeved with a spring 401f, two ends of the spring 401f are respectively contacted with the tail end of the bolt 401b and the tail end of the lock box 401a, when the spring 401f is in a free state, the bolt roller 401e is located outside the lock box 401a, and installation pretightening force of the spring 401f is provided through the tail end stop 401 d.
In the interlocking portion 402, an interlocking lock piece 402a is in a trapezoidal configuration and fixed to the left and right sides of the end of the lock cylinder 401c, or both may be designed as an integral structure. The interlocking lock 402b adopts a multifunctional guide wheel mechanism, and is provided with a connecting seat b1 and two side plates b2 which are arranged on the connecting seat b1 in a bilateral symmetry mode and are perpendicular to the connecting seat, the tail ends of the two side plates b2 are connected with the connecting seat b1, and the connecting seat b1 is used for connecting the bottom ends of the deployable units. A guide wheel shaft is arranged between the tail ends of the two side plates b2, the axis of the guide wheel shaft is parallel to the connecting seat b1, and a guide wheel b3 is sleeved on the guide wheel shaft, so that the guide wheel b3 can rotate around the axis of the guide wheel shaft. The front ends of the two side plates b2 are designed with trapezoidal grooves b4, and the sizes of the grooves are matched with the interlocking locking blocks 402a in a trapezoidal configuration. The guide wheel b3 can change sliding friction between two adjacent stages of deployable units into rolling friction in the process of unfolding the adjacent deployable units, so that the friction resistance is reduced; and the front ends of the two side plates b2 are used as interlocking locks.
Through the locking part 401 and the interlocking part 402 designed above, when the extending arm is in the extending stage, the base-stage extensible unit 1 is fixed, and the rest of the levels of extensible units are sequentially extended from outside to inside by the power provided by the extending driving module 5.
Firstly, the furled state of each stage of the expandable units is explained by using the adjacent three stages of the expandable units, and the specific mode is as follows:
as shown in fig. 5, in a collapsed state, the lock tongue 401b on the locking portion 401 in the middle-stage deployable unit is restricted by the inner wall of the outer-stage deployable unit to retract into the lock box 401a, and at the same time, the tail end of the lock cylinder 401c extends out and is located between the two side plates b2 in the interlocking portion 401 on the inner-stage deployable unit, and the interlocking blocks 402a on the two sides of the lock cylinder 401c are respectively located in the trapezoidal grooves b4 at the front ends of the two side plates b2, so that the top and the waist portions on the two sides of the interlocking block 402a in the trapezoidal configuration are respectively attached to the top surfaces and the waist portions on the two sides of the trapezoidal groove b4, and at this time, the middle-stage deployable unit and the inner-stage deployable unit are in a locked state. The locking mode between adjacent expandable units of other stages is the same as that described above. After the adjacent two layers of expandable units are locked, the bolt roller 401e in the locking part 401 of the expandable unit in the inner layer and the guide wheel b3 of the interlocking part 402 are attached to the inner wall of the expandable unit guide rail 208 in the outer layer and can roll along the inner wall. And in the furled state, the base-stage deployable unit 1 and the adjacent deployable unit are kept in the furled state through the traction of the rope driving part.
Subsequently, the unfolding process between the expandable units of each stage is explained by using the base-stage expandable unit 1 and the two adjacent expandable units a and B, specifically as follows:
the rope driving module 5 drives the deployable unit A adjacent to the base-level deployable unit 1 to be firstly deployed, a bolt roller 401e in a locking part 401 arranged on the deployable unit A rolls along the inner wall of the base-level deployable unit 1, and in the process, a compression spring 401f is always in a pressing state until the front end matching inclined surface of a bolt 401b of the deployable unit A is coplanar with a guiding inclined surface at a central matching hole 210 of an arc-shaped plate 209 on the base-level deployable unit 1; further, the deployable unit a continues to be deployed, and at this time, the front end engagement inclined surface of the lock tongue 401b is guided by the guide inclined surface at the central engagement hole 210, so that the lock tongue 401b is ejected from the central engagement hole 210, and the deployable unit is deployed in place. Meanwhile, the lock tongue 401B is popped up to move the lock cylinder 401c outwards, so that the interlocking blocks 402a at the two sides of the lock cylinder 401c are separated from the trapezoidal grooves B4 on the two side plates B2 of the interlocking part 401 on the deployable unit B adjacent to the deployable unit a. At this time, the deployable unit a and the base-level deployable unit 1 are in a locked state, and the deployable unit a and the deployable unit B are in an unlocked state. The processes are repeated to realize the sequential unfolding from outside to inside among all levels of the unfoldable units.
The control of the unfolding and folding of the various stages of the unfolding units is realized by the rope driving module 5, and the rope driving module 5 comprises a driving rope 501, a rope guiding mechanism 502 and a rope driving device 503, as shown in fig. 2 and 6.
Wherein the cord guide 502 is a roller supported by a bracket. Except for the last-stage deployable unit 3, three sets of rope guide mechanisms 502 are circumferentially arranged at equal angular intervals at the top ends of the upper sections of the other deployable units; meanwhile, except for the base-stage deployable unit 1 and the last-stage deployable unit 3, three sets of rope guide mechanisms 502 are circumferentially arranged at equal angular intervals at the bottom ends of the rest intermediate-stage deployable units 2; and the circumferential positions of the rope guide mechanisms 502 on the circumferential direction of each stage of the deployable unit are in one-to-one correspondence.
The rope drive 503 is a reel that is driven to rotate by a motor. Drive support 504 is installed to base level deployable unit 1 bottom, and drive support 504 upwards equiangular interval designs have the recess, is used for respectively with base bottom inner wall upwards design protruding cooperation in week, realizes drive support 504's circumference location to realize fixing between the two through the screw. Three groups of rope driving devices 503 which are uniformly distributed in the circumferential direction are arranged on the driving bracket 504; and the mounting positions of the three sets of rope driving devices 503 correspond one-to-one to the circumferential positions of the rope guide mechanisms 502 mounted on the deployable units at each stage.
The driving rope 501 is three, and the output twines respectively on the reel in three sets of driving rope devices 503 to after each line wheel of circumference position unanimity on the deployable unit at different levels is walked around to the mode of reciprocating arrangement, the output is fixed in the 3 bottoms of the deployable unit of final stage, and concrete mode is: the driving rope 502 firstly bypasses the wire wheel at the upper section of the base-stage deployable unit 2, then returns to and bypasses the wire wheel at the bottom end of the adjacent deployable unit A, and then returns to and bypasses the wire wheel at the top end of the deployable unit A again, and in this way, after bypassing the wire wheels on each layer of deployable units from outside to inside, the driving rope is finally fixed at the bottom end of the final-stage deployable unit 3. When the multiple groups of rope driving devices drive the driving ropes between the stages to be synchronously tensioned, the deployable units at all stages are simultaneously under the tension action of the ropes, and can be sequentially deployed under the action of the locking and interlocking module 4.
Compared with the existing unfolding mechanism, the rope-driven multi-stage heavy-load sleeved type stretching arm fully utilizes the limited space in the unfolding mechanism for optimization design, for example, the interlocking part 402 is designed by utilizing the locking part 401, and the matching rigidity after the unfolding is in place is improved by utilizing the guide rail 208 and the guide rail groove 207 and the matching surfaces of the inner wall and the outer wall of the adjacent unfolding units, so that the unfolding mechanism has stronger functionality while keeping the simplicity of design.
Claims (2)
1. A multi-stage heavy-load sleeved type extension arm based on rope driving comprises an extensible unit module, a locking and interlocking module and an unfolding driving module, wherein the extensible unit module consists of a base-stage extensible unit, at least one middle-stage extensible unit and a last-stage extensible unit; the base-stage expandable unit, the middle-stage expandable unit and the final-stage expandable unit are all of sleeve structures, the outer diameters of the base-stage expandable unit, the middle-stage expandable unit and the final-stage expandable unit are gradually reduced, and the base-stage expandable unit, the middle-stage expandable unit and the final-stage expandable unit are sequentially nested from outside to inside; the base-level expandable units are used as outermost sleeves, the bottom ends of the base-level expandable units are fixedly connected with the bearing mechanism, the expansion driving modules are installed, the expandable units at all levels are sequentially expanded from outside to inside by the power provided by the expansion driving modules, and the expandable units at all levels are locked by the locking and interlocking modules after being expanded; the method is characterized in that:
the base-stage extensible unit, the middle-stage extensible unit and the final-stage extensible unit are all coaxially connected and fixed to form through coaxially arranged upper sections, middle sections and lower sections; in the middle-stage extensible unit, an upper conical matching surface is designed on the upper part of the inner wall of the upper section, and a lower conical matching surface is arranged on the upper part of the outer wall of the lower section; in addition, the outer wall of the lower part of the lower section is gradually increased from top to bottom, so that the diameter of an outer cylindrical surface of a section close to the bottom end of the lower section is equal to the diameter of an inner cylindrical surface of the lower part of the upper section of the expandable unit of the adjacent outer layer, and a cylindrical surface matching section is formed; guide rail grooves are designed on the outer edge of the flange at the bottom end of the lower section at equal angles in the circumferential direction, and guide rails with the same number as the guide rail grooves are arranged on the inner wall of the middle section at equal angular intervals in the circumferential direction; and the upper end of each guide rail is provided with a hole on the outer wall of the upper section; after the adjacent two stages of the extensible units are unfolded, the lower section of the inner stage extensible unit is superposed with the upper section of the outer stage extensible unit, the superposed part is made of an aluminum alloy material, and the middle section is made of a carbon fiber material; the guide rails comprise two types of equal-section guide rails and variable-section guide rails, and are alternately arranged on the circumferential direction of the inner wall of the middle section; wherein, the equal cross-section guide rail is in clearance fit with the guide rail groove; the variable cross-section guide rail can be divided into a gap section and a matching section in the axial space, wherein the cross section of the variable cross-section guide rail near the upper end gradually becomes wider until the width of the variable cross-section guide rail is larger than the width of the guide rail groove to form the matching section; the rest positions of the variable cross-section guide rail are gap sections, and the gap sections are consistent with the size and shape of the equal cross-section guide rail and are in clearance fit with the guide rail grooves;
the difference between the structure of the base-stage expandable unit and the last-stage expandable unit and the structure of the middle-stage expandable unit is that the outer wall of the lower section of the base-stage expandable unit does not have a lower conical matching surface; the inner wall of the upper section of the expandable unit of the final-stage base stage does not have an upper conical matching surface;
the locking and interlocking module comprises a locking part and an interlocking part; locking parts are arranged on the circumferential direction of the side walls of the lower sections of the rest deployable units except the base-level deployable unit; interlocking parts are arranged on the base-removing-level deployable units and the bottom ends of the deployable units adjacent to the base-removing-level deployable units in the circumferential direction; circumferential positions of the locking part and the interlocking part in the circumferential direction correspond to positions of the guide rails one by one;
the locking part comprises a lock box, a lock tongue, a lock column, a tail end stop dog, a lock tongue roller and a spring; the interlocking part comprises an interlocking locking block and an interlocking lock catch;
in the locking part, a lock box is arranged at the opening of the lower section and is positioned in the deployable unit, a bolt moving channel is arranged in the lock box, and a lock column coaxially penetrates into the lock box from the tail end face of the lock box and can move along the bolt moving channel; the front end of the lock cylinder is connected with a lock tongue; the tail end of the lock cylinder is provided with a tail end stop block for limiting the maximum outward displacement of the lock tongue; the lock cylinder is also sleeved with a spring, two ends of the spring are respectively contacted with the tail end of the lock bolt and the tail end of the lock box, and when the spring is in a free state, the lock bolt roller is positioned outside the lock box; the front end of the lock tongue is provided with a groove, a lock tongue roller is arranged in the groove through a rotating shaft, and the lock tongue roller in the locking part on the inner-stage deployable unit rolls along the inner wall of the outer-stage deployable unit in the process of unfolding the adjacent two stages of deployable units; the bottom section of the hole formed on the outer wall of the upper section of the guide rail is designed into a guide inclined plane with the inner side inclined downwards; meanwhile, the bottom surface of the front end of the lock tongue is designed into a matching inclined surface and is used for matching with the guide inclined surface in the unfolding process;
in the interlocking part, interlocking locking blocks are fixed on the left side and the right side of the tail end of a locking column; the interlocking lock catch is provided with a connecting seat and two side plates which are symmetrically designed on the left and right of the connecting seat and are vertical to the connecting seat, the tail ends of the two side plates are connected with the connecting seat, and the connecting seat is used for connecting the bottom ends of the deployable units; the front ends of the two side plates are provided with locking grooves which are used for realizing interlocking between the inner-stage expandable unit and the outer-stage expandable unit by matching with an interlocking locking block; the interlocking lock block adopts a trapezoidal configuration, the locking grooves on the two side plates of the interlocking lock catch matched with the interlocking lock block are trapezoidal grooves, and the top and the waist parts on the two sides of the interlocking lock block are respectively attached to the top surface and the waist parts on the two sides of the trapezoidal groove, so that the adjacent sleeves are locked; the unfolding and locking mode between two adjacent stages of the extensible units is as follows: the guide rail grooves on the periphery of the outer edge of the bottom section flange of the inner-stage extensible unit are respectively connected with the guide rails on the inner wall of the outer-stage extensible unit in a sliding fit manner and slide upwards along the guide rails, and gaps are always reserved between the medium-section guide rails and the guide rail grooves in the sliding process; in the unfolding process of the variable cross-section guide rail and the guide rail groove, the guide rail groove is gradually close to the matching section of the variable cross-section guide rail; when the adjacent deployable units are in a fully deployed state, the lower conical matching surface of the outer wall of the lower section of the inner-stage deployable unit is attached to the upper conical matching surface of the inner wall of the upper section of the outer-stage deployable unit; meanwhile, the outer wall of the lower cylindrical surface matching section of the lower section of the inner-stage deployable unit is matched with the inner wall of the upper section of the outer-stage deployable unit to form a bonding section; the rest positions of the upper section and the lower section of the inner-stage extensible unit and the outer-stage extensible unit are in clearance fit; meanwhile, the outer edge of the flange at the bottom of the inner-stage extensible unit is in matched contact with the bottom end of the outer-stage extensible unit;
the adjacent deployable units are in the furled state as follows: the lock tongue on the locking part in the middle-stage extensible unit is limited by the inner wall of the outer-stage extensible unit to be retracted into the lock box, the tail end of the lock cylinder extends out and is positioned between two side plates in the interlocking part on the inner-stage extensible unit, the interlocking lock blocks on two sides of the lock cylinder are respectively positioned in the locking grooves at the front ends of the two side plates, and the middle-stage extensible unit and the inner-stage extensible unit are in a locking state; the locking mode among the adjacent expandable units of the other stages is the same as that of the adjacent expandable units of the other stages;
the unfolding mode of each stage of the expandable unit is as follows: the rope driving module drives the deployable unit A adjacent to the base-level deployable unit to be firstly deployed, the bolt roller in the locking part arranged on the deployable unit A rolls along the inner wall of the base-level deployable unit, and in the process, the compression spring is always in a pressing state until the bolt of the deployable unit A is ejected out of the opening on the side wall of the base-level deployable unit, and the deployable unit A is deployed in place; meanwhile, the lock tongue is popped out to enable the lock column to move outwards, so that the interlocking lock blocks on the two sides of the lock column are separated from the locking grooves on the two side plates in the interlocking part on the deployable unit B adjacent to the deployable unit A; at the moment, the deployable unit A and the base-level deployable unit are in a locked state, and the deployable unit A and the deployable unit B are in an unlocked state; the processes are repeated to realize the sequential unfolding from outside to inside among all levels of the unfoldable units.
2. The multi-stage heavy-duty telescopic boom based on rope drive as claimed in claim 1, wherein: a guide wheel is arranged between the two side plates of the interlocking lock catch through a guide wheel shaft; during the unfolding process of the adjacent deployable units, the guide wheels roll along the inner walls of the inner-stage deployable units.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110820643.0A CN113374762B (en) | 2021-07-20 | 2021-07-20 | Multi-stage heavy-load socket-type extending arm based on rope driving |
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| CN202110820643.0A CN113374762B (en) | 2021-07-20 | 2021-07-20 | Multi-stage heavy-load socket-type extending arm based on rope driving |
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| CN113374762B true CN113374762B (en) | 2022-12-16 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103498843B (en) * | 2013-09-25 | 2016-08-31 | 北京航空航天大学 | One can stretchable sleeve device and measuring and control method thereof |
| CN103921960B (en) * | 2014-04-24 | 2016-04-20 | 北京航空航天大学 | A kind of socket joint type Zhan Shou mechanism locking-unlocking device |
| RU2604906C1 (en) * | 2015-08-21 | 2016-12-20 | Акционерное общество "Научно-производственная фирма "Микран" | Telescopic mast |
| CN106275516A (en) * | 2016-08-04 | 2017-01-04 | 北京空间飞行器总体设计部 | A kind of high rigidity, lightweight sleeve |
| RU2685432C1 (en) * | 2018-02-20 | 2019-04-18 | Акционерное общество "Омский научно-исследовательский институт приборостроения" (АО "ОНИИП") | Telescopic mast |
| CN209939005U (en) * | 2019-02-27 | 2020-01-14 | 上海宇航系统工程研究所 | Can repeat and take up and expand extension mechanism |
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