CN117755519A - Space coiling type stretching arm with pose active adjusting capability - Google Patents
Space coiling type stretching arm with pose active adjusting capability Download PDFInfo
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- CN117755519A CN117755519A CN202311580852.8A CN202311580852A CN117755519A CN 117755519 A CN117755519 A CN 117755519A CN 202311580852 A CN202311580852 A CN 202311580852A CN 117755519 A CN117755519 A CN 117755519A
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- stretching arm
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- 230000007246 mechanism Effects 0.000 claims abstract description 54
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- 238000000034 method Methods 0.000 claims description 4
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- 238000001514 detection method Methods 0.000 description 3
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- 229910000990 Ni alloy Inorganic materials 0.000 description 2
- HZEWFHLRYVTOIW-UHFFFAOYSA-N [Ti].[Ni] Chemical compound [Ti].[Ni] HZEWFHLRYVTOIW-UHFFFAOYSA-N 0.000 description 2
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Abstract
The invention discloses a space coiling type stretching arm with a pose active adjusting capability, and belongs to the technical field of aerospace equipment and equipment. The device comprises a coiled stretching arm mechanism, a locking and releasing mechanism, a 3-RPS parallel mechanism, an electric linear sliding table and an electric rotating platform. The space coiling type stretching arm mechanism is fixed on the objective table through a fixed support, the locking release mechanism is arranged between the objective table and the positioning table, and is coupled with the 3-RPS parallel mechanism; the 3-RPS parallel mechanism is arranged on the electric linear sliding table, and the electric linear sliding table is arranged on the electric rotating platform through the adapter plate. The 3-RPS parallel mechanism is used for adjusting the translation of the spatial extension arm along the axial direction and the rotation in the plane perpendicular to the axis of the arm body. The electric linear sliding table and the electric rotating platform are combined to regulate the translation of the spatial extension arm in a plane vertical to the axis of the arm body. The invention can realize the 5 degrees of freedom adjustment of the pose of the space coiling type stretching arm after being unfolded, and widens the application range of the stretching arm.
Description
Technical Field
The invention relates to a space coiling type stretching arm, in particular to a space coiling type stretching arm with a pose active adjusting capability, and belongs to the technical field of aerospace equipment and equipment.
Background
Currently, spatial extension arm technology is mature and of a wide variety. According to the case that space stretching arms have been successfully applied to spacecrafts at home and abroad, common space stretching arm mechanisms comprise a thin-wall tubular stretching arm mechanism, a sleeve tubular stretching arm mechanism, a hinge stretching arm mechanism, a coiled stretching arm mechanism and the like. The coiled stretching arm mechanism has simple structure, small mass, high reliability and large expansion ratio, and is very suitable for space expansion tasks of small satellites. The coiled stretching arm mechanism can be divided into a hingeless coiled stretching arm and a hinged coiled stretching arm according to the existence of a hinge, wherein the hingeless coiled stretching arm has higher rigidity, but the assembly process is complex and the requirement on the stretching arm material is higher; the hinged coiled stretching arm has relatively low rigidity, but the assembly process is simple and the reliability is high.
However, with the continuous development of the aerospace technology, the aerospace task is developed towards the trend of high precision and high complexity, and the requirements of some advanced detection loads on the spacecraft platform are gradually increased. Such as a space X-ray observation telescope, it not only requires a spacecraft to provide a longer focal length for the telescope in orbit, but also requires maintaining extremely high accuracy of the observation optical path. Although the application of the traditional space expansion arm can meet the focal length requirement of the space telescope, the shape error of the space expansion arm can cause the deviation of the telescope light path, thereby affecting the observation. For the above problems, one possible way is to add an active adjustment mechanism on the basis of the traditional spatial extension arm, wherein the extension arm is used for providing the focal length required for telescope observation, and the active adjustment mechanism can perform secondary adjustment on the pose of the extension arm after deployment so as to meet the high-precision pointing requirement of the extension arm.
The invention discloses a space coiling type stretching arm with the active pose adjusting capability, wherein a 3-RPS parallel mechanism, an electric linear sliding table and an electric rotating platform are fused at the root of the space coiling type stretching arm which is subjected to on-orbit verification, so that pose adjustment of the space stretching arm on 5 degrees of freedom can be realized.
Disclosure of Invention
The invention aims to provide a space coiling type stretching arm with the pose active adjusting capability, which provides an expandable supporting structure with the pose adjusting capability for tasks with high precision pointing requirements such as space detection load extension, space telescope observation and the like.
The invention adopts the following technical scheme that the space coiling type stretching arm with the pose active adjusting capability comprises a coiling type stretching arm mechanism, a locking and releasing mechanism, a 3-RPS parallel mechanism, an electric linear sliding table, an electric rotating platform and an adapter plate; wherein: the 3-RPS parallel mechanism consists of an objective table, a positioning table and an LAS16 linear actuator assembly, wherein the root of the LAS16 linear actuator assembly is connected with the positioning table through a rotating pair, and the end of the LAS16 linear actuator assembly is connected with the objective table through a ball pair and is responsible for adjusting 3 degrees of freedom in total of Z-direction translation and XY-direction rotation of a space coiling type stretching arm;
the electric linear sliding table consists of a static platform, a movable platform, a crossed roller guide rail and an LAF50 linear actuator, the rotation plane of the electric rotary platform is fixedly connected with the static platform of the electric linear sliding table through an adapter plate, and the electric linear sliding table and the electric rotary platform are combined to realize 2 degrees of freedom adjustment of the movement of the space coiling type stretching arm in the XY plane;
the space coiling type stretching arm mechanism is fixed on the objective table through a fixed support, the locking release mechanism is arranged between the objective table and the positioning table, and is coupled with the 3-RPS parallel mechanism; the 3-RPS parallel mechanism is arranged on the electric linear sliding table, and the electric linear sliding table is arranged on the electric rotating platform through the adapter plate.
The further space coiling type stretching arm mechanism consists of a triangular transverse frame, a longitudinal rod, a diagonal stiffening rope, a stretching arm top plate and a locking connecting rod; 3. the root longitudinal rods are connected with the triangular cross frames through screws, and the diagonal stiffening ropes are connected with the V-shaped rotary hinges at the diagonal positions of the triangular cross frames of the adjacent layers; the top plate of the stretching arm is fixed on the top of the stretching arm by means of a combined rotating hinge, and the locking connecting rod is fixed in the center of the top plate of the stretching arm.
The further tight release mechanism consists of a memory alloy pin puller, an encoder, a rotary damper, a reel assembly and a wire guide wheel; the memory alloy pin puller is fixed on a pin puller support, and the pin puller support is fixed on the objective table; the encoder and the rotary damper are fixed on the reel assembly; the wire guide wheel is fixed at the center of the positioning table.
The beneficial effects are that: the invention relates to a space coiling type stretching arm with the active pose adjusting capability, which is the core of the invention, and is coiled and locked when a satellite is launched, and unlocked and unfolded after the satellite enters orbit. The locking and releasing mechanism is used for locking and releasing the space coiling type stretching arm, controlling the unfolding speed of the stretching arm and monitoring the unfolding length of the stretching arm. The 3-RPS parallel mechanism is used for adjusting the translation of the spatial extension arm along the axial direction (Z direction) and the rotation in the axial plane (XY plane) perpendicular to the arm body. The electric linear sliding table and the electric rotating platform are combined to regulate the translation of the spatial extension arm in a plane (XY plane) perpendicular to the axis of the arm body. The adapter plate is used for connecting the electric linear sliding table and the electric rotating platform. The invention can realize 5 degrees of freedom adjustment of the pose of the expanded space coiled expansion arm, widens the application range of the expansion arm, and is particularly suitable for the scenes of overhanging of high-precision pointing space detection load, focal length support of a space telescope, light path adjustment and the like.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is an enlarged view of the bottom of the present invention;
FIG. 3 is a schematic view of a top section of a portion of the spatially coiled arm mechanism of the present invention;
FIG. 4 is a schematic view of a portion of the lock release mechanism and a portion of the 3-RPS parallel mechanism of the present invention;
FIG. 5 is a schematic view of a LAS16 linear actuator assembly according to the present invention;
FIG. 6 is a schematic view of a portion of an electric linear slipway according to the present invention;
FIG. 7 is a schematic view of the inside of an electric linear slipway part according to the present invention;
fig. 8 is a schematic diagram of an electric linear sliding table and electric rotating platform assembly according to the present invention.
In the figure
1. A space coiling type stretching arm mechanism;
11. a cross bar; 12. a longitudinal bar; 13. diagonal stiffening cords; 14. v-shaped rotary hinges; 15. a top plate of the extension arm; 16. a combination rotary hinge; 17. locking the connecting rod;
2. locking release mechanism
21. A memory alloy pin puller; 22. a single-turn absolute value encoder; 23. a rotary damper; 24. a reel assembly;
3. 3-RPS parallel mechanism;
31. an objective table; 32. a positioning table; 33. a LAS16 linear actuator assembly; 311. an objective table base; 321. a positioning table base; 331. a hinge joint; 332. a knuckle bearing joint;
4. an electric linear sliding table;
41. a static platform; 42. a movable platform; 43. a cross roller guide rail; 44. a LAF50 linear actuator; 5. an electric rotating platform; 6. and the adapter plate.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
Referring to fig. 1 and 2, the spatial coiling type stretching arm with the pose active adjusting capability provided by the invention consists of a spatial coiling type stretching arm mechanism 1, a locking and releasing mechanism 2, a 3-RPS parallel mechanism 3, an electric linear sliding table 4, an electric rotating platform 5 and an adapter plate 6.
Referring to fig. 3, the spatial coiling type stretching arm with the active pose adjusting capability of the invention is characterized in that the spatial coiling type stretching arm mechanism part consists of a cross rod 11, a longitudinal rod 12, a diagonal stiffening rope 13, a V-shaped rotating hinge 14, a stretching arm top plate 15, a combined rotating hinge 16 and a locking connecting rod 17.
The cross rod is made of low-temperature superelastic titanium-nickel alloy wires, the elastic modulus is 83GPa, the cross section is circular, and the diameter range is 1.2mm-2mm. The longitudinal rod material is a low-temperature super-elastic titanium-nickel alloy wire, the elastic modulus is 83GPa, the section is circular, the diameter value range is 2mm-3.5mm, and the longitudinal rod length L value range is 1.9m-2.1m. The length of the longitudinal rod is equal to the total length of the coiled stretching arm, and the longitudinal rod is a main bearing component and bears axial tension and compression, lateral bending and axial torsion loads under the support and pre-tightening of the triangular transverse frame and the diagonal stiffening cables. The diagonal stiffening cable is made of stainless steel wires, has elastic modulus of 198GPa, is circular in section, and has a diameter ranging from 0.8mm to 1mm. The V-shaped rotary hinge is used for connecting a cross rod, a longitudinal rod and a diagonal stiffening rope, consists of 1V-shaped piece and 1 sleeve, and is connected with the V-shaped piece and the sleeve through 1M 2.5 screw, the other 5 degrees of freedom except rotation along the axial direction of the M2.5 screw are limited, and the M2.5 screw is also used for fixing the longitudinal rod penetrating through the sleeve. The combined rotary hinge consists of 1 rotating part and 1 fixing part, which are connected through 1M 3 screw, the top of the longitudinal rod is fixed with the rotating part through 2M 2 screws, and the fixing part is connected with the top plate of the stretching arm through 2M 3 nuts, so that the arm body of the stretching arm is connected with the top plate of the stretching arm. The locking connecting rod is fixed at the center of the top plate of the extending arm by using an M10 nut and is used for being matched and locked with the pin puller pin when the extending arm is folded.
Referring to fig. 4, the spatial coiled stretching arm with the active pose adjusting capability according to the present invention, wherein the locking and releasing mechanism part is composed of a BXQ-240 memory alloy pin puller 21, a DS-25 single-turn absolute value encoder 22, a FRN-D2-R501 fixed torque type rotary damper 23, and a reel assembly 24. The BXQ-240 memory alloy pin puller is connected to the objective table 31 through a support, a pin of the BXQ-240 memory alloy pin puller is matched with a pin hole of a locking connecting rod, and the pin stretches out to clamp the locking connecting rod when the satellite is launched, so that the extension arm is locked; after the satellite enters the orbit, the pin puller is electrified, the pin puller pin is retracted, the locking connecting rod is unlocked, and the extension arm is driven to be unfolded under the elastic strain energy stored by the longitudinal rod. The reel releases the inhaul cable in the unfolding process of the stretching arm, the FRN-D2-R501 fixed torque type rotary damper provides damping force for the reel, the unfolding speed of the stretching arm is controlled passively, and the DS-25 single-turn absolute value encoder acquires the rotation angle of the reel so as to calculate the unfolding length of the stretching arm. The FRN-D2-R501 fixed torque rotary damper and DS-25 single turn absolute value encoder and reel assembly are mounted on a positioning table 32.
Referring to fig. 4 and 5, a spatial coiling type stretching arm with active pose adjusting capability according to the present invention, wherein the 3-RPS parallel mechanism comprises a stage 31, a positioning table 32, and a LAS16 linear actuator assembly 33. The LAS16 linear actuator uses the hinge joint 331 to connect the actuator root to the positioning table base 321, forming a revolute pair with 1 degree of freedom of rotation, and the LAS16 linear actuator connects the actuator end to the stage base 311 through the knuckle bearing joint 332, forming a ball pair with 3 degrees of freedom of rotation. The lower plate of the 3-RPS parallel mechanism is connected with the movable platform 42 of the electric linear sliding table through screws. The 3-RPS mechanism can realize translational adjustment of the spatial coiling type stretching arm in the Z direction and rotational adjustment in the XY plane.
Referring to fig. 6 and 7, the spatial coiled stretching arm with the active pose adjusting capability according to the present invention, wherein the electric linear sliding table part is composed of a static platform 41, a moving platform 42, a crossed roller guide rail 43 and an LAF50 linear actuator 44. The crossed roller guide rail is arranged between the static platform and the movable platform, has extremely small friction force in the moving direction, improves the load capacity of the LAF50 linear actuator, and has the advantages of small volume, light weight and capability of bearing loads in all directions; the end of the LAF50 linear actuator is fixedly connected with the movable platform, the root of the LAF50 linear actuator is hinged with the static platform, linear actuation is realized through the gear reducer and the screw rod sliding table, the LAF50 linear actuator has the capabilities of large output, high displacement resolution, power failure self-locking and the like, the encoder and the force sensor are integrated in the electric cylinder, the information of displacement, stress and the like can be fed back, and precise motion control is realized.
Referring to fig. 8, the spatial coiling type stretching arm with the pose active adjusting capability disclosed by the invention is characterized in that a TBR200 type electric rotating platform 5 is used as a part of the electric rotating platform, a worm and gear transmission mode is adopted for the rotating platform, the positioning precision is smaller than 0.05 degrees, and the integral high-precision Z-direction rotation adjustment of the coiling type stretching arm can be realized. The electric rotating platform is connected with the electric linear sliding table through the adapter plate 6 through screws, and the electric rotating platform and the electric linear sliding table are combined to realize translational adjustment of the space coiling type stretching arm in an XY plane.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. A space coiling type stretching arm with a pose active adjusting capability comprises a coiling type stretching arm mechanism, a locking release mechanism, a 3-RPS parallel mechanism, an electric linear sliding table and an electric rotating platform; the method is characterized in that: the 3-RPS parallel mechanism consists of an objective table, a positioning table and an LAS16 linear actuator assembly, wherein the root of the LAS16 linear actuator assembly is connected with the positioning table through a rotating pair, and the end of the LAS16 linear actuator assembly is connected with the objective table through a ball pair and is responsible for adjusting 3 degrees of freedom in total of Z-direction translation and XY-direction rotation of a space coiling type stretching arm;
the electric linear sliding table consists of a static platform, a movable platform, a crossed roller guide rail and an LAF50 linear actuator, the rotation plane of the electric rotary platform is fixedly connected with the static platform of the electric linear sliding table through an adapter plate, and the electric linear sliding table and the electric rotary platform are combined to realize 2 degrees of freedom adjustment of the movement of the space coiling type stretching arm in the XY plane;
the space coiling type stretching arm mechanism is fixed on the objective table through a fixed support, the locking release mechanism is arranged between the objective table and the positioning table, and is coupled with the 3-RPS parallel mechanism; the 3-RPS parallel mechanism is arranged on the electric linear sliding table, and the electric linear sliding table is arranged on the electric rotating platform through the adapter plate.
2. The spatial coiled extension arm with active pose adjustment capability according to claim 1, wherein: the space coiling type stretching arm mechanism consists of a triangular transverse frame, a longitudinal rod, diagonal stiffening ropes, a stretching arm top plate and a locking connecting rod; 3. the root longitudinal rods are connected with the triangular cross frames through screws, and the diagonal stiffening ropes are connected with the V-shaped rotary hinges at the diagonal positions of the triangular cross frames of the adjacent layers; the top plate of the stretching arm is fixed on the top of the stretching arm by means of a combined rotating hinge, and the locking connecting rod is fixed in the center of the top plate of the stretching arm.
3. The spatial coiled extension arm with active pose adjustment capability according to claim 1, wherein: the locking and releasing mechanism consists of a memory alloy pin puller, an encoder, a rotary damper, a reel assembly and a wire guide wheel; the memory alloy pin puller is fixed on a pin puller support, and the pin puller support is fixed on the objective table; the encoder and the rotary damper are fixed on the reel assembly; the wire guide wheel is fixed at the center of the positioning table.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311580852.8A CN117755519A (en) | 2023-11-24 | 2023-11-24 | Space coiling type stretching arm with pose active adjusting capability |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311580852.8A CN117755519A (en) | 2023-11-24 | 2023-11-24 | Space coiling type stretching arm with pose active adjusting capability |
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| CN117755519A true CN117755519A (en) | 2024-03-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117963166A (en) * | 2024-04-02 | 2024-05-03 | 北京航空航天大学 | Coiled stretching arm structure capable of improving rigidity through inflatable deployment |
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| CN114537711A (en) * | 2022-02-28 | 2022-05-27 | 北京航空航天大学 | Space coiling type extending arm with decoupling control of degree of freedom |
| CN116280261A (en) * | 2023-02-21 | 2023-06-23 | 北京航空航天大学 | Space coiling type stretching arm system for unfolding passive inhaul cable |
| CN116394253A (en) * | 2023-04-21 | 2023-07-07 | 福州大学 | Series-parallel six-degree-of-freedom pose adjusting mechanism and target pose adjusting method thereof |
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2023
- 2023-11-24 CN CN202311580852.8A patent/CN117755519A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2902034A1 (en) * | 2014-09-05 | 2016-03-05 | Thales | Deployable mast with spontaneous autonomous deployment, and satellite comprising at least one mast of this type |
| CN113001525A (en) * | 2021-04-25 | 2021-06-22 | 西安科技大学 | Parallel mechanism with rotatable axis mechanical arm and movement method |
| CN114537711A (en) * | 2022-02-28 | 2022-05-27 | 北京航空航天大学 | Space coiling type extending arm with decoupling control of degree of freedom |
| CN116280261A (en) * | 2023-02-21 | 2023-06-23 | 北京航空航天大学 | Space coiling type stretching arm system for unfolding passive inhaul cable |
| CN116394253A (en) * | 2023-04-21 | 2023-07-07 | 福州大学 | Series-parallel six-degree-of-freedom pose adjusting mechanism and target pose adjusting method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117963166A (en) * | 2024-04-02 | 2024-05-03 | 北京航空航天大学 | Coiled stretching arm structure capable of improving rigidity through inflatable deployment |
| CN117963166B (en) * | 2024-04-02 | 2024-05-31 | 北京航空航天大学 | Coiled stretching arm structure capable of improving rigidity through inflatable deployment |
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