Dual-motor driven double-ring bidirectional deployable truss

Abstract

This invention discloses a dual-motor driven bidirectional deployable truss structure. The dual-motor driven bidirectional deployable truss includes two motors, with multiple bidirectional deployable structural units arranged between the two motors, connected in series to form a closed loop. Each motor is connected to one bidirectional deployable structural unit via a winding mechanism, and the two motors are respectively installed at both ends of the deployable truss. This truss can effectively improve the stiffness and deployment-to-retraction ratio of the truss structure. Furthermore, the dual-motor drive, installed at both ends of the deployable truss, can effectively increase the fundamental frequency of ultra-large aperture antennas and enhance the stability of the entire structure.

Description

Technical Field

[0001] This invention belongs to the field of spaceborne ring deployable antennas, specifically relating to a dual-motor driven double-ring bidirectional deployable truss. Background Technology

[0002] Spaceborne deployable reflector antennas are fundamental for receiving and transmitting signals, and their structural dimensions have a decisive impact on their performance. When the operating frequency and efficiency of a reflector antenna are constant, the antenna gain increases significantly with the increase of the antenna aperture. Therefore, the development of large-scale space-deployable antennas has become a top priority in the aerospace field, and mesh-type deployable antennas, with their high surface accuracy and large deployment-to-reception ratio, have become the ideal form of large-aperture deployable antennas.

[0003] Mesh reflector antennas typically consist of a cable mesh and a supporting structure. Based on the form of the supporting structure, they can be divided into three main categories: umbrella-shaped deployable antennas, frame-type deployable antennas, and ring-truss-type deployable antennas. During launch, the deployable arms, solar panels, and reflector antennas all need to be folded and stored within the rocket fairing along with the satellite body, severely limiting the antenna's folded volume. The folded volume of a ring-type deployable antenna is primarily determined by its supporting structure—the ring truss. The ring truss used in the AstroMesh cable mesh antenna currently in orbit can significantly reduce the antenna's folded diameter, but as the aperture further increases, it suffers from weak stiffness and excessive folded height. Therefore, improving the stiffness and deployment height of the deployable truss structure is particularly important. Summary of the Invention

[0004] The purpose of this invention is to provide a bidirectional deployable truss structure driven by dual motors, which can effectively improve the stiffness and deployment ratio of the truss structure. At the same time, the use of dual motors driven at both ends of the deployable truss can effectively increase the base frequency of the ultra-large aperture antenna and enhance the stability of the entire structure.

[0005] The technical solution adopted in this invention is a dual-motor driven double-ring bidirectional deployable truss, which includes two motors and multiple double-ring bidirectional deployable structural units between the two motors. The multiple double-ring bidirectional deployable structural units are connected in series to form a closed loop. Each motor is connected to a double-ring bidirectional deployable structural unit through a winding mechanism, wherein the two motors are respectively installed at both ends of the deployable truss.

[0006] The invention is further characterized in that,

[0007] Each double-ring bidirectional deployable structural unit includes an inner ring truss assembly, an outer ring truss assembly, a first connecting block assembly, a second connecting block assembly, a third connecting block assembly, and a fourth connecting block assembly. The third connecting block assembly is located below the first connecting block assembly, and the fourth connecting block assembly is located below the second connecting block assembly. It also includes two obliquely crossed steel wire ropes, one of which is fixedly connected at both ends to the first connecting block assembly and the fourth connecting block assembly, and the other of which is fixedly connected at both ends to the second connecting block assembly and the third connecting block assembly.

[0008] The inner ring truss assembly includes an inner ring upper horizontal bar, an inner ring lower horizontal bar, an inner ring upper slider, an inner ring lower slider, an inner ring left vertical bar, and an inner ring right vertical bar;

[0009] An inner ring upper extension rod is provided above the second connecting block assembly, and an inner ring upper slider is provided below the second connecting block assembly. The inner ring upper slider is provided with a first outer extension rod mounting blind hole and a first vertical rod slide passage hole. The opening direction of the outer extension rod mounting blind hole faces the second connecting block assembly. One end of the inner ring upper extension rod passes through the second connecting block assembly and is installed in the first outer extension rod mounting blind hole. The inner ring upper extension rod passes through the second connecting block assembly and moves up and down with the inner ring upper slider.

[0010] An inner ring lower extension rod is provided below the third connecting block assembly, and an inner ring lower slider is provided above the third connecting block assembly. The inner ring lower slider is provided with a second outer extension rod mounting blind hole and a second vertical rod slide passage hole. The opening direction of the second outer extension rod mounting blind hole faces the third connecting block assembly. One end of the inner ring lower extension rod passes through the third connecting block assembly and is installed in the second outer extension rod mounting blind hole. The inner ring lower extension rod passes through the third connecting block assembly and moves up and down with the inner ring lower slider.

[0011] The left and right vertical rods of the inner ring are of equal length and parallel to each other. The upper and lower horizontal rods of the inner ring are installed parallel to each other between the left and right vertical rods of the inner ring. One end of the upper horizontal rod of the inner ring is hinged to the first connecting block assembly, and the other end of the upper horizontal rod of the inner ring is hinged to the side wall of the upper slider of the inner ring and moves up and down with it. One end of the lower horizontal rod of the inner ring is hinged to the fourth connecting block assembly, and the other end of the lower horizontal rod of the inner ring is hinged to the side wall of the lower slider of the inner ring and moves up and down with it.

[0012] One end of the left vertical rod of the inner ring passes through the second vertical rod slide passage hole of the lower slider of the inner ring and is connected to the third connecting block assembly; the other end of the left vertical rod of the inner ring is connected to the first connecting block assembly. One end of the right vertical rod of the inner ring passes through the first vertical rod slide passage hole of the upper slider of the inner ring and is connected to the second connecting block assembly; the other end of the right vertical rod of the inner ring is connected to the fourth connecting block assembly.

[0013] The outer ring truss assembly includes an outer ring upper crossbar, an outer ring lower crossbar, an outer ring upper slider, an outer ring lower slider, an outer ring left vertical bar, and an outer ring right vertical bar;

[0014] An outer ring upper extension rod is provided above the first connecting block assembly, and an outer ring upper slider is provided below the first connecting block assembly. The outer ring upper slider is provided with a third outer extension rod mounting blind hole and a third vertical rod slide through hole. The opening direction of the third outer extension rod mounting blind hole faces the first connecting block assembly. One end of the outer ring upper extension rod passes through the first connecting block assembly and is installed in the third outer extension rod mounting blind hole. The outer ring upper extension rod passes through the first connecting block assembly and moves up and down with the outer ring upper slider.

[0015] A lower outer ring extension rod is provided below the fourth connecting block assembly, and a lower outer ring slider is provided above the fourth connecting block assembly. The lower outer ring slider is provided with a blind hole for mounting the fourth extension rod and a through hole for the fourth vertical rod slide. The opening direction of the blind hole for mounting the fourth extension rod faces the fourth connecting block assembly. One end of the lower outer ring extension rod passes through the fourth connecting block assembly and is installed in the blind hole for mounting the fourth extension rod. The lower outer ring extension rod passes through the fourth connecting block assembly and moves up and down with the lower outer ring slider.

[0016] The left and right vertical bars of the outer ring are of equal length and parallel to each other. The upper and lower horizontal bars of the outer ring are installed parallel to each other between the left and right vertical bars of the outer ring. One end of the upper horizontal bar of the outer ring is hinged to the second connecting block assembly, and the other end of the upper horizontal bar of the outer ring is hinged to the side wall of the upper slider of the outer ring and moves up and down with it. One end of the lower horizontal bar of the outer ring is hinged to the third connecting block, and the other end of the lower horizontal bar of the outer ring is hinged to the side wall of the lower slider of the outer ring and moves up and down with it.

[0017] One end of the left vertical rod of the outer ring passes through the third vertical rod slide passage of the upper slider of the outer ring and is connected to the first connecting block assembly; the other end of the left vertical rod of the outer ring is connected to the third connecting block assembly. One end of the right vertical rod of the outer ring passes through the fourth vertical rod slide passage of the lower slider of the outer ring and is connected to the fourth connecting block assembly; the other end of the right vertical rod of the outer ring is connected to the second connecting block assembly.

[0018] Each double-ring bidirectional deployable structural unit has pulleys installed in the gaps between the two ends of the built-in hinges at all hinge points.

[0019] Apart from the inner ring upper crossbar, inner ring lower crossbar, outer ring upper crossbar, outer ring lower crossbar, and two diagonally cross-stretching steel wire ropes, the remaining components are shared by adjacent double-ring deployable structural units; adjacent double-ring deployable structural units are connected by hinges to form a closed ring-shaped deployable truss.

[0020] In all double-ring bidirectional deployable structural units, the first and second connecting block assemblies are on the same horizontal plane, and the first and second connecting block assemblies are arranged alternately. After the truss is tightened, the adjacent first and second connecting block assemblies are in close contact. In all double-ring bidirectional deployable structural units, the third and fourth connecting block assemblies are on the same horizontal plane, and the third and fourth connecting block assemblies are arranged alternately. After the truss is tightened, the adjacent third and fourth connecting block assemblies are in close contact.

[0021] The first, second, third, and fourth connecting block assemblies each include a connecting block base. The connecting block base is provided with a first vertical rod sleeve, an extension rod sleeve, and a second vertical rod sleeve. A pulley mounting hole is provided on the connecting block base between the first vertical rod sleeve and the extension rod sleeve, and a pulley is installed in the pulley mounting hole. One end of the inner ring left vertical rod, outer ring right vertical rod, outer ring left vertical rod, and inner ring right vertical rod is sleeved with the second vertical rod sleeve of the corresponding connecting assembly. The other end of the inner ring left vertical rod, outer ring right vertical rod, outer ring left vertical rod, and inner ring right vertical rod passes through the corresponding slider and is sleeved with the first vertical rod sleeve of the corresponding connecting assembly.

[0022] Each double-ring bidirectional deployable structural unit contains two obliquely crossed steel wire ropes. The two ends of one steel wire rope are fixedly connected to the connecting block bases of the first connecting block assembly and the fourth connecting block assembly, respectively. The two ends of the other steel wire rope are fixedly connected to the connecting block bases of the second connecting block assembly and the third connecting block assembly, respectively.

[0023] Reinforcing ribs are provided between the two ends of the crossbar mounting hinges on the two opposite side walls of the upper and lower outer ring sliders, which are used to connect with the corresponding crossbars.

[0024] One motor is powered by the satellite itself and is mounted on the main arm of the satellite's deployment arm; the other motor is powered by a battery and is mounted on an accessory of the satellite's deployment arm.

[0025] The beneficial effects of this invention are as follows:

[0026] This invention's truss mechanism employs a dual-motor driven truss structure deployment, effectively increasing the fundamental frequency of large deployable truss structures and enhancing structural stability. Secondly, the use of a double-ring truss structure, with the inner and outer ring crossbars and steel wire ropes mounted on connecting blocks distributed in three parallel planes, significantly improves the truss structure's rigidity. Furthermore, the obliquely stretched steel wire ropes shorten the radial distance of the connecting blocks, reducing the overall structural mass, and the connecting blocks, being shell structures, offer advantages of high rigidity and light weight. Finally, this invention adds an auxiliary rod in the height direction, which reciprocates on the vertical rod with the slider, increasing the truss structure's deployment height. In this invention's truss mechanism, the double-ring truss structure combined with the connecting block structure enhances the truss structure's rigidity, while the upper and lower extension rods improve the truss's deployment-to-retraction ratio. Traditional truss structures have only one motor mounted on the antenna deployment arm; as the antenna aperture increases, the stability of the other end of the truss deteriorates significantly. The dual-motor design effectively increases the fundamental frequency of ultra-large aperture antennas, enhancing structural stability. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the dual-motor driven, double-ring, bidirectional deployable truss of the present invention.

[0028] Figure 2 This is a structural schematic diagram of the basic unit of the double-ring bidirectional deployable truss of the present invention;

[0029] Figure 3 This is a top view of the basic unit of the double-ring bidirectional deployable truss of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of the first connecting block in the basic unit of the double-ring bidirectional deployable truss of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of the second connecting block in the basic unit of the double-ring bidirectional deployable truss of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of the third connecting block in the basic unit of the double-ring bidirectional deployable truss of the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of the fourth connecting block in the basic unit of the double-ring bidirectional deployable truss of the present invention.

[0034] Figure 8 This is a schematic diagram of the upper slider on the inner ring of the double-ring bidirectional deployable truss basic unit of the present invention;

[0035] Figure 9 This is a schematic diagram of the inner ring lower slider of the double-ring bidirectional deployable truss basic unit of the present invention;

[0036] Figure 10 This is a schematic diagram of the upper slider on the outer ring of the double-ring bidirectional deployable truss basic unit of the present invention;

[0037] Figure 11 This is a schematic diagram of the structure of the lower slider of the outer ring of the double-ring bidirectional deployable truss basic unit of the present invention;

[0038] Figure 12 This is a schematic diagram of the rope-driven installation of two adjacent double-ring bidirectional deployable structural units with fixed points according to the present invention.

[0039] Figure 13 This is a schematic diagram of the installation of multiple double-ring bidirectional deployable structural units with rope drive, which are not located at any two adjacent nodes of the drive cable connection point in this invention.

[0040] Figure 14 This is a schematic diagram of the fully retracted state of the double-ring bidirectional deployable truss structure of the present invention;

[0041] Figure 15 This is a top view of the fully deployed state of the double-ring bidirectional deployable truss structure of the present invention.

[0042] In the diagram, 1. First connecting block assembly, 2. Second connecting block assembly, 3. Third connecting block assembly, 4. Fourth connecting block assembly, 5. Steel wire rope, 6. Inner ring upper crossbar, 7. Inner ring lower crossbar, 8. Inner ring upper slider, 9. Inner ring lower slider, 10. Inner ring left vertical bar, 11. Inner ring right vertical bar, 12. Outer ring upper crossbar, 13. Outer ring lower crossbar, 14. Outer ring upper slider, 15. Outer ring lower slider, 16. Outer ring left vertical bar, 17. Outer ring right vertical bar, 18. Inner ring 19. Upper extension rod, 20. Inner ring lower extension rod, 21. Outer ring upper extension rod, 22. Outer ring lower extension rod, 23. Reinforcing rib, 24. Pulley, 25. Motor, 26. Winding mechanism, 27. Motor mounting bracket, 28. Inner ring first upper drive cable a, 29. Inner ring second lower drive cable a, 30. Inner ring third lower drive cable a, 31. Inner ring fourth upper drive cable a, 32. Fixing point, 33. Inner ring first upper drive cable b, 34. Inner ring second lower drive cable b;

[0043] 1-1. Connecting block base a, 1-2. First vertical rod sleeve a, 1-3. Outer rod sleeve a, 1-4. Second vertical rod sleeve a, 1-5. Pulley mounting hole a; 2-1. Connecting block base b, 2-2. First vertical rod sleeve b, 2-3. Outer rod sleeve b, 2-4. Second vertical rod sleeve b, 2-5. Pulley mounting hole b; 3-1. Connecting block base c, 3-2. First vertical rod sleeve c, 3-3. Outer rod sleeve c, 3-4. Second vertical rod sleeve c, 3-5. Pulley mounting hole c ; 4-1. Connecting block base d, 4-2. First vertical rod sleeve d, 4-3. Outer rod sleeve d, 4-4. Second vertical rod sleeve d, 4-5. Pulley mounting hole d; 8-1. First outer rod mounting blind hole, 8-2. First vertical rod slide through hole; 9-1. Second outer rod mounting blind hole, 9-2. Second vertical rod slide through hole; 14-1. Third outer rod mounting blind hole, 14-2. Third vertical rod slide through hole; 15-1. Fourth outer rod mounting blind hole, 15-2. Fourth vertical rod slide through hole. Detailed Implementation

[0044] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0045] Example 1

[0046] This invention provides a dual-motor driven, double-ring, bidirectional deployable truss, such as... Figure 1-15 As shown, the structure includes two motors 24, with multiple double-ring bidirectional deployable structural units connected in series to form a closed loop. Each motor 24 is connected to a double-ring bidirectional deployable structural unit via a winding mechanism 25, with the two motors 24 mounted at opposite ends of the deployable truss. Each motor 24 is fixed to a motor mounting bracket 26. A standard 300W servo motor is selected. The motors 24 are bolted to the mounting bracket 26, and the motor shaft drives the winding mechanism. The steel wire rope wound on the winding mechanism drives the truss to unfold and retract. The main function of the winding mechanism is to wind the drive rope. The motor mounting bracket 26 primarily supports the motors and enables their movement.

[0047] Each double-ring bidirectional deployable structural unit includes an inner ring truss assembly, an outer ring truss assembly, a first connecting block assembly 1, a second connecting block assembly 2, a third connecting block assembly 3, and a fourth connecting block assembly 4. The third connecting block assembly 3 is located below the first connecting block assembly 1, and the fourth connecting block assembly 4 is located below the second connecting block assembly 2. It also includes two obliquely crossed steel wire ropes 5, one of which is fixedly connected at both ends to the first connecting block assembly 1 and the fourth connecting block assembly 4, and the other is fixedly connected at both ends to the second connecting block assembly 2 and the third connecting block assembly 3.

[0048] The inner ring truss assembly includes an upper inner ring crossbar 6, a lower inner ring crossbar 7, an upper inner ring slider 8, a lower inner ring slider 9, a left inner ring vertical bar 10, and a right inner ring vertical bar 11.

[0049] An inner ring upper extension rod 18 is provided above the second connecting block assembly 2, and an inner ring upper slider 8 is provided below the second connecting block assembly 2. The inner ring upper slider 8 is provided with a first outer extension rod mounting blind hole 8-1 and a first vertical rod slide passage hole 8-2. The opening direction of the outer extension rod mounting blind hole 8-1 faces the second connecting block assembly 2. One end of the inner ring upper extension rod 18 passes through the second connecting block assembly 2 and is installed in the first outer extension rod mounting blind hole 8-1. The inner ring upper extension rod 18 passes through the second connecting block assembly 2 and moves up and down with the inner ring upper slider 8.

[0050] An inner ring lower extension rod 19 is provided below the third connecting block assembly 3, and an inner ring lower slider 9 is provided above the third connecting block assembly 3. The inner ring lower slider 9 is provided with a second outer extension rod mounting blind hole 9-1 and a second vertical rod slide passage hole 9-2. The opening direction of the second outer extension rod mounting blind hole 9-1 faces the third connecting block assembly 3. One end of the inner ring lower extension rod 19 passes through the third connecting block assembly 3 and is installed in the second outer extension rod mounting blind hole 9-1. The inner ring lower extension rod 19 passes through the third connecting block assembly 3 and moves up and down with the inner ring lower slider 9.

[0051] The left vertical rod 10 and the right vertical rod 11 of the inner ring are of equal length and parallel to each other. The upper horizontal rod 6 and the lower horizontal rod 7 of the inner ring are installed parallel to each other between the left vertical rod 10 and the right vertical rod 11 of the inner ring. One end of the upper horizontal rod 6 of the inner ring is hinged to the first connecting block assembly 1, and the other end of the upper horizontal rod 6 of the inner ring is hinged to the side wall of the upper slider 8 of the inner ring and moves up and down with it. One end of the lower horizontal rod 7 of the inner ring is hinged to the fourth connecting block assembly 4, and the other end of the lower horizontal rod 7 of the inner ring is hinged to the side wall of the lower slider 9 of the inner ring and moves up and down with it.

[0052] One end of the left vertical rod 10 of the inner ring passes through the second vertical rod slide passage 9-2 of the lower slider 9 of the inner ring and is connected to the third connecting block assembly 3; the other end of the left vertical rod 10 of the inner ring is connected to the first connecting block assembly 1; one end of the right vertical rod 11 of the inner ring passes through the first vertical rod slide passage 8-2 of the upper slider 8 of the inner ring and is connected to the second connecting block assembly 2; the other end of the right vertical rod 11 of the inner ring is connected to the fourth connecting block assembly 4.

[0053] The outer ring truss assembly includes an outer ring upper crossbar 12, an outer ring lower crossbar 13, an outer ring upper slider 14, an outer ring lower slider 15, an outer ring left vertical bar 16, and an outer ring right vertical bar 17;

[0054] An outer ring upper extension rod 20 is provided above the first connecting block assembly 1, and an outer ring upper slider 14 is provided below the first connecting block assembly 1. The outer ring upper slider 14 is provided with a third outer extension rod mounting blind hole 14-1 and a third vertical rod slide passage hole 14-2. The opening direction of the third outer extension rod mounting blind hole 14-1 faces the first connecting block assembly 1. One end of the outer ring upper extension rod 20 passes through the first connecting block assembly 1 and is installed in the third outer extension rod mounting blind hole 14-1. The outer ring upper extension rod 20 passes through the first connecting block assembly 1 and moves up and down with the outer ring upper slider 14.

[0055] The fourth connecting block assembly 4 has an outer ring lower extension rod 21 below it and an outer ring lower slide block 15 above it. The outer ring lower slide block 15 has a fourth extension rod mounting blind hole 15-1 and a fourth vertical rod slide passage through hole 15-2. The opening direction of the fourth extension rod mounting blind hole 15-1 faces the fourth connecting block assembly 4. One end of the outer ring lower extension rod 21 passes through the fourth connecting block assembly 4 and is installed in the fourth extension rod mounting blind hole 15-1. The outer ring lower extension rod 21 passes through the fourth connecting block assembly 4 and moves up and down with the outer ring lower slide block 15.

[0056] The left vertical rod 16 and the right vertical rod 17 of the outer ring are of equal length and parallel to each other. The upper horizontal rod 12 and the lower horizontal rod 13 of the outer ring are installed parallel to each other between the left vertical rod 16 and the right vertical rod 17 of the outer ring. One end of the upper horizontal rod 12 of the outer ring is hinged to the second connecting block assembly 2, and the other end of the upper horizontal rod 12 of the outer ring is hinged to the side wall of the upper slider 14 of the outer ring and moves up and down with it. One end of the lower horizontal rod 13 of the outer ring is hinged to the third connecting block 3, and the other end of the lower horizontal rod 13 of the outer ring is hinged to the side wall of the lower slider 15 of the outer ring and moves up and down with it.

[0057] One end of the left vertical rod 16 of the outer ring passes through the third vertical rod slide passage 14-2 of the upper slider 14 of the outer ring and is connected to the first connecting block assembly 1; the other end of the left vertical rod 16 of the outer ring is connected to the third connecting block assembly 3; one end of the right vertical rod 17 of the outer ring passes through the fourth vertical rod slide passage 15-2 of the lower slider 15 of the outer ring and is connected to the fourth connecting block assembly 4; the other end of the right vertical rod 17 of the outer ring is connected to the second connecting block assembly 2.

[0058] Each double-ring bidirectional deployable structural unit has a pulley 23 installed in the gap between the two ends of the built-in hinge at all hinge points;

[0059] Apart from the inner ring upper crossbar 6, inner ring lower crossbar 7, outer ring upper crossbar 12, outer ring lower crossbar 13 and two diagonally cross-stretched steel wire ropes 5, the remaining components are shared by adjacent double-ring deployable structural units.

[0060] like Figure 1As shown, taking any three consecutive double-ring deployable structural units as an example, the first connecting block component 1 of the middle double-ring deployable structural unit is equivalent to the first connecting block component 1 of the double-ring deployable structural unit to its left, the second connecting block component 2 of the middle double-ring deployable structural unit is equivalent to the second connecting block component 2 of the double-ring deployable structural unit to its right; the third connecting block component 3 of the middle double-ring deployable structural unit is equivalent to the third connecting block component 3 of the double-ring deployable structural unit to its left, and the fourth connecting block component 4 of the middle double-ring deployable structural unit is equivalent to the fourth connecting block component 4 of the double-ring deployable structural unit to its right.

[0061] In all double-ring bidirectional deployable structural units, the first connecting block assembly 1 and the second connecting block assembly 2 are on the same horizontal plane. The first connecting block assembly 1 and the second connecting block assembly 2 are arranged alternately. After the truss is tightened, the adjacent first connecting block assembly 1 and the second connecting block assembly 2 are in close contact. In all double-ring bidirectional deployable structural units, the third connecting block assembly 3 and the fourth connecting block assembly 4 are on the same horizontal plane. The third connecting block assembly 3 and the fourth connecting block assembly 4 are arranged alternately. After the truss is tightened, the adjacent third connecting block assembly 3 and the fourth connecting block assembly 4 are in close contact.

[0062] The first connecting block assembly 1, the second connecting block assembly 2, the third connecting block assembly 3, and the fourth connecting block assembly 4 all include a connecting block base A. The connecting block base A is provided with a first vertical rod sleeve B, an extension rod sleeve C, and a second vertical rod sleeve D. A pulley mounting hole D is opened on the connecting block base A between the first vertical rod sleeve B and the extension rod sleeve C. A pulley 23 is provided in the pulley mounting hole D. One end of the inner ring left vertical rod 10, the outer ring right vertical rod 17, the outer ring left vertical rod 16, and the inner ring right vertical rod 11 is sleeved with the second vertical rod sleeve D of the corresponding connecting assembly. The other end of the inner ring left vertical rod 10, the outer ring right vertical rod 17, the outer ring left vertical rod 16, and the inner ring right vertical rod 11 passes through the corresponding slider and is sleeved with the first vertical rod sleeve B of the corresponding connecting assembly.

[0063] Specifically, such as Figure 4-7 As shown, the first connecting block assembly 1 includes a connecting block base a1-1, on which a first vertical rod sleeve a1-2, an extension rod sleeve a1-3 and a second vertical rod sleeve a1-4 are provided. A pulley mounting hole a1-5 is opened on the connecting block base a1-1 between the first vertical rod sleeve a1-2 and the extension rod sleeve a1-3, and a pulley 23 is provided in the pulley mounting hole a1-5.

[0064] The second connecting block assembly 2 includes a connecting block base b2-1, on which a first vertical rod sleeve b2-2, an extension rod sleeve b2-3 and a second vertical rod sleeve b2-4 are provided. A pulley mounting hole b2-5 is opened on the connecting block base b2-1 between the first vertical rod sleeve b2-2 and the extension rod sleeve b2-3, and a pulley 23 is provided in the pulley mounting hole b2-5.

[0065] The third connecting block assembly 3 includes a connecting block base c3-1. A first vertical rod sleeve c3-2, an extension rod sleeve c3-3, and a second vertical rod sleeve c3-4 are provided on the connecting block base c3-1. A pulley mounting hole c3-5 is opened on the connecting block base c3-1 between the first vertical rod sleeve c3-2 and the extension rod sleeve c3-3. A pulley 23 is provided in the pulley mounting hole c3-5.

[0066] The fourth connecting block assembly 4 includes a connecting block base d4-1, on which a first vertical rod sleeve d4-2, an extension rod sleeve d4-3 and a second vertical rod sleeve d4-4 are provided. A pulley mounting hole d4-5 is opened on the connecting block base d4-1 between the first vertical rod sleeve d4-2 and the extension rod sleeve d4-3, and a pulley 23 is provided in the pulley mounting hole d4-5.

[0067] One end of the upper crossbar 6 of the inner ring is hinged to the connecting block base a1-1 of the first connecting block assembly 1, and the other end of the upper crossbar 6 of the inner ring is hinged to the side wall of the upper slider 8 of the inner ring and moves up and down together with it; one end of the lower crossbar 7 of the inner ring is hinged to the connecting block base d4-1 of the fourth connecting block assembly 4, and the other end of the lower crossbar 7 of the inner ring is hinged to the side wall of the lower slider 9 of the inner ring and moves up and down together with it; one end of the left vertical rod 10 of the inner ring passes through the second vertical rod slide passage hole 9-2 of the lower slider 9 of the inner ring and is located inside the first vertical rod sleeve c3-2 of the third connecting block assembly 3, and The inner ring left vertical rod 10 is fixedly connected to the first vertical rod sleeve c3-2. The other end of the inner ring left vertical rod 10 is located inside the second vertical rod sleeve a1-4 of the first connecting block assembly 1 and is fixedly connected to the second vertical rod sleeve a1-4. One end of the inner ring right vertical rod 11 passes through the first vertical rod slide passage hole 8-2 of the inner ring upper slider 8 and is located inside the first vertical rod sleeve b2-2 of the second connecting block assembly 2 and is fixedly connected to the first vertical rod sleeve b2-2. The other end of the inner ring right vertical rod 11 is located inside the second vertical rod sleeve d4-4 of the fourth connecting block assembly 4 and is fixedly connected to the second vertical rod sleeve d4-4. The outer ring upper One end of the crossbar 12 is hinged to the connecting block base b2-1 of the second connecting block assembly 2, and the other end of the upper crossbar 12 of the outer ring is hinged to the side wall of the upper slider 14 of the outer ring and moves up and down together with it; one end of the lower crossbar 13 of the outer ring is hinged to the connecting block base c3-1 of the third connecting block 3, and the other end of the lower crossbar 13 of the outer ring is hinged to the side wall of the lower slider 15 of the outer ring and moves up and down together with it; one end of the left vertical bar 16 of the outer ring passes through the third vertical bar slide passage through hole 14-2 of the upper slider 14 of the outer ring and is located inside the first vertical bar sleeve a1-2 of the first connecting block assembly 1. The outer ring left vertical rod 16 is located inside the second vertical rod sleeve c3-4 of the third connecting block assembly 3 and is fixedly connected to the second vertical rod sleeve c3-4; one end of the outer ring right vertical rod 17 passes through the fourth vertical rod slide passage 15-2 of the outer ring lower slider 15 and is located inside the first vertical rod sleeve d4-2 of the fourth connecting block assembly 4 and is fixedly connected to the first vertical rod sleeve d4-2; the other end of the outer ring right vertical rod 17 is located inside the second vertical rod sleeve b2-4 of the second connecting block assembly 2 and is fixedly connected to the second vertical rod sleeve b2-4.

[0068] One end of the inner ring upper extension rod 18 passes through the outer extension rod sleeve b2-3 of the second connecting block assembly 2 and is installed in the first outer extension rod installation blind hole 8-1; one end of the inner ring lower extension rod 19 passes through the outer extension rod sleeve c3-3 of the third connecting block assembly 3 and is installed in the second outer extension rod installation blind hole 9-1; one end of the outer ring upper extension rod 20 passes through the outer extension rod sleeve a1-3 of the first connecting block assembly 1 and is installed in the third outer extension rod installation blind hole 14-1; one end of the outer ring lower extension rod 21 passes through the outer extension rod sleeve d4-3 of the fourth connecting block assembly 4 and is installed in the fourth outer extension rod installation blind hole 15-1.

[0069] In each double-ring bidirectional deployable structural unit, there are two obliquely crossed steel wire ropes 5. The two ends of one steel wire rope 5 are fixedly connected to the connecting block base A of the first connecting block assembly 1 and the fourth connecting block assembly 4, respectively. The two ends of the other steel wire rope 5 are fixedly connected to the connecting block base A of the second connecting block assembly 2 and the third connecting block assembly 3, respectively.

[0070] A reinforcing rib 22 is provided between the two ends of the crossbar mounting hinge on the two opposite side walls of the outer ring upper slider 14 and the outer ring lower slider 15 for connecting with the corresponding crossbar.

[0071] The inner ring, outer ring, and intersecting steel wire ropes are on different planes in space, which avoids interference during the unfolding process. The lengths of the outrigger and the vertical rod are approximately equal, which ensures that the folded height does not increase when the rope is folded up.

[0072] like Figure 4-7 As shown, the four connecting block components are integral plate shell structures, with increased height around the perimeter to enhance the overall rigidity of the connecting blocks, and ribs added to the parts where the protruding rods and vertical rods are located to improve strength.

[0073] The vertical rod sleeve serves to position and support the vertical rod. The reinforcing ribs prevent bending of the rod, and the pulley mounting holes provide a location for installing the pulley and driving the rope.

[0074] The number of double-ring bidirectional deployable structural units is 30. The diameter of the fully collapsed state is 420mm and the height of the fully collapsed state is 270mm. The diameter of the fully expanded state is 2068mm and the height of the fully expanded state is 620mm.

[0075] To ensure that the deployment speed is approximately the same, the sliders of each unit move synchronously, the various rods do not interfere with each other, and the speeds of the two motors are set to be the same. The double-ring bidirectional deployable truss structure is driven by ropes, with each inner and outer ring truss structure containing eight drive cables, for a total of sixteen drive cables. The first end of each drive cable is fixed to motor 24, and the second end is fixed to the truss end fixing point between the two motors 24.

[0076] The following example uses a basic unit, combined with... Figure 2 Sections 3, 12, and 13 provide a detailed description of the winding path of the inner loop drive rope:

[0077] The two motors divide the truss into two semicircles. Figure 12 This diagram shows the installation of the drive cable on both sides of the truss at the center of the semi-circular arc. Fixing point 31 indicates that the drive cable is fixed here. n is the number of sides of the truss. In this paper, there are 30 sides, so n is 30. (n / 2-1) / 2 represents the 7th unfolding unit starting from the left motor. Figure 12 An installation diagram representing the end of the winding process for adjacent units.

[0078] like Figure 12 As shown, the end of the first upper drive cable a27 of the inner ring first passes around the hinge connected to the first connecting block assembly 1 and enters the upper crossbar 6 of the inner ring, then passes around the upper slider 8 of the inner ring and is connected and fixed to the fixing point 31. The winding method of the third lower drive cable a29 of the inner ring is the same as that of the first upper drive cable a27 of the inner ring, and the end of the third lower drive cable a29 of the inner ring is connected and fixed to the fixing point 31. The end of the second lower drive cable a28 of the inner ring first passes around the lower slider 9 of the inner ring, enters the lower crossbar 7 of the inner ring and is connected and fixed to the hinge on the fourth connecting block assembly 4. The winding method of the fourth upper drive cable a30 of the inner ring is the same as that of the second lower drive cable a28 of the inner ring, and the end of the fourth upper drive cable a30 of the inner ring is connected and fixed to the hinge on the fourth connecting block assembly 4.

[0079] like Figure 13 As shown, the first upper drive cable b32 of the inner ring first bypasses the hinge connected to the first connecting block assembly 1 and enters the upper crossbar 6 of the inner ring, then bypasses the upper slider 8 of the inner ring and enters the next unit. The second lower drive cable b33 of the inner ring first bypasses the lower slider 9 of the inner ring and enters the lower crossbar 7 of the inner ring, then bypasses the hinge on the fourth connecting block assembly 4 and enters the next unit. The principle of the remaining six drive cables of the inner ring and the eight drive cables of the outer ring is similar, and will not be described in detail here. When the mechanism is retracted, all the members are arranged in a vertical parallel state. When the mechanism is safely deployed, the diagonally intersecting steel wire ropes 5 of equal length are also deployed simultaneously. Since the installation of the steel wire ropes 5 is carried out when the truss is fully deployed, the steel wire ropes 5 are in a taut state but have no stiffness under the condition that the truss does not deform; when the structure deforms, the steel wire ropes and the surrounding horizontal and vertical bars act as a spatial triangle, enhancing the stability of the structure.

[0080] To overcome the stability issues of ultra-large deployable truss structures, this invention employs a dual-motor drive system. The left motor is powered by the satellite itself and is mounted on the main arm of the satellite's deployment arm; the right motor is powered by a battery and is mounted on an accessory of the satellite's deployment arm.

[0081] To overcome the problem of poor stiffness in ultra-large deployable truss structures, this invention adopts a double-ring deployable structure, including an inner ring and an outer ring, connected by connecting blocks. To reduce the overall mass of the truss structure, the connecting blocks are designed as shell structures, offering advantages of light weight and high stiffness. Secondly, the traditional diagonal brace structure is replaced with a cross-stretched steel wire rope structure, significantly reducing the radial distance of the connecting blocks and thus reducing mass. The inner ring, outer ring, and steel wire rope structure reside in three parallel planes, enhancing the overall stiffness of the deployable truss structure.

[0082] To improve the unfolding-to-retracting ratio of the ultra-large deployable truss structure, this invention adds auxiliary rods in the height direction of the truss to increase the unfolded height. The auxiliary rods are mounted on corresponding sliders, which are in turn mounted on vertical rods. Driven by ropes, these sliders can move up and down, achieving an unfolded height more than twice the retracted height.

[0083] The double-ring bidirectional deployable truss structure designed in this invention has an inner ring upper crossbar, an inner ring lower crossbar, an outer ring upper crossbar, an outer ring lower crossbar, and intersecting steel wire ropes in five planes. When fully deployed, it is a spatial structure, and when fully retracted, they do not interfere with each other, thus saving space.

[0084] Example 2

[0085] The dual-motor driven double-ring bidirectional deployable truss includes two motors 24, and multiple double-ring bidirectional deployable structural units are arranged between the two motors 24. The multiple double-ring bidirectional deployable structural units are connected in series to form a closed loop. Each motor 24 is connected to a double-ring bidirectional deployable structural unit through a winding mechanism 25, and the two motors are respectively installed at both ends of the deployable truss.

[0086] One of the motors 24 is powered by the satellite body and is mounted on the large arm of the satellite's deployment arm; the other motor 24 is powered by a battery and is mounted on an accessory of the satellite's deployment arm.

[0087] Example 3

[0088] The dual-motor driven double-ring bidirectional deployable truss includes two motors 24, and multiple double-ring bidirectional deployable structural units are arranged between the two motors 24. The multiple double-ring bidirectional deployable structural units are connected in series to form a closed loop. Each motor 24 is connected to a double-ring bidirectional deployable structural unit through a winding mechanism 25, and the two motors are respectively installed at both ends of the deployable truss.

[0089] One motor 24 is powered by the satellite itself and is mounted on the main arm of the satellite's deployment arm; the other motor 24 is powered by a battery and is mounted on an accessory of the satellite's deployment arm. A standard 300W servo motor was selected.

Claims

1. A dual-motor driven, double-ring, bidirectional deployable truss, characterized in that, It includes two motors (24), and multiple double-ring bidirectional deployable structural units are arranged between the two motors (24). The multiple double-ring bidirectional deployable structural units are connected in series to form a closed loop. Each motor (24) is connected to a double-ring bidirectional deployable structural unit through a winding mechanism (25), wherein the two motors are respectively installed at both ends of the deployable truss. Each double-ring bidirectional deployable structural unit includes an inner ring truss assembly, an outer ring truss assembly, a first connecting block assembly (1), a second connecting block assembly (2), a third connecting block assembly (3), and a fourth connecting block assembly (4). The third connecting block assembly (3) is located below the first connecting block assembly (1), and the fourth connecting block assembly (4) is located below the second connecting block assembly (2). It also includes two obliquely cross-stretched steel wire ropes (5), one of which has its two ends fixedly connected to the first connecting block assembly (1) and the fourth connecting block assembly (4), and the other has its two ends fixedly connected to the second connecting block assembly (2) and the third connecting block assembly (3). The inner ring truss assembly includes an inner ring upper horizontal bar (6), an inner ring lower horizontal bar (7), an inner ring upper slider (8), an inner ring lower slider (9), an inner ring left vertical bar (10), and an inner ring right vertical bar (11). An inner ring upper extension rod (18) is provided above the second connecting block assembly (2), and an inner ring upper slider (8) is provided below the second connecting block assembly (2). The inner ring upper slider (8) is provided with a first outer extension rod mounting blind hole (8-1) and a first vertical rod slide passage hole (8-2). The outer extension rod mounting blind hole (8-1) is opened towards the second connecting block assembly (2). One end of the inner ring upper extension rod (18) passes through the second connecting block assembly (2) and is installed in the first outer extension rod mounting blind hole (8-1). The inner ring upper extension rod (18) passes through the second connecting block assembly (2) and moves up and down with the inner ring upper slider (8). The lower part of the third connecting block assembly (3) is provided with an inner ring lower extension rod (19), and the upper part of the third connecting block assembly (3) is provided with an inner ring lower slider (9). The inner ring lower slider (9) is provided with a second outer extension rod mounting blind hole (9-1) and a second vertical rod slide passage hole (9-2). The opening direction of the second outer extension rod mounting blind hole (9-1) faces the third connecting block assembly (3). One end of the inner ring lower extension rod (19) passes through the third connecting block assembly (3) and is installed in the second outer extension rod mounting blind hole (9-1). The inner ring lower extension rod (19) passes through the third connecting block assembly (3) and moves up and down with the inner ring lower slider (9). The inner ring left vertical rod (10) and inner ring right vertical rod (11) are of equal length and parallel to each other. The inner ring upper horizontal rod (6) and inner ring lower horizontal rod (7) are installed parallel to each other between the inner ring left vertical rod (10) and inner ring right vertical rod (11). One end of the inner ring upper horizontal rod (6) is hinged to the first connecting block assembly (1), and the other end of the inner ring upper horizontal rod (6) is hinged to the side wall of the inner ring upper slider (8) and moves up and down with it. One end of the inner ring lower horizontal rod (7) is hinged to the fourth connecting block assembly (4), and the other end of the inner ring lower horizontal rod (7) is hinged to the side wall of the inner ring lower slider (9) and moves up and down with it. One end of the left vertical rod (10) of the inner ring passes through the second vertical rod slide passage hole (9-2) of the lower slider (9) of the inner ring and is connected to the third connecting block assembly (3), and the other end of the left vertical rod (10) of the inner ring is connected to the first connecting block assembly (1); one end of the right vertical rod (11) of the inner ring passes through the first vertical rod slide passage hole (8-2) of the upper slider (8) of the inner ring and is connected to the second connecting block assembly (2), and the other end of the right vertical rod (11) of the inner ring is connected to the fourth connecting block assembly (4); The outer ring truss assembly includes an outer ring upper crossbar (12), an outer ring lower crossbar (13), an outer ring upper slider (14), an outer ring lower slider (15), an outer ring left vertical bar (16), and an outer ring right vertical bar (17). An outer ring upper extension rod (20) is provided above the first connecting block assembly (1), and an outer ring upper slider (14) is provided below the first connecting block assembly (1). The outer ring upper slider (14) is provided with a third outer extension rod mounting blind hole (14-1) and a third vertical rod slide passage hole (14-2). The opening direction of the third outer extension rod mounting blind hole (14-1) faces the first connecting block assembly (1). One end of the outer ring upper extension rod (20) passes through the first connecting block assembly (1) and is installed in the third outer extension rod mounting blind hole (14-1). The outer ring upper extension rod (20) passes through the first connecting block assembly (1) and moves up and down with the outer ring upper slider (14). An outer ring lower extension rod (21) is provided below the fourth connecting block assembly (4), and an outer ring lower slide block (15) is provided above the fourth connecting block assembly (4). The outer ring lower slide block (15) is provided with a fourth extension rod mounting blind hole (15-1) and a fourth vertical rod slide passage through hole (15-2). The opening direction of the fourth extension rod mounting blind hole (15-1) faces the fourth connecting block assembly (4). One end of the outer ring lower extension rod (21) passes through the fourth connecting block assembly (4) and is installed in the fourth extension rod mounting blind hole (15-1). The outer ring lower extension rod (21) passes through the fourth connecting block assembly (4) and moves up and down with the outer ring lower slide block (15). The outer ring left vertical rod (16) and outer ring right vertical rod (17) are of equal length and parallel to each other. The outer ring upper horizontal rod (12) and outer ring lower horizontal rod (13) are installed parallel to each other between the outer ring left vertical rod (16) and outer ring right vertical rod (17). One end of the outer ring upper horizontal rod (12) is hinged to the second connecting block assembly (2), and the other end of the outer ring upper horizontal rod (12) is hinged to the side wall of the outer ring upper slider (14) and moves up and down with it. One end of the outer ring lower horizontal rod (13) is hinged to the third connecting block assembly (3), and the other end of the outer ring lower horizontal rod (13) is hinged to the side wall of the outer ring lower slider (15) and moves up and down with it. One end of the left vertical rod (16) of the outer ring passes through the third vertical rod slide passage hole (14-2) of the upper slider (14) of the outer ring and is connected to the first connecting block assembly (1), and the other end of the left vertical rod (16) of the outer ring is connected to the third connecting block assembly (3); one end of the right vertical rod (17) of the outer ring passes through the fourth vertical rod slide passage hole (15-2) of the lower slider (15) of the outer ring and is connected to the fourth connecting block assembly (4), and the other end of the right vertical rod (17) of the outer ring is connected to the second connecting block assembly (2); Each double-ring bidirectional deployable structural unit has a pulley (23) installed in the gap between the two ends of the built-in hinge at all the hinges. Except for the inner ring upper crossbar (6), inner ring lower crossbar (7), outer ring upper crossbar (12), outer ring lower crossbar (13) and two diagonally cross-stretched steel wire ropes (5), the remaining components are shared by adjacent double-ring deployable structural units; adjacent double-ring deployable structural units are connected by hinges to form a closed ring deployable truss. In all double-ring bidirectional deployable structural units, the first connecting block assembly (1) and the second connecting block assembly (2) are on the same horizontal plane. The first connecting block assembly (1) and the second connecting block assembly (2) are arranged alternately. After the truss is tightened, the adjacent first connecting block assembly (1) and the second connecting block assembly (2) are in close contact. In all double-ring bidirectional deployable structural units, the third connecting block assembly (3) and the fourth connecting block assembly (4) are on the same horizontal plane. The third connecting block assembly (3) and the fourth connecting block assembly (4) are arranged alternately. After the truss is tightened, the adjacent third connecting block assembly (3) and the fourth connecting block assembly (4) are in close contact.

2. The dual-motor driven, double-ring, bidirectional deployable truss according to claim 1, characterized in that, The first connecting block assembly (1), the second connecting block assembly (2), the third connecting block assembly (3) and the fourth connecting block assembly (4) all include a connecting block base. The connecting block base is provided with a first vertical rod sleeve, an outer extension rod sleeve and a second vertical rod sleeve. The connecting block base between the first vertical rod sleeve and the outer extension rod sleeve has a pulley mounting hole, and a pulley (23) is provided in the pulley mounting hole. One end of the inner ring left vertical rod (10), the outer ring right vertical rod (17), the outer ring left vertical rod (16) and the inner ring right vertical rod (11) are sleeved with the second vertical rod sleeve of the corresponding connecting assembly. The other end of the inner ring left vertical rod (10), the outer ring right vertical rod (17), the outer ring left vertical rod (16) and the inner ring right vertical rod (11) passes through the corresponding slider and is sleeved with the first vertical rod sleeve of the corresponding connecting assembly. In each double-ring bidirectional deployable structural unit, there are two obliquely crossed steel wire ropes (5). The two ends of one steel wire rope (5) are fixedly connected to the connecting block bases of the first connecting block assembly (1) and the fourth connecting block assembly (4), respectively. The two ends of the other steel wire rope (5) are fixedly connected to the connecting block bases of the second connecting block assembly (2) and the third connecting block assembly (3), respectively.

3. The dual-motor driven, double-ring, bidirectional deployable truss according to claim 1, characterized in that, A reinforcing rib (22) is provided between the two ends of the crossbar mounting hinge for connecting with the corresponding crossbar on the two opposite side walls of the upper outer ring slider (14) and the lower outer ring slider (15).

4. The dual-motor driven, double-ring, bidirectional deployable truss according to claim 1, characterized in that, One of the motors (24) is powered by the satellite body and is mounted on the large arm of the satellite's deployable arm; the other motor (24) is powered by a battery and is mounted on an accessory of the satellite's deployable arm.

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