Space flexible stretching device and system

Abstract

The invention relates to a space flexible stretching device and system, and the device comprises a load assembly which comprises a flexible load and a load reel, and the load reel is used for winding the flexible load; the flexible stretching assembly is connected with the load assembly, the flexible stretching assembly comprises a stretching arm, a winding assembly, an unfolding and folding assembly and a driving assembly, the winding assembly is used for winding the stretching arm, and the unfolding and folding assembly is attached to the surface of the stretching arm; the driving assembly is configured to drive the unfolding and folding assembly to move so as to drive the stretching arm to be gradually unfolded and curled from a winding state to form a guide rod; the extension arm is connected with the flexible load, and the extension arm is used for driving the flexible load to move in the same direction; the two ends of the connecting rod assembly are connected with the two oppositely-arranged flexible stretching assemblies correspondingly. The multi-directional unfolding load requirement can be met, the universality, the lightweight degree and the unfolding and folding ratio are improved, and the structure is simple.

Description

Technical Field

[0001] The present application mainly relates to the technical field of space deployable structures, and specifically to a space flexible stretching device and a space flexible stretching system. Background Art

[0002] As human exploration of space deepens, spacecraft functionality becomes increasingly complex. As spacecraft structures grow larger, the supporting structures required for large-scale solar arrays, large-scale antennas, and remote sensing probes also grow larger. Due to limitations in launch capacity and launch costs, it's impossible to launch large space structures directly into orbit. Space extension mechanisms are required to reliably stow these supporting structures during launch and stably deploy them into the desired configuration once the spacecraft is in orbit.

[0003] Currently, commonly used space expansion mechanisms can be divided into two categories based on their structural form: rigid expansion mechanisms and flexible expansion mechanisms. The weight of rigid expansion mechanisms increases significantly with the expansion dimensions, making them unable to meet the demands for lightweighting and miniaturization. Flexible expansion mechanisms, with their advantages of light weight and high expansion-to-contraction ratio, are gradually replacing rigid expansion mechanisms in widespread use. However, existing flexible expansion mechanisms are complex and only suitable for unidirectional deployment scenarios, failing to meet multi-directional deployment requirements such as bidirectional and four-directional deployment, resulting in poor versatility. Summary of the Invention

[0004] The technical problem to be solved by the present application is to provide a space flexible extension device and system that can meet the requirements of multi-directional expansion load, improve versatility, lightweight and expansion-contraction ratio, and has a simple structure.

[0005] The technical solution adopted by the present application to solve the above-mentioned technical problems is a spatial flexible extension device, including: a load assembly, including a flexible load and a load reel, the load reel is used to wind the flexible load; a flexible extension assembly, connected to the load assembly, the flexible extension assembly includes an extension arm, a winding assembly, an expansion and retraction assembly and a drive assembly, the winding assembly is used to wind the extension arm, the expansion and retraction assembly is in contact with the surface of the extension arm, and the drive assembly is configured to drive the expansion and retraction assembly to move so as to drive the extension arm to gradually unfold and curl from a wound state to form a guide rod; the extension arm is connected to the flexible load, and the extension arm is used to drive the flexible load to move in the same direction; and a connecting rod assembly, the two ends of the connecting rod assembly are respectively connected to two oppositely arranged flexible extension assemblies.

[0006] In one embodiment of the present application, the flexible extension component also includes a box body, the winding component and the unfolding component are accommodated in the box body, and the box body is provided with an extension arm through hole, and the extension arm can be extended outward from the extension arm through hole after being curled into a guide rod.

[0007] In one embodiment of the present application, a first through hole is also provided on the box body; the winding assembly includes a special-shaped winding shaft, a first joint bearing and a first bearing pressure ring, the inner ring of the first joint bearing is connected to the end of the special-shaped winding shaft, and the outer ring of the first joint bearing is connected to the first through hole and fixed by the first bearing pressure ring.

[0008] In one embodiment of the present application, a second through hole is also provided on the box body; the expansion and contraction assembly includes an active roller shaft, a second joint bearing and a second bearing pressure ring, the inner ring of the second joint bearing is connected to the end of the active roller shaft, and the outer ring of the second joint bearing is connected to the second through hole and fixed by the second bearing pressure ring.

[0009] In one embodiment of the present application, the expansion and contraction assembly also includes a driven roller, a third joint bearing, a third bearing pressure ring, a bearing seat, a guide rail, a fixed slider, a movable slider and a first elastic member. The inner ring of the third joint bearing is connected to the end of the driven roller, the bearing seat is respectively connected to the outer ring of the third joint bearing, the movable slider and the third bearing pressure ring, the guide rail is connected to the box, the fixed slider is fixedly connected to the guide rail, the movable slider is slidably connected to the guide rail, and the first elastic member is respectively connected to the fixed slider and the movable slider.

[0010] In one embodiment of the present application, the shape of the active roller is convex, and the shape of the driven roller is concave; or the shape of the active roller is concave, and the shape of the driven roller is convex; the convex shape and the concave shape are adapted to each other; the surface of the extension arm is respectively fitted with the active roller and the driven roller, and the extension arm can pass between the active roller and the driven roller.

[0011] In one embodiment of the present application, the end of the special-shaped winding shaft has a first gear keyway, and the first gear keyway extends outward from the first through hole; the end of the active roller shaft has a second gear keyway, and the second gear keyway extends outward from the second through hole; the box body is also provided with a third through hole, and the end of the driven roller shaft has a third gear keyway, and the third gear keyway extends outward from the third through hole; the driving assembly includes a first gear, a second gear, a third gear, a driving gear and a motor, the first gear is connected to the first gear keyway, the second gear is connected to the second gear keyway, and the third gear is connected to the third gear keyway, the driving gear is meshed with the first gear and the second gear respectively, and the third gear is meshed with the second gear, and the motor is used to drive the driving gear to rotate.

[0012] In one embodiment of the present application, the number of teeth of the first gear, the number of teeth of the second gear and the number of teeth of the third gear are the same and greater than the number of teeth of the driving gear, so that the driving assembly constitutes a first-stage reduction mechanism to amplify the torque of the motor and enable the active roller shaft, the driven roller shaft and the special-shaped winding shaft to rotate synchronously at the same speed.

[0013] In one embodiment of the present application, the flexible extension assembly also includes a clamping assembly, the clamping assembly includes a clamping roller, a clamping arm, a clamping bearing, a drive coil spring and a clamping mounting seat, the inner ring of the clamping bearing is connected to the end of the clamping roller, the clamping arm is respectively connected to the outer ring of the clamping bearing, the clamping mounting seat and the drive coil spring, the clamping mounting seat is connected to the box body, and the drive coil spring is used to provide a clamping force so that the clamping roller clamps the extension arm wound on the winding assembly.

[0014] In one embodiment of the present application, the flexible extension component also includes a clamping and locking component, which is connected to the box body, and the clamping and locking component is used to clamp and / or lock the guide rod. The clamping and locking component includes a clamping shaft, a torsion spring, a first clamping ring, a second clamping ring and a pin puller, and the clamping shaft is respectively connected to the first clamping ring and the second clamping ring; the torsion spring is sleeved on the clamping shaft, and the torsion spring is used to provide torque so that the first clamping ring and the second clamping ring can rotate synchronously around the clamping shaft; the pin puller is arranged between the first clamping ring and the second clamping ring, and the pin puller is used to control the clamping and locking component to be in an unlocked state or a locked state.

[0015] In one embodiment of the present application, the spatial flexible extension device also includes a traction assembly, the traction assembly includes a traction plate and a second elastic member, the traction plate is respectively connected to the extension arm and the second elastic member, the second elastic member is connected to the flexible load, and the second elastic member is used to provide tension during the expansion or contraction of the flexible load.

[0016] In one embodiment of the present application, the guide rod is any one of a C-shaped rod, a cylindrical rod and a conical rod; when the extension arm is wound on the winding assembly, it is in a first stable state and stores strain energy, and when the extension arm is gradually unfolded from the wound state, the strain energy is released and it is in a second stable state.

[0017] In order to solve the above technical problems, the present application also proposes a spatial flexible extension system, which includes at least one spatial flexible extension device as described above, and each spatial flexible extension device is connected by a connecting rod assembly.

[0018] The technical solution of the present application uses a load reel to wind up the flexible load, thereby achieving compact storage of the flexible load; the flexible extension component is used to drive the expansion and contraction component to move, so that the extension arm can be unfolded from the wound state and form a guide rod with a certain rigidity. During the movement of the guide rod, the flexible load can be driven to move in the same direction, thereby unfolding the flexible load; the two flexible extension components are connected by a connecting rod assembly to form a stable symmetrical support structure, thereby improving the rigidity and stability of the overall device. The spatial flexible extension device of the present application has strong scalability. By changing the number and connection method of the spatial flexible extension device, a spatial flexible extension system suitable for different scenarios can be combined, and multi-directional expansion loads such as unidirectional, bidirectional, tridirectional, or four-directional can be achieved. It can meet the needs of loads of different sizes, improve versatility, lightweight and expansion and contraction ratio, and has a simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to make the above-mentioned objects, features and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the overall structure of a space flexible stretching device according to an embodiment of the present application; Figure 2 is a schematic diagram of a load assembly in one embodiment of the present application; Figure 3 is a schematic diagram of a flexible extension component in one embodiment of the present application; Figure 4 This is a schematic diagram of a box in one embodiment of the present application; Figure 5 is a schematic diagram of a winding assembly in one embodiment of the present application; Figure 6 is a schematic diagram of an unfolding and retracting assembly in one embodiment of the present application; Figure 7 Schematic diagram of the active roller of the stowage assembly in one embodiment of the present application; Figure 8 Schematic diagram of a driven roller of an unfolding and retracting assembly in one embodiment of the present application; Figure 9 is a schematic diagram of a compression assembly in one embodiment of the present application; Figure 10 is a schematic diagram of a clamping and locking assembly in one embodiment of the present application; Figure 11 is a schematic diagram of a driving assembly of a flexible extension assembly in one embodiment of the present application; Figure 12 is a schematic diagram of a connecting rod assembly in one embodiment of the present application; Figure 13 Schematic diagram of a traction assembly in one embodiment of the present application.

[0020] Description of the accompanying drawings in the specific embodiment: 1. Load assembly; 11. Flexible load; 12. Load reel; 13. Load-carrying axial concentric spherical bearing; 14. Load reel bearing pressure ring; 2. Flexible extension component; 21. Cabinet; 211. Extension arm through hole; 212. The third through hole; 213. Second through hole; 214. Drive assembly mounting hole; 215. First through hole; 216. Load reel mounting hole; 217. Compression assembly mounting hole; 218. Clamping assembly mounting hole; 22. Extend your arms; 23. Winding components; 231. Special-shaped winding shaft; 232. First joint bearing; 233. First bearing pressure ring; 234. First gear keyway; 24. Expand and retract components; 241. Active roller; 2412. Second joint bearing; 2413. Second bearing pressure ring; 2414. Second gear keyway; 242. Driven roller shaft; 2422. Third joint bearing; 2423. Bearing seat; 2424. Third bearing pressure ring; 2425. Guide rail; 2426. Fixed slider; 2427.Active Slider; 2428. First elastic member; 2429. Third gear keyway; 25. Compression assembly; 251.Pressing roller; 252. Clamping arm; 253. Press bearing; 254. Coil spring box; 255. Drive coil spring; 256. Press the mounting seat tightly; 26. Clamping and locking assembly; 261. Clamping shaft; 262. First clamping ring; 263. Second clamping ring; 264. Pin puller; 27. Drive components; 271. Third gear; 272. Second gear; 273. Drive gear; 274. First gear; 275. Motor; 3. Connecting rod assembly; 31. Support rod; 32. Flange; 4. Traction components; 41. Traction board; 42. Second elastic member. DETAILED DESCRIPTION

[0021] In order to make the above-mentioned objectives, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below with reference to the accompanying drawings.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0023] As used in this application, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0024] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0025] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0026] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is solely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. Furthermore, while the terms used in this application are selected from commonly known and commonly used terms, some terms mentioned in this specification may have been selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant sections of this description. Furthermore, this application should be understood not only by the actual terms used, but also by the meaning implied by each term.

[0027] The following describes the embodiments of the present application based on the accompanying drawings. However, the embodiments shown below are examples of a space-flexible extension device and system for embodying the technical ideas of the present application, and the space-flexible extension device and system of the present application are not specific to the following contents. However, the components shown are by no means specific to the components of the embodiments. In particular, the dimensions, materials, shapes, and relative configurations of the constituent components recorded in the embodiments, if not specifically recorded, are not intended to limit the scope of the present application to these, but are merely illustrative examples.

[0028] However, the dimensions or positional relationships of the components shown in the drawings are sometimes exaggerated for the purpose of clarifying the description. Furthermore, in the following description, for components that are identical or homogeneous, the same name or symbol indicates that its detailed description will be omitted as appropriate. Furthermore, the various elements constituting the present application may be in the form of multiple elements being constituted by the same component so that one component serves as multiple elements, or conversely, multiple components sharing the function of one component. In addition, the contents described in some embodiments and implementation methods may also be utilized in other embodiments, implementation methods, etc. In addition, in this specification, "on" is not limited to the case where it is formed in contact with the upper surface, but also includes the case where it is formed separately above, and is also used to include the meaning of the presence of an intervening layer between layers.

[0029] The present application proposes a space flexible extension device, which can be used in scenarios in the aerospace field where it needs to be deployed in orbit and needs to have a high degree of lightweight, expansion-contraction ratio and versatility.

[0030] The following text describes the technical solution of this application based on a spatially flexible expansion device comprising two flexible expansion components (i.e., a dual-mechanism, unidirectional expansion system). In practical applications, different spatially expandable systems can be combined by increasing or decreasing the number of components. This application does not impose any restrictions on the number of components.

[0031] Figure 1 This is a schematic diagram of the overall structure of a space flexible stretching device according to an embodiment of the present application. Figure 2 is a schematic diagram of a load assembly in one embodiment of the present application, Figure 3 Schematic diagram of a flexible extension component in one embodiment of the present application.

[0032] refer to Figures 1 to 3 As shown, the spatial flexible stretching device of this embodiment includes: a load component 1, including a flexible load 11 and a load reel 12, the load reel 12 is used to wind the flexible load 11; a flexible stretching component 2, connected to the load component 1, the flexible stretching component 2 includes a stretching arm 22, a winding component 23, a stowage component 24 and a driving component 27, the winding component 23 is used to wind the stretching arm 22, the stowage component 24 is in contact with the surface of the stretching arm 22, and the driving component 27 is configured to drive the stowage component 24 to move so as to drive the stretching arm 22 to gradually unfold from a stowed state and curl to form a guide rod; the stretching arm 22 is connected to the flexible load 11, and the stretching arm 22 is used to drive the flexible load 11 to move in the same direction; a connecting rod component 3, the two ends of the connecting rod component 3 are respectively connected to two oppositely arranged flexible stretching components 2.

[0033] For example, the load assembly 1 is equivalent to the deployed load assembly, the flexible extension assembly 2 is equivalent to the flexible extension mechanism, and the connecting rod assembly 3 is equivalent to the synchronous connecting rod assembly. The extension arm 22 is, for example, a thin-walled extension arm made of a composite material, that is, the extension arm 22 is a thin-walled superelastic element made of a composite material. The extension arm 22 has the ability to withstand large deformations and can store strain energy after being wound on the winding assembly 23. When the extension arm 22 is deployed, the strain energy stored in it is released to restore it to a straight rod shape. The straight rod-shaped extension arm 22 is equivalent to a thin-walled support rod and has a certain rigidity, which can guide, drive and support the flexible load 11. Figure 3 As shown, the flexible extension assembly 2 includes a box 21, an extension arm 22, a winding assembly 23, a stowing assembly 24, a pressing assembly 25, a clamping and locking assembly 26 and a driving assembly 27.

[0034] Figure 4 This is a schematic diagram of a box in one embodiment of the present application. Figure 4 As shown, the box body 21 is provided with an extension arm through hole 211 (i.e., the extension arm outlet), a first through hole 215 (i.e., the winding assembly mounting hole), a second through hole 213 (i.e., the driving shaft mounting hole), a third through hole 212 (i.e., the driven shaft mounting hole), a drive assembly mounting hole 214, a load reel mounting hole 216, a clamping assembly mounting hole 217 and a clamping assembly mounting hole 218.

[0035] refer to Figure 2 and Figure 4 As shown, the load assembly 1 includes a flexible load 11, a load reel 12, a pair of load reel centrifugal spherical bearings 13 and a pair of load reel bearing pressure rings 14. The flexible load 11 includes a structure such as a flexible solar cell array or a flexible film antenna. The flexible load 11 is wound and gathered on the load reel 12. The two ends of the load reel 12 are mounted in the inner ring of the load reel centrifugal spherical bearing 13. The outer ring of the load reel centrifugal spherical bearing 13 is mounted on the load reel mounting hole 216 on the housing 21 of the flexible extension assembly 2 and is fixed by the load reel bearing pressure ring 14. The first spherical bearing 232, the second spherical bearing 2412, the third spherical bearing 2422 and the clamping bearing 253 mentioned later in this application can be set as centrifugal spherical bearings, and can also be set as thrust spherical bearings, angular contact spherical bearings, etc. This application does not limit the type of bearings.

[0036] refer to Figure 3 As shown, the unfolding and retracting component 24 is configured as a roller shaft. The roller shaft rotates in the forward direction to drive the extending arm 22 to gradually unfold from the wound state and curl up to form a guide rod. The roller shaft rotates in the reverse direction to drive the extending arm 22 to gradually retract from the rigid state and curl up on the winding component 23.

[0037] Figure 12Schematic diagram of a connecting rod assembly in one embodiment of the present application. Figure 1 and Figure 12 As shown, the connecting rod assembly 3 is composed of a support rod 31 made of a composite material and a flange 32. The connecting rod assembly 3 can connect two symmetrical flexible extension assemblies 2 to achieve synchronous expansion of the two extension mechanisms.

[0038] The technical solution of the present application uses a load reel 12 to wind up the flexible load 11, thereby achieving compact storage of the flexible load 11; the drive assembly 27 of the flexible extension assembly 2 drives the expansion and contraction assembly 24 to move, so that the extension arm 22 can be unfolded from the wound state and form a guide rod (such as a thin-walled rod) with a certain rigidity. During the movement of the guide rod, the flexible load 11 can be driven to move in the same direction, thereby unfolding the flexible load 11; the two flexible extension assemblies 2 are connected by the connecting rod assembly 3 to form a stable symmetrical support structure, thereby improving the rigidity and stability of the overall device. The spatial flexible extension device of the present application has strong scalability. By changing the number and connection method of the spatial flexible extension device, a spatial flexible extension system suitable for different scenarios can be combined, and multi-directional expansion loads such as unidirectional, bidirectional, tridirectional, or four-directional can be achieved. It can meet the needs of loads of different sizes, improve versatility, lightweight and expansion and contraction ratio, and has a simple structure.

[0039] refer to Figure 3 As shown, in some embodiments, the flexible extension component 2 also includes a box body 21, and the winding component 23 and the unfolding component 24 are accommodated in the box body 21. The box body 21 is provided with an extension arm through hole 211, and the extension arm 22 can be extended outward from the extension arm through hole 211 after being curled into a guide rod.

[0040] For example, by housing the winding assembly 23 and the unfolding assembly 24 within the housing 21, the present application effectively protects each component. The housing 21 provides a stable working environment for the winding and unfolding of the extension arm 22, preventing external interference. The design of the extension arm through-hole 211 allows the extension arm 22 to smoothly extend outward after curling into a guide rod, ensuring precise guidance during the unfolding process while maintaining compactness in the stowed state.

[0041] In some embodiments, the guide rod is any one of a C-shaped rod, a cylindrical rod and a conical rod; when the extension arm 22 is wound on the winding assembly 23, it is in a first stable state and stores strain energy, and when the extension arm 22 is gradually unfolded from the wound state, it releases strain energy and is thus in a second stable state.

[0042] For example, Figure 3The cross-section of the guide rod formed by the middle extension arm 22 is "C-shaped", and the extension arm 22 is equivalent to a bistable thin-walled tube. In actual applications, the cross-section of the guide rod formed by the extension arm 22 can be a C-shaped constant cross-section or a variable cross-section, and the diameter of the cross-section can be adjusted according to needs. The present application enables the extension arm 22 to select a suitable structural stiffness according to different application scenarios by designing the guide rod to be in the form of a C-shaped rod, a cylindrical rod or a conical rod. When the extension arm 22 is wound on the winding assembly 23, it is in a first stable state (such as a flat state) and stores elastic strain energy through pre-deformation; when the extension arm 22 is unfolded, the released strain energy prompts the extension arm 22 to transition to a second stable state. This bistable characteristic not only reduces the external driving force required for the unfolding process, but also ensures the rigidity of the structure after unfolding.

[0043] Figure 5 Schematic diagram of a winding assembly in one embodiment of the present application. Figures 3 to 5 As shown, in some embodiments, a first through hole 215 is further provided on the box body 21; the winding assembly 23 includes a special-shaped winding shaft 231, a first joint bearing 232 and a first bearing pressure ring 233, the inner ring of the first joint bearing 232 is connected to the end of the special-shaped winding shaft 231, and the outer ring of the first joint bearing 232 is connected to the first through hole 215 and fixed by the first bearing pressure ring 233.

[0044] Exemplarily, the winding assembly 23 includes a special-shaped winding shaft 231, a pair of first spherical bearings 232 and a pair of first bearing pressure rings 233. The end of the special-shaped winding shaft 231 has a first gear keyway 234. The inner rings of the two first spherical bearings 232 are respectively installed at the two ends of the special-shaped winding shaft 231, and the outer rings are installed in the first through holes 215 on the housing 21, so that the winding assembly 23 can rotate in the housing 21. In this application, by connecting the end of the special-shaped winding shaft 231 with the inner ring of the first spherical bearing 232, the outer ring of the first spherical bearing 232 is connected to the housing 21 through the first through hole 215 and fixed by the first bearing pressure ring 233, the special-shaped winding shaft 231 is reliably installed and rotatable in the housing 21, which not only ensures the axial positioning accuracy of the bearing, but also facilitates assembly and maintenance. The axial clearance can be eliminated by adjusting the preload of the bearing pressure ring, thereby improving the movement smoothness and service life of the winding assembly 23 under repeated expansion and contraction conditions.

[0045] Figure 6 is a schematic diagram of an expansion and contraction component in an embodiment of the present application. Figure 7 Schematic diagram of the active roller of the stowage assembly in one embodiment of the present application. Figure 3 、 Figure 4 、 Figure 6 and Figure 7As shown, in some embodiments, a second through hole 213 is further provided on the box body 21; the unfolding and retracting assembly 24 includes an active roller shaft 241, a second spherical bearing 2412 and a second bearing pressure ring 2413, the inner ring of the second spherical bearing 2412 is connected to the end of the active roller shaft 241, and the outer ring of the second spherical bearing 2412 is connected to the second through hole 213 and fixed by the second bearing pressure ring 2413.

[0046] For example, the active roller 241 of the present application can maintain low-friction rotation when driving the extension arm 22 to unfold or retract, and at the same time, the axial clearance can be eliminated by adjusting the preload force of the second bearing pressure ring 2413, thereby improving the movement accuracy and reliability of the extension and retraction component 24 during repeated operation.

[0047] Figure 8 Schematic diagram of the driven roller of the stowage assembly in one embodiment of the present application. Figure 3 and Figure 8 As shown, in some embodiments, the unfolding and retracting assembly 24 also includes a driven roller 242, a third joint bearing 2422, a third bearing pressure ring 2424, a bearing seat 2423, a guide rail 2425, a fixed slider 2426, a movable slider 2427 and a first elastic member 2428 (such as a spring), the inner ring of the third joint bearing 2422 is connected to the end of the driven roller 242, the bearing seat 2423 is respectively connected to the outer ring of the third joint bearing 2422, the movable slider 2427 and the third bearing pressure ring 2424, the guide rail 2425 is connected to the box body 21, the fixed slider 2426 is fixedly connected to the guide rail 2425, the movable slider 2427 is slidably connected to the guide rail 2425, and the first elastic member 2428 is respectively connected to the fixed slider 2426 and the movable slider 2427.

[0048] For example, the present application achieves adaptive adjustment of the deployment assembly 24 within the housing 21 through the cooperation between the driven roller 242 and the third spherical bearing 2422, combined with the buffering effect of the fixed slider 2426, the movable slider 2427, and the first elastic member 2428 on the guide rail 2425. The movable slider 2427 can slide along the guide rail 2425 and is elastically connected to the fixed slider 2426 via the first elastic member 2428, allowing the driven roller 242 to automatically adjust its position during the deployment and retraction of the extension arm 22. The preload force of the elastic member compensates for transmission clearance, ensuring transmission stability while effectively absorbing dynamic shocks and improving the reliability of the deployment system.

[0049] refer to Figure 3 and Figure 6As shown, in some embodiments, the shape of the active roller 241 is convex, and the shape of the driven roller 242 is concave; or the shape of the active roller 241 is concave, and the shape of the driven roller 242 is convex; the convex shape is adapted to the concave shape; the surface of the extension arm 22 is respectively fitted with the active roller 241 and the driven roller 242, and the extension arm 22 can pass between the active roller 241 and the driven roller 242.

[0050] For example, the present application achieves precise guidance and stable transmission of the extension arm 22 through the complementary convex and concave design of the active roller 241 and the driven roller 242. The surface of the extension arm 22 fits tightly between the active roller 241 and the driven roller 242. This convex and concave fit increases the contact area between the rollers and the extension arm 22, improving transmission efficiency and friction. It also ensures that the extension arm 22 remains on the predetermined trajectory during extension and retraction, preventing deviation or slipping.

[0051] The following describes the stowage assembly 24 using an embodiment.

[0052] refer to Figure 3 、 Figure 4 、 Figure 7 and Figure 8 As shown, the unfolding assembly 24 includes an active roller 241 and a driven roller 242. The active roller 241 is equivalent to the active unfolding roller, and the driven roller 242 is equivalent to the adjustable driven roller. The active roller assembly includes a convex shaft (such as Figure 7 The active roller shaft 241 shown in the figure), a pair of second joint bearings 2412 and a pair of second bearing pressing rings 2413, the end of the active roller shaft 241 has a second gear keyway 2414. The inner rings of the two second joint bearings 2412 are respectively installed at the two ends of the convex shaft, and the outer rings are installed in the second through hole 213 on the box body 21, so that the active roller shaft 241 can rotate in the box body 21. The driven roller shaft assembly includes a concave shaft (such as Figure 8 The driven roller shaft 242 is shown as a driven roller shaft 242, a pair of third spherical bearings 2422, a pair of bearing seats 2423, a pair of third bearing pressure rings 2424, two sets of miniature guide rails 2425, two sets of fixed sliders 2426, two sets of movable sliders 2427, and two first elastic members 2428. The end of the driven roller shaft 242 has a third gear keyway 2429. The inner rings of the two third spherical bearings 2422 are respectively mounted on the two ends of the concave shaft, and the outer rings are mounted in the bearing seats 2423. The bearing seats 2423 are mounted on the movable slider 2427 via screws. The fixed slider 2426 and the movable slider 2427 are both mounted on the miniature guide rails 2425 and connected via the first elastic member 2428. The two sets of miniature guide rails 2425 are mounted on the side arms of the box body 21 via screws.

[0053] Figure 9Schematic diagram of a compression assembly in one embodiment of the present application. Figure 3 and Figure 9 As shown, in some embodiments, the flexible stretching component 2 also includes a clamping component 25, the clamping component 25 includes a clamping roller 251, a clamping arm 252, a clamping bearing 253, a driving coil spring 255 and a clamping mounting seat 256, the inner ring of the clamping bearing 253 is connected to the end of the clamping roller 251, the clamping arm 252 is respectively connected to the outer ring of the clamping bearing 253, the clamping mounting seat 256 and the driving coil spring 255, the clamping mounting seat 256 is connected to the box body 21, and the driving coil spring 255 is used to provide a clamping force so that the clamping roller 251 presses the stretching arm 22 wound on the winding component 23.

[0054] Exemplarily, the clamping assembly 25 includes a clamping roller 251, a pair of clamping arms 252, a pair of clamping bearings 253, a pair of coil spring boxes 254, a pair of drive coil springs 255 and a pair of clamping mounting seats 256. The inner rings of the two clamping bearings 253 are respectively mounted on the two ends of the clamping roller 251, and the outer rings are respectively mounted in the bearing mounting holes of the clamping arms 252. The clamping arm 252 can rotate around the rotating shaft on the clamping mounting seat 256, and the drive coil spring 255 is used to provide a clamping force so that the clamping roller 251 always clamps the extension arm 22 wound on the winding assembly 23. The two clamping mounting seats 256 are mounted on the clamping assembly mounting hole 217 of the box body 21 by screws. The present application realizes constant tension winding control of the extension arm 22 by setting the clamping assembly 25. On the one hand, the rotation of the clamping roller 251 avoids friction damage on the surface of the stretching arm 22. On the other hand, the elasticity of the driving coil spring 255 automatically compensates for the change in the stacking thickness of the stretching arm 22 during the winding process, maintaining a constant winding tension.

[0055] Figure 10 Schematic diagram of a clamping and locking assembly in one embodiment of the present application. Figure 3 and Figure 10 As shown, in some embodiments, the flexible extension component 2 further includes a clamping and locking component 26, which is connected to the box body 21 and is used to clamp and / or lock the guide rod. The clamping and locking component 26 includes a clamping shaft 261, a torsion spring, a first clamping ring 262 (i.e. Figure 10 The left clamping ring in the middle), the second clamping ring 263 (ie Figure 10 The right clamping ring in the figure) and the pin puller 264, the clamping shaft 261 is connected to the first clamping ring 262 and the second clamping ring 263 respectively; the torsion spring is sleeved on the clamping shaft 261, and the torsion spring is used to provide torque so that the first clamping ring 262 and the second clamping ring 263 can rotate synchronously around the clamping shaft 261; the pin puller 264 is provided between the first clamping ring 262 and the second clamping ring 263, and the pin puller 264 is used to control the clamping and locking assembly 26 to be in the unlocked state or the locked state.

[0056] For example, the pin puller 264 can be actuated to shift the clamping and locking assembly 26 from an unlocked state to a locked state. The clamping and locking assembly 26 is mounted to the clamping assembly mounting hole 218 on the housing 21 via screws. By providing the clamping and locking assembly 26, the present application achieves a quick locking and unlocking function for the guide rod. The clamping shaft 261 serves as the center of rotation, linking the first clamping ring 262 and the second clamping ring 263 to form a clamp-like clamping structure. A torsion spring is mounted on the clamping shaft 261, continuously providing torque to keep the two clamping rings in a closed position, ensuring automatic clamping force on the guide rod.

[0057] Figure 11 Schematic diagram of the driving assembly of the flexible extension assembly in one embodiment of the present application. Figure 3 、 Figure 4 and Figure 11 As shown, in some embodiments, the end of the special-shaped winding shaft 231 has a first gear keyway 234, and the first gear keyway 234 extends outward from the first through hole 215; the end of the active roller shaft 241 has a second gear keyway 2414, and the second gear keyway 2414 extends outward from the second through hole 213; the box body is further provided with a third through hole 212, and the end of the driven roller shaft 242 has a third gear keyway 2429, and the third gear keyway 2429 extends outward from the third through hole 212; the driving assembly 27 includes a first gear 27 4. The second gear 272, the third gear 271, the driving gear 273 and the motor 275, the first gear 274 and the first gear keyway 234 are connected by a common flat key, the second gear 272 and the second gear keyway 2414 are connected by a common flat key, the third gear 271 and the third gear keyway 2429 are connected by a common flat key, the driving gear 273 is meshed with the first gear 274 and the second gear 272 respectively, the third gear 271 is meshed with the second gear 272, and the motor 275 is used to drive the driving gear 273 to rotate.

[0058] For example, the first gear 274 is equivalent to the winding shaft gear, the second gear 272 is equivalent to the driving shaft gear, and the third gear 271 is equivalent to the driven shaft gear. The present application achieves efficient coordinated driving of the winding assembly 23 and the unfolding assembly 24 by designing a gear transmission system.

[0059] refer to Figure 11 As shown, in some embodiments, the number of teeth of the first gear 274, the number of teeth of the second gear 272 and the number of teeth of the third gear 271 are the same and greater than the number of teeth of the driving gear 273, so that the driving component 27 constitutes a first-stage reduction mechanism to amplify the torque of the motor 275 and enable the active roller shaft 241, the driven roller shaft 242 and the special-shaped winding shaft 231 to rotate synchronously at the same speed.

[0060] For example, the drive component 27 of the present application, on the one hand, converts the high-speed, low-torque output of the motor 275 into a low-speed, high-torque output through a reduction ratio, thereby enhancing the driving capability and being able to overcome the greater resistance during the movement of the extension arm 22; on the other hand, since the number of teeth of the first gear 274, the second gear 272 and the third gear 271 are exactly the same, the rotation speeds of the three shaped winding shafts 231, the active roller shaft 241 and the driven roller shaft 242 are synchronized. This same-speed rotation characteristic enables the extension arm 22 to maintain a uniform tension distribution when unfolding and retracting, avoiding jamming or loosening due to speed difference, and improving the stability and reliability of the operation of the flexible extension component 2.

[0061] Figure 13 Schematic diagram of a traction assembly in one embodiment of the present application. Figure 1 and Figure 13 As shown, in some embodiments, the spatial flexible stretching device also includes a traction assembly 4, the traction assembly 4 includes a traction plate 41 and a second elastic member 42, the traction plate 41 is respectively connected to the stretching arm 22 and the second elastic member 42, the second elastic member 42 is connected to the flexible load 11, and the second elastic member 42 is used to provide tension during the expansion or contraction of the flexible load 11.

[0062] Exemplarily, the traction assembly 4 is equivalent to a constant-tension traction assembly, and the second elastic member 42 is a constant-tension spring. The lower end of the traction plate 41 is connected to the extension arm 22, and the upper end of the traction plate 41 is connected to one end of the second elastic member 42. The other end of the second elastic member 42 is connected to the front end of the flexible load 11. The traction assembly 4 can pull the flexible load 11 to unfold and provide tension during the unfolding process. The traction assembly 4 of the present application, on the one hand, compensates for the tension fluctuations of the flexible load 11 during different movement stages through the adaptive characteristics of the second elastic member 42; on the other hand, the rigid connection structure of the traction plate 41 ensures that the tension is evenly distributed across the surface of the flexible load 11, improving the smooth operation of the device.

[0063] The working principle of the spatial flexible stretching device of the present application is described below using an embodiment.

[0064] refer to Figure 1 and Figure 3 As shown, before the spacecraft is launched into orbit, two symmetrical flexible extension assemblies 2 are connected via a connecting rod assembly 3, and the wound payload assembly 1 is installed in the mounting holes of the two flexible extension assemblies 2. The top end of the winding extension arm 22 in the flexible extension assembly 2 passes through the winding assembly 23 and extends from the extension arm through-hole 211 on the surface of the housing 21. The clamping assembly 25 securely compresses the outer surface of the wound extension arm 22 to prevent loosening and failure. Two sets of traction assemblies 4 respectively connect the extension arm 22 to the flexible payload 11. At this point, the drive assembly 27 is powered off and self-locked, and the space flexible extension device is ready for launch.

[0065] refer to Figure 3 and Figure 11 As shown, after the spacecraft is launched into orbit, a "flexible payload deployment" remote control command is issued from the ground. At this point, motor 275 is energized to rotate drive gear 273. Drive gear 273 drives second gear 272 and first gear 274 to rotate in the same direction, forming a first-stage reduction mechanism to amplify the output torque of motor 275. Second gear 272 and drive gear 273 simultaneously drive third gear 271 and first gear 274 to rotate. Friction is generated between active roller 241 and driven roller 242, driving extension arm 22 outward. During the extension process, the strain energy stored in extension arm 22 is released, returning its cross-section to the "second stable state" with a smaller opening, a "C-shaped" rod. Extension arm 22 gradually unfolds via traction assembly 4, pulling flexible payload 11. During the extension process, compression assembly 25 maintains contact with the undeployed portion of extension arm 22 in the "first stable state," ensuring that the strain energy in this undeployed portion is not prematurely released, thus preventing the mechanism from loosening and failing. When the last layer of extension arms 22 on the winding assembly 23 is unfolded, the travel switch on the shaped winding shaft 231 is triggered to send a "deploy to full lock" signal. At this point, the motor 275 stops and self-locks, and the pyrotechnic pin puller 264 in the clamping and locking assembly 26 is activated, causing the first and second clamping rings 262 and 263 to rotate simultaneously around the clamping shaft 261, driven by the torsion spring. This clamps and locks the ends of the composite thin-walled extension arms 22 at the extension arm through-hole 211, ensuring a certain degree of rigidity for the unfolded mechanism and preventing buckling instability. At this point, the spatial flexible extension device is fully unfolded, and the unfolded flexible load 11 can operate normally on the track.

[0066] The embodiment of the present application further discloses a spatially flexible stretching system, comprising at least one spatially flexible stretching device as described above, each of which is connected via a connecting rod assembly 3 .

[0067] Exemplary, reference Figure 1 As shown, in actual applications, multiple load assemblies 1, flexible extension assemblies 2, and connecting rod assemblies 3 can be set to combine different forms of spatial flexible extension systems. By splicing spatial flexible extension devices in different spatial directions, the need for multi-directional load deployment can be met. The spatial flexible extension system of the present application has strong versatility and scalability. The number of flexible extension assemblies 2 can be adjusted according to the size and form of the flexible load 11 to form different spatial deployable systems. The present application does not limit the number of spatial flexible extension devices and their internal components.

[0068] The technical effects brought about by the embodiments of this application are as follows: (1) Both the winding assembly and the expansion and contraction assembly adopt a special-shaped shaft design, which can effectively reduce the stress and transition zone length of the thin-walled elastic extension rod during the expansion and contraction process, and has the advantages of high expansion and contraction ratio and high lightweight.

[0069] (2) The clamping assembly can reliably clamp the composite thin-walled extension arm on the winding assembly to prevent it from loosening. The clamping and locking assembly can clamp the root of the composite thin-walled extension arm after it is deployed, thereby increasing the rigidity of the extension arm. It has the advantages of stable and controllable deployment process and high reliability.

[0070] (3) This application has strong scalability. By changing the number and installation method of each component in the space flexible extension device, the space expansion and retraction system can be expanded in one direction, two directions or four directions to meet the requirements of loads of different sizes. It has the advantages of strong versatility and good adaptability.

[0071] Although the above disclosure discusses some currently useful embodiments through various examples, it should be understood that such details are for illustrative purposes only, and the additional technical features are not limited to the disclosed embodiments. On the contrary, the technical features are intended to cover all modifications and equivalent combinations consistent with the spirit and scope of the embodiments of the present application. For example, although the system components described above can be implemented using hardware devices, they can also be implemented using software solutions, such as installing the described system on an existing server or mobile device.

[0072] Similarly, it should be noted that in order to simplify the description of the present disclosure and thus facilitate understanding of one or more embodiments, the foregoing description of the embodiments of the present disclosure sometimes combines multiple features into a single embodiment, figure, or description thereof. This disclosure method means that the features of the embodiments of the present disclosure are less than all the features of the single embodiment disclosed above.

[0073] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used for the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise stated, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in this application are all approximate values, which can be changed according to the required characteristics of the individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the method of retaining the general digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0074] Although the present application has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions can be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the scope of the essential spirit of the present application, they will fall within the scope of the present application.

Claims

1. A space flexible stretching device, characterized in that: include: A load assembly comprising a flexible load and a load reel, wherein the load reel is used to reel up the flexible load; a flexible extension assembly connected to the load assembly, the flexible extension assembly comprising an extension arm, a winding assembly, an unfolding and retracting assembly, and a driving assembly, the winding assembly being used to wind the extension arm, the unfolding and retracting assembly being in contact with the surface of the extension arm, and the driving assembly being configured to drive the unfolding and retracting assembly to move so as to drive the extension arm to gradually unfold from a wound state and curl to form a guide rod; the extension arm being connected to the flexible load, the extension arm being used to drive the flexible load to move in the same direction; and A connecting rod assembly, wherein both ends of the connecting rod assembly are respectively connected to two oppositely arranged flexible extension assemblies.

2. The spatial flexible stretching device according to claim 1, characterized in that: The flexible extension assembly further comprises a box body, the winding assembly and the stowing assembly are accommodated in the box body, a through hole for an extension arm is provided on the box body, and the extension arm can extend outward from the through hole for an extension arm after being curled into the guide rod.

3. The spatial flexible stretching device according to claim 2, characterized in that: A first through hole is also provided on the box body; the winding assembly includes a special-shaped winding shaft, a first joint bearing and a first bearing pressure ring, the inner ring of the first joint bearing is connected to the end of the special-shaped winding shaft, and the outer ring of the first joint bearing is connected to the first through hole and fixed by the first bearing pressure ring.

4. The spatial flexible stretching device according to claim 3, characterized in that: A second through hole is also provided on the box body; the unfolding and retracting assembly includes an active roller shaft, a second spherical bearing and a second bearing pressure ring, the inner ring of the second spherical bearing is connected to the end of the active roller shaft, and the outer ring of the second spherical bearing is connected to the second through hole and fixed by the second bearing pressure ring.

5. The spatial flexible stretching device according to claim 4, characterized in that: The unfolding and retracting assembly also includes a driven roller, a third joint bearing, a third bearing pressure ring, a bearing seat, a guide rail, a fixed slider, a movable slider and a first elastic member. The inner ring of the third joint bearing is connected to the end of the driven roller, the bearing seat is respectively connected to the outer ring of the third joint bearing, the movable slider and the third bearing pressure ring, the guide rail is connected to the box, the fixed slider is fixedly connected to the guide rail, the movable slider is slidably connected to the guide rail, and the first elastic member is respectively connected to the fixed slider and the movable slider.

6. The spatial flexible stretching device according to claim 5, characterized in that: The active roller is convex and the driven roller is concave; or the active roller is concave and the driven roller is convex; the convex shape matches the concave shape; The surfaces of the extension arm are respectively in contact with the active roller shaft and the driven roller shaft, and the extension arm can pass through between the active roller shaft and the driven roller shaft.

7. The spatial flexible stretching device according to claim 5, characterized in that: The end of the special-shaped winding shaft has a first gear keyway, and the first gear keyway extends outward from the first through hole; The end of the active roller shaft has a second gear keyway, and the second gear keyway extends outward from the second through hole; The box body is further provided with a third through hole, and the end of the driven roller shaft is provided with a third gear keyway, and the third gear keyway extends outward from the third through hole; The driving assembly includes a first gear, a second gear, a third gear, a driving gear and a motor. The first gear is connected to the first gear keyway, the second gear is connected to the second gear keyway, and the third gear is connected to the third gear keyway. The driving gear is respectively engaged with the first gear and the second gear, and the third gear is engaged with the second gear. The motor is used to drive the driving gear to rotate.

8. The spatial flexible stretching device according to claim 7, characterized in that: The number of teeth of the first gear, the number of teeth of the second gear and the number of teeth of the third gear are the same and greater than the number of teeth of the driving gear, so that the driving assembly constitutes a first-stage reduction mechanism to amplify the torque of the motor and enable the active roller shaft, the driven roller shaft and the special-shaped winding shaft to rotate synchronously at the same speed.

9. The spatial flexible stretching device according to claim 2, characterized in that: The flexible extension component also includes a clamping component, which includes a clamping roller, a clamping arm, a clamping bearing, a drive coil spring and a clamping mounting seat. The inner ring of the clamping bearing is connected to the end of the clamping roller, and the clamping arm is respectively connected to the outer ring of the clamping bearing, the clamping mounting seat and the drive coil spring. The clamping mounting seat is connected to the box body, and the drive coil spring is used to provide a clamping force so that the clamping roller clamps the extension arm wound on the winding component.

10. The spatial flexible stretching device according to claim 2, characterized in that: The flexible extension component also includes a clamping and locking component, which is connected to the box body and is used to clamp and / or lock the guide rod. The clamping and locking component includes a clamping shaft, a torsion spring, a first clamping ring, a second clamping ring and a pin puller. The clamping shaft is respectively connected to the first clamping ring and the second clamping ring; the torsion spring is sleeved on the clamping shaft, and the torsion spring is used to provide a torque so that the first clamping ring and the second clamping ring can rotate synchronously around the clamping shaft; the pin puller is arranged between the first clamping ring and the second clamping ring, and the pin puller is used to control the clamping and locking component to be in an unlocked state or a locked state.

11. The spatial flexible stretching device according to claim 1, characterized in that: It also includes a traction assembly, which includes a traction plate and a second elastic member. The traction plate is connected to the extension arm and the second elastic member respectively. The second elastic member is connected to the flexible load. The second elastic member is used to provide tension during the expansion or contraction of the flexible load.

12. The spatial flexible stretching device according to claim 1, characterized in that: The guide rod is any one of a C-shaped rod, a cylindrical rod and a conical rod; when the extension arm is wound on the winding assembly, it is in a first stable state and stores strain energy, and when the extension arm is gradually unfolded from the wound state, it releases the strain energy and is in a second stable state.

13. A space flexible extension system, characterized in that: The device comprises at least one spatially flexible stretching device according to any one of claims 1 to 12, wherein each spatially flexible stretching device is connected via a connecting rod assembly.

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