Gravity unloading device of asymmetric side panel two-dimensional unfolded solar wing and its counterweight calculation method

Abstract

The present invention discloses a gravity unloading device for a two-dimensional unfolding solar wing of an asymmetric side panel and a weight calculation method thereof. The side panel weight blocks in the device are respectively connected to the suspension ropes between the two end pulleys and the corresponding side panels in a one-to-one correspondence. The sinusoidal weight is connected to the flip beam through its own arm, so that the sum of the gravity moments of the suspension rope, the two side panels, the two side panel weight blocks and the sinusoidal weight acting on the rotating shaft of the flip beam is zero, thereby achieving complete unloading of the gravity of the asymmetric two-dimensional unfolding solar wing of the side panel; the method is to calculate and configure the lower side panel weight block, the upper side panel weight block and the sinusoidal weight according to the sinusoidal function expression of the sum of the gravity moments T acting on the rotating shaft of the flip beam, so that the sum of the gravity moments T acting on the rotating shaft of the flip beam during the unfolding process is equal to zero. The present invention can solve the problem that the gravity cannot be completely unloaded due to the asymmetry of the center of mass and weight of the upper and lower side panels during the unfolding of the two-dimensional unfolding solar wing. The present invention can solve the problem that the gravity cannot be completely unloaded due to the asymmetry of the center of mass and weight of the upper and lower side panels during the unfolding of the two-dimensional unfolding solar wing.

Description

Technical Field

[0001] The present invention belongs to the field of aerospace technology, and in particular relates to a gravity unloading device for a two-dimensionally unfolded solar wing with an asymmetric side panel and a weight calculation method thereof. Background Art

[0002] Before solar wings are put into aviation use, they must undergo rigorous ground testing. In order to obtain reliable ground test data, it is necessary to provide a test device that simulates a microgravity environment for the deployment of solar wings. Currently, the solar wings on domestic spacecraft are one-dimensional or two-dimensional deployable solar wings.

[0003] The one-dimensional unfolding solar wing ground unfolding test uses the unfolding test device described in the patent "A zero-gravity suspension unfolding test device" (patent number: CN201010108589), which can be used for the zero-gravity unfolding (i.e. gravity unloading) of the satellite solar array and antenna in the ground gravity environment to simulate the environmental orbit. The test device includes a support system, a guide rail system, and a hanging system. The guide rail system includes two longitudinal guide rails and a plurality of transverse guide rails. When the solar wing is unfolded in one dimension, each solar panel is hung on the transverse guide rail pulley, and the transverse guide rail is hung on the longitudinal guide rail pulley, thereby realizing the gravity unloading of the one-dimensional unfolding solar wing.

[0004] With the increasing requirements of spacecraft for power supply power and deployment stiffness, two-dimensional deployable solar wings (i.e., solar wings with side panels) have emerged. When conducting ground deployment tests on two-dimensional deployable solar wings, the patented "two-dimensional deployable solar wing gravity unloading device" (patent number: ZL201310317043.8) is used. The device can realize gravity unloading of the upper and lower side panels of the two-dimensional deployable solar wing; the device includes a hanger, a flip beam, an upper side panel hanging rope, a lower side panel hanging rope, a middle plate hanging rope, an upper side panel hanging rope length compensation device, and a lower side panel hanging rope length compensation device; the hanger is fixedly connected to the deployment test frame, the flip beam is connected to the lower end of the hanger through a rotating shaft and can rotate around the rotating shaft, the two ends of the flip beam are respectively connected to the upper side panel hanging rope and the lower side panel hanging rope, the upper side panel hanging rope and the lower side panel hanging rope are respectively connected to the upper side panel and the lower side panel through the upper side panel hanging rope length compensation device and the lower side panel hanging rope length compensation device; the rotating shaft in the middle of the flip beam is connected to the center plate through the middle plate hanging rope. The device has the following two shortcomings: first, the device needs to rely on hinges to bear the weight of the solar panels and work together with the suspension to achieve gravity unloading of the solar panels. The device alone cannot independently complete the gravity compensation of the solar panels; second, when the upper and lower side panels are asymmetrical, the flipping of the flip beam will cause the length compensation device of the suspension rope of the upper and lower side panels to rotate at disproportionate angles, causing the length of the suspension rope to change, causing tension changes, resulting in the inability to completely unload gravity during the deployment of the side panels.

[0005] For the gravity unloading of two-dimensional unfolded solar wings, the paper "Research on Gravity Unloading Device for the Unfolding Process of Solar Wing Side Panels" (Chen Jinliang, Master's Degree Thesis, Zhejiang University of Technology) also discloses a side panel unfolding device, namely the single rod-pulley following scheme therein. This device improves the "two-dimensional unfolded solar wing gravity unloading device" mentioned above, adds a pulley on the flip beam, and then hangs the suspension downward to the center of mass of the upper and lower side panels through the pulley, thereby realizing the gravity unloading of the upper and lower side panels. However, the gravity unloading device described in the paper has the following two shortcomings, resulting in great limitations in application: first, the device is still only applicable to the flipping of the upper and lower side panels that are symmetrical on both sides, and does not solve the problem of asymmetry of the upper and lower side panels. In application, due to multiple restrictions such as the carrying envelope and weight, the situation of symmetry of the upper and lower side panels in engineering exists, but it is rare; second, the device is only applicable to gravity unloading when the weight of the upper and lower side panels is equal, and in engineering applications, the situation of "the upper and lower products have the same weight" pointed out in the paper does not exist, so the use of this device alone cannot achieve complete gravity unloading of the upper and lower side panels. Summary of the invention

[0006] In view of this, the present invention provides a gravity unloading device for a two-dimensionally unfolded solar wing with asymmetric side panels and a weight calculation method thereof, which can solve the problem that gravity cannot be completely unloaded due to the asymmetry of the center of mass and weight of the upper and lower side panels during the unfolding process of the two-dimensionally unfolded solar wing.

[0007] The present invention is achieved through the following technical solutions:

[0008] A gravity unloading device for an asymmetric side panel two-dimensionally unfolded solar wing, comprising: a hanger, a hanging rope, a flip beam, a middle panel hanging rope, a side panel counterweight block and a sine counterweight;

[0009] The asymmetric side panel two-dimensional unfolding solar wing comprises: a middle panel and two side panels, the middle panel is always kept vertical, and the two side panels are respectively hinged to the upper and lower sides of the middle panel in a one-to-one correspondence; the two side panels have different weights, and when the side panels are not unfolded, the center of mass of the two side panels is at different distances from the middle panel;

[0010] The upper end of the hanger is fixed, and the lower end is connected to the middle plate through the middle plate rope; the middle part of the flip beam is connected to the middle part of the hanger through a rotating shaft, and the flip beam can rotate around the rotating shaft; an end pulley is provided at each end of the flip beam, and the two ends of the rope are respectively connected to the two side plates one by one after passing through the end pulleys at both ends of the flip beam, and the parts of the rope between the end pulleys and the corresponding side plates are all in the vertical direction, and the rope can slide freely on the two end pulleys; the two side plate counterweights are respectively connected to the ropes between the two end pulleys and the corresponding side plates, and the sinusoidal counterweight is connected to the flip beam through its own arm, so that the sum of the gravitational moments of the rope, the two side plates, the two side plate counterweights and the sinusoidal counterweight acting on the rotating shaft of the flip beam is zero, thereby realizing the complete unloading of the gravity of the asymmetric side panel two-dimensional unfolding solar wing.

[0011] Furthermore, the end pulleys provided at both ends of the flip beam are end pulley E and end pulley F respectively, and the two side plate counterweights are respectively a lower side plate counterweight and an upper side plate counterweight;

[0012] After one end of the lifting rope passes over the end pulley E, a lower side plate lifting beam is provided, and the two ends of the lower side plate lifting beam are respectively connected to the opposite side edges of the lower side plate through a lower side plate lifting rope, and the opposite side edges are two side edges adjacent to the edge where the hinge is located, so as to lift the lower side plate, and the two lower side plate lifting ropes have the same length, and the lower side plate lifting beam is parallel to the lower side plate, and the vertical part of the lifting rope between the end pulley E and the lower side plate lifting beam is the lower side plate lifting beam lifting rope, and the extension line of the lower side plate lifting beam lifting rope passes through the mass center of the lower side plate; the lower side plate counterweight block is connected to the lower side plate lifting beam lifting rope;

[0013] The other end of the lifting rope is passed around the end pulley F and then an upper side plate lifting beam is provided. The two ends of the upper side plate lifting beam are respectively connected to the opposite side edges of the upper side plate through an upper side plate lifting rope. The opposite side edges are two side edges adjacent to the side where the hinge is located, so as to lift the upper side plate. The two upper side plate lifting ropes have the same length. The upper side plate lifting beam is parallel to the upper side plate. The vertical part of the lifting rope between the end pulley F and the upper side plate lifting beam is the upper side plate lifting beam lifting rope. The extension line of the upper side plate lifting beam lifting rope passes through the center of mass of the upper side plate. The upper side plate counterweight is connected to the upper side plate lifting beam lifting rope.

[0014] The gravity moment caused by the gravity of the lower side plate, the lower side plate hanging beam and the rope, the lower side plate counterweight, the gravity moment caused by the gravity of the upper side plate, the upper side plate hanging beam and the rope, and the gravity moment caused by the sinusoidal counterweight act together on the rotating shaft of the flip beam, and the sum of the three is zero, achieving complete gravity unloading of the lower side plate and the upper side plate.

[0015] Furthermore, the length L1 of the horizontal projection of the middle plate hanging point and the rotation axis A of the lower side plate is equal to the radius R1 of the end pulley E, and the distance between the rotation axis of the flip beam and the center of the end pulley E is equal to the distance between the hanging point of the upper side plate and the rotation axis of the lower side plate;

[0016] The length L2 of the horizontal projection of the middle plate hanging point and the upper side plate rotation axis B is equal to the radius R2 of the end pulley F, and the distance between the rotation axis of the flip beam and the center of the end pulley F is equal to the distance between the hanging point of the lower side plate and the rotation axis of the upper side plate;

[0017] And L1 is not equal to L2.

[0018] Furthermore, the suspension rope is composed of two rope sections, and the two rope sections are connected to form an integrated structure through a spring, and the spring is located on the top of the flip beam.

[0019] A method for calculating the counterweight of a gravity unloading device for an asymmetric side panel two-dimensionally unfolded solar wing is based on the gravity unloading device and specifically comprises: calculating and configuring a lower side panel counterweight, an upper side panel counterweight and a sinusoidal counterweight according to a sinusoidal function expression of the sum of gravity moments T acting on the rotating shaft of a flip beam so that the sum of gravity moments T acting on the rotating shaft of a flip beam during the unfolding process is equal to zero.

[0020] Furthermore, the sine function expression is obtained as follows:

[0021] Assuming that the initial expansion angle of the upper side plate and the initial expansion angle of the lower side plate are both x, the formula for the sum of the gravitational moments T acting on the rotation axis of the flip beam before the counterweight is:

[0022] T=G1[L1+D1sin(x+α1)]-G2[L2+D2sin(x+α2)]

[0023] Wherein, G1 is the total weight of the lower side plate hanging beam rope, the lower side plate hanging beam and the lower side plate hanging rope, D1 is the distance from the lower side plate hanging point A to the lower side plate hinge axis, α1 is the initial angle of gravity work on the lower side plate, G2 is the total weight of the upper side plate hanging beam rope, the upper side plate hanging beam and the upper side plate hanging rope, D2 is the distance from the upper side plate hanging point B to the upper side plate hinge axis, α2 is the initial angle of gravity work on the upper side plate;

[0024] Convert the formula to a sine function: T = K + Ssin (x + θ), then:

[0025] K=G1L1-G2L2

[0026]

[0027]

[0028] Among them, k1 and k2 are transition terms, k1 = G1D1cosα1-G2D2cosα2, k2 = G1D1sinα1-G2D2cosα2.

[0029] Furthermore, the method for calculating the counterweight is:

[0030] On the one hand, according to the constant term K=0, let the weight of the lower plate counterweight be M1, and the weight of the upper plate counterweight be M2, then M1 and M2 satisfy (G1+M1)L1-(G2+M2)L2=0;

[0031] On the other hand, according to the sine term Ssin(x+θ), the sinusoidal counterweight is installed on the flip beam through its own arm and is located at the rotation axis of the flip beam. The sinusoidal counterweight satisfies the following conditions: it is at an angle θ with the flip beam along the unfolding direction of the lower side plate, and the product of the length L of the sinusoidal counterweight's own arm and its weight M0 is S.

[0032] Beneficial effects:

[0033] (1) The present invention is provided with a suspension rope, a side panel counterweight and a sinusoidal counterweight, that is, the two ends of the suspension rope are respectively passed over the end pulleys at the corresponding ends of the flip beam and are connected to the two side panels one by one, and the parts of the suspension rope between the end pulleys and the side panels are all along the vertical direction, and the suspension rope can slide freely on the two end pulleys; the two side panel counterweights are connected to the vertical parts of the suspension rope on both sides of the middle plate one by one, and the sinusoidal counterweight is connected to the flip beam through its own arm rod; the sum of the gravitational moments of the suspension rope, the two side panel counterweights and the sinusoidal counterweight acting on the rotating shaft of the flip beam is zero, ensuring that the hinge is not stressed during the deployment test, overcoming the problem that the prior art cannot solve the problem that the gravity cannot be completely unloaded due to the asymmetry of the weight and center of mass of the upper and lower side panels, and realizing the complete gravity unloading of the asymmetric side panel two-dimensional deployment solar wing in the ground deployment test.

[0034] (2) A lower side plate hanging beam is provided at one end of the hanging rope of the present invention, and the two ends of the lower side plate hanging beam are respectively connected to the opposite side edges of the lower side plate through a lower side plate hanging rope, so as to lift the lower side plate; an upper side plate hanging beam is provided at the other end of the hanging rope, and the two ends of the upper side plate hanging beam are respectively connected to the opposite side edges of the upper side plate through an upper side plate hanging rope, so as to lift the upper side plate, which solves the difficulty that the end point of the hanging rope cannot be directly connected to the center of mass of the side, and at the same time ensures the smooth unfolding of the upper and lower side plates.

[0035] (3) In the present invention, the length L1 of the horizontal projection of the middle plate hanging point and the lower plate rotation axis is equal to the radius R1 of the end pulley E4, the distance between the turning beam rotation axis and the center of the end pulley E is equal to the distance between the hanging point of the upper plate and the lower plate rotation axis; the length L2 of the horizontal projection of the middle plate hanging point and the upper plate rotation axis is equal to the radius R2 of the end pulley F, the distance between the turning beam rotation axis and the center of the end pulley F is equal to the distance between the hanging point of the lower plate and the upper plate rotation axis; and L1 is not equal to L2, thereby ensuring that the upper plate hanging beam hanging rope is always parallel to the straight line where the middle plate hanging rope is located during the unfolding of the upper plate, and the lower plate hanging beam hanging rope is always parallel to the straight line where the middle plate hanging rope is located during the unfolding of the lower plate.

[0036] (4) In the present invention, due to the difference between L1 and L2, that is, the different distances between the center of mass of the two side panels and the middle panel, the phases of the upper and lower side panels are different, so that the work done by the gravity moment of the upper and lower side panels is different. At this time, the tension of the suspension rope will change. The suspension rope of the present invention is composed of two sections of rope, and the two sections of rope are connected as an integral structure by a spring. When the tension of the suspension rope changes, the length of the suspension rope is compensated by stretching or shortening the spring to ensure that the tension of the suspension rope remains unchanged while the total length of the suspension rope remains basically unchanged, thereby compensating for the unequal gravity moment of the upper and lower side panels relative to the rotating shaft of the flip beam caused by the different deployment phases.

[0037] (5) According to the sinusoidal function expression of the sum of the gravity moments T acting on the rotating shaft of the flip beam, the present invention adds counterweights so that the sum of the gravity moments T acting on the rotating shaft of the flip beam during the deployment process is close to zero, thereby achieving precise counterweighting and realizing complete gravity unloading during the deployment of the upper and lower side panels.

[0038] (6) The present invention converts the formula of the sum of the gravitational moments T acting on the rotating shaft of the flip beam before the counterweight is applied into a sinusoidal expression. The present invention can directly obtain the conditions that the weight of the counterweight block of the lower side plate and the weight of the counterweight block of the upper side plate should satisfy based on the constant term of the sinusoidal expression. Based on the sinusoidal term, the conditions that the length L of the arm of the sinusoidal counterweight, the weight M0 of the sinusoidal counterweight and the angle θ with the flip beam along the unfolding direction of the lower side plate should satisfy can be directly obtained, thereby achieving precise counterweighting and complete gravity unloading during the unfolding of the upper and lower side plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure;

[0040] Figure 2 It is a simplified schematic diagram of the overall structure;

[0041] Figure 3 Schematic diagram of a two-dimensional unfolded solar wing with asymmetric side panels;

[0042] Among them, 1-hanging bracket, 2-hanging rope, 3-spring, 4-end pulley E, 5-lower side plate hanging beam hanging rope, 6-lower side plate hanging beam, 7-lower side plate, 8-end pulley F, 9-flipping beam, 10-upper side plate hanging beam hanging rope, 11-middle plate hanging rope, 12-upper side plate hanging beam, 13-upper side plate, 14-middle plate, 15-upper side plate hanging rope, 16-lower side plate hanging rope, 17-sine counterweight, 18-lower side plate counterweight block, 19-upper side plate counterweight block. DETAILED DESCRIPTION

[0043] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0044] Embodiment 1:

[0045] This embodiment provides a gravity unloading device for a two-dimensionally unfolded solar wing with an asymmetric side panel, see the attached Figure 1 , including: a hanger 1, a hanging rope 2, a flip beam 9, a middle plate hanging rope 11, a side plate counterweight block and a sine counterweight 17;

[0046] The asymmetric side panel two-dimensional unfolding solar wing comprises: a middle panel 14 and two side panels, the two side panels are respectively a lower side panel 7 and an upper side panel 13, the middle panel 14 is located between the two side panels, the lower side panel 7 is connected to the lower side edge of the middle panel 14 by a hinge, and the upper side panel 13 is connected to the upper side edge of the middle panel 14 by a hinge; during the unfolding test of the solar wing, the middle panel 14 is always kept vertical, the lower side panel 7 is unfolded toward the lower side along the hinge, and the upper side panel 13 is unfolded toward the upper side along the hinge; the asymmetric side panel means that the weights of the two side panels are different, and when the side panels are not unfolded, the distances between the center of mass of the two side panels and the middle panel 14 are different, but the shape and size of the upper side panel 13 and the lower side panel 7 are the same;

[0047] The peripheral equipment is a deployment test frame, which is used to lift the gravity unloading device off the ground;

[0048] The connection relationship between the components of the gravity unloading device is as follows:

[0049] The upper end of the hanger 1 is fixedly connected to the unfolding test frame, and the lower end is connected to the middle plate 14 through the middle plate hanging rope 11; the middle part of the flip beam 9 is connected to the middle part of the hanger 1 through a rotating shaft, and the flip beam 9 can rotate around the rotating shaft; an end pulley is provided at each end of the flip beam 9, and the two ends of the hanging rope 2 are respectively and one by one around the end pulleys at both ends of the flip beam 9, and are connected one by one with the two side plates. The parts of the hanging rope 2 located between the end pulleys and the corresponding side plates are all in the vertical direction, and the hanging rope 2 can slide freely on the two end pulleys; the two side plate counterweights are respectively connected one by one to the hanging rope 2 between the two end pulleys and the corresponding side plates, and the sinusoidal counterweight 17 is connected to the flip beam 9 through its own arm; by setting the hanging rope 2, the two side plate counterweights and the sinusoidal counterweight 17, the sum of the gravity moments acting on the rotating shaft of the flip beam 9 is made zero, thereby realizing the complete unloading of the gravity of the asymmetric side plate two-dimensional unfolding solar wing.

[0050] The suspension rope 2 is composed of two rope sections, and the two rope sections are connected as an integral structure by a spring 3, and the spring 3 is located at the top of the flip beam 9; since the distances between the center of mass of the two side panels and the middle plate 14 are different, the phases of the unfolding of the upper and lower side panels are different, so that the work done by the unfolding gravity moment of the upper and lower side panels is different, and the tension of the suspension rope 2 will change at this time. The present invention uses a suspension rope 2, that is, the suspension rope 2 is composed of two rope sections, and the two rope sections are connected as an integral structure by a spring 3. When the tension of the suspension rope 2 is about to change, the length of the suspension rope 2 is compensated by extending or shortening the spring 3 to ensure that the tension of the suspension rope 2 remains unchanged when the total length of the suspension rope 2 remains basically unchanged, thereby compensating for the unequal gravity moments of the upper and lower side panels relative to the rotating shaft of the flip beam caused by different unfolding phases.

[0051] The end pulleys provided at both ends of the flip beam are end pulley E4 and end pulley F8, and the two side plate counterweights are lower side plate counterweight 18 and upper side plate counterweight 19;

[0052] After one end of the lifting rope 2 passes over the end pulley E4, a lower side plate lifting beam 6 is provided. The two ends of the lower side plate lifting beam 6 are respectively connected to the opposite sides of the lower side plate 7 through a lower side plate lifting rope 16. The opposite sides are two sides adjacent to the side where the hinge is located, so that the lower side plate 7 is lifted, and the two lower side plate lifting ropes 16 have the same length. The lower side plate lifting beam 6 is parallel to the lower side plate 7. The vertical part of the lifting rope 2 located between the end pulley E4 and the lower side plate lifting beam 6 is the lower side plate lifting beam lifting rope 5, and the extension line of the lower side plate lifting beam lifting rope 5 passes through the center of mass of the lower side plate 7; the lower side plate counterweight block 18 is connected to the lower side plate lifting beam lifting rope 5;

[0053] After the other end of the lifting rope 2 passes around the end pulley F8, an upper side plate lifting beam 12 is provided. The two ends of the upper side plate lifting beam 12 are respectively connected to the opposite sides of the upper side plate 13 through an upper side plate lifting rope 15. The opposite sides are two sides adjacent to the sides where the hinge is located, so that the upper side plate 13 is lifted, and the two upper side plate lifting ropes 15 have the same length. The upper side plate lifting beam 12 is parallel to the upper side plate 13, so that the vertical part of the lifting rope 2 located between the end pulley F8 and the upper side plate lifting beam 12 is the upper side plate lifting beam lifting rope 10, and the extension line of the upper side plate lifting beam lifting rope 10 passes through the center of mass of the upper side plate 13; the upper side plate counterweight block 19 is connected to the upper side plate lifting beam lifting rope 10.

[0054] See attached Figure 2 During the unfolding of the lower side plate 7, the rotation axis A1 of the flip beam 9, the center A2 of the end pulley E, the tangent point A3 of the lower side plate hanging beam rope 5 and the end pulley E, the lower side plate 7 hanging point A4, the lower side plate rotation axis A5, and the projection A6 of the middle plate hanging point on the horizontal plane where A5 is located form a hexagon A1A2A3A4A5A6, wherein the length L1 of A5A6 is equal to the radius R1 of the end pulley E4, and the length of A1A2 is the same as the length of A4A5, thereby ensuring that the lower side plate hanging beam rope 5 is always parallel to the straight line A1A6 where the middle plate hanging rope 11 is located during the unfolding of the lower side plate 7 (i.e. vertical);

[0055] During the unfolding of the upper side plate, the rotation axis A1 of the flip beam 9, the center B2 of the end pulley F, the tangent point B3 of the upper side plate hanging beam rope 10 and the end pulley F, the upper side plate hanging point B4, the upper side plate rotation axis B5, and the projection B6 of the middle plate hanging point on the horizontal plane where B5 is located form a hexagon A1B2B3B4B5B6, among which the length L2 of B5B6 is equal to the radius R2 of the end pulley F8, and because it is an asymmetric side plate, L2≠L1, and the length of A1B2 is the same as the length of B4B5, thereby ensuring that during the unfolding of the upper side plate 13, the upper side plate hanging beam rope 10 is always parallel to the straight line A1A6 where the middle plate hanging rope 11 is located (i.e. vertical).

[0056] The gravity moment caused by the gravity of the lower side plate 7, the lower side plate hanging beam and rope 5, the lower side plate counterweight 18, the lower side plate hanging beam 6 and the lower side plate hanging rope 16, the gravity moment caused by the gravity of the upper side plate 13, the upper side plate hanging beam and rope 10, the upper side plate counterweight 19, the upper side plate hanging beam 12 and the upper side plate hanging rope 15 and the gravity moment caused by the sinusoidal counterweight 17 act together on the rotating shaft of the flip beam 9, and the sum of the three is zero, thereby achieving complete gravity unloading of the lower side plate 7 and the upper side plate 13.

[0057] Embodiment 2:

[0058] This embodiment provides a method for calculating the weight of a gravity unloading device for a solar wing with two-dimensional deployment of an asymmetric side panel. The method is specifically described as follows based on the gravity unloading device for a solar wing with two-dimensional deployment of an asymmetric side panel:

[0059] Step S1: Obtain the sine function expression of the sum T of the gravity moments acting on the rotating shaft of the flip beam 9 before the counterweight (the counterweight is the lower plate counterweight block 18, the upper plate counterweight block 19 and the sine counterweight 17), the specific method is as follows:

[0060] The initial unfolding angle of the upper side plate is the same as the initial unfolding angle of the lower side plate. If the initial unfolding angles are both x, the sum of the gravity moments T acting on the rotating shaft of the flip beam 9 before the counterweight is:

[0061] T=G1[L1+D1sin(x+α1)]-G2[L2+D2sin(x+α2)] Formula (1)

[0062] Among them, see Appendix Figure 3 , G1 is the total weight of the lower side plate hanging beam rope 5, the lower side plate hanging beam 6 and the lower side plate hanging rope 16, D1 is the distance from the lower side plate hanging point A4 to the lower side plate hinge axis, α1 is the initial angle of gravity work on the lower side plate, G2 is the total weight of the upper side plate hanging beam rope 10, the upper side plate hanging beam 12 and the upper side plate hanging rope 15, D2 is the distance from the upper side plate hanging point B4 to the upper side plate hinge axis, α2 is the initial angle of gravity work on the upper side plate;

[0063] It should be noted that the initial deployment angle of the upper side panel is the same as the initial deployment angle of the lower side panel, both are x, but since the applicable object is the asymmetric side panel two-dimensional deployment solar wing, the initial angle α1 of the gravity work done by the lower side panel is different from the initial angle α2 of the gravity work done by the upper side panel.

[0064] Expand formula (1) to:

[0065]

[0066] Convert formula (1) to a sine function:

[0067] T=K+Ssin(x+θ) Formula (3)

[0068] Calculated by formula (2):

[0069] K=G1L1-G2L2 Formula (4)

[0070]

[0071]

[0072] Among them, k1 and k2 are both transition terms, where k1 = G1D1 cosα1 - G2D2 cosα2, k2 = G1D1 sinα1 - G2D2cosα2.

[0073] Step S2: According to the sine function expression obtained in step S1, add counterweights so that the sum of the gravity moments T acting on the rotating shaft of the flip beam 9 during the unfolding process is equal to zero. The specific method is as follows:

[0074] On the one hand, according to the constant term K=0, let the weight of the lower plate counterweight 18 be M1, and the weight of the upper plate counterweight 19 be M2, then M1 and M2 satisfy (G1+M1)L1-(G2+M2)L2=0;

[0075] On the other hand, according to the sine term Ssin(x+θ), the sine counterweight 17 is installed on the flip beam 9 through its own arm and is located at the rotation axis of the flip beam. The sine counterweight 17 satisfies the following conditions: Figure 1 , the sinusoidal counterweight 17 and the flip beam 9 form an angle θ along the unfolding direction of the lower side plate, and the product of the arm length L of the sinusoidal counterweight 17 and its weight M0 is S. Then the torque generated by the sinusoidal counterweight 17 on the rotating shaft of the flip beam is T0=-M0Lsin(x+θ)=-Ssin(x+θ), so that the sum of the torques acting on the rotating shaft of the flip beam is equal to zero.

[0076] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A gravity unloading device for a two-dimensionally unfolded solar wing with asymmetric side panels, characterized in that: include: Hanger, lifting rope, tilting beam, center plate lifting rope, side plate counterweight and sine counterweight; The asymmetric side panel two-dimensional unfolding solar wing comprises: a middle panel and two side panels, the middle panel is always kept vertical, and the two side panels are respectively hinged to the upper and lower sides of the middle panel in a one-to-one correspondence; the two side panels have different weights, and when the side panels are not unfolded, the center of mass of the two side panels is at different distances from the middle panel; The upper end of the hanger is fixed, and the lower end is connected to the middle plate through the middle plate suspension rope; the middle part of the flip beam is connected to the middle part of the hanger through a rotating shaft, and the flip beam can rotate around the rotating shaft; an end pulley is provided at each end of the flip beam, and the two ends of the suspension rope are respectively connected to the two side plates one by one after passing through the end pulleys at both ends of the flip beam one by one, and the parts of the suspension rope between the end pulleys and the corresponding side plates are all in the vertical direction, and the suspension rope can slide freely on the two end pulleys; the two side plate counterweights are respectively connected to the suspension ropes between the two end pulleys and the corresponding side plates one by one, and the sinusoidal counterweight is connected to the flip beam through its own arm, so that the sum of the gravitational moments of the suspension rope, the two side plates, the two side plate counterweights and the sinusoidal counterweight acting on the rotating shaft of the flip beam is zero, thereby realizing the complete unloading of the gravity of the asymmetric side panel two-dimensional unfolding solar wing; The end pulleys provided at both ends of the flip beam are end pulley E and end pulley F, and the two side plate counterweights are a lower side plate counterweight and an upper side plate counterweight; After one end of the lifting rope passes over the end pulley E, a lower side plate lifting beam is provided, and the two ends of the lower side plate lifting beam are respectively connected to the opposite side edges of the lower side plate through a lower side plate lifting rope, and the opposite side edges are two side edges adjacent to the edge where the hinge is located, so as to lift the lower side plate, and the two lower side plate lifting ropes have the same length, and the lower side plate lifting beam is parallel to the lower side plate, and the vertical part of the lifting rope between the end pulley E and the lower side plate lifting beam is the lower side plate lifting beam lifting rope, and the extension line of the lower side plate lifting beam lifting rope passes through the mass center of the lower side plate; the lower side plate counterweight block is connected to the lower side plate lifting beam lifting rope; The other end of the lifting rope is passed around the end pulley F and then an upper side plate lifting beam is provided. The two ends of the upper side plate lifting beam are respectively connected to the opposite side edges of the upper side plate through an upper side plate lifting rope. The opposite side edges are two side edges adjacent to the side where the hinge is located, so as to lift the upper side plate. The two upper side plate lifting ropes have the same length. The upper side plate lifting beam is parallel to the upper side plate. The vertical part of the lifting rope between the end pulley F and the upper side plate lifting beam is the upper side plate lifting beam lifting rope. The extension line of the upper side plate lifting beam lifting rope passes through the center of mass of the upper side plate. The upper side plate counterweight is connected to the upper side plate lifting beam lifting rope. The gravity moment caused by the gravity of the lower side plate, the lower side plate hanging beam and the rope, the lower side plate counterweight, the gravity moment caused by the gravity of the upper side plate, the upper side plate hanging beam and the rope, and the gravity moment caused by the sinusoidal counterweight act together on the rotating shaft of the flip beam, and the sum of the three is zero, achieving complete gravity unloading of the lower side plate and the upper side plate.

2. The gravity unloading device for the asymmetric side panel two-dimensional unfolding solar wing according to claim 1, characterized in that: The length L1 of the horizontal projection of the middle plate hanging point and the rotation axis A of the lower side plate is equal to the radius R1 of the end pulley E, and the distance between the rotation axis of the flip beam and the center of the end pulley E is equal to the distance between the hanging point of the upper side plate and the rotation axis of the lower side plate; The length L2 of the horizontal projection of the middle plate hanging point and the upper side plate rotation axis B is equal to the radius R2 of the end pulley F, and the distance between the rotation axis of the flip beam and the center of the end pulley F is equal to the distance between the hanging point of the lower side plate and the rotation axis of the upper side plate; And L1 is not equal to L2.

3. The gravity unloading device for the asymmetric side panel two-dimensional unfolding solar wing according to claim 1 or 2, characterized in that: The suspension rope is composed of two rope sections, and the two rope sections are connected to form an integrated structure through a spring, and the spring is located on the top of the flip beam.

4. A method for calculating the counterweight of a gravity unloading device for a two-dimensionally unfolded solar wing with an asymmetric side panel, based on the gravity unloading device described in any one of claims 1 to 3, characterized in that: Specifically: according to the sine function expression of the sum of the gravity moments T acting on the rotating shaft of the flip beam, the lower side plate counterweight, the upper side plate counterweight and the sine counterweight are calculated and configured so that the sum of the gravity moments T acting on the rotating shaft of the flip beam during the deployment process is equal to zero.

5. The method for calculating the counterweight of the gravity unloading device of the asymmetric side panel two-dimensionally unfolded solar wing according to claim 4, characterized in that: The way to obtain the sine function expression is: Assuming that the initial expansion angle of the upper side plate and the initial expansion angle of the lower side plate are both x, the formula for the sum of the gravitational moments T acting on the rotation axis of the flip beam before the counterweight is: T=G1[L1+D1 sin(x+α1)]-G2[L2+D2sin(x+α2)] Wherein, G1 is the total weight of the lower side plate hanging beam rope, the lower side plate hanging beam and the lower side plate hanging rope, D1 is the distance from the lower side plate hanging point A to the lower side plate hinge axis, α1 is the initial angle of gravity work on the lower side plate, G2 is the total weight of the upper side plate hanging beam rope, the upper side plate hanging beam and the upper side plate hanging rope, D2 is the distance from the upper side plate hanging point B to the upper side plate hinge axis, α2 is the initial angle of gravity work on the upper side plate; Convert the formula to a sine function: T = K + Ssin (x + θ), then: K=G1L1-G2L2 Among them, k1 and k2 are transition terms, k1 = G1D1 cosα1-G2D2cosα2, k2 = G1D1 sinα1-G2D2cosα2.

6. The method for calculating the counterweight of the gravity unloading device of the asymmetric side panel two-dimensionally unfolded solar wing according to claim 5, characterized in that: The way to calculate the counterweight is: On the one hand, according to the constant term K=0, let the weight of the lower plate counterweight be M1, and the weight of the upper plate counterweight be M2, then M1 and M2 satisfy (G1+M1)L1-(G2+M2)L2=0; On the other hand, according to the sine term Ssin(x+θ), the sinusoidal counterweight is installed on the flip beam through its own arm and is located at the rotation axis of the flip beam. The sinusoidal counterweight satisfies the following conditions: it is at an angle θ with the flip beam along the unfolding direction of the lower side plate, and the product of the length L of the sinusoidal counterweight's own arm and its weight M0 is S.

Images