Drive device and drive method for a rope-driven expansion mechanism

Abstract

This invention provides a driving device and method for a rope-driven extension mechanism. The driving device includes three winding wheel assemblies, each corresponding to one of three cable-laying assemblies. One end of each winding wheel assembly is connected to one end of each cable-laying assembly via gear transmission, and the other end of each winding wheel assembly is connected to a driving structure via a worm gear transmission. In this technical solution, automatic rope laying is achieved through mechanical transmission, avoiding the risk of runaway caused by electrical component control. It offers strong driving capability, high reliability, stable driving, easy maintenance, and a large load-bearing capacity. By employing a worm gear transmission, the reduction ratio is increased, the power requirements of the motor are reduced, and a reverse self-locking protection effect is achieved.

Description

Technical Field

[0001] This invention relates to the field of spatial extension mechanism technology, and more specifically, to a driving device and driving method for a rope-driven extension mechanism. Background Technology

[0002] With the continuous development and progress in the fields of space security and deep space exploration, the application prospects of segmented space extension mechanisms are becoming increasingly broad. Existing segmented space extension mechanisms are mostly grid-tube or truss-type structures. Compared to gear drives, chain drives, and belt drives, they use ropes as the main force transmission carrier, offering advantages such as smaller size, lighter weight, and longer transmission distance, making them suitable for existing segmented space extension mechanisms. However, current segmented space rope-driven extension mechanisms rely on electrical components for control and drive, posing a risk of runaway and requiring high motor power. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the purpose of this invention is to provide a driving device and driving method for a rope-driven extension mechanism. This device has a large load-bearing capacity, low motor power requirements, avoids the risk of runaway caused by electrical component control and driving, and is easy to maintain.

[0004] The present invention provides a driving device for a rope-driven extension mechanism, comprising: three winding wheel assemblies, each of which corresponds to one of three cable laying assemblies; one end of each winding wheel assembly is connected to one end of each cable laying assembly via gear transmission; and the other end of each winding wheel assembly is connected to a driving structure via worm gear transmission.

[0005] Furthermore, the three winding wheel assemblies are a first winding wheel assembly, a second winding wheel assembly, and a third winding wheel assembly, wherein the third winding wheel assembly is located between the first winding wheel assembly and the second winding wheel assembly;

[0006] The third winding wheel assembly located at one end in the first direction, the first winding wheel assembly located at one end in the second direction, and the second winding wheel assembly located at one end in the second direction are respectively connected to the corresponding cable assembly via gear transmission, wherein the first direction and the second direction are opposite.

[0007] Furthermore, the drive structure includes a first drive motor and a second drive motor;

[0008] The first winding wheel assembly is shaft-connected to the first worm gear, and the first worm gear is drivenly connected to the first worm; the second winding wheel assembly is shaft-connected to the second worm gear, and the second worm gear is drivenly connected to the second worm; one end of the first worm and one end of the second worm are connected by a coupling, and the other end of the second worm is shaft-connected to the first drive motor;

[0009] The third winding wheel assembly is shaft-connected to the third worm gear, which is connected to the third worm drive. One end of the third worm is shaft-connected to the second drive motor.

[0010] Furthermore, the three ribbon cable assemblies are respectively a first ribbon cable assembly, a second ribbon cable assembly, and a third ribbon cable assembly;

[0011] The first cable assembly is connected to the first gear shaft, the first winding wheel assembly is connected to the second gear shaft, and the first gear is meshed with the second gear;

[0012] The second cable assembly is shaft-connected to the fourth gear, the second winding wheel assembly is shaft-connected to the third gear, and the fourth gear is gear-connected to the third gear;

[0013] The third cable assembly is shaft-connected to the sixth gear, the third winding wheel assembly is shaft-connected to the fifth gear, and the sixth gear meshes with the fifth gear.

[0014] Furthermore, the cable assembly is provided with cable rollers, the cable rollers include a first roller and a second roller, the axes of the first roller and the second roller are perpendicular to the axis of the cable assembly and the first roller and the second roller are arranged parallel to each other.

[0015] Furthermore, it also includes a frame, with the winding wheel assembly and the cable laying assembly both disposed inside the frame, and the gears in the gear transmission, the worm wheel and worm in the worm gear transmission, and the motor in the drive structure all disposed outside the frame.

[0016] Furthermore, a wire stop plate is provided on the upper side of the winding wheel assembly, and the wire stop plate is fixedly connected to the frame.

[0017] The present invention also provides a driving method for the driving device of the above-described rope-driven extension mechanism, comprising:

[0018] During the unfolding process of the extension mechanism, the first winding wheel assembly and the second winding wheel assembly simultaneously wind up the rope, while the third winding wheel assembly releases the rope.

[0019] During the retraction process of the extension mechanism, the third winding wheel assembly actively winds up the rope, while the first winding wheel assembly and the second winding wheel assembly simultaneously release the rope.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The driving device of the rope-driven extension mechanism provided by this invention realizes automatic rope arrangement of the extension mechanism driving device through a mechanical transmission structure of a worm gear drive to drive the cable laying assembly and the winding wheel assembly. This avoids the risk of runaway caused by electrical component control and drive, and has strong driving capability, good reliability, stable driving, easy maintenance, and large load-bearing capacity. By adopting worm gear transmission, the reduction ratio is increased, the power requirements of the motor in the driving structure are reduced, and the reverse self-locking protection effect can be achieved. Attached Figure Description

[0022] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0023] Figure 1 A top view schematic diagram of the driving device of the rope-driven extension mechanism provided in an embodiment of the present invention;

[0024] Figure 2 A cross-sectional schematic diagram of the driving device of the rope-driven extension mechanism provided in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the rack structure provided in an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the winding wheel assembly provided in an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of the ribbon cable assembly provided in an embodiment of the present invention;

[0028] Figure 6 A schematic diagram of the operation of the rope-driven extension mechanism provided in an embodiment of the present invention when the driving device drives the extension mechanism to unfold.

[0029] Figure 7 This is a schematic diagram of the operation of the rope-driven extension mechanism provided in an embodiment of the present invention when the driving device drives the extension mechanism to retract.

[0030] In the picture:

[0031] 1-First cable laying assembly; 2-First winding wheel assembly; 3-Second cable laying assembly; 4-Second winding wheel assembly; 5-Third cable laying assembly; 6-Third winding wheel assembly; 7-First worm gear; 8-First worm; 9-Second worm gear; 10-Second worm; 11-Third worm gear; 12-Third worm; 13-First gear; 14-Second gear; 15-Third gear; 16-Fourth gear; 17-Fifth gear; 18-Sixth gear; 19-First roller; 20-Second roller; 21-Frame; 22-Wire guide plate; 23-First drive motor; 24-Second drive motor;

[0032] a - First direction; b - Second direction. Detailed Implementation

[0033] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0034] Please see Figure 1-2 This embodiment provides a driving device for a rope-driven extension mechanism, comprising: a frame 21 for fixing the driving device; the frame 21 internally housing a first winding wheel assembly 2, a second winding wheel assembly 4, a third winding wheel assembly 6, a first cable laying assembly 1, a second cable laying assembly 3, and a third cable laying assembly 5; the third winding wheel assembly 6 being located between the first winding wheel assembly 2 and the second winding wheel assembly 4; the first cable laying assembly 1 being located to the left of the first winding wheel assembly 2; the second cable laying assembly 3 being located to the right of the second winding wheel assembly 4; and the third cable laying assembly 5 being located below the third winding wheel assembly 6. Figure 1As shown, the drive device is provided with a first direction a and a second direction b, the first direction a being opposite to the second direction b. The first cable assembly 1 is located at one end in the second direction b and is connected to the first gear 13 shaft. The first winding wheel assembly 2 is located at one end in the second direction b and is connected to the second gear 14 shaft. The first gear 13 and the second gear 14 mesh. The second cable assembly 3 is located at one end in the second direction b and is connected to the fourth gear 16 shaft. The second winding wheel assembly 4 is located at one end in the second direction b and is connected to the third gear 15 shaft. The fourth gear 16 and the third gear 15 mesh. The third cable assembly 5 is located at one end in the first direction a and is connected to the sixth gear 18 shaft. The third winding wheel assembly 6 is located at one end in the first direction a and is connected to the fifth gear 17 shaft. The sixth gear 18 and the fifth gear 17 mesh. The other end of the first winding wheel assembly 2 in direction a is connected to the first worm gear 7 shaft. The first worm gear 7 is connected to the first worm 8 via a transmission. The second winding wheel assembly 4 is located in direction a... The other end is connected to the shaft of the second worm wheel 9, and the second worm wheel 9 is connected to the second worm 10 through a drive connection. One end of the first worm 8 is connected to one end of the second worm 10 through a coupling. The other end of the second worm 10 is connected to the shaft of the first drive motor 23. The rotation direction of the first winding wheel assembly 2 is opposite to that of the second winding wheel assembly 4. The other end of the third winding wheel assembly 6 located in the b direction is connected to the shaft of the third worm wheel 11. The third worm wheel 11 is connected to the shaft of the third worm 12 through a drive connection. One end of the third worm 12 is connected to the shaft of the second drive motor 24. The first worm wheel 7, the first worm 8, the second worm wheel 9, the second worm 10, the third worm wheel 11, the third worm 12, the first gear 13, the second gear 14, the third gear 15, the fourth gear 16, the fifth gear 17, the sixth gear 18, the first drive motor 23, and the second drive motor 24 are all located on the outside of the frame 21. The first drive motor 23 and the second drive motor 24 are located on both sides of the frame 21, respectively.

[0035] In this embodiment, the mechanical transmission structure that drives the worm gear and thus the cable laying assembly and the winding wheel assembly via a motor enables automatic rope laying of the extension mechanism drive device. This avoids the risk of runaway caused by electrical component control and drive, provides strong driving capability, good reliability, stable driving, easy maintenance, and large load-bearing capacity. By adopting worm gear transmission, the reduction ratio is increased, the power requirement of the motor is reduced, and the reverse self-locking protection effect can be achieved.

[0036] Please see Figure 5In one optional embodiment, the first wiring assembly 1, the second wiring assembly 3, and the third wiring assembly 5 are all equipped with wiring rollers. Each wiring roller includes a first roller 19 and a second roller 20. The axes of the first roller 19 and the second roller 20 are perpendicular to the axis of the wiring assembly and are arranged parallel to each other. This converts rotation into linear motion, ensuring the wire rope travels along the tangential direction of the winding wheel assembly, thus achieving orderly winding and preventing tangling. Optionally, the wiring rollers are made of self-lubricating copper. The distance between the first roller 19 and the second roller 20 is slightly larger than the diameter of the wire rope, and the wire rope passes through the rollers. Because the first roller 19 and the second roller 20 experience significant forces during the extension and retraction process of the drive mechanism, multiple deep groove ball bearings (preferably four) are installed inside each of the first roller 19 and the second roller 20 for support. The first wiring assembly 1, the second wiring assembly 3, and the third wiring assembly 5 employ a screw and nut structure, with the wiring rollers mounted on the nut.

[0037] In an optional embodiment, the first winding reel assembly 2, the second winding reel assembly 4, and the third winding reel assembly 6 are all provided with helical rope grooves for winding or releasing the wire rope. Optionally, the first arranging assembly 1, the second arranging assembly 3, and the third arranging assembly 5 adopt a screw and nut structure, where the screw pitch is the same as the rope groove pitch of the winding reel assembly, and the diameter of the rope groove is 1.2 times the diameter of the wire rope. This facilitates orderly winding.

[0038] Please see Figure 1 In one optional embodiment, a wire guide plate 22 is provided on the upper side of the first winding wheel assembly 2, the second winding wheel assembly 4, and the third winding wheel assembly 6. The wire guide plate 22 is fixedly connected to the frame 21. This is used to prevent the wire rope from slackening and slipping out of the rope groove of the winding wheel assembly. Optionally, the wire guide plate 22 is made of self-lubricating polytetrafluoroethylene (PTFE).

[0039] Please see Figure 3 In one alternative embodiment, the frame 21 is mounted at the bottom center of the extension mechanism, providing mounting interfaces for each component of the extension mechanism, and is composed of side plates, cover plates, and bottom plates connected by bolts.

[0040] In an alternative embodiment, the first gear 13, the second gear 14, the third gear 15, the fourth gear 16, the fifth gear 17, and the sixth gear 18 are of the same specification.

[0041] In an optional embodiment, the first winding wheel assembly 2, the second winding wheel assembly 4, and the third winding wheel assembly 6 are all provided with rope-threading holes, which are used to fix the end of the wire rope to the rope-threading hole by a fastener, so as to prevent the wire rope from detaching from the winding wheel assembly.

[0042] In an optional embodiment, the first drive motor 23 and the second drive motor 24 are adapted to reducers with a large transmission ratio, and the first worm gear 7, the first worm 8, the second worm gear 9, the second worm 10, the third worm gear 11 and the third worm 12 with a large transmission ratio are selected to enhance the driving capability of the drive device.

[0043] Please see Figure 4 In one optional embodiment, the bearings on the first winding wheel assembly 2, the second winding wheel assembly 4, the third winding wheel assembly 6, the first cable laying assembly 1, the second cable laying assembly 3, and the third cable laying assembly 5 are configured with one end fixed and the other end movable to avoid movement jamming caused by the alternating high and low temperature environment. Optionally, the fixed end bearing is a pair of angular contact ball bearings with a washer between them, and the movable end bearing is a deep groove ball bearing.

[0044] In one alternative embodiment, the length of the wire rope is greater than the unfolded length of the extension mechanism; preferably, the length of the wire rope is greater than 1.2 times the unfolded length of the extension mechanism.

[0045] Please see Figure 6-7 This embodiment provides a driving method for a driving device of a rope-driven extension mechanism, comprising:

[0046] During the unfolding process of the extension mechanism, the first winding wheel assembly (2) and the second winding wheel assembly (4) simultaneously wind up the rope, while the third winding wheel assembly (6) releases the rope.

[0047] During the retraction process of the extension mechanism, the third winding wheel assembly (6) actively winds up the rope, while the first winding wheel assembly (2) and the second winding wheel assembly (4) release the rope synchronously.

[0048] In one specific embodiment, when the extension mechanism is deployed under the action of the drive device, the first drive motor 23 drives the first worm wheel 7 and the second worm wheel 9 to rotate through the first worm 8 and the second worm 10, thereby driving the first winding wheel assembly 2 and the second winding wheel assembly 4 to rotate and wind the wire rope, so that the extension mechanism is deployed. When the first winding wheel assembly 2 and the second winding wheel assembly 4 are winding the rope, the first winding wheel assembly 2 and the second winding wheel assembly 4 drive the first wire laying assembly 1 and the second wire laying assembly 3 to rotate through the meshing of the first gear 13, the second gear 14, the third gear 15 and the fourth gear 16 with a transmission ratio of 1:1. Since the screw pitch of the first wire laying assembly 1 and the second wire laying assembly 3 is the same as the screw pitch of the first winding wheel assembly 2 and the second winding wheel assembly 4, the rotation speed of the first wire laying assembly 1 and the second wire laying assembly 3 is the same as the rotation speed of the first winding wheel assembly 2 and the second winding wheel assembly 4. The wire laying rollers installed on the nuts of the first wire laying assembly 1 and the second wire laying assembly 3 ensure that the wire rope is always along the tangential direction of the winding wheel during the winding process of the first winding wheel assembly 2 and the second winding wheel assembly 4, thereby achieving an orderly winding effect and avoiding winding disorder.

[0049] At the same time, the second drive motor 24 drives the worm wheel 12 to rotate through the worm gear 11, thereby driving the third winding wheel assembly 6 to release the rope. The third winding wheel assembly 6 drives the third winding assembly 5 to rotate through the meshing of the fifth gear 17 and the sixth gear 18. The rope release speed of the third winding wheel assembly 6 is the same as the rope take-up speed of the first winding wheel assembly 2 and the second winding wheel assembly 4. It is a follow-up mechanism used to prevent sudden displacement caused by disturbance when the mechanism is deployed.

[0050] When the extension mechanism retracts under the action of the drive device, the second drive motor 24 drives the worm wheel 12 to rotate through the worm 11, thereby driving the third winding wheel assembly 6 to wind the rope. The third winding wheel assembly 6 drives the third winding assembly 5 to rotate through the meshing of the fifth gear 17 and the sixth gear 18.

[0051] At the same time, the first drive motor 23 drives the first worm wheel 7 and the second worm wheel 9 to rotate through the first worm 8 and the second worm 10, thereby driving the first winding wheel assembly 2 and the second winding wheel assembly 4 to rotate and release the wire rope, so that the extension mechanism can be deployed. When the first winding wheel assembly 2 and the second winding wheel assembly 4 release the rope, they drive the first wire laying assembly 1 and the second wire laying assembly 3 to rotate through the meshing of the first gear 13, the second gear 14, the third gear 15, and the fourth gear 16 with a transmission ratio of 1:1. Since the lead screw pitch of the first wire laying assembly 1 and the second wire laying assembly 3 is the same as the lead screw pitch of the first winding wheel assembly 2 and the second winding wheel assembly 4, their rotational speeds are the same as those of the first winding wheel assembly 2 and the second winding wheel assembly 4. The wire laying rollers installed on the nuts of the first winding wheel assembly 1 and the second winding wheel assembly 3 ensure that the wire rope always stays along the tangential direction of the winding wheel during the winding process, thus achieving an orderly winding effect and avoiding winding disorder. The rope release speed of the first winding wheel assembly 2 and the second winding wheel assembly 4 is the same as the rope take-up speed of the third winding wheel assembly 6, which is a follow-up mechanism used to prevent sudden displacement caused by disturbances when the mechanism is deployed.

[0052] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A driving device for a rope-driven extension mechanism, characterized in that, include: Three winding wheel assemblies, each corresponding to one of the three cable laying assemblies. One end of each winding wheel assembly is connected to one end of each cable laying assembly via gear transmission, and the other end of each winding wheel assembly is connected to the drive structure via worm gear transmission. The three winding wheel assemblies are a first winding wheel assembly (2), a second winding wheel assembly (4), and a third winding wheel assembly (6), with the third winding wheel assembly (6) located between the first winding wheel assembly (2) and the second winding wheel assembly (4); The third winding wheel assembly (6) located at one end in the first direction (a), the first winding wheel assembly (2) located at one end in the second direction (b), and the second winding wheel assembly (4) located at one end in the second direction (b) are respectively connected to the corresponding cable assembly through gear transmission. The first direction (a) and the second direction (b) are opposite in direction. The drive structure includes a first drive motor (23) and a second drive motor (24); The first winding wheel assembly (2) is shaft-connected to the first worm wheel (7), and the first worm wheel (7) is drive-connected to the first worm (8); the second winding wheel assembly (4) is shaft-connected to the second worm wheel (9), and the second worm wheel (9) is drive-connected to the second worm (10); one end of the first worm (8) is connected to one end of the second worm (10) through a coupling, and the other end of the second worm (10) is shaft-connected to the first drive motor (23); The third winding wheel assembly (6) is shaft-connected to the third worm gear (11), the third worm gear (11) is drive-connected to the third worm (12), and one end of the third worm (12) is shaft-connected to the second drive motor (24); During the unfolding process of the extension mechanism, the first winding wheel assembly (2) and the second winding wheel assembly (4) simultaneously wind up the rope, while the third winding wheel assembly (6) releases the rope. During the retraction process of the extension mechanism, the third winding wheel assembly (6) actively winds up the rope, while the first winding wheel assembly (2) and the second winding wheel assembly (4) release the rope synchronously.

2. The driving device for the rope-driven extension mechanism according to claim 1, characterized in that, The three ribbon cable assemblies are the first ribbon cable assembly (1), the second ribbon cable assembly (3), and the third ribbon cable assembly (5); The first cable assembly (1) is shaft-connected to the first gear (13), the first winding wheel assembly (2) is shaft-connected to the second gear (14), and the first gear (13) and the second gear (14) are gear-connected. The second cable assembly (3) is shaft-connected to the fourth gear (16), the second winding wheel assembly (4) is shaft-connected to the third gear (15), and the fourth gear (16) is gear-connected to the third gear (15); The third wiring assembly (5) is shaft-connected to the sixth gear (18), the third winding wheel assembly (6) is shaft-connected to the fifth gear (17), and the sixth gear (18) is gear-connected to the fifth gear (17).

3. The driving device for the rope-driven extension mechanism according to claim 1, characterized in that, The cable assembly is provided with cable rollers, which include a first roller (19) and a second roller (20). The axes of the first roller (19) and the second roller (20) are perpendicular to the axis of the cable assembly, and the first roller (19) and the second roller (20) are arranged parallel to each other.

4. The driving device for the rope-driven extension mechanism according to claim 1, characterized in that, It also includes a frame (21), the winding wheel assembly and the cable assembly are both located inside the frame (21), and the gears in the gear transmission, the worm wheel and worm in the worm gear transmission and the motor in the drive structure are all located outside the frame (21).

5. The driving device for the rope-driven extension mechanism according to claim 4, characterized in that, A wire baffle (22) is provided on the upper side of the winding wheel assembly, and the wire baffle (22) is fixedly connected to the frame (21).

6. A driving method for a driving device of a rope-driven extension mechanism according to any one of claims 1-5, characterized in that, include: During the unfolding process of the extension mechanism, the first winding wheel assembly (2) and the second winding wheel assembly (4) simultaneously wind up the rope, while the third winding wheel assembly (6) releases the rope. During the retraction process of the extension mechanism, the third winding wheel assembly (6) actively winds up the rope, while the first winding wheel assembly (2) and the second winding wheel assembly (4) release the rope synchronously.

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