A Method for Expanding a Variable-Diameter Outer-Driven Sleeve

Abstract

The present invention discloses a method for expanding a variable-diameter externally-driven sleeve, belonging to the technical field of variable-structure space remote sensors. The method is based on a wheel-type driving component, a variable-diameter pre-tightening component capable of abutting the wheel-type driving component against the outer wall of the sleeve, and a control system for feedbacking the wheel-type driving component and the abutting state. The method comprises the following steps: Step S1: The variable-diameter pre-tightening component is installed on the upper part of the outermost-level sleeve, and the wheel-type driving component is installed on the variable-diameter pre-tightening component; Step S2: The pre-tightening system controls the wheel-type driving component to be in real-time contact with the outer wall of the sleeve to be expanded; Step S3: The driving system controls the wheel-type driving component to rotate, gradually expand the sleeve, and stop the machine after the sleeve is completely expanded. The method has the advantages of simplicity, reliability, scalability, compactness, and high precision, and can be used in all occasions using a sleeve-type expansion mechanism, especially in the field of space remote sensing with high requirements for expansion precision.

Description

Technical Field

[0001] The present invention relates to the technical field of variable structure space remote sensors, and particularly to a variable-diameter external drive sleeve deployment method for completing the on-orbit deployment of multi-stage sleeves and realizing the on-orbit reorganization of ultra-large variable structure space remote sensors. Background Technique

[0002] In order to break through the limitation of launch capacity and build a larger-aperture space remote sensor in orbit, space deployable remote sensors have become a new development direction. The basic principle of this technical route is that before launch, the system is folded orderly to reduce the occupied space, and after entering orbit, it automatically unfolds and reorganizes to achieve the imaging ability of the equivalent designed aperture. To realize the deformation of space deployable remote sensors, deployment mechanisms are required for driving. Traditional space deployment mechanisms mainly include articulated truss type, thin-walled tube type, sleeve type, coiled type, and inflatable type.

[0003] The sleeve type has a large moment of inertia of the cylinder cross-section, and due to a certain length of overlap reserved between every two levels of cylinders, it has good stiffness and strength performance. By using carbon fiber materials with a small coefficient of linear expansion and mechanical limit devices, a very high positioning accuracy can be achieved, which is particularly suitable for the field of variable structure space cameras with high requirements for accuracy, stability, and stiffness.

[0004] According to different sleeve deployment methods, it can be divided into cable drive type, lead screw drive type, and thin-walled open tube drive type. The cable drive method has the advantages of good deployment synchronization, simple structure and principle, and light weight of the drive structure parts. However, in a microgravity environment, there is a risk of mutual entanglement of the cables, resulting in low reliability; affected by the elasticity of the cables, there are oscillations during the deployment process, making the system control difficult. The lead screw drive type has outstanding advantages such as simple principle, stable structure, high strength, and high deployment driving force. However, it has very high requirements for the machining accuracy of the lead screw and the assembly accuracy of the nut; limited by the manufacturing ability of the lead screw, the single-stage extension length of the sleeve cannot be made very long, and the deployment-to-folding ratio is relatively low; it is prone to bending deformation, resulting in jamming of the mechanism and low reliability. The thin-walled open tube drive method has a relatively large axial driving force; however, its deployment and retraction mechanism is complex, with a large weight and structural size, and is inconvenient to use; after the thin-walled open tube is deployed, the deformation is asymmetric, causing the sleeve to rotate axially, squeezing the guiding mechanism, resulting in deformation of the deployment mechanism; moreover, the preparation of large-stroke thin-walled open tubes is difficult and the cost is very high. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects existing in the prior art and provide a variable-diameter external drive sleeve deployment method.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A variable-diameter outer-driven sleeve deployment method disclosed by the present invention is based on a wheel-driven assembly, a variable-diameter pre-tightening assembly capable of abutting the wheel-driven assembly against the outer wall of the sleeve, and a control system for feeding back the abutting state of the wheel-driven assembly.

[0008] This method includes the following steps:

[0009] Step S1: The variable-diameter pre-tightening assembly is installed on the upper part of the outermost sleeve, and the wheel-driven assembly is installed on the variable-diameter pre-tightening assembly;

[0010] Step S2: The pre-tightening system controls the wheel-driven assembly to be in real-time contact with the outer wall of the sleeve to be deployed;

[0011] Step S3: The driving system controls the wheel-driven assembly to rotate, deploy the sleeve step by step, and stop the machine after the sleeve is fully deployed.

[0012] Further, the control method of the pre-tightening system includes the following steps:

[0013] Step S2.1, detecting the state parameters x1~x n of the variable-diameter pre-tightening assembly, where n is the number of state parameters

[0014] Step S2.2, calculating the abutting force N = f(x1,...,x n ) of the wheel-driven assembly against the outer wall of the sleeve from the state parameters of the variable-diameter pre-tightening assembly

[0015] Step S2.3, judging whether the abutting force N meets the requirements. If it meets the requirements, go to step S2.5; if it does not meet the requirements, go to step S2.4;

[0016] Step S2.4, adjusting the variable-diameter pre-tightening assembly, and go to step S2.1;

[0017] Step S2.5, end.

[0018] Further, the control method of the driving system includes the following steps:

[0019] Step S3.1, judging whether the deployment is in place. If it meets the requirements, stop the action; if it does not meet the requirements, go to step S3.2;

[0020] Step S3.2, driving the wheel-driven assembly to rotate at a constant speed to deploy the sleeve step by step.

[0021] Further, the variable-diameter pre-tightening assembly and the wheel-driven assembly are externally disposed outside the sleeve.

[0022] Further, at least two sets of the wheel-driven assembly and the variable-diameter pre-tightening assembly are evenly arranged around the axis of the sleeve.

[0023] Further, during the entire process of the sleeve unfolding, the wheeled drive assembly is in real-time contact with the outer wall of the sleeve.

[0024] In the above technical solution, for a variable-diameter external drive type sleeve unfolding method provided by the present invention, the beneficial effects are as follows: When using the method of the present invention to unfold the sleeve, the structure is simple, and there will be no obvious technical obstacles in aspects such as design, manufacturing, assembly, and use due to the increase in the extended length of the sleeve; although the variable-diameter pre-tightening assembly is placed outside the sleeve, resulting in an increase in the overall volume, this structure is suitable for very thin sleeves, with a high folding ratio and flexible use; it has good scalability, with no limit on the length of a single-stage sleeve, and thus no limit on the total extended length achieved by the sleeve; no guiding mechanism is required, with high reliability, a small diameter difference of the sleeve, and a large unfolding and folding ratio; the present invention can be used in all occasions where a sleeve-type unfolding mechanism is used, especially in the field of space remote sensing with high requirements for unfolding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic structural configuration diagram of a variable-diameter external drive type sleeve unfolding method disclosed by the present invention;

[0027] Figure 2 It is a control flow chart of a variable-diameter external drive type sleeve unfolding method disclosed by the present invention;

[0028] Figure 3 It is a structural schematic diagram of a variable-diameter pre-tightening assembly and a wheeled drive assembly based on a variable-diameter external drive type sleeve unfolding method disclosed by the present invention.

[0029] DESCRIPTION OF THE REFERENCE NUMERALS

[0030] 1. Variable-diameter pre-tightening assembly; 2. Wheeled drive assembly; 3. Installation base; 4. Outermost-level sleeve; 5. Second-outermost-level sleeve; 6. Second-level sleeve; 7. i-level sleeve; 8. Second-inner-level sleeve; 9. Innermost-level sleeve; 10. Limit and interlock member; 11. Limit ring;

[0031] 101. Pre-tightening base; 102. First reduction motor; 103. Torque sensor; 104. First bevel gear; 105. Second bevel gear; 106. Pre-tightening support arm; 107. Angle sensor;

[0032] 201. Second reduction motor; 202. Driving wheel. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0034] See Figure 1-2 as shown in;

[0035] Invent a variable-diameter external drive sleeve deployment method, which is based on a wheel drive assembly 2, a variable-diameter pre-tightening assembly 1 capable of abutting the wheel drive assembly 2 against the outer wall of the sleeve, and a control system for feedback on the wheel drive assembly and the abutting state;

[0036] Among them, the variable-diameter pre-tightening assembly 1 and the wheel drive assembly 2 are externally disposed outside the sleeve, so that the variable-diameter pre-tightening assembly 1 and the wheel drive assembly 2 are not restricted by the sleeve diameter, and thus can deploy both small-diameter sleeve assemblies and large-diameter sleeve assemblies, with a wide range of applications and high versatility;

[0037] The method includes the following steps:

[0038] Step S1: The variable-diameter pre-tightening assembly 1 is installed on the upper part of the outermost sleeve 4, and the wheel drive assembly 2 is installed on the variable-diameter pre-tightening assembly 1;

[0039] Step S2: The pre-tightening system controls the wheel drive assembly 2 to be in real-time contact with the outer wall of the sleeve to be deployed;

[0040] Step S3: The drive system controls the wheel drive assembly 2 to rotate, deploy the sleeve step by step, and stop after the sleeve is fully deployed;

[0041] Preferably, the control method of the pre-tightening system includes the following steps:

[0042] Step S2.1: Detect the state parameters x1 to x n of the variable-diameter pre-tightening assembly 1, where n is the number of state parameters

[0043] Step S2.2: Calculate the abutting force N = f(x1,..., x n ) of the wheel drive assembly 2 against the outer wall of the sleeve from the state parameters of the variable-diameter pre-tightening assembly 1

[0044] Step S2.3: Judge whether the abutting force N meets the requirements. If it meets the requirements, go to step S2.5; if it does not meet the requirements, go to step S2.4;

[0045] Step S2.4: Adjust the variable-diameter pre-tightening assembly 1 and go to step S2.1;

[0046] Step S2.5: End;

[0047] Preferably, the control method of the drive system includes the following steps:

[0048] Step S3.1: Determine whether it is fully deployed. If the requirement is met, stop the action; if not, go to Step S3.2;

[0049] Step S3.2: Drive the wheeled drive assembly 2 to rotate at a constant speed to gradually deploy the sleeve.

[0050] Preferably, at least two sets of wheeled drive assemblies 2 and variable-diameter pre-tightening assemblies 1 are circumferentially and evenly distributed around the axis of the sleeve;

[0051] Preferably, during the entire process of sleeve deployment, it is necessary to ensure that the wheeled drive assembly 2 is in real-time contact with the outer wall of the sleeve. Specifically, refer to Figure 1 As shown, in the initial state, the wheeled drive assembly 2 abuts against the outer wall of the innermost sleeve. The length of the innermost sleeve is greater than the lengths of the second outermost and outermost sleeves, and the top of the innermost sleeve is exposed outside the second outermost and outermost sleeves;

[0052] In this method, the rotational motion of the wheeled drive assembly 2 can be replaced by any one of the existing technologies that can provide an axial rotational driving force, and it can rollingly abut against the outer wall of the sleeve to achieve the sequential and gradual deployment of the sleeve;

[0053] The variable-diameter pre-tightening assembly 1 can be any mechanism in the existing technology that can support the wheeled drive assembly 2 and keep the wheeled drive assembly 2 in real-time contact with the outer wall of the sleeve, and it can provide a pre-tightening contact force;

[0054] Figure 3 This is a structural schematic diagram of the variable-diameter pre-tightening assembly 1 and the wheeled drive assembly based on this sleeve deployment method. This method is not limited to using this structure to deploy the sleeve. This method only takes this structure as an example;

[0055] The variable-diameter pre-tightening assembly 1 in this structure;

[0056] The variable-diameter pre-tightening assembly 1 includes a pre-tightening base 101, a first reduction motor 102, a torque sensor 103, a first bevel gear 104, a second bevel gear 105, a pre-tightening support arm 106, and an angle sensor 107;

[0057] The pre-tightening base 101 is fixedly connected with a first reduction motor 102. Among them, one end of the torque sensor 103 is fixedly connected to the power output shaft of the first reduction motor 102, and the other end is fixedly connected to the first bevel gear 104. The second bevel gear 105 is installed on the input shaft. The first bevel gear 104 and the second bevel gear 105 are meshed to achieve gear transmission. The input shaft is fixedly connected with the pre-tightening support arm 106, and an angle sensor 107 is fixedly connected to the end of the input shaft away from the second bevel gear 105. The housing of the angle sensor 107 is fixedly connected with the pre-tightening base 101. Both the first bevel gear 104 and the second bevel gear 105 are rotatably connected to the pre-tightening base;

[0058] Among them, the variable-diameter pre-tightening assembly 1 is integrally fixedly connected to the installation base 3 through the pre-tightening base 101. When two sets of wheel drive assemblies 2 and the variable-diameter pre-tightening assembly 1 are on the installation base 3, their distribution form is symmetrically distributed along the sleeve axis. When more than three sets of wheel drive assemblies 2 and the variable-diameter pre-tightening assembly 1 are on the installation base 3, their distribution form is evenly distributed along the sleeve axis, playing a role in automatic centering and offsetting the radial force received by the sleeve;

[0059] The wheel drive assembly 2 in this structure;

[0060] The wheel drive assembly 2 includes a second reduction motor 201 and a drive wheel 202;

[0061] The second reduction motor 201 is fixedly connected to the end of the pre-tightening support arm 106, and the drive wheel 202 is fixedly connected to the power output shaft of the second reduction motor 201. During normal operation, the drive wheel 202 abuts against the outer wall of the sleeve group and drives the drive wheel 202 to rotate through the second reduction motor 201 to realize the expansion of the sleeve;

[0062] Such as Figure 1 shown;

[0063] Specific implementation manner of the variable-diameter external drive type sleeve expansion method;

[0064] The installation base 3 is installed at the front end of the outermost sleeve 4. At least two (3 are optimal) variable-tightening pre-tightening assemblies 1 are circumferentially and evenly distributed at the other end around the central axis of the sleeve. The variable-diameter pre-tightening assembly 1 can rotate around one end under the action of a driving element. A wheel drive assembly 2 is installed at the other end of the variable-diameter pre-tightening assembly 1. The wheel drive assembly 2 can rotate under the action of a driving element. The included angle α between the variable-diameter pre-tightening assembly 1 and the sleeve axis and the external torque M it bears can be fed back through corresponding sensors.

[0065] The sleeve assembly to be expanded is composed of the outermost sleeve 4 (level 0), the second outermost sleeve 5 (level 1), the level 2 sleeve 6, the level i sleeve 7 (level i), the second innermost sleeve 8 (level n - 1), and the innermost sleeve 9 (level n) that are sleeved in sequence. In the initial state, the second innermost sleeve 8 and the level i sleeve 7, and the level i sleeve 7 and the level i - 1 sleeve (i is an integer greater than or equal to 1) are fixedly connected through the limit and interlock parts 10 on each level of the sleeve. Therefore, in the initial state, all sleeves except the innermost sleeve 9 can be regarded as a whole, and the innermost sleeve 9 and the second innermost sleeve 8 can perform axial sliding. The number of sleeves can be increased or decreased according to design requirements, not limited to the 9-level sleeves in this embodiment;

[0066] When the control system receives the sleeve expansion instruction;

[0067] The system starts to judge whether the wheel drive assembly 2 is reliably pre-tightened. If it is reliably pre-tightened, it jumps to the drive system control. If it is not reliably pre-tightened, it jumps to the pre-tightening system control.

[0068] The pre-tightening system control method is as follows:

[0069] Step S2.1: Detect the state parameters α, M of the variable-diameter pre-tightening assembly 1

[0070] Step S2.2: Calculate the abutting force N between the wheel drive assembly 2 and the outer wall of the sleeve from the state parameters of the variable-diameter pre-tightening assembly 1, N = f(α, M)

[0071] Step S2.3: Judge whether the abutting force N meets the requirements. If it meets the requirements, go to Step S2.5. If it does not meet the requirements, go to Step S2.4;

[0072] Step S2.4: Adjust the variable-diameter pre-tightening assembly 1 and go to Step S2.1

[0073] Step S2.5: Set the pre-tightening completion flag.

[0074] The drive system control method is as follows:

[0075] Step S3.1: Judge whether it is fully deployed. If it is not fully deployed, go to Step S3.2. If it is fully deployed, the system stops.

[0076] Step S3.2: Drive the wheel drive assembly 2 to rotate at a constant speed and gradually deploy the sleeve. During the deployment process, continuously control the wheel drive assembly 2 to keep effective contact with the outer wall of the sleeve until the sleeve is fully deployed.

[0077] The working principle of the specific implementation method is as follows:

[0078] After the control system receives the instruction to deploy the sleeve, the variable-diameter pre-tightening assembly 1 operates under the system control, causing the wheeled drive assembly 2 to abut against the outer surface of the innermost sleeve 9. When the abutting force N meets the design requirements, sufficient frictional force can be provided for the wheeled drive assembly 2. When the wheeled drive assembly 2 rotates, this frictional force can be converted into the effective driving force F for sleeve deployment. After the wheeled drive assembly 2 receives the action instruction, the wheeled drive assembly 2 rotates, generating an axial effective driving force F at the contact part between the wheeled drive assembly 2 and the outer surface of the sleeve. This force drives the innermost sleeve 9 to move axially for deployment. When the innermost sleeve 9 is fully deployed, the innermost sleeve 9 and the second-innermost sleeve 8 are limited by the corresponding mechanical limit ring 11. At this time, the limit interlock part 10 on the innermost sleeve 9 operates, locking the innermost sleeve 9 and the second-innermost sleeve 8 together as a whole and unlocking it from the i-th sleeve 7. In this way, the wheeled drive assembly 2 drives the whole composed of the innermost sleeve 9 and the second-innermost sleeve 8 to continue the deployment movement. This deployment driving action is repeated on all sleeves until all sleeves are fully deployed. When the sleeve is fully deployed, it will trigger the corresponding sensor and give a signal feedback to end the sleeve deployment process.

[0079] During the process of the sleeve being deployed step by step, a stepped discontinuous surface will be formed on the outer surface of the sleeve. When the wheeled drive assembly 2 transitions through the discontinuous surface, it can also be solved by the cooperation of the pre-tightening system and the drive system. Only the formula for solving the abutting force is more complex at this time, and the driving force of the wheeled drive assembly 2 is no longer in the axial direction.

[0080] In the above technical solution, a variable-diameter externally driven sleeve deployment method provided by the present invention has the following beneficial effects: Using the method of the present invention for sleeve deployment, the structure is simple, and there will be no obvious technical obstacles in design, manufacturing, assembly, and use due to the increase in the extension length of the sleeve. Although the variable-diameter pre-tightening assembly is placed outside the sleeve, increasing the overall volume, this structure is suitable for very thin sleeves, with a high folding ratio and flexible use. It has good scalability, with no limit on the length of a single-stage sleeve, so there is also no limit on the total extension length achieved by the sleeve. It does not require a guiding mechanism, has high reliability, a small diameter difference between sleeves, and a large unfolding ratio. The present invention can be used in all occasions where a sleeve-type deployment mechanism is used, especially in the field of space remote sensing with high requirements for deployment accuracy.

[0081] Only some exemplary embodiments of the present invention have been described by way of illustration above. Undoubtedly, for those of ordinary skill in the art, without departing from the spirit and scope of the present invention, the described embodiments can be modified in various different ways. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the protection scope of the claims of the present invention.

Claims

1. A variable-diameter external drive sleeve deployment method, which is based on a wheel drive assembly, a variable-diameter pre-tightening assembly capable of abutting the wheel drive assembly against the outer wall of the sleeve, and a control system for feedback on the abutting state of the wheel drive assembly, characterized in that ； The method includes the following steps: Step S1: The variable-diameter pre-tightening component is installed on the upper part of the outermost sleeve, and the wheel-type driving component is installed on the variable-diameter pre-tightening component; Step S2: The pre-tightening system controls the wheel-type driving component to be in real-time contact with the outer wall of the sleeve to be deployed; Step S3: The driving system controls the wheel-type driving component to rotate, deploy the sleeve step by step, and stop the machine after the sleeve is fully deployed; Wherein, at least two sets of the wheel-type driving components and the variable-diameter pre-tightening components are circumferentially and uniformly distributed around the axis of the sleeve.

2. A variable-diameter externally-driven sleeve deployment method according to claim 1, characterized in that; The control method of the pre-tightening system includes the following steps: Step S2.1, detect the state parameters x1 to x of the variable-diameter pre-tightening assembly n , where n is the number of state parameters; Step S2.2, calculate the abutting force N between the wheeled drive assembly and the outer wall of the sleeve according to the state parameters of the variable diameter pre-tightening assembly, where N = f(x1, …, x n ) Step S2.3, judge whether the abutting force N meets the requirements. If it meets the requirements, go to step S2.5; if it does not meet the requirements, go to step S2.4; Step S2.4, adjust the variable-diameter pre-tightening component, and go to step S2.1; Step S2.5, end.

3. A variable-diameter outer-driven sleeve deployment method according to claim 1, characterized in that ； The control method of the driving system includes the following steps: Step S3.1, judge whether the deployment is in place. If it meets the requirements, stop the action; if it does not meet the requirements, go to step S3.2; Step S3.2, drive the wheel-type driving component to rotate at a constant speed and deploy the sleeve step by step.

4. A variable-diameter outer-driven sleeve deployment method according to claim 1, characterized in that ； The variable-diameter pre-tightening component and the wheel-type driving component are externally placed outside the sleeve.

5. A method for expanding a variable-diameter outer-driven sleeve according to claim 1, characterized in that ； During the whole process of sleeve deployment, the wheel-type driving component is in real-time contact with the outer wall of the sleeve.

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