A combined drive type high storage ratio sleeve extension arm and extension method thereof

Abstract

The present invention discloses a combined-drive high-storage-ratio sleeve extension arm, wherein a drive mechanism is used to drive the extension of the i+1-level sleeve relative to the i-level sleeve; a rope drive system is used to drive the extension of the deployment rib assembly relative to the n-level sleeve while the n-level sleeve is extended relative to the n-1-level sleeve; a locking mechanism is responsible for locking the sleeves and deployment ribs at each level after they are extended into place; when the deployment rib unlocking mechanism is locked with the deployment rib, the deployment rib is in a retracted state; when the deployment rib unlocking mechanism is unlocked with the deployment rib, the deployment rib is in an extended state. The present invention also discloses an extension method for a combined-drive high-storage-ratio sleeve extension arm, comprising a drive mechanism driving the n-level sleeve to extend relative to the n-1-level sleeve, while the rope drive system drives the extension of the deployment rib assembly relative to the n-level sleeve; until the 2-level sleeve is extended into place relative to the 1-level sleeve, and the deployment rib is in an extended state. The present invention can realize the step-by-step extension of the extension arm, which is beneficial to improving the driving efficiency.

Description

Technical Field

[0001] The invention relates to a combined driven sleeve extension arm, which is suitable for the expansion of a large space extension rib antenna and belongs to the field of aerospace. Background Art

[0002] In response to the development requirements of my country's new generation of satellites for deployable antennas with ultra-large aperture, ultra-wideband, high gain, and high aspect ratio of more than 50 meters, a high-storage ratio stretchable rib antenna is designed. The stretchable rib antenna is a design form of the current large deployable antenna. Its structure is similar to that of the umbrella antenna. The difference from the umbrella antenna is that the support ribs of the stretchable rib antenna are not an integral structure, but an extendable structure composed of multiple sections of stretchable ribs. The stretchable rib antenna consists of a main network, a secondary network, a tension array, a metal mesh, and an extension arm. The antenna is deployed by extending and deploying the extension arm, such as Figure 1 shown.

[0003] The key technology behind the stretchable rib antenna lies in achieving overall deployment through the gradual deployment of the extension arms. Existing stretchable rib antennas lack the ability to achieve both a high aspect ratio and high drive efficiency, making them difficult to meet the requirements of the next generation of satellites. Summary of the Invention

[0004] The present invention aims to overcome the above-mentioned drawbacks by providing a combined drive type high storage ratio sleeve extension arm and its extension method, which overcomes the technical problem of low drive efficiency of existing extension arms. The present invention can realize step-by-step extension of the extension arm, which is conducive to improving the drive efficiency.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0006] A combined drive type high storage ratio sleeve extension arm comprises a drive mechanism, a rope drive system, a sleeve assembly, an expansion rib assembly and a locking mechanism;

[0007] The sleeve assembly includes n sleeves nested in each other. The n sleeves are named as 1st-level sleeve, 2nd-level sleeve, ... nth-level sleeve in the order from outside to inside in the retracted state. When retracted, the expanded rib assembly is located inside the nth-level sleeve; n ≥ 3;

[0008] The driving mechanism is used to drive the extension of the i+1 level sleeve relative to the i level sleeve, 1≤i≤n-1;

[0009] The rope drive system is used to drive the expansion of the deployment rib assembly relative to the n-stage sleeve while the n-stage sleeve is extended relative to the n-1-stage sleeve. The rope drive system includes a first pulley and a drive rope. The first pulley is provided at the upper end of the n-stage sleeve. The first end of the drive rope is fixed to the outside of the n-1-stage sleeve. The second end of the drive rope passes over the first pulley and is fixed to the lower end of the deployment rib assembly.

[0010] The locking mechanism is used to achieve locking of the i+1 level sleeve relative to the i level sleeve, and the deployment rib assembly relative to the n level sleeve after being extended into place;

[0011] The deployment rib assembly includes a deployment rib and a deployment rib unlocking mechanism provided at the lower end of the deployment rib. When the deployment rib unlocking mechanism is locked with the deployment rib, the deployment rib is in a folded state. When the deployment rib unlocking mechanism is unlocked with the deployment rib, the deployment rib is in an deployed state.

[0012] Furthermore, the unfolding rib includes two ribs that are V-shaped when unfolded, a tape measure spring is provided between the two ribs, and a locking hole is provided at the lower end of the rib;

[0013] The deployment rib unlocking mechanism includes a torsion spring, a pin, a connecting plate, a second pulley and an unlocking rope;

[0014] After the deployment rib assembly is extended to its proper position relative to the n-stage sleeve, the connecting plate is locked to the upper end of the n-stage sleeve by a locking mechanism, the second pulley and the first end of the torsion spring are fixed to the connecting plate, the pin is fixed to the second end of the torsion spring, the upper end of the unlocking rope is connected to the second end of the torsion spring, and the lower end of the unlocking rope is fixedly connected to the 1-stage sleeve;

[0015] Record that the height of the extension arm after the level 1 sleeve, level 2 sleeve...level n sleeve and the expansion rib assembly are extended into place is L. Before the height of the extension arm reaches L-△H1 during the extension process, the unlocking rope is in a relaxed state, and the expansion rib is kept in a retracted state through the cooperation of the locking hole and the pin. When the height of the extension arm reaches L-△H1 during the extension process, the unlocking rope starts to pull down the second end of the torsion spring, and the second end of the torsion spring drives the pin out of the locking hole. When the height of the extension arm reaches L, the pin is completely out of the locking hole, and the expansion rib is expanded into place under the action of the tape spring; △H1>0.

[0016] Furthermore, a limit block is provided at the lower end of the rib;

[0017] Limiting grooves are provided on both sides of the connecting plate of the unfolding rib unlocking mechanism. After the unfolding rib is unfolded into place, the limiting blocks cooperate with the limiting grooves to achieve limiting.

[0018] Furthermore, the drive mechanism includes a planetary carrier, gears, and a drive motor; the gears include an upper gear and a lower gear; the gears are mounted on the planetary carrier, and the drive motor drives the gears to rotate by driving the planetary carrier; the upper gear and the lower gear are not coaxial, and there is an inclination angle between the axes of the upper gear and the lower gear and the vertical direction;

[0019] The wall of the first-stage sleeve is provided with transmission holes arranged along a spiral line. The gear teeth on the rims of the upper gear and the lower gear engage with the transmission holes for transmission, and the driving mechanism climbs along the transmission holes on the wall of the first-stage sleeve.

[0020] Further, n = 3;

[0021] The height of the first-level sleeve = the height of the second-level sleeve + the reserved height of the locking mechanism = the height of the third-level sleeve + the height of the driving mechanism;

[0022] The lower end of the planetary carrier of the driving mechanism is provided with a sleeve locking mechanism, and the wall of the second-stage sleeve is provided with an avoidance hole, through which the gear cooperates with the transmission hole of the first-stage sleeve;

[0023] When the 3-stage sleeve is nested inside the 2-stage sleeve, the drive mechanism is located below the 3-stage sleeve. When the drive motor rotates forward, the drive mechanism climbs and pushes the 3-stage sleeve out of the 2-stage sleeve.

[0024] When the drive motor rotates in reverse, the drive mechanism descends until the drive mechanism is locked with the second-stage sleeve. The drive motor rotates forward again, and the drive mechanism climbs to drive the second-stage sleeve to extend relative to the first-stage sleeve.

[0025] Furthermore, the locking mechanism is also used to achieve locking of the drive mechanism and the first-stage sleeve, as well as locking of the drive mechanism and the second-stage sleeve;

[0026] The locking mechanism includes a locking block and a locking base;

[0027] The locking block is provided on the upper end surface of the driving mechanism, and the locking base is provided on the upper end surface of the second-stage sleeve. The driving mechanism descends until the locking block and the locking base are engaged, thereby achieving locking of the driving mechanism and the second-stage sleeve.

[0028] At the same time, another locking base is provided on the lower end face of the driving mechanism, and another locking block is provided on the upper end face of the level 1 sleeve. After the driving mechanism climbs and drives the level 2 sleeve to extend into position relative to the level 1 sleeve, the other locking base and the other locking block cooperate to lock the level 1 sleeve and the driving mechanism.

[0029] Furthermore, the motion trajectory (x0, y0, z0) of the geometric center of any tooth of the upper gear or the lower gear in the coordinate system OXYZ is:

[0030]

[0031] Climbing speed V of the driving mechanism (1) h for:

[0032]

[0033] The origin O of the coordinate system OXYZ is located at the center of the lower end face of the first-stage sleeve, the Z axis is along the axial direction of the sleeve assembly, and the XOY plane is perpendicular to the Z axis.

[0034] α is the inclination angle between the axis of the upper gear or lower gear and the vertical direction, ω1 is the angular velocity of the planet carrier, r is the rotation radius of the planet carrier, l is the gear pitch circle diameter of the upper gear or lower gear, n′ is the number of teeth of the upper gear or lower gear, θ is the angle of rotation of the planet carrier relative to the initial state at any time, and z1 is the Z-direction displacement of the drive mechanism in the initial state.

[0035] Furthermore, let F a is the starting inertia resistance, F1 is the friction resistance between the drive mechanism and the first-level sleeve, F2 is the friction resistance between the first-level sleeve and the second-level sleeve, and F3 is the friction resistance between the second-level sleeve and the third-level sleeve. n+1 F is the friction resistance between the n-stage sleeve and the expansion rib assembly, b is the mesh tension, k is the safety factor, and the driving force F of the driving mechanism satisfies the following formula:

[0036] F≥k×MAX{F a , F1, F2, F3, …F n+1 , F b}=k×F b .

[0037] Further, the locking mechanism includes a locking block and a locking base;

[0038] The locking block is arranged on the upper end surface of the i-level sleeve, and the locking base is arranged on the lower end surface of the i+1-level sleeve, 2≤i≤n-1, or the locking block is arranged on the upper end surface of the n-level sleeve, and the locking base is arranged on the lower end surface of the expansion rib assembly. After the i+1-level sleeve is extended relative to the i-level sleeve, and the expansion rib assembly is extended relative to the n-level sleeve, the locking block and the locking base cooperate to lock.

[0039] Furthermore, the locking mechanism is also used to achieve locking of the drive mechanism and the first-level sleeve, as well as locking of the drive mechanism and the second-level sleeve.

[0040] The above-mentioned method for extending a combined drive type high storage ratio sleeve extension arm includes:

[0041] The driving mechanism drives the n-stage sleeve to extend relative to the n-1-stage sleeve, and the rope driving system drives the deployment rib assembly to extend relative to the n-stage sleeve;

[0042] After the n-stage sleeve is extended relative to the n-1-stage sleeve, the locking mechanism locks the n-stage sleeve and the n-1-stage sleeve;

[0043] The driving mechanism drives the n-1 stage sleeve to extend relative to the n-2 stage sleeve. After the n-1 stage sleeve is extended relative to the n-2 stage sleeve, the locking mechanism locks the n-1 stage sleeve and the n-2 stage sleeve.

[0044] …

[0045] The driving mechanism drives the second-level sleeve to extend relative to the first-level sleeve. During this process, the deployment rib unlocking mechanism begins to release the lock on the deployment rib until the second-level sleeve is extended into place relative to the first-level sleeve. The locking mechanism locks the second-level sleeve and the first-level sleeve. At the same time, the deployment rib unlocking mechanism completely releases the lock on the deployment rib, and the deployment rib is in an expanded state.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] (1) The present invention creatively proposes a combined drive type high storage ratio sleeve extension arm, which utilizes a combination of a drive mechanism and a rope drive system to efficiently achieve step-by-step extension of the extension arm, thereby realizing the deployment of the reflector;

[0048] (2) The driving mechanism of the present invention is driven by a cyclic reciprocating drive. On the one hand, the driving mechanism can overcome the deployment resistance in stages, avoiding the superposition of resistance in the same time period, thereby improving the driving efficiency. On the other hand, in a purely cyclic drive mode, the number of sleeve stages is limited by the length of the transmission hole, and thus the number of deployment stages is limited. The combination of cyclic drive and rope drive of the present invention can not only realize cyclic drive, but also overcome the limitations of cyclic drive multi-stage transmission, thereby improving the storage ratio of the extension arm.

[0049] (3) The present invention designs a specific structure of the unfolding rib unlocking mechanism, which has a simple and ingenious driving method and can achieve reliable locking and unlocking during the extension process;

[0050] (4) The present invention designs a specific structure of the locking mechanism, which can achieve the locking of the sleeves at each level and the sleeves and the expansion ribs. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 Schematic diagram of the stretched rib structure; (a) is the overall schematic diagram; (b) is the split schematic diagram;

[0052] Figure 2 This is a schematic diagram of the overall structure of the combined drive type high storage ratio sleeve extension arm of the present invention;

[0053] Figure 3 Schematic diagram of the driving mechanism structure of the present invention;

[0054] Figure 4 is a motion trajectory diagram of the gears in the drive mechanism of the present invention;

[0055] Figure 5 Schematic diagram of the unlocking mechanism of the unfolding rib of the present invention; (a) is a locking schematic diagram, and (b) is an unlocking schematic diagram;

[0056] Figure 6 This is a schematic structural diagram of the rope drive system of the present invention;

[0057] Figure 7 The diagram is a working principle diagram of the rope drive system of the present invention; (a) to (c) are schematic diagrams of different working stages;

[0058] Figure 8 This is a diagram illustrating the limitation of the number of stages of the cyclic drive transmission of the present invention;

[0059] Figure 9 This is a schematic structural diagram of the locking mechanism of the present invention;

[0060] Figure 10 The working principle diagram of the locking mechanism of the present invention; (a) is the unlocked state, and (b) is the locked state;

[0061] Figure 11 Schematic diagram of the unfolding process of the extension arm; (a) to (e) represent different unfolding stages;

[0062] Figure 12 is a schematic diagram of the spiral inclination;

[0063] In the figure, 1-driving mechanism, 2-rope driving system, 4-deployment rib, 5-locking mechanism, 6-deployment rib unlocking mechanism;

[0064] 11- planetary carrier, 12- gear, 13- drive motor, 14- transmission hole;

[0065] 21-first pulley, 22-driving rope;

[0066] 31-first-stage sleeve, 32-second-stage sleeve, 33-third-stage sleeve;

[0067] 41-locking hole, 42-limiting block;

[0068] 51-locking block, 52-locking base;

[0069] 61-torsion spring, 62-pin, 63-connecting plate, 64-second pulley, 65-unlocking rope, 66-limiting groove. DETAILED DESCRIPTION

[0070] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0071] The word "exemplary" is used exclusively herein to mean "serving as an example, example, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0072] The present invention designs a combined driven sleeve extension arm for an extendable rib antenna, which is suitable for large-scale extendable rib antennas in the aerospace field. The extension arm is extended by a combined drive mechanism and a rope drive, thereby realizing the deployment of the reflector.

[0073] The following will be combined with the attached Figures 2 to 12 Provide detailed explanation.

[0074] like Figure 2 The present invention provides a large-aperture antenna combination driven high-storage ratio sleeve extension arm, including a driving mechanism 1, a rope driving system 2, a sleeve assembly, an expansion rib assembly and a locking mechanism 5, wherein the expansion rib assembly includes an expansion rib 4 and an expansion rib unlocking mechanism 6 provided at the lower end of the expansion rib 4.

[0075] The sleeve assembly includes n sleeves nested in each other. The n sleeves are named as level 1 sleeve, level 2 sleeve, ... level n sleeve in the order from outside to inside in the retracted state.

[0076] In a preferred embodiment, n=3, that is, the sleeve assembly includes a first-stage sleeve, a second-stage sleeve, and a third-stage sleeve, which are equivalent to the first-stage sleeve 31, the second-stage sleeve 32, and the third-stage sleeve 33 hereinafter. During the deployment of the extension arm, the first-stage sleeve 31 remains fixed.

[0077] In the folded state, Figure 11 As shown in (a), the secondary sleeve, the tertiary sleeve and the deployment rib are retracted into the primary sleeve; the deployment of the extension arm is achieved through the combined drive of the drive mechanism 1 and the rope drive system 2. In the deployed state, Figure 11 As shown in (e), the sleeves at each stage and the expansion ribs are locked by a locking mechanism 5.

[0078] The rope drive system 2 utilizes the principle of equal length of ropes, such as Figure 6 As shown, one end of the drive rope 22 is fixed to the outside of the secondary sleeve and the other end is fixed to the lower end of the deployment rib assembly. The first pulley 21 is fixed to the upper end of the tertiary sleeve. The drive mechanism 1 directly pushes the tertiary sleeve to extend, and the tertiary sleeve is driven synchronously with the deployment rib 4 via the rope drive system 2. Four pulleys are installed on the upper end of the tertiary sleeve. To ensure radial balance of traction, the pulleys are arranged symmetrically to ensure they do not obstruct the deployment path. Relative slip between the drive rope and the pulleys is prevented.

[0079] The driving process of the rope drive system 2 is as follows Figure 7 As shown in the figure, the specific deployment method is: let the total length of the driving rope be L, and L=L1+L2, L1 is the rope length outside the secondary sleeve wall, and L2 is the rope length inside the tertiary sleeve wall. Figure 7(a) In the unfolded state, the length of the rope section L1 is short, close to 0, and the length of the rope section L2 is long, close to L; when the driving mechanism 1 pushes the three-stage sleeve to rise, the length of L1 becomes longer and longer, and the length of L2 becomes shorter and shorter, as shown in the figure. Figure 7 (b) shows the middle process, the deployment rib moves linearly relative to the three-stage sleeve. When the deployment rib reaches the top, the deployment rib is driven by the rope to achieve the desired position, and the deployment rib and the three-stage sleeve are locked. Figure 7 (c) shown.

[0080] The unlocking process of the unfolding rib 4 is as follows Figure 5 As shown, when unlocked, the unlocking cord 65 remains relaxed. When locked, a torsion spring 61, inserted through a pin 62 into the locking holes 41 of the two ribs, prevents the two ribs from rotating. When the ribs reach the deployed position, the unlocking cord 65 begins to preload, pulling the torsion spring 61 downward relative to the ribs, unlocking the ribs. The ribs are then pushed further forward by the tape spring and drive mechanism 1, allowing them to unfold. Once fully deployed, they are hard-locked by the stopper 42. This means the ribs remain locked during the extension phase, unlocked by the cord during the deployment phase, and deployed by the tape spring and torsion spring. The wedge mechanism then locks the ribs in place.

[0081] In a preferred embodiment, the driving mechanism 1 is an active driving mode, such as Figure 3 and Figure 8 As shown, the drive mechanism 1 includes a planetary carrier 11, a gear 12, and a drive motor 13. The drive motor 13 drives the planetary carrier 11, and the planetary carrier 11 drives the gear 12. The gear 12 is an incomplete gear mechanism. The deployment of the drive mechanism is achieved by the meshing of the incomplete external gear (gear 12) and the incomplete internal gear (the transmission hole set in the first-level sleeve). In order to ensure the smoothness of the transmission, two sets of symmetrical meshing are used to drive the drive mechanism to rise; the motor start / stop is controlled by the in-position limit switch, and the forward and reverse rotation of the drive motor 13 is controlled by the controller to achieve the cyclic reciprocating motion of the drive mechanism 1. Figure 3 shown.

[0082] The incomplete internal gear is a set of discrete transmission holes, which are set on the inner wall of the first-stage sleeve. Specifically, the individual transmission holes are evenly distributed at the sharp corners of the motion trajectory, such as Figure 4 As shown in FIG, the movement of the mechanism is achieved by meshing with the incomplete external gear mechanism on the driving mechanism. Figure 12 Shown is a schematic diagram of the spiral inclination angle.

[0083] The motion trajectory is as follows: the geometric center of any incomplete external gear tooth is set as point A, and the motion trajectory of point A is:

[0084]

[0085] Rising speed of driving mechanism:

[0086]

[0087] α is the helical inclination angle of the mechanism, ω1 is the angular velocity of the planet carrier, r is the rotation radius of the planet carrier, l is the distance between the geometric center of the rotating external gear tooth profile and the gear axis (gear pitch circle diameter), n is the number of external gear teeth, θ is the angle that the planet carrier rotates relative to the initial state at any time, and z1 is the Z-direction displacement of the driving mechanism in the initial state.

[0088] The origin of the coordinate system is located at the center of the lower end surface of the first-stage sleeve, and the direction is as follows Figure 2 As shown, the right-hand rule is satisfied.

[0089] In a preferred embodiment, the drive mechanism 1 adopts a cyclic drive method to achieve the extension of each level of sleeves. Specifically, first, the drive mechanism 1 pushes the third-level sleeve upward to extend. When the third-level sleeve is pushed to the top, the third-level sleeve and the second-level sleeve are locked. Then the drive mechanism 1 rotates in the opposite direction. When the drive mechanism 1 reaches the bottom of the first-level sleeve, the drive mechanism 1 is locked with the second-level sleeve through the locking mechanism. After locking, the drive mechanism 1 moves upward again to drive the second-level sleeve to extend. The drive mechanism 1 moves back and forth along the first-level sleeve to achieve the expansion of the extension arm. The reciprocating motion of the drive mechanism 1 enables the drive mechanism to overcome the expansion resistance in sections, avoid the superposition of resistance in the same time period, and improve the driving efficiency.

[0090] The principle of overcoming resistance in stages is as follows:

[0091] If a traditional integrated drive method is used, such as rope drive, the driving force required for a single drive to achieve the expansion of the extension arm is: F = k × (F a +F1+F2+F3+F4+F b );

[0092] Among them F a is the starting inertial resistance, F1 is the friction resistance between the driving mechanism and the first-stage sleeve, F2 is the friction resistance between the first-stage sleeve and the second-stage sleeve, F3 is the friction resistance between the second-stage sleeve and the third-stage sleeve, F4 is the friction resistance between the third-stage sleeve and the expansion rib, and F b is the mesh tension, and k is the safety factor.

[0093] The combined drive mode of circulation drive + rope drive of the present invention is adopted to deploy the required driving force:

[0094] F≥k×MAX{F a , F1, F2, F3, …F n+1 , F b}=k×F b .

[0095] The combined drive mode of circular drive + rope drive overcomes the deployment resistance in stages. The actual driving force required is the maximum value of the deployment resistance in each stage, and the required driving force is significantly smaller than the overall drive. After calculation, F b The mesh surface tension is the maximum value of the resistance.

[0096] The circular drive type uses reciprocating motion to enable the drive mechanism to overcome the deployment resistance in sections, avoiding the superposition of resistance in the same time period and improving the drive efficiency. However, it is difficult to achieve multi-stage transmission due to the limitation of the number of transmission stages. The reason for the limitation of the number of transmission stages is that the first-stage sleeve remains fixed during the deployment of the extension arm, and the transmission holes 14 (internal gears) are evenly distributed on the motion trajectory line, and the motion trajectory of the gear 12 (external gear) is as follows: Figure 3 As shown. The secondary sleeve is provided with avoidance holes to ensure that the external gear on the drive mechanism engages with the transmission hole on the primary sleeve and does not interfere with the secondary sleeve. Gear 12 always engages with the transmission hole 14 on the primary sleeve. When n-stage transmission is required, as shown Figure 7 The secondary sleeve shown has n-1 stages. The number of sleeve stages is limited by the helical length of transmission hole 14 and the trajectory of the transmission pin of gear 12, making it difficult to avoid interference risks. Therefore, achieving deployment of ≥3 stages presents significant technical challenges. Designing a drive system that combines a circulating drive with a rope drive not only achieves circulating drive but also overcomes the limitations of circulating drive multi-stage transmission. The present invention preferably has three circulating drive stages and one rope drive stage. Other stage deployment ratios can also be achieved depending on the satellite envelope requirements.

[0097] The sleeves at each level of the extension rib, as well as the third-level sleeve and the deployment rib are locked by a locking mechanism 5. A locking mechanism 5 is provided between the deployment rib-third-level sleeve, the third-level sleeve-second-level sleeve, the second-level sleeve-driving mechanism, and the driving mechanism-first-level sleeve. The deployment rib-third-level sleeve-second-level sleeve-driving mechanism-first-level sleeve realizes closed-loop locking.

[0098] There are 3 or 4 locking mechanisms evenly distributed between the parts that need to be connected. Figure 9 As shown, the locking mechanism 5 includes a locking block 51 and a locking base 52. The locking mechanism 5 is a spring-pushing locking device. Figure 9 The figure shows the locking diagram of the three-stage sleeve and the expansion rib. When not locked, the locking block 51 (fixed component) is located at the top of the three-stage sleeve, and the locking base 52 is located at the bottom of the expansion rib. The locking block 51 and the locking base 52 (movable component) are in a separated state. Figure 10 (a) When the locking device moves to the predetermined position, the locking block 51 is inserted into the locking base 52 to achieve the locking in place. Figure 10(b) The locking mechanism between the third-stage sleeve and the second-stage sleeve, the second-stage sleeve and the first-stage sleeve, and the drive mechanism and the first-stage sleeve is identical to the locking mechanism between the third-stage sleeve and the deployment ribs described above. To increase locking rigidity, three or four locking mechanisms are evenly distributed between each component to be connected. To ensure a greater storage ratio, the locking point is as close to the top of the fixed end as possible.

[0099] A linear guide system is used between each sleeve stage to prevent radial rotation between the drive mechanism, locking mechanism, primary sleeve, secondary sleeve, tertiary sleeve, and deployment ribs. The linear guide system primarily comprises guide rails and sliders, with three guide rails evenly distributed along the inner walls of each primary, secondary, and tertiary sleeve. During deployment, radial rotation is prevented, with only axial extension.

[0100] Assume the total height of the extended arm is L, the first-stage sleeve height is L1, the second-stage sleeve height is L2, the third-stage sleeve height is L3, the deployment rib height is L4, and the drive mechanism height is L5. To ensure the maximum stowage ratio, when stowed, all sleeves are essentially flush with the top of the deployment rib. When stowed, all sleeves are retracted into the deployment rib, and the total stowed height is L1. In the stowed state, the deployment rib and third-stage sleeve are mounted above the drive mechanism, so L1 ≈ L2 ≈ L3 + L5 ≈ L4 + L5.

[0101] When unfolded, the overlapping length of the first-level sleeve and the second-level sleeve is △L1, the overlapping length of the second-level sleeve and the third-level sleeve is △L2, and the overlapping length of the third-level sleeve and the unfolding rib is △L3. In summary, in the unfolded state, the total height is L=L1+L2+L3+sin(a / 2)L4-△L1-△L2-△L3, then the storage ratio is m=L\L1, where a is the unfolding angle of the unfolding rib.

[0102] The extending method of the combined drive type high storage ratio sleeve extending arm proposed by the present invention is as follows:

[0103] Step 1: If Figure 11 As shown in (a), the system is in the retracted state in the initial state, and the drive mechanism 1 is located at the bottom of the first-stage sleeve;

[0104] Step 2: The controller controls the driving motor 13 to rotate forward, and the driving mechanism 1 performs a climbing motion upward; first, the tertiary sleeve is pushed to extend, and under the drive of the rope driving system 2, the unfolding ribs and the tertiary sleeve are extended synchronously. When the tertiary sleeve is pushed to the top, the locking block 51 is inserted into the locking base 52 to realize the locking of the locking mechanism 5 in place, and the locking of the tertiary sleeve and the secondary sleeve is realized. Before the tertiary sleeve is locked with the secondary sleeve, the length of the driving rope 22 is set, and the locking of the unfolding ribs 4 and the tertiary sleeve is realized by rope drive. The travel switch controls the driving motor 13 to stop moving. At this time, the unfolding rib-tertiary sleeve and the tertiary sleeve-secondary sleeve are locked, as shown in FIG. Figure 11(b)

[0105] Step 3: After the deployment rib-third-level sleeve and the third-level sleeve-second-level sleeve are locked in place, the controller controls the drive motor 13 to reverse, driving the gear 12 to rotate in the opposite direction, and the drive mechanism 1 starts to move downward in the opposite direction. The descending process is the reverse process of the climbing process. When the drive mechanism 1 reaches the bottom of the first-level sleeve, the drive mechanism 1 is locked with the second-level sleeve through the locking mechanism, and the travel switch controls the motor to stop rotating. Figure 11 (c) shown;

[0106] Step 4: The controller controls the driving motor 13 to rotate forward. Since the driving mechanism 1 has been locked with the secondary sleeve, the driving mechanism climbs and drives the secondary sleeve to rise. Figure 11 As shown in (d), when the secondary sleeve is close to being locked, the deployment rib enters the deployment stage, the unlocking rope pulls the deployment rib to unlock, and the deployment rib is deployed under the combined action of the tape spring and the driving mechanism. After continuing to climb a distance of △H1, the driving mechanism and the fixed cylinder are locked by the locking mechanism, as shown in the figure. Figure 11 As shown in (e), after reaching the designated position, the motor is controlled by the travel switch to stop the movement, the locking mechanism is locked in place, and the extending rib antenna is unfolded.

[0107] The cyclic drive mechanism of the present invention uses reciprocating motion to enable the drive mechanism to overcome deployment resistance in stages, avoiding the accumulation of resistance during the same time period. This improves drive efficiency and overcomes the limitations of cyclic drive multi-stage transmission, increasing the storage ratio of the extension arm. The novel extension arm prepared by the present invention features cyclic drive and a higher storage ratio. After deployment, the extension arm forms a symmetrical Y-shape, and the primary and secondary reflector mesh surfaces are consistent, resulting in excellent mechanical properties, making it suitable for use in the next generation of extension rib antennas.

[0108] The present invention has been described in detail above with reference to specific embodiments and exemplary examples. However, these descriptions should not be construed as limiting the present invention. Those skilled in the art will appreciate that various equivalent substitutions, modifications, or improvements may be made to the technical solutions and implementations of the present invention without departing from the spirit and scope of the present invention, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be determined by the appended claims.

[0109] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A combined drive type high storage ratio sleeve extension arm, characterized in that: It comprises a driving mechanism (1), a rope driving system (2), a sleeve assembly, a deployment rib assembly and a locking mechanism (5); The sleeve assembly includes n sleeves nested in each other. The n sleeves are named as 1st-level sleeve, 2nd-level sleeve, ... nth-level sleeve in the order from outside to inside in the retracted state. When retracted, the expanded rib assembly is located inside the nth-level sleeve; n ≥ 3; The driving mechanism (1) is used to drive the extension of the i+1 stage sleeve relative to the i stage sleeve, 1≤i≤n-1; The rope drive system (2) is used to drive the expansion rib assembly to expand relative to the n-level sleeve while the n-level sleeve expands relative to the n-1-level sleeve. The rope drive system (2) includes a first pulley (21) and a drive rope (22). The first pulley (21) is provided at the upper end of the n-level sleeve, the first end of the drive rope (22) is fixed to the outside of the n-1-level sleeve, and the second end of the drive rope (22) passes around the first pulley (21) and is fixed to the lower end of the expansion rib assembly. The locking mechanism (5) is used to achieve locking of the i+1-level sleeve relative to the i-level sleeve, and the expansion rib assembly relative to the n-level sleeve after being extended into position; The deployment rib assembly comprises a deployment rib (4) and a deployment rib unlocking mechanism (6) provided at the lower end of the deployment rib (4); when the deployment rib unlocking mechanism (6) is locked with the deployment rib (4), the deployment rib (4) is in a folded state; when the deployment rib unlocking mechanism (6) is unlocked with the deployment rib (4), the deployment rib (4) is in an deployed state; The unfolding rib (4) comprises two ribs in a V-shape after being unfolded, a tape spring is provided between the two ribs, and a locking hole (41) is provided at the lower end of the rib; The unfolding rib unlocking mechanism (6) comprises a torsion spring (61), a pin (62), a connecting plate (63), a second pulley (64) and an unlocking rope (65); After the unfolding rib assembly is extended to the right position relative to the n-stage sleeve, the connecting plate (63) is locked to the upper end of the n-stage sleeve through the locking mechanism (5), the second pulley (64) and the first end of the torsion spring (61) are fixed to the connecting plate (63), the pin (62) is fixed to the second end of the torsion spring (61), the upper end of the unlocking rope (65) is connected to the second end of the torsion spring (61), and the lower end of the unlocking rope (65) is fixedly connected to the 1-stage sleeve; The height of the extension arm after the first-level sleeve, the second-level sleeve, ..., the n-level sleeve, and the extension rib assembly are extended into place is L. Before the height of the extension arm reaches L-ΔH1 during the extension process, the unlocking rope (65) is in a relaxed state, and the extension rib (4) is kept in a retracted state through the cooperation of the locking hole (41) and the pin (62). When the height of the extension arm reaches L-ΔH1 during the extension process, the unlocking rope (65) begins to pull down the second end of the torsion spring (61), and the second end of the torsion spring (61) drives the pin (62) to disengage from the locking hole (41). When the height of the extension arm reaches L, the pin (62) completely disengages from the locking hole (41), and the extension rib (4) is extended into place under the action of the tape spring; ΔH1>0.

2. A combined drive type high storage ratio sleeve extension arm according to claim 1, characterized in that: A limiting block (42) is provided at the lower end of the rib; Limiting grooves (66) are provided on both sides of the connecting plate (63) of the unfolding rib unlocking mechanism (6); after the unfolding rib (4) is unfolded to its proper position, the limiting blocks (42) cooperate with the limiting grooves (66) to achieve limiting.

3. The combined drive type high storage ratio sleeve extension arm according to claim 1, characterized in that: The driving mechanism (1) includes a planetary carrier (11), a gear (12) and a driving motor (13); the gear (12) includes an upper gear and a lower gear; the gear (12) is mounted on the planetary carrier (11); the driving motor (13) drives the planetary carrier (11) to rotate, thereby driving the gear (12) to rotate; the upper gear and the lower gear are not coaxial, and there is an inclination angle between the axes of the upper gear and the lower gear and the vertical direction; The wall of the first-stage sleeve is provided with transmission holes (14) arranged along a spiral line, the gear teeth on the upper gear and the lower gear rims are meshed with the transmission holes (14) for transmission, and the driving mechanism (1) climbs along the transmission holes (14) on the wall of the first-stage sleeve.

4. The combined drive type high storage ratio sleeve extension arm according to claim 3, characterized in that: n＝3； The lower end of the planetary frame (11) of the driving mechanism (1) is provided with a sleeve locking mechanism, the wall of the second-stage sleeve is provided with an avoidance hole, and the gear (12) cooperates with the transmission hole of the first-stage sleeve through the avoidance hole; When the third-level sleeve is nested inside the second-level sleeve, the driving mechanism (1) is located below the third-level sleeve. When the driving motor (13) rotates forward, the driving mechanism (1) climbs and pushes the third-level sleeve out of the second-level sleeve. When the drive motor (13) rotates in reverse, the drive mechanism (1) descends until the drive mechanism (1) is locked with the second-stage sleeve. The drive motor (13) rotates forward again, and the drive mechanism (1) climbs to drive the second-stage sleeve to extend relative to the first-stage sleeve.

5. The combined drive type high storage ratio sleeve extension arm according to claim 4, characterized in that: The locking mechanism (5) is also used to achieve locking of the drive mechanism (1) and the first-stage sleeve, and locking of the drive mechanism (1) and the second-stage sleeve; The locking mechanism (5) comprises a locking block (51) and a locking base (52); The locking block (51) is provided on the upper end surface of the driving mechanism (1), and the locking base (52) is provided on the upper end surface of the second-stage sleeve. The driving mechanism (1) is lowered until the locking block (51) and the locking base (52) are matched, thereby achieving locking of the driving mechanism (1) and the second-stage sleeve. At the same time, the lower end surface of the driving mechanism (1) is provided with another locking base (52), and the upper end surface of the first-stage sleeve is provided with another locking block (51). After the driving mechanism (1) climbs and drives the second-stage sleeve to extend to a position relative to the first-stage sleeve, the other locking base (52) and the other locking block (51) cooperate to achieve locking of the first-stage sleeve and the driving mechanism (1).

6. The combined drive type high storage ratio sleeve extension arm according to claim 3, characterized in that: The motion trajectory (x0, y0, z0) of the geometric center of any tooth of the upper gear or lower gear in the coordinate system OXYZ is: Climbing speed V of the driving mechanism (1) h for: Wherein, the origin O of the coordinate system OXYZ is located at the center of the lower end face of the first-stage sleeve, the Z axis is along the axial direction of the sleeve assembly, the XOY plane is perpendicular to the Z axis, α is the inclination angle between the axis of the upper gear or the lower gear and the vertical direction, ω1 is the angular velocity of the planet carrier (11), r is the rotation radius of the planet carrier (11), l is the gear pitch circle diameter of the upper gear or the lower gear, n′ is the number of teeth of the upper gear or the lower gear, θ is the angle of rotation of the planet carrier (11) relative to the initial state at any time, and z1 is the Z-direction displacement of the driving mechanism (1) in the initial state.

7. The combined drive type high storage ratio sleeve extension arm according to claim 4, characterized in that: Let F a is the starting inertial resistance, F1 is the friction resistance between the driving mechanism (1) and the first-stage sleeve, F2 is the friction resistance between the first-stage sleeve and the second-stage sleeve, and F3 is the friction resistance between the second-stage sleeve and the third-stage sleeve. n+1 F is the friction resistance between the n-stage sleeve and the expansion rib assembly, b is the mesh tension, k is the safety factor, and the driving force F of the driving mechanism (1) satisfies the following formula: <h2 style=";text-align:left;direction:ltr">F≥k×MAX{F<h2 style=";text-align:left;direction:ltr"> a <h2 style=";text-align:left;direction:ltr"> ,F1,F2,F3,…F<h2 style=";text-align:left;direction:ltr"> n+1 <h2 style=";text-align:left;direction:ltr"> ,F<h2 style=";text-align:left;direction:ltr"> b <h2 style=";text-align:left;direction:ltr">}=k×F<h2 style=";text-align:left;direction:ltr"> b <h2 style=";text-align:left;direction:ltr"> 。 8. The combined drive type high storage ratio sleeve extension arm according to claim 1, characterized in that: The locking mechanism (5) comprises a locking block (51) and a locking base (52); The locking block (51) is arranged on the upper end surface of the i-level sleeve, and the locking base (52) is arranged on the lower end surface of the i+1-level sleeve, 2≤i≤n-1, or the locking block (51) is arranged on the upper end surface of the n-level sleeve, and the locking base (52) is arranged on the lower end surface of the expansion rib assembly. After the i+1-level sleeve is extended relative to the i-level sleeve, and the expansion rib assembly is extended relative to the n-level sleeve, the locking block (51) and the locking base (52) are locked together.

9. A method for extending a combined drive type high storage ratio sleeve extension arm according to any one of claims 1 to 8, characterized in that: include: The driving mechanism (1) drives the n-stage sleeve to extend relative to the n-1-stage sleeve, and the rope driving system (2) drives the deployment rib assembly to extend relative to the n-stage sleeve; After the n-stage sleeve is extended relative to the n-1-stage sleeve, the locking mechanism (5) locks the n-stage sleeve and the n-1-stage sleeve; The driving mechanism (1) drives the n-1 stage sleeve to extend relative to the n-2 stage sleeve, and after the n-1 stage sleeve is extended relative to the n-2 stage sleeve, the locking mechanism (5) locks the n-1 stage sleeve and the n-2 stage sleeve; …… The driving mechanism (1) drives the second-stage sleeve to extend relative to the first-stage sleeve. During this process, the deployment rib unlocking mechanism (6) begins to release the lock on the deployment rib (4). After the second-stage sleeve is extended relative to the first-stage sleeve, the locking mechanism (5) locks the second-stage sleeve and the first-stage sleeve. At the same time, the deployment rib unlocking mechanism (6) completely releases the lock on the deployment rib (4), and the deployment rib (4) is in the deployed state.

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