Unfolding speed adjustable damping unfolding locking joint and spacecraft

Abstract

The application provides a deployable speed on-orbit adjustable damping deployable locking joint and a spacecraft, and relates to the field of spacecraft structures and mechanisms, and comprises a first double-wing driving constant-torque deployable hinge, a rotating damping mechanism and a second double-wing driving constant-torque deployable hinge, wherein the first double-wing driving constant-torque deployable hinge, the rotating damping mechanism and the second double-wing driving constant-torque deployable hinge are connected to a deployable structure respectively, the spherical rotating pair of the first double-wing driving constant-torque deployable hinge and the second double-wing driving constant-torque deployable hinge forms a deployable locking joint rotating shaft, and the deployable locking joint rotating shaft is coaxial with the rotating shaft of the rotating damping mechanism. The deployable speed on-orbit adjustable damping deployable locking joint has the beneficial effects of system simplification, deployable speed on-orbit adjustability, small locking impact and the like, and has better application adaptability and expansibility.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of spacecraft structure and mechanism, in particular, to a damping deployment locking joint with adjustable deployment speed in orbit and a spacecraft, which is suitable for the field of deployment of upper assembly of spacecraft. BACKGROUND

[0002] Due to the restriction of the envelope and dynamic environment of the launch vehicle, the modern spacecraft generally adopts deployable structure to realize the folding and compacting of multiple assemblies of the spacecraft and the deployment in orbit. Among them, the deployment locking joint is the main core component of the deployable structure. With the fine development of space technology, the deployable structure puts forward increasingly strict requirements on the deployment process, locking impact and system complexity of the deployment locking joint, and the existing deployment locking joint technology cannot meet the above requirements.

[0003] Through searching related keywords, 6 related patents are found:

[0004] The "deployment locking mechanism based on torsional spring" (application number 201711407056.9) discloses a deployment locking mechanism based on torsional spring, which realizes driving torque in the early stage of deployment and resistance torque in the later stage of deployment by adjusting the torsional spring mounting hole position to reduce the deployment locking impact. This device has the disadvantages of high adaptation requirement, reduced torque margin, and reliability.

[0005] The "modularized light-weight high-rigidity passive deployment locking device" (application number 201711022832.3) discloses a passive deployment locking device driven by a cylindrical torsional spring, which has the advantages of modularity, integrated driving and locking, but cannot adjust the deployment characteristics in orbit according to demand.

[0006] The "micro-satellite solar wing deployment locking device" (application number 201721290279.7) discloses a torsional spring driven deployment locking device, which can provide a deployment to position signal, but cannot finely control the deployment process and locking impact.

[0007] The "joint mechanism with adjustable rotational damping force" (application number 201510572982.6) discloses a joint mechanism that adjusts the damping force by adjusting the clamping force of the gas cylinder on the friction disc. This invention has the disadvantages of complex system, poor on-orbit application feasibility of the gas cylinder system, and easy production of excess friction.

[0008] The "grease-lubricated antenna active deployment device" (application number 201310588528.0) discloses an active deployment device driven by a combination of motor and harmonic reducer, which has the advantages of large driving torque and adjustable deployment speed, but has the significant disadvantage of complex system.

[0009] The "rotating mechanism with damping" (application number 201120523871.X) discloses a rotating mechanism capable of limiting the rotating range, the friction resistance of which can be adjusted by the size of the nut tightening torque, but it has the disadvantage of being unable to adjust the unfolding characteristics on orbit according to the requirements.

[0010] In summary, the existing active / passive unfolding locking joint technology has various problems such as complex system, extensive unfolding process, large locking impact, and inability to adjust on orbit, and cannot meet the increasingly high requirements of future deployable structure technology development. SUMMARY

[0011] In view of the defects in the prior art, the purpose of the present application is to provide a damping unfolding locking joint with adjustable unfolding speed on orbit and a spacecraft.

[0012] According to the damping unfolding locking joint with adjustable unfolding speed on orbit provided by the present application, the first double-wing driving constant-torque unfolding hinge, the rotating damping mechanism and the second double-wing driving constant-torque unfolding hinge are connected to the unfolding structure respectively, the spherical rotating pair of the first double-wing driving constant-torque unfolding hinge and the second double-wing driving constant-torque unfolding hinge forms the unfolding locking joint rotating shaft, and the unfolding locking joint rotating shaft is coaxial with the rotating shaft of the rotating damping mechanism.

[0013] Preferably, the first double-wing driving constant-torque unfolding hinge and the second double-wing driving constant-torque unfolding hinge are consistent in structure and include a male hinge, a female hinge, a rotating shaft, a constant-torque driving spring assembly and a locking frame assembly, the male hinge, the female hinge and the rotating shaft form a spherical rotating pair, the constant-torque driving spring assembly provides a constant driving torque for the first double-wing driving constant-torque unfolding hinge and the second double-wing driving constant-torque unfolding hinge within a rotating angle range, and when the first double-wing driving constant-torque unfolding hinge and / or the second double-wing driving constant-torque unfolding hinge is unfolded to the position, the locking frame assembly is embedded into the locking groove of the male hinge to realize locking.

[0014] Preferably, the male hinge, the female hinge and the rotating shaft are assembled to form a spherical rotating pair through a joint bearing.

[0015] Preferably, a plurality of constant-torque driving spring assemblies are symmetrically distributed on the first double-wing driving constant-torque unfolding hinge and / or the second double-wing driving constant-torque unfolding hinge.

[0016] Preferably, the male hinge and the female hinge are respectively connected to the two sides of the rotating shaft.

[0017] Preferably, the rotating damping mechanism includes a damper support, a rotating damper, a damper lever and a position indication assembly, the rotating damper is connected to the damper support, the rotating damper is connected to the damper lever, and the position indication assembly is connected to the damper support.

[0018] The damper lever transmits the damping force of the rotary damper to the unfolding locking joint, and when the rotary joint is moved to the position, the damper lever triggers the position indicating assembly, and the position indicating assembly provides a position signal.

[0019] Preferably, the front end of the damper lever is matched with the output shaft of the rotary damper by a key groove with a small gap.

[0020] Preferably, under a certain damping coefficient, the damping force provided by the rotary damper is positively correlated with the rotary speed of the joint.

[0021] Preferably, a temperature measuring element and a heating sheet are installed on the rotary damper, and the rotary damper is covered by a thermal control layer.

[0022] The application also provides a spacecraft comprising the damping unfolding locking joint with adjustable unfolding speed in orbit.

[0023] Compared with the prior art, the application has the following beneficial effects:

[0024] The damping unfolding locking joint with adjustable unfolding speed in orbit has the advantages of system simplification, adjustable unfolding speed in orbit, small locking impact, and the like, and has better application adaptability and expansibility. BRIEF DESCRIPTION OF DRAWINGS

[0025] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments with reference to the attached drawings:

[0026] Figure 1 is a schematic diagram of the damping unfolding locking joint with adjustable unfolding speed in orbit of the application;

[0027] Figure 2 is a schematic diagram of the double-wing driving constant torque unfolding hinge 1 / 2 in the damping unfolding locking joint with adjustable unfolding speed in orbit of the application;

[0028] Figure 3 is a schematic diagram of the rotary damping mechanism in the damping unfolding locking joint with adjustable unfolding speed in orbit of the application;

[0029] Figure 4 is a schematic diagram of a typical application (folding state) of the damping unfolding locking joint with adjustable unfolding speed in orbit of the application.

[0030] Figure 5 is a schematic diagram of a typical application (unfolding state) of the damping unfolding locking joint with adjustable unfolding speed in orbit of the application.

[0031] Markings in the drawings:

[0032] First dual-wing driven constant torque deployment hinge 1, male hinge 101, female hinge 102, rotating shaft 103, constant torque drive spring assembly 104, locking frame assembly 105, rotation damping mechanism 2, damper support 201, rotation damper 202, damper lever 203, position indicator assembly 204, second dual-wing driven constant torque deployment hinge 3. 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 protection scope of the present invention.

[0034] Example 1

[0035] This invention provides a damped deployment locking joint with on-orbit adjustable deployment speed, such as... Figures 1-5 As shown, it includes a first dual-wing driven constant torque deployment hinge 1, a rotation damping mechanism 2, and a second dual-wing driven constant torque deployment hinge 3. The first dual-wing driven constant torque deployment hinge 1, the rotation damping mechanism 2, and the second dual-wing driven constant torque deployment hinge 3 are respectively connected to the deployment structure. The spherical rotating joint of the first dual-wing driven constant torque deployment hinge 1 and the second dual-wing driven constant torque deployment hinge 3 forms a deployment locking joint pivot. The deployment locking joint pivot is coaxial with the pivot of the rotation damping mechanism 2.

[0036] like Figure 2 As shown, the first dual-wing driven constant torque deployment hinge 1 and the second dual-wing driven constant torque deployment hinge 3 have the same structure, including a male hinge 101, a female hinge 102, a rotating shaft 103, a constant torque drive spring assembly 104, and a locking frame assembly 105. The male hinge 101, the female hinge 102, and the rotating shaft 103 are assembled into a spherical rotating pair through a joint bearing. The male hinge 101 and the female hinge 102 are respectively connected to both sides of the rotating shaft 103. Two constant torque drive spring assemblies 104 are symmetrically distributed on the first double-wing drive constant torque deployment hinge 1 and / or the second double-wing drive constant torque deployment hinge 3. The constant torque drive spring assemblies 104 provide constant driving torque to the first double-wing drive constant torque deployment hinge 1 and the second double-wing drive constant torque deployment hinge 3 within the rotation angle range. Compared with the traditional offset layout drive spring, it has better driving smoothness and reduces motion resistance. When the first double-wing drive constant torque deployment hinge 1 and / or the second double-wing drive constant torque deployment hinge 3 are deployed into place, the locking frame assembly 105 is embedded in the locking groove of the male hinge 101 to achieve hinge locking.

[0037] like Figure 3As shown, the rotation damping mechanism 2 includes a damper support 201, a rotation damper 202, a damper lever 203, and a position indication assembly 204. The rotation damper 202 is connected to the damper support 201. The front end of the damper lever 203 is matched with the output shaft of the rotation damper 202 by a small gap key groove. The small gap key groove can appropriately reduce the assembly precision requirement and prevent movement from being stuck. The key groove can transmit the damping force of the rotation damper to the unfolding locking joint. The position indication assembly 204 is connected to the damper support 201. The damper lever 203 transmits the damping force of the rotation damper 202 to the unfolding locking joint. When the rotation joint moves to the position, the damper lever 203 triggers the position indication assembly 204, and the position indication assembly 204 provides a position signal.

[0038] Preferably, the rotation damper 202 is a liquid viscous damper, and the damping coefficient of the rotation damper 202 is related to the working temperature. Under a certain damping coefficient, the damping force provided by the rotation damper 202 is positively related to the joint rotation speed. Through dynamic simulation and ground test, the damping coefficient of the damper at different temperatures and the unfolding speed of the unfolding locking joint at different damping coefficients can be obtained, and a rotation speed-rotation damper temperature relationship table of the unfolding locking joint is formed. The rotation damper 202 is installed with a temperature measuring element and a heating sheet, and the outer layer of the rotation damper 202 is heat controlled. During the on-orbit use of the unfolding locking joint, the rotation damper is accurately controlled by an algorithm to obtain the required damping characteristics of the rotation damping mechanism, and finally the on-orbit unfolding speed of the unfolding locking joint is adjusted.

[0039] The process and steps of the embodiment are as follows:

[0040] Step one: the male hinge 101, the female hinge 102, and the rotating shaft 103 are assembled through the joint bearing to form the first double-wing driven constant torque unfolding hinge 1. Two groups of symmetrically arranged constant torque drive spring assemblies 104 are installed to provide a substantially constant driving torque for the hinge within its rotation angle range. The locking frame assembly 105 is installed to be embedded into the locking groove on the male hinge 101 after the hinge is unfolded, so as to realize the hinge locking. The first double-wing driven constant torque unfolding hinge 1 is assembled.

[0041] Step two: the second double-wing driven constant torque unfolding hinge 3 is assembled according to step one.

[0042] Step three: the temperature measuring element, the heating sheet, and the like are installed on the rotation damper 202, and the outer layer is heat controlled.

[0043] Step four: the rotation damper 202 and the position indication assembly 204 are installed and fixed on the damper support 201 to implement the heat control. Meanwhile, the output shaft of the rotation damper 202 is matched with the front end of the damper lever 203 by the key groove to be assembled.

[0044] Step five: the unfolded structure is placed in an unfolded state, the first double-wing driven constant torque unfolding hinge 1 and the second double-wing driven constant torque unfolding hinge 3 are installed on the unfolded structure to form an unfolding locking joint rotation shaft, and the rotation shaft reference is measured and established through high-precision laser tracking instruments and other equipment.

[0045] Step six: the rotation damping mechanism 2 is installed on the unfolded structure. When installing, the rotation shaft of the rotation damper 202 is measured through high-precision laser tracking instruments and other equipment, and the installation precision thereof is adjusted as needed to make the coaxiality of the rotation shaft of the rotation damper 202 and the unfolding locking joint rotation shaft meet the requirements; the uniformity of the gap between the damper lever 203 and the output shaft key groove of the rotation damper 202 is checked and confirmed through a feeler gauge to ensure that the movement is not jammed.

[0046] Step seven: the position of the indication assembly is adjusted so that it can normally trigger work.

[0047] Step eight: the unfolding locking joint locking constraint is released, and several times of folding and unfolding debugging are performed to determine that the joint movement is smooth and non-jammed, and each component works normally.

[0048] Example 2

[0049] The application further provides a spacecraft comprising the unfolding speed on-orbit adjustable damping unfolding locking joint in embodiment 1.

[0050] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0051] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.

Claims

1. A deployable speed in orbit adjustable damper deployable lock joint, characterized in that, The first double-wing drive constant torque deployment hinge (1), the rotation damping mechanism (2) and the second double-wing drive constant torque deployment hinge (3) are connected to the deployment structure respectively, the spherical rotation pair of the first double-wing drive constant torque deployment hinge (1) and the second double-wing drive constant torque deployment hinge (3) forms a deployment locking joint rotation shaft, and the deployment locking joint rotation shaft is coaxial with the rotation shaft of the rotation damping mechanism (2); The first double-wing drive constant torque deployment hinge (1) and the second double-wing drive constant torque deployment hinge (3) are consistent in structure and comprise a male hinge (101), a female hinge (102), a rotation shaft (103), a constant torque drive spring assembly (104) and a locking frame assembly (105), the male hinge (101), the female hinge (102) and the rotation shaft (103) form a spherical rotation pair, the constant torque drive spring assembly (104) provides a constant driving torque for the first double-wing drive constant torque deployment hinge (1) and the second double-wing drive constant torque deployment hinge (3) within a rotation angle range, and when the first double-wing drive constant torque deployment hinge (1) and / or the second double-wing drive constant torque deployment hinge (3) is deployed in place, the locking frame assembly (105) is embedded into a locking groove of the male hinge (101) to realize locking; The rotation damping mechanism (2) comprises a damper support (201), a rotation damper (202), a damper lever (203) and a position indication assembly (204), the rotation damper (202) is connected to the damper support (201), the rotation damper (202) is connected to the damper lever (203), and the position indication assembly (204) is connected to the damper support (201); The damper lever (203) transmits the damping force of the rotation damper (202) to the deployment locking joint, the damper lever (203) triggers the position indication assembly (204) when the rotation joint is moved to the position, and the position indication assembly (204) provides a position signal.

2. The deployable speed in-orbit adjustable damper deployable lock joint of claim 1, wherein, The male hinge (101), the female hinge (102) and the rotation shaft (103) are assembled to form a spherical rotation pair through a joint bearing.

3. The deployable speed in-orbit adjustable damper deployable lock joint of claim 1, wherein, A plurality of constant torque drive spring assemblies (104) are symmetrically distributed on the first double-wing drive constant torque deployment hinge (1) and / or the second double-wing drive constant torque deployment hinge (3).

4. The deployable speed in-orbit adjustable damper deployable lock joint of claim 1, wherein, The male hinge (101) and the female hinge (102) are respectively connected to two sides of the rotation shaft (103).

5. The deployable speed in-orbit adjustable damper deployable lock joint of claim 1, wherein, The front end of the damper lever (203) is matched with the output shaft of the rotation damper (202) through a key groove with a small gap.

6. The deployable speed in-orbit adjustable damper deployable lock joint of claim 1, wherein, Under a certain damping coefficient, the damping force provided by the rotation damper (202) is positively correlated with the rotation speed of the joint.

7. The deployable speed-in-orbit adjustable damper deployable lock joint of claim 1, wherein, A temperature measuring element and a heating sheet are installed on the rotation damper (202), and the rotation damper (202) is coated with a thermal control layer.

8. A spacecraft, characterized by, A deployable speed in-orbit adjustable damper deployable lock joint comprising the deployable speed in-orbit adjustable damper deployable lock joint of any one of claims 1-7.

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