A transmission mechanism with large-scale redundant backup in space

Abstract

The present invention proposes a large-scale redundant backup transmission mechanism in space, comprising: a guide rail connected to the upper and lower end face flanges through a primary and backup slewing support mechanism, and capable of realizing slewing motion by means of a rolling pair in the slewing support mechanism; a fixed clamping and locking mechanism is respectively installed on the upper and lower end face flanges, and the upper and lower end face flanges and the guide rail are clamped by the clamping and locking mechanism, so that the upper and lower end face flanges and the guide rail can be fixedly connected as a whole; the guide rail rotates and thereby drives the rotation of the upper end face and related loads, which can match the rotation of the load connected with a large-size envelope. The present invention can independently perform the long-life transmission function of a large-envelope load through an independent redundant transmission chain. The large-scale redundant backup transmission mechanism proposed in the present invention can drive large loads such as solar wings to achieve solar orientation, and has the characteristics of high redundancy, long service life, and stability and reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of spacecraft drive mechanisms, and in particular to a large-scale redundant backup transmission mechanism in space. Background Art

[0002] Solar orientation is a crucial factor in ensuring a spacecraft's normal in-orbit flight and maximum energy efficiency. It is crucial to the stable operation of the entire spacecraft and is the fundamental guarantee for maintaining the various instruments, payloads, and even the astronauts' life systems. Its performance determines the success or failure of a spacecraft's operations. With the rapid advancement of aerospace technology, the requirements for solar orientation transmission of spacecraft solar panels are becoming increasingly stringent. To meet these requirements, spacecraft are equipped with a solar panel transmission mechanism to achieve solar orientation, driving the solar panels to achieve solar orientation and maintain maximum transmission power.

[0003] The existing spacecraft rotation mechanisms are mostly single-stage reduction or direct drive, which cannot meet the driving and long-life rotation requirements of large payloads such as solar panels in space stations. Therefore, there is an urgent need for a large-scale space transmission mechanism with high redundancy that can meet the requirements of large-load driving. This is of great significance to the stable operation and long-life of spacecraft devices. Summary of the Invention

[0004] The present invention proposes a large-scale redundant backup transmission mechanism in space to solve the technical shortcomings of the current driving mechanism, such as low driving load capacity and limited transmission life. The large-scale redundant backup transmission mechanism proposed in the present invention can realize the driving of loads such as large solar wings, and has the characteristics of high redundancy, long service life, and stability and reliability.

[0005] To achieve the above object, the technical solution provided by the present invention is as follows:

[0006] A transmission mechanism with large-scale redundant backup space, comprising: a lower end face flange, a driving component, a main mode slewing support mechanism, a backup mode clamping and locking mechanism, a backup slewing support mechanism, a guide rail, a main mode clamping and locking mechanism and an upper end face flange;

[0007] The lower end face flange is fixedly connected to the cabin body, and the upper end face flange is fixedly connected to the load through the truss; the lower end face flange and the upper end face flange can independently rotate relative to the guide rail under the action of the driving component;

[0008] The upper end face flange, the guide rail and the lower end face flange are arranged along the axial direction;

[0009] The main part rotary support mechanism and the main mode clamping and locking mechanism are arranged between the lower end face flange and the guide rail;

[0010] The backup rotary support mechanism and the backup mode clamping and locking mechanism are arranged between the upper end face flange and the guide rail;

[0011] The main slewing support mechanism serves as a guide support mechanism for the guide rail to rotate relative to the lower end flange; the main mode clamping and locking mechanism can clamp or release the guide rail so that the guide rail and the lower end flange can be fixed as a whole, or the guide rail and the lower end flange can rotate relative to each other;

[0012] The backup slewing support mechanism serves as a guide support mechanism for the guide rail to rotate relative to the upper end face flange; the backup mode clamping and locking mechanism can clamp or release the guide rail so that the guide rail can be fixedly connected to the upper end face flange as a whole, or the guide rail and the upper end face flange can rotate relative to each other.

[0013] Preferably, the driving component comprises: a main driving component A and a main driving component B;

[0014] The main part driving component A, the main part driving component B, the main part rotary support mechanism and the main mode clamping and locking mechanism are fixedly installed on the lower end face flange.

[0015] Preferably, a plurality of circumferentially evenly distributed mounting points are provided on the lower end face flange, so that the plurality of main rotary support mechanisms are circumferentially evenly distributed, and the main drive component A, the main drive component B and the two sets of main mode clamping and locking mechanisms are circumferentially evenly distributed.

[0016] Preferably, the driving component further comprises: a standby mode driving component;

[0017] The backup mode driving component, the backup rotary support mechanism and the backup mode clamping and locking mechanism are fixedly mounted on the upper end face flange.

[0018] Preferably, the upper end face flange is provided with a plurality of mounting points evenly distributed circumferentially, so that the plurality of backup rotary support mechanisms are evenly distributed circumferentially. In addition, the upper end face flange is further provided with three mounting points for mounting the backup mode drive component and two sets of backup mode clamping and locking mechanisms.

[0019] The installation point of the standby mode driving component is set between the two sets of standby mode clamping and locking mechanisms, and the connecting line of the two sets of standby mode clamping and locking mechanisms passes through the axis of the upper end face flange;

[0020] The installation point of the backup mode clamping and locking mechanism is set in the middle of two adjacent backup rotary support mechanisms, and the installation point of the backup mode driving component is set in the middle of two adjacent backup rotary support mechanisms.

[0021] Preferably, the driving components include: an electromagnetic brake, a motor assembly, a mounting surface flange, a planetary reducer, an output shaft and a final gear;

[0022] The mounting surface flange is fixedly connected to the lower end face flange or the upper end face flange;

[0023] The motor assembly is used to drive the planetary reducer to rotate with the output shaft and the final gear in turn.

[0024] Preferably, the deviation between the design value and the measured value of the center distance between the axis of the final gear and the axis of the guide rail is -0.08mm to -0.02mm, and the parallelism requirement between the two is ±0.04mm.

[0025] Preferably, the main mode clamping and locking mechanism comprises: a left clamping pair and a right clamping pair; the left clamping pair and the right clamping pair respectively adhere tightly to the inner and outer surfaces of the guide rail by means of friction, thereby clamping and fixing the guide rail, thereby achieving a rigid connection between the guide rail and the lower end face flange;

[0026] The equipment mode clamping and locking mechanism includes: a left clamping pair and a right clamping pair; the left clamping pair and the right clamping pair respectively fit tightly with the inner and outer surfaces of the guide rail by friction force to achieve clamping and fixing with the guide rail, thereby achieving a rigid connection between the guide rail and the upper end face flange.

[0027] Preferably, the slewing support mechanism comprises: a left rolling bearing, a right rolling bearing and a bottom rolling bearing; the left rolling bearing, the right rolling bearing and the bottom rolling bearing respectively form rolling friction with the lower inner rolling surface, the lower outer moving surface and the lower bottom rolling surface of the guide rail;

[0028] The backup slewing support mechanism includes: a left rolling bearing, a right rolling bearing and a bottom rolling bearing; the left rolling bearing, the right rolling bearing and the bottom rolling bearing respectively form rolling friction with the upper inner rolling surface, the upper outer moving surface and the upper bottom rolling surface of the guide rail.

[0029] Compared with the prior art, the present invention has the following technical effects:

[0030] The present invention provides a large-scale redundant backup transmission mechanism for space, which can drive large loads such as solar wings to orient toward the sun, achieve high redundancy and long-life driving of large solar wings, and solve the technical problems of low driving load capacity and limited life of existing drive mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is an overall structural diagram of a large-scale redundant backup transmission mechanism provided by the present invention (the upper end face flange is not shown);

[0032] Figure 2 This is an overall structural diagram of a transmission mechanism with large-scale spatial redundancy backup provided by the present invention;

[0033] Figure 3 This is a schematic diagram of the main mode transmission chain structure involved in the present invention;

[0034] Figure 4 Schematic diagram of the transmission chain structure in standby mode involved in the present invention;

[0035] Figure 5 This is a schematic structural diagram of the driving component involved in the present invention;

[0036] Figure 6 This is a schematic diagram of the main mode clamping and locking mechanism and the guide rail locking state involved in the present invention;

[0037] Figure 7 Schematic diagram of the locking state of the clamping and locking mechanism and the guide rail in the standby mode involved in the present invention;

[0038] Figure 8 This is a schematic diagram of the locking state of the main rotary support mechanism and the guide rail involved in the present invention;

[0039] Figure 9 This is a schematic diagram of the locking state of the main rotary support mechanism and the guide rail involved in the present invention;

[0040] Figure 10 This is a schematic diagram of the guide rail structure involved in the present invention.

[0041] Illustration:

[0042] 1 - lower end face flange, 2 - main mode driving component, 3 - main slewing support mechanism, 4 - backup mode driving component, 5 - backup mode clamping and locking mechanism, 6 - backup slewing support mechanism, 7 - guide rail, 8 - main mode clamping and locking mechanism, 9 - upper end face flange;

[0043] 101 - main drive component A, 201 - main drive component B;

[0044] 301 - electromagnetic brake, 302 - motor assembly, 303 - drive locking mechanism mounting flange, 304 - planetary reducer, 305 - output shaft, 306 - final gear;

[0045] 401—left clamping pair, 402—right clamping pair; 501—left clamping pair, 502—right clamping pair;

[0046] 601—left rolling bearing, 602—right rolling bearing, 603—bottom rolling bearing;

[0047] 701—left rolling bearing, 702—right rolling bearing, 703—bottom rolling bearing. DETAILED DESCRIPTION

[0048] The following is a detailed description of the large-scale spatial drive mechanism provided by the present invention with reference to the accompanying drawings:

[0049] like Figure 1As shown, the present invention proposes a large-scale redundant backup transmission mechanism for space, comprising: a lower end flange 1, a drive component, a primary mode slewing support mechanism 3, a backup mode clamping and locking mechanism 5, a backup mode slewing support mechanism 6, a guide rail 7, a primary mode clamping and locking mechanism 8, and an upper end flange 9. The lower end flange 1 is fixedly connected to the satellite capsule, while the upper end flange 9 is fixedly connected to the solar array via a truss. The transmission mechanism of the present invention can drive the solar array to rotate about the axis of the guide rail 7.

[0050] In the embodiment of the present invention, three sets of driving components are configured, including: a main driving component A101, a main driving component B201 and a backup mode driving component 4.

[0051] The main portion drive component A101 and the main portion drive component B201 serve as the main mode drive component 2. The main portion drive component A101, the main portion drive component B201, the main portion rotary support mechanism 3, and the main mode clamping and locking mechanism 8 are respectively arranged between the lower end face flange 1 and the guide rail 7. The main portion drive component A101, the main portion drive component B201, the main portion rotary support mechanism 3, and the main mode clamping and locking mechanism 8 are fixedly mounted on the lower end face flange 1. In the embodiment of the present invention, a plurality of circumferentially evenly distributed mounting points are provided on the lower end face flange 1, so that the plurality of main portion rotary support mechanisms 3 are evenly distributed circumferentially, and at the same time, the main portion drive component A101, the main portion drive component B201, and the two sets of main mode clamping and locking mechanisms 8 are evenly distributed circumferentially.

[0052] The plurality of main slewing support mechanisms 3 serve as guide support mechanisms for the guide rail 7 to rotate relative to the lower end flange 1. The main mode clamping and locking mechanism 8 can clamp or release the guide rail 7, allowing the guide rail 7 to be fixedly connected to the lower end flange 1 as a whole, or allowing the guide rail 7 and the lower end flange 1 to rotate relative to each other.

[0053] The standby mode driving component 4, the backup rotary support mechanism 6 and the standby mode clamping and locking mechanism 5 are respectively arranged between the upper end face flange 9 and the guide rail 7. The standby mode driving component 4, the backup rotary support mechanism 6 and the standby mode clamping and locking mechanism 5 are fixedly mounted on the upper end face flange 9. In the embodiment of the present invention, a plurality of circumferentially evenly distributed mounting points are provided on the upper end face flange 9, so that a plurality of backup rotary support mechanisms 6 are evenly distributed circumferentially. In addition, three mounting points are also provided on the upper end face flange 9 for mounting the standby mode driving component 4 and two sets of standby mode clamping and locking mechanisms 5. The standby mode driving component 4 is arranged between the two sets of standby mode clamping and locking mechanisms 5, and the connecting line of the mounting points of the two sets of standby mode clamping and locking mechanisms 5 passes through the axis of the upper end face flange 9. The mounting point of the standby mode clamping and locking mechanism 5 is arranged in the middle of two adjacent backup rotary support mechanisms 6, and the mounting point of the standby mode driving component 4 is arranged in the middle of two adjacent backup rotary support mechanisms 6.

[0054] The plurality of backup slewing support mechanisms 6 serve as guide support mechanisms for the guide rail 7 to rotate relative to the upper end face flange 9. The backup mode clamping and locking mechanism 5 can clamp or release the guide rail 7, allowing the guide rail 7 to be fixedly connected to the upper end face flange 9 as a whole, or allowing the guide rail 7 and the upper end face flange 9 to rotate relative to each other.

[0055] like Figure 5 As shown, each set of drive components includes: electromagnetic brake 301, motor assembly 302, mounting flange 303, planetary reducer 304, output shaft 305, and final gear 306. Mounting flange 303 is fixedly connected to lower end flange 1 or upper end flange 9. The drive component mounting flange is adjusted to ensure that the deviation between the designed and measured center distances between the final gear 306 axis and the guide rail 7 axis after installation is -0.08mm to -0.02mm, and the parallelism is ±0.04mm, ensuring proper meshing of the final gear 306 with the guide rail 7.

[0056] The driving component of the present invention has two major functions: driving and locking. The driving function of the driving component is realized by the motor assembly 302 and the mechanism transmission chain, and the rotation is transmitted through the engagement of the end gear 306 with the guide rail 7.

[0057] The transmission mechanism with large-scale redundant backup in space is equipped with a total of 4 sets of clamping and locking components (two sets of standby mode clamping and locking mechanisms 5 and two sets of main mode clamping and locking mechanisms 8), among which the main mode clamping and locking mechanism 8 is installed and fixed on the upper surface of the lower end face flange 1; the standby mode clamping and locking mechanism 5 is installed and fixed on the lower surface of the upper end face flange 9; the two sets of clamping and locking components of the main and standby modes are distributed 180° on the lower end face flange 1 and the upper end face flange 9 respectively.

[0058] like Figure 6 As shown, the main mode clamping and locking mechanism 8 clamps and fixes the guide rail 7 by means of the left clamping pair 401 and the right clamping pair 402 respectively fitting tightly with the inner and outer surfaces of the guide rail 7 by means of friction, thereby achieving a rigid connection between the guide rail 7 and the lower end face flange 1.

[0059] like Figure 7 As shown, the standby mode clamping and locking mechanism 5 clamps and fixes the guide rail 7 by means of the left clamping pair 501 and the right clamping pair 502 respectively fitting tightly with the inner and outer surfaces of the guide rail by friction, thereby achieving a rigid connection between the guide rail 7 and the upper end face flange 9.

[0060] The large-scale redundant transmission mechanism in this embodiment of the present invention is equipped with a total of 16 slewing support mechanisms. Eight primary slewing support mechanisms 3 are distributed and fixed to the lower end flange 1, and eight backup slewing support mechanisms 6 are distributed and fixed to the upper end flange 9. The center angles of two adjacent primary slewing support mechanisms 3 are spaced 45 degrees apart. Shims are adjusted to ensure that the eight slewing support mechanisms are at the same height, ensuring that the end faces of the guide rails 7 are parallel to the end faces of the end flanges (upper end flange 9 and lower end flange 1). In this embodiment of the present invention, the shims are fixedly installed between the end flanges and the slewing support mechanisms.

[0061] like Figure 8 As shown, the guide rail 7 is connected to the lower end flange 1 through the main rotary support mechanism 3, and can achieve rotary motion by relying on the three rolling pairs in the main rotary support mechanism 3. The left rolling bearing 601, the right rolling bearing 602, and the bottom rolling bearing 603 in the main rotary support mechanism 3 respectively form rolling friction with the lower inner rolling surface, the lower outer moving surface, and the lower bottom rolling surface of the guide rail 7, which can reduce wear and stabilize the fluctuation of friction torque during rotation. Figure 10 shown.

[0062] like Figure 9 As shown, the guide rail 7 is connected to the upper end face flange 9 through the backup slewing support mechanism 6, and can realize slewing motion by relying on the three rolling pairs in the backup slewing support mechanism 6. The left rolling bearing 701, the right rolling bearing 702, and the bottom rolling bearing 703 in the backup slewing support mechanism 6 respectively form rolling friction with the upper inner rolling surface, the upper outer moving surface, and the upper bottom rolling surface of the guide rail 7, which can reduce wear and stabilize the fluctuation of the friction torque during rotation.

[0063] like Figure 2 As shown, the upper end flange 9 has a diameter of up to 1450mm, suitable for connecting loads with large envelopes. The present invention is applicable to loads with solar wings up to 20 meters in length when extended and 5 meters in length when retracted. The solar wings are fixed to the upper end flange 9 via a truss.

[0064] The following describes the three independent transmission chains of the transmission mechanism of the large-scale redundant backup space. In the main mode, two transmission chains are configured, and in the backup mode, one transmission chain is configured. The details are as follows:

[0065] like Figure 3 As shown, when the main mode main part driving component 101 receives the rotation signal, the electromagnetic brake 301 is in the power-off state, and the motor assembly 302 starts to rotate, which is transmitted in sequence through the planetary reducer 304, the output shaft 305, and the end gear 306. The end gear 306 engages with the upper gear ring or the lower gear ring of the guide rail 7 to realize the self-rotation of the guide rail 7, driving the backup mode clamping and locking mechanism 5 to rotate, and the backup further drives the upper end face flange 9 to rotate. At this point, the main mode main part transmission chain is formed.

[0066] like Figure 4 As shown, when the main mode backup drive component 201 receives the rotation signal, the electromagnetic brake 301 is in a power-off state, and the motor assembly 302 starts to rotate, which is transmitted in sequence through the planetary reducer 304, the output shaft 305, and the end gear 306. The end gear 306 engages with the guide rail 7 to realize the self-rotation of the guide rail 7, driving the backup mode clamping and locking mechanism 5 to rotate, and then driving the upper end face flange 9 to rotate. At this point, the main mode backup transmission chain is formed.

[0067] like Figure 4 As shown, when the standby mode driving component 4 receives the rotation signal, the electromagnetic brake 301 is in the power-off state, and the motor assembly 302 starts to rotate, which is transmitted in sequence through the planetary reducer 304, the output shaft 305, and the final gear 306. The final gear 306 engages with the guide rail 7 to realize the standby mode driving component 4 to revolve around the guide rail 7, completing the drive in a "planetary" transmission manner, and then driving the upper end face flange 9 to rotate. At this point, a standby mode transmission chain is formed.

[0068] Example

[0069] The present invention proposes a transmission mechanism with large-scale spatial redundant backup, including: a lower end face flange 1, an upper end face flange 9, two sets of main mode driving components 2, a backup mode driving component 4, eight sets of circumferentially evenly distributed main rotary support mechanisms 3, eight sets of circumferentially evenly distributed backup rotary support mechanisms 6, two sets of main mode clamping and locking mechanisms 8, two sets of backup mode clamping and locking mechanisms 5 and a guide rail 7.

[0070] The large-scale redundant backup transmission mechanism in space is composed of three independent transmission chains, namely: main drive component A - guide rail - upper end face flange - large envelope load (i.e. solar wing), main drive component B - guide rail - upper end face flange - large envelope load (i.e. solar wing), backup drive component C - upper end face flange - large envelope load (i.e. solar wing), which can drive large solar wings and other loads of spacecraft to rotate in a directional manner toward the sun, and realize the function of long-life rotation of large envelope loads. Through three independent redundant transmission chains, the long-life transmission function of large envelope loads can be independently exercised. A large-scale redundant backup transmission mechanism in space proposed by the present invention can drive large loads such as solar wings to achieve solar orientation, and has the characteristics of high redundancy, long service life, and stability and reliability.

[0071] The eight sets of main slewing support mechanisms 3 are evenly distributed and fixed on the lower end face flange 1, and are ensured to be fully fitted with the lower end face flange 1 by adjusting the gasket, providing support for the rotation of the guide rail 7. At the same time, the slewing support mechanism contains rolling bearings that are in full contact and fit with the guide rail 7 surface. The guide rail 7 is connected to the lower end face flange 1 through the slewing support mechanism, and can rely on the rolling pair in the slewing support mechanism to achieve rotational motion.

[0072] Eight sets of backup slewing support mechanisms 6 are evenly distributed and fixed on the upper end face flange 9, and are ensured to be fully fitted with the upper end face flange 9 by adjusting the gasket, providing support for the rotation of the guide rail 7. At the same time, the slewing support mechanism contains a rotating bearing that is in full contact and fit with the guide rail 7 surface. The guide rail 7 is connected to the upper end face flange 9 through the slewing support mechanism, and can rely on the rolling pair in the slewing support mechanism to achieve rotational motion.

[0073] Two sets of main mode drive components 2 (i.e. main drive component A101 and main drive component B201) are installed and fixed on the lower end face flange 1. In order to ensure the transmission efficiency, the drive components must meet the requirements of -0.08mm~-0.02mm and parallelism of the center distance between the end gear axis and the guide rail axis after installation, which is a deviation of -0.08mm~-0.02mm and a theoretical value, respectively, to ensure the normal engagement of the end gear and the guide rail. The end gear of the drive component drives the guide rail to rotate by engaging with the guide rail, thereby driving the rotation of the upper end face flange 9 and the large envelope load.

[0074] 1 set of standby mode driving components 4 are installed and fixed on the upper end face flange. In order to ensure the transmission efficiency, the driving components must meet the requirements of -0.08mm~-0.02mm and parallelism of the center distance between the end gear axis and the guide rail axis after installation, which is a deviation of the design value and the theoretical value, and ±0.04mm, to ensure the normal engagement of the end gear and the guide rail 7. The end gear of the driving component realizes the function of driving the guide rail to rotate by engaging with the guide rail 7, thereby driving the rotation of the upper end face flange 9 and the large envelope load.

[0075] The main mode clamping and locking mechanism 8 locks the lower end face flange 1 and the guide rail 7 as a whole. The standby mode driving component 4 drives the guide rail 7 to rotate, thereby driving the rotation of the upper end face flange 9 and the related load. The upper end face flange 9 has a diameter of up to 1450mm and can match the rotation of loads connected to large-size envelopes.

[0076] The lower end face flange 1 is fixedly connected to the guide rail 7 and the lower end face flange 1 as a whole through two sets of main mode clamping and locking mechanisms 8. The upper end face flange 9 has a diameter of up to 1655 mm and can be matched with a large-sized spacecraft cabin.

[0077] The following describes the transmission mode of three independent transmission chains:

[0078] (1) Main mode main part transmission chain: The corresponding main part driving component A101 in the main part mode is driven by a cabin drive controller. The clutch of the main part driving component A101 in the working state is in the engaged state, and its output end pinion drives the guide rail to rotate; while the clutch of the other non-working main part driving component B201 is in the disconnected state, and its output end pinion is in the driven state; in the main mode, the eight sets of main part rotary support mechanisms 3 are in the unlocked state, and the standby mode clamping and locking mechanism 5 and the guide rail 7 are in the locked state (the standby mode clamping and locking mechanism 5 locks the upper end face flange 9 and the guide rail 7). Therefore, under the drive of the main part driving component A101, the entire guide rail 7 rotates together with the standby mode clamping and locking mechanism 5 and the upper end face flange 9.

[0079] (2) Main mode backup transmission chain: When the main drive component A101 running in the main mode fails, the main drive component B201 in the main mode is switched by switching the clutch inside the drive component, while the clutch of the other non-working main drive component A101 is in the disconnected state, and its output end pinion is in the driven state; under the drive of the main drive component B201, the entire guide rail 7 rotates together with the backup mode clamping and locking mechanism 5 and the upper end face flange 9.

[0080] (3) Standby mode transmission chain: When the standby mode is activated, the two sets of main mode clamping and locking mechanisms 8 in the main mode are locked, and the two sets of standby mode driving components 4 are unlocked. At this time, the main mode clamping and locking mechanisms 8 are in a locked state, and the standby mode clamping and locking mechanisms 5 and the guide rail 7 are in an unlocked state. Therefore, under the drive of the standby mode driving component 4, the upper end face flange 9 is driven to rotate relative to the guide rail 7.

[0081] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are within the scope of protection of the technical solutions of the present invention. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0082] The contents not described in detail in the specification of the present invention belong to the common knowledge of professionals in this field.

Claims

1. A transmission mechanism with large-scale redundant backup, characterized in that: include: A lower end face flange (1), a driving component, a main mode rotary support mechanism (3), a backup mode clamping and locking mechanism (5), a backup rotary support mechanism (6), a guide rail (7), a main mode clamping and locking mechanism (8), and an upper end face flange (9); The lower end face flange (1) is fixedly connected to the cabin body, and the upper end face flange (9) is fixedly connected to the load through the truss; the lower end face flange (1) and the upper end face flange (9) can independently rotate relative to the guide rail (7) under the action of the driving component; The upper end face flange (9), the guide rail (7) and the lower end face flange (1) are arranged in the axial direction; The main part rotary support mechanism (3) and the main mode clamping and locking mechanism (8) are arranged between the lower end face flange (1) and the guide rail (7); The backup rotary support mechanism (6) and the backup mode clamping and locking mechanism (5) are arranged between the upper end face flange (9) and the guide rail (7); The main rotary support mechanism (3) serves as a guide support mechanism for the guide rail (7) to rotate relative to the lower end face flange (1); the main mode clamping and locking mechanism (8) can clamp or release the guide rail (7), so that the guide rail (7) and the lower end face flange (1) can be fixedly connected as a whole, or the guide rail (7) and the lower end face flange (1) can rotate relative to each other; The backup rotary support mechanism (6) serves as a guide support mechanism for the guide rail (7) to rotate relative to the upper end face flange (9); the backup mode clamping and locking mechanism (5) can clamp or release the guide rail (7), so that the guide rail (7) and the upper end face flange (9) can be fixedly connected as a whole, or the guide rail (7) and the upper end face flange (9) can rotate relative to each other.

2. A transmission mechanism for large-scale spatial redundant backup according to claim 1, characterized in that: The driving component comprises: a main driving component A (101) and a main driving component B (201); The main portion driving component A (101), the main portion driving component B (201), the main portion rotary support mechanism (3) and the main mode clamping and locking mechanism (8) are fixedly mounted on the lower end face flange (1).

3. The transmission mechanism for large-scale spatial redundant backup according to claim 2, characterized in that: A plurality of circumferentially evenly distributed mounting points are provided on the lower end face flange (1), so that the plurality of main portion rotary support mechanisms (3) are circumferentially evenly distributed, and the main portion drive component A (101), the main portion drive component B (201) and the two sets of main mode clamping and locking mechanisms (8) are circumferentially evenly distributed.

4. The transmission mechanism for large-scale spatial redundant backup according to claim 2, characterized in that: The driving component further includes: a standby mode driving component (4); The backup mode driving component (4), the backup rotary support mechanism (6) and the backup mode clamping and locking mechanism (5) are fixedly mounted on the upper end face flange (9).

5. The transmission mechanism for large-scale spatial redundant backup according to claim 4, characterized in that: The upper end face flange (9) is provided with a plurality of mounting points evenly distributed in the circumferential direction, so that the plurality of backup rotary support mechanisms (6) are evenly distributed in the circumferential direction. In addition, the upper end face flange (9) is further provided with three mounting points for mounting the backup mode driving component (4) and two sets of backup mode clamping and locking mechanisms (5); The installation point of the standby mode driving component (4) is set between the two sets of standby mode clamping and locking mechanisms (5), and the connecting line of the installation points of the two sets of standby mode clamping and locking mechanisms (5) passes through the axis of the upper end face flange (9); The installation point of the standby mode clamping and locking mechanism (5) is arranged in the middle of two adjacent backup rotary support mechanisms (6), and the installation point of the standby mode driving component (4) is arranged in the middle of two adjacent backup rotary support mechanisms (6).

6. A transmission mechanism with large-scale spatial redundancy backup according to claim 2 or 4, characterized in that: The driving components include: an electromagnetic brake (301), a motor assembly (302), a mounting surface flange (303), a planetary reducer (304), an output shaft (305) and a terminal gear (306); The mounting surface flange (303) is fixedly connected to the lower end surface flange (1) or the upper end surface flange (9); The motor assembly (302) is used to drive the planetary reducer (304) to rotate in turn with the output shaft (305) and the final gear (306).

7. The transmission mechanism for large-scale spatial redundant backup according to claim 6, characterized in that: The deviation between the design value and the measured value of the center distance between the axis of the end gear (306) and the axis of the guide rail (7) is -0.08mm to -0.02mm, and the parallelism requirement between the two is ±0.04mm.

8. A transmission mechanism for large-scale spatial redundancy backup according to any one of claims 1 to 5, characterized in that: The main mode clamping and locking mechanism (8) comprises: a left clamping pair (401) and a right clamping pair (402); the left clamping pair (401) and the right clamping pair (402) respectively adhere tightly to the inner and outer surfaces of the guide rail (7) by means of friction, thereby clamping and fixing the guide rail (7), thereby achieving a rigid connection between the guide rail (7) and the lower end face flange (1); The standby mode clamping and locking mechanism (5) comprises: a left clamping pair (501) and a right clamping pair (502); the left clamping pair (501) and the right clamping pair (502) respectively adhere tightly to the inner and outer surfaces of the guide rail by means of friction, thereby clamping and fixing the guide rail (7), thereby achieving a rigid connection between the guide rail (7) and the upper end face flange (9).

9. A transmission mechanism for large-scale spatial redundancy backup according to any one of claims 1 to 5, characterized in that: The rotary support mechanism (3) comprises: a left rolling bearing (601), a right rolling bearing (602) and a bottom rolling bearing (603); the left rolling bearing (601), the right rolling bearing (602) and the bottom rolling bearing (603) respectively form rolling friction with the lower inner rolling surface, the lower outer moving surface and the lower bottom rolling surface of the guide rail (7); The backup rotary support mechanism (6) comprises: a left rolling bearing (701), a right rolling bearing (702) and a bottom rolling bearing (703); the left rolling bearing (701), the right rolling bearing (702) and the bottom rolling bearing (703) respectively form rolling friction with the upper inner rolling surface, the upper outer moving surface and the upper bottom rolling surface of the guide rail (7).

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