A self-reconfigurable cellular star based on stem space manipulator

Abstract

The application discloses a self-reconfigurable cell star based on a STEM space stretching arm, which comprises a fixed box, a movable side plate, a mechanical interface, a tensioning device, an information-interacting folding tubular communication stretching arm, a stretching transmission assembly, an embedded magnet and a aligning magnet; the embedded magnet is embedded into a straight slot of a front fixed panel of the fixed box matched with the movable side plate; the aligning magnet is embedded and fixed into a straight slot of the movable side plate; the stretching transmission assembly is arranged in the fixed box; the movable side plate is connected with the stretching transmission assembly through the information-interacting folding tubular communication stretching arm, and the movable side plate is in contact with the front fixed panel of the fixed box when the movable side plate is retracted; the mechanical interfaces are connected with the fixed box and the movable side plate; and the tensioning device is arranged on the inner side of the front fixed panel of the fixed box. The application has the advantages of remote reliable connection, reliable docking locking and flexible topological relationship change.

Description

Technical Field

[0001] This invention belongs to the field of reconfigurable cellular star structure design technology for on-orbit services, and particularly relates to a self-reconfigurable cellular star based on a STEM space extension arm. Background Technology

[0002] With the continuous development of aerospace technology, low-cost, reconfigurable, modular, standardized, intelligent, and high-performance cell-based satellites represent a new form of future spacecraft development. Currently, most cell-based satellites researched both domestically and internationally only support close-range docking, which poses significant obstacles to the construction of space radio telescopes and the topology of spacecraft structures. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a self-reconstructing cellular star based on a STEM space extension arm, which has the advantages of reliable remote connection, reliable docking and locking, and flexible topological relationship changes.

[0004] The objective of this invention is achieved through the following technical solution: a self-reconstructing cellular star based on a STEM space extension arm, comprising: a fixed housing, a movable side plate, a mechanical interface, a tensioning device, an interactive retractable tubular communication extension arm, an extension transmission assembly, an embedded magnet, and an aligning magnet; wherein, the embedded magnet is embedded in a straight slot in the front fixed panel of the fixed housing that cooperates with the movable side plate; the aligning magnet is embedded and fixed in a straight slot in the movable side plate; the extension transmission assembly is disposed inside the fixed housing; the movable side plate is connected to the extension transmission assembly through the interactive retractable tubular communication extension arm, and the movable side plate contacts the front fixed panel of the fixed housing when retracted; the mechanical interface is connected to both the fixed housing and the movable side plate; the tensioning device is disposed on the inner side of the front fixed panel of the fixed housing.

[0005] In the aforementioned self-reconfigurable cellular star based on a STEM space extension arm, the mechanical interface includes a locking device B, a passive end interface, an active end interface, and a locking device A; wherein, the locking device B and the passive end interface are both disposed on the movable side plate; and the active end interface and the locking device A are both disposed on the fixed housing.

[0006] In the aforementioned self-reconstructed cellular star based on a STEM spatial extension arm, the tensioning device includes a pressure block, a plastic roller, a roller pin, and a spiral spring; wherein, the pressure block is connected to the inner side of the front fixed panel of the fixed box; the roller pin is connected to the pressure block; the plastic roller is sleeved on the outer surface of the roller pin; the outer end of the spiral spring is hooked onto the column head inside the pressure block, and the central starting end of the spiral spring is fixed on the roller pin.

[0007] In the aforementioned self-reconfigurable cellular star based on a STEM spatial extension arm, the extension transmission assembly includes a stepper motor, a motor support, a miniature elastic diaphragm coupling, an elastic retaining ring, a worm bearing A, a worm bearing cover A, a worm bearing seat A, a worm, a worm wheel, a worm bearing cover B, a worm bearing B, a worm bearing seat B, a drum bearing seat A, a drum bearing A, a drum bearing cover A, a sleeve, a drum drive spline shaft A, a drum, a drum drive spline shaft B, a drum bearing cover B, a drum bearing B, a drum bearing seat B, a pressure roller, a pressure roller spline shaft, and a pressure roller bearing seat. The system includes a pressure roller bearing and a connecting base plate; wherein the stepper motor is fixed on the motor support; the stepper motor is connected to the worm gear via the miniature elastic diaphragm coupling; the middle part of the worm gear meshes with the worm wheel gear; the elastic retaining ring is installed in the shaft groove of the worm gear, and the elastic retaining ring restricts the axial movement of the worm bearing A; one end of the worm gear is fixedly installed on the worm bearing seat A via the worm bearing A and the worm bearing cover A; the other end of the worm gear is fixedly installed on the worm bearing seat A via the worm bearing B and the worm bearing cover B. On bearing housing B; the outer spline end of the drum drive spline shaft A mates with the inner spline end of one end of the drum, and the shaft end of the drum drive spline shaft A is fixed to the drum bearing housing A by the drum bearing A and the drum bearing cover A; the worm gear is sleeved on the outer surface of the shaft of the drum drive spline shaft A; the sleeve is sleeved on the outer surface of the shaft of the drum drive spline shaft A, and the sleeve is located between the worm gear and the drum bearing cover A; the worm gear is axially positioned by the sleeve; the outer spline end of the drum drive spline shaft B is connected to the drum... The inner spline end of the other end is engaged with the shaft end of the drum drive spline shaft B, which is fixed to the drum bearing seat B via the drum bearing B and the drum bearing cover B; the two inner spline ends of the pressure roller are respectively engaged with the outer spline ends of the pressure roller spline shaft corresponding to each inner spline end; the shaft end of the pressure roller spline shaft is mounted on the pressure roller bearing seat via the pressure roller bearing; the motor support seat, the worm bearing seat A, the worm bearing seat B, the drum bearing seat A, the drum bearing seat B, and the pressure roller bearing seat are all fixed to the connecting base plate.

[0008] The aforementioned self-reconstructing cellular star based on the STEM space extension arm also includes: an electrical interface; wherein the electrical interface is connected to the fixed housing and the movable side plate.

[0009] In the aforementioned self-reconfigurable cellular star based on a STEM space extension arm, the electrical interface includes a circular rear nut plug, a circular rear nut socket, and an ultra-miniature rotor flange slip ring; wherein, the rotor flange end of the ultra-miniature rotor flange slip ring is fixed to the drum drive spline shaft B; the circular rear nut plug is connected to the active end interface; and the circular rear nut socket is connected to the passive end interface.

[0010] The aforementioned self-reconstructed cellular star based on a STEM space extension arm also includes a control component; wherein the control component is disposed inside the fixed housing.

[0011] In the aforementioned self-reconfigurable cellular star based on a STEM space extension arm, the control components include a motor drive board and a central controller; wherein, both the motor drive board and the central controller are located inside the fixed housing.

[0012] The aforementioned self-reconstructing cellular star based on a STEM space extension arm also includes: a battery; wherein the battery is disposed inside the fixed housing; and the control component is connected to the battery.

[0013] In the aforementioned self-reconstructed cellular star based on a STEM space extension arm, the extension transmission assembly further includes a flat key; wherein the flat key is disposed on the shaft of the drum transmission spline shaft A, and the worm gear is circumferentially positioned by the flat key.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] This invention has the advantages of long-distance wired communication and power supply, reliable connection, extension self-locking, high degree of modularity and integration, reliable docking and locking, good interchangeability, high self-reconfigurability and scalability, and flexible topology. Attached Figure Description

[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0017] Figure 1 This is a top view of the cell star in its retracted state according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the extended state of the cell star provided in an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the internal structure of the cell star without side plates provided in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the assembly position of the tensioning device provided in an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the tensioning device provided in an embodiment of the present invention;

[0022] Figure 6This is a schematic diagram of the extension transmission assembly structure provided in an embodiment of the present invention;

[0023] Figure 7 This is a schematic diagram of the worm gear assembly provided in an embodiment of the present invention;

[0024] Figure 8 This is a schematic diagram of the fit between the reel spline shaft A and the flat key provided in an embodiment of the present invention;

[0025] Figure 9 This is a schematic diagram of a worm gear provided in an embodiment of the present invention;

[0026] Figure 10 This is a schematic diagram of the reel spline shaft B provided in an embodiment of the present invention;

[0027] Figure 11 This is a schematic diagram of the assembly of the positive magnet and the movable side plate provided in an embodiment of the present invention;

[0028] Figure 12 This is a schematic diagram of the assembly of the embedded magnet and the front fixed panel of the box provided in an embodiment of the present invention. Detailed Implementation

[0029] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] Figure 1 This is a top view of the cell star in its retracted state according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the extended state of the cell star provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of the assembly of the positive magnet and the movable side plate provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of the assembly of the embedded magnet and the front fixing panel of the housing according to an embodiment of the present invention. Figure 1 , Figure 2 , Figure 11 and Figure 12 As shown, this self-reconfigurable cellular star based on a STEM space extension arm includes: a fixed housing 1, movable side plates 2, a mechanical interface 3, a tensioning device 4, a retractable tubular communication extension arm capable of information interaction 5, an extension transmission assembly 6, an electrical interface 7, a control component 8, a battery 9, an embedded magnet 10, a aligning magnet 11, and wires 12. Among these,

[0031] An embedded magnet 10 is embedded in a straight slot in the front fixed panel 1-1 of the fixed housing 1 that mates with the movable side plate 2; an aligning magnet 11 is embedded in the straight slot of the movable side plate 2; an extension transmission assembly 6 is disposed inside the fixed housing 1; the movable side plate 2 is connected to the extension transmission assembly 6 via a retractable tubular communication extension arm 5 capable of information interaction, and the movable side plate 2 contacts the front fixed panel 1-1 of the fixed housing 1 when it is retracted; mechanical interfaces 3 are connected to both the fixed housing 1 and the movable side plate 2; a tensioning device 4 is disposed inside the front fixed panel 1-1 of the fixed housing 1; electrical interfaces 7 are connected to both the fixed housing 1 and the movable side plate 2; a control component 8 and a battery 9 are disposed inside the fixed housing 1; the control component 8 and the battery 9 are connected.

[0032] The fixed housing 1 consists of 6 perforated panels connected by screws. An embedded magnet 10 is glued into the straight groove of the front fixed panel 1-1 of the housing, which mates with the movable side panel 2. An aligning magnet 11 is also glued into the straight groove of the movable side panel 2. When the movable side panel 2 retracts, it mates with the front fixed panel 1-1 of the fixed housing. The mechanical interface 3 is connected to the fixed housing 1 by screws. Five tensioning devices 4 are fixed to the inside of the front fixed panel 1-1 of the housing by set screws. The interactive retractable tubular extension arm STEM5 is wound and retracted onto the drum 6-16. The starting end is fixed to the drum 6-16 by screws, and the ending end is pressed by the pressure rollers 6-24 through the five tensioning devices 4, forming an "M" cross-sectional shape. It is then connected to the movable side panel 2 by screws. The extension transmission assembly 6 is fixed to the bottom plate of the housing by screws. The control component 8 is connected to the housing 1 by screws.

[0033] like Figure 2 and Figure 3 As shown, the mechanical interface 3 includes a locking device B3-1, a passive end interface 3-2, an active end interface 3-3, and a locking device A3-4; wherein, the locking device B3-1 and the passive end interface 3-2 are both located on the movable side plate 2; the active end interface 3-3 and the locking device A3-4 are both located on the fixed housing 1.

[0034] like Figure 3 , Figure 4 and Figure 5 As shown, the tensioning device 4 includes a pressure block 4-1, a plastic roller 4-2, a roller pin 4-3, and a spiral spring 4-4; wherein,

[0035] The pressure block 4-1 is connected to the inner side of the front fixed panel 1-1 of the fixed housing 1; the roller pin 4-3 is connected to the pressure block 4-1; the plastic roller 4-2 is sleeved on the outer surface of the roller pin 4-3; the outer end of the spiral spring 4-4 ​​is hooked to the column head inside the pressure block 4-1, and the center beginning of the spiral spring 4-4 ​​is fixed on the roller pin 4-3.

[0036] The pin hole of the pressure block 4-1 is clearance-fitted with the roller pin 4-3; the plastic roller 4-2 is interference-fitted with the roller pin 4-3.

[0037] like Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10 As shown, the extension transmission assembly 6 includes a stepper motor 6-1, a motor support 6-2, a miniature elastic diaphragm coupling 6-3, an elastic retaining ring 6-4, a worm bearing A6-5, a worm bearing cover A6-6, a worm bearing housing A6-7, a worm 6-8, a worm wheel 6-9, a worm bearing cover B6-10, a worm bearing B6-11, a worm bearing housing B6-12, a drum bearing housing A6-13, and a drum bearing A... 6-14, Drum bearing cover A6-15, Sleeve 6-16, Flat key 6-17, Drum drive spline shaft A6-18, Drum 6-19, Drum drive spline shaft B6-20, Drum bearing cover B6-21, Drum bearing B6-22, Drum bearing seat B6-23, Pressure roller 6-24, Pressure roller spline shaft 6-25, Pressure roller bearing seat 6-26, Pressure roller bearing 6-27, and connecting base plate 6-28.

[0038] in,

[0039] Stepper motor 6-1 is fixed on motor support 6-2; stepper motor 6-1 is connected to worm 6-8 through miniature elastic diaphragm coupling 6-3; the middle part of worm 6-8 meshes with worm wheel 6-9; elastic retaining ring 6-4 is installed in the shaft groove of worm 6-8, and elastic retaining ring 6-4 restricts the axial movement of worm bearing A6-5;

[0040] One end of the worm 6-8 is fixedly mounted on the worm bearing seat A6-7 via the worm bearing A6-5 and the worm bearing cover A6-6; the other end of the worm 6-8 is fixedly mounted on the worm bearing seat B6-12 via the worm bearing B6-11 and the worm bearing cover B6-10; the outer spline end of the drum drive spline shaft A6-18 mates with the inner spline end of one end of the drum 6-19, and the shaft end of the drum drive spline shaft A6-18... The drum bearing A6-14 and drum bearing cover A6-15 are fixed to the drum bearing seat A6-13; the worm gear 6-9 is sleeved on the outer surface of the drum drive spline shaft A6-18; the sleeve 6-16 is sleeved on the outer surface of the drum drive spline shaft A6-18, and the sleeve 6-16 is located between the worm gear 6-9 and the drum bearing cover A6-15; the flat key 6-17 is provided on the shaft of the drum drive spline shaft A6-18. On the upper part, the worm gear 6-9 is axially positioned by the sleeve 6-16, and circumferentially positioned by the flat key 6-17; the outer spline end of the drum drive spline shaft B6-20 mates with the inner spline end of the other end of the drum 6-19, and the shaft end of the drum drive spline shaft B6-20 is fixed to the drum bearing seat B6-23 by the drum bearing B6-22 and the drum bearing cover B6-21; the two inner spline ends of the pressure roller 6-24 mate with the outer spline ends of the pressure roller spline shaft 6-25 corresponding to each inner spline end; the shaft end of the pressure roller spline shaft 6-25 is mounted on the pressure roller bearing seat 6-26 by the pressure roller bearing 6-27; the motor support seat 6-2, worm bearing seat A6-7, worm bearing seat B6-12, drum bearing seat A6-13, drum bearing seat B6-23 and pressure roller bearing seat 6-26 are all fixed on the connecting base plate 6-28.

[0041] Stepper motor 6-1 is fixed to motor support 6-2 by set screws and transmits power to worm 6-8 and worm wheel 6-9 via miniature elastic diaphragm coupling 6-3; elastic retaining ring 6-4 is installed in the shaft groove of worm 6-8 to restrict the axial movement of worm bearing A6-5; worm 6-8 is fixedly installed on worm bearing seats A6-7 and B6-12 via worm bearing A6-5, worm bearing cover A6-6, worm bearing B6-11, and worm bearing cover B6-10; worm wheel 6-9 is axially and circumferentially positioned by sleeve 6-16 and flat key 6-17; the outer spline end of drum drive spline shaft A6-18 mates with the inner spline end of drum 6-19, and the shaft end of drum drive spline shaft A6-18 is connected to drum bearing A6-14. The drum bearing cover A6-15 is fixed to the drum bearing seat A6-13; the outer spline end of the drum drive spline shaft B6-20 mates with the inner spline end of the drum 6-19, and the shaft end of the drum drive spline shaft B6-20 is fixed to the drum bearing seat B6-23 through the drum bearing B6-22 and the drum bearing cover B6-21; the inner spline end of each pressure roller 6-24 mates with the outer spline end of the pressure roller spline shaft 6-25 on both sides respectively; the shaft end of the pressure roller spline shaft 6-25 is installed on the pressure roller bearing seat 6-26 through the pressure roller bearing 6-27; the motor support seat 6-2, worm gear bearing seat A6-7, worm gear bearing seat B6-12, drum bearing seat A6-13, drum bearing seat B6-23, and pressure roller bearing seat 6-26 are fixed to the connecting base plate 6-28 with screws.

[0042] like Figure 2 and Figure 10 As shown, the electrical interface 7 includes a circular rear nut plug 7-1, a circular rear nut socket 7-2, an RS232 male connector 7-3, an RS232 female connector 7-4, and an ultra-miniature rotor flange slip ring 7-5; wherein,

[0043] The rotor flange end of the ultra-miniature rotor flange slip ring 7-5 is fixed to the drum drive spline shaft B6-20; the round rear nut plug 7-1 is connected to the active end interface 3-3; the round rear nut socket 7-2 is connected to the passive end interface 3-2.

[0044] The rotor flange end of the ultra-miniature rotor flange electric slip ring 7-5 is fixed to the drum drive spline shaft B6-20 by screws; the round rear nut plug 7-1 and the round rear nut socket 7-2 are concentrically threaded with the center holes of the active end interface 3-3 and the passive end interface 3-2 on the housing.

[0045] like Figure 1 As shown, the control component 8 includes a motor drive board 8-1 and a central controller 8-2; both the motor drive board 8-1 and the central controller 8-2 are housed inside the fixed housing 1. The motor drive board 8-1 and the central controller 8-2 are connected to the housing 1 by screws.

[0046] Battery 9 provides power to the 42 stepper motors, control components, and passive interface. The grooves on both sides of the front fixed panel provide screw mounting space for the movable side panels to be fixed to the front fixed panel when the cell star is extended (when prohibited), while also reducing the weight of the cell star. The rounded rectangular protrusions on the outer side of the front fixed panel mate with the rounded rectangular protrusions on the inner side of the movable side panels, ensuring precise contact between the two side panels when the cell star retracts. The four sets of embedded magnets and aligning magnets accelerate the retraction of the two side panels during cell star retraction. The fitting process; the 42-stepper motor provides stable power output to drive the rotation of the worm gear; the motor support base ensures the fixed position of the stepper motor body; the miniature elastic diaphragm coupling connects the 42-stepper motor shaft and the worm gear, thereby transmitting the output torque of the 42-stepper motor; the elastic retaining ring axially fixes the worm gear bearing A; the splined shaft A of the drum receives the torque transmitted by the worm wheel and simultaneously fixes the drum by connecting it to the splined end; the sleeve fixes the drum bearing A and provides axial positioning for the worm wheel; the drum's function is... A winding base is provided for the interactive retractable tubular communication extension arm (STEM), with threaded holes for fixing the starting end of the STEM; the spindle spline shaft B connects and fixes the spindle, while the internal through hole and end threaded hole provide installation space for the micro rotor flange slip ring; the four pressure roller spline shafts connect and fix two pressure rollers; the pressure rollers extend and unfold the interactive retractable tubular communication extension arm (STEM) smoothly; the five sets of tensioning devices... The pressure roller compresses the STEM (Self-Transfer Transmission Module) flat belt into an "M" cross-sectional shape, while simultaneously tensioning the STEM to prevent it from accumulating between the pressure roller and the drum. The ultra-miniature rotor flange slip ring connects the communication cable leading from the starting end of the STEM to the rotor flange end, and the fixed end connects to the RS232 female connector, enabling communication between the inside and outside of the cell satellite.

[0047] The extension drive assembly is a highly integrated power transmission module, allowing for quick installation and disassembly of the extension drive assembly and the cell star housing using screws. Four sets of aligning magnets and embedded magnets ensure high-precision retraction and fit between the movable side plate and the front fixed panel of the housing. Four threaded holes are symmetrically provided on both sides of the grooves of the movable side plate and the front fixed panel of the housing, allowing for the extension and locking of the movable side plate using screws, increasing the versatility of the cell star. The retractable tubular communication extension arm (STEM) for information interaction is internally embedded with nine rigid communication cables. The starting cable connects to the rotor end of the ultra-miniature rotor flange slip ring, and the ending cable connects to the circular rear nut plug. The stator end cable of the ultra-miniature rotor flange slip ring connects to an RS232 female connector, enabling remote communication between two cell stars. To achieve long-distance communication and power supply between cell stars, this invention designs a self-reconfigurable cell star based on the STEM spatial extension arm.

[0048]

[0049] Where L is the extension length of the STEM, D is the diameter of the drum, and n is the number of turns of the STEM wound on the drum.

[0050] Effects: This formula allows for precise control of the STEM by adjusting the number of turns on the roll according to different extension length requirements; it also allows for the selection of appropriate STEM width and thickness based on different roll diameters, ensuring the flatness and stability of the STEM; and it can improve the communication and power supply efficiency between cells, while reducing signal attenuation and resistance loss.

[0051] Five sets of tensioning devices are arranged in an "M" shape on the front fixed panel of the housing via set screws. This transforms the passing retractable tubular communication extension arm (STEM) from an "I" shape to an "M" shape. The plastic rollers of the tensioning devices, relying on the constant torque generated by the spiral springs, produce a frictional pulling force on the retractable tubular communication extension arm (STEM) in the same direction as its extension and retraction, preventing the retractable tubular communication extension arm (STEM) from accumulating between the pressure roller and the drum. The strength of the STEM can be guaranteed by the following formula:

[0052]

[0053] Where D is the drum diameter, I is the drum moment of inertia, f is the allowable bending stress on the drum, F is the tensile force on the movable side plate, M is the torque on the movable side plate, T is the torque on the drum, r is the drum radius, σ is the allowable tensile stress on the movable side plate, τ is the allowable shear stress on the movable side plate, and E j For the elastic modulus of different materials in each layer of the STEM, νj σ represents the elastic modulus of different materials in each layer of the STEM. i and τ i Let M be the normal stress and shear stress borne by each layer of material at different cross-sections of the STEM, where M is the bending moment and I is the shear stress. S Let y be the moment of inertia of the STEM section. i Let A be the distance from the centerline of the i-th layer of material to the neutral axis of the cross section. j Let V be the area of ​​the i-th layer of material, V be the shear force, and Q be the area of ​​the i-th layer of material. i Let τ be the stationary distance of the i-th layer of material. i Let be the thickness of the i-th layer of material, n be the number of turns wound on the roll, and α be the angle between the strip material and the horizontal direction.

[0054] Effects: This formula allows for the establishment of stress and strain models for the STEM, enabling precise control of the STEM; different layup strategies can be customized according to different actual task requirements to meet the stress and strain requirements of the task, ensuring the strength and stiffness of the cell star module connections. This improves the mechanical stability of multicellular star systems.

[0055] The rear nut plug and rear nut socket on each panel of the enclosure are connected to an RS232 male connector to enable connection between the interfaces and control components. The self-reconfigurable cell star based on the STEM space extension arm has reserved installation space for other instruments. Information exchange between instruments mounted on the cell star can be achieved through various electrical interfaces. The 42 stepper motor is model 42BYGH60, the round rear nut plug is model SF1212P-9, the round rear nut socket is model SF1212S-9, the ultra-miniature rotor flange slip ring is model LPMS-12A, the motor drive board is model TB6600, the central controller is model ARDUINO NUO R3, and the battery is a 24V lithium battery pack.

[0056] The specific working process is as follows: First, the extension stage of the interactive retractable tubular communication extension arm (STEM). Based on the required target cell star's attitude and distance, the control component analyzes and controls the rotation number and speed of the 42-stepper motor. This, through worm gear transmission, drives the drum's rotation, achieving high-precision extension of the interactive retractable tubular communication extension arm (STEM). Second, the docking stage between cells. When the interactive retractable tubular communication extension arm (STEM) reaches the predetermined distance, the motor stops rotating. The self-locking characteristic of the worm gear ensures the extension of the interactive retractable tubular communication extension arm (STEM) is locked, and the target cell star actively docks. The specific interface docking process is the same as that of the "adaptive splicing angle space cell star device." Third, the retraction stage of the interactive retractable tubular communication extension arm (STEM). Once the interface with the target cell star is unlocked, the input command is used by the control component to reverse the motor, thereby reversing the drum and driving the retraction of the interactive retractable tubular communication extension arm (STEM).

[0057] This invention features long-distance wired communication and power supply, reliable connection, self-locking extension, high modularity and integration, reliable docking and locking, good interchangeability, high self-reconfigurability and scalability, and flexible topology. Specifically, this invention achieves long-distance communication and power supply between cells by extending and retracting the STEM with embedded cables wound on a drum. Based on the high strength and rigidity of the STEM material, and by shaping the STEM flat belt into a rigid "M" shape using five tensioning devices, reliable connection between cells is ensured. The motor drives the worm gear, which in turn drives the drum, and the self-locking performance of the worm gear ensures precise locking of the STEM extension distance. The extension transmission assembly and control components are integrated inside the fixed housing, while mechanical and external electrical interfaces are integrated on the surfaces of each panel of the fixed housing. The five tensioning devices are also closely arranged within the front fixed panel of the fixed housing. This design results in a compact structure, small size, and high degree of modularity and integration. The combination of locking device A and locking device B with active and passive docking devices in this invention provides efficient docking and reliable locking. Furthermore, the mechanical interfaces on each panel of the fixed housing have identical installation space and methods, allowing for the replacement of appropriate interface types based on the specific space working environment. This invention can not only self-reconstruct and splice itself, but also splice with the cell stars described in "Space Top Plate Rotary Self-Reconstructing Cell Star and its Combination" and "Space Cell Star Device with Adaptive Splicing Angle." It can also be extended to dock with aerospace equipment such as solar panels to realize the architecture of spacecraft with complex space topology structures.

[0058] Although the present invention has been disclosed above with reference to 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 utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations 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 shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A self-reconstructing cellular star based on a STEM spatial extender arm, characterized in that... include: Fixed housing (1), movable side panel (2), mechanical interface (3), tensioning device (4), retractable tubular communication extension arm with information interaction capability (5), extension transmission assembly (6), embedded magnet (10), and aligning magnet (11); wherein, The embedded magnet (10) is embedded in the straight slot of the front fixed panel (1-1) of the fixed box (1) that cooperates with the movable side plate (2); The positive magnet (11) is embedded and fixed in the straight slot of the movable side plate (2); The extension transmission assembly (6) is disposed inside the fixed housing (1); The movable side plate (2) is connected to the extension transmission assembly (6) via the retractable tubular communication extension arm (5) that allows for information interaction, and the movable side plate (2) contacts the front fixed panel (1-1) of the fixed box (1) when it is retracted. The mechanical interfaces (3) are all connected to the fixed housing (1) and the movable side plate (2); The tensioning device (4) is located on the inside of the front fixing panel (1-1) of the fixed box (1); The mechanical interface (3) includes a locking device B (3-1), a passive end interface (3-2), an active end interface (3-3), and a locking device A (3-4); wherein, The locking device B (3-1) and the passive end interface (3-2) are both located on the movable side plate (2); The active end interface (3-3) and the locking device A (3-4) are both located on the fixed housing (1); The tensioning device (4) includes a pressure block (4-1), a plastic roller (4-2), a roller pin (4-3), and a spiral spring (4-4); wherein, The pressure block (4-1) is connected to the inner side of the front fixing panel (1-1) of the fixing box (1); The roller pin (4-3) is connected to the pressure block (4-1); The plastic roller (4-2) is sleeved on the outer surface of the roller pin (4-3); The outer end of the spiral spring (4-4) is attached to the column head inside the pressure block (4-1), and the center beginning of the spiral spring (4-4) is fixed on the roller pin (4-3). The extension transmission assembly (6) includes a stepper motor (6-1), a motor support (6-2), a miniature elastic diaphragm coupling (6-3), an elastic retaining ring (6-4), a worm bearing A (6-5), a worm bearing cover A (6-6), a worm bearing seat A (6-7), a worm (6-8), a worm wheel (6-9), a worm bearing cover B (6-10), a worm bearing B (6-11), a worm bearing seat B (6-12), a drum bearing seat A (6-13), and a drum bearing. A (6-14), drum bearing cover A (6-15), sleeve (6-16), drum drive spline shaft A (6-18), drum (6-19), drum drive spline shaft B (6-20), drum bearing cover B (6-21), drum bearing B (6-22), drum bearing seat B (6-23), pressure roller (6-24), pressure roller spline shaft (6-25), pressure roller bearing seat (6-26), pressure roller bearing (6-27), and connecting base plate (6-28); among which, The stepper motor (6-1) is fixed on the motor support base (6-2); The stepper motor (6-1) is connected to the worm gear (6-8) via the miniature elastic diaphragm coupling (6-3); The middle part of the worm (6-8) meshes with the worm wheel (6-9); The elastic retaining ring (6-4) is installed in the shaft groove of the worm (6-8), and the elastic retaining ring (6-4) restricts the axial movement of the worm bearing A (6-5); One end of the worm (6-8) is fixedly installed on the worm bearing seat A (6-7) via the worm bearing A (6-5) and the worm bearing cover A (6-6); The other end of the worm (6-8) is fixedly installed on the bearing seat B (6-12) of the worm through the worm bearing B (6-11) and the worm bearing cover B (6-10); The outer spline end of the drum drive spline shaft A (6-18) is engaged with the inner spline end of one end of the drum (6-19). The shaft end of the drum drive spline shaft A (6-18) is fixed to the drum bearing seat A (6-13) through the drum bearing A (6-14) and the drum bearing cover A (6-15). The worm gear (6-9) is sleeved on the outer surface of the spindle drive spline shaft A (6-18); The sleeve (6-16) is sleeved on the outer surface of the spindle drive spline shaft A (6-18), and the sleeve (6-16) is located between the worm gear (6-9) and the cylinder bearing cover A (6-15). The worm gear (6-9) is axially positioned by the sleeve (6-16); The outer spline end of the drum drive spline shaft B (6-20) is engaged with the inner spline end of the other end of the drum (6-19). The shaft end of the drum drive spline shaft B (6-20) is fixed to the drum bearing seat B (6-23) through the drum bearing B (6-22) and the drum bearing cover B (6-21). The two inner spline ends of the pressure roller (6-24) respectively mate with the outer spline ends of the pressure roller spline shaft (6-25) corresponding to each inner spline end; The end of the pressure roller spline shaft (6-25) is mounted on the pressure roller bearing seat (6-26) via the pressure roller bearing (6-27); The motor support seat (6-2), the worm bearing seat A (6-7), the worm bearing seat B (6-12), the drum bearing seat A (6-13), the drum bearing seat B (6-23), and the pressure roller bearing seat (6-26) are all fixed on the connecting base plate (6-28). The extension length of the STEM space extension arm is obtained by the following formula: ； in, For the extension length of STEM, The diameter of the drum. This refers to the number of turns of the STEM wound on the spool.

2. The self-reconstructing cellular star based on a STEM space extender arm according to claim 1, characterized in that... It also includes: electrical interface (7); among which, The electrical interfaces (7) are all connected to the fixed housing (1) and the movable side panel (2).

3. The self-reconstructed cellular star based on a STEM space extender arm according to claim 2, characterized in that: The electrical interface (7) includes a circular rear nut plug (7-1), a circular rear nut socket (7-2), and an ultra-miniature rotor flange slip ring (7-5); wherein, The rotor flange end of the ultra-miniature rotor flange electric slip ring (7-5) is fixed to the drum drive spline shaft B (6-20); The circular rear nut plug (7-1) is connected to the active end interface (3-3); The circular rear nut socket (7-2) is connected to the passive end interface (3-2).

4. The self-reconstructing cellular star based on a STEM space extender arm according to claim 1, characterized in that... Also includes: Control component (8); where, The control component (8) is located inside the fixed housing (1).

5. The self-reconstructed cellular star based on a STEM spatial extender arm according to claim 4, characterized in that: The control component (8) includes a motor drive board (8-1) and a central controller (8-2); wherein, Both the motor drive board (8-1) and the central controller (8-2) are located inside the fixed housing (1).

6. The self-reconstructing cellular star based on a STEM spatial extender arm according to claim 4, characterized in that... It also includes: storage battery (9); among which, The storage battery (9) is disposed inside the fixed housing (1); The control component (8) is connected to the battery (9).

7. The self-reconstructed cellular star based on a STEM spatial extender arm according to claim 1, characterized in that: The extension transmission assembly (6) further includes a flat key (6-17); wherein, The flat key (6-17) is mounted on the shaft of the drum drive spline shaft A (6-18), and the worm gear (6-9) is circumferentially positioned by the flat key (6-17).

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