A multi-axis conjugate motion device for space antenna system

Abstract

The invention discloses a multi-rotation axis conjugate motion device, belonging to the technical field of space antennas, and specifically relates to a multi-rotation axis conjugate motion device, comprising a frame and a left output rod and a right output rod, wherein the left output rod and the right output rod are respectively rotatably connected to the frame, and the ends of the left output rod and the right output rod facing each other are connected by a vertical rotation device for driving the left output rod and the right output rod to rotate at the same angle in the vertical direction, and the ends of the left output rod and the right output rod facing each other are also provided with a horizontal rotation device for driving the left output rod and the right output rod to rotate at the same angle in the horizontal direction; the invention utilizes a left driving mechanism and a right driving mechanism to drive the connected left conjugate gear and the right conjugate gear to rotate, so that the left output rod and the right output rod rotate synchronously in the vertical direction, and simultaneously utilizes a horizontal rotation device to drive the left output rod and the right output rod to rotate at the same angle in the horizontal direction, so as to realize the spatial motion of the left output rod and the right output rod with a determined motion trajectory.

Description

Technical Field

[0001] The invention belongs to the technical field of space antennas, and in particular relates to a multi-rotation axis conjugate motion device for a space antenna system. Background Art

[0002] The space antenna system is an important component of the satellite and is a device for communication and data transmission between the satellite and the ground. In order to advance the space antenna in the direction of large aperture, high precision, high reliability, and low weight, the structure of the space antenna is generally designed to be deployable. The non-circular configuration antenna is a deployable antenna that conforms to the development trend of antennas. The non-circular configuration antenna is in a circular folded state in the carrier spacecraft, and after reaching the predetermined position in space, it unfolds from the circular folded state to a non-circular configuration state. The multi-axis conjugate motion device is an important component of the non-circular configuration antenna.

[0003] In order to realize the expansion of the circular folded state into a non-circular configuration state, the multi-axis conjugate motion device is required to realize the function of simultaneous rotation in the vertical and horizontal directions. Summary of the invention

[0004] The object of the present invention is to provide a multi-axis conjugate motion device for a space antenna system. Under the driving force of left and right driving mechanisms, the left output rod of the device performs a rotational motion of a determined path in the horizontal and vertical directions relative to a frame at the same time, and the right output rod also performs a rotational motion of a determined path in the horizontal and vertical directions relative to the frame at the same time, and the left output rod and the right output rod have conjugate motion characteristics. In addition, the device should also have the characteristics of simple structure and high reliability.

[0005] The present invention discloses a multi-rotation axis conjugate motion device for a space antenna system, comprising a frame and a left output rod and a right output rod, wherein the frame is rotatably connected to the left output rod and the right output rod respectively, and the ends of the left output rod and the right output rod facing each other are connected by a vertical rotation device for driving the left output rod and the right output rod to rotate at the same angle in the vertical direction, and the ends of the left output rod and the right output rod facing each other are also provided with a horizontal rotation device for driving the left output rod and the right output rod to rotate at the same angle in the horizontal direction, and the left output rod and the right output rod rotate synchronously in the horizontal direction and the vertical direction;

[0006] The vertical rotation device comprises a left conjugate gear and a right conjugate gear, wherein the left conjugate gear is fixedly connected to the left output rod, and the right conjugate gear is fixedly connected to the right output rod, and the left conjugate gear and the right conjugate gear are meshed and connected with each other;

[0007] The left conjugate gear is matched with a left driving mechanism for driving the left conjugate gear to rotate, and the right conjugate gear is matched with a right driving mechanism for driving the right conjugate gear to rotate. Both the left driving mechanism and the right driving mechanism are fixedly connected to the frame.

[0008] Preferably, the horizontal rotation device comprises a roller and a cam, the area between the two ends of the cam is provided with a spatial curved surface, and the roller is arranged to roll on the spatial curved surface;

[0009] The frame comprises a front side plate and a rear side plate, the left output rod and the right output rod are both arranged in the area between the front side plate and the rear side plate, and the left output rod and the right output rod are both provided with the cam on one side facing the front side plate and the rear side plate;

[0010] The cams on the side of the left output rod and the right output rod facing the front side plate are both front cams, and the cams on the side of the left output rod and the right output rod facing the rear side plate are both rear cams.

[0011] The central axes of the front cam and the rear cam arranged on the left output rod are located on the same straight line with the rotation axis of the left output rod in the vertical direction, and the central axes of the front cam and the rear cam arranged on the right output rod are located on the same straight line with the rotation axis of the right output rod in the vertical direction;

[0012] The positions on the front side plate and the rear side plate corresponding to the front cam and the rear cam are respectively connected with rollers through roller brackets, and the rollers are rotatably arranged on the front cam or the rear cam;

[0013] When the roller rolls from one end of the cam to the other end of the cam, it drives the left output rod or the right output rod to rotate in the horizontal direction to form a conjugate motion.

[0014] Preferably, the cam is an arc-shaped plate, and both ends of the cam are fixedly connected to the left output rod or the right output rod.

[0015] Preferably, the meshing left conjugate gear and the right conjugate gear drive the left output rod and the right output rod to rotate at an angle of 0-90 degrees in the vertical direction.

[0016] Preferably, the rolling wheels and cams connected in rolling relation drive the left output rod and the right output rod to rotate at an angle of 0-10 degrees in the horizontal direction.

[0017] Preferably, the left driving mechanism comprises a left driving device, and a left driving gear is fixedly connected to the left driving device;

[0018] The right driving mechanism comprises a right driving device, and the right driving device is fixedly connected to a right driving gear;

[0019] The left conjugate gear and the right conjugate gear each include a first connecting plate and a second connecting plate, one end of each of the first connecting plate and the second connecting plate is fixedly connected to a tooth body, and the other end of each of the first connecting plate and the second connecting plate is fixedly connected to a corresponding left output rod or a right output rod, and the tooth body is provided with internal teeth and external teeth;

[0020] The outer teeth on the left conjugate gear mesh with the outer teeth on the right conjugate gear, the inner teeth on the left conjugate gear mesh with the left drive gear, and the left drive device is fixedly connected to the frame;

[0021] The inner teeth on the right conjugate gear mesh with the right driving gear, and the right driving device is fixedly connected to the frame.

[0022] Preferably, it also includes a limiting structure for preventing the roller from being separated from the cam, the limiting structure includes a left rotating block and a right rotating block, the left rotating block and the right rotating block are both provided with corresponding upper limit protrusions and lower limit protrusions, the left rotating block and the right rotating block are both fixedly connected to the frame, and the left driving device and the right driving device are respectively fixedly arranged on the left rotating block and the right rotating block;

[0023] When the roller rolls onto one end of the cam, one side of the first connecting plate abuts against the upper limit protrusion, and when the roller rolls onto the other end of the cam, the corresponding other side of the first connecting plate abuts against the lower limit protrusion.

[0024] Preferably, the left output rod is rotatably connected to the frame via a first rotating shaft, the right output rod is rotatably connected to the frame via a second rotating shaft, and the left rotating block;

[0025] The left rotating block is sleeved on the first rotating shaft and is rotationally connected to the first rotating shaft through a bearing, and the right rotating block is sleeved on the second rotating shaft and is rotationally connected to the second rotating shaft through a bearing.

[0026] Preferably, the left output rod and the right output rod intersect with the central axis of and are located in the same plane.

[0027] The present invention utilizes a left driving mechanism and a right driving mechanism to drive the connected left conjugate gear and right conjugate gear to rotate, so that the left output rod and the right output rod rotate synchronously in the vertical direction, and at the same time utilizes a horizontal rotation device to drive the left output rod and the right output rod to rotate at the same angle in the horizontal direction, so that the left output rod and the right output rod can move in space with a certain motion trajectory, and the left front cam, the left rear cam, the right front cam and the right rear cam have different spatial curved surfaces respectively, and the spatial curved surfaces and the rollers work together, so that the left output rod and the right output rod can both move in space according to a specific motion law.

[0028] The left and right driving mechanisms of the present invention jointly drive the left and right output rods to move in space. The left and right output rods stop after reaching the set position and can return to the initial position along the original path. The left and right output rods have a certain motion trajectory and have conjugate motion characteristics.

[0029] The invention has a simple structure; through the spatial curved surface on the cam, the device can change the motion trajectory and motion law, thereby reducing friction resistance and avoiding rigid impact and flexible impact; at the same time, the device with multiple rotating axes realizes conjugate motion characteristics. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of the present invention.

[0031] Figure 2 It is a bottom view of the present invention.

[0032] Figure 3 Schematic diagram of the cam.

[0033] Figure 4 This is a schematic diagram of the connection between the right conjugate gear and the frame.

[0034] Figure numerals: 1-frame, 2-left output rod, 3-right output rod, 4-left conjugate gear, 5-right conjugate gear, 6-front cam, 7-rear cam, 8-left rotating block, 9-right rotating block, 10-first rotating shaft, 11-second rotating shaft, 12-roller. DETAILED DESCRIPTION

[0035] The present invention discloses a multi-rotation axis conjugate motion device for a space antenna system, comprising a frame 1 and a left output rod 2 and a right output rod 3, wherein the frame 1 is rotatably connected to the left output rod 2 and the right output rod 3, respectively, and the ends of the left output rod 2 and the right output rod 3 facing each other are connected by a vertical rotation device for driving the left output rod 2 and the right output rod 3 to rotate at the same angle in the vertical direction, and the ends of the left output rod 2 and the right output rod 3 facing each other are also provided with a horizontal rotation device for driving the left output rod 2 and the right output rod 3 to rotate at the same angle in the horizontal direction, and the left output rod 2 and the right output rod 3 rotate synchronously in the horizontal direction and the vertical direction;

[0036] The vertical rotation device comprises a left conjugate gear 4 and a right conjugate gear 5, wherein the left conjugate gear 4 is fixedly connected to the left output rod 2, and the right conjugate gear 5 is fixedly connected to the right output rod 3, and the left conjugate gear 4 and the right conjugate gear 5 are meshed and connected with each other;

[0037] The left conjugated gear 4 is matched with a left driving mechanism for driving the left conjugated gear 4 to rotate, and the right conjugated gear 5 is matched with a right driving mechanism for driving the right conjugated gear 5 to rotate. Both the left driving mechanism and the right driving mechanism are fixedly connected to the frame 1.

[0038] The horizontal rotation device includes a roller 12 and a cam, and a space curved surface is provided in the area between the two ends of the cam, and the roller 12 is rollingly provided on the space curved surface;

[0039] The frame 1 includes a front side plate and a rear side plate, the left output rod 2 and the right output rod 3 are both arranged in the area between the front side plate and the rear side plate, and the left output rod 2 and the right output rod 3 are both provided with the cam on one side facing the front side plate and the rear side plate;

[0040] The cams on the side of the left output rod 2 and the right output rod 3 facing the front side plate are both front cams 6, and the cams on the side of the left output rod 2 and the right output rod 3 facing the rear side plate are both rear cams 7.

[0041] The central axes of the front cam 6 and the rear cam 7 arranged on the left output rod 2 are located on the same straight line with the rotation axis of the left output rod 2 in the vertical direction, and the central axes of the front cam 6 and the rear cam 7 arranged on the right output rod 3 are located on the same straight line with the rotation axis of the right output rod 3 in the vertical direction;

[0042] The positions of the front side plate and the rear side plate corresponding to the front cam 6 and the rear cam 7 are connected to rollers 12 through roller 12 brackets, respectively, and the rollers 12 are rotatably arranged on the front cam 6 or the rear cam 7;

[0043] When the roller 12 rolls from one end of the cam to the other end of the cam, it drives the left output rod 2 or the right output rod 3 to rotate in the horizontal direction to form a conjugate motion.

[0044] The cam is an arc-shaped plate, and both ends of the cam are fixedly connected to the left output rod 2 or the right output rod 3 .

[0045] The meshingly connected left conjugate gear 4 and right conjugate gear 5 drive the left output rod 2 and the right output rod 3 to rotate at an angle of 0-90 degrees in the vertical direction.

[0046] The roller 12 and the cam connected in rolling motion drive the left output rod 2 and the right output rod 3 to rotate at an angle of 0-10 degrees in the horizontal direction.

[0047] The left driving mechanism comprises a left driving device, and a left driving gear is fixedly connected to the left driving device;

[0048] The right driving mechanism comprises a right driving device, and the right driving device is fixedly connected to a right driving gear;

[0049] The left conjugate gear 4 and the right conjugate gear 5 each include a first connecting plate and a second connecting plate, one end of each of the first connecting plate and the second connecting plate is fixedly connected to a tooth body, and the other end of each of the first connecting plate and the second connecting plate is fixedly connected to the corresponding left output rod 2 or right output rod 3, and the tooth body is provided with internal teeth and external teeth;

[0050] The outer teeth on the left conjugate gear 4 mesh with the outer teeth on the right conjugate gear 5, and the inner teeth on the left conjugate gear 4 mesh with the left drive gear. The left drive device is fixedly connected to the frame 1.

[0051] The inner teeth on the right conjugate gear 5 mesh with the right driving gear, and the right driving device is fixedly connected to the frame 1.

[0052] It also includes a limiting structure for preventing the roller 12 from being separated from the cam, the limiting structure includes a left rotating block 8 and a right rotating block 9, the left rotating block 8 and the right rotating block 9 are both provided with corresponding upper limit protrusions and lower limit protrusions, the left rotating block 8 and the right rotating block 9 are both fixedly connected to the frame 1, and the left driving device and the right driving device are respectively fixedly arranged on the left rotating block 8 and the right rotating block 9;

[0053] When the roller 12 rolls onto one end of the cam, one side of the first connecting plate abuts against the upper limit protrusion, and when the roller 12 rolls onto the other end of the cam, the corresponding other side of the first connecting plate abuts against the lower limit protrusion.

[0054] The left output rod 2 is rotatably connected to the frame 1 through a first rotating shaft 10, and the right output rod 3 is rotatably connected to the frame 1 through a second rotating shaft 11, and the left rotating block 8;

[0055] The left rotating block 8 is sleeved on the first rotating shaft 10 and is rotatably connected to the first rotating shaft 10 through a bearing. The right rotating block 9 is sleeved on the second rotating shaft 11 and is rotatably connected to the second rotating shaft 11 through a bearing.

[0056] The left output rod 2 and the right output rod 3 intersect with the central axis of and are located in the same plane.

[0057] When in use, corresponding spatial curved surfaces are respectively set on the cams connected to the left output rod 2 and the right output rod 3 as needed, so that when the roller 12 rolls on the spatial curved surface, the left output rod 2 and the right output rod 3 produce a set motion trajectory, combined with the left drive device and the right drive device to drive the left conjugate gear 4 and the right conjugate gear 5 to engage with each other, so that the left output rod 2 and the right output rod 3 produce a rotational motion along a determined path in the vertical direction and the horizontal direction at the same time. When reaching the set position, the limit device restricts the roller 12 from continuing to roll, and it can return to the initial position along the original path.

[0058] The present invention utilizes a left driving mechanism and a right driving mechanism to drive the connected left conjugate gear 4 and right conjugate gear 5 to rotate, so that the left output rod 2 and the right output rod 3 rotate synchronously in the vertical direction. At the same time, a horizontal rotation device is utilized to drive the left output rod 2 and the right output rod 3 to rotate at the same angle in the horizontal direction, so that the left output rod 2 and the right output rod 3 can move in space with a certain motion trajectory. The left front cam 6, the left rear cam 7, the right front cam 6 and the right rear cam 7 have different spatial curved surfaces respectively. The spatial curved surfaces and the roller 12 interact, so that the left output rod 2 and the right output rod 3 can both move in space according to a specific motion law.

[0059] The left and right driving mechanisms of the present invention jointly drive the left and right output rods 3 to move in space. The left and right output rods 3 stop after reaching the set position and can return to the initial position along the original path. The left and right output rods 3 have a certain motion trajectory and have conjugate motion characteristics.

[0060] The invention has a simple structure; through the spatial curved surface on the cam, the device can change the motion trajectory and motion law, thereby reducing friction resistance and avoiding rigid impact and flexible impact; at the same time, the device with multiple rotating axes realizes conjugate motion characteristics.

Claims

1. A multi-axis conjugate motion device for a space antenna system, comprising a frame and a left output rod and a right output rod, characterized in that: The frame is rotatably connected to a left output rod and a right output rod, respectively. The ends of the left output rod and the right output rod facing each other are connected by a vertical rotation device that drives the left output rod and the right output rod to rotate at the same angle in the vertical direction. The ends of the left output rod and the right output rod facing each other are also provided with a horizontal rotation device that drives the left output rod and the right output rod to rotate at the same angle in the horizontal direction. The left output rod and the right output rod rotate synchronously in the horizontal direction and the vertical direction. The vertical rotation device comprises a left conjugate gear and a right conjugate gear, wherein the left conjugate gear is fixedly connected to the left output rod, and the right conjugate gear is fixedly connected to the right output rod, and the left conjugate gear and the right conjugate gear are meshed and connected with each other; The left conjugate gear is matched with a left driving mechanism for driving the left conjugate gear to rotate, and the right conjugate gear is matched with a right driving mechanism for driving the right conjugate gear to rotate. Both the left driving mechanism and the right driving mechanism are fixedly connected to the frame.

2. A multi-axis conjugate motion device for a space antenna system as claimed in claim 1, characterized in that: The horizontal rotation device comprises a roller and a cam, the area between the two ends of the cam is provided with a spatial curved surface, and the roller is arranged to roll on the spatial curved surface; The frame comprises a front side plate and a rear side plate, the left output rod and the right output rod are both arranged in the area between the front side plate and the rear side plate, and the left output rod and the right output rod are both provided with the cam on one side facing the front side plate and the rear side plate; The cams on the side of the left output rod and the right output rod facing the front side plate are both front cams, and the cams on the side of the left output rod and the right output rod facing the rear side plate are both rear cams. The central axes of the front cam and the rear cam arranged on the left output rod are located on the same straight line with the rotation axis of the left output rod in the vertical direction, and the central axes of the front cam and the rear cam arranged on the right output rod are located on the same straight line with the rotation axis of the right output rod in the vertical direction; The positions on the front side plate and the rear side plate corresponding to the front cam and the rear cam are respectively connected with rollers through roller brackets, and the rollers are rotatably arranged on the front cam or the rear cam; When the roller rolls from one end of the cam to the other end of the cam, it drives the left output rod or the right output rod to rotate in the horizontal direction to form a conjugate motion.

3. A multi-axis conjugate motion device for a space antenna system as claimed in claim 2, characterized in that: The cam is an arc-shaped plate, and both ends of the cam are fixedly connected to the left output rod or the right output rod.

4. A multi-axis conjugate motion device for a space antenna system as claimed in claim 3, characterized in that: The meshing left conjugate gear and the right conjugate gear drive the left output rod and the right output rod to rotate at an angle of 0-90 degrees in the vertical direction.

5. A multi-axis conjugate motion device for a space antenna system as claimed in claim 4, characterized in that: The rolling wheels and cams connected in rolling motion drive the left output rod and the right output rod to rotate at an angle of 0-10 degrees in the horizontal direction.

6. A multi-axis conjugate motion device for a space antenna system as claimed in claim 5, characterized in that: The left driving mechanism comprises a left driving device, and a left driving gear is fixedly connected to the left driving device; The right driving mechanism comprises a right driving device, and the right driving device is fixedly connected to a right driving gear; The left conjugate gear and the right conjugate gear each include a first connecting plate and a second connecting plate, one end of each of the first connecting plate and the second connecting plate is fixedly connected to a tooth body, and the other end of each of the first connecting plate and the second connecting plate is fixedly connected to a corresponding left output rod or a right output rod, and the tooth body is provided with internal teeth and external teeth; The outer teeth on the left conjugate gear mesh with the outer teeth on the right conjugate gear, the inner teeth on the left conjugate gear mesh with the left drive gear, and the left drive device is fixedly connected to the frame; The inner teeth on the right conjugate gear mesh with the right driving gear, and the right driving device is fixedly connected to the frame.

7. A multi-axis conjugate motion device for a space antenna system as claimed in claim 6, characterized in that: It also includes a limiting structure for preventing the roller from being separated from the cam, the limiting structure includes a left rotating block and a right rotating block, the left rotating block and the right rotating block are both provided with corresponding upper limit protrusions and lower limit protrusions, the left rotating block and the right rotating block are both fixedly connected to the frame, and the left driving device and the right driving device are respectively fixedly arranged on the left rotating block and the right rotating block; When the roller rolls onto one end of the cam, one side of the first connecting plate abuts against the upper limit protrusion, and when the roller rolls onto the other end of the cam, the corresponding other side of the first connecting plate abuts against the lower limit protrusion.

8. A multi-axis conjugate motion device for a space antenna system as claimed in claim 7, characterized in that: The left output rod is rotatably connected to the frame via a first rotating shaft, the right output rod is rotatably connected to the frame via a second rotating shaft, and the left rotating block; The left rotating block is sleeved on the first rotating shaft and is rotationally connected to the first rotating shaft through a bearing, and the right rotating block is sleeved on the second rotating shaft and is rotationally connected to the second rotating shaft through a bearing.

9. A multi-axis conjugate motion device for a space antenna system as claimed in claim 8, characterized in that: The left output rod and the right output rod intersect with the central axis and are located in the same plane.

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