A small and light-weight dual-shaft integrated solar wing driving mechanism

Abstract

The application provides a small and light-weight double-shaft integrated solar wing driving mechanism, which comprises a shell, a first motor, a first transmission assembly, a second motor and a second transmission assembly; the first motor and the second motor are coaxially arranged on the opposite two side walls of the shell; the first transmission assembly is perpendicular to the first motor, and the first motor is used for driving the first transmission assembly to rotate around the axis of the first motor; the second transmission assembly is arranged perpendicularly to the first transmission assembly; the second motor can drive the second transmission assembly to rotate and drive the first transmission assembly to rotate around the axis of the second transmission assembly, and the rotation angle range is ±180°. Compared with the existing SADM, the application has the advantages of compact structure, small size, light weight and low cost, meets the requirements of satellite stacking layout, and provides a development direction for future commercial satellite research.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of solar wing driving, and particularly relates to a small and light-weight double-shaft integrated solar wing driving mechanism. BACKGROUND

[0002] In a solar wing system, in order to receive sunlight with maximum efficiency, a SADM, i.e., a solar wing driving mechanism, is generally configured, and the solar wing is generally provided with two sun-orienting degrees of freedom, and through movement in two mutually perpendicular directions, maximum power generation efficiency of the solar wing is achieved.

[0003] With the layout requirement of a satellite stack, the solar wing has a double-wing deployment area of 40 square meters and a deployment length of 14 meters, and the overall folding height is only 150 mm. Therefore, the volume requirement of the solar wing driving mechanism is high. Figure 1 The existing SADM generally adopts a two-shaft split type to achieve two-dimensional rotation freedom, and the split SADM structure is discrete, large in volume and heavy in weight, and cannot meet the layout requirement of the satellite stack. The input shaft system 8, the output shaft system 9, the speed reduction mechanism 10, the driving motor 11, the conductive slip ring 12 and the potentiometer 13 on the A shaft and the B shaft of the two-shaft split type SADM are arranged along the respective axial directions, resulting in a large axial dimension, and the weight on a single shaft is nearly 2 kg (excluding the slip ring), and the axial dimension is close to 200 mm, which is difficult to meet the layout requirement of the satellite stack.

[0004] In addition, China will vigorously develop commercial aerospace, and the aerospace activities with market guidance and commercial profit mode are the key in the future aerospace field. Commercial, profit and cost control become the keywords of commercial aerospace. The number of future satellite launches is measured in ten thousand units. In the face of such a huge number, cost control in each link such as launch cost, manufacturing cost and operation and maintenance cost is the focus of commercial aerospace in building the next generation of Internet and Internet of Things intelligent world. SUMMARY

[0005] The application aims to overcome the defects of the existing SADM, i.e., heavy overall weight, high cost and large axial dimension, which cannot meet the layout requirement of the satellite stack, and provides a small and light-weight double-shaft integrated solar wing driving mechanism.

[0006] To achieve the above-mentioned purpose, the technical solution provided by the application is as follows:

[0007] A small and light-weight double-shaft integrated solar wing driving mechanism, which is characterized in that it comprises a shell, a first motor, a first transmission assembly, a second motor and a second transmission assembly.

[0008] The first motor and the second motor are coaxially arranged outside the two opposite side walls of the shell.

[0009] The first transmission assembly is perpendicular to the first motor, and the first motor is used to drive the first transmission assembly to rotate around its own axis;

[0010] The second transmission assembly is arranged perpendicularly to the first transmission assembly;

[0011] The second motor is used to drive the second transmission assembly to rotate and drive the first transmission assembly to rotate around the axis of the second transmission assembly, and the rotation angle range is ±180°; the rotation range of the second transmission assembly is ±170°.

[0012] Further, the first transmission assembly comprises a first small bevel gear coaxially connected with the output shaft of the first motor, and a first sun-sailboard connecting flange, a first harmonic reducer, a first large bevel gear, a first transmission shaft and a second sun-sailboard connecting flange arranged in sequence along the axis perpendicular to the first small bevel gear;

[0013] The first small bevel gear is in meshing transmission with the first large bevel gear;

[0014] The second large bevel gear is connected with the wave generator of the first harmonic reducer, so as to drive the wave generator to operate; the steel wheel of the first harmonic reducer is fixedly connected with the housing, and the flexible wheel of the first harmonic reducer is fixedly connected with the first sun-sailboard connecting flange along the axis, and the first harmonic reducer transmits torque to the first sun-sailboard connecting flange through the flexible wheel;

[0015] The first transmission shaft is coaxially and fixedly connected with the first sun-sailboard connecting flange and the second sun-sailboard connecting flange at both ends thereof.

[0016] Further, the outer wall of the end of the first large bevel gear away from the upper bevel gear is connected with the inner wall of the housing through the first bearing assembly;

[0017] The second bearing assembly is symmetrically and fixedly arranged on the outer side of the housing at both ends of the first transmission shaft, and the first sun-sailboard connecting flange and the second sun-sailboard connecting flange are respectively connected with the bearing seat of the second bearing assembly through the bearing of the second bearing assembly.

[0018] Further, the first angle sensor is arranged on the shaft body of the end of the first transmission shaft away from the first harmonic reducer, and is used to collect the angle information of the first transmission shaft;

[0019] The first angle sensor is arranged in the bearing seat of the second bearing assembly.

[0020] Further, the second transmission assembly comprises a second small bevel gear coaxially connected with the output shaft of the second motor, and a second large bevel gear, a second harmonic reducer, a second transmission shaft and a star body connecting flange arranged in sequence along the axis perpendicular to the second small bevel gear;

[0021] The second small bevel gear is engaged with the second large bevel gear for transmission;

[0022] The second large bevel gear is connected with a wave generator of the second harmonic reducer to drive the wave generator to operate; a steel wheel of the second harmonic reducer is fixedly connected with the housing, and the second harmonic reducer outputs torque to the housing and the first transmission assembly connected with the housing through the steel wheel;

[0023] One end of the second transmission shaft is coaxially fixed with the second large bevel gear, and the second transmission shaft body is connected with the central hole of the second harmonic reducer through a bearing; the other end of the second transmission shaft is fixedly connected with the star body connection flange;

[0024] The flexspline of the second harmonic reducer is fixedly connected with the shaft body of the second transmission shaft.

[0025] Further, the second transmission shaft is a three-step shaft, the small section and the middle section extend into the central hole of the second harmonic reducer, the end of the small section is coaxially fixed with the second large bevel gear, and the outer wall of the small section is connected with the wave generator of the second harmonic reducer through a bearing; the outer wall of the middle section is matched with the flexspline of the second harmonic reducer, and the flexspline is axially fixedly connected with the stepped surface of the large section.

[0026] Further, the housing is externally provided with a third bearing assembly coaxial with the second transmission shaft, the bearing seat of the third bearing assembly is fixed with the housing, and the outer wall of the large section of the second transmission shaft is connected with the bearing seat through a bearing.

[0027] Further, the output shaft of the first motor is connected with the central hole of the first small bevel gear through interference fit, and the shaft body of the end of the first small bevel gear away from the bevel gear is connected with the inner wall of the housing through a fourth bearing assembly;

[0028] The output shaft of the second motor is connected with the central hole of the second small bevel gear through interference fit, and the shaft body of the end of the second small bevel gear away from the bevel gear is connected with the inner wall of the housing through another fourth bearing assembly.

[0029] Further, a second sensor is further included, the second sensor is a Hall sensor, and is used for collecting the rotation angle of the first transmission assembly relative to the second transmission assembly;

[0030] The Hall element of the Hall sensor is installed on the star body connection flange, and the magnetic steel of the Hall sensor is installed on the housing.

[0031] The first angle sensor is a potentiometer.

[0032] Further, the first motor and the second motor are step motors.

[0033] The advantages of the present application are:

[0034] The application is according to the layout requirements of Y direction and Z direction of satellite stack layout, two driving motors, the first transmission assembly and the second transmission assembly are arranged in a 90° layout mode, wherein the first transmission assembly is arranged along the Y axis, the second transmission assembly is arranged along the Z axis in the positive direction, and the first motor and the second motor are coaxially arranged along the X axis. Through the integrated design of the two sets of driving assemblies, the two-dimensional sun orientation function of the double-wing is realized, at the same time, the SADM is compressed to 175mm in the Y direction, the size in the Z direction is 95mm, and the size in the X direction is 172mm; compared with the existing SADM structure, the size of the application is greatly reduced.

[0035] The existing split type SADM weighs 8kg, the single-axis cost is about 500,000, and the four-axis cost is 2 million; while the driving mechanism of the application weighs only 3kg, and the cost is less than 1 million, which meets the layout requirements of satellite stack, and provides a development direction for future commercial satellites. BRIEF DESCRIPTION OF DRAWINGS

[0036] The above and / or additional aspects and advantages of the application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0037] Figure 1 is a schematic diagram of the existing two-axis split SADM-A axis structure;

[0038] Figure 2 is a schematic diagram of the whole two-axis integrated solar wing driving mechanism of the application, which shows a space coordinate system;

[0039] Figure 3 is Figure 2 a half-sectioned schematic diagram along the Y axis;

[0040] Figure 4 is Figure 2 a two-dimensional sectional view along the Y axis;

[0041] Figure 5 is Figure 2 a half-sectioned schematic diagram along the X axis;

[0042] Figure 6 is Figure 2 a two-dimensional sectional view along the X axis.

[0043] Explanation of reference signs: 1 - housing, 2 - first motor, 3 - second motor, 4 - first transmission assembly, 401 - first small bevel gear, 402 - first large bevel gear, 403 - first transmission shaft, 404 - first bearing assembly, 405 - first harmonic reducer, 40501 - wave generator of the first harmonic reducer, 40502 - steel wheel of the first harmonic reducer, 40503 - flexible wheel of the first harmonic reducer, 406 - second bearing assembly, 407 - first sun-sail connecting flange, 408 - second sun-sail connecting flange, 5 - second transmission assembly, 501 - second small bevel gear, 502 - second large bevel gear, 503 - second harmonic reducer, 50301 - wave generator of the second harmonic reducer, 50302 - steel wheel of the second harmonic reducer, 50303 - flexible wheel of the second harmonic reducer, 504 - star connecting flange, 505 - third bearing assembly, 506 - second transmission shaft, 6 - fourth bearing assembly, 7 - angle sensor, 8 - input shaft system, 9 - output shaft system, 10 - speed reduction mechanism, 11 - drive motor, 12 - conductive slip ring, 13 - potentiometer. DETAILED DESCRIPTION

[0044] The embodiments of the present application are described in detail below, which are exemplary and intended to explain the present application, and cannot be understood as a limitation of the present application.

[0045] Reference Figure 2 A small and light-weight dual-shaft integrated solar wing driving mechanism, comprising a housing 1, a first motor 2, a second motor 3, a first transmission assembly 4 and a second transmission assembly 5; the first motor 2 and the second motor 3 are coaxially arranged on the opposite two side walls of the housing, and the first transmission assembly 4 and the second transmission assembly 5 are vertically arranged in the housing. The output end of the first motor 2 is connected with the first transmission assembly 4, for driving the first transmission assembly 4 to rotate around the shaft; the output end of the second motor 3 is connected with the second transmission assembly 5, for driving the second transmission assembly to rotate, and the rotation range of the first transmission assembly 4 is ±180°. The rotation angle range of the second transmission assembly 5 is ±170°.

[0046] Figure 2 The middle space coordinate system corresponds to the star coordinate system, wherein the first motor and the second motor are coaxially arranged along the X axis, the first transmission assembly is arranged along the Y axis, and the second transmission assembly is arranged along the positive direction of the Z axis.

[0047] Reference Figure 3 and Figure 4, the first transmission assembly 4 includes a first small bevel gear 401, a first large bevel gear 402, a first transmission shaft 403, a first bearing assembly 404, a first harmonic reducer 405, a second bearing assembly 406, a first solar sail connecting flange 407 and a second solar sail connecting flange 408. The first motor 2 is arranged outside the housing 1, the first motor housing is fixedly connected with the housing 1, the output shaft of the first motor is connected with the first small bevel gear 401, drives the first small bevel gear to rotate, the first small bevel gear 401 is engaged with the first large bevel gear 402 arranged perpendicular to the axis of the device, and the speed is reduced while the rotating direction is changed by 90 degrees. The outer wall of the first large bevel gear shaft segment is connected with the inner wall of the housing through the first bearing assembly 404, the first large bevel gear 402 is fixedly connected with the wave generator 40501 of the first harmonic reducer, so that the first harmonic reducer rotates. The steel wheel 40502 of the first harmonic reducer is fixed with the housing, and the inner cavity of the flexible wheel 40503 of the first harmonic reducer is gap-fitted with the outer wall of the first transmission shaft 403. The first transmission shaft 403 is arranged along the direction perpendicular to the output shaft of the first motor, and passes through the inner cavity of the housing 1.

[0048] The second bearing assembly 406 is symmetrically arranged at both ends of the first transmission shaft 403, which is used to realize the rotary support of the first solar sail connecting flange 407 and the second solar sail connecting flange 408. The second bearing assembly 406 includes a second bearing seat fixedly connected with the outer end face of the housing and a second bearing nested in the bearing seat. The outer wall of one end of the first solar sail connecting flange 407 is connected with the bearing inner wall of one end of the first transmission shaft 403, and the end face of one end of the first solar sail connecting flange 407 is axially fixedly connected with the flexible wheel 40503 of the first harmonic reducer, and coaxially fixedly connected with the end face of one end of the first transmission shaft. The flexible wheel of the first harmonic reducer serves as the output end of the first harmonic reducer, and transmits torque to the first solar sail connecting flange 407, and the rotation of the first solar sail connecting flange 407 drives the rotation of the first transmission shaft 403. The outer wall of the second solar sail connecting flange 408 is connected with the bearing inner wall of the other end of the first transmission shaft, and the end face of the second solar sail connecting flange 408 is coaxially fixedly connected with the other end face of the first transmission shaft. The other end faces of the first solar sail connecting flange 407 and the second solar sail connecting flange 408 are respectively used for fixedly connecting with the solar wing sail Y direction two sides through screws.

[0049] When the first motor 2 drives the first small bevel gear 401 and the first large bevel gear 401 to rotate, the wave generator 40501 of the first harmonic reducer is driven to rotate, the flexspline of the first harmonic reducer outputs a deceleration motion, which is transmitted to the first sun-shield connecting flange 407 to rotate, the first sun-shield connecting flange drives the sun-shield and the first transmission shaft 403 fixedly connected to the two ends thereof to rotate, the first transmission shaft drives the second sun-shield connecting flange fixedly connected to the other end thereof to rotate, so that the sun-shield rotates around the first transmission shaft axis in a range of ±90°. The first transmission shaft 403 is provided with an angle sensor 7 on the shaft body away from the first harmonic reducer, which is used to collect the rotation angle information of the first transmission shaft. In the embodiment, the angle sensor is a potentiometer with a backup function.

[0050] Preferably, the output shaft of the first motor 2 is connected to the center hole of the first small bevel gear 401 in interference fit, and the outer wall of the first small bevel gear 401 is connected to the inner wall of the housing through a fourth bearing assembly 6.

[0051] Referring to Figure 5 and Figure 6 , the second motor 3 is arranged on the side of the housing 1 opposite to the first motor 2, and the second motor 3 is coaxially arranged with the first motor 2.

[0052] The second transmission assembly 5 is perpendicular to the first transmission assembly 4. The second transmission assembly 5 includes a second small bevel gear 501, a second large bevel gear 502, a second harmonic reducer 503, a second transmission shaft 506, and a star body connecting flange 504. The second motor 3 is arranged outside the housing 1, and the second motor housing is fixedly connected to the housing 1. The output shaft of the second motor is connected to the second small bevel gear 501 to drive the second small bevel gear to rotate. The second small bevel gear 501 is in meshing transmission with the second large bevel gear 502 arranged perpendicular to the axis thereof, so as to realize a 90-degree change in the rotation direction while decelerating. The second large bevel gear 502 is fixedly connected to the wave generator 50301 of the second harmonic reducer, so that the second harmonic reducer rotates. The steel wheel 50302 of the second harmonic reducer is fixed inside the housing along the axial direction of the second transmission assembly. The steel wheel of the second harmonic reducer serves as the output end of the second harmonic reducer, and drives the housing 1 to rotate.

[0053] The second transmission shaft 506 is a three-order rotary body structure, coaxially arranged with the second harmonic reducer. The small-diameter section of the second transmission shaft extends into the central cavity of the second harmonic reducer and the second large bevel gear 502. The end of the small-diameter section is fixedly connected with the second large bevel gear coaxially. The outer wall of the small-diameter section is connected with the inner cavity of the wave generator of the second harmonic reducer through a bearing. The flexspline 50303 of the second harmonic reducer is nested in the middle section of the second transmission shaft, and is fixed along the axial direction with the stepped surface of the large-diameter section of the second transmission shaft. The housing 1 is externally provided with a third bearing assembly 505 coaxial with the second transmission shaft 506. The third bearing assembly includes a third bearing seat and a third bearing. The end of the third bearing seat is fixedly connected with the housing 1 along the axial direction. The outer wall of the large-diameter section of the second transmission shaft is connected with the third bearing seat through the third bearing, so that the first transmission assembly and the housing, the third bearing seat and the steel wheel of the second harmonic reducer can rotate around the second transmission shaft and the star-shaped flange.

[0054] Preferably, the output shaft of the second motor 3 is connected with the central hole of the shaft section of the second small bevel gear 501 through interference fit. The outer wall of the shaft section of the second small bevel gear 501 is connected with the inner wall of the housing through a fourth bearing assembly 6.

[0055] The first motor 2, the steel wheel of the first harmonic reducer, the second motor 3 and the steel wheel of the second harmonic reducer 503 are fixed with the housing 1, and are connected to form an integral whole.

[0056] When the second motor 3 drives the second small bevel gear and the second large bevel gear to rotate, the wave generator of the second harmonic reducer is driven to rotate. Since the flexspline of the second harmonic reducer is fixedly connected with the star-shaped flange through the second transmission shaft and the star-shaped flange, the movement of the wave generator of the second harmonic reducer drives the steel wheel to output a reduced rotary power, which in turn drives the housing 1 and the first transmission assembly fixedly connected with the steel wheel to rotate, so that the first transmission assembly can rotate around the axis of the second transmission assembly within a range of 360°.

[0057] The rotation angle of the second transmission assembly 5 is ±170°. An angle sensor (not shown in the figure) is installed on the star-shaped flange 504 of the second transmission assembly. The angle sensor is a Hall sensor. The Hall element of the Hall sensor is installed on the star-shaped flange 504, and the magnetic steel of the Hall sensor is installed on the housing 1. The rotation angle of the first transmission assembly around the second transmission assembly can be calculated based on the signal pulses generated by the relative movement of the Hall element and the magnetic steel and the position of the magnetic steel.

[0058] According to the layout requirements of Y direction and Z direction of the satellite stack layout, two driving motors, a first transmission assembly and a second transmission assembly are arranged in a 90° layout mode, wherein the first transmission assembly is arranged along the Y axis, the second transmission assembly is arranged along the positive direction of the rotation axis, and the first motor and the second motor are coaxially arranged along the X axis. The layout mode greatly reduces the size of the SADM in the Y axis and Z axis directions, and uses a cable for electrical transmission, thereby reducing the weight and improving the reliability of the sun wing sun orientation. Table 1 is a performance parameter comparison table of the existing split SADM and the SADM of the present application.

[0059] Table 1

[0060]

[0061] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A small, lightweight, dual-axis integrated solar array drive mechanism, characterized in that, The shell, the first motor, the first transmission assembly, the second motor and the second transmission assembly are included. The first motor and the second motor are coaxially arranged on the opposite two side walls of the shell; The first transmission assembly is perpendicular to the first motor, and the first motor is used for driving the first transmission assembly to rotate around the axis of the first transmission assembly; The first transmission assembly includes a first small bevel gear coaxially connected with the output shaft of the first motor, a first solar panel connecting flange, a first harmonic reducer, a first large bevel gear, a first transmission shaft and a second solar panel connecting flange arranged in sequence along the axial direction perpendicular to the first small bevel gear; The first small bevel gear is in meshing transmission with the first large bevel gear; The first large bevel gear is connected with the wave generator of the first harmonic reducer, and drives the wave generator to operate; the steel wheel of the first harmonic reducer is fixedly connected with the shell, the flexible wheel of the first harmonic reducer is fixedly connected with the first solar panel connecting flange along the axial direction, and the first harmonic reducer transmits the torque to the first solar panel connecting flange through the flexible wheel; The first transmission shaft is coaxially fixedly connected with the first solar panel connecting flange and the second solar panel connecting flange at two ends thereof; Furthermore, the outer wall of the end of the first large bevel gear away from the bevel gear thereon is connected with the inner wall of the shell through the first bearing assembly; Second bearing assemblies are symmetrically fixedly arranged on the two ends of the first transmission shaft and located outside the shell, and the first solar panel connecting flange and the second solar panel connecting flange are connected with the bearing seats of the second bearing assemblies through the bearings of the second bearing assemblies respectively; The second transmission assembly is arranged perpendicular to the first transmission assembly; The second motor is used for driving the second transmission assembly to rotate, and drives the first transmission assembly to rotate around the axis of the second transmission assembly, and the rotation angle range is ±180°; the rotation range of the second transmission assembly is ±170°; The second transmission assembly includes a second small bevel gear coaxially connected with the output shaft of the second motor, and a second large bevel gear, a second harmonic reducer, a second transmission shaft and a star body connecting flange arranged in sequence along the axial direction perpendicular to the second small bevel gear; The second small bevel gear is in meshing transmission with the second large bevel gear; The second large bevel gear is connected with the wave generator of the second harmonic reducer, and drives the wave generator to operate; the steel wheel of the second harmonic reducer is fixedly connected with the shell, and the second harmonic reducer transmits the torque to the shell and the first transmission assembly connected with the shell through the steel wheel; The second transmission shaft is coaxially fixedly connected with the second large bevel gear at one end, and the second transmission shaft body is connected with the central hole of the second harmonic reducer through a bearing; the other end of the second transmission shaft is fixedly connected with the star body connecting flange; The flexible wheel of the second harmonic reducer is fixedly connected with the shaft body of the second transmission shaft.

2. The small and light-weight dual-axis integrated solar wing drive mechanism according to claim 1, characterized in that, A first angle sensor is arranged on the shaft body of the end of the first transmission shaft away from the first harmonic reducer, and is used for collecting the angle information of the first transmission shaft; The first angle sensor is located in the bearing seat of the second bearing assembly.

3. The small and light-weight dual-axis integrated solar wing drive mechanism according to claim 1, wherein The second transmission shaft is a three-step shaft, the small section and the middle section extend into the central hole of the second harmonic reducer, the end of the small section is coaxially fixed with the second bevel gear, and the outer wall of the small section is connected with the wave generator of the second harmonic reducer through a bearing; the outer wall of the middle section is connected with the flexspline of the second harmonic reducer, and the flexspline is axially fixed with the large section.

4. The small and light-weight dual-axis integrated solar wing drive mechanism according to claim 3, wherein The shell is externally provided with a third bearing assembly coaxial with the second transmission shaft, the bearing seat of the third bearing assembly is fixed with the shell, and the outer wall of the large section of the second transmission shaft is connected with the bearing seat through a bearing.

5. The small and light-weight dual-shaft integrated solar wing driving mechanism according to claim 4, characterized in that, the output shaft of the first motor is connected with the central hole of the first small bevel gear through interference fit, and the shaft body of the end of the first small bevel gear away from the upper bevel gear is connected with the inner wall of the shell through a fourth bearing assembly; the output shaft of the second motor is connected with the central hole of the second small bevel gear through interference fit, and the shaft body of the end of the second small bevel gear away from the upper bevel gear is connected with the inner wall of the shell through another fourth bearing assembly.

6. The small and light-weight dual-axis integrated solar wing drive mechanism according to claim 2, wherein Further comprising a second sensor, which is a Hall sensor, for collecting the rotation angle of the first transmission assembly relative to the second transmission assembly; the Hall element of the Hall sensor is installed on the star body connecting flange, and the magnetic steel of the Hall sensor is installed on the shell; the first angle sensor is a potentiometer.

7. The small and light-weight dual-axis integrated solar wing drive mechanism according to any one of claims 1 to 6, characterized in that The first motor and the second motor are step motors.

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