Large-size and large-mass sleeve combined axial stretching arm microgravity unloading structure

Abstract

The present application relates to a large size and large mass sleeve combined axial stretching arm microgravity unloading structure, belongs to mechanical engineering, electronic engineering field, the specific structure includes four support platforms, bottom interface platform, stretching arm main body, five groups of stretching arm connecting pieces, suspension rope, unloading balancing piece, unfolding support frame, suspension connecting disc, pulley assembly and guide limiting piece, which is made by small to large metal cylinder structure with different diameters in series connection, the stretching arm is stretched by driving the power rope through the rotation of the motor drive winch mechanism. The sleeve driven by the rope can be unfolded synchronously through the series rope system. The present application mainly relates to a vertical self-adaptive multi-stage unloading method, unloading point design, unloading device design, unloading parameter description and other technologies, which can realize high-precision microgravity unloading for large size and large mass stretching arm, adjust the stretching arm unfolding performance to the optimal state, and ensure that the unfolding precision of the stretching arm reaches the optimal state.

Description

Technical Field

[0001] This invention belongs to the fields of mechanical engineering and electronic engineering, and relates to a microgravity unloading structure for a large-size, high-mass sleeve combined axial extension arm. Background Technology

[0002] Large-size, high-mass deployable arms are crucial support components for large spacecraft payloads such as rocket connectors, solar panels, high-precision antennas, and camera systems. Their deployment reliability directly determines the success or failure of large spacecraft missions. Large-size, high-mass deployable arms are a versatile support structure applicable to large spacecraft payloads. These high-performance arms can be used in subsequent large communication payloads, deep space exploration missions such as lunar bases, and other space missions, demonstrating promising application prospects and economic benefits. The main functions of large-size, high-mass deployable arms are to support large payload structures and increase the distance between the payload structure and the satellite body to reduce mutual interference. Deployable arms are easy to transport and store, saving mass and volume, and have the advantage of being able to tighten and withstand even greater loads during launch.

[0003] Large-size, high-mass extension arms are multi-stage, sleeve-type, tandem structures. Their main characteristics include high load capacity, long distance, and large height. Existing technologies have problems such as uneven unloading of the multi-stage extension arms during vertical, high-height deployment, easy sleeve skewness, difficulty in controlling precision, and high difficulty in microgravity unloading. They cannot meet the experimental requirements for precise deployment of large-size extension arms under large loads. Therefore, it is necessary to accurately explain the microgravity unloading method for multi-stage, large-size sleeve extension structures. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose a microgravity unloading structure for a large-size, high-mass sleeve-combined axial extension arm. This structure verifies the spatial deployment accuracy and performance of the extension arm in advance, ensuring reliable deployment in orbit and providing safe support for space loads.

[0005] The solution of the present invention is:

[0006] A large-size, high-mass sleeve-combined axial extension arm microgravity unloading structure includes 4 support platforms, a bottom interface platform, an extension arm body, 5 sets of extension arm connectors, suspension ropes, unloading balance components, deployment support frame, suspension connection plate, pulley assembly, and guide limit components.

[0007] The system comprises four support platforms arranged around a horizontal base; a bottom interface platform positioned on the ground in the center of the four support platforms; a connection interface at the top of the bottom interface platform for threadedly securing the extension arm body to the platform; five sets of extension arm connectors spaced vertically along the outer side of the extension arm body; each set of connectors includes three connectors evenly distributed circumferentially along the outer wall of the extension arm body at a corresponding height; the number of suspension ropes matches the number of extension arm connectors, with one end of the rope connected to a connector and the other end connected to a connector. One end is connected to the pulley assembly and the unloading balance component; the unloading balance component is fixed to the suspension rope through the connecting holes; the unfolding support frame includes 4 vertical beams, 2 horizontal orthogonal beams, and diagonal reinforcing beams; the bottom end of the unfolding support frame is connected to the support platform; the suspension connecting plate is a circular structure, the upper end of the suspension connecting plate is fastened to the lower side of the unfolding support frame with screws, and the lower end of the suspension connecting plate is provided with threaded holes to fix the pulley assembly; the guide limiting component is connected to the unfolding support frame; the unloading balance component moves inside the guide limiting component, and the guide limiting component limits the movement direction of the unloading balance component.

[0008] In the aforementioned large-size, high-mass sleeve-combined axial extension arm microgravity unloading structure, the extension arm body includes sleeve I, sleeve II, sleeve III, sleeve IV, sleeve V, and sleeve connecting flange; one set of extension arm connectors is installed on the outer wall of each sleeve.

[0009] Among them, sleeve I, sleeve II, sleeve III, sleeve IV, and sleeve V are connected in series coaxially from bottom to top, and their diameters decrease in sequence; the sleeve connecting flange is fitted on the outer wall of the bottom end of sleeve I; the sleeve connecting flange is connected to the bottom interface platform; thus realizing the axial expansion and contraction between sleeve I, sleeve II, sleeve III, sleeve IV, and sleeve V.

[0010] In the aforementioned large-size, high-mass sleeve-combined axial extension arm microgravity unloading structure, the bottom interface platform includes a main load-bearing rod, a hollow structure, an observation window, and a sleeve mounting platform. The lower end of the main load-bearing rod contacts the ground, while the upper end of the main load-bearing rod provides support and connection to the sleeve mounting platform. The hollow structure serves as a connection channel between the inside and outside of the bottom interface platform, allowing operators to enter and exit. The observation window facilitates the inspection and confirmation of the internal condition of the extension arm body. A sleeve connection flange is fixed on the sleeve mounting platform.

[0011] In the aforementioned large-size, high-mass sleeve-combined axial extension arm microgravity unloading structure, the extension arm connector includes a main connector, mounting holes, an arc-shaped surface structure, and a rope-threading perforated structure. The main connector is installed on the outer side of the extension arm body through the mounting holes. The arc-shaped surface structure matches the shape of the outer side of the extension arm body. The rope-threading perforated structure is connected and fastened to the suspension rope, realizing the upward unloading of the extension arm connector by the suspension rope.

[0012] In the aforementioned large-size, high-mass sleeve-combined axial extension arm microgravity unloading structure, the unfolding support frame includes four main load-bearing trusses, four lower inclined cable ties, an upper inclined cable ties, a cross-shaped structure, and an upper load-bearing truss. The four main load-bearing trusses are correspondingly and securely fastened to the upper plane of the support platform. Each lower inclined cable ties connects the upper end of the corresponding main load-bearing truss to the outer side of the corresponding support platform. The main load-bearing trusses, lower inclined cable ties, and support platform are combined to form a stable triangular structure, effectively supporting the pulley assembly. The cross-shaped structure is installed on top of the four main load-bearing trusses, connecting their tops. The upper load-bearing truss is vertically installed at the center top of the cross-shaped structure. The upper inclined cable ties, cross-shaped structure, and upper load-bearing truss form a stable triangular structure, ensuring stable installation of the intermediate suspension connecting plate and strong resistance to deformation.

[0013] In the aforementioned large-size, high-mass sleeve-combined axial extension arm microgravity unloading structure, the pulley assembly includes an air bearing, an angular displacement sensor, an inclined support beam, a vertical support beam, and a central hollow structure. The air bearing is fixed to the inclined support beam by a pin. Angular displacement sensors are installed on both sides of the air bearing to detect its rotation angle in real time. The inclined support beam and the vertical support beam are an integrated metal structure that bears the gravitational load of the extension arm connector and the unloading balance component. The suspension rope passes through the central hollow structure and through the outer surface of the air bearing for support, utilizing friction to achieve synchronous linkage between the suspension rope and the air bearing.

[0014] In the aforementioned large-size, high-mass sleeve-combined axial extension arm microgravity unloading structure, the guide limiting component includes an end connector, a mounting hole, a middle transparent structure, and a guide ramp. The guide limiting component is fixed to the main load-bearing truss via the mounting hole. The middle transparent structure is connected to the end connector via threaded holes. The middle transparent structure is used to observe the sliding operation of the unloading balancer on the inner side. The guide ramp is a chamfered structure at the upper end of the middle transparent structure, facilitating automatic alignment and smooth entry of the unloading balancer into the inner channel of the middle transparent structure.

[0015] In the aforementioned large-size, high-mass sleeve combined axial extension arm microgravity unloading structure, the overall height of sleeve I, sleeve II, sleeve III, sleeve IV, and sleeve V after extension is 20m, and the length-to-diameter ratio is greater than 10; the weight of each metal sleeve of sleeve I, sleeve II, sleeve III, sleeve IV, and sleeve V is 100kg; the end of the extension arm body is loaded with a large-mass, overweight new energy load.

[0016] In the aforementioned large-size, high-mass sleeve-combined axial extension arm microgravity unloading structure, an angular displacement sensor is installed on the outer side of the air bearing shaft of the pulley assembly to monitor the angle of rotation of the suspension rope during the deployment process under different sleeves and different unloading angles; at the same time, the angle difference is compared and analyzed by an algorithm, and feedback is given when the difference is greater than 0.5°, and the operation is stopped.

[0017] In the aforementioned large-size, high-mass sleeve-combined axial extension arm microgravity unloading structure, the calculation method for the angle difference of angular displacement sensors at different suspension points on the same sleeve structure is as follows:

[0018] Let the angles on the left and right sides be α and β, respectively; the absolute value of the difference between α and β is |α-β;

[0019] When |α-β≤0.5°, it operates normally; when |α-β>0.5°, it stops operating.

[0020] The advantages of this invention compared to the prior art are:

[0021] (1) Based on the characteristics of large-size and high-mass extension arms, this invention innovatively designs a process method for high-precision assembly and microgravity unloading of multi-stage series large-size and high-mass sleeve structures, and optimizes the microgravity test method. Based on the spatial relationship of multi-stage sleeves, the unloading position and unloading layout are reasonably screened and matched.

[0022] (2) The present invention adds a digital measurement process during the large-size, high-mass extension arm deployment test to monitor and check multiple parameters such as deployment displacement in real time, so as to ensure the reliability of the microgravity deployment test process.

[0023] (3) In view of the quantitative and detailed testing requirements of the test process of large-size and high-mass extension arm, the present invention designs a multi-point balanced unloading method, which can realize balanced unloading of the sleeve structure; adopts an open interface design method to accurately simulate the spacecraft interface, and solves the problems of inconvenient operation in a narrow space and ergonomic design.

[0024] (4) The axial dimension of the sleeve-type extension arm of the present invention is large, and the spatial dimensions of the sleeve, unloading balance component, rope, etc. are large. The extension length is long and the running trajectory is complex. During the extension process, there is a tendency for swaying, tilting and imbalance, which can cause instability during the extension of the sleeve and affect the extension accuracy and performance. By setting guide limit components to guide and limit the movement trajectory of the unloading balance component and rope, the extension movement is only performed in the vertical direction. This effectively reduces the disturbances caused by suspension error, motion friction, eccentricity error, etc., and improves the stability of the sleeve movement. It provides a reference for the subsequent extension of large-size and high-mass sleeve-type mechanisms and can meet the application needs of various models and markets. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the microgravity unloading structure of the extendable arm of the present invention;

[0026] Figure 2 This is a schematic diagram of the main body of the extendable arm of the present invention;

[0027] Figure 3 This is a detailed top view of the microgravity unloading structure of the extendable arm of the present invention;

[0028] Figure 4 This is a schematic diagram of the bottom interface platform of the present invention;

[0029] Figure 5 This is a schematic diagram of the extendable arm connector of the present invention;

[0030] Figure 6 This is a schematic diagram of the unfolded support frame of the present invention;

[0031] Figure 7 This is a schematic diagram of the pulley assembly of the present invention;

[0032] Figure 8 This is a schematic diagram of the guide and limiting component of the present invention. Detailed Implementation

[0033] The present invention will be further described below with reference to the embodiments.

[0034] This invention provides a microgravity unloading structure for a large-size, high-mass sleeve-combined axial extension arm. This large-size, high-mass extension arm is a rope-driven extension arm, mainly composed of metal cylindrical structures of varying diameters, sequentially connected in series from smallest to largest. The main components include a winch mechanism, a rope pulley device, a locking mechanism, and a sleeve mechanism. A motor drives the winch mechanism to rotate, which in turn drives the power rope to complete the extension of the arm. The rope-driven sleeves can be synchronously deployed through a series of ropes. This invention mainly relates to a vertical adaptive multi-stage unloading method, unloading point design, unloading device design, and unloading parameter specifications. Through these technical methods, high-precision microgravity unloading can be achieved for the large-size, high-mass extension arm, optimizing its deployment performance and ensuring optimal deployment accuracy.

[0035] Large-size, high-mass sleeve combination axial extension arm microgravity unloading structure, such as Figure 1 As shown, it specifically includes 4 support platforms 1, bottom interface platform 2, extension arm body 3, 5 sets of extension arm connectors 4, suspension ropes 5, unloading balance component 6, unfolding support frame 7, suspension connecting plate 8, pulley assembly 9, and guide limit component 10.

[0036] Four support platforms 1 are distributed around the horizontal base; the bottom interface platform 2 is located on the ground and in the middle of the four support platforms 1; the upper end of the bottom interface platform 2 is provided with a connection interface, and the extension arm body 3 is fixed to the bottom interface platform 2 by threads; five sets of extension arm connectors 4 are arranged vertically at intervals on the outer side of the extension arm body 3; each set of extension arm connectors 4 includes three extension arm connectors 4, which are evenly distributed circumferentially on the outer wall of the extension arm body 3 at the corresponding height; the number of suspension ropes 5 matches the number of extension arm connectors 4, one end of the suspension rope 5 is connected to the extension arm connector 4, and the other end of the suspension rope 5 is connected to... The pulley assembly 9 is connected to the unloading balance component 6; the unloading balance component 6 is fixed to the suspension rope 5 through the connecting holes; the unfolding support frame 7 includes 4 vertical beams, 2 horizontal orthogonal beams, and diagonal reinforcing beams; the bottom end of the unfolding support frame 7 is connected to the support platform 1; the suspension connecting plate 8 is a circular structure, the upper end of the suspension connecting plate 8 is fastened to the lower side of the unfolding support frame 7 with screws, and the lower end of the suspension connecting plate 8 is provided with threaded holes to fix the pulley assembly 9; the guide limiting component 10 is connected to the unfolding support frame 7; the unloading balance component 6 moves inside the guide limiting component 10, and the guide limiting component 10 limits the movement direction of the unloading balance component 6, such as... Figure 3 As shown.

[0037] like Figure 2 As shown, the main body 3 of the extension arm includes sleeve I, sleeve II, sleeve III, sleeve IV, sleeve V, and sleeve connecting flange; one set of extension arm connecting parts 4 is installed on the outer wall of each sleeve. Among them, sleeve I, sleeve II, sleeve III, sleeve IV, and sleeve V are connected in series coaxially from bottom to top, and their diameters decrease sequentially; the sleeve connecting flange is fitted on the outer wall of the bottom end of sleeve I; the sleeve connecting flange is connected to the bottom interface platform 2; thus realizing the axial expansion and contraction between sleeve I, sleeve II, sleeve III, sleeve IV, and sleeve V.

[0038] like Figure 4 As shown, the bottom interface platform 2 includes a main load-bearing rod 2-1, a hollow structure 2-2, an observation window 2-3, and a sleeve mounting platform 2-4; the lower end of the main load-bearing rod 2-1 contacts the ground, and the upper end of the main load-bearing rod 2-1 provides support and connection to the sleeve mounting platform 2-4; the hollow structure 2-2 serves as a connection channel between the inside and outside of the bottom interface platform 2, allowing operators to enter and exit; the observation window 2-3 facilitates the inspection and confirmation of the inner side of the extension arm body 3; and a sleeve connecting flange is fixed on the sleeve mounting platform 2-4.

[0039] like Figure 5As shown, the extendable arm connector 4 includes a main connector 4-1, a mounting hole 4-2, an arc-shaped surface structure 4-3, and a rope-threading perforated structure 4-4. The main connector 4-1 is installed on the outer side of the extendable arm body 3 through the mounting hole 4-2. The arc-shaped surface structure 4-3 matches the shape of the outer side of the extendable arm body 3. The rope-threading perforated structure 4-4 is connected and fastened to the suspension rope 5, so as to realize the upward unloading of the extendable arm connector 4 by the suspension rope 5.

[0040] like Figure 6 As shown, the unfolding support frame 7 includes four main load-bearing trusses 7-1, four lower inclined suspension cables 7-2, upper inclined suspension cables 7-3, a cross-shaped structure 7-4, and an upper load-bearing truss 7-5. The four main load-bearing trusses 7-1 are correspondingly and securely fastened to the upper plane of the support platform 1. Each lower inclined suspension cable 7-2 connects the upper end of the corresponding main load-bearing truss 7-1 to the outer side of the corresponding support platform 1. The combination of the main load-bearing trusses 7-1, lower inclined suspension cables 7-2, and support platform 1 forms... The triangular stable structure provides effective support for the pulley assembly 9; the cross-shaped structure 7-4 is installed on top of the four main load-bearing trusses 7-1, connecting the tops of the four main load-bearing trusses 7-1; the upper load-bearing truss 7-5 is vertically installed at the center top of the cross-shaped structure 7-4; the upper inclined cable 7-3, the cross-shaped structure 7-4, and the upper load-bearing truss 7-5 form a stable triangular structure, ensuring the stable installation of the intermediate suspension connecting plate 8 and strong resistance to deformation.

[0041] The gantry frame features a cross-shaped double-gantry support structure. This cross-shaped design has a four-legged base, providing high stability and reliability. The cross-connection area can accommodate multi-point suspension requirements of the sleeve structure. The deployable support employs a diagonal-stayed reinforcement structure to strengthen the truss structure, thereby improving its support stiffness and effectively enhancing gravity unloading reliability.

[0042] like Figure 7 As shown, the pulley assembly 9 includes an air bearing 9-1, an angular displacement sensor 9-2, an inclined support beam 9-3, a vertical support beam 9-4, and a central hollow structure 9-5. The air bearing 9-1 is fixed to the inclined support beam 9-3 by a pin. Angular displacement sensors 9-2 are installed on both sides of the air bearing 9-1 to detect the rotation angle of the air bearing 9-1 in real time. The inclined support beam 9-3 and the vertical support beam 9-4 are an integrated metal structure that bears the gravity load of the extension arm connector 4 and the unloading balance component 6. The suspension rope 5 passes through the central hollow structure 9-5 and through the outer surface of the air bearing 9-1 for support, and the suspension rope 5 and the air bearing 9-1 are synchronously linked by friction.

[0043] like Figure 8As shown, the guide limiting component 10 includes an end connector 10-1, a mounting hole 10-2, a middle transparent structure 10-3, and a guide ramp 10-4. The guide limiting component 10 is fixed to the main load-bearing truss 7-1 through the mounting hole 10-2. The middle transparent structure 10-3 is connected to the end connector 10-1 through a threaded hole. The middle transparent structure 10-3 is used to observe the sliding operation of the unloading balance component 6 on the inside. The guide ramp 10-4 is a chamfered structure at the upper end of the middle transparent structure 10-3, which facilitates the automatic alignment and smooth entry of the unloading balance component 6 into the inner channel of the middle transparent structure 10-3.

[0044] In this invention, the overall height of sleeves I, II, III, IV, and V after extension is 20m, and the length-to-diameter ratio is greater than 10; the weight of each metal sleeve is 100kg; and the end of the extension arm body 3 is loaded with a large-mass, overweight new energy load.

[0045] An angular displacement sensor 9-2 is installed on the outer side of the air bearing 9-1 shaft of the pulley assembly to monitor the angle of rotation of the suspension rope 5 during the unfolding process under different sleeves and unloading angles; at the same time, the algorithm performs difference comparison calculation and analysis on the angle difference, and provides feedback and stops operation when the difference is greater than >0.5°.

[0046] The calculation method for the angle difference of angular displacement sensors 9-2 at different suspension points on the same sleeve structure is as follows:

[0047] Let the angles on the left and right sides be α and β respectively; the absolute value of the difference between α and β is |α-β|;

[0048] When |α-β|≤0.5°, it operates normally; when |α-β|>0.5°, it stops operating.

[0049] The roughness of the inner surface of the unloading balance component 6 is set within Ra3.2, and the unloading balance component 6 moves downward along the guide limit component 10 with low friction and low disturbance under the action of gravity.

[0050] Preferably, multiple connection points are set on sleeves II, III, IV, and V. To ensure suspension stability and balance, the suspension is distributed at equal angles, and a 3-point balance unloading method is adopted on the circumference. The three points are arranged at 120° intervals on the circumference, and the force is evenly distributed on the circumference of the sleeve structure, so that the unfolding process is smooth and reliable.

[0051] The bottom interface platform 2 is designed with a hollow structure and a size greater than 800-900mm. Considering the portability for operators to enter the inner cavity of the large-diameter metal cylinder, it can meet the ergonomic requirements of the connection channel.

[0052] Preferably, the guide limiting member 10 is composed of an end connector 10-1, a mounting hole 10-2, a middle transparent structure 10-3, and a guide slope 10-4. The end connector 10-1 is mainly used to transfer the load from the truss. The mounting hole 10-2 is used to connect with the truss structure of the unfolding support frame 7. The middle transparent structure 10-3 is made of highly transparent material, which makes it easy to observe the slippage, eccentricity, and collision of the unloading balance member 6 inside the guide limiting member 10, and to obtain the movement state of the unloading balance member 6 in a timely manner. The guide slope is used to guide the unloading balance member 6 to prevent collisions and scratches, reduce the frictional movement resistance of the sleeve structure, and reduce the influence of the guide limiting member 10 on the movement disturbance of the sleeve structure.

[0053] Based on the characteristics of large-size, high-mass extension arms, this invention innovatively designs a process method for high-precision assembly and microgravity unloading of multi-stage series-connected large-size, high-mass sleeve structures, and optimizes the microgravity test method, and rationally selects and matches the unloading position and unloading layout according to the spatial relationship of the multi-stage sleeves.

[0054] The present invention incorporates a digital measurement process during the deployment test of a large-size, high-mass extension arm, enabling real-time monitoring and troubleshooting of multiple parameters such as deployment displacement, thereby ensuring the reliability of the microgravity deployment test process.

[0055] This invention addresses the quantitative and detailed testing requirements of large-size, high-mass extension arm experiments by designing a multi-point balanced unloading method that enables balanced unloading of the sleeve structure. It also employs an open interface design method to accurately simulate spacecraft interfaces, solving problems such as inconvenient operation in confined spaces and ergonomic design challenges.

[0056] This invention features a sleeve-type extension arm with a large axial dimension, and large spatial dimensions for the sleeve, unloading balancer, and ropes. Its long deployment length and complex trajectory make it prone to swaying, tilting, and imbalance during deployment, leading to instability and affecting deployment accuracy and performance. By incorporating guide and limiting components to guide and restrict the movement of the unloading balancer and ropes, the invention ensures that the extension movement is limited to the vertical direction. This effectively reduces disturbances caused by suspension errors, motion friction, and eccentricity errors, improving the stability of the sleeve's movement. This invention provides a reference for the deployment of subsequent large-size, high-mass sleeve-type mechanisms and can meet the application needs of various models and markets.

[0057] 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 microgravity unloading structure for a large-size, high-mass sleeve-combined axial extension arm, characterized in that: It includes 4 support platforms (1), bottom interface platform (2), extension arm body (3), 5 sets of extension arm connectors (4), suspension ropes (5), unloading balance component (6), unfolding support frame (7), suspension connection plate (8), pulley assembly (9) and guide limit component (10); Four support platforms (1) are distributed around the horizontal bottom surface; the bottom interface platform (2) is placed on the ground and is located in the middle of the four support platforms (1); the upper end of the bottom interface platform (2) is provided with a connection interface, and the extension arm body (3) is fixed to the bottom interface platform (2) by threads; five sets of extension arm connectors (4) are arranged vertically at intervals on the outside of the extension arm body (3); each set of extension arm connectors (4) includes three extension arm connectors (4), which are evenly distributed circumferentially on the outer wall of the extension arm body (3) at the corresponding height; the number of suspension ropes (5) matches the number of extension arm connectors (4), one end of the suspension rope (5) is connected to the extension arm connector (4), and the other end of the suspension rope (5) is connected to The pulley assembly (9) is connected to the unloading balance component (6); the unloading balance component (6) is fixed to the suspension rope (5) through the connection hole; the unfolding support frame (7) includes 4 vertical beams, 2 horizontal orthogonal beams, and diagonal reinforcing beams; the bottom end of the unfolding support frame (7) is connected to the support platform (1); the suspension connecting plate (8) is a circular structure, the upper end of the suspension connecting plate (8) is fastened to the lower side of the unfolding support frame (7) by screws, and the lower end of the suspension connecting plate (8) is provided with threaded holes to fix the pulley assembly (9); the guide limit component (10) is connected to the unfolding support frame (7); the unloading balance component (6) moves inside the guide limit component (10), and the movement direction of the unloading balance component (6) is limited by the guide limit component (10); The main body (3) of the extension arm includes sleeve I, sleeve II, sleeve III, sleeve IV, sleeve V and sleeve connecting flange; one set of extension arm connectors (4) is installed on the outer wall of each sleeve; Among them, sleeve I, sleeve II, sleeve III, sleeve IV, and sleeve V are connected in series coaxially from bottom to top, and their diameters decrease in sequence; the sleeve connecting flange is fitted on the outer wall of the bottom end of sleeve I; the sleeve connecting flange is connected to the bottom interface platform (2); to realize the axial expansion and contraction between sleeve I, sleeve II, sleeve III, sleeve IV, and sleeve V; The pulley assembly (9) includes an air bearing (9-1), an angular displacement sensor (9-2), an inclined support beam (9-3), a vertical support beam (9-4), and a central hollow structure (9-5). The air bearing (9-1) is fixed to the inclined support beam (9-3) by a pin. An angular displacement sensor (9-2) is provided on both sides of the air bearing (9-1) to detect the rotation angle of the air bearing (9-1) in real time. The inclined support beam (9-3) and the vertical support beam (9-4) are an integrated metal structure that bears the gravity load of the extension arm connector (4) and the unloading balance component (6). The suspension rope (5) passes through the central hollow structure (9-5) and through the outer surface of the air bearing (9-1) for support, and uses friction to achieve synchronous linkage between the suspension rope (5) and the air bearing (9-1). The guide limiting component (10) includes an end connector (10-1), a mounting hole (10-2), a middle transparent structure (10-3), and a guide slope (10-4). The guide limiting component (10) is fixed to the unfolding support frame (7) through the mounting hole (10-2). The middle transparent structure (10-3) is connected to the end connector (10-1) through a threaded hole. The middle transparent structure (10-3) is used to observe the sliding operation of the unloading balance component (6) on the inside. The guide slope (10-4) is a chamfered structure at the upper end of the middle transparent structure (10-3), which facilitates the automatic alignment and smooth entry of the unloading balance component (6) into the inner channel of the middle transparent structure (10-3).

2. The microgravity unloading structure of a large-size, high-mass sleeve-combined axial extension arm according to claim 1, characterized in that: The bottom interface platform (2) includes a main support rod (2-1), a hollow structure (2-2), an observation window (2-3), and a sleeve mounting platform (2-4). The lower end of the main support rod (2-1) is in contact with the ground, and the upper end of the main support rod (2-1) supports and connects the sleeve mounting platform (2-4). The hollow structure (2-2) is a connecting channel between the inside and outside of the bottom interface platform (2), allowing operators to enter and exit through it. The observation window (2-3) facilitates the detection and confirmation of the inner side of the extension arm body (3). The sleeve connecting flange is fixed on the sleeve mounting platform (2-4).

3. The microgravity unloading structure of a large-size, high-mass sleeve-combined axial extension arm according to claim 2, characterized in that: The extension arm connector (4) includes a main connector (4-1), a mounting hole (4-2), an arc-shaped surface structure (4-3), and a rope-threading perforated structure (4-4). The main connector (4-1) is installed on the outer side of the extension arm body (3) through the mounting hole (4-2). The arc-shaped surface structure (4-3) matches the shape of the outer side of the extension arm body (3). The rope-threading perforated structure (4-4) is connected and fastened to the suspension rope (5) to realize the upward unloading of the extension arm connector (4) by the suspension rope (5).

4. The microgravity unloading structure of a large-size, high-mass sleeve-combined axial extension arm according to claim 3, characterized in that: The unfolding support frame (7) includes four main load-bearing trusses (7-1), four lower inclined suspension cables (7-2), an upper inclined suspension cable (7-3), a cross-shaped structure (7-4), and an upper load-bearing truss (7-5). The four main load-bearing trusses (7-1) are fastened one-to-one to the upper plane of the support platform (1). Each lower inclined suspension cable (7-2) connects the upper end of the corresponding main load-bearing truss (7-1) to the outer side of the corresponding support platform (1), thus assembling the main load-bearing truss (7-1), the lower inclined suspension cables (7-2), and the support platform (1). After assembly, a stable triangular structure is formed, which effectively supports the pulley assembly (9); the cross-shaped structure (7-4) is installed on the top of the four main load-bearing trusses (7-1), which connects the top of the four main load-bearing trusses (7-1); the upper load-bearing truss (7-5) is vertically installed on the top center of the cross-shaped structure (7-4); the upper inclined cable (7-3), the cross-shaped structure (7-4), and the upper load-bearing truss (7-5) form a stable triangular structure, which ensures the stable installation of the intermediate suspension connecting plate (8) and strong resistance to deformation.

5. The microgravity unloading structure of a large-size, high-mass sleeve-combined axial extension arm according to claim 4, characterized in that: The overall height of sleeves I, II, III, IV and V after extension is 20m, and the length-to-diameter ratio is greater than 10; the weight of each metal sleeve of sleeves I, II, III, IV and V is 100kg; the end of the extension arm body (3) is loaded with a large mass and heavy new energy load.

6. The microgravity unloading structure of a large-size, high-mass sleeve-combined axial extension arm according to claim 5, characterized in that: An angular displacement sensor (9-2) is installed on the outer side of the air bearing (9-1) shaft of the pulley assembly to monitor the angle of rotation of the suspension rope (5) during the unfolding process under different sleeves and different unloading angles; at the same time, the angle difference is compared and analyzed by the algorithm, and feedback is given when the difference is greater than >0.5°, and the operation is stopped.

7. The microgravity unloading structure of a large-size, high-mass sleeve-combined axial extension arm according to claim 6, characterized in that: The method for calculating the angle difference of angular displacement sensors (9-2) at different suspension points on the same sleeve is as follows: Let the angles on the left and right sides be α and β respectively; the absolute value of the difference between α and β is |α-β|; When |α-β|≤0.5°, it operates normally; when |α-β|>0.5°, it stops operating.

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