Unilateral speed limiting type linkage device

Abstract

The invention relates to a unilateral speed limiting type linkage device. Comprising an unfolding mechanism, a rotating shaft rope wheel assembly, a root hinge fixing rope wheel, an inter-rod hinge fixing rope wheel, an inter-rod hinge rope collecting wheel assembly, a rope collecting wheel trigger arm, a deflector rod, a small ball, a ball blocking frame, a rope blocking ring assembly, an upper stretching rod linkage rope, a lower supporting rod linkage rope, a speed limiting driving source, a speed limiting driving source output shaft and a root rope guide wheel. Linkage release of the rotating shaft rope wheel assembly can be achieved after unfolding is finished, and then the linkage state and the recovery state of the upper stretching rod linkage rope wheel are switched; the space unfolding mechanism is simple in structure and light in weight, and speed-limiting unfolding of the space unfolding mechanism can be controlled by controlling rotation of the rotating shaft rope wheel assembly through the speed-limiting driving source.

Description

Technical Field

[0001] The invention belongs to the field of spacecraft deployment mechanism linkage devices, and in particular relates to a unilateral speed-limiting linkage device. Background Art

[0002] In space vehicles, deployable space mechanisms are an important way to realize large-scale structural configurations such as solar wings, antennas, and sun hoods. They are usually space mechanisms with unfolding and folding functions. They are initially installed on the space vehicle in a folded state with the smallest volume. When in the working state, they are unfolded to the working state through command control. During the unfolding process, a linkage device is usually required to ensure that all components are unfolded synchronously as required.

[0003] Taking the solar wing deployment mechanism as an example, the linkage deployment of each deployment hinge is usually required to ensure the deployment trajectory of the solar wing substrate. The conventional linkage rotation device includes a root hinge linkage wheel coaxial with the root hinge axis and fixed to the root hinge mounting base, a plate hinge linkage wheel coaxial with the inter-plate hinge and fixed to the outer substrate mounting seat of the inter-plate hinge linkage wheel, and a linkage rope. The root hinge linkage wheel and the plate hinge linkage wheel are connected by the linkage rope, and the transmission ratio is controlled by designing different linkage wheel diameters to achieve linkage deployment between each hinge. Patent CN201710119509.1 discloses a solar wing deployment linkage device, which realizes the constraint control of the solar wing deployment trajectory by designing a fixed wheel coaxial with the root hinge rotation axis, a moving wheel coaxial with the inter-plate hinge axis, and a linkage rope connecting the moving wheel and the static wheel, and realizes the switching of the solar wing from only the root hinge (deployment transmission ratio 1:0) to the root hinge and the plate hinge variable transmission ratio linkage deployment, and the fixed transmission ratio deployment of the fixed wheel.

[0004] Although the above-mentioned linkage device can realize the linkage deployment of the mechanism, control the deployment trajectory, and meet the requirements of force, motion transmission and tension, it is difficult to limit and control the deployment speed. The linkage constraint cannot be released after the mechanism is deployed. Moreover, it occupies a large space and has a heavy mass, which makes it difficult to adapt to the current requirements of high storage ratio and light weight deployable space mechanism. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned defects of the prior art and provide a unilateral speed-limited linkage device, which can realize the linkage and motion trajectory control during the deployment of the space deployment mechanism at the smallest possible space and weight cost, and realize speed control, and release the linkage after the structure is deployed.

[0006] The above-mentioned purpose of the present invention is mainly achieved through the following technical solutions:

[0007] A unilateral speed-limiting linkage device comprises an unfolding mechanism, a rotating shaft rope wheel, a root hinge fixed rope wheel, an inter-rod hinge fixed rope wheel, an inter-rod hinge rope wheel assembly, an upper extension rod linkage rope, a lower support rod linkage rope, a speed-limiting driving source, a speed-limiting driving source output shaft and a root guide rope wheel; wherein the unfolding mechanism comprises an upper extension rod assembly, a root hinge, an inter-rod hinge and a lower support rod assembly; one side of the root hinge is fixedly mounted on a satellite mounting surface, and the other side is connected to the lower support rod assembly, and interfaces at both ends of the inter-rod hinge are respectively connected to the upper extension rod assembly and the lower support rod assembly; the root hinge is fixedly mounted on a satellite mounting surface, and the other side is connected to the lower support rod assembly; interfaces at both ends of the inter-rod hinge are respectively connected to the upper extension rod assembly and the lower support rod assembly; The fixed rope wheel is installed coaxially with the root hinge and can rotate around the rotating shaft of the root hinge. The inter-pole hinge fixed rope wheel and the inter-pole hinge rope collecting wheel assembly are installed coaxially with the inter-pole hinge. The root guide rope wheel is installed on the root hinge. After the lower support rod linkage rope passes around the root guide rope wheel and changes direction, the inter-pole hinge fixed rope wheel is connected and transmitted with the root hinge fixed rope wheel. The rotating shaft rope wheel and the inter-pole hinge rope collecting wheel assembly are connected and transmitted through the upper extension rod linkage rope. The speed limiting drive source is fixedly connected to the rotating shaft rope wheel through the speed limiting drive source output shaft, and drives the rotating shaft rope wheel to rotate, thereby controlling the deployment of the deployment mechanism.

[0008] It also includes a rope collecting wheel trigger arm and a lever, the inter-rod hinge rope collecting wheel assembly is connected to the inter-rod hinge through the lever, and at the end of the deployment, the rope collecting wheel trigger arm triggers the lever to release the constraints on the inter-rod hinge rope collecting wheel assembly and the inter-rod hinge.

[0009] It also includes a small ball, a ball stop rack and a rope stop ring assembly. The small ball is arranged at the end of the upper extension rod linkage rope. A ball groove is arranged on the rotating shaft rope wheel. When in the retracted state, the small ball is arranged in the ball groove between the rotating shaft rope wheel and the ball stop rack. The rope stop ring assembly is fixed on the upper extension rod assembly. A through hole is arranged on the rope stop ring assembly for allowing the extension rod linkage rope to pass through.

[0010] A small ball spring is installed at the bottom of the ball groove. When the small ball rotates to the end position with the rotating shaft rope wheel, the small ball (08) escapes from the rotating shaft rope wheel under the action of the small ball spring (021).

[0011] The ball retaining frame is an annular structure, coaxial with the rotating shaft rope wheel, and the inner diameter of the ball retaining frame is 2 to 6 mm larger than the outer diameter of the rotating shaft rope wheel.

[0012] The inter-rod hinge rope collecting wheel assembly includes an inter-rod hinge rope collecting torsion spring and an inter-rod hinge rope collecting wheel. The inter-rod hinge rope collecting torsion spring is sleeved on the inter-rod hinge rotating shaft. One end of the inter-rod hinge rope collecting torsion spring is connected to the inter-rod hinge rope collecting wheel, and the other end is connected to the inter-rod hinge.

[0013] The rotating shaft rope wheel and the inter-rod hinge rope pulley are installed on the same side of the upper extension rod assembly.

[0014] The upper extension rod linkage rope is installed on the rotating shaft rope wheel through screws.

[0015] The inter-pole hinge fixed rope wheel and the inter-pole hinge rope collecting wheel assembly are respectively arranged on both sides of the inter-pole hinge. The inter-pole hinge fixed rope wheel is fixed at one end where the inter-pole hinge is connected to the upper extension rod assembly. The inter-pole hinge fixed rope wheel and the root hinge fixed rope wheel are located on the same side of the lower support rod assembly.

[0016] A driving device is arranged inside the root hinge and the inter-rod hinge to assist the linkage expansion of the device.

[0017] Compared with the prior art, the embodiments of the present invention have at least the following beneficial effects:

[0018] (1) The present invention provides a unilateral speed-limited linkage device, which can realize the speed-controlled deployment of a space deployment mechanism. It has a simple structure and is light in weight. The speed-limited deployment of the deployment mechanism can be controlled by controlling the rotation of the rotating shaft rope pulley assembly through a speed-limited driving source, and the linkage relationship with the speed-limited driving source is disengaged after the mechanism is deployed and locked, so that the speed-limited driving source can realize other functions.

[0019] (2) The present invention designs a set of linkage disengagement and rope collection mechanism after deployment, including: using a ball holder, a small ball, and a spring to realize the linkage release of the rotating shaft rope wheel assembly after deployment, so that the rotating shaft rope wheel assembly can realize other required rotation functions; designing a rope collection wheel structure at the hinge between the rods, when the deployment is completed, the rope collection wheel trigger arm is in place to trigger the lever to release the constraint on the rope collection wheel, and then switch the linkage state and the recovery state of the upper extension rod linkage rope wheel; at the same time, the torsion spring is used to realize the recovery of the upper extension rod linkage rope after the mechanism is deployed, and the rope stop ring assembly is used to limit the position of the small ball to prevent the linkage rope from moving freely after the deployment of the mechanism is completed.

[0020] (3) The present invention can adjust the transmission ratio between the hinges by adjusting the diameter of the rope pulley to achieve linkage deployment under different deployment angles required by the deployment mechanism, and can also achieve linkage speed-controlled deployment of multiple rods and plates through multi-stage series connection. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a front view of the unfolding mechanism of the present invention in a folded state;

[0022] Figure 2 This is a rear view of the unfolding mechanism of the present invention in a folded state;

[0023] Figure 3 It is a top view of the unfolding mechanism of the present invention in a folded state;

[0024] Figure 4 This is a structural diagram of the rotating shaft rope pulley assembly of the present invention;

[0025] Figure 5 This is a structural diagram of the inter-rod hinged rope-collecting wheel of the present invention;

[0026] Figure 6It is a left view of the unfolding mechanism of the present invention in the unfolded state. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0028] The invention discloses a unilateral speed-limiting linkage device, which includes three different states, from a tensioning and fixing state at an initial position to a transmission and unfolding state, and then to an unfolding completion state. The unilateral speed-limiting linkage device of the invention constrains the unfolding process of the extension rod mechanism by controlling the rotation speed and state of the rope pulley, thereby improving the control capability of the unfolding process of the unfoldable space mechanism.

[0029] like Figure 1 As shown, the present invention provides a unilateral speed limiting linkage device, including an unfolding mechanism 01, a rotating shaft rope wheel assembly 02, a root hinge fixed rope wheel 03, an inter-rod hinge fixed rope wheel 04, an inter-rod hinge rope collecting wheel assembly 05, a rope collecting wheel trigger arm 06, a lever 07, a small ball 08, a ball stop frame 09, a rope stop ring assembly 10, an upper extension rod linkage rope 11, a lower support rod linkage rope 12, a speed limiting driving source 13, a speed limiting driving source output shaft 14 and a root guide rope wheel 15. The unfolding mechanism 01 is composed of an upper extension rod assembly 011, a root hinge 012, an inter-rod hinge 013 and a lower support rod assembly 014; the rotating shaft rope wheel assembly 02 is composed of a small ball spring 021 and a rotating shaft rope wheel 022; and the inter-rod hinge rope collecting wheel assembly 05 is composed of an inter-rod hinge rope collecting torsion spring 051 and an inter-rod hinge rope collecting wheel 052.

[0030] The specific working principle and process of the present invention are as follows: when the unfolding mechanism 01 is in the folded state, the small ball 08 is restricted between the rotating shaft rope wheel 022 and the ball blocking frame 09 and cannot escape from the rotating shaft rope wheel 022. At the same time, the rope collecting wheel trigger arm 06 and the shift fork have not been released, the inter-rod hinge rope collecting wheel 052 and the inter-rod hinge 013 are constrained by the shift rod 07, the rotating shaft rope wheel 022 is connected to the inter-rod hinge rope collecting wheel 052 through the upper extension rod linkage rope 11, and the inter-rod hinge fixed rope wheel 04 is connected to the root hinge fixed rope wheel 03 through the lower support rod linkage rope 12, so that the rotation of the inter-rod hinge 013 and the root hinge 012 can be controlled by controlling the rotation of the rotating shaft rope wheel 022, thereby controlling the unfolding trajectory of the unfolding mechanism 01. When the unfolding mechanism 01 begins to unfold, the ball 08 is still confined between the rotating shaft rope pulley 022 and the ball blocking frame 09. Under the control of the speed limiting drive source 13, the rotating shaft rope pulley assembly 02 begins to rotate, and the ball 08 rotates around the rotation axis of the rotating shaft rope pulley assembly 02. At this time, the upper extension rod linkage rope 11 is slowly released, and the inter-rod hinge 013 begins to unfold slowly under the action of its internal driving device and the drag of the upper extension rod linkage rope 11; at the same time, the inter-rod hinge fixed rope pulley 04 also slowly releases the lower support rod linkage rope 12 as the inter-rod hinge 013 rotates, so the root hinge 012 begins to be dragged by the action of its internal driving device and the lower support rod linkage rope 12. Slowly unfold. When the ball 08 rotates to the required end position along with the shaft rope pulley assembly 02, the ball 08 loses the radial constraints of the shaft rope pulley 022 and the ball retaining frame 09, and escapes from the shaft rope pulley 022 under the action of the ball spring 021. At the same time, the unfolding angle of the inter-rod hinge 013 reaches the required value, and the rope collecting wheel trigger arm 06 opens the shift fork to release the constraint on the inter-rod hinge rope collecting wheel 052. The inter-rod hinge rope collecting wheel 052 rotates around the rope collecting direction under the action of its internal inter-rod hinge rope collecting torsion spring 051. Therefore, the upper extension rod linkage rope 11 is wound around the inter-rod hinge rope collecting wheel 052 until the ball 08 reaches the position of the rope retaining ring assembly 10 and is constrained by the rope retaining ring assembly 10. At this point, the mechanism is deployed, and the shaft rope pulley 022 disconnected from the upper extension rod linkage rope 11 releases the transmission relationship with the inter-rod hinge rope pulley 052, so that the shaft rope pulley assembly 02 can rotate freely to achieve other required functions.

[0031] like Figure 2 , Figure 3 , Figure 6As shown, one side of the root hinge 012 is fixed on the satellite mounting surface, and the other side is connected to the lower support rod assembly 014. The side connected to the lower support rod assembly 014 can be locked after rotating 90 degrees counterclockwise around the rotation center of the root hinge 012 under the drive of the built-in drive device of the root hinge 012. The root hinge fixing sheave 03 is coaxially installed with the root hinge 012 and fixed to the side of the root hinge 012 connected to the satellite mounting surface, and can rotate around the rotation axis of the root hinge 012. The interfaces at both ends of the inter-rod hinge 013 are respectively connected to the upper extension rod assembly 011 and the lower support rod assembly 014. The inter-rod hinge 013 can be locked after rotating 180 degrees clockwise around the rotation center under the drive of the built-in drive device of the inter-rod hinge 013. The inter-rod hinge fixed rope wheel 04 and the inter-rod hinge rope collection wheel assembly 05 are both installed coaxially with the inter-rod hinge 013, but are distributed on the left and right sides of the inter-rod hinge 013. The inter-rod hinge fixed rope wheel 04 is fixed to the end of the inter-rod hinge 013 connected to the upper extension rod assembly 011, and the inter-rod hinge fixed rope wheel 04 and the root hinge fixed rope wheel 03 are located on the same side of the lower support rod assembly 014. The root guide rope wheel 15 is installed at the end where the root hinge 012 is connected to the lower support rod assembly 014. After the lower support rod linkage rope 12 bypasses the root guide rope wheel 15 and changes direction, the inter-rod hinge fixed rope wheel 04 is connected to the root hinge fixed rope wheel 03 for transmission, such as Figure 2 The inter-rod hinge rope collecting wheel 052 in the inter-rod hinge rope collecting wheel assembly 05 is constrained and fixed to one end of the inter-rod hinge 013 connected to the lower support rod assembly 014 through the lever 07, and the inter-rod hinge rope collecting torsion spring 051 is sleeved on the inter-rod hinge 013 rotating shaft, and one end is connected to the inter-rod hinge rope collecting wheel 052, and the other end is connected to the inter-rod hinge 013, as shown in FIG. Figure 5 shown.

[0032] like Figure 4 As shown, the rotating shaft rope wheel assembly 02 includes a small ball spring 021 and a rotating shaft rope wheel 022. The rotating shaft rope wheel 022 is fixedly connected to the speed limiting driving source 13 through the speed limiting driving source output shaft 14. The rotating shaft rope wheel 022 and the inter-rod hinge rope wheel 052 are installed on the same side of the upper extension rod assembly 011. The rotating shaft rope wheel 022 and the inter-rod hinge rope wheel 052 are connected and transmitted through the upper extension rod linkage rope 11, as shown in FIG. Figure 1 The speed limiting driving source 13 can be a driving device such as a motor, which has the function of controlling the speed, and the rotating shaft sheave assembly 02 can rotate under the control of the speed limiting driving source 13, which can be used to control the deployment speed.

[0033] like Figure 5As shown, the lower support rod linkage rope 12 connects the root hinge fixed rope wheel 03 and the inter-rod hinge fixed rope wheel 04, and the upper extension rod linkage rope 11 connects the inter-rod hinge rope collection wheel assembly 05 and the rotating shaft rope wheel assembly 02. The ropes are respectively installed on the root hinge fixed rope wheel 03, the inter-rod hinge fixed rope wheel 04, the inter-rod hinge rope collection wheel assembly 05 and the rotating shaft rope wheel 022 by screws. A small ball 08 is installed at the end of the upper extension rod linkage rope 11. The small ball 08 is pressed into the ball groove in the rotating shaft rope wheel 022, and a small ball spring 021 is installed at the bottom of the ball groove. The ball stop frame 09 is connected to the speed limiting drive source 13 by screws, which can limit the radial movement of the small ball 08 between the rotating shaft rope wheel assembly 02 and the ball stop frame 09, as shown in FIG. Figure 4 As shown. The speed limiting drive source output shaft 14 is directly connected to the speed limiting drive source 13, and the speed limiting drive source 13 is installed at the end of the upper extension rod assembly 011. In the retracted state, the small ball 08 abuts against the ball stop frame 09 under the action of the small ball spring 021. The ball stop ring structure of the ball stop frame 09 is coaxial with the rotating shaft rope wheel 022, and its inner diameter can be selected between 2 and 6 mm larger than the outer diameter of the rotating shaft rope wheel 022, which needs to ensure that the small ball 08 is fixed by the ball stop frame 09 and cannot slide out.

[0034] The above description is only the best specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

[0035] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A unilateral speed limiting linkage device, characterized in that: The invention comprises an unfolding mechanism (01), a rotating shaft rope wheel (022), a root hinge fixing rope wheel (03), an inter-pole hinge fixing rope wheel (04), an inter-pole hinge rope collecting wheel assembly (05), an upper extension rod linkage rope (11), a lower support rod linkage rope (12), a speed limiting driving source (13), a speed limiting driving source output shaft (14) and a root guide rope wheel (15); wherein the unfolding mechanism (01) comprises an upper extension rod assembly (011), a root hinge (012), an inter-pole hinge (013) and a lower support rod assembly (014); one side of the root hinge (012) is fixed on the satellite installation surface, and the other side is connected to the lower support rod assembly (014); the interfaces at both ends of the inter-pole hinge (013) are respectively connected to the upper extension rod assembly (011) and the lower support rod assembly (014); the root hinge fixing rope wheel (012) comprises an upper extension rod assembly (011), a root hinge (012), an inter-pole hinge (013) and a lower support rod assembly (014); 03) is coaxially installed with the root hinge (012) and can rotate around the rotating shaft of the root hinge (012). The inter-rod hinge fixed rope wheel (04) and the inter-rod hinge rope collecting wheel assembly (05) are coaxially installed with the inter-rod hinge (013). The root guide rope wheel (15) is installed on the root hinge (012). After the lower support rod linkage rope (12) bypasses the root guide rope wheel (15) and changes direction, the inter-rod hinge fixed rope wheel (04) is connected and transmitted with the root hinge fixed rope wheel (03). The rotating shaft rope wheel (022) and the inter-rod hinge rope collecting wheel assembly (05) are connected and transmitted through the upper extension rod linkage rope (11). The speed limiting drive source (13) is fixedly connected to the rotating shaft rope wheel (022) through the speed limiting drive source output shaft (14), driving the rotating shaft rope wheel (022) to rotate, thereby controlling the unfolding mechanism (1) to unfold.

2. A unilateral speed limiting linkage device according to claim 1, characterized in that: It also includes a rope collecting wheel trigger arm (06) and a lever (07); the inter-rod hinge rope collecting wheel assembly (05) is connected to the inter-rod hinge (013) via the lever (07); when the deployment is completed, the rope collecting wheel trigger arm (06) triggers the lever (07) to release the constraints on the inter-rod hinge rope collecting wheel assembly (05) and the inter-rod hinge (013).

3. A unilateral speed limiting linkage device according to claim 1, characterized in that: The utility model also comprises a small ball (08), a ball stop frame (09) and a rope stop ring assembly (10), wherein the small ball (08) is arranged at the end of the upper extension rod linkage rope (11), and a ball groove is arranged on the rotating shaft rope wheel (022). When in the retracted state, the small ball (08) is arranged in the ball groove between the rotating shaft rope wheel (022) and the ball stop frame (09), and the rope stop ring assembly (10) is fixed on the upper extension rod assembly (011), and a through hole is arranged on the rope stop ring assembly (10) for allowing the extension rod linkage rope (11) to pass through.

4. A unilateral speed limiting linkage device according to claim 3, characterized in that: A small ball spring (021) is installed at the bottom of the ball groove. When the small ball (08) rotates to the end position along with the rotating shaft rope wheel (022), the small ball (08) escapes from the rotating shaft rope wheel (022) under the action of the small ball spring (021).

5. A unilateral speed limiting linkage device according to claim 3, characterized in that: The ball-blocking frame (09) is an annular structure, coaxial with the rotating shaft rope wheel (022), and the inner diameter of the ball-blocking frame (09) is 2-6 mm larger than the outer diameter of the rotating shaft rope wheel (022).

6. A unilateral speed limiting linkage device according to claim 1, characterized in that: The inter-rod hinge rope collecting wheel assembly (05) comprises an inter-rod hinge rope collecting torsion spring (051) and an inter-rod hinge rope collecting wheel (052). The inter-rod hinge rope collecting torsion spring (051) is sleeved on the inter-rod hinge (013) rotating shaft. One end of the inter-rod hinge rope collecting torsion spring (051) is connected to the inter-rod hinge rope collecting wheel (052), and the other end is connected to the inter-rod hinge (013).

7. A unilateral speed limiting linkage device according to claim 6, characterized in that: The rotating shaft rope wheel (022) and the inter-rod hinge rope collecting wheel (052) are installed on the same side of the upper extension rod assembly (011).

8. The unilateral speed limiting linkage device according to claim 1, characterized in that: The upper stretching rod linkage rope (11) is installed on the rotating shaft rope wheel (022) through a screw.

9. The unilateral speed limiting linkage device according to claim 1, characterized in that: The inter-pole hinge fixed rope wheel (04) and the inter-pole hinge rope collecting wheel assembly (05) are respectively arranged on both sides of the inter-pole hinge (013), the inter-pole hinge fixed rope wheel (04) is fixed to one end of the inter-pole hinge (013) connected to the upper extension rod assembly (011), and the inter-pole hinge fixed rope wheel (04) and the root hinge fixed rope wheel (03) are located on the same side of the lower support rod assembly (014).

10. The unilateral speed limiting linkage device according to claim 1, characterized in that: A driving device is arranged inside the root hinge (012) and the inter-rod hinge (013) to assist the linkage expansion of the device.

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