A single-sided speed limiting linkage device

Abstract

This invention relates to a single-sided speed-limiting linkage device, comprising a deployment mechanism, a rotating shaft rope wheel assembly, a root hinge fixing rope wheel, an inter-pole hinge fixing rope wheel, an inter-pole hinge take-up rope wheel assembly, a take-up rope wheel trigger arm, a lever, a small ball, a ball stopper, a rope stopper assembly, an upper extension rod linkage rope, a lower support rod linkage rope, a speed-limiting drive source, a speed-limiting drive source output shaft, and a root guide rope wheel. This invention can release the linkage of the rotating shaft rope wheel assembly after deployment, thereby switching the linkage state and the take-up state of the upper extension rod linkage rope wheel; it achieves speed-controlled deployment of the spatial deployment mechanism, with a simple structure and light weight. The speed-limited deployment of the deployment mechanism can be controlled by controlling the rotation of the rotating shaft rope wheel assembly through the speed-limiting drive source.

Description

Technical Field

[0001] This invention belongs to the field of linkage devices for spacecraft deployment mechanisms, and specifically relates to a single-sided speed-limiting linkage device. Background Technology

[0002] In spacecraft, deployable space mechanisms are an important way to realize large structural configurations such as solar panels, antennas, and sunshades. They are usually space mechanisms with deployment and folding functions. They are initially installed on the spacecraft in a folded state with the smallest volume. When in operation, they are deployed to the working state through command control. During the deployment process, linkage devices are usually required to ensure that each component deploys synchronously as required.

[0003] Taking a solar wing deployment mechanism as an example, the coordinated deployment of each deployment hinge is usually required to ensure the deployment trajectory of the solar wing substrate. A 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 base 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. By designing different linkage wheel diameters, the transmission ratio is controlled, thereby realizing the coordinated deployment between each hinge. Patent application CN201710119509.1 discloses a solar wing deployment linkage device, which achieves 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 stationary wheel. The fixed wheel, which can rotate around the rotating axis of the moving wheel, realizes the switching between different deployment stages of the solar wing, from root hinge only (deployment transmission ratio 1:0) to coordinated deployment of root hinge and plate hinge with varying transmission ratio, and fixed transmission ratio deployment.

[0004] Although the aforementioned linkage device can enable 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 is heavy, making it difficult to meet the current requirements of deployable space mechanisms with high storage ratio and light weight. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned defects of the prior art and provide a single-sided speed-limiting linkage device that achieves linkage and motion trajectory control during the deployment process of the space deployment mechanism with minimal space and weight, and achieves speed control, and releases the linkage after the structure is deployed.

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

[0007] A single-sided speed-limiting linkage device includes a deployment mechanism, a rotating shaft pulley, a root hinge fixing pulley, a pole-to-pole hinge fixing pulley, a pole-to-pole hinge winding pulley assembly, an upper extension rod linkage rope, a lower support rod linkage rope, a speed-limiting drive source, a speed-limiting drive source output shaft, and a root guide pulley. The deployment mechanism includes an upper extension rod assembly, a root hinge, a pole-to-pole hinge, and a lower support rod assembly. One side of the root hinge is fixed to the satellite mounting surface, and the other side is connected to the lower support rod assembly. The two ends of the pole-to-pole hinge are respectively connected to the upper extension rod assembly and the lower support rod assembly. The fixed rope wheel is coaxially mounted with the root hinge and can rotate around the pivot of the root hinge. The fixed rope wheel and the take-up rope wheel assembly of the inter-rod hinge are coaxially mounted with the inter-rod hinge. The root guide rope wheel is mounted on the root hinge. After the lower support rod linkage rope changes direction after passing around the root guide rope wheel, it connects the fixed rope wheel of the inter-rod hinge with the fixed rope wheel of the root hinge for transmission. The pivot rope wheel and the take-up rope wheel assembly of the inter-rod hinge are connected for transmission through the linkage rope of the upper extension rod. The speed limiting drive source is fixedly connected to the pivot rope wheel through the output shaft of the speed limiting drive source, driving the pivot rope wheel to rotate, thereby controlling the deployment mechanism to deploy.

[0008] It also includes a rope take-up wheel trigger arm and a lever. The rope take-up wheel assembly of the inter-pole hinge is connected to the inter-pole hinge through the lever. When the deployment is complete, the rope take-up wheel trigger arm triggers the lever to release the constraint on the rope take-up wheel assembly and the inter-pole hinge.

[0009] It also includes a small ball, a ball stopper, and a rope stopper assembly. The small ball is located at the end of the upper extension rod linkage rope. The rotating shaft sheave is provided with a ball groove. In the retracted state, the small ball is located in the ball groove between the rotating shaft sheave and the ball stopper. The rope stopper assembly is fixed on the upper extension rod assembly. The rope stopper assembly is provided with a through hole for 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) is released from the rotating shaft rope wheel under the action of the small ball spring (021).

[0011] The ball stop is a ring structure, coaxial with the shaft sheave, and the inner diameter of the ball stop is 2-6 mm larger than the outer diameter of the shaft sheave.

[0012] The pole hinge winding wheel assembly includes a pole hinge winding torsion spring and a pole hinge winding wheel. The pole hinge winding torsion spring is mounted on the pole hinge shaft. One end of the pole hinge winding torsion spring is connected to the pole hinge winding wheel, and the other end is connected to the pole hinge.

[0013] The spool pulley and the rod hinge take-up pulley are mounted on the same side of the upper extension rod assembly.

[0014] The upper extension rod linkage rope is mounted on the swivel pulley by screws.

[0015] The pole hinge fixing pulley and the pole hinge take-up pulley assembly are respectively set on both sides of the pole hinge. The pole hinge fixing pulley is fixed at the end of the pole hinge that connects to the upper extension rod assembly. The pole hinge fixing pulley and the root hinge fixing pulley are located on the same side of the lower support rod assembly.

[0016] The root hinge and the inter-rod hinge are equipped with a drive mechanism to assist in the coordinated deployment 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 single-sided speed-limiting linkage device, which can realize the speed-controlled deployment of the space deployment mechanism. It has a simple structure and light weight. The speed-limited deployment of the deployment mechanism can be controlled by controlling the rotation of the rotating shaft rope wheel assembly through the speed-limiting drive source. After the mechanism is deployed and locked, the linkage relationship with the speed-limiting drive source is disengaged so that the speed-limiting drive source can realize other functions.

[0019] (2) The present invention designs a linkage release and rope retraction mechanism after the mechanism is fully deployed, including: using a ball stop, a small ball, and a spring to release the linkage of the rotating shaft rope wheel assembly after the deployment is completed, so that the rotating shaft rope wheel assembly can realize other required rotation functions; a rope retraction wheel structure is designed at the hinge between the rods. When the deployment is completed, the rope retraction wheel trigger arm is in place to trigger the lever to release the constraint on the rope retraction wheel, thereby switching the linkage state and the retraction state of the upper extension rod linkage rope wheel; at the same time, the upper extension rod linkage rope is retracted after the mechanism is fully deployed by the torsion spring, and the position of the small ball is restricted by the rope stop ring assembly to prevent the linkage rope from moving freely after the mechanism is fully deployed.

[0020] (3) The present invention can adjust the transmission ratio between each hinge by adjusting the diameter of the rope wheel, so as to realize the linkage deployment under the required deployment angle of different deployment mechanisms, and can realize the linkage speed control deployment of multiple rods and plates through multi-level series connection. Attached Figure Description

[0021] Figure 1 This is a front view of the unfolded mechanism of the present invention in its retracted state;

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

[0023] Figure 3 This is a top view of the unfolded mechanism of the present invention in its retracted state;

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

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

[0026] Figure 6This is a left view of the unfolded state of the unfolding mechanism of the present invention. Detailed Implementation

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

[0028] This invention discloses a unilateral speed-limiting linkage device, comprising three different states: a tensioned and fixed state at the initial position, a transmission and deployment state, and a completed deployment state. The unilateral speed-limiting linkage device of this invention constrains the deployment process of the extension rod mechanism by controlling the rotation speed and state of the rope wheel, thereby improving the control capability over the deployment process of the deployable spatial mechanism.

[0029] like Figure 1 As shown, the present invention provides a single-sided speed-limiting linkage device, including an unfolding mechanism 01, a rotating shaft rope wheel assembly 02, a root hinge fixing rope wheel 03, a pole-to-pole hinge fixing rope wheel 04, a pole-to-pole hinge take-up rope wheel assembly 05, a take-up rope wheel trigger arm 06, a lever 07, a small ball 08, a ball stopper 09, a rope stopper assembly 10, an upper extension rod linkage rope 11, a lower support rod linkage rope 12, a speed-limiting drive source 13, a speed-limiting drive source output shaft 14, and a root guide rope wheel 15. The unfolding mechanism 01 consists of the upper extension rod assembly 011, the root hinge 012, the pole-to-pole hinge 013, and the lower support rod assembly 014; the rotating shaft rope wheel assembly 02 consists of a small ball spring 021 and a rotating shaft rope wheel 022; and the pole-to-pole hinge take-up rope wheel assembly 05 consists of a pole-to-pole hinge take-up rope torsion spring 051 and a pole-to-pole hinge take-up rope wheel 052.

[0030] The specific working principle and process of this invention are as follows: When the unfolding mechanism 01 is in the retracted state, the small ball 08 is restricted between the rotating shaft rope wheel 022 and the ball stop 09, and cannot be released from the rotating shaft rope wheel 022. At the same time, the rope take-up wheel trigger arm 06 and the fork have not been released. The inter-bar hinge rope take-up wheel 052 and the inter-bar hinge 013 are constrained by the lever 07. The rotating shaft rope wheel 022 is connected to the inter-bar hinge rope take-up wheel 052 through the upper extension rod linkage rope 11. The inter-bar hinge fixing rope wheel 04 is connected to the root hinge fixing rope wheel 03 through the lower support rod linkage rope 12. Thus, the rotation of the inter-bar 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 pulley 022 and the ball stop 09. Under the control of the speed limiting drive source 13, the rotating shaft pulley assembly 02 begins to rotate, and the ball 08 rotates around the rotation axis of the rotating shaft 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 drive device and the drag of the upper extension rod linkage rope 11. At the same time, the inter-rod hinge fixing rope 04 also slowly releases the lower support rod linkage rope 12 as the inter-rod hinge 013 rotates. Therefore, the root hinge 012 begins to unfold under the action of its internal drive device and the drag of the lower support rod linkage rope 12. As the ball 08 slowly unfolds, it loses the radial constraint of the spindle pulley 022 and the ball stopper 09 when it rotates to the required end position with the spindle pulley assembly 022. Under the action of the ball spring 021, the ball 08 disengages from the spindle pulley 022. At the same time, the extension angle of the inter-pole hinge 013 reaches the required value. The rope take-up wheel trigger arm 06 pushes open the fork, releasing the constraint on the inter-pole hinge rope take-up wheel 052. The inter-pole hinge rope take-up wheel 052 rotates around the rope take-up direction under the action of the inter-pole hinge rope take-up torsion spring 051 inside it. Therefore, the upper extension rod linkage rope 11 is wrapped around the inter-pole hinge rope take-up wheel 052 until the ball 08 reaches the position of the rope stopper assembly 10 and is constrained by the rope stopper assembly 10. At this point, the mechanism is fully deployed. The rotating shaft pulley 022, which is disconnected from the linkage rope 11 of the upper extension rod, is no longer connected to the rope winding pulley 052 of the rod hinge. Thus, the rotating shaft 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 to 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 drive device built into the root hinge 012. The root hinge fixing pulley 03 is coaxially mounted 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 two ends of the inter-rod hinge 013 are connected to the upper extension rod assembly 011 and the lower support rod assembly 014 respectively. The inter-rod hinge 013 can be locked after rotating 180 degrees clockwise around the rotation center under the drive of the drive device built into the inter-rod hinge 013. Both the inter-pole hinge fixing pulley 04 and the inter-pole hinge take-up pulley assembly 05 are coaxially mounted with the inter-pole hinge 013, but distributed on the left and right sides of the inter-pole hinge 013. The inter-pole hinge fixing pulley 04 is fixed to the end of the inter-pole hinge 013 connected to the upper extension rod assembly 011. The inter-pole hinge fixing pulley 04 and the root hinge fixing pulley 03 are located on the same side of the lower support rod assembly 014. The root guide pulley 15 is installed at the end of the root hinge 012 connected to the lower support rod assembly 014. After the lower support rod linkage rope 12 passes around the root guide pulley 15 and reverses direction, it connects the inter-pole hinge fixing pulley 04 and the root hinge fixing pulley 03 for transmission. Figure 2 As shown. The inter-pole hinge rope take-up wheel 052 in the inter-pole hinge rope take-up wheel assembly 05 is constrained and fixed to one end of the inter-pole hinge 013 connected to the lower support rod assembly 014 via a lever 07. The inter-pole hinge rope take-up torsion spring 051 is fitted onto the rotating shaft of the inter-pole hinge 013, with one end connected to the inter-pole hinge rope take-up wheel 052 and the other end connected to the inter-pole hinge 013, as shown. Figure 5 As shown.

[0032] like Figure 4 As shown, the rotating shaft rope pulley assembly 02 includes a small ball spring 021 and a rotating shaft rope pulley 022. The rotating shaft rope pulley 022 is fixedly connected to the speed limiting drive source 13 via the speed limiting drive source output shaft 14. The rotating shaft rope pulley 022 and the inter-bar hinge rope take-up pulley 052 are mounted on the same side of the upper extension rod assembly 011. The rotating shaft rope pulley 022 and the inter-bar hinge rope take-up pulley 052 are connected and driven by the upper extension rod linkage rope 11, as shown... Figure 1 As shown. The speed limiting drive source 13 can be a drive device such as a motor, which has the function of controlling speed. The rotating shaft rope pulley assembly 02 can rotate under the control of the speed limiting drive source 13, and can be used to control the deployment speed.

[0033] like Figure 5As shown, the lower strut linkage rope 12 connects the root hinge fixed rope wheel 03 and the inter-strut hinge fixed rope wheel 04, and the upper extension rod linkage rope 11 connects the inter-strut hinge take-up rope wheel assembly 05 and the pivot rope wheel assembly 02. All ropes are screwed onto the root hinge fixed rope wheel 03, the inter-strut hinge fixed rope wheel 04, the inter-strut hinge take-up rope wheel assembly 05, and the pivot rope wheel 022, respectively. A small ball 08 is installed at the end of the upper extension rod linkage rope 11. The small ball 08 is pressed into a ball groove in the pivot rope wheel 022, and a ball spring 021 is installed at the bottom of the ball groove. A ball stop 09 is connected to the speed limiting drive source 13 via screws, which can limit the radial movement of the small ball 08 between the pivot rope wheel assembly 02 and the ball stop 09. Figure 4 As shown. The speed limiting drive source output shaft 14 is directly connected to the speed limiting drive source 13, which 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 pulley 022, and its inner diameter can be selected between 2 and 6 mm larger than the outer diameter of the rotating shaft rope pulley 022. It must ensure that the small ball 08 is fixed by the ball stop frame 09 and cannot slip out.

[0034] The above description is only the best specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the protection scope of the present invention.

[0035] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A unilateral speed-limiting linkage device, characterized in that: The system includes a deployment mechanism (01), a pivot pulley (022), a root hinge fixing pulley (03), a pole hinge fixing pulley (04), a pole hinge winding pulley assembly (05), an upper extension rod linkage rope (11), a lower support rod linkage rope (12), a speed limiting drive source (13), a speed limiting drive source output shaft (14), and a root guide pulley (15). The deployment mechanism (01) includes an upper extension rod assembly (011), a root hinge (012), a pole hinge (013), and a lower support rod assembly (014). One side of the root hinge (012) is fixed to the satellite mounting surface, and the other side is connected to the lower support rod assembly (014). The two ends of the pole hinge (013) are connected to the upper extension rod assembly (011) and the lower support rod assembly (014), respectively. The root hinge fixing pulley (022)... 03) It is coaxially mounted with the root hinge (012) and can rotate around the pivot of the root hinge (012). The inter-bar hinge fixing rope wheel (04) and the inter-bar hinge take-up rope wheel assembly (05) are coaxially mounted with the inter-bar hinge (013). The root guide rope wheel (15) is mounted on the root hinge (012). After the lower support rod linkage rope (12) passes around the root guide rope wheel (15) and reverses direction, it connects the inter-bar hinge fixing rope wheel (04) with the root hinge fixing rope wheel (03) for transmission. The pivot rope wheel (022) and the inter-bar hinge take-up rope wheel assembly (05) are connected for transmission through the upper extension rod linkage rope (11). The speed limiting drive source (13) is fixedly connected to the pivot rope wheel (022) through the speed limiting drive source output shaft (14) to drive the pivot rope wheel (022) to rotate, thereby controlling the unfolding mechanism (1) to unfold.

2. The single-sided speed-limiting linkage device according to claim 1, characterized in that: It also includes a rope take-up wheel trigger arm (06) and a lever (07). The rope take-up wheel assembly (05) of the inter-pole hinge is connected to the inter-pole hinge (013) through the lever (07). When the deployment ends, the rope take-up wheel trigger arm (06) triggers the lever (07) to release the constraint on the rope take-up wheel assembly (05) of the inter-pole hinge and the inter-pole hinge (013).

3. The single-sided speed-limiting linkage device according to claim 1, characterized in that: It also includes a small ball (08), a ball stopper (09), and a rope stopper assembly (10). The small ball (08) is located at the end of the upper extension rod linkage rope (11). The rotating shaft rope wheel (022) is provided with a ball groove. When the retracted state is reached, the small ball (08) is located in the ball groove between the rotating shaft rope wheel (022) and the ball stopper (09). The rope stopper assembly (10) is fixed on the upper extension rod assembly (011). The rope stopper assembly (10) is provided with a through hole for the extension rod linkage rope (11) to pass through.

4. A single-sided 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 with the rotating shaft rope wheel (022), the small ball (08) is dislodged from the rotating shaft rope wheel (022) under the action of the small ball spring (021).

5. A single-sided speed-limiting linkage device according to claim 3, characterized in that: The ball stop (09) is a ring structure and is coaxial with the rotating shaft sheave (022). The inner diameter of the ball stop (09) is 2-6 mm larger than the outer diameter of the rotating shaft sheave (022).

6. The single-sided speed-limiting linkage device according to claim 1, characterized in that: The pole hinge winding wheel assembly (05) includes a pole hinge winding torsion spring (051) and a pole hinge winding wheel (052). The pole hinge winding torsion spring (051) is mounted on the shaft of the pole hinge (013). One end of the pole hinge winding torsion spring (051) is connected to the pole hinge winding wheel (052), and the other end is connected to the pole hinge (013).

7. A single-sided speed-limiting linkage device according to claim 6, characterized in that: The pivot pulley (022) and the inter-bar hinge take-up pulley (052) are mounted on the same side of the upper extension rod assembly (011).

8. A single-sided speed-limiting linkage device according to claim 1, characterized in that: The upper extension rod linkage rope (11) is mounted on the swivel pulley (022) by screws.

9. A single-sided speed-limiting linkage device according to claim 1, characterized in that: The inter-pole hinge fixing pulley (04) and the inter-pole hinge take-up pulley assembly (05) are respectively set on both sides of the inter-pole hinge (013). The inter-pole hinge fixing pulley (04) is fixed at the end of the inter-pole hinge (013) connected to the upper extension rod assembly (011). The inter-pole hinge fixing pulley (04) and the root hinge fixing pulley (03) are located on the same side of the lower support rod assembly (014).

10. A single-sided speed-limiting linkage device according to claim 1, characterized in that: The root hinge (012) and the inter-rod hinge (013) are equipped with drive devices to assist the device in linkage deployment.

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