Scissor type unfolding mechanism driving device

Abstract

The invention relates to a scissor type unfolding mechanism driving device which comprises a driving unit assembly, a gear rope wheel shaft assembly, a bottom supporting shaft assembly, a rope supporting assembly, a supporting bottom plate, a bottom supporting rod assembly, a bottom supporting rod linkage assembly and a driving rope. A driving rope starts from the gear rope wheel shaft assembly, bypasses a driving rope guide wheel and is fixed to a driving rope fixing wheel of the bottom supporting rod assembly on the other side, the bottom supporting shaft assemblies on the two sides are connected through the bottom supporting rod linkage assembly, and synchronous reverse movement is achieved. Rotation of the driving unit assembly is converted into rotation of the supporting rod at the bottom of the scissor type unfolding mechanism, and therefore the scissor type unfolding mechanism is driven to be unfolded, and the advantages of being light in weight, high in reliability and large in driving force are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of spacecraft deployment mechanisms, and in particular relates to a scissor-type deployment mechanism driving device. Background Art

[0002] Deployable mechanism is one of the important research topics in the field of space mechanism, and the scissor-type folding mechanism has broad application prospects in the field of space deployable mechanism due to its compact structure.

[0003] Flat-panel stacked satellites such as Internet satellite constellations have put forward requirements for solar wings such as low cost, mass production, and high storage ratio. The present invention proposes a high-reliability scissor-type deployment mechanism driving method for the scissor-type deployment mechanism, which can be used for the high-reliability deployment of the scissor-type deployment mechanism and has the characteristics of small footprint, large deployment force, and high reliability.

[0004] Patent CN202210924857.7 discloses a scissor-type solar wing system, which uses a scissor-type deployment mechanism as the deployment mechanism of the flexible solar wing. The driving method of the scissor-type deployment mechanism is to drive the transmission mechanism to rotate through the driving component, and then directly drive the root scissor rod assembly to rotate, thereby realizing the conversion of the rotational motion of the rod into the linear motion of the end of the scissor rod. The driving method of this scissor rod deployment mechanism has the advantages of small folded size and simple structure, but it has the disadvantages of high driving capacity requirements for the driving mechanism, low transmission efficiency, and difficulty in providing a large deployment driving force.

[0005] Patent CN201611072980.1 discloses a rope-driven scissors truss structure, which has two driving ropes passing through the scissors rod deployment mechanism and realizes the reversal of the driving ropes through a set of pulleys. In this way, a larger deployment driving force can be achieved, but the structure is complex and the assembly difficulty is high. At the same time, more guide rope pulleys not only occupy a larger space but also have the disadvantage of heavy weight.

[0006] Patent CN201810806678.7 discloses a double-layer deployable antenna mechanism driven by a torsion spring based on a scissor-type mechanism. The scissor-type deployment mechanism realizes the deployment drive through a torsion spring assembly. The torsion spring assembly includes a torsion spring support, a torsion spring, a pin shaft and a rigid hinge. The torsion spring is used as the driving source to realize motor-free drive deployment. However, in order to obtain a larger driving force, a larger size and a larger number of torsion springs are required. There are still problems of occupying a large space and being heavy, which needs to be further optimized. Summary of the invention

[0007] The purpose of the present invention is to overcome the above-mentioned defects of the prior art and provide a scissors-type unfolding mechanism driving device, which converts the rotation of the driving unit assembly into the rotation of the bottom support rod of the scissors-type unfolding mechanism through the driving of the driving unit assembly and the gear + rope pulley transmission, thereby driving the unfolding of the scissors-type unfolding mechanism. The driving device of the present invention is light in weight, high in reliability and has a large driving force.

[0008] The above-mentioned purpose of the present invention is mainly achieved through the following technical solutions:

[0009] A scissors-type unfolding mechanism driving device comprises a driving unit assembly, a gear pulley shaft assembly, a bottom support shaft assembly, a supporting rope assembly, a supporting base plate, a bottom support rod assembly, a bottom support rod linkage assembly and a driving rope, wherein two sets of gear pulley shaft assemblies, the bottom support shaft assembly and the supporting rope assembly are respectively arranged on the supporting base plate, the bottom support rod assemblies on both sides are respectively connected to the bottom support shaft assemblies, the bottom support rod assemblies on both sides comprise a driving rope guide wheel and a driving rope fixing wheel, the driving rope is wound around the gear pulley shaft assembly, starts from the gear pulley shaft assembly, bypasses the driving rope guide wheel, is supported by the supporting rope assembly, and is fixed on the driving rope fixing wheel of the bottom support rod assembly on the other side, the bottom support shaft assemblies on both sides are connected by the bottom support rod linkage assembly and realize synchronous reverse motion, and the driving unit assembly drives the gear pulley shaft assembly to realize the unfolding mechanism driving.

[0010] When the driving device is in a folded state, the bottom support rod assembly is in a horizontal state, and the driving rope is supported by the supporting rope assembly, so that the height of the driving rope is higher than the height of the driving rope guide wheel.

[0011] The gear pulley shaft assembly includes a transmission gear, an intermediate pulley, a gear pulley shaft and an axial positioning pin. The transmission gear and the intermediate pulley are coaxially installed on the gear pulley shaft, and the axial displacement is constrained by the axial positioning pin. The transmission gears in the two gear pulley shaft assemblies are meshed with each other, and the drive unit assembly drives the transmission gear and the intermediate pulley to rotate synchronously.

[0012] The driving unit assembly includes a driving assembly and a driving gear. The driving gear is arranged on the driving assembly and meshes with the transmission gear. When the driving device is working, the driving gear drives the transmission gear to rotate, so that the middle rope pulley in the gear rope pulley shaft assembly rotates in the opposite direction, driving the driving rope to be continuously tightened to cause the bottom support rod assembly to rotate.

[0013] The bottom support shaft assembly comprises a hexagonal shaft and a linkage rope pulley. The linkage rope pulley is fixed on the hexagonal shaft and rotates synchronously with the hexagonal shaft. The hexagonal section of the hexagonal shaft is fixedly connected to the bottom support rod assembly.

[0014] The supporting rope assembly comprises a supporting rope wheel, a supporting rope wheel support and a supporting rope wheel baffle plate. The supporting rope wheel is installed on the supporting rope wheel support, and the supporting rope wheel baffle plate is installed on the supporting rope wheel support to prevent the driving rope from escaping from the supporting rope wheel.

[0015] The center planes of the driving rope guide wheel and the supporting rope wheel coincide.

[0016] The bottom support rod assembly also includes a support rod, a hexagonal hole metal joint, a hinge shaft and a hinge joint. The two hexagonal hole metal joints are respectively arranged at both ends of the support rod. The support rod is glued and fixed to the hexagonal hole metal joint and the hinge joint. The hinge joint is passed through a hinge shaft, and a drive rope guide wheel and a drive rope fixing wheel are arranged on the hinge shaft.

[0017] The bottom support rod linkage assembly includes a bottom support rod linkage rope and a linkage rope guide wheel group. The two ends of the bottom support rod linkage rope are connected to two bottom support shaft assemblies, and the guidance and position constraint are achieved through the linkage rope guide wheel group installed on the support bottom plate.

[0018] The drive assembly unit is fixedly mounted on the support base plate via a drive assembly support, the gear rope pulley shaft assembly is fixedly mounted on the support base plate via a gear rope pulley shaft support, and the bottom support shaft assembly is fixedly mounted on the support base plate via a hexagonal shaft support.

[0019] Compared with the prior art, the present invention has at least the following beneficial effects:

[0020] (1) The present invention provides a scissor-type unfolding mechanism driving device, which converts the rotation of the driving unit assembly into the rotation of the bottom support rod of the scissor-type unfolding mechanism through the driving of the driving unit assembly and the transmission of gears and ropes, thereby driving the unfolding of the scissor-type unfolding mechanism. The scissor-type unfolding mechanism has the advantages of light weight, high reliability and large driving force.

[0021] (2) The transmission mechanism of the present invention preferably adopts a combination of gear transmission and rope transmission. The gear transmission part is three gears meshing with each other. Different deployment driving characteristics are obtained by adjusting the gear reduction ratio. The driving gear of the driving unit assembly drives the other two gears as the driving source of the rope pulley, thereby driving the two sets of rope pulley mechanisms to rotate synchronously.

[0022] (3) The rope pulley transmission of the present invention preferably adopts the winding of the middle rope pulley to realize the rotation of the bottom support rod. The driving rope starts from the middle rope pulley, passes around the driving rope guide wheel at the end of one end of the bottom support rod, and is then connected to the driving rope fixing wheel at the end of the other end of the bottom support rod. As the driving rope is wound around the middle rope pulley, the length of the driving rope gradually becomes shorter, and then the bottom support rod is pulled from the end of the bottom support rod to unfold.

[0023] (4) The bottom support rods on both sides of the present invention are preferably connected and linked by a bottom support rod linkage assembly. Linkage pulleys are installed on the installation axes of the bottom support rods on both sides and the bottom support shaft assembly, and are fixedly connected and move synchronously with the bottom support rods. The bottom support rod linkage rope reversely connects the bottom support rod linkage pulleys on both sides, and moves in the required trajectory direction through the linkage rope guide rope group, thereby realizing the synchronous reverse movement of the two bottom support rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the principle of the scissor-type unfolding mechanism driving device of the present invention;

[0025] Figure 2 It is a schematic diagram of the composition of the scissor-type unfolding mechanism driving device of the present invention;

[0026] Figure 3 This is an enlarged bottom view of the scissor-type unfolding mechanism driving device of the present invention in a folded state;

[0027] Figure 4 It is a schematic diagram of the gear rope pulley shaft assembly of the scissor-type unfolding mechanism driving device of the present invention;

[0028] Figure 5 It is a schematic diagram of the bottom support rod assembly when the scissor-type unfolding mechanism driving device of the present invention is in a folded state;

[0029] Figure 6 It is a schematic diagram of the bottom support shaft assembly and the bottom support rod linkage assembly of the scissor-type unfolding mechanism driving device of the present invention. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0031] like Figure 2As shown, the scissor-type deployment mechanism driving device includes a driving unit assembly 1, a gear rope shaft assembly 2, a bottom support shaft assembly 3, a support rope assembly 4, a support bottom plate 5, a bottom support rod assembly 6, a bottom support rod linkage assembly 7 and a driving rope 8. Figure (a) shows the scissor-type deployment mechanism driving device in a folded state, and Figure (b) shows the scissor-type deployment mechanism driving device in an unfolded state. The driving unit assembly 1 includes a driving assembly 101, a driving assembly support 102, and a driving gear 103; the gear rope pulley shaft assembly 2 includes a transmission gear 201, an intermediate rope pulley 202, a gear rope pulley shaft 203, a gear rope pulley shaft support 204, and an axial positioning nail 205; the bottom support shaft assembly 3 includes a hexagonal shaft 301, a hexagonal shaft support 302, and a linkage rope pulley 303; the supporting rope assembly 4 includes a supporting rope pulley 401, a supporting rope pulley support 402, and a supporting rope pulley baffle 403; the bottom support rod assembly 6 includes a support rod 601, a hexagonal hole metal joint 602, a hinge shaft 603, a hinge joint 604, a driving rope guide wheel 605, and a driving rope fixing wheel 606; the bottom support rod linkage assembly 7 includes a bottom support rod linkage rope 701 and a linkage rope guide wheel group 702.

[0032] The left and right bottom support rod assemblies 6 are installed on the support bottom plate 5 through the bottom support shaft assembly 3, and two gear rope shaft assemblies 2 and two support rope assemblies 4 are installed between the left and right bottom support shaft assemblies 3. The left and right bottom support rod assemblies 6 are fixedly connected to the linkage rope pulley 303, and the linkage rope pulleys 303 on both sides are connected through the bottom support rod linkage assembly 7 and realize synchronous reverse movement. In the folded state, the bottom support rod assembly 6 is in a nearly horizontal state, at which time the driving rope 8 is the longest, and the driving rope 8 is supported by the support rope assembly 4 and is higher than the driving rope guide wheel 605.

[0033] like Figure 1 As shown, the specific working principle and process of the present invention are as follows: the driving unit assembly 1 drives the two intermediate rope wheels 202 to rotate by means of gear transmission, thereby causing the rope wheels to retract. The driving rope 8 starts from the intermediate rope wheel 202, bypasses the driving rope guide wheel 605 at the end of the bottom support rod assembly 6 on one side, and is then fixed on the driving rope fixing wheel 606 at the end of the bottom support rod assembly 6 on the other side. The rope retracting of the rope wheel will pull the bottom support rod assembly 6 to rotate and unfold. In the initial stage of unfolding, in order to provide a greater unfolding driving force, the supporting rope wheel 401 is used to support the driving rope 8 to a certain height so that the driving rope 8 can generate an upward component force at the end of the bottom support rod assembly 6. In order to ensure that the bottom support rod assemblies 6 on both sides can rotate synchronously, the bottom support rod linkage rope 701 is used to connect the linkage rope wheels 303 fixed to the bottom support rod assemblies 6 on both sides, and the linkage rope guide wheel group 702 is used to reverse the direction so that the linkage rope wheels 303 on both sides can rotate synchronously in the opposite direction.

[0034] The driving assembly unit 1, the gear pulley shaft assembly 2, the bottom support shaft assembly 3, the bracing rope assembly 4, and the bottom support rod linkage assembly 7 are all installed on the supporting base plate 5, wherein two sets of identical gear pulley shaft assemblies 2, bottom support shaft assemblies 3, and bracing rope assemblies 4 are arranged on the left and right sides of the supporting base plate 5, as shown in FIG. Figure 2 , Figure 3 shown.

[0035] The drive assembly unit 1 is fixedly mounted on the support base plate 5 through the drive assembly support 102, the gear rope pulley shaft assembly 2 is fixedly mounted on the support base plate 5 through the gear rope pulley shaft support 204, the bottom support shaft assembly 3 is fixedly mounted on the support base plate 5 through the hexagonal shaft support 302, and the support rope assembly 4 is fixedly mounted on the support base plate 5 through the support rope pulley support 402. Figure 3 shown.

[0036] A driving gear 103 is installed at the end of the driving assembly 101 in the driving assembly unit 1, and the driving assembly 101 is installed and fixed on the driving assembly support 102. The driving gear 103 meshes with the transmission gear 201 in the gear rope pulley shaft assembly 2 near one side thereof, and the transmission gears 201 in the two gear rope pulley shaft assemblies 2 mesh with each other, as shown in FIG. Figure 3 shown.

[0037] The transmission gear 201 and the intermediate rope pulley 202 are coaxially mounted on the gear rope pulley shaft 203, and the axial displacement is constrained by the axial positioning pin 205. The transmission gear 201 and the intermediate rope pulley 202 are fixed relative to the gear rope pulley shaft 203. Then, when the driving gear 103 at the end of the driving component unit 1 rotates, the transmission gear 201 and the intermediate rope pulley 202 in the two gear rope pulley shaft assemblies 2 can be driven to rotate synchronously. The gear rope pulley shaft 203 is mounted on the gear rope pulley shaft support 204, as shown in FIG. Figure 4 shown.

[0038] The hexagonal shaft 301 is mounted on the hexagonal shaft support 302, and the mounting surface with the hexagonal shaft support 302 is a cylindrical surface, so the hexagonal shaft 301 can rotate freely. The linkage rope pulley 303 is fixedly mounted on the hexagonal shaft 301 and rotates synchronously with the hexagonal shaft 301. The hexagonal section of the hexagonal shaft 301 is fixedly connected to the hexagonal hole metal joint 602 in the bottom support rod assembly 6, as shown in FIG. Figure 5 , Figure 6 shown.

[0039] The rope pulley 401 is installed on the rope pulley support 402 and can rotate freely around the axis. The rope pulley rope stopper 403 is installed on the rope pulley support 402 to prevent the driving rope 8 from accidentally falling off the rope pulley 401. Figure 3 shown.

[0040] The support rod 601 in the bottom support rod assembly 6 is glued and fixed with the hexagonal metal joints 602 at both ends and the hinge joint 604. The hinge joint 604 is penetrated by a hinge shaft 603, and the hinge shaft 603 is installed with a driving rope guide wheel 605 and a driving rope fixing wheel 606. Figure 5 shown.

[0041] The linkage rope 701 in the bottom support rod linkage assembly 7 connects the two linkage rope wheels 303 on the left and right sides, and realizes the guidance and position constraint through the linkage rope guide wheel group 702 installed on the support bottom plate 5, such as Figure 6 shown.

[0042] The center planes of the driving rope guide wheel 605 and the supporting rope wheel 401 coincide with the center plane of the intermediate rope wheel 202 to reduce the additional torque during the unfolding process.

[0043] 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.

[0044] 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 scissor-type unfolding mechanism driving device, characterized in that: The invention comprises a driving unit assembly (1), a gear pulley shaft assembly (2), a bottom support shaft assembly (3), a supporting rope assembly (4), a supporting bottom plate (5), a bottom support rod assembly (6), a bottom support rod linkage assembly (7) and a driving rope (8); two sets of gear pulley shaft assemblies (2), bottom support shaft assemblies (3) and supporting rope assemblies (4) are respectively arranged on the supporting bottom plate (5); the bottom support rod assemblies (6) on both sides are respectively connected to the bottom support shaft assemblies (3); the bottom support rod assembly (6) comprises a driving rope guide wheel (6 05) and a driving rope fixing wheel (606), the driving rope (8) is wound on the gear rope pulley shaft assembly (2), starts from the gear rope pulley shaft assembly (2), bypasses the driving rope guide wheel (605), is supported by the supporting rope assembly (4), and is fixed on the driving rope fixing wheel (606) of the bottom support rod assembly (6) on the other side, the bottom support shaft assemblies (3) on both sides are connected by the bottom support rod linkage assembly (7) and realize synchronous reverse movement, and the driving unit assembly (1) drives the gear rope pulley shaft assembly (2) to realize the driving of the unfolding mechanism.

2. A scissor-type unfolding mechanism driving device according to claim 1, characterized in that: When the driving device is in a folded state, the bottom support rod assembly (6) is in a horizontal state, and the driving rope (8) is supported by the supporting rope assembly (4), so that the height of the driving rope (8) is higher than the height of the driving rope guide wheel (605).

3. A scissor-type unfolding mechanism driving device according to claim 1, characterized in that: The gear and rope shaft assembly (2) comprises a transmission gear (201), an intermediate rope wheel (202), a gear and rope shaft (203) and an axial positioning pin (205); the transmission gear (201) and the intermediate rope wheel (202) are coaxially mounted on the gear and rope shaft (203), and the axial displacement is constrained by the axial positioning pin (205); the transmission gears (201) in the two gear and rope shaft assemblies (2) are meshed with each other, and the driving unit assembly (1) drives the transmission gear (201) and the intermediate rope wheel (202) to rotate synchronously.

4. A scissor-type unfolding mechanism driving device according to claim 3, characterized in that: The driving unit assembly (1) comprises a driving assembly (101) and a driving gear (103). The driving gear (103) is arranged on the driving assembly (101). The driving gear (103) meshes with a transmission gear (201). When the driving device is working, the driving gear (103) drives the transmission gear (201) to rotate, so that the intermediate rope wheel (202) in the gear rope wheel shaft assembly (2) rotates in the opposite direction, driving the driving rope (8) to be continuously tightened so that the bottom support rod assembly rotates.

5. The scissor-type unfolding mechanism driving device according to claim 1, characterized in that: The bottom support shaft assembly (3) comprises a hexagonal shaft (301) and a linkage rope pulley (303). The linkage rope pulley (303) is fixedly mounted on the hexagonal shaft (301) and rotates synchronously with the hexagonal shaft (301). The hexagonal section of the hexagonal shaft (301) is fixedly connected to the bottom support rod assembly (6).

6. A scissor-type unfolding mechanism driving device according to claim 1, characterized in that: The supporting rope assembly (4) comprises a supporting rope wheel (401), a supporting rope wheel support (402) and a supporting rope wheel baffle (403), wherein the supporting rope wheel (401) is mounted on the supporting rope wheel support (402), and the supporting rope wheel baffle (403) is mounted on the supporting rope wheel support (402) to prevent the driving rope (8) from falling off the supporting rope wheel (401).

7. A scissor-type unfolding mechanism driving device according to claim 6, characterized in that: The center planes of the driving rope guide wheel (605) and the supporting rope wheel (401) coincide with each other.

8. The scissor-type unfolding mechanism driving device according to claim 1, characterized in that: The bottom support rod assembly (6) further comprises a support rod (601), a hexagonal hole metal joint (602), a hinge shaft (603) and a hinge joint (604); the two hexagonal hole metal joints (602) are respectively arranged at two ends of the support rod (601); the support rod (601) is fixed to the hexagonal hole metal joint (602) and the hinge joint (604) by adhesive bonding; the hinge joint (604) is penetrated by a hinge shaft (603); and a driving rope guide wheel (605) and a driving rope fixing wheel (606) are arranged on the hinge shaft (603).

9. The scissor-type unfolding mechanism driving device according to claim 1, characterized in that: The bottom support rod linkage assembly (7) comprises a bottom support rod linkage rope (701) and a linkage rope guide wheel group (702); the two ends of the bottom support rod linkage rope (701) are connected to two bottom support shaft assemblies (3), and the linkage rope guide wheel group (702) installed on the support bottom plate (5) realizes guidance and position constraint.

10. The scissor-type unfolding mechanism driving device according to claim 1, characterized in that: The drive assembly unit (1) is mounted and fixed to the support base plate (5) via a drive assembly support (102), the gear rope pulley shaft assembly (2) is mounted and fixed to the support base plate (5) via a gear rope pulley shaft support (204), and the bottom support shaft assembly (3) is mounted and fixed to the support base plate (5) via a hexagonal shaft support (302).

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