Mechanical-electric-thermal fusion micro-drive mechanism for space

Abstract

The application discloses a space electromechanical thermal fusion type micro driving mechanism, which comprises an external structure and a drive control integrated shaft system; the external structure comprises a left outer surface assembly, a right outer surface assembly, a load support, a back cover plate, a fine measurement lens assembly, a locking assembly and a front cover plate; the left outer surface assembly comprises a left shaft system support, a left connector panel, a left adapter support and a left support locking nut; the right outer surface assembly comprises a right shaft system support, a right connector panel, a right adapter support and a right support locking nut; the drive control integrated shaft system comprises a core shaft assembly, a control assembly, a bottom cover plate, a connector assembly and a micro stress detection device; the core shaft assembly comprises, from left to right, a core shaft, a left bearing locking nut, a left bearing seat, a left bearing spacer, a left bearing, a permanent magnet synchronous motor, a right bearing spacer, a right bearing, a right bearing seat and a right bearing locking nut. The application has a long service life, high precision, programming and information processing capabilities.

Description

Technical Field

[0001] This invention relates to the field of spacecraft and satellite drive mechanism technology, specifically to a space electromechanical-thermal fusion micro-drive mechanism. Background Technology

[0002] With the increasing demand for micro and nano satellite applications, space-based electromechanical-thermal integrated micro-drive mechanisms are suitable for high-precision payloads on spacecraft and satellites, as well as other mechanisms requiring high-precision, long-life pointing motion and position holding, such as the stable pointing of the optical axis of a space imaging camera and target tracking. Their performance requirements include: high-precision pointing and position holding, long-life rotation, on-orbit programming and information processing capabilities, and resistance to dynamic and space environments. Existing drive mechanisms for spacecraft and satellites mostly employ single-stage or multi-stage deceleration or direct drive with brakes, which do not meet the requirements for long life and full-cycle reliability. Furthermore, most space drive mechanisms use a controller-mechanical separation design, which cannot meet the requirements for electromechanical-thermal integration and lightweight design.

[0003] Because the drive mechanisms of spacecraft and satellites are exposed to the harsh vacuum environment for extended periods, operating under variable speed and stable conditions with long lifespans, they require high-precision pointing, high-precision stability, and programming and information processing capabilities. Furthermore, the control components are embedded in the bottom of the mechanism, achieving a tight integration of the mechanical and electrical systems. With the miniaturization and lightweighting of spacecraft mechanisms, existing drive mechanisms cannot meet these requirements. Currently, there are no similar electromechanical-thermal integrated micro-drive mechanisms for space applications in China, nor are there any related technical descriptions or reports found in domestic or international materials. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a space-use electromechanical-thermal integrated micro-drive mechanism.

[0005] The technical solution of this invention is:

[0006] A space-use electromechanical-thermal integrated micro-drive mechanism includes an external structure and an integrated drive and control shaft system. The external structure includes a left outer component, a right outer component, a load support, a rear cover plate, a precision measuring mirror assembly, a locking assembly, and a front cover plate. The left outer component includes a left shaft system support, a left connector panel, a left adapter bracket, and a left bracket locking nut. The right outer component includes a right shaft system support, a right connector panel, a right adapter bracket, and a right bracket locking nut.

[0007] The left and right shaft system brackets form a cube; the front, rear, left, and right sides of the cube are respectively provided with a front cover plate, a rear cover plate, a left connector panel, and a right connector panel;

[0008] The locking assembly is fixed to the front cover plate;

[0009] The load support is located above the front cover plate;

[0010] The precision measuring mirror assembly is fixed to the right side of the rear cover plate; the precision measuring mirror assembly is used for installation and calibration or as a reference for assembly and fitting accuracy.

[0011] The space-use electromechanical-thermal fusion micro-drive mechanism is defined by three coordinate systems: a mechanical coordinate system, a calibration coordinate system, and a zero-position coordinate system. The mechanical coordinate system's origin is defined as the intersection of the base's bottom surface and the mounting hole's axis. The axes are defined as the normal to the base's bottom surface and the rotation direction of the mandrel, determined by the right-hand rule. The calibration coordinate system is based on the calibration precision measuring mirror assembly. Its three axes coincide with the orthogonal three normals of the precision measuring mirror assembly, and their directions are consistent with the mechanical coordinate system. The origin is at the intersection of the orthogonal three normals of the precision measuring mirror assembly. The zero-position coordinate system is defined on the mandrel of the mechanism, parallel to the mechanical coordinate system axes. Using the right-hand rule, when positive angle data is injected, the space-use electromechanical-thermal fusion micro-drive mechanism drives the load support to rotate forward; when negative angle data is injected, the space-use electromechanical-thermal fusion micro-drive mechanism drives the load support to rotate backward.

[0012] The integrated drive and control shaft system includes a spindle assembly, a control assembly, a bottom cover plate, a connector assembly, and a micro-stress detection device; the spindle assembly, from left to right, includes a spindle, a left bearing lock nut, a left bearing housing, a left bearing spacer, a left bearing, an angle measuring assembly, a permanent magnet synchronous motor, a right bearing spacer, a right bearing, a right bearing housing, and a right bearing lock nut.

[0013] The permanent magnet synchronous motor includes a motor rotor and a motor stator; the permanent magnet synchronous motor has wide speed adjustment adaptability, large holding torque, high output torque, simple drive circuit, and long service life. It can run continuously under high speed dynamic requirements or even stall conditions, and is widely used in high-precision speed or position servo systems.

[0014] The left adapter bracket is connected to the left end of the spindle via a left bracket locking nut; the right adapter bracket is connected to the right end of the spindle via a right bracket locking nut.

[0015] The angle measuring component is a 20-bit split magnetic encoder driven by magnetoelectric technology and has unique interference shielding technology; the angle measuring component is used to measure the speed and angle of load rotation and is used for closed-loop control of permanent magnet synchronous motor.

[0016] The spindle assembly is fixed to the left and right shaft supports by a pair of angular contact ball bearings at both ends, achieving high dynamic environment resistance and dual-axis output.

[0017] The spindle assembly is connected to the left and right rotating brackets at both ends of the spindle, enabling the load bracket to rotate. Through algorithm adaptation in the control component, high-precision pointing and position holding of the load are achieved. Closed-loop control of the control component enables the motor to drive the load bracket to rotate, ultimately achieving high-precision pointing and high-precision stability.

[0018] The control component is located adjacent to the connector component, which facilitates the shortest cable routing path.

[0019] The bottom cover plate is made of aluminum alloy to protect the control components from foreign objects and improve their radiation resistance.

[0020] The bottom cover plate main control chip uses an FPGA as the processor to receive commands sent from the external RS422 interface, parse them to form a PWM drive control signal for the permanent magnet synchronous motor, and the drive signal is connected to the motor drive chip DRV8312 to drive the permanent magnet synchronous motor. At the same time, the precise position of the motor end mechanism is obtained by relying on the magnetic code disk to form a closed-loop control of the motor and to perform actions according to the external communication commands.

[0021] The control component is located in the internal structure, with its two ends fixed to the left shaft support and the right shaft support, respectively. Communication and power supply are achieved through connector components on the left connector panel and the right connector panel.

[0022] The locking assembly is used to ensure the front cover plate and the load support are locked during the rocket's active phase, restricting their free rotation. After the locking assembly is unlocked in orbit, its position is controlled by the control assembly, allowing the load support to rotate or maintain its position.

[0023] The left and right shaft supports are spliced ​​together to form a cavity. This cavity has a thin wall with micro-stress detection devices embedded on all four sides. It uses the differential principle to detect minute strain changes in response to temperature changes. Furthermore, the stable microspace formed by the cavity achieves gradual temperature change and stabilization with a temperature control accuracy of 0.5 degrees Celsius.

[0024] The beneficial effects of this invention are as follows:

[0025] (1) It meets the requirements of variable speed and stable pointing operation, has a long lifespan, and requires high-precision pointing, high-precision stability and programming and information processing capabilities.

[0026] (2) Use a pair of angular contact ball bearings at both ends for support to improve full-cycle reliability;

[0027] (3) To meet the needs of strong spatial radiation and integration, the control components are embedded in the bottom of the mechanism to achieve close integration of the mechanical mechanism and the electrical system. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the external shape of a space electromechanical-thermal integrated micro-drive mechanism according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic cross-sectional view of the drive shaft system of a micro-drive mechanism using electromechanical-thermal fusion according to an embodiment of the present invention;

[0031] Figure 3 This is a schematic half-sectional view of a space electromechanical-thermal integrated micro-drive mechanism according to an embodiment of the present invention.

[0032] Figure 4 This is a schematic diagram of the rotation range of a space electromechanical-thermal integrated micro-drive mechanism according to an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the coordinate system definition for a space-use electromechanical-thermal integrated micro-drive mechanism according to an embodiment of the present invention;

[0034] In the diagram: 1 is the left shaft support; 2 is the left connector panel; 3 is the left adapter support; 4 is the left support locking nut; 5 is the load support; 6 is the rear cover plate; 7 is the precision measuring mirror assembly; 8 is the front cover plate; 9 is the locking assembly; 10 is the right shaft support; 11 is the right connector panel; 12 is the right adapter support; 13 is the right support locking nut; 14 is the left bearing locking nut; 15 is the left bearing housing; 16 is the left bearing spacer; 17 is the left bearing; 18 is the angle measuring assembly; 19 is the motor rotor; 20 is the motor stator; 21 is the spindle; 22 is the control assembly; 23 is the bottom cover plate; 24 is the connector assembly; 25 is the right bearing spacer; 26 is the right bearing; 27 is the right bearing housing; 28 is the right bearing locking nut; 29 is the micro-stress detection device.

[0035] Specific implementation methods

[0036] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0037] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0038] The specific technology is as follows:

[0039] like Figure 1 As shown, a space-use electromechanical-thermal integrated micro-drive mechanism includes an external structure and an integrated drive and control shaft system. The external structure includes a left outer component, a right outer component, a load support 5, a rear cover plate 6, a precision measuring mirror assembly 7, a locking assembly 9, and a front cover plate 8. The left outer component includes a left shaft system support 1, a left connector panel 2, a left adapter bracket 3, and a left bracket locking nut 4. The right outer component includes a right shaft system support 10, a right connector panel 11, a right adapter bracket 12, and a right bracket locking nut 13.

[0040] The left shaft support 1 and the right shaft support 10 form a cube; the front, back, left and right sides of the cube are respectively provided with a front cover plate 8, a rear cover plate 6, a left connector panel 2 and a right connector panel 11;

[0041] The locking assembly 9 is fixed to the front cover plate 8;

[0042] The load support 5 is located above the front cover plate 8;

[0043] The precision measuring mirror assembly 7 is fixed to the right side of the rear cover plate 6; the precision measuring mirror assembly 7 is used for installation and calibration or as a reference for assembly and fitting accuracy.

[0044] like Figure 5 As shown, the space-use electromechanical-thermal fusion micro-drive mechanism is defined by including a mechanical coordinate system, a calibration coordinate system, and a zero-position coordinate system. The mechanical coordinate system of the space-use electromechanical-thermal fusion micro-drive mechanism has its origin defined as the intersection of the base bottom surface and the axis of the mounting hole. The axes are defined as the normal to the base bottom surface and the rotation direction of the spindle of the space-use electromechanical-thermal fusion micro-drive mechanism, determined by the right-hand rule. The calibration coordinate system of the space-use electromechanical-thermal fusion micro-drive mechanism is defined based on the calibration precision measuring mirror assembly. The three axes point to the orthogonal three normals of the precision measuring mirror assembly 7, and their directions are consistent with the mechanical coordinate system. The origin is at the intersection of the orthogonal three normals of the precision measuring mirror assembly 7. The zero-position coordinate system of the space-use electromechanical-thermal fusion micro-drive mechanism is defined on the spindle 21 of the mechanism, and the spindle 21 is parallel to the axes of the mechanical coordinate system. Referring to the direction and following the right-hand rule, when positive angle data is injected, the space electromechanical-thermal fusion micro-drive mechanism drives the load support 5 to rotate forward, and when negative angle data is injected, the space electromechanical-thermal fusion micro-drive mechanism drives the load support 5 to rotate backward.

[0045] like Figure 2 As shown, the integrated drive and control shaft system includes a spindle assembly, a control assembly 22, a bottom cover plate 23, a connector assembly 24, and a micro-stress detection device 29; the spindle assembly includes, from left to right, a spindle 21, a left bearing locking nut 14, a left bearing seat 15, a left bearing spacer 16, a left bearing 17, an angle measuring assembly 18, a permanent magnet synchronous motor, a right bearing spacer 25, a right bearing 26, a right bearing seat 27, and a right bearing locking nut 28;

[0046] The permanent magnet synchronous motor includes a motor rotor 19 and a motor stator 20. The permanent magnet synchronous motor has wide speed adjustment adaptability, large holding torque, high output torque, simple drive circuit, and long service life. It can run continuously under high speed dynamic requirements or even stall conditions, and is widely used in high-precision speed or position servo systems.

[0047] The left adapter bracket 3 is connected to the left end of the spindle 21 via the left bracket locking nut 4; the right adapter bracket 12 is connected to the right end of the spindle 21 via the right bracket locking nut 13.

[0048] The angle measuring component 18 is a 20-bit split magnetic encoder driven by magnetoelectric technology and has unique interference shielding technology; the angle measuring component 18 is used to measure the speed and angle of load rotation and is used for closed-loop control of permanent magnet synchronous motor.

[0049] The spindle assembly is fixed to the left shaft support 1 and the right shaft support 10 by a pair of angular contact ball bearings at both ends, achieving high dynamic environment resistance and dual-axis output.

[0050] like Figure 3 As shown, the spindle assembly is connected to the left rotating bracket 3 and the right rotating bracket 12 at both ends of the spindle 21, enabling the load bracket 5 to rotate. The load bracket 5 achieves high-precision pointing motion and position holding through algorithm adaptation by the control component 22. Closed-loop control by the control component 22 drives the motor to rotate the load bracket 5, ultimately achieving high-precision pointing and high-precision stability.

[0051] The control component 22 is located adjacent to the connector component 24, which facilitates the routing of the cable with the shortest path.

[0052] The bottom cover plate 23 is made of aluminum alloy to protect the control component 22 from foreign objects and improve its radiation resistance.

[0053] The bottom cover 23 uses an FPGA as its main control chip. It receives commands from the external RS422 interface, parses them, and forms a PWM drive control signal for the permanent magnet synchronous motor. The drive signal is connected to the motor drive chip DRV8312 to drive the permanent magnet synchronous motor. At the same time, it obtains the precise position of the motor end mechanism by relying on the magnetic code disk, forming a closed-loop control of the motor and performing actions according to the external communication commands.

[0054] The control component 22 is located in the internal structure, with its two ends fixed to the left shaft support 1 and the right shaft support 10, respectively. Communication and power supply are achieved through the connector components on the left connector panel 2 and the right connector panel 11.

[0055] like Figure 4 As shown, the locking assembly 9 is used to ensure the locking of the front cover plate 8 and the load support 5 during the rocket's active phase, restricting their free rotation. After the locking assembly 9 is unlocked in orbit, its position is controlled by the control assembly 22, allowing the load support 5 to rotate or maintain its position.

[0056] The left shaft support 1 and the right shaft support 10 are spliced ​​together to form a cavity. The cavity has a thin wall and a micro-stress detection device 29 embedded on all four sides. The differential principle is used to detect small strain changes and temperature changes. Furthermore, the stable microspace formed by the cavity is used to achieve gradual temperature change and stabilization, with a temperature control accuracy of 0.5 degrees Celsius.

[0057] The embodiments of the present invention described above are merely illustrative of the invention. These embodiments were selected and specifically described to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize it. The embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification, and all of these fall within the scope of protection of the present invention.

Claims

1. A space-use electromechanical-thermal integrated micro-drive mechanism, characterized in that, It includes an external structure and an integrated drive and control shaft system; The external structure includes a left outer component, a right outer component, a load bracket (5), a rear cover plate (6), a precision measuring mirror component (7), a locking component (9), and a front cover plate (8); the left outer component includes a left axis bracket (1), a left connector panel (2), a left adapter bracket (3), and a left bracket locking nut (4); the right outer component includes a right axis bracket (10), a right connector panel (11), a right adapter bracket (12), and a right bracket locking nut (13). The left shaft support (1) and the right shaft support (10) form a cube; the front, back, left and right sides of the cube are respectively provided with a front cover plate (8), a rear cover plate (6), a left connector panel (2) and a right connector panel (11). The locking assembly (9) is fixed to the front cover plate (8); The load support (5) is located above the front cover plate (8); The precision measuring mirror assembly (7) is fixed to the right side of the rear cover plate (6) for installation and calibration or as a reference for assembly and assembly accuracy; The integrated drive and control shaft system includes a spindle assembly, a control assembly (22), a bottom cover plate (23), a connector assembly (24), and a micro-stress detection device (29). The spindle assembly, from left to right, includes a spindle (21), a left bearing locking nut (14), a left bearing housing (15), a left bearing spacer (16), a left bearing (17), an angle measuring assembly (18), a permanent magnet synchronous motor, a right bearing spacer (25), a right bearing (26), a right bearing housing (27), and a right bearing locking nut (28). The permanent magnet synchronous motor includes a motor rotor (19) and a motor stator (20). The left adapter bracket (3) is connected to the left end of the spindle (21) via the left bracket locking nut (4); the right adapter bracket (12) is connected to the right end of the spindle (21) via the right bracket locking nut (13); The spindle assembly is fixed to the left shaft support (1) and the right shaft support (10) by a pair of angular contact ball bearings at both ends. The control component is embedded in the bottom of the micro-drive mechanism. The two ends of the control component are fixed to the left shaft support (1) and the right shaft support (10) respectively. Communication and power supply are realized through the connector components on the left connector panel (2) and the right connector panel (11). The left shaft support (1) and the right shaft support (10) are spliced ​​to form a cavity. A micro-stress detection device (29) is embedded on the four thin walls of the cavity. The micro-stress detection device (29) uses the differential principle to detect small strain changes in response to temperature changes, and uses the stable micro-space formed by the cavity to achieve gradual temperature change and stabilization.

2. The space electromechanical-thermal integrated micro-drive mechanism as described in claim 1, characterized in that, The angle measuring component (18) is a 20-bit split magnetic encoder driven by magnetoelectric technology and possesses unique interference shielding technology.

3. The space electromechanical-thermal integrated micro-drive mechanism as described in claim 1, characterized in that, The spindle assembly is connected to the left rotating bracket (3) and the right rotating bracket (12) at both ends of the spindle (21) to realize the rotation of the load bracket (5), and realizes the high-precision pointing motion and position holding of the load through the algorithm adaptation of the control component (22).

4. The space electromechanical-thermal integrated micro-drive mechanism as described in claim 1, characterized in that, The bottom cover plate (23) is made of aluminum alloy to protect the control component (22) from foreign objects and improve its radiation resistance.

5. A space-use electromechanical-thermal integrated micro-drive mechanism as described in claim 1, characterized in that, The bottom cover (23) uses an FPGA as its main control chip.

6. The space electromechanical-thermal integrated micro-drive mechanism as described in claim 1, characterized in that, The locking assembly (9) locks the front cover plate (8) and the load support (5) in the active section of the rocket, restricting their free rotation. After entering orbit, it unlocks and releases their degrees of freedom.

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