Heavy-load torsion-resistant space sleeving type unfolding mechanism

Abstract

The invention discloses a heavy-load anti-torsion space sleeving type unfolding mechanism, and aims to remarkably improve the circumferential positioning precision and the anti-torsion performance of a space sleeving type unfolding arm. The trapezoidal-section guide rails are ingeniously additionally arranged on the inner wall and the outer wall of the sleeve and matched with the wheel type guide mechanism, so that excellent torsion resistance is achieved, and derailing is prevented. Meanwhile, the optimal matching design scheme of the roller groove dip angle and the guide rail dip angle in the wheel type guide mechanism is provided, and efficient operation of the mechanism is ensured. And the base is provided with a linear slotted hole, so that radial movement is allowed, and the mounting and positioning process is simplified. In addition, selection of roller materials can be flexibly adjusted according to specific task requirements so as to adapt to different torque conditions. The design has the characteristics of simplicity, light weight, low cost and no influence on the expansion ratio of the sleeve, is suitable for various scenes needing torsion resistance, greatly enhances the safety and reliability of the space sleeving type expansion mechanism, and provides an efficient and economical solution for stable expansion of a space structure.

Description

Technical Field

[0001] The invention relates to the field of aerospace technology, and in particular to a heavy-load anti-torsion space sleeve-type deployment mechanism. Background Art

[0002] As human beings continue to explore the space, space foldable mechanisms continue to develop. Among them, space telescopic deployment arms are widely used because of their advantages such as large folding ratio and high stiffness.

[0003] The sleeve-type deployment mechanism needs to be locked and fixed by a mechanical mechanism after deployment, so there are certain requirements for the circumferential positioning ability and torsion resistance of the interstage sleeve during the deployment process. Although the existing solutions can withstand large axial loads through locking, they lack special design for torsional load resistance. Usually, certain circumferential positioning is achieved through guide rails and guide grooves. However, when the sleeve-type deployment mechanism is subjected to large torque loads during the deployment process, the inner guide rails are easy to fit with the guide rail grooves, and it is very easy to get stuck, which in turn affects the normal deployment of the mechanism. It is also easy to cause derailment, resulting in mission failure. Summary of the invention

[0004] In view of the above problems, the present invention proposes a heavy-loaded torsion-resistant spatial socket-type deployment mechanism, in which the sliding matching mode of the two-stage sleeve is optimized, and the optimization design of the deployment mechanism is achieved by focusing on the static balance of the deployment mechanism during the deployment process and through the dynamic balance analysis of local single guide rails and multiple guide rails.

[0005] The heavy-load anti-torsion space sleeve-type deployment mechanism of the present invention comprises an innermost sleeve, an outermost sleeve and a plurality of intermediate sleeves; each sleeve is nested inside and outside and has the same cross-sectional shape.

[0006] Among them, N wheel guide mechanisms are installed at equal angles on the bottom of the innermost sleeve. N wheel guide mechanisms are installed at equal angles on the top of the outermost sleeve. N wheel guide mechanisms are installed at equal angles on the top and bottom of the intermediate sleeve, where N is an integer greater than or equal to 3.

[0007] At the same time, N guide rails are designed at equal angles on the outer wall of the innermost sleeve and arranged along the axial direction of the sleeve. N guide rails are designed at equal angles on the inner wall of the outermost sleeve and arranged along the axial direction of the sleeve. N guide rails are designed at equal angles on the inner and outer walls of the intermediate sleeve and arranged along the axial direction of the sleeve, and the positions of the guide rails on the inner and outer walls correspond to each other on the circumference of the sleeve.

[0008] Between adjacent sleeves, the N wheel guide mechanisms at the bottom of the inner sleeve are matched with the N guide rails on the inner wall of the outer sleeve. At the same time, the N wheel guide mechanisms at the top of the outer sleeve are matched with the N guide rails on the outer wall of the inner sleeve. Thus, the sliding expansion between adjacent sleeves is realized; the wheel guide mechanism is matched with the trapezoidal cross-section guide rail through the roller with trapezoidal grooves installed on the circumference.

[0009] Furthermore, the parameter design method of the matching surface between the middle trapezoidal groove of the roller and the guide rail in the present invention is:

[0010] Step 1: Build a dataset.

[0011] The data set is constructed by the number of guide rails x1, the angle θ between the guide rail side wall and the guide rail bottom surface x2, the thickness of the guide rail x3, the top surface width x4, the radius of the sleeve x5, and the friction coefficient of the contact surface between the guide rail and the trapezoidal groove x6.

[0012] Step 2: Based on the data set constructed in step 1, the parameters x1~x6 are changed respectively by controlling the variables, and topology optimization is performed to determine the overall equivalent stiffness of the unfolding mechanism in each case.

[0013] Step 3: Train the neural network model.

[0014] The data sets obtained in steps 1 and 2 are used to perform function fitting using the BP neural network; 80% of them are used as training sets and 20% as test sets. Linear terms plus activation functions are selected to form a nonlinear model. The neural network algorithm is used to optimally determine the unknown parameters in the model, and the function model is determined using the random search method.

[0015] Step 4: Determine the optimal matching surface design between the guide rail and the trapezoidal groove.

[0016] 401. Determine the friction coefficient μ between the materials used for the roller and the guide rail.

[0017] 402. Given the boundary conditions of parameters x1, x2, x3, x4, x5, x6.

[0018] 403. Within the boundary conditions of parameters x1, x2, x3, x4, x5, x6, data of points m1, m2, m3, m4, m5, and m6 are obtained at equal intervals; then, the neural network obtained in step 3 is used to traverse the m1*m2*…*m6 with the best overall equivalent stiffness, and the guide rail parameters corresponding to this case are taken as the design scheme of the optimal guide rail.

[0019] The advantages of the present invention are as follows:

[0020] (1) The heavy-loaded anti-torsion space sleeve-type deployment mechanism of the present invention has a simple and exquisite overall structure, which is convenient for quick assembly and realizes a lightweight design, which significantly reduces the space occupation, thereby reducing the manufacturing cost and improving the economic benefit.

[0021] (2) The heavy-loaded and torsion-resistant space sleeve-type deployment mechanism of the present invention has trapezoidal cross-section guide rails added to the inner and outer walls of the sleeve, and is combined with a specially designed wheel guide mechanism, which solves the limitations of the traditional space sleeve mechanism in torsion resistance and the technical problem of easy derailment of the wheel guide mechanism, ensures the smooth deployment of the sleeve in a complex space environment, and enhances the reliability and stability of the mechanism.

[0022] (3) The heavy-loaded, torsion-resistant, space-sleeved deployment mechanism of the present invention allows for flexible adjustment of the uniform distribution number of the wheeled guide mechanism and the roller material of the wheeled guide mechanism according to specific task requirements. The wheeled guide mechanism base is designed with a slotted hole to achieve adjustable distance between the guide rail and the wheeled guide mechanism, greatly facilitating installation and positioning adjustment, effectively avoiding over-constraint problems caused by machining accuracy errors, and improving the installation accuracy and reliability of the mechanism. Without affecting the sleeve extension / retraction ratio, it demonstrates a high degree of flexibility and adaptability to meet diverse engineering applications.

[0023] (4) The heavy-load anti-torsion spatial sleeve-type deployment mechanism of the present invention optimizes the inclination angle of the matching surface between the guide rail and the roller through the dynamic balance analysis of local single guide rail and multiple guide rails, optimizes the friction performance between the roller and the guide rail, reduces energy loss, and improves the efficiency of the mechanism.

[0024] (5) The heavy-load anti-torsion space sleeve-type deployment mechanism of the present invention, the roller groove shape of the wheel guide mechanism and the cross-sectional shape of the guide rail match each other as the entire sliding matching module, and can be directly applied to other forms of sleeves by designing the matching angle between the two, thereby enhancing the adaptability and versatility of the mechanism. In addition, the selection and calculation of the bearings have been specially considered to ensure stability and durability under different loads and operating conditions, further optimizing the performance of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the deployment state of adjacent layers in the heavy-load anti-torsion space sleeve-type deployment mechanism of the present invention;

[0026] Figure 2 It is a schematic diagram of the folded state of adjacent layers in the heavy-load anti-torsion space sleeve type deployment mechanism of the present invention;

[0027] Figure 3 It is a partial cross-sectional view of the intermediate sleeve structure in the heavy-load anti-torsion space sleeve-type deployment mechanism of the present invention;

[0028] Figure 4It is a schematic diagram of the installation position of the guide rail and the wheel guide mechanism when the heavy-load anti-torsion space sleeve type deployment mechanism of the present invention is designed as a rectangular cross section;

[0029] Figure 5 It is a schematic diagram of the overall structure of the wheel-type guide mechanism in the heavy-load anti-torsion space sleeve-type deployment mechanism of the present invention;

[0030] Figure 6 It is a sectional view of the overall structure of the wheel-type guide mechanism in the heavy-load anti-torsion space sleeve-type deployment mechanism of the present invention;

[0031] Figure 7 It is a flow chart of the method for designing the matching surface between the wheel-type guide mechanism and the guide rail in the heavy-load anti-torsion space sleeve-type deployment mechanism of the present invention;

[0032] Figure 8 It is a schematic diagram of the torsion angle of adjacent sleeves after being subjected to torsion force;

[0033] Fig. 9 Schematic diagram of the five states during the deployment of the three-stage sleeve.

[0034] In the figure:

[0035] 1-wheel guide mechanism 2-guide rail 101-roller 102-bearing 103-pin 104-circlip

[0036] 105-base 106-gasket 107-groove 408-slotted hole DETAILED DESCRIPTION

[0037] The present invention will be further described in detail with reference to the accompanying drawings.

[0038] The heavy-load anti-torsion space sleeve-type deployment mechanism of the present invention comprises an innermost sleeve, an outermost sleeve and a plurality of intermediate sleeves, and a wheel guide mechanism 1 installed on each sleeve. Figure 1 , Figure 2 As shown, the sleeves of each level are nested inside and outside, and have the same cross-sectional shape.

[0039] The innermost sleeve 1 has N wheel guide mechanisms 1 installed at equal angles on the bottom circumference; the outermost sleeve 2 has N wheel guide mechanisms 1 installed at equal angles on the top circumference; the middle sleeve 1 has N wheel guide mechanisms installed at equal angles on the top and bottom circumferences. Figure 3 As shown, N is greater than or equal to 3.

[0040] At the same time, N guide rails 2 arranged along the axial direction of the sleeve are designed at equal angles on the outer wall of the innermost sleeve 1; N guide rails 2 arranged along the axial direction of the sleeve are designed at equal angles on the inner wall of the outermost sleeve 2; N guide rails 2 are designed along the axial direction of the sleeve at equal angles on the inner and outer walls of the intermediate sleeve 3, and the positions of the guide rails 2 on the inner and outer walls correspond to each other on the circumference of the sleeve, such as Figure 3 shown.

[0041] Between adjacent sleeves, the N wheeled guide mechanisms 1 at the bottom end of the inner sleeve respectively cooperate with the N guide rails 2 on the inner wall of the outer sleeve, and can roll along the guide rails 2; at the same time, the N wheeled guide mechanisms 1 at the top end of the outer sleeve respectively cooperate with the N guide rails 2 on the outer wall of the inner sleeve, and can roll along the guide rails 2, thereby realizing sliding expansion between adjacent sleeves.

[0042] In the present invention, the sleeve cross section can be any polygonal, circular or elliptical. For a sleeve with a polygonal cross section, the design position of the sleeve circumferential guide rail 2 and the installation position of the wheel guide mechanism 1 can be located at each angle of the polygon, such as Figure 4 As shown; for a sleeve with a circular or elliptical cross-section, the design position of the sleeve circumferential guide rail and the installation position of the wheel guide mechanism 4 can be uniformly distributed in more than three circumferential directions.

[0043] In the present invention, the wheel guide mechanism 1 is composed of a roller 101, a bearing 102, a latch 103, a retaining spring 104 and a base 105. Figure 5 , Figure 6 The roller 101 is a cylindrical structure sleeved on the latch; bearing mounting grooves are provided at both ends of the roller 101, and the two ends of the roller 101 are connected to the latch 103 through bearings to form a rotating pair; the outer ring of the bearing 102 is limited by the annular step in the middle of the inner wall of the roller 101.

[0044] The two ends of the above-mentioned latch 103 pass through the openings on the left support 105a and the right support 105b designed on the top surface of the base 105, and the axial limit is installed by the end of the latch 103. At the same time, a gasket 106 is sleeved on the latch 103 between the bearing 102 and the left and right supports to limit the inner ring of the bearing 102.

[0045] A groove 107 is formed in the middle of the roller 101 along the axial direction, and the left and right walls and bottom of the groove 107 respectively match the left and right walls and outer wall of the guide rail 2. At the same time, two sides of the base are designed with slotted holes 408, and screws are passed through the slotted holes to connect and fix the base with the sleeve; and during the installation process, the distance between the guide rail 2 and the wheel guide mechanism can be adjusted, effectively avoiding the over-constraint problem caused by machining accuracy errors.

[0046] The present invention also provides a method for optimizing the design of the matching surface between the guide rail 2 and the roller 101. The width and thickness of the top surface of the guide rail 2 and the angle θ between the side wall of the guide rail 2 and the bottom surface of the guide rail 2 (the interface between the guide rail 2 and the sleeve) correspond to the width and depth of the bottom surface of the roller 101 and the angle θ between the side wall and the bottom surface of the groove 107 on the roller 101, respectively. Among them, the value of the angle θ has a particularly important influence on the fit between the roller 101 and the guide rail. Assuming that the circumferential force is balanced during the expansion of the sleeve, if the groove 107 is not provided, circumferential misalignment and deflection will occur between the two-stage sleeves during the expansion process; if the groove 107 is designed, but the groove 107 and the guide rail 2 on both sides are not tilted, and the two are matched in a "concave" shape, when the two-stage sleeve is subjected to torsional force, it will cause excessive friction and cause jamming. Therefore, under the premise that the matching surfaces of the groove 107 and the guide rail 2 on both sides are inclined, the inclination angle θ is determined by the following method to ensure that the groove 107 and the guide rail 2 can play both a guiding role and an anti-torsion role during the expansion of the two-stage sleeve.

[0047] Since the six parameter variables including the number of guide rails x1 (x1 is an integer), the angle θ between the side wall of guide rail 2 and the bottom surface of guide rail 2 x2, the thickness of guide rail x3, the top surface width x4, the radius of sleeve x5 and the friction coefficient x6 between the contact surface of guide rail 2 and the groove on roller 101 will affect the overall stiffness of the deployment mechanism, the BP neural network model is used in the present invention to perform function fitting to realize the guide rail design, such as Figure 7 As shown, the specific steps are as follows:

[0048] Step 1: Build the dataset

[0049] In this process, all situations should be included as much as possible, such as the number of guide rails is 1, 2, 3...60, with a total of 60 data; the angle θ between the side wall of guide rail 2 and the bottom surface of guide rail 2 is set in the range of 0-90°, with a point taken every 0.5°, with a total of 180 data; the thickness of guide rail 2 is set in the range of 0-5mm, with a point taken every 0.1mm, with a total of 50 data; the top surface width of guide rail 2 is set in the range of 0-7mm, with a point taken every 0.1mm, with a total of 70 data; the radius of the sleeve is set in the range of 0-1200mm, with a point taken every 10mm, with a total of 120 data; and the friction coefficient of the contact surface is set in the range of 0.1-0.8, with a point taken every 0.05, with a total of 14 data, so the total is 60*180*50*70*120*14 data.

[0050] Step 2: Based on the data set constructed in step 1, the parameters x1~x6 are changed respectively by controlling the variables, and topology optimization is performed to determine the overall equivalent stiffness of the unfolding mechanism in each case.

[0051] 201. When the sleeves at each stage are in a fully expanded state, a torque M is applied to the top of the innermost sleeve, and strain is generated in the circumferential direction of the sleeves at each stage. The average strain of the sleeves at each stage is calculated by finite element software.

[0052] 202. Calculate the equivalent stiffness of sleeves at each level.

[0053] The calculation formula of equivalent stiffness K is:

[0054]

[0055] Where θ is the average torsion angle (equivalent torsion angle):

[0056]

[0057] ε is the average strain, and r is the radius of the sleeve. Figure 8 As shown, the black dotted line is the symmetry center of the guide rail before the torsion force, and the red dotted line is the symmetry center of the guide rail after the torsion force. Among them, the equivalent stiffness K is also affected by the number of guide rails on the circumference of each sleeve. The more the number, the better the stiffness, but at the same time, problems such as over-constraint and no spatial layout may occur.

[0058] 203. Determine the equivalent stiffness of the overall deployment mechanism when each level of sleeves is deployed.

[0059] Since the deployment mechanism of the present invention can be regarded as a beam with a variable cross-section, taking the three-stage sleeve as an example, five states of the entire sleeve during the deployment process can be obtained, which are divided into: Fig. 9 The five sections shown include the outermost level (stiffness K1), the unfolded level (stiffness K2), the middle level (stiffness K3), the in-place level (stiffness K4) and the innermost level (stiffness K5); based on the idea of ​​segmentation, the variable cross-section beam is divided into a combination of several interconnected sections. When the number of sections is large enough, each section is regarded as a beam of uniform cross-section. Therefore, the equivalent stiffness of the overall beam can be expressed as:

[0060]

[0061] Among them, (K) i is the overall equivalent stiffness; x i is the x-axis position coordinate of the bottom end of the i-th sleeve in the sleeve coordinate system O(x, y), i+1 is the x-axis position coordinate of the next segment in the sleeve coordinate system O(x, y). The origin of the above sleeve coordinate system is located on the bottom surface of the outermost sleeve, the x-axis is parallel to the sleeve axis, and the y-axis is perpendicular to the sleeve axis; l 1 It is the total length of the deployment mechanism when it is deployed.

[0062] Substitute the equivalent stiffness K of each stage sleeve calculated by 202 into formula (3) to obtain the overall equivalent stiffness of the deployment mechanism.

[0063] Step 3: Train the neural network model

[0064] The data set obtained in steps 1 and 2 is used for function fitting using the BP neural network, with 80% used as the training set and 20% as the test set. A linear term plus an activation function is selected to form a nonlinear model. The neural network algorithm is used to optimally determine the unknown parameters in the model, and the function model is determined using the random search method, thereby achieving a good fitting effect. The test set is then used to test the fit of the trained neural network. If the fit is too low, the parameters are adjusted and retrained. This function model is equivalent to F(x) = K(x1, x2, x3, x4, x5, x6); where K(·) represents the influence of the variable.

[0065] Step 4: Determine the optimal matching surface design between the guide rail 2 and the groove 107 .

[0066] 401. Determine the friction coefficient μ between the materials used for the roller 101 and the guide rail 2;

[0067] 402. According to the self-locking when the friction coefficient μ=tanθ, the friction angle θ1 between the side wall of the groove 107 in the middle of the roller 101 and the contact surface of the guide rail side wall can be calculated, and then a reference slope angle can be obtained; a reference range is made near the friction angle θ1, that is, the boundary condition of the given angle x2; at the same time, the materials of the sleeve and the wheel guide mechanism 1 are determined according to the working conditions, and then the boundary conditions of the sleeve radius x5 and the friction coefficient x6 are determined; then, the number of wheel guide mechanisms installed on the flange can be determined according to the sleeve radius, and the boundary conditions of the number of guide rails x1 are determined, and finally, the boundary conditions of the thickness x2 and width x3 are given according to the design requirements of the sleeve.

[0068] 404. Within the boundary conditions of parameters x1, x2, x3, x4, x5, x6, data of points m1, m2, m3, m4, m5, and m6 are taken at equal intervals. Then, the neural network obtained in step 3 is used to traverse the best overall equivalent stiffness among m1*m2*…*m6, and the guide rail parameters corresponding to this situation are taken as the design scheme of the optimal guide rail (the number of guide rails on each level of sleeve is the same by default).

Claims

1. A heavy-load torsion-resistant space sleeve-type deployment mechanism, comprising an innermost sleeve, an outermost sleeve and a plurality of intermediate sleeves; each sleeve is nested inside and outside and has the same cross-sectional shape; the characteristics are: N wheel guide mechanisms are installed at equal angles on the circumference of the bottom end of the innermost sleeve; N wheel guide mechanisms are installed at equal angles on the circumference of the top end of the outermost sleeve; N wheel guide mechanisms are installed at equal angles on the circumference of the top and bottom ends of the intermediate sleeve, where N is an integer greater than or equal to 3; At the same time, N guide rails are designed at equal angles on the outer wall of the innermost sleeve and arranged along the axial direction of the sleeve; N guide rails are designed at equal angles on the inner wall of the outermost sleeve and arranged along the axial direction of the sleeve; N guide rails are designed at equal angles on the inner wall and outer wall of the intermediate sleeve and arranged along the axial direction of the sleeve, and the positions of the guide rails on the inner and outer walls on the circumference of the sleeve correspond to each other; Between adjacent sleeves, the N wheel guide mechanisms at the bottom end of the inner sleeve are respectively matched with the N guide rails on the inner wall of the outer sleeve; at the same time, the N wheel guide mechanisms at the top end of the outer sleeve are respectively matched with the N guide rails on the outer wall of the inner sleeve; thereby realizing the sliding expansion between adjacent sleeves; the above wheel guide mechanisms are matched with the trapezoidal cross-section guide rails through rollers with trapezoidal grooves installed on the circumference thereof; The design method of the parameters of the matching surface between the trapezoidal groove in the middle of the roller and the guide rail is as follows: Step 1: Build a dataset; The data set is constructed by the number of guide rails x1, the angle θ between the side wall of the guide rail and the bottom surface of the guide rail x2, the thickness of the guide rail x3, the top surface width x4, the radius of the sleeve x5, and the friction coefficient of the contact surface between the guide rail and the trapezoidal groove x6; Step 2: Based on the data set constructed in step 1, the parameters x1 to x6 are changed respectively by controlling the variables to perform topology optimization and determine the overall equivalent stiffness of the unfolding mechanism in each case; Step 3: Train the neural network model; The data sets obtained in steps 1 and 2 are used to perform function fitting using a BP neural network, with 80% of the data used as a training set and 20% used as a test set. A linear term plus an activation function is selected to form a nonlinear model. The neural network algorithm is used to optimally determine the unknown parameters in the model, and the function model is determined using a random search method. Step 4: Determine the optimal matching surface design between the guide rail and the trapezoidal groove; 401. Determine the friction coefficient μ between the materials used for the roller and the guide rail; 402. Boundary conditions of given parameters x1, x2, x3, x4, x5, x6; 403. Within the boundary conditions of parameters x1, x2, x3, x4, x5, x6, data of points m1, m2, m3, m4, m5, and m6 are obtained at equal intervals; then, the neural network obtained in step 3 is used to traverse the m1*m2*…*m6 with the best overall equivalent stiffness, and the guide rail parameters corresponding to this case are taken as the design scheme of the optimal guide rail.

2. The heavy-load torsion-resistant space sleeve deployment mechanism according to claim 1, characterized in that: The cross-section of the sleeve can be any polygonal, circular or elliptical shape; for a sleeve with a polygonal cross-section, the design position of the sleeve circumferential guide and the installation position of the wheel guide mechanism are located at each angle of the polygon; for a sleeve with a circular or elliptical cross-section, the design position of the sleeve circumferential guide and the installation position of the wheel guide mechanism are evenly distributed in more than three circumferential directions.

3. The heavy-load torsion-resistant space sleeve deployment mechanism according to claim 1, characterized in that: The wheel guide mechanism structure consists of rollers, bearings, latches, retaining springs and a base; the roller is sleeved on the latch, and both ends are connected to the latch through bearings to form a rotating pair; the outer ring of the bearing is limited by an annular step in the middle of the inner wall of the roller; both ends of the latch are supported by a support frame designed on the top surface of the base, and the retaining spring is installed axially at the end of the latch; at the same time, a gasket is sleeved on the latch between the bearing and the left and right supports to limit the inner ring of the bearing.

4. The heavy-load torsion-resistant space sleeve deployment mechanism as claimed in claim 1, characterized in that: The number of guide rails is 1, 2, 3...60, for a total of 60 data; the angle θ between the side wall of the guide rail and the bottom surface of the guide rail is set in the range of 0-90°, with a point taken every 0.5°, for a total of 180 data; the guide rail thickness is set in the range of 0-5mm, with a point taken every 0.1mm, for a total of 50 data; the guide rail top surface width is set in the range of 0-7mm, with a point taken every 0.1mm, for a total of 70 data; the sleeve radius range is set to 0-1200mm, with a point taken every 10mm, for a total of 120 data; the friction coefficient of the contact surface is set in the range of 0.1-0.8, with a point taken every 0.05, for a total of 14 data, for a total of 60*180*50*70*120*14 data.

5. The heavy-load torsion-resistant space sleeve deployment mechanism as claimed in claim 1, characterized in that: The specific method of step 2 is as follows: first, when the sleeves at each stage are in a fully expanded state, a torque M is applied to the top of the innermost sleeve, strain is generated in the circumferential direction of the sleeves at each stage, and the average strain of the sleeves at each stage is calculated by finite element software; Subsequently, the equivalent stiffness of each level of sleeves is calculated; The calculation formula of equivalent stiffness K is: Where θ is the average twist angle: ε is the average strain, r is the radius of the sleeve; Further: Determine the equivalent stiffness of the overall deployment mechanism when the sleeves at each level are deployed: Among them, (K) i is the overall equivalent stiffness; x i is the x-axis position coordinate of the bottom end of the i-th sleeve in the sleeve coordinate system O(x, y), i+1 is the x-axis position coordinate of the next section in the sleeve coordinate system O(x, y); the origin in the above sleeve coordinate system is located on the bottom surface of the outermost sleeve, the x-axis is parallel to the sleeve axis, and the y-axis is perpendicular to the sleeve axis; l1 is the total length of the unfolding mechanism in the unfolded state.

6. The heavy-load torsion-resistant space sleeve deployment mechanism as claimed in claim 1, characterized in that: In sub-step 402 of step 4, based on the self-locking when the friction coefficient μ=tanθ, the friction angle θ1 between the contact surface of the trapezoidal groove side wall and the guide rail side wall is calculated as the reference slope angle, and a reference range is made near θ1, which is the boundary condition of the angle x2; the materials of the sleeve and the wheel guide mechanism are determined according to the working conditions, and the boundary conditions of the sleeve radius x5 and the friction coefficient x6 are further determined; the number of wheel guide mechanisms installed on the flange is determined according to the sleeve radius, which is the boundary condition of the guide rail number x1, and finally the boundary conditions of the thickness x2 and width x3 are given according to the design requirements of the sleeve.

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