A heavy-load anti-torsion space socket type deployment mechanism

Abstract

The present invention discloses a heavy-loaded anti-torsion space socket-type deployment mechanism, which aims to significantly improve the circumferential positioning accuracy and anti-torsion performance of the space socket-type deployment arm. The present invention cleverly adds trapezoidal cross-section guide rails on the inner and outer walls of the sleeve, and cooperates with the wheel guide mechanism to achieve excellent anti-torsion performance and prevent derailment. At the same time, a design scheme for optimal matching of the roller groove inclination angle and the guide rail inclination angle in the wheel guide mechanism is proposed to ensure the efficient operation of the mechanism. The base is equipped with a straight slot design that allows radial movement and simplifies the installation and positioning process. In addition, the choice of roller material can be flexibly adjusted according to specific task requirements to adapt to different torque conditions. With its simplicity, light weight, low cost and no effect on the sleeve deployment ratio, this design is suitable for a variety of scenarios that require anti-torsion, greatly enhancing the safety and reliability of the space socket-type deployment mechanism, and providing an efficient and economical solution for the stable deployment of space structures.

Description

Technical Field

[0001] The present 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 deepen their exploration of 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 telescopic deployment mechanism requires a mechanical locking mechanism to secure it after deployment, placing certain demands on the interstage sleeve's circumferential positioning and torsional resistance during deployment. While existing solutions can withstand significant axial loads through locking, they lack specialized designs for torsional resistance. Circumferential positioning is typically achieved through guide rails and guide grooves. However, when the telescopic deployment mechanism is subjected to high torque during deployment, the inner guide rails can easily become entangled with the guide grooves, leading to a high risk of jamming. This can affect the mechanism's normal deployment and can also cause derailment, leading to mission failure. Summary of the Invention

[0004] In response to the above problems, the present invention proposes a heavy-load, torsion-resistant spatial socket-type deployment mechanism, in which the sliding matching mode of the two-stage sleeve is optimized. 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, the deployment mechanism is optimized.

[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; the sleeves at each stage are nested inside and outside and have the same cross-sectional shape.

[0006] The innermost sleeve has N wheel guide mechanisms installed at equal angular intervals around the bottom end. The outermost sleeve has N wheel guide mechanisms installed at equal angular intervals around the top end. The intermediate sleeve has N wheel guide mechanisms installed at equal angular intervals around both the top and bottom ends, where N is an integer greater than or equal to 3.

[0007] At the same time, N guide rails are designed at equal angular intervals along the circumference of the outer wall of the innermost sleeve. N guide rails are designed at equal angular intervals along the circumference of the inner wall of the outermost sleeve. N guide rails are designed at equal angular intervals along the circumference of the intermediate sleeve. N guide rails are designed at equal angular positions along the circumference of the inner and outer walls of the intermediate sleeve. The guide rails on the inner and outer walls are located in corresponding positions along the circumference of the sleeve.

[0008] Between adjacent sleeves, the N wheeled guides at the bottom of the inner sleeve mate with the N guide rails on the inner wall of the outer sleeve. Simultaneously, the N wheeled guides at the top of the outer sleeve mate with the N guide rails on the outer wall of the inner sleeve, thereby enabling sliding deployment between adjacent sleeves. These wheeled guides, through rollers with trapezoidal grooves mounted on their circumferences, mate with the trapezoidal cross-section guide rails.

[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 to x6 are changed separately by controlling the variables to perform topology optimization and determine the overall equivalent stiffness of the deployment 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 a BP neural network; 80% of them are used as a training set and 20% as a test set. Linear terms and 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 a 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, and x6.

[0018] 403. Within the boundary conditions of parameters x1, x2, x3, x4, x5, and 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, torsion-resistant, space-sleeved deployment mechanism of the present invention has a simple and sophisticated overall structure, which facilitates quick assembly and achieves a lightweight design, significantly reducing space occupancy, thereby reducing manufacturing costs and improving economic benefits.

[0021] (2) The heavy-loaded and torsion-resistant space socket-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 socket mechanism in torsion resistance and the technical problem of the wheel guide mechanism being easily derailed, 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, which enables the distance between the guide rail and the wheeled guide mechanism to be adjustable, greatly facilitating installation and positioning adjustment, effectively avoiding the over-constraint problem caused by machining accuracy errors, and improving the installation accuracy and reliability of the mechanism. Without affecting the sleeve expansion and contraction ratio, it demonstrates a high degree of flexibility and adaptability to meet diverse engineering applications.

[0023] (4) The heavy-loaded, torsion-resistant, spatially sleeved deployment mechanism of the present invention optimizes the inclination angle of the mating surface between the guide rail and the roller through dynamic balance analysis of local single guide rails 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, torsion-resistant, space-sleeved deployment mechanism of the present invention features a matching roller groove shape and guide rail cross-sectional shape, forming a sliding fit module. By designing the matching angle between the two, the mechanism can be directly applied to other sleeve types, enhancing its adaptability and versatility. Furthermore, the selection and calculation of the bearings were carefully considered to ensure stability and durability under varying loads and operating conditions, further optimizing the mechanism's performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the deployment state of adjacent layers in the heavy-load anti-torsion space socket-type deployment mechanism of the present invention;

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

[0027] Figure 3 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 4Schematic diagram of the installation position of the guide rail and wheel guide mechanism when the heavy-load anti-torsion space sleeve type deployment mechanism of the present invention is designed with a rectangular cross-section;

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

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

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

[0032] Figure 8 Schematic diagram of torsion angles of adjacent sleeves after being subjected to torsion force;

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

[0034] In the picture:

[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 at 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 angular intervals on the bottom circumference; the outermost sleeve 2 has N wheel guide mechanisms 1 installed at equal angular intervals on the top circumference; the middle sleeve 1 has N wheel guide mechanisms installed at equal angular intervals 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 are designed at equal angles on the outer wall of the innermost sleeve 1 and arranged along the axial direction of the sleeve; N guide rails 2 are designed at equal angles on the inner wall of the outermost sleeve 2 and arranged along the axial direction of the sleeve; N guide rails 2 are designed at equal angles on the inner and outer walls of the intermediate sleeve 3 and arranged along the axial direction of the sleeve, 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 position of the polygon, such as Figure 4 As shown; for a circular or elliptical cross-section sleeve, the design position of the sleeve circumferential guide rail and the installation position of the wheel guide mechanism 4 can meet more than three circumferential even distributions.

[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 that is sleeved on the pin; bearing mounting grooves are opened at both ends of the roller 101, and the two ends of the roller 101 are connected to the pin 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 ends of the latch 103 pass through openings in the left support 105a and right support 105b designed on the top surface of the base 105. A retaining spring 104 is installed at the end of the latch 103 to limit its axial position. A gasket 106 is also installed between the bearing 102 and the left and right supports on the latch 103 to limit the inner ring of the bearing 102.

[0045] A groove 107 is axially defined in the center of the roller 101. The left and right walls and bottom of the groove 107 mate with the left and right walls and outer wall of the guide rail 2, respectively. Furthermore, slotted holes 408 are designed on either side of the base, through which screws pass to secure the base with the sleeves. During installation, the distance between the guide rail 2 and the wheeled guide mechanism can be adjusted, effectively avoiding overconstraint issues 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, and correspond to the matching. 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 designed to be 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 get stuck. 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 a torsion-resistant 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 of the contact surface between guide rail 2 and the groove on roller 101 will affect the overall stiffness of the deployment mechanism, the present invention uses BP neural network model to perform function fitting to realize guide rail design, such as Figure 7 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. For example, the number of guide rails is 1, 2, 3...60, for 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°, for 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, for a total of 50 data; the width of the top surface of guide rail 2 is set in the range of 0-7mm, with a point taken every 0.1mm, for a total of 70 data; the radius of the sleeve is set in the range of 0-1200mm, with a point taken every 10mm, for 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, for a total of 14 data, so the total number of data is 60*180*50*70*120*14.

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

[0051] 201. When the sleeves at all levels are in the fully expanded state, a torque M is applied to the top of the innermost sleeve, which will generate strain in the circumferential direction of the sleeves at all levels. The average strain of the sleeves at all levels is calculated by finite element software.

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

[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, r is the radius of the sleeve. Figure 8 As shown in the figure, the black dashed line is the guide rail's center of symmetry before the torsional force, and the red dashed line is the guide rail's center of symmetry after the torsional force. The equivalent stiffness K is also affected by the number of guide rails around the circumference of each sleeve stage. A greater number of guide rails results in better stiffness, but this can also lead to problems such as overconstraint and lack of space for layout.

[0058] 203. Determine the equivalent stiffness of the overall deployment mechanism when all levels of sleeves are 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: Figure 9 The five segments shown include the outermost segment (stiffness K1), the expanded segment (stiffness K2), the intermediate segment (stiffness K3), the in-place segment (stiffness K4), and the innermost segment (stiffness K5). Based on the idea of ​​segmentation, the variable cross-section beam is divided into a combination of several interconnected segments. When the number of segments is large enough, each segment is considered a beam of constant cross-section. Therefore, the equivalent stiffness of the entire 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 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 deployment mechanism in the deployed state.

[0062] Substitute the equivalent stiffness K of each 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 to perform function fitting using a 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 a random search method is used to determine the function model, thereby achieving a good fit. 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 training is repeated. 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 scheme 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. Based on 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, according to the sleeve radius, the number of wheel guide mechanisms installed on the flange can be determined, and the boundary conditions of the number of guide rails x1 can be determined. Finally, according to the design requirements of the sleeve, the boundary conditions of the thickness x2 and width x3 are given.

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

Claims

1. A heavy-load, torsion-resistant, space-connected deployment mechanism comprising an innermost sleeve, an outermost sleeve, and several intermediate sleeves; the sleeves at each stage are nested inside and outside, and have the same cross-sectional shape; characterized by: N wheel guide mechanisms are installed at equal angular intervals on the circumference of the bottom end of the innermost sleeve; N wheel guide mechanisms are installed at equal angular intervals on the circumference of the top end of the outermost sleeve; N wheel guide mechanisms are installed at equal angular intervals on the circumference of the top end and the bottom end 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 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; Between adjacent sleeves, the N wheeled guide mechanisms at the bottom of the inner sleeve respectively cooperate with the N guide rails on the inner wall of the outer sleeve; at the same time, the N wheeled guide mechanisms at the top of the outer sleeve respectively cooperate with the N guide rails on the outer wall of the inner sleeve, thereby achieving sliding expansion between adjacent sleeves; the above-mentioned wheeled guide mechanisms cooperate with the trapezoidal cross-section guide rails through rollers with trapezoidal grooves installed on their circumference; 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 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; Step 2: Based on the data set constructed in step 1, the parameters x1 to x6 are changed by controlling the variables to perform topology optimization and determine the overall equivalent stiffness of the deployment 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% 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. Given the boundary conditions of parameters x1, x2, x3, x4, x5, and x6; 403. Within the boundary conditions of parameters x1, x2, x3, x4, x5, and 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-sleeving 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 uniformly distributed in more than three circumferential directions.

3. The heavy-load, torsion-resistant, space-sleeving deployment mechanism according to claim 1, characterized in that: The wheel guide mechanism structure consists of a roller, a bearing, a latch, a retaining spring 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 axial position is limited by the retaining spring installed 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 realize the limitation of the inner ring of the bearing.

4. The heavy-load, torsion-resistant, space-sleeving deployment mechanism according to 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 guide rail side wall and the guide rail bottom surface 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 in the range of 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 anti-torsion space socket-type deployment mechanism according to claim 1, characterized in that: The specific method of step 2 is as follows: first, when all sleeves are in a fully expanded state, a torque M is applied to the top of the innermost sleeve, which will generate strain in the circumferential direction of each sleeve. The average strain of each sleeve is calculated using finite element software; Subsequently, the equivalent stiffness of each level of sleeve 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 all levels of sleeves 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 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; l1 is the total length of the deployment mechanism in the deployed state.

6. The heavy-load, torsion-resistant, space-sleeving deployment mechanism according to 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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