Spatially flexible extension device and system

Abstract

This application relates to a spatial flexible extension device and system. The spatial flexible extension device includes: a load assembly, comprising a flexible load and a load reel, the load reel being used to wind the flexible load; a flexible extension assembly connected to the load assembly, the flexible extension assembly including an extension arm, a winding assembly, an unfolding assembly, and a drive assembly, the winding assembly being used to wind the extension arm, the unfolding assembly being in contact with the surface of the extension arm, and the drive assembly being configured to drive the unfolding assembly to move, thereby enabling the extension arm to gradually unfold from the wound state and curl into a guide rod; the extension arm and the flexible load are connected, the extension arm being used to drive the flexible load to move in the same direction; and a connecting rod assembly, the two ends of the connecting rod assembly being respectively connected to two oppositely arranged flexible extension assemblies. This application can meet the requirements of multi-directional unfolding loads, improves versatility, lightweighting, and unfolding ratio, and has a simple structure.

Description

Technical Field

[0001] This application mainly relates to the field of space deployable structure technology, specifically to a space flexible extension device and a space flexible extension system. Background Technology

[0002] As human exploration of space deepens, spacecraft functions are becoming increasingly complex. While spacecraft structures are becoming larger, the supporting structures required for large-area solar arrays, large antennas, and remote sensing detectors are also constantly increasing in size. Due to limitations in launch capacity and launch costs, large space structures cannot be directly launched into orbit. Therefore, space extension mechanisms are needed to reliably retract these large supporting structures during launch and stably unfold them into the predetermined space configuration after the spacecraft enters orbit.

[0003] Currently, commonly used space extension mechanisms can be divided into two categories based on their structural form: rigid extension mechanisms and flexible extension mechanisms. The weight of rigid extension mechanisms increases significantly with the increase of the deployed size, failing to meet the requirements for lightweighting and miniaturization. Flexible extension mechanisms have advantages such as light weight and a large deployment-to-retraction ratio, and are gradually replacing rigid extension mechanisms in widespread applications. However, existing flexible extension mechanisms have complex structures and are only suitable for unidirectional deployment load scenarios, unable to meet the requirements for bidirectional and four-directional multidirectional deployment loads, resulting in poor versatility. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide a space flexible extension device and system that can meet the requirements of multi-directional deployment load, improve versatility, lightweight, and deployment-retraction ratio, and has a simple structure.

[0005] The technical solution adopted in this application to solve the above-mentioned technical problems is a spatial flexible extension device, comprising: a load assembly, including a flexible load and a load reel, the load reel being used to wind the flexible load; a flexible extension assembly connected to the load assembly, the flexible extension assembly including an extension arm, a winding assembly, an unfolding assembly, and a drive assembly, the winding assembly being used to wind the extension arm, the unfolding assembly being in contact with the surface of the extension arm, the drive assembly being configured to drive the unfolding assembly to move so as to drive the extension arm to gradually unfold from the winding state and curl into a guide rod; the extension arm being connected to the flexible load, the extension arm being used to drive the flexible load to move in the same direction; and a connecting rod assembly, the two ends of the connecting rod assembly being respectively connected to two oppositely arranged flexible extension assemblies.

[0006] In one embodiment of this application, the flexible extension assembly further includes a housing, a winding assembly and a retracting assembly housed within the housing, and the housing is provided with an extension arm through hole, which allows the extension arm to extend outward after being rolled into a guide rod.

[0007] In one embodiment of this application, the housing is further provided with a first through hole; the winding assembly includes a shaped winding shaft, a first spherical bearing and a first bearing retainer ring, the inner ring of the first spherical bearing is connected to the end of the shaped winding shaft, and the outer ring of the first spherical bearing is connected to the first through hole and fixed by the first bearing retainer ring.

[0008] In one embodiment of this application, the housing is further provided with a second through hole; the unfolding assembly includes an active roller shaft, a second spherical bearing and a second bearing retaining ring, the inner ring of the second spherical bearing is connected to the end of the active roller shaft, and the outer ring of the second spherical bearing is connected to the second through hole and fixed by the second bearing retaining ring.

[0009] In one embodiment of this application, the unfolding and retracting assembly further includes a driven roller shaft, a third joint bearing, a third bearing pressure ring, a bearing seat, a guide rail, a fixed slider, a movable slider, and a first elastic element. The inner ring of the third joint bearing is connected to the end of the driven roller shaft. The bearing seat is connected to the outer ring of the third joint bearing, the movable slider, and the third bearing pressure ring, respectively. The guide rail is connected to the housing. The fixed slider is fixedly connected to the guide rail. The movable slider is slidably connected to the guide rail. The first elastic element is connected to the fixed slider and the movable slider, respectively.

[0010] In one embodiment of this application, the active roller shaft is convex in shape and the driven roller shaft is concave in shape; or the active roller shaft is concave in shape and the driven roller shaft is convex in shape; the convex shape and the concave shape are adapted to each other; the surface of the extension arm is respectively attached to the active roller shaft and the driven roller shaft, and the extension arm can pass through between the active roller shaft and the driven roller shaft.

[0011] In one embodiment of this application, the end of the irregularly shaped winding shaft has a first gear keyway extending outward from a first through hole; the end of the driving roller shaft has a second gear keyway extending outward from a second through hole; the housing is also provided with a third through hole, and the end of the driven roller shaft has a third gear keyway extending outward from the third through hole; the drive assembly includes a first gear, a second gear, a third gear, a drive gear, and a motor, the first gear is connected to the first gear keyway, the second gear is connected to the second gear keyway, the third gear is connected to the third gear keyway, the drive gear meshes with the first gear and the second gear respectively, the third gear meshes with the second gear, and the motor is used to drive the drive gear to rotate.

[0012] In one embodiment of this application, the number of teeth of the first gear, the second gear, and the third gear are the same and greater than the number of teeth of the drive gear, thereby the drive assembly forms a first-stage reduction mechanism to amplify the torque of the motor and make the driving roller shaft, the driven roller shaft, and the irregular winding shaft rotate synchronously at the same speed.

[0013] In one embodiment of this application, the flexible extension assembly further includes a clamping assembly, which includes a clamping roller shaft, a clamping arm, a clamping bearing, a drive coil spring, and a clamping mounting seat. The inner ring of the clamping bearing is connected to the end of the clamping roller shaft. The clamping arm is connected to the outer ring of the clamping bearing, the clamping mounting seat, and the drive coil spring, respectively. The clamping mounting seat is connected to the housing. The drive coil spring is used to provide clamping force so that the clamping roller shaft clamps the extension arm wound on the winding assembly.

[0014] In one embodiment of this application, the flexible extension assembly further includes a clamping and locking assembly connected to the housing. The clamping and locking assembly is used to clamp and / or lock the guide rod. The clamping and locking assembly includes a clamping shaft, a torsion spring, a first clamping ring, a second clamping ring, and a puller. The clamping shaft is connected to the first clamping ring and the second clamping ring respectively. The torsion spring is sleeved on the clamping shaft and is used to provide torque so that the first clamping ring and the second clamping ring can rotate synchronously around the clamping shaft. The puller is disposed between the first clamping ring and the second clamping ring and is used to control the clamping and locking assembly to be in an unlocked state or a locked state.

[0015] In one embodiment of this application, the spatial flexible extension device further includes a traction component, which includes a traction plate and a second elastic element. The traction plate is connected to the extension arm and the second elastic element respectively, and the second elastic element is connected to the flexible load. The second elastic element is used to provide tension force during the unfolding or retraction of the flexible load.

[0016] In one embodiment of this application, the guide rod is any one of a C-shaped rod, a cylindrical rod, and a tapered rod; the extension arm is in a first steady state and stores strain energy when it is wound around the winding assembly, and releases strain energy and is in a second steady state when the extension arm is gradually unwound from the wound state.

[0017] To address the aforementioned technical problems, this application also proposes a spatial flexible extension system, comprising at least one spatial flexible extension device as described above, wherein each spatial flexible extension device is connected via a connecting rod assembly.

[0018] The technical solution of this application uses a load roll to wind up the flexible load, achieving compact storage of the flexible load. The drive component of the flexible extension assembly drives the movement of the unfolding assembly, allowing the extension arm to unfold from the rolled-up state and form a guide rod with a certain rigidity. During the movement of the guide rod, the flexible load can move in the same direction, thus unfolding the flexible load. A connecting rod assembly connects the two flexible extension components, forming a stable symmetrical support structure, improving the rigidity and stability of the overall device. The spatial flexible extension device of this application has strong scalability. By changing the number and connection method of the spatial flexible extension components, spatial flexible extension systems suitable for different scenarios can be combined. It can achieve unidirectional, bidirectional, tridirectional, or quadridirectional multi-directional load unfolding, meeting the needs of loads of different sizes, improving versatility, lightweighting, and unfolding ratio, while maintaining a simple structure. Attached Figure Description

[0019] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings, wherein:

[0020] Figure 1 This is a schematic diagram of the overall structure of a spatial flexible extension device according to an embodiment of this application;

[0021] Figure 2 This is a schematic diagram of a load component in one embodiment of this application;

[0022] Figure 3 This is a schematic diagram of a flexible extension component in one embodiment of this application;

[0023] Figure 4 This is a schematic diagram of the box body in one embodiment of this application;

[0024] Figure 5 This is a schematic diagram of a winding assembly in one embodiment of this application;

[0025] Figure 6 This is a schematic diagram of the deployment and reception components in one embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the active roller of the spreading and retracting assembly in one embodiment of this application;

[0027] Figure 8 This is a schematic diagram of the driven roller of the unfolding and retracting assembly in one embodiment of this application;

[0028] Figure 9 This is a schematic diagram of the clamping component in one embodiment of this application;

[0029] Figure 10 This is a schematic diagram of a clamping and locking component in one embodiment of this application;

[0030] Figure 11 This is a schematic diagram of the driving component of the flexible extension component in one embodiment of this application;

[0031] Figure 12 This is a schematic diagram of a connecting rod assembly according to an embodiment of this application;

[0032] Figure 13 This is a schematic diagram of a traction component in one embodiment of this application.

[0033] Explanation of reference numerals in the accompanying drawings for specific embodiments:

[0034] 1. Load assembly;

[0035] 11. Flexible load;

[0036] 12. Load reel;

[0037] 13. Load-bearing axial spherical plain bearing;

[0038] 14. Load-bearing pressure ring of the load-bearing reel;

[0039] 2. Flexible extension component;

[0040] 21. Box;

[0041] 211. Extension arm through hole;

[0042] 212. Third through hole;

[0043] 213. Second through hole;

[0044] 214. Drive component mounting holes;

[0045] 215. First through hole;

[0046] 216. Load reel mounting hole;

[0047] 217. Clamping component mounting holes;

[0048] 218. Clamping assembly mounting holes;

[0049] 22. Extend your arms;

[0050] 23. Winding assembly;

[0051] 231. Irregularly shaped wound shaft;

[0052] 232. First joint bearing;

[0053] 233. First bearing retaining ring;

[0054] 234. First gear keyway;

[0055] 24. Deployment and dismantling components;

[0056] 241. Drive roller;

[0057] 2412. Second joint bearing;

[0058] 2413. Second bearing retaining ring;

[0059] 2414. Second gear keyway;

[0060] 242. Driven roller shaft;

[0061] 2422. Third joint bearing;

[0062] 2423. Bearing housing;

[0063] 2424. Third bearing pressure ring;

[0064] 2425. Guide rail;

[0065] 2426. Fixed slider;

[0066] 2427. Active slider;

[0067] 2428. First elastic element;

[0068] 2429. Third gear keyway;

[0069] 25. Clamping assembly;

[0070] 251. Pressure roller shaft;

[0071] 252. Pressure arm;

[0072] 253. Press the bearing;

[0073] 254. Spring coil box;

[0074] 255. Drive coil spring;

[0075] 256. Tighten the mounting base;

[0076] 26. Clamping and locking assembly;

[0077] 261. Clamp the shaft;

[0078] 262. First clamping ring;

[0079] 263. Second clamping ring;

[0080] 264. Pin puller;

[0081] 27. Driver components;

[0082] 271. The third gear;

[0083] 272. The second gear;

[0084] 273. Drive gear;

[0085] 274. The first gear;

[0086] 275. Electric motor;

[0087] 3. Connecting rod assembly;

[0088] 31. Support rod;

[0089] 32. Flange;

[0090] 4. Traction assembly;

[0091] 41. Traction plate;

[0092] 42. Second elastic element. Detailed Implementation

[0093] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0094] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein, and therefore this application is not limited to the specific embodiments disclosed below.

[0095] As illustrated in this application, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0096] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0097] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0098] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0099] The embodiments of this application are described below based on the accompanying drawings. However, the embodiments shown below are examples of spatial flexible extension devices and systems used to embody the technical concept of this application, and the spatial flexible extension devices and systems of this application are not specifically defined as follows. Furthermore, the components shown are not intended to be specific to the components of the embodiments. In particular, the dimensions, materials, shapes, and relative arrangements of the constituent components described in the embodiments are not intended to limit the scope of this application unless specifically stated otherwise, but are merely illustrative examples.

[0100] However, the dimensions or positional relationships of the components shown in the accompanying drawings are sometimes exaggerated for clarity. Therefore, in the following description, detailed descriptions of the same names and symbols representing the same or homogeneous components are appropriately omitted. Furthermore, the elements constituting this application may be multiple elements composed of the same components, thus allowing one component to function as multiple elements; conversely, multiple components may share the function of one component. Additionally, the content described in some embodiments and implementations can be applied to other embodiments and implementations. Furthermore, in this specification, "upper" is not limited to the case of being formed in contact with an upper surface, but also includes the case of being formed separately on top, and also includes the meaning of an intermediate layer between layers.

[0101] This application proposes a space flexible extension device that can be applied in the aerospace field to scenarios that require on-orbit deployment and need to have a high degree of lightweighting, deployment-to-retraction ratio and versatility.

[0102] The technical solution of this application will be described below based on a space flexible deployment device (i.e., a dual-mechanism unidirectional deployment system) that includes two flexible deployment components. In practical applications, different space deployable systems can be created by increasing or decreasing the number of some components; this application does not limit the number of each component.

[0103] Figure 1 This is a schematic diagram of the overall structure of a spatial flexible extension device according to an embodiment of this application. Figure 2 This is a schematic diagram of a load component in one embodiment of this application. Figure 3 This is a schematic diagram of a flexible stretching component in one embodiment of this application.

[0104] refer to Figures 1 to 3 As shown, the spatial flexible extension device of this embodiment includes: a load assembly 1, including a flexible load 11 and a load reel 12, the load reel 12 being used to wind the flexible load 11; a flexible extension assembly 2, connected to the load assembly 1, the flexible extension assembly 2 including an extension arm 22, a winding assembly 23, an unfolding assembly 24 and a drive assembly 27, the winding assembly 23 being used to wind the extension arm 22, the unfolding assembly 24 being in contact with the surface of the extension arm 22, the drive assembly 27 being configured to drive the unfolding assembly 24 to move so as to drive the extension arm 22 to gradually unfold from the winding state and curl into a guide rod; the extension arm 22 and the flexible load 11 are connected, the extension arm 22 being used to drive the flexible load 11 to move in the same direction; and a connecting rod assembly 3, the two ends of the connecting rod assembly 3 being respectively connected to two oppositely arranged flexible extension assemblies 2.

[0105] For example, load assembly 1 corresponds to the deployed load assembly, flexible extension assembly 2 corresponds to the flexible extension mechanism, and connecting rod assembly 3 corresponds to the synchronous connecting rod assembly. The extension arm 22 is, for example, a thin-walled extension arm made of composite material; that is, the extension arm 22 is a thin-walled hyperelastic element made of composite material. The extension arm 22 has the ability to withstand large deformations and can store strain energy after being wound around the winding assembly 23. When the extension arm 22 is deployed, its stored strain energy is released, causing it to return to a straight rod shape. This straight rod-shaped extension arm 22 corresponds to a thin-walled support rod and has a certain stiffness, enabling the guidance, driving, and support of the flexible load 11. (Reference) Figure 3 As shown, the flexible extension assembly 2 includes a housing 21, an extension arm 22, a winding assembly 23, an unfolding assembly 24, a pressing assembly 25, a clamping and locking assembly 26, and a drive assembly 27.

[0106] Figure 4 This is a schematic diagram of the casing in one embodiment of this application. (Reference) Figure 4 As shown, the housing 21 is provided with an extension arm through hole 211 (i.e., extension arm outlet), a first through hole 215 (i.e., winding assembly mounting hole), a second through hole 213 (i.e., drive shaft mounting hole), a third through hole 212 (i.e., driven shaft mounting hole), a drive assembly mounting hole 214, a load reel mounting hole 216, a clamping assembly mounting hole 217, and a clamping assembly mounting hole 218.

[0107] refer to Figure 2 and Figure 4 As shown, the load assembly 1 includes a flexible load 11, a load reel 12, a pair of load reel axis radial spherical bearings 13, and a pair of load reel bearing retaining rings 14. The flexible load 11 includes structures such as flexible solar cell arrays or flexible thin-film antennas. The flexible load 11 is wound and coiled on the load reel 12. The two ends of the load reel 12 are installed in the inner rings of the load reel axis radial spherical bearings 13, and the outer rings of the load reel axis radial spherical bearings 13 are installed in the load reel mounting holes 216 on the housing 21 of the flexible extension assembly 2 and fixed by the load reel bearing retaining rings 14. The first spherical bearing 232, the second spherical bearing 2412, the third spherical bearing 2422, and the clamping bearing 253 mentioned later in this application can be set as radial spherical bearings, or as thrust spherical bearings, angular contact spherical bearings, etc. This application does not limit the type of bearing.

[0108] refer to Figure 3 As shown, the unfolding and retracting assembly 24 is configured as a roller. The roller rotates in the forward direction, which can drive the extension arm 22 to gradually unfold from the winding state and curl into a guide rod. The roller rotates in the reverse direction, which can drive the extension arm 22 to gradually retract from the rigid state and wind it onto the winding assembly 23.

[0109] Figure 12This is a schematic diagram of a connecting rod assembly according to one embodiment of this application. (Reference) Figure 1 and Figure 12 As shown, the connecting rod assembly 3 consists of a support rod 31 and a flange 32 made of composite material. The connecting rod assembly 3 can connect two symmetrical flexible extension assemblies 2, enabling the two extension mechanisms to deploy synchronously.

[0110] The technical solution of this application uses a load roll 12 to wind the flexible load 11, achieving compact storage of the flexible load 11. The drive component 27 of the flexible extension component 2 drives the unfolding component 24, allowing the extension arm 22 to unfold from the wound state and form a guide rod (such as a thin-walled rod) with a certain rigidity. During the movement of the guide rod, the flexible load 11 can move in the same direction, thus unfolding the flexible load 11. The connecting rod component 3 connects the two flexible extension components 2, forming a stable symmetrical support structure, improving the rigidity and stability of the overall device. The spatial flexible extension device of this application has strong scalability. By changing the number and connection method of the spatial flexible extension devices, spatial flexible extension systems suitable for different scenarios can be combined. It can realize multi-directional unfolding of loads in one, two, three, or four directions, meeting the needs of loads of different sizes, improving versatility, lightweighting, and unfolding ratio, while maintaining a simple structure.

[0111] refer to Figure 3 As shown, in some embodiments, the flexible extension component 2 further includes a housing 21, a winding component 23 and a retracting component 24 housed within the housing 21, and the housing 21 is provided with an extension arm through hole 211, and the extension arm 22 can extend outward from the extension arm through hole 211 after being rolled into a guide rod.

[0112] For example, by housing the winding assembly 23 and the unfolding assembly 24 within the housing 21, this application effectively protects each component. The housing 21 provides a stable working environment for the winding and unfolding process of the extension arm 22, avoiding external interference. The design of the extension arm through hole 211 allows the extension arm 22 to extend smoothly outward after being rolled into a guide rod, ensuring precise guidance of the unfolding stroke and achieving compactness in the retracted state.

[0113] In some embodiments, the guide rod is any one of a C-shaped rod, a cylindrical rod, and a tapered rod; the extension arm 22 is in a first steady state and stores strain energy when wound around the winding assembly 23, and releases strain energy and is in a second steady state when the extension arm 22 is gradually unwound from the wound state.

[0114] For example, Figure 3The guide rod formed by the extension arm 22 has a C-shaped cross-section, which is equivalent to a bistable thin-walled tube. In practical applications, the cross-section of the guide rod formed by the extension arm 22 can be a C-shaped constant cross-section or a variable cross-section, and the diameter of the cross-section can be adjusted according to requirements. This application designs the guide rod as a C-shaped rod, a cylindrical rod, or a tapered rod, allowing the extension arm 22 to select a suitable structural stiffness according to different application scenarios. When the extension arm 22 is wound on the winding assembly 23, it is in a first stable state (such as a flat state), storing elastic strain energy through pre-deformation; when the extension arm 22 unfolds, the released strain energy causes the extension arm 22 to transition to a second stable state. This bistable characteristic reduces the external driving force requirement during the unfolding process and ensures the rigidity of the structure after unfolding.

[0115] Figure 5 This is a schematic diagram of a winding assembly according to one embodiment of this application. (Reference) Figures 3 to 5 As shown, in some embodiments, the housing 21 is further provided with a first through hole 215; the winding assembly 23 includes a shaped winding shaft 231, a first spherical bearing 232 and a first bearing retainer 233, the inner ring of the first spherical bearing 232 is connected to the end of the shaped winding shaft 231, and the outer ring of the first spherical bearing 232 is connected to the first through hole 215 and fixed by the first bearing retainer 233.

[0116] For example, the winding assembly 23 includes a shaped winding shaft 231, a pair of first spherical bearings 232, and a pair of first bearing retaining rings 233. The end of the shaped winding shaft 231 has a first gear keyway 234. The inner rings of the two first spherical bearings 232 are respectively installed at both ends of the shaped winding shaft 231, and the outer rings are installed in the first through hole 215 on the housing 21, allowing the winding assembly 23 to rotate within the housing 21. By connecting the end of the shaped winding shaft 231 to the inner ring of the first spherical bearing 232, and connecting the outer ring of the first spherical bearing 232 to the housing 21 through the first through hole 215 and fixing it with the first bearing retaining rings 233, this application ensures that the shaped winding shaft 231 is reliably installed and can rotate within the housing 21, guaranteeing the axial positioning accuracy of the bearings and facilitating assembly and maintenance. The axial clearance can be eliminated by adjusting the preload of the bearing retaining rings, improving the smoothness of movement and service life of the winding assembly 23 under repeated unfolding and unwinding conditions.

[0117] Figure 6 This is a schematic diagram of the deployment and reception components in one embodiment of this application. Figure 7 This is a schematic diagram of the active roller of the unfolding and retracting assembly in one embodiment of this application. (Reference) Figure 3 , Figure 4 , Figure 6 and Figure 7As shown, in some embodiments, the housing 21 is also provided with a second through hole 213; the unfolding assembly 24 includes an active roller 241, a second spherical bearing 2412 and a second bearing pressure ring 2413, the inner ring of the second spherical bearing 2412 is connected to the end of the active roller 241, and the outer ring of the second spherical bearing 2412 is connected to the second through hole 213 and fixed by the second bearing pressure ring 2413.

[0118] For example, the active roller 241 of this application can maintain low-friction rotation when driving the extension arm 22 to unfold or retract, and the axial clearance can be eliminated by adjusting the preload of the second bearing pressure ring 2413, thereby improving the motion accuracy and reliability of the unfolding and retracting assembly 24 during repeated operation.

[0119] Figure 8 This is a schematic diagram of the driven roller of the unfolding and retracting assembly in one embodiment of this application. (Reference) Figure 3 and Figure 8 As shown, in some embodiments, the unfolding assembly 24 further includes a driven roller shaft 242, a third joint bearing 2422, a third bearing retaining ring 2424, a bearing seat 2423, a guide rail 2425, a fixed slider 2426, a movable slider 2427, and a first elastic element 2428 (such as a spring). The inner ring of the third joint bearing 2422 is connected to the end of the driven roller shaft 242. The bearing seat 2423 is connected to the outer ring of the third joint bearing 2422, the movable slider 2427, and the third bearing retaining ring 2424, respectively. The guide rail 2425 is connected to the housing 21. The fixed slider 2426 is fixedly connected to the guide rail 2425. The movable slider 2427 is slidably connected to the guide rail 2425. The first elastic element 2428 is connected to the fixed slider 2426 and the movable slider 2427, respectively.

[0120] For example, this application achieves the adaptive adjustment function of the unfolding assembly 24 within the housing 21 by cooperating with the driven roller shaft 242 and the third joint bearing 2422, combined with the buffering effect of the fixed slider 2426, the movable slider 2427, and the first elastic element 2428 on the guide rail 2425. The movable slider 2427 can slide along the guide rail 2425 and is elastically connected to the fixed slider 2426 through the first elastic element 2428, so that the driven roller shaft 242 can automatically adjust its position during the unfolding and retraction of the extension arm 22. The preload of the elastic element compensates for the transmission gap, ensuring the stability of the transmission and effectively absorbing dynamic impacts, thereby improving the reliability of the unfolding system.

[0121] refer to Figure 3 and Figure 6As shown, in some embodiments, the active roller 241 is convex and the driven roller 242 is concave; or the active roller 241 is concave and the driven roller 242 is convex; the convex shape and the concave shape are adapted to each other; the surface of the extension arm 22 is respectively in contact with the active roller 241 and the driven roller 242, and the extension arm 22 can pass between the active roller 241 and the driven roller 242.

[0122] For example, this application achieves precise guidance and stable transmission of the extension arm 22 through the complementary convex-concave design of the driving roller 241 and the driven roller 242. The surface of the extension arm 22 can fit tightly between the driving roller 241 and the driven roller 242. On the one hand, the convex-concave fit increases the contact area between the roller and the extension arm 22, improving transmission efficiency and friction; on the other hand, it ensures that the extension arm 22 always stays on the predetermined trajectory during the extension and retraction process, avoiding deviation or slippage.

[0123] The following example illustrates the deployment and retraction component 24.

[0124] refer to Figure 3 , Figure 4 , Figure 7 and Figure 8 As shown, the unfolding assembly 24 includes a drive roller 241 and a driven roller 242. The drive roller 241 is equivalent to a drive unfolding roller, and the driven roller 242 is equivalent to an adjustable driven roller. The drive roller assembly includes a convex shaft (such as...). Figure 7 The diagram shows a drive roller 241, a pair of second spherical bearings 2412, and a pair of second bearing retaining rings 2413. The end of the drive roller 241 has a second gear keyway 2414. The inner rings of the two second spherical bearings 2412 are respectively mounted at both ends of the convex shaft, and the outer rings are mounted in the second through holes 213 on the housing 21, allowing the drive roller 241 to rotate within the housing 21. The driven roller assembly includes a concave shaft (such as...). Figure 8 The diagram shows a driven roller shaft 242, a pair of third joint bearings 2422, a pair of bearing seats 2423, a pair of third bearing pressure rings 2424, two sets of miniature guide rails 2425, two sets of fixed sliders 2426, two sets of movable sliders 2427, and two first elastic elements 2428. The driven roller shaft 242 has a third gear keyway 2429 at its end. The inner rings of the two third joint bearings 2422 are respectively mounted on both ends of the concave shaft, and the outer rings are mounted in the bearing seats 2423. The bearing seats 2423 are mounted on the movable sliders 2427 by screws. Both the fixed sliders 2426 and the movable sliders 2427 are mounted on the miniature guide rails 2425 and connected by the first elastic elements 2428. The two sets of miniature guide rails 2425 are mounted on the side arms of the housing 21 by screws.

[0125] Figure 9This is a schematic diagram of a clamping assembly in one embodiment of this application. (Reference) Figure 3 and Figure 9 As shown, in some embodiments, the flexible extension assembly 2 further includes a pressing assembly 25, which includes a pressing roller shaft 251, a pressing arm 252, a pressing bearing 253, a drive coil spring 255, and a pressing mounting seat 256. The inner ring of the pressing bearing 253 is connected to the end of the pressing roller shaft 251. The pressing arm 252 is connected to the outer ring of the pressing bearing 253, the pressing mounting seat 256, and the drive coil spring 255, respectively. The pressing mounting seat 256 is connected to the housing 21. The drive coil spring 255 is used to provide a pressing force so that the pressing roller shaft 251 presses the extension arm 22 wound on the winding assembly 23.

[0126] For example, the clamping assembly 25 includes a clamping roller shaft 251, a pair of clamping arms 252, a pair of clamping bearings 253, a pair of coil spring boxes 254, a pair of drive coil springs 255, and a pair of clamping mounting seats 256. The inner rings of the two clamping bearings 253 are respectively mounted at both ends of the clamping roller shaft 251, and the outer rings are respectively mounted in the bearing mounting holes of the clamping arms 252. The clamping arms 252 can rotate about the pivot on the clamping mounting seats 256, and the drive coil springs 255 are used to provide clamping force so that the clamping roller shaft 251 always clamps the extension arm 22 wound on the winding assembly 23. The two clamping mounting seats 256 are mounted on the clamping assembly mounting holes 217 of the housing 21 by screws. By setting the clamping assembly 25, this application achieves constant tension winding control of the extension arm 22. On the one hand, the rotation of the pressure roller 251 avoids frictional damage to the surface of the extension arm 22. On the other hand, the elasticity of the drive coil spring 255 automatically compensates for the change in the superimposed thickness of the extension arm 22 during the winding process, maintaining a constant winding tension.

[0127] Figure 10 This is a schematic diagram of a clamping and locking component according to one embodiment of this application. (Reference) Figure 3 and Figure 10 As shown, in some embodiments, the flexible extension assembly 2 further includes a clamping and locking assembly 26, which is connected to the housing 21. The clamping and locking assembly 26 is used to clamp and / or lock the guide rod. The clamping and locking assembly 26 includes a clamping shaft 261, a torsion spring, and a first clamping ring 262 (i.e., Figure 10 The left clamping ring in the middle), the second clamping ring 263 (i.e. Figure 10 The clamping mechanism 26 consists of a right clamping ring and a puller 264. The clamping shaft 261 is connected to the first clamping ring 262 and the second clamping ring 263, respectively. A torsion spring is sleeved on the clamping shaft 261 and is used to provide torque so that the first clamping ring 262 and the second clamping ring 263 can rotate synchronously around the clamping shaft 261. The puller 264 is disposed between the first clamping ring 262 and the second clamping ring 263 and is used to control the clamping locking assembly 26 to be in an unlocked or locked state.

[0128] For example, the puller 264 can actuate to change the clamping locking assembly 26 from an unlocked state to a locked state. The clamping locking assembly 26 is mounted on the clamping assembly mounting hole 218 on the housing 21 by screws. This application achieves the function of quickly locking and unlocking the guide rod by setting the clamping locking assembly 26. The clamping shaft 261 serves as the rotation center, linking the first clamping ring 262 and the second clamping ring 263 to form a clamping structure; a torsion spring is sleeved on the clamping shaft 261, continuously providing torque to keep the two clamping rings in a closed tendency, ensuring the automatic clamping force on the guide rod.

[0129] Figure 11 This is a schematic diagram of the driving component of a flexible extension component according to one embodiment of this application. (Reference) Figure 3 , Figure 4 and Figure 11 As shown, in some embodiments, the end of the irregularly shaped winding shaft 231 has a first gear keyway 234, which extends outward from the first through hole 215; the end of the driving roller shaft 241 has a second gear keyway 2414, which extends outward from the second through hole 213; the housing is also provided with a third through hole 212, and the end of the driven roller shaft 242 has a third gear keyway 2429, which extends outward from the third through hole 212; the drive assembly 27 includes a first gear 27. 4. The second gear 272, the third gear 271, the drive gear 273, and the motor 275 are connected by a common key, the first gear 274 and the first gear keyway 234 are connected by a common key, the second gear 272 and the second gear keyway 2414 are connected by a common key, the third gear 271 and the third gear keyway 2429 are connected by a common key, the drive gear 273 meshes with the first gear 274 and the second gear 272 respectively, the third gear 271 meshes with the second gear 272, and the motor 275 is used to drive the drive gear 273 to rotate.

[0130] For example, the first gear 274 corresponds to the winding shaft gear, the second gear 272 corresponds to the driving shaft gear, and the third gear 271 corresponds to the driven shaft gear. This application achieves efficient coordinated driving of the winding assembly 23 and the unfolding assembly 24 by designing a gear transmission system.

[0131] refer to Figure 11 As shown, in some embodiments, the number of teeth of the first gear 274, the second gear 272, and the third gear 271 are the same and greater than the number of teeth of the drive gear 273, so that the drive assembly 27 forms a first-stage reduction mechanism to amplify the torque of the motor 275 and make the drive roller shaft 241, the driven roller shaft 242, and the irregular winding shaft 231 rotate synchronously at the same speed.

[0132] For example, the drive component 27 of this application, on the one hand, converts the high-speed, low-torque output of the motor 275 into a low-speed, high-torque output through a reduction ratio, thereby enhancing the driving capability and overcoming the large resistance during the movement of the extension arm 22; on the other hand, since the first gear 274, the second gear 272 and the third gear 271 have the same number of teeth, it ensures that the rotational speeds of the irregular winding shaft 231, the driving roller shaft 241 and the driven roller shaft 242 are synchronized. This same-speed rotation characteristic enables the extension arm 22 to maintain a uniform tension distribution during unfolding and rewinding, avoiding jamming or loosening caused by speed differences, and improving the stability and reliability of the flexible extension component 2.

[0133] Figure 13 This is a schematic diagram of a traction component according to one embodiment of this application. (Reference) Figure 1 and Figure 13 As shown, in some embodiments, the spatial flexible extension device further includes a traction component 4, which includes a traction plate 41 and a second elastic element 42. The traction plate 41 is connected to the extension arm 22 and the second elastic element 42, respectively. The second elastic element 42 is connected to the flexible load 11 and is used to provide tension during the unfolding or retraction of the flexible load 11.

[0134] For example, the traction assembly 4 is equivalent to a constant tension traction assembly, and the second elastic element 42 is a constant tension spring. The lower end of the traction plate 41 is connected to the extension arm 22, the upper end of the traction plate 41 is connected to one end of the second elastic element 42, and the other end of the second elastic element 42 is connected to the front end of the flexible load 11. The traction assembly 4 can pull the flexible load 11 to unfold and provide tension force during the unfolding process. The traction assembly 4 of this application, on the one hand, compensates for the tension fluctuation of the flexible load 11 in different motion stages through the adaptive characteristics of the second elastic element 42; on the other hand, the rigid connection structure of the traction plate 41 enables the tension force to be evenly distributed on the surface of the flexible load 11, thereby improving the stability of the device operation.

[0135] The working principle of the spatial flexible extension device of this application is described below using an embodiment.

[0136] refer to Figure 1 and Figure 3 As shown, before the spacecraft is launched into orbit, two symmetrical flexible extension components 2 are connected by a connecting rod assembly 3, and the wound load assembly 1 is installed on the mounting holes of the two flexible extension components 2. The top end of the wound extension arm 22 in the flexible extension component 2 extends out from the extension arm through hole 211 on the surface of the housing 21 through the winding assembly 23. The clamping assembly 25 reliably presses the outer surface of the wound extension arm 22 to prevent loosening and failure. Two sets of traction assemblies 4 connect the extension arm 22 and the flexible load 11 respectively. At this time, the drive assembly 27 is de-energized and self-locked, and the space flexible extension device is ready for launch.

[0137] refer to Figure 3 and Figure 11 As shown, after the spacecraft is launched into orbit, the ground issues a "flexible payload deployment" remote control command. At this time, motor 275 is powered on to drive drive gear 273 to rotate. Drive gear 273 drives second gear 272 and first gear 274 to rotate in the same direction, forming a first-stage reduction mechanism to amplify the output torque of motor 275. Second gear 272 and drive gear 273 simultaneously drive third gear 271 and first gear 274 to rotate. At this time, friction is generated between the active roller shaft 241 and driven roller shaft 242, driving the extension arm 22 to extend outward. During the extension process, the strain energy stored in the extension arm 22 is released, causing its cross-section to return to a "C-shaped" rod with a smaller opening in the "second steady state". The extension arm 22 pulls the flexible payload 11 to gradually unfold through the traction component 4. During the extension process of the extension arm 22, the clamping component 25 is always pressed against the undeployed part of the extension arm 22 in the "first steady state" to ensure that the strain energy of the undeployed part is not released prematurely and to prevent the mechanism from loosening and failing. When the last layer of extension arm 22 on the winding assembly 23 is deployed, the limit switch on the irregular winding shaft 231 is triggered to send a "deployment in place and locked" signal. At this time, the motor 275 stops and self-locks, and the pyrotechnic pin puller 264 in the clamping and locking assembly 26 actuates, causing the first clamping ring 262 and the second clamping ring 263 to rotate simultaneously around the clamping shaft 261 under the drive of the torsion spring, and clamping and locking the end of the composite material thin-walled extension arm 22 at the extension arm through hole 211, ensuring that the deployment mechanism has a certain rigidity and avoiding buckling instability. At this time, the deployment of the spatial flexible extension device is completed, and the deployed flexible load 11 can work normally on the track.

[0138] The embodiments of this application also disclose a spatial flexible extension system, including at least one spatial flexible extension device as described above, each spatial flexible extension device being connected via a connecting rod assembly 3.

[0139] For example, refer to Figure 1 As shown, in practical applications, multiple load components 1, flexible extension components 2, and connecting rod components 3 can be combined to form spatial flexible extension systems of different shapes. By splicing spatial flexible extension devices in different spatial directions, the requirement for multi-directional load deployment can be achieved. The spatial flexible extension system of this application has strong versatility and scalability, and the number of flexible extension components 2 can be adjusted according to the size and form of the flexible load 11 to form different spatial deployable systems. This application does not limit the number of spatial flexible extension devices and their internal components.

[0140] The technical effects brought about by the embodiments of this application are as follows:

[0141] (1) Both the winding assembly and the unfolding assembly adopt a non-circular shaft design, which can effectively reduce the stress and transition zone length of the thin-walled elastic extension rod during the unfolding process, and has the advantages of high unfolding ratio and high weight reduction.

[0142] (2) The clamping assembly can reliably clamp the composite thin-walled extension arm on the winding assembly to prevent it from loosening. The clamping and locking assembly can clamp the root of the composite thin-walled extension arm after it is deployed into place, thereby improving the rigidity of the extension arm. It has the advantages of stable and controllable deployment process and high reliability.

[0143] (3) This application has strong scalability. By changing the number and installation method of each component in the space flexible extension device, the space extension and retraction system can be deployed in one direction, two directions or four directions to meet the load requirements of different sizes. It has the advantages of strong versatility and good adaptability.

[0144] While the foregoing disclosure has discussed various embodiments that are currently considered useful, it should be understood that such details are for illustrative purposes only, and the additional technical features are not limited to the disclosed embodiments. Rather, the technical features are intended to cover all modifications and equivalent combinations that conform to the substance and scope of the embodiments of this application. For example, although the system components described above can be implemented by hardware devices, they can also be implemented solely by software solutions, such as installing the described system on existing servers or mobile devices.

[0145] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. This disclosure method means that the embodiments of the present application have fewer features than all the features of the single embodiment disclosed above.

[0146] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in this application are approximate values, which may be changed according to the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and adopt a general method of digit preservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as accurately as feasible.

[0147] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate this application, and various equivalent changes or substitutions can be made without departing from the spirit of this application. Therefore, any changes or modifications to the above embodiments within the scope of the essential spirit of this application will fall within the scope of this application.

Claims

1. A spatial flexible extension device, characterized in that, include: A load assembly includes a flexible load and a load reel, the load reel being used to wind the flexible load; A flexible extension assembly, connected to the load assembly, includes an extension arm, a winding assembly, an unfolding assembly, and a drive assembly. The winding assembly winds the extension arm, the unfolding assembly is in contact with the surface of the extension arm, and the drive assembly is configured to drive the unfolding assembly to move, thereby enabling the extension arm to gradually unfold from a wound state and curl into a guide rod. The extension arm is connected to the flexible load, and the extension arm drives the flexible load to move in the same direction. A connecting rod assembly, wherein both ends of the connecting rod assembly are respectively connected to two oppositely arranged flexible extension assemblies.

2. The spatial flexible extension device as described in claim 1, characterized in that, The flexible extension assembly also includes a housing, in which the winding assembly and the unfolding assembly are housed. The housing has an extension arm through hole, and the extension arm can extend outward from the extension arm through hole after being rolled into the guide rod.

3. The spatial flexible extension device as described in claim 2, characterized in that, The housing is also provided with a first through hole; the winding assembly includes a shaped winding shaft, a first spherical bearing and a first bearing retainer ring, the inner ring of the first spherical bearing is connected to the end of the shaped winding shaft, the outer ring of the first spherical bearing is connected to the first through hole and fixed by the first bearing retainer ring.

4. The spatial flexible extension device as described in claim 3, characterized in that, The housing is also provided with a second through hole; the unfolding and retracting assembly includes an active roller shaft, a second spherical bearing and a second bearing pressure ring, the inner ring of the second spherical bearing is connected to the end of the active roller shaft, and the outer ring of the second spherical bearing is connected to the second through hole and fixed by the second bearing pressure ring.

5. The spatial flexible extension device as described in claim 4, characterized in that, The unfolding and retracting assembly further includes a driven roller shaft, a third joint bearing, a third bearing pressure ring, a bearing housing, a guide rail, a fixed slider, a movable slider, and a first elastic element. The inner ring of the third joint bearing is connected to the end of the driven roller shaft. The bearing housing is connected to the outer ring of the third joint bearing, the movable slider, and the third bearing pressure ring, respectively. The guide rail is connected to the housing. The fixed slider is fixedly connected to the guide rail. The movable slider is slidably connected to the guide rail. The first elastic element is connected to the fixed slider and the movable slider, respectively.

6. The spatial flexible extension device as described in claim 5, characterized in that, The driving roller shaft is convex in shape, and the driven roller shaft is concave in shape; or the driving roller shaft is concave in shape, and the driven roller shaft is convex in shape; the convex shape and the concave shape are adapted to each other; The surfaces of the extension arm are respectively in contact with the driving roller and the driven roller, and the extension arm can pass between the driving roller and the driven roller.

7. The spatial flexible extension device as described in claim 5, characterized in that, The end of the irregularly shaped winding shaft has a first gear keyway, which extends outward from the first through hole; The end of the drive roller has a second gear keyway, which extends outward from the second through hole; The housing is also provided with a third through hole, and the end of the driven roller shaft has a third gear keyway, which extends outward from the third through hole; The drive assembly includes a first gear, a second gear, a third gear, a drive gear, and a motor. The first gear is connected to the first gear via a keyway, the second gear is connected to the second gear via a keyway, and the third gear is connected to the third gear via a keyway. The drive gear meshes with the first gear and the second gear, respectively, and the third gear meshes with the second gear. The motor is used to drive the drive gear to rotate.

8. The spatial flexible extension device as described in claim 7, characterized in that, The number of teeth of the first gear, the second gear, and the third gear are the same and greater than the number of teeth of the drive gear, so that the drive assembly constitutes a first-stage reduction mechanism to amplify the torque of the motor and make the driving roller, the driven roller, and the irregular winding shaft rotate synchronously at the same speed.

9. The spatial flexible extension device as described in claim 2, characterized in that, The flexible extension assembly further includes a clamping assembly, which includes a clamping roller shaft, a clamping arm, a clamping bearing, a drive coil spring, and a clamping mounting seat. The inner ring of the clamping bearing is connected to the end of the clamping roller shaft. The clamping arm is connected to the outer ring of the clamping bearing, the clamping mounting seat, and the drive coil spring, respectively. The clamping mounting seat is connected to the housing. The drive coil spring is used to provide clamping force so that the clamping roller shaft clamps the extension arm wound on the winding assembly.

10. The spatial flexible extension device as described in claim 2, characterized in that, The flexible extension assembly further includes a clamping and locking assembly connected to the housing. The clamping and locking assembly is used to clamp and / or lock the guide rod. The clamping and locking assembly includes a clamping shaft, a torsion spring, a first clamping ring, a second clamping ring, and a puller. The clamping shaft is connected to both the first and second clamping rings. The torsion spring is sleeved on the clamping shaft and provides torque to enable the first and second clamping rings to rotate synchronously around the clamping shaft. The puller is disposed between the first and second clamping rings and controls the clamping and locking assembly to be in an unlocked or locked state.

11. The spatial flexible extension device as described in claim 1, characterized in that, It also includes a traction assembly, which includes a traction plate and a second elastic element. The traction plate is connected to the extension arm and the second elastic element respectively. The second elastic element is connected to the flexible load and is used to provide tension force during the expansion or contraction of the flexible load.

12. The spatial flexible extension device as described in claim 1, characterized in that, The guide rod is any one of a C-shaped rod, a cylindrical rod, and a tapered rod; the extension arm is in a first steady state and stores strain energy when it is wound around the winding assembly, and releases the strain energy and is in a second steady state when the extension arm is gradually unwound from the wound state.

13. A spatial flexible extension system, characterized in that, It includes at least one spatial flexible extension device as described in any one of claims 1-12, each spatial flexible extension device being connected via a connecting rod assembly.

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