Modularized pod rod winding mechanism capable of being repeatedly unfolded and folded

Abstract

The invention provides a modular repeatable unfolding and folding pod rod winding mechanism which comprises a winding drum assembly, a holding assembly, a pod rod, a motor driving assembly, a section recovery assembly and a module assembly, the section recovery assembly is arranged on the inner side of the winding drum assembly and used for flattening and recovering the section of the pod rod, the holding assembly is arranged on the peripheral side of the winding drum assembly, and the module assembly is arranged on the inner side of the winding drum assembly. The motor driving assembly is arranged on the outer side of the winding drum assembly, an output shaft of the motor driving assembly is connected with a transmission shaft of the winding drum assembly, the pod rod is unfolded when the output shaft of the motor driving assembly rotates around the-X axis and curled and folded when the output shaft of the motor driving assembly rotates around the + X axis, the module assembly is connected with a shell of the winding drum assembly, and unfolding and folding in different modes can be achieved by selecting different modules.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical structures, in particular to a modular repeatable deployment and retraction of pod rod winding mechanism. BACKGROUND

[0002] The pod rod is a kind of light, high storage ratio, high supporting stiffness after deployment, and can be curled thin-walled tubular structure, which has important application value in the field of large-scale deployable support structure of spacecraft. When retracted, the pod rod can be flattened and wound on the winding drum to form a retracted state; when deployed, it can be restored to a two-sided symmetrical double "Ω" long tube through its own elastic potential energy, effectively solving the problems of low storage efficiency, large retracted volume and complex structure of ordinary support structure, and providing a new technical means for the development of large-scale deployable support structure of spacecraft.

[0003] However, the existing pod rod storage and deployment device has obvious defects. The device developed by the German Aerospace Center (DLR) winds the metal belt together with the flattened pod rod, and realizes the deployment of the pod rod through the friction between the metal belt and the pod rod; the device proposed by Harbin Institute of Technology, National University of Defense Technology, etc. realizes the flattening of the pod rod through the upper and lower roller shafts, and realizes the winding and unwinding of the pod rod through the motor drive. These devices mainly have the following problems: first, the deployment method is root deployment, that is, the main body of the storage and deployment device does not move, and relies on the winding drum of the wound pod rod to rotate in place to push out the pod rod for deployment, which makes the pod rod have a certain length of transition section during deployment, thereby affecting its carrying capacity during deployment and after deployment; secondly, in the storage and deployment device, the geometric size of the outlet of the pod rod corresponds to the cross-sectional size of the pod rod, which cannot adapt to the pod rod with large size; thirdly, due to the difference in winding diameter of each circle of the pod rod on the winding drum, there is a mismatch in the linear speed of the pod rod on the winding drum during deployment, which may cause the mechanism to slip or jam; finally, in the deployed state, the cross section of the connection position between the pod rod and the winding drum cannot be restored, and the stiffness and carrying capacity are insufficient. SUMMARY

[0004] In view of the defects in the prior art, the present application provides a modular repeatable deployment and retraction of pod rod winding mechanism, which comprises a winding drum assembly, a holding assembly, a pod rod, a motor drive assembly, a cross section recovery assembly and a module assembly. The cross section recovery assembly is arranged on the inner side of the winding drum assembly for flattening and restoring the cross section of the pod rod. The holding assembly is arranged on the outer periphery of the winding drum assembly. The motor drive assembly is arranged on the outer side of the winding drum assembly, and the output shaft is connected with the transmission shaft of the winding drum assembly. The output shaft of the motor drive assembly rotates around the -X axis to make the pod rod deploy, and rotates around the +X axis to make the pod rod curl and retract. The module assembly is connected with the housing of the winding drum assembly, and different modules can be selected to realize different deployment and retraction modes.

[0005] Optionally, the winding drum assembly comprises a winding drum side plate, a winding drum flange A, a winding drum flange B, a winding drum bottom cover, a flattening rod, a swing rod, a swing rod pivot, a winding drum transmission shaft, a sliding block, an eccentric connecting rod, an arch-shaped connecting rod, a proximal end connecting rod, a distal end connecting rod and a position switch, the winding drum flange A and the winding drum flange B are arranged on the two sides of the winding drum side plate respectively, the winding drum flange A and the winding drum flange B are provided with sliding grooves on the panels, the sliding block is placed in the sliding groove to realize the translational degree of freedom, and the winding drum transmission shaft is connected with the winding drum flange A and the winding drum flange B through rolling bearings to realize the rotational degree of freedom.

[0006] Optionally, the swing rod is connected and fixed with the flattening rod, the swing rod is connected with the swing rod pivot through rolling bearings to realize the rotational degree of freedom, and the swing rod pivot is connected and fixed with the winding drum side plate.

[0007] Optionally, the eccentric connecting rod realizes the rotational degree of freedom through rolling bearings with the winding drum transmission shaft, the sliding block on one side of the winding drum flange A is connected with the arch-shaped connecting rod through rolling bearings, and the arch-shaped connecting rod is connected with the eccentric connecting rod through rolling bearings.

[0008] Optionally, the proximal end connecting rod is arranged on one side of the winding drum flange A and cooperates with the sliding block and the swing rod to form a sliding block connecting rod transmission pair, and the distal end connecting rod is arranged on one side of the winding drum flange B and cooperates with the sliding block and the swing rod to form a sliding block connecting rod transmission pair.

[0009] Optionally, the holding assembly comprises a holding wheel support, a swing rod, a coil spring, a roller, a guide wheel and a guide wheel support, the inner ring of the coil spring is fixed on the holding wheel support and the outer ring is fixed on the root of the swing rod, the end of the swing rod is connected with the roller through rolling bearings to realize the rotational degree of freedom of the roller and the swing rod.

[0010] Optionally, the cross-section recovery assembly comprises a pod rod mounting plate, a guide rail, a sliding block, a pod rod pressing piece A and a pod rod pressing piece B, the two sliding blocks are connected with the guide rail through rolling bearings to realize the translational degree of freedom along the guide rail, and the pod rod pressing piece A and the pod rod pressing piece B clamp the root of the pod rod.

[0011] Optionally, the module assembly comprises an end expansion support, a root expansion support, a floating mandrel outer shell, a floating mandrel inner core, a floating mandrel connecting frame, an end cover, a driving assembly connecting frame, a cushion block and an auxiliary wheel, when the pod rod is expanded at the end, the end expansion support is selected and connected and fixed with the winding drum transmission shaft through the end cover, when the pod rod is expanded at the root, the root expansion support is selected and connected and fixed with the winding drum transmission shaft through the end cover, and when the pod rod is expanded at the root, the carrying capacity of the pod rod during the expansion process and after the expansion needs to be improved, the floating mandrel outer shell and the floating mandrel inner core are combined and fixedly connected with the root expansion support through the floating mandrel connecting frame.

[0012] Compared with the prior art, the present application at least has the following beneficial effects: The modular and repeatable winding mechanism of the pod rod of the present application can effectively solve the key problems existing in the storage and deployment process of the pod rod, improve the use efficiency and structural performance of the pod rod.

[0013] The present application realizes the quick switching of different deployment modes of the pod rod through modular design, can support two working modes of end deployment and root deployment at the same time, meets the needs of different application scenarios, reduces the number of design iterations, and improves the design efficiency. At the same time, by integrating the crushing assembly and the winding drum assembly, the mechanism can adapt to pod rods of different cross-sectional sizes, improving the universality and adaptability of the mechanism. In addition, by the relative rotation of the holding assembly and the winding drum assembly, the deployment is completely restored by the elastic potential energy of the pod rod, solving the problem of slippage and jamming in the deployment process caused by the mismatch of linear velocity in the prior art, and ensuring the reliability and smoothness of the deployment of the pod rod.

[0014] The present application realizes the recovery of the cross section of the pod rod in the end deployment state through the cross section recovery assembly, solves the problem of insufficient stiffness and carrying capacity caused by incomplete recovery of the cross section in the root deployment state through the floating mandrel design, and significantly improves the structural stiffness and carrying capacity of the pod rod in the working state. The mechanism structure provided by the present application is compact, easy to operate, and has high reliability, and can be widely applied in the fields of large-scale deployable support structures of spacecraft, space deployable mechanisms and the like. BRIEF DESCRIPTION OF DRAWINGS

[0015] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings: Figure 1a is a winding mechanism of a modular and repeatable pod rod of an embodiment of the present application in a retracted state of an end deployment support; Figure 1b is a winding mechanism of a modular and repeatable pod rod of an embodiment of the present application in a deployed state of an end deployment support; Figure 1c is a winding mechanism of a modular and repeatable pod rod of an embodiment of the present application in a retracted state of a root deployment support; Figure 1d is a winding mechanism of a modular and repeatable pod rod of an embodiment of the present application in a deployed state of a root deployment support.

[0016] Figure 2a is a winding drum assembly of a modular and repeatable winding mechanism of a pod rod of an embodiment of the present application in an open state; Figure 2bis a module of a modular repeatable deployment and retraction of pod rod winding mechanism winding drum assembly in a state of folding of one specific embodiment of the present application; Figure 3 is a floating mandrel structure diagram in a module assembly of a modular repeatable deployment and retraction of pod rod winding mechanism of one specific embodiment of the present application; Figure 4 is a cross-section recovery structure diagram of a modular repeatable deployment and retraction of pod rod winding mechanism of one specific embodiment of the present application; Figure 5 is a module assembly structure diagram of a modular repeatable deployment and retraction of pod rod winding mechanism of one specific embodiment of the present application; Figure 6 is a holding assembly structure diagram of a modular repeatable deployment and retraction of pod rod winding mechanism of one specific embodiment of the present application; Wherein, 1-winding drum assembly, 2-holding assembly, 3-pod rod, 4-motor drive assembly, 5-cross-section recovery assembly, 6-module assembly structure diagram.

[0017] 111-winding drum side plate, 112-winding drum flange A, 113-winding drum flange B, 114-winding drum bottom cover, 121-flattening rod, 122-oscillating rod, 123-oscillating rod pivot, 13-winding drum transmission shaft, 14-sliding block, 151-eccentric connecting rod, 152-arched connecting rod, 16-proximal end connecting rod, 17-distal end connecting rod, 18-in-place switch.

[0018] 21-holding wheel support, 22-oscillating lever, 23-coil spring, 24-roller, 25-guide wheel, 26-guide wheel support.

[0019] 51-pod rod mounting plate, 52-rail, 53-sliding block, 541-pod rod crimping piece A, 542-pod rod crimping piece B.

[0020] 61-end deployment support, 62-root deployment support, 631-floating mandrel outer shell, 632-floating mandrel inner core, 633-floating mandrel connecting frame, 64-end cover, 65-drive assembly connecting frame, 66-cushion block, 67- auxiliary wheel. DETAILED DESCRIPTION

[0021] The present application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0022] Fig. 1, Fig. 2, Figure 3 , Figure 4, Figure 5 is a modular and repeatable pod rod winding mechanism. As shown in Figure 1a , Figure 1b , Figure 1c , Figure 1d A modular and repeatable pod rod winding mechanism includes a winding drum assembly 1, a clamping assembly 2, a pod rod 3, a motor drive assembly 4, a cross section recovery assembly 5, and a module assembly 6. The cross section recovery assembly 5 is arranged inside the winding drum assembly 1 and is used for flattening and recovering the cross section of the pod rod 3. The fixed surface of the cross section recovery assembly 5 is fixed to the winding drum assembly 1, and the moving end is fixedly connected to one end of the pod rod 3. The clamping assembly 2 is arranged on the outer periphery of the winding drum assembly 1. The motor drive assembly 4 is arranged outside the winding drum assembly 1. The output shaft of the motor drive assembly 4 is connected to the transmission shaft of the winding drum assembly 1, and the housing of the motor drive assembly 4 is fixedly connected to the winding drum assembly 1. When the output shaft of the motor drive assembly 4 rotates around the X-axis, the pod rod 3 is unfolded. When the output shaft of the motor drive assembly 4 rotates around the +X-axis, the pod rod 3 is wound up. The module assembly 6 is connected to the housing of the winding drum assembly 1, and different modules can be selected to achieve different modes of expansion and contraction.

[0023] As shown in Figure 2a is a winding drum assembly of a modular and repeatable pod rod winding mechanism, which includes a winding drum side plate 111, a winding drum flange A 112, a winding drum flange B 113, a winding drum bottom cover 114, a flattening rod 121, a swing rod 122, a swing rod pivot 123, a winding drum transmission shaft 13, a slider 14, an eccentric connecting rod 151, an arch-shaped connecting rod 152, a proximal end connecting rod 16, a distal end connecting rod 17, and a position switch 18. The winding drum flange A 112 and the winding drum flange B 113 are arranged on the two sides of the winding drum side plate 111, respectively. The winding drum flange A 112 and the winding drum flange B 113 are provided with sliding grooves on the panels, and the slider 14 is placed in the sliding grooves to realize the translational degree of freedom. The winding drum transmission shaft 13 is connected to the winding drum flange A 112 and the winding drum flange B 113 through rolling bearings to realize the rotational degree of freedom. The swing rod 122 is fixedly connected to the flattening rod 121, and the swing rod 122 is connected to the swing rod pivot 123 through rolling bearings to realize the rotational degree of freedom. The swing rod pivot 123 is fixedly connected to the winding drum side plate 111. The eccentric connecting rod 151 is connected to the winding drum transmission shaft 13 through rolling bearings to realize the rotational degree of freedom. The slider 14 on one side of the winding drum flange A 112 is connected to the arch-shaped connecting rod 152 through rolling bearings, and the arch-shaped connecting rod 152 is connected to the eccentric connecting rod 151 through rolling bearings. The proximal end connecting rod 16 is arranged on one side of the winding drum flange A 112 and cooperates with the slider 14 and the swing rod 122 to form a slider connecting rod transmission pair. The distal end connecting rod 17 is arranged on one side of the winding drum flange B 113 and cooperates with the slider 14 and the swing rod 122 to form a slider connecting rod transmission pair. The position switch 18 is arranged on the slider 14 and is triggered by the slider 14 when the slider 14 moves to the farthest position in the +Z direction, giving a position indication signal. Figure 2bAs shown, the slider 14 moves along -Z when it is retracted, driving the swing rod 122 to drive the flattening rod 121 to swing inward to flatten the pod rod 3.

[0024] As shown, the pod rod 3 is flattened by the flattening rod 121. Figure 3 As shown, it is a kind of modularization repeatable pod rod winding mechanism module assembly floating mandrel, including floating mandrel shell 631, floating mandrel inner core 632.The gap is left between floating mandrel shell 631 and floating mandrel inner core 632, and is limited by rolling bearing.When the pod rod 3 passes through the gap, it will be slightly deformed;The deformation does not affect the unfolding and storage process of the pod rod 3, and the deformation will naturally recover after the pod rod 3 leaves the floating mandrel.The combination of floating mandrel shell 631 and floating mandrel inner core 632 enables the pod rod to have higher carrying capacity under the condition that the root section is not completely restored.

[0025] As shown, the pod rod 3 is flattened by the flattening rod 121. Figure 4 As shown, it is a kind of modularization repeatable pod rod winding mechanism section recovery assembly, including pod rod mounting plate 51, guide rail 52, slider 53, pod rod crimping piece A 541, pod rod crimping piece B 542.Two sliders 53 are connected with guide rail 52 by rolling bearing, realizing the translational freedom along the guide rail.Pod rod crimping piece A 541 and pod rod crimping piece B 542 clamp the root of the pod rod 3.Pod rod crimping piece A 541 and pod rod crimping piece B 542 are connected with slider 53 and fixed, and the section of the pod rod 3 is recovered or flattened by the translation of the slider along the guide rail.

[0026] As shown, the pod rod 3 is flattened by the flattening rod 121. Figure 5 As shown, it is a kind of modularization repeatable pod rod winding mechanism module assembly, including end unrolling support 61, root unrolling support 62, floating mandrel shell 631, floating mandrel inner core 632, floating mandrel connecting frame 633, end cover 64, driving assembly connecting frame 65, cushion block 66, auxiliary wheel 67.Motor driving assembly 4 is connected with driving assembly connecting frame 65 and fixed.Pod rod 3 is unrolled at the end, and end unrolling support 61 is selected to be connected with winding drum transmission shaft 13 through end cover 64 at this time, driving assembly connecting frame 65 is connected with cushion block 66, and cushion block 66 is connected with winding drum flange A 112 and fixed.Pod rod 3 is unrolled at the root, and root unrolling support 62 is selected to be connected with winding drum transmission shaft 13 through end cover 64 at this time.Floating mandrel shell 631 and floating mandrel inner core 632 are limited by rolling bearing contact.Floating mandrel shell 631 is connected with floating mandrel connecting frame 633, and floating mandrel connecting frame 633 is connected with root unrolling support 62 at this time.Driving assembly connecting frame 65 is connected with root unrolling support 62.

[0027] As shown, the pod rod 3 is flattened by the flattening rod 121. Figure 6The shown is a kind of modularization repeatable pod pole winding mechanism embrace component, including embrace wheel support 21, swing bar 22, winding spring 23, roller 24, guide wheel 25, guide wheel frame 26.The inner ring of winding spring 23 is fixed on embrace wheel support 21, the outer ring of winding spring 23 is fixed at the root of swing bar 22, and the embrace force of swing bar 22 and roller 24 to pod pole 3 is provided.The end of swing bar 22 is connected with roller 24 through rolling bearing, and the rotational freedom of roller 24 and swing bar 22 is realized.Guide wheel frame 26 is connected and fixed with swing bar 22, and guide wheel 25 is connected with guide wheel frame through rolling bearing, and the rotational freedom of guide wheel 25 is realized, and guiding effect is provided in the process of pod pole 3 deployment.

[0028] The specific examples are applied in the detailed description of the inventive concept herein, and the above embodiment is only used to help understand the core idea of the application. It should be pointed out that any obvious modification, equivalent replacement or other improvement made by those skilled in the art without departing from the inventive concept should be included in the protection scope of the application.

[0029] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0030] It should be understood that the application is not limited to the precise construction that has been described above and illustrated in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the application is limited only by the claims that follow.

[0031] It should be understood that "multiple" referred to herein means two or more than two. "And / or", which describes the association relationship of associated objects, means that there can be three relationships, for example, A and / or B can mean that there are three cases of A alone, A and B exist at the same time, and B alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship.

[0032] The above is only the preferred embodiment of the application, and is not used to limit the application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application should be included in the protection scope of the application.

[0033] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other at will without conflict.

Claims

1. A modular, collapsible and expandable pod pole winding mechanism, characterized by, The device comprises a winding drum assembly, a clamping assembly, a pod rod, a motor driving assembly, a cross section recovery assembly and a module assembly. The cross section recovery assembly is arranged inside the winding drum assembly for flattening and recovery of the cross section of the pod rod. The clamping assembly is arranged on the outer periphery of the winding drum assembly. The motor driving assembly is arranged outside the winding drum assembly and the output shaft is connected with the transmission shaft of the winding drum assembly. When the output shaft of the motor driving assembly rotates around the X-axis, the pod rod is unfolded and when the output shaft rotates around the +X-axis, the pod rod is rolled up. The module assembly is connected with the housing of the winding drum assembly and different modules are selected to achieve different modes of unfolding and rolling up.

2. The modular retractable pod pole winding mechanism of claim 1, wherein, The winding drum assembly comprises a winding drum side plate, a winding drum flange A, a winding drum flange B, a winding drum bottom cover, a flattening rod, a swing rod, a swing rod pivot, a winding drum transmission shaft, a sliding block, an eccentric connecting rod, an arch connecting rod, a proximal end connecting rod, a distal end connecting rod and a position switch. The winding drum flange A and the winding drum flange B are arranged on both sides of the winding drum side plate respectively. The sliding block is placed in the sliding groove on the face plate of the winding drum flange A and the winding drum flange B to achieve the translational degree of freedom. The winding drum transmission shaft is connected with the winding drum flange A and the winding drum flange B through rolling bearings to achieve the rotational degree of freedom.

3. The modular retractable pod pole winding mechanism of claim 2, wherein, The swing rod is connected with the flattening rod. The swing rod is connected with the swing rod pivot through rolling bearings to achieve the rotational degree of freedom and the swing rod pivot is connected with the winding drum side plate.

4. The modular retractable pod pole winding mechanism of claim 2, wherein, The eccentric connecting rod is connected with the winding drum transmission shaft through rolling bearings to achieve the rotational degree of freedom. The sliding block on one side of the winding drum flange A is connected with the arch connecting rod through rolling bearings. The arch connecting rod is connected with the eccentric connecting rod through rolling bearings.

5. The modular retractable pod pole winding mechanism of claim 2, wherein, The proximal end connecting rod is arranged on one side of the winding drum flange A and cooperates with the sliding block and the swing rod to form a sliding block connecting rod transmission pair. The distal end connecting rod is arranged on one side of the winding drum flange B and cooperates with the sliding block and the swing rod to form a sliding block connecting rod transmission pair.

6. The modular retractable pod pole winding mechanism of claim 1, wherein, The clamping assembly comprises a clamping wheel support, a swing rod, a coil spring, a roller, a guide wheel and a guide wheel support. The inner ring of the coil spring is fixed on the clamping wheel support and the outer ring is fixed on the root of the swing rod. The end of the swing rod is connected with the roller through rolling bearings to achieve the rotational degree of freedom of the roller and the swing rod.

7. The modular retractable pod pole winding mechanism of claim 1, wherein, The cross section recovery assembly comprises a pod rod mounting plate, a guide rail, a sliding block, a pod rod pressing piece A and a pod rod pressing piece B. The two sliding blocks are connected with the guide rail through rolling bearings to achieve the translational degree of freedom along the guide rail. The pod rod pressing piece A and the pod rod pressing piece B clamp the root of the pod rod.

8. The modular retractable pod pole winding mechanism of claim 1, wherein, The module assembly comprises an end unrolling support, a root unrolling support, a floating mandrel shell, a floating mandrel inner core, a floating mandrel connecting support, an end cover, a driving assembly connecting support, a cushion block and an auxiliary wheel. When the pod rod is unrolled at the end, the end unrolling support is selected and connected with the winding drum transmission shaft through the end cover. When the pod rod is unrolled at the root, the root unrolling support is selected and connected with the winding drum transmission shaft through the end cover.

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