Autonomous composite rolling and unfolding mechanism based on elastic extension rods

Abstract

The invention discloses an autonomous composite rolling and unfolding mechanism based on elastic stretching rods, and belongs to the technical field of machinery. According to the invention, an extra power device is not needed, and the extension rod can be automatically unfolded only by depending on the elastic potential energy stored after the elastic extension rod is rolled up. Meanwhile, in order to further reduce the folding size, coaxial rolling of the multiple stretching rods is achieved through the rolling and unfolding mechanism, and synchronous coaxial stretching of the stretching rods in multiple directions is achieved. Meanwhile, for the more complex three-dimensional stretching mechanism design, the design freedom degree of the related folding and unfolding mechanism can be further improved through the comprehensive design of the multi-reel direction, the interval and the outlet guide device. The structure has the advantages of being small in folding size, large in unfolding space scale and high in structural reliability, and the design level of the space unfolding structure is improved.

Description

Technical Field

[0001] This invention relates to an autonomous composite winding mechanism based on an elastic extension rod, belonging to the field of mechanical technology. Background Technology

[0002] As deployable structures evolve towards larger structural scales, higher reliability, and higher unfolded / folded volume ratios, the increase in spatial structural size and the improvement in structural reliability are inherently contradictory. The larger the object structure, the greater the complexity and mass / volume cost of the deployable structure to ensure structural reliability. For large deployable structures, electric or compressed gas propulsion is often required, further increasing the overall mass of the device. Furthermore, large spatial deployable structures often employ truss, sleeve, and other mechanisms. Once the design is complete, the configuration of the entire mechanism is fixed. Although these structures have an inherent advantage in dimensional accuracy after unfolding, they cannot flexibly adapt to changes in application requirements for applications with low dimensional accuracy requirements, lacking design flexibility. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide an autonomous composite winding mechanism based on an elastic extension rod, thereby solving the problem of large weight and volume of the composite winding mechanism itself during the winding dynamic load.

[0004] The technical solution of this invention is: a self-contained composite roll-up mechanism based on an elastic extension rod, comprising:

[0005] Rewind frame;

[0006] The reel is installed inside the take-up frame;

[0007] Several elastic extension rods are provided. When retracted, they are wound around the corresponding reel and extend out of the winding frame in different directions with the reel as the axis.

[0008] Several guiding devices are provided and located outside the winding frame. They are used to limit the extension direction of the corresponding elastic extension rod and ensure the rigidity of the root of the elastic extension rod during the extension process.

[0009] There are several sail boxes, located on the outside of the rewind frame, used to store the folded sail.

[0010] The sail has a polygonal structure, with at least one corner fixedly connected to the sail box, and at least two corners equipped with ropes connecting different elastic extension rods for passive deployment as the elastic extension rods extend.

[0011] Furthermore, the rolling mechanism comprises several units, assembled according to the extension direction requirements of the elastic extension rod.

[0012] Furthermore, when there are two winding mechanisms, the winding frames of each winding mechanism are fixedly connected in a direction perpendicular to each other, and each winding frame is provided with three elastic extension rods and three guide devices to realize the extension of the elastic extension rods in six directions.

[0013] Furthermore, the winding frame and the guide device outlet position are provided with roller structures to provide a rolling friction environment when the elastic extension rod extends.

[0014] Furthermore, the elastic extension rod stores elastic potential energy when it retracts and releases elastic potential energy when it extends.

[0015] Furthermore, the cross-section of the guide device and the cross-section of the elastic extension rod are designed to conform to the shape.

[0016] Furthermore, the material of the sail surface is an aluminized polyimide film or an aluminized polyester film.

[0017] Furthermore, the sail is folded into the sail box using an outward folding method with oblique blades and a Z-shaped folding method.

[0018] Furthermore, the outer side of the sail box is provided with a packaging structure for sealing the sail surface, which breaks open when the elastic extension rod of the packaging structure drives the sail surface to unfold.

[0019] Furthermore, the winding frame is provided with an unlocking structure for the elastic extension rod, which is used to receive external commands to unlock and release the elastic extension rod.

[0020] The advantages of this invention compared to the prior art are:

[0021] (1) This invention utilizes the characteristic that the elastic extension rod used in aerospace unfolding mechanisms can be flattened and rolled up in the winding state. It adopts an elastic extension rod coaxial winding mechanism, which greatly simplifies the complexity and volume and weight of the mechanism and improves the unfolding / folding ratio.

[0022] (2) The present invention utilizes the release of elastic potential energy during the unfolding of the elastic extension rod to drive the device to unfold autonomously without external driving (electric drive, pneumatic drive) device, which further compresses the structural volume and weight of the device.

[0023] (3) The elastic extension rod winding mechanism described in this invention can be assembled and combined according to actual application requirements. The number of extension rods included in a single winding mechanism and the relative positions between winding mechanisms can be customized. The three-dimensional spatial configuration of the extension rods can be designed, which improves the design flexibility of the composite winding mechanism. Attached Figure Description

[0024] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0025] Figure 1 This is a schematic diagram of the overall configuration of the spatial autonomous composite roll-up mechanism based on an elastic extension rod according to the present invention;

[0026] Figure 2 This is a schematic diagram of the multi-bar winding of the elastic extension rod of the present invention;

[0027] Figure 3 This is a schematic diagram showing the arrangement of the rotating shaft and drag-reducing rollers in the elastic extension rod winding mechanism of the present invention;

[0028] Figure 4 This is a schematic diagram of the two-axis composite design of the roll-up mechanism of the present invention;

[0029] Figure 5 This is a schematic diagram of the roll-up mechanism of the present invention;

[0030] Figure 6 This is a schematic diagram of the guiding device structure of the present invention;

[0031] Figure 7 , 8 This is a schematic diagram of the design of the elastic extension rod guide device of the present invention;

[0032] Figure 9 This is a schematic diagram illustrating the working principle of the self-deploying elastic extension rod of the present invention. Detailed Implementation

[0033] To better understand the above technical solutions, the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solutions of the present invention, rather than limitations on the technical solutions of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0034] The following description, in conjunction with the accompanying drawings, provides a more detailed account of an autonomous composite winding and unwinding mechanism based on an elastic extension rod, according to embodiments of the present invention. Specific implementation methods may include:

[0035] Rewind frame;

[0036] The reel is installed inside the take-up frame;

[0037] Several elastic extension rods are provided. When retracted, they are wound around the corresponding reel and extend out of the winding frame in different directions with the reel as the axis.

[0038] Several guiding devices are provided and located outside the winding frame. They are used to limit the extension direction of the corresponding elastic extension rod and ensure the rigidity of the root of the elastic extension rod during the extension process.

[0039] There are several sail boxes, located on the outside of the rewind frame, used to store the folded sail.

[0040] The sail has a polygonal structure, with at least one corner fixedly connected to the sail box, and at least two corners equipped with ropes connecting different elastic extension rods for passive deployment as the elastic extension rods extend.

[0041] In the solution provided by the embodiments of the present invention, based on the inherent flattening and elastic potential energy storage characteristics of the elastic extension rod, a roll structure is adopted to realize the winding and autonomous unfolding of the elastic extension rod, thus constructing a spatial autonomous composite winding and unfolding mechanism. The elastic extension rod is made of lightweight composite material or elastic metal with elastic prestress, and unfolds under stress release state, has structural rigidity, and has a cross-section that is circular, pod-shaped, "C"-shaped, or "A"-shaped.

[0042] To further improve winding efficiency, multiple elastic extension rods can be wound onto the same reel, with the base of the elastic extension rods fixed to the reel.

[0043] like Figure 1 In order to achieve multi-rod winding, it is necessary to carry out reasonable design based on the overall configuration of the spatial unfolding mechanism, determine the winding and unfolding scheme, and gather multiple coplanar elastic extension rods that converge at a point onto a single roll, using as few rolls as possible to wind up the entire unfolding mechanism.

[0044] like Figure 2 The autonomous unfolding mechanism mainly relies on the elastic potential energy stored in the elastic extension rod when it is wound up. It extends outward by utilizing the tendency of the compressed and wound elastic extension rod to straighten and bulge. In addition to the roll, the unfolding mechanism should also include a winding frame that constrains the wound elastic extension rod and a guide device for the unfolding of the elastic extension rod.

[0045] like Figure 9 Since the elastic extension force on which the self-deployment depends is limited, in order to ensure that the elastic extension rod can be deployed smoothly, a micro roller structure needs to be designed in the winding frame of the winding mechanism to ensure that the extension rod is subjected to only limited rolling friction during the deployment process.

[0046] The design of the extension direction of each rod in the entire roll-up mechanism needs to be realized by the guide device in the roll-up mechanism. The guide device is installed at the exit of each elastic extension rod in the roll-up mechanism to control the extension direction of the elastic extension rod and increase the rigidity of the root of the elastic extension rod after unfolding.

[0047] like Figure 8The guide device is designed to follow the shape of the elastic extension rod from the flattened and wound state to the unfolded shape, which ensures both the orientation of the elastic extension rod and the smoothness of the unfolding process.

[0048] Rollers are installed at the outlet of the guide device to ensure the smoothness of the unfolding process of the elastic rod. At the same time, the tendency of the cross-section of the elastic extension rod to bend and shrink during unfolding further provides driving force for the unfolding.

[0049] In addition to the skeleton constructed by various elastic extension rods, the space autonomous composite roll-up mechanism also includes a sail between the skeletons. The sail is made of a lightweight non-metallic film. Each key corner of the sail is attached to the skeleton. In the retracted state, it is folded in a certain way and placed in the sail box outside the roll-up mechanism. During the unfolding process, the sail unfolds synchronously with the elastic extension rods.

[0050] The space autonomous composite roll-up mechanism is equipped with a mechanical unlocking device, which can unlock the entire mechanism through a simple mechanical action, enabling the extension rod and sail to unfold.

[0051] The elastic extension rod and reel structure allows the extension rod to be rolled up in a flat manner and locked by a limiting mechanism. When unfolded, the extension rod can be driven to extend autonomously by its own elastic potential energy. The rod has low density and light weight and can be tightly rolled up by the reel.

[0052] (1) Overall configuration: The overall configuration of the roll-up mechanism based on elastic extension rods adopts six mutually perpendicular elastic extension rods to construct the mechanism skeleton. The skeleton is rolled up in the roll-up frame when it is in the folded state. During the unfolding process, it is unfolded synchronously by rotating the roller. At the same time, the sail is pulled synchronously by the hanging points on the rods, and finally the unfolding and forming of the entire roll-up mechanism is completed.

[0053] To further reduce the retracted size of the elastic extension bar, a multi-bar coaxial winding design is implemented, such as... Figure 2 As shown, multiple coplanar and mutually perpendicular elastic extension rods are simultaneously rolled onto a single spool. During the unfolding process, they can autonomously and synchronously unfold by releasing the elastic potential energy of the rods themselves.

[0054] To achieve the overall configuration of the roll-up mechanism unfolding in six directions, a coaxial winding design is used. The six rods are divided into two groups, with three extension rods in each group. The three extension rods are coplanar and wound onto the same reel. The two reels are perpendicular to each other, as shown below. Figure 4 As shown, it can be expanded in six directions.

[0055] (2) Rewinding Mechanism: The composite rewinding mechanism based on the elastic extension rod consists of two sub-rewinding mechanisms perpendicular to each other. Each rewinding mechanism mainly comprises a rewinding frame, a reel, a guide device, a sail box, and an elastic extension rod, such as... Figure 5 As shown.

[0056] The winding frame mainly consists of two mounting side plates and four fixed supports, forming the main mounting frame of the winding mechanism. The reel is fixed at the center of the winding mechanism, with baffles on both sides constraining the thin-walled cylindrical elastic extension rods, ensuring they are wound in a predetermined direction. Three slots for the elastic extension rods, spaced 90 degrees apart, are pre-drilled on the reel to fix the roots of the elastic extension rods to the reel. A guide device is located at the exit point where the elastic extension rods extend, serving as a support mechanism for the transition from the wound and flattened state to the straightened rod state. This ensures the directional and controllable unfolding of the extension rods and prevents root instability or folding during unfolding. The exit structure design of the guide device for the elastic extension rods is as follows... Figure 6 As shown.

[0057] To ensure the smooth unfolding of the mechanism, the sliding friction between the elastic extension rod and the winding mechanism needs to be converted into rolling friction during the unfolding process. Therefore, multiple roller mechanisms are arranged in the winding mechanism, such as... Figure 3 As shown.

[0058] The guide device can be designed as Figure 6 The thin-walled limiting form shown can also be designed as follows to improve the root stiffness of longer elastic extension rods: Figure 7 The structure shown is designed with a guide structure that conforms to the shape of the elastic extension rod as it changes from flat to coiled. Furthermore, rollers are also installed inside the guide device to reduce frictional resistance during the extension process.

[0059] To further increase the extension force of the elastic extension rod, rollers are arranged at the upper end of the guide device along the extension path of the elastic extension rod. The curling tendency of the elastic extension rod acts on the rollers to exert force, making the extension rod easier to extend.

[0060] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0061] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A self-contained composite winding and unwinding mechanism based on an elastic extension rod, characterized in that, include: Rewind frame; The reel is installed inside the take-up frame; Several elastic extension rods are provided. When retracted, they are wound around the corresponding reel and extend out of the winding frame in different directions with the reel as the axis. Several guiding devices are provided and located outside the winding frame. They are used to limit the extension direction of the corresponding elastic extension rod and ensure the rigidity of the root of the elastic extension rod during the extension process. There are several sail boxes, located on the outside of the rewind frame, used to store the folded sail. The sail has a polygonal structure, with at least one corner fixedly connected to the sail box, and at least two corners equipped with ropes connecting different elastic extension rods for passive deployment as the elastic extension rods extend.

2. The autonomous composite winding and unwinding mechanism based on an elastic extension rod according to claim 1, characterized in that, The rolling mechanism consists of several units, assembled according to the required direction of extension of the elastic extension rod.

3. The autonomous composite winding and unwinding mechanism based on an elastic extension rod according to claim 2, characterized in that, When there are two winding mechanisms, the winding frames of each winding mechanism are fixedly connected in a direction perpendicular to each other. Each winding frame is equipped with three elastic extension rods and three guide devices to realize the extension of the elastic extension rods in six directions.

4. The autonomous composite winding and unwinding mechanism based on an elastic extension rod according to claim 1, characterized in that, The winding frame and the exit position of the guide device are provided with roller structures to provide a rolling friction environment when the elastic extension rod extends.

5. The autonomous composite winding and unwinding mechanism based on an elastic extension rod according to claim 1, characterized in that, The elastic extension rod stores elastic potential energy when it retracts and releases elastic potential energy when it extends.

6. The autonomous composite winding and unwinding mechanism based on an elastic extension rod according to claim 1, characterized in that, The cross-section of the guide device and the cross-section of the elastic extension rod are designed to conform to the shape.

7. The autonomous composite winding and unwinding mechanism based on an elastic extension rod according to claim 1, characterized in that, The material of the sail surface is an aluminized polyimide film or an aluminized polyester film.

8. The autonomous composite winding and unwinding mechanism based on an elastic extension rod according to claim 1, characterized in that, The sail is folded into the sail box using oblique leaf outward folding and Z-shaped folding methods.

9. The autonomous composite winding and unwinding mechanism based on an elastic extension rod according to claim 1, characterized in that, The outer side of the sail box is provided with a packaging structure for sealing the sail surface. The packaging structure breaks open when the sail surface is unfolded by the elastic extension rod.

10. The autonomous composite winding and unwinding mechanism based on an elastic extension rod according to claim 1, characterized in that, The winding frame is equipped with an unlocking structure for the elastic extension rod, which is used to receive external commands to unlock and release the elastic extension rod.

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