Satellite-borne limited angle rotation mechanism fault emergency exit backup device

Abstract

The invention discloses a fault emergency exit backup device for a satellite-borne limited-angle rotating mechanism. The fault emergency exit backup device comprises a main pinion, an emergency motor, an emergency pinion, an emergency bull gear, a base, a rotating shaft, a worm gear shifting fork, a worm gear, a worm, a main bull gear shifting fork, a main bull gear and a main motor, when a main motor of the rotating mechanism breaks down, an emergency motor is powered on to rotate, an emergency large gear is decelerated through an emergency small gear to drive a worm to rotate, the worm drives a worm gear to rotate, a worm gear shifting fork is meshed with a main large gear shifting fork after a certain idle stroke is passed, and therefore the worm gear drives the main large gear to rotate, and the mechanism is enabled again. Compared with the prior art, the device has the advantages that the number of parts is small, the parts are simple in structure and small in occupied size, the mechanism is enabled again through the backup motor and the shifting fork transmission system, and high reliability is achieved. The device has the biggest characteristics that bidirectional transmission and repeated use can be realized, and the rotating shaft can still rotate forwards and backwards after the main motor loses efficacy.

Description

TECHNICAL FIELD

[0001] The application relates to a star-borne limited-angle rotation mechanism failure emergency exit backup device and belongs to the field of star-borne limited-angle rotation mechanisms. BACKGROUND

[0002] Satellite or spacecraft-mounted calibration mechanisms, thermal mechanisms and switching mirror mechanisms are devices for cutting a calibration black body, a thermal device or a switching mirror into a light path through a driving mechanism to realize calibration, protection and light path switching functions. If a motor fails such as power failure during in-orbit switching, the movable load cannot be normally rotated to an initial imaging position, thereby shielding the imaging light path and causing the entire imaging system to be paralyzed. Therefore, a star-borne limited-angle mechanism is required to provide an emergency exit backup device in case of failure.

[0003] Traditional star-borne emergency exit devices include memory alloy coil spring type and electric push rod type. The memory alloy coil spring type uses a memory alloy to pull a lever to disengage a main transmission pair, and a coil spring provides power to rotate the load to reset. The electric push rod is a telescopic rod composed of a stepper motor, a ball screw nut pair and a guide rail. Generally, a gear and a rack are also required for transmission. The motor drives the ball screw nut pair, the ball screw nut pair transmits the motion to the rack through the guide rail, and the rack drives the gear to rotate to realize emergency driving. The above-mentioned memory alloy coil spring type structure has a large size and can only be one-way and one-time exited. The electric push rod type is generally also one-way driven due to the length limitation of the rack. If bidirectional exit is required, the occupied volume and weight are greatly increased, and the reliability is reduced. SUMMARY

[0004] The technical problem of the application is to overcome the shortcomings of the prior art and provide a star-borne limited-angle rotation mechanism failure emergency exit backup device to solve the problems of the prior art that the memory alloy coil spring type can only be one-way exited, and the electric push rod type has a large size and a heavy weight.

[0005] The technical solution of the application is a star-borne limited-angle rotation mechanism failure emergency exit backup device, which comprises: a main pinion, an emergency motor, an emergency pinion, an emergency gear, a base, a rotating shaft, a worm wheel yoke, a worm wheel, a worm, a main gear yoke, a main gear and a main motor, wherein: The base is fixed on the satellite; the base is a cuboid; the four faces of the longitudinal section of the cuboid are defined as an upper wall face, a left wall face, a lower wall face and a right wall face in the counterclockwise direction; One end of the rotating shaft is connected to the load, and the other end passes through the upper wall of the base from top to bottom and extends into the base. An angular contact ball bearing is sleeved on the rotating shaft inside the base, and a worm gear is connected to the outside of the angular contact ball bearing, so that the rotating shaft and the worm gear can rotate relative to each other. The worm gear shift fork is placed on the lower surface of the worm gear. The main gear is sleeved and fixed to the bottom end of the rotating shaft. The main gear shift fork is located on the upper surface of the main gear. The worm gear shift fork and the main gear shift fork are in the same plane of rotation. The worm is located inside the base perpendicular to the shaft, with one end mounted on the right wall, the middle part meshing with the worm wheel, and the other end connected to the emergency gear. The stator of the emergency motor is fixed to the outside of the left wall, and the rotor passes through the left wall and connects to the emergency pinion; the emergency pinion meshes with the emergency gear. The main motor stator is fixed on the outer side of the lower wall, and the rotor passes through the lower wall and is connected to the main pinion gear. The main pinion gear meshes with the main gear.

[0006] Preferably, under normal operating conditions, the main motor transmits power to the rotating shaft on which the load is installed through a gear reduction pair composed of the main pinion and the main gear, thereby realizing the limited rotation angle of the mechanism.

[0007] Preferably, the rotation angle range P of the main motor, main pinion, and main gear is less than or equal to 320°, and 360° - P is the rotation restricted area; When the main motor is running, the main gear shift fork rotates with the main gear, while the worm gear shift fork is in the rotation restricted area. The main gear shift fork and the worm gear shift fork do not interfere with each other when the main motor is working.

[0008] Preferably, when the main motor is in a power-off state, the emergency motor is powered on and rotates, transmitting power through the gear reduction pair composed of the emergency pinion and emergency gear and the worm gear pair composed of the worm wheel and worm. The power is then transmitted to the worm gear shift fork on the worm gear. After the worm gear shift fork rotates out of the rotation restriction zone, it contacts the main gear shift fork and transmits torque, thereby driving the main gear to rotate the shaft and transmitting the rotation to the load at the other end of the shaft.

[0009] Preferably, the direction of the rotating shaft can be adjusted by changing the direction of the emergency motor to achieve emergency exit actions or backup movement functions with different directions.

[0010] Preferably, the total transmission ratio from the emergency motor to the load end of the shaft is 70 to 150.

[0011] Preferably, the working surfaces of the main pinion, emergency pinion, emergency gear, worm gear shift fork, worm gear, worm, main gear shift fork, and main gear are all coated with MoS2; all transmission meshing surfaces are treated with anti-cold welding.

[0012] Preferably, the main pinion is an involute cylindrical spur gear; The worm gear module is 1; the worm thread count is 1. The worm gear fork and the main gear fork are separable forks, and the included angle of two working surfaces on each fork is 20°±1°.

[0013] Preferably, the contact position of the rotating shaft and the upper wall surface of the base is movably supported by an angular contact ball bearing; The main motor type is consistent with the emergency motor.

[0014] Compared with the prior art, the present application has the following advantages: (1) Compared with the prior art, the reset device drives the worm gear and the worm through the backup stepping motor, and realizes the reciprocating rotation of the limited angle load driven by the backup motor through the fork clutch. The backup transmission system is independent of the main system when the backup transmission system is not working, and the reliability is high. (2) Compared with the prior art, the emergency exit backup device has a very compact layout of each transmission component, occupies a small space, and has a simple structure. (3) Compared with the prior art, the emergency exit backup device can rotate forward and backward, and can drive the load to rotate forward and backward. It can be used as a backup mechanism in special occasions. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The present application is a schematic diagram of the composition structure; Figure 2 The present application is a schematic diagram of the device transmission principle. DETAILED DESCRIPTION

[0016] The present application provides an emergency exit backup device for a satellite-borne limited angle mechanism, comprising: A main pinion 1, an emergency motor 2, an emergency pinion 3, an emergency gear 4, a base 5, a rotating shaft 6, a worm gear fork 7, a worm wheel 8, a worm 9, a main gear fork 10, a main gear 11, and a main motor 12, wherein: The base 5 is fixedly connected to the satellite; the base 5 is a cuboid; the four faces through which the longitudinal section of the cuboid passes are defined as the upper wall surface, the left wall surface, the lower wall surface, and the right wall surface in the counterclockwise direction; One end of the rotating shaft 6 is connected to a load, and the other end penetrates the upper wall surface of the base 5 from top to bottom and extends into the interior of the base 5; an angular contact ball bearing is sleeved on the rotating shaft 6 in the interior of the base 5, and the angular contact ball bearing circumscribes the worm wheel 8, so that the rotating shaft 6 and the worm wheel 8 can rotate relative to each other; the worm gear fork 7 is arranged on the lower surface of the worm wheel 8; the main gear 11 is sleeved and fixedly connected to the bottom end of the rotating shaft 6; the main gear fork 10 is located on the upper surface of the main gear 11; the worm gear fork 7 and the main gear fork 10 are in the same rotation plane; The worm 9 is perpendicular to the rotating shaft 6 and is located in the interior of the base 5, one end of the worm 9 is installed on the right wall surface, the middle part of the worm 9 is engaged with the worm wheel 8, and the other end of the worm 9 is connected to the emergency gear 4; The emergency motor 2 stator is fixed outside the left wall surface, and the rotor penetrates the left wall surface and is connected with the emergency pinion 3; the emergency pinion 3 is engaged with the emergency gear wheel 4; The main motor 12 stator is fixed outside the lower wall surface, and the rotor penetrates the lower wall surface and is connected with the main pinion 1; the main pinion 1 is engaged with the main gear wheel 11.

[0017] Embodiment: The application provides an on-orbit limited-rotation mechanism emergency exit backup device, as shown in Figure 1 and Figure 2 The device comprises a main pinion 1, an emergency motor 2, an emergency pinion 3, an emergency gear wheel 4, a base 5, a rotating shaft 6, a worm wheel yoke 7, a worm wheel 8, a worm 9, a main gear wheel yoke 10, a main gear wheel 11 and a main motor 12, and wherein The main pinion 1 is connected with the rotor of the main motor 12, the emergency pinion 3 is connected with the rotor of the emergency motor 2, the main motor 12 stator and the emergency motor 2 stator are both connected on the base 5, the rotating shaft 6 and the worm 9 are both installed on the base 5 through angular contact ball bearings, the base 5 is fixedly connected with a satellite, the worm wheel 8 is hollow and internally provided with a pair of angular contact ball bearings, the bearing outer ring is connected with the worm wheel 8, and the bearing inner ring is fixed on the rotating shaft 6; in normal working condition, the rotating shaft 6 and the worm wheel 8 can relatively rotate due to the existence of the bearing, the main pinion 1 is engaged with the main gear wheel 11, the main gear wheel 11 is fixedly connected with the rotating shaft 6, the emergency pinion 3 is engaged with the emergency gear wheel 4, the emergency gear wheel 4 is fixedly connected with the worm 9, the worm wheel 8 is engaged with the worm 9, the worm wheel yoke 7 and the main gear wheel yoke 10 are in the same rotating plane, the yokes are in contact when rotating, and the worm wheel 8 can transmit torque to the main gear wheel 11 after the contact; When the satellite is in orbit and the limited-rotation mechanism is in normal working condition, the main motor 12 drives the rotating shaft 6 to rotate through a gear pair; when the main motor 12 fails, the emergency motor 2 is powered on to start, drives the emergency gear pair and the worm wheel and worm pair to rotate, the worm wheel yoke 7 is engaged with the main gear wheel yoke 10 after the worm wheel rotates by a certain angle, the main gear wheel 11 is driven to rotate after the engagement, and thus the load is withdrawn from the light path.

[0018] The worm wheel 8 is hollowly sleeved on the rotating shaft 6, the worm wheel modulus is 1, the outer diameter is 44 mm, the inner diameter is 32 mm, and the corresponding worm head number is 1.

[0019] The separable yokes are respectively located on the worm wheel and the main gear wheel 11, and the yoke angles are both 20°. The total transmission ratio of the emergency assembly (the total transmission ratio from the emergency motor 2 to the load end of the rotating shaft 6) is 70-150, the total transmission ratio in the embodiment is 82, and all transmission engagement surfaces are subjected to anti-cold welding treatment.

[0020] The main pinion 1 is a involute cylindrical spur gear, the pitch circle diameter is 17mm, the module is 1mm, the pressure angle is 20°, the tooth width is 6mm, and the tooth surface is coated with MoS2; the emergency motor 2 is J43, the rated voltage is 12V, the step angle is 1.8°, the square frequency characteristic is greater than or equal to 0.25Nm@100Hz; 0.18Nm@200H; the emergency pinion 3 is a involute cylindrical spur gear, the pitch circle diameter is 17mm, the module is 1mm, the pressure angle is 20°, the tooth width is 5mm, and the tooth surface is coated with MoS2; the emergency gear 4 is a involute cylindrical spur gear, the pitch circle diameter is 34mm, the module is 1mm, the pressure angle is 20°, the tooth width is 4mm, and the tooth surface is coated with MoS2; the base 5 is a cuboid, which is used for supporting various shaft systems; the rotating shaft 6 is supported by the base 5 through a pair of angular contact ball bearings, and is supported by another pair of angular contact ball bearings through the worm gear 8, and the end of the shaft is fixedly connected with the main gear 11; the worm gear fork 7 is a trapezoidal structure, which is located on the end face of the worm gear 8, the included angle of the two working surfaces is 20 degrees, and the two arc surfaces are coaxial with the worm gear 8; the worm gear 8 is ZK type, the number of teeth is 41, the tooth surface is coated with MoS2, and the worm gear 8 is sleeved on the rotating shaft 6; the worm 9 is a involute cylindrical spur gear, the pitch circle diameter is 18mm, the number of heads is 1, the pitch circle lead angle is 3°10′47″, the tooth surface is coated with MoS2, and the center distance of the worm 9 and the worm gear 8 is 29.5mm; the main gear fork 10 is located on the end face of the main gear 11, the included angle of the two working surfaces is 20 degrees, the two arc surfaces are coaxial with the pitch circle of the main gear 11, and the two working surfaces are coated with MoS2; the main gear 11 is a involute cylindrical spur gear, the pitch circle diameter is 44mm, the module is 1mm, the pressure angle is 20°, the tooth width is 5mm, and the tooth surface is coated with MoS2; the main motor 12 is the same as the emergency motor 2.

[0021] The main motor 12 transmits power to the rotating shaft 6 through the gear reduction pair composed of the main pinion 1 and the main gear 11, so as to realize the limited rotation of the mechanism. The theoretical range of rotation is 320°, and the remaining 40° is the rotation forbidden zone. Generally, a certain angle of free play is left on both sides of the rotation forbidden zone. When the main motor works, the main gear fork 10 rotates, at this time, the worm gear fork 7 is located in the rotation forbidden zone, and the worm gear 8 is sleeved on the rotating shaft 6, and the two forks do not interfere with each other when the main motor works.

[0022] When the emergency exit backup function is needed, the main motor 12 is in a power-off state, the emergency motor 2 is powered on to rotate, and the power is transmitted to the worm gear fork 7 through the gear reduction pair composed of the emergency pinion 3 and the emergency gear 4 and the worm gear pair composed of the worm gear 8 and the worm 9. After the worm gear fork is rotated out of the rotation forbidden zone, it can contact the main gear fork 10 to transmit rotation to the load. According to the different rotation directions of the emergency motor 2, the contact surfaces of the forks are different, so that the rotation direction of the rotating shaft 6 is different, so as to realize the emergency exit action in an uncertain direction, or the backup movement function in different rotation directions.

[0023] The contents not described in detail in the specification of the present application belong to the prior art known to those skilled in the art.

Claims

1. A fault emergency exit backup device for a spaceborne limited-angle rotation mechanism, characterized in that... include: Main pinion (1), emergency motor (2), emergency pinion (3), emergency large gear (4), base (5), rotating shaft (6), worm gear shift fork (7), worm gear (8), worm (9), main large gear shift fork (10), main large gear (11), main motor (12), wherein: The base (5) is fixed to the satellite; the base (5) is a cuboid; the four faces through which the longitudinal section of the cuboid passes in the counterclockwise direction are defined as the upper wall, left wall, lower wall and right wall; One end of the rotating shaft (6) is connected to the load, and the other end passes through the upper wall of the base (5) from top to bottom and extends into the interior of the base (5); an angular contact ball bearing is sleeved on the rotating shaft (6) inside the base (5), and an angular contact ball bearing is externally connected to a worm gear (8), so that the rotating shaft (6) and the worm gear (8) can rotate relative to each other; a worm gear shift fork (7) is placed on the lower surface of the worm gear (8); a main gear (11) is sleeved and fixedly connected to the bottom end of the rotating shaft (6); a main gear shift fork (10) is located on the upper surface of the main gear (11); the worm gear shift fork (7) and the main gear shift fork (10) are in the same rotation plane; The worm (9) is perpendicular to the shaft (6) and located inside the base (5). One end is mounted on the right wall, the middle part meshes with the worm wheel (8), and the other end is connected to the emergency gear (4). The stator of the emergency motor (2) is fixed on the outside of the left wall, and the rotor passes through the left wall and is connected to the emergency pinion (3); the emergency pinion (3) meshes with the emergency gear (4); The stator of the main motor (12) is fixed on the outside of the lower wall, and the rotor passes through the lower wall and is connected to the main pinion (1). The main pinion (1) meshes with the main gear (11).

2. The emergency exit backup device for a spaceborne limited-angle rotation mechanism according to claim 1, characterized in that: Under normal operating conditions, the main motor (12) transmits power to the rotating shaft (6) on which the load is installed through the gear reduction pair composed of the main pinion (1) and the main gear (11), thereby realizing the limited rotation angle of the mechanism.

3. The emergency exit backup device for a spaceborne limited-angle rotation mechanism according to claim 2, characterized in that: The rotation angle range P of the main motor (12), main pinion (1), and main gear (11) is less than or equal to 320°, and 360° - P is the rotation restricted area; When the main motor (12) is running, the main gear fork (10) rotates with the main gear (11), and the worm gear fork (7) is located in the rotation restricted area. The main gear fork (10) and the worm gear fork (7) do not interfere with each other when the main motor is working.

4. The emergency exit backup device for a spaceborne limited-angle rotation mechanism according to claim 1, characterized in that: When the main motor (12) is in a power-off state, the emergency motor (2) is powered on and rotates, transmitting power through the gear reduction pair composed of the emergency pinion (3) and the emergency gear (4) and the worm gear pair composed of the worm wheel (8) and the worm (9) to the worm wheel fork (7) on the worm wheel (8). After the worm wheel fork (7) rotates out of the rotation restriction zone, it contacts the main gear fork (10) to transmit torque, thereby driving the main gear (11) to drive the rotating shaft (6) to rotate, and transmitting the rotation to the load at the other end of the rotating shaft (6).

5. The emergency exit backup device for a spaceborne limited-angle rotation mechanism according to claim 4, characterized in that: By adjusting the direction of the emergency motor (2) to adjust the direction of the rotating shaft (6), emergency exit actions or backup motion functions with different directions can be realized.

6. The emergency exit backup device for a spaceborne limited-angle rotation mechanism according to claim 1, characterized in that: The total transmission ratio from the emergency motor (2) to the load end of the rotating shaft (6) is 70~150.

7. The emergency exit backup device for a spaceborne limited-angle rotation mechanism according to claim 1, characterized in that: The working surfaces of the main pinion (1), emergency pinion (3), emergency gear (4), worm gear shift fork (7), worm gear (8), worm (9), main gear shift fork (10), and main gear (11) are all coated with MoS2; all transmission meshing surfaces are treated with anti-cold welding.

8. The emergency exit backup device for a spaceborne limited-angle rotation mechanism according to claim 1, characterized in that: The main pinion (1) is an involute cylindrical spur gear; The worm gear (8) has a module of 1; the worm (9) has 1 thread; Both the worm gear shift fork (7) and the main gear shift fork (10) are separable shift forks, and the included angle between the two working surfaces on each shift fork is 20°±1°.

9. The emergency exit backup device for a spaceborne limited-angle rotation mechanism according to claim 1, characterized in that: The contact position between the rotating shaft (6) and the upper wall of the base (5) is supported by an angular contact ball bearing; The model of the main motor (12) is the same as that of the emergency motor (2).

Images