Low-resistance cable routing structure for double-shaft swing type SADA

Abstract

A low-resistance cable routing structure for a double-shaft swing type SADA comprises a B-shaft structure, an A-shaft structure and a hollow hinge structure. Wherein the B-axis structure is connected with a satellite body and the A-axis structure at the same time, a cable is led out of a satellite and led into the A-axis structure, the A-axis structure is connected with the hollow hinge structure at the same time, the cable is led into the hinge structure and drives the hollow hinge structure to rotate, and the cable penetrates out of the hinge structure to be connected with the solar wing; the B-axis structure and the A-axis structure are each provided with a hollow shaft and a driving assembly, the hollow shafts are used for cable wiring, the driving assemblies drive the internal hollow shafts to rotate and drive the hollow hinge structures to rotate, and resistance borne by the cables is reduced while rotation is conducted. Through routing of the cable in the hollow movement mechanism or the hollow shaft in the hinge, twisting of the cable is converted into twisting of the cable, the resistance moment and hooking risk of the cable can be greatly reduced, the twisting life of the cable is prolonged, and the transmission reliability of energy and signals between the movement mechanisms is improved.

Description

TECHNICAL FIELD

[0001] The application relates to a low-resistance cable routing structure for a double-shaft swing type SADA and belongs to the field of space mechanisms. BACKGROUND

[0002] In recent years, with the vigorous development of low-orbit satellite constellations, the number of satellites launched into orbit each year is increasing year by year, and the demand for large-scale production and low cost of satellites is increasing. Most satellites involve space mechanisms represented by solar array drive mechanisms, which need to realize energy, signal transmission and long-term motion in orbit. At present, most satellites use conductive slip rings to realize continuous rotation of the mechanism and energy and signal transmission. The cost of slip ring products represented by the solar array drive mechanism (SADA) is high, and the technical difficulty is high, which is difficult to meet the future production demand of large-scale and low cost. In addition, a small part of satellites use a cycloid SADA, which realizes the reciprocating swing of the mechanism through the winding of the cable on the shaft. However, this scheme has high requirements for the space of the mechanism, is prone to cable hooking and damage, has high cable resistance, and has low reliability. SUMMARY

[0003] The technical problem of the application is to overcome the problems existing in the transmission of energy and signals between moving mechanisms of existing space mechanisms, and to provide a low-resistance cable routing method, which greatly reduces the resistance moment and hooking risk of the cable, improves the cable torsional life, and improves the reliability of energy and signal transmission between moving mechanisms.

[0004] The technical solution of the application is a low-resistance cable routing structure for a double-shaft swing type SADA, comprising: a B-shaft structure, an A-shaft structure and a hollow hinge structure; wherein: The B-shaft structure is connected to a satellite body, and simultaneously connected to the A-shaft structure and leads the cable out of the satellite and into the A-shaft structure. The A-shaft structure is simultaneously connected to the hollow hinge structure, and leads the cable into the hinge structure and drives the hollow hinge structure to rotate. The cable is connected to a solar wing from the hinge structure; The B-shaft structure, the A-shaft structure and the hollow hinge structure are all provided with hollow shafts and driving assemblies. The hollow shafts are used for cable routing, and the driving assemblies drive the internal hollow shafts to rotate, thereby driving the hollow hinge structure to rotate while reducing the resistance of the cable; The side close to the solar wing is defined as the front end, and the side close to the satellite is defined as the tail end.

[0005] Preferably, the B-shaft structure comprises a B-shaft hollow adapter shaft shell, a B-shaft hollow driving assembly, a B-shaft hollow driving assembly tail cable clamp and a B-shaft hollow adapter shaft; wherein: The B-shaft hollow driving assembly tail cable clamp is fixed at the tail end of the B-shaft hollow driving assembly; The B-axis hollow driving assembly comprises a B-axis stator, a B-axis rotor and a B-axis driving assembly shell; the tail end of the B-axis driving assembly shell is connected with a satellite, and the front end is connected with the tail end of a B-axis hollow adapter shaft shell; the B-axis stator is fixed on the inner wall of the B-axis driving assembly shell; the tail end of the B-axis rotor is rotatably connected with the front end of the B-axis stator, and the output end of the B-axis rotor is connected with the tail end of the B-axis hollow adapter shaft, so as to drive the B-axis hollow adapter shaft to rotate; The B-axis hollow adapter shaft is rotatably arranged in the B-axis hollow adapter shaft shell through a bearing, the front end of the B-axis hollow adapter shaft is a tapered interface, the tapered interface extends from the front end of the B-axis hollow adapter shaft shell and is connected with an A-axis structure; The stator and the rotor of the B-axis hollow driving assembly are both provided with a hollow shaft for the cable to pass through; the B-axis hollow adapter shaft is a hollow structure.

[0006] Preferably, the cable routing mode in the B-axis structure is as follows: The cable is first fixed on the tail end of the B-axis hollow driving assembly through a B-axis hollow driving assembly tail cable clamp, then passes through the hollow shaft in the middle of the B-axis hollow driving assembly, and the cable passes through the B-axis hollow adapter shaft in a slack state to reduce the torsional resistance moment.

[0007] Preferably, the A-axis structure comprises an A-axis hollow driving assembly, an A-axis hollow driving assembly tail cable clamp, an A-axis hollow driving assembly adapter shaft, an A-axis hollow driving assembly adapter shaft shell, an A-axis hollow reversing bevel gear pair, an A-axis hollow gear shaft and an A-axis hollow gear shaft box; wherein: The A-axis hollow driving assembly comprises an A-axis stator, an A-axis rotor and an A-axis driving assembly shell; the front end of the A-axis driving assembly shell is connected with the tail end of the A-axis hollow driving assembly adapter shaft shell; the A-axis stator is fixedly connected with the inner wall of the A-axis driving assembly shell, and the A-axis rotor is rotatably connected with the front end of the A-axis stator; the tail end of the A-axis driving assembly shell is connected with the B-axis hollow adapter shaft; the front end of the A-axis hollow driving assembly adapter shaft shell is fixedly connected with the A-axis hollow gear shaft box; The A-axis hollow driving assembly adapter shaft is arranged in the A-axis hollow driving assembly adapter shaft shell, the tail end of the A-axis hollow driving assembly adapter shaft is connected with the output end of the A-axis rotor, the front end is fixedly connected with the A-axis hollow reversing bevel gear pair, and the front end of the A-axis hollow adapter shaft is connected with the A-axis hollow gear shaft through the A-axis hollow reversing bevel gear pair, so as to transmit the rotation of the A-axis rotor to the A-axis hollow gear shaft; The A-axis hollow gear shaft is perpendicular to the B-axis axis; the A-axis hollow gear shaft is rotatably fixed with the A-axis hollow gear shaft box through a bearing, and the two ends of the A-axis hollow gear shaft extend from the two ends of the A-axis hollow gear shaft box, The A-axis stator and the A-axis rotor of the A-axis hollow driving assembly are both provided with a hollow shaft for the cable to pass through; the A-axis hollow adapter shaft and the A-axis hollow gear shaft are both hollow structures.

[0008] Preferably, the cable routing mode in the A-axis structure is as follows: The cable passes through the cable clamp at the tail of the A-axis hollow driving assembly, is fixed at the end of the A-axis hollow driving assembly, passes through the hollow shaft of the middle part of the A-axis hollow driving assembly, passes through the A-axis hollow adapter shaft in a loose state, is divided into two bundles at the end of the A-axis hollow adapter shaft, enters the A-axis hollow gear shaft from both sides, and is led out to the hollow hinge structure after passing through the through holes reserved on both sides of the A-axis hollow gear shaft.

[0009] Preferably, the hollow hinge structure comprises: a hinge worm spring, a hinge hollow shaft, a hinge movable end, and a hinge fixed seat. The two hinge fixed seats are connected with the ports of the A-axis hollow gear shaft extending from the A-axis hollow gear shaft box. The through holes corresponding to the A-axis hollow gear shaft are reserved on each hinge fixed seat, and bearing supports are arranged at the two ends of the hinge fixed seat in the direction perpendicular to the A-axis hollow gear shaft and the B-axis. One support is used for mounting the hinge hollow shaft, and the hinge hollow shaft is connected with the hinge movable end; the other support is used for mounting the hinge worm spring, the output end of the hinge worm spring is connected with the hinge movable end, and the front end of the hinge movable end is connected with the solar wing. When the A-axis hollow gear shaft rotates, the hollow hinge structure rotates around the A-axis hollow gear shaft as a whole, and the hinge movable end can rotate around the hinge hollow shaft under the drive of the hinge worm spring.

[0010] Preferably, the cable routing mode of the hollow hinge structure is as follows: After the cable is led out from the port of the A-axis hollow gear shaft, the cable passes through the hinge hollow shaft perpendicularly to the A-axis hollow gear shaft, a certain length is reserved, and then the cable is fixed at the hinge movable end.

[0011] Preferably, the angle range of the whole hollow hinge structure rotating around the A-axis hollow gear shaft box is -90°~90°. The angle range of the hinge worm spring driving the hinge movable end to rotate is 0~90°.

[0012] Preferably, the rotation range of the B-axis hollow adapter shaft relative to the B-axis hollow adapter shaft shell is -170°~ +170°.

[0013] Preferably, the B-axis hollow adapter shaft shell, the B-axis driving assembly shell of the B-axis hollow driving assembly, the A-axis driving assembly shell of the A-axis hollow driving assembly, and the outer surface of the adapter shaft shell are sprayed with heat control white paint, so that the heat absorption is reduced and the heat dissipation efficiency is improved.

[0014] Compared with the prior art, the present application has the following advantages: The low-resistance cable routing method solves the problems of high cost and long development cycle of traditional slip ring SADA, and high resistance torque and high hooking risk of the cycloid SADA, converts the twist of the cable into the swing of the cable by routing the cable in the hollow shaft of the hollow motion mechanism or the hinge, greatly reduces the resistance torque and hooking risk of the cable, improves the cable twist life, and improves the reliability of energy and signal transmission between motion mechanisms. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a general schematic diagram of the low-resistance cable routing method of the application; Figure 2 It is a cross-sectional view of the low-resistance cable routing method of the application; Figure 3 It is a low-resistance cable routing method at the B shaft of the application; Figure 4 It is a low-resistance cable routing method at the A shaft of the application; Figure 5 It is a low-resistance cable routing method at the hinge shaft of the application. DETAILED DESCRIPTION

[0016] The low-resistance cable routing method mainly involves components such as hollow drive assembly, cable, cable fixing clamp, hollow hinge, hollow adapter shaft, etc.

[0017] The cable is fixed from the end fixed segment of the hollow drive assembly, passes through the hollow drive assembly output shaft, then passes through the hollow adapter shaft, the hollow adapter shaft is reserved with sufficient length to meet the needs of cable twisting during mechanism motion, after passing through the hollow adapter shaft, it can be fixed at the end of the next level hollow drive assembly, then passes through the next level hollow drive assembly, and then the cable can be divided according to needs, after passing through the next level hollow adapter shaft, it can further pass through the hollow hinge, and then be fixed at the fixed end of the motion mechanism.

[0018] 1. Double-shaft swing type SADA, i.e. double-shaft solar wing drive mechanism, is used to drive the satellite solar wing to realize sun orientation, and simultaneously performs cable routing; comprising: B shaft structure, A shaft structure, hollow hinge structure; wherein: The B shaft structure connects the satellite body, simultaneously connects the A shaft structure, and leads the cable out from the satellite and into the A shaft structure, the A shaft structure simultaneously connects the hollow hinge structure, and leads the cable into the hinge structure and drives the hollow hinge structure to rotate, and the cable passes out from the hinge structure to connect the solar wing; The B shaft structure, the A shaft structure, and the hollow hinge structure are all provided with hollow shafts and drive assemblies, the hollow shafts are used for cable routing, the drive assemblies drive the internal hollow shafts to rotate, drive the hollow hinge structure to rotate, and simultaneously reduce the resistance suffered by the cable; The side close to the solar wing is defined as the front end, and the side close to the satellite is defined as the end.

[0019] 2. B-axis structure (2.1) The B-axis mechanism includes: a hollow B-axis adapter housing 014, a hollow B-axis drive assembly 011, a cable clip at the tail of the hollow B-axis drive assembly 012, and a hollow B-axis adapter shaft 013; in: The cable clip 012 at the tail of the B-axis hollow drive assembly is fixed to the end of the B-axis hollow drive assembly 011; The B-axis hollow drive assembly 011 includes a B-axis stator, a B-axis rotor, and a B-axis drive assembly housing. The end of the B-axis drive assembly housing is connected to a satellite, and the front end is connected to the end of the B-axis hollow adapter shaft housing 014. The B-axis stator is fixed to the inner wall of the B-axis drive assembly housing. The end of the B-axis rotor is rotatably connected to the front end of the B-axis stator, and the output end of the B-axis rotor is connected to the end of the B-axis hollow adapter shaft 013, driving the B-axis hollow adapter shaft 013 to rotate. The hollow B-axis adapter shaft 013 is rotatably placed inside the hollow B-axis adapter shaft housing 014 via a bearing. The front end of the hollow B-axis adapter shaft 013 is an inverted tapered interface, which extends from the front end of the hollow B-axis adapter shaft housing 014 and connects to the A-axis structure. (2.2) The hollow drive assembly 011 of the B-axis is provided with a hollow shaft inside (stator and rotor center) for the cable to pass through, and the hollow adapter shaft 013 of the B-axis is a hollow structure; Cable 04 is first fixed to the end of hollow drive assembly 011 via cable clip 012 at the tail of hollow drive assembly 011, then passes through the hollow shaft in the middle of hollow drive assembly 011, and then passes through hollow adapter shaft 013 of hollow drive assembly 011 in a loose state to ensure a small torsional resistance torque.

[0020] 3. A-axis structure (3.1) The A-axis structure includes: A-axis hollow drive assembly 021, A-axis hollow drive assembly tail cable clip 022, A-axis hollow drive assembly adapter shaft 023, A-axis hollow drive assembly adapter shaft housing 024, A-axis hollow reversing bevel gear pair 025, A-axis hollow gear shaft 026, and A-axis hollow gear shaft box 027; in: The A-axis hollow drive assembly 021 includes: an A-axis stator, an A-axis rotor, and an A-axis drive assembly housing; the front end of the A-axis drive assembly housing is connected to the end of the A-axis hollow drive assembly adapter housing 024; the A-axis stator is fixedly connected to the inner wall of the A-axis drive assembly housing, and the A-axis rotor is rotatably connected to the front end of the A-axis stator; the end of the A-axis drive assembly housing is connected to the B-axis hollow adapter shaft 013; the front end of the A-axis hollow drive assembly adapter housing 024 is fixedly connected to the A-axis hollow gear shaft box 027. A-axis hollow drive assembly adapter shaft 023 is located inside A-axis hollow drive assembly adapter shaft shell 024, the end of A-axis hollow drive assembly adapter shaft 023 is connected with the output end of A-axis rotor, the front end is fixedly connected with A-axis hollow reversing bevel gear pair 025, A-axis hollow adapter shaft 023 is connected with A-axis hollow gear shaft 026 through A-axis hollow reversing bevel gear pair 025, and the rotation of the A-axis rotor is transmitted to the A-axis hollow gear shaft 026; A-axis hollow gear shaft 026 is perpendicular to the B-axis axis; A-axis hollow gear shaft 026 is rotatably fixed with A-axis hollow gear shaft box 027 through a bearing, and the two ends of A-axis hollow gear shaft 026 extend from the two ends of A-axis hollow gear shaft box 027; (3.2) Wiring mode: A-axis hollow drive assembly 021 is provided with a hollow shaft for power cable passing; A-axis hollow adapter shaft 023 and A-axis hollow gear shaft 026 are both hollow structures; The cable passes through A-axis hollow drive assembly tail cable clamp 022 of B-axis mechanism B-axis hollow adapter shaft 013, is fixed at the end of A-axis hollow drive assembly 021 through A-axis hollow drive assembly tail cable clamp 022, passes through the hollow shaft in the middle of A-axis hollow drive assembly 021, passes through A-axis hollow adapter shaft 023 in a loose state, is divided into two bundles at the end of A-axis hollow adapter shaft 023, enters A-axis hollow gear shaft 026 on both sides, and the cable 04 is led out to the hollow hinge structure after passing through the through holes reserved on the two sides of A-axis hollow gear shaft 026.

[0021] 4, Hollow hinge structure (4.1) Hollow hinge structure comprises: hinge worm spring 031, hinge hollow shaft 032, hinge movable end 033, hinge fixed seat 034; Among them: Two hinge fixed seats 034 are connected with the ports, from which A-axis hollow gear shaft 026 extends from A-axis hollow gear shaft box 027; A through hole corresponding to A-axis hollow gear shaft 026 is reserved on each hinge fixed seat 034; hinge fixed seat 034 is provided with a bearing support at the two ends in the direction perpendicular to A-axis hollow gear shaft 026 and B-axis, and wherein: One support is used for installing hinge hollow shaft 032, and hinge hollow shaft 032 is connected with hinge movable end 033; the other support is used for installing hinge worm spring 031, the output end of hinge worm spring 031 is connected with hinge movable end 033, and the front end of hinge movable end 033 is connected with a solar wing; When A-axis hollow gear shaft 026 rotates, it drives the whole hollow hinge structure 03 to rotate around A-axis hollow gear shaft 026; hinge movable end 033 can rotate around hinge hollow shaft 032 under the drive of hinge worm spring 031.

[0022] (4.2) Wiring mode The cable 04 is drawn out from the port of the A-axis hollow gear shaft 026, then passes through the hinge hollow shaft 032 perpendicularly, and is finally fixed at the hinge movable end 033 after reserving a certain length.

[0023] The hollow hinge structure 03 is in a fixed connection with the A-axis hollow gear shaft 026, and the two rotate together around the A-axis. The angle range of the overall hollow hinge structure 03 rotating around the A-axis hollow gear shaft box 027 is -90°~90°. The angle range of the hinge worm spring 031 driving the hinge movable end 033 to rotate is 0~90°. The range of the B-axis hollow adapter shaft 013 rotating relative to the B-axis hollow adapter shaft shell 014 is -170°~+170°. The outer surfaces of the B-axis hollow adapter shaft shell 014, the B-axis drive assembly shell of the B-axis hollow drive assembly 011, the A-axis drive assembly shell of the A-axis hollow drive assembly 021, and the A-axis hollow drive assembly adapter shaft shell 024 are sprayed with heat control white paint, which improves the heat dissipation efficiency and reduces heat absorption.

[0024] Embodiment: Figure 1 The embodiment is a low-resistance cable wiring mode, which includes a low-resistance torque cable wiring between the three axes of the B-axis 01, the A-axis 02, and the hinge 03, and can be used for cable wiring of a double-axis swing SADA.

[0025] Figure 2 The embodiment is a low-resistance cable wiring mode, which includes a low-resistance torque cable wiring between the three axes of the B-axis 01, the A-axis 02, and the hinge 03, and can be used for cable wiring of a double-axis swing SADA.

[0026] Figure 3 The embodiment is a low-resistance cable wiring mode of the B-axis 01. The cable 04 is first fixed at the end of the B-axis hollow drive assembly 011 through the B-axis hollow drive assembly tail cable clamp 012, then passes through the hollow shaft in the middle of the B-axis hollow drive assembly 011, and then passes through the B-axis hollow adapter shaft 013 in a loose state to ensure a small torque resistance. The B-axis hollow adapter shaft 013 is rotatably installed inside the B-axis hollow adapter shaft shell 014 through a bearing, one end of the B-axis hollow adapter shaft 013 is fixed at the output end of the B-axis hollow drive assembly 011, and the other end is fixed at the end of the A-axis hollow drive assembly 021. When the B-axis hollow drive assembly 011 operates, it drives the B-axis hollow adapter shaft 013 and the A-axis hollow drive assembly 021 to rotate, and the cable can freely twist inside the B-axis hollow adapter shaft 013, thus having a small torque resistance. Figure 4For the low-resistance cable routing mode of A-axis 02, the cable 04 is first fixed at the end of the A-axis hollow drive assembly 021 by the A-axis tail cable clamp 022 of the hollow drive assembly, then passes through the hollow shaft in the middle of the A-axis hollow drive assembly 021, and then the cable passes through the A-axis hollow adapter shaft 023 in a loose state to ensure a small torsional resistance moment. The A-axis hollow adapter shaft 023 is provided with an A-axis hollow reversing bevel gear pair 025 between the front end of the A-axis hollow adapter shaft 023 and the A-axis hollow gear shaft 026, so as to realize the conversion of the movement direction of the mechanism. The A-axis hollow gear shaft 026 is also a hollow structure, the cable 04 is divided into two bundles at the end of the A-axis hollow adapter shaft 023 and enters the A-axis hollow gear shaft 026 on both sides, the A-axis hollow gear shaft 026 is rotatably fixed in the A-axis hollow gear shaft box 027 through a bearing, and the cable 04 is led out to the hollow hinge after passing through the A-axis hollow gear shaft 026 on both sides. When the A-axis hollow drive assembly 021 rotates, the A-axis hollow adapter shaft 023 is driven to rotate, and then the A-axis hollow gear shaft 026 is driven to rotate through the A-axis hollow reversing bevel gear pair 025. The cable routing process of the A-axis is carried out on the central axis of the mechanism, so the cable has a small resistance moment.

[0027] Figure 5 For the low-resistance cable routing mode of the hollow hinge, the cable 04 is led out from the A-axis hollow gear shaft 026, rotated by 90°, passes through the hinge hollow shaft 032, and then is fixed at the hinge movable end 033 after a certain length is reserved. The hinge fixed seat 034 is fixedly connected with the A-axis hollow gear shaft 026. When the A-axis hollow gear shaft 026 rotates, the hollow hinge 03 can be driven to rotate as a whole. The hinge movable end 033 can rotate around the hinge hollow shaft 032 under the drive of the hinge worm spring 031. The rotation axis of the mechanism is the same as the axial direction of the cable, so the rotation resistance moment is small.

[0028] In summary, the technical features of the present application are: (1) By routing the cable in the hollow shaft of the hollow movement mechanism or the hinge, the cable twist is converted into cable torsional swing, which can greatly reduce the resistance moment of the cable and the risk of hooking, improve the cable torsional life, and improve the reliability of energy and signal transmission between movement mechanisms; (2) The cable is fixed from the end fixed segment of the hollow drive assembly, passes through the hollow drive assembly output shaft, then passes through the hollow adapter shaft, the hollow adapter shaft has a sufficient length to meet the needs of cable twisting during the movement of the mechanism, and after passing through the hollow adapter shaft, the cable can be fixed at the end of the next-stage hollow drive assembly; (3) The cable is fixed from the end fixed segment of the hollow drive assembly, passes through the hollow drive assembly output shaft, and then the cable can be divided into bundles according to the needs, passes through the next-stage hollow adapter shaft on the left and right sides, and realizes the synchronous conversion of cable routing and movement direction of the mechanism; (4) The hinge is a worm spring with a driving source on one side and a hollow shaft for wiring on the other side. After the cable passes through the hollow driving assembly or other mechanism of the previous stage, it passes through the hollow shaft in the hollow hinge, and is then fixed at the fixed end of the hinge.

[0029] 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 low drag cable routing structure for a dual axis swing down SADA, characterized by Comprise: B-axis structure (01), A-axis structure (02), hollow hinge structure (03); wherein: B-axis structure connects satellite body, at the same time connects A-axis structure and leads out the cable from the satellite and leads into to A-axis structure, A-axis structure connects hollow hinge structure at the same time, and the cable is introduced into hinge structure and drives hollow hinge structure to rotate, and the cable is connected solar wing from hinge structure; B-axis structure, A-axis structure, all set up hollow shaft and drive assembly, hollow shaft is used for cable wiring, drive assembly drives internal hollow shaft rotation, drives hollow hinge structure to rotate, rotates while reducing the resistance of cable; Define the side close to solar wing as front end, the side close to satellite as end.

2. A low drag cable routing structure for a dual axis pendulous SADA according to claim 1, characterized in that: B-axis structure (01) comprises: B-axis hollow transfer shaft shell (014), B-axis hollow drive assembly (011), B-axis hollow drive assembly tail cable clamp (012), B-axis hollow transfer shaft (013); wherein: B-axis hollow drive assembly tail cable clamp (012) is fixed at the end of B-axis hollow drive assembly (011); B-axis hollow drive assembly (011) comprises B-axis stator, B-axis rotor and B-axis drive assembly shell; the end of B-axis drive assembly shell is connected with satellite, and the front end is connected with the end of B-axis hollow transfer shaft shell (014); B-axis stator is fixed on the inner wall of B-axis drive assembly shell; the end of B-axis rotor is rotatably connected with the front end of B-axis stator, and the output end of B-axis rotor is connected with the end of B-axis hollow transfer shaft (013), so as to drive B-axis hollow transfer shaft (013) to rotate; B-axis hollow transfer shaft (013) is rotatably arranged in B-axis hollow transfer shaft shell (014) through bearing, and the front end of B-axis hollow transfer shaft (013) is a tapered interface; the tapered interface extends from the front end of B-axis hollow transfer shaft shell (014) and is connected with A-axis structure; The center of the stator and rotor of B-axis hollow drive assembly (011) is provided with a hollow shaft for the cable to pass through; B-axis hollow transfer shaft (013) is a hollow structure.

3. A low drag cable routing structure for a dual axis pendulous SADA according to claim 2, characterized in that: The cable wiring mode in B-axis structure is as follows: The cable is first fixed on the end of B-axis hollow drive assembly (011) through B-axis hollow drive assembly tail cable clamp (012), then passes through the hollow shaft in the middle of B-axis hollow drive assembly (011), and the cable passes through B-axis hollow transfer shaft (013) in a slack state to reduce the torsional resistance moment.

4. A low drag cable routing structure for a dual axis swing SADA according to claim 2, wherein: A-axis structure (02) comprises: A-axis hollow drive assembly (021), A-axis hollow drive assembly tail cable clamp (022), A-axis hollow drive assembly transfer shaft (023), A-axis hollow drive assembly transfer shaft shell (024), A-axis hollow reversing bevel gear pair (025), A-axis hollow gear shaft (026), A-axis hollow gear shaft box (027); wherein: The A-shaft hollow driving assembly (021) comprises an A-shaft stator, an A-shaft rotor and an A-shaft driving assembly shell; the front end of the A-shaft driving assembly shell is connected with the end of an A-shaft hollow driving assembly adapter shaft shell (024); the A-shaft stator is fixedly connected with the inner wall of the A-shaft driving assembly shell, and the front end of the A-shaft rotor is rotatably connected with the A-shaft stator; the end of the A-shaft driving assembly shell is connected with a B-shaft hollow adapter shaft (013); the front end of the A-shaft hollow driving assembly adapter shaft shell (024) is fixedly connected with an A-shaft hollow gear shaft box (027); The A-shaft hollow driving assembly adapter shaft (023) is located in the A-shaft hollow driving assembly adapter shaft shell (024), the end of the A-shaft hollow driving assembly adapter shaft (023) is connected with the output end of the A-shaft rotor, the front end is fixedly connected with an A-shaft hollow reversing bevel gear pair (025), and the front end of the A-shaft hollow adapter shaft (023) is connected with an A-shaft hollow gear shaft (026) through the A-shaft hollow reversing bevel gear pair (025), so that the rotation of the A-shaft rotor is transmitted to the A-shaft hollow gear shaft (026); The A-shaft hollow gear shaft (026) is perpendicular to the B-shaft axis; the A-shaft hollow gear shaft (026) is rotatably fixed with the A-shaft hollow gear shaft box (027) through a bearing, and the two ends of the A-shaft hollow gear shaft (026) extend from the two ends of the A-shaft hollow gear shaft box (027), The center of the A-shaft stator and the center of the A-shaft rotor of the A-shaft hollow driving assembly (021) are provided with hollow shafts for passing cables; the A-shaft hollow adapter shaft (023) and the A-shaft hollow gear shaft (026) are hollow structures.

5. A low drag cable routing structure for a dual axis pendulous SADA according to claim 4, wherein: The wiring mode in the A-shaft structure is as follows: The cable passes through the A-shaft hollow driving assembly tail cable clamp (022) of the B-shaft mechanism, is fixed at the end of the A-shaft hollow driving assembly (021) through the A-shaft hollow driving assembly tail cable clamp (022), passes through the hollow shaft in the middle of the A-shaft hollow driving assembly (021), passes through the A-shaft hollow adapter shaft (023) in a loose state, is divided into two bundles at the end of the A-shaft hollow adapter shaft (023), enters the A-shaft hollow gear shaft (026) from both sides, and is led out to the hollow hinge structure after passing through the through holes reserved on the two sides of the A-shaft hollow gear shaft (026).

6. A low drag cable routing structure for a dual axis swing SADA according to claim 4, wherein: The hollow hinge structure (03) comprises a hinge worm spring (031), a hinge hollow shaft (032), a hinge movable end (033) and a hinge fixed seat (034); wherein: The two hinge fixed seats (034) are respectively connected with the ports of the A-shaft hollow gear shaft (026) extending from the A-shaft hollow gear shaft box (027); A through hole corresponding to the A-shaft hollow gear shaft (026) is reserved on each hinge fixed seat (034); the hinge fixed seat (034) is provided with bearing supports at the two ends in the direction perpendicular to the A-shaft hollow gear shaft (026) and the B-shaft, and wherein: One support is used for mounting the hinge hollow shaft (032), and the hinge hollow shaft (032) is connected with the hinge movable end (033); the other support is used for mounting the hinge worm spring (031), the output end of the hinge worm spring (031) is connected with the hinge movable end (033), and the front end of the hinge movable end (033) is connected with the solar wing. When the A-axis hollow gear shaft (026) rotates, it drives the hollow hinge structure (03) to rotate as a whole around the A-axis hollow gear shaft (026); the hinge movable end (033) can rotate around the hinge hollow shaft (032) under the drive of the hinge worm spring (031).

7. A low drag cable routing structure for a dual axis pendulous SADA according to claim 6, wherein: The wiring mode of the hollow hinge structure (03) is: After the cable is drawn out from the port of the A-axis hollow gear shaft (026), it passes through the hinge hollow shaft (032) perpendicular to the A-axis hollow gear shaft (026), and is fixed to the hinge movable end (033) after reserving a certain length.

8. The low-resistance cable wiring structure for a double-shaft swing SADA according to claim 6, characterized in that: The angle range of the hollow hinge structure (03) rotating as a whole around the A-axis hollow gear shaft box (027) is -90°~90°; The angle range of the hinge worm spring (031) driving the hinge movable end (033) to rotate is 0~90°.

9. A low drag cable routing structure for a dual axis swing SADA according to claim 6, wherein: The range of the B-axis hollow transfer shaft (013) rotating relative to the B-axis hollow transfer shaft shell (014) is -170°~ +170°.

10. A low drag cable routing structure for a dual axis swing SADA according to claim 6, wherein: The B-axis hollow transfer shaft shell (014), the B-axis drive assembly shell of the B-axis hollow drive assembly (011), the A-axis drive assembly shell of the A-axis hollow drive assembly (021), and the A-axis hollow drive assembly transfer shaft shell (024) are sprayed with heat control white paint on the outer surface, reducing heat absorption and improving heat dissipation efficiency.

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