Space-based reusable deployment and recovery system and its ground testing methods

Abstract

This application relates to a space-based reusable deployment and retraction system and its ground testing method. The system includes: a flexible load deployment and retraction assembly for deploying and retracting a flexible load; an elastic extension rod deployment and retraction assembly connected to the flexible load deployment and retraction assembly, the elastic extension rod comprising a winding mechanism and an elastic extension rod, the elastic extension rod being able to wind around the winding mechanism and store elastic strain energy, and the elastic extension rod being able to return to a preset shape after deployment to provide support stiffness; and a traction assembly connected to the load end of the flexible load and the extension rod end of the elastic extension rod, the traction assembly being used to apply tension during the deployment and retraction of the flexible load. This application enables the miniaturization and storage of large-size flexible loads, and the entire space-based reusable deployment and retraction system has a high deployment-to-retraction ratio, high stiffness deployment, and reliable reusable deployment and retraction.

Description

Technical Field

[0001] This application mainly relates to the field of space deployable structure technology in the aerospace industry, specifically to a space reusable deployment and recovery system and its ground test method. Background Technology

[0002] With the increasing demands for energy and communication capabilities in space missions, deployable structures such as large flexible solar arrays and large-size thin-film antennas have become a development trend. Traditional deployment methods, which rely on hinges, ropes, trusses, rigid mechanisms, and inflatable structures, result in complex structures, large volume and weight, and low storage efficiency, making them unsuitable for large or ultra-large deployable structures.

[0003] Current deployment mechanisms based on composite material elastic rods are complex in structure, large in size, and have low deployment accuracy and stiffness. There is an urgent need for a lightweight, compact, and reusable deployment and retraction system with a high deployment-to-retraction ratio. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide a space reusable deployment and retraction system and its ground test method, which can realize the miniaturization and storage of large-size flexible loads. The entire space reusable deployment and retraction system has a high deployment-retraction ratio and can be deployed with high stiffness and reliably deployed and retracted.

[0005] The technical solution adopted in this application to solve the above-mentioned technical problems is a space reusable deployment and retraction system, comprising: a flexible load deployment and retraction assembly for deploying and retracting a flexible load; an elastic extension rod deployment and retraction assembly connected to the flexible load deployment and retraction assembly, the elastic extension rod deployment and retraction assembly including a winding mechanism and an elastic extension rod, the elastic extension rod being able to be wound on the winding mechanism and store elastic strain energy, and the elastic extension rod being able to return to a preset shape after deployment to provide support stiffness; and a traction assembly connected to the load end of the flexible load and the extension rod end of the elastic extension rod respectively, the traction assembly being used to apply tension during the deployment and retraction of the flexible load.

[0006] In one embodiment of this application, the winding mechanism includes a telescopic rod reel and a first motor. The first motor is connected to the telescopic rod reel and is used to drive the telescopic rod reel to rotate in order to unfold and retract the elastic telescopic rod.

[0007] In one embodiment of this application, the preset shape includes a pod shape, and the elastic extension rod includes a pod rod, which is a composite material extension rod with a closed cross section.

[0008] In one embodiment of this application, the space reusable extension and retraction system further includes a synchronization connection component; the number of elastic extension rod extension and retraction components is at least two sets, and the at least two sets of elastic extension rod extension and retraction components are symmetrically arranged; the synchronization connection component is connected to the extension rod end of the elastic extension rod of each set of elastic extension rod extension and retraction components, and is also connected to the extension rod reel of each set of elastic extension rod extension and retraction components, and the synchronization connection component is used to keep the operation of the at least two sets of elastic extension rod extension and retraction components synchronized.

[0009] In one embodiment of this application, the winding mechanism further includes a telescopic rod reel bracket and a multi-functional pressure ring. The telescopic rod reel is rotatably mounted on the telescopic rod reel bracket via a telescopic rod reel bearing. The multi-functional pressure ring is connected to the outer ring of the telescopic rod reel bearing. The elastic telescopic rod unfolding and retracting assembly further includes at least one clamping mechanism. The at least one clamping mechanism is arranged circumferentially along the telescopic rod reel and is used to clamp the elastic telescopic rod. Each clamping mechanism is connected to the multi-functional pressure ring.

[0010] In one embodiment of this application, the multifunctional pressure ring is provided with at least one mounting groove along its circumferential direction, and the mounting groove corresponds one-to-one with the clamping mechanism; the clamping mechanism includes a clamping screw, one end of which is connected to the mounting groove.

[0011] In one embodiment of this application, the clamping mechanism includes a clamping roller shaft, a clamping bearing housing, a clamping bearing, a clamping screw, an adjusting nut, and a clamping spring. The clamping roller shaft is rotatably mounted on the clamping bearing housing via the clamping bearing, and the outer circumferential surface of the clamping roller shaft rolls in contact with the outer surface of the elastic extension rod. One end of the clamping screw is connected to a multi-functional pressure ring, and the other end passes through the clamping bearing housing and is threadedly connected to the adjusting nut. The clamping spring is sleeved on the outside of the clamping screw, and both ends of the clamping spring abut against the clamping bearing housing and the adjusting nut, respectively. By rotating the adjusting nut, the compression of the clamping spring can be adjusted to regulate the clamping force.

[0012] In one embodiment of this application, the elastic extension rod retraction assembly further includes at least two guiding and shaping mechanisms. The at least two guiding and shaping mechanisms are symmetrically arranged along the extension direction of the elastic extension rod. Each guiding and shaping mechanism is connected to the elastic extension rod and the winding mechanism respectively. During the unfolding and retraction of the elastic extension rod, each guiding and shaping mechanism can guide and shape the elastic extension rod.

[0013] In one embodiment of this application, each guide shaping mechanism includes: a guide wheel, a guide wheel seat, and a guide mechanism bracket; wherein, the guide wheel is a dumbbell-shaped flexible wheel body, the middle part of the guide wheel is in tangential contact with the edge of the elastic extension rod, the opening of the guide wheels on the same side decreases from large to small along the extension direction, the guide wheel is mounted on the guide mechanism bracket through the guide wheel seat, and the guide mechanism bracket is provided with an adjustment groove for adjusting the installation position of the guide wheel.

[0014] In one embodiment of this application, an adjusting shim is provided between the guide wheel seat and the guide mechanism bracket. The adjusting shim is used to adjust the shaping depth of the elastic extension rod.

[0015] In one embodiment of this application, the retractable extension rod assembly further includes a clamping mechanism located outside the section of the retractable extension rod after its cross-section has been restored, for clamping and locking the retractable extension rod after it has been extended into place.

[0016] In one embodiment of this application, the clamping mechanism includes a first clamping plate, a second clamping plate, a first lead screw, a second lead screw, a bevel gear transmission pair, and a second motor. The first and second clamping plates are located on the upper and lower sides of the elastic extension rod, respectively, and the inner contours of the first and second clamping plates match the outer contour of the elastic extension rod. Both the first and second lead screws are provided with symmetrical upper and lower screw threads in opposite directions. The two ends of the first and second clamping plates are threadedly connected to the first and second lead screws, respectively, forming a lead screw-nut transmission pair. The second motor simultaneously drives the first and second lead screws to rotate synchronously through the bevel gear transmission pair, thereby causing the first and second clamping plates to move towards each other or away from each other. The movement towards each other is used to clamp the elastic extension rod, while the movement away from each other is used to release the elastic extension rod.

[0017] In one embodiment of this application, the inner side of the first clamping piece and / or the second clamping piece is provided with a flexible material, which is used to increase the friction with the surface of the elastic extension rod and adapt to the deformation of the elastic extension rod.

[0018] In one embodiment of this application, the clamping mechanism further includes a first limit switch and a second limit switch; wherein, the first limit switch is located outside the first clamping piece, and the first limit switch is used to trigger an unlocking completion signal when the first clamping piece and the second clamping piece are separated into place; the second limit switch is located between the first clamping piece and the second clamping piece, and the second limit switch is used to trigger a locking completion signal when the first clamping piece and the second clamping piece are clamped into place.

[0019] In one embodiment of this application, the synchronous connection assembly includes: at least two extension rod plugs, an extension rod connecting frame, a transmission connecting shaft, and a coupling; wherein, at least two extension rod plugs correspond one-to-one with elastic extension rods, and each extension rod plug is connected to the extension rod end of the corresponding elastic extension rod; the extension rod connecting frame is connected to each extension rod plug; the end of the transmission connecting shaft is connected to the extension rod reel of each set of elastic extension rod extending and retracting assemblies via a coupling, and the transmission connecting shaft is used to make each extension rod reel rotate synchronously.

[0020] In one embodiment of this application, the traction assembly includes a mounting plate and a tension spring; wherein, the load end of the flexible load is provided with a first hook, the mounting plate is provided with a second hook, the first hook and the second hook correspond one-to-one, and the two ends of the tension spring are respectively connected to the first hook and the second hook.

[0021] In one embodiment of this application, the flexible load deployment and retraction assembly includes: a load reel, a third motor, and a load reel support; wherein, the flexible load can be wound on the load reel; the third motor is connected to the load reel and is used to drive the load reel to rotate; the load reel is rotatably mounted on the load reel support via a load reel bearing.

[0022] To address the aforementioned technical problems, this application also proposes a ground testing method suitable for simulating a microgravity environment for the aforementioned reusable space deployment and retraction system. The method includes: setting the reusable space deployment and retraction system perpendicular to the ground; setting at least one spring clip on the side of the elastic extension rod of the elastic extension rod deployment and retraction assembly; and suspending at least one spring clip on a pre-set suspension truss using a suspension rope to complete the microgravity environment simulation.

[0023] The technical solution of this application realizes the storage and release of flexible payloads through a flexible payload deployment and retraction assembly. Combined with an elastic extension rod deployment and retraction assembly that can be wound to store elastic strain energy and restores its preset shape after deployment to provide support stiffness, this reduces the overall weight of the deployment and retraction system, achieves compact storage of large-sized flexible payloads with a high deployment-to-retraction ratio, and provides stable and reliable high-stiffness support for the deployed flexible payload. The deployment and retraction power is transmitted between the elastic extension rod and the flexible payload through a traction assembly, ensuring synchronous and smooth movement of both and avoiding wrinkles or uneven stress during the deployment and retraction process. This application realizes a lightweight, compact, and reusable deployment and retraction system with a high deployment-to-retraction ratio, suitable for the batch launch and deployment needs of small and medium-sized spacecraft. Attached Figure Description

[0024] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of a space reusable deployment and retrieval system according to an embodiment of this application; Figure 2 This is a schematic diagram of a flexible load deployment and retraction component in one embodiment of this application; Figure 3 This is a schematic diagram of an elastic extension rod retraction assembly in one embodiment of this application; Figure 4 This is a schematic diagram of the winding mechanism and the elastic extension rod in one embodiment of this application; Figure 5 This is a schematic diagram of the clamping mechanism in one embodiment of this application; Figure 6 This is a schematic diagram of a guiding and shaping mechanism in one embodiment of this application; Figure 7 This is a schematic diagram of the clamping mechanism in one embodiment of this application; Figure 8This is a schematic diagram of the synchronous connection component and the elastic extension rod retraction component in one embodiment of this application; Figure 9 This is a schematic diagram of a traction component in one embodiment of this application; Figure 10 This is a schematic diagram of a space reusable deployment and retraction system configured to be perpendicular to the ground in one embodiment of this application; Figure 11 This is a flowchart of a ground test method according to an embodiment of this application.

[0025] Explanation of reference numerals in the accompanying drawings for specific embodiments: 100. Spatial reusable deployment and recovery system; 1. Flexible load deployment and retraction assembly; 2. Flexible extension / retraction assembly; 3. Synchronous connection component; 4. Traction assembly; 21. Winding mechanism; 22. Clamping mechanism; 23. Guiding and shaping mechanism; 24. Clamping mechanism; 25. Flexible extension rod; 26. Install the base plate; 31. First extension rod plug; 32. Second extension rod plug; 33. Extension rod connector; 34. Transmission connecting shaft; 35. First coupling; 36. Second coupling; 41. Hanging board; 42. Tension spring; 101. Load reel; 102. Load-bearing reel bearing; 103. Load roll support; 104. Load-bearing pressure ring of the load-bearing reel; 105. Load-bearing shaft coupling; 106. Third motor; 107. Flexible load; 1071. Load end; 108. First hook; 211. Extension rod reel; 212. Extension rod reel bracket; 213. Multifunctional pressure ring; 214. Extension rod reel bearing; 215. Connecting flange; 216. First motor bracket; 217. First motor; 221. Pressure roller shaft; 222. Press the bearing housing tightly; 223. Tighten the bearing retaining ring; 224. Press the bearing; 225. Tighten the screw; 226. Adjusting nut; 227. Compression spring; 231. Guide wheel; 232. Guide wheel seat; 233. Guide mechanism support; 241. First clamping plate; 242. Second clamping plate; 243. First leadscrew; 244. Second leadscrew; 245. Lead screw bearing pressure ring; 246. Lead screw bearing; 247. Lead screw support; 248. First limit switch; 249. Second limit switch; 2410. Bevel gear shaft coupling; 2411. Second motor; 2412. Second motor bracket; 2413. First bevel gear; 2414. Second bevel gear; 2415. Bevel gear shaft; 2416. Bevel gear shaft bearing; 2417. Bevel gear bearing pressure ring; 2418. Clamping mechanism support; 251. End of the extension rod; 252. Section restoration completed; 411. Second hook; 5. Sling; 6. Pre-designed suspension truss. Detailed Implementation

[0026] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0027] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein, and therefore this application is not limited to the specific embodiments disclosed below.

[0028] As illustrated in this application, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0029] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0030] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0031] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0032] The embodiments of this application are described below based on the accompanying drawings. However, the embodiments shown below are examples of a space-reusable deployment and recovery system and its ground testing method used to embody the technical concept of this application, and the space-reusable deployment and recovery system and its ground testing method of this application are not specifically limited to the following contents. This application is by no means intended to limit the scope of this application to the dimensions, materials, shapes, and relative arrangements of the constituent components described in the embodiments. In particular, unless otherwise specified, it is not intended to limit the scope of this application to this, but is merely an illustrative example.

[0033] However, the dimensions or positional relationships of the components shown in the accompanying drawings are sometimes exaggerated for clarity. Therefore, in the following description, detailed descriptions of the same names and symbols representing the same or homogeneous components are appropriately omitted. Furthermore, the elements constituting this application may be multiple elements composed of the same components, thus allowing one component to function as multiple elements; conversely, multiple components may share the function of one component. Additionally, the content described in some embodiments and implementations can be applied to other embodiments and implementations. Furthermore, in this specification, "upper" is not limited to the case of being formed in contact with an upper surface, but also includes the case of being formed separately on top, and also includes the meaning of an intermediate layer between layers.

[0034] This application uses flowcharts to illustrate the operations performed by the ground testing method according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed precisely in sequence. Instead, various steps can be processed in reverse order or simultaneously. Furthermore, other operations may be added to these processes, or one or more steps may be removed from these processes.

[0035] Currently, deployment mechanisms based on composite material elastic rods can be broadly categorized into passive-driven deployment and active-driven deployment, depending on the deployment drive and control methods. Passive-driven deployment mechanisms utilize the elastic strain energy stored in the composite material elastic rods to power the deployment of flexible loads, eliminating the need for electronic drive components and resulting in a simple structure. However, emerging trends such as rapid orbital maneuvers, high-precision attitude control, and reusable recovery in large spacecraft place demands on large deployment mechanisms for repeatable deployment and precise control of the deployment process, which passive-driven methods struggle to achieve. Active-driven deployment mechanisms provide the deployment drive force via motors and precisely control the deployment process, enabling repeatable deployment and recovery. However, existing mechanisms are complex, bulky, and have low deployment accuracy and stiffness, making them unsuitable for mass deployment in small and medium-sized spacecraft. Furthermore, effectively simulating the deployment and recovery process under microgravity conditions in space, especially addressing the gravity compensation problem for large-sized flexible structures, remains a significant technical challenge in ground testing.

[0036] In view of the above-mentioned shortcomings of existing deployment mechanisms, this application proposes a space reusable deployment and retrieval system, which can be applied to the miniaturization, high-rigidity deployment and reliable reusable deployment and retrieval of large-size flexible payloads such as flexible solar arrays or thin-film antennas, and can be adapted to the batch launch and deployment needs of small and medium-sized spacecraft.

[0037] Figure 1 This is a schematic diagram of a space-reusable deployment and retrieval system according to an embodiment of this application, with reference to... Figure 1 As shown, the space reusable deployment and retraction system 100 of this embodiment includes: a flexible load deployment and retraction assembly 1, an elastic extension rod deployment and retraction assembly 2, and a traction assembly 4.

[0038] Figure 2 This is a schematic diagram of a flexible load deployment and retraction assembly according to one embodiment of this application. Figure 3 This is a schematic diagram of an elastic extension rod retraction assembly according to one embodiment of this application. (Reference) Figures 1 to 3 As shown, the flexible load deployment and retraction assembly 1 is used to deploy and retract the flexible load 107. The elastic extension rod deployment and retraction assembly 2 is connected to the flexible load deployment and retraction assembly 1. The elastic extension rod deployment and retraction assembly 2 includes a winding mechanism 21 and an elastic extension rod 25. The elastic extension rod 25 can be wound onto the winding mechanism 21 and store elastic strain energy. After deployment, the elastic extension rod 25 can return to a preset shape to provide support stiffness. The traction assembly 4 is connected to the load end 1071 of the flexible load 107 and the extension rod end 251 of the elastic extension rod 25, respectively. The traction assembly 4 is used to apply tension during the deployment and retraction of the flexible load 107.

[0039] For example, the elastic extension rod deployment and retraction assembly 2 is a key component of the space reusable deployment and retraction system 100, responsible for driving the flexible load 107 to deploy and providing support stiffness after deployment. The traction assembly 4, as an intermediate connecting component, transmits the deployment and retraction power of the elastic extension rod 25 to the flexible load 107.

[0040] This application achieves the storage and release of the flexible payload 107 through the flexible payload deployment and retraction assembly 1. Combined with the elastic extension rod deployment and retraction assembly 2, which can be wound to store elastic strain energy and restores its preset shape after deployment to provide support stiffness, this reduces the overall weight of the deployment and retraction system, achieves a small volume and high deployment-to-retraction ratio for the large-sized flexible payload 107, and provides stable and reliable high-stiffness support for the deployed flexible payload 107. The traction assembly 4 transmits deployment and retraction power between the elastic extension rod 25 and the flexible payload 107, ensuring synchronized and smooth movement and preventing wrinkles or uneven stress during the deployment and retraction of the flexible payload 107. This application realizes a lightweight, compact, and reusable deployment and retraction system with a high deployment-to-retraction ratio, suitable for the batch launch and deployment needs of small and medium-sized spacecraft.

[0041] refer to Figure 2 As shown, in some embodiments, the flexible load deployment and retraction assembly 1 includes a load reel 101, a third motor 106, and a load reel support 103. The flexible load 107 is capable of being wound around the load reel 101. The third motor 106 is connected to the load reel 101 and is used to drive the load reel 101 to rotate. The load reel 101 is rotatably mounted on the load reel support 103 via a load reel bearing 102.

[0042] For example, the third motor 106 is a load reel motor. The third motor 106 can be mounted on one side of the load reel 101 via a bracket. The output shaft of the third motor 106 is connected to the load reel 101 via a load reel coupling 105, enabling the drive rotation of the load reel 101. The flexible load 107 can be a flexible solar cell array, a flexible thin-film antenna, etc. The flexible load 107 is connected to the load reel 101 by screws and wound on the reel, preventing the flexible load 107 from separating from the reel after being fully unfolded, thus preventing it from being unrecoverable. The mounting flanges at both ends of the load reel 101 are symmetrically mounted in the inner ring of the load reel bearing 102. The outer ring of the load reel bearing 102 is mounted in the bearing mounting holes of the load reel bracket 103 and fixed by the load reel bearing pressure ring 104. The load reel bearing 102 can be a self-lubricating radial spherical bearing, whose allowable angular deflection characteristics can reduce the difficulty of structural design, processing, and installation, and reduce the risk of jamming during continuous rotation of a large-size reel.

[0043] Figure 4 This is a schematic diagram of the winding mechanism and the elastic extension rod in one embodiment of this application. (Reference) Figure 3 and Figure 4As shown, in some embodiments, the preset shape includes a pod shape, and the elastic extension rod 25 includes a pod rod, which is a composite material extension rod with a closed cross-section. For example, the initial shape of the pod rod is a pod shape, and the pod rod can be a closed cross-section carbon fiber or glass fiber reinforced resin-based composite elastic extension rod. After being flattened, the elastic extension rod 25 can be wound onto the extension rod reel 211 and store elastic strain energy; after being unfolded, it can automatically return to its initial pod-shaped closed cross-section.

[0044] This application uses composite material pod-shaped rods as elastic extension rods 25, which are lightweight and have a high extension-to-retraction ratio. When extended, they have sufficient support stiffness and can provide stable support for large-size flexible loads.

[0045] refer to Figure 4 As shown, in some embodiments, the winding mechanism 21 includes a rod reel 211 and a first motor 217. The first motor 217 is connected to the rod reel 211 and is used to drive the rod reel 211 to rotate so as to realize the unfolding and retraction of the elastic rod 25.

[0046] For example, the first motor 217 is an extension motor, which can integrate a reducer, encoder and torque sensor. The first motor 217 can output a large torque and output rotation angle, speed and torque curves in real time. The first motor 217 is mounted on the first motor bracket 216 and is connected to the extension rod reel 211 through the connecting flange 215, so as to transmit the torque output by the motor to the extension rod reel 211 to drive the reel to rotate.

[0047] This application utilizes an active motor to drive the automatic extension and retraction of the elastic rod 25, enabling precise control of the extension and retraction speed and position, thus meeting the requirement for repeated extension and retraction. The integrated sensor in the motor can monitor the extension and retraction status in real time, promptly detecting faults such as jamming and overload, thereby improving system reliability.

[0048] Figure 8 This is a schematic diagram of the synchronous connection assembly and the elastic extension rod retraction assembly in one embodiment of this application. (Reference) Figure 1 , Figure 4 and Figure 8 As shown, in some embodiments, the space-retractable extension and retraction system 100 further includes a synchronization connection assembly 3. The number of elastic extension and retraction assemblies 2 is at least two sets. Figure 1 and Figure 8 The diagram shows two sets of elastic extension rod retraction assemblies 2), with at least two sets of elastic extension rod retraction assemblies 2 arranged symmetrically. A synchronization connection assembly 3 is connected to the extension rod end 251 of the elastic extension rod 25 of each elastic extension rod retraction assembly 2, and to the extension rod reel 211 of each elastic extension rod retraction assembly 2. The synchronization connection assembly 3 is used to keep the movements of at least two sets of elastic extension rod retraction assemblies 2 synchronized.

[0049] For example, the two sets of flexible extension rod retraction assemblies 2 can adopt a master-slave design, with the extension rod reel 211 of the master assembly carrying a first motor 217, and the slave assembly obtaining power through the synchronous connection assembly 3. The synchronous connection assembly 3, by connecting the extension rod end 251 and the extension rod reel 211, ensures the synchronicity of the extension and retraction actions, preventing deformation and damage to the flexible load 107 due to asynchronous extension and retraction of the flexible extension rod 25. In practical applications, the number of flexible extension rod retraction assemblies 2 can be two, three, four, or more sets; this application does not limit the number of flexible extension rod retraction assemblies 2.

[0050] This application reduces the complexity and weight of the overall system and decreases the number of electronic components through a master-slave design. Multi-terminal synchronous connections ensure the synchronicity of the extending and retracting actions, improving system stability and deployment accuracy, and preventing wrinkles or tears in the flexible load 107.

[0051] Figure 5 This is a schematic diagram of the clamping mechanism in one embodiment of this application. (Reference) Figures 3 to 5 As shown, in some embodiments, the winding mechanism 21 further includes a telescopic rod reel bracket 212 and a multi-functional pressure ring 213. The telescopic rod reel 211 is rotatably mounted on the telescopic rod reel bracket 212 via a telescopic rod reel bearing 214. The multi-functional pressure ring 213 is connected to the outer ring of the telescopic rod reel bearing 214. The elastic telescopic rod extension and retraction assembly 2 also includes at least one clamping mechanism 22. Figure 5 Five clamping mechanisms 22 are shown, at least one of which is arranged circumferentially along the extension rod reel 211 for clamping the elastic extension rod 25. Each clamping mechanism 22 is connected to a multi-functional pressure ring 213.

[0052] For example, the elastic extension rod retraction assembly 2 also includes a mounting base plate 26, with each component installed at a corresponding position on the mounting base plate 26. The multi-functional pressure ring 213 simultaneously performs the functions of fixing the outer ring of the extension rod reel bearing 214 and installing the clamping mechanism 22, eliminating the need for an additional mounting base. Since the elastic extension rod 25 can store elastic potential energy in its wound state, it is in an unstable state and prone to radial loosening. The clamping mechanism 22 can effectively limit the loosening of the elastic extension rod 25, ensuring its normal winding and stable unfolding. The number of clamping mechanisms 22 can be one, two, three, four, five, or more, and the number of clamping mechanisms 22 can be flexibly adjusted as needed.

[0053] This application simplifies the structure, reduces the number of parts, and lowers the system weight through the design of the multifunctional pressure ring 213. The clamping mechanism 22 can adapt to changes in the winding thickness of the elastic extension rod 25, maintain a stable clamping force, prevent loosening and jamming, and ensure smooth unfolding and retraction.

[0054] refer to Figure 5As shown, in some embodiments, the multi-functional pressure ring 213 has at least one mounting groove along its circumference, and the mounting groove corresponds one-to-one with the clamping mechanism 22. The clamping mechanism 22 includes a clamping screw 225, one end of which is connected to the mounting groove.

[0055] For example, the bottom of the clamping screw 225 can be snapped into or fixed by screws to the corresponding mounting groove on the multi-functional pressure ring 213. In practical applications, different numbers of clamping mechanisms 22 can be installed according to the diameter and length of the elastic extension rod 25, and the distribution of clamping points can be adjusted. The mounting groove design of this application makes the clamping mechanism 22 easy to install and remove, and can be adapted to elastic extension rods 25 of different specifications, further improving the versatility of the system.

[0056] Continue to refer to Figure 5 As shown, in some embodiments, the clamping mechanism 22 includes: a clamping roller shaft 221, a clamping bearing seat 222, a clamping bearing 224, a clamping screw 225, an adjusting nut 226, and a clamping spring 227. The clamping roller shaft 221 is rotatably mounted on the clamping bearing seat 222 via the clamping bearing 224, and its outer circumferential surface rolls in contact with the outer surface of the elastic extension rod 25. One end of the clamping screw 225 is connected to the multi-functional pressure ring 213, and the other end passes through the clamping bearing seat 222 and is threadedly connected to the adjusting nut 226. The clamping spring 227 is sleeved on the outside of the clamping screw 225, and its two ends abut against the clamping bearing seat 222 and the adjusting nut 226, respectively. By rotating the adjusting nut 226, the compression of the clamping spring 227 can be adjusted to regulate the clamping force.

[0057] For example, the pressure roller shaft 221 is a stepped shaft, with a larger diameter in the middle section that contacts the surface of the elastic extension rod 25. Both ends of the pressure roller shaft 221 are mounted in the inner rings of the pressure bearing 224. The outer ring of the pressure bearing 224 is mounted in the pressure bearing housing 222 and fixed by the pressure bearing retaining ring 223. The pressure spring 227 is in a compressed state, providing pressure to the pressure roller shaft 221. When the winding thickness of the elastic extension rod 25 decreases, the pressure spring 227 automatically extends, pushing the pressure roller shaft 221 against the surface of the elastic extension rod 25. The pressure bearing housing 222 has a through hole through which the pressure screw 225 passes, allowing the pressure roller shaft 221 to contact the outermost layer of the wound portion of the elastic extension rod 25. The bottom of the pressure screw 225 is mounted in the corresponding mounting groove of the multi-functional retaining ring 213, and the top of the pressure screw 225 has an external thread that engages with the adjusting nut 226.

[0058] This application allows for precise adjustment of the clamping force by rotating the adjusting nut 226, enabling optimization of clamping parameters based on the characteristics of different elastic extension rods 25. The rolling contact method reduces wear on the surface of the elastic extension rod 25, extending its service life. The spring-adaptive clamping method ensures the stability of the clamping force throughout the entire extension and retraction process.

[0059] Figure 6 This is a schematic diagram of a guiding and shaping mechanism in one embodiment of this application. (Reference) Figure 3 and Figure 6 As shown, in some embodiments, the retractable extension rod assembly 2 further includes at least two guide shaping mechanisms 23. Figure 6 The diagram shows ten guiding and shaping mechanisms 23, with at least two of them arranged symmetrically along the extension direction E of the elastic rod 25. Each guiding and shaping mechanism 23 is connected to the elastic rod 25 and the winding mechanism 21, respectively. During the unfolding and retraction of the elastic rod 25, each guiding and shaping mechanism 23 can guide and shape the elastic rod 25.

[0060] For example, the transition zone from the flattened state to the fully restored cross-section of the elastic extension rod 25 is relatively long. The guide and shaping mechanism 23 can reduce the length of the transition zone to reduce the size of the mechanism, while ensuring that the elastic extension rod 25 extends straight. The number of guide and shaping mechanisms 23 can be two, three, four, or more, and can be flexibly adjusted as needed in practical applications. Preferably, the guide and shaping mechanisms 23 can be installed in pairs, that is, the number of guide and shaping mechanisms 23 is even. This arrangement ensures that the elastic extension rod 25 is subjected to symmetrical and uniform force during the extension and retraction process, and does not swing to one side. This application ensures that the elastic extension rod 25 can extend straight through the guide and shaping mechanism 23, avoiding torsional or bending deformation, and improving the extension accuracy and support stiffness.

[0061] Continue to refer to Figure 6 As shown, in some embodiments, each guide shaping mechanism 23 includes: a guide wheel 231, a guide wheel seat 232, and a guide mechanism bracket 233. The guide wheel 231 is a dumbbell-shaped flexible wheel, with its center tangentially contacting the edge of the elastic extension rod 25. The openings of the guide wheels 231 on the same side decrease in size along the extension direction E. The guide wheel 231 is mounted on the guide mechanism bracket 233 via the guide wheel seat 232, and the guide mechanism bracket 233 has an adjustment groove for adjusting the mounting position of the guide wheel 231.

[0062] For example, the two ends of the guide wheel 231 are mounted on the guide wheel seat 232. The guide wheel 231 can be made of a flexible material such as rubber to avoid scratching the surface of the elastic extension rod 25. The dumbbell-shaped structure can limit the swing of the elastic extension rod 25 and ensure that it moves in a straight line. The design of the opening of the guide wheel 231 decreasing along the extension direction E can guide the elastic extension rod 25 to gradually restore its cross-sectional shape and reduce stress concentration. The adjustment groove on the guide mechanism bracket 233 is a straight groove, which can realize the front-back and rear-up and down adjustment of the installation position of the guide wheel seat 232.

[0063] This application utilizes a dumbbell-shaped flexible guide wheel 231 to guide the movement of the elastic extension rod 25 while protecting its surface from damage. The decreasing opening design helps the elastic extension rod 25 smoothly restore its cross-sectional shape, avoiding abrupt stress. The adjustment groove design facilitates adjusting the installation position of the guide wheel 231, ensuring proper contact with the edge of the elastic extension rod 25.

[0064] Continue to refer to Figure 6 As shown, in some embodiments, an adjustment shim (not shown in the figure) is provided between the guide wheel seat 232 and the guide mechanism bracket 233. The adjustment shim is used to adjust the shaping depth of the elastic extension rod 25.

[0065] For example, the adjusting shims can be shims of different thicknesses. By increasing or decreasing the number of adjusting shims, the installation position of the guide wheel seat 232 can be adjusted, so that the guide wheel seat 232 is closer to or farther away from the edge of the elastic extension rod 25, thereby adjusting the shaping depth of the elastic extension rod 25. This application can precisely control the shaping depth by adjusting shims, which can adapt to elastic extension rods 25 with different cross-sectional dimensions to obtain the desired transition zone length, further improving the adaptability and versatility of the system.

[0066] Figure 7 This is a schematic diagram of a clamping mechanism in one embodiment of this application. (Reference) Figure 3 and Figure 7 As shown, in some embodiments, the elastic extension rod retraction assembly 2 further includes a clamping mechanism 24, which is located outside the cross-sectional recovery completion section 252 of the elastic extension rod 25. The clamping mechanism 24 is used to clamp and lock the elastic extension rod 25 after it is extended into place, and to unlock and release the elastic extension rod 25 when it needs to be retracted.

[0067] For example, to ensure that the elastic extension rod 25 has a certain supporting stiffness after deployment to stably support the flexible load 107, this application designs a clamping mechanism 24. The clamping mechanism 24 is a root clamping mechanism, located at the root of the complete cross-section at the end of the transition zone of the elastic extension rod 25. To achieve repeated deployment and retraction, the clamping mechanism 24 adopts an active mechanism, which can control the speed of the clamping process to reduce impact and achieve repeated clamping and release. By clamping and locking the elastic extension rod 25 after deployment, this application can improve the supporting stiffness of the system after deployment, ensuring the dimensional accuracy and operational stability of the flexible load 107.

[0068] refer to Figure 7 As shown, in some embodiments, the clamping mechanism 24 includes: a first clamping plate 241, a second clamping plate 242, a first lead screw 243, a second lead screw 244, a bevel gear transmission pair, and a second motor 2411. The first clamping plate 241 and the second clamping plate 242 are located on the upper and lower sides of the elastic extension rod 25, respectively, and the inner contours of the first clamping plate 241 and the second clamping plate 242 match the outer contour of the elastic extension rod 25. Both the first lead screw 243 and the second lead screw 244 are provided with symmetrical upper and lower leadscrews in opposite directions. The two ends of the first clamping plate 241 and the two ends of the second clamping plate 242 are threadedly connected to the first lead screw 243 and the second lead screw 244, respectively, forming a lead screw and nut transmission pair. The second motor 2411 drives the first lead screw 243 and the second lead screw 244 to rotate synchronously through a bevel gear transmission pair, so as to drive the first clamping plate 241 and the second clamping plate 242 to move towards each other or away from each other. The movement towards each other is used to clamp the elastic extension rod 25, and the movement away from each other is used to release the elastic extension rod 25.

[0069] For example, such as Figure 7 As shown, the first clamping plate 241 is equivalent to the upper clamping plate, and the second clamping plate 242 is equivalent to the lower clamping plate. The first lead screw 243 has symmetrical but oppositely oriented screw threads and bearing and gear mounting shoulders. The second lead screw 244 is the same as the first lead screw 243 only with opposite thread directions; that is, if the upper end of the first lead screw 243 is a left-hand thread and the lower end is a right-hand thread, then the upper end of the second lead screw 244 is a right-hand thread and the lower end is a left-hand thread. The clamping mechanism 24 also includes: a lead screw bearing pressure ring 245, a lead screw bearing 246, and a lead screw support 247. The bevel gear transmission pair includes: a first bevel gear 2413, a second bevel gear 2414, and a bevel gear shaft 2415. The second motor 2411 is the clamping mechanism motor, and its output shaft is connected to the bevel gear shaft 2415 through a bevel gear shaft coupling 2410. The second motor 2411 is connected to the second motor support 2412.

[0070] The first lead screw 243 and the second lead screw 244 of this application can be trapezoidal lead screws, utilizing the self-locking advantage of the trapezoidal thread to ensure that they do not loosen after clamping. In practical applications, the first lead screw 243 and the second lead screw 244 can also be triangular lead screws or ball screws, etc. For example, a trapezoidal lead screw is used here. Lead screw bearings 246 are symmetrically installed at both ends of the trapezoidal lead screw. The lead screw bearings 246 are installed in the bearing mounting holes of the lead screw bracket 247 and fixed by the lead screw bearing retaining rings 245. First bevel gears 2413 are also installed at the lower ends of the two lead screws respectively. Four lead screw brackets 247 are installed at corresponding positions on the clamping mechanism bracket 2418. Second bevel gears 2414 and bevel gear shaft bearings 2416 are symmetrically installed on both sides of the bevel gear shaft 2415. The bevel gear shaft bearings 2416 are installed in the bearing mounting holes of the clamping mechanism bracket 2418 and fixed by the bevel gear bearing retaining rings 2417. Two first bevel gears 2413 mesh with two second bevel gears 2414 respectively, transmitting the rotational motion of the bevel gear shaft to the rotational motion of the two lead screws. A second motor 2411 is mounted via a second motor bracket 2412. The output shaft of the second motor 2411 is connected to the bevel gear shaft 2415 via a bevel gear shaft coupling 2410, thereby transmitting the motor's output torque to the bevel gear shaft. The internal threaded holes at both ends of the first clamping plate 241 and the second clamping plate 242 are screwed into the two lead screws respectively, forming a lead screw-nut transmission pair. The second motor 2411 can drive the bevel gear shaft to rotate, transmitting torque to the two lead screws through the bevel gear transmission pair. When the two lead screws rotate, the first clamping plate 241 and the second clamping plate 242 move in opposite directions, clamping or releasing the elastic extension rod 25. This ensures that the transmission pair meets the self-locking condition of the trapezoidal thread, preventing loosening after clamping the elastic extension rod 25.

[0071] Continue to refer to Figure 7 As shown, in some embodiments, the inner side of the first clamping piece 241 and / or the second clamping piece 242 is provided with a flexible material, which is used to increase the friction with the surface of the elastic extension rod 25 and adapt to the deformation of the elastic extension rod 25.

[0072] For example, the flexible material can be made of rubber, silicone, or other materials and is adhered to the inner surface of the clamping plate. The flexible material can undergo slight deformation during clamping, forming a contact area with the surface of the elastic extension rod 25. The flexible material can protect the surface of the composite material elastic extension rod 25, preventing scratches or damage during clamping, increasing the contact area and friction, improving the reliability of clamping, and accommodating the slight deformation of the elastic extension rod 25 to ensure a uniform distribution of clamping force.

[0073] Continue to refer to Figure 7As shown, in some embodiments, the clamping mechanism 24 further includes a first limit switch 248 and a second limit switch 249. The first limit switch 248 is located outside the first clamping piece 241 and is used to trigger an unlocking completion signal when the first clamping piece 241 and the second clamping piece 242 are separated into their respective positions. The second limit switch 249 is located between the first clamping piece 241 and the second clamping piece 242 and is used to trigger a locking completion signal when the first clamping piece 241 and the second clamping piece 242 are clamped into their respective positions.

[0074] For example, both the first limit switch 248 and the second limit switch 249 are mounted on the clamping mechanism bracket 2418. When the first clamping piece 241 moves to the separation limit position, it touches the first limit switch 248, sending an unlocking completion signal; when the first clamping piece 241 and the second clamping piece 242 are clamped in place, the second limit switch 249 is triggered, sending a locking completion signal. This application achieves automatic control of clamping and releasing actions through limit switches, improving the automation level and reliability of the system, accurately feeding back the clamping and releasing status, and facilitating real-time monitoring of the system's operating status.

[0075] refer to Figure 3 , Figure 4 and Figure 8 As shown, in some embodiments, the synchronous connection component 3 includes: at least two extension rod plugs ( Figure 8 The diagram shows the first extension rod plug 31 and the second extension rod plug 32, the extension rod connecting bracket 33, the transmission connecting shaft 34, and the coupling. Figure 8 The diagram shows a first coupling 35 and a second coupling 36. At least two extension rod plugs correspond one-to-one with the elastic extension rods 25, and each extension rod plug is connected to the extension rod end 251 of the corresponding elastic extension rod 25. An extension rod connecting frame 33 is connected to each extension rod plug. The end of a transmission connecting shaft 34 is connected to the extension rod reel 211 of each set of elastic extension rod extending and retracting assemblies 2 via couplings. The transmission connecting shaft 34 is used to enable each extension rod reel 211 to rotate synchronously.

[0076] For example, Figure 8The first coupling 35 and the second coupling 36 shown are respectively connected to the extension rod reel 211 of the active mechanism and the extension rod reel 211 of the driven mechanism, which can transmit the torque of the extension rod reel 211 of the active mechanism to the extension rod reel 211 of the driven mechanism, ensuring that the two reels rotate synchronously. The extension rod plug can be inserted into the unfolded end of the elastic extension rod 25 and fixed circumferentially by screws. The extension rod connecting frame 33 adopts a lightweight topology design, and its two sides are connected to the two extension rod plugs by screws respectively, ensuring that the end movement of the elastic extension rod 25 is synchronous. The coupling can be a universal joint, which allows for a certain angular deviation between the connected shafts. In practical applications, the number of extension rod plugs, the number of couplings, and the number of transmission connecting shafts can be determined according to the number of sets of elastic extension rod unfolding and retracting components 2. This application does not limit the number of these components.

[0077] This application ensures the synchronicity of the movement of the elastic extension rod 25 through the extension rod connecting bracket 33. The transmission connecting shaft 34 realizes the synchronous rotation of the extension rod reel 211. The universal joint reduces the difficulty of machining and installation and compensates for installation errors.

[0078] Figure 9 This is a schematic diagram of a traction component according to one embodiment of this application. (Reference) Figure 1 , Figure 8 and Figure 9 As shown, in some embodiments, the traction assembly 4 includes a hanging plate 41 and a tension spring 42. The load end 1071 of the flexible load 107 is provided with a first hook 108, and the hanging plate 41 is provided with a second hook 411. The first hook 108 and the second hook 411 correspond one-to-one. The two ends of the tension spring 42 are connected to the first hook 108 and the second hook 411 respectively, which ensures that the tension on the flexible load 107 is evenly distributed during the unfolding and retraction process, resulting in smooth unfolding.

[0079] For example, the traction assembly 4 is a constant tension traction assembly. The hanging plate 41 can be a sun blanket hanging plate, installed above the first extension rod end cap 31 and the second extension rod end cap 32. The first hooks 108 are evenly distributed at the ends of the flexible load 107, and the second hooks 411 are the same number as the first hooks and aligned in position. The tension spring 42 is a constant tension spring, which can provide uniform tension during the deployment and retraction process. This application uses a tension spring-type traction assembly to ensure that the tension on the flexible load 107 is evenly distributed along the width direction during deployment and retraction, avoiding the load wrinkling or tearing that is easily caused by rigid traction. The hook-type connection method facilitates assembly and disassembly.

[0080] The embodiments of this application also disclose a ground testing method suitable for simulating a microgravity environment for the space reusable deployment and retraction system 100 as described above.

[0081] Figure 10 This is a schematic diagram of a space-retractable system being arranged perpendicular to the ground in one embodiment of this application. Figure 11 This is a flowchart of a ground testing method according to an embodiment of this application. (Reference) Figure 10 and Figure 11 As shown, the ground test method includes: Step S1: Set the space reusable deployment and retraction system to be perpendicular to the ground.

[0082] Step S2: Provide at least one spring clip on the side of the elastic extension rod of the elastic extension rod extension assembly.

[0083] Step S3: Use ropes to suspend at least one spring clamp on a pre-set suspension truss to complete the microgravity environment simulation.

[0084] For example, this application performs real-time gravity compensation during ground deployment to simulate a microgravity deployment environment in space, facilitating the testing of the performance of the space reusable deployment and retraction system 100. Figure 10 As shown, during ground testing, the entire space reusable deployment and retraction system 100 is fixedly installed perpendicular to the ground (not shown in the figure). Several spring clips are arranged at equal intervals along the outer straight edge of the upper elastic extension rod 25, and each spring clip is suspended from a pre-set suspension truss 6 by flexible suspension ropes 5, thus completing the gravity compensation of the upper elastic extension rod 25. Spring clips are arranged at corresponding positions along the inner straight edges of the upper and lower elastic extension rods 25, and the corresponding spring clips are connected to each other by flexible suspension ropes 5, thus completing the gravity compensation of the lower elastic extension rod 25. The number and spacing of the spring clips can be adjusted according to the length and weight parameters of the elastic extension rod 25 to be tested. After completing the gravity compensation of the entire system, the space reusable deployment and retraction system 100 is activated to conduct ground simulation tests of its on-orbit deployment and retraction behavior.

[0085] The ground test method designed in this application is simple to implement, highly feasible, and low in cost. It can effectively simulate the deployment and recovery process under microgravity environment in space, facilitate the testing of various performance indicators of the deployment and recovery system, and provide reliable test basis for on-orbit application.

[0086] The workflow of the space reusable expansion and recovery system 100 in this application will be described later.

[0087] (1) Initial lock-in state before launch of the launch vehicle.

[0088] Combination Figures 1 to 4 , Figure 7As shown, for example, the space reusable deployment and retraction system 100 can be housed within a launch vehicle (not shown) and launched into orbit together. The active elastic extension rod deployment and retraction assembly 2 and the driven elastic extension rod deployment and retraction assembly 2 are installed parallel to each other and connected by a synchronous connection assembly 3. The two elastic extension rods 25 extend just beyond the clamping mechanism 24, at which point the clamping mechanism 24 clamps and locks the elastic extension rods 25. The flexible load deployment and retraction assembly 1 is installed above the elastic extension rod deployment and retraction assembly 2. The front end of the flexible load 107 extends out and is connected to the top of the elastic extension rods 25 via a traction assembly 4. At this time, the first motor 217, the second motor 2411, and the third motor 106 are all in a power-off self-locking state, and the space reusable deployment and retraction system 100 is in a small-volume, high-rigidity pre-launch locked state, capable of withstanding the mechanical environment of the active phase during rocket launch.

[0089] (2) On-orbit deployment process.

[0090] Combination Figures 1 to 5 , Figure 7 As shown, exemplarily, after the satellite enters orbit, the ground issues a "flexible payload deployment" remote control command. At this time, the second motor 2411 in the clamping mechanism 24 reverses, driving the bevel gear shaft 2415 to rotate and transmitting the motion to the first lead screw 243 and the second lead screw 244, causing the first clamping plate 241 and the second clamping plate 242 to separate, releasing the elastic extension rod 25. When the first clamping plate 241 touches the first limit switch 248, it sends a "elastic extension rod 25 unlocking complete" signal, at which time the second motor 2411 is de-energized and self-locked.

[0091] After the elastic extension rod 25 is unlocked, the first motor 217 rotates forward, driving the extension rod reel 211 of the active elastic extension rod unfolding assembly 2 to rotate forward. Through the synchronous connection assembly 3, the extension rod reel 211 of the driven elastic extension rod unfolding assembly 2 rotates synchronously forward, driving the two elastic extension rods 25 to be simultaneously and straightened after passing through the guide shaping mechanism 23. The elastic strain energy stored in the elastic extension rods 25 is released, causing their cross-section to return to the preset pod shape and obtain supporting stiffness. During the unfolding process, the thickness of the elastic extension rods 25 wound on the extension rod reel 211 decreases, but the compression springs 227 in the multiple pressing mechanisms 22 are always in a compressed state, providing pressing force so that the pressing roller shaft 221 always presses the elastic extension rods 25, ensuring that the elastic extension rods 25 do not loosen or jam and unfold smoothly.

[0092] The end of the elastic extension rod 25 is pulled evenly and slowly by the traction assembly 4, causing the flexible load 107 to extend continuously from the load reel 101. Simultaneously, the third motor 106 rotates forward to release the flexible load 107 until it is fully extended. Once fully extended, the second motor 2411 in the clamping mechanism 24 rotates forward, causing the first clamping plate 241 and the second clamping plate 242 to come together and clamp the elastic extension rod 25. When the second clamping plate 242 touches the second limit switch 249, it sends a "elastic extension rod locking complete" signal. At this time, the second motor 2411 is de-energized and self-locks. The elastic extension rod 25 then has reliable support rigidity, ensuring the normal operation of the large-sized flexible load that has been extended.

[0093] (3) On-orbit retrieval process.

[0094] Combination Figures 1 to 4 , Figure 7 As illustrated, for example, when a satellite needs to maneuver or change orbit, it needs to be retracted to reduce the adverse effects of vibration caused by a large flexible load. At this time, the ground sends a "flexible load retraction" remote control command, and the second motor 2411 in the clamping mechanism 24 reverses, causing the first clamping plate 241 and the second clamping plate 242 to separate, releasing the elastic extension rod 25. When the first clamping plate 241 touches the first limit switch 248, it sends a "elastic extension rod unlocking complete" signal, at which point the second motor 2411 is de-energized and self-locked.

[0095] After the elastic extension rod 25 is unlocked, the first motor 217 reverses, causing the elastic extension rod 25 to be retracted and rewound onto the extension rod reel 211. At the same time, the third motor 106 reverses, synchronously winding the flexible load 107 onto the load reel 101, preparing for re-unwinding. This enables repeated unfolding and rewinding of large-size flexible loads.

[0096] The space reusable deployment and recovery system 100 of this application has the following advantages: 1. It has a simple structure, small folded volume, high unfolding ratio, high degree of lightweighting, can be repeatedly unfolded and folded, and has good unfolding synchronization and stability, making it suitable for scenarios with limited installation space or high lightweighting requirements.

[0097] 2. The modular design allows for adjustment of the clamping force, number of clamping points, number of guide mechanisms, and length of the transition zone in the elastic extension rod retraction assembly 2. This enables flexible adaptation to different elastic extension rods 25 and load requirements of different sizes, resulting in strong versatility and good adaptability.

[0098] 3. The ground test method of this application is simple to implement, highly feasible, and low in cost, and can effectively simulate the deployment and recovery process under microgravity environment in space.

[0099] While the foregoing disclosure has discussed various embodiments that are currently considered useful, it should be understood that such details are for illustrative purposes only, and this application is not limited to the disclosed embodiments. Rather, this application is intended to cover all modifications and equivalent combinations that conform to the spirit and scope of the embodiments of this application. For example, although the system components described above can be implemented by hardware devices, they can also be implemented solely by software solutions, such as installing the described system on existing servers or mobile devices.

[0100] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned foregoing. In fact, the embodiments have fewer features than all the features of the single embodiments disclosed above.

[0101] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used to describe embodiments are sometimes modified by the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in this application are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0102] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate this application, and various equivalent changes or substitutions can be made without departing from the spirit of this application. Therefore, any changes or modifications to the above embodiments within the scope of the essential spirit of this application will fall within the scope of this application.

Claims

1. A spatially reusable deployment and retrieval system, characterized in that, include: Flexible load deployment and retraction assembly, used for deploying and retracting flexible loads; An elastic extension rod deployment and retraction assembly is connected to the flexible load deployment and retraction assembly. The elastic extension rod deployment and retraction assembly includes a winding mechanism, an elastic extension rod, and at least two guiding and shaping mechanisms. The elastic extension rod can be wound onto the winding mechanism and store elastic strain energy. After being deployed, the elastic extension rod can return to a preset shape to provide support stiffness. The at least two guiding and shaping mechanisms are symmetrically arranged along the extension direction of the elastic rod. Each guiding and shaping mechanism is connected to the elastic rod and the winding mechanism respectively. During the unfolding and retraction of the elastic rod, each guiding and shaping mechanism can guide and shape the elastic rod. Each guiding and shaping mechanism includes: a guide wheel, a guide wheel seat, and a guide mechanism bracket; wherein, the guide wheel is a dumbbell-shaped flexible wheel, the middle part of the guide wheel is tangentially in contact with the edge of the elastic extension rod, the opening of the guide wheels on the same side decreases from large to small along the extension direction, the guide wheel is mounted on the guide mechanism bracket through the guide wheel seat, and the guide mechanism bracket is provided with an adjustment groove for adjusting the mounting position of the guide wheel; and A traction assembly is connected to the load end of the flexible load and the extension end of the elastic extension rod, respectively, and the traction assembly is used to apply tension during the unfolding and rewinding of the flexible load.

2. The spatially reusable deployment and retrieval system as described in claim 1, characterized in that, The winding mechanism includes a telescopic rod reel and a first motor. The first motor is connected to the telescopic rod reel and is used to drive the telescopic rod reel to rotate so as to realize the unfolding and retraction of the elastic telescopic rod.

3. The space-reusable deployment and retrieval system as described in claim 1, characterized in that, The preset shape includes a pod shape, and the elastic extension rod includes a pod rod, wherein the pod rod is a composite material extension rod with a closed cross section.

4. The space-reusable deployment and retrieval system as described in claim 2, characterized in that, It also includes a synchronous connection component; the number of the elastic extension rod retraction components is at least two sets, and the at least two sets of elastic extension rod retraction components are arranged symmetrically; the synchronous connection component is connected to the extension rod end of the elastic extension rod of each set of elastic extension rod retraction components, and is connected to the extension rod reel of each set of elastic extension rod retraction components, and the synchronous connection component is used to keep the operation of the at least two sets of elastic extension rod retraction components synchronized.

5. The space-reusable deployment and retrieval system as described in claim 2, characterized in that, The winding mechanism also includes a telescopic rod reel bracket and a multi-functional pressure ring. The telescopic rod reel is rotatably mounted on the telescopic rod reel bracket via a telescopic rod reel bearing. The multi-functional pressure ring is connected to the outer ring of the telescopic rod reel bearing. The retractable extension rod assembly further includes at least one clamping mechanism arranged circumferentially along the extension rod reel for clamping the retractable extension rod, and each clamping mechanism is connected to the multifunctional pressure ring.

6. The spatially reusable deployment and retrieval system as described in claim 5, characterized in that, The multi-functional pressure ring has at least one mounting groove along its circumferential direction, and the mounting groove corresponds one-to-one with the clamping mechanism; the clamping mechanism includes a clamping screw, one end of which is connected to the mounting groove.

7. The space-reusable deployment and retrieval system as described in claim 5, characterized in that, The clamping mechanism includes: a clamping roller shaft, a clamping bearing housing, a clamping bearing, a clamping screw, an adjusting nut, and a clamping spring; wherein, the clamping roller shaft is rotatably mounted on the clamping bearing housing via the clamping bearing, and the outer circumferential surface of the clamping roller shaft is in rolling contact with the outer surface of the elastic extension rod; one end of the clamping screw is connected to the multi-functional pressure ring, and the other end passes through the clamping bearing housing and is threadedly connected to the adjusting nut; the clamping spring is sleeved on the outside of the clamping screw, and both ends of the clamping spring abut against the clamping bearing housing and the adjusting nut respectively, and the compression of the clamping spring can be adjusted by rotating the adjusting nut to adjust the clamping force.

8. The space-reusable deployment and retrieval system as described in claim 1, characterized in that, An adjusting shim is provided between the guide wheel seat and the guide mechanism bracket, and the adjusting shim is used to adjust the shaping depth of the elastic extension rod.

9. The space-reusable deployment and retrieval system as described in claim 1, characterized in that, The elastic extension rod deployment and retraction assembly also includes a clamping mechanism located on the outside of the section of the elastic extension rod after it has been fully retracted, for clamping and locking the elastic extension rod after it has been fully deployed.

10. The space-reusable deployment and retrieval system as described in claim 9, characterized in that, The clamping mechanism includes: a first clamping plate, a second clamping plate, a first lead screw, a second lead screw, a bevel gear transmission pair, and a second motor; wherein, the first clamping plate and the second clamping plate are respectively located on the upper and lower sides of the elastic extension rod, and the inner contours of the first clamping plate and the second clamping plate are matched with the outer contour of the elastic extension rod; the first lead screw and the second lead screw are both provided with symmetrical upper and lower leads and opposite directions of screw threads, and the two ends of the first clamping plate and the two ends of the second clamping plate are respectively threaded to the first lead screw and the second lead screw, forming a lead screw nut transmission pair; the second motor drives the first lead screw and the second lead screw to rotate synchronously through the bevel gear transmission pair, so as to drive the first clamping plate and the second clamping plate to move towards each other or away from each other, the moving towards each other is used to clamp the elastic extension rod, and the moving away from each other is used to release the elastic extension rod.

11. The space-reusable deployment and retrieval system as described in claim 10, characterized in that, The inner side of the first clamping plate and / or the second clamping plate is provided with a flexible material, which is used to increase the friction with the surface of the elastic extension rod and adapt to the deformation of the elastic extension rod.

12. The space-reusable deployment and retrieval system as described in claim 10, characterized in that, The clamping mechanism further includes a first limit switch and a second limit switch; wherein, the first limit switch is located outside the first clamping piece, and the first limit switch is used to trigger an unlocking completion signal when the first clamping piece and the second clamping piece are separated into place; the second limit switch is located between the first clamping piece and the second clamping piece, and the second limit switch is used to trigger a locking completion signal when the first clamping piece and the second clamping piece are clamped into place.

13. The space-reusable deployment and retrieval system as described in claim 4, characterized in that, The synchronous connection assembly includes: at least two extension rod plugs, an extension rod connecting frame, a transmission connecting shaft, and a coupling; wherein, the at least two extension rod plugs correspond one-to-one with the elastic extension rods, and each extension rod plug is connected to the extension rod end of the corresponding elastic extension rod; the extension rod connecting frame is connected to each extension rod plug; the end of the transmission connecting shaft is connected to the extension rod reel of each set of elastic extension rod deployment and retraction assemblies through the coupling, and the transmission connecting shaft is used to enable each extension rod reel to rotate synchronously.

14. The space-reusable deployment and retrieval system as described in claim 1, characterized in that, The traction assembly includes a mounting plate and a tension spring; wherein, the load end of the flexible load is provided with a first hook, the mounting plate is provided with a second hook, the first hook and the second hook correspond one-to-one, and the two ends of the tension spring are respectively connected to the first hook and the second hook.

15. The space-reusable deployment and retrieval system as described in claim 1, characterized in that, The flexible load deployment and retraction assembly includes: a load reel, a third motor, and a load reel support; wherein, the flexible load can be wound around the load reel; the third motor is connected to the load reel and is used to drive the load reel to rotate; the load reel is rotatably mounted on the load reel support via a load reel bearing.

16. A ground-based testing method, characterized in that, Suitable for simulating microgravity environments of a space reusable deployment and recovery system as described in any one of claims 1-15, the method comprising: The space reusable deployment and retraction system is configured to be perpendicular to the ground; At least one spring clip is provided on the side of the elastic extension rod of the elastic extension rod retraction assembly; The at least one spring clip is suspended from a pre-set suspension truss by using a suspension rope to complete the microgravity environment simulation.

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