A mechanically-damped self-deploying flexible payload system

Abstract

The application relates to a self-unfolding flexible load system based on mechanical damping, comprising a self-unfolding mechanism and a load component, the self-unfolding mechanism being used for driving the unfolding of the load component; wherein the self-unfolding mechanism comprises a winding mechanism, an elastic rod and a damping mechanism; the elastic rod can be wound on the winding mechanism and store elastic strain energy, and the elastic strain energy is released after unfolding to drive the elastic rod to stretch along the axial direction; the damping mechanism is in transmission connection with the winding mechanism, and is used for applying a damping torque to the winding mechanism during the unfolding of the elastic rod. The self-unfolding flexible load system can adapt to the extreme environment in space, effectively suppresses impact vibration during the unfolding of the elastic rod, and improves the reliability and motion stability of system unfolding.

Description

Technical Field

[0001] This application mainly relates to the field of spacecraft design and manufacturing technology, and specifically to a self-deploying flexible payload system based on mechanical damping. Background Technology

[0002] With the increasing energy demands of space missions, large flexible deployable payloads have become the preferred solution for spacecraft such as high-power communication satellites, deep space probes, and space stations due to their high power-to-mass ratio, high retraction ratio, and excellent on-orbit performance. Self-deploying mechanisms driven by composite material elastic rods can autonomously deploy payloads by releasing stored elastic potential energy. These mechanisms are characterized by simple structure, light weight, and high deployment-to-retraction ratio, representing an important technological direction for flexible deployable payloads.

[0003] In practical applications, the energy release rate during the deployment of the elastic rod is fast, which can easily cause impact vibration. The reliability of existing damping solutions is limited in the extreme environment of space, and it is difficult to meet the requirements of vibration reduction effect and long-term environmental adaptability at the same time. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide a self-deploying flexible load system based on mechanical damping, which can be adapted to the extreme environment of space, effectively suppress the impact vibration during the deployment of the elastic rod, and improve the reliability and motion stability of the self-deploying flexible load system.

[0005] The technical solution adopted in this application to solve the above-mentioned technical problems is a self-deploying flexible load system based on mechanical damping, including a self-deploying mechanism and a load assembly. The self-deploying mechanism is used to drive the deployment of the load assembly. The self-deploying mechanism includes a winding mechanism, an elastic rod, and a damping mechanism. The elastic rod can be wound around the winding mechanism and store elastic strain energy. After deployment, it releases the elastic strain energy to drive itself to extend axially. The damping mechanism is driven by the winding mechanism and is used to apply a damping torque to the winding mechanism during the deployment of the elastic rod.

[0006] In one embodiment of this application, during the unfolding process of the elastic rod, the frictional contact area of ​​the damping mechanism increases with the increase of the rotation angle of the winding mechanism, so that the damping torque increases adaptively with the unfolding process of the elastic rod.

[0007] In one embodiment of this application, the damping mechanism includes a damper inner core and a damper outer shell; the damper inner core is coaxially connected to the winding mechanism, friction particles are provided between the outer wall of the damper inner core and the inner wall of the damper outer shell, and the damper inner core and the damper outer shell are engaged by a threaded drive.

[0008] In one embodiment of this application, the damping mechanism further includes a damper guide cylinder, the outer periphery of the damper housing is provided with a protrusion, the inner wall of the damper guide cylinder is provided with a groove, and the protrusion and the groove are fitted with a clearance to restrict the circumferential rotation of the damper housing.

[0009] In one embodiment of this application, the damping mechanism further includes a damper connector, which is connected to the ends of the damper guide cylinder and the winding mechanism, respectively.

[0010] In one embodiment of this application, the self-deploying mechanism further includes a guiding mechanism, which includes a first roller group and a second roller group; the first roller group is used to contact the inner wall of the elastic rod, and the second roller group is used to contact the outer wall of the elastic rod.

[0011] In one embodiment of this application, the outer envelope surface of the first roller group is adapted to the cross-sectional shape of the inner wall of the elastic rod, and the inner envelope surface of the second roller group is adapted to the cross-sectional shape of the outer wall of the elastic rod.

[0012] In one embodiment of this application, the guiding mechanism further includes a guide frame and a support frame, the support frame being disposed inside the guide frame and extending radially inward, and the first roller assembly being disposed at the end of the support frame.

[0013] In one embodiment of this application, the second roller group includes a plurality of side guide wheels, which are circumferentially distributed on the inner sidewall of the guide frame and are in contact with the outer wall of the elastic rod.

[0014] In one embodiment of this application, the self-unfolding mechanism further includes a clamping mechanism, which applies a radial clamping force to the elastic rod in the coiled state through an elastic element.

[0015] In one embodiment of this application, the clamping mechanism includes a first hinge and a second hinge, the first hinge and the second hinge being hinged together; the first hinge is provided with a first insertion hole, the second hinge is provided with a second insertion hole, and the elastic element includes a torsion spring, the two ends of the torsion spring being respectively disposed in the first insertion hole and the second insertion hole.

[0016] In one embodiment of this application, the end of the first hinge and / or the end of the second hinge is provided with a pressure wheel, and the pressure wheel is in surface contact with the elastic rod.

[0017] In one embodiment of this application, the winding mechanism includes a winding pressure ring, the winding pressure ring is provided with a mounting groove, and the clamping mechanism is connected to the mounting groove.

[0018] In one embodiment of this application, the self-deploying mechanism further includes a mounting base plate and a locking and releasing mechanism, the locking and releasing mechanism including a locking connector and an explosive bolt; the mounting base plate and the guide frame are connected by the locking connector; the mounting base plate and the locking connector are connected by the explosive bolt.

[0019] In one embodiment of this application, the self-deploying mechanism further includes a root clamping mechanism, which has an arc-shaped clamping surface adapted to the outer surface of the elastic rod to fix the root of the elastic rod.

[0020] In one embodiment of this application, the root clamping mechanism includes a clamping fixing member and a clamping movable member, wherein the clamping fixing member and the clamping movable member are locked together by a threaded connector to clamp and fix the root of the elastic rod.

[0021] In one embodiment of this application, the load assembly includes a drum, a flexible load, and a transmission coupling; the drum is used to wind the flexible load, and the drum is coaxially connected to the winding mechanism via the transmission coupling, and the drum rotates synchronously with the winding mechanism.

[0022] In one embodiment of this application, the self-deploying mechanism further includes a mounting base plate, one end of the flexible load is connected to the mounting base plate via a cable, and the other end of the flexible load is connected to the drum; the drum can rotate synchronously with the deployment of the elastic rod to release the flexible load.

[0023] In one embodiment of this application, the elastic rod includes a composite material elastic extension rod with a C-shaped cross-section; the elastic rod is wound and stored in the winding mechanism in a flattened state, and the elastic rod restores its cross-sectional shape and forms support stiffness after being unfolded.

[0024] The technical solution of this application achieves autonomous extension by releasing elastic strain energy through a rollable, energy-storing elastic rod. It can drive the load components to unfold without an additional active drive source, simplifying the system structure, reducing the overall weight, and avoiding the risk of single-point failure of electronic drive components. Through a mechanical damping mechanism connected to the winding mechanism, a damping torque is applied during the unfolding of the elastic rod to dissipate the unfolding energy, which can suppress the impact and vibration during the unfolding process. The damping mechanism is a passive mechanical structure that does not require power supply, electronic control components, or fluid medium, and can be adapted to the extreme environment of space, improving the unfolding stability and long-term operational reliability of the self-deploying flexible load system. Attached Figure Description

[0025] 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 1This is a schematic diagram of the structure of a self-deploying flexible load system based on mechanical damping according to an embodiment of this application; Figure 2 This is a schematic diagram of the self-deploying mechanism in one embodiment of this application; Figure 3 This is a schematic diagram of the damping mechanism in one embodiment of this application; Figure 4 This is a schematic diagram of the winding mechanism in one embodiment of this application; Figure 5 This is a schematic diagram of the guide mechanism in one embodiment of this application; Figure 6 This is a schematic diagram of the clamping mechanism in one embodiment of this application; Figure 7 This is a schematic diagram of the locking and releasing mechanism in the locked state according to one embodiment of this application; Figure 8 This is a schematic diagram of the root clamping mechanism in one embodiment of this application; Figure 9 This is a schematic diagram of the structure of the load component in one embodiment of this application.

[0026] Explanation of reference numerals in the accompanying drawings for specific embodiments: 1. Self-deploying mechanism; 2. Load assembly; 11. Winding mechanism; 111. Elastic rod reel; 112. Roller pressure ring; 113. Elastic rod reel bearing; 114. Elastic rod reel flange; 115. Elastic rod reel bearing cover; 12. Clamping mechanism; 121. Pressure roller; 122. First hinge; 123. Second hinge; 124. Torsion spring; 125. Pressure ring, elastic retaining ring; 126. Hinge spring retaining ring; 127. Pressure roller; 128. Press the wheel axle; 13. Root clamping mechanism; 131. Clamping and fixing components; 132. Clamp the moving parts; 14. Flexible rod; 15. Install the base plate; 16. Locking and releasing mechanism; 161. Locking connector; 162. Explosion bolts; 17. Guiding mechanism; 1701. Guide frame; 1702. Support frame; 1703. Radial support shaft; 1704. Inner guide wheel bracket; 1705. Inner guide wheel shaft; 1706. Inner roller; 1707. Guide mechanism connecting rod; 1708. Guide mechanism connector; 1709. Side guide wheel bracket; 1710. Side guide wheel; 1711. Side guide wheel axle; 18. Damping mechanism; 181. Damper connector; 182. Damper core; 183. Friction particles; 184. Damper housing; 185. Damper guide rail cylinder; 186. Damper coupling; 21. Roll; 22. Flexible load; 23. Cable; 24. Transmission coupling; 25. Load-bearing shaft; 26. Load-bearing drum cover; 27. Load-bearing drum bearing; 28. Load drum bearing cover. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] The embodiments of this application are described below based on the accompanying drawings. However, the embodiments shown below are examples of a mechanically damped self-deploying flexible load system used to embody the technical concept of this application, and the mechanically damped self-deploying flexible load system of this application is not specifically defined as follows. 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.

[0034] 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.

[0035] In practical applications, damping solutions for suppressing the impact of elastic rod deployment are generally divided into two categories: electronic damping solutions and fluid damping solutions. Electronic damping solutions rely on circuit systems, continuous power supply, and sensors and controllers to achieve damping control. In the environment of strong radiation and extreme temperature cycling in space, the risk of electronic component failure is high, and single-point failure is prone to occur. Fluid damping solutions rely on liquid media to achieve the damping effect. In the vacuum and drastic temperature difference environment of space, the medium is prone to leakage, freezing, or boiling, resulting in insufficient performance stability. In addition, it usually requires a temperature control system, which increases the system weight and complexity.

[0036] To address the aforementioned shortcomings of current damping schemes for suppressing the impact of elastic rod deployment, this application proposes a self-deploying flexible payload system based on mechanical damping, as described below. This self-deploying flexible payload system can be applied to the on-orbit autonomous deployment of space deployable payloads such as flexible solar panels and flexible antennas in spacecraft such as high-power communication satellites, deep space probes, and space stations.

[0037] Figure 1 This is a schematic diagram of a self-deploying flexible load system based on mechanical damping according to an embodiment of this application. Figure 2 This is a schematic diagram of the self-deploying mechanism in one embodiment of this application. (Reference) Figure 1 and Figure 2 As shown, the self-deploying flexible load system based on mechanical damping in this embodiment includes a self-deploying mechanism 1 and a load assembly 2. The self-deploying mechanism 1 is used to drive the deployment of the load assembly 2. The self-deploying mechanism 1 includes a winding mechanism 11, an elastic rod 14, and a damping mechanism 18. The elastic rod 14 can be wound around the winding mechanism 11 and store elastic strain energy. After deployment, it releases the elastic strain energy to drive itself to extend axially. Figure 2 The elastic rod 14 is shown in its unfolded state. The damping mechanism 18 is drive-connected to the winding mechanism 11 and is used to apply a damping torque to the winding mechanism 11 during the unfolding of the elastic rod 14.

[0038] For example, the damping mechanism 18 of this application is a mechanical friction damping mechanism, which is equivalent to a damping device that dissipates kinetic energy by relying on the friction between solid materials. It does not require power supply, electronic control, or fluid medium, and the damping effect can be achieved through the physical contact of the mechanical structure. The elastic rod 14 can be a deformable extension rod made of composite material with an open cross section. When flattened and rolled up, it stores elastic strain energy. After release, it can autonomously restore its cross-sectional shape and extend along the axial direction, serving both as a drive and a support.

[0039] refer to Figure 2 As shown, the self-deploying mechanism 1 is the core of the flexible load system's power and support, providing deployment driving force through the elastic deformation of the elastic rod 14. The winding mechanism 11 is used to house the wound elastic rod 14, providing rotational support for it. The damping mechanism 18 is driven by the rotating part of the winding mechanism 11, directly linking the deployment motion of the elastic rod 14 with the damping effect. When the elastic rod 14 is in the wound state, it undergoes elastic deformation and stores elastic strain energy. When the constraint is released, the elastic rod 14 recovers its shape through its own elasticity and extends outward along the axial direction, driving the winding mechanism 11 to rotate synchronously, thereby driving the load assembly 2 to deploy.

[0040] This application achieves autonomous extension by releasing elastic strain energy through a rollable, energy-storing elastic rod 14. It can drive the load components to unfold without an additional active drive source, simplifying the system structure, reducing the overall weight, and avoiding the risk of single-point failure of electronic drive components. Through a mechanical damping mechanism 18 that is connected to the winding mechanism 11, a damping torque is applied during the unfolding of the elastic rod to dissipate the unfolding energy, which can suppress the impact and vibration during the unfolding process. The damping mechanism 18 is a passive mechanical structure that does not require power supply, electronic control components, or fluid medium, and can be adapted to the extreme space environment, improving the unfolding stability and long-term operational reliability of the self-deploying flexible load system.

[0041] Figure 3 This is a schematic diagram of the damping mechanism in one embodiment of this application. (Reference) Figure 2 and Figure 3 As shown, in some embodiments, the damping mechanism 18 includes a damper inner core 182 and a damper outer shell 184. The damper inner core 182 is coaxially connected to the winding mechanism 11. Friction particles 183 are provided between the outer wall of the damper inner core 182 and the inner wall of the damper outer shell 184. The damper inner core 182 and the damper outer shell 184 are engaged by threaded transmission.

[0042] For example, the damper core 182 is fixedly connected to the elastic rod reel flange 114 via the damper coupling 186 and rotates synchronously with the winding mechanism 11. Friction particles 183 are evenly distributed on the outer wall of the tubular end of the damper core 182 and the inner wall of the cylindrical end of the damper housing 184. The middle sections of the damper core 182 and the damper housing 184 are provided with mutually engaging threaded structures. When the damper core 182 rotates with the elastic rod reel flange 114, the threaded drive drives the damper housing 184 to move axially relative to the damper core 182, gradually increasing the contact area of ​​the distributed friction particles 183 and continuously increasing the number of friction particle pairs involved in the action to increase the rotational resistance torque.

[0043] This application converts the rotation of the winding mechanism 11 into the axial displacement of the damper housing 184 through threaded transmission. By automatically changing the contact area of ​​the friction pair and the number of action friction particles 183, the damping torque can be dynamically adjusted without additional control elements. The structure is simple and compact, the motion transmission is reliable, and the adaptive damping effect is achieved through the mechanical structure.

[0044] In some embodiments, during the unfolding of the elastic rod 14, the frictional contact area of ​​the damping mechanism 18 increases with the increase of the rotation angle of the winding mechanism 11, causing the damping torque to adaptively increase as the elastic rod 14 unfolds. For example, the process of the elastic rod 14 releasing strain energy is a nonlinear large deformation motion, and the rebound speed gradually increases with the unfolding process, continuously raising the impact risk. The frictional contact area of ​​the damping mechanism 18 is positively correlated with the rotation angle of the winding mechanism 11; the contact area is small and the damping torque is small in the initial unfolding stage of the elastic rod 14, while the contact area is large and the damping torque is large in the later unfolding stage.

[0045] This application achieves adaptive adjustment of damping torque as the unfolding process by dynamically increasing the friction contact area with the rotation angle of the winding mechanism 11. It provides the maximum damping effect in the stage with the fastest unfolding speed, which can match the nonlinear rebound characteristics of the elastic rod 14. It can reduce vibration throughout the unfolding cycle and improve the stability of the unfolding process.

[0046] refer to Figure 3 As shown, in some embodiments, the damping mechanism 18 further includes a damper guide cylinder 185, the outer periphery of the damper housing 184 is provided with a protrusion, and the inner wall of the damper guide cylinder 185 is provided with a groove. The protrusion and the groove are fitted together to restrict the circumferential rotation of the damper housing 184.

[0047] For example, the outer surface of the square end of the damper housing 184 is provided with an outwardly protruding protrusion structure, and the inner wall of the damper guide cylinder 185 is provided with an axially extending groove. The protrusion is embedded in the groove to form a clearance fit. This fit structure allows the damper housing 184 to move freely in the axial direction, but restricts its circumferential rotation around the axis, ensuring that when the damper inner core 182 rotates, the damper housing 184 only produces axial displacement and does not rotate with it.

[0048] This application achieves circumferential positioning of the damper housing 184 through the gap fit between the protrusion and the groove. The structure is simple and the fit is reliable, which improves the stability of the threaded transmission, makes the damping torque increase smoothly, and avoids damping failure or torque fluctuation.

[0049] Figure 4 This is a schematic diagram of the winding mechanism in one embodiment of this application. (Reference) Figure 3 and Figure 4 As shown, in some embodiments, the damping mechanism 18 further includes a damper connector 181, which is connected to the ends of the damper guide cylinder 185 and the winding mechanism 11, respectively.

[0050] For example, the damper connector 181 is installed on the outer end of the winding mechanism 11 and can be connected to the elastic rod reel bearing cover 115 of the winding mechanism 11. In practical applications, the damper connector 181 can replace the elastic rod reel bearing cover 115. This arrangement can, on the one hand, enclose the elastic rod reel bearing 113 at the end of the winding mechanism 11, acting as a bearing cover; on the other hand, it can fix the damper guide cylinder 185, providing an installation reference for the entire damping mechanism 18 and ensuring the coaxiality of the damping mechanism 18 and the winding mechanism 11.

[0051] This application achieves an integrated design of bearing encapsulation and damper installation through the damper connector 181, which reduces the number of independent parts, simplifies the assembly process, improves the coaxial installation accuracy of the damping mechanism 18 and the winding mechanism 11, and enhances transmission stability.

[0052] Figure 5 This is a schematic diagram of the guide mechanism in one embodiment of this application. (Reference) Figure 2 and Figure 5 As shown, in some embodiments, the self-deploying mechanism 1 further includes a guide mechanism 17, which includes a first roller group (with inner rollers 1706) and a second roller group (with side guide wheels 1710). The first roller group is used to contact the inner wall of the elastic rod 14, and the second roller group is used to contact the outer wall of the elastic rod 14.

[0053] For example, the first roller group is located in the internal cavity of the elastic rod 14, supporting and constraining the inner wall of the rod from the inside. The second roller group surrounds the outside of the elastic rod 14, limiting the outer wall of the rod from the outside. The two roller groups together constitute a bidirectional constraint, guiding the cross-sectional shape of the rod during the unfolding process of the elastic rod 14. During the process of the elastic rod 14 recovering from a flattened coiled state to a tubular cross-section, the cross-section can be stably reshaped by the constraint and guidance of the two roller groups. This application constructs a three-dimensional constraint scheme by applying bidirectional constraints from the inner and outer walls of the rod through two sets of rollers, which can guide the rod to complete the cross-section reshaping at the moment of unfolding of the elastic rod 14, avoiding cross-sectional distortion of the rod and improving the morphological stability during the unfolding process.

[0054] In some embodiments, the outer envelope surface of the first roller group is adapted to the cross-sectional shape of the inner wall of the elastic rod 14, and the inner envelope surface of the second roller group is adapted to the cross-sectional shape of the outer wall of the elastic rod 14.

[0055] For example, the mounting positions of all inner rollers 1706 in the first roller group form an outer envelope circle, the size of which is consistent with the inner wall cross-sectional circle size of the elastic rod 14. The mounting positions of all side guide rollers 1710 in the second roller group form an inner envelope circle, the size of which is consistent with the outer wall cross-sectional circle size of the elastic rod 14. The two sets of envelope surfaces together constitute an annular channel that matches the cross-section of the elastic rod. By setting the envelope surface to match the cross-section of the rod, this application forms a fully enclosed guide for the cross-section of the rod, which can alleviate the radial runout and lateral sway of the elastic rod 14 during the unfolding process, so that the elastic rod 14 does not deviate or distort during the unfolding process, and can maintain good unfolding straightness.

[0056] In some embodiments, the guide mechanism 17 further includes a guide frame 1701 and a support frame 1702. The support frame 1702 is disposed inside the guide frame 1701 and extends radially inward. A first roller group with inner rollers 1706 is disposed at the end of the support frame 1702.

[0057] Combination Figure 2 and Figure 5 As shown, exemplarily, the support frame 1702, also known as the radial support frame, is installed on the upper frame of the guide frame 1701, with its end extending into the opening of the elastic rod 14. A radial support shaft 1703 is installed at the end of the support frame 1702. Each of the four interfaces of the radial support shaft 1703 is equipped with a set of inner guide wheel frames 1704, inner guide wheel shafts 1705, and inner rollers 1706, collectively forming the first roller set. The guide frame 1701 is also fixedly connected to the elastic rod reel flange 114 via a guide mechanism connecting rod 1707 and a guide mechanism connecting piece 1708, keeping the guide mechanism 17 and the winding mechanism 11 relatively fixed.

[0058] This application uses a radially extending support frame 1702 to support the inner roller assembly, achieving stable installation of the rollers inside the rod body, providing sufficient structural support strength for the inner constraint, and ensuring the positional accuracy and load-bearing capacity of the inner roller assembly (i.e., the first roller assembly).

[0059] In some embodiments, the second roller group includes a plurality of side guide wheels 1710, which are circumferentially distributed on the inner sidewall of the guide frame 1701 and are in contact with the outer wall of the elastic rod 14.

[0060] For example, side guide wheel brackets 1709 are respectively installed on multiple inner sidewalls of the guide frame 1701, and side guide wheels 1710 are installed on each side guide wheel bracket 1709 via side guide wheel shafts 1711. All side guide wheels 1710 ( Figure 5 The diagram shows three side guide wheels (1710) arranged circumferentially, which abut against the outer wall of the elastic rod 14 from different directions to form an outer constraint.

[0061] This application constructs a multi-directional outer constraint scheme by using multiple circumferentially distributed side guide wheels 1710 to limit the outer wall of the rod from different angles, thereby improving the stability of the guiding process and preventing lateral swaying when the rod unfolds.

[0062] Figure 6 This is a schematic diagram of the clamping mechanism in one embodiment of this application. (Reference) Figure 2 and Figure 6 As shown, in some embodiments, the self-unfolding mechanism 1 further includes a clamping mechanism 12, which applies a radial clamping force to the elastic rod 14 in a coiled state through an elastic element (such as a torsion spring 124).

[0063] For example, the clamping mechanism 12 is installed on the side of the winding mechanism 11, directly opposite the elastic rod 14 wound on the spool. During the unfolding process of the elastic rod 14, the thickness of the rod layer on the spool gradually decreases. The elastic element can automatically compensate for the thickness change through its own deformation, continuously applying radial clamping force to the rod layer, so that the rod layer is always tightly attached. This application provides continuous radial clamping force through the elastic element, so that the layers of the elastic rod 14 are tightly attached in the winding state, avoiding the situation of rod layer loosening, misalignment or jamming during unfolding, and improving the smoothness of unfolding action.

[0064] In some embodiments, the clamping mechanism 12 includes a first hinge 122 (i.e., an outer hinge) and a second hinge 123 (i.e., an inner hinge), with the first hinge 122 and the second hinge 123 hinged together. The first hinge 122 has a first insertion hole, and the second hinge 123 has a second insertion hole. The elastic element includes a torsion spring 124, with both ends of the torsion spring 124 respectively disposed in the first insertion hole and the second insertion hole.

[0065] refer to Figure 4 and Figure 6 As shown, exemplarily, the clamping mechanism 12 also includes a clamping roller 121, which is installed between the roller pressure rings 112 at both ends of the elastic rod roller 111, and is axially fixed by the shaft shoulder and the pressure ring elastic retaining ring 125. Two sets of first hinges 122 and second hinges 123 and torsion springs 124 are respectively installed at both ends of the clamping roller 121, and are axially limited by the hinge elastic retaining rings 126. The two pins of the torsion spring 124 are respectively inserted into the reserved holes of the hinges, and the elastic force of the torsion spring 124 drives the hinges to rotate relative to each other around the hinge axis, so that the free end of the hinge moves closer to the surface of the elastic rod 14, providing clamping force.

[0066] This application uses a hinged structure in conjunction with a torsion spring 124 to convert the torsional elastic force of the torsion spring 124 into a radial clamping force. The structure is compact, the clamping force is stable and durable, and it can adaptively compensate for dynamic changes in the thickness of the rod layer on the spool to maintain effective clamping.

[0067] refer to Figure 2 and Figure 6 As shown, in some embodiments, the end of the first hinge 122 and / or the end of the second hinge 123 are provided with a pressure wheel 127, and the pressure wheel 127 and the surface of the elastic rod 14 are in contact.

[0068] For example, the clamping roller 127 is mounted on the free end of the hinge via the clamping roller shaft 128 and can rotate freely around the clamping roller shaft 128. The surface of the clamping roller 127 directly abuts against the outer surface of the elastic rod 14. When the elastic rod 14 unfolds and the rod layers move relative to each other, the clamping roller 127 can roll synchronously with the rod surface. This application, through the rolling contact clamping roller 127, provides radial clamping force while reducing the frictional resistance with the surface of the elastic rod 14, avoiding scratches on the rod surface, and making the unfolding process smooth and without jamming.

[0069] refer to Figure 4 and Figure 6 As shown, in some embodiments, the winding mechanism 11 includes a winding pressure ring 112, which has a mounting groove, and the pressing mechanism 12 is connected to the mounting groove.

[0070] For example, the winding mechanism 11 also includes an elastic rod reel 111, an elastic rod reel bearing 113, an elastic rod reel flange 114, and an elastic rod reel bearing cover 115. The front end of the elastic rod 14 has a row of connecting holes (not shown in the figure) corresponding to the threaded holes on the elastic rod reel 111, and the two are fixedly connected by screws. Both ends of the elastic rod reel 111 are installed in the inner ring of the elastic rod reel bearing 113 via the elastic rod reel flange 114. The outer ring of the elastic rod reel bearing 113 is installed in the inner hole of the reel pressure ring 112 and is axially fixed by the elastic rod reel bearing cover 115. The reel pressure ring 112 has multiple mounting slots along its circumference, allowing for the installation of different numbers of clamping mechanisms 12 as needed.

[0071] This application allows for modular installation and quantity adjustment of the clamping mechanism 12 via the circumferential mounting groove on the roll clamping ring 112. This facilitates matching the corresponding number of clamping points according to the specifications of the elastic rod 14, thereby improving the task adaptability of the self-deploying flexible load system.

[0072] Figure 7 This is a schematic diagram of the locking and releasing mechanism in the locked state according to one embodiment of this application. (Reference) Figure 2 and Figure 7 As shown, in some embodiments, the self-deploying mechanism 1 further includes a mounting base plate 15 and a locking and releasing mechanism 16, the locking and releasing mechanism 16 including a locking connector 161 and an explosion bolt 162. The mounting base plate 15 and the guide frame 1701 are connected by the locking connector 161, and the mounting base plate 15 and the locking connector 161 are connected by the explosion bolt 162.

[0073] For example, in the initial state where the elastic rod 14 is wound and not unfolded, the locking connector 161 is threaded onto the side frame of the guide frame 1701 near the mounting base plate 15. The explosive bolt 162 passes through the mounting base plate 15 and locks with the locking connector 161, keeping the guide frame 1701 and the mounting base plate 15 relatively fixed. The entire system is in a small-volume, high-rigidity locked state, capable of withstanding the mechanical environment of the active phase during launch. When the self-deploying flexible load system receives a deployment command, the explosive bolt 162 breaks, releasing the constraint between the mounting base plate 15 and the guide frame 1701, allowing the elastic rod 14 to begin releasing strain energy and unfolding.

[0074] This application uses the 162 explosive bolt as the unlocking actuator and adopts a purely mechanical triggering unlocking method. The unlocking action is reliable, the response speed is fast, and no complex electronic control is required. It can adapt to the harsh mechanical environment and space usage scenarios during the aerospace launch phase.

[0075] Figure 8 This is a schematic diagram of the root clamping mechanism in one embodiment of this application. (Reference) Figure 2 and Figure 8As shown, in some embodiments, the self-deploying mechanism 1 further includes a root clamping mechanism 13, which has an arc-shaped clamping surface adapted to the outer surface of the elastic rod 14 to fix the root of the elastic rod 14.

[0076] For example, the root clamping mechanism 13 is mounted on the mounting base plate 15 to fix the root end of the elastic rod 14. The clamping surface adopts an arc-shaped design that matches the outer curved surface of the elastic rod, and it fits in close contact with the surface of the rod during clamping. This application increases the clamping contact area by using an arc-shaped clamping surface that fits in close contact with the outer surface of the rod, which can disperse the clamping stress and ensure the reliability of the root fixation of the elastic rod 14 while avoiding damage to the thin-walled structure of the elastic rod 14.

[0077] In some embodiments, the root clamping mechanism 13 includes a clamping fixing member 131 and a clamping movable member 132. The clamping fixing member 131 and the clamping movable member 132 are locked together by a threaded connector to clamp and fix the root of the elastic rod 14. For example, the clamping fixing member 131 is fixed to the mounting base plate 15 by a threaded connection, and the surface of the clamping movable member 132 is an arc surface that matches the curved surface of the elastic rod 14. Multiple clamping movable members 132 together form an arc-shaped clamping surface. When installing the elastic rod 14, the thin wall at the root of the elastic rod 14 can be placed between the arc surfaces of two clamping movable members 132, and tightening the threaded connector completes the clamping fixation.

[0078] This application uses a split clamping structure with threaded locking to facilitate the disassembly and replacement of the elastic rod 14. The clamping force can be adjusted by the degree of thread tightening, which can accommodate elastic rods 14 with different wall thicknesses and improve installation flexibility.

[0079] Figure 9 This is a schematic diagram of the load assembly in one embodiment of this application. (Reference) Figure 1 , Figure 2 and Figure 9 As shown, in some embodiments, the load assembly 2 includes a drum 21, a flexible load 22, and a transmission coupling 24. The drum 21 is used to wind the flexible load 22, and the drum 21 is coaxially connected to the winding mechanism 11 via the transmission coupling 24. The drum 21 and the winding mechanism 11 rotate synchronously.

[0080] For example, the flexible load 22 can be a deployable aerospace load based on a thin film or flexible substrate, including but not limited to flexible battery arrays, flexible antennas, and flexible sunshade films. This application does not limit the type of flexible load 22. The load assembly 2 also includes a load shaft 25, a load roll cover 26, a load roll bearing 27, and a load roll bearing cover 28. One end of the transmission coupling 24 is mounted on the elastic rod roll flange 114, and the other end is mounted on the load shaft 25, so that the two rotate synchronously. The two ends of the roll 21 are mounted in the outer ring of the load roll bearing 27 through the load roll cover 26 and are axially fixed by the load roll bearing cover 28. The inner ring of the load roll bearing 27 is mounted on the load shaft 25. Since the span of the roll 21 is long when the size of the flexible load 22 is large, the load roll bearing 27 can be a self-lubricating radial spherical bearing. Its characteristic of allowing a certain angle of deflection can reduce the accuracy requirements of structural design, processing, and installation, reduce the risk of jamming during continuous rotation of the large-size roll 21, and improve the reliability of load deployment.

[0081] This application achieves synchronous transmission between the winding mechanism 11 and the drum 21 through the transmission coupling 24, so that the extension of the elastic rod 14 and the release of the flexible load 22 are synchronized, thereby improving the coordination of the entire system deployment.

[0082] In some embodiments, the self-deploying mechanism 1 further includes a mounting base plate 15, one end of the flexible load 22 is connected to the mounting base plate 15 via a cable 23, and the other end of the flexible load 22 is connected to a drum 21. The drum 21 can rotate synchronously with the deployment of the elastic rod 14 to release the flexible load 22.

[0083] For example, the root of the flexible load 22 is fixedly connected to the drum 21 with screws to prevent the flexible load 22 from separating from the drum 21 after it is fully unfolded. The front end of the flexible load 22 is connected to the terminal block of the mounting base plate 15 via a cable 23. During unfolding, the drum 21 moves synchronously with the winding mechanism 11. The load shaft 25 connected to the elastic rod drum flange 114 generates a thrust in the same direction on the drum 21, while the cable 23 connected to the mounting base plate 15 generates a tangential tension on the drum 21. The two forces form a couple, causing the drum 21 to rotate, thereby gradually releasing the flexible load 22 wound on the drum 21. This application utilizes the cooperation between the cable 23 and the drum 21, and the power of the unfolding of the elastic rod 14 to synchronously drive the load release, eliminating the need for an additional independent drive source, simplifying the system structure, providing good synchronization of unfolding action, and ensuring smooth load release.

[0084] refer to Figure 2 and Figure 4As shown, in some embodiments, the elastic rod 14 includes a composite material elastic extension rod with a C-shaped cross-section. The elastic rod 14 is wound and housed in the winding mechanism 11 in a flattened state, and the elastic rod 14 restores its cross-sectional shape and forms supporting stiffness after being unfolded.

[0085] For example, the elastic rod 14 is made of composite material, possessing excellent specific strength and elastic deformation capability. Its C-shaped open cross-section allows it to be flattened and tightly wound onto the elastic rod reel 111, maximizing the packing ratio while storing a large amount of elastic strain energy. After unlocking, the elastic rod 14 elastically recovers its C-shaped cross-section shape and extends axially, forming a tubular support structure with sufficient bending and torsional stiffness to bear the flexible load 22. This application, through the C-shaped cross-section composite material elastic rod 14, simultaneously achieves deployment drive and structural load-bearing functions. The system has a high packing ratio and is lightweight, adaptable to the design requirements of spacecraft for lightweighting and high packing ratio.

[0086] The following two examples illustrate the application scenarios of the self-deploying flexible load system based on mechanical damping of this application.

[0087] Example 1: Symmetrical deployment of the two wings of a high-power communication satellite.

[0088] Combination Figure 1 As shown, two sets of self-deploying mechanisms 1 are installed symmetrically in parallel on the satellite's module, with a large-size flexible load 22 (such as a flexible battery array) positioned between them. After the satellite enters orbit, the explosive bolts 162 of both mechanisms are unlocked simultaneously, and the two elastic rods 14 extend horizontally in opposite directions. During deployment, the damping mechanism 18 adaptively adjusts the damping torque throughout the process to suppress deployment impact; the flexible battery array is released smoothly and synchronously with the elastic rods 14 as they deploy, and once deployed in place, the elastic rods 14 provide sustained support stiffness, meeting the long-term operational requirements of the satellite for many years (e.g., more than 15 years) in orbit. With this configuration, the system requires no electronic intervention throughout the entire process and can withstand the extreme temperature and radiation environment of geostationary orbit.

[0089] Example 2: A deep space probe deploys one wing in one direction.

[0090] In practical applications, a single self-deploying mechanism 1 can be used in conjunction with a small-area flexible load 22 (such as a flexible battery array) to meet the power consumption requirements of deep space missions. By adjusting the number of clamping mechanisms 12 on the roll pressure ring 112 and the size of the guide mechanism 17, and adapting to a shorter elastic rod 14, the mechanical damping mechanism 18 can complete full-cycle vibration reduction within a short stroke. The system can achieve reliable deployment with minimal configuration, is lightweight, highly reliable, and can maintain stable operation even in the extremely cold and high-radiation environments of deep space.

[0091] It should be noted that the self-deploying flexible load system based on mechanical damping of this application has versatility and scalability. The number and arrangement of the self-deploying mechanism 1 can be adjusted according to the size and form of the deployed load to form different spatial deployable systems.

[0092] The self-deploying flexible load system based on mechanical damping proposed in this application can produce the following technical effects: (1) This application adopts a purely mechanical, passive self-deploying mechanism 1, which abandons the traditional motor drive or complex transmission chain. It adopts a direct drive mode of unlocking with an explosion bolt 162 and releasing strain energy with a composite material elastic rod 14. This can avoid all risks of deployment failure caused by power, electronic or software failures, build system reliability on physical principles, and improve working stability in the space environment.

[0093] (2) This application innovatively designs a variable stroke friction damping mechanism 18 that is linked to the rotation of the winding mechanism 11. As the elastic rod 14 rebounds, the damper housing 184 moves axially, automatically changing the number of contact pairs of the friction pair composed of friction particles 183. This can accurately match the nonlinear dynamic characteristics of the elastic rod 14 when it rebounds rapidly, generating the maximum damping effect when the unfolding speed is at its maximum, effectively suppressing the impact and solving the problem that fixed damping parameters cannot optimize the full-cycle vibration reduction effect. At the same time, the fully mechanical damping adopts a passive working characteristic, which is highly compatible with the space environment and does not rely on electronic systems or fluid media, thus avoiding the corresponding failure risks.

[0094] (3) This application adopts a modular design. The dimensions of the root clamping mechanism 13, the dimensions of the guide mechanism 17, and the number of clamping points of the clamping mechanism 12 in the self-deploying mechanism 1 can be adjusted or replaced, so that the same self-deploying mechanism 1 can be quickly adapted to elastic rods 14 with different cross sections and lengths and flexible loads 22 with different widths and areas through parameterized adjustment, and has good task adaptability.

[0095] (4) This application constructs a three-dimensional constraint network consisting of inner roller 1706 and side guide wheel 1710. The outer envelope surface formed by the inner roller 1706 is attached to the inner wall of the elastic rod 14, and the inner envelope surface formed by the side guide wheel 1710 is attached to the outer wall of the elastic rod 14, forming a full-encirclement guide for the rod cross section. At the moment of unfolding, the rod is forced to complete the cross section reshaping, while eliminating radial runout and lateral sway, ensuring that the ultra-long flexible rod does not deviate or deform during high-speed unfolding, and maintaining good straightness and structural stability.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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 self-deploying flexible load system based on mechanical damping, characterized in that, It includes a self-deploying mechanism and a load assembly, wherein the self-deploying mechanism is used to drive the deployment of the load assembly; in The self-unwinding mechanism includes: a winding mechanism, an elastic rod, and a damping mechanism; The elastic rod can be wound around the winding mechanism and store elastic strain energy. After unfolding, it releases the elastic strain energy to drive itself to extend axially. The damping mechanism is driven by the winding mechanism and is used to apply a damping torque to the winding mechanism during the unfolding of the elastic rod. The damping mechanism includes a damper inner core and a damper outer shell. The damper inner core is coaxially connected to the winding mechanism. Friction particles are provided between the outer wall of the damper inner core and the inner wall of the damper outer shell. The damper inner core and the damper outer shell are engaged by a threaded drive.

2. The self-deploying flexible load system as described in claim 1, characterized in that, During the unfolding process of the elastic rod, the frictional contact area of ​​the damping mechanism increases with the increase of the rotation angle of the winding mechanism, so that the damping torque increases adaptively with the unfolding process of the elastic rod.

3. The self-deploying flexible load system as described in claim 1, characterized in that, The damping mechanism further includes a damper guide cylinder. The outer periphery of the damper housing is provided with a protrusion, and the inner wall of the damper guide cylinder is provided with a groove. The protrusion and the groove are fitted with a clearance to restrict the circumferential rotation of the damper housing.

4. The self-deploying flexible load system as described in claim 3, characterized in that, The damping mechanism further includes a damper connector, which is connected to the end of the damper guide cylinder and the winding mechanism, respectively.

5. The self-deploying flexible load system as described in claim 1, characterized in that, The self-deploying mechanism further includes a guiding mechanism, which includes a first roller group and a second roller group; the first roller group is used to contact the inner wall of the elastic rod, and the second roller group is used to contact the outer wall of the elastic rod.

6. The self-deploying flexible load system as described in claim 5, characterized in that, The outer envelope of the first roller group is adapted to the cross-sectional shape of the inner wall of the elastic rod, and the inner envelope of the second roller group is adapted to the cross-sectional shape of the outer wall of the elastic rod.

7. The self-deploying flexible load system as described in claim 5, characterized in that, The guiding mechanism further includes a guide frame and a support frame. The support frame is disposed inside the guide frame and extends radially inward, and the first roller group is disposed at the end of the support frame.

8. The self-deploying flexible load system as described in claim 7, characterized in that, The second roller assembly includes multiple side guide wheels, which are circumferentially distributed on the inner wall of the guide frame and are in contact with the outer wall of the elastic rod.

9. The self-deploying flexible load system as described in claim 1, characterized in that, The self-unfolding mechanism also includes a clamping mechanism, which applies radial clamping force to the elastic rod in the coiled state through an elastic element.

10. The self-deploying flexible load system as described in claim 9, characterized in that, The clamping mechanism includes a first hinge and a second hinge, the first hinge and the second hinge being hinged together; the first hinge is provided with a first insertion hole, the second hinge is provided with a second insertion hole, and the elastic element includes a torsion spring, the two ends of the torsion spring being respectively disposed in the first insertion hole and the second insertion hole.

11. The self-deploying flexible load system as described in claim 10, characterized in that, The end of the first hinge and / or the end of the second hinge is provided with a pressure wheel, and the surface of the pressure wheel is in contact with the surface of the elastic rod.

12. The self-deploying flexible load system as described in claim 9, characterized in that, The winding mechanism includes a winding pressure ring, the winding pressure ring is provided with a mounting groove, and the clamping mechanism is connected to the mounting groove.

13. The self-deploying flexible load system as described in claim 7, characterized in that, The self-deploying mechanism further includes a mounting base plate and a locking and releasing mechanism. The locking and releasing mechanism includes a locking connector and an explosive bolt. The mounting base plate and the guide frame are connected by the locking connector. The mounting base plate and the locking connector are connected by the explosive bolt.

14. The self-deploying flexible load system as described in claim 1, characterized in that, The self-deploying mechanism also includes a root clamping mechanism, which has an arc-shaped clamping surface adapted to the outer surface of the elastic rod to fix the root of the elastic rod.

15. The self-deploying flexible load system as described in claim 14, characterized in that, The root clamping mechanism includes a clamping fixing component and a clamping movable component. The clamping fixing component and the clamping movable component are locked together by a threaded connection to clamp and fix the root of the elastic rod.

16. The self-deploying flexible load system as described in claim 1, characterized in that, The load assembly includes: a drum, a flexible load, and a transmission coupling; the drum is used to wind the flexible load, and the drum is coaxially connected to the winding mechanism through the transmission coupling, and the drum rotates synchronously with the winding mechanism.

17. The self-deploying flexible load system as described in claim 16, characterized in that, The self-deploying mechanism also includes a mounting base plate. One end of the flexible load is connected to the mounting base plate via a cable, and the other end of the flexible load is connected to the drum. The drum can rotate synchronously with the deployment of the elastic rod to release the flexible load.

18. The self-deploying flexible load system as described in claim 1, characterized in that, The elastic rod includes a composite material elastic extension rod with a C-shaped cross-section; the elastic rod is wound and stored in the winding mechanism in a flattened state, and the elastic rod restores its cross-sectional shape and forms support stiffness after being unfolded.

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