CN113374762B - Multi-stage heavy-load socket-type extending arm based on rope driving - Google Patents

Abstract

The invention discloses a rope-driven multistage heavy-load sleeved type extending arm, and belongs to the technical field of aerospace. The relative position is restrained through clearance fit in the unfolding process, the clamping phenomenon is prevented, and the matching rigidity is improved by utilizing the designed locking and interlocking modules and the matching surfaces of the conical surface, the cylindrical surface, the guide rail and the like which are optimally designed after the unfolding is in place. Through the three-section structural design, the matching precision between all levels of superposed sections is improved while the structural rigidity of the superposed sections is improved. The design keeps the technical characteristics of the original sleeved stretching arm, enables the stretching arm to adapt to a heavy-load task with higher requirement, and designs the multistage heavy-load sleeved stretching arm with long expansion-contraction ratio and high rigidity.

Description

A multi-stage heavy-duty telescoping extension arm based on rope drive

technical field

The invention relates to the field of aerospace technology, in particular to a rope-driven multi-stage heavy-duty sleeve-type extension arm.

Background technique

As an important type of space mechanism, space expandable mechanism has been widely used in space exploration activities. With the continuous deepening of human space exploration, the demand and use requirements for space expandable mechanism are also increasing.

As an important part of the space expandable mechanism, the space socket type extension arm is composed of multi-stage expandable units. The number of expansion units and the length of a single stage can be adjusted according to the task requirements. It has a long expansion-to-contraction ratio, high stiffness, and can be reused. , Easy to transport and store. In practical applications, it can be used not only as a support mechanism for radar, space telescope and other equipment, but also as a structural skeleton and driving device to deploy solar wings; its structural body can also be used as functional parts, such as gravity gradient rods, magnetic needles, etc. Has a strong adaptability.

However, although the existing space-socketed extension booms can accomplish various tasks, they can only satisfy the situation that the load mass is relatively light and the strength and rigidity of the extension boom are less required. The expandable units at all levels are mostly made of lightweight materials. After the unit is lengthened, it is limited by the manufacturing process, and local deformation and bending may occur. Therefore, in order to achieve reliable deployment and cooperation, the existing extension arms often need to set a large radial gap between the overlapping sections of the adjacent two stages, and the locking and cooperation of the two stages for decades is mostly realized by the locking mechanism.

With the further increase in the difficulty and requirements of space exploration tasks, it is necessary to extend the arms to complete some heavy-duty long-distance deployment tasks. The extension arm to perform such tasks needs to have the characteristics of large single-stage length, large load mass, and many stages. However, the technical characteristics of the existing socket-type extension arm make it very easy to be unstable or even partially damaged under the above conditions. Fracture and other conditions, resulting in extremely serious reliability problems.

Contents of the invention

In view of the above problems, the present invention proposes a multi-stage heavy-duty socket-type extension arm structure based on rope drive, and the expandable units of each level of the extension arm can still maintain strength and rigidity under the condition of a long single-stage length; the extension arm The expandable units at all levels can be closely matched and fixed and locked after being deployed sequentially, so that they have high deployment stiffness.

The present invention is based on a rope-driven multi-stage heavy-duty socket-type extension arm, which includes an expandable unit module composed of a base-level expandable unit, at least one intermediate-level expandable unit, and a final-level expandable unit, as well as locking and mutual The lock module and the unfolding drive module; the base-level expandable unit, the intermediate-level expandable unit and the final-level expandable unit are all sleeve structures, and the outer diameter decreases step by step, and they are nested sequentially from outside to inside. Among them, the base-level expandable unit is used as the outermost sleeve, and its bottom end is fixedly connected with the carrying mechanism and equipped with a deployment drive mechanism. The expandable units at all levels are powered by the deployment drive module and are sequentially deployed from outside to inside. After deployment, the The locking and interlocking module realizes locking between expandable units at all levels.

The base-level expandable unit, the intermediate-level expandable unit and the final-level expandable unit are formed by coaxially connecting the upper section, the middle section, and the lower section. In the middle-level expandable unit, the upper part of the inner wall of the upper section is designed with an upper tapered fitting surface, and the upper part of the outer wall of the lower section is provided with a lower tapered fitting surface; in addition, the lower outer wall of the lower section gradually increases from top to bottom so that the outer wall near the bottom of the lower section The diameter of the cylinder is equal to the diameter of the inner cylinder of the lower part of the upper section of the expandable unit adjacent to the outer layer, forming a cylindrical matching section. The outer edge of the flange at the bottom of the lower section is designed with guide rail grooves at equal angles on the periphery, and the inner wall of the middle section is provided with guide rails at equal angular intervals in the circumferential direction; and the upper end of each guide rail is located on the outer wall of the upper section.

The above-mentioned guide rails include two types of constant-section guide rails and variable-section guide rails, which are alternately arranged in the circumferential direction of the outer wall of the middle section. Among them, the constant cross-section guide rail and the guide rail groove are clearance fit; the variable cross-section guide rail can be divided into two parts: the clearance section and the matching section in the axial space, and the cross-section of the variable cross-section guide rail is gradually widened near the upper end until it is larger than the guide rail groove. Width, forming a matching section; the rest of the variable section guide rail is a gap section, the gap section is consistent with the size and shape of the constant section guide rail, and is matched with the gap between the guide rail grooves.

The difference between the base-level expandable unit and the last-level expandable unit structure and the structure of the intermediate-level expandable unit is that the outer wall of the lower section of the base-level expandable unit does not have a lower tapered mating surface; while the inner wall of the upper section of the last-level base-level expandable unit does not have an upper taper. mating surface.

The locking and interlocking module includes a locking part and an interlocking part; except for the base expandable unit 1, a sleeve locking part is installed on the side walls of the lower sections of the expandable units. An interlocking part is installed in the circumferential direction on the bottom end of the expandable unit except the basic level and the expandable unit adjacent thereto; and the circumferential positions of the locking part and the interlocking part in the circumferential direction correspond to the positions of the guide rails one by one.

The locking part includes a lock box, a deadbolt, a lock cylinder, an end block, a bolt roller and a spring; the interlocking part includes an interlocking block and an interlocking buckle.

In the locking part, the lock box is installed at the opening of the lower section and is located inside the expandable unit. The inside of the lock box is the movement channel of the lock tongue. The lock cylinder is coaxially penetrated into the interior of the lock box by the end surface of the lock box, and can move along the movement channel of the lock tongue. . The front end of the lock cylinder is connected to the lock bolt; the end of the lock cylinder is designed with an end stop to limit the maximum displacement of the lock bolt to the outside; the lock cylinder is also covered with a spring, and the two ends of the spring are respectively in contact with the end of the lock tongue and the end of the lock box, and the spring In the free state, the deadbolt roller is outside the lock box.

In the interlocking part, the interlocking block is fixed on the left and right sides of the end of the lock cylinder. The interlocking buckle has a connecting seat and two side plates on the connecting seat that are left-right symmetrical and perpendicular to the connecting seat. The ends of the two side plates are connected to the connecting seat, and the connecting seat is used to connect the bottom end of the expandable unit. Locking grooves are designed at the front ends of the two side plates, which are used to cooperate with the interlocking lock blocks to realize the interlocking between the inner and outer expandable units.

When the adjacent expandable units are folded, the lock tongue on the locking part of the intermediate expandable unit is restricted by the inner wall of the outer expandable unit and retracts into the lock box, while the end of the lock column protrudes, and the lock on the inner expandable unit Between the two side plates in the interlocking part, and the interlocking blocks on both sides of the lock column are respectively located in the locking grooves at the front ends of the two side plates. At this time, the middle-level expandable unit and the inner-level expandable unit are in a locked state ; The locking methods between the adjacent expandable units at other levels are the same as the above.

The deployment methods of the expandable units at all levels are as follows: the expandable unit A adjacent to the base-level expandable unit is driven by the rope drive module to expand first, and the lock bolt roller in the locking part installed on the expandable unit A moves along the base-level expandable unit. The inner wall rolls. During this process, the compression spring is always in a compressed state until the lock tongue of the expandable unit A is ejected from the opening on the side wall of the base expandable unit, and the expandable unit A is deployed in place. At the same time, the ejection of the lock bolt makes the lock cylinder move outward, and then the interlocking blocks on both sides of the lock cylinder break away from the locking grooves on the two side plates of the interlocking part of the expandable unit B adjacent to the expandable unit A; At this time, the expandable unit A and the base-level expandable unit are in a locked state, while the expandable unit A and expandable unit B are in an unlocked state; repeating the above process can realize the sequential expansion of expandable units at all levels from outside to inside .

Compared with the prior art, the present invention has the following effects:

1. The present invention is based on the rope-driven multi-stage heavy-duty socket-type extension arm, which is sequentially deployed from the outside to the inside through the interlocking effect between the adjacent extendable units at various levels. During the unfolding process, the mating surfaces of the adjacent units are The relative position is only constrained by clearance fit to prevent fit jamming caused by manufacturing process errors. After unfolding in place, the fixed locking function is realized through the locking mechanism in the overlapping section and the gradually changing mating surface.

2. The present invention is based on the rope-driven multi-stage heavy-duty socket-type extension arm, and improves the cooperation between the adjacent two-stage extendable units after deployment by setting multiple expansion matching surfaces such as the cone matching surface, the cylinder matching surface, and the guide rail matching surface. stiffness.

3. The present invention is based on the rope-driven multi-stage heavy-duty socket-type extension arm. Through the three-stage structural design, the problem of weight gain after replacing materials is reduced as much as possible on the premise of improving the structural rigidity of the overlapping section. At the same time, due to the use of precision Machining technology has further improved the matching accuracy between overlapping sections at all levels.

4. The present invention is based on the rope-driven multi-stage heavy-duty socket-type extension arm. In order to avoid the situation that various mating surfaces are too constrained and cannot be deployed in place, the locking slope of the interlock mechanism has been optimized. When the above situation occurs , can provide auxiliary power to assist the expandable unit to unfold in place.

5. The present invention is based on the rope-driven multi-stage heavy-duty socket-type extension arm, which can maintain a relatively high overall deployment stiffness when the extension arm is extended and retracted relatively long and the load mass is large.

Description of drawings

Fig. 1 is a schematic structural diagram of the folded state of the multi-stage heavy-duty telescoping extension arm based on the rope drive of the present invention;

Fig. 2 is a schematic diagram of the structure of the intermediate stage expandable unit in the multi-stage heavy-duty telescoping extension arm based on the rope drive of the present invention;

Fig. 3 is a schematic diagram of the cooperation mode between the guide rails and the guide grooves between adjacent sleeves in the multi-stage heavy-duty telescoping extension arm driven by ropes according to the present invention;

Fig. 4 is a schematic diagram of the cooperation mode of adjacent expandable units in the expanded state of the multi-stage heavy-duty telescoping extension arm driven by ropes according to the present invention;

Fig. 5 is a schematic diagram of the locking and interlocking module structure and the locked state structure of the multi-stage heavy-duty telescoping extension arm driven by the present invention;

6 is a schematic diagram of the installation method of the drive device in the rope drive module of the multi-stage heavy-duty telescoping extension arm based on the rope drive of the present invention;

Fig. 7 is a schematic diagram of the connection mode of the driving rope in the rope driving module of the multi-stage heavy-duty telescoping extension arm based on the rope driving of the present invention.

In the picture:

1-Basic-level expandable unit 2-Intermediate-level expandable unit 3-Last-level expandable unit

4-Lock and Interlock Module 5-Rope Drive Module 201-Upper Section

202-middle section 203-lower section 204-upper conical mating surface

205-lower tapered mating surface 206-cylindrical mating surface 207-rail groove

208-Guide rail 209-Curved plate 210-Combining hole

211-flange 401-locking part 402-interlocking part

401a-lock box 401b-bolt 401c-lock cylinder

401d-end stop 401e-bolt roller 401f-spring

402a-interlocking block 402b-interlocking buckle b1-connecting seat

b2-side plate b3-guide wheel b4-trapezoidal groove

501-Drive Rope 502-Rope Guide Mechanism 503-Rope Drive Device

504-drive bracket

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings.

The present invention is based on the rope-driven multi-stage heavy-duty telescoping extension arm, as shown in Figure 1, which includes a base-level expandable unit 1, n (n≥1) intermediate-level expandable units 2, and a final-level expandable unit 2. An expandable unit module composed of an expansion unit 3, a locking and interlocking module 4 and an expansion driving module 5.

The base-level expandable unit 1, the n intermediate-level expandable units 2 and the final-level expandable unit 3 are all sleeve structures, the outer diameter of which decreases step by step, and they are nested sequentially from outside to inside. Among them, the base-level expandable unit 1 is used as the outermost sleeve, and its bottom end is fixedly connected with the bearing mechanism. The expandable units at all levels are powered by the unfolding drive module 5 and unfolded sequentially from outside to inside. The lock module 4 implements locking between expandable units at all levels.

The base-level expandable unit 1, the n intermediate-level expandable units 2 and the final-level expandable unit 3 are all composed of three circular section sleeve structures, the upper section 201, the middle section 202, and the lower section 203 arranged coaxially. The segment joints are fixed by means of cementation, threading and transition fit, as shown in Figure 2.

Among them, the n middle-level expandable units 2 have the same structure, the upper part of the inner wall of the upper section 201 is designed with an upper tapered fitting surface 204, and the upper part of the outer wall of the lower section 203 is provided with a lower tapered fitting surface 205; in addition, the lower outer wall of the lower section 203 is from top to The lower portion gradually increases so that the diameter of the outer cylinder near the bottom of the lower section is equal to the diameter of the inner cylinder at the lower part of the upper section of the expandable unit adjacent to the outer layer, forming a cylindrical matching section 206 of 5 mm.

The top of the upper section 201 and the bottom of the lower section 203 are designed with flanges 211, wherein the outer edge of the flange at the bottom of the lower section 203 is designed with 6 guide rail grooves 207 of the same shape and size at an equal angle, as shown in Figure 3 . The inner wall of the middle section 202 is provided with 6 guide rails 208 at equiangular intervals in the circumferential direction; and at the upper end of each guide rail 208, a hole is opened on the outer wall of the upper section 201, and a thin-walled arc-shaped plate 209 is embedded and fixed in the opening. The center of the arc-shaped plate 209 has a The matching hole 210, the bottom surface of the matching hole 210 is a guiding inclined surface with the inner side inclined downward.

The above-mentioned 6 guide rails 208 include two types of constant-section guide rails and variable-section guide rails, 3 for each, and are alternately arranged in the circumferential direction of the outer wall of the middle section 202 . Among them, the constant cross-section guide rail and the guide rail groove 207 are clearance fit; and the variable cross-section guide rail can be divided into two parts: the gap section and the matching section in the axial space, and the cross-section of the variable cross-section guide rail is gradually widened near the upper end until it is larger than the guide rail. Groove 207 widths form a matching section; the rest of the variable section guide rail is a gap section, and the gap section is completely consistent with the size and shape of the equal section guide rail, and can be matched with the gap between the guide rail grooves 207.

The basic expandable unit 1 and the final expandable unit 3 are basically the same in structure as the intermediate expandable unit 2, the difference is that the base expandable unit 1 is the outermost level, and the upper part of the outer wall of the lower section 203 does not have a lower tapered mating surface 205 , and the thickness of the lower part gradually changes for one section; while the last base-level expandable unit 1 is the innermost level, the inner wall of the upper section 201 does not have an upper tapered fitting surface 204, an opening on the outer wall, and a guide rail 208 on the inner wall.

Among the expandable units at all levels of the above structure, the unfolding and locking methods between two adjacent levels of expandable units are as follows:

The six guide rail grooves 207 on the outer edge of the flange 211 of the bottom section of the inner expandable unit are slidably connected to the six guide rails 208 on the inner wall of the outer expandable unit 1, and slide upward along the guide rails 208. There is a gap; while the variable-section guide rail and the guide rail groove 207 are in the unfolding process, the guide rail groove 207 gradually approaches the mating section of the variable-section guide rail. When the adjacent expandable unit is in a fully expanded state, the lower tapered mating surface 205 of the outer wall of the lower section 203 of the inner stage expandable unit is in contact with the upper tapered mating surface 204 of the inner wall of the upper section 201 of the outer stage expandable unit; at the same time, the inner stage The outer wall of the lower cylindrical fitting section 206 of the lower section 203 of the expandable unit cooperates with the inner wall of the upper section 201 of the outer-level expandable unit to form a joint section of 5 mm in the axial direction, as shown in Figure 4. The remaining positions of the upper section 201 and the lower section 203 of the two are clearance fit ; At the same time, the outer edge of the bottom flange of the inner-level expandable unit is in contact with the bottom end of the inner-level expandable unit. In this way, the axial locking and positioning between the inner-level expandable unit and the outer-level expandable unit can be realized; at this time, the guide rail groove 207 sliding along the variable-section guide rail reaches the matching section, and the inner-level expandable unit is realized due to the restriction of the matching section. Circumferential locking with the outer-level expandable unit after deployment.

In order to improve the matching rigidity of the overlapped parts, the upper section 201 and the lower section 203 corresponding to the overlapping part between the lower section 203 of the inner-level expandable unit and the upper section 201 of the outer-level expandable unit are made of aluminum alloy, and the middle section 202 of each expandable unit Both use carbon fiber materials to minimize the impact of weight gain while improving rigidity.

The locking and interlocking module 4 includes a locking part 401 and an interlocking part 402, as shown in FIG. 5 . There are 6 sets of locking parts 401 installed in the peripheral direction of the side walls of the lower section 203 of the other expandable units except the base expandable unit 1; The interlocking part 402; and the circumferential positions of the six sets of locking parts 401 and the interlocking part 402 correspond to the positions of the six guide rails one by one.

The locking part 401 includes a lock box 401a, a lock tongue 401b, a lock cylinder 401c, an end stopper 401d, a lock tongue roller 401e and a spring 401f; the interlocking part 402 includes an interlocking block 402a and an interlocking buckle 402b.

In the locking part 401, the lock box 401a is installed in the opening of the lower section 203, and is located inside the expandable unit. The inside is a movement channel for the lock tongue, and the axis of the movement channel for the lock tongue is perpendicular to the axis of the expandable unit. The lock cylinder 401c coaxially penetrates into the interior of the lock box 401a from the end surface of the lock box 401a, and can move along the moving channel of the lock tongue. The front end of the lock cylinder 401c has an external thread, which is connected with the internal thread hole designed at the end of the dead bolt 401b. The outer wall of the dead bolt 401b cooperates with the inner wall of the lock box 401a, and can move axially along the lock box 401a; the front end of the dead bolt 401b has a groove. The locking tongue roller 401e is installed in the groove through the rotating shaft; meanwhile, the bottom surface of the front end of the locking tongue 401b is designed as a matching inclined surface, which is used to cooperate with the aforementioned guiding inclined surface during the unfolding process. An end stopper 401d is designed at the end of the lock cylinder 401c to limit the maximum displacement of the lock tongue 401b to the outside. A spring 401f is also set on the lock cylinder, and the two ends of the spring 401f are respectively in contact with the end of the deadbolt 401b and the end of the lock box 401a, and when the spring 401f is in a free state, the deadbolt roller 401e is located outside the lock box 401a and passes through the end stopper 401d Provide the installation preload of spring 401f.

In the interlocking part 402, the interlocking block 402a adopts a trapezoidal configuration, and is fixed on the left and right sides of the end of the locking cylinder 401c, and the two can also be designed as an integrated structure. The interlocking buckle 402b adopts a multi-functional guide wheel mechanism, and has a connecting seat b1 and two side plates b2 on the connecting seat b1 that are symmetrically designed on the left and right and perpendicular to the connecting seat. The seat b1 is used for connecting the bottom end of the expandable unit. A guide wheel shaft is installed between the ends of the two side plates b2, the axis of the guide wheel shaft is parallel to the connecting seat b1, and the guide wheel b3 is sleeved on it, so that the guide wheel b3 can rotate around the axis of the guide wheel shaft. The front ends of the two side plates b2 are designed with trapezoidal grooves b4, the size of which matches the interlocking lock block 402a in trapezoidal configuration. The above-mentioned guide wheel b3 can change the sliding friction between two adjacent expandable units into rolling friction during the unfolding process of the adjacent expandable units, reducing the frictional resistance; while the front ends of the two side plates b2 serve as interlocking locks use.

Through the locking part 401 and the interlocking part 402 of the above design, when the extension arm is in the unfolding stage, the base-level expandable unit 1 is fixed, and the other levels of expandable units are powered by the unfolding drive module 5 from outside to inside. Expand sequentially.

The following firstly uses the adjacent three-level expandable units to explain the folded state of each level of expandable units. The specific method is as follows:

As shown in Figure 5, in the collapsed state, the lock tongue 401b on the locking part 401 of the middle-level expandable unit is restricted by the inner wall of the outer-level expandable unit to retract into the lock box 401a, and at the same time, the end of the lock cylinder 401c protrudes and is located at the inner-level Between the two side plates b2 in the interlocking part 401 on the expandable unit, and the interlocking blocks 402a on both sides of the locking column 401c are respectively located in the trapezoidal groove b4 at the front end of the two side plates b2, so that the interlocking of the trapezoidal configuration The top of the locking block 402a and the waists on both sides are respectively attached to the top surface and the waists on both sides of the trapezoidal groove b4. At this time, the middle-level expandable unit and the inner-level expandable unit are in a locked state. The locking methods between adjacent expandable units at other levels are the same as the above. After the two adjacent layers of expandable units are locked, the latch roller 401e in the locking part 401 of the inner expandable unit and the guide wheel b3 of the interlocking part 402 are all attached to the inner wall of the guide rail 208 of the outer expandable unit. Close, can roll along the inner wall. And in the folded state, the base-level expandable unit 1 and the adjacent expandable unit are kept in the folded state by the traction of the rope driving part.

Subsequently, the expansion process between expandable units at all levels will be described with base-level expandable unit 1 and its two adjacent expandable units A and B. The specific method is as follows:

The expandable unit A adjacent to the base-level expandable unit 1 is driven by the rope driving module 5 to expand first, and the latch roller 401e in the locking part 401 installed on the expandable unit A rolls along the inner wall of the base-level expandable unit 1. During the process, the compression spring 401f is always in a compressed state until the matching slope at the front end of the locking tongue 401b of the expandable unit A is coplanar with the guiding slope at the center matching hole 210 of the upper arc plate 209 of the base-level expandable unit 1; A continues to unfold. At this time, the matching inclined surface at the front end of the locking tongue 401b is guided by the guiding inclined surface at the central matching hole 210, so that the locking tongue 401b pops out from the central matching hole 210, and the expandable unit is unfolded in place. At the same time, the ejection of the lock tongue 401b makes the lock cylinder 401c move outward, and then the interlocking blocks 402a on both sides of the lock cylinder 401c are detached from the two side plates of the interlocking part 401 on the expandable unit B adjacent to the expandable unit A. Trapezoidal groove b4 on b2. At this time, the expandable unit A and the base-level expandable unit 1 are locked, and the expandable unit A and expandable unit B are unlocked. By repeating the above process, the expandable units at all levels can be sequentially expanded from outside to inside.

The expansion and retraction control between the above-mentioned levels of expandable units is realized by the rope driving module 5, which includes a driving rope 501, a rope guiding mechanism 502 and a rope driving device 503, as shown in Fig. 2 and Fig. 6 .

Wherein, the rope guiding mechanism 502 is a roller supported by a bracket. Except for the final expandable unit 3, three sets of rope guide mechanisms 502 are installed at equal angular intervals on the top circumference of the upper section of the rest of the expandable units; Three sets of rope guide mechanisms 502 are installed at equal angular intervals in the circumferential direction of the bottom end of the expansion unit 2; and the circumferential positions of the rope guide mechanisms 502 in the circumferential direction of the expandable units of each level correspond to each other one by one.

The rope driving device 503 is a reel driven by a motor to rotate. The drive bracket 504 is installed on the bottom of the base-level expandable unit 1, and the drive bracket 504 is designed with grooves at equal angular intervals in the circumferential direction, which are respectively used to cooperate with the circumferentially designed protrusions on the inner wall of the bottom end of the base to realize the circumferential positioning of the drive bracket 504 , and realize the fixation between the two by screws. Three groups of rope driving devices 503 uniformly distributed in the circumferential direction are installed on the driving bracket 504; and the installation positions of the three groups of rope driving devices 503 correspond to the circumferential positions of the rope guide mechanisms 502 installed on the expandable units at all levels.

There are three driving ropes 501, and the output ends are respectively wound on the winding wheels in the three sets of driving rope devices 503, and after bypassing the winding wheels at the same circumferential positions of the expandable units at all levels in a reciprocating arrangement, the output ends Fixed at the bottom of the final expandable unit 3, the specific method is: the driving rope 502 first bypasses the wire wheel on the upper section of the base-level expandable unit 2, then returns to bypass the wire wheel at the bottom end of the adjacent expandable unit A, and then turns back and bypasses again. The wire wheel at the top of the expandable unit A bypasses the wire wheels on each layer of expandable units from outside to inside in this way, and is finally fixed at the bottom of the last expandable unit 3 . When multiple groups of rope driving devices drive the driving ropes between the stages to be tensioned synchronously, the expandable units of each stage are simultaneously subjected to the tension of the ropes, and can be sequentially deployed under the action of the locking and interlocking module 4 .

Compared with the existing deployment mechanism, the present invention is based on the rope-driven multi-stage heavy-duty sleeve-type extension arm, which makes full use of the limited space inside the deployment mechanism for optimal design, such as designing the interlocking part 402 by using the locking part 401, and using the guide rail 208. The guide rail groove 207, the mating surface of the inner and outer walls of the adjacent unfolding unit improves the mating rigidity after the unfolding is in place, so that it has stronger functionality while keeping the design simple.

Claims (2)

1. A multi-stage heavy-duty telescoping extension arm based on rope drive, including an expandable unit module composed of a base-level expandable unit, at least one intermediate-level expandable unit, and a final-level expandable unit, and a locking The interlocking module and the unfolding drive module; the base-level expandable unit, the intermediate-level expandable unit and the final-level expandable unit are all sleeve structures, and the outer diameter is gradually reduced, and they are nested sequentially from outside to inside; among them, the base-level The expandable unit is used as the outermost sleeve, and its bottom end is fixedly connected with the bearing mechanism and equipped with a deployment drive module. The expandable units at all levels are powered by the deployment drive module and are sequentially deployed from outside to inside. After deployment, they are locked and interlocked. The module realizes the locking between expandable units at all levels; it is characterized in that: The base-level expandable unit, the intermediate-level expandable unit and the final-level expandable unit are coaxially connected and fixed by the upper section, the middle section, and the lower section arranged coaxially; in the intermediate-level expandable unit, the inner wall of the upper section is designed with The upper tapered fitting surface, the upper part of the outer wall of the lower section is provided with a lower tapered fitting surface; in addition, the outer wall of the lower section of the lower section gradually increases from top to bottom so that the diameter of the outer cylindrical surface near the bottom of the lower section is the same as that of the upper section of the expandable unit of the adjacent outer layer. The diameter of the lower inner cylinder is equal to form a cylindrical matching section; the outer edge of the flange at the bottom of the lower section is designed with guide rail grooves at equal angles in the circumferential direction, and the inner wall of the middle section is provided with guide rails equal to the number of guide rail grooves at equal angular intervals around the circumference; and in each The upper end of the guide rail is located on the outer wall of the upper section with holes; after the adjacent two-stage expandable units are deployed, the lower section of the inner-stage expandable unit overlaps with the upper section of the outer-stage expandable unit. The overlapped part is made of aluminum alloy material, and the middle section is made of carbon fiber material; The above-mentioned guide rails include two types of constant-section guide rails and variable-section guide rails, which are alternately arranged in the circumferential direction of the inner wall of the middle section; among them, the constant-section guide rails and the guide rail grooves are clearance fit; and the variable-section guide rails can be divided into gap sections and There are two parts of the matching section, in which the section of the variable section guide rail gradually widens near the upper end until it is larger than the width of the guide rail groove, forming a matching section; the rest of the variable section guide rail is a gap section, and the size and shape of the gap section are consistent with the size and shape of the equal section guide rail, and are consistent with the guide rail Clearance fit between slots; The difference between the base-level expandable unit and the last-level expandable unit structure and the structure of the intermediate-level expandable unit is that the outer wall of the lower section of the base-level expandable unit does not have a lower tapered mating surface; while the inner wall of the upper section of the last-level base-level expandable unit does not have an upper taper. mating surface; The locking and interlocking module includes a locking part and an interlocking part; a locking part is installed on the side walls of the lower sections of the expandable units except the base-level expandable unit; The interlocking part is installed circumferentially at the bottom of the unit; and the circumferential position of the locking part and the interlocking part in the circumferential direction corresponds to the position of the guide rail one by one; The locking part includes lock box, deadbolt, lock cylinder, end stopper, bolt roller and spring; the interlocking part includes interlocking block and interlocking buckle; In the locking part, the lock box is installed at the opening of the lower section and is located inside the expandable unit. The inside of the lock box is the movement channel of the lock tongue. The lock cylinder is coaxially penetrated into the interior of the lock box by the end surface of the lock box, and can move along the movement channel of the lock tongue. The front end of the lock cylinder is connected to the lock bolt; the end of the lock cylinder is designed with an end stopper to limit the maximum displacement of the lock bolt to the outside; the lock cylinder is also covered with a spring, and the two ends of the spring are respectively in contact with the end of the lock tongue and the end of the lock box, and in When the spring is in a free state, the deadbolt roller is located outside the lock box; there is a groove at the front end of the deadbolt, and the deadbolt roller is installed in the groove through the rotating shaft. In the locking part, the lock tongue roller rolls along the inner wall of the outer expandable unit; the bottom section of the opening on the outer wall of the upper section of the guide rail is designed as a guiding slope inclined downward on the inner side; at the same time, the bottom surface of the front end of the lock tongue is designed as a matching slope for Cooperate with the guide slope during the unfolding process; In the interlocking part, the interlocking lock block is fixed on the left and right sides of the end of the lock cylinder; the interlocking lock has a connecting seat and two side plates on the connecting seat that are designed symmetrically on the left and right and are perpendicular to the connecting seat. The bases are connected, and the connecting base is used to connect the bottom of the expandable unit; the front ends of the two side plates are designed with locking grooves, which are used to cooperate with the interlocking lock block to realize the interlock between the inner and outer expandable units; the above-mentioned interlocking lock block is trapezoidal configuration, the locking grooves on both sides of the matching interlocking lock are trapezoidal grooves, and the top surface of the interlocking lock block and the waists on both sides are respectively fitted to the top surface of the trapezoidal groove and the waists on both sides to realize the adjacent sleeve The locking between the two adjacent expandable units is as follows: the guide rail grooves on the outer edge of the flange of the bottom section of the inner expandable unit are respectively connected with the guide rails on the inner wall of the outer expandable unit by sliding fit. Sliding upward, there is always a gap between the guide rail with a constant section and the guide rail groove during the sliding process; while the guide rail with variable section and the guide rail groove are in the process of unfolding, the guide rail groove gradually approaches the mating section of the guide rail with variable section; when the adjacent expandable unit is in a fully expanded state, The lower tapered fitting surface of the outer wall of the lower section of the inner-level expandable unit fits with the upper tapered fitting surface of the upper section of the inner wall of the outer-level expandable unit; at the same time, the outer wall of the lower cylindrical surface of the inner-level expandable unit and the outer wall of the outer-level expandable unit The inner wall of the upper section cooperates to form a fitting section; the inner expandable unit and the rest of the upper and lower sections of the outer expandable unit are clearance fit; at the same time, the outer edge of the bottom flange of the inner expandable unit is in contact with the bottom end of the outer expandable unit ; The folded state of the adjacent expandable units is as follows: the lock tongue on the locking part of the intermediate expandable unit is restricted by the inner wall of the outer expandable unit and retracts into the lock box, while the end of the lock cylinder protrudes, and the lock on the inner expandable unit Between the two side plates in the interlocking part, and the interlocking blocks on both sides of the lock column are respectively located in the locking grooves at the front ends of the two side plates. At this time, the middle-level expandable unit and the inner-level expandable unit are in a locked state ; The locking methods between adjacent expandable units at other levels are the same as the above; The deployment methods of the expandable units at all levels are as follows: the expandable unit A adjacent to the base-level expandable unit is driven by the rope drive module to expand first, and the lock bolt roller in the locking part installed on the expandable unit A moves along the base-level expandable unit. The inner wall rolls. During this process, the compression spring is always in a compressed state until the lock bolt of the expandable unit A is ejected from the opening on the side wall of the base-level expandable unit, and the expandable unit A is deployed in place; at the same time, the ejection of the lock tongue makes The lock cylinder moves to the outside, and then the interlocking blocks on both sides of the lock cylinder break away from the locking grooves on the two side plates of the interlocking part of the expandable unit B adjacent to the expandable unit A; at this time, the expandable unit A The base-level expandable unit is in a locked state, while the expandable unit A and expandable unit B are in an unlocked state; repeating the above process can realize the sequential expansion of expandable units at all levels from outside to inside. 2. A multi-stage heavy-duty telescoping extension arm driven by a rope as claimed in claim 1, characterized in that: the guide wheel is installed between the two side plates of the interlocking lock through the guide wheel shaft; During the process, the guide wheel rolls along the inner wall of the inner stage expandable unit.

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