CN103786906A - Space deployable mechanism - Google Patents
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- CN103786906A CN103786906A CN201410055564.5A CN201410055564A CN103786906A CN 103786906 A CN103786906 A CN 103786906A CN 201410055564 A CN201410055564 A CN 201410055564A CN 103786906 A CN103786906 A CN 103786906A
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Abstract
The invention provides a space deployable mechanism comprising multiple identical folding deployable units which are arranged symmetrically left and right. Each folding deployable unit comprises two identical vertical rods arranged longitudinally, two identical first chord members, two identical second chord members and two identical third chord members, wherein the starting ends of the two first chord members are connected to the upper ends of the two vertical rods through rotating pairs respectively, the tail ends of the two first chord members are mutually connected through a rotating pair to form a V-type rod, the middles of the two second chord members are mutually connected through a rotating pair to form a scissor form mechanism, the starting ends of the two second chord members are connected to the lower ends of the two vertical rods through rotating pairs respectively, the starting ends of the two third chord members are connected to the lower middle parts of the two vertical rods through rotating pairs respectively, and the tail ends of the two third chord members are connected to the tail ends of the two second chord members through rotating pairs respectively. The space deployable mechanism is good in deployable performance, high in rigidity and error containment and low in machining and manufacturing requirement.
Description
Technical field
The invention belongs to space flight equipment and equipment technical field, relate to a kind of V-type bar-scissor-type closed loop mechanism with single degree of freedom, can be used for satellite parabolic antenna, space mast etc.
Background technology
In modern society, information becomes one of most important resource, most important as the antenna status of information receiver.Along with the fast development of communication, space science, satellite becomes the first-selection of propagating repeater station.For increasing the quantity of information of transmitting, in the urgent need to constantly increasing the bore of space antenna, to improve its transmission bandwidth, signal gain and to simplify ground receiving wastewater facility.Owing to being subject to the restriction of rocket payload module volume and rocket delivery power, need to can be punctured into volume at launching phase very little, and can be launched into the folding development agency that compares of height of large area or volume in the operation phase.Therefore, there is antenna widespread use in modern space flight deployable, constructability.
The data that is put to the space development agency of application according to external spacecraft, space development agency is divided into three kinds conventionally: shaft-like development agency, planar development agency and body shape development agency.Wherein the planar development agency of deployable one-tenth plane is widely used in the field such as solar array, satellite antenna bracing frame, is to apply at present maximum class development agencies.According to the theory of constitution of development agency, development agency can be divided into again radial type development agency and the large class of flexible material development agency two, the former is made up of kinematic pair and connecting rod, the expansion process of this type of mechanism is realized by hinge is movable, can repeat that folding and expanding is good, the life-span is long, aseismicity good, precision is high, rigidity is large, the current space that has been widely used in can be opened up truss, space mast, satellite and can be opened up the fields such as antenna, is widely used in all kinds of spacecrafts as ripe assembly at present.The domestic fold-out type solar array of development in the past belongs to hinged expansion equation mechanism.But such mechanism construction complex process, hinge-point is more.Flexible material development agency is realized folding and expanding by the elastic deformation of flexible material, and construction process is relatively simple, but it is poor to repeat gathering in property, and precision and rigidity are all relatively low.
Present is successfully developed polytype radial type development agency, as the U.S. reaches 13m bore framework type antenna on annular truss formula antenna, the Japanese ETS-8 satellite of 12m etc. for diameter on the tetrahedron framework antenna in the 60m telescopic radar hold-down arm of dimensional topography observation, international space station owner's sun wing support keel, Russian SOYUZ spacecraft, U.S. Thuraya communication satellite.The operations such as following celestial body detecting, space assembling and operation, space construction, space transportation, all need aerospace telescopic mechanism to complete corresponding operation.For this reason, related scientific research mechanism of China has carried out a series of prospective research to space development agency, and obtains certain achievement.
Chinese patent application 201110237143.0 disclose a kind of collapsible transmitting, can z direction of principal axis and the truss element simultaneously expanded of x direction of principal axis.In this scheme, the first longitudinal ligament post and the 4th longitudinal ligament post are all connected with the first column and the second column, the first longitudinal ligament post and the second longitudinal ligament post are all connected with the first column and the 4th column, the first cross-tie post and the 4th cross-tie post are all connected with the second column and the 4th column, and the first cross-tie post and the second cross-tie post are all connected with the first column and the first column.
Chinese patent application 200810017474.1 discloses a kind of shielding surface apparatus with space capable of being expanded.It comprises: collapsible ring bar, ring bar connection joint, collapsible rib bar, rib bar connect joint, ring rib connects joint and is connected joint with rib frame.Collapsible ring bar, rib bar can be deployed into by vertical rounding state the mode of operation of level by ring bar connection joint, rib bar connection joint.Ring rib connection joint is connected joint ring structure and rib structure is linked to be to a gathering, launches integral structure with rib frame.On this integral structure, binding has the film of aluminizing in wire gauze or surface, forms shielding surface apparatus with space capable of being expanded.Under the rounding state of binding, ring bar connects joint, rib bar connects the torsion spring storage elastic potential energy in joint; Remove after binding, the elastic potential energy of torsion spring is converted into driving energy, and driving ring bar, rib bar launch and automatically lock.
Because space environment is severe, influence factor is many, require deployable mechanism in space, to there is good deployable property, certain error packet capacitive and higher processing and manufacturing level.Therefore, there is no at present large complicated space development agency and be put to application.
Summary of the invention
For the shortcoming of prior art, the object of this invention is to provide a kind of space development agency, it has good deployable property, higher rigidity, higher error packet capacitive and lower processing and manufacturing requirement, to adapt to better space environment.
To achieve these goals, the invention provides a kind of space development agency, it comprises some identical folding exhibitions unit; Wherein, folding exhibition unit is symmetrical, and it comprises:
Two identical vertical rods, two vertical rods longitudinally arrange;
Two the first identical chord members, the top of these two the first chord members is connected in respectively the upper end of two vertical rods by revolute pair; The end of two the first chord members is connected to each other by revolute pair, forms V-type bar;
Two the second identical chord members, the middle part of two the second chord members is connected to each other by revolute pair, forms scissors mechanism; The top of two the second chord members is connected in respectively the lower end of two vertical rods by revolute pair;
Two the 3rd identical chord members, the top of two the 3rd chord members is connected in respectively the middle and lower part of two vertical rods by revolute pair; The end of two the 3rd chord members is connected in respectively the end of two the second chord members by revolute pair.
In the present invention, can be along substantially rolling over exhibition unit form closed loop with vertical rod vertical direction multiple this of arranging, as hoop truss formula deployable mechanism; Also can along with vertical rod parallel direction arrange multiple this substantially roll over exhibition unit or by VXing Gandeng mechanism form polygon closed loop cross section, then along and this unit of vertical rod vertical direction continuation, as space mast mechanism.By adjust chord member length changing angle between two vertical rods, between chord member and vertical rod, increase with the revolute pair of vertical rod concentric or former revolute pair upgraded to ball pair, can make this closed loop elementary cell become trapezoidal element from rectangular element, thereby make the hoop truss formula development mechanism after continuation become circular cone type from column type, also can make extending arm after continuation form corresponding curvature arc, bend corresponding angle.
In the present invention, revolute pair can be for example hinged.
The four-bar mechanism of folding exhibition of the present invention unit based on classical, extends symmetrical four-bar mechanism, forms the scissors mechanism with folding rod; Freely extend vertical rod length and form closed loop by V-type rod seal.
Space of the present invention development agency can be penetrated by extra kinematic pair composition hoop truss formula large scale space development agency or footpath the large space deployable mechanism network such as space mast of formula deployable mechanism and multiple pattern.
The present invention adopts by eight connecting rods, ten planar unit of opening up that revolute pair forms, belong to closed loop mechanism with single degree of freedom, there is large folding ratio, can be assembled into large scale space development agency as modular unit, as hoop truss formula loop antenna bracing frame or footpath penetrated shape umbrella type antenna bracing frame.This mechanism is developed by classical four-bar mechanism.Feature is that four-bar mechanism continuation is become to the scissors mechanism with folding rod, and combines with V-type bar, forms single degree of freedom closed loop folding exhibition unit.
Another specific embodiment according to the present invention, folding exhibition unit is rectangle, multiple described folding exhibitions unit, along the direction horizontal continuation vertical with described vertical rod, forms cylindrical closed loop.
Another specific embodiment according to the present invention, folding exhibition unit is trapezoidal, multiple described folding exhibitions unit, along the direction horizontal continuation vertical with described vertical rod, forms conical closed loop.
Another specific embodiment according to the present invention, multiple folding exhibitions unit is along the longitudinal continuation of vertical rod direction.
Another specific embodiment according to the present invention, the deployed condition of folding exhibition unit is: two the first chord members are laterally stretching, vertical with vertical rod; The 3rd chord member is stretching with the second chord member being connected.
Another specific embodiment according to the present invention, the folded state of folding exhibition unit is: two first string rods acutangulate, and are in the shape of the letter V and arrange; The 3rd chord member is parallel with the second chord member or approach parallel.
Another specific embodiment according to the present invention, adjacent vertical rod of two folding exhibition units shareds.
The invention has the beneficial effects as follows: than classical rectangular frame folding exhibition unit, the scissors mechanism in the present invention has promoted the rigidity of closed loop folding exhibition unit greatly, and reliability is high; Than traditional scissor-type folding exhibition unit, sliding pair is replaced with to the combination of folding rod and revolute pair, improve the deployable property of mechanism, promote error packet capacitive, allow still can normally to launch and draw under mechanism's parameter situation of change within the specific limits, thereby reduced processing and manufacturing requirement, adaptation spatial variable environment.Meanwhile, space of the present invention development agency is still possessed higher folding ratio.Therefore, expansion of the present invention is functional, reliability is high, is applicable to large scale space development agency.
Accompanying drawing explanation
Fig. 1 is in embodiment 1, the structural representation of folding exhibition unit;
Fig. 2 is in embodiment 1, the expansion intermediateness sketch of folding exhibition unit;
Fig. 3 is in embodiment 1, the folded state sketch of folding exhibition unit;
Fig. 4 is the deployed condition sketch of the annular mechanism of hoop truss formula that be made up of 6 folding exhibition unit;
Fig. 5 is the intermediateness sketch of the annular mechanism of hoop truss formula that be made up of 6 folding exhibition unit;
Fig. 6 is the rounding state sketch of the annular mechanism of hoop truss formula that be made up of 6 folding exhibition unit;
Fig. 7 is in embodiment 2, the structural representation of folding exhibition unit.
The specific embodiment
Embodiment 1
As Figure 4-Figure 6, the space development agency of the present embodiment comprises the folding exhibition unit that some (6) are identical; Adjacent vertical rod of two folding exhibition units shareds; 6 folding exhibition unit, along the direction horizontal continuation vertical with vertical rod, form cylindrical closed loop.
Wherein, as shown in Figure 1, folding exhibition unit is rectangle, and it is symmetrical, and it comprises:
Two identical 101,102, two vertical rods of vertical rod longitudinally arrange;
Two the first identical chord members 201,202, the top of these two the first chord members 201,202 is for example hinged, as follows by revolute pair 501,502(respectively) be connected in the upper end of two vertical rods 101,102; The end of two the first chord members 201,202 is connected to each other by revolute pair 503, forms V-type bar;
The middle part of two identical 301,302, two the second chord members 301,302 of the second chord member is connected to each other by revolute pair 506, forms scissors mechanism; The top of two the second chord members 301,302 is connected in respectively the lower end of two vertical rods 101,102 by revolute pair 504,505;
The top of two identical 401,402, two the 3rd chord members 401,402 of the 3rd chord member is connected in respectively the middle and lower part of two vertical rods 101,102 by revolute pair 507,508; The end of two the 3rd chord members 401,402 is connected in respectively the end of two the second chord members 301,302 by revolute pair 509,500.
As shown in Figure 1, the deployed condition of folding exhibition unit is: two the first chord members 201,202 are laterally stretching, vertical with vertical rod 101,102; The 3rd chord member 401 is stretching with the second chord member 301 being connected, and the 3rd chord member 402 is stretching with the second chord member 302 being connected.
As shown in Figure 2, the expansion intermediateness of folding exhibition unit is: two first string rods acutangulate, and are in the shape of the letter V and arrange; The 3rd chord member 401 forms acute angle with the second chord member 301 being connected, and is in the shape of the letter V and arranges; The 3rd chord member 402 forms acute angle with the second chord member 302 being connected, and is in the shape of the letter V and arranges.
As shown in Figure 3, the folded state of folding exhibition unit is: two first string rods acutangulate, and are in the shape of the letter V and arrange; The 3rd chord member 401,402 is parallel with the second chord member 301,302 or approach parallel.
Embodiment 2
The difference of the present embodiment and embodiment 1 is: as shown in Figure 7, folding exhibition unit is trapezoidal, and multiple folding exhibitions unit, along the direction horizontal continuation vertical with vertical rod, forms conical closed loop.
Embodiment 3
The difference of the present embodiment and embodiment 1 is: multiple folding exhibitions unit is along the longitudinal continuation of vertical rod direction, then the edge direction horizontal continuation vertical with vertical rod, forms space mast mechanism.
Although the present invention discloses as above with preferred embodiment, not in order to limit scope of the invention process.Any those of ordinary skill in the art, not departing from invention scope of the present invention, when doing a little improvement, every equal improvement of doing according to the present invention, should be scope of the present invention and contains.
Claims (7)
1. a space development agency, it comprises some identical folding exhibitions unit; Wherein, described folding exhibition unit is symmetrical, and it comprises:
Two identical vertical rods, described two vertical rods longitudinally arrange;
Two the first identical chord members, the top of described two the first chord members is connected in respectively the upper end of described two vertical rods by revolute pair; The end of described two the first chord members is connected to each other by revolute pair, forms V-type bar;
Two the second identical chord members, the middle part of described two the second chord members is connected to each other by revolute pair, forms scissors mechanism; The top of described two the second chord members is connected in respectively the lower end of described two vertical rods by revolute pair;
Two the 3rd identical chord members, the top of described two the 3rd chord members is connected in respectively the middle and lower part of described two vertical rods by revolute pair; The end of described two the 3rd chord members is connected in respectively the end of described two the second chord members by revolute pair.
2. space as claimed in claim 1 development agency, wherein, folding exhibition unit is rectangle, multiple described folding exhibitions unit, along the direction horizontal continuation vertical with described vertical rod, forms cylindrical closed loop.
3. space as claimed in claim 1 development agency, wherein, folding exhibition unit is trapezoidal, multiple described folding exhibitions unit, along the direction horizontal continuation vertical with described vertical rod, forms conical closed loop.
4. the space development agency as described in one of claim 1-3, wherein, multiple described folding exhibitions unit is along the longitudinal continuation of vertical rod direction.
5. space as claimed in claim 1 development agency, wherein, the deployed condition of described folding exhibition unit is: two described the first chord members are laterally stretching, vertical with vertical rod; Described the 3rd chord member is stretching with the second chord member being connected.
6. space as claimed in claim 5 development agency, wherein, the folded state of described folding exhibition unit is: two described first string rods acutangulate, and are in the shape of the letter V and arrange; Described the 3rd chord member is parallel with the second chord member or approach parallel.
7. space as claimed in claim 1 development agency, wherein, adjacent vertical rod of two described folding exhibition units shareds.
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Cited By (16)
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|---|---|---|---|---|
| CN104890904A (en) * | 2015-05-12 | 2015-09-09 | 浙江理工大学 | Shears-fork type extending arm with variable cross section |
| CN105977648A (en) * | 2016-07-15 | 2016-09-28 | 哈尔滨工业大学 | Shear fork coordinated type annular space deployable antenna mechanism |
| CN106078680A (en) * | 2016-06-27 | 2016-11-09 | 天津大学 | A kind of telescopic quadrangular frame structure |
| CN106314826A (en) * | 2016-08-31 | 2017-01-11 | 燕山大学 | Torsional spring driven shear fork extending arm |
| CN106526773A (en) * | 2016-10-24 | 2017-03-22 | 中国科学技术大学 | Film supporting mechanism based on flexible symmetrically-distributed steel rings |
| CN106956244A (en) * | 2017-04-07 | 2017-07-18 | 中国地质大学（武汉） | Containing 4R couple side chain open up unit and based on this big folding exhibition compare development agency |
| CN106956245A (en) * | 2017-04-19 | 2017-07-18 | 中国地质大学（武汉） | Unit and large-scale umbrella development agency based on this are opened up containing what 3R coupled side chain |
| CN107933959A (en) * | 2017-10-13 | 2018-04-20 | 中国科学院深圳先进技术研究院 | Six-bar mechanism and what is be made from it open up module, extending arm, planar development truss |
| CN108649313A (en) * | 2017-12-27 | 2018-10-12 | 哈尔滨工业大学深圳研究生院 | A kind of expandable curved face truss mechanism based on hard and soft mixed scissors mechanism |
| CN108847518A (en) * | 2018-07-20 | 2018-11-20 | 广西大学 | One kind imitating cobweb space development agency based on scissors unit |
| CN109079760A (en) * | 2018-09-12 | 2018-12-25 | 哈尔滨工业大学（深圳） | A kind of curved space truss break catching apparatus of telescopic |
| CN109103560A (en) * | 2018-07-20 | 2018-12-28 | 广西大学 | One kind can open up unit scissor connected double-layer deployable antenna mechanism based on diamond shape |
| CN109149052A (en) * | 2018-07-20 | 2019-01-04 | 广西大学 | One kind driving double-deck deployable antenna mechanism based on scissor mechanism torsional spring |
| CN109524757A (en) * | 2018-12-27 | 2019-03-26 | 天津工业大学 | The contraposition zither shape structure for containing only revolute pair and its application on straight line Deployable antenna |
| CN109860974A (en) * | 2019-01-18 | 2019-06-07 | 燕山大学 | It is compound to cut hinge formula hoop truss deployable antenna mechanism |
| CN111891400A (en) * | 2020-08-12 | 2020-11-06 | 长沙理工大学 | Application method of cylindrical surface mechanism |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104890904A (en) * | 2015-05-12 | 2015-09-09 | 浙江理工大学 | Shears-fork type extending arm with variable cross section |
| CN106078680A (en) * | 2016-06-27 | 2016-11-09 | 天津大学 | A kind of telescopic quadrangular frame structure |
| CN105977648A (en) * | 2016-07-15 | 2016-09-28 | 哈尔滨工业大学 | Shear fork coordinated type annular space deployable antenna mechanism |
| CN105977648B (en) * | 2016-07-15 | 2018-10-02 | 哈尔滨工业大学 | A kind of scissor coordinated type annular space deployable antenna mechanism |
| CN106314826B (en) * | 2016-08-31 | 2019-03-22 | 燕山大学 | Torsional spring drives scissor-type extending arm |
| CN106314826A (en) * | 2016-08-31 | 2017-01-11 | 燕山大学 | Torsional spring driven shear fork extending arm |
| CN106526773A (en) * | 2016-10-24 | 2017-03-22 | 中国科学技术大学 | Film supporting mechanism based on flexible symmetrically-distributed steel rings |
| CN106956244A (en) * | 2017-04-07 | 2017-07-18 | 中国地质大学（武汉） | Containing 4R couple side chain open up unit and based on this big folding exhibition compare development agency |
| CN106956245A (en) * | 2017-04-19 | 2017-07-18 | 中国地质大学（武汉） | Unit and large-scale umbrella development agency based on this are opened up containing what 3R coupled side chain |
| CN107933959A (en) * | 2017-10-13 | 2018-04-20 | 中国科学院深圳先进技术研究院 | Six-bar mechanism and what is be made from it open up module, extending arm, planar development truss |
| CN108649313A (en) * | 2017-12-27 | 2018-10-12 | 哈尔滨工业大学深圳研究生院 | A kind of expandable curved face truss mechanism based on hard and soft mixed scissors mechanism |
| CN108649313B (en) * | 2017-12-27 | 2020-01-31 | 哈尔滨工业大学（深圳） | deployable curved surface truss mechanism based on rigid-flexible mixed shear fork mechanism |
| CN108847518A (en) * | 2018-07-20 | 2018-11-20 | 广西大学 | One kind imitating cobweb space development agency based on scissors unit |
| CN109149052A (en) * | 2018-07-20 | 2019-01-04 | 广西大学 | One kind driving double-deck deployable antenna mechanism based on scissor mechanism torsional spring |
| CN109103560A (en) * | 2018-07-20 | 2018-12-28 | 广西大学 | One kind can open up unit scissor connected double-layer deployable antenna mechanism based on diamond shape |
| CN109079760A (en) * | 2018-09-12 | 2018-12-25 | 哈尔滨工业大学（深圳） | A kind of curved space truss break catching apparatus of telescopic |
| CN109079760B (en) * | 2018-09-12 | 2021-05-04 | 哈尔滨工业大学（深圳） | Foldable and foldable space truss catching device |
| CN109524757A (en) * | 2018-12-27 | 2019-03-26 | 天津工业大学 | The contraposition zither shape structure for containing only revolute pair and its application on straight line Deployable antenna |
| CN109524757B (en) * | 2018-12-27 | 2023-06-06 | 天津工业大学 | Para-position zither structure only containing revolute pair and application of para-position zither structure to linearly expandable antenna |
| CN109860974A (en) * | 2019-01-18 | 2019-06-07 | 燕山大学 | It is compound to cut hinge formula hoop truss deployable antenna mechanism |
| CN109860974B (en) * | 2019-01-18 | 2023-10-03 | 燕山大学 | Composite shear hinge type perimeter truss expandable antenna mechanism |
| CN111891400A (en) * | 2020-08-12 | 2020-11-06 | 长沙理工大学 | Application method of cylindrical surface mechanism |
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