CN103786906B - Space deployable mechanism - Google Patents
Space deployable mechanism Download PDFInfo
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- CN103786906B CN103786906B CN201410055564.5A CN201410055564A CN103786906B CN 103786906 B CN103786906 B CN 103786906B CN 201410055564 A CN201410055564 A CN 201410055564A CN 103786906 B CN103786906 B CN 103786906B
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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, it is related to a kind of V-type bar-scissor-type closed loop single-degree-of-freedom machine
Structure, can be used for satellite dish, space mast etc..
Background technology
In modern society, information becomes one of most important resource, and the antenna status as information receiver is extremely closed
Important.With the fast development of communication, space science, satellite becomes the first-selection propagating relay station.For increasing the quantity of information of transmission,
In the urgent need to the continuous bore increasing space antenna, to improve its transmission bandwidth, signal gain and to simplify ground receiving wastewater facility.
Due to being limited by rocket payload bay volume and rocket delivery power, need to be punctured into volume very in launching phase
Little, and high folding that can be launched into large area or volume in the operation phase compares development agency.Therefore, have deployable, can
Constructional antenna is extensively applied in modern space flight.
It is put to the data of the space development agency of application according to external spacecraft, space development agency is generally divided into three
Kind：Shaft-like development agency, planar development agency and body shape development agency.The planar development agency of wherein deployable one-tenth plane is big
Amount is applied to the fields such as solar array, satellite antenna bracing frame, is the most class development agencies of current application.According to can
The theory of constitution of exhibition mechanism, development agency can be divided into radial type development agency and flexible material development agency two big class again, front
Person is made up of kinematic pair and connecting rod, and the expansion process of such mechanism is realized by articulate, and repeatable folding and expanding is good, the life-span
Length, shock resistance are good, high precision, rigidity are big, have currently been widely used in space deployable trusses, space mast, satellite can
The fields such as exhibition antenna, are widely used in all kinds of spacecrafts as ripe assembly at present.Domestic conventional development collapsible
Solar battery array belongs to hinged expansion mechanism.But such mechanism's construction process is complicated, and pin joint is more.Flexible material can
Exhibition mechanism realizes folding and expanding by the elastic deformation of flexible material, and construction process is relatively easy, but repeatable gathering in property is poor, essence
Degree and rigidity are all relatively low.
Currently abroad successfully develop polytype radial type development agency, observed as the U.S. is used for dimensional topography
60m telescopic radar support arm, international space station owner's solar wing support keel, the tetrahedron structure in Russian SOYUZ spacecraft
13m mouth on the annular truss formula antenna of diameter of up to 12m on frame antenna, U.S.'s Thuraya telecommunication satellite, Japanese ETS-8 satellite
Footpath framework type antenna etc..Following celestial body detecting, space assembling and the operations such as operation, space construction, space transport, are required for aerospace
Space telescopic mechanism is completing corresponding operation.For this reason, related scientific research mechanism of China has carried out one to space development agency being
Arrange prospective research work, and obtain certain achievement.
Chinese patent application 201110237143.0 disclose a kind of foldable transmitting, can z-axis direction and x-axis direction simultaneously
The truss element of extension.In the program, first longitudinal direction support column and the 4th longitudinal bracing post all with the first column and the second column
It is connected, first longitudinal direction support column is all connected with the first column and the 4th column with second longitudinal direction support column, first laterally props up
Dagger and the 4th cross-brace post are all connected with the second column and the 4th column, the first cross-brace post and the second cross-brace
Post is 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 includes:Fold
Formula ring bar, ring bar connect joint, collapsible rib bar, rib bar connects joint, ring rib connects joint and rib frame connects joint.Collapsible
Ring bar, rib bar connect joint by ring bar, rib bar connects the working condition that joint can be deployed into level by vertical rounding state.
Ring rib connects joint and rib frame connects joint and is linked to be a gathering, launches overall structure ring structure and rib structure.This is integrally tied
On structure, binding has the thin film aluminized in metal gauze or surface, forms shielding surface apparatus with space capable of being expanded.Rounding state in binding
Under, ring bar connects joint, rib bar connects the torsion spring storage elastic potential energy in joint;After releasing binding, the elastic potential energy of torsion spring turns
Turn to driving energy, driving ring bar, rib bar launch and automatically lock.
Because space environment is severe, influence factor many it is desirable to deployable mechanism has preferably deployable property in space,
Certain error pardon and higher processing and manufacturing level.Therefore, large complicated space development agency is there is no to pay at present
All applications.
Content of the invention
For the shortcoming of prior art, it is an object of the invention to provide a kind of space development agency, it has preferably may be used
Extensibility, higher rigidity, higher error pardon and relatively low processing and manufacturing require, to better adapt to space ring
Border.
To achieve these goals, the invention provides a kind of space development agency, it is single that it includes some identical folding exhibitions
Unit；Wherein, folding exhibition unit is symmetrical, and it includes：
Two identical vertical rods, two vertical rods are longitudinally disposed；
Two identical first chord members, the top of this two first chord members passes through rotation pair respectively and is connected to two vertical rods
Upper end；The end of two first chord members is passed through to rotate secondary interconnection, forms V-type bar；
Two identical second chord members, the middle part of two second chord members is passed through to rotate secondary interconnection, forms scissors mechanism；
The top of two second chord members passes through to rotate the lower end that pair is connected to two vertical rods respectively；
Two identical the 3rd chord members, the top of two the 3rd chord members passes through to rotate secondary being connected in two vertical rods respectively
Bottom；The end of two the 3rd chord members is passed through to rotate the end that pair is connected to two second chord members respectively.
In the present invention, can substantially roll over exhibition unit and form closed loop along this multiple with the arrangement of vertical rod vertical direction, as periphery
Truss-like deployable mechanism；Also exhibition unit can substantially be rolled over or by VXing Gandeng mechanism along this multiple with the arrangement of vertical rod parallel direction
Form polygon closed loop section, then edge and vertical rod this unit of vertical direction continuation, as space mast mechanism.By adjusting string
Pole length is to change the angle between two vertical rods, to increase the rotation pair concentric with vertical rod between chord member and vertical rod or by former turn
Dynamic pair upgrades to ball pair, and this closed loop elementary cell can be made to be changed into trapezoidal element from rectangular element, so that the periphery after continuation
Truss-like development mechanism can be changed into circular cone type from column type, and the extending arm after also can making continuation forms the arc of corresponding curvature
Shape, the corresponding angle of bending.
In the present invention, it can be for example hinged for rotating pair.
The folding exhibition unit of the present invention, based on classical four-bar mechanism, extends symmetrical four-bar mechanism, forms band folding rod
Scissors mechanism；Freely extend vertical rod length and closed loop is formed by V-type rod seal.
The space development agency of the present invention can form hoop truss formula large-scale dimension by extra kinematic pair and can open up
The large space deployable mechanism network such as space mast of formula deployable mechanism and multiple pattern is penetrated in mechanism or footpath.
The present invention using by eight connecting rods, ten rotate the planar that forms of pair and can open up unit, belong to closed loop mechanism with single degree of freedom,
There is big folding compare, large-scale dimension development agency can be assembled into as modular unit, such as hoop truss formula loop aerial props up
Shape umbrella type antenna bracing frame is penetrated in support or footpath.This mechanism is developed by classical four-bar mechanism.Feature is to prolong four-bar mechanism
Open up the scissors mechanism becoming with folding rod, and combine with V-type bar, constitute single-degree-of-freedom closed loop folding exhibition unit.
According to another specific embodiment of the present invention, it is rectangle that folding opens up unit, and multiple described folding exhibition units stand along with described
The horizontal continuation in the vertical direction of bar, the cylindrical closed loop of composition.
According to another specific embodiment of the present invention, it is trapezoidal that folding opens up unit, and multiple described folding exhibition units stand along with described
The horizontal continuation in the vertical direction of bar, group coning closed loop.
According to another specific embodiment of the present invention, multiple folding exhibition units are along the longitudinal direction continuation of vertical rod direction.
According to another specific embodiment of the present invention, the deployed condition of folding exhibition unit is：Article two, the first chord member laterally stretches,
Vertical with vertical rod；3rd chord member is stretched with the second chord member being connected.
According to another specific embodiment of the present invention, the folded state of folding exhibition unit is：Article two, first string rod at an acute angle,
Be in the shape of the letter V arrangement；3rd chord member is parallel with the second chord member or close to parallel.
According to another specific embodiment of the present invention, two adjacent foldings open up piece vertical rods of units shared.
The invention has the beneficial effects as follows：Compared to classical rectangular frame folding exhibition unit, the scissors mechanism in the present invention is big
Improve greatly the rigidity of closed loop folding exhibition unit, reliability is high；Compared to traditional scissor-type folding exhibition unit, sliding pair is replaced with
Folding rod and combining of rotating pair, improve the deployable property of mechanism, improve error pardon it is allowed to mechanism is in certain limit
Still can normally launch in the case of interior Parameters variation and draw in, thus reducing processing and manufacturing requirement, adapting to spatial variable
Environment.Meanwhile, the space development agency of the present invention still possesses higher folding ratio.Therefore, the expanding performance of the present invention good, can
By property high it is adaptable to large-scale dimension development agency.
Brief description
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 hoop truss formula annular mechanism being made up of 6 folding exhibition units；
Fig. 5 is the intermediateness sketch of the hoop truss formula annular mechanism being made up of 6 folding exhibition units；
Fig. 6 is the rounding state sketch of the hoop truss formula annular mechanism being made up of 6 folding exhibition units；
Fig. 7 is in embodiment 2, the structural representation of folding exhibition unit.
Specific embodiment
Embodiment 1
As Figure 4-Figure 6, the space development agency of the present embodiment include some（6）Identical folding exhibition unit；Adjacent
Two folding exhibition piece vertical rods of units shared；6 folding exhibition units along the direction horizontal continuation vertical with vertical rod, close by composition cylinder
Ring.
Wherein, as shown in figure 1, folding exhibition unit is rectangle, around symmetrically, it includes：
Two identical vertical rods 101,102, two vertical rods are longitudinally disposed；
Two identical the first chord members 201,202, the top of this two first chord members 201,202 passes through to rotate pair respectively
501、502（For example hinged, as follows）It is connected to the upper end of two vertical rods 101,102；The end of two first chord members 201,202
By rotating secondary 503 interconnections, form V-type bar；
Two identical the second chord members 301,302, the middle part of two second chord members 301,302 is mutual by rotating secondary 506
Connect, form scissors mechanism；The top of two second chord members 301,302 is connected to two by rotation secondary 504,505 respectively and stands
The lower end of bar 101,102；
Two identical the 3rd chord members 401,402, the top of two the 3rd chord members 401,402 passes through to rotate secondary 507 respectively,
508 middle and lower parts being connected to two vertical rods 101,102；The end of two the 3rd chord members 401,402 passes through to rotate secondary 509 respectively,
500 ends being connected to two second chord members 301,302.
As shown in figure 1, the deployed condition of folding exhibition unit is：Article two, the first chord member 201,202 laterally stretches, with vertical rod 101,
102 is vertical；3rd chord member 401 is stretched with the second chord member 301 being connected, and the 3rd chord member 402 is drawn with the second chord member 302 being connected
Directly.
As shown in Fig. 2 the expansion intermediateness of folding exhibition unit is：Article two, at an acute angle, be in the shape of the letter V first string rod arrangement；
3rd chord member 401 forms acute angle with the second chord member 301 being connected, and be in the shape of the letter V arrangement；3rd chord member 402 and the second string being connected
Bar 302 forms acute angle, and be in the shape of the letter V arrangement.
As shown in figure 3, the folded state of folding exhibition unit is：Article two, at an acute angle, be in the shape of the letter V first string rod arrangement；3rd
Chord member 401,402 is parallel with the second chord member 301,302 or close to parallel.
Embodiment 2
The present embodiment is with the difference of embodiment 1:As shown in fig. 7, folding exhibition unit be trapezoidal, multiple folding exhibition units along with
The horizontal continuation in the vertical direction of vertical rod, group coning closed loop.
Embodiment 3
The present embodiment is with the difference of embodiment 1:Multiple folding exhibition units are along the longitudinal direction continuation of vertical rod direction, then edge and vertical rod
The horizontal continuation in vertical direction, forms space mast mechanism.
Although the present invention is disclosed above with preferred embodiment, it is not limited to the scope of present invention enforcement.Any
The those of ordinary skill in field, in the invention scope without departing from the present invention, when a little improvement can be made, that is, every according to this
Bright done equal improvement, should be the scope of the present invention and is covered.
Claims (7)
1. a kind of space development agency, it includes some identical folding exhibition units；Wherein, described folding exhibition unit is symmetrical, its
Including：
Two identical vertical rods, described two vertical rods are longitudinally disposed；
Two identical first chord members, the top of described two first chord members is connected to described two vertical rods by rotating pair respectively
Upper end；The end of described two first chord members is passed through to rotate secondary interconnection, forms V-type bar；
Two identical second chord members, the middle part of described two second chord members is passed through to rotate secondary interconnection, forms scissors mechanism；
The top of described two second chord members passes through to rotate the lower end that pair is connected to described two vertical rods respectively；
Two identical the 3rd chord members, the top of described two the 3rd chord members is connected to described two vertical rods by rotating pair respectively
Middle and lower part；The end of described two the 3rd chord members is passed through to rotate the end that pair is connected to described two second chord members respectively.
2. space as claimed in claim 1 development agency, wherein, folding exhibition unit be rectangle, multiple described folding exhibition units along with
The horizontal continuation in the vertical direction of described vertical rod, the cylindrical closed loop of composition.
3. space as claimed in claim 1 development agency, wherein, folding exhibition unit be trapezoidal, multiple described folding exhibition units along with
The horizontal continuation in the vertical direction of described vertical rod, group coning closed loop.
4. the space development agency as described in one of claim 1-3, wherein, multiple described folding exhibition units are along vertical rod direction longitudinally
Continuation.
5. space as claimed in claim 1 development agency, wherein, the deployed condition of described folding exhibition unit is：Article two, described
One chord member laterally stretches, vertical with vertical rod；Described 3rd chord member is stretched 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：Article two, described
One chord member forms acute angle, and be in the shape of the letter V arrangement；Described 3rd chord member is parallel with the second chord member or close to parallel.
7. space as claimed in claim 1 development agency, wherein, two adjacent described foldings open up piece vertical rods of units shared.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410055564.5A CN103786906B (en) | 2014-02-18 | 2014-02-18 | Space deployable mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410055564.5A CN103786906B (en) | 2014-02-18 | 2014-02-18 | Space deployable mechanism |
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| CN103786906B true CN103786906B (en) | 2017-02-08 |
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| CN109079760B (en) * | 2018-09-12 | 2021-05-04 | 哈尔滨工业大学（深圳） | Foldable and foldable space truss catching device |
| 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 |
| CN109860974B (en) * | 2019-01-18 | 2023-10-03 | 燕山大学 | Composite shear hinge type perimeter truss expandable antenna mechanism |
| CN111891400B (en) * | 2020-08-12 | 2021-09-14 | 长沙理工大学 | Application method of cylindrical surface mechanism |
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