CN103794842A - Annular truss-type large space foldable mechanism - Google Patents
Annular truss-type large space foldable mechanism Download PDFInfo
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Abstract
The invention provides an annular truss-type large space foldable mechanism which is formed by connecting a plurality of identical 6R mechanism foldable units in an end-to-end mode and in an annular mode. The 6R mechanism foldable units can be symmetrical in the longitudinal direction and in the transverse direction. Each 6R mechanism foldable unit comprises two identical supporting rods and four identical chord members, wherein the two supporting rods are longitudinally arranged in parallel; the four chord members include two upper chord members and two lower chord members, the starting ends of the two upper chord members are connected to the upper ends of the two supporting rods through a revolute pair respectively, the tail ends of the two upper chord members are mutually connected through a revolute pair, the starting ends of the two lower chord members are connected to the lower ends of the supporting rods through a revolute pair respectively, the tail ends of the two lower chord members are mutually connected through a revolute pair, each chord member is movably connected with the adjacent supporting rod through a sliding block crank mechanism, sliding blocks are arranged on the supporting rods in a sleeved mode, one end of each crank is connected with the corresponding chord member through a revolute pair, the other end of each crank is connected with the corresponding sliding block through a revolute pair, and the length of the supporting rods is more than twice that of the chord members. The annular truss-type large space foldable mechanism has a high foldable ratio.
Description
Technical field
The invention belongs to space flight equipment and equipment technical field, relate to a kind of annular truss formula mechanism with single degree of freedom, it can be used for satellite parabolic antenna, large space reflector sub-truss.
Background technology
Along with the fast development of satellite communication, survey of deep space, earth observation technology, the application demand of aerospace mechanism is become to further urgent.The size of the aerospace mechanism of actual needs is increasing, precision is more and more higher, but owing to being subject to the restriction in delivery space of spaceflight delivering tool, require aerospace mechanism must fold up and draw in radome fairing at launching phase, after spacecraft injection, then be expanded to operating state by the power source carrying.Aerospace development agency has the exhibition of can repeating and receives function, and therefore it has broad application prospects and important researching value.Such mechanism is widely adopted on the spacecrafts such as space station, communications satellite platform, space telescope, space shuttle, celestial body detecting device, if the U.S. is for tetrahedron framework antenna, the 13m bore framework type antenna on Japanese ETS-8 satellite etc. in the 60m telescopic radar support arm of dimensional topography observation, international space station owner's sun wing support keel, Russian SOYUZ spacecraft.
Chinese patent application 201110057519.X discloses a kind of large space assembly type antenna reflector modular unit and assemble method thereof, and modular unit comprises the deployable mandarin orange frame of hexagon, reflection netting and connection rope device; Hexagon expandable truss comprises crown hinge chain, synchronous dynamic hinge, hoop bar, middle brace; Two hoop bars that length is identical form synchronous folding bar by synchronous dynamic hinge, a synchronous folding bar and two middle braces connect to form a plane lune construction unit by two crown hinge chains, 12 plane lune construction units interconnect by brace in the middle of sharing and crown hinge chain, form a ring-type and form antenna reflector modular unit mandarin orange frame, when connection, the synchronous folding bar of adjacent two lune construction units spatially staggers mutually, spatially form two-layerly vary in size, hexagon that vertex position is staggered; Reflection netting comprises the reflection electromagnetic wave wire netting of using and the adjustment rope of adjusting metal mesh surface, wire netting is sewn to be adjusted on rope, adjust rope and fix by crown hinge chain with above-mentioned modular unit truss, connection rope device is mainly used in reflection netting to be connected with hexagon expandable truss, to fix.
Chinese patent 03117075.7 discloses a kind of high rigidity synchronous expansion folding space extending arm, by deployable folded truss unit, drive system that can repetitive extension, power-supply system and supporting space platform composition, deployable folded truss unit is the elementary cell of an extending arm of composition, between unit, can connect by standard triangle contact, drive system is positioned at extending arm bottom triangle space, is connected with supporting space platform, is connected with power-supply system by power transmission shaft simultaneously.
Large-sized annular truss antenna containing flexible cable net is a kind of large-scale netted deployable antenna of comparative maturity, and it launches bore can reach hundred meters, and simultaneity factor quality can not launched the proportional increase of area coverage with antenna, so it is more and more subject to the attention of scientific circles.The main support truss that annular truss formula development mechanism is such antenna, is combined by single polygon or multiple polygon, contacts rope apply pretension by stretch-draw, makes the reflecting surface rope net that is arranged in annular truss both sides form required parabola.TRW Astro Aerospace company of the U.S., according to the telescopic feature in parallelogram diagonal angle, develops a kind of annular truss formula development agency based on parallelogram element, is now successfully applied to deep space communication task.This scheme is launched simple, and drive source is single, but owing to there being the engagement of many group conical gears, causes the cost of process and assemble higher, and the folding ratio of this scheme need to improve simultaneously.Related scientific research mechanism of China has carried out a series of prospective research work to space development agency, and obtains certain achievement, is put to application but there is no at present large complicated space development agency.
Summary of the invention
For the shortcoming of prior art, the object of this invention is to provide a kind of space development agency of high folding ratio.
To achieve these goals, the invention provides a kind of annular truss formula large space development agency, it can open up the end to end annular that forms in unit by some identical 6R mechanisms; Wherein, it is upper and lower symmetrical and symmetrical that unit can be opened up by 6R mechanism, and it comprises:
Two identical support bars, these two support bar parallel longitudinals arrange;
Four identical chord members, it comprises two top booms, two lower booms; The top of two top booms is connected to the upper end of two support bars by revolute pair; The end of two top booms is connected to each other by revolute pair; The top of two lower booms is connected to the lower end of two support bars by revolute pair; The end of two lower booms is connected to each other by revolute pair;
Wherein, each chord member all can be dynamically connected by slider crank mechanism and adjacent support bar, and slide block set is located at support bar; One end of crank is connected in chord member by revolute pair, and the other end is connected in slide block by revolute pair;
The length of support bar is greater than the twice of chord member length.
In the present invention, 6R mechanism refers to that the support bar of this mechanism is connected by 6 revolute pairs (revolving pair) with chord member.
In the present invention, four chord members can be folded in two support bar inner sides.Two top booms form V-type bar, and two lower booms form V-type bar.
In the present invention, unit can be opened up by the 6R mechanism of multiple identical parameters, can form an annular, constructs a large space development agency.Launch the size of the angle of plane by changing adjacent cells place, can construct circle or oval truss, be used for supporting the large space deployable antenna mfg. metal cord net of different parameters.
The present invention proposes one and can open up unit based on 6R mechanism, by double-slider crank mechanism, modular unit is connected, and the annular truss formula large space development agency of structure.This mechanism is made up of plane symmetry 6R mechanism, and feature is to utilize double-slider crank mechanism adjacent multiple 6R can be opened up to unit connects into an annular mechanism and freedom of motion is 1, is driven rope or is utilized built-in torsion spring to realize the expansion of mechanism by motor.Because the freedom of motion of single 6R mechanism is 3, the present invention utilizes rope lazy-tongs to realize being synchronized with the movement of upper and lower V-type bar in 6R mechanism, and making the mechanism unit degree of freedom is 1.Meanwhile, utilize double-slider crank mechanism to realize the interlock between basic composition unit, thereby realize the synchronous expansion of large space development agency.This mechanism is folding than high, launches functionally, and reliability is high, is applicable to large space and can opens up the structure of antenna.
Another embodiment according to the present invention, the deployed condition that unit can be opened up by 6R mechanism is: two top booms and two lower booms are laterally stretching, vertical with support bar, forms rectangle truss, the crank of slider crank mechanism is web member.
Another embodiment according to the present invention, the folded state that unit can be opened up by 6R mechanism is: two top booms and two lower booms are longitudinally arranged, parallel with described support bar.
Another embodiment according to the present invention, the slide block on support bar of units shared and this support bar can be opened up by adjacent Liang Ge 6R mechanism.
Another embodiment according to the present invention, by rope synchro system, can open up unit by Liang Ge 6R mechanism and fit together, and realizes the synchronous expansion motion that unit can be opened up by Liang Ge 6R mechanism.
Another embodiment according to the present invention, drives or torsion spring drives by rope, realizes all 6R mechanism and can open up the synchronous expansion of unit.
Another embodiment according to the present invention, the top and bottom that the support bar of unit can be opened up by 6R mechanism have the kink being inwardly vertically bent to form, and chord member is connected in the end of kink by revolute pair.
Compared with prior art, the present invention has the following advantages:
Annular truss formula large space development agency of the present invention can be opened up unit by multiple plane 6R mechanism and form, with substantially can opening up compared with unit of parallelogram, folding more a lot of than improving, under the condition of identical gathering volume, can construct the annular truss of larger developed area.The annular truss formula large space development agency mass motion degree of freedom of the present invention is 1 simultaneously, can realize the synchronous expansion motion of multiple unit, launches performance higher, is easy to realize single motor and drives.Its inside only comprises moving sets and revolute pair, has avoided the appearance of synchronous cone gear, has reduced the cost of processing and manufacturing.
Accompanying drawing explanation
Fig. 1 is in embodiment 1, and the schematic diagram of mechanism of unit can be opened up by 6R mechanism;
Fig. 2 is the folded state that can be opened up the development agency that unit forms by 2 6R mechanisms;
Fig. 3 is the expansion intermediateness that can be opened up the development agency that unit forms by 2 6R mechanisms;
Fig. 4 is the complete deployed condition that can be opened up the development agency that unit forms by 2 6R mechanisms;
Fig. 5 is the be synchronized with the movement layout schematic diagram of rope of a slide block on support bar;
Fig. 6 is the layout schematic diagram of rope type of drive;
Fig. 7 is the folded state that can be opened up the annular truss formula development agency that unit forms by 12 6R mechanisms;
Fig. 8 is the expansion intermediateness one that can be opened up the annular truss formula development agency that unit forms by 12 6R mechanisms;
Fig. 9 is the expansion intermediateness two that can be opened up the annular truss formula development agency that unit forms by 12 6R mechanisms;
Figure 10 is the complete deployed condition that can be opened up the annular truss formula development agency that unit forms by 12 6R mechanisms;
Figure 11 is the layout schematic diagram of torsion spring type of drive.
Embodiment
Embodiment 1
As shown in Fig. 7-Figure 10, the annular truss formula large space development agency of the present embodiment can be opened up the end to end annular that forms in unit by some (12) identical 6R mechanism.
As shown in Figure 1, it is upper and lower symmetrical and symmetrical that unit can be opened up by 6R mechanism, and it comprises:
Two identical support bars 101,102, these two support bars, 101,102 parallel longitudinal settings; The top and bottom of support bar have the kink being inwardly vertically bent to form, and chord member is connected in the end of kink by revolute pair.
Four identical chord members, it comprises 201,202, two lower booms 301,302 of two top booms; The top of two top booms 201,202 is connected to the upper end of two support bars 101,102 by revolute pair; The end of two top booms 201,202 is connected to each other by revolute pair; The top of two lower booms 301,302 is connected to the lower end of two support bars 101,102 by revolute pair; The end of two lower booms 301,302 is connected to each other by revolute pair;
Wherein, each chord member all can be dynamically connected by slider crank mechanism 4 and adjacent support bar, and slide block 401 is sheathed on support bar; One end of crank 402 is connected in chord member by revolute pair, and the other end is connected in slide block 401 by revolute pair;
The length of support bar is greater than the twice of chord member length.
As shown in Figure 2, the folded state that unit can be opened up by 6R mechanism is: two top booms and two lower booms are longitudinally arranged, parallel with described support bar.
Figure 3 shows that the expansion intermediateness that can be opened up the development agency that unit forms by 2 6R mechanisms, now, two top booms form V-type bars, and two lower booms form V-type bars.In addition, as can be seen from Figure 3, the slide block on support bar of units shared and this support bar can be opened up by adjacent Liang Ge 6R mechanism.
As shown in Figure 4, the deployed condition that unit can be opened up by 6R mechanism is: two top booms and two lower booms are laterally stretching, vertical with support bar, forms rectangle truss, and the crank of slider crank mechanism is web member.
Fig. 5 be a slide block on support bar be synchronized with the movement rope arrange schematic diagram.Support bar 101 two slide blocks 401 above link together by two ropes 502 of walking around the pulley 502 at support bar 101 two ends, can realize two slide blocks 401 inside or outside motion of while simultaneously.By the slide block synchro system on support bar, the freedom of motion of single expansion unit can be become to 1, realize the stable expansion of mechanism.
In the present embodiment, drive by rope, realize all 6R mechanism and can open up the synchronous expansion of unit.Fig. 6 is the layout schematic diagram of rope type of drive.The compositions such as this rope drive system comprises motor, drive rope 605, be consolidated in fixed pulley 601 on bar, be consolidated in movable pulley 602 on slide block, rope bit shift compensation spring 603, slide block holddown spring 604.As shown in Figure 6, drive rope 605 along direction shown in figure tension by driven by motor, can make two slide blocks on support bar 101 simultaneously to two end motions, act on top-bottom chord by short connecting rod (crank), it is steadily launched.Due to the effect of double-slider crank mechanism and the synchronous rope of slide block, guarantee the synchronism of the each unit of space development mechanism rod member motion.In figure, slide block holddown spring 604 provides part to drive mounted resistance, has avoided rope in expansion process to occur relaxation.When rope bit shift compensation spring 603 launches moment completely in mechanism, avoid the increase suddenly of rope pull, play the effect of protection motor, launch, after locking, to avoid line relaxation, the displacement of compensates rope elongations completely in mechanism.After mechanism launches completely, the joint locking between top-bottom chord, motor applies certain tensile force to rope simultaneously, then locking.
Embodiment 2
The difference of the present embodiment and embodiment 1 is: drive by torsion spring, realize all 6R mechanism and can open up the synchronous expansion of unit.Figure 11 is the layout schematic diagram of torsion spring type of drive.As shown in figure 11, large torque torsion spring is installed respectively at cradle head A, B between mechanism's chord member, C, D place, and torsion spring is coaxial with cradle head, and two ends are individually fixed on the rod member of both sides, joint.Article two, rope interlaced arrangement as shown in FIG., one end is connected with bit shift compensation spring, and the other end is connected with motor drive terminal.When mechanism is during in rounding state, torsion spring is in impaction state, output torque maximum.When after mechanism's release, top-bottom chord starts to launch under the effect of torsion spring moment, by controlling the rate of release of two release ropes, avoids the appearance of the excessive impact phenomenon causing of torsion spring moment simultaneously, realize mechanism steadily, evenly launch.When mechanism launches completely, cradle head locked after, strain release rope by controlling motor, to increase the inner tensions of mechanism, improve the integral rigidity of truss.
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. an annular truss formula large space development agency, it can open up the end to end annular that forms in unit by some identical 6R mechanisms; Wherein, it is upper and lower symmetrical and symmetrical that unit can be opened up by described 6R mechanism, and it comprises:
Two identical support bars, described two support bar parallel longitudinals arrange;
Four identical chord members, it comprises two top booms, two lower booms; The top of described two top booms is connected to the upper end of described two support bars by revolute pair; The end of described two top booms is connected to each other by revolute pair; The top of described two lower booms is connected to the lower end of described two support bars by revolute pair; The end of described two lower booms is connected to each other by revolute pair;
Wherein, each described chord member all can be dynamically connected by slider crank mechanism and adjacent support bar, and described slide block set is located at described support bar; One end of described crank is connected in described chord member by revolute pair, and the other end is connected in described slide block by revolute pair;
The length of described support bar is greater than the twice of described chord member length.
2. large space development agency as claimed in claim 1, wherein, described 6R mechanism can open up the deployed condition of unit and is: two top booms and two lower booms are laterally stretching, vertical with support bar, form rectangle truss, the crank of described slider crank mechanism is web member.
3. large space development agency as claimed in claim 1, wherein, the folded state that unit can be opened up by described 6R mechanism is: two top booms and two lower booms are longitudinally arranged, parallel with described support bar.
4. large space development agency as claimed in claim 1, wherein, the slide block on support bar of units shared and this support bar can be opened up by adjacent two described 6R mechanisms.
5. large space development agency as claimed in claim 4, wherein, by rope synchro system, can open up unit by two described 6R mechanisms and fit together, and realizes the synchronous expansion motion that unit can be opened up by Liang Ge 6R mechanism.
6. large space development agency as claimed in claim 1, wherein, drives or torsion spring drives by rope, realizes all described 6R mechanism and can open up the synchronous expansion of unit.
7. the large space development agency as described in one of claim 1-6, wherein, the top and bottom that the support bar of unit can be opened up by described 6R mechanism have the kink being inwardly vertically bent to form, and described chord member is connected in the end of described kink by revolute pair.
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