CN104778978B - Rod-cable deployable mast - Google Patents
Rod-cable deployable mast Download PDFInfo
- Publication number
- CN104778978B CN104778978B CN201510147988.9A CN201510147988A CN104778978B CN 104778978 B CN104778978 B CN 104778978B CN 201510147988 A CN201510147988 A CN 201510147988A CN 104778978 B CN104778978 B CN 104778978B
- Authority
- CN
- China
- Prior art keywords
- pulley
- stretch unit
- unit
- outside
- oblique
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
It is an object of the invention to provide rod-cable deployable mast, including 3 can stretch open up unit, each can open up unit and is made up of 6 pulleys, 4 bar components, 1 connector and 6 Suo Zucheng, bar component is connected with connector by revolute pair, each rope component is oriented to using pulley, and the expansion and folding of whole development agency are controlled by the length change of control cord component.Whole mechanism is in approximately the same plane, and bar component is located in the angle of rope component, ensure that the stability that whole mechanism is folded and deployed.The present invention itself has good expansion and folding ability of mind, while multiple such unit spliceds, you can it sets up the large-scale deployable structure for having the advantages that light weight, storage rate are big, developable behavior is good.Due to the superiority of structure itself, if ensureing that the length of the rope component in structure is constant, and any locking device is not needed, so that it may so that mechanism locks at any position, any moment.
Description
Technical field
The present invention relates to a kind of deployable structure.
Background technology
Deployable structure has demand and application in multiple fields such as building, space flight.Such as in aerospace field, due to knot
The maximization of structure and the contradiction of carrier rocket payload storehouse finite volume so that deployable structure is developed in this field, is gone out
Extending arm, Deployable antenna are showed, the new deployable structure such as solar energy sailboard can be opened up.
The deployable structure of the more simple rod type of deployable structure of rope rod type, its quality are small.The expansion shape of deployable structure
State is generally its working condition.Deployed condition is kept for a long time, and deployable structure is all addition locking device or other structures mostly
Part realizes locking；It is synchronized with the movement moreover, extending arm also needs to each component during expansion or folding, this is also required in hinge
Junction increases gear or other sychronisations etc., either increases locking device or increase sychronisation, this all increases
The complexity and quality of mechanism, mechanism is set to become heavy.Therefore, design rope rod type, by self structure locking
Deployable structure, you can reducing mechanism quality, again can be with the complexity of reducing mechanism.
The content of the invention
It is an object of the invention to provide the rod-cable deployable mast that can deploy and fold under the driving of rope.
The object of the present invention is achieved like this：
Rod-cable deployable mast of the present invention, it is characterized in that：Including the first stretch unit, the first stretch unit includes vertical bar
(B1), the first oblique rod (B2), the second oblique rod (B3), the 3rd oblique rod (B4), the 4th oblique rod (B5), first pulley
(SL1), second pulley (SL2), the 3rd pulley (SL3), the 4th pulley (SL4), the 5th pulley (SL5), the 6th pulley (SL6),
First revolute pair (R1), the second revolute pair (R2), the 3rd revolute pair (R3), the 4th revolute pair (R4), the first oblique rod (B2),
Two oblique rods (B3), the 3rd oblique rod (B4), the 4th oblique rod (B5) pass through the first revolute pair (R1), the second revolute pair respectively
(R2), the 3rd revolute pair (R3), the 4th revolute pair (R4) are connected with vertical bar (B1), the first oblique rod (B2), the second oblique rod
(B3), the 3rd oblique rod (B4), the end of the 4th oblique rod (B5) connect respectively first pulley (SL1), second pulley (SL2),
5th pulley (SL5), the 6th pulley (SL6), the both ends of vertical bar (B1) connect the 3rd pulley (SL3) and the 4th pulley respectively
(SL4) the first oblique cable (S1), the 3rd pulley, are set between the 3rd pulley (SL3) inner side on the outside of first pulley (SL1)
(SL3) the second oblique cable (S2) is set between inner side and the 5th pulley (SL5) outside, slided on the outside of the 5th pulley (SL5) with the 6th
Second vertical rope (S6) is set between taking turns on the outside of (SL6), set on the outside of the 6th pulley (SL6) between the 4th pulley (SL4) inner side
The 4th oblique cable (S4) is put, the 3rd oblique cable (S3) is set between second pulley (SL2) outside on the inside of the 4th pulley (SL4),
The first vertical rope (S5) is set between on the outside of second pulley (SL2) and on the outside of first pulley (SL1).
The present invention can also include：
1st, it is in addition to single with first the second stretch unit of stretch unit structure identical and the 3rd stretch unit, the first stretching, extension
The first pulley of the 5th pulley (SL5) and the second stretch unit of member is with a pulley spindle, and the 6th of the first stretch unit the
The second pulley of pulley (SL6) and the second stretch unit is with a pulley spindle, the 5th pulley of the second stretch unit
(SL10) with the first pulley of the 3rd stretch unit with a pulley spindle, the 6th pulley (SL9) of the second stretch unit with
With on a pulley spindle, first rope circularizes the second pulley of 3rd stretch unit, successively around the first stretch unit,
Two stretch units and the 3rd stretch unit, specific canoe are：Opened on the outside of the first pulley (SL1) of the first stretch unit
Begin, stretched successively around the first stretch unit second pulley (SL2) outside, the pulley (SL4) of the first stretch unit the 4th inner side, first
Open up the pulley (SL6) of unit the 6th outside, the pulley (SL7) of the second stretch unit the 4th inner side, the pulley of the second stretch unit the 6th
(SL9) outside, the pulley (SL11) of the 3rd stretch unit the 4th inner side, the pulley (SL13) of the 3rd stretch unit the 6th outside, the 3rd
The pulley (SL14) of stretch unit the 5th outside, the pulley (SL12) of the 3rd stretch unit the 3rd inner side, the second stretch unit the 5th are slided
Take turns (SL10) outside, the pulley (SL8) of the second stretch unit the 3rd inner side, the pulley (SL5) of the first stretch unit the 5th outside, first
On the inside of the pulley (SL3) of stretch unit the 3rd, it is eventually returned on the outside of the first pulley (SL1) of the first stretch unit, the first stretching, extension is single
Second rope, the 5th pulley (SL10) of the second stretch unit are set between the 5th pulley (SL5) and the 6th pulley (SL6) of member
And the 6th set the 3rd rope between pulley (SL9).
Advantage of the invention is that：Rope component tension of the invention by means of being connected in self structure on node unit
The characteristics of being only pressurized with bar component, it is not necessary to add any locking device, you can make node at any time, optional position stress
Balance, it is possible to achieve locked under free position, make that mechanism is lighter, more optimized structure.
Brief description of the drawings
Fig. 1 is the stretch unit unfolding state figure of the present invention；
Fig. 2 is the stretch unit folded state diagram of the present invention；
Fig. 3 is the structure chart of three stretch units of the present invention together.
Embodiment
Illustrate below in conjunction with the accompanying drawings and the present invention is described in more detail：
With reference to Fig. 1~3, each unit includes bar component, connector, pulley and rope component.Wherein, the shape of connector can
Regard the component for being passed perpendicularly through the center of two parallel bars by a bar and being formed as, the shape of the connector is not limited to this.Bar
Component is connected with connector by revolute pair, and the other end of bar component each connects a pulley, also has two on connector
Pulley；Wherein institute's component is oriented to by pulley, and the expansion of whole extending arm is controlled by the length change of control cord component
With folding movement.Moreover, this structure by two it is trapezoidal form, when the length change of rope, each bar Impact direction be in by
On the diagonal at the trapezoidal angle of vertical rope and oblique cable composition, known by mechanics parallelogram law, structure stress balance, its shape
Shape will immobilize, so, the locking of structure is also to be realized by Suo Changdu fixation.Meanwhile if change rope
Length, then the extending arm, which can be realized, deploys or shrinks.Wherein bar component is only stressed, and rope component is only by pulling force, and thus structure can
Know, the extending arm deploys or is retracted to any moment, any position is all stable, so avoids installation braking dress
The trouble put so that structure is simpler, quality is lighter；Meanwhile the structure each unit bar forms " rhombus " structure, so
When can ensure extending arm expansion or fold, each unit is synchronous operation.
Fig. 1 is the unfolding state figure for opening up unit of rod-cable deployable mast.This can open up unit by 6 pulleys, 4 bar structures
Part, 1 connector composition and 6 Suo Zucheng.Connector B1, which can regard as, to be passed perpendicularly through two parallel bars by a bar and forms, its
In the end points of two parallel bars be revolute pair, placed with Fig. 1 positions, the upper left corner be first revolute pair R1, counter clockwise direction
Respectively second revolute pair R2, the 3rd revolute pair R4, the 4th revolute pair R3；First revolute pair R1 connection, first bar
The 3rd bar B5 of B2, second revolute pair R2 connection second bar B3, the 3rd revolute pair R4, the 4th revolute pair R3 connection
Four bar B4.The other end that the first bar B2 other end connects first pulley SL1, second bar B3 connects second pulley
SL2, the 3rd bar the B5 other end connect the 3rd pulley SL6, and the 4th bar B4 other end connects the 4th pulley SL5.
Placed with Fig. 1 positions, connector B1 upper end connects the 5th pulley SL3, lower the 6th pulley SL4 of connection breaking.First cunning
That connected between SL1 and the 5th pulley SL3 of wheel is first rope S1, is connected between first pulley SL1 and second pulley SL2
What is connect is that to be connected between second rope S5, second pulley SL2 and the 6th pulley SL4 is the 3rd rope S3, the 3rd cunning
That connected between SL6 and the 6th pulley SL4 of wheel is the 4th rope S4, is connected between the 3rd pulley SL6 and the 4th pulley SL5
That connect is the 5th rope S6, and that connected between the 4th pulley SL5 and the 6th pulley SL3 is six roots of sensation rope S2.Take out now
Three identicals do not have the unit of rope component (i.e.：Unit only has 4 bar components, 1 connector and 6 pulleys), do not have at three
There is any taking-up one in the unit of rope component to be defined as unit 3 so that the 3rd bar and the 4th bar connection in the unit
One end of pulley is fixed with frame, but the 3rd in unit and the 4th pulley are rotary；Take out remaining two
Any one in unit, is defined as unit 2, the pulley 1 in unit 3 is connected to same rotation with the pulley 4 in unit 2
In pair, the pulley 2 in unit 3 is connected in same revolute pair with the pulley 3 in unit 2, and respective rotation is independent of each other；Together
Reason, a remaining unit is taken out, unit 1 is defined as, the pulley 1 in unit 2 is connected to the pulley 4 in unit 1 same
In individual revolute pair, the pulley 2 in unit 2 is connected in same revolute pair with the pulley 3 in unit 1, and respective rotation is mutual
Do not influence；One section of rope component is taken out, is connected since the 3rd pulley of unit 3, is counterclockwise bypassed successively：Unit 3
Pulley 4, the pulley 5 of unit 3, the pulley 1 of unit 3, the pulley 5 of unit 2, the pulley 1 of unit 2, the pulley 5 of unit 1, unit 1
Pulley 1, the pulley 2 of unit 1, the pulley 6 of unit 1, the pulley 3 of unit 1, the pulley 6 of unit 2, pulley 3, the unit of unit 2
3 pulley 6 and the pulley 3 for returning to unit 3, for the long rope of a connection, rope 1 is defined as, and the length of rope component can be adjusted,
One section of rope is connected between the pulley 3 of unit 2 and the pulley 4 of unit 2, is defined as rope 2, and the length of rope can be adjusted, unit 1
One section of rope is connected between pulley 3 and the pulley 4 of unit 1, is defined as rope 3, and the length of rope can be adjusted.If three sections of ropes of control
Length change, then the extending arm can realize the expansion and contraction in space.
Claims (2)
1. rod-cable deployable mast, it is characterized in that：Including the first stretch unit, the first stretch unit includes vertical bar (B1), first
Oblique rod (B2), the second oblique rod (B3), the 3rd oblique rod (B4), the 4th oblique rod (B5), first pulley (SL1), second are slided
Take turns (SL2), the 3rd pulley (SL3), the 4th pulley (SL4), the 5th pulley (SL5), the 6th pulley (SL6), the first revolute pair
(R1), the second revolute pair (R2), the 3rd revolute pair (R3), the 4th revolute pair (R4), the first oblique rod (B2), the second oblique rod
(B3), the 3rd oblique rod (B4), the 4th oblique rod (B5) pass through the first revolute pair (R1), the second revolute pair (R2), the 3rd respectively
Revolute pair (R3), the 4th revolute pair (R4) are connected with vertical bar (B1), the first oblique rod (B2), the second oblique rod (B3), the 3rd
Oblique rod (B4), the end of the 4th oblique rod (B5) connect first pulley (SL1), second pulley (SL2), the 5th pulley respectively
(SL5), the 6th pulley (SL6), the both ends of vertical bar (B1) connect the 3rd pulley (SL3) and the 4th pulley (SL4) respectively, and first
First oblique cable (S1) is set between on the outside of pulley (SL1) and on the inside of the 3rd pulley (SL3), on the inside of the 3rd pulley (SL3) and the
Second oblique cable (S2), the 5th pulley (SL5) outside and the 6th pulley (SL6) outside are set between on the outside of five pulleys (SL5)
Between the second vertical rope (S6) is set, on the outside of the 6th pulley (SL6) and on the inside of the 4th pulley (SL4) between the 4th oblique cable of setting
(S4) the 3rd oblique cable (S3), second pulley (SL2), are set between second pulley (SL2) outside on the inside of the 4th pulley (SL4)
First vertical rope (S5) is set between on the outside of outside and first pulley (SL1).
2. rod-cable deployable mast according to claim 1, it is characterized in that：Also include and the first stretch unit structure identical
Second stretch unit and the 3rd stretch unit, the 5th pulley (SL5) of the first stretch unit are slided with the first of the second stretch unit
Wheel is with a pulley spindle, and the 6th pulley (SL6) of the first stretch unit is with the second pulley of the second stretch unit with one
On individual pulley spindle, the 5th pulley (SL10) of the second stretch unit is with the first pulley of the 3rd stretch unit with a pulley spindle
On, with the second pulley of the 3rd stretch unit with a pulley spindle, first stretches the 6th pulley (SL9) of the second stretch unit
Open up unit, the second stretch unit, the 3rd stretch unit include respective first oblique cable (S1), the second oblique cable (S2),
Second vertical rope (S6), the 4th oblique cable (S4), the 3rd oblique cable (S3), the first vertical rope (S5), first rope circularize, according to
Secondary to bypass the first stretch unit, the second stretch unit and the 3rd stretch unit, specific canoe is：From the first stretch unit
Start on the outside of first pulley (SL1), successively around the first stretch unit second pulley (SL2) outside, the first stretch unit the 4th
On the inside of pulley (SL4), on the outside of the pulley (SL6) of the first stretch unit the 6th, on the inside of the pulley (SL7) of the second stretch unit the 4th, the
The pulley (SL9) of two stretch unit the 6th outside, the pulley (SL11) of the 3rd stretch unit the 4th inner side, the 3rd stretch unit the 6th are slided
Take turns on the outside of (SL13), on the outside of the pulley (SL14) of the 3rd stretch unit the 5th, on the inside of the pulley (SL12) of the 3rd stretch unit the 3rd, the
The pulley (SL10) of two stretch unit the 5th outside, the pulley (SL8) of the second stretch unit the 3rd inner side, the first stretch unit the 5th are slided
Take turns the first pulley (SL1) on the outside of (SL5), on the inside of the pulley (SL3) of the first stretch unit the 3rd, being eventually returned to the first stretch unit
Outside, second rope, the second stretch unit are set between the 5th pulley (SL5) of the first stretch unit and the 6th pulley (SL6)
The 5th pulley (SL10) and the 6th pulley (SL9) between set the 3rd rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510147988.9A CN104778978B (en) | 2015-03-31 | 2015-03-31 | Rod-cable deployable mast |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510147988.9A CN104778978B (en) | 2015-03-31 | 2015-03-31 | Rod-cable deployable mast |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104778978A CN104778978A (en) | 2015-07-15 |
| CN104778978B true CN104778978B (en) | 2018-03-13 |
Family
ID=53620402
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510147988.9A Active CN104778978B (en) | 2015-03-31 | 2015-03-31 | Rod-cable deployable mast |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104778978B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106785306B (en) * | 2016-11-29 | 2019-03-22 | 西安电子科技大学 | A kind of rope driving scissors truss structure |
| CN108412987B (en) * | 2018-03-14 | 2020-10-30 | 北京航空航天大学 | Direction-changeable pulley device for rope-driven deployable mechanism |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NZ243635A (en) * | 1992-07-20 | 1996-02-27 | Multi Storey Emergency Exits L | Emergency escape structure with stabilised conveyor ladder for use beside tall buildings |
| KR101427545B1 (en) * | 2011-07-08 | 2014-08-07 | 큐-일드 아웃도어 기어 리미티드. | Foldable tent frame |
| CN103794842B (en) * | 2014-02-18 | 2017-11-10 | 哈尔滨工业大学深圳研究生院 | A kind of annular truss formula large space development agency |
| CN103895880A (en) * | 2014-04-02 | 2014-07-02 | 哈尔滨工程大学 | Extensible mechanism of octahedral space extension arm connecting unit |
| CN204558032U (en) * | 2015-03-31 | 2015-08-12 | 哈尔滨工程大学 | Rod-cable deployable mast |
-
2015
- 2015-03-31 CN CN201510147988.9A patent/CN104778978B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104778978A (en) | 2015-07-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103794842B (en) | A kind of annular truss formula large space development agency | |
| EP2443039B1 (en) | Extendable structure | |
| CA1202761A (en) | Extendible structure | |
| US4662130A (en) | Extendible structure | |
| CN103786906B (en) | Space deployable mechanism | |
| CN104778978B (en) | Rod-cable deployable mast | |
| CN105977648B (en) | A kind of scissor coordinated type annular space deployable antenna mechanism | |
| CN110085964A (en) | The netted annular deployable antenna of one kind and antenna truss | |
| CN102605861A (en) | Deployable cable pole dome structure | |
| CN108528762B (en) | Stretching type deployable space capsule section framework structure | |
| CN102616389B (en) | Synchronous unfolding-folding space extend arm of triangular prism based on centripetal mechanisms | |
| US10239642B1 (en) | Hinge and lock mechanism for roll-out solar array | |
| CA2950105C (en) | Deployable structure comprising a set of solar generators, system for deploying such a deployable structure and satellite comprising such a system | |
| CN109560362A (en) | Based on space 5R mechanism can Zhan Danyuan and single-degree-of-freedom annular truss formula development agency | |
| US20220321057A1 (en) | Distributed flexible membrane backing systems, devices, and methods | |
| JP3567163B2 (en) | Storage and deployment type frame structure | |
| CN104947839A (en) | Opening and closing film roof with lower pull cables | |
| CN204558032U (en) | Rod-cable deployable mast | |
| CN113596205A (en) | Electronic device and screen folding and unfolding control method thereof | |
| CN108183308B (en) | Centrosymmetric multi-wing space folding and unfolding mechanism | |
| CN105221371B (en) | It is a kind of that column tension integral structure is opened up based on marmem | |
| Fernandez et al. | The completely stripped solar sail concept | |
| PT1752378E (en) | Multi-grommet retained slider for parachutes | |
| CN102765490B (en) | Space tethered unfoldable covered surface system | |
| CN209183706U (en) | Indent cuts hinge formula hoop truss deployable antenna mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |