CN104890904B - Variable cross-section scissor-type extending arm - Google Patents
Variable cross-section scissor-type extending arm Download PDFInfo
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- CN104890904B CN104890904B CN201510241258.5A CN201510241258A CN104890904B CN 104890904 B CN104890904 B CN 104890904B CN 201510241258 A CN201510241258 A CN 201510241258A CN 104890904 B CN104890904 B CN 104890904B
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Abstract
The invention discloses variable cross-section scissor-type extending arm.The shape of cross section of existing space extending arm is constant, limits the space launching to support positioning payload.The n driving slide block of the present invention all constitutes sliding pair with extending arm base, and it is hinged with main drive block to pass through a drive link respectively；Variable cross-section folding exhibition unit includes n scissor unit, 2n folding exhibition slide block and n hornblock；The bearing pin of each hornblock embeds in the pin-and-hole of adjacent hornblock, and two arm bottoms constitute sliding pair with a folding exhibition slide block respectively；N scissor unit forms positive prismatic table shape, and the top of each scissor unit forms ball pair with two folding exhibition slide blocks；Each scissor unit of first order variable cross-section folding exhibition unit drives the hinged of slide block with two neighboring；Each scissor unit and previous stage variable cross-section folding of remaining variable cross-section folding exhibition unit open up corresponding two hornblocks of unit to cut bar contiguous block hinged.The extending arm cross-sectional area of the present invention, along expansion direction linear decrease, can be prevented effectively from Root Stress and concentrate.
Description
Technical field
The invention belongs to field of mechanical technique, it is related to extending arm and in particular to a kind of variable cross-section scissor-type extending arm.
Background technology
Space mast enriches, is widely used as one-dimensional space folding and unfolding mechanism, form, is mainly used to launch located space
Payload, and provide support for it.Increasingly frequent with the activity of mankind's space, will be increasingly urgent to the demand of space mast
Cut.
However, each position shape of cross section of space mast and constant area are constant at present, the largely upper limit
Make it to launch to support the position of positioning payload；Existing extending arm is in order to realize its repeatable folding and unfolding locking work(simultaneously
Can, lead to the matched locking mechanism that puts in place rather complicated, cause whole extending arm system structure complicated, reliability accordingly drops
Low.
Content of the invention
The present invention is directed to the deficiencies in the prior art, provides a kind of variable cross-section scissor-type extending arm, the cross section of this extending arm
Area along expansion direction linear decrease, when payload active force transmits along extending arm in vertical direction with an angle, thus
It is prevented effectively from Root Stress to concentrate.
The present invention includes extending arm base, drives slide block, drive link, main drive block, straight line driving mechanism and the change of m level to cut
Face folding exhibition unit；M >=2, and be integer.
Described extending arm base offers conduit；N drives slide block to be on same circumference, all constitutes with conduit and slides
Pair, and bottom forms ball pair with the top of a drive link respectively；N >=3, and be integer；All drive links are along same circle
The conical surface is uniform, and bottom is all hinged with main drive block；Described main drive block is connected with drive connection block, and drive connection block passes through
Straight line driving mechanism drives；Described variable cross-section folding exhibition unit includes n scissor unit, 2n folding exhibition slide block and n hornblock；Institute
An arm stating hornblock is provided with bearing pin, and another arm offers pin-and-hole, and top is provided with cuts bar contiguous block；The bearing pin of each hornblock
Embed in the pin-and-hole of adjacent hornblock, constitute sliding pair；Two arm bottoms of each hornblock are constituted with a folding exhibition slide block respectively to be slided
Dynamic pair；N scissor unit forms positive prismatic table shape, and slide blocks are opened up with two foldings in same glide direction in the top of each scissor unit
Form ball pair.In first order variable cross-section folding exhibition unit, two scissors rod bottoms of each scissor unit are slided with two neighboring driving
The top of block is hinged；Each scissor unit of remaining variable cross-section folding exhibition unit rolls over corresponding two of unit of exhibition with previous stage variable cross-section
Hornblock to cut bar contiguous block hinged；Drive slide block, folding exhibition slide block and hinged axially bored line and the extending arm base top of cutting bar contiguous block
The angle in face is θ, θ ∈（0,60 ］.
Described m level variable cross-section folding exhibition unit also can not comprise hornblock, but by 2n folding exhibition slide block all with support
Platform constitutes sliding pair.
Described scissor unit all includes two scissors rods being hinged.
Described straight line driving mechanism includes feed screw nut, ball-screw and slide rail；Described drive connection block and leading screw
Nut is connected, and constitutes sliding pair with slide rail；Described ball-screw is bearing in frame by bearing, and slide rail is solid with frame
Even.
Beneficial effects of the present invention：Present invention achieves the variable cross-section design of extending arm, extending arm shaft section amasss edge to launch
Dimension linear successively decreases, and the expansion to payload supports positioning more flexible.When payload active force transmits along extending arm
In vertical direction with an angle, thus effectively prevent Root Stress concentrating.The present invention repeats lock solution, and locks solution preocess letter
Single, reliable.
Brief description
Fig. 1 is the overall structure axonometric chart of deployed condition of the present invention；
Fig. 2 is the structural perspective of extending arm base in the present invention；
Fig. 3 is the structural perspective of hornblock in the present invention；
Fig. 4 is the structural perspective of one-level slide block in the present invention；
Fig. 5 is the structural perspective driving slide block in the present invention；
Fig. 6 is the structural perspective of cathetus drive mechanism of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
As shown in Fig. 1,2,3,4 and 5, variable cross-section scissor-type extending arm, including extending arm base 1, drive slide block 2, drive
Connecting rod 3, main drive block 4, straight line driving mechanism, variable cross-section folding exhibition unit, two grades of scissor units, two grades of slide blocks and support platform 9.
Extending arm base 1 offers arranged in a crossed manner two conduit 1-1, and each conduit 1-1 drives slide block 2 to constitute with two
Sliding pair；Four drive slide block 2 to be on same circumference, and bottom forms ball pair with the top of a drive link 3 respectively；Four
Drive link 3 is uniform along same taper seat, and bottom is all hinged with main drive block 4；Main drive block 4 and drive connection block 5 are connected,
Drive connection block 5 is driven by straight line driving mechanism；Variable cross-section folding exhibition unit includes one-level scissor unit, one-level slide block 7 and angle
Block 8；One arm of hornblock 8 is provided with bearing pin 8-1, and another arm offers pin-and-hole 8-2, and top is provided with cuts bar contiguous block 8-3；Four
Individual hornblock 8 forms rectangle；The bearing pin 8-1 of each hornblock 8 embeds in the pin-and-hole 8-2 of adjacent hornblock 8, constitutes sliding pair；Each angle
Two arm bottoms of block 8 constitute sliding pair with an one-level slide block 7 respectively；Four one-level scissor units form truncated rectangular pyramids shape, often
First scissors rod 6-1 of individual one-level scissor unit and the second scissors rod 6-2 bottom and the two neighboring top hinge driving slide block 2
Connect, top forms ball pair with two one-level slide blocks 7 in same glide direction；Four two grades of scissor units form truncated rectangular pyramids shape；
Bar contiguous block is cut with two neighboring hornblock 8 in first scissors rod 6-1 of each two grades of scissor unit and the second scissors rod 6-2 bottom
8-3 is hinged, and top forms ball pair with two grades of slide block respectively；All two grades of slide blocks all constitute sliding pair with support platform 9.
Drive slide block 2,7, two grades of slide blocks of one-level slide block and hinged axially bored line and the extending arm base 1 of cutting bar contiguous block 8-3
The angle of top surface is θ, θ ∈（0,60 ］.
As shown in fig. 6, straight line driving mechanism includes feed screw nut 10, ball-screw 11 and slide rail 12；Drive connection block 5 with
Feed screw nut 10 is connected, and constitutes sliding pair with slide rail 12；Ball-screw 11 is bearing in frame 13 by bearing, slide rail 12 with
Frame 13 is connected.
Straight line driving mechanism is driven to make feed screw nut 10 sliding on ball-screw 11, you can to launch or shrink variable cross-section
Folding exhibition unit and two grades of scissor units, can realize locking using the self-locking of ball-screw 11 at an arbitrary position.
Claims (3)
1. variable cross-section scissor-type extending arm, including extending arm base, drives slide block, drive link, main drive block, straight line driving
Structure and m level variable cross-section folding exhibition unit；M >=2, and for integer it is characterised in that：
Described extending arm base offers conduit；N drives slide block to be on same circumference, all constitutes sliding pair with conduit,
And bottom forms ball pair with the top of a drive link respectively；N >=3, and be integer；All drive links are along same taper seat
Uniformly, and bottom is all hinged with main drive block；Described main drive block is connected with drive connection block, and drive connection block passes through straight line
Drive mechanism drives；Described variable cross-section folding exhibition unit includes n scissor unit, 2n folding exhibition slide block and n hornblock；Described angle
One arm of block is provided with bearing pin, and another arm offers pin-and-hole, and top is provided with cuts bar contiguous block；The bearing pin of each hornblock embeds
In the pin-and-hole of adjacent hornblock, constitute sliding pair；Two arm bottoms of each hornblock constitute sliding pair with two folding exhibition slide blocks；N
Scissor unit forms positive prismatic table shape, and the top of each scissor unit forms ball with two folding exhibition slide blocks in same glide direction
Secondary；In first order variable cross-section folding exhibition unit, the top of two scissors rod bottoms of each scissor unit and two neighboring driving slide block
Portion is hinged；Each scissor unit of remaining variable cross-section folding exhibition unit rolls over exhibition corresponding two hornblocks of unit with previous stage variable cross-section
Cut bar contiguous block hinged；Drive slide block, folding exhibition slide block and cut the hinged axially bored line of bar contiguous block and the folder of extending arm base top surface
Angle is θ, θ ∈ (0 °, 60 °].
2. variable cross-section scissor-type extending arm according to claim 1 it is characterised in that：Described scissor unit all includes phase
Two mutually hinged scissors rods.
3. variable cross-section scissor-type extending arm according to claim 1 it is characterised in that：Described straight line driving mechanism includes
Feed screw nut, ball-screw and slide rail；Described drive connection block is connected with feed screw nut, and constitutes sliding pair with slide rail；Institute
The ball-screw stated is bearing in frame by bearing, and slide rail is connected with frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510241258.5A CN104890904B (en) | 2015-05-12 | 2015-05-12 | Variable cross-section scissor-type extending arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510241258.5A CN104890904B (en) | 2015-05-12 | 2015-05-12 | Variable cross-section scissor-type extending arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104890904A CN104890904A (en) | 2015-09-09 |
| CN104890904B true CN104890904B (en) | 2017-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510241258.5A Active CN104890904B (en) | 2015-05-12 | 2015-05-12 | Variable cross-section scissor-type extending arm |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106219435A (en) * | 2016-08-25 | 2016-12-14 | 河南飞龙(芜湖)汽车零部件有限公司 | A kind of four bar reverse pushing-type lifting devices |
| CN114476149B (en) * | 2022-03-03 | 2022-11-08 | 中国科学院空间应用工程与技术中心 | Spatial expandable exposure experiment platform based on spherical 5R mechanism |
| CN115196053B (en) * | 2022-07-18 | 2024-03-29 | 南京航空航天大学 | Lifting-head-lifting device for secondary aircraft |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4273505A (en) * | 1978-09-22 | 1981-06-16 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Pneumatic inflatable end effector |
| CN102616389B (en) * | 2012-04-16 | 2014-04-16 | 北京航空航天大学 | Synchronous unfolding-folding space extend arm of triangular prism based on centripetal mechanisms |
| CN102765492B (en) * | 2012-07-03 | 2014-07-23 | 浙江理工大学 | Scissor-type space stretching arm mechanism |
| CN102923316A (en) * | 2012-11-16 | 2013-02-13 | 哈尔滨工业大学 | Unfoldable unit of triangular prism and unfoldable support arm consisting of unfoldable units |
| CN203601584U (en) * | 2013-11-19 | 2014-05-21 | 浙江理工大学 | Shear-fork type space stretch arm |
| CN103587721B (en) * | 2013-11-25 | 2016-06-22 | 中国航空工业集团公司沈阳发动机设计研究所 | The deployable supporting arm mechanism in a kind of space |
| CN103786906B (en) * | 2014-02-18 | 2017-02-08 | 哈尔滨工业大学深圳研究生院 | Space deployable mechanism |
| CN204750599U (en) * | 2015-05-12 | 2015-11-11 | 浙江理工大学 | Fork extending arm is cut to variable cross section |
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- 2015-05-12 CN CN201510241258.5A patent/CN104890904B/en active Active
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