CN105564668B - A kind of coiling extending arm for being segmented asymptotic expansion successively - Google Patents
A kind of coiling extending arm for being segmented asymptotic expansion successively Download PDFInfo
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- CN105564668B CN105564668B CN201610045736.XA CN201610045736A CN105564668B CN 105564668 B CN105564668 B CN 105564668B CN 201610045736 A CN201610045736 A CN 201610045736A CN 105564668 B CN105564668 B CN 105564668B
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- extending arm
- truss
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- collection cylinder
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- 210000002445 nipple Anatomy 0.000 claims description 9
- 239000003822 epoxy resin Substances 0.000 claims description 8
- 229920000647 polyepoxide Polymers 0.000 claims description 8
- 230000011218 segmentation Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
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Abstract
The invention discloses a kind of coiling extending arm for being segmented asymptotic expansion successively, including：Locking and relieving mechanism and the extending arm truss being sequentially connected, collection cylinder and electromechanical transmission mechanism；Wherein, extending arm truss is fixedly installed in collection cylinder, and extending arm truss is arranged to that gathering can be coiled；Collection cylinder is configured to extending arm truss of the storage dish under rounding state；Locking and relieving mechanism are arranged at around the barrel of collection cylinder, and expansion during for realizing that compression locking during extending arm truss rounding state deploys with the resilience of extending arm truss discharges；Electromechanical transmission mechanism is used to drive extending arm truss and the locking and relieving mechanism.The extending arm of the present invention is simple in construction, smaller and reliable, the arm top of expansion impact keeps orientation, and total quality is light, rigidity big, available for space Deployable antenna, solar battery array, solar sail, space platform, detection arm mechanism etc..
Description
Technical field
Stretched the present invention relates to a kind of high-precision extending arm, more particularly to a kind of coiling for being segmented asymptotic expansion successively
Arm, available for space Deployable antenna, solar battery array, solar sail, space platform, detection arm mechanism etc..
Background technology
Space mast is a most basic space-like deployable structure, and it studies earliest, most deep, most system, technology
It is most ripe, most widely used, but novel stretch arm is still the important directions that various countries constantly explore and researched and developed.Space mast master
To be in one-dimensional linear system, be elongated tubular, bar or framework (truss), can be widely used for the expansion of large-scale solar wing, large-scale antenna
Mechanism.Primary structure member is carried as main expansion, space mast plays an important role in total system.
The expansion mode of current coiling extending arm can be summarized as 3 kinds：Freely deploy, drag-line expansion and nut deploy.From
Collection is utilized to fold strain energy by the extending arm deployed, no motor control development mechanism, release strain energy makes extending arm be twined with inverse
Freely stretched around direction.The extending arm simple structure freely deployed, collection height deploys changeover portion up to the 2% of length of run
Without constraint control, rigidity is very low, and elliptical gear is larger, it is difficult to control.Drag-line expansion extending arm using high tensile flexible rope come
Control stretching routine, rope one end is fixed on, other end connecting base plate motor or decelerator, under motor drive rope by
Step is released, and the extending arm of drag-line expansion is simple in construction, and extending arm rigidity is poor during quality very little but expansion, extending arm top
The center line around extending arm is held to rotate, this be rotated on some spacecrafts does not allow, and extending arm can only be realized once in space
Stretch, it is impossible to automatic to draw in.The extending arm of nut expansion it is main by collection cylinder, rotatable chassis, guide rail, nut drive device,
The part such as motor and transmission device is constituted, and the extending arm of nut expansion is during the expansion and after expansion, extending arm all have compared with
Extending arm top is moved without spin during high intensity, expansion, and extending arm, which can be realized, repeatedly to be stretched, but quality is larger, configuration
It is complicated with mechanism.
Therefore, those skilled in the art be directed to developing a kind of simple structure, light weight, flexible steady, expansion it is reliable,
The high expansion arm of rigidity.
The content of the invention
In view of the drawbacks described above of prior art, it is to be solved by this invention be Low rigidity present in traditional extending arm,
Elliptical gear is big, be difficult to control to, can not from drawing in, quality is big and complex structure and other problems.
To achieve the above object, the invention provides a kind of coiling extending arm for being segmented asymptotic expansion successively, including：Lock
Fixed and relieving mechanism and the extending arm truss being sequentially connected, collection cylinder and electromechanical transmission mechanism；
Wherein, extending arm truss is fixedly installed in collection cylinder, and extending arm truss is arranged to that gathering can be coiled；Collect cylinder
It is configured to extending arm truss of the storage dish under rounding state；Locking is arranged at the barrel week of collection cylinder with relieving mechanism
Enclose, expansion during for realizing that compression locking during extending arm truss rounding state deploys with the resilience of extending arm truss discharges；Machine
Electric transmission is used to drive extending arm truss and locking and relieving mechanism.
Preferably, electromechanical transmission mechanism is located at the bottom of extending arm truss, and is arranged at the inside of collection cylinder.
Preferably, extending arm truss includes extending arm bottom plate and multiple triangular truss units, and extending arm bottom plate is arranged at
It is connected in collection cylinder and with collection cylinder, longitudinal direction of multiple triangular truss units along extending arm truss sets gradually and be connected；
Each triangular truss unit includes the first triangle frame and multiple second triangle frames；In each triangular truss unit, the one or three
Between angle frame and the second triangle frame, two-by-two extending arm vertical pole is respectively connected between the second triangle frame；The bottom of extending arm truss
Triangular truss unit is connected by extending arm vertical pole with extending arm bottom plate；Extending arm vertical pole is flexible, can be in spring-like
Coiling is drawn in, is drawn in so that extending arm truss can be coiled in collection cylinder.
It is further preferred that in the first triangle-frame, three isometric extending arm cross bars pass through meropodium with lock function
Point connects into triangle frame；In second triangle-frame, three isometric extending arm cross bars are connected by pipe nipple point not with lock function
It is connected into triangle frame；The extending arm vertical pole being connected with the first triangle-frame is inserted into long node with lock function and by injection ring
Oxygen resin glue is fixedly connected with meropodium point with lock function；The extending arm vertical pole being connected with the second triangle-frame be inserted into without
The pipe nipple point of lock function is simultaneously fixedly connected by injecting epoxide-resin glue with pipe nipple point not with lock function；With extending arm bottom
The extending arm vertical pole of plate connection is inserted into bottom node and is fixedly connected by injecting epoxide-resin glue with bottom node, bottom section
Point is fixedly connected on extending arm bottom plate.
It is further preferred that collection cylinder includes the first column, the second column, the first cushion cap bridge piece, the second cushion cap overlap joint
Part, the 3rd cushion cap bridge piece, curved thin plate and collection tube end plate；Wherein, three first columns and three second columns are mutual
Every being formed in regular hexagon arrangement, regular hexagon arrangement, three first columns form positive triangle arrangement and three second columns
Form positive triangle arrangement；Curved thin plate is respectively connected between the first adjacent column and the second column；Every first column edge
Longitudinal direction is connected with the 3rd cushion cap bridge piece and three identical the first cushion cap bridge pieces, every second column edge longitudinal direction in turn
Direction is connected with the 3rd cushion cap bridge piece, the second cushion cap bridge piece and three identical the first cushion cap bridge pieces in turn, and the 3rd holds
Platform bridge piece is connected with collection tube end plate, and the second cushion cap bridge piece is connected with extending arm bottom plate.
It is further preferred that longitudinal direction of the curved thin plate along collection cylinder between the first adjacent column and the second column
Three are disposed with, curved thin plate is connected by the first cushion cap bridge piece with the first column or the second column.
It is further preferred that locking includes the arc cross bar that locking device and multiple length are not waited with relieving mechanism, lock
Curved thin plate on the second column of the device with collecting cylinder is connected, and locking device includes flap, L-type connector, positioning key and pin
Axle, bearing pin is inserted into flap, and the two ends of bearing pin are connected to L-type connector, and by inserting positioning key and L-type connector
It is fixedly connected.
It is further preferred that electromechanical transmission mechanism includes DC servo motor, decelerator, round turntable, rotating disk blade, side
Shape vertical pole, the bottom of DC servo motor is fixedly connected with collection tube end plate, and top and the round turntable of DC servo motor connect
Connect, rotating disk blade is provided with round turntable, one end of rotating disk blade is connected with round turntable, the other end of rotating disk blade and side
Shape vertical pole is connected, and the arc cross bar that multiple length are not waited is provided with square vertical pole；DC servo motor is connected with decelerator, is used
Rotated in driving round turntable.
It is further preferred that the arc cross bar that multiple length are not waited includes short arc cross bar, the middle length that length increases successively
Arc cross bar and long arc shape cross bar, the longitudinal direction of short arc cross bar, middle long arc shape cross bar and long arc shape cross bar along square vertical pole
Successively in laterally inserted square vertical pole.
It is further preferred that when extending arm truss is in rounding state, long node in extending arm truss just with lock
The one end for determining device is overlapped, and the other end of locking device forms interlocking state on arc cross bar so that extending arm truss sections
Draw in collection cylinder；When DC servo motor drives round turntable rotation, rotating disk blade, square vertical pole and arc cross bar are same
When rotate, unlock locking device and arc cross bar, and discharge long node, so that extending arm truss can discharge expansion；Due to
The length of multiple arcs cross bar, thus along square vertical pole longitudinal direction from top to bottom arc cross bar pass completely through locking dress
The time put and unlocked is different so that extending arm truss can be segmented successively progressively release expansion.
Specifically, when energized, DC servo motor connection reducer drives round turntable rotation, this moment rotating disk leaf
Piece, square vertical pole and arc cross bar are rotated simultaneously, because the length of arc cross bar is inconsistent, along the longitudinal direction of square vertical pole
Arc cross bar passes completely through the time difference of locking device from top to bottom：Short arc cross bar above initially passes through locking device,
Arc cross bar followed by middle moderate-length passes through locking device, and what is eventually passed through is following most long arc cross bar,
Because arc cross bar is while the time for rotating but passing completely through locking device is inconsistent, material is thus formed the time difference.The
One arc cross bar (such as short arc cross bar) is passed through after locking device, first triangle from the top of extending arm truss
Long node in crossbearer unit is released locking device, so that the multistage extending arm vertical pole in first triangle crossbearer unit
It is released.Second arc cross bar (such as moderate-length arc cross bar) is passed through after locking device, second triangular truss list
Long node in member is released locking device, so that the multistage extending arm vertical pole in second triangular truss unit is released
Put.Finally discharge the long node and extending arm vertical pole in the nethermost triangular truss unit in extending arm truss bottom.So, this
The extending arm of invention is mutual on the locking apparatus using the long node on the arc cross bar and extending arm truss on square vertical pole
The gathering and release of extending arm truss are realized in effect.
The coiling extending arm of the segmentation asymptotic expansion successively of the present invention take full advantage of extending arm node construction features,
The material property of the suitable large deformation coiling of extending arm vertical pole and resilience causes space mast segmentation asymptotic expansion successively, so that real
Existing simple in construction, expansion impact is smaller and reliable, arm top keeps orientation, and total quality is light, rigidity is big.The stretching, extension of the present invention
Arm can be used for space Deployable antenna, solar battery array, solar sail, space platform, detection arm mechanism etc..
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to accompanying drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is the axle side view for being segmented the coiling extending arm of asymptotic expansion successively of the preferred embodiment of the present invention
Figure；
Fig. 2 be the present invention a preferred embodiment extending arm truss in the first triangle frame axis side view；
Fig. 3 be the present invention a preferred embodiment extending arm truss in the second triangle frame axis side view；
Fig. 4 is the bottom node and extending arm vertical pole and extending arm of the extending arm truss of the preferred embodiment of the present invention
The axis side view of bottom plate connection；
Fig. 5 is the axis side view of the collection cylinder of the preferred embodiment of the present invention；
Fig. 6 is the axis side view of the locking device of the preferred embodiment of the present invention；
Fig. 7 is the axis side view of the electromechanical transmission mechanism of the preferred embodiment of the present invention.
Embodiment
Fig. 1-Fig. 7 shows a kind of excellent of the segmentation new coiling extending arm of asymptotic expansion successively provided by the present invention
The embodiment of choosing.
As shown in figure 1, in the embodiment segmentation successively asymptotic expansion coiling extending arm include locking with
Relieving mechanism 102 and the extending arm truss 101 being sequentially connected, collection cylinder 103 and electromechanical transmission mechanism 104.Wherein, extending arm
The bottom of truss 101 is fixedly installed in collection cylinder 103, and extending arm truss 101 is arranged to that gathering can be coiled.Collect cylinder 103
It is configured to extending arm truss 101 of the storage dish under rounding state；Locking is arranged at collection cylinder with relieving mechanism 102
Around 103 barrel, for realizing compression locking and the resilience exhibition of extending arm truss 101 during extending arm 101 rounding state of truss
Expansion release when opening.Electromechanical transmission mechanism 104 is located at the bottom of extending arm truss 101, and is arranged at the interior of collection cylinder 103
Portion, for driving extending arm truss 101 and locking and relieving mechanism 102.
In the present embodiment, as in Figure 2-4, extending arm truss 101 includes extending arm bottom plate 206 and multiple triangular trusses
Unit, extending arm bottom plate 206 is arranged in collection cylinder 103 and is connected with collection cylinder 103, and multiple triangular truss units edges are stretched
What the longitudinal direction of arm truss 101 set gradually and was connected；Each triangular truss unit includes the first triangle frame and the multiple 2nd 3
Angle frame；In each triangular truss unit, between the first triangle frame and the second triangle frame, two-by-two it is all connected between the second triangle frame
There is extending arm vertical pole 203；The triangular truss unit of the bottom of extending arm truss 101 passes through extending arm vertical pole 203 and extending arm
Bottom plate 206 is connected.Extending arm vertical pole 203 is flexible, can coil and draw in spring-like, so that extending arm truss 101
It can coil and draw in collection cylinder 103.
Wherein, in the first triangle-frame, three isometric extending arm cross bars 201 pass through long node 202 with lock function
Connect into triangle frame；In second triangle-frame, three isometric extending arm cross bars 201 pass through pipe nipple point not with lock function
204 connect into triangle frame.The extending arm vertical pole 203 being connected with the first triangle-frame is inserted into long node 202 with lock function
And be fixedly connected by injecting epoxide-resin glue (can solidify) with long node 202 with lock function.Connect with the second triangle-frame
The extending arm vertical pole 203 connect is inserted into pipe nipple point 204 not with lock function and by injecting epoxide-resin glue and not locking
The pipe nipple point 204 of function is fixedly connected.The extending arm vertical pole 203 being connected with extending arm bottom plate 206 is inserted into bottom node 205 simultaneously
It is fixedly connected by injecting epoxide-resin glue with bottom node 205, bottom node 205 is fixedly connected on stretching, extension by bottom bearing pin
Arm bottom plate 206.
Extending arm bottom plate 206 is vertically connected to the cushion cap bridge piece 211 of collection cylinder by bolt 227.
As shown in figure 5, the collection cylinder 103 of the present embodiment includes the first column 207, the second column 208, the first cushion cap overlap joint
Part 210, the second cushion cap bridge piece 211, the 3rd cushion cap bridge piece 212, curved thin plate 209 and collection tube end plate 233.Wherein, three
The first column of root 207 and three second columns 208 are spaced is formed in regular hexagons arrangement, regular hexagon arrangement, three pieces the
One column 207 forms positive triangle arrangement and three second columns 208 form positive triangle arrangement.The first adjacent column 207
And second be respectively connected with curved thin plate 209 between column 208；Every first column 207 is connected with the 3rd in turn along the longitudinal direction
Cushion cap bridge piece 212 and three the first cushion cap of identical bridge pieces 210, every second column 208 are sequentially connected along the longitudinal direction
There are the 3rd cushion cap bridge piece 212, the second cushion cap bridge piece 211 and three the first cushion cap of identical bridge pieces 210, the 3rd cushion cap is taken
Fitting 212 is connected with collection tube end plate 233.Second cushion cap bridge piece 211 is connected with extending arm bottom plate 206.Adjacent first stands
Longitudinal direction of the curved thin plate 209 along collection cylinder 103 between the column 208 of post 207 and second is disposed with three, and arc is thin
Plate 209 is connected by the first cushion cap bridge piece 210 with the first column 207 or the second column 208.
First column 207 is passed through by the cushion cap bridge piece 212 of 215 lateral connection of bolt the 3rd, the 3rd cushion cap bridge piece 212
Four bolts 213 are vertically connected with collection tube end plate 233.First column 207 connects three identicals the by three bolts 215
One cushion cap bridge piece 210.Second column 208 passes through two bolts 215 vertically the 3rd cushion cap bridge piece 212 of connection, and pass through spiral shell
The second cushion cap of the lateral connection bridge piece 211 of bolt 215, extending arm bottom plate 206 passes through two cushion cap bridge pieces of bolt 227 and second
211 connected longitudinally connect.Then second column 208 passes through three 215 lateral connections of bolt, three identical the first cushion cap bridge pieces
210.First column 207 and the second column 208 are vertically connected with each other by curved thin plate 209 and four bolts 214.Each second
Curved thin plate 209 on column 208 all can vertically connect extending arm locking and relieving mechanism by two bolts 216.
The locking of the present embodiment includes the arc cross bar that locking device and multiple length are not waited with relieving mechanism 102, locks
Curved thin plate 209 on the second column 208 of the device with collecting cylinder 103 is connected, and locking device includes flap 217, L-type connector
218th, positioning key 219 and bearing pin 220.As shown in fig. 6, bearing pin 220 is inserted into flap 217, the two ends of bearing pin 220 are connected respectively
There is L-type connector 18, and be fixedly connected by inserting positioning key 219 with L-type connector 18.Whole locking device and collection cylinder
Curved thin plate 209 is vertically connected by two bolts 216.
As shown in fig. 7, the electromechanical transmission mechanism 104 of the present embodiment includes slim DC servo motor 230, decelerator (not
Show), round turntable 229, rotating disk blade 225, square vertical pole 221, the bottom of slim DC servo motor 230 passes through four spiral shells
Post 231 is fixedly connected with collection tube end plate 233, and four studs 231 are perpendicular by screw 2 232 and slim DC servo motor 230
To being connected, the top of slim DC servo motor 230 is vertically fixedly connected by eight screws 228 with round turntable 229, circular
Three fan rotating disk blades 225 are provided with rotating disk 229, one end of rotating disk blade 225 passes through six bolts 227 and round turntable 229
Vertical connection, the other end of rotating disk blade 225 is connected with square vertical pole 221 by four bolts 226, set on square vertical pole 221
It is equipped with the arc cross bar that multiple length are not waited.Slim DC servo motor 230 is connected with decelerator, for driving round turntable
229 rotations.
In the present embodiment, the arc cross bar that multiple length are not waited includes short arc cross bar 222, the middle length that length increases successively
Arc cross bar 223 and long arc shape cross bar 224, short arc cross bar 222, middle long arc shape cross bar 223 and long arc shape cross bar 224 are along square
The longitudinal direction of vertical pole 221 is successively in laterally inserted square vertical pole 221.
In the present embodiment, when extending arm truss 101 is under rounding state, the locking work(in extending arm truss 101
The long node 202 of energy can just be overlapped with one end of locking device, and the other end of locking device distinguishes frame in short arc cross bar
222nd, middle long arc shape cross bar 223, interlocking state is formed on long arc shape cross bar 224, the segmentation of extending arm truss 101 is drawn in collection cylinder
103.When energized, slim DC servo motor 230 drives round turntable 229 to rotate through decelerator, this moment rotating disk blade
225th, square vertical pole 221, short arc cross bar 222, middle long arc shape cross bar 223 and long arc shape cross bar 224 are rotated simultaneously, due to arc
The length of shape cross bar is inconsistent, and short arc cross bar 222, middle long arc shape cross bar 223 and long arc shape cross bar 224 are worn completely from top to bottom
The time for crossing locking device is different：Short arc cross bar 222 initially passes through locking device above, followed by long arc shape cross bar in centre
223 pass through locking device, and what is eventually passed through is following long arc shape cross bar 224, because arc cross bar is while rotating but complete
Time through locking device is inconsistent, and material is thus formed the time difference.Short arc cross bar 222 is passed through after locking device, from
Long node 202 in first triangle crossbearer unit that the top of extending arm truss 101 is risen is released locking device, so that
Multistage extending arm vertical pole in first triangle crossbearer unit is released.Middle long arc shape cross bar 223 is passed through after locking device, the
Long node 202 in two triangular truss units is released locking device, so that in second triangular truss unit
Multistage extending arm vertical pole is released.Finally discharge the meropodium in the nethermost triangular truss unit in bottom of extending arm truss 101
Point and extending arm vertical pole.So, the extending arm of the present embodiment is to utilize the short arc cross bar 222 on square vertical pole 221, middle long arc
Shape cross bar 223, long arc shape cross bar 224 and long node 202 with lock function interact on the locking apparatus realizes extending arm
The gathering and release of truss 101.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Need creative work just can make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (8)
1. a kind of coiling extending arm for being segmented asymptotic expansion successively, it is characterised in that including：Locking with relieving mechanism and according to
Extending arm truss, collection cylinder and the electromechanical transmission mechanism of secondary connection；
Wherein, the extending arm truss is fixedly installed in the collection cylinder, and the extending arm truss is arranged to that receipts can be coiled
Hold together；The collection cylinder is configured to the extending arm truss of the storage dish under rounding state；The locking and machine for releasing
Structure be arranged at it is described collection cylinder barrel around, for realize during the extending arm truss rounding state compression locking with it is described
Expansion release when the resilience of extending arm truss deploys；The electromechanical transmission mechanism is used to drive the extending arm truss and the lock
Fixed and relieving mechanism；
The extending arm truss includes extending arm bottom plate and multiple triangular truss units, and the extending arm bottom plate is arranged at described
It is connected in collection cylinder and with the collection cylinder, the multiple triangular truss unit is set successively along the longitudinal direction of the extending arm truss
Put and be connected；Each triangular truss unit includes the first triangle frame and multiple second triangle frames；Each triangular truss list
In member, between the first triangle frame and the second triangle frame, two-by-two extending arm is respectively connected between the second triangle frame
Vertical pole；The triangular truss unit of the bottom of the extending arm truss is connected by extending arm vertical pole with the extending arm bottom plate；
The extending arm vertical pole is flexible, can coil and draw in spring-like, so that the extending arm truss can coil receipts
Hold together in the collection cylinder；
In the first triangle frame, three isometric extending arm cross bars connect into triangle frame by long node with lock function；
In the second triangle frame, three isometric extending arm cross bars connect into triangle frame by pipe nipple point not with lock function；With
The extending arm vertical pole of the first triangle frame connection is inserted into the long node with lock function and by injecting epoxy resin
Glue is fixedly connected with the meropodium point with lock function；The extending arm vertical pole being connected with the second triangle frame is inserted into described
Pipe nipple point not with lock function is simultaneously fixedly connected by injecting epoxide-resin glue with the pipe nipple point not with lock function；With
The extending arm vertical pole of the extending arm bottom plate connection is inserted into bottom node and saved by injecting epoxide-resin glue with the bottom
Point is fixedly connected, and the bottom node is fixedly connected on the extending arm bottom plate.
2. the coiling extending arm as claimed in claim 1 for being segmented asymptotic expansion successively, it is characterised in that the Mechanical ＆ Electrical Transmission
Mechanism is located at the bottom of the extending arm truss, and is arranged inside the collection cylinder.
3. the coiling extending arm as claimed in claim 1 for being segmented asymptotic expansion successively, it is characterised in that the collection cylinder bag
Include the first column, the second column, the first cushion cap bridge piece, the second cushion cap bridge piece, the 3rd cushion cap bridge piece, curved thin plate and receipts
Hide tube end plate；Wherein, three first columns and the spaced regular hexagon that formed of three second columns are arranged, described
In regular hexagon arrangement, three first columns form positive triangle arrangement and three second columns form positive triangle
Arrangement；The curved thin plate is respectively connected between adjacent first column and second column；Every described first is stood
Post is connected with the first cushion cap bridge piece described in the 3rd cushion cap bridge piece and three identicals, every institute in turn along the longitudinal direction
Stating the second column, to be connected with the 3rd cushion cap bridge piece, the second cushion cap bridge piece and three in turn along the longitudinal direction identical
The first cushion cap bridge piece, the 3rd cushion cap bridge piece be connected with the collection tube end plate, and second cushion cap is overlapped
Part is connected with the extending arm bottom plate.
4. the coiling extending arm of segmentation as claimed in claim 3 asymptotic expansion successively, it is characterised in that adjacent described the
Longitudinal direction of the curved thin plate along the collection cylinder between one column and second column is disposed with three, institute
Curved thin plate is stated to be connected with first column or second column by the first cushion cap bridge piece.
5. the coiling extending arm as claimed in claim 3 for being segmented asymptotic expansion successively, it is characterised in that the locking is with releasing
Laying mechanism includes the arc cross bar that locking device and multiple length are not waited, the locking device and the arc for collecting cylinder
Thin plate is connected, and the locking device includes flap, L-type connector, positioning key and bearing pin, and the bearing pin is inserted into the flap
In, the two ends of the bearing pin are connected to the L-type connector, and are fixed by inserting positioning key with the L-type connector
Connection.
6. the coiling extending arm as claimed in claim 5 for being segmented asymptotic expansion successively, it is characterised in that the Mechanical ＆ Electrical Transmission
Mechanism includes DC servo motor, decelerator, round turntable, rotating disk blade, square vertical pole, the bottom of the DC servo motor
It is fixedly connected with the collection tube end plate, the top of the DC servo motor is connected with the round turntable, described circular turn
Rotating disk blade is provided with disk, one end of the rotating disk blade is connected with the round turntable, the other end of the rotating disk blade
It is connected with the square vertical pole, the arc cross bar that the multiple length is not waited is provided with the square vertical pole；The direct current is watched
Take motor to be connected with the decelerator, for driving the round turntable to rotate.
7. the coiling extending arm for being segmented asymptotic expansion successively as described in claim 3 or 6, it is characterised in that the multiple
The arc cross bar that length is not waited includes short arc cross bar, middle long arc shape cross bar and the long arc shape cross bar that length increases successively, described
The longitudinal direction of short arc cross bar, the middle long arc shape cross bar and the long arc shape cross bar along the square vertical pole is laterally inserted successively
Enter in the square vertical pole.
8. the coiling extending arm as claimed in claim 6 for being segmented asymptotic expansion successively, it is characterised in that when the extending arm
When truss is in rounding state, the one end of long node just with the locking device in the extending arm truss is overlapped, described
The other end of locking device forms interlocking state on the arc cross bar so that the extending arm truss sections are drawn in described
Collect in cylinder；When the DC servo motor drives round turntable rotation, the rotating disk blade, the square vertical pole and
The arc cross bar is rotated simultaneously, the locking device is unlocked with the arc cross bar, so that the extending arm truss can
Release expansion；Due to the length of multiple arc cross bars, thus along the square vertical pole longitudinal direction from top to bottom
Time that the arc cross bar passes completely through the locking device and unlocked is different so that the extending arm truss can be segmented according to
Secondary progressively release expansion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610045736.XA CN105564668B (en) | 2016-01-22 | 2016-01-22 | A kind of coiling extending arm for being segmented asymptotic expansion successively |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610045736.XA CN105564668B (en) | 2016-01-22 | 2016-01-22 | A kind of coiling extending arm for being segmented asymptotic expansion successively |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105564668A CN105564668A (en) | 2016-05-11 |
| CN105564668B true CN105564668B (en) | 2017-10-03 |
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| CN201610045736.XA Active CN105564668B (en) | 2016-01-22 | 2016-01-22 | A kind of coiling extending arm for being segmented asymptotic expansion successively |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110775297A (en) * | 2019-09-26 | 2020-02-11 | 上海宇航系统工程研究所 | Hinged type extending arm capable of being repeatedly compressed |
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| CN113895652B (en) * | 2021-09-16 | 2023-08-04 | 大连理工大学 | Truss type extension arm capable of being unfolded and folded |
| CN117963165B (en) * | 2024-04-02 | 2024-05-31 | 北京航空航天大学 | Space coiling formula extension arm mechanism based on built-in double-screw bolt is expanded |
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| CN110775297B (en) * | 2019-09-26 | 2021-07-13 | 上海宇航系统工程研究所 | Hinged type extending arm capable of being repeatedly compressed |
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| CN105564668A (en) | 2016-05-11 |
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