CN105977648A - Shear fork coordinated type annular space deployable antenna mechanism - Google Patents
Shear fork coordinated type annular space deployable antenna mechanism Download PDFInfo
- Publication number
- CN105977648A CN105977648A CN201610560746.7A CN201610560746A CN105977648A CN 105977648 A CN105977648 A CN 105977648A CN 201610560746 A CN201610560746 A CN 201610560746A CN 105977648 A CN105977648 A CN 105977648A
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- Prior art keywords
- montant
- hinge
- scissor
- connecting rod
- ring
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q15/00—Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
- H01Q15/14—Reflecting surfaces; Equivalent structures
- H01Q15/18—Reflecting surfaces; Equivalent structures comprising plurality of mutually inclined plane surfaces, e.g. corner reflector
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
Abstract
The invention provides a shear fork coordinated type annular space deployable antenna mechanism, relates to an aerospace antenna, particularly relates to the shear fork coordinated type annular space deployable antenna mechanism, and aims at solving the problems of complex structure, high weight and poor rigid intensity of the existing annular antenna. The shear fork coordinated type annular space deployable antenna mechanism comprises an external ring, an internal ring and multiple ropes. The ropes are arranged between the external ring and the internal ring. The external ring comprises multiple external ring mechanisms. Each external ring mechanism comprises a vertical rod and two side rods. The vertical rod is arranged between the two side rods. The ropes are arranged between the side rod and the vertical rod, the vertical rods and the side rods. The internal ring comprises multiple internal ring mechanisms. Each internal ring mechanism comprises a shear fork and a vertical rod hinge. The shear fork is connected with the middle part of the vertical rod through the vertical rod hinge. When the antenna mechanism folds, the external ring and the internal ring retract to form a cylindrical shape. When the antenna mechanism unfolds, the external ring and the internal ring unfold to form a double-ring shape. The shear fork coordinated type annular space deployable antenna mechanism is used for aerospace communication.
Description
Technical field
The present invention relates to a kind of aerospace antenna, be specifically related to a kind of scissor coordinated type annular space deployable antenna mechanism.
Background technology
Along with communication, space science, earth observation cause and the needs of national defense construction, various countries are for large space antenna
Demand is the most urgent.When the size of antenna exceedes the scope that fairing of launch vehicle (or space shuttle) can accommodate, must
This version of deployable antenna must be used.At launching phase, these large-scale antennas must be folded up, and spacecraft enters
After planned orbit, then spread out by driver and become duty.Annular truss deployable antenna and other versions
Satellite deployable antenna is compared, have applied range, antenna aperture big (up to rice up to a hundred), topological structure simple,
Certain limit interior diameter very much not changes the advantages such as the topology configuration of structure, current most widely used general.
On this basis, along with the development of technology, the requirement to loop aerial is more and more higher, how can keep structure
The version making antenna under conditions of rigidity becomes simple, reduces material, alleviates the emphasis that weight is research now.This
Bright design for meeting this requirement.
Summary of the invention
The present invention solves the problem that structure is complicated, weight is big and rigid is poor of existing loop aerial, and then propose one
Scissor coordinated type annular space deployable antenna mechanism.
The present invention solves that above-mentioned technical problem adopts the technical scheme that: the present invention includes outer shroud, internal ring and multiple rope,
Being laid with rope between outer shroud and internal ring, outer shroud includes that multiple outer ring mechanism, multiple outer ring mechanisms head and the tail are sequentially connected with, often
Individual outer ring mechanism includes montant and two side rods, and two side rods be arranged in parallel, and montant is arranged between two side rods, side rod with
Being equipped with rope between montant, between montant and montant and between side rod and side rod, internal ring includes multiple interior ring mechanism, multiple
Interior ring mechanism head and the tail are sequentially connected with, and each interior ring mechanism includes scissor and montant hinge, and scissor is by montant hinge and montant
Middle part connects, and when antenna mechanism is drawn in, outer shroud and internal ring are shrunk to a cylinder, when antenna mechanism is launched, and outer shroud and interior
Ring stretches and is split into a Crossed Circle.
The invention has the beneficial effects as follows:
1, present invention achieves the design of circular development antenna mechanism, during transmitting, loop aerial is in rounding state, to reduce
Space shared during transmitting, is launched into duty by it after entering the orbit again, it is achieved thereby that the lift-off of major diameter loop aerial is sent out
Penetrate.
2, the present invention uses rod member to connect, structure letter, reduces the materials making material.And rod member is all to be commonly used by space flight
Materials processing manufacture, rich material resources, processing technique is ripe, and density of material used is little, and stiffness is big, can be effective
Alleviate the weight of mechanism.
3, during the expansion of loop aerial of the present invention, fully rely on elastic force and drive the fortune merit of rod member.Compared to electronic control
System drives, and elastic power-actuated reaction faster, can quickly realize the action launched after constraint disappears, without postponing.
4, the motion of the present invention relies on the elastic force of elastic hinge and torsion spring to realize, it is not necessary to additionaling power source, can alleviate whole machine
The weight of structure.
5, the loop configuration of the present invention can be regarded as being connected by multiple triangular structure unit forming, each triangular structure
It is made up of two side rods and a scissor.Compared with the cellular construction of tetragon, the rigidity of structure of triangular element is more greatly, more
Stable, and than quadrilateral structure a few limit, reduce material usage, weight and material cost can be reduced.
6, the present invention is to be formed by connecting by triangle unit structure, and its girth is size and the quantity having triangle unit structure
Determine, can according to the specific requirement to loop aerial length, change loop aerial girth, can meet loop aerial for
The requirement of size.
Accompanying drawing explanation
Fig. 1 is structural representation during inventive antenna mechanism deploying；
Fig. 2 is the top view of Fig. 1；
Structural representation during Tu3Shi inventive antenna mechanism's gathering；
Fig. 4 is side rod 5 in the present invention, montant 4 and the structural representation of scissor 6；
Fig. 5 is the front view of Fig. 4；
Fig. 6 is the top view of Fig. 5；
Fig. 7 is the structural representation of scissor 6 in the present invention；
Fig. 8 is amplification view at the K in Fig. 7；
Fig. 9 is montant hinge 12 and the structural representation of montant 4 in the present invention；
Structural representation when Figure 10 is that in the present invention, side rod 5 draws in；
Structural representation when Figure 11 is that in the present invention, side rod 5 launches；
Figure 12 is side rod hinge 7 in the present invention, side rod 13, montant 4 and the structural representation of rope 3.
Detailed description of the invention
Detailed description of the invention one: combine Fig. 1 to Figure 12 and illustrate, a kind of scissor coordinated type annular space described in present embodiment
Deployable antenna mechanism includes outer shroud 1, internal ring 2 and multiple rope 3, is laid with rope 3 between outer shroud 1 and internal ring 2,
Outer shroud 1 includes multiple outer ring mechanism, and multiple outer ring mechanisms head and the tail are sequentially connected with, and each outer ring mechanism includes montant 4 and two
Side rod 5, two side rods 5 be arranged in parallel, and montant 4 is arranged between two side rods 5, between side rod 5 and montant 4, erect
Being equipped with rope 3 between bar 4 and montant 4 and between side rod 5 and side rod 5, internal ring 2 includes multiple interior ring mechanism, multiple
Interior ring mechanism head and the tail are sequentially connected with, and each interior ring mechanism includes scissor 6 and montant hinge 12, and scissor 6 is by montant hinge
12 are connected with the middle part of montant 4, and when antenna mechanism is drawn in, outer shroud 1 and internal ring 2 are shrunk to a cylinder, antenna machine
When structure launches, outer shroud 1 and internal ring 2 stretch and are split into a Crossed Circle.
Whole mechanism is made up of outer shroud 1, internal ring 2 and rope 3.Outer shroud 1 and internal ring 2 form the framing structure of loop aerial,
The two is held by rope 3, prevents structure and the phenomenon collapsed of falling apart occurs, increases the rigidity of structure.Mechanism is in expansion
During state, side rod 5 is straight configuration, and scissor 6 is in extended configuration, and montant 4 is pushed open by with joint efforts, props up whole
Loop configuration；When mechanism is in rounding state, side rod 5 is in doubled state, and scissor 6 draws in, and whole mechanism forms a circle
Cylinder form, side rod 5, scissor 6 and montant 4 are all along cylinder axis direction.
The diameter ratio that loop aerial launches, draws in shape is big, and the ratio of shared volume is big, saves emission space.
Scissor 6 and side rod 5 carry out linkage driving, it is ensured that integrally-built shape in the synchronicity of mechanism deploying and motor process
Completely.
Between side rod 5 and montant 4, between montant 4 and montant 4 and it is equipped with rope 3 between side rod 5 and side rod 5 to improve
The integral rigidity of antenna mechanism and reliability.
Detailed description of the invention two: combine Fig. 1 to Fig. 6 and Figure 10 to Figure 12 and illustrate, described in present embodiment, side rod 5 includes
Side rod hinge 7, elastic hinge 14 and two side rods 13, two side rods 13 are connected by elastic hinge 14, side rod
Hinge 7 is arranged between adjacent two outer ring mechanisms, one end of side rod hinge 7 and a side rod in an outer ring mechanism
13 are rotationally connected, and the other end of side rod hinge 7 is rotationally connected with another side rod 13 in adjacent outer ring mechanism, montant
4 is vertical affixed with two side rod hinges 7 in same outer ring mechanism respectively.Other composition and connected mode be embodied as
Mode one is identical.
When side rod 5 draw in after, elastic hinge 14 bends, produce elastic force, make side rod 13 oriented overhanging toss about in bed dynamic
Trend, the expansion for mechanism provides power.After side rod launches, side rod 13 opens be stretched flat completely.Elastic hinge 14 recovers
To original linear type, elastic force disappears, and is now the most stable of form of elastic hinge 14, be possible to prevent side rod 13 due to
Motional inertia causes side rod 5 to bend to opposite direction, is also prevented from side rod 5 simultaneously and causes annular constrictions to back bending song, can keep
Structure shape after having launched.
Side rod hinge 7 is connected with montant 4, and the two will not occur relative motion.Between side rod 13 and side rod hinge 7 it is
It is rotationally connected.Side rod 5 amoeboid movement that its effect one is to ensure that under elastic hinge 14 driving can be delivered on montant 4, drives
Dynamic montant 4 moves, and two is the locality of Restricted edge connecting rod 13, it is ensured that the shape of annular is the most accurate.With, make to erect
Bar 4 immobilizes along cylindrical axis direction all the time, is so possible to prevent loop aerial to be distorted deformation.
Detailed description of the invention three: combine Fig. 1 to Fig. 9 and illustrate, scissor 6 described in present embodiment includes scissor hinge 8, two
10, two torsion springs 11 of individual long connecting rod and four short connecting rods 9, the middle part of two long connecting rods 10 is set by scissor hinge 8 intersection
Putting, the two ends of each long connecting rod 10 are connected to a short connecting rod 9, are rotationally connected between long connecting rod 10 and short connecting rod 9,
Be provided with torsion spring 11 between two ends and the short connecting rod 9 of one of them long connecting rod 10, two short connecting rods 9 of side respectively with montant
Hinge 12 is rotationally connected, and the short connecting rod 9 of opposite side is rotationally connected with adjacent montant hinge 12 respectively.Other forms and connects
The mode that connects is identical with detailed description of the invention one or two.
With scissor hinge 8 the most point-blank, long connecting rod 10 and short connecting rod 9 can be around respective for montant hinge 12
Revolute pair rotates, and can realize the lateral length change of scissor 6, and pushing mechanism launches.Under rounding state, short connecting rod 9
Parallel with long connecting rod 10, two bars are doubling shape, and now, the deflection of torsion spring 11 is maximum, and elastic force is also maximum.Launch
During, the resilience of torsion spring 11 drives short connecting rod 9 and long connecting rod 10 outward expansion, makes the lateral length of scissor 6 increase.
Scissor 6 extending transversely is to after extreme position, and short connecting rod 9 and long connecting rod 10 no longer expand outwardly, and now torsion spring 11 is still protected
Hold certain elastic force to act on two bars, force two bars not rotate backward, prevent the retraction of annular mechanism so that it is
Persistently keep open configuration.
Montant hinge 12 is fixing with montant 4 to be connected, and the two will not occur relative motion, scissor 6 extending transversely, makes montant
Hinge 12 moves, and drives montant 4 to move.
Detailed description of the invention four: combine Fig. 1 to Fig. 6 and Fig. 9 explanation, present embodiment montant hinge 12 is arranged on the 1st,
3,5,7,9 ..., on 2N+1 montant 4, wherein N is natural number.Other composition and connected mode are real with concrete
Execute mode three identical.
It is so designed that each interior ring mechanism and two outer ring mechanisms form an annular element, utilizes on scissor 6 and side rod 5
Elastic hinge 14 realizes expansion and the gathering of whole antenna.
Detailed description of the invention five: combine Fig. 1 to Fig. 6 and illustrate, when present embodiment antenna mechanism is launched, each interior ring mechanism
In scissor 6 and side rod 5 triangularity in corresponding two outer ring mechanisms, be obtuse angle between two adjacent side rods 5.
Other composition is identical with detailed description of the invention four with connected mode.
It is so designed that and each annular element is designed to triangle, enhance stability and the rigidity of whole antenna mechanism, reduce
Material usage, can reduce weight and material cost.
Detailed description of the invention six: combine Fig. 1 to Fig. 8 and illustrate, described in present embodiment between short connecting rod 9 and long connecting rod 10
Being rotationally connected by bearing pin 15, short connecting rod 9 is provided with the first alignment pin 16, and long connecting rod 10 is provided with the second alignment pin 17,
Torsion spring 11 is sleeved on bearing pin 15, two legs of torsion spring 11 be installed on the first alignment pin 16 and the second alignment pin 17 it
Between.Other composition is identical with detailed description of the invention four or five with connected mode.
Torsion spring 11 is sleeved on bearing pin 15, and two legs of torsion spring 11 are installed on the first alignment pin 16 and the second alignment pin
Between 17, can deform along with the rotation of short connecting rod 9 and long connecting rod 10, expansion and gathering for scissor 6 provide dynamic
Energy.
Operation principle
The size of loop aerial can be adjusted with number by the size of triangle annular cellular construction according to demand.Just
Begin the moment, loop aerial is in rounding state, and side rod 5 is in folded state, elastic hinge 14 in case of bending, the two
Store elastic deformation energy；Scissor 6 is in rounding state, and torsion spring 11 is by the short connecting rod 9 of both sides and the pressure of long connecting rod 10
And compression, store elastic potential energy.Now, it is a cylinder that whole mechanism draws in, and all rod members are all along cylinder
Axis square arrangement, rope 3 is in relaxed state, and mechanism is housed by container constraint becomes the cylinder of a small volume,
Can effectively save the emission space of rocket.
When starting working in the appointment position arriving antenna, restraining forces disappears, the bullet that elastic hinge 14 stores with torsion spring 11
Property potential energy release, side rod 13, under the elastic force effect of elastic hinge 14, turns over 90 ° in the axial direction from original,
Whole side rod 5 forms straight line, becomes a support unit of outer shroud circumference.Now, the elastic force of elastic hinge 14 disappears
Losing, side rod 5 keeps linear state.During expansion, scissor 6 is by the elastic force effect of torsion spring 11, short connecting rod 9 and length even
Bar 10 opens to both sides, and the lateral separation of scissor 6 increases, the extending transversely of scissor 6 and the conjunction being stretched flat action of side rod 5
Become athletic performance on montant hinge 12, promote montant hinge 12 and with its montant 4 being connected along the radially outward fortune of cylinder
Dynamic.During opening, the elastic force of torsion spring 11 is gradually reduced, and the elastic force of elastic hinge 14 is gradually big, both elastic force
Mutually making up, during launching, motion for rod member provides enough resilient urging force constantly, makes whole mechanism open,
Rope 3 is tightened simultaneously, and mechanism is launched into an annular by a cylindrical structure.
After realizing opening completely, torsion spring 11 still keeps certain elasticity tension, acts on short connecting rod 9 and long connecting rod 10
On, elastic hinge 14 is difficult to bend after stretching again.Such characteristic can not reclaim with the open configuration of maintaining body,
Meanwhile, rope 3 is used to strain, it is achieved locking solidification.
Claims (6)
1. a scissor coordinated type annular space deployable antenna mechanism, it is characterised in that: described a kind of scissor coordinated type annular
Space deployable antenna mechanism includes outer shroud (1), internal ring (2) and multiple rope (3), outer shroud (1) and internal ring (2) it
Between be laid with rope (3), outer shroud (1) includes multiple outer ring mechanism, and multiple outer ring mechanisms head and the tail are sequentially connected with, each outside
Ring mechanism includes montant (4) and two side rods (5), and two side rods (5) be arranged in parallel, and montant (4) is arranged on two limits
Between bar (5), between side rod (5) and montant (4), between montant (4) and montant (4) and side rod (5) and limit
Being equipped with rope (3) between bar (5), internal ring (2) includes that multiple interior ring mechanism, multiple interior ring mechanisms head and the tail are sequentially connected with,
Each interior ring mechanism includes scissor (6) and montant hinge (12), and scissor (6) is by montant hinge (12) and montant (4)
Middle part connect, when antenna mechanism is drawn in, outer shroud (1) and internal ring (2) are shrunk to a cylinder, antenna mechanism expansion
Time, outer shroud (1) and internal ring (2) stretch and are split into a Crossed Circle.
One scissor coordinated type annular space deployable antenna mechanism the most according to claim 1, it is characterised in that: described
Side rod (5) includes that side rod hinge (7), elastic hinge (14) and two side rods (13), two side rods (13) are led to
Crossing elastic hinge (14) to connect, side rod hinge (7) is arranged between adjacent two outer ring mechanisms, side rod hinge (7)
One end is rotationally connected with a side rod (13) in an outer ring mechanism, the other end of side rod hinge (7) and adjacent outer shroud
Another side rod (13) in mechanism is rotationally connected, and montant (4) cuts with scissors with two side rods in same outer ring mechanism respectively
Chain (7) is the most affixed.
A kind of scissor the most according to claim 1 or claim 2 coordinated type annular space deployable antenna mechanism, it is characterised in that:
Described scissor (6) includes scissor hinge (8), two long connecting rods (10), two torsion springs (11) and four short connecting rods (9),
The middle part of two long connecting rods (10) is arranged in a crossed manner by scissor hinge (8), and the two ends of each long connecting rod (10) connect respectively
There is a short connecting rod (9), be rotationally connected between long connecting rod (10) and short connecting rod (9), one of them long connecting rod (10)
Being provided with torsion spring (11) between two ends and short connecting rod (9), two short connecting rods (9) of side turn with montant hinge (12) respectively
Being dynamically connected, the short connecting rod (9) of opposite side is rotationally connected with adjacent montant hinge (12) respectively.
One scissor coordinated type annular space deployable antenna mechanism the most according to claim 3, it is characterised in that: montant
Hinge (12) is arranged on the 1st, 3,5,7,9 ..., on 2N+1 montant (4), wherein N is natural number.
One scissor coordinated type annular space deployable antenna mechanism the most according to claim 4, it is characterised in that: antenna
During mechanism deploying, the scissor (6) in each interior ring mechanism and side rod (5) triangularity in corresponding two outer ring mechanisms,
It is obtuse angle between two adjacent side rods (5).
6. according to one scissor coordinated type annular space deployable antenna mechanism described in claim 4 or 5, it is characterised in that:
Being rotationally connected by bearing pin (15) between described short connecting rod (9) and long connecting rod (10), short connecting rod (9) is provided with first
Alignment pin (16), long connecting rod (10) is provided with the second alignment pin (17), and torsion spring (11) is sleeved on bearing pin (15),
Two legs of torsion spring (11) are installed between the first alignment pin (16) and the second alignment pin (17).
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| CN201610560746.7A CN105977648B (en) | 2016-07-15 | 2016-07-15 | A kind of scissor coordinated type annular space deployable antenna mechanism |
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| CN201610560746.7A CN105977648B (en) | 2016-07-15 | 2016-07-15 | A kind of scissor coordinated type annular space deployable antenna mechanism |
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| CN105977648A true CN105977648A (en) | 2016-09-28 |
| CN105977648B CN105977648B (en) | 2018-10-02 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106910976A (en) * | 2017-05-02 | 2017-06-30 | 湖北文理学院 | Light-duty automatic Quick extension folded antenna bar |
| CN107284693A (en) * | 2017-06-08 | 2017-10-24 | 天津大学 | A kind of drag-line drives anti-singular point hinge |
| CN107623167A (en) * | 2017-09-28 | 2018-01-23 | 北京无线电测量研究所 | A kind of big front radar antenna mechanism of modularization |
| CN108598662A (en) * | 2018-03-27 | 2018-09-28 | 西安电子科技大学 | A kind of dual-layer Parallel quadrangle annular expandable truss |
| CN109050979A (en) * | 2018-07-20 | 2018-12-21 | 广西大学 | One kind connecting large space development agency based on scissors folding exhibition unit rigid hinge |
| CN109659658A (en) * | 2019-01-18 | 2019-04-19 | 燕山大学 | Hoop truss deployable antenna mechanism based on V-type scissors cell cube |
| CN112535156A (en) * | 2020-12-07 | 2021-03-23 | 浙江海洋大学 | Fishing net opening and closing device, fishing device and fishing net control method |
| CN112550762A (en) * | 2019-09-25 | 2021-03-26 | 华东交通大学 | Novel single-degree-of-freedom planar deployable mechanism network composed of three-symmetrical Bricard mechanisms |
| CN114361759A (en) * | 2021-12-16 | 2022-04-15 | 广东机电职业技术学院 | Deployable truss |
| CN115036668A (en) * | 2022-07-06 | 2022-09-09 | 哈尔滨工业大学（深圳） | Spatial large-scale deployable device, antenna and grabbing equipment |
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| CN106910976A (en) * | 2017-05-02 | 2017-06-30 | 湖北文理学院 | Light-duty automatic Quick extension folded antenna bar |
| CN106910976B (en) * | 2017-05-02 | 2023-05-16 | 湖北文理学院 | Light automatic fast-extending folding antenna rod |
| CN107284693A (en) * | 2017-06-08 | 2017-10-24 | 天津大学 | A kind of drag-line drives anti-singular point hinge |
| CN107284693B (en) * | 2017-06-08 | 2019-08-06 | 天津大学 | A kind of anti-singular point hinge of drag-line driving |
| CN107623167B (en) * | 2017-09-28 | 2020-04-14 | 北京无线电测量研究所 | Modularized large array plane radar antenna mechanism |
| CN107623167A (en) * | 2017-09-28 | 2018-01-23 | 北京无线电测量研究所 | A kind of big front radar antenna mechanism of modularization |
| CN108598662A (en) * | 2018-03-27 | 2018-09-28 | 西安电子科技大学 | A kind of dual-layer Parallel quadrangle annular expandable truss |
| CN108598662B (en) * | 2018-03-27 | 2020-03-13 | 西安电子科技大学 | Double-layer parallelogram annular expandable truss |
| CN109050979A (en) * | 2018-07-20 | 2018-12-21 | 广西大学 | One kind connecting large space development agency based on scissors folding exhibition unit rigid hinge |
| CN109050979B (en) * | 2018-07-20 | 2021-08-17 | 广西大学 | Shear type folding and unfolding unit rigid hinge connection large-space unfoldable mechanism |
| CN109659658A (en) * | 2019-01-18 | 2019-04-19 | 燕山大学 | Hoop truss deployable antenna mechanism based on V-type scissors cell cube |
| CN109659658B (en) * | 2019-01-18 | 2023-09-19 | 燕山大学 | Perimeter truss expandable antenna mechanism based on V-shaped shear type unit body |
| CN112550762A (en) * | 2019-09-25 | 2021-03-26 | 华东交通大学 | Novel single-degree-of-freedom planar deployable mechanism network composed of three-symmetrical Bricard mechanisms |
| CN112550762B (en) * | 2019-09-25 | 2022-12-02 | 华东交通大学 | Novel single-degree-of-freedom planar deployable mechanism network composed of three-symmetrical Bricard mechanisms |
| CN112535156A (en) * | 2020-12-07 | 2021-03-23 | 浙江海洋大学 | Fishing net opening and closing device, fishing device and fishing net control method |
| US11627806B2 (en) | 2020-12-21 | 2023-04-18 | Lambs & Ivy, Inc. | Portable chair and blanket assembly |
| CN114361759A (en) * | 2021-12-16 | 2022-04-15 | 广东机电职业技术学院 | Deployable truss |
| CN115036668A (en) * | 2022-07-06 | 2022-09-09 | 哈尔滨工业大学（深圳） | Spatial large-scale deployable device, antenna and grabbing equipment |
| CN115036668B (en) * | 2022-07-06 | 2023-06-06 | 哈尔滨工业大学（深圳） | Space large-scale expandable device, antenna and grabbing equipment |
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