CN106058415A - Scissors type hexagonal-prism-shaped extensible unit and space extensible mechanism formed by the same - Google Patents
Scissors type hexagonal-prism-shaped extensible unit and space extensible mechanism formed by the same Download PDFInfo
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- CN106058415A CN106058415A CN201610511971.1A CN201610511971A CN106058415A CN 106058415 A CN106058415 A CN 106058415A CN 201610511971 A CN201610511971 A CN 201610511971A CN 106058415 A CN106058415 A CN 106058415A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 15
- 239000000203 mixture Substances 0.000 claims description 47
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- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 2
- 235000007516 Chrysanthemum Nutrition 0.000 description 1
- 244000189548 Chrysanthemum x morifolium Species 0.000 description 1
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- 238000000429 assembly Methods 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
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Classifications
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- 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
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/288—Satellite antennas
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
- H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention relates to a scissors type hexagonal-prism-shaped extensible unit and a space extensible mechanism formed by the same. The scissors type hexagonal-prism-shaped extensible unit being a single-freedom-degree over-constrained hexagonal-prism-shaped basic extensible unit comprises twelve floral discs, six groups of scissors type folding rods, and twelve groups of folding connecting rods. One group of folding connecting rods limits the extending degree of the basic extensible unit based on the connecting rod lengths and the rest of eleven groups of folding connecting rods are over-constrained folding connecting rod, so that the rigidity of the basic extensible unit is improved effectively. Multiple basic extensible unit are arranged closely and the adjacent basic extensible units can form a space extensible mechanism by sharing four floral discs, one group of scissors type folding rods and two groups of folding connecting rods; and the size of the pace extensible mechanism can be changed by changing the number of the space extensible units. The provided scissors type hexagonal-prism-shaped extensible unit has high structural symmetry; and different large-dimension space extensible mechanisms can be formed based on assembling of multiple extensible units. Therefore, the scissors type hexagonal-prism-shaped extensible unit and the space extensible mechanism are suitable for constructing a space solar battery array bracket and a satellite planar reflecting antenna.
Description
Technical field
The present invention relates to a kind of development agency, particularly a kind of space development agency.
Background technology
Development agency originates from nineteen sixties, in recent years, along with the fast development of aerospace industry, various space flight
The function of device is the most complicated, and due to the demand of the spacecraft energy, the area of various spaceborne solar arraies is continuous
Increase, simultaneously in satellite antenna field, for meeting the space flight key technology such as electronic reconnaissance, data relaying, over the ground navigation to spaceborne
The high-gain requirement of antenna, satellite antenna reflector bore the most constantly increases, but due to the space by spaceflight delivering tool
Limiting, aerospace mechanism must fold up and draw in trousers at launching phase, after spacecraft injection, then
Relying on the power source carried to spread out to duty, therefore, development agency obtains along with the increase of various space missions
Arrive fast-developing and application.As space station basic skeleton, deployable/draw in space manipulator, heavy caliber deployable antenna,
Large-scale flexible solar array support etc..
According to the spatial geometric shape of development agency, can be divided into wire development agency, planar development agency and the body shape can
Exhibition mechanism, wherein applying most is planar development agency, and this type of mechanism can be launched into plane, is widely used in space and stretches
The fields such as exhibition arm, solar array, satellite antenna bracing frame.Launching and tucked way according to development agency, development agency is again
Hinged truss formula development agency, deformable material development agency and gas-filled unfolded development agency, hinged truss formula can be divided into
Development agency is mainly made up of connecting rod and kinematic pair, this type of mechanism have gathering fold bigger, precision is high, repeatable gathering exhibition
The property opened is good and the advantage of life-span length, has been widely used in space station basic skeleton, space mast and heavy caliber
The fields such as folding exhibition antenna.
At present, the most successfully have developed polytype hinged truss formula development agency, such as Russia's " Soyuz "
Hexahedron on spaceborne tetrahedral framework antenna, international space station owner's solar wing support keel, Japan's No. 8 satellites of chrysanthemum can be opened up
On unit truss-like parabola antenna, U.S.'s Thuraya satellite, bore is the Astro Mesh annular truss folding exhibition sky of 12.25m
Line etc..The following task such as celestial body detecting, space operation, being required for space development agency completes, but existing novel opens up
Mechanism unit type is less, the main connection node using complexity or unit mode, it is impossible to obtain ideal gathering rate, or
It cannot be guaranteed that unit has single movement degree of freedom during launching to draw in all the time, mechanism deploying reliability is made to reduce.
Summary of the invention
It is an object of the invention to provide one have the single degree of freedom, simple in construction, rigidity is high, expanding performance is good, can
The space development agency of unit and composition thereof can be opened up by scissor-type six prism that property is high.
It is that single-degree-of-freedom Planar Mechanisms six prism can open up unit substantially that scissor-type six prism of the present invention can open up unit, and it includes
12 scissors rods, 24 connecting rods and 12 floral discs；Described 12 scissors rod structures are identical, two scissors rods
Being one group, connected by revolute pair in the middle of its two scissors rod, 12 scissors rods form six groups of scissor folding rods, six groups of scissors altogether
Folding rod is symmetrically distributed on six sides that substantially can open up unit, is in the folding exhibition of the scissor folding rod to side position direction phase
With；Described 24 bar linkage structures are identical, and two connecting rods are one group, and one end of two connecting rod is by revolute pair even
Connecing, 24 connecting rods form 12 groups of folding connecting rods altogether, and 12 groups of folding connecting rods are symmetrically distributed in can open up the upper of unit substantially
On lower two faces, all there are six groups of folding connecting rods upper and lower surfaces, and it is identical to be in the folding exhibition of the folding connecting rod to side position direction；Institute
Stating 12 disc chuck structures identical, each floral disc all has three forks, and each fork is provided with one and monosymmetric opens
Mouth groove, open slot is used for inserting scissor folding rod and connecting rod, and each open slot is equipped with two parallel cylindrical holes of axis, inner side
Cylindrical hole for and insert scissor folding rod connect by revolute pair, the cylindrical hole in outside for and insertion folding connecting rod
Being connected by revolute pair, open slot centreline space angle is 120 °, and 12 floral discs are symmetrically distributed in can open up the ten of unit substantially
On two summits；Often four ends of group scissor folding rod insert the opening of four floral discs being on same plane summit with it respectively
Groove, is connected with the cylindrical hole inside four floral disc open slots by four revolute pairs, and four revolute pair axis are cut with being connected two
The revolute pair axis of fork arm composition scissor folding rod is parallel, and often group scissor folding rod connects altogether five revolute pairs, five rotations
The revolute pair dead in line that secondary axis is relative with position on offside scissor folding rod respectively；The two ends often organizing folding connecting rod are inserted respectively
Enter the open slot of parallel two floral disc, be connected with the cylindrical hole outside two floral disc open slots by two revolute pairs, two
Revolute pair axis is parallel with the revolute pair axis connecting two connecting rod composition folding connecting rods, and often group folding connecting rod has three rotations
Pair, three revolute pair axis respectively be in the revolute pair dead in line that on same plane offside folding connecting rod, position is relative, point
The cloth each revolute pair axis on the folding connecting rod that the Shang Zhezhan direction, upper and lower surfaces that substantially can open up unit is identical and correspondence
Two sides on have identical folding exhibition direction scissor folding rod on revolute pair axis the most parallel.
Described substantially can open up in unit, the length limitation of folding connecting rod can open up the expansion degree of unit substantially, when the company of folding
Bar stretches i.e. on folding connecting rod during three revolute pair axis co-planar completely, substantially can open up unit and just be in its fully unfolded position, and ten
Any 11 groups of folding connecting rods in two groups of folding connecting rods are over-constrained linkage, play and improve the work that substantially can open up element stiffness
With, another set folding connecting rod relies on length of connecting rod to limit the expansion degree that substantially can open up unit.
Scissor-type six prism of the present invention can open up the space development agency of unit composition, and it includes multiple substantially to open up list
Unit, multiple unit close-packed arrays of substantially can opening up, adjacent can open up four floral discs of units shared, one group of scissor folding rod and two substantially
Group folding connecting rod, wherein, four ends of the one group of scissor folding rod shared insert in the open slot of shared four floral disc respectively, logical
Crossing four revolute pairs to be connected with the cylindrical hole inside four floral disc open slots, the two ends of the two groups of folding connecting rods shared are inserted respectively
In the open slot of four floral discs shared, it is connected by the cylindrical hole outside four revolute pairs and four floral disc open slots；Pass through
Change the quantity that substantially can open up unit, it is possible to change the size of space development agency.
The present invention compared with prior art has the advantage that
1, the present invention is that unit can be opened up in six prism spaces, has bigger gathering rate, containing multiple Planar Mechanisms folding connecting rods,
Integral rigidity is higher.
2, present configuration is simple, and kinematic pair is revolute pair, it is easy to accomplish engineering manufacture.
3, the present invention is that single-degree-of-freedom space can open up unit substantially, the most only need a driving can be achieved with the expansion of unit with
Drawing motion in, expanding performance is good, and reliability is high.
4, the present invention has the structural symmetry of height, by multiple assemblings opening up unit, being formed different
The space development agency of large scale, it is adaptable to structure space solar cell battle array support and satellite Plane-reflective antenna.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram that the present invention can open up unit substantially；
Fig. 2 is the three-dimensional simplified schematic diagram of Fig. 1 its fully unfolded position；
Fig. 3 is the three-dimensional simplified schematic diagram of the complete rounding state of Fig. 1；
Fig. 4 is that in Fig. 1, simplified schematic diagram is amplified in floral disc coupling part；
Fig. 5 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 2 half deployed condition；
Fig. 6 is the three-dimensional simplified schematic diagram of Fig. 5 its fully unfolded position；
Fig. 7 is the three-dimensional simplified schematic diagram of the complete rounding state of Fig. 5.
In figure: 1: the first floral disc, 2: the second floral discs, 3: the first scissors rods, 4: the second scissors rods, 5: the three floral discs, 6: the
Four floral discs, 7: the three scissors rods, 8: the four scissors rods, 9: the five floral discs, 10: the six floral discs, 11: the five scissors rods, 12: the six
Scissors rod, 13: the seven floral discs, 14: the eight floral discs, 15: the seven scissors rods, 16: the eight scissors rods, 17: the nine floral discs, 18: the
Nine scissors rods, 19: the ten floral discs, 20: the ten scissors rods, 21: the ten one floral discs, 22: the ten two floral discs, 23: the ten one scissors
Bar, 24: the ten two scissors rods, 25: first connecting rod, 26: second connecting rod, 27: third connecting rod, 28: fourth link, 29: the five even
Bar, 30: the six-bar linkage, 31: the seven-link assemblies, 32: the eight connecting rods, 33: the nine connecting rods, 34: the ten connecting rods, 35: the ten one connecting rods,
36: the ten two connecting rods, 37: the ten three connecting rods, 38: the ten double leval jib, 39: the ten five connecting rods, 40: the ten six-bar linkage, 41: the ten
Seven-link assembly, 42: the ten eight connecting rods, 43: the ten nine connecting rods, 44: the two ten connecting rods, 45: the two ten one connecting rods, 46: the two ten two
Connecting rod, 47: the two ten three connecting rods, 48: the two ten double leval jib.
Detailed description of the invention
Embodiment 1
Can open up in cell schematics at scissor-type six prism shown in Fig. 1,12 scissors rod structures are identical, two
Scissors rod is one group, is connected by revolute pair in the middle of its two scissors rod, and 12 scissors rods form six groups of scissor folding rods altogether, six
Group scissor folding rod is symmetrically distributed on six sides that substantially can open up unit, is in the folding of the scissor folding rod to side position exhibition side
To identical；24 bar linkage structures are identical, and two connecting rods are one group, and one end of two connecting rod is by revolute pair even
Connecing, 24 connecting rods form 12 groups of folding connecting rods altogether, and 12 groups of folding connecting rods are symmetrically distributed in can open up the upper of unit substantially
On lower two faces, all there are six groups of folding connecting rods upper and lower surfaces, and it is identical to be in the folding exhibition of the folding connecting rod to side position direction；Ten
Two disc chuck structures are identical, and each floral disc all has three forks, and each fork is provided with a monosymmetric open slot,
For inserting scissor folding rod and connecting rod, each open slot all has two parallel cylindrical holes of axis, and the cylindrical hole of inner side is used
In being connected by revolute pair with the scissor folding rod inserted, the cylindrical hole in outside is used for and the folding connecting rod of insertion passes through revolute pair
Connecting, open slot centreline space angle is 120 °, and 12 floral discs are symmetrically distributed on 12 summits that substantially can open up unit；
Often four ends of group scissor folding rod insert the open slot of four floral discs being on same plane summit with it respectively, by four
Revolute pair is connected with the cylindrical hole inside four floral disc open slots, and parallel two flower is inserted at the two ends often organizing folding connecting rod respectively
The open slot of dish, is connected with the cylindrical hole outside two floral disc open slots by two revolute pairs.
Composition the first scissor folding rod, the 3rd scissor is connected by revolute pair in the middle of first scissors rod 3 and the second scissors rod 4
Composition the second scissor folding rod, the 5th scissors rod 11 and the 6th scissors rod is connected by revolute pair in the middle of bar 7 and the 4th scissors rod 8
Composition the 3rd scissor folding rod is connected by revolute pair, by rotating in the middle of the 7th scissors rod 15 and the 8th scissors rod 16 in the middle of 12
The secondary middle revolute pair of passing through of composition the 4th scissor folding rod, the 9th scissors rod 18 and the tenth scissors rod 20 that connects connects composition the 5th
Scissor folding rod, connects composition the 6th scissor by revolute pair in the middle of the 11st scissors rod the 23 and the 12nd scissors rod 24 and folds
Bar；Four ends of the first scissor folding rod insert the opening of first floral disc the 1, second floral disc the 2, the 3rd floral disc the 5, the 4th floral disc 6 respectively
In groove, and being connected with four floral disc open slot inside cylindrical holes by four revolute pairs, five on the first scissor folding rod turn
Dynamic secondary axis is the most parallel；Four ends of the second scissor folding rod insert the 3rd floral disc the 5, the 4th floral disc the 6, the 5th floral disc the 9, the 6th respectively
In the open slot of floral disc 10, and being connected with four floral disc open slot inside cylindrical holes by four revolute pairs, the second scissor folds
Five revolute pair axis on bar are the most parallel；Four ends of the 3rd scissor folding rod insert respectively the 5th floral disc the 9, the 6th floral disc 10,
In the open slot of the 7th floral disc the 13, the 8th floral disc 14, and by four revolute pairs with four floral disc open slot inside cylindrical holes even
Connecing, five revolute pair axis on the 3rd scissor folding rod are the most parallel；Four ends of the 4th scissor folding rod insert the 7th flower respectively
In the open slot of dish the 13, the 8th floral disc the 14, the 9th floral disc the 17, the tenth floral disc 19, and opened with four floral discs by four revolute pairs
Mouth groove inside cylindrical hole connects, and five revolute pair axis on the 4th scissor folding rod are the most parallel；The four of 5th scissor folding rod
End inserts in the open slot of the 9th floral disc the 17, the tenth floral disc the 19, the 11st floral disc the 21, the 12nd floral disc 22 respectively, and by four
Individual revolute pair is connected with four floral disc open slot inside cylindrical holes, and five revolute pair axis on the 5th scissor folding rod are the most flat
OK；Four ends of the 6th scissor folding rod insert the 11st floral disc the 21, the 12nd floral disc the 22, first floral disc the 1, second floral disc 2 respectively
Open slot in, and be connected, on the 6th scissor folding rod with four floral disc open slot inside cylindrical holes by four revolute pairs
Five revolute pair axis are the most parallel；First scissor folding rod and the revolute pair axis weight of the 4th scissor folding rod corresponding position
Close, the second scissor folding rod and the revolute pair dead in line of the 5th scissor folding rod corresponding position, the 3rd scissor folding rod and
The revolute pair dead in line of the 6th scissor folding rod corresponding position.
As in figure 2 it is shown, one end of first connecting rod 25 and second connecting rod 26 connects composition the first folding connecting rod by revolute pair,
One end of third connecting rod 27 and fourth link 28 connects composition the second folding connecting rod by revolute pair, and the 5th connecting rod 29 and the 6th connects
One end of bar 30 connects composition the 3rd folding connecting rod by revolute pair, and one end of seven-link assembly 31 and the 8th connecting rod 32 is by rotating
Secondary connection forms the 4th folding connecting rod, and one end of the 9th connecting rod the 33 and the 12nd connecting rod 36 connects composition the 5th folding by revolute pair
Folded connecting rod, one end of the tenth connecting rod the 34 and the 11st connecting rod 35 connects composition the 6th folding connecting rod by revolute pair, and the 13rd even
One end of bar the 37 and the 15th connecting rod 39 connects composition the 7th folding connecting rod by revolute pair, and the tenth double leval jib the 38 and the 16th is even
One end of bar 40 connects composition the 8th folding connecting rod by revolute pair, and one end of the tenth seven-link assembly the 41 and the 18th connecting rod 42 is passed through
Revolute pair connects composition the 9th folding connecting rod, and one end of the 19th connecting rod the 43 and the 20th connecting rod 44 connects composition by revolute pair
Tenth folding connecting rod, one end of the 21st connecting rod the 45 and the 20th double leval jib 48 connects composition the 11st folding by revolute pair
Connecting rod, one end of the 22nd connecting rod the 46 and the 23rd connecting rod 47 connects composition the tenth two-fold connecting rod by revolute pair；The
The two ends of one folding connecting rod are inserted in the open slot of the first parallel floral disc 1 and the 3rd floral disc 5 respectively, by two revolute pairs with
Outside two floral disc open slots, cylindrical hole connects, and three revolute pair axis on the first folding connecting rod are the most parallel；Second company of folding
The two ends of bar are inserted in the open slot of the second parallel floral disc 2 and the 4th floral disc 6 respectively, by two revolute pairs and two floral discs
Outside open slot, cylindrical hole connects, and three revolute pair axis on the second folding connecting rod are the most parallel；The two ends of the 3rd folding connecting rod
Insert in the open slot of the 3rd parallel floral disc 5 and the 5th floral disc 9 respectively, by outside two revolute pairs and two floral disc open slots
Side cylindrical hole connects, and three revolute pair axis on the 3rd folding connecting rod are the most parallel；The two ends of the 4th folding connecting rod are inserted respectively
In the 4th parallel floral disc 6 and the open slot of the 6th floral disc 10, by cylinder outside two revolute pairs and two floral disc open slots
Hole connects, and three revolute pair axis on the 4th folding connecting rod are the most parallel；The two ends of the 5th folding connecting rod are inserted parallel respectively
In the open slot of the 5th floral disc 9 and the 8th floral disc 14, it is connected with cylindrical hole outside two floral disc open slots by two revolute pairs,
Three revolute pair axis on 5th folding connecting rod are the most parallel；The 6th parallel floral disc is inserted at the two ends of the 6th folding connecting rod respectively
10 and the 7th floral disc 13 open slot in, be connected with cylindrical hole outside two floral disc open slots by two revolute pairs, the 6th folding
Three revolute pair axis on folded connecting rod are the most parallel；The 7th parallel floral disc 13 and is inserted at the two ends of the 7th folding connecting rod respectively
In the open slot of nine floral discs 17, it is connected with cylindrical hole outside two floral disc open slots by two revolute pairs, the 7th folding connecting rod
On three revolute pair axis the most parallel；The 8th parallel floral disc 14 and the tenth floral disc is inserted at the two ends of the 8th folding connecting rod respectively
In the open slot of 19, it is connected with cylindrical hole outside two floral disc open slots by two revolute pairs, three on the 8th folding connecting rod
Individual revolute pair axis is the most parallel；The 9th parallel floral disc the 17 and the 11st floral disc 21 is inserted at the two ends of the 9th folding connecting rod respectively
In open slot, being connected with cylindrical hole outside two floral disc open slots by two revolute pairs, three on the 9th folding connecting rod turn
Dynamic secondary axis is the most parallel；The opening of the tenth parallel floral disc the 19 and the 12nd floral disc 22 is inserted at the two ends of the tenth folding connecting rod respectively
In groove, it is connected with cylindrical hole outside two floral disc open slots by two revolute pairs, three revolute pairs on the tenth folding connecting rod
Axis is the most parallel；The open slot of the second parallel floral disc the 2 and the 11st floral disc 21 is inserted at the two ends of the 11st folding connecting rod respectively
In, it is connected with cylindrical hole outside two floral disc open slots by two revolute pairs, three revolute pairs on the 11st folding connecting rod
Axis is the most parallel；The open slot of the first parallel floral disc the 1 and the 12nd floral disc 22 is inserted at the two ends of the tenth two-fold connecting rod respectively
In, it is connected with cylindrical hole outside two floral disc open slots by two revolute pairs, three revolute pairs on the tenth two-fold connecting rod
Axis is the most parallel；Revolute pair dead in line corresponding on first folding connecting rod and the 8th folding connecting rod, the second folding connecting rod and the
Revolute pair dead in line corresponding on seven folding connecting rods, revolute pair axis corresponding on the 3rd folding connecting rod and the tenth folding connecting rod
Overlap, revolute pair dead in line corresponding on the 4th folding connecting rod and the 9th folding connecting rod, the 5th folding connecting rod and the tenth eighty percent discount
Revolute pair dead in line corresponding on folded connecting rod, revolute pair axis weight corresponding on the 6th folding connecting rod and the 11st folding connecting rod
Close.
First folding connecting rod, the second folding connecting rod, the 7th folding connecting rod, the 8th folding connecting rod, the first scissor folding rod with
And revolute pair axis that the 4th on scissor folding rod is the most parallel, the 3rd folding connecting rod, the 4th folding connecting rod, the 9th folding connecting rod,
Revolute pair axis on tenth folding connecting rod, the second scissor folding rod and the 5th scissor folding rod is the most parallel, the 5th company of folding
Bar, the 6th folding connecting rod, the 11st folding connecting rod, the tenth two-fold connecting rod, the 3rd scissor folding rod and the 6th scissor fold
Revolute pair axis on bar is the most parallel.
As shown in Figure 1-Figure 3, the length of folding connecting rod can limit the expansion degree that substantially can open up unit, when folding connecting rod is complete
Entirely stretch i.e. on folding connecting rod during three revolute pair axis co-planar, substantially can open up unit and just be in its fully unfolded position, work as folding
When connecting rod draws in completely, substantially can open up unit and just be in complete rounding state, any 11 groups of foldings in 12 groups of folding connecting rods
Folded connecting rod is over-constrained linkage, can effectively improve the integral rigidity of elementary cell, and another set folding connecting rod relies on connecting rod
Length limitation can open up the expansion degree of unit substantially.
Embodiment 2
As shown in Figure 5-Figure 7, scissor-type six prism can be opened up the space development agency of unit composition and includes multiple substantially can opening up
Unit, each parts that substantially can open up unit and connected mode are same as in Example 1, multiple substantially can open up unit close-packed arrays,
Adjacent can open up four floral discs of units shared, one group of scissor folding rod and two groups of folding connecting rods substantially, cuts for one group wherein shared
Four ends of fork folding rod insert in the open slot of shared four floral disc respectively, by four revolute pairs and four floral disc open slots
Inside cylindrical hole connects, and the two ends of the two groups of folding connecting rods shared are inserted in the open slot that aforementioned four shares floral disc respectively, logical
Cross revolute pair to be connected with cylindrical hole outside floral disc open slot；In Fig. 5-Fig. 7, A and B is two and adjacent substantially can open up unit, with base
Originally, as a example by can opening up unit A and B, substantially can open up unit for two and roll over by sharing the scissor being made up of scissors rod 23 ' and scissors rod 24 '
Folded bar, four floral discs 1 ', 2 ', 21 ', 22 ' and the two groups of folding connecting rods being made up of connecting rod 45 ', 46 ', 47 ', 48 ' connect；This
Other in the development agency of space substantially can be opened up the connected mode between unit and substantially can open up unit A and substantially can open up unit B
Connected mode is identical, by changing the quantity that substantially can open up unit, thus it is possible to vary the size of space development agency.
Fig. 5 is space development agency half deployed condition that scissor-type six prism can open up unit composition, and Fig. 6 is that it is fully deployed
State, Fig. 7 is its complete rounding state.
Claims (6)
1. scissor-type six prism can open up the space development agency of unit and composition thereof, it is characterised in that: scissor-type six prism
Can open up unit for substantially can open up unit for single-degree-of-freedom Planar Mechanisms six prism, it includes 12 scissors rods, 24 connecting rods
With 12 floral discs；Described 12 scissors rod structures are identical, and two scissors rods are one group, pass through in the middle of its two scissors rod
Revolute pair connects, and 12 scissors rods form six groups of scissor folding rods altogether, and six groups of scissor folding rods are symmetrically distributed in can be opened up substantially
On six sides of unit, it is in the folding exhibition of the scissor folding rod to side position direction identical；Described 24 bar linkage structures are complete
Exactly the same, two connecting rods are one group, and one end of two connecting rod is connected by revolute pair, and 24 connecting rods form 12 groups altogether
Folding connecting rod, 12 groups of folding connecting rods are symmetrically distributed in can be opened up on the upper and lower surfaces of unit substantially, and upper and lower surfaces all have six
Group folding connecting rod, and it is identical to be in the folding exhibition of the folding connecting rod to side position direction；Described 12 disc chuck structures are identical, often
Individual floral disc all has three forks, and each fork is provided with a monosymmetric open slot, and open slot is used for inserting scissor and folds
Bar and connecting rod, each open slot all has two parallel cylindrical holes of axis, the scissor folding that the cylindrical hole of inner side is used for and inserts
Folded bar is connected by revolute pair, and the cylindrical hole in outside is used for and the folding connecting rod of insertion is connected by revolute pair, open slot center
Between line, angle is 120 °, and 12 floral discs are symmetrically distributed on 12 summits that substantially can open up unit；Often group scissor folding rod
Four ends insert the open slot of four floral discs being on same plane summit with it respectively, by four revolute pairs and four flowers
Cylindrical hole inside dish open slot is connected, four revolute pair axis and the revolute pair being connected two scissors rod composition scissor folding rods
Axis is parallel, and often in group scissor folding rod, connection has five revolute pairs, five revolute pair axis to fold with offside scissor respectively altogether
The revolute pair dead in line that on bar, position is relative；The opening of parallel two floral disc is inserted at the two ends often organizing folding connecting rod respectively
Groove, is connected with the cylindrical hole outside two floral disc open slots by two revolute pairs, two revolute pair axis be connected two companies
The revolute pair axis of bar composition folding connecting rod is parallel, and often group folding connecting rod has three revolute pairs, and three revolute pair axis are respectively
Be in the revolute pair dead in line that on same plane offside folding connecting rod, position is relative, be distributed in and substantially can open up the upper and lower of unit
On two faces, folding is opened up and is had identical folding on two sides of each revolute pair axis on the folding connecting rod that direction is identical and correspondence
Revolute pair axis on the scissor folding rod in exhibition direction is the most parallel.
Scissor-type six prism the most according to claim 1 can open up the space development agency of unit and composition thereof, and its feature exists
Can open up in: described scissor-type six prism and connect composition first by revolute pair in the middle of the first scissors rod of unit and the second scissors rod
Connecting composition the second scissor folding rod by revolute pair in the middle of scissor folding rod, the 3rd scissors rod and the 4th scissors rod, the 5th cuts
Composition the 3rd scissor folding rod is connected by revolute pair, in the 7th scissors rod and the 8th scissors rod in the middle of fork arm and the 6th scissors rod
Between connect composition the 4th scissor folding rod by revolute pair, connect group by revolute pair in the middle of the 9th scissors rod and the tenth scissors rod
Become and connect composition the 6th scissor folding by revolute pair in the middle of the 5th scissor folding rod, the 11st scissors rod and the 12nd scissors rod
Bar；Four ends of the first scissor folding rod insert in the open slot of the first floral disc, the second floral disc, the 3rd floral disc, the 4th floral disc respectively,
And be connected with four floral disc open slot inside cylindrical holes by four revolute pairs, five turns auxiliary shaft on the first scissor folding rod
Line is the most parallel；Four ends of the second scissor folding rod insert the 3rd floral disc, the 4th floral disc, the 5th floral disc, the opening of the 6th floral disc respectively
In mouth groove, and it is connected with four floral disc open slot inside cylindrical holes by four revolute pairs, five on the second scissor folding rod
Revolute pair axis is the most parallel；Four ends of the 3rd scissor folding rod insert respectively the 5th floral disc, the 6th floral disc, the 7th floral disc, the 8th
In the open slot of floral disc, and it is connected with four floral disc open slot inside cylindrical holes by four revolute pairs, the 3rd scissor folding rod
On five revolute pair axis the most parallel；Four ends of the 4th scissor folding rod insert the 7th floral disc, the 8th floral disc, the 9th flower respectively
Dish, the tenth floral disc open slot in, and be connected with four floral disc open slot inside cylindrical holes by four revolute pairs, the 4th scissor
Five revolute pair axis on folding rod are the most parallel；Four ends of the 5th scissor folding rod insert respectively the 9th floral disc, the tenth floral disc,
11st floral disc, the 12nd floral disc open slot in, and by four revolute pairs with four floral disc open slot inside cylindrical holes even
Connecing, five revolute pair axis on the 5th scissor folding rod are the most parallel；Four ends of the 6th scissor folding rod insert the 11st respectively
Floral disc, the 12nd floral disc, the first floral disc, the second floral disc open slot in, and by four revolute pairs and four floral disc open slots
Inside cylindrical hole connects, and five revolute pair axis on the 6th scissor folding rod are the most parallel；First scissor folding rod and the 4th is cut
The revolute pair dead in line of fork folding rod corresponding position, the second scissor folding rod and the 5th scissor folding rod corresponding position
Revolute pair dead in line, the 3rd scissor folding rod and the revolute pair dead in line of the 6th scissor folding rod corresponding position.
One end of first connecting rod and second connecting rod connects composition the first folding connecting rod, third connecting rod and fourth link by revolute pair
One end by revolute pair connect composition the second folding connecting rod, one end of the 5th connecting rod and six-bar linkage connects group by revolute pair
Becoming the 3rd folding connecting rod, one end of seven-link assembly and the 8th connecting rod connects composition the 4th folding connecting rod by revolute pair, and the 9th even
One end of bar and the 12nd connecting rod connects composition the 5th folding connecting rod, the tenth connecting rod and one end of the 11st connecting rod by revolute pair
Connecting composition the 6th folding connecting rod by revolute pair, one end of the 13rd connecting rod and the 15th connecting rod connects composition by revolute pair
7th folding connecting rod, one end of the tenth double leval jib and the tenth six-bar linkage is connected by revolute pair and forms the 8th folding connecting rod, and the tenth
One end of seven-link assembly and the 18th connecting rod connects composition the 9th folding connecting rod, the 19th connecting rod and the 20th connecting rod by revolute pair
One end by revolute pair connect composition the tenth folding connecting rod, one end of the 21st connecting rod and the 20th double leval jib by rotate
Secondary connecting composition the 11st folding connecting rod, one end of the 22nd connecting rod and the 23rd connecting rod connects composition the by revolute pair
Ten two-fold connecting rods；The two ends of the first folding connecting rod are inserted in the open slot of the first parallel floral disc and the 3rd floral disc respectively, logical
Crossing two revolute pairs to be connected with cylindrical hole outside two floral disc open slots, three revolute pair axis on the first folding connecting rod are the most flat
OK；The two ends of the second folding connecting rod are inserted in the open slot of the second parallel floral disc and the 4th floral disc respectively, by two rotations
Pair is connected with cylindrical hole outside two floral disc open slots, and three revolute pair axis on the second folding connecting rod are the most parallel；3rd folding
The two ends of folded connecting rod are inserted in the open slot of the 3rd parallel floral disc and the 5th floral disc respectively, by two revolute pairs and two flowers
Outside dish open slot, cylindrical hole connects, and three revolute pair axis on the 3rd folding connecting rod are the most parallel；The two of 4th folding connecting rod
End inserts in the open slot of the 4th parallel floral disc and the 6th floral disc respectively, by two revolute pairs with two floral disc open slots outside
Side cylindrical hole connects, and three revolute pair axis on the 4th folding connecting rod are the most parallel；The two ends of the 5th folding connecting rod are inserted respectively
In the 5th parallel floral disc and the open slot of the 8th floral disc, by cylindrical hole outside two revolute pairs and two floral disc open slots even
Connecing, three revolute pair axis on the 5th folding connecting rod are the most parallel；Parallel the 6th is inserted at the two ends of the 6th folding connecting rod respectively
In the open slot of floral disc and the 7th floral disc, it is connected with cylindrical hole outside two floral disc open slots by two revolute pairs, the 6th folding
Three revolute pair axis on folded connecting rod are the most parallel；Parallel the 7th floral disc and the 9th is inserted at the two ends of the 7th folding connecting rod respectively
In the open slot of floral disc, it is connected, on the 7th folding connecting rod with cylindrical hole outside two floral disc open slots by two revolute pairs
Three revolute pair axis are the most parallel；The two ends of the 8th folding connecting rod insert the 8th parallel floral disc and the opening of the tenth floral disc respectively
In groove, it is connected with cylindrical hole outside two floral disc open slots by two revolute pairs, three revolute pairs on the 8th folding connecting rod
Axis is the most parallel；The two ends of the 9th folding connecting rod are inserted in the open slot of the 9th parallel floral disc and the 11st floral disc respectively, logical
Crossing two revolute pairs to be connected with cylindrical hole outside two floral disc open slots, three revolute pair axis on the 9th folding connecting rod are the most flat
OK；The two ends of the tenth folding connecting rod are inserted in the open slot of the tenth parallel floral disc and the 12nd floral disc respectively, are turned by two
Dynamic pair is connected with cylindrical hole outside two floral disc open slots, and three revolute pair axis on the tenth folding connecting rod are the most parallel；Tenth
The two ends of one folding connecting rod are inserted in the open slot of the second parallel floral disc and the 11st floral disc respectively, by two revolute pairs with
Outside two floral disc open slots, cylindrical hole connects, and three revolute pair axis on the 11st folding connecting rod are the most parallel；Tenth eighty percent discount
The two ends of folded connecting rod are inserted in the open slot of the first parallel floral disc and the 12nd floral disc respectively, by two revolute pairs with two
Outside floral disc open slot, cylindrical hole connects, and three revolute pair axis on the tenth two-fold connecting rod are the most parallel；First folding connecting rod
With revolute pair dead in line corresponding on the 8th folding connecting rod, revolute pair corresponding on the second folding connecting rod and the 7th folding connecting rod
Dead in line, revolute pair dead in line corresponding on the 3rd folding connecting rod and the tenth folding connecting rod, the 4th folding connecting rod and the 9th
Revolute pair dead in line corresponding on folding connecting rod, revolute pair axis corresponding on the 5th folding connecting rod and the tenth two-fold connecting rod
Overlap, revolute pair dead in line corresponding on the 6th folding connecting rod and the 11st folding connecting rod.
Scissor-type six prism the most according to claim 1 and 2 can open up the space development agency of unit and composition thereof, its feature
It is: described six groups of scissor folding rods are symmetrically distributed on six sides that substantially can open up unit, are in the scissor to side position
Folding rod folding exhibition direction is identical, often has five revolute pairs in group scissor folding rod, connects four revolute pairs of floral disc and is connected
The revolute pair axis that two scissors rods form this scissor folding rod is parallel, five revolute pair axis respectively with offside scissor folding rod
The revolute pair dead in line that upper position is relative.
Scissor-type six prism the most according to claim 1 and 2 can open up the space development agency of unit and composition thereof, its feature
It is: described 12 groups of folding connecting rods are symmetrically distributed in can be opened up on the upper and lower surfaces of unit substantially, and upper and lower surfaces all have six
Group folding connecting rod, and it is identical to be in the folding exhibition of the folding connecting rod to side position direction, often group folding connecting rod connects altogether three rotations
Pair, the revolute pair axis that two connecting rods of two revolute pair axis and connection connecting floral disc form this folding connecting rod is parallel, three
Revolute pair axis respectively be in the revolute pair dead in line that on same plane offside folding connecting rod, position is relative.
Scissor-type six prism the most according to claim 1 and 2 can open up the space development agency of unit and composition thereof, its feature
Be: be distributed in each revolute pair axis that substantially can open up on the folding connecting rod that Shang Zhezhan direction, unit upper and lower surfaces is identical and
There is the revolute pair axis on the scissor folding rod in identical folding exhibition direction the most parallel on two sides.
Scissor-type six prism the most according to claim 1 and 2 can open up the space development agency of unit and composition thereof, its feature
Being: can be opened up, by scissor-type six prism, the space development agency that unit forms, it includes multiple unit of substantially can opening up, multiple substantially
Can open up unit close-packed arrays, adjacent can open up each floral disc of units shared four, one group of scissor folding rod and two groups of folding connecting rods substantially,
Wherein, four ends of one group of scissor folding rod shared insert respectively in the open slot of aforementioned four floral disc and with open slot inside circle
Post holes is connected by revolute pair, the end of two groups of folding connecting rods shared insert respectively in the open slot of aforementioned four floral disc and with
Outer cylindrical hole of open slot is connected by revolute pair；By changing the quantity that substantially can open up unit, change space development agency
Size.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610511971.1A CN106058415A (en) | 2016-09-05 | 2016-09-05 | Scissors type hexagonal-prism-shaped extensible unit and space extensible mechanism formed by the same |
| CN201710499274.3A CN107331939B (en) | 2016-09-05 | 2017-06-27 | Scissor-type hexagonal prisms can open up the space development agency of unit and its composition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610511971.1A CN106058415A (en) | 2016-09-05 | 2016-09-05 | Scissors type hexagonal-prism-shaped extensible unit and space extensible mechanism formed by the same |
Publications (1)
| Publication Number | Publication Date |
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| CN106058415A true CN106058415A (en) | 2016-10-26 |
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| CN201610511971.1A Withdrawn CN106058415A (en) | 2016-09-05 | 2016-09-05 | Scissors type hexagonal-prism-shaped extensible unit and space extensible mechanism formed by the same |
| CN201710499274.3A Active CN107331939B (en) | 2016-09-05 | 2017-06-27 | Scissor-type hexagonal prisms can open up the space development agency of unit and its composition |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710499274.3A Active CN107331939B (en) | 2016-09-05 | 2017-06-27 | Scissor-type hexagonal prisms can open up the space development agency of unit and its composition |
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- 2016-09-05 CN CN201610511971.1A patent/CN106058415A/en not_active Withdrawn
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| CN107331939A (en) | 2017-11-07 |
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Application publication date: 20161026 |