CN107117333A - Two layers liang of ring connecting rod can open up unit and the high rigidity umbrella development agency based on this - Google Patents
Two layers liang of ring connecting rod can open up unit and the high rigidity umbrella development agency based on this Download PDFInfo
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- CN107117333A CN107117333A CN201710224066.2A CN201710224066A CN107117333A CN 107117333 A CN107117333 A CN 107117333A CN 201710224066 A CN201710224066 A CN 201710224066A CN 107117333 A CN107117333 A CN 107117333A
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- revolute pair
- connecting rod
- side chain
- axis
- unit
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- 230000008878 coupling Effects 0.000 claims abstract description 71
- 238000010168 coupling process Methods 0.000 claims abstract description 71
- 238000005859 coupling reaction Methods 0.000 claims abstract description 71
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 21
- 125000002950 monocyclic group Chemical group 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000699 topical effect Effects 0.000 description 1
Classifications
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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
Unit and high rigidity umbrella development agency based on this can be opened up the present invention relates to a kind of two layers liang of ring connecting rod, the structure that the connecting rod can open up unit is arranged symmetrically in minute surface, each pair intersects in the axis of the symmetrical revolute pair of minute surface on the plane of symmetry.Multiple connecting rods can open up unit annular array on same pedestal, and can be opened up per two neighboring connecting rod among unit, latter unit deletes first connecting rod and second connecting rod, first halfpace of latter unit is connected by the way that unit rotational is secondary with the second halfpace of previous unit, so just constitutes the development agency of loop coupling shape more than one.The connecting rod of the present invention can open up unit can open up unit with higher rigidity and bearing capacity than existing monocyclic connecting rod, and then the development agency built is the characteristics of have high rigidity, high bearing capacity.The present invention is applied to the multiple fields such as satellite antenna, solar cell board supporting structure and civil engineering.
Description
Technical field
The present invention relates to theory of mechanisms field, more particularly to a kind of two layers liang of ring connecting rod can open up unit and the high rigidity based on this
Umbrella development agency.
Background technology
Development agency is used as the basic skeleton of space station, the main body frame of space manipulator, heavy caliber deployable antenna branch
Support mechanism, large-sized solar windsurfing support may move truss structure of building etc. in logical Aero-Space, regenerative resource, space
Explore, heavy construction, the field such as national defense and military is played an important role.Recent decades, the design and research of development agency are boats
The topical subject in its field.NASA (NASA), Russian NASA, European Space Agency (ESA), Japanese space science is ground
The Aerospace Science and Technology Corporation for studying carefully institute (ISAS) and Japanese universe cause exploitation group (NASDA) and China is constantly carrying out space flight always
The research of development agency.Current foreign countries such as Massachusetts Institute Technology of some universities, univ cambridge uk, Spain Seville
The Harbin Institute of Technology of Building technology research institute, Tel Aviv, Israel university, Tokyo Univ Japan etc. and China, Zhejiang is big
Learn, University Of Tianjin, Tongji University, Beijing Institute of Technology, many scholars of BJ University of Aeronautics ＆ Astronautics etc. are carrying out that machine can be opened up
The design and research of structure.
The development agency of early stage is based primarily upon scissors hinge unit to build.In recent years, based on single-degree-of-freedom list closed loop space
The connecting rod of connecting rod can open up the concern that unit causes many scholars, common are Bennett 4R mechanisms, Myard 5R mechanisms,
Bricard 6R mechanisms etc..Chinese patent CN200380107030.2 presents a kind of based on Bennett 4R linkage units structure
Big development agency.Chinese patent CN102167165 A, which disclose a kind of monocyclic connecting rod of seven revolute pairs, can open up unit and using this
The development agency of unit, this unit is more preferable than the folding malleability of Myard 5R linkage units.
Two layers liang of ring connecting rod of the present invention, which can open up unit and be structurally different from existing monocyclic connecting rod, can open up unit,
The bar number and kinematic pair number that this connecting rod can open up unit are more, and the arrangement between motion secondary axis is more complicated, between side chain
The degree of coupling it is higher.Two layers liang of ring connecting rod of the present invention, which can open up unit, can open up the rigidity and carrying energy of unit than monocyclic connecting rod
Li Genggao, is especially suitable for building large-scale development agency.
The content of the invention
Unit can be opened up the present invention relates to two layers with high rigidity and high bearing capacity liang ring connecting rod and based on the unit
The umbrella development agency of structure.
Realizing the technical solution adopted by the present invention is：
A kind of two layers liang of ring connecting rod can open up unit, it is characterised in that：It includes pedestal, the first revolute pair, first connecting rod, the
Two revolute pairs, second connecting rod, the first halfpace, the 3rd revolute pair, third connecting rod, the 4th revolute pair, fourth link, the 5th turn
Dynamic pair, the 5th connecting rod, the 6th revolute pair, six-bar linkage, the 7th revolute pair, the second halfpace, seven-link assembly, eighth-turn are moved
Pair, the 8th connecting rod, the 9th revolute pair, coupling side chain revolute pair one, coupling side chain connecting rod one, coupling side chain revolute pair two, coupling
Side chain connecting rod two, coupling side chain revolute pair three, coupling side chain connecting rod three, coupling side chain revolute pair four；Said base, connecting rod is secondary
There is following annexation with platform：First connecting rod is arranged on pedestal by the first revolute pair, and second connecting rod is rotated by second
Pair is connected with first connecting rod, and the center line of the axis of the second revolute pair along second connecting rod, the first halfpace and second connecting rod are solid
Fixed connection, third connecting rod is connected by the 3rd revolute pair with the first halfpace, and fourth link passes through the 4th revolute pair and the 3rd
Connecting rod is connected, and the center line of the axis of the 4th revolute pair along third connecting rod, the 5th connecting rod passes through the 5th revolute pair and fourth link
Connection, six-bar linkage is connected by the 6th revolute pair with the 5th connecting rod, the center line of the axis of the 6th revolute pair along six-bar linkage,
Second halfpace is connected by the 7th revolute pair with six-bar linkage, and seven-link assembly is fixedly connected with the second halfpace, and the 8th
Connecting rod one end is connected by the 8th revolute pair with seven-link assembly, and the other end is arranged on pedestal by the 9th revolute pair, eighth-turn
Center line of the secondary axis along seven-link assembly is moved, coupling side chain connecting rod one is by coupling the halfpace of side chain revolute pair one and first
Connection, coupling side chain connecting rod two-way overcoupling side chain revolute pair two is connected with coupling side chain connecting rod one, coupling side chain connecting rod 31
End is connected by coupling side chain revolute pair three with coupling side chain connecting rod two, and the other end is by coupling in side chain revolute pair four and second
Between platform connect；The axis of first revolute pair and the axis of the 9th revolute pair intersect in base plane, the axle of the 3rd revolute pair
Line and the axis of the 7th revolute pair are intersecting, and the axis and the axis of the 3rd revolute pair of coupling side chain revolute pair one are parallel to each other, coupling
The axis and the axis of the 7th revolute pair for closing side chain revolute pair four are parallel to each other, and the axis of coupling side chain revolute pair one is with coupling branch
The axis of chain revolute pair four intersects, and couples axis antarafacial of the axis of side chain revolute pair two with coupling side chain revolute pair one, coupling
The axis of side chain revolute pair three and the axis antarafacial for coupling side chain revolute pair four, the axis of coupling side chain revolute pair two is with coupling branch
The axis of chain revolute pair three intersects.
Multiple above-mentioned connecting rods can open up unit and build umbrella development agency as follows：Connecting rod can open up unit annular array
On same pedestal, in two adjacent front-and-back units, latter unit deletes first connecting rod and second connecting rod, the of latter unit
One halfpace is connected by the way that unit rotational is secondary with the second halfpace of previous unit, the secondary axis of unit rotational and previous list
The axis collinear of 8th revolute pair of member.It is 6-12 that contained connecting rod, which can open up the quantity of unit, in above-mentioned development agency, and can be opened up
The pedestal of mechanism is regular prism, and the bottom surface side number of the pedestal is consistent with the quantity that connecting rod can open up unit.
The advantage of the invention is that：
1st, connecting rod involved in the present invention can open up unit than existing single closed-loop link can open up unit have higher rigidity and
Bearing capacity, the development agency that can open up cell formation based on such connecting rod also has higher rigidity and bearing capacity.
2nd, development agency involved in the present invention is a kind of umbrella form, and driving is simple, is easy to control.
Brief description of the drawings
Fig. 1 is that the connecting rod of the embodiment of the present invention 1 can open up cellular construction schematic diagram；
Fig. 2 is the development agency deployed condition schematic diagram of the embodiment of the present invention 2；
Fig. 3 is the development agency expansion process schematic of the embodiment of the present invention 2；
Fig. 4 is the development agency rounding state schematic diagram of the embodiment of the present invention 2.
Embodiment
For present disclosure, function and feature can be further appreciated that, the present invention is entered with reference to the accompanying drawings and examples
Row is illustrated in detail, and present disclosure is not limited to following examples.
Embodiment 1：
A kind of two layers liang of ring connecting rod of the present embodiment can open up the structure of unit as shown in figure 1, it include pedestal FB, first turn
Dynamic secondary R1, first connecting rod L1, the second revolute pair R2, second connecting rod L2, the first halfpace MP1, the 3rd revolute pair R3, the 3rd connect
Bar L3, the 4th revolute pair R4, fourth link L4, the 5th revolute pair R5, the 5th connecting rod L5, the 6th revolute pair R6, six-bar linkage L6,
7th revolute pair R7, the second halfpace MP2, seven-link assembly L7, the 8th revolute pair R8, the 8th connecting rod L8, the 9th revolute pair R9,
Couple the R10 of side chain revolute pair one, the L9 of coupling side chain connecting rod one, the R11 of coupling side chain revolute pair two, the L10 of coupling side chain connecting rod two, coupling
Close the R12 of side chain revolute pair three, the L11 of coupling side chain connecting rod three, the R13 of coupling side chain revolute pair four；Said base, connecting rod, secondary peace
Platform has following annexation：First connecting rod L1 is arranged on pedestal FB by the first revolute pair R1, and second connecting rod L2 passes through second
Revolute pair R2 is connected with first connecting rod L1, the center line of the second revolute pair R2 axis along second connecting rod L2, the first halfpace
MP1 is fixedly connected with second connecting rod L2, and third connecting rod L3 is connected by the 3rd revolute pair R3 with the first halfpace MP1, and the 4th
Connecting rod L4 is connected by the 4th revolute pair R4 with third connecting rod L3, the center of the 4th revolute pair R4 axis along third connecting rod L3
Line, the 5th connecting rod L5 is connected by the 5th revolute pair R5 with fourth link L4, and six-bar linkage L6 passes through the 6th revolute pair R6 and
Five connecting rod L5 connections, the center line of the 6th revolute pair R6 axis along six-bar linkage L6, the second halfpace MP2 passes through the 7th turn
Dynamic secondary R7 is connected with six-bar linkage L6, and seven-link assembly L7 is fixedly connected with the second halfpace MP2, and the 8th connecting rod L8 one end passes through
8th revolute pair R8 is connected with seven-link assembly L7, and the other end is arranged on pedestal FB by the 9th revolute pair R9, the 8th revolute pair
Center line of the R8 axis along seven-link assembly L7, the L9 of coupling side chain connecting rod one is by coupling in the R10 of side chain revolute pair one and first
Between platform MP1 connections, the L10 of coupling side chain connecting rod two is connected by coupling the R11 of side chain revolute pair two with coupling the L9 of side chain connecting rod one,
The L11 one end of coupling side chain connecting rod three is connected by coupling the R12 of side chain revolute pair three with the coupling L10 of side chain connecting rod two, and the other end leads to
The R13 of overcoupling side chain revolute pair four is connected with the second halfpace MP2；First revolute pair R1 axis and the 9th revolute pair R9's
Axis intersects in base plane, and the 3rd revolute pair R3 axis and the 7th revolute pair R7 axis are intersecting, and coupling side chain is rotated
The axis of one R10 of pair axis and the 3rd revolute pair R3 is parallel to each other, and the R13 of coupling side chain revolute pair four axis and the 7th is rotated
Secondary R7 axis is parallel to each other, and the R10 of coupling side chain revolute pair one axis intersects with coupling the R13 of side chain revolute pair four axis,
Couple axis antarafacial of the R11 of side chain revolute pair two axis with coupling the R10 of side chain revolute pair one, the R12 of coupling side chain revolute pair three
Axis antarafacial of the axis with coupling the R13 of side chain revolute pair four, the R11 of coupling side chain revolute pair two axis and couple side chain rotation
Three R12 of pair axis intersects.
Embodiment 2：
A kind of structure of the development agency that unit can be opened up based on two layers liang of ring connecting rod of the present embodiment as shown in figs 2-4,
Connecting rod in multiple embodiments 1 can open up unit and build umbrella development agency as follows：Connecting rod can open up unit annular array
On same pedestal FB, in two adjacent front-and-back units, latter unit II deletes first connecting rod L1 and second connecting rod L2, latter
First halfpace MP1 ＇ of unit II are connected by unit rotational secondary RR1 with the second halfpace MP2 of previous unit I, single
The axis collinear of first revolute pair RR1 axis and the 8th revolute pair R8 of previous unit I.Contained connecting rod can in above-mentioned development agency
It is 6-12 to open up the quantity of unit, and the pedestal FB of development agency is regular prism, and the pedestal FB bottom surface side number and connecting rod can be opened up
The quantity of unit is consistent.
Claims (2)
1. a kind of two layers liang of ring connecting rod can open up unit, it is characterised in that：It includes pedestal (FB), the first revolute pair (R1), first
Connecting rod (L1), the second revolute pair (R2), second connecting rod (L2), the first halfpace (MP1), the 3rd revolute pair (R3), the 3rd connect
Bar (L3), the 4th revolute pair (R4), fourth link (L4), the 5th revolute pair (R5), the 5th connecting rod (L5), the 6th revolute pair
(R6), six-bar linkage (L6), the 7th revolute pair (R7), the second halfpace (MP2), seven-link assembly (L7), the 8th revolute pair
(R8), the 8th connecting rod (L8), the 9th revolute pair (R9), coupling side chain revolute pair one (R10), coupling side chain connecting rod one (L9), coupling
Close side chain revolute pair two (R11), coupling side chain connecting rod two (L10), coupling side chain revolute pair three (R12), coupling side chain connecting rod three
(L11), coupling side chain revolute pair four (R13)；Said base, connecting rod, secondary and platform has following annexation：First connecting rod (L1)
It is arranged on by the first revolute pair (R1) on pedestal (FB), second connecting rod (L2) passes through the second revolute pair (R2) and first connecting rod
(L1) it is connected, the center line of the axis of the second revolute pair (R2) along second connecting rod (L2), the first halfpace (MP1) connects with second
Bar (L2) is fixedly connected, and third connecting rod (L3) is connected by the 3rd revolute pair (R3) with the first halfpace (MP1), fourth link
(L4) it is connected by the 4th revolute pair (R4) with third connecting rod (L3), the axis of the 4th revolute pair (R4) is along third connecting rod (L3)
Center line, the 5th connecting rod (L5) is connected by the 5th revolute pair (R5) with fourth link (L4), and six-bar linkage (L6) passes through the 6th
Revolute pair (R6) is connected with the 5th connecting rod (L5), the center line of the axis of the 6th revolute pair (R6) along six-bar linkage (L6), second
Halfpace (MP2) is connected by the 7th revolute pair (R7) with six-bar linkage (L6), seven-link assembly (L7) and the second halfpace
(MP2) it is fixedly connected, the 8th connecting rod (L8) one end is connected by the 8th revolute pair (R8) with seven-link assembly (L7), and the other end passes through
9th revolute pair (R9) is arranged on pedestal (FB), the center line of the axis of the 8th revolute pair (R8) along seven-link assembly (L7), coupling
Close side chain connecting rod one (L9) to be connected with the first halfpace (MP1) by coupling side chain revolute pair one (R10), couple side chain connecting rod
Two (L10) are connected by coupling side chain revolute pair two (R11) with coupling side chain connecting rod one (L9), coupling side chain connecting rod three (L11)
One end is connected by coupling side chain revolute pair three (R12) with coupling side chain connecting rod two (L10), and the other end is rotated by coupling side chain
Four (R13) of pair are connected with the second halfpace (MP2)；The axis of first revolute pair (R1) and the axis of the 9th revolute pair (R9) exist
Intersect in base plane, the axis of the 3rd revolute pair (R3) and the axis of the 7th revolute pair (R7) are intersecting, couple side chain revolute pair
One (R10) axis and the axis of the 3rd revolute pair (R3) are parallel to each other, the axis and the 7th of coupling side chain revolute pair four (R13)
The axis of revolute pair (R7) is parallel to each other, and the axis of coupling side chain revolute pair one (R10) is with coupling side chain revolute pair four (R13)
Axis intersects, and couples axis antarafacial of the axis of side chain revolute pair two (R11) with coupling side chain revolute pair one (R10), coupling branch
The axis of chain revolute pair three (R12) and the axis antarafacial for coupling side chain revolute pair four (R13), coupling side chain revolute pair two (R11)
Axis with coupling side chain revolute pair three (R12) axis intersect.
2. unit can be opened up based on the connecting rod described in claim 1, umbrella development agency is built as follows：Multiple connecting rods can
Unit annular array is opened up on same pedestal (FB), in two adjacent front-and-back units, latter unit deletes first connecting rod (L1)
With second connecting rod (L2), the first halfpace (MP1) of latter unit passes through unit rotational secondary (RR1) and the second of previous unit
Halfpace (MP2) is connected, the axis of unit rotational pair (RR1) and the axis collinear of the 8th revolute pair (R8) of previous unit；
It is 6-12 that contained connecting rod, which can open up the quantity of unit, in above-mentioned development agency, and the pedestal (FB) of development agency is regular prism, should
The bottom surface side number of pedestal (FB) is consistent with the quantity that connecting rod can open up unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710224066.2A CN107117333A (en) | 2017-04-07 | 2017-04-07 | Two layers liang of ring connecting rod can open up unit and the high rigidity umbrella development agency based on this |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710224066.2A CN107117333A (en) | 2017-04-07 | 2017-04-07 | Two layers liang of ring connecting rod can open up unit and the high rigidity umbrella development agency based on this |
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| Publication Number | Publication Date |
|---|---|
| CN107117333A true CN107117333A (en) | 2017-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710224066.2A Pending CN107117333A (en) | 2017-04-07 | 2017-04-07 | Two layers liang of ring connecting rod can open up unit and the high rigidity umbrella development agency based on this |
Country Status (1)
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| CN (1) | CN107117333A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112550763A (en) * | 2020-12-09 | 2021-03-26 | 哈尔滨工业大学（深圳） | Deployable space strutting arrangement based on paper folding metamorphic structure |
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|---|---|---|---|---|
| JP2002220096A (en) * | 2001-01-29 | 2002-08-06 | Natl Space Development Agency Of Japan | Storable and unfoldable framed structure |
| EP1331095A2 (en) * | 2002-01-25 | 2003-07-30 | National Space Development Agency of Japan | Deployable structure |
| CN102167165A (en) * | 2011-04-11 | 2011-08-31 | 哈尔滨工业大学 | Seven-revolute pair extensible unit and space extensible mechanism using same |
| CN106313016A (en) * | 2016-11-09 | 2017-01-11 | 北京工业大学 | Symmetrical three-degree-of-freedom movement coupling mechanism |
-
2017
- 2017-04-07 CN CN201710224066.2A patent/CN107117333A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002220096A (en) * | 2001-01-29 | 2002-08-06 | Natl Space Development Agency Of Japan | Storable and unfoldable framed structure |
| EP1331095A2 (en) * | 2002-01-25 | 2003-07-30 | National Space Development Agency of Japan | Deployable structure |
| CN102167165A (en) * | 2011-04-11 | 2011-08-31 | 哈尔滨工业大学 | Seven-revolute pair extensible unit and space extensible mechanism using same |
| CN106313016A (en) * | 2016-11-09 | 2017-01-11 | 北京工业大学 | Symmetrical three-degree-of-freedom movement coupling mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 曹文熬: "空间多环耦合机构数字化构型综合理论", 《中国博士学位论文全文数据库（电子期刊）工程科技Ⅱ辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112550763A (en) * | 2020-12-09 | 2021-03-26 | 哈尔滨工业大学（深圳） | Deployable space strutting arrangement based on paper folding metamorphic structure |
| CN112550763B (en) * | 2020-12-09 | 2022-05-27 | 哈尔滨工业大学（深圳） | Deployable space strutting arrangement based on paper folding metamorphic structure |
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