CN107146939A - Linkage unit and space development agency based on this are opened up containing what 4R coupled side chain - Google Patents
Linkage unit and space development agency based on this are opened up containing what 4R coupled side chain Download PDFInfo
- Publication number
- CN107146939A CN107146939A CN201710223593.1A CN201710223593A CN107146939A CN 107146939 A CN107146939 A CN 107146939A CN 201710223593 A CN201710223593 A CN 201710223593A CN 107146939 A CN107146939 A CN 107146939A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- side chain
- connecting rod
- axis
- coupling side
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/1235—Collapsible supports; Means for erecting a rigid antenna
Abstract
Containing what 4R coupled side chain linkage unit and space development agency based on this are opened up the present invention relates to a kind of, the bar and pair that can open up linkage unit are arranged symmetrically in minute surface.Multiple linkage unit annular arrays of opening up are on same pedestal, and opened up per two neighboring among linkage unit, latter unit deletes first connecting rod and second connecting rod, first halfpace of latter unit passes through the secondary space development agency for being connected with the second halfpace of previous unit, so just constituting loop coupling shape more than one of unit rotational.The present invention's opens up linkage unit than existing monocyclic linkage unit of opening up with higher rigidity and bearing capacity, 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
It is more particularly to a kind of to open up linkage unit and based on this containing what 4R coupled side chain the present invention relates to theory of mechanisms field
Space 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
Connecting rod opens up the concern that linkage 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 CN102386473 A disclose a kind of big shrinkage ratio can the bar of array ten can open up unit mechanisms,
The power that the mechanism is acted on sliding bar by driving spring is driven, and completes expansion process.Chinese patent CN102167165 A
A kind of monocyclic space development agency opened up linkage unit and use the unit of seven revolute pair is disclosed, this unit compares Myard
The ductile of 5R linkage units is more preferable.
The linkage unit of opening up of the present invention that couple side chain containing 4R is structurally different from the existing monocyclic company of exhibition
Bar unit, this bar number and kinematic pair number for opening up linkage unit is more, and the arrangement between motion secondary axis is more complicated, branch
The degree of coupling between chain is higher.It is of the present invention to open up linkage unit than the monocyclic linkage unit opened up containing what 4R coupled side chain
Rigidity and bearing capacity are higher, are especially suitable for building large-scale development agency.
The content of the invention
The present invention relates to couple opening up linkage unit and being based on for side chain containing 4R with high rigidity and high bearing capacity
The space development agency of the cell formation.
Realizing the technical solution adopted by the present invention is：
It is a kind of to couple side chain containing 4R and open up linkage unit, it is characterised in that：It includes pedestal, the first revolute pair, first
Connecting rod, the second revolute pair, second connecting rod, the first halfpace, the 3rd revolute pair, third connecting rod, the 4th revolute pair, the 4th connect
Bar, the 5th revolute pair, the 5th connecting rod, the 6th revolute pair, six-bar linkage, the 7th revolute pair, the second halfpace, seven-link assembly,
8th revolute 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
2nd, 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, secondary and platform has following annexation：First connecting rod is arranged on pedestal by the first revolute pair, and second connecting rod passes through the
Two revolute pairs are connected with first connecting rod, the center line of the axis of the second revolute pair along second connecting rod, the first halfpace and second
Connecting rod is fixedly connected, and third connecting rod is connected by the 3rd revolute pair with the first halfpace, and fourth link passes through the 4th revolute pair
Be connected with third connecting rod, the 5th connecting rod is connected by the 5th revolute pair with fourth link, six-bar linkage by the 6th revolute pair with
5th connecting rod is connected, and the second halfpace is connected by the 7th revolute pair with six-bar linkage, seven-link assembly and the second halfpace
It is fixedly connected, the 8th connecting rod one end is connected by the 8th revolute pair with seven-link assembly, the other end is arranged on by the 9th revolute pair
On pedestal, the center line of the axis of the 8th revolute pair along seven-link assembly, coupling side chain connecting rod one is by coupling side chain revolute pair one
It is connected with the first halfpace, coupling side chain connecting rod two-way overcoupling side chain revolute pair two is connected with coupling side chain connecting rod one, coupling
Close the one end of side chain connecting rod three and be connected by coupling side chain revolute pair three with coupling side chain connecting rod two, the other end is turned by coupling side chain
Dynamic pair four is connected with the second halfpace；The axis of first revolute pair and the axis of the 9th revolute pair intersect in base plane,
The axis of 3rd revolute pair and the axis of the 7th revolute pair are intersecting, and the axis and the axis of the 3rd revolute pair of the 4th revolute pair are different
Face, the axis of the 6th revolute pair and the axis antarafacial of the 7th revolute pair, the axis of the 5th revolute pair respectively with the 4th revolute pair
Axis and the axis of the 6th revolute pair are parallel to each other, and the axis of coupling side chain revolute pair one and the axis of the 3rd revolute pair are mutually put down
OK, the axis of coupling side chain revolute pair four is parallel to each other with the axis of the 7th revolute pair, the axis of coupling side chain revolute pair one and
The axis for coupling side chain revolute pair four intersects, and the axis and the axis for coupling side chain revolute pair one of coupling side chain revolute pair two are different
Face, couples axis antarafacial of the axis of side chain revolute pair three with coupling side chain revolute pair four, the axis of coupling side chain revolute pair two
Intersect with the axis for coupling side chain revolute pair three.
Multiple above-mentioned linkage units of opening up build space development agency as follows：Linkage unit annular array can be opened up
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.The contained quantity that can open up linkage unit is 6-12 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 can open up linkage unit.
The advantage of the invention is that：
1st, it is involved in the present invention open up linkage unit than existing single closed loop can open up linkage unit have higher rigidity and
Bearing capacity, also has higher rigidity and bearing capacity based on such space development agency for opening up linkage unit structure.
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 embodiment of the present invention 1 opens up linkage unit structural representation；
Fig. 2 is the space development agency deployed condition schematic diagram of the embodiment of the present invention 2；
Fig. 3 is the space development agency expansion process schematic of the embodiment of the present invention 2；
Fig. 4 is the space development agency folded state schematic diagram of the embodiment of the present invention 2；
Fig. 5 is that the embodiment of the present invention 3 opens up linkage unit structural representation；
Fig. 6 is the space development agency deployed condition schematic diagram of the embodiment of the present invention 4；
Fig. 7 is the space development agency expansion process schematic of the embodiment of the present invention 4；
Fig. 8 is the space development agency folded state schematic diagram of the embodiment of the present invention 4.
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：
The present embodiment it is a kind of containing 4R couple side chain the structure for opening up linkage unit as shown in figure 1, it include pedestal FB,
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,
Third connecting rod L3, the 4th revolute pair R4, fourth link L4, the 5th revolute pair R5, the 5th connecting rod L5, the 6th revolute pair R6, the 6th
Connecting rod 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 turn
Dynamic secondary R9, the R10 of coupling side chain revolute pair one, the L9 of coupling side chain connecting rod one, the R11 of coupling side chain revolute pair two, coupling side chain connecting rod
Two L10, the R12 of coupling 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, even
Bar, secondary and platform has following annexation：First connecting rod L1 is arranged on pedestal FB by the first revolute pair R1, second connecting rod L2
It is connected by the second revolute pair R2 with first connecting rod L1, the center line of the second revolute pair R2 axis along second connecting rod L2, first
Halfpace MP1 is fixedly connected with second connecting rod L2, and third connecting rod L3 passes through the 3rd revolute pair R3 and the first halfpace MP1 phases
Even, fourth link L4 is connected by the 4th revolute pair R4 with third connecting rod L3, and the 5th connecting rod L5 passes through the 5th revolute pair R5 and the
Double leval jib L4 connections, six-bar linkage L6 is connected by the 6th revolute pair R6 with the 5th connecting rod L5, and the second halfpace MP2 passes through
Seven revolute pair R7 are connected with six-bar linkage L6, and seven-link assembly L7 is fixedly connected with the second halfpace MP2, the 8th connecting rod L8 one end
It is connected by the 8th revolute pair R8 with seven-link assembly L7, the other end is arranged on pedestal FB by the 9th revolute pair R9, eighth-turn
Center line of the dynamic secondary R8 axis along seven-link assembly L7, couples the L9 of side chain connecting rod one by coupling the R10 of side chain revolute pair one and the
One halfpace MP1 connections, the L10 of coupling side chain connecting rod two is by coupling the R11 of side chain revolute pair two with coupling the L9 of side chain connecting rod one
Connection, 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, another
End is connected by coupling the R13 of side chain revolute pair four with the second halfpace MP2；First revolute pair R1 axis and the 9th revolute pair
R9 axis intersects in base plane, and the 3rd revolute pair R3 axis and the 7th revolute pair R7 axis are intersecting, and the 4th rotates
The axis antarafacial of secondary R4 axis and the 3rd revolute pair R3, the axis of the 6th revolute pair R6 axis and the 7th revolute pair R7 is different
Face, the 5th revolute pair R5 axis is parallel to each other with the 4th revolute pair R4 axis and the 6th revolute pair R6 axis respectively, coupling
The axis for closing the R10 of side chain revolute pair one axis and the 3rd revolute pair R3 is parallel to each other, the R13 of coupling side chain revolute pair four axis
It is parallel to each other with the 7th revolute pair R7 axis, the R10 of coupling side chain revolute pair one axis is with coupling the R13's of side chain revolute pair four
Axis intersects, and couples axis antarafacial of the R11 of side chain revolute pair two axis with coupling the R10 of side chain revolute pair one, and coupling side chain turns
Move axis antarafacial of the secondary three R12 axis with coupling the R13 of side chain revolute pair four, the R11 of coupling side chain revolute pair two axis and coupling
The axis for closing the R12 of side chain revolute pair three intersects.
Embodiment 2：
A kind of structure based on the space development agency for opening up linkage unit that side chain is coupled containing 4R of the present embodiment is as schemed
Shown in 2- Fig. 4, the linkage unit of opening up in multiple embodiments 1 builds space development agency as follows：Connecting rod list can be opened up
First annular array is on same pedestal FB, and in two adjacent front-and-back units, latter unit II deletes first connecting rod L1 and second
Connecting rod L2, the first halfpace MP1 ＇ of latter unit II pass through unit rotational secondary RR1 and the second halfpace of previous unit I
MP2 connections, the axis collinear of unit rotational secondary RR1 axis and the 8th revolute pair R8 of previous unit I.In above-mentioned development agency
The contained quantity for opening up linkage unit is 6-12, and the pedestal FB of development agency is regular prism, pedestal FB bottom surface side number
It is consistent with the quantity that can open up linkage unit.
Embodiment 3：
The present embodiment it is a kind of containing 4R couple side chain the structure for opening up linkage unit as shown in figure 5, it include pedestal FB,
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,
Third connecting rod L3, the 4th revolute pair R4, fourth link L4, the 5th revolute pair R5, the 5th connecting rod L5, the 6th revolute pair R6, the 6th
Connecting rod 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 turn
Dynamic secondary R9, the R10 of coupling side chain revolute pair one, the L9 of coupling side chain connecting rod one, the R11 of coupling side chain revolute pair two, coupling side chain connecting rod
Two L10, the R12 of coupling 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, even
Bar, secondary and platform has following annexation：First connecting rod L1 is arranged on pedestal FB by the first revolute pair R1, second connecting rod L2
It is connected by the second revolute pair R2 with first connecting rod L1, the center line of the second revolute pair R2 axis along second connecting rod L2, first
Halfpace MP1 is fixedly connected with second connecting rod L2, and third connecting rod L3 passes through the 3rd revolute pair R3 and the first halfpace MP1 phases
Even, fourth link L4 is connected by the 4th revolute pair R4 with third connecting rod L3, and the 5th connecting rod L5 passes through the 5th revolute pair R5 and the
Double leval jib L4 connections, six-bar linkage L6 is connected by the 6th revolute pair R6 with the 5th connecting rod L5, and the second halfpace MP2 passes through
Seven revolute pair R7 are connected with six-bar linkage L6, and seven-link assembly L7 is fixedly connected with the second halfpace MP2, the 8th connecting rod L8 one end
It is connected by the 8th revolute pair R8 with seven-link assembly L7, the other end is arranged on pedestal FB by the 9th revolute pair R9, eighth-turn
Center line of the dynamic secondary R8 axis along seven-link assembly L7, couples the L9 of side chain connecting rod one by coupling the R10 of side chain revolute pair one and the
One halfpace MP1 connections, the L10 of coupling side chain connecting rod two is by coupling the R11 of side chain revolute pair two with coupling the L9 of side chain connecting rod one
Connection, 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, another
End is connected by coupling the R13 of side chain revolute pair four with the second halfpace MP2；First revolute pair R1 axis and the 9th revolute pair
R9 axis intersects in base plane, and the 3rd revolute pair R3 axis and the 7th revolute pair R7 axis are intersecting, and the 4th rotates
The axis of secondary R4 axis and the 3rd revolute pair R3 is parallel to each other, the 6th revolute pair R6 axis and the 7th revolute pair R7 axis
It is parallel to each other, the 4th revolute pair R4 axis and the 6th revolute pair R6 axis are intersecting, the R10 of coupling side chain revolute pair one axis
It is parallel to each other with the 3rd revolute pair R3 axis, the axis phase of the R13 of coupling side chain revolute pair four axis and the 7th revolute pair R7
Mutually parallel, the R10 of coupling side chain revolute pair one axis intersects with coupling the R13 of side chain revolute pair four axis, and coupling side chain is rotated
Axis antarafacial of two R11 of the pair axis with coupling the R10 of side chain revolute pair one, the R12 of coupling side chain revolute pair three axis is with coupling
The R13 of side chain revolute pair four axis antarafacial, couples axle of the R11 of side chain revolute pair two axis with coupling the R12 of side chain revolute pair three
Line intersects.
Embodiment 4：
A kind of structure based on the space development agency for opening up linkage unit that side chain is coupled containing 4R of the present embodiment is as schemed
Shown in 6- Fig. 8, the linkage unit of opening up in multiple embodiments 3 builds space development agency as follows：Connecting rod list can be opened up
First annular array is on same pedestal FB, and in two adjacent front-and-back units, latter unit II deletes first connecting rod L1 and second
Connecting rod L2, the first halfpace MP1 ＇ of latter unit II pass through unit rotational secondary RR1 and the second halfpace of previous unit I
MP2 connections, the axis collinear of unit rotational secondary RR1 axis and the 8th revolute pair R8 of previous unit I.In above-mentioned development agency
The contained quantity for opening up linkage unit is 6-12, and the pedestal FB of development agency is regular prism, pedestal FB bottom surface side number
It is consistent with the quantity that can open up linkage unit.
Claims (2)
- Couple side chain 1. a kind of containing 4R and open up linkage 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), third connecting rod (L3), the 4th revolute pair (R4), fourth link (L4), the 5th revolute pair (R5), the 5th connecting rod (L5), Six revolute pairs (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 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 connects Bar (L1) is arranged on pedestal (FB) by the first revolute pair (R1), and second connecting rod (L2) passes through the second revolute pair (R2) and first Connecting rod (L1) is connected, the center line of the axis of the second revolute pair (R2) along second connecting rod (L2), the first halfpace (MP1) and the Two connecting rods (L2) are fixedly connected, 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 5th connecting rod (L5) by the 5th revolute pair (R5) with Fourth link (L4) is connected, and six-bar linkage (L6) is connected by the 6th revolute pair (R6) with the 5th connecting rod (L5), flat in the middle of second Platform (MP2) is connected by the 7th revolute pair (R7) with six-bar linkage (L6), and seven-link assembly (L7) is solid with the second halfpace (MP2) Fixed connection, 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 the 9th turn Dynamic pair (R9) is arranged on pedestal (FB), the center line of the axis of the 8th revolute pair (R8) along seven-link assembly (L7), couples side chain Connecting rod one (L9) is connected by coupling side chain revolute pair one (R10) with the first halfpace (MP1), coupling side chain connecting rod two (L10) it is connected by coupling side chain revolute pair two (R11) with coupling side chain connecting rod one (L9), (L11) one of coupling side chain connecting rod three End is connected by coupling side chain revolute pair three (R12) with coupling side chain connecting rod two (L10), and the other end is by coupling side chain revolute pair Four (R13) are connected with the second halfpace (MP2)；The axis of first revolute pair (R1) and the axis of the 9th revolute pair (R9) are in base Intersect in seat plane, the axis of the 3rd revolute pair (R3) and the axis of the 7th revolute pair (R7) are intersecting, the 4th revolute pair (R4) The axis antarafacial of axis and the 3rd revolute pair (R3), the axis and the axis of the 7th revolute pair (R7) of the 6th revolute pair (R6) is different Face, the axis of the 5th revolute pair (R5) is mutually put down with the axis of the 4th revolute pair (R4) and the axis of the 6th revolute pair (R6) respectively OK, the axis and the axis of the 3rd revolute pair (R3) of coupling side chain revolute pair one (R10) are parallel to each other, coupling side chain revolute pair four (R13) axis and the axis of the 7th revolute pair (R7) are parallel to each other, and the axis of coupling side chain revolute pair one (R10) is with coupling branch The axis of chain revolute pair four (R13) intersects, and the axis of coupling side chain revolute pair two (R11) is with coupling side chain revolute pair one (R10) Axis antarafacial, axis antarafacial of the axis with coupling side chain revolute pair four (R13) of coupling side chain revolute pair three (R12) couple The axis of side chain revolute pair two (R11) intersects with the axis of coupling side chain revolute pair three (R12).
- 2. based on the linkage unit of opening up described in claim 1, space development agency is built as follows：Multiple companies of exhibition Bar unit annular array is on same pedestal (FB), in two adjacent front-and-back units, and 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； The contained quantity that can open up linkage unit is 6-12 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 can open up linkage unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710223593.1A CN107146939A (en) | 2017-04-07 | 2017-04-07 | Linkage unit and space development agency based on this are opened up containing what 4R coupled side chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710223593.1A CN107146939A (en) | 2017-04-07 | 2017-04-07 | Linkage unit and space development agency based on this are opened up containing what 4R coupled side chain |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107146939A true CN107146939A (en) | 2017-09-08 |
Family
ID=59774552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710223593.1A Pending CN107146939A (en) | 2017-04-07 | 2017-04-07 | Linkage unit and space development agency based on this are opened up containing what 4R coupled side chain |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107146939A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891995A (en) * | 2017-11-07 | 2018-04-10 | 广西大学 | A kind of space folding and unfolding mechanism of imitative sensitive plant rigid hinge connection |
| CN108674694A (en) * | 2017-12-27 | 2018-10-19 | 哈尔滨工业大学深圳研究生院 | A kind of expandable curved face truss mechanism based on rigid scissors mechanism |
| CN108942898A (en) * | 2018-09-26 | 2018-12-07 | 北京工业大学 | Coupling mechanism is opened up containing 120 rings |
| CN109110155A (en) * | 2018-07-20 | 2019-01-01 | 广西大学 | A kind of imitative cobweb large space development agency |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106493717A (en) * | 2016-12-30 | 2017-03-15 | 北京工业大学 | A kind of icosahedral single movement can open up symmetrical coupled mechanism |
-
2017
- 2017-04-07 CN CN201710223593.1A patent/CN107146939A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106493717A (en) * | 2016-12-30 | 2017-03-15 | 北京工业大学 | A kind of icosahedral single movement can open up symmetrical coupled 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库 工程科技II辑》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891995A (en) * | 2017-11-07 | 2018-04-10 | 广西大学 | A kind of space folding and unfolding mechanism of imitative sensitive plant rigid hinge connection |
| CN108674694A (en) * | 2017-12-27 | 2018-10-19 | 哈尔滨工业大学深圳研究生院 | A kind of expandable curved face truss mechanism based on rigid scissors mechanism |
| CN108674694B (en) * | 2017-12-27 | 2021-07-02 | 哈尔滨工业大学（深圳） | Deployable curved surface truss mechanism based on rigid scissor fork mechanism |
| CN109110155A (en) * | 2018-07-20 | 2019-01-01 | 广西大学 | A kind of imitative cobweb large space development agency |
| CN108942898A (en) * | 2018-09-26 | 2018-12-07 | 北京工业大学 | Coupling mechanism is opened up containing 120 rings |
| CN108942898B (en) * | 2018-09-26 | 2021-06-25 | 北京工业大学 | Deployable coupling mechanism with 120 rings |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107146939A (en) | Linkage unit and space development agency based on this are opened up containing what 4R coupled side chain | |
| CN102285463B (en) | Space foldable mechanism derived from five-revolute-pair units | |
| CN105799950B (en) | Single-degree-of-freedom Planar Mechanisms scissors can open up the space development agency of unit and its composition | |
| CN102167165B (en) | Seven-revolute pair extensible unit and space extensible mechanism using same | |
| CN107933959B (en) | Six-rod mechanism and expandable module, extension arm and plane expansion truss formed by six-rod mechanism | |
| CN103786906B (en) | Space deployable mechanism | |
| CN104362423A (en) | Elastic-hinge-driven double-layer annular truss antenna mechanism | |
| CN106058415A (en) | Scissors type hexagonal-prism-shaped extensible unit and space extensible mechanism formed by the same | |
| CN107097211A (en) | The two layers liang of symmetrical linkage unit of ring and the big folding ratio umbrella development agency based on this | |
| CN109560362A (en) | Based on space 5R mechanism can Zhan Danyuan and single-degree-of-freedom annular truss formula development agency | |
| CN205499405U (en) | Single degree of freedom crosses restraint formula of cutting can open up unit and mechanism can be opened up in space of constituteing thereof | |
| CN107416229A (en) | The coupling side chain containing 2R opens up unit and the large-scale umbrella folding and unfolding mechanism based on this | |
| CN104319453A (en) | Double-layer annular truss antenna mechanism based on passive drive | |
| CN106025483A (en) | Scissors fork linkage type over-constrained deployable unit and spatial deployable mechanism thereof | |
| CN106450647A (en) | Shears-fork type hexagonal-prism extensible unit and space extensible mechanism formed by the same | |
| CN109659661A (en) | A kind of rope bar stretching type annular deployable antenna mechanism | |
| CN106956245A (en) | Unit and large-scale umbrella development agency based on this are opened up containing what 3R coupled side chain | |
| CN110504522A (en) | A kind of plate folding exhibition unit and plate folding exhibition antenna mechanism | |
| CN109687091A (en) | Pyramid packing forms annular truss deployable antenna mechanism | |
| CN108336470A (en) | The basic unfolding mechanism opened up unit and be made of the unit based on Bennett mechanisms | |
| CN107054695A (en) | The symmetrical linkage unit of the coupling side chain containing 1R and the umbrella folding and unfolding mechanism based on this | |
| CN106956244A (en) | Containing 4R couple side chain open up unit and based on this big folding exhibition compare development agency | |
| CN208683129U (en) | Quadrangular Zhan Danyuan and can open up the space extension means of unit based on quadrangular | |
| CN107117333A (en) | Two layers liang of ring connecting rod can open up unit and the high rigidity umbrella development agency based on this | |
| CN106965158A (en) | The connecting rod of the side chain containing coupling can open up unit and the big folding ratio development agency based on this |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170908 |