CN107275794A - 9RR 12URU 3URU symmetric forms can open up elementary cell mechanism - Google Patents
9RR 12URU 3URU symmetric forms can open up elementary cell mechanism Download PDFInfo
- Publication number
- CN107275794A CN107275794A CN201710312529.0A CN201710312529A CN107275794A CN 107275794 A CN107275794 A CN 107275794A CN 201710312529 A CN201710312529 A CN 201710312529A CN 107275794 A CN107275794 A CN 107275794A
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- China
- Prior art keywords
- floral disc
- folding rod
- floral
- revolute pair
- rod
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Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q15/00—Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
- H01Q15/14—Reflecting surfaces; Equivalent structures
- H01Q15/16—Reflecting surfaces; Equivalent structures curved in two dimensions, e.g. paraboloidal
- H01Q15/161—Collapsible reflectors
-
- 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
- H01Q1/10—Telescopic elements
Abstract
A kind of 9RR 12URU 3URU symmetric forms can open up elementary cell mechanism, including 10 floral discs, 9 isometric swing rods, 6 folding rod I, 6 folding rod II, 3 folding rod III, 33 revolute pairs (R) and 30 Hooke's hinges (U).6, upper strata periphery floral disc is connected by folding rod I with center floral disc, connected between the adjacent floral disc in periphery by folding rod II, connected between 3 floral discs of lower floor by folding rod III, folding rod is formed by connecting by 2 isometric connecting rods by revolute pair, its two ends is connected by Hooke's hinge with floral disc, lower floor's floral disc respectively connects upper strata center floral disc and the adjacent floral disc in 2, periphery by 3 swing rods, and each swing rod two ends are connected by revolute pair with floral disc；Upper strata center floral disc is located at same sphere with periphery floral disc and regular hexagon is formed by summit of periphery floral disc.The present invention is simple in construction, and rigidity is high, it is easy to accomplish engineering is manufactured；The synchronous gathering of all floral discs can not only be realized, and the adjustment for drawing back hub flange posture in can be realized, is folded than high.
Description
Technical field
The present invention relates to a kind of space development agency, particularly a kind of symmetric form can open up elementary cell mechanism.
Background technology
It is right with electronic reconnaissance, over the ground data relaying, high-gain requirement of the space flight key area such as navigation to satellite antenna
The demand of heavy caliber reflector becomes further urgent.But it is limited to the carrying space of actual delivery vehicle, it is desirable to which heavy caliber reflects
Device can be in complete rounding state in launching phase, can be fully deployed after entering the orbit by the power source carried to working condition.By
Can freely it be changed between its initial tight configuration and the expansion configuration of working condition in development agency, therefore it is in space flight
Field has broad application prospects.
Form, bore parameter, the difference for storing requirement and mesh-surface accuracy, the U.S., Japan, Russia are fed according to reflector
Research institution Deng state successively proposes the folding and unfolding mechanism form of a variety of heavy caliber satellite antenna reflectors, and in Practical Project
It is applied successfully.The research institutions such as domestic research institute of space technology, Zhejiang University, Harbin Institute of Technology also pair can open up machine
Structure expands research.At present in numerous development agencies for proposing both at home and abroad, unit truss-like Deployable antenna by with reflector net
Face divides consistent unit bottom surface networking and constitutes reflector wire side, has the advantages that type face precision is high, rigidity is big, stability is good,
Thus unit truss-like development agency has important researching value.Scissor-type unit be it is most common can open up unit substantially, have
Two kinds of plane formula and non-planar, in addition also parallelogram element, tetrahedron element, rectangular pyramid unit, hexahedral element,
Six prism elements, as derived from Bennett units, Myard units it can open up unit, etc..
The development agency that different elementary cells is made up of different networking modes has different performances, at this stage state
The basic of the truss-like development agency of inside and outside proposition opens up that unit species is still fewer, the design band to New Large Caliber reflector
Difficulty is necessarily carried out.Have great importance it is therefore proposed that a kind of new space can open up elementary cell.
The content of the invention
It is an object of the invention to provide a kind of contained component species is few, connected mode is single, driving is simple, fold ratio
The big 9RR-12URU-3URU of high, rigidity can symmetrically open up elementary cell mechanism, for constructing heavy caliber framework type parabola or ball
Surface antenna.
The present invention include 10 floral discs, 9 isometric swing rods, 6 folding rod I, 6 folding rod II, 3 folding rod III,
33 revolute pairs (R) and 30 Hooke's hinges (U)；6 upper stratas periphery floral disc is connected with center floral disc respectively by 6 folding rod I,
Connected respectively by folding rod II between the adjacent floral disc in periphery, 3 lower floor's floral discs are connected by folding rod III respectively between any two
Connect, the two ends of all folding rods are connected provided with Hooke's hinge with floral disc, 3 floral discs of lower floor are respectively by 3 swing rods and upper strata
The adjacent floral disc connection of disc flower disk and 2, periphery, every swing rod two ends are connected provided with revolute pair with levels floral disc；Disc flower in upper strata
Disk and periphery floral disc are located at same sphere, and using 6, upper strata periphery floral disc be the hexagon that is formed of summit as regular hexagon；It is described
Floral disc is hexagon floral disc, and the centre of floral disc is provided with an annular groove, for inserting swing rod, its center floral disc at the middle and upper levels
Each edge on be provided with a notch, for inserting folding rod；Three adjacent sides of 6 upper stratas periphery floral disc are provided with one
Notch, for inserting folding rod；Two adjacent sides of 3 lower floor's floral discs are provided with a notch, for inserting folding rod.
The folding rod I, folding rod II and folding rod III are formed by connecting by two isometric connecting rods by revolute pair,
Revolute pair axis in the middle of these three folding rods is respectively perpendicular to the axis for two connecting rods being attached thereto；Spent with each lower floor
Disk, the center floral disc on upper strata, 2 adjacent upper strata periphery floral discs being connected with corresponding lower floor's floral disc by swing rod are summit, with
Three swing rods connected on corresponding lower floor floral disc constitute a triangular pyramid, 2 folding rod I positioned at the triangular pyramid bottom surface for seamed edge
With bottom surface of the revolute pair axis in the middle of 1 folding rod II each parallel to the triangular pyramid, the folding rod of adjacent 2 triangular pyramids is connected
Revolute pair axis in the middle of II is parallel in 2 upper stratas periphery floral disc and upper strata center floral disc geometry at respective folded bar two ends
The triangle projective planum that the heart is determined, the geometric center of revolute pair axis in the middle of 3 folding rod III each parallel to 3 lower floor's floral discs
The triangle projective planum of determination；The Hooke's hinge at every folding rod two ends close to connecting rod axis along connecting rod axis, close to floral disc axle
Line is parallel to the revolute pair axis in the middle of correspondence folding rod；The revolute pair axis at every swing rod two ends be parallel to each other and perpendicular to by
The plane that the circumscribed circle center of corresponding swing rod axis and the base triangle of triangular pyramid where corresponding swing rod is determined.
3 lower floor's floral discs and upper strata center floral disc are connected with three swing rods by revolute pair, thereon three rotations
Secondary axis intersects at corresponding floral disc center and is generally aligned in the same plane, and angle is 120 °, three to three revolute pair axis between any two
The installation site of swing rod deviates the equal distance in correspondence floral disc center.
The revolute pair on 6 folding rod I is driven, the rotation on upper strata gathering/expansion, 3 folding rod III of driving can be made
Pair can make lower floor's gathering/expansion；Simultaneously drive 6 folding rod I and any 1 folding rod III on revolute pair, can make above and below
Synchronous gathering/the expansion of layer；Each floral disc posture on sphere differs, each floral disc appearance during levels synchronization gathering/expansion
State keeps constant, if pinning the revolute pair on 6 folding rod I, drives the revolute pair on any 1 folding rod III can be by each flower
Disk pose adjustment is to consistent state.
The present invention has advantages below compared with prior art：
1st, contained component species is few, only two kinds of floral disc and connecting rod；Connected mode is single between each component, by rotating
Pair connection (contained Hooke's hinge can be intersected and orthogonal revolute pair replacement by two axis)；Move secondary axis arrangement simple,
It is easily achieved engineering manufacture；
2nd, its fully unfolded position, upper strata center floral disc is in same sphere with periphery floral disc and each floral disc posture differs；And
Folding rod III between lower floor's floral disc greatly strengthen stability of the mechanism in its fully unfolded position；
3rd, fold and compare with height, complete rounding state, all swing rods are vertical, all floral disc postures are consistent.
Brief description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention；
Fig. 2 is the three-dimensional simplified schematic diagram of the folding rod of the present invention；
Fig. 3 is the three-dimensional simplified schematic diagram of the swing rod of the present invention；
Fig. 4 is the upper strata center floral disc of the present invention and the connection diagram of swing rod；
Schematic diagram is drawn in the expansion that Fig. 5 is the present invention in, and (a) be that half rounding state, (b) are complete rounding state in figure.
In figure：1. upper strata center floral disc, 2. upper strata periphery floral discs, 3. lower floor's floral discs, 4. swing rods, 5. folding rod I, 6. are folded
Bar II, 7. folding rod III, 8. revolute pairs, 9. Hooke's hinges.
Embodiment
In the 9RR-12URU-3URU shown in Fig. 1 can symmetrically open up elementary cell structural scheme of mechanism, 6 folding rod I's 5
One end is connected with center floral disc 1 respectively, and its other end is connected with 6 upper stratas periphery floral disc 2 respectively, above-mentioned 6 upper stratas periphery flower
Connected between the adjacent floral disc of disk 2 by folding rod II 6,3 lower floor's floral discs 3 are connected by folding rod III 7 each other,
And be connected by 3 swing rods 4 with the center floral disc 1 on upper strata, it is adjacent with upper strata periphery floral disc 2 respectively by other 6 swing rods 4
Two floral disc connections, upper strata center floral disc 1 is located on same sphere with upper strata periphery floral disc 2, and with 6, upper strata periphery floral disc 2
The hexagon formed for summit is regular hexagon；As shown in Fig. 2 all folding rods pass through rotation by two isometric connecting rods
Pair 8 is formed by connecting, and the two ends of all folding rods are equipped with Hooke's hinge 9, are connected by Hooke's hinge with floral disc；As shown in figure 3, every
Swing rod two ends are equipped with revolute pair 8, are connected by revolute pair with levels floral disc.
It will be seen from figure 1 that being connected with each lower floor's floral disc, upper strata center floral disc, with corresponding lower floor's floral disc by swing rod
The adjacent floral disc in 2 upper stratas periphery be summit, three swing rods connected using on corresponding lower floor's floral disc are constituted a Rhizoma Sparganii as seamed edge
Cone, connect revolute pair axis in the middle of the 2 folding rod I and 1 folding rod II of the triangular pyramid bottom surface summit floral disc each parallel to
The bottom surface of the triangular pyramid, connects the revolute pair axis in the middle of the folding rod II of adjacent 2 triangular pyramids parallel to by respective folded bar
In the middle of the triangle projective planum that 2 upper stratas periphery floral disc and upper strata center floral disc geometric center at two ends are determined, 3 folding rod III
The triangle projective planum that is determined each parallel to the geometric center of 3 lower floor's floral discs of revolute pair axis；With reference to Fig. 2, folding rod I, II
The axis of two connecting rods that is attached thereto, the Hooke at every folding rod two ends are respectively perpendicular to the revolute pair axis in the middle of III
Hinge close to connecting rod axis along connecting rod axis, close to floral disc diameter parallel in correspondence folding rod in the middle of revolute pair axis；Knot
Fig. 3 is closed, the revolute pair axis at every swing rod two ends is parallel to each other and perpendicular to three where corresponding swing rod axis and corresponding swing rod
The plane that the circumscribed circle center of the base triangle of pyramid is determined.
As shown in figure 4, the floral disc is hexagon floral disc, the centre of floral disc is provided with an annular groove, for inserting
A notch is provided with swing rod, each edge of its center floral disc at the middle and upper levels, for inserting folding rod；Spend on 6 upper stratas periphery
Three adjacent sides of disk are provided with a notch, for inserting folding rod；Two adjacent sides of 3 lower floor's floral discs are provided with one
Notch, for inserting folding rod；3 lower floor's floral discs and upper strata center floral disc are connected with three swing rods by revolute pair, with reference to
Three revolute pair axis intersect at correspondence floral disc center and positioned at same flat on Fig. 4,3 lower floor's floral discs and upper strata center floral disc
Face, angle is 120 ° to three revolute pair axis between any two, and the installation site deviation correspondence floral disc center of three swing rods is equal
Distance.
The revolute pair on 6 folding rod I is driven, the rotation on upper strata gathering/expansion, 3 folding rod III of driving can be made
Pair can make lower floor's gathering/expansion；Simultaneously drive 6 folding rod I and any 1 folding rod III on revolute pair, can make above and below
Synchronous gathering/the expansion of layer, shown in such as Fig. 5 (a)；The revolute pair on 6 folding rod I is pinned, continues to drive any 1 folding rod
Revolute pair on III can adjust each floral disc posture and reach consistent state, shown in such as Fig. 5 (b).
Claims (3)
1.9RR-12URU-3URU symmetric form can open up elementary cell mechanism, it is characterised in that：It include 10 floral discs, 9 it is isometric
Swing rod, 6 folding rod I, 6 folding rod II, 3 folding rod III, 33 revolute pair R and 30 Hooke's hinge U；6 week of upper strata
Side floral disc is connected with center floral disc respectively by 6 folding rod I, is connected between the adjacent floral disc in upper strata periphery by folding rod II,
3 floral discs of lower floor are connected by folding rod III between any two, and folding rod I, folding rod II and folding rod III are by isometric two
Root connecting rod is formed by connecting by revolute pair, and the two ends of all folding rods are connected provided with Hooke's hinge with floral disc, each floral disc of lower floor point
Do not connected by the adjacent floral disc of the center floral disc and periphery 2 on 3 swing rods and upper strata, every swing rod two ends provided with revolute pair with it is upper
Lower floor's floral disc connection；Upper strata center floral disc is located at same sphere with periphery floral disc, and is formed using 6, upper strata periphery floral disc as summit
Hexagon be regular hexagon；Floral disc is hexagon floral disc, and centre is provided with an annular groove, for inserting swing rod, wherein
A notch is provided with each edge of the center floral disc on upper strata, for inserting folding rod；6 upper stratas periphery floral disc it is adjacent three
Individual side is provided with a notch, for inserting folding rod；Two adjacent sides of 3 lower floor's floral discs are provided with a notch, are used for
Insert folding rod.
2. 9RR-12URU-3URU symmetric forms according to claim 1 can open up elementary cell mechanism, it is characterised in that：It is described
Revolute pair axis in the middle of folding rod I, II and III is respectively perpendicular to the axis for two connecting rods being attached thereto；With each lower floor
Floral disc, upper strata center floral disc, 2 adjacent upper strata periphery floral discs being connected with corresponding lower floor's floral disc by swing rod are summit, with
Three swing rods connected on corresponding lower floor floral disc constitute a triangular pyramid, 2 folding rod I positioned at the triangular pyramid bottom surface for seamed edge
With bottom surface of the revolute pair axis in the middle of 1 folding rod II each parallel to the triangular pyramid, the folding rod of adjacent 2 triangular pyramids is connected
Revolute pair axis in the middle of II is parallel to true by 2 upper stratas periphery floral disc and center floral disc geometric center at respective folded bar two ends
Revolute pair axis in the middle of fixed triangle projective planum, 3 folding rod III is determined each parallel to the geometric center of 3 floral discs of lower floor
Triangle projective planum；The Hooke's hinge at every folding rod two ends close to connecting rod axis along connecting rod axis, close to floral disc axis put down
Revolute pair axis of the row in the middle of correspondence folding rod；The revolute pair axis at every swing rod two ends is parallel to each other, and perpendicular to by phase
The plane for answering the circumscribed circle center of swing rod axis and the base triangle of triangular pyramid where corresponding swing rod to determine.
3. 9RR-12URU-3URU symmetric forms according to claim 1 can open up elementary cell mechanism, it is characterised in that：It is described
Three floral discs of lower floor and upper strata center floral disc are connected with three swing rods by revolute pair, and three revolute pair axis are intersected at thereon
Corresponding floral disc center and it is generally aligned in the same plane, angle is 120 ° to three revolute pair axis between any two, the installation position of three swing rods
Put and deviate the equal distance in correspondence floral disc center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710312529.0A CN107275794A (en) | 2017-05-05 | 2017-05-05 | 9RR 12URU 3URU symmetric forms can open up elementary cell mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710312529.0A CN107275794A (en) | 2017-05-05 | 2017-05-05 | 9RR 12URU 3URU symmetric forms can open up elementary cell mechanism |
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| CN107275794A true CN107275794A (en) | 2017-10-20 |
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| CN201710312529.0A Pending CN107275794A (en) | 2017-05-05 | 2017-05-05 | 9RR 12URU 3URU symmetric forms can open up elementary cell mechanism |
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Cited By (9)
| 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 |
| CN108843964A (en) * | 2018-07-11 | 2018-11-20 | 燕山大学 | One kind can open up composite structure substantially |
| CN109616735A (en) * | 2019-01-18 | 2019-04-12 | 燕山大学 | Sun flower-shape annular truss deployable antenna mechanism based on scissors unit |
| CN109659656A (en) * | 2018-12-19 | 2019-04-19 | 燕山大学 | A kind of modularization curved surface Deployable antenna mechanism that unit can be opened up based on single-degree-of-freedom |
| CN109659657A (en) * | 2019-01-18 | 2019-04-19 | 燕山大学 | Hoop truss deployable antenna mechanism based on taper scissors mechanism unit |
| CN111276785A (en) * | 2020-02-14 | 2020-06-12 | 北京工业大学 | Single-degree-of-freedom symmetric space RURURUR deployable unit and space deployable mechanism based on same |
| CN111934098A (en) * | 2020-09-05 | 2020-11-13 | 西安电子科技大学 | Annular deployable antenna truss based on bennett mechanism |
| CN114024121A (en) * | 2021-11-16 | 2022-02-08 | 江苏科技大学 | Array folding and unfolding antenna mechanism based on rectangular pyramid unit |
| CN114069189A (en) * | 2021-11-16 | 2022-02-18 | 江苏科技大学 | Rectangular pyramid deployable unit and parabolic deployable antenna mechanism composed of same |
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| US6028570A (en) * | 1998-05-18 | 2000-02-22 | Trw Inc. | Folding perimeter truss reflector |
| CN105799950A (en) * | 2016-03-18 | 2016-07-27 | 燕山大学 | Single-degree-of-freedom overconstrained shear-type deployable unit and space deployable mechanisms composed of same |
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Cited By (14)
| 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 |
| CN108843964A (en) * | 2018-07-11 | 2018-11-20 | 燕山大学 | One kind can open up composite structure substantially |
| CN109659656A (en) * | 2018-12-19 | 2019-04-19 | 燕山大学 | A kind of modularization curved surface Deployable antenna mechanism that unit can be opened up based on single-degree-of-freedom |
| CN109616735A (en) * | 2019-01-18 | 2019-04-12 | 燕山大学 | Sun flower-shape annular truss deployable antenna mechanism based on scissors unit |
| CN109659657A (en) * | 2019-01-18 | 2019-04-19 | 燕山大学 | Hoop truss deployable antenna mechanism based on taper scissors mechanism unit |
| CN109616735B (en) * | 2019-01-18 | 2023-09-22 | 燕山大学 | Sunflower-shaped annular truss expandable antenna mechanism based on shear units |
| CN109659657B (en) * | 2019-01-18 | 2023-09-19 | 燕山大学 | Perimeter truss expandable antenna mechanism based on conical shear fork mechanism unit |
| CN111276785B (en) * | 2020-02-14 | 2022-07-19 | 北京工业大学 | Single-degree-of-freedom symmetric space RURURUR deployable unit and space deployable mechanism based on same |
| CN111276785A (en) * | 2020-02-14 | 2020-06-12 | 北京工业大学 | Single-degree-of-freedom symmetric space RURURUR deployable unit and space deployable mechanism based on same |
| CN111934098A (en) * | 2020-09-05 | 2020-11-13 | 西安电子科技大学 | Annular deployable antenna truss based on bennett mechanism |
| CN114069189A (en) * | 2021-11-16 | 2022-02-18 | 江苏科技大学 | Rectangular pyramid deployable unit and parabolic deployable antenna mechanism composed of same |
| CN114024121A (en) * | 2021-11-16 | 2022-02-08 | 江苏科技大学 | Array folding and unfolding antenna mechanism based on rectangular pyramid unit |
| CN114069189B (en) * | 2021-11-16 | 2023-09-15 | 江苏科技大学 | Parabolic expandable antenna mechanism composed of rectangular pyramid expandable units |
| CN114024121B (en) * | 2021-11-16 | 2023-11-21 | 江苏科技大学 | Array type folding and unfolding antenna mechanism based on rectangular pyramid units |
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