CN107331939A - The prism of scissor-type six can open up the space development agency of unit and its composition - Google Patents
The prism of scissor-type six can open up the space development agency of unit and its composition Download PDFInfo
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- CN107331939A CN107331939A CN201710499274.3A CN201710499274A CN107331939A CN 107331939 A CN107331939 A CN 107331939A CN 201710499274 A CN201710499274 A CN 201710499274A CN 107331939 A CN107331939 A CN 107331939A
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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
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- 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
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Abstract
A kind of prism of scissor-type six can open up the space development agency of unit and its composition, its prism of scissor-type six can open up unit can open up unit substantially for the prism of single-degree-of-freedom Planar Mechanisms six, including 12 floral discs, six groups of scissor folding rods and 12 groups of folding connecting rods, one of which folding connecting rod can open up the expansion degree of unit substantially by length of connecting rod limitation, remaining 11 groups of folding connecting rods are Planar Mechanisms folding connecting rod, can effectively improve can open up the rigidity of unit substantially, it is multiple to open up unit close-packed arrays substantially, and adjacent can open up substantially between unit by sharing four floral discs, one group of scissor folding rod and two groups of folding connecting rods can constitute space development agency, the quantity of unit can be opened up substantially by changing, the size of space development agency can be changed.The present invention has the structural symmetry of height, by that to multiple assemblings for opening up unit, can form the space development agency of different large scales, it is adaptable to construct space solar cell battle array support and satellite Plane-reflective 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, with the fast development of aerospace industry, various space flight
The function of device is also increasingly complicated, and due to the demand of the spacecraft energy, the area of various spaceborne solar arrays is continuous
Increase, while in satellite antenna field, to meet electronic reconnaissance, data relaying, the space flight key technology such as navigation is to spaceborne over the ground
The high-gain requirement of antenna, satellite antenna reflector bore also constantly increases, but is due to the space by spaceflight delivering tool
Limitation, aerospace mechanism must be folded up and drawn in in radome fairing in launching phase, after after spacecraft injection, then
Spread out by the power source carried to working condition, therefore, development agency is obtained along with the increase of various space missions
Fast-developing and application is arrived.As space station basic skeleton, it is 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 body shape can
Mechanism is opened up, wherein it is at most planar development agency to apply, such mechanism can be launched into plane, be widely used in space and stretch
Open up the fields such as arm, solar array, satellite antenna support frame.According to development agency expansion and tucked way, 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, and such mechanism, which has to draw in, folds higher than larger, precision, repeatable gathering exhibition
Good and long lifespan the advantage of the property opened, has been widely used in space station basic skeleton, space mast and heavy caliber at present
The fields such as folding exhibition antenna.
At present, foreign countries successfully have developed polytype hinged truss formula development agency, such as Russian " Soyuz "
Spaceborne tetrahedral framework antenna, international space station owner's solar wing support keel, the hexahedron on Japanese No. 8 satellites of chrysanthemum can be opened up
Bore opens up day for 12.25m Astro Mesh annular truss folding on unit truss-like parabola antenna, U.S.'s Thuraya satellites
Line etc..The tasks such as following celestial body detecting, space operation, are required for space development agency to complete, but existing new open up
Mechanism unit type is less, main using complicated connecting node or unit mode, it is impossible to obtain ideal gathering rate, or
It cannot be guaranteed that unit expansion has the single movement free degree all the time during drawing in, make the reduction of mechanism deploying reliability.
The content of the invention
It is an object of the invention to provide one kind has the single degree of freedom, simple in construction, rigidity is high, expanding performance is good, can
The space development agency of unit and its composition can be opened up by the high prism of scissor-type six of property.
The prism of scissor-type six of the present invention can open up unit can open up unit substantially for the prism of single-degree-of-freedom Planar Mechanisms six, and it includes
12 scissors rods, 24 connecting rods and 12 floral discs；12 scissors rod structures are identical, two scissors rods
For one group, connected in the middle of its two scissors rod by revolute pair, 12 scissors rods constitute six groups of scissor folding rods, six groups of scissors altogether
Folding rod is symmetrically distributed on six sides that can open up unit substantially, in the scissor folding rod folding exhibition direction phase to side position
Together；24 bar linkage structures are identical, and two connecting rods are one group, and one end of two connecting rod is connected by revolute pair
Connect, 24 connecting rods constitute 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, there are six groups of folding connecting rods upper and lower surfaces, and identical in the folding connecting rod folding exhibition direction to side position；Institute
State 12 disc chuck structures identical, each floral disc has three branch fork, each branch fork monosymmetric is opened provided with one
Mouth groove, open slot is used to insert scissor folding rod and connecting rod, and each open slot is equipped with the cylindrical hole of two diameter parallels, inner side
The cylindrical hole scissor folding rod that is used for and inserts connected by revolute pair, the folding connecting rod that the cylindrical hole in outside is used for and inserted
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；The opening for four floral discs being in it on same plane summit is inserted at four ends of every group of scissor folding rod respectively
Groove, is connected by four revolute pairs with the cylindrical hole on the inside of four floral disc open slots, and four revolute pair axis are cut with being connected two
Fork arm constitutes the revolute pair diameter parallel of scissor folding rod, and every group of scissor folding rod is connected with five revolute pairs, five rotations altogether
The revolute pair axis relative with position on offside scissor folding rod is overlapped secondary axis respectively；Insert respectively at the two ends of every group of folding connecting rod
Enter the open slot of two parallel floral discs, be connected by two revolute pairs with the cylindrical hole on the outside of two floral disc open slots, two
Revolute pair axis constitutes the revolute pair diameter parallel of folding connecting rod with being connected two connecting rods, and every group of folding connecting rod has three rotations
Pair, the revolute pair axis relative with the position on same plane offside folding connecting rod is overlapped three revolute pair axis respectively, point
Each revolute pair axis of the cloth on the upper and lower surfaces Shang Zhezhan directions identical folding connecting rod that can open up unit substantially and correspondingly
Two sides on have it is identical folding exhibition direction scissor folding rod on revolute pair axis it is parallel.
Described to open up substantially in unit, the length limitation of folding connecting rod can open up the expansion degree of unit substantially, when the company of folding
When bar stretches three revolute pair axis co-planars on i.e. folding connecting rod completely, unit can be opened up substantially and is just in its fully unfolded position, ten
Any 11 groups of folding connecting rods in two groups of folding connecting rods are over-constrained linkage, and the work of element stiffness can be opened up substantially by playing raising
With another set folding connecting rod can open up the expansion degree of unit substantially by length of connecting rod limitation.
The prism of scissor-type six of the present invention can open up the space development agency of unit composition, and it can open up list substantially including multiple
Member, it is multiple to open up unit close-packed arrays substantially, it is adjacent basic to open up four floral discs of units shared, one group of scissor folding rod and two
Group folding connecting rod, wherein, four ends of one group of shared scissor folding rod are inserted in the open slot of four shared floral discs respectively, are led to
Cross four revolute pairs with the cylindrical hole on the inside of four floral disc open slots to be connected, the two ends of two groups of shared folding connecting rods are inserted respectively
In the open slot of four shared floral discs, it is connected by four revolute pairs with the cylindrical hole on the outside of four floral disc open slots；Pass through
Change can open up the quantity of unit substantially, can change the size of space development agency.
The present invention has advantages below compared with prior art：
1st, the present invention can open up unit for six prism spaces, with larger gathering rate, containing multiple Planar Mechanisms folding connecting rods,
Integral rigidity is higher.
2nd, the present invention is simple in construction, and kinematic pair is revolute pair, it is easy to accomplish engineering is manufactured.
3rd, the present invention can open up unit substantially for single-degree-of-freedom space, i.e., only need one drive the expansion that can be achieved with unit and
Draw motion in, expanding performance is good, reliability is high.
4th, the present invention has the structural symmetry of height, by that to multiple assemblings for opening up unit, can be formed different
The space development agency of large scale, it is adaptable to construct space solar cell battle array support and satellite Plane-reflective antenna.
Brief description of the drawings
Fig. 1 is that the present invention can open up the three-dimensional simplified schematic diagram of unit substantially；
Fig. 2 is the three-dimensional simplified schematic diagram of Fig. 1 its fully unfolded positions；
Fig. 3 is the three-dimensional simplified schematic diagram of the complete rounding states of Fig. 1；
Fig. 4 is amplification simplified schematic diagram in floral disc coupling part in Fig. 1；
Fig. 5 is the three-dimensional simplified schematic diagram of the deployed condition of the embodiment of the present invention 2 half；
Fig. 6 is the three-dimensional simplified schematic diagram of Fig. 5 its fully unfolded positions；
Fig. 7 is the three-dimensional simplified schematic diagram of the complete rounding states of Fig. 5.
In figure：1：First floral disc, 2：Second floral disc, 3：First scissors rod, 4：Second scissors rod, 5：3rd floral disc, 6：The
Four floral discs, 7：3rd scissors rod, 8：4th scissors rod, 9：5th floral disc, 10：6th floral disc, 11：5th scissors rod, 12：6th
Scissors rod, 13：7th floral disc, 14：8th floral disc, 15：7th scissors rod, 16：8th scissors rod, 17：9th floral disc, 18：The
Nine scissors rods, 19：Tenth floral disc, 20：Tenth scissors rod, 21：11st floral disc, 22：12nd floral disc, 23：11st scissor
Bar, 24：12nd scissors rod, 25：First connecting rod, 26：Second connecting rod, 27：Third connecting rod, 28：Fourth link, 29：5th connects
Bar, 30：Six-bar linkage, 31：Seven-link assembly, 32：8th connecting rod, 33：9th connecting rod, 34：Tenth connecting rod, 35：11st connecting rod,
36：12nd connecting rod, 37：13rd connecting rod, 38：Tenth double leval jib, 39：15th connecting rod, 40：Tenth six-bar linkage, 41：Tenth
Seven-link assembly, 42：18th connecting rod, 43：19th connecting rod, 44：20th connecting rod, 45：21st connecting rod, 46：22nd
Connecting rod, 47：23rd connecting rod, 48：20th double leval jib.
Embodiment
Embodiment 1
In the prism of scissor-type six shown in Fig. 1 can open up cell schematics, 12 scissors rod structures are identical, two
Scissors rod is to be connected in the middle of one group, its two scissors rod by revolute pair, and 12 scissors rods constitute six groups of scissor folding rods, six altogether
Group scissor folding rod is symmetrically distributed on six sides that can open up unit substantially, and exhibition side is rolled in the scissor folding rod to side position
To identical；24 bar linkage structures are identical, and two connecting rods are one group, and one end of two connecting rod is connected by revolute pair
Connect, 24 connecting rods constitute 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, there are six groups of folding connecting rods upper and lower surfaces, and identical in the folding connecting rod folding exhibition direction to side position；Ten
Two disc chuck structures are identical, and each floral disc has three branch forks, and each branch fork is provided with a monosymmetric open slot,
For inserting scissor folding rod and connecting rod, each open slot is provided with the cylindrical hole of two diameter parallels, and the cylindrical hole of inner side is used
Connected in the scissor folding rod with insertion by revolute pair, the folding connecting rod that the cylindrical hole in outside is used for and inserted passes through revolute pair
Connection, open slot centreline space angle is 120 °, and 12 floral discs are symmetrically distributed on 12 summits that can open up unit substantially；
The open slot for four floral discs being in it on same plane summit is inserted at four ends of every group of scissor folding rod respectively, passes through four
Revolute pair is connected with the cylindrical hole on the inside of four floral disc open slots, and two parallel flowers are inserted at the two ends of every group of folding connecting rod respectively
The open slot of disk, is connected by two revolute pairs with the cylindrical hole on the outside of two floral disc open slots.
Pass through revolute pair connection the first scissor folding rod of composition, the 3rd scissor in the middle of first scissors rod 3 and the second scissors rod 4
Pass through revolute pair connection the second scissor folding rod of composition, the 5th scissors rod 11 and the 6th scissors rod in the middle of the scissors rod 8 of bar 7 and the 4th
By revolute pair connection the 3rd scissor folding rod of composition in the middle of 12, by rotating in the middle of the 7th scissors rod 15 and the 8th scissors rod 16
Pass through revolute pair connection composition the 5th in the middle of pair connection the 4th scissor folding rod of composition, the 9th scissors rod 18 and the tenth scissors rod 20
Folded in the middle of scissor folding rod, the 11st scissors rod 23 and the 12nd scissors rod 24 by revolute pair connection the 6th scissor of composition
Bar；The first floral disc 1, the second floral disc 2, the 3rd floral disc 5, the opening of the 4th floral disc 6 are inserted in four ends of the first scissor folding rod respectively
In groove, and it is connected by four revolute pairs with four floral disc open slot inside cylindrical holes, five on the first scissor folding rod turn
Dynamic secondary axis is parallel；The 3rd floral disc 5, the 4th floral disc 6, the 5th floral disc the 9, the 6th are inserted in four ends of the second scissor folding rod respectively
In the open slot of floral disc 10, and it is connected by four revolute pairs with four floral disc open slot inside cylindrical holes, the second scissor is folded
Five revolute pair axis on bar are parallel；Four ends of the 3rd scissor folding rod insert respectively the 5th floral disc 9, the 6th floral disc 10,
In 7th floral disc 13, the open slot of the 8th floral disc 14, and connected by four revolute pairs with four floral disc open slot inside cylindrical holes
Connect, five revolute pair axis on the 3rd scissor folding rod are parallel；The 7th flower is inserted at four ends of the 4th scissor folding rod respectively
In disk 13, the 8th floral disc 14, the 9th floral disc 17, the open slot of the tenth floral disc 19, and opened by four revolute pairs with four floral discs
Five revolute pair axis on the connection of mouth groove inside cylindrical hole, the 4th scissor folding rod are parallel；The four of 5th scissor folding rod
End is respectively in the 9th floral disc 17 of insertion, the tenth floral disc 19, the 11st floral disc 21, the open slot of the 12nd floral disc 22, and pass through 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 put down
OK；The 11st floral disc 21, the 12nd floral disc 22, the first floral disc 1, the second floral disc 2 are inserted in four ends of the 6th scissor folding rod respectively
Open slot in, and be connected by four revolute pairs with four floral disc open slot inside cylindrical holes, on the 6th scissor folding rod
Five revolute pair axis are parallel；First scissor folding rod and the revolute pair axis weight of the 4th scissor folding rod corresponding position
Close, the revolute pair axis of the second scissor folding rod and the 5th scissor folding rod corresponding position is overlapped, the 3rd scissor folding rod and
The revolute pair axis of 6th scissor folding rod corresponding position is overlapped.
As shown in Fig. 2 one end of first connecting rod 25 and second connecting rod 26 is by revolute pair connection the first folding connecting rod of composition,
One end of third connecting rod 27 and fourth link 28 is connected by revolute pair connection the second folding connecting rod of composition, the 5th connecting rod 29 and the 6th
One end of bar 30 is by revolute pair connection the 3rd folding connecting rod of composition, and one end of the connecting rod 32 of seven-link assembly 31 and the 8th is by rotating
One end of pair connection the 4th folding connecting rod of composition, the 9th connecting rod 33 and the 12nd connecting rod 36 passes through revolute pair connection the 5th folding of composition
One end of folded connecting rod, the tenth connecting rod 34 and the 11st connecting rod 35 is by revolute pair connection the 6th folding connecting rod of composition, and the 13rd connects
One end of the connecting rod 39 of bar 37 and the 15th is connected by revolute pair connection the 7th folding connecting rod of composition, the tenth double leval jib the 38 and the 16th
One end of bar 40 is connected by revolute pair constitutes the 8th folding connecting rod, and one end of the tenth seven-link assembly 41 and the 18th connecting rod 42 passes through
One end of revolute pair connection the 9th folding connecting rod of composition, the 19th connecting rod 43 and the 20th connecting rod 44 is connected by revolute pair to be constituted
One end of tenth folding connecting rod, the 21st connecting rod 45 and the 20th double leval jib 48 is folded by revolute pair connection composition the 11st
One end of connecting rod, the 22nd connecting rod 46 and the 23rd connecting rod 47 passes through revolute pair connection the tenth two-fold connecting rod of composition；The
The two ends of one folding connecting rod are inserted in the open slot of parallel the first floral disc 1 and the 3rd floral disc 5 respectively, by two revolute pairs with
Cylindrical hole is connected on the outside of two floral disc open slots, and three revolute pair axis on the first folding connecting rod are parallel；Second company of folding
The two ends of bar are inserted in the open slot of parallel the second floral disc 2 and the 4th floral disc 6 respectively, pass through two revolute pairs and two floral discs
Cylindrical hole is connected on the outside of open slot, and three revolute pair axis on the second folding connecting rod are parallel；The two ends of 3rd folding connecting rod
In the open slot for inserting parallel the 3rd floral disc 5 and the 5th floral disc 9 respectively, by two revolute pairs with outside two floral disc open slots
Three revolute pair axis on side cylindrical hole connection, the 3rd folding connecting rod are parallel；The two ends of 4th folding connecting rod are inserted respectively
In the 4th parallel floral disc 6 and the open slot of the 6th floral disc 10, pass through two revolute pairs and cylinder on the outside of two floral disc open slots
Hole is connected, and three revolute pair axis on the 4th folding connecting rod are parallel；The two ends of 5th folding connecting rod insert parallel respectively
In the open slot of 5th floral disc 9 and the 8th floral disc 14, it is connected by two revolute pairs with cylindrical hole on the outside of two floral disc open slots,
Three revolute pair axis on 5th folding connecting rod are parallel；The 6th parallel floral disc is inserted at the two ends of 6th folding connecting rod respectively
10 and the 7th floral disc 13 open slot in, be connected by two revolute pairs with cylindrical hole on the outside of two floral disc open slots, the 6th folding
Three revolute pair axis on folded connecting rod are parallel；Parallel the 7th floral disc 13 and is inserted at the two ends of 7th folding connecting rod respectively
In the open slot of nine floral discs 17, it is connected by two revolute pairs with cylindrical hole on the outside of two floral disc open slots, the 7th folding connecting rod
On three revolute pair axis it is parallel；Parallel the 8th floral disc 14 and the tenth floral disc is inserted at the two ends of 8th folding connecting rod respectively
In 19 open slot, it is connected by two revolute pairs with cylindrical hole on the outside of two floral disc open slots, three on the 8th folding connecting rod
Individual revolute pair axis is parallel；Parallel the 9th floral disc 17 and the 11st floral disc 21 are inserted in the two ends of 9th folding connecting rod respectively
In open slot, it is connected by two revolute pairs with cylindrical hole on the outside of two floral disc open slots, three on the 9th folding connecting rod turn
Dynamic secondary axis is parallel；The opening of parallel the tenth floral disc 19 and the 12nd floral disc 22 is inserted at the two ends of tenth folding connecting rod respectively
In groove, it is connected by two revolute pairs with cylindrical hole on the outside of two floral disc open slots, three revolute pairs on the tenth folding connecting rod
Axis is parallel；The open slot of parallel the second floral disc 2 and the 11st floral disc 21 is inserted at the two ends of 11st folding connecting rod respectively
In, it is connected by two revolute pairs with cylindrical hole on the outside of two floral disc open slots, three revolute pairs on the 11st folding connecting rod
Axis is parallel；The open slot of parallel the first floral disc 1 and the 12nd floral disc 22 is inserted at the two ends of tenth two-fold connecting rod respectively
In, it is connected by two revolute pairs with cylindrical hole on the outside of two floral disc open slots, three revolute pairs on the tenth two-fold connecting rod
Axis is parallel；Corresponding revolute pair axis is overlapped on first folding connecting rod and the 8th folding connecting rod, the second folding connecting rod and the
Corresponding revolute pair axis is overlapped on seven folding connecting rods, corresponding revolute pair axis on the 3rd folding connecting rod and the tenth folding connecting rod
Overlap, corresponding revolute pair axis is overlapped on the 4th folding connecting rod and the 9th folding connecting rod, the 5th folding connecting rod and the tenth eighty percent discount
Corresponding revolute pair axis is overlapped on folded connecting rod, corresponding revolute pair axis weight 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 the 4th revolute pair axis on scissor folding rod is 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 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 are folded
Revolute pair axis on bar is parallel.
As shown in Figure 1-Figure 3, the length of folding connecting rod can be limited can open up the expansion degree of unit substantially, when folding connecting rod is complete
When stretching three revolute pair axis co-planars on i.e. folding connecting rod entirely, unit can be opened up substantially and is just in its fully unfolded position, works as folding
When connecting rod is drawn in completely, any 11 groups of foldings that unit is just in complete rounding state, 12 groups of folding connecting rods can be opened up substantially
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, the prism of scissor-type six can open up the space development agency of unit composition and include multiple to open up substantially
Unit, the part and connected mode that unit can be each opened up substantially is same as Example 1, multiple to open up unit close-packed arrays substantially,
It is adjacent it is basic open up four floral discs of units shared, one group of scissor folding rod and two groups of folding connecting rods, wherein one group shared is cut
Four ends of fork folding rod are inserted in the open slot of four shared floral discs respectively, pass through four revolute pairs and four floral disc open slots
Inside cylindrical hole is connected, and the two ends of two groups of shared folding connecting rods are inserted in the open slot that aforementioned four shares floral disc respectively, are led to
Revolute pair is crossed to be connected with cylindrical hole on the outside of floral disc open slot；In Fig. 5-Fig. 7 A and B be two it is adjacent it is basic open up unit, with base
Originally it can open up exemplified by unit A and B, two can open up unit and be rolled over by sharing the scissor being made up of scissors rod 23 ' and scissors rod 24 ' substantially
Folded bar, four floral discs 1 ', 2 ', 21 ', 22 ' and the two groups of folding connecting rods connection being made up of connecting rod 45 ', 46 ', 47 ', 48 '；This
Other in the development agency of space can open up the connected mode between unit and can open up unit A substantially and can open up unit B substantially substantially
Connected mode is identical, can open up the quantity of unit substantially by changing, thus it is possible to vary the size of space development agency.
Fig. 5 is that the prism of scissor-type six can open up the deployed condition of space development agency half of unit composition, and Fig. 6 is fully deployed for it
State, Fig. 7 is its complete rounding state.
Claims (6)
1. a kind of prism of scissor-type six can open up the space development agency of unit and its composition, it is characterised in that：The prism of scissor-type six
It is that the prism of single-degree-of-freedom Planar Mechanisms six can open up unit substantially that unit, which can be opened up, and it includes 12 scissors rods, 24 connecting rods
With 12 floral discs；12 scissors rod structures are identical, and two scissors rods are to pass through in the middle of one group, its two scissors rod
Revolute pair is connected, and 12 scissors rods constitute six groups of scissor folding rods altogether, and six groups of scissor folding rods are symmetrically distributed in and can opened up substantially
It is identical in the scissor folding rod folding exhibition direction to side position on six sides of unit；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 constitute 12 groups altogether
Folding connecting rod, 12 groups of folding connecting rods are symmetrically distributed in and can opened up substantially on the upper and lower surfaces of unit, and upper and lower surfaces have six
Group folding connecting rod, and it is identical in the folding connecting rod folding exhibition direction to side position；12 disc chuck structures are identical, often
Individual floral disc has three branch forks, and each branch fork is provided with a monosymmetric open slot, and open slot is used to insert scissor folding
Bar and connecting rod, each open slot are provided with the cylindrical hole of two diameter parallels, the scissor folding that the cylindrical hole of inner side is used for and inserted
Folded bar is connected by revolute pair, and the folding connecting rod that the cylindrical hole in outside is used for and inserted is connected by revolute pair, and be open groove center
Angle is 120 ° between line, and 12 floral discs are symmetrically distributed on 12 summits that can open up unit substantially；Every group of scissor folding rod
Four ends insert the open slots of four floral discs being in it on same plane summit respectively, pass through four revolute pairs and four flowers
Cylindrical hole on the inside of dish opening groove is connected, and four revolute pair axis constitute the revolute pair of scissor folding rod with being connected two scissors rods
Five revolute pairs are connected with diameter parallel, every group of scissor folding rod altogether, five revolute pair axis are folded with offside scissor respectively
The revolute pair axis that position is relative on bar is overlapped；The opening of two parallel floral discs is inserted at the two ends of every group of folding connecting rod respectively
Groove, is connected by two revolute pairs with the cylindrical hole on the outside of two floral disc open slots, and two revolute pair axis are with being connected two companies
Bar constitutes the revolute pair diameter parallel of folding connecting rod, and every group of folding connecting rod has three revolute pairs, three revolute pair axis difference
The revolute pair axis relative with the position on same plane offside folding connecting rod is overlapped, and being distributed in can open up above and below unit substantially
There is identical folding on each revolute pair axis and corresponding two sides on the identical folding connecting rod of two faces Shang Zhezhan directions
The revolute pair axis opened up on the scissor folding rod in direction is parallel.
2. the prism of scissor-type six according to claim 1 can open up the space development agency of unit and its composition, its feature exists
In：The prism of scissor-type six can be opened up in the middle of the first scissors rod and the second scissors rod of unit by revolute pair connection composition first
By revolute pair connection the second scissor folding rod of composition in the middle of scissor folding rod, the 3rd scissors rod and the 4th scissors rod, the 5th cuts
By revolute pair connection the 3rd scissor folding rod of composition in the middle of fork arm and the 6th scissors rod, in the 7th scissors rod and the 8th scissors rod
Between by revolute pair connection the 4th scissor folding rod of composition, group is connected by revolute pair in the middle of the 9th scissors rod and the tenth scissors rod
Into the 5th scissor folding rod, folded in the middle of the 11st scissors rod and the 12nd scissors rod by revolute pair connection the 6th scissor of composition
Bar；Four ends of the first scissor folding rod are inserted in the first floral disc, the second floral disc, the 3rd floral disc, the open slot of the 4th floral disc respectively,
And be connected by four revolute pairs with four floral disc open slot inside cylindrical holes, five turns auxiliary shafts on the first scissor folding rod
Line is parallel；Four ends of the second scissor folding rod are inserted the 3rd floral disc, the 4th floral disc, the 5th floral disc, the 6th floral disc and opened respectively
In mouth groove, and it is connected by four revolute pairs with four floral disc open slot inside cylindrical holes, five on the second scissor folding rod
Revolute pair axis is parallel；The 5th floral disc, the 6th floral disc, the 7th floral disc, the 8th are inserted in four ends of the 3rd scissor folding rod respectively
In the open slot of floral disc, and it is connected by four revolute pairs with four floral disc open slot inside cylindrical holes, the 3rd scissor folding rod
On five revolute pair axis it is parallel；The 7th floral disc, the 8th floral disc, the 9th flower are inserted in four ends of the 4th scissor folding rod respectively
In disk, the open slot of the tenth floral disc, and it is connected by four revolute pairs with four floral disc open slot inside cylindrical holes, the 4th scissor
Five revolute pair axis on folding rod are parallel；Four ends of the 5th scissor folding rod insert respectively the 9th floral disc, the tenth floral disc,
In 11st floral disc, the open slot of the 12nd floral disc, and connected by four revolute pairs with four floral disc open slot inside cylindrical holes
Connect, five revolute pair axis on the 5th scissor folding rod are parallel；Four ends of the 6th scissor folding rod insert the 11st respectively
In floral disc, the 12nd floral disc, the first floral disc, the open slot of the second floral disc, and pass through four revolute pairs and four floral disc open slots
Inside cylindrical hole is connected, and five revolute pair axis on the 6th scissor folding rod are parallel；First scissor folding rod and the 4th is cut
The revolute pair axis coincidence of fork folding rod corresponding position, the second scissor folding rod and the 5th scissor folding rod corresponding position
Revolute pair axis is overlapped, and the revolute pair axis of the 3rd scissor folding rod and the 6th scissor folding rod corresponding position is overlapped.
One end of first connecting rod and second connecting rod passes through revolute pair connection the first folding connecting rod of composition, third connecting rod and fourth link
One end by revolute pair connection the second folding connecting rod of composition, one end of the 5th connecting rod and six-bar linkage connects group by revolute pair
Into the 3rd folding connecting rod, one end of seven-link assembly and the 8th connecting rod is by revolute pair connection the 4th folding connecting rod of composition, and the 9th connects
One end of bar and the 12nd connecting rod is made up of one end of the 5th folding connecting rod, the tenth connecting rod and the 11st connecting rod revolute pair connection
By revolute pair connection the 6th folding connecting rod of composition, one end of the 13rd connecting rod and the 15th connecting rod is connected by revolute pair to be constituted
One end of 7th folding connecting rod, the tenth double leval jib and the tenth six-bar linkage passes through revolute pair connection the 8th folding connecting rod of composition, the tenth
One end of seven-link assembly and the 18th connecting rod passes through revolute pair connection the 9th folding connecting rod of composition, the 19th connecting rod and the 20th connecting rod
One end by revolute pair connection the tenth folding connecting rod of composition, one end of the 21st connecting rod and the 20th double leval jib, which passes through, to be rotated
Pair connection the 11st folding connecting rod of composition, one end of the 22nd connecting rod and the 23rd connecting rod passes through revolute pair connection composition the
Ten two-fold connecting rods；The two ends of first folding connecting rod are inserted in the open slot of parallel the first floral disc and the 3rd floral disc respectively, are led to
Cross two revolute pairs to be connected with cylindrical hole on the outside of two floral disc open slots, three on the first folding connecting rod revolute pair axis is put down
OK；The two ends of second folding connecting rod are inserted in the open slot of parallel the second floral disc and the 4th floral disc respectively, pass through two rotations
Pair is connected with cylindrical hole on the outside of two floral disc open slots, and three on the second folding connecting rod revolute pair axis is parallel；3rd folding
The two ends of folded connecting rod are inserted in the open slot of parallel the 3rd floral disc and the 5th floral disc respectively, pass through two revolute pairs and two flowers
Cylindrical hole is connected on the outside of dish opening groove, and three revolute pair axis on the 3rd folding connecting rod are parallel；The two of 4th folding connecting rod
End is inserted in the open slot of parallel the 4th floral disc and the 6th floral disc respectively, by two revolute pairs with outside two floral disc open slots
Three revolute pair axis on side cylindrical hole connection, the 4th folding connecting rod are parallel；The two ends of 5th folding connecting rod are inserted respectively
In the 5th parallel floral disc and the open slot of the 8th floral disc, connected by two revolute pairs with cylindrical hole on the outside of two floral disc open slots
Connect, three revolute pair axis on the 5th folding connecting rod are parallel；Parallel the 6th is inserted at the two ends of 6th folding connecting rod respectively
In the open slot of floral disc and the 7th floral disc, it is connected by two revolute pairs with cylindrical hole on the outside of two floral disc open slots, the 6th folding
Three revolute pair axis on folded connecting rod are parallel；Parallel the 7th floral disc and the 9th is inserted at the two ends of 7th folding connecting rod respectively
In the open slot of floral disc, it is connected by two revolute pairs with cylindrical hole on the outside of two floral disc open slots, on the 7th folding connecting rod
Three revolute pair axis are parallel；The opening of parallel the 8th floral disc and the tenth floral disc is inserted at the two ends of 8th folding connecting rod respectively
In groove, it is connected by two revolute pairs with cylindrical hole on the outside of two floral disc open slots, three revolute pairs on the 8th folding connecting rod
Axis is parallel；The two ends of 9th folding connecting rod are inserted in the open slot of parallel the 9th floral disc and the 11st floral disc respectively, are led to
Cross two revolute pairs to be connected with cylindrical hole on the outside of two floral disc open slots, three revolute pair axis on the 9th folding connecting rod are put down
OK；The two ends of tenth folding connecting rod are inserted in the open slot of parallel the tenth floral disc and the 12nd floral disc respectively, are passed through two and are turned
Dynamic pair is connected with cylindrical hole on the outside of two floral disc open slots, and three revolute pair axis on the tenth folding connecting rod are parallel；Tenth
The two ends of one folding connecting rod are inserted in the open slot of parallel the second floral disc and the 11st floral disc respectively, by two revolute pairs with
Cylindrical hole is connected on the outside of two floral disc open slots, and three revolute pair axis on the 11st folding connecting rod are parallel；Tenth eighty percent discount
The two ends of folded connecting rod are inserted in the open slot of parallel the first floral disc and the 12nd floral disc respectively, pass through two revolute pairs and two
Cylindrical hole is connected on the outside of floral disc open slot, and three revolute pair axis on the tenth two-fold connecting rod are parallel；First folding connecting rod
Corresponding revolute pair axis is overlapped with the 8th folding connecting rod, corresponding revolute pair on the second folding connecting rod and the 7th folding connecting rod
Axis is overlapped, and corresponding revolute pair axis is overlapped on the 3rd folding connecting rod and the tenth folding connecting rod, the 4th folding connecting rod and the 9th
Corresponding revolute pair axis is overlapped on folding connecting rod, corresponding revolute pair axis on the 5th folding connecting rod and the tenth two-fold connecting rod
Overlap, corresponding revolute pair axis is overlapped on the 6th folding connecting rod and the 11st folding connecting rod.
3. the prism of scissor-type six according to claim 1 or 2 can open up the space development agency of unit and its composition, its feature
It is：Six groups of scissor folding rods are symmetrically distributed on six sides that can open up unit substantially, in the scissor to side position
Folding rod folding exhibition direction is identical, and five revolute pairs are had in every group of scissor folding rod, connects four revolute pairs of floral disc with being connected
Two scissors rods constitute the revolute pair diameter parallel of this scissor folding rod, five revolute pair axis respectively with offside scissor folding rod
The relative revolute pair axis in upper position is overlapped.
4. the prism of scissor-type six according to claim 1 or 2 can open up the space development agency of unit and its composition, its feature
It is：12 groups of folding connecting rods are symmetrically distributed in and can opened up substantially on the upper and lower surfaces of unit, and upper and lower surfaces have six
Group folding connecting rod, and it is identical in the folding connecting rod folding exhibition direction to side position, every group of folding connecting rod is connected with three rotations altogether
Pair, two revolute pair axis of connection floral disc constitute the revolute pair diameter parallel of this folding connecting rod, three with being connected two connecting rods
The revolute pair axis relative with the position on same plane offside folding connecting rod is overlapped revolute pair axis respectively.
5. the prism of scissor-type six according to claim 1 or 2 can open up the space development agency of unit and its composition, its feature
It is：Be distributed in can open up substantially each revolute pair axis on the identical folding connecting rod of unit upper and lower surfaces Shang Zhezhan directions and
Have the revolute pair axis on the scissor folding rod in identical folding exhibition direction parallel on two sides.
6. the prism of scissor-type six according to claim 1 or 2 can open up the space development agency of unit and its composition, its feature
It is：The space development agency that unit is constituted can be opened up by the prism of scissor-type six, it include it is multiple can open up unit substantially, it is multiple basic
Can open up unit close-packed arrays, it is adjacent it is basic open up each floral disc of units shared four, one group of scissor folding rod and two groups of folding connecting rods,
Wherein, four ends of one group of shared scissor folding rod insert respectively in the open slot of aforementioned four floral disc and with circle on the inside of open slot
Post holes is connected by revolute pair, the ends of two groups of shared folding connecting rods insert respectively in the open slot of aforementioned four floral disc and with
Outer cylindrical hole of open slot is connected by revolute pair；The quantity of unit can be opened up substantially by changing, and change space development agency
Size.
Applications Claiming Priority (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 |
| CN2016105119711 | 2016-09-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107331939A true CN107331939A (en) | 2017-11-07 |
| CN107331939B CN107331939B (en) | 2018-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
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| CN (2) | CN106058415A (en) |
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| CN106450647A (en) * | 2016-10-09 | 2017-02-22 | 燕山大学 | Shears-fork type hexagonal-prism extensible unit and space extensible mechanism formed by the same |
| CN108608411A (en) * | 2017-12-27 | 2018-10-02 | 哈尔滨工业大学深圳研究生院 | A kind of triangular prism expandable truss formula space manipulator based on scissors mechanism |
| CN109110156A (en) * | 2018-07-20 | 2019-01-01 | 广西大学 | One kind can open up unit transformation rigid hinge connection space development agency based on triangular prism |
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| JP6341578B2 (en) * | 2016-12-06 | 2018-06-13 | 株式会社不二宮製作所 | Variable shape frame and variable shape solid structure |
| CN106826766A (en) * | 2017-02-28 | 2017-06-13 | 中国地质大学（武汉） | A kind of unit opened up containing 5R coupling side chains and the umbrella development agency based on this |
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| CN107134655B (en) * | 2017-04-20 | 2019-05-31 | 哈尔滨工业大学深圳研究生院 | A kind of space expandable curved face truss mechanism based on scissors mechanism |
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| CN109050979B (en) * | 2018-07-20 | 2021-08-17 | 广西大学 | Shear type folding and unfolding unit rigid hinge connection large-space unfoldable mechanism |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107331939B (en) | 2018-09-04 |
| CN106058415A (en) | 2016-10-26 |
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