CN107331939B - Scissor-type hexagonal prisms can open up the space development agency of unit and its composition - Google Patents
Scissor-type hexagonal prisms can open up the space development agency of unit and its composition Download PDFInfo
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- CN107331939B CN107331939B CN201710499274.3A CN201710499274A CN107331939B CN 107331939 B CN107331939 B CN 107331939B CN 201710499274 A CN201710499274 A CN 201710499274A CN 107331939 B CN107331939 B CN 107331939B
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- 230000007246 mechanism Effects 0.000 claims abstract description 14
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- 238000010276 construction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 2
- 235000007516 Chrysanthemum Nutrition 0.000 description 1
- 244000189548 Chrysanthemum x morifolium Species 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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- 239000004744 fabric Substances 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/288—Satellite antennas
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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
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
A kind of scissor-type hexagonal prisms can open up the space development agency of unit and its composition, its scissor-type hexagonal prisms can open up unit can open up unit substantially for single-degree-of-freedom Planar Mechanisms hexagonal prisms, 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 by length of connecting rod limitation substantially, remaining 11 groups of folding connecting rods are Planar Mechanisms folding connecting rod, can effectively improve substantially can open up the rigidity of unit, it is multiple to open up unit close-packed arrays substantially, and it 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 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 multiple assemblings for opening up unit, can form the space development agency of different large scales, is suitable for construction space solar cell battle array holder and satellite Plane-reflective antenna.
Description
Technical field
The present invention relates to a kind of development agency, especially 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 increase, but due to the space by spaceflight delivering tool
Limitation, aerospace mechanism must be folded up in launching phase and be collapsed in radome fairing, after spacecraft injection, then
It is spread out to working condition by included power source, 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/collapse space manipulator, heavy caliber deployable antenna,
Large-scale flexible solar array holder etc..
According to the spatial geometric shape of development agency, can be divided into linear development agency, planar development agency and body shape can
Mechanism is opened up, wherein it is planar development agency to apply at most, such mechanism can be launched into plane, be widely used in space and stretch
The fields such as swing arm, solar array, satellite antenna supporting rack.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 of connecting rod and kinematic pair, and with collapsing, folding is bigger, precision is high, repeatable gathering exhibition for such mechanism
The advantages of property opened is good and long lifespan, has been widely used in space station basic skeleton, space mast and heavy caliber at present
The fields such as folding exhibition antenna.
Currently, external successfully had developed a plurality of types of hinged truss formula development agencies, 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
The Astro Mesh annular truss folding exhibition day that bore is 12.25m on unit truss-like parabola antenna, U.S.'s Thuraya satellites
Line etc..The tasks such as the following celestial body detecting, space operation, are required for space development agency to complete, however existing novel open up
Mechanism unit type is less, main to obtain ideal gathering rate using complicated connecting node or unit mode, or
It cannot be guaranteed that unit expansion has single movement degree of freedom always during collapsing, make the reduction of mechanism deploying reliability.
Invention content
The purpose of the present invention is to provide one kind with the single degree of freedom, simple in structure, rigidity is high, expanding performance is good, can
The scissor-type hexagonal prisms high by property can open up the space development agency of unit and its composition.
The scissor-type hexagonal prisms of the present invention can open up unit can open up unit substantially for single-degree-of-freedom Planar Mechanisms hexagonal prisms comprising
12 scissors rods, 24 connecting rods and 12 floral discs；12 scissor rod structures are identical, two scissors rods
It is one group, is connected by revolute pair among two scissors rods, 12 scissors rods forms 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 link mechanisms are identical, and two connecting rods are one group, and one end of two connecting rod is connected by revolute pair
It connects, 24 connecting rods form 12 groups of folding connecting rods altogether, and 12 groups of folding connecting rods are symmetrically distributed in can open up the upper of unit substantially
On lower two faces, there are six groups of folding connecting rods in upper and lower surfaces, and identical in the folding connecting rod folding exhibition direction to side position；Institute
It is identical to state 12 disc chuck structures, there are three branch to pitch for each floral disc, sets on each branch fork and is opened there are one monosymmetric
Mouthful slot, for open slot for being inserted into scissor folding rod and connecting rod, each open slot is all provided with that there are two the parallel cylindrical hole of axis, insides
Cylindrical hole be used for be inserted into scissor folding rod connected by revolute pair, the folding connecting rod that the cylindrical hole in outside is used for and is inserted into
It is 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 vertex；The opening that four floral discs on same plane vertex are in it is inserted at four ends of every group of scissor folding rod respectively
Slot 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 connecting two
The revolute pair axis that fork arm forms scissor folding rod is parallel, and every group of scissor folding rod is connected altogether there are five revolute pair, and five rotate
The revolute pair axis opposite with position on offside scissor folding rod overlaps secondary axis respectively；It inserts respectively at the both ends of every group of folding connecting rod
The open slot for entering two parallel floral discs is connected by two revolute pairs with the cylindrical hole on the outside of two floral disc open slots, two
Revolute pair axis is parallel with two connecting rod composition revolute pair axis of folding connecting rod of connection, and there are three rotations altogether for every group of folding connecting rod
Pair, the revolute pair axis opposite with the position on same plane offside folding connecting rod overlaps three revolute pair axis respectively, point
Each revolute pair axis and correspondence of the cloth on the identical folding connecting rod in the upper and lower surfaces directions Shang Zhezhan that can open up unit substantially
Two sides on have it is identical folding open up direction scissor folding rod on revolute pair axis it is parallel.
Described to open up in unit substantially, 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, can open up substantially unit just be in fully unfolded position, ten
Arbitrary 11 groups of folding connecting rods in two groups of folding connecting rods are over-constrained linkage, play the work for improving and can opening up element stiffness substantially
With another set folding connecting rod can open up the expansion degree of unit by length of connecting rod limitation substantially.
The scissor-type hexagonal prisms of the present invention can open up the space development agency of unit composition, it includes that multiple can open up list substantially
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 into respectively in the open slot of four shared floral discs, are led to
It crosses four revolute pairs with the cylindrical hole on the inside of four floral disc open slots to be connected, the both ends of shared two groups of folding connecting rods are inserted into respectively
In the open slot of four shared floral discs, it is connected with the cylindrical hole on the outside of four floral disc open slots by four revolute pairs；Pass through
The quantity of unit can be opened up substantially by changing, and can change the size of space development agency.
Compared with the prior art, the present invention has the following advantages：
1, the present invention, which is hexagonal prisms space, can open up unit, have larger gathering rate, containing multiple Planar Mechanisms folding connecting rods,
Overall stiffness is higher.
2, the configuration of the present invention is simple, kinematic pair are revolute pair, it is easy to accomplish engineering manufactures.
3, the present invention is single-degree-of-freedom space can open up unit substantially, i.e., only need one drive can be achieved with the expansion of unit with
Movement is collapsed, expanding performance is good, and reliability is high.
4, the present invention has the structural symmetry of height, by that multiple assemblings for opening up unit, can be formed different
The space development agency of large scale is suitable for construction space solar cell battle array holder and satellite Plane-reflective antenna.
Description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram that the present invention can open up unit substantially；
Fig. 2 is the three-dimensional simplified schematic diagram of Fig. 1 fully unfolded positions；
Fig. 3 is the three-dimensional simplified schematic diagram of the complete rounding states of Fig. 1；
Fig. 4 is that simplified schematic diagram is amplified in floral disc coupling part in Fig. 1；
Fig. 5 is the three-dimensional simplified schematic diagram of 2 half unfolded state of the embodiment of the present invention；
Fig. 6 is the three-dimensional simplified schematic diagram of Fig. 5 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：Third floral disc, 6：The
Four floral discs, 7：Third 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：Tenth three-link, 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, 47：20th three-link, 48：20th double leval jib.
Specific implementation mode
Embodiment 1
Scissor-type hexagonal prisms shown in Fig. 1 can open up in cell schematics, and 12 scissor rod structures are identical, two
Scissors rod is one group, is connected by revolute pair among two scissors rods, and 12 scissors rods form six groups of scissor folding rods altogether, six
Group scissor folding rod is symmetrically distributed on six sides that can open up unit substantially, rolls over exhibition side in the scissor folding rod to side position
To identical；24 link mechanisms are identical, and two connecting rods are one group, and one end of two connecting rod is connected by revolute pair
It connects, 24 connecting rods form 12 groups of folding connecting rods altogether, and 12 groups of folding connecting rods are symmetrically distributed in can open up the upper of unit substantially
On lower two faces, there are six groups of folding connecting rods in 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 there are three branch to pitch for each floral disc, set there are one monosymmetric open slot on each branch fork,
For being inserted into scissor folding rod and connecting rod, each open slot is opened there are two the parallel cylindrical hole of axis, and the cylindrical hole of inside is used
It is connected by revolute pair in the scissor folding rod with insertion, the folding connecting rod that the cylindrical hole in outside is used for and is inserted into passes through revolute pair
Connection, open slot centreline space angle is 120 °, and 12 floral discs are symmetrically distributed on 12 vertex that can open up unit substantially；
The open slot that four floral discs on same plane vertex are in it 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 both 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.
First scissors rod 3 connects the first scissor folding rod of composition, third scissor among the second scissors rod 4 by revolute pair
Bar 7 connects the second scissor folding rod of composition, the 5th scissors rod 11 and the 6th scissors rod among the 4th scissors rod 8 by revolute pair
Composition third scissor folding rod is connected by revolute pair among 12, passes through rotation among the 7th scissors rod 15 and the 8th scissors rod 16
Pair connection the 4th scissor folding rod of composition, the 9th scissors rod 18 connect composition the 5th among the tenth scissors rod 20 by revolute pair
Scissor folding rod, the 11st scissors rod 23 connect composition the 6th scissor folding among the 12nd scissors rod 24 by revolute pair
Bar；The opening of the first floral disc 1, the second floral disc 2, third floral disc 5, the 4th floral disc 6 is inserted at four ends of the first scissor folding rod respectively
It in slot, and is connect with four floral disc open slot inside cylindrical holes by four revolute pairs, five on the first scissor folding rod turn
Dynamic secondary axis is parallel；Third floral disc 5, the 4th floral disc 6, the 5th floral disc the 9, the 6th are inserted into four ends of the second scissor folding rod respectively
It in the open slot of floral disc 10, and is connect with four floral disc open slot inside cylindrical holes by four revolute pairs, the second scissor folds
Five revolute pair axis on bar are parallel；Four ends of third scissor folding rod be inserted into respectively the 5th floral disc 9, the 6th floral disc 10,
7th floral disc 13, the 8th floral disc 14 open slot in, and pass through four revolute pairs and connect with four floral disc open slot inside cylindrical holes
It connects, five revolute pair axis on third scissor folding rod are parallel；The 7th flower is inserted at four ends of the 4th scissor folding rod respectively
Disk 13, the 8th floral disc 14, the 9th floral disc 17, the tenth floral disc 19 open slot in, and opened by four revolute pairs and four floral discs
Mouth slot inside cylindrical hole connects, and five revolute pair axis on the 4th scissor folding rod are parallel；The four of 5th scissor folding rod
End is inserted into the open slot of the 9th floral disc 17, the tenth floral disc 19, the 11st floral disc 21, the 12nd floral disc 22 respectively, and passes through four
A revolute pair is connect with four floral disc open slot inside cylindrical holes, and five revolute pair axis on the 5th scissor folding rod are flat
Row；The 11st floral disc 21, the 12nd floral disc 22, the first floral disc 1, the second floral disc 2 are inserted into four ends of the 6th scissor folding rod respectively
Open slot in, and connect with four floral disc open slot inside cylindrical holes by four revolute pairs, on the 6th scissor folding rod
Five revolute pair axis are parallel；The revolute pair axis weight of first scissor folding rod and 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 overlaps, third scissor folding rod and
The revolute pair axis of 6th scissor folding rod corresponding position overlaps.
As shown in Fig. 2, first connecting rod 25 connects the first folding connecting rod of composition with one end of second connecting rod 26 by revolute pair,
Third connecting rod 27 connects the second folding connecting rod of composition with one end of fourth link 28 by revolute pair, and the 5th connecting rod 29 and the 6th connects
One end of bar 30 is connected by revolute pair forms third folding connecting rod, and one end of seven-link assembly 31 and the 8th connecting rod 32 passes through rotation
Pair connection the 4th folding connecting rod of composition, the 9th connecting rod 33 connect the 5th folding of composition with one end of the 12nd connecting rod 36 by revolute pair
Folded connecting rod, the tenth connecting rod 34 and one end of the 11st connecting rod 35 connect the 6th folding connecting rod of composition by revolute pair, and the 13rd connects
Bar 37 connects the 7th folding connecting rod of composition with one end of the 15th connecting rod 39 by revolute pair, and the tenth double leval jib 38 and the 16th connects
One end of bar 40 is connected by revolute pair forms the 8th folding connecting rod, and one end of the tenth seven-link assembly 41 and the 18th connecting rod 42 passes through
Revolute pair connection the 9th folding connecting rod of composition, the 19th connecting rod 43 connect composition with one end of the 20th connecting rod 44 by revolute pair
Tenth folding connecting rod, the 21st connecting rod 45 and one end of the 20th double leval jib 48 connect composition the 11st by revolute pair and fold
Connecting rod, the 22nd connecting rod 46 and one end of the 20th three-link 47 connect the tenth two-fold connecting rod of composition by revolute pair；The
The both ends of one folding connecting rod are inserted into respectively in the open slot of the first parallel floral disc 1 and third floral disc 5, by two revolute pairs with
Cylindrical hole connects 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 both ends of bar are inserted into respectively in the open slot of the second parallel floral disc 2 and the 4th floral disc 6, and two revolute pairs and two floral discs are passed through
Cylindrical hole connects on the outside of open slot, and three revolute pair axis on the second folding connecting rod are parallel；The both ends of third folding connecting rod
Be inserted into respectively in the open slot of parallel third floral disc 5 and the 5th floral disc 9, by two revolute pairs with outside two floral disc open slots
Side cylindrical hole connects, and three revolute pair axis on third folding connecting rod are parallel；The both ends of 4th folding connecting rod are inserted into respectively
In the open slot of parallel the 4th floral disc 6 and the 6th floral disc 10, pass through two revolute pairs and cylinder on the outside of two floral disc open slots
Hole connects, and three revolute pair axis on the 4th folding connecting rod are parallel；The both ends of 5th folding connecting rod are inserted into parallel respectively
In the open slot of 5th floral disc 9 and the 8th floral disc 14, it is connect with cylindrical hole on the outside of two floral disc open slots by two revolute pairs,
Three revolute pair axis on 5th folding connecting rod are parallel；The 6th parallel floral disc is inserted at the both ends of 6th folding connecting rod respectively
10 and the 7th floral disc 13 open slot in, connect with cylindrical hole on the outside of two floral disc open slots by two revolute pairs, the 6th folding
Three revolute pair axis on folded connecting rod are parallel；The 7th parallel floral disc 13 and are inserted into the both ends of 7th folding connecting rod respectively
In the open slot of nine floral discs 17, it is connect with cylindrical hole on the outside of two floral disc open slots by two revolute pairs, the 7th folding connecting rod
On three revolute pair axis it is parallel；Parallel the 8th floral disc 14 and the tenth floral disc are inserted into the both ends of 8th folding connecting rod respectively
In 19 open slot, it is connect with cylindrical hole on the outside of two floral disc open slots by two revolute pairs, three on the 8th folding connecting rod
A revolute pair axis is parallel；The 9th parallel floral disc 17 and the 11st floral disc 21 are inserted into the both ends of 9th folding connecting rod respectively
It in open slot, is connect with cylindrical hole on the outside of two floral disc open slots by two revolute pairs, three on the 9th folding connecting rod turn
Dynamic secondary axis is parallel；The opening of the tenth parallel floral disc 19 and the 12nd floral disc 22 is inserted at the both ends of tenth folding connecting rod respectively
In slot, it is connect with cylindrical hole on the outside of two floral disc open slots by two revolute pairs, three revolute pairs on the tenth folding connecting rod
Axis is parallel；The open slot of the second parallel floral disc 2 and the 11st floral disc 21 is inserted at the both ends of 11st folding connecting rod respectively
In, it is connect with cylindrical hole on the outside of two floral disc open slots by two revolute pairs, three revolute pairs on the 11st folding connecting rod
Axis is parallel；The open slot of the first parallel floral disc 1 and the 12nd floral disc 22 is inserted at the both ends of tenth two-fold connecting rod respectively
In, it is connect with cylindrical hole on the outside of two floral disc open slots by two revolute pairs, three revolute pairs on the tenth two-fold connecting rod
Axis is parallel；Corresponding revolute pair axis overlaps on first folding connecting rod and the 8th folding connecting rod, the second folding connecting rod and the
Corresponding revolute pair axis overlaps on seven folding connecting rods, corresponding revolute pair axis on third folding connecting rod and the tenth folding connecting rod
It overlaps, corresponding revolute pair axis overlaps 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 overlaps on folded connecting rod, corresponding revolute pair axis weight on the 6th folding connecting rod and the 11st folding connecting rod
It closes.
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, third 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, third scissor folding rod and the 6th scissor fold
Revolute pair axis on bar is parallel.
As shown in Figure 1-Figure 3, the length of folding connecting rod can limit the expansion degree that can open up 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 fully unfolded position, works as folding
When connecting rod collapses completely, unit can be opened up substantially and is just in complete rounding state, arbitrary 11 groups of foldings in 12 groups of folding connecting rods
Folded connecting rod is over-constrained linkage, can effectively improve the overall stiffness of basic unit, 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 space development agency that scissor-type hexagonal prisms can open up unit composition includes that multiple can open up substantially
Unit, component and the connection type that can each open up unit substantially are 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 into respectively in the open slot of four shared floral discs, and four revolute pairs and four floral disc open slots are passed through
Inside cylindrical hole connects, and the both ends of shared two groups of folding connecting rods are inserted into respectively in the open slot that aforementioned four shares floral disc, are led to
Revolute pair is crossed to connect with cylindrical hole on the outside of floral disc open slot；A and B can open up unit substantially to be two adjacent in Fig. 5-Fig. 7, with base
Originally for unit A and B can be opened up, two can open up unit and be rolled over by the scissor that scissors rod 23 ' and scissors rod 24 ' form by sharing substantially
Folded bar, four floral discs 1 ', 2 ', 21 ', 22 ' and the two groups of folding connecting rods connection being made of connecting rod 45 ', 46 ', 47 ', 48 '；This
Other in the development agency of space can open up the connection type between unit and can open up unit A substantially and can open up unit B substantially substantially
Connection type 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 half unfolded state of space development agency that scissor-type hexagonal prisms can open up unit composition, and Fig. 6 is fully deployed for it
State, Fig. 7 are its complete rounding state.
Claims (6)
1. a kind of scissor-type hexagonal prisms can open up the space development agency of unit and its composition, it is characterised in that：Scissor-type hexagonal prisms
Unit can be opened up, and to be single-degree-of-freedom Planar Mechanisms hexagonal prisms can open up unit substantially comprising 12 scissors rods, 24 connecting rods
With 12 floral discs；12 scissor rod structures are identical, and two scissors rods are one group, are passed through among two scissors rods
Revolute pair connects, and 12 scissors rods form six groups of scissor folding rods altogether, and six groups of scissor folding rods are symmetrically distributed in and can open up substantially
It is identical in the scissor folding rod folding exhibition direction to side position on six sides of unit；24 link mechanisms are complete
Exactly the same, two connecting rods are one group, and one end of two connecting rod is connected by revolute pair, and 24 connecting rods form 12 groups altogether
Folding connecting rod, 12 groups of folding connecting rods are symmetrically distributed in and can open up on the upper and lower surfaces of unit substantially, 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
A floral disc is equal, and there are three branch to pitch, and is set on each branch fork there are one monosymmetric open slot, open slot is used to be inserted into scissor folding
Bar and connecting rod, each open slot are opened there are two the parallel cylindrical hole of axis, the scissor folding that the cylindrical hole of inside is used for and is inserted into
Folded bar is connected by revolute pair, and the cylindrical hole in outside is used to connect by revolute pair with the folding connecting rod being inserted into, and be open groove center
Angle is 120 ° between line, and 12 floral discs are symmetrically distributed on 12 vertex that can open up unit substantially；Every group of scissor folding rod
Four ends be inserted into be in the open slots of four floral discs on same plane vertex with it respectively, pass through four revolute pairs and four flowers
Cylindrical hole on the inside of dish opening slot is connected, and four revolute pair axis form the revolute pair of scissor folding rod with two scissors rods are connect
Axis is parallel, and there are five revolute pairs, five revolute pair axis to be folded respectively with offside scissor for connection altogether in every group of scissor folding rod
The revolute pair axis that position is opposite on bar overlaps；The opening of two parallel floral discs is inserted at the both ends of every group of folding connecting rod respectively
Slot is connected by two revolute pairs with the cylindrical hole on the outside of two floral disc open slots, two revolute pair axis with connect two companies
The revolute pair axis that bar forms folding connecting rod is parallel, and there are three revolute pair, three revolute pair axis difference altogether for every group of folding connecting rod
The revolute pair axis opposite with the position on same plane offside folding connecting rod overlaps, and the upper and lower of unit can be opened up substantially by being distributed in
There is identical folding on each revolute pair axis and corresponding two sides on the identical folding connecting rod in two faces directions Shang Zhezhan
The revolute pair axis opened up on the scissor folding rod in direction is parallel.
2. scissor-type hexagonal prisms according to claim 1 can open up the space development agency of unit and its composition, feature exists
In：The scissor-type hexagonal prisms can open up among the first scissors rod and the second scissors rod of unit through revolute pair connection composition first
The second scissor folding rod of composition is connected by revolute pair among scissor folding rod, third scissors rod and the 4th scissors rod, the 5th cuts
It is connected by revolute pair among fork arm and the 6th scissors rod and forms third scissor folding rod, in the 7th scissors rod and the 8th scissors rod
Between the 4th scissor folding rod of composition connected by revolute pair, group is connected by revolute pair among the 9th scissors rod and the tenth scissors rod
The 6th scissor of composition is connected at the 5th scissor folding rod, among the 11st scissors rod and the 12nd scissors rod by revolute pair to fold
Bar；Four ends of the first scissor folding rod are inserted into respectively in the open slot of the first floral disc, the second floral disc, third floral disc, the 4th floral disc,
And it is connect with four floral disc open slot inside cylindrical holes by four revolute pairs, five turns auxiliary shafts on the first scissor folding rod
Line is parallel；Four ends of the second scissor folding rod are inserted into third floral disc, the 4th floral disc, the 5th floral disc, the 6th floral disc and are opened respectively
In mouth slot, and it is connect with four floral disc open slot inside cylindrical holes by four revolute pairs, 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 into four ends of third scissor folding rod respectively
In the open slot of floral disc, and it is connect with four floral disc open slot inside cylindrical holes by four revolute pairs, third scissor folding rod
On five revolute pair axis it is parallel；The 7th floral disc, the 8th floral disc, the 9th flower are inserted into four ends of the 4th scissor folding rod respectively
Disk, the tenth floral disc open slot in, and connect with four floral disc open slot inside cylindrical holes by four revolute pairs, the 4th scissor
Five revolute pair axis on folding rod are parallel；Four ends of the 5th scissor folding rod be inserted into respectively the 9th floral disc, the tenth floral disc,
11st floral disc, the 12nd floral disc open slot in, and pass through four revolute pairs and connect with four floral disc open slot inside cylindrical holes
It connects, five revolute pair axis on the 5th scissor folding rod are parallel；Four ends of the 6th scissor folding rod are inserted into the 11st respectively
Floral disc, the 12nd floral disc, the first floral disc, the second floral disc open slot in, and pass through four revolute pairs and four floral disc open slots
Inside cylindrical hole connects, and five revolute pair axis on the 6th scissor folding rod are 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 overlaps, and the revolute pair axis of third scissor folding rod and the 6th scissor folding rod corresponding position overlaps；
First connecting rod connects the first folding connecting rod of composition, third connecting rod and fourth link with one end of second connecting rod by revolute pair
One end the second folding connecting rod of composition is connected by revolute pair, one end of the 5th connecting rod and six-bar linkage connects group by revolute pair
At third folding connecting rod, one end of seven-link assembly and the 8th connecting rod connects the 4th folding connecting rod of composition by revolute pair, and the 9th connects
One end of bar and the 12nd connecting rod connects the 5th folding connecting rod of composition, one end of the tenth connecting rod and the 11st connecting rod by revolute pair
The 6th folding connecting rod of composition is connected by revolute pair, the tenth three-link connects composition with one end of the 15th connecting rod by revolute pair
One end of 7th folding connecting rod, the tenth double leval jib and the tenth six-bar linkage is connected by revolute pair forms the 8th folding connecting rod, and the tenth
One end of seven-link assembly and the 18th connecting rod connects the 9th folding connecting rod of composition, the 19th connecting rod and the 20th connecting rod by revolute pair
One end the tenth folding connecting rod of composition is connected by revolute pair, one end of the 21st connecting rod and the 20th double leval jib passes through rotation
Pair connection the 11st folding connecting rod of composition, one end of the 22nd connecting rod and the 20th three-link pass through revolute pair connection composition the
Ten two-fold connecting rods；The both ends of first folding connecting rod are inserted into respectively in the open slot of the first parallel floral disc and third floral disc, are led to
It crosses two revolute pairs to connect with cylindrical hole on the outside of two floral disc open slots, three on the first folding connecting rod revolute pair axis is flat
Row；The both ends of second folding connecting rod are inserted into respectively in the open slot of the second parallel floral disc and the 4th floral disc, are rotated by two
Pair is connect 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；Third is rolled over
The both ends of folded connecting rod are inserted into respectively in the open slot of parallel third floral disc and the 5th floral disc, and two revolute pairs and two flowers are passed through
Cylindrical hole connects on the outside of dish opening slot, and three revolute pair axis on third folding connecting rod are parallel；The two of 4th folding connecting rod
End is inserted into respectively in the open slot of the 4th parallel floral disc and the 6th floral disc, by two revolute pairs with outside two floral disc open slots
Side cylindrical hole connects, and three revolute pair axis on the 4th folding connecting rod are parallel；The both ends of 5th folding connecting rod are inserted into respectively
In the open slot of parallel the 5th floral disc and the 8th floral disc, connected by two revolute pairs and cylindrical hole on the outside of two floral disc open slots
It connects, three revolute pair axis on the 5th folding connecting rod are parallel；Parallel the 6th is inserted at the both ends of 6th folding connecting rod respectively
In the open slot of floral disc and the 7th floral disc, it is connect with cylindrical hole on the outside of two floral disc open slots by two revolute pairs, 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 both ends of 7th folding connecting rod respectively
In the open slot of floral disc, it is connect with cylindrical hole on the outside of two floral disc open slots by two revolute pairs, on the 7th folding connecting rod
Three revolute pair axis are parallel；The opening of the 8th parallel floral disc and the tenth floral disc is inserted at the both ends of 8th folding connecting rod respectively
In slot, it is connect with cylindrical hole on the outside of two floral disc open slots by two revolute pairs, three revolute pairs on the 8th folding connecting rod
Axis is parallel；The both ends of 9th folding connecting rod are inserted into respectively in the open slot of the 9th parallel floral disc and the 11st floral disc, are led to
It crosses two revolute pairs to connect with cylindrical hole on the outside of two floral disc open slots, three revolute pair axis on the 9th folding connecting rod are flat
Row；The both ends of tenth folding connecting rod are inserted into respectively in the open slot of the tenth parallel floral disc and the 12nd floral disc, are turned by two
Dynamic pair is connect 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 both ends of one folding connecting rod are inserted into respectively in the open slot of the second parallel floral disc and the 11st floral disc, by two revolute pairs with
Cylindrical hole connects 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 both ends of folded connecting rod are inserted into respectively in the open slot of the first parallel floral disc and the 12nd floral disc, and two revolute pairs and two are passed through
Cylindrical hole connects 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 overlaps on the 8th folding connecting rod, corresponding revolute pair on the second folding connecting rod and the 7th folding connecting rod
Axis overlaps, and corresponding revolute pair axis overlaps on third folding connecting rod and the tenth folding connecting rod, the 4th folding connecting rod and the 9th
Corresponding revolute pair axis overlaps on folding connecting rod, corresponding revolute pair axis on the 5th folding connecting rod and the tenth two-fold connecting rod
It overlaps, corresponding revolute pair axis overlaps on the 6th folding connecting rod and the 11st folding connecting rod.
3. scissor-type hexagonal prisms according to claim 1 or 2 can open up the space development agency of unit and its composition, 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, altogether there are five revolute pair in every group of scissor folding rod, connects four revolute pairs of floral disc and connect
The revolute pair axis that two scissors rods form this scissor folding rod is parallel, five revolute pair axis respectively with offside scissor folding rod
The opposite revolute pair axis in upper position overlaps.
4. scissor-type hexagonal prisms according to claim 1 or 2 can open up the space development agency of unit and its composition, feature
It is：12 groups of folding connecting rods are symmetrically distributed in and can open up on the upper and lower surfaces of unit substantially, and upper and lower surfaces have six
Group folding connecting rod, and in identical to the folding connecting rod of side position folding exhibition direction, every group of folding connecting rod connects that there are three rotate altogether
Pair, connecting two connecting rods of two revolute pair axis and connection of floral disc, to form the revolute pair axis of this folding connecting rod parallel, three
The revolute pair axis opposite with the position on same plane offside folding connecting rod overlaps revolute pair axis respectively.
5. scissor-type hexagonal prisms according to claim 1 or 2 can open up the space development agency of unit and its composition, feature
It is：Be distributed in can open up substantially each revolute pair axis on the identical folding connecting rod in the unit upper and lower surfaces directions Shang Zhezhan and
Have the revolute pair axis that identical folding is opened up on the scissor folding rod in direction parallel on two sides.
6. scissor-type hexagonal prisms according to claim 1 or 2 can open up the space development agency of unit and its composition, feature
It is：Can open up the space development agency that unit forms by scissor-type hexagonal prisms, 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 four each floral disc of units shared, one group of scissor folding rod and two groups of folding connecting rods,
Wherein, four ends of one group of shared scissor folding rod are inserted into the open slot of aforementioned four floral disc and are justified on the inside of open slot respectively
Post holes by revolute pair be connected, the end of two groups of shared folding connecting rods be inserted into 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, change space development agency
Size.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016105119711 | 2016-09-05 | ||
| 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 |
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| Publication Number | Publication Date |
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| CN107331939A CN107331939A (en) | 2017-11-07 |
| CN107331939B true CN107331939B (en) | 2018-09-04 |
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| CN201610511971.1A Withdrawn CN106058415A (en) | 2016-09-05 | 2016-09-05 | Scissors type hexagonal-prism-shaped extensible unit and space extensible mechanism formed by the same |
| CN201710499274.3A Active CN107331939B (en) | 2016-09-05 | 2017-06-27 | Scissor-type hexagonal prisms can open up the space development agency of unit and its composition |
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| 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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| 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 |
| 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 |
| CN106863270A (en) * | 2017-02-28 | 2017-06-20 | 中国地质大学（武汉） | A kind of unit opened up containing coupling side chain and the development agency based on the unit |
| 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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| CN107331939A (en) | 2017-11-07 |
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