CN107453017B - A kind of space plane film antenna deployable mechanism and its method of deploying - Google Patents
A kind of space plane film antenna deployable mechanism and its method of deploying Download PDFInfo
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- CN107453017B CN107453017B CN201710607804.1A CN201710607804A CN107453017B CN 107453017 B CN107453017 B CN 107453017B CN 201710607804 A CN201710607804 A CN 201710607804A CN 107453017 B CN107453017 B CN 107453017B
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- synchronizing bar
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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
- H01Q1/08—Means for collapsing antennas or parts thereof
- H01Q1/084—Pivotable antennas
Abstract
The invention discloses a kind of space plane film antenna deployable mechanisms, including deployable mechanism, and the flat film being connected in deployable mechanism by involving rope, it is equipped with the rigid frame that head and the tail are hinged, the short synchronizing bar of a pair, a pair of links, a pair of long synchronizing bar being hinged that connect rigid frame in deployable mechanism, constitutes deployable mechanism skeleton；It is hinged that a pair of of rigid frame, a pair of short synchronizing bar and a pair of long synchronizing bar pass through girth joint respectively, hinged by radial junction between long synchronizing bar and rigid frame, short synchronizing bar and rigid frame；Pulley is housed, drag-line successively bypasses the pulley in girth joint and radial junction and forms a closed circuit in girth joint and radial junction；Drag-line two ends are connected on the motor shaft of satellite, are wound drag-line by the motor on satellite and are driven deployable mechanism expansion.The mechanism is collapsed using the two-dimentional folding mode of face outer folding, and storage is more suitable for large-scale even ultra-large type flat film antenna applications than greatly improving with expansion aperture area.
Description
Technical field
The invention belongs to spatial flexible antenna deployable mechanism field, specifically a kind of space plane film antenna is deployable
Mechanism design scheme.
Background technique
Space based radar can remote, high-precision, round-the-clock detection target, be highly important defence equipment.With thunder
Up to being constantly progressive for technology, heavy caliber is the important directions of its development.Membrane structure is light-weight, gathering is small in size, it has also become day
The preferred structure of base radar has obtained the extensive research of World Developed Countries at present.Wherein, big storage ratio, high reliability
Unfolding mechanism is the important foundation for guaranteeing film antenna and working normally, and therefore, carrying out, there is the deployable mechanism of big storage ratio to set
Counting work has very profound significance.
Current film deployable mechanism mainly has inflation rigidifying formula, beanpod bar coiled-type and truss collapsible etc..Pass through
Understanding and analysis to domestic and international present Research, finding current deployable mechanism, there are following two points deficiencies:
1, one-dimensional gathering is only done by most mechanisms.I.e. film only a direction crimp or fold, it is one-dimensional collapse so that
Antenna volume is difficult to be greatly reduced, and mechanism storage ratio is restricted；A small number of mechanisms combine two kinds of tucked ways of folding and curling,
Though realizing two-dimentional gathering, with the increase of number laterally folded in face, film will be unable to crimp longitudinally, therefore the gathering
Mode is dfficult to apply to large-scale film antenna.
2, film collapses and expansion is required to frame and directly assists.Film is crimped by axle center of frame, or with frame
It is folded for guide rail.In said mechanism, the width of frame determines the spreading width of film, and there are bright between film and frame
Aobvious restricting relation causes antenna expansion bore to be difficult to scale up.
To solve the above problems, considering to collapse film and frame using two dimension in advance, ratio is integrally stored to improve antenna；
Secondly film and frame are independently collapsed and is unfolded, the restricting relation between releasing, to expand antenna aperture.
Summary of the invention
The purpose of the present invention is for current spatial flat film antenna expansion bore, limited, deployable mechanism storage is compared
Low problem proposes a kind of space plane film antenna deployable mechanism design method with big storage ratio.
The present invention is realized by following technical proposals.
A kind of space plane film antenna deployable mechanism, including deployable mechanism, and can by involving that rope is connected to
Flat film on unfolding mechanism is equipped with the rigid frame that head and the tail are hinged, a pair being connected on rigid frame in deployable mechanism
Short synchronizing bar, a pair of short synchronizing bar are separately connected a pair of links, and a pair of links is separately connected a pair of long synchronizing bar being hinged,
A pair of long synchronizing bar is respectively hinged on a pair of of rigid frame；A pair of long synchronizing bar is connected respectively on adjacent pair connecting rod, next
Grade a pair of links is connected on the short synchronizing bar of next stage, and so on, constitute deployable mechanism truss；
A pair of of rigid frame, a pair of short synchronizing bar and a pair of long synchronizing bar are hinged by a pair of of girth joint respectively, long synchronizing bar
It is hinged by radial junction between rigid frame, short synchronizing bar and rigid frame；Pulley is housed in a pair of of girth joint and radial junction,
Drag-line successively bypasses the pulley on a pair of of girth joint and radial junction and forms a closed circuit；Drag-line two ends are connected to satellite
Motor shaft on, drag-line is wound by motor on satellite and drives deployable mechanism expansion.
Further, the deployable mechanism is hinged by rigid frame a and rigid frame b head and the tail and is constituted ring structure, close to rigid frame a
Be connected separately with the short synchronizing bar a and short synchronizing bar b being hinged with the hinged end two sides of rigid frame b, short synchronizing bar a with it is short synchronous
Connecting rod a and connecting rod b are respectively articulated on bar b, connecting rod a and connecting rod b are separately connected a pair of long synchronizing bar a being hinged and length is same
Step bar b, long synchronizing bar a and long synchronizing bar b are respectively hinged on rigid frame a and rigid frame b；Long synchronizing bar a and long synchronizing bar b connect respectively
It is connected on adjacent connecting rod b and connecting rod a, next stage connecting rod b and connecting rod a are connected to next stage short synchronizing bar b and short synchronizing bar a
On, and so on, constitute radial type rigidity regular polygon deployable mechanism truss.
Further, the rigid frame a and rigid frame b is hinged by girth joint a, long synchronizing bar a and long synchronizing bar b, short synchronous
Bar a and short synchronizing bar b is hinged by girth joint b；
Long synchronizing bar a and rigid frame a, long synchronizing bar b and rigid frame b, short synchronizing bar a and rigid frame b, short synchronizing bar b and rigid frame a it
Between by radial junction it is hinged；
Connecting rod a and long synchronizing bar b, connecting rod a and short synchronizing bar a, connecting rod b and short synchronizing bar b, connecting rod b and long synchronizing bar a it
Between by articulated joint it is hinged.
Further, the synchronous quadrangular mechanism of a radial type is constituted between adjacent two rigid frame and adjacent two synchronizing bar, it should
Rigid frame a in synchronous quadrangular mechanism, rigid frame b hinge portion length be not more than the length of synchronizing bar hinge portion, and short synchronization
Equal length of the length of bar with long synchronizing bar in synchronous quadrangular mechanism；
During deployable mechanism expansion, the angle between rigid frame is constantly increased by 0 °, when two adjacent rigid frames connect with circumferential direction
When head a is in the same plane, quadrangular mechanism will constitute spatial triangle mechanism.
Further, the pair of girth joint is a " V " shape groove-like structure, girth joint both ends through-hole respectively with
A pair of of rigid frame one end through-hole is hinged by bolt and nut；Girth joint " V " shape slot butt through-hole and pulley axis connection；
The pulley of girth joint a is installed on inside its " V " shape slot, is installed on the pulley of girth joint b in its side, ring
The line of centres and deployable machine of installation site of the pulley in the same quadrangular mechanism on connector a and girth joint b
The vertical line of structure deployed condition annulus is parallel；
The radial junction is a solid round rod, and a thin quarter butt, thin quarter butt end point are respectively stretched out along axial in round bar both ends
It is not connected with rigid frame, short synchronizing bar or long synchronizing bar.
Further, the hollow cylinder after deployable mechanism collapses is that three layers of rod piece nesting form, and wherein internal layer is rigid frame
Structure, middle layer are synchronous rod structure, and outermost layer is link mechanism.
Further, the rigid frame, connecting rod, long synchronizing bar and short synchronizing bar are hollow circular-tube structure, on hollow circular-tube
One, which is radially respectively provided with, respectively at its both ends connect the through-hole matched with the connector.
Further, drag-line is connected on deployable mechanism skeleton, drag-line successively bypasses rigid frame a and connect with long synchronizing bar a
Locate pulley, the pulley on girth joint b, the pulley on girth joint a, rigid frame b and the junction the long synchronizing bar b diameter of radial junction
Pulley, girth joint a on the pulley, girth joint b of the pulley of connector, rigid frame b and the junction short synchronizing bar a radial junction
On pulley, rigid frame a and the junction short synchronizing bar b radial junction pulley, drag-line be connected to next stage rigid frame a with length it is synchronous
On the pulley of the junction bar a radial junction, and so on, form a closed circuit；Drag-line two ends are connected to the motor of satellite
On axis.
Further, the flat film is that a plurality of folding is distributed on flat film with lacelike circular configuration
Line, fold line be one along center to the arc-shaped radial structure of circumferential edge；In the apex of flat film lace by involving
Rope is connected to the middle part of the rigid frame in deployable mechanism.
The present invention correspondingly gives the method for deploying of space plane film antenna deployable mechanism, including following processes:
1) folder completely under rounding state, between a pair of of rigid frame, a pair of links, a pair of long synchronizing bar and a pair of short synchronizing bar
Angle is 0 °, and deployable mechanism shape is cylindrical body made of one or three layers of rod piece are nested；Torsional spring is relied on before deployable mechanism expansion
Drive rigid frame on girth joint a link bolt axis rotation, and drive long synchronizing bar and short synchronizing bar around rigid frame and its from
The bolt axis of body articulated position rotates backward, and a pair of long synchronizing bar of a pair of links connection is synchronous with a pair of short synchronizing bar work to be transported
Dynamic, so that distance between girth joint a and girth joint b be made to reduce, cylinder height is constantly reduced, and aperture area constantly expands
Greatly；
2) the deployable mechanism expansion later period is driven by the motor winding drag-line of satellite, and drag-line is connect by tensioning circumferential direction
Head a and girth joint b reduces its spacing constantly, until when rigid frame a, girth joint a and rigid frame b are respectively positioned in same plane,
Girth joint a and girth joint b spacing reach minimum value, and mechanism is fully deployed, and deployed condition is that a truss radial type rigidity is just more
Side shape.
The beneficial effects of the present invention are:
1) a kind of opening up with big storage ratio is proposed than problem low, that expansion bore is small for the storage of flat film antenna
Opening mechanism, which carries out two-dimentional gathering using face outer folding method can be improved compared with similar flat film deployable mechanism
The storage of mechanism is compared will all greatly improve with antenna expansion bore.
2) a kind of synchronization mechanism is proposed for two-dimentional deployable mechanism, mechanism deploying process is guaranteed using articulated con-rod
Synchronism.Compared with synchromesh gear, synchronous effect is more preferably；Compared with the slidingtypes synchronization mechanism such as crank block, mechanism deploying mistake
Journey frictional force reduces and eliminates the risk for being likely to occur cold welding in space.
3) based on the movement characteristic of the mechanism, a kind of torsional spring-drag-line drive scheme is proposed, mechanism deploying early period, by machine
Certain angle is unfolded in the torsional spring of structure joint, and hereafter motor winding pulling rope driving mechanism is fully deployed and locks.The drive scheme
Stablize, is reliable, and length of connecting rod can be rationally designed with the long variable quantity of control cord.
Detailed description of the invention
Fig. 1 (a), Fig. 1 (b) and Fig. 1 (c) are that film two-dimensional collapses scheme schematic diagram；
Fig. 2 (a), Fig. 2 (b) and Fig. 2 (c) are rigid frame two-dimensional development scheme schematic diagram；
Fig. 3 (a) is the complete rounding state schematic diagram of deployable mechanism；
Fig. 3 (b) is each rod piece connection relationship diagram of deployable mechanism；
Fig. 4 (a) is drive scheme schematic diagram (mechanism deploying intermediate state)；
Fig. 4 (b) is drive scheme schematic diagram (mechanism is fully deployed state)；
Fig. 5 (a)~(f) is mechanism deploying process schematic；
Fig. 6 is the geometrical relationship schematic diagram that mechanism collapses height and is unfolded between bore and rigid frame segments；
Geometrical relationship schematic diagram of the Fig. 7 between mechanism collapsed diameter and rigid frame segments and rigid frame shank diameter；
Geometrical relationship schematic diagram of the Fig. 8 between Suo Changyu length of connecting rod；
In figure: 1-flat film；2-deployable mechanisms；3-involve rope；4-satellites；5-rigid frame a；6-rigid frame b；
7-long synchronizing bar a；8-long synchronizing bar b；9-connecting rod a；10-connecting rod b；11-short synchronizing bar a；12-short synchronizing bar b；13—
Bolt and nut；14-torsional springs；15-drag-lines；16-pulleys；17-girth joint a；18-girth joint b；19-radial junctions；
20-articulated joints.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawings and examples, but is not intended as doing invention any limit
The foundation of system.
As shown in Fig. 1 (a), Fig. 1 (b) and Fig. 1 (c), space plane film antenna deployable mechanism of the present invention, including can open up
Opening mechanism 2, and the flat film 1 being connected in deployable mechanism 2 by involving rope 3, the cylinder body thin film for collapsing state are placed
Inside the deployable mechanism for collapsing state, thin film boundary is led to by involving cable stretching during rigid frame middle position, rigid frame expansion
It crosses and involves rope drawing cylinder body thin film rotary expansion, deployed condition shape is a rigid regular polygon.
As shown in Fig. 2 (a), Fig. 2 (b) and Fig. 2 (c), the object of expansion is 1 front of flat film, and film surface is distributed with a plurality of
Then fold line, flat film 1 are collapsed into a cylindrical structure around the rotation of its geometric center first along shown path doubling.
As shown in Fig. 3 (a), deployable mechanism 2 is hinged by rigid frame a5 and rigid frame b6 head and the tail and is constituted ring structure, close
The hinged end two sides of rigid frame a5 and rigid frame b6 are connected separately with the short synchronizing bar a11 and short synchronizing bar b12 being hinged, short synchronization
Connecting rod a9 and connecting rod b10 are respectively articulated on bar a11 and short synchronizing bar b12, connecting rod a9 and connecting rod b10 are separately connected a pair of mutual
Hinged long synchronizing bar a7 and long synchronizing bar b8, long synchronizing bar a7 and long synchronizing bar b8 are respectively hinged at rigid frame a5 and rigid frame b6
On；Long synchronizing bar a7 and long synchronizing bar b8 are connected respectively on adjacent connecting rod b10 and connecting rod a9, next stage connecting rod b10 and company
Bar a9 is connected on next stage short synchronizing bar b12 and short synchronizing bar a11, and so on, constitute radial type rigidity regular polygon
2 truss of deployable mechanism.
Rigid frame a5 and rigid frame b6 is hinged by girth joint a17, long synchronizing bar a7 and long synchronizing bar b8, short synchronizing bar a11
It is hinged by girth joint b18 with short synchronizing bar b12；It is long synchronizing bar a7 and rigid frame a5, long synchronizing bar b8 and rigid frame b6, short synchronous
It is hinged by radial junction 19 between bar a11 and rigid frame b6, short synchronizing bar b12 and rigid frame a5；Connecting rod a9 and long synchronizing bar b8, connect
Pass through articulated joint 20 between bar a9 and short synchronizing bar a11, connecting rod b10 and short synchronizing bar b12, connecting rod b10 and long synchronizing bar a7
Hingedly.
Wherein, adjacent two rigid frame (rigid frame a5, rigid frame b6) and adjacent two synchronizing bar (short synchronizing bar a11, short synchronizing bar b12
Or long synchronizing bar a7, long synchronizing bar b8) between constitute the synchronous quadrangular mechanism of a radial type, should to guarantee that mechanism is fully deployed
The hinge portion length of rigid frame a5, rigid frame b6 are no more than synchronizing bar (short synchronizing bar a11, short synchronizing bar in synchronous quadrangular mechanism
B12 or long synchronizing bar a7, long synchronizing bar b8) hinge portion length, and short synchronizing bar (short synchronizing bar a11, short synchronizing bar b12)
Equal length of the length with long synchronizing bar (long synchronizing bar a7, long synchronizing bar b8) in synchronous quadrangular mechanism；Mechanism deploying
In the process, the angle between rigid frame is constantly increased by 0 °, when two adjacent rigid frames are in the same plane with girth joint a17,
Quadrangular mechanism will constitute spatial triangle mechanism.Connecting rod (connecting rod a9 or connecting rod b10) and rigid frame (rigid frame b6 or rigid frame a5), length
One section of synchronizing bar (long synchronizing bar b8 or long synchronizing bar a7), one section of short synchronizing bar (short synchronizing bar a11 or short synchronizing bar b12)
It is hinged to parallelogram mechanism, connecting rod (connecting rod a9 or connecting rod b10) plays linkage to two adjacent synchronization quadrangular mechanisms and makees
With.Hollow cylinder after deployable mechanism 2 collapses is that three layers of rod piece nesting form, and wherein internal layer is rigid frame (rigid frame a5, rigid frame
B6) structure, middle layer are synchronizing bar (short synchronizing bar a11, short synchronizing bar b12 and long synchronizing bar a7, long synchronizing bar b8) structure, most
Outer layer is link mechanism (connecting rod a9 or connecting rod b10).The wherein synchronizing bar of innermost layer rigid frame (rigid frame a5, rigid frame b6) and middle layer
It is connected between (short synchronizing bar a11, short synchronizing bar b12 and long synchronizing bar a7, long synchronizing bar b8) by radial junction 19, middle layer
Synchronizing bar (short synchronizing bar a11, short synchronizing bar b12 and long synchronizing bar a7, long synchronizing bar b8) and outermost layer connecting rod (connecting rod a9 or company
Bar b10) between connected by articulated joint 20.
Fig. 3 (b) is 2 rounding state schematic diagram of deployable mechanism, and gathering state shape is a cylindrical body.
As shown in Fig. 4 (a), pulley 16 is respectively arranged on girth joint a17, girth joint b18 and radial junction 19.
A pair of of rigid frame a5 and rigid frame b6, a pair of links, a pair of long synchronizing bar and a pair of short synchronizing bar are hollow circular-tube knot
Structure is radially respectively provided with one respectively at its both ends on hollow circular-tube and connect the through-hole matched with connector.Wherein, rigid frame a5
Or rigid frame b6 is connected on satellite 4.
In this structure, girth joint a17 is a " V " shape groove-like structure, is respectively opened on connector both ends and its symmetrical centre cell wall
The through-hole that a pair is matched with bolt, girth joint a17 one end through-hole and rigid frame a5 one end through-hole are hinged by bolt and nut 13,
Other end through-hole and rigid frame b6 one end through-hole are hinged by bolt and nut 13, and girth joint a17 butt through-hole and pulley are axially logical
Hole is connected by bolt and nut 13, and rigid frame a5, rigid frame b6 and pulley 16 are mounted on inside the " V " shape slot of girth joint a17.
Girth joint b18 is a " V " shape groove-like structure, and a pair of and bolt is respectively opened on connector both ends and its symmetrical centre cell wall
The through-hole matched, girth joint b18 one end through-hole and long synchronizing bar a7 one end through-hole are hinged by bolt and nut 13, and circumferential direction connects
Head b18 other end through-hole and long synchronizing bar b8 one end through-hole are hinged by bolt and nut 13, girth joint b18 butt through-hole and cunning
Wheel axially extending bore is connected by bolt and nut 13, and the pulley on girth joint b18 is mounted in the side girth joint b18；Long synchronizing bar
A7 and long synchronizing bar b8 are installed on inside the " V " shape slot of girth joint b18.
The center of installation site of the pulley in the same quadrangular mechanism on girth joint a17 and girth joint b18
Line is parallel with the vertical line of 2 deployed condition annulus of deployable mechanism.
Radial junction 19 is a solid round rod, and round bar both ends are identical with Bolt sizes thin short along axial each stretching one
Bar, thin quarter butt end are equipped with the screw thread matched with nut, and 19 one end of radial junction is sequentially inserted into pulley axially extending bore and rigid frame
The upper through-hole away from a certain distance from its end of a5, and it is hinged by nut；In addition, the one end another radial junction a19 is sequentially inserted into
Away from the through-hole at a certain distance from its end on pulley axially extending bore and rigid frame b6, and it is hinged by nut.
Articulated joint 20 is identical as 19 structure of radial junction, is similarly a solid round rod, round bar both ends are along axial each stretching
One thin quarter butt identical with Bolt sizes, thin quarter butt end are equipped with the screw thread matched with nut.
As Fig. 3 (b) illustrates 2 rounding state structural schematic diagram of deployable mechanism.
As shown in Fig. 4 (a), drag-line 15 is connected on 2 skeleton of deployable mechanism, drag-line 15 successively bypasses rigid frame a5 and length
Pulley, the pulley on girth joint b18, the pulley on girth joint a17, rigid frame of the junction synchronizing bar a7 radial junction a19
The pulley of b6 and the junction long synchronizing bar b8 radial junction a19, rigid frame b6 and the junction short synchronizing bar a11 radial junction a19
Pulley, the pulley on girth joint b18, the pulley on girth joint a17, the junction rigid frame a5 and short synchronizing bar b12 radially connect
The pulley of head a19, drag-line 15 are connected on the pulley of the next stage rigid frame a5 and junction long synchronizing bar a7 radial junction a19,
And so on, form a closed circuit；15 two ends of drag-line are connected on the motor shaft of satellite 4.
Mechanism with drag-line 15 combines driving using torsional spring 14, wherein a pair of of torsional spring 14 be respectively arranged in girth joint a17 and
On the bolt of the articulated position of rigid frame a5 and rigid frame b6,14 1 arm of torsional spring is inserted into the hollow circular-tube of rigid frame a5 or rigid frame b6, separately
One arm is limited by the connection bolt of girth joint a17 and pulley.When deployable mechanism 2 collapses completely, torsional spring 14 passes through certainly
Figure, which becomes, stores certain elastic potential energy, and deployable mechanism 2 is unfolded to be unfolded by the elasticity that torsional spring is stored early period, hereafter relies on
Motor winding drag-line 15 on satellite 4 drives deployable mechanism 2 to be unfolded, and 2 unfolded state of deployable mechanism is shown in shown in Fig. 4 (b).
Fig. 5 (a)~Fig. 5 (f) is the mechanism deploying process schematic, and antenna periphery rigid frame divides 12 sections.
As shown in Fig. 6 combination Fig. 2 (a), Fig. 2 (b) and Fig. 2 (c), the flat film 1 of the present apparatus is with lacelike circle
Shape structure, is distributed with multiple folding lines on flat film 1, fold line be one along center to the arc-shaped radial knot of circumferential edge
Structure.1 lace of flat film apex by involving in the rigid frame a5 or rigid frame b6 that rope 3 is connected in deployable mechanism 2
Portion.
The height t and diameter d that mechanism collapses state cylindrical body can be rationally designed according to antenna aperture D and rigid frame segments k, tool
Body is obtained by following methods:
As shown in fig. 6, it is every section of rigid frame length t that rigid frame, which collapses height,.If rigid frame number of fragments is k, then mechanism is opened up completely
Rear every section of rigid frame institute is opened to central angleIt answers are as follows:
The center of circle for connecting certain section of rigid frame two-end-point Yu mechanism deploying state annulus, is formed by triangle, has:
Wherein: R=D/2
By (1) formula and (2) Shi Ke get:
As shown in fig. 7, setting mechanism rod piece radius as rl, rigid frame number of fragments is k, and it is r that rigid frame, which collapses state cylinder radius,.
Rigid frame collapses every rod piece radius r of statelInstitute is to central angle alpha are as follows:
α=π/k (4)
Then rigid frame collapses radius r are as follows:
R=rl/sinα (5)
By (4) formula and (5) Shi Ke get, rigid frame collapses state cylinder diameter d are as follows:
D=2rl/sin(π/k) (6)
By (3) formula and (6) formula it is found that not considering rigid frame segments to film surface precision after antenna deployment opening diameter D is determined
Under the premise of influence, mechanism can be rationally designed according to rigid frame number of fragments k and collapse height t and collapsed diameter d.
By design hinged pole length can the reasonable long variable quantity of control cord, obtained especially by following methods:
As shown in figure 8, setting mechanism deploying angle as α, synchronising (connecting) rod length is l1, rigid frame hinge portion length is l2, to guarantee
Rigid frame is fully deployed, and need to meet l2< l1.Then the rigid frame angle of spread is the long h of rope in four bar units at α momentαAre as follows:
hα=l1cosβ+l2cosα (7)
In the triangle of drag-line and connecting rod composition, obtained by sine:
H can be obtained by (7) formula and (8) formulaαAre as follows:
During mechanism deploying, rope length is gradually smaller, the long h of unit rope when angle of spread α is 0 °0°Are as follows:
h0°=l1+l2 (10)
Then during mechanism deploying, the drag-line shrinkage Δ h=h of hingedly four bar units can be obtained by (9) formula and (10) formula0°-
hα, then Δ h are as follows:
If periphery rigid frame divides k sections, by (11) formula it is found that when mechanism deploying angle α is 90 °, drawn during mechanism deploying
Rope shrinkage maximum value Δ hmaxAre as follows:
The expansion process of space plane film antenna deployable mechanism of the invention is given further below, includes following step
It is rapid:
1) completely under rounding state, rigid frame a5 and rigid frame b6, connecting rod a9 and connecting rod b10, long synchronizing bar a7 and long synchronizing bar
Angle between b8 and short synchronizing bar a11 and short synchronizing bar b12 is 0 °, and 2 shape of deployable mechanism is one or three layers of rod piece nesting
Made of cylindrical body.Wherein internal layer is rigid-framed structure, and middle layer is synchronization structure, including long synchronizing bar and short synchronizing bar, outermost
Layer is link mechanism, is wherein connected between innermost layer rigid-framed structure and the synchronizing bar of middle layer by radial junction 19, middle layer
It is connected between synchronizing bar and outermost layer connecting rod by radial junction 19.Deployable mechanism 2 is unfolded to drive just by torsional spring 14 early period
Link bolt axis rotation of the frame on girth joint a17, and drive long synchronizing bar and short synchronizing bar around rigid frame and its own hinge
The bolt axis for connecing position rotates backward, and connecting rod connects longer synchronizing bar and moves synchronously with shorter synchronizing bar, to make ring
Reduce to distance between connector a17 and girth joint b18, cylinder height constantly reduces, and aperture area constantly expands, before expansion
Phase refers to that rigid frame rotational angle is [0 °, 10 °].
2) the expansion later period of deployable mechanism 2 is driven by the motor winding drag-line 15 of satellite 4, and drag-line passes through tensioning ring
Reduce its spacing constantly to connector a17 and girth joint b18, until rigid frame a5, girth joint a17 and rigid frame b6 are respectively positioned on together
When in one plane, girth joint a17 and girth joint b18 spacing reach minimum value, and mechanism is fully deployed, and deployed condition is a truss
Radial type rigidity regular polygon, expansion later period refer to that rigid frame rotational angle is [10 °, 90 °].
The present invention is not limited to the above embodiments, on the basis of technical solution disclosed by the invention, the skill of this field
For art personnel according to disclosed technology contents, one can be made to some of which technical characteristic by not needing creative labor
A little replacements and deformation, these replacements and deformation are within the scope of the invention.
Claims (10)
1. a kind of space plane film antenna deployable mechanism, including deployable mechanism (2), and by involving rope (3) connection
Flat film (1) on deployable mechanism (2), which is characterized in that be equipped with what head and the tail were hinged on deployable mechanism (2)
Rigid frame, the short synchronizing bar of a pair being connected on rigid frame, a pair of short synchronizing bar are separately connected a pair of links, and a pair of links is separately connected
The long synchronizing bar that a pair is hinged, a pair of long synchronizing bar are respectively hinged on a pair of of rigid frame；A pair of long synchronizing bar is separately connected
Onto adjacent pair connecting rod, next stage a pair of links is connected on the short synchronizing bar of next stage, and so on, it constitutes deployable
Mechanism (2) truss；
A pair of of rigid frame, a pair of short synchronizing bar and a pair of long synchronizing bar are hinged by a pair of of girth joint respectively, long synchronizing bar and just
It is hinged by radial junction (19) between frame, short synchronizing bar and rigid frame；It is equipped in a pair of of girth joint and radial junction (19)
Pulley (16), drag-line (15) successively form a closed circuit around the pulley on a pair of of girth joint and radial junction (19)；It draws
Rope (15) two ends are connected on the motor shaft of satellite (4), are driven by motor winding drag-line (15) on satellite (4) deployable
Mechanism (2) expansion.
2. space plane film antenna deployable mechanism according to claim 1, which is characterized in that the deployable mechanism
(2) it is hinged is constituted ring structure from beginning to end by rigid frame a (5) and rigid frame b (6), close to the hinged of rigid frame a (5) and rigid frame b (6)
End two sides are connected separately with the short synchronizing bar a (11) being hinged and short synchronizing bar b (12), short synchronizing bar a (11) with it is short synchronous
Connecting rod a (9) and connecting rod b (10) are respectively articulated on bar b (12), connecting rod a (9) and connecting rod b (10) are separately connected a pair of mutually hinge
The long synchronizing bar a (7) connect and long synchronizing bar b (8), long synchronizing bar a (7) and long synchronizing bar b (8) be respectively hinged at rigid frame a (5) and
On rigid frame b (6)；Long synchronizing bar a (7) and long synchronizing bar b (8) are connected respectively on adjacent connecting rod b (10) and connecting rod a (9), under
Primary connecting rod b (10) and connecting rod a (9) is connected on the short synchronizing bar b (12) of next stage and short synchronizing bar a (11), and so on,
Constitute radial type rigidity regular polygon deployable mechanism (2) truss.
3. space plane film antenna deployable mechanism according to claim 2, which is characterized in that the rigid frame a (5) with
Rigid frame b (6) by girth joint a (17) hingedly, long synchronizing bar a (7) and long synchronizing bar b (8), short synchronizing bar a (11) and short same
It is hinged by girth joint b (18) to walk bar b (12)；
It is long synchronizing bar a (7) and rigid frame a (5), long synchronizing bar b (8) and rigid frame b (6), short synchronizing bar a (11) and rigid frame b (6), short
It is hinged by radial junction (19) between synchronizing bar b (12) and rigid frame a (5)；
Connecting rod a (9) and long synchronizing bar b (9), connecting rod a (9) and short synchronizing bar a (11), connecting rod b (10) and short synchronizing bar b (12),
It is hinged by articulated joint (20) between connecting rod b (10) and long synchronizing bar a (7).
4. space plane film antenna deployable mechanism according to claim 3, which is characterized in that adjacent two rigid frame and phase
The synchronous quadrangular mechanism of a radial type is constituted between adjacent two synchronizing bars, the hinge portion of a pair of of rigid frame in the synchronization quadrangular mechanism
Length be not more than synchronizing bar hinge portion length, and the length of short synchronizing bar with long synchronizing bar in synchronous quadrangular mechanism
Equal length；
During deployable mechanism (2) expansion, the angle between rigid frame is constantly increased by 0 °, when between two adjacent rigid frames and its
When girth joint is in the same plane, quadrangular mechanism will constitute spatial triangle mechanism.
5. space plane film antenna deployable mechanism according to claim 4, which is characterized in that the pair of circumferential direction connects
Head is a " V " shape groove-like structure, and girth joint both ends through-hole passes through bolt and spiral shell with a pair of of rigid frame one end through-hole respectively
It is female hinged；Girth joint " V " shape slot butt through-hole and pulley axis connection；
The pulley of girth joint a (17) is installed on inside its " V " shape slot, is installed on the pulley of girth joint b (18) in its side
The center in face, installation site of the pulley in the same quadrangular mechanism on girth joint a (17) and girth joint b (18) connects
Line is parallel with the vertical line of deployable mechanism (2) deployed condition annulus；
The radial junction (19) is a solid round rod, and a thin quarter butt, thin quarter butt end point are respectively stretched out along axial in round bar both ends
It is not connected with rigid frame, short synchronizing bar or long synchronizing bar.
6. space plane film antenna deployable mechanism according to claim 1, which is characterized in that deployable mechanism (2)
Hollow cylinder after gathering is that three layers of rod piece nesting form, and wherein internal layer is rigid-framed structure, and middle layer is synchronous rod structure, most
Outer layer is link mechanism.
7. space plane film antenna deployable mechanism according to claim 1, which is characterized in that the rigid frame, connecting rod,
Long synchronizing bar and short synchronizing bar are hollow circular-tube structure, on hollow circular-tube its both ends be radially respectively provided with respectively one with
The connector connects the through-hole matched.
8. space plane film antenna deployable mechanism according to claim 2, which is characterized in that in deployable mechanism
(2) it is connected on skeleton drag-line (15), drag-line (15) is successively around rigid frame a (5) and long synchronizing bar a (7) junction radial junction
(19) pulley, the pulley on girth joint b (18), the pulley on girth joint a (17), rigid frame b (6) and long synchronizing bar b (8)
Pulley, the circumferential direction of the pulley of junction radial junction (19), rigid frame b (6) and short synchronizing bar a (11) junction radial junction (19)
Pulley on connector b (18), the pulley on girth joint a (17), rigid frame a (5) and short synchronizing bar b (12) junction radial junction
(19) pulley, drag-line (15) are connected to the cunning of next stage rigid frame a (5) Yu long synchronizing bar a (7) junction radial junction (19)
On wheel, and so on, form a closed circuit；Drag-line (15) two ends are connected on the motor shaft of satellite (4).
9. space plane film antenna deployable mechanism according to claim 1, which is characterized in that the flat film
(1) for multiple folding lines are distributed on flat film (1) with lacelike circular configuration, fold line is one along center
To the arc-shaped radial structure of circumferential edge；Deployable machine is connected to by involving rope (3) in the apex of flat film (1) lace
The middle part of rigid frame on structure (2).
10. a kind of method of deploying of the described in any item space plane film antenna deployable mechanisms of claim 1-9, feature
It is, including following processes:
1) completely under rounding state, the angle between a pair of of rigid frame, a pair of links, a pair of long synchronizing bar and a pair of short synchronizing bar is equal
It is 0 °, deployable mechanism (2) shape is cylindrical body made of one or three layers of rod piece are nested；By torsion before deployable mechanism (2) expansion
Spring (14) drive rigid frame on girth joint a (17) link bolt axis rotation, and drive long synchronizing bar and short synchronizing bar around
Rigid frame and the bolt axis of its own articulated position rotate backward, and a pair of long synchronizing bar of a pair of links connection and a pair are short synchronous
Bar moves synchronously, so that distance between girth joint a (17) and girth joint b (17) be made to reduce, cylinder height constantly drops
Low, aperture area constantly expands；
2) deployable mechanism (2) the expansion later period is driven by motor winding drag-line (15) of satellite (4), and drag-line passes through tensioning
Girth joint a (17) and girth joint b (18) reduces its spacing constantly, until rigid frame a (5), girth joint a (17) and rigid frame
When b (6) is respectively positioned in same plane, girth joint a (17) and girth joint b (18) spacing reach minimum value, and mechanism is opened up completely
It opens, deployed condition is a truss radial type rigidity regular polygon.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710607804.1A CN107453017B (en) | 2017-07-24 | 2017-07-24 | A kind of space plane film antenna deployable mechanism and its method of deploying |
| PCT/CN2017/119557 WO2019019552A1 (en) | 2017-07-24 | 2017-12-28 | Unfolding mechanism of spatial planar thin-film antenna |
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| CN201710607804.1A CN107453017B (en) | 2017-07-24 | 2017-07-24 | A kind of space plane film antenna deployable mechanism and its method of deploying |
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| CN107453017B true CN107453017B (en) | 2019-08-09 |
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| CN107453017B (en) * | 2017-07-24 | 2019-08-09 | 西安电子科技大学 | A kind of space plane film antenna deployable mechanism and its method of deploying |
| CN108183304B (en) * | 2017-12-28 | 2019-01-08 | 赵方韬 | A kind of Satellite Unfurlable Antenna truss structure based on main shaft |
| CN109638470B (en) * | 2018-10-31 | 2021-01-26 | 西安电子科技大学 | Novel netted annular deployable antenna truss structure |
| CN109638404B (en) * | 2018-10-31 | 2020-10-02 | 西安电子科技大学 | Novel three-layer net-shaped deployable antenna truss structure with beam forming function |
| CN109649687B (en) * | 2018-12-14 | 2021-07-06 | 浙江大学 | Inflatable expanded optical load and preparation method thereof |
| CN110217408B (en) * | 2019-03-06 | 2023-11-03 | 浙江大学 | Novel plane expandable structure |
| CN110723314B (en) * | 2019-10-12 | 2023-06-02 | 上海宇航系统工程研究所 | Spatial film structure unfolding mechanism |
| CN110988276A (en) * | 2019-12-29 | 2020-04-10 | 鲸岛(杭州)科技有限公司 | Ground automatic monitoring equipment of environmental air environmental protection |
| CN112285920A (en) * | 2020-09-15 | 2021-01-29 | 电子科技大学 | Space film mirror unfolding and folding mechanism based on worm gear and worm |
| CN112290187B (en) * | 2020-09-29 | 2022-10-25 | 哈尔滨工业大学 | Micro-nano satellite film antenna with telescopic rod capable of being unfolded and supported in two stages |
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| JPS62188401A (en) * | 1986-02-13 | 1987-08-18 | Mitsubishi Electric Corp | Expansion antenna reflector |
| US6028570A (en) * | 1998-05-18 | 2000-02-22 | Trw Inc. | Folding perimeter truss reflector |
| US6323827B1 (en) * | 2000-01-07 | 2001-11-27 | Trw Inc. | Micro fold reflector |
| JP3648711B2 (en) * | 2002-01-25 | 2005-05-18 | 独立行政法人 宇宙航空研究開発機構 | Expandable connection structure and expansion method |
| WO2014127813A1 (en) * | 2013-02-20 | 2014-08-28 | Esa European Space Agency | Deployable support structure |
| CN105071012B (en) * | 2015-07-27 | 2018-03-16 | 哈尔滨工业大学 | The deployable annular tensioning integrated antenna mechanism in space |
| CN105281008B (en) * | 2015-10-26 | 2017-12-22 | 西安空间无线电技术研究所 | A kind of spaceborne ring mesh antenna wire side anti-snag hangs isolating device |
| CN105644809B (en) * | 2016-01-11 | 2017-12-12 | 北京邮电大学 | A kind of design of inflatable space extendable device |
| CN106129576B (en) * | 2016-08-11 | 2018-11-16 | 西安电子科技大学 | A kind of spaceborne Electrostatic deformation film reflector face deployable antenna sub-truss device |
| CN106299587B (en) * | 2016-08-24 | 2019-03-29 | 西安电子科技大学 | Electrostatic deformation film reflector surface antenna based on scissor truss structure |
| CN107453017B (en) * | 2017-07-24 | 2019-08-09 | 西安电子科技大学 | A kind of space plane film antenna deployable mechanism and its method of deploying |
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| WO2019019552A1 (en) | 2019-01-31 |
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