CN107902108B - Space folding and unfolding mechanism with crank sliding blocks connected by rigid hinges of folding and unfolding units - Google Patents
Space folding and unfolding mechanism with crank sliding blocks connected by rigid hinges of folding and unfolding units Download PDFInfo
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- CN107902108B CN107902108B CN201711082952.2A CN201711082952A CN107902108B CN 107902108 B CN107902108 B CN 107902108B CN 201711082952 A CN201711082952 A CN 201711082952A CN 107902108 B CN107902108 B CN 107902108B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010109 expendable mold casting Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
Abstract
A crank slide block is a space folding and unfolding mechanism connected with a rigid hinge of a folding and unfolding unit, a machine base is connected with the folding and unfolding unit through a hinge, the folding and unfolding unit comprises a support rod and a crank slide block mechanism, one end of the support rod is connected with the machine base through a hinge, two sides of the support rod are connected with the crank slide block mechanism through hinges, the crank slide block mechanism comprises a crank, a connecting rod and a slide block, one end of the crank is connected with the support rod through a hinge, the other end of the crank is connected with the connecting rod through a hinge, one end of the slide block is connected with the connecting rod through a hinge, and the other end of the slide block is connected with a crank of the next crank slide block mechanism through; the rigid hinge connects the two folding and unfolding units. The folding and unfolding mechanism has the advantages of few driving motors, light weight, convenience for transportation on a rocket carrier, simple folding and unfolding process, capability of being folded in space, large folding ratio, high rigidity, good stability, high reliability and better practicability.
Description
Technical Field
The invention relates to a space folding and unfolding mechanism, in particular to a space folding and unfolding mechanism with a crank sliding block as a folding and unfolding unit in rigid hinge connection.
Background
With the development of aerospace industry, the structure of the spacecraft tends to be large-scale. The space folding and unfolding mechanism is required to be folded for the enveloping volume of the small spacecraft in the launching stage, and the space folding and unfolding mechanism is unfolded after the spacecraft enters the orbit. The application of the space folding and unfolding mechanism greatly expands the functions of the spacecraft, has important application prospects in the aspects of space stations, communication satellite platforms, earth observation, star detection and the like, and becomes one of the research hotspots in the field of aerospace.
Chinese patent 201410538119.4 discloses a spherical antenna supporting mechanism, the foldable and expandable unit of the invention is complex, the folding and expandable process is complex, when the foldable and expandable mechanism enters into the space orbit, the mechanism is difficult to expand to the working state; chinese patent 201210310876.7 discloses a regular triangle planar array deployable mechanism, which can be folded only in a plane with a small folding ratio; chinese patent 201410055607.X discloses a large-scale space deployable mechanism of annular truss formula, and this patent passes through rope or spring-operated, and mechanism stability is lower. The space folding and unfolding mechanism which is simple in structure, simple in folding and unfolding process, capable of being folded in space, large in folding ratio, large in rigidity, good in stability and high in reliability is urgently needed.
At present, the invention design of a space folding and unfolding mechanism which has the advantages of simple structure, simple folding and unfolding process, capability of being folded in space, large folding ratio, large rigidity, good stability and high reliability is not found.
Disclosure of Invention
The invention aims to provide a space folding and unfolding mechanism with a crank sliding block as a rigid hinge for a folding and unfolding unit, which has the characteristics of simple structure, simple folding and unfolding process, capability of being folded in space, large folding ratio, high rigidity, good stability, high reliability and the like.
The technical scheme of the invention is as follows: the utility model provides a crank slider is for folding space of exhibition unit rigidity hinged joint and roll over exhibition mechanism, includes and rolls over exhibition unit and rigidity hinge, and concrete structure and relation of connection are as follows:
the folding and unfolding unit is connected with the base through a hinge, the folding and unfolding unit comprises a support rod and a slider-crank mechanism, one end of the support rod is connected with the base through the hinge, two sides of the support rod are connected with the slider-crank mechanism through the hinge, the slider-crank mechanism comprises a crank, a connecting rod and a slider, one end of the crank is connected with the support rod through the hinge, the other end of the crank is connected with the connecting rod through the hinge, one end of the connecting rod is connected with the slider through the hinge, one end of the slider is connected with the connecting rod through the hinge, the other end of the slider is connected with the crank of the latter slider-crank mechanism through the hinge, the rigid hinge is connected with the two folding and unfolding units, and the two.
The engine base is a polygonal engine base, each side of the polygonal engine base is provided with a hinge base, and the polygonal engine base can be connected with the folding and unfolding unit through the hinge base.
The crank sliding block mechanism is in a plurality of groups, the same components in different groups can be obtained by scaling in a fixed ratio, the group number of the crank sliding block mechanism is related to the length of the support rod, and the longer the length of the support rod is, the more the group number of the crank sliding block mechanism is.
The slider is first slider and second slider, and only the slider of last group slider-crank mechanism is first slider, and all the other sliders are the second slider, first slider passes through the hinge and is connected with the connecting rod of last group slider-crank mechanism, second slider one end is connected with the connecting rod of the slider-crank mechanism of place through the hinge, and the other end passes through the hinge and is connected with the crank of a back group slider-crank mechanism.
The included angle between the motion direction of the slider in the crank slider mechanism and the connecting rod is larger than 90 degrees and smaller than 180 degrees.
The invention has the outstanding advantages that:
1. simple structure, expansion process are simple, and the connection between the member all is connected through the revolute pair, and available motor drive can carry out speed control to the folding mechanism, increases its stability and reliability.
2. The motion of the crank-slider mechanism group can be driven only by installing the motor at the driving rod of the first crank-slider mechanism group, the driving motors are few, the folding and unfolding mechanism is light in weight, and the transportation on the rocket carrier is facilitated.
3. After the secondary folding, the plane folding is realized by the folding of the crank block mechanism, the space folding is realized by the folding of the support frame, and the folding ratio is large.
4. The folding units are connected by rigid hinges, so that the folding and unfolding device is simple in structure, convenient to install in processing and manufacturing aspects.
Drawings
Fig. 1 is a schematic structural diagram of a space folding and unfolding mechanism with a crank block as a rigid hinge connection of a folding and unfolding unit according to the invention.
Fig. 2 is a top view of the folding and unfolding unit of the space folding and unfolding mechanism with the crank block in rigid hinge connection according to the invention in a fully unfolded state.
Fig. 3 is a schematic structural diagram of a folding and unfolding unit of a space folding and unfolding mechanism with a crank block in rigid hinge connection according to the invention in a fully unfolded state.
Fig. 4 is a top view of the folding and unfolding unit of the space folding and unfolding mechanism with the crank sliding block connected by the rigid hinge of the folding and unfolding unit in a half-unfolded state.
Fig. 5 is a structural schematic diagram of the folding and unfolding unit of the space folding and unfolding mechanism with the crank sliding block connected by the rigid hinge of the folding and unfolding unit in a half-unfolded state.
Fig. 6 is a structural schematic diagram of the folding and unfolding unit of the space folding and unfolding mechanism with the crank sliding block connected by the rigid hinge of the folding and unfolding unit in the fully folded state.
Fig. 7 is a front view of the base of the space folding and unfolding mechanism with the crank block as the rigid hinge connection of the folding and unfolding unit.
Fig. 8 is a top view of the base of the space folding and unfolding mechanism with the crank block connected by the rigid hinge of the folding and unfolding unit according to the invention.
Fig. 9 is a schematic structural diagram of a base of a space folding and unfolding mechanism with a crank block as a rigid hinge connection of a folding and unfolding unit according to the present invention.
Fig. 10 is a structural schematic diagram of the folding and unfolding unit of the space folding and unfolding mechanism with the crank sliding block in rigid hinge connection with the folding and unfolding unit according to the invention in a fully unfolded state.
Fig. 11 is a structural schematic diagram of a fully folded state of the folding and unfolding unit of the space folding and unfolding mechanism with the crank slider being in rigid hinge connection with the folding and unfolding unit according to the present invention.
Fig. 12 is a front view of the fully unfolded state of the folding and unfolding unit of the space folding and unfolding mechanism with the crank block in rigid hinge connection with the folding and unfolding unit according to the invention.
Fig. 13 is a schematic structural diagram of the first slider of the space folding and unfolding mechanism with the crank slider as the rigid hinge connection of the folding and unfolding unit according to the present invention.
Fig. 14 is a schematic structural diagram of a second slide block of the space folding and unfolding mechanism with the crank slide block connected by a rigid hinge of the folding and unfolding unit according to the invention.
Fig. 15 is a schematic structural view of a rigid hinge of a space folding and unfolding mechanism with a crank block as a rigid hinge connection of a folding and unfolding unit according to the present invention.
Labeled as: 1. a machine base; 2. a support rod; 3. a crank; 4. a connecting rod; 5. a first slider; 6. a second slider; 7. a rigid hinge.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1 to 15, the crank block of the present invention is a space folding and unfolding mechanism with a folding and unfolding unit connected by a rigid hinge, and comprises a folding and unfolding unit and a rigid hinge 7, the specific structure and connection relationship are as follows,
the folding and unfolding device is characterized in that the folding and unfolding unit is connected with a machine base 1 through a hinge, the folding and unfolding unit comprises a support rod 2 and a slider-crank mechanism, one end of the support rod 2 is connected with the machine base 1 through the hinge, two sides of the support rod are connected with the slider-crank mechanism through the hinge, the slider-crank mechanism comprises a plurality of groups, each group comprises a crank 3, a connecting rod 4 and a slider, one end of each crank 3 is connected with the support rod 2 through the hinge, the other end of each crank is connected with the connecting rod 4 through the hinge, one end of each connecting rod 4 is connected with the crank 3 through the hinge, the other end of each slider is connected with the slider through the hinge, one end of each slider is connected; the rigid hinge 7 is connected with the two folding and unfolding units, and the two folding and unfolding units can rotate relatively through the middle revolute pair of the rigid hinge 7.
The engine base 1 is a polygonal engine base, each side of the polygonal engine base is provided with a hinge base, and the polygonal engine base can be connected with the folding and unfolding unit through the hinge base in a hinged mode.
The crank sliding block mechanisms are multiple groups, and the same components in different groups can be obtained by scaling in a fixed ratio; the number of sets of slider-crank mechanisms is related to the length of the carrier rod 2, the longer the length of the carrier rod 2, the more the number of sets of slider-crank mechanisms.
The slider divide into first slider 5 and second slider 6 two kinds, and only the slider of last group slider-crank mechanism is first slider 5, and all the other sliders are second slider 6, first slider 5 is connected with connecting rod 4 of last group slider-crank mechanism through the hinge, 6 one end of second slider is connected with connecting rod 4 of the slider-crank mechanism of place through the hinge, and the other end passes through the hinge and is connected with the crank 3 of the last group slider-crank mechanism.
The folding and unfolding units are multiple and are connected with each other through rigid hinges 7.
The included angle between the motion direction of the sliding block in the crank sliding block mechanism and the connecting rod 4 is larger than 90 degrees and smaller than 180 degrees, and when the crank sliding block mechanism is prevented from moving, the sliding block moves outwards along the support rod.
The working principle and the process are as follows:
as shown in fig. 2 to 5, when the folding and unfolding mechanism is changed from the fully unfolded state to the half unfolded state, the motor drives the crank 3 to rotate towards the support rod 2, the crank 3 drives the connecting rod 4 to move inwards, the connecting rod 4 drives the slider to move inwards along the support frame 2, the slider drives the crank 3 of the next set of crank-slider mechanism to move towards the support rod 2, and the movement is continued all the time, so that the crank-slider mechanism is contracted.
As shown in fig. 4 to 6, the folding mechanism is from a half-folded state to a full-folded state, the motor drives the support rod 2 to move towards the machine base 1, and the support frame can be completely folded when being folded by 90 degrees.
Claims (5)
1. A space folding and unfolding mechanism with a crank sliding block connected by a rigid hinge of a folding and unfolding unit comprises the folding and unfolding unit and the rigid hinge and is characterized in that the specific structure and the connection relationship are as follows,
the folding and unfolding unit is connected with the base through a hinge, the folding and unfolding unit comprises a support rod and a slider-crank mechanism, one end of the support rod is connected with the base through the hinge, two sides of the support rod are connected with the slider-crank mechanism through the hinge, the slider-crank mechanism comprises a crank, a connecting rod and a slider, one end of the crank is connected with the support rod through the hinge, the other end of the crank is connected with the connecting rod through the hinge, one end of the connecting rod is connected with the crank through the hinge, the other end of the connecting rod is connected with the slider through the hinge, one end of the slider is connected with the connecting rod; the rigid hinge is connected with the two folding and unfolding units, and the two folding and unfolding units can rotate relatively through the middle rotating pair of the rigid hinge.
2. The spatial folding and unfolding mechanism with crank blocks rigidly hinged to the folding and unfolding unit as claimed in claim 1, wherein said base is a polygonal base with a hinge mount on each side, and the polygonal base is hinged to the folding and unfolding unit through the hinge mounts.
3. The spatial folding and unfolding mechanism for rigid hinge connection of folding and unfolding units according to claim 1, wherein the crank-slider mechanisms are multiple groups, different groups of identical components can be obtained by scaling, the number of the crank-slider mechanisms is related to the length of the support rod, and the longer the support rod is, the more the number of the crank-slider mechanisms is.
4. The space folding and unfolding mechanism with the crank blocks connected by the rigid hinges of the folding and unfolding unit as claimed in claim 1, wherein the slide blocks are a first slide block and a second slide block, only the slide block of the last group of crank block mechanisms is the first slide block, the rest slide blocks are the second slide blocks, the first slide block is connected with the connecting rod of the last group of crank block mechanisms through a hinge, one end of the second slide block is connected with the connecting rod of the crank block mechanism through a hinge, and the other end of the second slide block is connected with the crank of the next group of crank block mechanisms through a hinge.
5. The crank block mechanism of claim 1 is a space folding and unfolding mechanism with a rigid hinge connection of a folding and unfolding unit, and the included angle between the motion direction of the crank block mechanism and the connecting rod is more than 90 degrees and less than 180 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711082952.2A CN107902108B (en) | 2017-11-07 | 2017-11-07 | Space folding and unfolding mechanism with crank sliding blocks connected by rigid hinges of folding and unfolding units |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711082952.2A CN107902108B (en) | 2017-11-07 | 2017-11-07 | Space folding and unfolding mechanism with crank sliding blocks connected by rigid hinges of folding and unfolding units |
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| Publication Number | Publication Date |
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| CN107902108A CN107902108A (en) | 2018-04-13 |
| CN107902108B true CN107902108B (en) | 2020-07-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109094759B (en) * | 2018-07-20 | 2020-03-31 | 广西大学 | Imitation gold jellyfish mechanism based on crank sliding block |
| CN109018282B (en) * | 2018-07-20 | 2020-03-31 | 广西大学 | Based on imitative gold jellyfish mechanism of worm gear transmission |
| CN112259949B (en) * | 2020-09-16 | 2023-08-29 | 航天东方红卫星有限公司 | High storage ratio modularized folding and unfolding support truss |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6340956B1 (en) * | 1999-11-12 | 2002-01-22 | Leland H. Bowen | Collapsible impulse radiating antenna |
| JP4511991B2 (en) * | 2005-05-10 | 2010-07-28 | 日本放送協会 | Mesh deploying antenna and method for manufacturing lattice mesh reflector |
| CN202196854U (en) * | 2011-08-03 | 2012-04-18 | 广州航新航空科技股份有限公司 | Antenna support of portable antenna mounting rack |
| CN106426276A (en) * | 2015-08-12 | 2017-02-22 | 佛山市禾才科技服务有限公司 | Double-triangular composite mechanical arm |
| CN106493717B (en) * | 2016-12-30 | 2019-04-12 | 北京工业大学 | The icosahedral single movement of one kind can open up symmetrical coupled mechanism |
| CN107134655B (en) * | 2017-04-20 | 2019-05-31 | 哈尔滨工业大学深圳研究生院 | A kind of space expandable curved face truss mechanism based on scissors mechanism |
| CN107171053B (en) * | 2017-05-19 | 2019-04-26 | 浙江龙游公任电子有限公司 | A kind of exterior aerial facilitating gathering |
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