CN107933959A - Six-bar mechanism and what is be made from it open up module, extending arm, planar development truss - Google Patents
Six-bar mechanism and what is be made from it open up module, extending arm, planar development truss Download PDFInfo
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- CN107933959A CN107933959A CN201710952095.0A CN201710952095A CN107933959A CN 107933959 A CN107933959 A CN 107933959A CN 201710952095 A CN201710952095 A CN 201710952095A CN 107933959 A CN107933959 A CN 107933959A
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- 206010068052 Mosaicism Diseases 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
The present invention is suitable for space equipment technical field, there is provided a kind of six-bar mechanism, can open up module, extending arm and planar development truss.The six-bar mechanism only needs one to drive the movement that definite route can be achieved, so the free degree of the mechanism is 1, all kinds of integrated models being made of it in two directions can be unfolded or collapse, movement in both direction is coupling, with certain functional relation, it is not voltuntary movement, so being also 1 by the free degree of its integrated model formed.The use of constraint component can be thus reduced, the quality of integrated model is reduced and collapses volume, simultaneously as the Planar Mechanisms characteristic of space mechanism, the rigidity of integrated model are higher.Such integrated model also has a good structural symmetry, and the extension of both direction, can apply to the space mast, solar array truss and Large-scale satellite planar development antenna mounting truss of space industry in plane easy to implement.
Description
Technical field
The invention belongs to space equipment technical field, more particularly to a kind of six-bar mechanism and be made from it open up module,
Extending arm, planar development truss.
Background technology
With the fast development of the technologies such as satellite communication, space science, survey of deep space and earth observation, to large scale,
Lightweight, the application demand of the high space development mechanism for folding ratio become further urgent.With the increase of spatial constructional dimensions, mesh
The storage space of preceding spaceflight delivering tool has been unable to meet the requirement of space large scale structure, therefore urgent need design can realize folding
With the large-scale dimension mechanism of expansion function, i.e. the transport in rocket and launching phase, large-scale aerospace mechanism can be folded in one
Act the size for keeping very little, after spacecraft smoothly enters space, then by a series of control measure by mechanism deploying into large-scale
Aerospace structure simultaneously realizes that rigidifying locks.The design and research of aerospace development mechanism are the crucial bases of following space technology development
One of plinth sex chromosome mosaicism.
Space development mechanism, which can be realized, to be repetitively folded and is unfolded, and structure type is varied, and it is big to be widely used in space
On type spacecraft, such as space station, communications satellite, space telescope etc., therefore large space development mechanism has important grind
Study carefully value, become the hot research topic of Astronautics and technical field in recent years.At abroad, space development mechanism into
Work(is used to build large-scale flexible solar array stent, space mast, heavy caliber deployable antenna etc., and communicate in large capacity,
Earth observation etc. has played great function, as the U.S. uses the support radar progress dimensional topography observation of 60m extending arms, the world
The support arm of space station owner's solar wing is large-scale extending arm, and the 6m bores of communication test are used on Russian Mir station
EGS deployable antennas, the annular truss formula metal mesh surface antenna of bore 12m, Japanese ETS-8 on U.S.'s Thuraya telecommunication satellites
Hexagonal prisms framework type deployable antenna of bore 17m etc. on satellite.The application of large space deployable antenna improves earth observation
Level of resolution, expands bandwidth, communication distance and the information capacity of satellite communication, particularly in military field, greatly improves
Space Military is scouted horizontal and to opposing precision strike capability, is paid much attention to be subject to every country.
According to external spacecraft is put to the data of the space development agency of application, the deployable unwinder into plane
Structure is widely used in the fields such as solar array, satellite antenna supporting rack, is the most a kind of development agency of current application.
According to the theory of constitution of development mechanism, development agency can be divided into radial type development agency again and flexible material development agency two is big
Class, the former is made of kinematic pair and connecting rod, and the expansion process of such mechanism is realized by articulate, repeats folding and expanding
It is good, long lifespan, shock resistance are good, precision is high, rigidity is big, be currently widely used in space development truss, space mast,
The fields such as satellite deployable antenna, are widely used in all kinds of spacecrafts as ripe component at present.What the country developed in the past
Fold-out type solar array belongs to hinged expansion mechanism.But such mechanism construction process is complicated, hinge joint is more.It is flexible
Material development agency realizes folding and expanding by the elastic deformation of flexible material, and construction process is relatively easy, but repeatable gathering
Property is poor, and precision and rigidity are all relatively low.
At present, research and application aspect of the China in large space development mechanism, in starting evening, technological accumulation is weak, with state
Outer advanced level is larger compared to gap, there is no the successful application case of large-scale deployable antenna.Existing space development mechanism scheme
Use plane mechanism module composition, there are following shortcoming more：1. rod piece is more in mechanism, it is not high to fold ratio；2. in mechanism
How more portion is freely, the general free degree for using the method reducing mechanism of lazy-tongs or increase driving number, but so again
Cause mechanism quality and collapse the increase of volume；3. the large space development mechanism of plane mechanism composition, rigidity is low, and mechanism is difficult
Lock at the same time.
The content of the invention
The embodiment of the present invention can reduce synchromesh gear mechanism or the use of other additional constraints, reduce integrated model
Quality and collapse volume, while can improve the rigidity of integrated model by the Planar Mechanisms characteristic of space mechanism.
Present embodiments provide a kind of six-bar mechanism, including the vertical bar of two equal lengths, four equal lengths is short
Bar, the first cradle head and the second cradle head；The quarter butt length is less than or equal to the half of the vertical pole length；Two
The one end of a quarter butt is hinged by the first cradle head described in one, and the other ends of two quarter butts is respectively with one
A second cradle head is hinged, and described two quarter butts, first cradle head and two the second cradle heads are total to
With composition expansion module；The top of the vertical bar is connected with the top of another vertical bar by one group of expansion module, described perpendicular
The bottom of straight-bar is connected with the bottom of another vertical bar by another group of expansion module；The axis of all second cradle heads
It is parallel to each other, the axis of first cradle head and the axis interlaced arrangement of the second cradle head, and form a folder fixed
Angle.
Further, the quarter butt and vertical bar are quadrangular, wherein, the shape of cross section of the quarter butt is right angle
Trapezoidal, the shape of cross section of the vertical bar is rectangle.
Further, the elastic component for driving the opposite expansion of two quarter butts is provided with first cradle head.
Further, the elastic component is torsional spring.
The present invention is in order to solve the above technical problems, module, including two above-mentioned six-bar mechanisms can be opened up by additionally providing one kind
And four groups of expansion modules, described two six-bar mechanism intervals are oppositely arranged, the top of two vertical bars in the six-bar mechanism
It is connected respectively by one group of expansion module with the top of two vertical bars in another six-bar mechanism, two in the six-bar mechanism are perpendicular
The bottom of straight-bar is connected by one group of expansion module with the bottom of two vertical bars in another six-bar mechanism respectively, wherein, it is each
Angle between the axis of the second cradle head on the vertical adjacent both sides of boom end is 90 degree.
The present invention in order to solve the above technical problems, also provide a kind of large space extending arm, including several are above-mentioned again
Open up module and some groups of expansion modules, some modules of opening up are spaced apart in the same direction, wherein, some can be opened up
The top of mould two vertical bar in the block passes through one group of expansion module and its another adjacent mould two vertical bar in the block of opening up respectively
Top connects；Some can open up the bottom of mould two vertical bar in the block and adjacent open up mould with another its by one group of expansion module respectively
The bottom connection of two vertical bar in the block.
The present invention is including some in order to solve the above technical problems, also provide a kind of large space planar development truss again
A above-mentioned large space extending arm and some groups of expansion modules, some large spaces are spaced apart in the same direction,
Wherein, the top of the vertical bar in the large space extending arm adjacent thereto of the top of the vertical bar in some large space extending arm
End passes through expansion module described in one group and connects, the bottom of the vertical bar in some large space extending arm large-scale sky adjacent thereto
Between the bottom of vertical bar in extending arm connected by expansion module described in one group.
Compared with prior art, beneficial effect is the present embodiment：A kind of six-bar mechanism is present embodiments provided, its need
Want a driving that the movement for having definite route of mechanism can be achieved, so the free degree of the six-bar mechanism is 1, be made of it
Module, extending arm, such integrated model of planar development truss, which can be opened up, in two directions can be unfolded or collapse, both direction
On movement be coupling, there is certain functional relation, be not voltuntary movement, so module, extending arm, planar development can be opened up
The free degree of truss is also 1.The use of synchromesh gear mechanism or other additional constraint components can be thus reduced, is reduced
The quality of integrated model and collapse volume, fold than big, simultaneously as the Planar Mechanisms characteristic of space mechanism, integrated model it is firm
Degree is higher.Since such integrated model also has good structural symmetry, it is easy to realize the extension of both direction in plane,
So large space extending arm and large space planar development truss can apply to the space mast of space industry, the sun
Can cell array truss and Large-scale satellite planar development antenna mounting truss, can be also used for some flat plane antennas on ground
Sub-truss, and telescopic building of building field of civil engineering etc..
Brief description of the drawings
One or more embodiments are illustrative by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not formed to embodiment, the element for having same reference numbers label in attached drawing are expressed as similar element, remove
Non- have a special statement, and composition does not limit the figure in attached drawing.
Fig. 1 is schematic diagram when a kind of six-bar mechanism provided in an embodiment of the present invention is in half unfolded state；
Fig. 2 is schematic diagram when six-bar mechanism shown in Fig. 1 is in folded state；
Fig. 3 is schematic diagram when six-bar mechanism is fully deployed shown in Fig. 1；
Fig. 4 is a kind of schematic diagram when opening up half unfolded state of module provided in an embodiment of the present invention；
Fig. 5 is the enlarged drawing of a-quadrant in Fig. 4；
Fig. 6 is the schematic diagram that can be opened up shown in Fig. 4 when module is in folded state；
Fig. 7 is that module can be opened up shown in Fig. 4 in schematic diagram when being fully deployed；
Fig. 8 is schematic diagram when a kind of large space extending arm provided in an embodiment of the present invention is in half expansion；
Fig. 9 is schematic diagram when large space extending arm shown in Fig. 8 is in folded state；
Figure 10 is schematic diagram when large space extending arm shown in Fig. 8 is fully deployed；
Figure 11 is showing when a kind of large space planar development truss provided in an embodiment of the present invention is in half unfolded state
It is intended to；
Figure 12 is the schematic diagram when truss of large space planar development shown in Figure 11 is in folded state；
Figure 13 is the schematic diagram when truss of large space planar development shown in Figure 11 is fully deployed.
Embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Fig. 1 to Fig. 3 is referred to, is a kind of six-bar mechanism provided in an embodiment of the present invention, including two equal lengths is perpendicular
Quarter butt 2, the first cradle head 3 and the second cradle head 4 of 1, four equal length of straight-bar.
Wherein, 2 length of quarter butt is less than or equal to the half of 1 length of vertical bar；The one end of two quarter butts 2 passes through one
A first cradle head 3 is hinged, and the other end of two quarter butts 2 is hinged with second cradle head 4 respectively, described two quarter butts
2nd, first cradle head 3 and two the second cradle heads 4 collectively form one group of expansion module.The top of the vertical bar 1
End is connected with the top of another vertical bar 1 by one group of expansion module, the bottom of the vertical bar 1 and the bottom of another vertical bar 1
End is connected by another group of expansion module.
The axis of all second cradle heads 3 is parallel to each other, the axis of the first cradle head 3 and the second cradle head 4
Axis interlaced arrangement, and an angle fixed is formed, the angle of the angle can be in the range of 0~90 degree, can be according to specific
Geometry designs requirement make choice.
The quarter butt 2 and vertical bar 1 are quadrangular, wherein, the shape of cross section of the quarter butt 2 is right-angled trapezium,
The shape of cross section of the vertical bar 1 is rectangle.Above-mentioned first cradle head 3 is installed on the end position of 2 prism of quarter butt.
In practical application, quarter butt 2 and the concrete shape of vertical bar 1, above-mentioned first cradle head, 3 and second cradle head are not limited
4 can directly be connected with rod piece, can also install square floral disc in 1 both ends of vertical bar and the articulated joint at 2 both ends of quarter butt passes through
Axis pin connects.
In order to make six-bar mechanism that there is automatic spread, can be provided with the first cradle head 3 for driving
The elastic component (not shown) of the opposite expansion of two quarter butts 2.Preferably, the elastic component is torsional spring.
The free degree for meeting the six-bar mechanism with upper boom length and cradle head angle geometrical condition is 1, and is crossed about for space
Beam mechanism.The mechanism is different from traditional plane six-bar linkage, four quarter butts 2 and two vertical bars 1 not in approximately the same plane,
But it can be folded together, as shown in Fig. 2, all rod pieces are parallel to each other at this time；The mechanism can be fully deployed into one at the same time
Rectangle, as shown in figure 3, six rod pieces are in same plane at this time.The mechanism is in motion process is unfolded, two vertical bars 1
Between translation and the coupled motions relatively rotated occurs, and be always maintained at parastate.
Refer to Fig. 4 to Fig. 7, the present embodiment additionally provide one kind can open up module, including two above-mentioned six-bar mechanisms with
And four groups of expansion modules.It is that this, which can open up module, includes four vertical bars 1 and 16 quarter butts 2.
Described two six-bar mechanism intervals are oppositely arranged, and the top of two vertical bars 1 in the six-bar mechanism passes through respectively
One group of expansion module is connected with the top of two vertical bars 1 in another six-bar mechanism, two vertical bars 1 in the six-bar mechanism
Bottom is connected by one group of expansion module with the bottom of two vertical bars 1 in another six-bar mechanism respectively, wherein, each vertical bar
Angle between the axis of the second cradle head 4 on the adjacent both sides in 1 end is 90 degree.
It is a polycyclic over-constraint structure in space that this, which can open up module, but the overall free degree is 1.During the motion, phase
To vertical bar 1 between occur translational motion in same plane, and then existing relative rotation between adjacent vertical bar 1,
There is relative translational movement.This can open up the folded state of module as shown in fig. 6, all parallel gathering of all quarter butt 2 is between vertical bar 1,
Exterior contour is quadrangular shape.This can open up its fully unfolded position of module as shown in fig. 7, being four-prism, at this time expanding wheel
It is wide maximum, and mechanism is in Singularity, if locking at this time, which has very big rigidity.
Refer to Fig. 8 to Figure 10, the present embodiment additionally provides a kind of large space extending arm, including several it is above-mentioned can
Open up module and some groups of expansion modules.Some modules of opening up are spaced apart in the same direction, wherein, some can open up module
In the tops of two vertical bars 1 pass through one group of expansion module and its another adjacent top for opening up mould two vertical bar 1 in the block respectively
End connection；Some can open up the bottom of mould two vertical bar 1 in the block and adjacent open up mould with another its by one group of expansion module respectively
The bottom connection of two vertical bar 1 in the block.
Above-mentioned large space extending arm is the first kind large space that module construction can be opened up by single-degree-of-freedom space Planar Mechanisms
Development mechanism, as shown in Figure 8.The extending arm is made of the module of opening up of multiple quadrangular shapes, except four vertical bars 1 at both ends
Outside, internal all 1 upper and lower ends of vertical bar are connected by the first cradle head 3 with three quarter butts 2, and adjacent second rotates
The angle of the axis in joint 4 is 90 degree.
The large space extending arm entirety free degree is 1, can be by being arranged at the first cradle head 3 between quarter butt 2
Torsional spring drives the extending arm to be unfolded, and gathering, the development rate of extending arm are controlled by rope.Traditional extending arm can only realize one
The gathering and expansion in a direction, the extending arm of the present embodiment can realize that both direction collapses and expansion, folding ratio improve very
It is more, more storage areas can be saved.By varying can open up substantially module number how much, thus it is possible to vary the stretching, extension of extending arm
Length.Fig. 9, Figure 10 are respectively folding and its fully unfolded position figure of the large space extending arm, as can see from Figure 10, should
Mechanism is deployable to become a quadrangular space structure body, the support available for the survey of deep space instrument on space station or satellite
Structure.
Figure 11 to Figure 13 is referred to, the present embodiment additionally provides a kind of large space planar development truss, including several
Above-mentioned large space extending arm and some groups of expansion modules, some large spaces is spaced apart in the same direction, wherein, certain
The top of vertical bar 1 in the large space extending arm adjacent thereto of the top of vertical bar 1 in a large space extending arm leads to
Cross one group of expansion module to connect, the large space that the bottom of the vertical bar 1 in some large space extending arm is adjacent thereto stretches
The bottom of vertical bar 1 in arm is connected by one group of expansion module.
Above-mentioned large space planar development truss be can be opened up by single-degree-of-freedom space Planar Mechanisms module construction the second class it is big
Type space development mechanism, as shown in figure 11.The large space planar development truss can open up module by multiple quadrangulars and form, internal
All 1 upper and lower ends of vertical bar are connected by the second cradle head 4 with four quarter butts 2, and adjacent 4 axis of the second cradle head
Angle between line is 90 degree.The large-scale planar development truss entirety free degree is 1, can pass through second between quarter butt 2
Arrange that torsional spring drives its expansion at cradle head 4, can realize that both direction is collapsed and is unfolded, fold than high, can save more
More storage areas.By varying can open up substantially module number how much, thus it is possible to vary the developed area of planar development truss.Figure
12nd, Figure 13 is respectively folding and its fully unfolded position figure of the large space planar development truss, as can see from Figure 13, should
Mechanism is deployable to become a large space plane girder, large solar cell array or plane day available for space station
The supporting structure of line.
With reference to the structure and improved structure type on its basis of above-mentioned six-bar mechanism, it can be seen that the present embodiment
Six-bar mechanism, its need one driving i.e. can be achieved mechanism the movement for having definite route, so the six-bar mechanism from
By spending for 1, by its form open up module, extending arm, planar development truss such integrated model can be in two directions
Expansion is collapsed, and the movement in both direction is coupling, has certain functional relation, is not voltuntary movement, so can open up
Module, extending arm, the free degree of planar development truss are also 1.Synchromesh gear mechanism can thus be reduced or other are additional
The use of constraint component, reduces the quality of integrated model and collapses volume, fold than big, simultaneously as the mistake of space mechanism
Binding feature, the rigidity of integrated model are higher.
Since such integrated model also has good structural symmetry, it is easy to realize the expansion of both direction in plane
Exhibition, so, large space extending arm and large space planar development truss can apply to the space mast, too of space industry
Positive energy cell array truss and Large-scale satellite planar development antenna mounting truss, can be also used for some flat plane antennas on ground
Sub-truss, and building field of civil engineering telescopic building etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of six-bar mechanism, it is characterised in that the vertical bar including two equal lengths, the quarter butt of four equal lengths,
One cradle head and the second cradle head；The quarter butt length is less than or equal to the half of the vertical pole length；Two institutes
The one end for stating quarter butt is hinged by the first cradle head described in one, the other ends of two quarter butts respectively with an institute
The second cradle head stated is hinged, described two quarter butts, first cradle head and two common structures of the second cradle head
Into expansion module；The top of the vertical bar is connected with the top of another vertical bar by one group of expansion module, the vertical bar
Bottom be connected with the bottom of another vertical bar by another group of expansion module；The axis of all second cradle heads is mutual
It is parallel, the axis of first cradle head and the axis interlaced arrangement of the second cradle head, and form an angle fixed.
2. six-bar mechanism as claimed in claim 1, it is characterised in that the quarter butt and vertical bar are quadrangular, wherein,
The shape of cross section of the quarter butt is right-angled trapezium, and the shape of cross section of the vertical bar is rectangle.
3. six-bar mechanism as claimed in claim 1, it is characterised in that be provided with first cradle head for driving two
The elastic component of the opposite expansion of a quarter butt.
4. six-bar mechanism as claimed in claim 3, it is characterised in that the elastic component is torsional spring.
5. one kind can open up module, it is characterised in that including the six-bar mechanism two as described in any one in Claims 1-4
And four groups of expansion modules, described two six-bar mechanism intervals are oppositely arranged, the top of two vertical bars in the six-bar mechanism
It is connected respectively by one group of expansion module with the top of two vertical bars in another six-bar mechanism, two in the six-bar mechanism are perpendicular
The bottom of straight-bar is connected by one group of expansion module with the bottom of two vertical bars in another six-bar mechanism respectively, wherein, it is each
Angle between the axis of the second cradle head on the vertical adjacent both sides of boom end is 90 degree.
A kind of 6. large space extending arm, it is characterised in that if can be opened up as claimed in claim 5 including several module and
Dry group expansion module, some modules of opening up are spaced apart in the same direction, wherein, some can open up mould two vertical bar in the block
Top pass through one group of expansion module respectively and its another adjacent top for opening up mould two vertical bar in the block connects；Some can be opened up
The bottom of mould two vertical bar in the block passes through one group of expansion module and its another adjacent mould two vertical bar in the block of opening up respectively
Bottom connects.
7. a kind of large space planar development truss, it is characterised in that including several large spaces as claimed in claim 6
Extending arm and some groups of expansion modules, some large spaces are spaced apart in the same direction, wherein, some large space
The top of vertical bar in the large space extending arm adjacent thereto of the top of vertical bar in extending arm passes through exhibition described in one group
Open component connection, it is vertical in the large space extending arm adjacent thereto of the bottom of the vertical bar in some large space extending arm
The bottom of bar is connected by expansion module described in one group.
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| CN201710952095.0A CN107933959B (en) | 2017-10-13 | 2017-10-13 | Six-rod mechanism and expandable module, extension arm and plane expansion truss formed by six-rod mechanism |
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| CN201710952095.0A CN107933959B (en) | 2017-10-13 | 2017-10-13 | Six-rod mechanism and expandable module, extension arm and plane expansion truss formed by six-rod mechanism |
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| CN108945523A (en) * | 2018-09-04 | 2018-12-07 | 燕山大学 | Quadrangular can open up unit and can open up the space extension means of unit based on quadrangular |
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| CN109560362A (en) * | 2018-10-22 | 2019-04-02 | 中国科学院深圳先进技术研究院 | Based on space 5R mechanism can Zhan Danyuan and single-degree-of-freedom annular truss formula development agency |
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| CN111926921A (en) * | 2020-08-12 | 2020-11-13 | 长沙理工大学 | Cylindrical surface mechanism composed of deployable units |
| CN112550762A (en) * | 2019-09-25 | 2021-03-26 | 华东交通大学 | Novel single-degree-of-freedom planar deployable mechanism network composed of three-symmetrical Bricard mechanisms |
| CN113187314A (en) * | 2021-05-12 | 2021-07-30 | 哈尔滨工业大学建筑设计研究院 | Hexagonal inflatable unfolding building module applied to moon building |
| CN113374084A (en) * | 2021-04-02 | 2021-09-10 | 天津大学 | Single-degree-of-freedom foldable square cabin structure |
| CN113608346A (en) * | 2021-08-11 | 2021-11-05 | 哈尔滨工业大学 | Modular sub-mirror splicing scheme and standardized interface for ultra-large space telescope |
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