CN107933959B - Six-rod mechanism and expandable module, extension arm and plane expansion truss formed by six-rod mechanism - Google Patents
Six-rod mechanism and expandable module, extension arm and plane expansion truss formed by six-rod mechanism Download PDFInfo
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- 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 invention is suitable for the technical field of aerospace equipment, and provides a six-rod mechanism, an expandable module, an extending arm and a plane expansion truss. The six-rod mechanism can realize the movement with a determined route only by one drive, so the degree of freedom of the mechanism is 1, various integral mechanisms formed by the mechanism can be unfolded or folded along two directions, the movement in the two directions is coupled, has a certain functional relation and is not random movement, and the degree of freedom of the integral mechanism formed by the mechanism is also 1. Therefore, the use of the constraint component can be reduced, the mass and the furled volume of the whole mechanism are reduced, and meanwhile, the rigidity of the whole mechanism is higher due to the over-constraint characteristic of the space mechanism. The whole mechanism also has good structural symmetry, is easy to realize the expansion in two directions in a plane, and can be applied to space extending arms, solar cell array trusses and large-scale satellite plane unfolding antenna supporting trusses in the aerospace field.
Description
Technical Field
The invention belongs to the technical field of space equipment, and particularly relates to a six-rod mechanism and an expandable module, an extending arm and a plane expansion truss which are composed of the six-rod mechanism.
Background
With the rapid development of technologies such as satellite communication, space science, deep space exploration and earth observation, the application requirements of space unfolding mechanisms with large scale, light weight and high folding ratio become more urgent. With the increase of the size of a space structure, the storage space of the existing space carrier can not meet the requirement of a large space structure, so that a large-scale space mechanism capable of realizing folding and unfolding functions is urgently needed to be designed, namely, in the transportation and launching stage of a rocket, the large space mechanism can be folded together to keep a small size, and after a spacecraft smoothly enters the space, the mechanism is unfolded into the large space structure through a series of control measures and rigid locking is realized. The design and research of an aerospace deployment mechanism are one of the key basic problems for the development of future aerospace technology.
The space unfolding mechanism can realize repeated folding and unfolding, has various structural forms, and is widely applied to large space spacecrafts such as space stations, communication satellites, space telescopes and the like, so the large space unfolding mechanism has important research value and becomes a popular research topic in the field of aerospace science and technology in recent years. In foreign countries, space deployment mechanisms have been successfully used for constructing large flexible solar sailboard supports, space extending arms, large-caliber deployment antennas and the like, and play a great role in aspects of high-capacity communication, earth observation and the like, for example, a 60m extending arm is used in the united states to support radar for three-dimensional terrain observation, a supporting arm of a main solar wing of an international space station is a large extending arm, an EGS deployment antenna with a caliber of 6m for communication test on russian 'and peace sign' space stations, an annular truss type metal mesh surface antenna with a caliber of 12m on american Thuraya communication satellites, a hexagonal prism type deployment antenna with a caliber of 17m on japanese ETS-8 satellites and the like. The application of the large space expansion antenna improves the resolution level of earth observation, enlarges the bandwidth, communication distance and information capacity of satellite communication, particularly in the military field, greatly improves the space military reconnaissance level and the accurate attack capability to enemies, and is highly valued by various countries.
According to the information of space deployable mechanisms applied to foreign spacecrafts, the deployable mechanisms capable of being deployed into planes are widely applied to the fields of solar cell arrays, satellite antenna support frames and the like, and are the most popular deployable mechanisms at present. According to the composition principle of the unfolding mechanism, the unfolding mechanism can be divided into two types of hinged type unfolding mechanisms and flexible material unfolding mechanisms, wherein the hinged type unfolding mechanisms comprise kinematic pairs and connecting rods, the unfolding process of the mechanisms is realized by hinge activity, the mechanisms are good in repeatable folding unfolding property, long in service life, good in shock resistance, high in precision and high in rigidity, are widely applied to the fields of space unfolding trusses, space stretching arms, satellite unfolding antennas and the like at present, and are widely applied to various spacecrafts as mature components at present. The folding solar cell array developed in the past in China belongs to a hinged expansion mechanism. However, the mechanism is complex in construction process and has more hinge points. The flexible material extensible mechanism is folded and unfolded through elastic deformation of the flexible material, the construction process is relatively simple, but the repeatable furling performance is poor, and the precision and the rigidity are relatively low.
At present, in the research and application aspect of large space development mechanisms in China, the starting is late, the technology accumulation is weak, the difference is larger compared with the foreign advanced level, and no successful application case of large-scale development antennas exists. The existing space unfolding mechanism scheme is mainly formed by adopting a plane mechanism module and has the following defects: 1. the number of rod pieces in the mechanism is large, and the folding ratio is not high; 2. the freedom in the mechanism is more, the degree of freedom of the mechanism is generally reduced by adopting a synchronous mechanism or a method of increasing the driving number, but the mass and the furling volume of the mechanism are increased; 3. the large space unfolding mechanism formed by the plane mechanism has low rigidity, and the mechanism is difficult to lock simultaneously.
Disclosure of Invention
The embodiment of the invention can reduce the use of a synchromesh gear mechanism or other additional constraints, reduce the mass and the furled volume of the whole mechanism, and simultaneously improve the rigidity of the whole mechanism through the over-constraint characteristic of a space mechanism.
The embodiment provides a six-rod mechanism which comprises two vertical rods with equal length, four short rods with equal length, a first rotating joint and a second rotating joint; the length of the short rod is less than or equal to half of the length of the vertical rod; one end parts of the two short rods are hinged through the first rotary joint, the other ends of the two short rods are respectively hinged with the second rotary joint, and the two short rods, the first rotary joint and the two second rotary joints jointly form a unfolding component; the top end of the vertical rod is connected with the top end of the other vertical rod through one set of unfolding components, and the bottom end of the vertical rod is connected with the bottom end of the other vertical rod through the other set of unfolding components; the axes of all the second rotating joints are parallel to each other, and the axes of the first rotating joints and the axes of the second rotating joints are arranged in a staggered mode to form a fixed included angle.
Further, the short rod and the vertical rod are both quadrangular columns, wherein the cross section of the short rod is in a shape of a right trapezoid, and the cross section of the vertical rod is in a shape of a rectangle.
Furthermore, an elastic piece for driving the two short rods to oppositely expand is arranged in the first rotating joint.
Further, the elastic member is a torsion spring.
The invention also provides a deployable module, which comprises two six-rod mechanisms and four groups of deployable components, wherein the two six-rod mechanisms are arranged oppositely at intervals, the top ends of two vertical rods in the six-rod mechanisms are respectively connected with the top ends of two vertical rods in the other six-rod mechanism through one group of deployable components, the bottom ends of the two vertical rods in the six-rod mechanisms are respectively connected with the bottom ends of the two vertical rods in the other six-rod mechanism through one group of deployable components, and an included angle between the axes of second rotating joints on two adjacent sides of the end part of each vertical rod is 90 degrees.
The invention further provides a large space extending arm for solving the technical problems, which comprises a plurality of expandable modules and a plurality of groups of expanding components, wherein the expandable modules are distributed at intervals along the same direction, and the top ends of two vertical rods in one expandable module are respectively connected with the top ends of two vertical rods in another adjacent expandable module through one group of expanding components; the bottom ends of two vertical rods in a certain expandable module are respectively connected with the bottom ends of two vertical rods in another adjacent expandable module through a group of expanding assemblies.
The invention further provides a large space plane unfolding truss for solving the technical problems, which comprises a plurality of large space stretching arms and a plurality of groups of unfolding components, wherein the large space stretching arms are distributed at intervals along the same direction, the top ends of the vertical rods in one large space stretching arm are connected with the top ends of the vertical rods in the adjacent large space stretching arm through one group of unfolding components, and the bottom ends of the vertical rods in one large space stretching arm are connected with the bottom ends of the vertical rods in the adjacent large space stretching arm through one group of unfolding components.
Compared with the prior art, the embodiment has the advantages that: the embodiment provides a six-bar mechanism, which only needs one drive to realize the movement of the mechanism with a determined route, so the degree of freedom of the six-bar mechanism is 1, the integral mechanism of the deployable module, the extendable arm and the plane unfolding truss which are formed by the six-bar mechanism can be unfolded or folded along two directions, the movements in the two directions are coupled and have a certain functional relationship, and are not random movements, so the degree of freedom of the deployable module, the extendable arm and the plane unfolding truss is also 1. Therefore, the use of a synchromesh gear mechanism or other additional constraint components can be reduced, the mass and the furled volume of the whole mechanism are reduced, the folding ratio is large, and meanwhile, the rigidity of the whole mechanism is higher due to the over-constraint characteristic of the space mechanism. Because the integral mechanism also has good structural symmetry and can easily realize the expansion in two directions in a plane, the large space extending arm and the large space plane unfolding truss can be applied to the space extending arm in the aerospace field, a solar cell array truss and a large satellite plane unfolding antenna supporting truss, can also be applied to supporting trusses of some planar antennas on the ground, foldable and unfoldable buildings in the building and civil engineering field and the like.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic view of a six-bar mechanism provided by an embodiment of the present invention in a semi-deployed state;
FIG. 2 is a schematic view of the six bar mechanism of FIG. 1 in a collapsed state;
FIG. 3 is a schematic view of the six-bar mechanism of FIG. 1 fully deployed;
FIG. 4 is a schematic diagram of a deployable module according to an embodiment of the present invention in a half-deployed state;
FIG. 5 is an enlarged view of area A of FIG. 4;
fig. 6 is a schematic view of the expandable module of fig. 4 in a folded state;
FIG. 7 is a schematic view of the expandable module of FIG. 4 in a fully expanded state;
FIG. 8 is a schematic view of a large space extending arm in a semi-deployed state according to an embodiment of the present invention;
FIG. 9 is a schematic view of the large space extending arm of FIG. 8 in a folded state;
FIG. 10 is a schematic view of the large space boom of FIG. 8 when fully deployed;
fig. 11 is a schematic view of a large space plane expansion truss provided by the embodiment of the invention in a half expansion state;
FIG. 12 is a schematic view of the large space plane truss of FIG. 11 in a collapsed state;
fig. 13 is a schematic view of the large space-plane truss of fig. 11 when fully unfolded.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 3, a six-bar mechanism provided in an embodiment of the present invention includes two vertical bars 1 with equal length, four short bars 2 with equal length, a first rotating joint 3, and a second rotating joint 4.
Wherein, the length of the short rod 2 is less than or equal to half of the length of the vertical rod 1; one end parts of the two short rods 2 are hinged through a first rotating joint 3, the other ends of the two short rods 2 are hinged with a second rotating joint 4 respectively, and the two short rods 2, the first rotating joint 3 and the two second rotating joints 4 jointly form a group of unfolding assemblies. The top end of the vertical rod 1 is connected with the top end of another vertical rod 1 through a group of unfolding assemblies, and the bottom end of the vertical rod 1 is connected with the bottom end of another vertical rod 1 through another group of unfolding assemblies.
The axes of all the second rotating joints 3 are parallel to each other, the axes of the first rotating joints 3 and the axes of the second rotating joints 4 are arranged in a staggered mode, a fixed included angle is formed, the included angle can be in the range of 0-90 degrees, and selection can be carried out according to specific geometric design requirements.
The short rod 2 and the vertical rod 1 are both quadrangular prisms, wherein the cross section of the short rod 2 is in a shape of a right trapezoid, and the cross section of the vertical rod 1 is in a shape of a rectangle. The first rotary joint 3 is attached to an end portion of the oblique side surface of the short bar 2. In practical application, specific shapes of the short rod 2 and the vertical rod 1 are not limited, the first rotating joint 3 and the second rotating joint 4 can be directly connected with a rod piece, and square faceplates can be arranged at two ends of the vertical rod 1 and connected with joint joints at two ends of the short rod 2 through pin shafts.
In order to provide the six-bar mechanism with the function of automatic unfolding, an elastic member (not shown in the figure) for driving the two short bars 2 to unfold relatively may be provided in the first rotary joint 3. Preferably, the elastic member is a torsion spring.
The degree of freedom of the six-rod mechanism which meets the geometrical conditions of the rod length and the included angle of the rotary joint is 1, and the six-rod mechanism is a space over-constraint mechanism. The mechanism is different from a traditional plane six-rod mechanism, four short rods 2 and two vertical rods 1 are not in the same plane but can be folded together, as shown in figure 2, and all the rod pieces are parallel to each other; at the same time, the mechanism can be fully deployed in a rectangular shape, as shown in fig. 3, with the six rods in the same plane. In the unfolding motion process of the mechanism, the two vertical rods 1 generate translational motion and relative rotation coupling motion, and keep parallel state all the time.
Referring to fig. 4 to 7, the embodiment further provides a deployable module including two of the six-bar mechanisms and four sets of deployment assemblies. That is, the expandable module comprises four vertical rods 1 and sixteen short rods 2.
The two six-rod mechanisms are oppositely arranged at intervals, the top ends of two vertical rods 1 in the six-rod mechanisms are connected with the top ends of two vertical rods 1 in the other six-rod mechanism through a set of unfolding assemblies respectively, the bottom ends of the two vertical rods 1 in the six-rod mechanisms are connected with the bottom ends of the two vertical rods 1 in the other six-rod mechanism through a set of unfolding assemblies respectively, and an included angle between the axes of the second rotating joints 4 on two adjacent sides of the end part of each vertical rod 1 is 90 degrees.
The deployable module is a spatial multi-ring overconstrained mechanism, but has an overall degree of freedom of 1. In the process of movement, the opposite vertical rods 1 perform translational movement in the same plane, and the adjacent vertical rods 1 perform relative rotation and relative translational movement. The folding state of the expandable module is shown in fig. 6, all the short bars 2 are folded in parallel between the vertical bars 1, and the external profile is in the shape of a quadrangular prism. The fully deployed state of the deployable module is shown in fig. 7 as a right quadrangular prism, where the deployed profile is at its maximum and the mechanism is in a singular configuration, where the module is very rigid if locked.
Referring to fig. 8 to 10, the embodiment further provides a large space extending arm, which includes a plurality of the expandable modules and a plurality of groups of the expanding assemblies. The plurality of expandable modules are distributed at intervals along the same direction, wherein the top ends of two vertical rods 1 in one expandable module are respectively connected with the top ends of two vertical rods 1 in another adjacent expandable module through a group of expansion assemblies; the bottom ends of two vertical rods 1 in a certain expandable module are respectively connected with the bottom ends of two vertical rods 1 in another adjacent expandable module through a group of expanding assemblies.
The large space extending arm is a first large space unfolding mechanism constructed by a single-degree-of-freedom space overconstrained expandable module, as shown in fig. 8. The extending arm is composed of a plurality of quadrangular prism-shaped extensible modules, except for four vertical rods 1 at two ends, the upper end and the lower end of all the vertical rods 1 inside are connected with three short rods 2 through first rotating joints 3, and the included angle of the axes of the adjacent second rotating joints 4 is 90 degrees.
The overall freedom degree of the large-scale space extending arm is 1, the extending arm can be driven to extend by arranging a torsion spring at a first rotating joint 3 between the short rods 2, and the folding and unfolding speeds of the extending arm are controlled by a rope. The traditional extending arm can only be folded and unfolded in one direction, the extending arm of the embodiment can be folded and unfolded in two directions, the folding ratio is improved greatly, and more storage space can be saved. The extension length of the extension arm can be changed by changing the number of the basic extensible modules. Fig. 9 and 10 are respectively a folded state and a fully unfolded state of the large space extending arm, and as can be seen from fig. 10, the mechanism can be unfolded into a quadrangular prism space structure body which can be used as a supporting structure of a deep space exploration instrument on a space station or a satellite.
Referring to fig. 11 to 13, the present embodiment further provides a large space plane unfolding truss, which includes a plurality of large space extending arms and a plurality of groups of unfolding components, where the plurality of large spaces are distributed at intervals along the same direction, a top end of a vertical rod 1 in a certain large space extending arm is connected to a top end of a vertical rod 1 in an adjacent large space extending arm through a group of unfolding components, and a bottom end of a vertical rod 1 in a certain large space extending arm is connected to a bottom end of a vertical rod 1 in an adjacent large space extending arm through a group of unfolding components.
The large space plane unfolding truss is a second type of large space unfolding mechanism constructed by a single-degree-of-freedom space overconstrained expandable module, as shown in fig. 11. The large space plane unfolding truss is composed of a plurality of quadrangular prism expandable modules, the upper end and the lower end of all vertical rods 1 inside the truss are connected with four short rods 2 through second rotating joints 4, and included angles between the axes of the adjacent second rotating joints 4 are 90 degrees. The whole freedom degree of the large-scale plane unfolding truss is 1, the torsion spring can be arranged at the second rotating joint 4 between the short rods 2 to drive the large-scale plane unfolding truss to fold and unfold in two directions, the folding ratio is high, and more storage space can be saved. The expansion area of the plane expansion truss can be changed by changing the number of the basic expansion modules. Fig. 12 and 13 are views showing the folded and fully unfolded states of the large space plane unfolded truss, respectively, and it can be seen from fig. 13 that the mechanism can be unfolded into a large space plane truss, a large-scale solar cell array which can be used for a space station, or a supporting structure of a plane antenna.
In combination with the structure of the six-bar mechanism and the structural form improved on the basis of the structure, it can be seen that the six-bar mechanism of the embodiment can realize the movement of the mechanism with a determined route only by one drive, so the degree of freedom of the six-bar mechanism is 1, the integral mechanism of the deployable module, the extendable arm and the plane extendable truss which are formed by the six-bar mechanism can be unfolded or folded along two directions, the movements in the two directions are coupled and have a certain functional relationship, and the movements are not random, so the degree of freedom of the deployable module, the extendable arm and the plane extendable truss is also 1. Therefore, the use of a synchromesh gear mechanism or other additional constraint components can be reduced, the mass and the furled volume of the whole mechanism are reduced, the folding ratio is large, and meanwhile, the rigidity of the whole mechanism is higher due to the over-constraint characteristic of the space mechanism.
Because the integral mechanism also has good structural symmetry and can easily realize the expansion in two directions in a plane, the large space extending arm and the large space plane unfolding truss can be applied to the space extending arm in the aerospace field, a solar cell array truss and a large satellite plane unfolding antenna supporting truss, can also be applied to supporting trusses of some planar antennas on the ground, foldable and unfoldable buildings in the building and civil engineering field and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A six-rod mechanism is characterized by comprising two vertical rods with equal length, four short rods with equal length, a first rotating joint and a second rotating joint; the length of the short rod is less than or equal to half of the length of the vertical rod; one end parts of the two short rods are hinged through the first rotary joint, the other ends of the two short rods are respectively hinged with the second rotary joint, and the two short rods, the first rotary joint and the two second rotary joints jointly form a unfolding component; the top end of the vertical rod is connected with the top end of the other vertical rod through one set of unfolding components, and the bottom end of the vertical rod is connected with the bottom end of the other vertical rod through the other set of unfolding components; the axes of all the second rotary joints are parallel to each other, and the axes of the first rotary joints and the axes of the second rotary joints are arranged in a staggered manner to form a fixed included angle;
the first rotating joint and the second rotating joint both rotate up and down relative to the vertical rods, when the six-rod mechanism is folded, each vertical rod and each short rod are parallel to each other, when the six-rod mechanism is completely unfolded, a rectangle is formed, each vertical rod and each short rod are located in the same plane, and in the folding or unfolding process of the six-rod mechanism, the two vertical rods are in translational and relative rotation coupling motion.
2. The six-bar mechanism according to claim 1, wherein the short bar and the vertical bar are each a quadrangular prism, wherein the cross-sectional shape of the short bar is a right trapezoid, and the cross-sectional shape of the vertical bar is a rectangle.
3. The six-bar mechanism according to claim 1, wherein an elastic member for driving the two short bars to be relatively spread is provided in the first revolute joint.
4. The six-bar mechanism of claim 3, wherein the resilient member is a torsion spring.
5. An expandable module, comprising two six-bar mechanisms according to any one of claims 1 to 4 and four sets of expansion assemblies, wherein the two six-bar mechanisms are oppositely arranged at intervals, the top ends of two vertical bars in the six-bar mechanism are respectively connected with the top ends of two vertical bars in another six-bar mechanism through one set of expansion assemblies, the bottom ends of two vertical bars in the six-bar mechanism are respectively connected with the bottom ends of two vertical bars in another six-bar mechanism through one set of expansion assemblies, and the included angle between the axes of the second rotating joints on two adjacent sides of each vertical bar end is 90 degrees.
6. A large space extending arm, which is characterized by comprising a plurality of expandable modules according to claim 5 and a plurality of groups of expanding assemblies, wherein the expandable modules are distributed at intervals along the same direction, and the top ends of two vertical rods in one expandable module are respectively connected with the top ends of two vertical rods in another adjacent expandable module through one group of expanding assemblies; the bottom ends of two vertical rods in a certain expandable module are respectively connected with the bottom ends of two vertical rods in another adjacent expandable module through a group of expanding assemblies.
7. A large space plane unfolding truss is characterized by comprising a plurality of large space stretching arms and a plurality of groups of unfolding components, wherein the large space stretching arms are as claimed in claim 6, the large spaces are distributed at intervals along the same direction, the top ends of the vertical rods in one large space stretching arm are connected with the top ends of the vertical rods in the adjacent large space stretching arm through one group of unfolding components, and the bottom ends of the vertical rods in one large space stretching arm are connected with the bottom ends of the vertical rods in the adjacent large space stretching arm through one group of unfolding components.
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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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