CN107946725A - A kind of folding and unfolding mechanism of double-slider spring assembly constraint telescopic rod - Google Patents
A kind of folding and unfolding mechanism of double-slider spring assembly constraint telescopic rod Download PDFInfo
- Publication number
- CN107946725A CN107946725A CN201711089187.7A CN201711089187A CN107946725A CN 107946725 A CN107946725 A CN 107946725A CN 201711089187 A CN201711089187 A CN 201711089187A CN 107946725 A CN107946725 A CN 107946725A
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- China
- Prior art keywords
- telescopic rod
- sliding block
- block spring
- folding
- constraint
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
-
- 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
- H01Q1/10—Telescopic elements
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
Abstract
A kind of folding and unfolding mechanism of double-slider spring assembly constraint telescopic rod, including octagon bearing, Three-degree of freedom hinge and telescopic unit, the octagon bearing is fixedly connected with Three-degree of freedom hinge, the telescopic unit includes bevel edge bar, the first gasket, two sliding block spring combination constraint telescopic rods and the second gasket, the octagon bearing is connected by Three-degree of freedom hinge with telescopic unit, is connected between the bevel edge bar, sliding block spring constraint telescopic rod and gasket by revolute pair.The present invention by folding, it can be achieved that the space folding of mechanism, folding ratio is big, also has the characteristics that lightweight, high accuracy, high rigidity, high intensity, can be applied to space probation, earth observation and moving communicating field, has very strong adaptability and practicality twice.
Description
Technical field
The present invention relates to a kind of folding and unfolding mechanism, particularly a kind of folding and unfolding mechanism of double-slider spring assembly constraint telescopic rod.
Background technology
With the development of aerospace industry, to meet the needs of different space missions, more and more space folding and unfolding mechanisms should
For space missions such as space station, mobile communication, earth observation and celestial body detectings.However, due to the limitation of carrier rocket volume,
It is required that folding and unfolding mechanism in emission process is delivered, it is necessary to have lightweight, it is big fold the performances such as ratio and high stability, folding and unfolding mechanism into
After entering space orbit, predetermined structure type can be launched into.
Chinese patent 201410055607.X discloses a kind of annular truss formula large space folding and unfolding mechanism, which passes through
Rope or spring driving, mechanical stability are relatively low；Chinese patent 201210310520.3 discloses one kind and is based on square shaped cells
Planar array folding and unfolding mechanism, the patent can be only folded smaller flat-folded；Chinese patent 201210072572.1 discloses
A kind of scissors base quadrilateral units planar array folding and unfolding mechanism, the mechanism space folding process is complicated, when folding and unfolding mechanism enters sky
Between track when, the mechanism deploying is more difficult into predetermined structure type.Folded now there is an urgent need to a kind of big than, high rigidity, high
Stability, high reliability, elliptical gear are small, the simple space folding and unfolding mechanism of space folding process.
At present, there is not yet a kind of have lightweight, big folding ratio, high accuracy, high rigidity, high intensity, high stable concurrently at the same time
Property, the characteristics of elliptical gear is small, and the simple space folding and unfolding mechanism invention design of space folding process.
The content of the invention
The object of the present invention is to provide a kind of folding and unfolding mechanism of double-slider spring assembly constraint telescopic rod, it has light weight
Change, big the characteristics of folding ratio, high accuracy, high rigidity, high intensity, high stability, small elliptical gear, and space folding process is simple
It is single.
The technical scheme is that：A kind of folding and unfolding mechanism of double-slider spring assembly constraint telescopic rod, including octagon
Bearing, Three-degree of freedom hinge and telescopic unit, concrete structure and connection mode are as follows：
The octagon bearing is fixedly connected with Three-degree of freedom hinge；The Three-degree of freedom hinge includes first axle, the
Two hinge and third hinge, first axle one end are connected by revolute pair with telescopic unit, and the other end passes through revolute pair and the
Two hinge connects, and second hinge one end is connected by revolute pair with first axle, and the other end is connected by revolute pair and third hinge
Connect, third hinge one end is connected by revolute pair with second hinge, and the other end is connected with octagon bearing；The telescopic unit
Including bevel edge bar, the first gasket, the first sliding block spring combination constraint telescopic rod, the second gasket and the combination constraint of the second sliding block spring
Telescopic rod, described bevel edge bar one end are connected by revolute pair with first axle, and the other end passes through revolute pair and the first gasket and the
The combination constraint telescopic rod connection of one sliding block spring, the first gasket combine constraint by revolute pair with bevel edge bar and the first sliding block spring
Telescopic rod, described first sliding block spring combination constraint telescopic rod one end are connected by revolute pair with the first gasket and bevel edge bar, separately
One end combined by revolute pair with the second gasket and the second sliding block spring constraint telescopic rod connection, the second gasket by revolute pair with
First sliding block spring combination constraint telescopic rod and the second sliding block spring combination constraint telescopic rod, the second sliding block spring combination is about
Beam telescopic rod one end combines constraint telescopic rod connection by revolute pair with the second gasket and the first sliding block spring, and the other end is by turning
Dynamic pair is connected with the first axle of another Three-degree of freedom hinge.
The octagon bearing is only one of which shape, its bearing can also be that quadrangle bearing, hexagonal seat etc. are more
Side shape bearing.
The octagon bearing has eight sides, and each side corresponds to two Three-degree of freedom hinge.
The first sliding block spring combination constraint telescopic rod and the second sliding block spring combination constraint telescopic rod has identical
Mechanism, its rod length is extending and compresses.
The first sliding block spring combination constraint telescopic rod, which includes first sliding block spring combination constraint telescopic rod, to be included
First telescopic rod, the first spring and the first telescoping cylinder, the first telescopic rod are nested in the first telescoping cylinder, and the first spring is arranged on
The inside of one telescoping cylinder, between the first telescopic rod and the first telescoping cylinder.
During folding and unfolding mechanism its fully unfolded position, the bevel edge bar, the first sliding block spring combination constraint telescopic rod and second are slided
The intersection point of straight line, forms an isosceles right triangle where block spring assembly constraint telescopic rod.
When half unfolded state of folding and unfolding mechanism and completely folded state, the length of the bevel edge bar is equal to the first sliding block spring group
The sum of contract beam telescopic rod and the second sliding block spring combination constraint length of telescopic bar.
The present invention's has the prominent advantages that：
1st, folding and unfolding mechanism by folding, it can be achieved that the space folding of mechanism, folds than big twice.
2nd, during folding and unfolding mechanism its fully unfolded position, bevel edge bar, the first sliding block spring combination constraint telescopic rod and the second sliding block
Spring assembly constraint telescopic rod forms isosceles right triangle, and mechanism is in stable state；Half unfolded state of folding and unfolding mechanism and complete
During full folded state, three bars form isosceles triangle, and mechanism is in stable state, and mechanism stable performance is good, and reliability is high.
3rd, folding and unfolding mechanism rod piece is sliding block spring combination constraint telescopic rod, when in folding and unfolding mechanism motion process, occur vibration,
During the problems such as collision, the spring in sliding block spring combination constraint telescopic rod can play the role of vibration damping, and mechanism kinematic impact is small.
Brief description of the drawings
Fig. 1 is bowing for its fully unfolded position for the folding and unfolding mechanism that double-slider spring assembly of the present invention constrains telescopic rod
View.
Fig. 2 is the knot of its fully unfolded position for the folding and unfolding mechanism that double-slider spring assembly of the present invention constrains telescopic rod
Structure schematic diagram.
Fig. 3 is the structure of half unfolded state of the folding and unfolding mechanism that double-slider spring assembly of the present invention constrains telescopic rod
Schematic diagram.
Fig. 4 is the vertical view of half unfolded state of the folding and unfolding mechanism that double-slider spring assembly of the present invention constrains telescopic rod
Figure.
Fig. 5 is the knot of the completely folded state for the folding and unfolding mechanism that double-slider spring assembly of the present invention constrains telescopic rod
Structure schematic diagram.
Fig. 6 constrains the octagon bearing and three of the folding and unfolding mechanism of telescopic rod for double-slider spring assembly of the present invention certainly
By spending hinged structure diagram.
Fig. 7 is the first sliding block spring combination for the folding and unfolding mechanism that double-slider spring assembly of the present invention constrains telescopic rod
Structure diagram when constraining telescopic rod extended configuration.
Fig. 8 is the first sliding block spring combination for the folding and unfolding mechanism that double-slider spring assembly of the present invention constrains telescopic rod
Sectional view when constraining telescopic rod compressive state.
Fig. 9 is that the structure of the first gasket of the folding and unfolding mechanism that double-slider spring assembly of the present invention constrains telescopic rod is shown
It is intended to.
Figure 10 is the structure of the second gasket of the folding and unfolding mechanism that double-slider spring assembly of the present invention constrains telescopic rod
Schematic diagram.
Figure 11 is the second sliding block spring group of the folding and unfolding mechanism that double-slider spring assembly of the present invention constrains telescopic rod
The structure diagram of contract beam telescopic rod compressive state.
Figure 12 is the second sliding block spring group of the folding and unfolding mechanism that double-slider spring assembly of the present invention constrains telescopic rod
The sectional view of contract beam telescopic rod extended configuration.
Figure 13 is the second sliding block spring group of the folding and unfolding mechanism that double-slider spring assembly of the present invention constrains telescopic rod
The sectional view of contract beam telescopic rod compressive state.
In figure mark for：1. octagon bearing；2. Three-degree of freedom hinge；21. first axle；22. second hinge；23. the
Three hinges；3. bevel edge bar；4. the first gasket；5. the first sliding block spring combination constraint telescopic rod；51. the first telescopic rod；52. first
Spring；53. the first telescoping cylinder；6. the second gasket；7. the second sliding block spring combination constraint telescopic rod；71. the second telescopic rod；72.
Second spring；73. the second telescoping cylinder.
Embodiment
Illustrated embodiment is further described technical scheme below in conjunction with the accompanying drawings.
As shown in figure 1 to figure 13, the folding and unfolding mechanism of double-slider spring assembly constraint telescopic rod of the present invention, including eight
Side shape bearing 1, Three-degree of freedom hinge 2 and telescopic unit, concrete structure and connection mode are as follows,
The octagon bearing 1 is fixedly connected with Three-degree of freedom hinge 2；The Three-degree of freedom hinge 2 includes first axle
21st, second hinge 22 and third hinge 23,21 one end of first axle are connected by revolute pair with telescopic unit, and the other end passes through
Revolute pair is connected with second hinge 22, and 22 one end of second hinge is connected by revolute pair with first axle 21, and the other end is by turning
Dynamic pair is connected with third hinge 23, and 23 one end of third hinge is connected by revolute pair with second hinge 22, the other end and octagon
Bearing 1 is connected；The telescopic unit includes bevel edge bar 3, the first gasket 4, the first sliding block spring combination constraint telescopic rod 5, the
Two gaskets 6 and the second sliding block spring combination constraint telescopic rod 7, described 3 one end of bevel edge bar is connected by revolute pair and first axle 21
Connect, the other end is combined constraint telescopic rod 5 with the first gasket 4 and the first sliding block spring by revolute pair and connected, and the first gasket 4 passes through
Revolute pair combines constraint telescopic rod 5, the first sliding block spring combination constraint telescopic rod 5 with 3 and first sliding block spring of bevel edge bar
One end is connected by revolute pair with the first gasket 4 and bevel edge bar 3, and the other end passes through revolute pair and the second gasket 6 and the second sliding block
Spring assembly constraint telescopic rod 7 connects, and the second gasket 6 is combined by revolute pair with the first sliding block spring constrains telescopic rod 5 and the
Two sliding block springs combination constraint telescopic rod 7,7 one end of the second sliding block spring combination constraint telescopic rod pass through revolute pair and second
6 and first sliding block spring of gasket combination constraint telescopic rod 5 connects, and the other end passes through revolute pair and another Three-degree of freedom hinge 2
First axle 21 connect.
The octagon bearing 1 is only one of which shape, and bearing can also be quadrangle bearing, hexagonal seat or polygon
Shape bearing.
The octagon bearing 1 has eight sides, and each side corresponds to two Three-degree of freedom hinge 2.
The first sliding block spring combination constraint telescopic rod, 5 and second sliding block spring combination constraint telescopic rod 7 has identical
Mechanism, its rod length is extending and compresses.
It is flexible that the first sliding block spring combination constraint telescopic rod 5 includes the first telescopic rod 51, the first spring 52 and first
Cylinder 53, the first telescopic rod 51 are nested in inside the first telescoping cylinder 53, and the first spring 52 is arranged at the inside of the first telescoping cylinder 53, position
Between the first telescopic rod 51 and the first telescoping cylinder 53.
During folding and unfolding mechanism its fully unfolded position, the bevel edge bar 3, the first sliding block spring combination constraint telescopic rod 5 and second
The intersection point of sliding block spring combination constraint 7 place straight line of telescopic rod, forms an isosceles right triangle.
When half unfolded state of folding and unfolding mechanism and completely folded state, the length of the bevel edge bar 3 is equal to the first sliding block spring
The sum of combination constraint telescopic rod 5 and second sliding block spring combination constraint 7 length of telescopic rod.
Operation principle and process：
As shown in Figure 1 and Figure 4：Folding and unfolding mechanism is by its fully unfolded position to half unfolded state, Three Degree Of Freedom hinge fixed first
Second hinge 22 and third hinge 23 in chain 2, only rotate first axle 21, then at the same time to two sliding block spring combination constraints
Telescopic rod applies pressure, telescopic rod is moved in telescoping cylinder, until the first sliding block spring combination constraint telescopic rod 5 and second is slided
The sum of length of block spring assembly constraint telescopic rod 7 is equal to the length of bevel edge bar 3.3 place straight line of bevel edge bar and three freedom at this time
It is 22.5 ° to spend the plane included angle in hinge 2 where three revolute pair axis；Two sliding block spring combination constraint telescopic rod institutes at this time
Plane included angle in straight line and Three-degree of freedom hinge 2 where three revolute pair axis is 22.5 °.
As shown in Figure 4 and Figure 5：Folding and unfolding mechanism is by half unfolded state to completely folded state, first by bevel edge bar 3 and second
Sliding block spring combination constraint telescopic rod 7 be connected with Three-degree of freedom hinge 2 in first axle 21 and second hinge 22 fix, only make
Third hinge 23 rotates, then 3 and second sliding block spring of bevel edge bar combination constraint telescopic rod 7 is turned to the inside 22.5 ° at the same time, this
When bevel edge bar 3, the first sliding block spring constraint combination telescopic rod 5 and second sliding block spring constraint combination telescopic rod 7 is positioned at same flat
In face, first axle 21 and third hinge 23 in Three-degree of freedom hinge 2 are then fixed, second hinge 22 is rotated 90 °, i.e.,
It can be achieved to fold completely.
As shown in Fig. 7, Fig. 8, Figure 11, Figure 12 and Figure 13：Spring one end is connected with telescopic rod, and the other end connects with telescoping cylinder
Connect, by making telescopic rod be moved in telescoping cylinder telescopic rod applying power.
Claims (7)
1. a kind of folding and unfolding mechanism of double-slider spring assembly constraint telescopic rod, including octagon bearing, Three-degree of freedom hinge and can
Folding exhibition unit, it is characterised in that concrete structure and connection mode are as follows：
The octagon bearing is fixedly connected with Three-degree of freedom hinge；The Three-degree of freedom hinge includes first axle, the second hinge
Chain and third hinge, first axle one end are connected by revolute pair with telescopic unit, and the other end passes through revolute pair and the second hinge
Chain link, second hinge one end are connected by revolute pair with first axle, and the other end is connected by revolute pair with third hinge, the
Three hinge one end are connected by revolute pair with second hinge, and the other end is connected with octagon bearing；The telescopic unit includes
Bevel edge bar, the first gasket, the first sliding block spring combination constraint telescopic rod, the second gasket and the combination constraint of the second sliding block spring are flexible
Bar, described bevel edge bar one end are connected by revolute pair with first axle, and the other end is slided by revolute pair and the first gasket and first
The constraint telescopic rod connection of block spring assembly, it is flexible that the first gasket combines constraint by revolute pair with bevel edge bar and the first sliding block spring
Bar, described first sliding block spring combination constraint telescopic rod one end are connected by revolute pair with the first gasket and bevel edge bar, the other end
Constraint telescopic rod connection is combined with the second gasket and the second sliding block spring by revolute pair, the second gasket passes through revolute pair and first
Sliding block spring combination constraint telescopic rod and the second sliding block spring combination constraint telescopic rod, the second sliding block spring combination constraint are stretched
Contracting bar one end combines constraint telescopic rod connection by revolute pair with the second gasket and the first sliding block spring, and the other end passes through revolute pair
It is connected with the first axle of another Three-degree of freedom hinge.
2. the folding and unfolding mechanism of double-slider spring assembly constraint telescopic rod according to claim 1, it is characterised in that described eight
Side shape bearing is only one of which shape, and bearing can also be quadrangle bearing, hexagonal seat or polygon bearing.
3. the folding and unfolding mechanism of double-slider spring assembly constraint telescopic rod according to claim 1, it is characterised in that described eight
Side shape bearing has eight sides, and each side corresponds to two Three-degree of freedom hinge.
4. the folding and unfolding mechanism of double-slider spring assembly constraint telescopic rod according to claim 1, it is characterised in that described
First sliding block spring combination constraint telescopic rod and the second sliding block spring combination constraint telescopic rod have same mechanism, its rod length
Extending and compression.
5. the folding and unfolding mechanism of double-slider spring assembly according to claim 1 constraint telescopic rod, it is characterised in that described the
One sliding block spring combination constraint telescopic rod includes the first telescopic rod, the first spring and the first telescoping cylinder, and the first telescopic rod is nested in
In first telescoping cylinder, the first spring is arranged on the inside of the first telescoping cylinder, between the first telescopic rod and the first telescoping cylinder.
6. the folding and unfolding mechanism of a pair of sliding block spring combination constraint telescopic rod according to claim 1, it is characterised in that folding exhibition
During mechanism its fully unfolded position, the bevel edge bar, the first sliding block spring combination constraint telescopic rod and the combination of the second sliding block spring are about
The intersection point of straight line forms an isosceles right triangle where beam telescopic rod.
7. the folding and unfolding mechanism of a pair of sliding block spring combination constraint telescopic rod according to claim 1, it is characterised in that folding exhibition
When half unfolded state of mechanism and completely folded state, the length of the bevel edge bar is equal to the first sliding block spring combination constraint telescopic rod
The sum of constraint length of telescopic bar is combined with the second sliding block spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711089187.7A CN107946725B (en) | 2017-11-07 | 2017-11-07 | Folding and unfolding mechanism of double-slider spring combination constraint telescopic rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711089187.7A CN107946725B (en) | 2017-11-07 | 2017-11-07 | Folding and unfolding mechanism of double-slider spring combination constraint telescopic rod |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107946725A true CN107946725A (en) | 2018-04-20 |
| CN107946725B CN107946725B (en) | 2020-01-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711089187.7A Active CN107946725B (en) | 2017-11-07 | 2017-11-07 | Folding and unfolding mechanism of double-slider spring combination constraint telescopic rod |
Country Status (1)
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| CN (1) | CN107946725B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111425699A (en) * | 2020-03-24 | 2020-07-17 | 上海工程技术大学 | Foldable pipeline creeping mechanism |
| CN111924136A (en) * | 2020-06-28 | 2020-11-13 | 天津大学 | Single-degree-of-freedom paraboloid foldable array |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111425699A (en) * | 2020-03-24 | 2020-07-17 | 上海工程技术大学 | Foldable pipeline creeping mechanism |
| CN111425699B (en) * | 2020-03-24 | 2021-12-03 | 上海工程技术大学 | Foldable pipeline creeping mechanism |
| CN111924136A (en) * | 2020-06-28 | 2020-11-13 | 天津大学 | Single-degree-of-freedom paraboloid foldable array |
| CN111924136B (en) * | 2020-06-28 | 2023-03-14 | 天津大学 | Single-degree-of-freedom paraboloid foldable array |
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| CN107946725B (en) | 2020-01-10 |
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