CN107946725B - Folding and unfolding mechanism of double-slider spring combination constraint telescopic rod - Google Patents
Folding and unfolding mechanism of double-slider spring combination constraint telescopic rod Download PDFInfo
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- CN107946725B CN107946725B CN201711089187.7A CN201711089187A CN107946725B CN 107946725 B CN107946725 B CN 107946725B CN 201711089187 A CN201711089187 A CN 201711089187A CN 107946725 B CN107946725 B CN 107946725B
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- telescopic rod
- spring combination
- slider spring
- hinge
- combination constraint
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
- H01Q1/10—Telescopic elements
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
Abstract
The utility model provides a two slider spring combination restraint telescopic link roll over exhibition mechanism, includes octagon support, three degree of freedom hinges and can roll over the exhibition unit, octagon support and three degree of freedom hinge fixed connection, can roll over the exhibition unit and include bevel pole, first gasket, two slider spring combination restraint telescopic links and second gasket, the octagon support passes through three degree of freedom hinges and can roll over the exhibition unit connection, all connect through the revolute pair between bevel pole, slider spring restraint telescopic link and the gasket. The folding mechanism can be folded in space through twice folding, has the characteristics of large folding ratio, light weight, high precision, high rigidity and high strength, can be applied to the fields of space exploration, earth observation and mobile communication, and has strong adaptability and practicability.
Description
Technical Field
The invention relates to a folding and unfolding mechanism, in particular to a folding and unfolding mechanism of a double-slider spring combination constraint telescopic rod.
Background
With the development of the aerospace industry, in order to meet the requirements of different aerospace missions, more and more space folding and unfolding mechanisms are applied to the aerospace missions such as space stations, mobile communication, earth observation, celestial body detection and the like. However, due to the limitation of the volume of the launch vehicle, the folding and unfolding mechanism is required to have the performances of light weight, large folding ratio, high stability and the like during the launching process, and can be unfolded into a preset structural form after entering the spatial orbit.
Chinese patent 201410055607.X discloses an annular truss type large space folding and unfolding mechanism, which is driven by a rope or a spring, and has lower stability; chinese patent 201210310520.3 discloses a folding and unfolding mechanism based on a square unit planar array, which can be folded only on a plane, and the folding is small; chinese patent 201210072572.1 discloses a scissor-based quadrilateral element planar array folding and unfolding mechanism, which is complicated in space folding process and difficult to unfold into a predetermined structural form when the folding and unfolding mechanism enters a space track. At present, a space folding and unfolding mechanism with a large folding ratio, high rigidity, high stability, high reliability, small motion impact and simple space folding process is urgently needed.
At present, the invention design of the space folding and unfolding mechanism which has the characteristics of light weight, large folding ratio, high precision, high rigidity, high strength, high stability and small motion impact and has a simple space folding process is not available.
Disclosure of Invention
The invention aims to provide a folding and unfolding mechanism of a double-slider spring combination constraint telescopic rod, which has the characteristics of light weight, large folding ratio, high precision, high rigidity, high strength, high stability and small motion impact, and the space folding process is simple.
The technical scheme of the invention is as follows: the utility model provides a two slider spring combination restraint telescopic link roll over exhibition mechanism, includes octagon support, three degree of freedom hinges and can roll over the unit of exhibition, and concrete structure and connected mode are as follows:
the octagonal support is fixedly connected with the three-degree-of-freedom hinge; the three-degree-of-freedom hinge comprises a first hinge, a second hinge and a third hinge, one end of the first hinge is connected with the foldable unit through a revolute pair, the other end of the first hinge is connected with the second hinge through a revolute pair, one end of the second hinge is connected with the first hinge through a revolute pair, the other end of the second hinge is connected with the third hinge through a revolute pair, one end of the third hinge is connected with the second hinge through a revolute pair, and the other end of the third hinge is fixedly connected with the octagonal support; the foldable unit comprises an inclined edge rod, a first gasket, a first slider spring combination constraint telescopic rod, a second gasket and a second slider spring combination constraint telescopic rod, wherein one end of the inclined edge rod is connected with a first hinge through a rotating pair, the other end of the inclined edge rod is connected with the first gasket and the first slider spring combination constraint telescopic rod through the rotating pair, the first gasket is combined with the inclined edge rod and the first slider spring to constrain the telescopic rod through the rotating pair, one end of the first slider spring combination constraint telescopic rod is connected with the first gasket and the inclined edge rod through the rotating pair, the other end of the first slider spring combination constraint telescopic rod is connected with the second gasket and the second slider spring combination constraint telescopic rod through the rotating pair, the second gasket is combined with the first slider spring to constrain the telescopic rod through the rotating pair, one end of the second slider spring combination constraint telescopic rod is connected with the second gasket and the first slider spring combination constraint telescopic rod through the rotating pair, the other end is connected with a first hinge of another three-degree-of-freedom hinge through a revolute pair.
The octagonal support is only one shape, and the support can also be a polygonal support such as a quadrilateral support and a hexagonal support.
The octagonal support is provided with eight edges, and each edge corresponds to two three-degree-of-freedom hinges.
The first sliding block spring combination constraint telescopic rod and the second sliding block spring combination constraint telescopic rod are provided with the same mechanism, and the rod piece can extend and compress in length.
The first slider spring combination constraint telescopic rod comprises a first telescopic rod, a first spring and a first telescopic cylinder, the first telescopic rod is nested in the first telescopic cylinder, and the first spring is arranged inside the first telescopic cylinder and is located between the first telescopic rod and the first telescopic cylinder.
When the folding and unfolding mechanism is in a completely unfolded state, the oblique side rod, the first sliding block spring combination constraint telescopic rod and the second sliding block spring combination constraint telescopic rod form an intersection point of straight lines, and an isosceles right triangle is formed.
When the folding and unfolding mechanism is in a half-unfolding state and a complete-folding state, the length of the bevel edge rod is equal to the sum of the length of the first sliding block spring combination constraint telescopic rod and the length of the second sliding block spring combination constraint telescopic rod.
The invention has the outstanding advantages that:
1. the folding mechanism can realize the space folding of the mechanism through twice folding, and the folding ratio is large.
2. When the folding and unfolding mechanism is in a fully unfolded state, the bevel edge rod, the first sliding block spring combination constraint telescopic rod and the second sliding block spring combination constraint telescopic rod form an isosceles right triangle, and the mechanism is in a stable state; when the folding and unfolding mechanism is in a half-unfolding state and a complete-folding state, the three rods form an isosceles triangle, the mechanism is in a stable state, and the mechanism is good in stability and high in reliability.
3. The folding and unfolding mechanism rod piece is a slider spring combination constraint telescopic rod, when the folding and unfolding mechanism moves and has the problems of vibration, collision and the like, the spring in the slider spring combination constraint telescopic rod can play a role in vibration reduction, and the mechanism has small motion impact.
Drawings
Fig. 1 is a top view of the fully unfolded state of the folding and unfolding mechanism of the double-slider spring combination restraint telescopic rod according to the invention.
Fig. 2 is a structural schematic diagram of a fully unfolded state of the folding and unfolding mechanism of the double-slider spring combination restraint telescopic rod.
Fig. 3 is a structural schematic diagram of a half-unfolded state of the folding and unfolding mechanism of the double-slider spring combination constraint telescopic rod.
Fig. 4 is a top view of the semi-unfolded state of the folding and unfolding mechanism of the double-slider spring combination constraint telescopic rod.
Fig. 5 is a structural schematic diagram of a fully folded state of the folding and unfolding mechanism of the double-slider spring combination restraint telescopic rod of the invention.
Fig. 6 is a schematic structural view of the connection between the octagonal support and the three-degree-of-freedom hinge of the folding and unfolding mechanism of the double-slider spring combination constraint telescopic rod according to the present invention.
Fig. 7 is a structural schematic diagram of the folding and unfolding mechanism of the double-slider spring combination restraint telescopic rod according to the invention, wherein the first slider spring combination restraint telescopic rod is in an extension state.
Fig. 8 is a cross-sectional view of the first sliding block spring combination of the folding and unfolding mechanism for the double-sliding block spring combination restraint telescopic rod according to the invention when the telescopic rod is in a compressed state.
Fig. 9 is a schematic structural view of a first gasket of the folding and unfolding mechanism of the double-slider spring combination restraint telescopic rod according to the present invention.
Fig. 10 is a schematic structural view of a second gasket of the folding and unfolding mechanism of the double-slider spring combination restraint telescopic rod according to the present invention.
Fig. 11 is a schematic structural view of the folding and unfolding mechanism of the double-slider spring combination restraint telescopic rod according to the invention, wherein the second slider spring combination restrains the telescopic rod in a compressed state.
Fig. 12 is a sectional view of the folding and unfolding mechanism of the double-slider spring combination restraint telescopic rod according to the invention, wherein the second slider spring combination restrains the telescopic rod in an extending state.
Fig. 13 is a sectional view of the folding and unfolding mechanism of the double-slider spring combination restraint telescopic rod according to the invention, wherein the second slider spring combination restraint telescopic rod is in a compressed state.
Labeled as: 1. an octagonal support; 2. a three-degree-of-freedom hinge; 21. a first hinge; 22. a second hinge; 23. a third hinge; 3. a sloping pole; 4. a first gasket; 5. the first sliding block spring combination restrains the telescopic rod; 51. a first telescopic rod; 52. a first spring; 53. a first telescoping cylinder; 6. a second gasket; 7. the second sliding block spring combination restrains the telescopic rod; 71. a second telescopic rod; 72. a second spring; 73. and a second telescoping cylinder.
Detailed Description
The technical solution of the present invention will be further described with reference to the embodiments shown in the drawings.
As shown in fig. 1 to 13, the folding and unfolding mechanism of the double-slider spring combination constraint telescopic rod of the invention comprises an octagonal support 1, a three-degree-of-freedom hinge 2 and a foldable and unfoldable unit, and has the following specific structure and connection mode,
the octagonal support 1 is fixedly connected with the three-degree-of-freedom hinge 2; the three-degree-of-freedom hinge 2 comprises a first hinge 21, a second hinge 22 and a third hinge 23, one end of the first hinge 21 is connected with the foldable unit through a revolute pair, the other end of the first hinge is connected with the second hinge 22 through a revolute pair, one end of the second hinge 22 is connected with the first hinge 21 through a revolute pair, the other end of the second hinge 22 is connected with the third hinge 23 through a revolute pair, one end of the third hinge 23 is connected with the second hinge 22 through a revolute pair, and the other end of the third hinge is fixedly connected with the octagonal support 1; the foldable unit comprises a bevel edge rod 3, a first gasket 4, a first slider spring combination constraint telescopic rod 5, a second gasket 6 and a second slider spring combination constraint telescopic rod 7, one end of the bevel edge rod 3 is connected with a first hinge 21 through a revolute pair, the other end of the bevel edge rod is connected with the first gasket 4 and the first slider spring combination constraint telescopic rod 5 through a revolute pair, the first gasket 4 is connected with the bevel edge rod 3 and the first slider spring combination constraint telescopic rod 5 through a revolute pair, one end of the first slider spring combination constraint telescopic rod 5 is connected with the first gasket 4 and the bevel edge rod 3 through a revolute pair, the other end of the first slider spring combination constraint telescopic rod is connected with the second gasket 6 and the second slider spring combination constraint telescopic rod 7 through a revolute pair, the second gasket 6 is combined with the first slider spring combination constraint telescopic rod 5 and the second slider spring combination constraint telescopic rod 7 through a revolute pair, and one end of the second slider spring combination constraint telescopic rod 7 is combined with the second gasket 6 and the The constraint telescopic rod 5 is connected, and the other end of the constraint telescopic rod is connected with a first hinge 21 of the other three-degree-of-freedom hinge 2 through a revolute pair.
The octagonal support 1 is only one of the shapes, and the support can also be a quadrilateral support, a hexagonal support or a polygonal support.
The octagonal support 1 has eight sides, and each side corresponds to two three-degree-of-freedom hinges 2.
The first slider spring combination constraint telescopic rod 5 and the second slider spring combination constraint telescopic rod 7 have the same mechanism, and the rod pieces can extend and compress in length.
The first slider-spring combination constraint telescopic rod 5 comprises a first telescopic rod 51, a first spring 52 and a first telescopic cylinder 53, wherein the first telescopic rod 51 is nested inside the first telescopic cylinder 53, and the first spring 52 is arranged inside the first telescopic cylinder 53 and is positioned between the first telescopic rod 51 and the first telescopic cylinder 53.
When the folding and unfolding mechanism is in a completely unfolded state, the oblique side rod 3, the first sliding block spring combination constraint telescopic rod 5 and the second sliding block spring combination constraint telescopic rod 7 form an intersection point of straight lines to form an isosceles right triangle.
When the folding and unfolding mechanism is in a half-folded state and a complete-folded state, the length of the bevel rod 3 is equal to the sum of the lengths of the first sliding block spring combination constraint telescopic rod 5 and the second sliding block spring combination constraint telescopic rod 7.
The working principle and the process are as follows:
as shown in fig. 1 and 4: the folding and unfolding mechanism is changed from a fully unfolded state to a half unfolded state, firstly, a second hinge 22 and a third hinge 23 in the three-degree-of-freedom hinge 2 are fixed, only the first hinge 21 rotates, and then, pressure is applied to the two sliding block spring combination constraint telescopic rods simultaneously, so that the telescopic rods move in the telescopic cylinders until the sum of the lengths of the first sliding block spring combination constraint telescopic rod 5 and the second sliding block spring combination constraint telescopic rod 7 is equal to the length of the bevel edge rod 3. At the moment, the included angle between the straight line of the oblique side rod 3 and the plane of the axes of the three rotating pairs in the three-degree-of-freedom hinge 2 is 22.5 degrees; at the moment, the included angle between the straight line where the two slide block springs are combined and restrained by the telescopic rod and the plane where the axes of the three rotating pairs in the three-degree-of-freedom hinge 2 are located is 22.5 degrees.
As shown in fig. 4 and 5: the folding and unfolding mechanism is changed from a half-unfolding state to a complete folding state, firstly, the bevel rod 3 and the second slider spring combination constraint telescopic rod 7 are fixed with the first hinge 21 and the second hinge 22 in the connection of the three-degree-of-freedom hinge 2, only the third hinge 23 is rotated, then the bevel rod 3 and the second slider spring combination constraint telescopic rod 7 are simultaneously rotated 22.5 degrees inwards, at the moment, the bevel rod 3, the first slider spring constraint combined telescopic rod 5 and the second slider spring constraint combined telescopic rod 7 are positioned in the same plane, then the first hinge 21 and the third hinge 23 in the three-degree-of-freedom hinge 2 are fixed, only the second hinge 22 is rotated 90 degrees, and complete folding can be realized.
As shown in fig. 7, 8, 11, 12 and 13: one end of the spring is connected with the telescopic rod, the other end of the spring is connected with the telescopic cylinder, and the telescopic rod moves in the telescopic cylinder by applying force to the telescopic rod.
Claims (8)
1. The utility model provides a two slider spring combination restraint telescopic link roll over exhibition mechanism, includes support, three degree of freedom hinges and can roll over the unit of exhibition, its characterized in that, concrete structure and connected mode as follows:
the support is fixedly connected with the three-degree-of-freedom hinge; the three-degree-of-freedom hinge comprises a first hinge, a second hinge and a third hinge, one end of the first hinge is connected with the foldable unit through a revolute pair, the other end of the first hinge is connected with the second hinge through a revolute pair, one end of the second hinge is connected with the first hinge through a revolute pair, the other end of the second hinge is connected with the third hinge through a revolute pair, one end of the third hinge is connected with the second hinge through a revolute pair, and the other end of the third hinge is fixedly connected with the octagonal support; the foldable unit comprises an inclined edge rod, a first gasket, a first slider spring combination constraint telescopic rod, a second gasket and a second slider spring combination constraint telescopic rod, wherein one end of the inclined edge rod is connected with a first hinge through a revolute pair, the other end of the inclined edge rod is connected with the first gasket and the first slider spring combination constraint telescopic rod through a revolute pair, the first gasket is connected with the inclined edge rod and the first slider spring combination constraint telescopic rod through a revolute pair, one end of the first slider spring combination constraint telescopic rod is connected with the first gasket and the inclined edge rod through a revolute pair, the other end of the first slider spring combination constraint telescopic rod is connected with the second gasket and the second slider spring combination constraint telescopic rod through a revolute pair, the second gasket is connected with the first slider spring combination constraint telescopic rod and the second slider spring combination constraint telescopic rod through a revolute pair, and one end of the second slider spring combination constraint telescopic rod is connected with the second gasket and the first slider spring combination constraint telescopic, the other end is connected with a first hinge of another three-degree-of-freedom hinge through a revolute pair.
2. The folding and unfolding mechanism for the double-slider spring combination constraint telescopic rod as claimed in claim 1, wherein the support is a polygonal support.
3. The folding and unfolding mechanism of the double-slider spring combination constraint telescopic rod as claimed in claim 1, wherein the support is a quadrilateral support, a hexagonal support or an octagonal support.
4. The folding and unfolding mechanism of the double-slider spring combination constraint telescopic rod as claimed in claim 1, wherein the octagonal support has eight sides, and each side corresponds to two three-degree-of-freedom hinges.
5. The folding and unfolding mechanism of the double-slider spring combination constraint telescopic rod as claimed in claim 1, wherein the first slider spring combination constraint telescopic rod and the second slider spring combination constraint telescopic rod have the same mechanism, and the rod members thereof can be extended and compressed in length.
6. The folding and unfolding mechanism of the double-slider spring combination constraint telescopic rod according to claim 1, wherein the first slider spring combination constraint telescopic rod comprises a first telescopic rod, a first spring and a first telescopic cylinder, the first telescopic rod is nested in the first telescopic cylinder, and the first spring is arranged inside the first telescopic cylinder and between the first telescopic rod and the first telescopic cylinder.
7. The folding and unfolding mechanism of the double-slider spring combination constraint telescopic rod as claimed in claim 1, wherein when the folding and unfolding mechanism is in a fully unfolded state, an intersection point of straight lines where the bevel-edge rod, the first slider spring combination constraint telescopic rod and the second slider spring combination constraint telescopic rod are located forms an isosceles right triangle.
8. The folding and unfolding mechanism of the double-slider spring combination constraint telescopic rod as claimed in claim 1, wherein the length of the bevel rod is equal to the sum of the lengths of the first slider spring combination constraint telescopic rod and the second slider spring combination constraint telescopic rod when the folding and unfolding mechanism is in a half-unfolded state and a full-folded state.
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CN111425699B (en) * | 2020-03-24 | 2021-12-03 | 上海工程技术大学 | Foldable pipeline creeping mechanism |
CN111924136B (en) * | 2020-06-28 | 2023-03-14 | 天津大学 | Single-degree-of-freedom paraboloid foldable array |
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