CN107972888A - The centrosymmetric secondary folding and unfolding mechanism in space - Google Patents
The centrosymmetric secondary folding and unfolding mechanism in space Download PDFInfo
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- CN107972888A CN107972888A CN201711158393.9A CN201711158393A CN107972888A CN 107972888 A CN107972888 A CN 107972888A CN 201711158393 A CN201711158393 A CN 201711158393A CN 107972888 A CN107972888 A CN 107972888A
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- centrosymmetric
- linkage
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- folding
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- 230000007246 mechanism Effects 0.000 title claims abstract description 109
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000037237 body shape Effects 0.000 description 1
Classifications
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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
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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
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- Aviation & Aerospace Engineering (AREA)
- Aerials With Secondary Devices (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention belongs to theory of mechanisms field, and in particular to a kind of centrosymmetric secondary folding and unfolding mechanism in space, is made of the same unit mechanism no less than three groups.Every group of unit mechanisms all include base, two pieces of expansion plates and two identical connecting rods.Unit mechanisms are all installed on same base, and a connecting rod is shared per two adjacent unit mechanisms.Two pieces of expansion plates in unit mechanisms are all each connected with a connecting rod, are connected between expansion plate and connecting rod by cylindrical pair.Connecting rod in unit mechanisms is uniformly installed on base, and connecting rod is connected with base by revolute pair.Expansion plate can be replaced with planar linkage mechanism, and linkage is connected by revolute pair.The folding efficiency of the present invention is high, and driving is simple, can be applied to space industry, such as：As rigidity or flexible solar panel development mechanism, solar sail development mechanism and antenna deployment mechanism etc..
Description
Technical field
The invention belongs to theory of mechanisms field, and in particular to a kind of centrosymmetric secondary folding and unfolding mechanism in space.
Background technology
Due to being constrained be subject to carrier rocket payload bay volume, some functional structures of spacecraft are needed by folding exhibition
Mechanism substitutes.As the larger solar panel of area can not be loaded directly into carrier rocket, it is necessary to be carried out in launching phase
Fold, make it have less envelope size.Working track is transmitted to, can voluntarily be unfolded, be worked normally.
Polytype space folding and unfolding mechanism has successfully currently been developed both at home and abroad, is broadly divided into rod-shaped folding and unfolding mechanism, planar
Folding and unfolding mechanism and body shape folding and unfolding mechanism etc..There are its application in spacecraft in these mechanisms, such as：Space mast, rigidity or
Flexible solar panel development mechanism, solar sail development mechanism and antenna deployment mechanism.Said mechanism configuration is typically only capable to face
To certain one kind application, such as：The folding and unfolding mechanism configuration of rigid solar panel is different from the configuration of flexible solar panel.
So when carrying out actual design, the selection of configuration has certain inconvenience.
The content of the invention
For spacecraft transmitting the characteristics of, the present invention proposes a kind of centrosymmetric secondary folding and unfolding mechanism in space.This hair
The bright folding and unfolding mechanism that can be used as rigidity at the same time and open object or flexible expansion object, varies without configuration.
The present invention is achieved by the following technical solutions：
A kind of secondary folding and unfolding mechanism in centrosymmetric space, is made of the same unit mechanism no less than three groups.Every group of list
First mechanism all includes base, two pieces of expansion plates and two identical connecting rods.The unit mechanisms are all installed on same bottom
On seat, a connecting rod is shared per two adjacent unit mechanisms.
Two pieces of expansion plates in the unit mechanisms are in mirror, are connected between two pieces of expansion plates by revolute pair.Institute
Two pieces of expansion plates in the unit mechanisms stated all each are connected with a connecting rod, are connected between expansion plate and connecting rod by cylindrical pair
Connect.
The radical of connecting rod in the unit mechanisms is identical with the group number of unit mechanisms.In the unit mechanisms
Connecting rod is uniformly installed on base, and connecting rod is connected with base by revolute pair.
The axis of cylindrical pair on the expansion plate and the axis of revolute pair not at grade, into inequality straight line.
Institute's angulation of the axis of cylindrical pair on all expansion plates and the axis of revolute pair, in same central symmetry folding and unfolding mechanism, all
It is equal.This angle is not more than 180 degree.
The free degree of the unit mechanisms is one, a kind of centrosymmetric secondary folding exhibition in space being made of unit mechanisms
The free degree of mechanism is also one.
The expansion plate can be replaced with planar linkage mechanism, and linkage is connected by revolute pair.
After the expansion plate is replaced with planar linkage mechanism, after can first all linkages be unfolded, then to center pair
Folding and unfolding mechanism is claimed to be unfolded.When linkage is unfolded, it need to ensure that two linkages being connected on same cylindrical pair are same
Step expansion.
All planar linkage mechanisms for substituting expansion plate in mechanism are unfolded, it is necessary to add extra driving.Linkage
For four-bar mechanism when, all linkages are unfolded, it is necessary to add a driving.When the rod piece number of linkage is no less than five,
All linkages are unfolded, it is necessary to add three drivings.Driving is not added in linkage.
The invention has the advantages that：1. this folding and unfolding mechanism has higher folding ratio, (envelope of folded state is straight
Footpath and the envelope diameter ratio of unfolded state).When expansion plate is rigidity, the folding ratio of mechanism is up to 40%.Expansion plate is replaced
For linkage when, folding ratio is up to 10%；2. when using expansion plate, rigid object can be unfolded in mechanism.When expansion plate quilt
When replacing with linkage, the deployable flexible object of mechanism.3. the free degree that this folding and unfolding mechanism needs is less.Expansion plate is rigidity
When, whole mechanism, which is unfolded, needs a driving.When expansion plate is replaced by linkage, development mechanism at most needs four drives
It is dynamic.
Brief description of the drawings
Fig. 1 is folding and unfolding mechanism and its expansion process schematic；
Fig. 2 is unit mechanisms schematic diagram；
Fig. 3 is expansion plate axis schematic diagram；
Fig. 4 is expansion plate by the replaced folding and unfolding mechanism of linkage and its expansion process schematic；
Fig. 5 is expansion plate by the replaced mechanism unit schematic diagram of linkage.
Embodiment
With reference to Fig. 1, the present invention provides a kind of centrosymmetric secondary folding and unfolding mechanism in space.Folding and unfolding mechanism is by ten groups of phase
Formed with unit mechanisms.Every group of unit mechanisms as shown in Figure 2 are all comprising base 3, expansion plate 1, expansion plate 5, connecting rod 2 and connection
Bar 4.The unit mechanisms are all installed on same base 3, and a connecting rod is shared per two adjacent unit mechanisms.
As shown in Fig. 2, two pieces of expansion plates in the unit mechanisms are in mirror, between expansion plate 1 and expansion plate 5
Connected by revolute pair.Connected by cylindrical pair between expansion plate 1 and connecting rod 2, connected between expansion plate 5 and connecting rod 4 by cylindrical pair
Connect.
The radical of connecting rod in the unit mechanisms is identical with the group number of unit mechanisms, is all ten, as shown in Figure 1.
Connecting rod in the unit mechanisms is uniformly installed on base, such as：Connecting rod 2 is connected with base 3 by revolute pair, connecting rod
4 are connected with base 3 by revolute pair.
As shown in figure 3, the axis 12 of the axis 11 of cylindrical pair on the expansion plate and revolute pair is not in same plane
On, into inequality straight line.The institute angulation α of the axis of cylindrical pair on all expansion plates and the axis of revolute pair, at same center pair
Claim in folding and unfolding mechanism, it is all equal.Institute angulation α is 18 degree in this example.
The free degree of unit mechanisms shown in Fig. 2 is one, and a kind of centrosymmetric space being made of unit mechanisms is secondary
The free degree of folding and unfolding mechanism is also one, as shown in Figure 1.
As shown in figure 5, the expansion plate 1 and expansion plate 5 in Fig. 2 can be replaced by the linkage 5 in Fig. 5 and linkage 7
Change, linkage is connected by revolute pair.
After the expansion plate is replaced with planar linkage mechanism, after can first all linkages be unfolded, then to center pair
Folding and unfolding mechanism is claimed to be unfolded, as shown in Figure 4.When linkage is unfolded, it need to ensure two be connected on same cylindrical pair
Linkage synchronous expansion.
All planar linkage mechanisms for substituting expansion plate in mechanism are unfolded, it is necessary to add extra driving.Company in Fig. 5
The rod piece number of linkage is five, all linkages is unfolded, it is necessary to add three drivings.Driving is not added in linkage
It is interior.
When mechanism is as shown in Figure 1, for example rigid solar panel of deployable rigid object, reflector antenna etc..Mechanism
When as shown in Figure 4, deployable flexibility object, such as solar sail.
Claims (10)
1. a kind of secondary folding and unfolding mechanism in centrosymmetric space, it is characterised in that by the same unit mechanism group no less than three groups
Into.Every group of unit mechanisms all include base, two pieces of expansion plates and two identical connecting rods；The unit mechanisms are all installed on
On same base, a connecting rod is shared per two adjacent unit mechanisms.
A kind of 2. centrosymmetric secondary folding and unfolding mechanism in space according to claim 1, it is characterised in that the unit
Two pieces of expansion plates in mechanism are in mirror, are connected between two pieces of expansion plates by revolute pair.
A kind of 3. centrosymmetric secondary folding and unfolding mechanism in space according to claim 1, it is characterised in that the unit
Two pieces of expansion plates in mechanism are all each connected with a connecting rod, are connected between expansion plate and connecting rod by cylindrical pair；It is described
Unit mechanisms in connecting rod radical it is identical with the group number of unit mechanisms.
A kind of 4. centrosymmetric secondary folding and unfolding mechanism in space according to claim 1, it is characterised in that the unit
Connecting rod in mechanism is uniformly installed on base, and connecting rod is connected with base by revolute pair.
A kind of 5. centrosymmetric secondary folding and unfolding mechanism in space according to claim 1, it is characterised in that the expansion
The axis of cylindrical pair on plate and the axis of revolute pair not at grade, into inequality straight line, the cylinder on all expansion plates
Secondary axis and institute's angulation of the axis of revolute pair are all equal in same central symmetry folding and unfolding mechanism.
A kind of 6. centrosymmetric secondary folding and unfolding mechanism in space according to claim 1, it is characterised in that the unit
The free degree of mechanism is one, and a kind of free degree for the central symmetry folding and unfolding mechanism being made of unit mechanisms is also one.
A kind of 7. centrosymmetric secondary folding and unfolding mechanism in space according to claim 1, it is characterised in that the expansion
Plate can be replaced with planar linkage mechanism, and linkage is connected by revolute pair.
A kind of 8. centrosymmetric secondary folding and unfolding mechanism in space according to claim 7, it is characterised in that the expansion
After plate is replaced with planar linkage mechanism, after can first all linkages be unfolded, then central symmetry folding and unfolding mechanism is unfolded；
When the linkage is unfolded, it need to ensure two linkage synchronous expansions being connected on same cylindrical pair.
9. a kind of centrosymmetric secondary folding and unfolding mechanism in space according to claim 7, it is characterised in that by institute in mechanism
There is the planar linkage mechanism for substituting expansion plate to be unfolded, it is necessary to add extra driving.
A kind of 10. centrosymmetric secondary folding and unfolding mechanism in space according to claim 7, it is characterised in that the company
When linkage is four-bar mechanism, all linkages are unfolded, it is necessary to add a driving；The rod piece number of linkage is no less than
When five, all linkages are unfolded, it is necessary to add three drivings；Driving is not added in linkage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711158393.9A CN107972888A (en) | 2017-11-20 | 2017-11-20 | The centrosymmetric secondary folding and unfolding mechanism in space |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711158393.9A CN107972888A (en) | 2017-11-20 | 2017-11-20 | The centrosymmetric secondary folding and unfolding mechanism in space |
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| CN107972888A true CN107972888A (en) | 2018-05-01 |
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| CN201711158393.9A Pending CN107972888A (en) | 2017-11-20 | 2017-11-20 | The centrosymmetric secondary folding and unfolding mechanism in space |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109080853A (en) * | 2018-07-20 | 2018-12-25 | 广西大学 | One kind imitating cobweb space development agency based on diamond-shaped element |
| CN109110155A (en) * | 2018-07-20 | 2019-01-01 | 广西大学 | A kind of imitative cobweb large space development agency |
| CN112151930A (en) * | 2020-07-31 | 2020-12-29 | 天津大学 | Paraboloid structure with large folding-unfolding ratio |
| CN113636108A (en) * | 2021-06-30 | 2021-11-12 | 中国人民解放军战略支援部队航天工程大学 | Plate type space structure capable of being folded and unfolded repeatedly |
| CN114906350A (en) * | 2022-04-25 | 2022-08-16 | 燕山大学 | Solar sailboard based on single-degree-of-freedom large-folding-unfolding-ratio folding-unfolding mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109080853A (en) * | 2018-07-20 | 2018-12-25 | 广西大学 | One kind imitating cobweb space development agency based on diamond-shaped element |
| CN109110155A (en) * | 2018-07-20 | 2019-01-01 | 广西大学 | A kind of imitative cobweb large space development agency |
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| CN113636108A (en) * | 2021-06-30 | 2021-11-12 | 中国人民解放军战略支援部队航天工程大学 | Plate type space structure capable of being folded and unfolded repeatedly |
| CN114906350A (en) * | 2022-04-25 | 2022-08-16 | 燕山大学 | Solar sailboard based on single-degree-of-freedom large-folding-unfolding-ratio folding-unfolding mechanism |
| CN114906350B (en) * | 2022-04-25 | 2024-07-30 | 燕山大学 | Solar sailboard based on single-degree-of-freedom large-folding-unfolding-ratio folding and unfolding mechanism |
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