CN108336470B - Basic based on Bennett mechanism can Zhan Danyuan and the unfolding mechanism that is made of the unit - Google Patents
Basic based on Bennett mechanism can Zhan Danyuan and the unfolding mechanism that is made of the unit Download PDFInfo
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- CN108336470B CN108336470B CN201810166759.5A CN201810166759A CN108336470B CN 108336470 B CN108336470 B CN 108336470B CN 201810166759 A CN201810166759 A CN 201810166759A CN 108336470 B CN108336470 B CN 108336470B
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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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Abstract
Based on Bennett mechanism it is basic can Zhan Danyuan and the unfolding mechanism that is made of the unit, belong to satellite antenna technical field of structures.The present invention solves the problems, such as that existing Bennett mechanism deploying performance is undesirable.First connecting rod is rotatably connected with second connecting rod, third connecting rod is rotatably connected with fourth link, second connecting rod is rotatably connected with third connecting rod, first connecting rod is rotatably connected with fourth link, wherein the central axes of the first revolute pair and third revolute pair are located at the first plane, the central axes of second revolute pair and the 4th revolute pair are located at the second plane, first plane and the second plane are arranged in a mutually vertical manner, sliding block is reciprocating along guide rod length direction, the central axes of first revolute pair and the central axes of the 5th revolute pair are arranged in a mutually vertical manner, the central axes of third revolute pair and the central axes of the 6th revolute pair are arranged in a mutually vertical manner, substantially it is in X-shaped that unit can be opened up in the deployed state, it is in umbrella shape under half rounding state, it is in I font under complete rounding state.
Description
Technical field
The present invention relates to a kind of based on Bennett mechanism it is basic can Zhan Danyuan and the unfolding mechanism that is made of the unit,
Belong to satellite antenna technical field of structures.
Background technique
With the development of society and science and technology, space technology is in satellite communication, satellite navigation, information technology, space object
Apply increasingly extensive in the fields such as reason, astronomical observation, meteorological observation and military detective, national defense safety.Along with space technology
Development, the size of Space Facilities is increasing, and structure becomes increasingly complex, and the load cabin size of carrier rocket is limited, this is just
It is required that Space Facilities can be collapsed into lesser volume in launching phase, scheduled shape is launched into after reaching track.As these
The unfolding mechanism of Space Facilities matrix, performance are directly related to the function of Space Facilities.
Unfolding mechanism, which refers to, can be collapsed into smaller shape, be launched into the mechanism of biggish predetermined shape, and unfolding mechanism is big
One of the optimal selection of size space equipment.Unfolding mechanism space station, communications satellite platform, space telescope, space shuttle,
It is widely adopted on the spacecrafts such as celestial body detecting device.Such as space station basic skeleton, deployable/space manipulator of gathering, space
Extending arm, heavy caliber deployable antenna, large-scale flexible solar array bracket etc..Wherein list close loop mechanism in space is compared to plane
Mechanism be basic unit traditional unfolding mechanism its fold than greatly, rigidity it is high；It is used as over-constraint structure, space list closed loop machine simultaneously
The organization network of structure composition is also over-constraint structure, has the advantages that rigidity is high, driving input is few, is the hair in unfolding mechanism future
Open up direction.
In the research of large scale unfolding mechanism, starting evening, development are slow in China, imitation stage are in, with developed country
Gap is obvious, and still the application without large scale unfolding mechanism records so far.Nowadays unfolding mechanism technology has become obstruction Chinese Space
One critical issue of technology development.With a series of development of space programmes such as China's manned space flight, moon exploration program, to expansion
More stringent requirements are proposed for mechanism.The unfolding mechanism with performances such as large scale, modularization, high rigidities is studied, to promotion China
The development of space technology is of great significance.
Bennett mechanism is most classic space list close loop mechanism, and as an over-constraint structure, freedom degree is unsatisfactory for
Gr ü bler-Kutzbach formula, one degree of freedom could be had by needing to meet certain geometry constraint conditions, due to space list
The movement of connecting rod is space in close loop mechanism, and track is complicated and its folding malleability can be unsatisfactory.
Summary of the invention
The present invention is and then to provide one kind to solve the problems, such as that existing Bennett mechanism deploying performance is undesirable
Basic based on Bennett mechanism can Zhan Danyuan and the unfolding mechanism that is made of the unit.
Used technical solution is the present invention to solve above-mentioned technical problem:
Technical solution one:
Based on Bennett mechanism it is basic can Zhan Danyuan, it include upright bar, guide rod, sliding block, the first to the second lower arm rod,
Armed lever, the first to the second connection armed lever, first to fourth connecting rod and the first to the 6th revolute pair, first connecting rod on first to the second
It is rotatably connected with second connecting rod by the first revolute pair, third connecting rod is rotatably connected with fourth link by third revolute pair
It connects, second connecting rod is rotatably connected with third connecting rod by the second revolute pair, and first connecting rod and fourth link pass through the 4th rotation
Pair is rotatably connected, wherein the central axes of the first revolute pair and third revolute pair are located at the first plane, the second revolute pair and the 4th
The central axes of revolute pair are located at the second plane, and first plane and the second plane are arranged in a mutually vertical manner, and upright bar and guide rod are by upper
It is affixed to lower head and the tail, lower part and along guide rod length direction reciprocating, one end of first lower arm rod of the slide block set mounted in guide rod
It is connect with the first revolute pair, one end of armed lever is rotatably connected by the 5th revolute pair on the other end of the first lower arm rod and first
Connect, the other end of armed lever and the top of guide rod are rotatably connected on first, first connection armed lever both ends respectively with the first upper arm
Bar and sliding block are rotatably connected, and one end of the second lower arm rod is connect with third revolute pair, the other end of the second lower arm rod and second
One end of upper armed lever is rotatably connected by the 6th revolute pair, and the other end of armed lever and the top of guide rod rotatably connect on second
Connect, the both ends of the second connection armed lever respectively with second on armed lever and sliding block be rotatably connected, wherein the central axes of the first revolute pair
It is arranged in a mutually vertical manner with the central axes of the 5th revolute pair, the central axes of the central axes of third revolute pair and the 6th revolute pair are mutually hung down
Straight setting, can open up unit substantially is in X-shaped in the deployed state, is in umbrella shape under half rounding state, is in I under complete rounding state
Font.
Further, the central axes of the first revolute pair and the central axes of third revolute pair are in the same plane, and first
The central axes of revolute pair and the central axes of third revolute pair are intersected in a bit.
Further, the central axes of the second revolute pair and the central axes of the 4th revolute pair are in the same plane, and second
The central axes of revolute pair and the central axes of the 4th revolute pair are intersected in a bit.
Further, the first lower arm rod and armed lever on the second lower arm rod, first connect with armed lever on second, first armed lever with
Second connection armed lever is symmetrical arranged about the second plane.
Further, based on Bennett mechanism it is basic can Zhan Danyuan, it further includes the 7th to the tenth revolute pair, first
It connects armed lever on one end and first of armed lever to be rotatably connected by the 7th revolute pair, on one end and second of the second connection armed lever
Armed lever is rotatably connected by the 8th revolute pair, and between the other end and sliding block of the first connection armed lever and second connects armed lever
The other end and sliding block between be rotatably connected by the 9th revolute pair, the top of the other end of armed lever and guide rod on first,
And the top of the other end of armed lever and guide rod passes through the tenth revolute pair and is rotatably connected on second.
Technical solution two:
It is a kind of by the basic unfolding mechanism opening up unit and forming based on Bennett mechanism, it includes the first plane mechanism
Network, the first plane mechanism network include in N N matrix arrangement several substantially can Zhan Danyuan, first plane
Organization network is grid-shaped in the deployed state, wherein the connection between adjacent two connecting rods is to be rotatably connected, each 2 ×
In 2 matrixes, can each open up each connecting rod that a connecting rod in unit can be opened up with the other three substantially in unit substantially can
Rotation connection is rotatably connected by four revolute pair realizations between four connecting rods in 2 × 2 matrix, is had
Body connection type and any connection type that can open up four connecting rods in unit substantially are oppositely arranged, and the direction of several upright bars is consistent
Setting.
Further, the first plane mechanism network is under rounding state, all connecting rods be set side by side and towards with it is vertical
The direction of bar is consistent.
Further, a kind of by the basic unfolding mechanism opening up unit and forming based on Bennett mechanism, it further includes
Two plane mechanism networks, the first plane mechanism network and the second plane mechanism network mirror are to setting, the first plane mechanism net
Several upright bars in network fix as one with several upright bars one-to-one correspondence in the second plane mechanism network.
Further, the quantity that can open up unit in the first plane mechanism network substantially is nine.
The present invention has the effect that compared with prior art
1, the basic unit of opening up of the invention based on Bennett mechanism can guarantee the single-degree-of-freedom of organization network itself
Characteristic, and drive input less, folding ratio is bigger, fundamental frequency and rigidity are higher, reliability is higher, folding malleability can be more preferable, Neng Goushi
Now complete expansion and gathering, are more suitable for large-scale dimension unfolding mechanism；
2, the characteristic that the present invention is rotated using the diagonal revolute pair axis of equilateral Bennett mechanism around virtual rotation pair, will wait
Side Bennett mechanism and symmetrical four-bar mechanism combine, and construct the alternate configuration and symmetrical plane four of a Bennett mechanism
The composite structure unit of linkage constructs a synchronization mechanism (i.e. upright bar) on four-bar mechanism and is used as interlayer column, constitutes rigid
The higher extensible double-deck truss mechanism unit is spent, i.e., by the basic expansion opening up unit and forming based on Bennett mechanism
Mechanism.
Detailed description of the invention
Fig. 1 is the basic structural schematic diagram for opening up unit of the invention based on Bennett mechanism；
Fig. 2 is partial enlargement diagram at the P of Fig. 1；
Fig. 3 is the basic unfolded state schematic diagram for opening up unit of the invention based on Bennett mechanism；
Fig. 4 is the basic rounding state schematic diagram for opening up unit of the invention based on Bennett mechanism；
Fig. 5 is the structural schematic diagram of unfolding mechanism in the deployed state in specific embodiment six；
Fig. 6 is structural schematic diagram of the unfolding mechanism under half rounding state in specific embodiment six；
Fig. 7 is the structural schematic diagram of specific embodiment seven；
Fig. 8 is the structural schematic diagram of unfolding mechanism in the deployed state in specific embodiment eight；
Fig. 9 is structural schematic diagram of the unfolding mechanism under half rounding state in specific embodiment eight；
Figure 10 is structural schematic diagram of the unfolding mechanism under rounding state in specific embodiment eight.
Specific embodiment
Specific embodiment 1: illustrate present embodiment in conjunction with Fig. 1~10, basic based on Bennett mechanism can Zhan Dan
Member, it includes upright bar 1, guide rod 2, sliding block 3, the first to the second lower arm rod, armed lever, the first to the second linking arm on the first to the second
Bar, first to fourth connecting rod and the first to the 6th revolute pair, first connecting rod 10 and second connecting rod 11 can by the first revolute pair 14
Rotation connection, third connecting rod 12 are rotatably connected with fourth link 13 by third revolute pair 16, and second connecting rod 11 and third connect
Bar 12 is rotatably connected by the second revolute pair 15, and first connecting rod 10 is rotatably connected with fourth link 13 by the 4th revolute pair 17
It connects, wherein the central axes of the first revolute pair 14 and third revolute pair 16 are located at the first plane, the second revolute pair 15 and the 4th rotation
The central axes of pair 17 are located at the second plane, and first plane and the second plane are arranged in a mutually vertical manner, and upright bar 1 is with guide rod 2 by upper
Affixed to lower head and the tail, sliding block 3 is sleeved on the lower part of guide rod 2 and reciprocating along 2 length direction of guide rod, the first lower arm rod 4
One end is connect with the first revolute pair 14, and one end of armed lever 6 passes through the 5th revolute pair 18 on the other end and first of the first lower arm rod 4
It is rotatably connected, the other end of armed lever 6 and the top of guide rod 2 are rotatably connected on first, the both ends difference of the first connection armed lever 8
With first on armed lever 6 and sliding block 3 be rotatably connected, one end of the second lower arm rod 5 is connect with third revolute pair 16, the second lower arm rod
One end of armed lever 7 is rotatably connected by the 6th revolute pair 19 on 5 other end and second, on second the other end of armed lever 7 with
The top of guide rod 2 is rotatably connected, the both ends of the second connection armed lever 9 respectively with second on armed lever 7 and sliding block 3 be rotatably connected,
Wherein the central axes of the first revolute pair 14 and the central axes of the 5th revolute pair 18 are arranged in a mutually vertical manner, the axis of third revolute pair 16
Line and the central axes of the 6th revolute pair 19 are arranged in a mutually vertical manner, and can open up unit substantially is in X-shaped in the deployed state, collapse shape half
It is in umbrella shape under state, is in I font under complete rounding state.
First to fourth revolute pair and first to fourth connecting rod collectively form the alternate configuration of a Bennett mechanism,
Two upper armed levers and two lower arm rods constitute symmetrical plane four-bar mechanism, guide rod 2, upright bar 1, sliding block 3, two upper armed levers and two
It connects armed lever and constitutes synchronization mechanism, the four-bar linkage of connected symmetrical dendrimer above Bennett alternative mechanism, in addition synchronization mechanism is protected
The basic expansion unit of card kinematic pair in the exhibition of folding moves along a straight line along guide rod 2, and connecting rod rolls over exhibition completely.By the way that unit is unfolded substantially gradually
Connection array may make up single-freedom planar unfolding mechanism network.
One end of first lower arm rod 4 and the first revolute pair 14 are affixed.
One end of second lower arm rod 5 and third revolute pair 16 are affixed.
5th revolute pair 18 and the 6th revolute pair 19 are parallel to each other, and are located at the first revolute pair 14 and third revolute pair 16 is constituted
Plane on；
First lower arm rod 4 connect armed lever 8 and second with armed lever 6 on the second lower arm rod 5, first with armed lever 7, first on second
It connects armed lever 9 to be symmetrical arranged about the second plane, so that guide rod 2 and upright bar 1 are always positioned at the first plane and the second plane
On intersection.
The present invention is from famous Bennett mechanism evolution, is over-constraint structure, it is a kind of Bennett machine
The alternate configuration of structure and the composite structure of symmetrical plane four-bar mechanism, and a synchronization mechanism, upright bar 1 are constructed on four-bar mechanism
As interlayer column, for constructing double layer planar truss mechanism network, i.e., with the unfolding mechanism of double layer planar organization network.
Basic unit of opening up based on Bennett mechanism of the invention is compared with Bennett mechanism in the prior art, folding
Exhibition is more suitable than bigger, fundamental frequency and rigidity are higher, reliability is higher, folding malleability more preferably can be realized complete expansion and collapse
For large-scale dimension unfolding mechanism.
In the present invention, connecting rod and revolute pair are no longer vertical but there are certain biasings, so that obtaining has more preferable folding
The configuration (being able to achieve complete gathering and expansion) and DH parameter of malleability energy are consistent with theoretical model；Constructed bilayer structure out
It can guarantee the single-degree-of-freedom characteristic of organization network itself and rigidity and fundamental frequency be higher, high reliablity, be more suitable for large scale sky
Between unfolding mechanism.
The present invention can be manufactured in Machining of Connecting Rod there are certain error, and there are the feelings of certain error with connecting rod assembly for revolute pair
Still folding and expanding may be implemented under condition, therefore expanding performance is relatively good.
Specific embodiment 2: illustrating that present embodiment, the central axes of the first revolute pair 14 and third turn in conjunction with Fig. 1~10
The central axes of dynamic pair 16 are intersected in a bit.It is designed in this way, between first connecting rod 10 and the first revolute pair 14 and third connecting rod 12
Between third revolute pair 16 it is no longer vertical but there are certain biasing, thus obtain have more preferable folding malleability can configuration
(gathering and expansion that can be realized conjunction).Other compositions are same as the specific embodiment one with connection relationship.
Specific embodiment 3: illustrate present embodiment in conjunction with Fig. 1~10, the central axes of the second revolute pair 15 with the 4th turn
The central axes of dynamic pair 17 are intersected in a bit.It is designed in this way, between second connecting rod 11 and the second revolute pair 15 and fourth link 13
Between the 4th revolute pair 17 it is no longer vertical but there are certain biasing, thus obtain have more preferable folding malleability can configuration
(gathering and expansion that can be realized conjunction).Other compositions are the same as one or two specific embodiments with connection relationship.
Specific embodiment 4: illustrating present embodiment, the first lower arm rod 4 and the second lower arm rod 5, in conjunction with Fig. 1~10
Armed lever 6, which connect armed lever 8 with armed lever 7 on second, first and connect armed lever 9 with second, on one is symmetrical arranged about the second plane.Such as
This design, two connection armed levers and two upper armed levers collectively form synchronization mechanism, so that guide rod 2 and upright bar 1 are always positioned at first
On the intersection of plane and the second plane.Other compositions are identical as specific embodiment one, two or three as connection relationship.
Specific embodiment 5: illustrate present embodiment in conjunction with Fig. 1~10, basic based on Bennett mechanism can Zhan Dan
Member, it further includes the 7th to the tenth revolute pair 23, and armed lever 6 passes through the 7th revolute pair on one end and first of the first connection armed lever 8
20 are rotatably connected, and armed lever 7 is rotatably connected by the 8th revolute pair 21 on one end and second of the second connection armed lever 9, and first
It connects between the other end and sliding block 3 of armed lever 8 and passes through the 9th turn between the other end and sliding block 3 of the second connection armed lever 9
Dynamic pair 22 is rotatably connected, on first on the top and second of the other end of armed lever 6 and guide rod 2 other end of armed lever 7 with lead
The top of bar 2 passes through the tenth revolute pair 23 and is rotatably connected.Other compositions and connection relationship and specific embodiment one, two,
Three or four is identical.
It is a kind of by can based on the basic of Bennett mechanism specific embodiment 6: illustrate present embodiment in conjunction with Fig. 1~7
Open up unit composition unfolding mechanism, it include the first plane mechanism network 24, the first plane mechanism network 24 include in N ×
N matrix arrangement several substantially can Zhan Danyuan, the first plane mechanism network 24 is grid-shaped in the deployed state, wherein
Connection between adjacent two connecting rods is to be rotatably connected, and in each 2 × 2 matrix, can each open up one in unit substantially
Connecting rod can open up each connecting rod in unit substantially with the other three and be rotatably connected, four institutes in 2 × 2 matrix
It states and is rotatably connected between connecting rod by four revolute pair realizations, specific connection type can open up in unit four with any substantially
The connection type of connecting rod is oppositely arranged, the consistent setting of the direction of several upright bars 1.
Adjacent two can open up between unit substantially and are rotatably connected by connecting rod and several revolute pairs, and unfolding mechanism is by being unfolded
To during gathering, and by collapse to expansion during, the other end direction of action of each connecting rod with one end move
Make contrary, i.e., the revolute pair that the revolute pair that one end of each connecting rod is connected is connect with its other end is reversed；Often
In a 2 × 2 matrix, can each open up a connecting rod in unit substantially can open up each company in unit substantially with the other three
Bar is rotatably connected, and is rotatably connected between four connecting rods in this 2 × 2 matrix by four revolute pair realizations,
Specific connection type and any unit that can open up substantially are oppositely arranged, i.e. this four described connecting rods and four revolute pairs are unfolding mechanism
The alternate configuration of transition element and equilateral Bennett mechanism when constructing organization network at base unit node guarantees basic
The gathering and expansion of unit can be opened up.
It is grid-shaped under unfolding mechanism fully unfolded position, to reach maximum unfolded state；
It is in I font under unfolding mechanism rounding state, that is, realizes complete rounding state；
Concave-convex surface under half rounding state of unfolding mechanism (i.e. intermediate state), and each crest location is consistent, the position of each trough
It sets also consistent.
Specific embodiment 7: illustrating present embodiment in conjunction with Fig. 1~7, the first plane mechanism network 24 is in rounding state
Under, all connecting rods are set side by side and direction is consistent with the direction of upright bar 1.It is designed in this way, unfolding mechanism is located in this case
State is opened up in complete receipts.Other compositions are identical as specific embodiment six as connection relationship.
Specific embodiment 8: illustrate present embodiment in conjunction with Fig. 1~4,8~10, it is a kind of by based on Bennett mechanism
Substantially the unfolding mechanism of unit composition can be opened up, it further includes the second plane mechanism network 25, the first plane mechanism network 24
Several upright bars 1 and the second plane mechanism net with 25 mirror of the second plane mechanism network to setting, in the first plane mechanism network 24
The one-to-one correspondence of several upright bars 1 in network 25 fixes as one.It is designed in this way, two plane mechanism network docking are integrated, and are formed
The double-deck truss mechanism network, rigidity are more preferable.Other compositions are identical as connection relationship as specific embodiment six or seven.
Specific embodiment 9: illustrate present embodiment in conjunction with Fig. 1~10, it is basic in the first plane mechanism network 24
The quantity that unit can be opened up is nine.Other compositions are identical as specific embodiment six, seven or eight as connection relationship.
Claims (9)
1. a kind of basic based on Bennett mechanism can Zhan Danyuan, it is characterised in that: it includes upright bar (1), guide rod (2), sliding block
(3), the first to the second lower arm rod, armed lever, the first to the second connection armed lever, first to fourth connecting rod and first on the first to the second
To the 6th revolute pair, first connecting rod (10) is rotatably connected with second connecting rod (11) by the first revolute pair (14), third connecting rod
(12) it is rotatably connected with fourth link (13) by third revolute pair (16), second connecting rod (11) passes through with third connecting rod (12)
Second revolute pair (15) connection, first connecting rod (10) is connect with fourth link (13) by the 4th revolute pair (17), wherein first
The central axes of revolute pair (14) and third revolute pair (16) are located at the first plane, the second revolute pair (15) and the 4th revolute pair (17)
Central axes be located at the second plane, first plane and the second plane are arranged in a mutually vertical manner, and upright bar (1) is with guide rod (2) by upper
Affixed to lower head and the tail, sliding block (3) is sleeved on the lower part of guide rod (2) and, first lower arm reciprocating along guide rod (2) length direction
One end of bar (4) is connect with the first revolute pair (14), and one end of armed lever (6) is logical on the other end and first of the first lower arm rod (4)
The 5th revolute pair (18) is crossed to be rotatably connected, the other end of armed lever (6) and the top of guide rod (2) are rotatably connected on first, the
The both ends of one connection armed lever (8) respectively with first on armed lever (6) and sliding block (3) be rotatably connected, one end of the second lower arm rod (5)
It is connect with third revolute pair (16), one end of armed lever (7) passes through the 6th revolute pair on the other end and second of the second lower arm rod (5)
(19) it is rotatably connected, the other end of armed lever (7) and the top of guide rod (2) are rotatably connected on second, the second connection armed lever (9)
Both ends respectively with second on armed lever (7) and sliding block (3) be rotatably connected, wherein the central axes and the 5th of the first revolute pair (14)
The central axes of revolute pair (18) are arranged in a mutually vertical manner, the central axes of the central axes of third revolute pair (16) and the 6th revolute pair (19)
It is arranged in a mutually vertical manner, it is in umbrella shape under half rounding state that can open up unit substantially is in X-shaped in the deployed state, is collapsing shape completely
It is in I font under state.
2. basic based on Bennett mechanism according to claim 1 can Zhan Danyuan, it is characterised in that: the first revolute pair
(14) central axes of central axes and third revolute pair (16) are intersected in a bit.
3. basic based on Bennett mechanism according to claim 1 or 2 can Zhan Danyuan, it is characterised in that: the second rotation
The central axes of secondary (15) and the central axes of the 4th revolute pair (17) are intersected in a bit.
4. basic based on Bennett mechanism according to claim 3 can Zhan Danyuan, it is characterised in that: the first lower arm rod
(4) armed lever (8) is connect with armed lever on second (7), first with armed lever (6) on the second lower arm rod (5), first connect armed lever with second
(9) it is symmetrical arranged about the second plane.
5. basic based on Bennett mechanism according to claim 1,2 or 4 can Zhan Danyuan, it is characterised in that: it is also wrapped
The the 7th to the tenth revolute pair (23) is included, armed lever (6) passes through the 7th revolute pair (20) on one end and first of the first connection armed lever (8)
It being rotatably connected, armed lever (7) is rotatably connected by the 8th revolute pair (21) on one end and second of the second connection armed lever (9),
Between the other end and sliding block (3) of first connection armed lever (8) and between the other end and sliding block (3) of the second connection armed lever (9)
It is rotatably connected by the 9th revolute pair (22), the top and second of the other end of armed lever (6) and guide rod (2) on first
The other end of upper armed lever (7) and the top of guide rod (2) pass through the tenth revolute pair (23) and are rotatably connected.
6. a kind of unfolding mechanism is opened up as described in any claim in claim 1-5 based on the basic of Bennett mechanism
Unit composition, it is characterised in that: it includes the first plane mechanism network (24), and the first plane mechanism network (24) includes being in
N N matrix arrangement several substantially can Zhan Danyuan, the first plane mechanism network (24) in the deployed state be in grid
Shape in each 2 × 2 matrix, can each be opened up in unit substantially wherein the connection between adjacent two connecting rods is to be rotatably connected
A connecting rod can open up each connecting rod in unit substantially with the other three and be rotatably connected, in 2 × 2 matrix
Be rotatably connected between four connecting rods by the realization of four revolute pairs, specific connection type and it is any substantially can Zhan Danyuan
In four connecting rods connection type it is oppositely arranged, the consistent setting of the direction of several upright bars (1).
7. a kind of unfolding mechanism according to claim 6, it is characterised in that: the first plane mechanism network (24) is collapsing shape
Under state, all connecting rods are set side by side and direction is consistent with the direction of upright bar (1).
8. a kind of unfolding mechanism according to claim 6 or 7, it is characterised in that: it further includes the second plane mechanism network
(25), the first plane mechanism network (24) and the second plane mechanism network (25) mirror are to setting, the first plane mechanism network
(24) several upright bars (1) in fix as one with several upright bars (1) one-to-one correspondence in the second plane mechanism network (25).
9. a kind of unfolding mechanism according to claim 8, it is characterised in that: base in the first plane mechanism network (24)
Originally the quantity that unit can be opened up is nine.
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| CN201810166759.5A CN108336470B (en) | 2018-02-28 | 2018-02-28 | Basic based on Bennett mechanism can Zhan Danyuan and the unfolding mechanism that is made of the unit |
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| CN111934098B (en) * | 2020-09-05 | 2022-12-23 | 西安电子科技大学 | Annular deployable antenna truss based on bennett mechanism |
| US11673378B2 (en) | 2020-11-23 | 2023-06-13 | Henry G. Schirmer | Crystal clear high barrier thermoformed plastic bottle |
| US11673377B2 (en) | 2020-11-23 | 2023-06-13 | Henry G. Schirmer | Crystal clear high barrier packaging film |
| US11673309B2 (en) | 2020-11-23 | 2023-06-13 | Henry G. Schirmer | Crystal clear high barrier packaging film |
| CN113871892B (en) * | 2021-08-16 | 2024-07-19 | 西安电子科技大学 | Space-expandable solid-surface antenna based on Bennett mechanism |
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| CN107416229A (en) * | 2017-04-27 | 2017-12-01 | 中国地质大学（武汉） | The coupling side chain containing 2R opens up unit and the large-scale umbrella folding and unfolding mechanism based on this |
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| GB0229599D0 (en) * | 2002-12-19 | 2003-01-22 | Isis Innovation | Deployable structure |
| CN103089063B (en) * | 2013-02-07 | 2015-01-14 | 天津大学 | Foldable bar frame structure |
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| CN107416229A (en) * | 2017-04-27 | 2017-12-01 | 中国地质大学（武汉） | The coupling side chain containing 2R opens up unit and the large-scale umbrella folding and unfolding mechanism based on this |
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| Networking of Bennett linkages and its application on deployable parabolic cylindrical antenna;Xiaoke Song;《Mechanism and Machine Theory》;20170331;全文 * |
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