CN108858196A - A kind of four structure state of large space transformation development agency - Google Patents
A kind of four structure state of large space transformation development agency Download PDFInfo
- Publication number
- CN108858196A CN108858196A CN201810810309.5A CN201810810309A CN108858196A CN 108858196 A CN108858196 A CN 108858196A CN 201810810309 A CN201810810309 A CN 201810810309A CN 108858196 A CN108858196 A CN 108858196A
- Authority
- CN
- China
- Prior art keywords
- scalable
- connecting rod
- scissor unit
- group
- hinge
- Prior art date
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
A kind of four structure state of large space transformation development agency, including connecting rod, scalable scissor unit, hinge and chassis, described connecting rod one end is connect by pin shaft with two-freedom hinge one end, the other end is connect by pin shaft with Three-degree of freedom hinge, the scalable scissor unit includes extensible link and stem guiding trough, extensible link one end is connect by pin shaft with Three-degree of freedom hinge, the other end is connect by prismatic pair with stem guiding trough, the hinge is divided into two-freedom hinge and Three-degree of freedom hinge, and the two-freedom hinge other end is connect by pin shaft with chassis.The present invention can be converted from plane structure state to triangular prism, quadrangular and pentagonal prism structure state, had the characteristics that structure is simple, expansion is stablized, folded than big, variable four structure states, be flexibly applied to aerospace vehicle support frame.
Description
Technical field
The present invention relates to space development agency field, especially a kind of four structure state of large space converts development agency.
Background technique
With flourishing for aerospace industry, the exploration of the outer space is also gradually goed deep into, needs to transport the boat of some large sizes
Its device support frame such as radar antenna support frame, big-caliber space antenna support frame to the outer space, some in-orbit spacecrafts according to
Task difference selects different spacecraft support frames to meet space flight demand；Permitted the support of space folding and unfolding mechanism and spacecraft at present
Frame can open up cellular array or topology by folding, and to constitute, a kind of expansion is stable, folds than big space folding and unfolding mechanism.
Chinese patent 201010176640.X discloses a kind of space scissor type telescopic mechanism, which has triangle list
The single structure state of member；Chinese patent 201210310520.3 discloses one kind and is based on square shaped cells planar array development agency,
The folding of the mechanism is flat-folded than small.
There is not yet a kind of have the characteristics that structure is simple, expansion is stablized, fold a kind of big sky than big, variable four structure states
Between four structure states transformation development agency innovation design.
Summary of the invention
The object of the present invention is to provide a kind of four structure states of large space to convert development agency, it has, and structure is simple, expansion is steady
Fixed, the characteristics of folding than big, variable four structure state, it is flexibly applied to aerospace vehicle support frame.
The technical scheme is that：A kind of four structure state of large space transformation development agency, including connecting rod, scalable scissor
Unit, hinge and chassis, which is characterized in that specific structure and connection relationship are as follows：
The connecting rod includes first linkage rod, the second connecting rod, third connecting rod, the 4th connecting rod and the 5th frame linking
Bar, first linkage rod one end are fixedly connected by pin shaft with two-freedom hinge one end, and the other end passes through pin shaft and Three Degree Of Freedom
Second axis pin base of hinge connects, remaining four connecting rod is identical with the structure of first linkage rod and connection relationship；
The scalable scissor unit includes first group of scalable scissor unit, second group of scalable scissor unit, third
The scalable scissor unit of group, the 4th group of scalable scissor unit and the 5th group of scalable scissor unit, described first group scalable
Scissor unit includes extensible link and stem guiding trough, and extensible link one end passes through the first pin shaft of pin shaft and Three-degree of freedom hinge
Seat connection, the other end are connect by prismatic pair with stem guiding trough, remaining four groups of scalable scissor unit and first group of scalable scissor
The structure of unit is identical with connection relationship；
The hinge is divided into two-freedom hinge and Three-degree of freedom hinge, the two-freedom hinge other end by pin shaft with it is upper
Chassis connection, the third axis pin base of Three-degree of freedom hinge pass through extensible link one end of pin shaft and adjacent scalable scissor unit
Connection；
The chassis is plum blossom chassis, including top bottom-disc and low bottom-disc, is uniformly distributed that there are five size is identical on top bottom-disc
Axis pin base, each axis pin base connect by pin shaft with two-freedom hinge, the structure and connection relationship of low bottom-disc and top bottom-disc
It is identical.
The scalable scissor unit is made of four extensible links and two stem guiding troughs, and two groups adjacent scalable to cut
It pitches and is connected with each other by connecting rod and Three-degree of freedom hinge as common elements between unit.
The Three-degree of freedom hinge includes three axis pin bases, is the first axis pin base, the second axis pin base and third pin shaft respectively
Seat.
The long connecting rod forms prism skeleton, and scalable scissor unit forms prismatic surface.
Of the invention has the prominent advantages that：
1. plane-space telescopic, energy may be implemented by the gathering or expansion movement of scalable scissor unit in mechanism
Enough realize from plane structure state is transformed into the tripe systems states such as triangular prism, quadrangular and pentagonal prism structure state.
2. mechanism forms, Component Category is single, and Standard is simple, while mechanism deploying is stable, folds than big.
Detailed description of the invention
Fig. 1 is the plane structure state structural schematic diagram that a kind of four structure state of large space of the present invention converts development agency.
Fig. 2 is the plane structure state structural front view that a kind of four structure state of large space of the present invention converts development agency.
Fig. 3 is the triangular prism structure state structural schematic diagram that a kind of four structure state of large space of the present invention converts development agency.
Fig. 4 is the quadrangular structure state structural schematic diagram that a kind of four structure state of large space of the present invention converts development agency.
Fig. 5 is the pentagonal prism structure state structural schematic diagram that a kind of four structure state of large space of the present invention converts development agency.
Fig. 6 is the scalable scissor unit structural representation that a kind of four structure state of large space of the present invention converts development agency
Figure.
Fig. 7 is the extensible link schematic diagram that a kind of four structure state of large space of the present invention converts development agency.
Fig. 8 is the two-freedom hinge arrangement signal that a kind of four structure state of large space of the present invention converts development agency
Figure.
Fig. 9 is the connecting rod and hinge connection signal that a kind of four structure state of large space of the present invention converts development agency
Figure.
Figure 10 is the chassis structure schematic diagram that a kind of four structure state of large space of the present invention converts development agency.
Figure 11 is the Three-degree of freedom hinge structural representation that a kind of four structure state of large space of the present invention converts development agency
Figure.
In figure label for：1. top bottom-disc, 2. low bottom-discs, 3. two-freedom hinges, 4. Three-degree of freedom hinge, 4-1. first are sold
Axle bed, the second axis pin base of 4-2., 4-3. third axis pin base, 5-1. first linkage rod, the second connecting rod of 5-2., 5-3. third frame linking
Bar, the 4th connecting rod of 5-4., the 5th connecting rod of 5-5., 6. stem guiding troughs, 7. extensible links, 101. first groups of scalable scissor lists
Member, 102. second groups of scalable scissor units, the scalable scissor unit of 103. third groups, 104. the 4th groups of scalable scissor lists
Member, 105. the 5th groups of scalable scissor units, 201. first linkage rod groups, 202. second connecting rod groups.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawings and embodiments.
As shown in Figure 1 to 11, four structure state of a kind of large space transformation development agency of the present invention, including connecting rod,
Scalable scissor unit, hinge and chassis, which is characterized in that specific structure and connection relationship are as follows：
The connecting rod includes first linkage rod 5-1, the second connecting rod 5-2, third connecting rod 5-3, the 4th connecting rod 5-4
With the 5th connecting rod 5-5, the one end first linkage rod 5-1 is fixedly connected by pin shaft with 3 one end of two-freedom hinge, and the other end is logical
It crosses pin shaft to connect with the second axis pin base 4-2 of Three-degree of freedom hinge 4, the structure of remaining four connecting rods and first linkage rod 5-1
It is identical with connection relationship；
The scalable scissor unit includes first group of scalable scissor unit, 101, second groups of scalable scissor units
102, the scalable scissor unit 103 of third group, the 4th group of scalable scissor unit 104 and the 5th group of scalable scissor unit 105,
First group of scalable scissor unit 101 include extensible link 7 and stem guiding trough 6,7 one end of extensible link by pin shaft with
First axis pin base 4-1 connection of Three-degree of freedom hinge 4, the other end are connect by prismatic pair with stem guiding trough 6, remaining four groups scalable
Scissor unit is identical with the structure of first group of scalable scissor unit 101 and connection relationship；
The hinge is divided into two-freedom hinge 3 and Three-degree of freedom hinge 4, and 3 other end of two-freedom hinge passes through pin shaft
It is connect with top bottom-disc 1, the third axis pin base 4-3 of Three-degree of freedom hinge 4 is stretched by pin shaft and adjacent scalable scissor unit
The connection of 7 one end of contracting connecting rod；
The chassis is plum blossom chassis, including top bottom-disc 1 and low bottom-disc 2, is uniformly distributed that there are five size phases on top bottom-disc 1
Same axis pin base, each axis pin base are connect by pin shaft with two-freedom hinge 3, the structure and connection of low bottom-disc 2 and top bottom-disc 1
Relationship is identical.
The scalable scissor unit is made of four extensible links 7 and two stem guiding troughs 6, and two groups adjacent scalable
It is connected with each other by connecting rod and Three-degree of freedom hinge 4 as common elements between scissor unit.
The Three-degree of freedom hinge 4 includes three axis pin bases, is the first axis pin base 4-1, the second axis pin base 4-2 and the respectively
Three axis pin base 4-3.
The long connecting rod forms prism skeleton, and scalable scissor unit forms prismatic surface.
Operation principle and process：
As shown in Figure 1 to Figure 2 be mechanism plane structure state, first group of scalable scissor unit 101 and the 4th group it is scalable
Scissor unit 104 is maximum unfolded state, at this time second group of scalable scissor unit 102, the scalable scissor unit 103 of third group
With the 5th group of scalable scissor unit 105 be by compression energy accumulation state, wherein first linkage rod group 201 compress the 5th group can
Flexible scissor unit 105, the scalable scissor unit 103 of the second connecting rod group 202 compression third group, third connecting rod 5-3 and the
Two connecting rod groups 202 compress second group of scalable scissor unit 102.
It is illustrated in figure 3 the triangular prism structure state of mechanism, third connecting rod 5-3 and second is discharged on the basis of plane structure state
The energy that second group of scalable scissor unit 102 that connecting rod group 202 is compressed is accumulated, second group of scalable scissor unit 102 are made
Expansion movement, drives extensible link 7 to be stretched from inside to outside movement in stem guiding trough 6；First group of scalable scissor unit at this time
101 and the 4th group of scalable scissor unit 104 make to collapse movement, while extensible link 7 being driven to make quilt inwards in stem guiding trough 6
Compression movement, when three groups of scalable scissor units synchronously complete unfolded state, mechanism is completed from plane structure state to triangular prism structure state
Transformation；At this time the scalable scissor unit 103 of third group by the second connecting rod group 202 compression and energy accumulation, the 5th group it is scalable
Scissor unit 105 is by first group of compression of connection rod set 201 and energy accumulation.
It is illustrated in figure 4 the quadrangular structure state of mechanism, the second connecting rod group 202 pressure is discharged on the basis of triangular prism structure state
The energy that the scalable scissor unit 103 of the third group of contracting is accumulated, the scalable scissor unit 103 of third group are made expansion movement, are driven
Extensible link 7 is stretched movement from inside to outside in stem guiding trough 6, while the second connecting rod group 202 expands into first linkage rod 5-1
With the second connecting rod 5-2；First group of scalable scissor unit, 101, second groups of scalable scissor units 102 and the 4th group can at this time
Flexible scissor unit 104 is made to collapse movement, while extensible link 7 being driven to make to be compressed movement inwards in stem guiding trough 6, when four
Mechanism completes to change from triangular prism structure state to quadrangular structure state when the scalable scissor unit of group synchronously completes unfolded state；At this time
Five groups of scalable scissor units 105 are by first group of compression of connection rod set 201 and energy accumulation.
It is illustrated in figure 5 the pentagonal prism structure state of mechanism, first connecting rod group 201 is discharged on the basis of quadrangular structure state and is compressed
The energy accumulated of the 5th group of scalable scissor unit 105, the 5th group of scalable scissor unit 105 make expansion movement, and drive can
Shrinking connecting-rod 7 is stretched movement from inside to outside in stem guiding trough 6, at the same first linkage rod group 201 expand into the 4th connecting rod 5-4 and
5th connecting rod 5-5；101, second groups of scalable scissor units 102, third groups of first group of scalable scissor unit can stretch at this time
Contracting scissor unit 103 and the 4th group of scalable scissor unit 104 are made to collapse movement, while driving extensible link 7 in stem guiding trough 6
Inside make to be compressed movement inwards, when five groups of scalable scissor units synchronously complete unfolded state, mechanism is completed from quadrangular structure state
Change to pentagonal prism structure state.
Claims (4)
1. a kind of four structure state of large space converts development agency, including connecting rod, scalable scissor unit, hinge and chassis, special
Sign is that specific structure and connection relationship are as follows：
The connecting rod includes first linkage rod, the second connecting rod, third connecting rod, the 4th connecting rod and the 5th connecting rod, and
One connecting rod one end is fixedly connected by pin shaft with two-freedom hinge one end, and the other end passes through pin shaft and Three-degree of freedom hinge
The connection of second axis pin base, remaining four connecting rod are identical with the structure of first linkage rod and connection relationship；
The scalable scissor unit includes that first group of scalable scissor unit, second group of scalable scissor unit, third group can
Flexible scissor unit, the 4th group of scalable scissor unit and the 5th group of scalable scissor unit, first group of scalable scissor
Unit includes extensible link and stem guiding trough, and extensible link one end is connected by pin shaft and the first axis pin base of Three-degree of freedom hinge
It connects, the other end is connect by prismatic pair with stem guiding trough, remaining four groups of scalable scissor unit and first group of scalable scissor unit
Structure it is identical with connection relationship；
The hinge is divided into two-freedom hinge and Three-degree of freedom hinge, and the two-freedom hinge other end passes through pin shaft and top bottom-disc
The third axis pin base of connection, Three-degree of freedom hinge is connected by extensible link one end of pin shaft and adjacent scalable scissor unit
It connects；
The chassis is plum blossom chassis, including top bottom-disc and low bottom-disc, is uniformly distributed that there are five the identical pins of size on top bottom-disc
Axle bed, each axis pin base are connect by pin shaft with two-freedom hinge, and the structure and connection relationship of low bottom-disc and top bottom-disc are complete
It is identical.
2. four structure state of a kind of large space according to claim 1 converts development agency, which is characterized in that described scalable to cut
Fork unit is made of four extensible links and two stem guiding troughs, passes through connecting rod between two groups of adjacent scalable scissor units
It is connected with each other with Three-degree of freedom hinge as common elements.
3. four structure state of a kind of large space according to claim 1 converts development agency, which is characterized in that the Three Degree Of Freedom
Hinge includes three axis pin bases, is the first axis pin base, the second axis pin base and third axis pin base respectively.
4. four structure state of a kind of large space according to claim 1 converts development agency, which is characterized in that the long connecting rod group
At prism skeleton, scalable scissor unit forms prismatic surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810810309.5A CN108858196B (en) | 2018-07-20 | 2018-07-20 | Large-space four-configuration-transformation extensible mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810810309.5A CN108858196B (en) | 2018-07-20 | 2018-07-20 | Large-space four-configuration-transformation extensible mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108858196A true CN108858196A (en) | 2018-11-23 |
| CN108858196B CN108858196B (en) | 2021-07-20 |
Family
ID=64304554
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810810309.5A Active CN108858196B (en) | 2018-07-20 | 2018-07-20 | Large-space four-configuration-transformation extensible mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108858196B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112575901A (en) * | 2020-12-11 | 2021-03-30 | 长沙理工大学 | Single-degree-of-freedom extensible unit and cylindrical surface extensible mechanism formed by same |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0959524A1 (en) * | 1998-05-18 | 1999-11-24 | TRW Inc. | Folding perimeter truss reflector |
| RU2266592C1 (en) * | 2004-07-28 | 2005-12-20 | Открытое акционерное общество "Ракетно-космическая корпорация "Энергия" им. С.П. Королева" | Large-size deployable space reflector |
| CN1826453A (en) * | 2003-03-18 | 2006-08-30 | 彼得·A·卡尔内 | Foldable, expandable framework for a variety of structural purposes |
| WO2012065619A1 (en) * | 2010-11-19 | 2012-05-24 | European Space Agency | Low weight, compactly deployable support structure |
| CN102593571A (en) * | 2012-03-19 | 2012-07-18 | 西北工业大学 | Scissors-based quadrilateral unit planar array developable mechanism |
| WO2013135298A1 (en) * | 2012-03-15 | 2013-09-19 | European Space Agency | Mechanical support ring structure |
| CN102672716B (en) * | 2012-05-22 | 2014-11-05 | 广西大学 | Reconfigurable metamorphic polyhedron robot mechanism |
| CN106025483A (en) * | 2016-07-04 | 2016-10-12 | 燕山大学 | Scissors fork linkage type over-constrained deployable unit and spatial deployable mechanism thereof |
| CN106229602A (en) * | 2016-08-31 | 2016-12-14 | 燕山大学 | Cut hinge formula bilayer annular truss deployable antenna mechanism completely |
-
2018
- 2018-07-20 CN CN201810810309.5A patent/CN108858196B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0959524A1 (en) * | 1998-05-18 | 1999-11-24 | TRW Inc. | Folding perimeter truss reflector |
| CN1826453A (en) * | 2003-03-18 | 2006-08-30 | 彼得·A·卡尔内 | Foldable, expandable framework for a variety of structural purposes |
| RU2266592C1 (en) * | 2004-07-28 | 2005-12-20 | Открытое акционерное общество "Ракетно-космическая корпорация "Энергия" им. С.П. Королева" | Large-size deployable space reflector |
| WO2012065619A1 (en) * | 2010-11-19 | 2012-05-24 | European Space Agency | Low weight, compactly deployable support structure |
| WO2013135298A1 (en) * | 2012-03-15 | 2013-09-19 | European Space Agency | Mechanical support ring structure |
| CN102593571A (en) * | 2012-03-19 | 2012-07-18 | 西北工业大学 | Scissors-based quadrilateral unit planar array developable mechanism |
| CN102672716B (en) * | 2012-05-22 | 2014-11-05 | 广西大学 | Reconfigurable metamorphic polyhedron robot mechanism |
| CN106025483A (en) * | 2016-07-04 | 2016-10-12 | 燕山大学 | Scissors fork linkage type over-constrained deployable unit and spatial deployable mechanism thereof |
| CN106229602A (en) * | 2016-08-31 | 2016-12-14 | 燕山大学 | Cut hinge formula bilayer annular truss deployable antenna mechanism completely |
Non-Patent Citations (2)
| Title |
|---|
| FEI HU，ET AL.: "Malleability and optimization of tetrahedral metamorphic element for deployable truss antenna reflector", 《AIP ADVANCES》 * |
| 史创: "《大型环形桁架式可展开天线机构设计与分析》", 《中国优秀硕士学位论文全文数据库（电子期刊）》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112575901A (en) * | 2020-12-11 | 2021-03-30 | 长沙理工大学 | Single-degree-of-freedom extensible unit and cylindrical surface extensible mechanism formed by same |
| CN112575901B (en) * | 2020-12-11 | 2021-10-19 | 长沙理工大学 | Single-degree-of-freedom extensible unit and cylindrical surface extensible mechanism formed by same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108858196B (en) | 2021-07-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109119739B (en) | One kind being based on three structure state transformation space development agency of scissor unit | |
| CN107331939B (en) | Scissor-type hexagonal prisms can open up the space development agency of unit and its composition | |
| CN209667394U (en) | A kind of large space development agency | |
| CN106450649B (en) | A kind of H configuration satellite antenna development agency | |
| CN108847518B (en) | One kind imitating cobweb space development agency based on scissors unit | |
| CN107133410B (en) | Comprehensive method for spatial prismatic type deployable unit mechanism configuration capable of being folded into straight line | |
| CN106314826B (en) | Torsional spring drives scissor-type extending arm | |
| CN109860974B (en) | Composite shear hinge type perimeter truss expandable antenna mechanism | |
| CN109110156B (en) | Rigid hinge connection space expandable mechanism based on transformation of triangular prism expandable unit | |
| CN108858196A (en) | A kind of four structure state of large space transformation development agency | |
| CN107972888A (en) | The centrosymmetric secondary folding and unfolding mechanism in space | |
| CN107946724B (en) | A kind of with six-bar mechanism is the space folding and unfolding mechanism that can open up unit | |
| CN208368710U (en) | One kind being based on three structure state transformation space development agency of scissor unit | |
| CN109050979B (en) | Shear type folding and unfolding unit rigid hinge connection large-space unfoldable mechanism | |
| CN111641020B (en) | Deployable mechanism of triangular prism unit modular planar antenna | |
| CN207550546U (en) | A kind of deployable space support structure of gapless of elastic hinge driving | |
| CN106284803B (en) | A kind of deployable cylindrical reticulated shell structure folding unit with four pieces of rigid plates | |
| CN209133670U (en) | Pyramid packing forms annular truss deployable antenna mechanism | |
| CN109103560B (en) | One kind can open up unit scissor connected double-layer deployable antenna mechanism based on diamond shape | |
| CN109149052B (en) | One kind driving double-deck deployable antenna mechanism based on scissor mechanism torsional spring | |
| CN109025025A (en) | A kind of plane retractable Roof Structures that achievable two-way linkage folds | |
| CN106025488B (en) | A kind of two-dimensional flat plate antenna expanding unit | |
| CN107914897A (en) | It is a kind of using double pneumatic cylinders as the space folding and unfolding mechanism that can open up unit | |
| CN107946725B (en) | Folding and unfolding mechanism of double-slider spring combination constraint telescopic rod | |
| CN114725650A (en) | Y-shaped rib deployable antenna based on parallelogram unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |