CN109279049A - A kind of elasticity boom unfolding mechanism - Google Patents
A kind of elasticity boom unfolding mechanism Download PDFInfo
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- CN109279049A CN109279049A CN201811216082.8A CN201811216082A CN109279049A CN 109279049 A CN109279049 A CN 109279049A CN 201811216082 A CN201811216082 A CN 201811216082A CN 109279049 A CN109279049 A CN 109279049A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 166
- 238000003825 pressing Methods 0.000 claims abstract description 10
- 230000006835 compression Effects 0.000 claims abstract description 5
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- 230000007704 transition Effects 0.000 claims description 36
- 230000033001 locomotion Effects 0.000 claims description 14
- 229920001971 elastomer Polymers 0.000 claims description 7
- 239000005060 rubber Substances 0.000 claims description 7
- 238000003780 insertion Methods 0.000 claims description 6
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- 230000003447 ipsilateral effect Effects 0.000 claims description 3
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- 230000005540 biological transmission Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
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- 230000001771 impaired effect Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
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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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- 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
- B64G1/42—Arrangements or adaptations of power supply systems
- B64G1/44—Arrangements or adaptations of power supply systems using radiation, e.g. deployable solar arrays
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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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- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
A kind of elasticity boom unfolding mechanism, it is related to a kind of unfolding mechanism.The present invention is in order to solve existing unfolding mechanism there are precision of expansion and folding ratio are low, expanding performance and the strong poor problem of driving force.The elastic boom of pressing is wrapped on roller by the present invention, controls the expansion and gathering of elastic boom by the rotation of roller, and rocker arm body controls evening up or heaving for elastic boom；Root clamp system fixes the root of elastic boom；Wheel clamping fits closely each layer of elastic boom；Type leading wheel framework is oriented to it during elastic boom is unfolded or collapses；Friction pulley power drive mechanism and friction wheel mechanism are installed in support frame, and friction pulley power drive mechanism provides power for friction wheel mechanism, provide expansion power with the contact of elastic boom by friction wheel mechanism for elastic boom expansion；Sliding lock mechanism is mounted on the compression and release on the lateral surface of support frame and controlling friction wheel mechanism.The present invention is for aerospace and science and techniques of defence field.
Description
Technical field
The present invention relates to a kind of unfolding mechanisms, and in particular to a kind of elasticity boom unfolding mechanism belongs to aerospace and state
Anti- sciemtifec and technical sphere.
Background technique
Deployable space structure technology is the main means for solving spacecraft coarse scale structures transmission envelop restricted problem.With
The implementation of the great aerospace engineering such as China's manned space flight, deep space exploration, Space borne detection, Space Attack, need using various super
Large Spacecraft deployable structure.Due to the demand of high-power high-precision satellite communication, there is an urgent need to large aperture antenna structure,
Future needs to reach using area in stationary orbit hundreds of square metres of ultra-large type deployable antenna；Wireless power transmission plan
Solar energy in large area cell array length will need to create big folding as spacecraft structure is more and more large-scale up to 1Km or more
Exhibition is than, light-weighted novel deployable structure.
Notification number is the Chinese invention patent of CN101295810A, a kind of entitled film antenna of single motor driving
Bean-pod shaped bracing stick two-side expansion mechanism, during expansion and gathering, the upper and lower displacement by support rod guarantees the support of beanpod shape
The horizontal development of bar causes precision of expansion low and expansion is driven due to lacking guiding and power-assisted to expansion direction during expansion
The problem of differential force, in addition, causing the rigidity of unfolding mechanism low and reliable since the root of elastic boom is not fixed
Property is poor.
In conclusion existing unfolding mechanism, there are precision of expansion and folding ratio are low, expanding performance and driving force are strong poor
Problem.
Summary of the invention
The purpose of the present invention is to solve existing unfolding mechanisms there are precision of expansion and folding ratio are low, expanding performance and
The strong poor problem of driving force.And then provide a kind of elastic boom unfolding mechanism.
The technical scheme is that a kind of elasticity boom unfolding mechanism, it includes support frame, cylinder mechanism and rocker arm machine
Structure；The elastic boom of pressing is wrapped on the roller of the cylinder mechanism in support frame middle position, the rotation of roller is passed through
The expansion and gathering for controlling elastic boom, the rocker arm body positioned at cylinder mechanism surrounding convert the rotary motion of cylinder mechanism
For translational motion, evening up or heaving for elastic boom is controlled；It is characterized by: it further includes friction wheel mechanism, friction pulley power
Transmission mechanism, sliding lock mechanism, wheel clamping, type leading wheel framework and root clamp system, root clamp system are mounted on roller
The drums inside of mechanism simultaneously fixes the root of elastic boom；Wheel clamping is installed on the support frame and is located above roller,
Each layer of elastic boom being wrapped on roller is fitted closely；Type leading wheel framework is mounted on the support frame of elastic boom protruding side
Inner sidewall on and elastic boom be unfolded or collapse during it is oriented to；Friction pulley power drive mechanism and friction
Wheel mechanism is installed in support frame, and friction pulley power drive mechanism provides power for friction wheel mechanism, passes through friction wheel mechanism
Expansion power is provided with the contact of elastic boom for elastic boom expansion；Sliding lock mechanism is mounted on the lateral surface of support frame and controls
The compression and release of friction wheel mechanism processed.
Further, support frame includes top cover, the first side plate, the second side plate, retainer and bottom plate, and top cover and bottom plate are distinguished
It is mounted on the upper and lower end face of retainer；Second side plate shares four, and the first side plate is two circular side panels, two round sides
Plate is symmetrically installed along the length direction of retainer, and the two sides of each circular side panel are respectively equipped with second side plate.
Further, cylinder mechanism includes roller, body frame, gear ring, roller bearing, pinion gear, the first planet wheel decelerator
And first motor, body frame are mounted in support frame, the center of body frame is equipped with central axis, and the both ends of body frame are separately installed with one
A roller bearing being arranged on the first side plate, and body frame is around center axis rotation；Roller is fixed on body frame, the fixed peace of gear ring
On the first side plate, first motor and the first planet wheel decelerator are mounted in body frame, the output end of first motor and first
Planet wheel decelerator connection, pinion rotation are mounted on the first side plate, and pinion gear is mounted on the defeated of the first planet wheel decelerator
Outlet, and pinion gear engages with gear ring and constitutes swing mechanism, gear ring is fixed, and pinion gear drives body frame rotation.
Further, rocker arm body include under elastic boom, rocker arm, on rocker arm, fixture nut, thread bush, the second tooth form
Band, small driven pulley, rocker arm threaded rod, the second motor, driving pulley and third toothed belt, rocker arm threaded rod are separately mounted to
The two sides of body frame, small driven pulley are mounted on the upper of rocker arm threaded rod, and the second motor and driving pulley are mounted on body frame, and
Driving pulley is mounted on the output end of the second motor, passes through the second tooth form band connection between driving pulley and small driven pulley,
The output end of second motor be equipped with from driving pulley, the rocker arm threaded rod of the other side of body frame small driven pulley with from
By third tooth form band connection between driving pulley, the both ends of rocker arm threaded rod pass through fixture nut respectively and are equipped with thread bush,
It is sleeved on thread bush under rocker arm, is mounted on the lower end under rocker arm on rocker arm, in the band of rocker arm threaded rod under rocker arm and on rocker arm
The dynamic elastic boom of lower clamping.
Further, friction wheel mechanism is symmetrically mounted on the cylinder mechanism two sides in support frame, the friction wheel mechanism of every side
Include support frame, great transition gear, gear shaft, rocking bar torsional spring, rocking bar, fixing screws, needle bearing, small excessive gear,
Friction pulley and friction pulley end cap, support frame are mounted on the inner sidewall of retainer, and gear shaft is two sections, and one section of gear shaft is inserted
Enter in the second side plate, gear shaft is equipped with rocking bar torsional spring, rocking bar and great transition gear, another section of insertion support frame of gear shaft
Interior, friction pulley is threaded through on retainer, and the both ends of friction pulley are separately installed with a friction pulley end cap, small excessive gear installation
On friction pulley end cap, and great transition gear is engaged with small excessive gear, and needle bearing is mounted on rocking bar by fixing screws.
Further, friction pulley power drive mechanism includes big belt wheel and the first toothed belt, and big belt wheel is mounted on body frame
Two sides, by the first tooth form band connection between great transition gear and big belt wheel, the body frame of cylinder mechanism is rotated, and body frame rotates band
Dynamic big belt wheel rotation, big belt wheel drive the rotation of great transition gear by the first toothed belt.
Further, a sliding lock mechanism is respectively installed on four the second side plates, two cunnings positioned at retainer the same side
It is connected between latch mechanism by bindiny mechanism；Each sliding lock mechanism includes slide bar, adjusting nut, thrust spring, sliding lock and unlock
Spring；Bindiny mechanism includes wirerope, multiple guider screws, pin removal and release；Slide bar is mounted on the second side plate, sliding
The side of bar is equipped with adjusting nut, thrust spring and sliding lock, and the other side of slide bar is equipped with unlock spring, and unlock spring is logical
Cross the support plate constraint being mounted on the second side plate；Multiple guider screws are mounted on the first side plate, pin removal and release peace
On the first side plate, one end of wirerope is connect with the slide bar end of one of sliding lock mechanism, the other end of wirerope according to
Secondary another sliding lock mechanism around after guider screw, release and next guider screw and on the second ipsilateral side plate
Slide bar end connection.
Further, wheel clamping includes contact roller torsional spring and contact roller, contact roller be mounted on two circular side panels it
Between, contact roller torsional spring is mounted on the junction of two circular side panels.
Further, type leading wheel framework include can runner, directive wheel connecting rod, directive wheel torsional spring, guiding wheeling support and fixation
Wheel, type leading wheel framework are located at the two sides of retainer length direction, and guiding wheeling support is mounted on retainer, can runner it is logical
It crosses directive wheel connecting rod to connect with guiding wheeling support, fast pulley is fixed on guiding wheeling support.
Further, root clamp system include third motor, the second planet wheel decelerator, bevel pinion, bevel gear wheel,
Housing, inner sleeve, sheet rubber, connecting rod, threaded rod, limit film, stop screw, sleeve thread sliding sleeve, inner sleeve threaded sleeve, two
Guide rod, linear bearing and sliding block, two guide rods are fixedly mounted on body frame, housing, inner sleeve, linear bearing, connecting rod, outer
External threading sliding sleeve, inner sleeve threaded sleeve, limit film and stop screw are symmetrically distributed in guide rod both ends；Wherein inner sleeve passes through straight
Spool is held on the guide rod being embedded into housing, and housing is mounted on two guide rods by sleeve thread sliding sleeve；Threaded rod peace
Between two housings, the both ends of threaded rod are mounted on an inner sleeve threaded sleeve, and the both ends of threaded rod pass through peace respectively
Equipped with a stop screw, limit film is mounted on the both ends of threaded rod, is connected between inner sleeve threaded sleeve and inner sleeve by connecting rod
It connects, bevel gear wheel is sleeved on threaded rod, and the second planet wheel decelerator is mounted on body frame, and third motor is mounted on the second row
On planetary-gear speed reducer, and the output end of third motor is connect with the second planet wheel decelerator, the output of the second planet wheel decelerator
End is equipped with bevel pinion, and bevel pinion is meshed with bevel gear wheel；The two sides of inner sleeve are equipped with sliding block, sliding block and housing it
Between constitute sliding pair, sheet rubber is mounted on the lateral wall of inner sleeve.
The present invention has the effect that compared with prior art
Elastic boom unfolding mechanism of the invention is one kind of deployable structure, in rocket launching, elastic boom unwinder
Structure is in rounding state；It after satellier injection, can gradually spread out, the mechanisms such as film antenna, solar array are strutted.Bullet
Property boom unfolding mechanism has the advantages that
(1) it first flattens when elastic boom storage and is wrapped on roller again, can be realized big folding ratio, folding ratio is up to 1:
120, meet the developing direction in unfolding mechanism future；
(2) it on the one hand uses roller rotation actively to push elastic boom outward when elastic boom expansion, on the other hand also adopts
It is unfolded with friction pulley assistant spring boom, the expansion power of 300N can be obtained, is convenient for film forming, improves the expansion of film
Precision；
(3) both ends of friction pulley have driving force to transmit, and avoid the torsion of friction pulley caused by only driving one end well
Change shape, thus the problem of further resulting in impaired elastic boom or reduction precision of expansion.
(4) rocker arm is driven using V belt translation and the screw-driven with self-locking function, reduces the weight of structure,
Improve the reliability of mechanism.
(5) directive wheel can runner and fast pulley remained during expansion to the constraint of elastic boom, improve
The precision of expansion.
(6) unfolding mechanism plays main support using body frame, improve the rigidity of entire unfolding mechanism be unfolded can
By property.
(7) root clamp system uses the characteristics of metamorphic mechanisms, under conditions of driving method is constant, can be realized interior
Set is crossed out with housing, and inner sleeve and the longitudinal of housing clamp two movements, is reduced the weight of structure, is simplified mechanism,
Improve reliability.
(8) root clamp system uses the screw-driven with self-locking function, improves to the clamping of elastic boom root
Reliability does not need design self-locking device, reduces the weight of structure.
(9) friction pulley is locked by the sliding lock mechanism with adjustable springs thrust, can according to need output
Power is unfolded in a variety of different elastic booms, and the friction pulley 23-1 that the thickness difference because of elastic boom can also be allowed to generate is to bullet
The variation of property 10 pressure of boom, is unlikely to destroy elastic boom.
Detailed description of the invention
Fig. 1 is the overall structure diagram of elastic boom unfolding mechanism of the invention；Fig. 2 is dismantle side plate 2-1, side plate 2-
2 and top cover 1 overall structure diagram；Fig. 3 is schematic diagram of internal structure (dismantle roller 5 and the body frame 34 1 of cylinder mechanism
The big belt wheel 30 of side)；Fig. 4 is the structural schematic diagram of root clamp system；Fig. 5 is the cross-sectional view of root clamp system；Fig. 6 is
The top view of cylinder mechanism；Fig. 7 is the cross-sectional view of friction wheel mechanism；Fig. 8 is the cross-sectional view of release；Fig. 9 is tensioning pulley knot
Structure schematic diagram；Figure 10 is the winding schematic diagram of roller.
In figure, 1. top covers, 2. side plates, 3. retainers, 4. bottom plates, 5. rollers, 6. rocker arms, 7. support frames, 8. great transition teeth
Wheel, 9. small transition gears, 10. elastic booms, 11. adjusting nuts, 12. thrust springs, 13. sliding locks, 14. needle bearings, 15.
Rocking bar, 16. slide bars, 17. unlock springs, 18. support plates, 19. wirerope, 20. guider screws, 21. pin removals, 22. releases
Device, 23. friction pulleys, 24. type leading wheel frameworks, 25. contact roller torsional springs, 26. contact rollers, 27. gear shafts, 28. rocking bar torsional springs, 29.
Gear ring, 30. big belt wheels, 31. roller bearings, 32. tensioning pulley mechanisms, 33. first toothed belts, 34. body frames, 35. pinion gears,
36. third motor, 37. second planet wheel decelerators, 38. sleeve thread sliding sleeves, 39. linear bearings, 40. guide rods, 41. is small
Driving pulley, 42. second motors, 43. fixture nuts, 44. thread bush, 45. second toothed belts, 46. small driven pulleys, 47.
One motor, 48. rocker arm threaded rods, 49. housings, 50. inner sleeves, 51. threaded rods, 52. sheet rubbers, 53. first planetary gears slow down
Device, 54. bevel pinions, 55. bevel gear wheels, 56. inner sleeve threaded sleeves, 57. sliding blocks, 58. connecting rods, 59. limit films, 60. limits
Screw, 61. third toothed belts, 62. fixing screws.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of elastic boom exhibition of present embodiment in conjunction with Fig. 1 to Figure 10
Opening mechanism, including support frame, cylinder mechanism and rocker arm body；The elastic boom of pressing is wrapped in positioned at support frame interposition
On the roller for the cylinder mechanism set, the expansion and gathering of elastic boom are controlled by the rotation of roller, is located at cylinder mechanism surrounding
Rocker arm body convert translational motion for the rotary motion of cylinder mechanism, control evening up or heaving for elastic boom；Its feature
Be: it further include friction wheel mechanism, friction pulley power drive mechanism, sliding lock mechanism, wheel clamping, type leading wheel framework and
Root clamp system, root clamp system are mounted on the drums inside of cylinder mechanism and fix the root of elastic boom；It compresses
Wheel mechanism is mounted on support frame and is located above roller, and each layer of elastic boom being wrapped on roller is fitted closely；Guiding
To it on the inner sidewall of the wheel mechanism support frame that is mounted on elastic boom protruding side and during elastic boom is unfolded or collapses
It is oriented to；Friction pulley power drive mechanism and friction wheel mechanism are installed in support frame, and friction pulley power drive mechanism is
Friction wheel mechanism provides power, provides expansion power with the contact of elastic boom by friction wheel mechanism for elastic boom expansion；It is sliding
Latch mechanism is mounted on the compression and release on the lateral surface of support frame and controlling friction wheel mechanism.
The elastic boom unfolding mechanism of present embodiment has self-locking function because containing self-locking lead screw；Using friction
The expansion that mechanism drives elastic boom is taken turns, the expansion power and expansion reliability of elastic boom are improved, using type leading wheel framework pair
Elastic boom is oriented to, and precision of expansion and pointing accuracy are improved, using root clamp system to the root of elastic boom into
Row is fixed, and the rigidity and fundamental frequency of structure are improved.Elastic boom unfolding mechanism have stable drive, precision of expansion height with can be real
Now repeat the characteristics of exhibition is received.
Specific embodiment 2: illustrating present embodiment in conjunction with Fig. 1 and Fig. 2, the support frame of present embodiment includes top cover
1, the first side plate 2-1, the second side plate 2-2, retainer 3 and bottom plate 4, top cover 1 and bottom plate 4 are separately mounted to the upper of retainer 3
On lower end surface；There are four second side plate 2-2 is total, the first side plate 2-1 is two circular side panels, and two circular side panels are along retainer 3
Length direction be symmetrically installed, the two sides of each circular side panel are respectively equipped with a second side plate 2-2.So set, being other
The installation of component provides support, and other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 3: illustrating present embodiment in conjunction with Fig. 2 and Fig. 3, the cylinder mechanism of present embodiment includes rolling
Cylinder 5, body frame 34, gear ring 29, roller bearing 31, pinion gear 35, the first planet wheel decelerator 53 and first motor 47, body frame 34
It is mounted in support frame, the center of body frame 34 is equipped with central axis, and the both ends of body frame 34 are separately installed with one and are arranged in first
Roller bearing 31 on side plate 2-1, and body frame 34 is around center axis rotation；Roller 5 is fixed on body frame 34, the fixed peace of gear ring 29
On the first side plate 2-1, first motor 47 and the first planet wheel decelerator 53 are mounted in body frame 34, first motor 47
Output end is connect with the first planet wheel decelerator 53, and pinion gear 35 is rotatably installed on the first side plate 2-1, and pinion gear 35 is installed
In the output end of the first planet wheel decelerator 53, and pinion gear 35 engages with gear ring 29 and constitutes swing mechanism, and gear ring 29 is fixed not
Dynamic, pinion gear 35 drives body frame 34 to rotate.So set, the elastic boom of pressing is wrapped on roller, pass through turning for roller
The dynamic expansion and gathering for controlling elastic boom.Other compositions and connection relationship are the same as one or two specific embodiments.
The drums inside for holding together body frame and the most of part being mounted on body frame and mechanism packet of present embodiment, is convenient for
Elastic boom is wrapped on the outer surface of roller.Two sections of body frame are equipped with roller bearing 31, and roller bearing 31 is mounted on two sides
Side plate 2-1 in, therefore body frame can be rotate around central axis.Gear ring 29 is fixed on side plate 2-1, first motor 47 and first
Planet wheel decelerator 53 connects, and is fixed on body frame 34, can driving pinion 35 rotate, pinion gear 35 engages with gear ring 29
Swing mechanism is constituted, when pinion gear 35 rotates, because gear ring 29 is fixed, body frame 34 rotates, to drive solid
All components being scheduled on body frame rotate together, it is thus achieved that the rotary motion of cylinder mechanism.Because of the first motor used
47 have self-locking function, thus mechanism has self-locking function, can save the locking mechanism under system unfolded state, to mechanism letter
Change is of great significance with loss of weight.
Specific embodiment 4: illustrating present embodiment in conjunction with Fig. 1 and Fig. 2, the rocker arm body of present embodiment includes bullet
6-1 under property boom 10, rocker arm, 6-2 on rocker arm, fixture nut 43, thread bush 44, the second toothed belt 45, small driven pulley 46,
Rocker arm threaded rod 48, the second motor 42, driving pulley 41 and third toothed belt 61, rocker arm threaded rod 48 are separately mounted to body frame
34 two sides, small driven pulley 46 are mounted on the upper of rocker arm threaded rod 48, and the second motor 42 and driving pulley 41 are mounted on body frame
On 34, and driving pulley 41 is mounted on the output end of the second motor 42, is passed through between driving pulley 41 and small driven pulley 46
The output end of the connection of second toothed belt 45, the second motor 42 is equipped with from driving pulley, the rocker arm screw thread of the other side of body frame 34
It small driven pulley 46 on bar 48 and is connected from third toothed belt 61 is passed through between driving pulley, the both ends of rocker arm threaded rod 48
Thread bush 44 is equipped with by fixture nut 43 respectively, 6-1 is sleeved on thread bush 44 under rocker arm, and 6-2, which is mounted on, on rocker arm shakes
The lower end of 6-1 under arm, 6-2 clamps elastic boom 10 under the drive of rocker arm threaded rod 48 on 6-1 and rocker arm under rocker arm.So
Rotary motion is converted translational motion by setting, controls evening up or heaving for elastic boom.It is other composition and connection relationship with
Specific embodiment one, 2 is three identical.
Rocker arm in the rocker arm body part of present embodiment is made of 6-2 on 6-1 under rocker arm and rocker arm, is connected by screw
It connects, 6-2 jointly clamps elastic boom 10 on 6-1 and rocker arm under rocker arm, and 4 rocker arms are symmetrically distributed in around roller 5, screw thread
44 sets of set is under rocker arm in 6-1, and keeping thread bush 44 not under rocker arm by fixture nut 43,6-1 is detached from.Outside thread bush 44
Wall is smooth, constitutes revolute pair with 6-1 under rocker arm, when elastic boom 10 is wrapped on roller, rocker arm fits together with roller 5
Complete circular arc is constituted, after the expansion of elastic boom 10, rocker arm turns to horizontal position；The inner thread of thread bush 44 with shake
Arm threaded rod 48 screws, and is translated by threaded rod rotate driving rocker arm, elastic boom is evened up or heaved.Rocker arm threaded rod 48
Power resources in the second motor 42, the second motor 42 drives small driving pulley 41, and small driving pulley passes through the second toothed belt 45
Small driven pulley 46 is driven to rotate with third toothed belt 61, small driven pulley 46 and rocker arm threaded rod 48 are key connection, therefore are shaken
Arm threaded rod 48 rotates.
Specific embodiment 5: illustrating present embodiment in conjunction with Fig. 1 and Fig. 2, the friction wheel mechanism of present embodiment is symmetrical
The cylinder mechanism two sides in support frame are mounted on, the friction wheel mechanism of every side includes support frame 7, great transition gear 8, gear
Axis 27, rocking bar torsional spring 28, rocking bar 15, fixing screws 62, needle bearing 14, small excessive gear 9, friction pulley 23-1 and friction pulley
End cap 23-2, support frame 7 are mounted on the inner sidewall of retainer 3, and gear shaft 27 is two sections, one section of gear shaft 27 insertion the
In two side plate 2-2, gear shaft 27 is equipped with rocking bar torsional spring 28, rocking bar 15 and great transition gear 8, and another section of gear shaft 27 is inserted
Enter in support frame 7, friction pulley 23-1 is threaded through on retainer 3, and the both ends of friction pulley 23-1 are separately installed with a friction pulley end
23-2 is covered, small excessive gear 9 is mounted on friction pulley end cap 23-2, and great transition gear 8 is engaged with small excessive gear 9, needle roller
Bearing 14 is mounted on rocking bar 15 by fixing screws 62.So set, the expansion for elastic boom provides certain expansion
Power.Other compositions and connection relationship and specific embodiment one, two, three or four are identical.
The friction wheel mechanism of present embodiment is symmetrically placed in unfolding mechanism two sides, and every side respectively includes upper and lower two symmetrically again
The friction pulley of arrangement.In one end insertion side plate 2-2 of gear shaft 27, rocking bar torsional spring 28, rocking bar 15 and serious offense are installed on axis
Gear 8 is crossed, the other end of axis is inserted into support frame 7, and support frame is fixed on side plate 2-2, thus solid by two sections of gear shaft 27
Branch.Great transition gear 8 is engaged with small transition gear 9, and small transition gear 9 is connected on friction pulley end cap 23-2 by spline, is rubbed
It wipes wheel end cap 23-2 and is fixed on the both ends friction pulley 23-1, therefore the power being transmitted on great transition gear 8 can pass through small transition tooth
Wheel 9 is eventually transferred on friction pulley 23-1, and the other end of friction pulley end cap 23-2 is equipped with bearing, and the outer ring of bearing is mounted on
In rocking bar 15, needle bearing 14 is fixed on rocking bar 15 by fixing screws 62.During the expansion of elastic boom, sliding lock
13 needle bearings 14 being mounted on rocking bar 15 by locking, so that upper and lower two friction pulley 23-1 be locked, two friction pulleys are total
With the extruding of elastic boom 10 is situated between and there is certain pressing force, friction pulley 23-1 rotation, by frictional force by bullet
Property boom put on display.Small transition gear 9, great transition gear 8 and rocking bar 15 constitute planetary gear train, after the expansion of elastic boom, serious offense
It is fixed to cross gear 8, translation discharges upper and lower two friction pulleys to sliding lock 13 outward, work of the rocking bar 15 in rocking bar torsional spring 28
It rotates, is lifted up, small transition gear 9 is lifted up with rocking bar 15, therefore friction pulley is also upward around gear shaft 27 under
It lifts, realizes the release of friction pulley.
Specific embodiment 6: illustrating present embodiment, the friction pulley power transmission of present embodiment in conjunction with Fig. 2 and Fig. 3
Mechanism includes big belt wheel 30 and the first toothed belt 33, and big belt wheel 30 is mounted on the two sides of body frame 34, great transition gear 8 and big band
It is connected between wheel 30 by the first toothed belt 33, the body frame 34 of cylinder mechanism rotates, and the rotation of body frame 34 drives 30 turns of big belt wheel
Dynamic, big belt wheel 30 drives great transition gear 8 to rotate by the first toothed belt 33.So set, transferring power to friction pulley
On.Other compositions and connection relationship and specific embodiment one, two, three, four or five are identical.
The power that roller rotates is transmitted on friction pulley by the friction pulley motivation transfer motion part of present embodiment, and 34 turns of body frame
Dynamic, all components being fixed on body frame 34 all follow body frame 34 to rotate, and 34 two sides of body frame are respectively fixed with a big belt wheel
30, it can be rotated with body frame, each big belt wheel 30 imparts power to great transition tooth by the first toothed belt 33 of the left and right sides
Wheel 8, is achieved in the rotation of friction pulley 23-1, because the both ends of friction pulley 23-1 have driving force to transmit, avoids well
The only torsional deflection of friction pulley caused by driving one end, so that further resulting in elastic boom 10 is damaged or reduces precision of expansion
The problem of.
Specific embodiment 7: illustrating present embodiment, four second side of present embodiment in conjunction with Fig. 1, Fig. 2 and Fig. 8
One sliding lock mechanism is respectively installed on plate 2-2, passes through bindiny mechanism between the Liang Ge sliding lock mechanism of 3 the same side of retainer
Connection；Each sliding lock mechanism includes slide bar 16, adjusting nut 11, thrust spring 12, sliding lock 13 and unlock spring 17；Connection machine
Structure includes wirerope 19, multiple guider screws 20, pin removal 21 and release 22；Slide bar 16 is mounted on the second side plate 2-2,
The side of slide bar 16 is equipped with adjusting nut 11, thrust spring 12 and sliding lock 13, and the other side of slide bar 16 is equipped with unlock spring
17, unlock spring 17 is constrained by the support plate 18 being mounted on the second side plate 2-2；Multiple guider screws 20 are mounted on first
On side plate 2-1, pin removal 21 and release 22 are mounted on the first side plate 2-1, one end of wirerope 19 and one of sliding lock
16 end of slide bar of mechanism connects, and the other end of wirerope 19 successively bypasses guider screw 20, release 22 and next guiding
It is connect after screw 20 with 16 end of slide bar for another sliding lock mechanism being located on the second ipsilateral side plate 2-2.So set,
Control the compression and release of friction pulley.Other compositions and connection relationship and specific embodiment one, two, three, four, five or six phases
Together.
4 side plate 2-2 of present embodiment are mounted on a sliding lock mechanism, and 4 sliding lock mechanisms are symmetrical.Slide bar 16
It can be translated in the hole of side plate 2-2, adjusting nut 11, thrust spring 12, sliding lock 13, unlock 17 and of spring are installed on slide bar
Wirerope 19, the both ends of wirerope 19 are connected with a slide bar 16 respectively, unlock one end of spring 17 by the multi-diameter shaft on slide bar 16
Constraint, the other end are constrained by the support plate 18 being fixed on side plate 2-2, and unlock spring 17 generates a unlock to slide bar 16
Driving force.When sliding lock mechanism is in locking state, sliding lock 13 locks upper and lower two needle bearings 14, passes through adjusting nut
11 and thrust spring 12 adjust sliding lock 13 to the pressing force of needle bearing 14, wirerope 19 is in tensioned state at this time, pull pin
Device 21 is also not operating, and the locking bail 22-2 of release 22 will be disengaged from hook 22-1 locking, and friction pulley 23-1 is in locking state.When
Pin is extracted in the movement of pin removal 21, and the locking bail 22-2 of release 22 is rotated counterclockwise, and is detached from hook 22-1 and is detached from, moves down,
The relaxation of wirerope 19, slide bar 16 occur to translate under the action of unlocking spring 17, the cunning on 16 translation carry moving slide-bar of slide bar
13 translation of lock, therefore sliding lock 13 cannot continue to constrain the needle bearing 14 of upper and lower two sides, to discharge friction pulley.Sliding lock mechanism
In sliding lock 13 adjusted to the pressing force of needle bearing 14 by adjusting nut 11, therefore the expansion power of elastic boom 10 is adjustable
, a variety of expansion power can be exported, the friction pulley 23-1 that the thickness difference because of elastic boom can also be allowed to generate stretches elasticity
The variation of 10 pressure of bar is unlikely to destroy elastic boom.
Specific embodiment 8: embodiment is described with reference to Fig. 2, the wheel clamping of present embodiment includes contact roller
Torsional spring 25 and contact roller 26, contact roller 26 are mounted between two circular side panels, and contact roller torsional spring 25 is mounted on two circles
The junction of side plate.So set, elastic boom each layer when being wrapped on roller is fitted closely, other compositions and connection
Relationship and specific embodiment one, two, three, four, five, six or seven are identical.
The contact roller part of present embodiment is connect by revolute pair with side plate 2-1, and the surrounding of roller 5 is symmetrically distributed in,
It is pressed in contact roller 26 always on the elastic boom 10 being wrapped on roller 5 by contact roller torsional spring 25, it is ensured that elastic boom
10 can wind around on roller 5.
Specific embodiment 9: embodiment is described with reference to Fig. 2, the type leading wheel framework of present embodiment includes can runner
24-1, directive wheel connecting rod 24-2, directive wheel torsional spring 24-3, guiding wheeling support 24-4 and fast pulley 24-5, type leading wheel framework difference
Positioned at the two sides of 3 length direction of retainer, be oriented to wheeling support 24-4 and be mounted on retainer 3, can runner 24-1 pass through directive wheel
Connecting rod 24-2 is connect with guiding wheeling support 24-4, and fast pulley 24-5 is fixed on guiding wheeling support 24-4.So set, in bullet
Property boom expansion or collapse during it is oriented to, improve precision of expansion.Other compositions and connection relationship and specific implementation
Mode one, two, three, four, five, six, seven or eight are identical.
The type leading wheel framework part of present embodiment is located at the two sides of retainer 3, can runner 24-1 pass through directive wheel connecting rod
24-2 with guiding wheeling support 24-4 connect, by directive wheel torsional spring 24-3 make can runner 24-1 be bonded always with elastic boom 10,
Play the role of laterally steering.Fast pulley 24-5 is fixed on guiding wheeling support 24-4, and the side of elastic boom 10 is always positioned at
Among upper and lower two fast pulley 24-5, play the role of longitudinally guiding.
Specific embodiment 10: illustrating present embodiment, the root clamp system packet of present embodiment in conjunction with Fig. 4 and Fig. 5
Include third motor 36, the second planet wheel decelerator 37, bevel pinion 54, bevel gear wheel 55, housing 49, inner sleeve 50, sheet rubber
52, connecting rod 58, threaded rod 51, limit film 59, stop screw 60, sleeve thread sliding sleeve 38, inner sleeve threaded sleeve 56, two lead
To bar 40, linear bearing 39 and sliding block 57, two guide rods 40 are fixedly mounted on body frame 34, housing 49, inner sleeve 50, straight line
Bearing 39, connecting rod 58, sleeve thread sliding sleeve 38, inner sleeve threaded sleeve 56, limit film 59 and stop screw 60 are symmetrically distributed in and lead
To 40 both ends of bar；Wherein inner sleeve 50 is embedded on the guide rod 40 in housing 49 by linear bearing 39, and housing 49 passes through housing
Threaded sleeve 38 is mounted on two guide rods 40；Threaded rod 51 is mounted between two housings 49, and the both ends of threaded rod 51 are equal
One inner sleeve threaded sleeve 56 is installed, the both ends of threaded rod 51 are respectively by being equipped with a stop screw 60, limit film 59
The both ends of threaded rod 51 are mounted on, are connected between inner sleeve threaded sleeve 56 and inner sleeve 50 by connecting rod 58, bevel gear wheel 55 is set with
On threaded rod 51, the second planet wheel decelerator 37 is mounted on body frame 34, and third motor 36 is mounted on the deceleration of the second planetary gear
On device 37, and the output end of third motor 36 is connect with the second planet wheel decelerator 37, the output of the second planet wheel decelerator 37
End is equipped with bevel pinion 54, and bevel pinion 54 is meshed with bevel gear wheel 55；The two sides of inner sleeve 50 are equipped with sliding block 57, sliding
Sliding pair is constituted between block 57 and housing 49, sheet rubber 52 is mounted on the lateral wall of inner sleeve 50.So set, elasticity is stretched
The root of bar is fixed, and improves whole rigidity, other compositions and connection relationship and specific embodiment one to nine is any one
Item is identical.
The root clamping part of present embodiment is placed in inside roller 5, and two guide rods 40 are fixed on body frame 34, housing
49, inner sleeve 50, linear bearing 39, connecting rod 58, sleeve thread sliding sleeve 38, inner sleeve threaded sleeve 56, limit film 59, stop screw
60 etc. are symmetrically distributed in 40 both ends of guide rod.50 two sides of inner sleeve are equipped with sliding block 57, sliding block 57 and housing 49 at sliding pair, because
This inner sleeve 49 can slide up and down in housing 50.49 two sides of housing are equipped with linear bearing 39, can be horizontal sliding along guide rod 40
Dynamic, the middle position of housing 49 is equipped with sleeve thread sliding sleeve 38, and sleeve thread sliding sleeve 38 is screwed with threaded rod 51, threaded rod
51 rotations push sleeve thread sliding sleeve 38 to translate, to drive the parts such as the inner sleeve 50 of housing 49 and connection on the coat together
Translation.Inner sleeve 50 is connect by 58 with inner sleeve threaded sleeve 56, and junction is revolute pair, inner sleeve threaded sleeve 56 also with spiral shell
Rasp bar 51 screws, and threaded rod 51 rotates, and inner sleeve threaded sleeve 56 also translates, the translational velocity and housing of inner sleeve threaded sleeve 56
The translational velocity of threaded sleeve 38 is equal, therefore the two is opposing stationary.Threaded rod 51 is one two sections non-threaded, and there is spiral shell in centre
The lead screw of line, i.e., when sleeve thread sliding sleeve 38 slides into the end of threaded rod 51, because threaded rod 51 does not have screw thread herein,
And sleeve thread sliding sleeve 38 is limited piece 59 and blocks, therefore immovable, is temporarily fixed to the end of threaded rod 51, this
When housing 49 cover on the outer wall of elastic 10 root of boom, inner sleeve 40 is inserted into the inner cavity of elastic boom 10.Threaded rod 51
It continues to rotate, because inner sleeve threaded sleeve 56 is still screwed with threaded rod 51, continues to move to, at this time inner sleeve threaded sleeve
56, connecting rod 58 and inner sleeve 50 constitute double-slider mechanism, and inner sleeve threaded sleeve 56 translates outward, and inner sleeve 50 just translates up, gradually
On the inner wall for pushing up elastic 10 root of boom, the root of elastic boom 10 is clamped together with housing 49.Root clamp system
Power resources pass through the second planet wheel decelerator 37 and bevel pinion 54, bevel gear wheel 55 in third motor 36, third motor 36
It transfers power on threaded rod 51, therefore threaded rod can be with other components of rotate driving.By root clamp system to bullet
Property boom 10 root be clamped, can be improved unfolding mechanism expansion after rigidity and fundamental frequency.
Specific embodiment 11: of the tensioning pulley part for present embodiment that embodiment is described with reference to Fig.10,
Taut band wheeling support 32-3 is fixed on side plate 2-1, and tensioning pulley 32-4 passes through tensioning pulley rocking bar 32-1 and tensioning pulley branch
Seat 32-3 connection, by tensioning pulley torsional spring 32-2 make tensioning pulley 32-4 always be pressed on the outside of the first toothed belt 33, play
Tension.Other compositions and connection relationship are identical as one to ten any one of specific embodiment.
Working principle of the present invention is as follows:
Rounding state, as shown in the left side of Fig. 1 or Fig. 2, i.e. bullet are in when elastic boom unfolding mechanism of the invention is initial
Property boom 10 is in state of applanation, and friction pulley 23 is in locking state.
During the expansion of elastic boom, cylinder mechanism is placed in the middle position of supporting frame part, and roller 5 is fixed on body frame
On 34, the drums inside that body frame and the most of part being mounted on body frame and mechanism packet are held together is wrapped in convenient for elastic boom
On the outer surface of roller.Two sections of body frame are equipped with roller bearing 31, and roller bearing 31 has in the side plate 2-1 for being mounted on two sides, because
This body frame can be rotate around central axis.Gear ring 29 is fixed on side plate 2-1, first motor 47 and the first planet wheel decelerator 53
Connection, is fixed on body frame 34, and driving pinion 35 rotates, and pinion gear 35 is engaged with gear ring 29 constitutes swing mechanism, pinion gear
When 35 rotation, because gear ring 29 is fixed, body frame 34 rotates, to drive all zero be fixed on body frame
Component rotates together, it is thus achieved that the rotary motion of cylinder mechanism.Body frame 34 rotates, all zero be fixed on body frame 34
Component all follows body frame 34 to rotate, and 34 two sides of body frame are respectively fixed with a big belt wheel 30, can rotate with body frame, Mei Ge great
Belt wheel 30 imparts power to great transition gear 8 by the first toothed belt 33 of the left and right sides, is achieved in friction pulley 23-1's
Rotation, friction wheel mechanism are symmetrically placed in unfolding mechanism two sides, and every side respectively includes upper and lower two friction pulleys being arranged symmetrically again.
In one end insertion side plate 2-2 of gear shaft 27, rocking bar torsional spring 28, rocking bar 15 and great transition gear 8 be installed on axis, axis it is another
One end is inserted into support frame 7, and support frame is fixed on side plate 2-2, thus clamped by two sections of gear shaft 27.Great transition gear 8
It is engaged with small transition gear 9, small transition gear 9 is connected on friction pulley end cap 23-2 by spline, and friction pulley end cap 23-2 is solid
The both ends friction pulley 23-1 are scheduled on, therefore the power being transmitted on great transition gear 8 can be eventually transferred to by small transition gear 9
On friction pulley 23-1, the other end of friction pulley end cap 23-2 is equipped with bearing, and the outer ring of bearing is mounted in rocking bar 15, needle roller
Bearing 14 is fixed on rocking bar 15 by fixing screws 62.During the expansion of elastic boom, 4 side plate 2-2 are mounted on
One sliding lock mechanism, 4 sliding lock mechanisms are symmetrical.Slide bar 16 can translate in the hole of side plate 2-2, and tune is equipped on slide bar
Section nut 11, thrust spring 12, sliding lock 13, unlock spring 17 and wirerope 19, the both ends of wirerope 19 are connected with a cunning respectively
Bar 16, the one end for unlocking spring 17 are constrained by the multi-diameter shaft on slide bar 16, and the other end is by the support plate that is fixed on side plate 2-2
18 constraints, unlock spring 17 generate the driving force of a unlock to slide bar 16.When sliding lock mechanism is in locking state, sliding lock
13 lock upper and lower two needle bearings 14, and sliding lock 13 is adjusted by adjusting nut 11 and thrust spring 12 to needle bearing
14 pressing force, wirerope 19 is in tensioned state at this time, and pin removal 21 is also not operating, and the locking bail 22-2 of release 22 will
It is detached from hook 22-1 locking, friction pulley 23-1 is in locking state.The extruding of elastic boom 10 is situated between by two friction pulleys jointly
And there is certain pressing force, friction pulley 23-1 rotation is put on display elastic boom by frictional force.When elastic boom is opened up completely
After opening, first motor 47 stops operating, and the great transition gear 8 of cylinder mechanism and friction wheel mechanism stops operating, pin removal 21
Pin is extracted in movement, and the locking bail 22-2 of release 22 is rotated counterclockwise, and is detached from hook 22-1 and is detached from, moves down, wirerope 19
Relaxation, slide bar 16 occur to translate under the action of unlocking spring 17, and the sliding lock 13 on 16 translation carry moving slide-bar of slide bar is flat
It moves, therefore sliding lock 13 cannot continue to constrain the needle bearing 14 of upper and lower two sides, at this point, small transition gear 9,8 and of great transition gear
Rocking bar 15 constitutes planetary gear train, and rocking bar 15 is rotated around gear shaft 27 under the action of rocking bar torsional spring 28, is lifted up, small mistake
Gear 9 is crossed as rocking bar 15 is lifted up, therefore friction pulley is also lifted up, and realizes the release of friction pulley, such as Fig. 1 or Fig. 2
Shown in right side.
During the expansion of elastic boom, type leading wheel framework part is located at the two sides of retainer 3, can runner 24-1 pass through
Directive wheel connecting rod 24-2 with guiding wheeling support 24-4 connect, by directive wheel torsional spring 24-3 make can runner 24-1 always with elasticity
Boom 10 is bonded, and plays the role of laterally steering.Fast pulley 24-5 is fixed on guiding wheeling support 24-4, elastic boom 10
Side is always positioned among two fast pulley 24-5 up and down, plays the role of longitudinally guiding.The tensioning pulley of tensioning pulley part
Support 32-3 is fixed on side plate 2-1, and tensioning pulley 32-4 is connected by tensioning pulley rocking bar 32-1 and tensioning pulley support 32-3
Connect, by tensioning pulley torsional spring 32-2 make tensioning pulley 32-4 always be pressed in the outside of the first toothed belt 33, play tensioning and make
With.Contact roller part is connect by revolute pair with side plate 2-1, is symmetrically distributed in the surrounding of roller 5, is passed through contact roller torsional spring 25
It is pressed in contact roller 26 always on the elastic boom 10 being wrapped on roller 5, it is ensured that elastic boom 10 can wind around rolling
On cylinder 5.
During the heaving of elastic boom, the rocker arm in rocker arm body part is made of 6-2 on 6-1 under rocker arm and rocker arm,
It is connected by screw to, 6-2 jointly clamps elastic boom 10 on 6-1 and rocker arm under rocker arm, and 4 rocker arms are symmetrically distributed in roller
Around 5,44 sets of thread bush in 6-1, keep the 6-1 disengaging not under rocker arm of thread bush 44 by fixture nut 43 under rocker arm.Spiral shell
The outer wall of line set 44 is smooth, constitutes revolute pair with 6-1 under rocker arm, when elastic boom 10 is wrapped on roller, rocker arm and roller 5
It fits together and constitutes complete circular arc, after the expansion of elastic boom 10, rocker arm turns to horizontal position, at this point, the second motor
The 42 small driving pulleys 41 of driving, small driving pulley drive small driven pulley 46 by the second toothed belt 45 and third toothed belt 61
Rotation, small driven pulley 46 and rocker arm threaded rod 48 are key connection, therefore rocker arm threaded rod 48 rotates.Thread bush 44
Inner thread is screwed with rocker arm threaded rod 48, is translated in opposite directions by the rocker arm at threaded rod rotate driving both ends, will have been evened up elasticity
Boom is heaved, as shown in the right side Fig. 1 or Fig. 2.
After elastic boom is heaved completely, root clamping part is placed in inside roller 5, and two guide rods 40 are fixed on body frame
On 34, housing 49, inner sleeve 50, linear bearing 39, connecting rod 58, sleeve thread sliding sleeve 38, inner sleeve threaded sleeve 56, limit film 59,
Stop screw 60 etc. is symmetrically distributed in 40 both ends of guide rod.50 two sides of inner sleeve are equipped with sliding block 57, and sliding block 57 and housing 49 are at cunning
Dynamic pair, therefore inner sleeve 49 can slide up and down in housing 50.49 two sides of housing are equipped with linear bearing 39, can be along guide rod 40
Level sliding, the middle position of housing 49 are equipped with sleeve thread sliding sleeve 38, and sleeve thread sliding sleeve 38 is screwed with threaded rod 51,
The power resources of threaded rod 51 in third motor 36, third motor 36 by the second planet wheel decelerator 37 and bevel pinion 54,
Bevel gear wheel 55 transfers power on threaded rod 51, and the rotation of threaded rod 51 pushes sleeve thread sliding sleeve 38 to translate, to drive
The parts such as the inner sleeve 50 of housing 49 and connection on the coat translate together.Inner sleeve 50 is connect by 58 with inner sleeve threaded sleeve 56,
Junction is revolute pair, and inner sleeve threaded sleeve 56 is also screwed with threaded rod 51, and threaded rod 51 rotates, inner sleeve threaded sleeve 56
Also it translates, the translational velocity of inner sleeve threaded sleeve 56 is equal with the translational velocity of sleeve thread sliding sleeve 38, therefore the two is relatively quiet
Only.Threaded rod 51 is one two sections non-threaded, intermediate threaded lead screw, i.e., when sleeve thread sliding sleeve 38 slides into threaded rod
When 51 end, because threaded rod 51 does not have screw thread herein, and sleeve thread sliding sleeve 38 is limited piece 59 and blocks, therefore not
Can be mobile, it is temporarily fixed to the end of threaded rod 51, housing 49 at this time covers on the outer wall of elastic 10 root of boom, interior
Set 40 is inserted into the inner cavity of elastic boom 10.Threaded rod 51 continues to rotate because inner sleeve threaded sleeve 56 still with threaded rod
51 screw, therefore continue to move to, and inner sleeve threaded sleeve 56, connecting rod 58 and inner sleeve 50 constitute double-slider mechanism, interior external threading at this time
Sliding sleeve 56 translates outward, and inner sleeve 50 just translates up, on the inner wall for gradually pushing up elastic 10 root of boom, together with housing 49
The root of elastic boom 10 is clamped.
Claims (10)
1. a kind of elasticity boom unfolding mechanism, it includes support frame, cylinder mechanism and rocker arm body；The elastic boom of pressing is twined
It is wound on the roller of the cylinder mechanism in support frame middle position, the expansion and receipts of elastic boom is controlled by the rotation of roller
Hold together, the rotary motion of cylinder mechanism is converted translational motion by the rocker arm body positioned at cylinder mechanism surrounding, controls elastic boom
Even up or heave；It is characterized by: it further includes friction wheel mechanism, friction pulley power drive mechanism, sliding lock mechanism, contact roller
Mechanism, type leading wheel framework and root clamp system, root clamp system are mounted on the drums inside of cylinder mechanism and stretch elasticity
The root of bar is fixed；Wheel clamping installation is on the support frame and above roller, the elastic boom that will be wrapped on roller
Each layer fits closely；Type leading wheel framework is mounted on the inner sidewall of the support frame of elastic boom protruding side and is unfolded in elastic boom
Or it is oriented to during collapsing；Friction pulley power drive mechanism and friction wheel mechanism are installed in support frame, friction
It takes turns power drive mechanism and for friction wheel mechanism provides power, with the contact of elastic boom be elasticity boom exhibition by friction wheel mechanism
Offer expansion power is provided；Sliding lock mechanism is mounted on the compression and release on the lateral surface of support frame and controlling friction wheel mechanism.
2. a kind of elastic boom unfolding mechanism according to claim 1, it is characterised in that: support frame includes top cover (1), the
Side plate (2-1), the second side plate (2-2), retainer (3) and bottom plate (4), top cover (1) and bottom plate (4) are separately mounted to retainer
(3) on upper and lower end face；There are four second side plate (2-2) is total, the first side plate (2-1) is two circular side panels, two round sides
Length direction of the plate along retainer (3) is symmetrically installed, and the two sides of each circular side panel are respectively equipped with second side plate (2-2).
3. a kind of elastic boom unfolding mechanism according to claim 2, it is characterised in that: cylinder mechanism include roller (5),
Body frame (34), gear ring (29), roller bearing (31), pinion gear (35), the first planet wheel decelerator (53) and first motor (47),
Body frame (34) is mounted in support frame, and the center of body frame (34) is equipped with central axis, and the both ends of body frame (34) are separately installed with one
A roller bearing (31) being arranged on the first side plate (2-1), and body frame (34) is around center axis rotation；Roller (5) is fixed on master
On frame (34), gear ring (29) is fixedly mounted on the first side plate (2-1), first motor (47) and the first planet wheel decelerator (53)
It is mounted in body frame (34), the output end of first motor (47) is connect with the first planet wheel decelerator (53), and pinion gear (35) turns
Dynamic to be mounted on the first side plate (2-1), pinion gear (35) is mounted on the output end of the first planet wheel decelerator (53), and pinion gear
(35) it is engaged with gear ring (29) and constitutes swing mechanism, gear ring (29) is fixed, and pinion gear (35) drives body frame (34) rotation.
4. a kind of elastic boom unfolding mechanism according to claim 3, it is characterised in that: rocker arm body includes elastic boom
(10), (6-1) under rocker arm, (6-2), fixture nut (43), thread bush (44), the second toothed belt (45), small driven belt on rocker arm
(46), rocker arm threaded rod (48), the second motor (42), driving pulley (41) and third toothed belt (61) are taken turns,
Rocker arm threaded rod (48) is separately mounted to the two sides of body frame (34), and small driven pulley (46) is mounted on rocker arm threaded rod (48)
It is upper, the second motor (42) and driving pulley (41) are mounted on body frame (34), and driving pulley (41) is mounted on the second motor
(42) it on output end, is connect between driving pulley (41) and small driven pulley (46) by the second toothed belt (45), the second electricity
The output end of machine (42) is equipped with from the small driven pulley on driving pulley, the rocker arm threaded rod (48) of the other side of body frame (34)
(46) it is connect between driving pulley by third toothed belt (61), the both ends of rocker arm threaded rod (48) pass through fixed spiral shell respectively
Female (43) are equipped with thread bush (44), and (6-1) is sleeved on thread bush (44) under rocker arm, and (6-2) is mounted under rocker arm on rocker arm
The lower end of (6-1), (6-2) clamps elastic boom (10) under the drive of rocker arm threaded rod (48) on (6-1) and rocker arm under rocker arm.
5. a kind of elastic boom unfolding mechanism according to claim 4, it is characterised in that: friction wheel mechanism is symmetrically mounted on
Cylinder mechanism two sides in support frame, the friction wheel mechanism of every side include support frame (7), great transition gear (8), gear shaft
(27), rocking bar torsional spring (28), rocking bar (15), fixing screws (62), needle bearing (14), small excessive gear (9), friction pulley (23-
1) it is mounted on the inner sidewall of retainer (3) with friction pulley end cap (23-2), support frame (7), gear shaft (27) is two sections, gear
In one section of second side plate of insertion (2-2) of axis (27), gear shaft (27) is equipped with rocking bar torsional spring (28), rocking bar (15) and great transition
Another section of insertion support frame (7) of gear (8), gear shaft (27) is interior, and friction pulley (23-1) is threaded through on retainer (3), friction
The both ends of wheel (23-1) are separately installed with a friction pulley end cap (23-2), and small excessive gear (9) is mounted on friction pulley end cap
On (23-2), and great transition gear (8) is engaged with small excessive gear (9), and needle bearing (14) is installed by fixing screws (62)
On rocking bar (15).
6. a kind of elastic boom unfolding mechanism according to claim 5, it is characterised in that: friction pulley power drive mechanism packet
Include big belt wheel (30) and the first toothed belt (33), big belt wheel (30) is mounted on the two sides of body frame (34), great transition gear (8) and big
It is connected between belt wheel (30) by the first toothed belt (33), body frame (34) rotation of cylinder mechanism, body frame (34) rotation drives big
Belt wheel (30) rotation, big belt wheel (30) drive great transition gear (8) rotation by the first toothed belt (33).
7. a kind of elastic boom unfolding mechanism according to claim 6, it is characterised in that: on four the second side plates (2-2)
One sliding lock mechanism is respectively installed, is located between the Liang Ge sliding lock mechanism of retainer (3) the same side and is connected by bindiny mechanism；
Each sliding lock mechanism includes slide bar (16), adjusting nut (11), thrust spring (12), sliding lock (13) and unlock spring
(17)；Bindiny mechanism includes wirerope (19), multiple guider screws (20), pin removal (21) and release (22)；
Slide bar (16) is mounted on the second side plate (2-2), and the side of slide bar (16) is equipped with adjusting nut (11), thrust spring
(12) and sliding lock (13), the other side of slide bar (16) are equipped with unlock spring (17), unlock spring (17) by being mounted on second
Support plate (18) constraint on side plate (2-2)；Multiple guider screws (20) are mounted on the first side plate (2-1), pin removal (21)
It is mounted on the first side plate (2-1) with release (22), the slide bar of one end of wirerope (19) and one of sliding lock mechanism
(16) end connects, and the other end of wirerope (19) successively bypasses guider screw (20), release (22) and next guiding spiral shell
Nail (20) is connect with slide bar (16) end for another sliding lock mechanism being located on ipsilateral the second side plate (2-2) afterwards.
8. a kind of elastic boom unfolding mechanism according to claim 7, it is characterised in that: wheel clamping includes contact roller
Torsional spring (25) and contact roller (26), contact roller (26) are mounted between two circular side panels, and contact roller torsional spring (25) is mounted on two
The junction of a circular side panel.
9. a kind of elastic boom unfolding mechanism according to claim 8, it is characterised in that: type leading wheel framework includes can runner
(24-1), directive wheel connecting rod (24-2), directive wheel torsional spring (24-3), guiding wheeling support (24-4) and fast pulley (24-5), guiding
Wheel mechanism is located at the two sides of retainer (3) length direction, and guiding wheeling support (24-4) is mounted on retainer (3), can turn
Wheel (24-1) is connect by directive wheel connecting rod (24-2) with guiding wheeling support (24-4), and fast pulley (24-5) is fixed on directive wheel branch
On seat (24-4).
10. a kind of elastic boom unfolding mechanism according to claim 8, it is characterised in that: root clamp system includes the
Three motors (36), the second planet wheel decelerator (37), bevel pinion (54), bevel gear wheel (55), housing (49), inner sleeve (50),
Sheet rubber (52), connecting rod (58), threaded rod (51), limit film (59), stop screw (60), sleeve thread sliding sleeve (38), inner sleeve
Threaded sleeve (56), two guide rods (40), linear bearing (39) and sliding block (57),
Two guide rods (40) are fixedly mounted on body frame (34), housing (49), inner sleeve (50), linear bearing (39), connecting rod
(58), sleeve thread sliding sleeve (38), inner sleeve threaded sleeve (56), limit film (59) and stop screw (60) are symmetrically distributed in guiding
Bar (40) both ends；Wherein inner sleeve (50) is embedded on the guide rod (40) in housing (49) by linear bearing (39), housing
(49) it is mounted on two guide rods (40) by sleeve thread sliding sleeve (38)；Threaded rod (51) be mounted on two housings (49) it
Between, the both ends of threaded rod (51) are mounted on an inner sleeve threaded sleeve (56), and the both ends of threaded rod (51) pass through installation respectively
There is a stop screw (60), limit film (59) is mounted on the both ends of threaded rod (51), inner sleeve threaded sleeve (56) and inner sleeve
(50) it is connected between by connecting rod (58), bevel gear wheel (55) is sleeved on threaded rod (51), the second planet wheel decelerator (37)
It is mounted on body frame (34), third motor (36) is mounted on the second planet wheel decelerator (37), and third motor (36) is defeated
Outlet is connect with the second planet wheel decelerator (37), and the output end of the second planet wheel decelerator (37) is equipped with bevel pinion
(54), bevel pinion (54) is meshed with bevel gear wheel (55)；The two sides of inner sleeve (50) are equipped with sliding block (57), sliding block (57) with
Sliding pair is constituted between housing (49), sheet rubber (52) is mounted on the lateral wall of inner sleeve (50).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811216082.8A CN109279049B (en) | 2018-10-18 | 2018-10-18 | Elastic extension rod unfolding mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811216082.8A CN109279049B (en) | 2018-10-18 | 2018-10-18 | Elastic extension rod unfolding mechanism |
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| CN109279049A true CN109279049A (en) | 2019-01-29 |
| CN109279049B CN109279049B (en) | 2021-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811216082.8A Active CN109279049B (en) | 2018-10-18 | 2018-10-18 | Elastic extension rod unfolding mechanism |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111276785A (en) * | 2020-02-14 | 2020-06-12 | 北京工业大学 | Single-degree-of-freedom symmetric space RURURUR deployable unit and space deployable mechanism based on same |
| CN111313138A (en) * | 2019-12-17 | 2020-06-19 | 哈尔滨工业大学 | Elastic deployable spiral antenna mechanism |
| CN111482489A (en) * | 2020-03-26 | 2020-08-04 | 北京空间飞行器总体设计部 | Stretching mechanism for completely unfolding semi-rigid thin-walled tube |
| CN112429281A (en) * | 2020-11-05 | 2021-03-02 | 中国科学院力学研究所 | Structure folding and unfolding and movement device applied to space |
| CN114166101A (en) * | 2021-12-03 | 2022-03-11 | 兴宇伟业（天津）科技有限公司 | Automatic acquisition device is used in rubber component production |
| CN114639938A (en) * | 2022-03-17 | 2022-06-17 | 齐鲁空天信息研究院 | Unfolding hinge and satellite-borne antenna |
| CN115037095A (en) * | 2022-06-09 | 2022-09-09 | 北京航空航天大学 | Double-slice combined elastic linear unfolding and folding driving mechanism |
| CN115388136A (en) * | 2022-07-15 | 2022-11-25 | 哈尔滨工业大学 | But tensioning closed loop quick assembly disassembly's mechanism of acting as go-between |
| CN115384814A (en) * | 2022-08-09 | 2022-11-25 | 重庆开拓卫星科技有限公司 | Flexible solar wing mechanism capable of being repeatedly folded along shaft |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110518327A (en) * | 2019-08-23 | 2019-11-29 | 中国电子科技集团公司第三十八研究所 | A kind of humanoid burr shape telescopic mechanism of film antenna |
| CN111313138B (en) * | 2019-12-17 | 2022-07-01 | 哈尔滨工业大学 | Elastic deployable spiral antenna mechanism |
| CN111313138A (en) * | 2019-12-17 | 2020-06-19 | 哈尔滨工业大学 | Elastic deployable spiral antenna mechanism |
| CN111276785A (en) * | 2020-02-14 | 2020-06-12 | 北京工业大学 | Single-degree-of-freedom symmetric space RURURUR deployable unit and space deployable mechanism based on same |
| CN111276785B (en) * | 2020-02-14 | 2022-07-19 | 北京工业大学 | Single-degree-of-freedom symmetric space RURURUR deployable unit and space deployable mechanism based on same |
| CN111482489A (en) * | 2020-03-26 | 2020-08-04 | 北京空间飞行器总体设计部 | Stretching mechanism for completely unfolding semi-rigid thin-walled tube |
| CN111482489B (en) * | 2020-03-26 | 2022-07-29 | 北京空间飞行器总体设计部 | Stretching mechanism for completely unfolding semi-rigid thin-walled tube |
| CN112429281A (en) * | 2020-11-05 | 2021-03-02 | 中国科学院力学研究所 | Structure folding and unfolding and movement device applied to space |
| CN112429281B (en) * | 2020-11-05 | 2022-11-15 | 中国科学院力学研究所 | Structure folding and unfolding and movement device applied to space |
| CN114166101A (en) * | 2021-12-03 | 2022-03-11 | 兴宇伟业（天津）科技有限公司 | Automatic acquisition device is used in rubber component production |
| CN114166101B (en) * | 2021-12-03 | 2023-05-26 | 兴宇伟业（天津）科技有限公司 | Automatic acquisition device for rubber product production |
| CN114639938A (en) * | 2022-03-17 | 2022-06-17 | 齐鲁空天信息研究院 | Unfolding hinge and satellite-borne antenna |
| CN114639938B (en) * | 2022-03-17 | 2023-09-05 | 齐鲁空天信息研究院 | Expansion hinge and satellite-borne antenna |
| CN115037095A (en) * | 2022-06-09 | 2022-09-09 | 北京航空航天大学 | Double-slice combined elastic linear unfolding and folding driving mechanism |
| CN115037095B (en) * | 2022-06-09 | 2024-05-28 | 北京航空航天大学 | Double-sheet combined elastic linear unfolding and folding driving mechanism |
| CN115388136A (en) * | 2022-07-15 | 2022-11-25 | 哈尔滨工业大学 | But tensioning closed loop quick assembly disassembly's mechanism of acting as go-between |
| CN115384814A (en) * | 2022-08-09 | 2022-11-25 | 重庆开拓卫星科技有限公司 | Flexible solar wing mechanism capable of being repeatedly folded along shaft |
| CN115384814B (en) * | 2022-08-09 | 2024-01-26 | 重庆开拓卫星科技有限公司 | Flexible solar wing mechanism capable of being folded along axis repeatedly |
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