CN109524757B - Para-position zither structure only containing revolute pair and application of para-position zither structure to linearly expandable antenna - Google Patents

Para-position zither structure only containing revolute pair and application of para-position zither structure to linearly expandable antenna Download PDF

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CN109524757B
CN109524757B CN201811606106.0A CN201811606106A CN109524757B CN 109524757 B CN109524757 B CN 109524757B CN 201811606106 A CN201811606106 A CN 201811606106A CN 109524757 B CN109524757 B CN 109524757B
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end points
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CN109524757A (en
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畅博彦
杨帅
金国光
张转
李晓宁
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Tianjin Polytechnic University
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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
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/08—Means for collapsing antennas or parts thereof
    • H01Q1/084—Pivotable antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/08—Means for collapsing antennas or parts thereof
    • H01Q1/10—Telescopic elements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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    • Y02E10/50—Photovoltaic [PV] energy

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Abstract

The invention discloses an alignment zither structure only comprising a revolute pair and application thereof to a linear deployable antenna, wherein the alignment zither structure only comprising the revolute pair is formed by hinging a plurality of rods; the two d rods are arranged up and down, the two groups of b rods are symmetrically arranged on two sides of the d rods, and the first end points of the three b rods are respectively hinged; two end points of the d rod positioned at the upper side are respectively hinged to the second end points of the two b rods, and two end points of the d rod positioned at the lower side are respectively hinged to the second end points of the other two b rods; the first end points of the a rod and the c rod are respectively hinged on the rod d, the hinge point is one time the length of the a rod from the end point of the rod d, and the c rod and the a rod form a parallelogram; the second end points of the two b rods which are not hinged with the end point of the d rod are hinged with the hinge points connected with the second end points of the a rods and the c rods; a. the length ratio of the b, c and d rods is 1:2:4:5. the structure can solve the problems of low unfolding precision and limited working frequency of the existing antenna, and is only connected by the revolute pair, so that the antenna is not easy to be blocked.

Description

仅含转动副的对位筝形结构及其在直线可展天线上的应用Alignment Kite Structure Containing Only Rotating Joints and Its Application to Linear Scalable Antennas

技术领域technical field

本发明涉及机械结构设计领域，具体涉及一种仅含转动副的对位筝形结构及其在直线可展天线上的应用。The invention relates to the field of mechanical structure design, in particular to an alignment kite-shaped structure comprising only a rotating pair and its application to a linear extendable antenna.

背景技术Background technique

可展机构起源于20世纪60年代，由预制单元集成，能够在初始紧密的构态与工作状态的展开构型之间转换，其一般有两种状态：完全收缩状态和完全展开状态。目前可展机构广泛应用于航空航天、能源运输和工业机器人等各个领域。目前航空航天领域的问题较为突出，空间可展天线必须保证其较大的收缩率，运输时完全收缩，工作完全展开，并具有较高的刚度性能和较低的材料质量。目前许多国家主要研究空间可展机构，并将其应用到空间可展卫星天线上。The deployable mechanism originated in the 1960s and is integrated with prefabricated units, which can switch between the initial compact configuration and the unfolded configuration in the working state. It generally has two states: a fully contracted state and a fully expanded state. At present, deployable mechanisms are widely used in various fields such as aerospace, energy transportation, and industrial robots. At present, the problems in the field of aerospace are more prominent. The space deployable antenna must ensure its large shrinkage rate, fully shrink during transportation, fully unfolded when working, and have high rigidity performance and low material quality. At present, many countries are mainly researching space expandable mechanisms and applying them to space expandable satellite antennas.

目前国内外的可展天线主要包括充气式可展天线、网状可展天线和固定面可展天线。充气式可展天线在其工作过程中容易出现褶皱现象，并且工作精度较低，容易受到环境的影响；网状可展天线结构较为复杂，不能模块化加工制造，质量较大；固定面可展天线一般为多个驱动部件，整体结构较为复杂，不能保证各个固定面的同步展开。At present, the deployable antennas at home and abroad mainly include inflatable deployable antennas, mesh deployable antennas and fixed surface deployable antennas. The inflatable deployable antenna is prone to wrinkles during its working process, and its working accuracy is low, and it is easily affected by the environment; the structure of the mesh deployable antenna is relatively complex, it cannot be modularized and manufactured, and its quality is relatively large; the fixed surface can be extended The antenna generally consists of multiple driving components, and the overall structure is relatively complicated, which cannot guarantee the simultaneous deployment of each fixed surface.

发明内容Contents of the invention

本发明提供了一种仅含转动副的对位筝形结构及其在直线可展天线上的应用，以解决现有天线展开精度不高和工作频率受限等问题，该机构不仅能通过增加模块数量来提高可展面积，并且整体机构仅使用单驱动输入，保证了同步展开，具有承载能力较高、操作灵活、空间利用率高、易于模块化制造、仅含转动副连接不易发生卡死现象等优点。The present invention provides an alignment kite-shaped structure containing only rotating pairs and its application on linear extendable antennas to solve the problems of low deployment accuracy and limited operating frequency of existing antennas. The mechanism can not only increase the The number of modules is used to increase the expandable area, and the overall mechanism only uses a single drive input to ensure synchronous deployment. It has high carrying capacity, flexible operation, high space utilization, easy modular manufacturing, and only includes rotating pair connections, which is not easy to be stuck. phenomenon and other advantages.

为此，本发明的技术方案如下：For this reason, technical scheme of the present invention is as follows:

一种仅含转动副的对位筝形结构，由多根杆铰接而成，包括两根a杆、六根b杆、两根c杆、以及两根d杆；An alignment kite-shaped structure containing only rotating pairs, which is hinged by multiple rods, including two a-rods, six b-rods, two c-rods, and two d-rods;

a杆、b杆、c杆和d杆的长度比为1：2：4：5；The length ratio of bar a, bar b, bar c and bar d is 1:2:4:5;

两根d杆上下设置，两组三根b杆对称设置于d杆左右两侧，其中三根b杆的第一端点铰接在一起，标记为点B；剩余三根b杆的第一端点铰接在一起，标记为点B1；Two d-rods are set up and down, and two groups of three b-rods are arranged symmetrically on the left and right sides of d-rod, among which the first end points of the three b-rods are hinged together, marked as point B; the first end points of the remaining three b-rods are hinged at together, labeled point B 1 ;

位于上侧的d杆的两个端点分别铰接在两根b杆的第二端点上，铰接点标记为点A1和点E1，位于下侧的d杆的两个端点分别铰接在另两根b杆的第二端点上，铰接点标记为点A和点E；The two end points of the d-rod on the upper side are respectively hinged on the second end points of the two b-rods. The hinge points are marked as point A 1 and point E 1 . On the second end point of the rod b, the hinge points are marked as point A and point E;

两根d杆上距离点E1和点E一倍a杆长度处的点分别标记为点D和点D1，该两点不位于同侧，所述两根a杆、两根c杆的第一端点分别铰接在点D和点D1上；两根c杆的第二端点均与未与其第一端点铰接的a杆的第二端点铰接，形成一个平行四边形，铰接点标记为点C、点C1；The points on the two d-bars that are one times the length of the point E 1 and the point E are marked as point D and point D 1 respectively, these two points are not located on the same side, the two a-bars, the two c-bars The first end points are respectively hinged at point D and point D1 ; the second end points of the two c-bars are both hinged with the second end points of the a-bars which are not hinged with their first end points, forming a parallelogram, and the hinge points are marked as Point C, point C1 ;

两个未与d杆端点铰接的b杆的第二端点分别铰接在点C、点C1处。The second end points of the two b-bars that are not hinged to the end points of the d-bars are respectively hinged at point C and point C1 .

一种仅含转动副的对位筝形结构，包括两个基本单元，所述单个基本单元均由多根杆铰接而成，所述单个基本单元包括一根a杆、六根b杆、一根c杆、以及一根d杆；a杆、b杆、c杆和d杆的长度比为1：2：4：5；An alignment kite-shaped structure containing only rotating pairs, including two basic units, each of which is hinged by multiple rods, and the single basic unit includes one a-rod, six b-rods, one c rod, and a d rod; the length ratio of a rod, b rod, c rod and d rod is 1:2:4:5;

其中三根b杆的第一端点铰接在一起，标记为点B，此三根b杆的第二端点分别标记为点A、点C和点E1；The first end points of the three b-bars are hinged together, marked as point B, and the second end points of the three b-bars are respectively marked as point A, point C and point E 1 ;

剩余三根b杆的第一端点铰接在一起，标记为点B1，此三根b杆的第二端点分别标记为点A1、点C1和点E；The first end points of the remaining three b-bars are hinged together, marked as point B 1 , and the second end points of these three b-bars are respectively marked as point A 1 , point C 1 and point E;

所述d杆的两个端点分别与标记为点A1、点E1的端点铰接；The two end points of the d-bar are respectively hinged with the end points marked as point A 1 and point E 1 ;

a杆的第一端点铰接在d杆上，其铰接点标记为点D1，点D1与点E1之间的长度与a杆长度相等；a杆的第二端点铰接在标记为点C的b杆的端点上；The first end point of rod a is hinged on rod d, and its hinge point is marked as point D 1 , and the length between point D 1 and point E 1 is equal to the length of rod a; the second end point of rod a is hinged at point marked as point At the end of rod b of C;

c杆的第一端点铰接在d杆的点D1处，第二端点铰接在标记为点C1的b杆的端点上；the first end point of c-bar is hinged at point D1 of d-bar and the second end point is hinged at the end point of b-bar marked as point C1 ;

所述两个基本单元通过连接单元连接在一起，所述连接单元由杆x、杆y和杆z于中点处铰接构成，此铰接点标记为Q；所述杆x与杆y等长，其长度为a杆长度的8倍；所述杆z的长度为a杆长度的2倍；所述杆x的两个端点分别铰接在两个基本单元标记为点C的端点上；所述杆z的两个端点分别铰接在两个基本单元标记为点C1的端点上；所述杆y的两个端点分别铰接在两个基本单元标记为点A的端点上，同时，两个基本单元标记为点E的b杆端点均铰接在杆x上，其铰接点距点Q的距离为a杆长度的1倍。The two basic units are connected together by a connecting unit, and the connecting unit is composed of a rod x, a rod y and a rod z hinged at a midpoint, and this hinge point is marked as Q; the rod x and the rod y have the same length, Its length is 8 times of the length of bar a; the length of the bar z is 2 times of the length of bar a; the two endpoints of the bar x are respectively hinged on the endpoints of the two basic units marked as point C; the bar The two end points of z are respectively hinged on the end points of the two basic units marked as point C1 ; The ends of rod b, marked as point E, are all hinged on rod x, and the distance from the hinge point to point Q is 1 times the length of rod a.

一种仅含转动副的对位筝形结构，由顶部模块、底部模块，和多个中部模块构成；An alignment kite-shaped structure containing only rotating joints, consisting of a top module, a bottom module, and multiple middle modules;

构成所述顶部模块、底部模块、中部模块的a杆、b杆、c杆和d杆的长度比为1：2：4：5；同时，杆x与杆y等长，其长度为a杆长度的8倍；杆z的长度为a杆长度的2倍；The length ratio of rod a, rod b, rod c and rod d constituting the top module, bottom module and middle module is 1:2:4:5; at the same time, the length of rod x and rod y is equal, and its length is rod a 8 times the length; the length of rod z is 2 times the length of rod a;

所述顶部模块由基本单元和连接单元构成；所述基本单元由一根a杆、六根b杆、一根c杆和一根d杆铰接而成；三根b杆的第一端点铰接在一起，标记为点B，此三根b杆的第二端点分别标记为点A、点C和点E1；剩余三根b杆的第一端点铰接在一起，标记为点B1，此三根b杆的第二端点分别标记为点A1、点C1和点E；所述d杆的两个端点分别与标记为点A1、点E1的端点铰接；a杆的第一端点铰接在d杆上，其铰接点标记为点D1，点D1与点E1之间的长度与a杆长度相等；a杆的第二端点铰接在标记为点C的b杆的端点上；c杆的第一端点铰接在d杆的点D1处，第二端点铰接在标记为点C1的b杆的端点上；所述连接单元由杆x、杆y和杆z于中点处铰接构成，此铰接点标记为Q；所述杆x的第一端点铰接顶部模块标记为点C的端点上；所述杆z的第一端点铰接在顶部模块标记为点C1的端点上；所述杆y的第一端点铰接在顶部模块标记为点A的端点上，顶部模块标记为点E的b杆端点铰接在杆y上，其铰接点距杆y的第二端点的长度为a杆长度的3倍；The top module is composed of a basic unit and a connecting unit; the basic unit is hinged by one a-bar, six b-bars, one c-bar and one d-bar; the first ends of the three b-bars are hinged together , marked as point B, the second end points of the three b-bars are respectively marked as point A, point C and point E 1 ; the first end points of the remaining three b-bars are hinged together, marked as point B 1 , the three b-bars The second end points of are respectively marked as point A 1 , point C 1 and point E; the two end points of the d-bar are respectively hinged with the end points marked as point A 1 and point E 1 ; the first end point of the a-bar is hinged at On bar d, its hinge point is marked as point D 1 , and the length between point D 1 and point E 1 is equal to the length of bar a; the second end point of bar a is hinged on the end point of bar b marked as point C; c The first end point of the bar is hinged at point D1 of bar d, the second end point is hinged at the end point of bar b marked as point C1 ; Hinged structure, this hinge point is marked as Q; the first end point of the rod x is hinged on the end point of the top module marked as point C; the first end point of the rod z is hinged at the end point of the top module marked as point C1 above; the first end point of the bar y is hinged on the end point of the top module marked as point A, and the end point of the b bar of the top module marked as point E is hinged on the bar y, and its hinge point is a distance from the second end point of the bar y The length is 3 times the length of rod a;

所述底部模块由一根a杆、六根b杆、一根c杆和一根d杆铰接而成；三根b杆的第一端点铰接在一起，标记为点B，此三根b杆的第二端点分别标记为点A、点C和点E1；剩余三根b杆的第一端点铰接在一起，标记为点B1，此三根b杆的第二端点分别标记为点A1、点C1和点E；所述d杆的两个端点分别与标记为点A1、点E1的端点铰接；a杆的第一端点铰接在d杆上，其铰接点标记为点D1，点D1与点E1之间的长度与a杆长度相等；a杆的第二端点铰接在标记为点C的b杆的端点上；c杆的第一端点铰接在d杆的点D1处，第二端点铰接在标记为点C1的b杆的端点上；The bottom module is hinged by one a-rod, six b-rods, one c-rod and one d-rod; The two end points are respectively marked as point A, point C and point E 1 ; the first end points of the remaining three b-bars are hinged together and marked as point B 1 , and the second end points of these three b-bars are respectively marked as point A 1 and point C 1 and point E; the two end points of the d rod are respectively hinged with the end points marked as point A 1 and point E 1 ; the first end point of a rod is hinged on the d rod, and its hinge point is marked as point D 1 , the length between point D 1 and point E 1 is equal to the length of bar a; the second end of bar a is hinged at the end of bar b marked as point C; the first end of bar c is hinged at the point of bar d At D1 , the second end point is hinged on the end point of the b-bar marked as point C1 ;

所述中部模块由杆x、杆y、杆z和六根b杆铰接而成；其中，三根b杆的第一端点铰接在一起，标记为点B，此三根b杆的第二端点分别标记为点A、点C和点E1；剩余三根b杆的第一端点铰接在一起，标记为点B1，此三根b杆的第二端点分别标记为点A1、点C1和点E；杆x、杆y和杆z于中点处铰接，此铰接点标记为Q，所述杆x的第一端点与标记为点C的b杆端点铰接；所述杆z的第一端点与标记为点C1的b杆端点铰接；所述杆y的第一端点与标记为点A的b杆端点铰接，标记为点E的b杆端点铰接在杆y上，其铰接点距杆y的第二端点的长度为a杆长度的3倍；The middle module is hinged by rod x, rod y, rod z and six b rods; among them, the first end points of the three b rods are hinged together, marked as point B, and the second end points of the three b rods are respectively marked are point A, point C and point E 1 ; the first end points of the remaining three b-bars are hinged together, marked as point B 1 , and the second end points of these three b-bars are respectively marked as point A 1 , point C 1 and point E; rods x, rod y and rod z are hinged at a mid point, this hinge point is marked Q, the first end point of said rod x is hinged with the end point of rod b marked point C; the first point of said rod z The ends are hinged to the end of bar b marked as point C 1 ; the first end of said bar y is hinged to the end of bar b marked as point A, and the end of bar b marked as point E is hinged to bar y which is hinged The length of the point from the second end point of bar y is 3 times the length of bar a;

相邻两模块的连接关系为：上一模块的杆x的第二端点铰接在下一模块标记为点C1的端点处；上一模块的杆z的第二端点铰接在下一模块标记为点C的端点处；上一模块的杆y的第二端点铰接在下一模块标记为点A1的b杆端点上，下一模块标记为点E1的b杆端点铰接在上一模块的杆y上，其铰接点距杆y的第一端点的长度为a杆长度的3倍。The connection relationship between two adjacent modules is: the second end point of the rod x of the previous module is hinged at the end point of the next module marked as point C1 ; the second end point of the rod z of the previous module is hinged at the point C of the next module the second end point of bar y of the previous module is hinged on the end point of bar b marked as point A 1 of the next module, and the end point of bar b marked as point E 1 of the next module is hinged on bar y of the previous module , the length from the hinge point to the first end point of rod y is 3 times the length of rod a.

将上述种仅含转动副的对位筝形结构在直线可展天线上的应用，包括四个所述仅含转动副的对位筝形结构、连接架和驱动装置；四个所述仅含转动副的对位筝形结构对称设置于所述连接架上，各对位筝形结构最外侧模块由两个b杆、一个a杆和局部d杆形成四边形所包含的d杆端点对应的位置为驱动位置；所述驱动装置通过带动驱动位置转动，实现所述对位筝形结构的同步往复伸缩。The application of the above-mentioned alignment kite-shaped structure containing only rotating pairs to linear extendable antennas includes four alignment kite-shaped structures containing only rotating pairs, connecting frames and driving devices; The alignment kite-shaped structure of the rotary pair is symmetrically arranged on the connecting frame, and the outermost module of each alignment kite-shaped structure is formed by two b-rods, one a-rod and a partial d-rod to form a position corresponding to the end point of the d-rod included in the quadrangle is the driving position; the driving device drives the driving position to rotate to realize the synchronous reciprocating expansion and contraction of the alignment kite structure.

将上述仅含转动副的对位筝形结构在直线可展天线上的应用，所述驱动装置包括四个大齿轮、两个中齿轮、一个小齿轮和电机；四个大齿轮分别设置在四个驱动位置，两个中齿轮设置于相邻两各大齿轮之间；电机的输出轴带动小齿轮转动，小齿轮与其中一个中齿轮啮合，两个中齿轮相互啮合，再分别与一个大齿轮啮合，与中齿轮啮合的大齿轮分别与一个大齿轮啮合，构成齿轮组，电机转动，同时带动四个大轮同步转动，实现四个大齿轮同步往复转动。Applying the alignment kite-shaped structure containing only rotating pairs to the linear extendable antenna, the driving device includes four large gears, two middle gears, a small gear and a motor; the four large gears are respectively arranged on four The two middle gears are arranged between the two adjacent large gears; the output shaft of the motor drives the pinion gear to rotate, the pinion gear meshes with one of the middle gears, the two middle gears mesh with each other, and then respectively engages with a large gear Engaging, the large gear meshing with the middle gear meshes with a large gear respectively to form a gear set, the motor rotates, and simultaneously drives the four large wheels to rotate synchronously to realize the synchronous reciprocating rotation of the four large gears.

本发明提供的技术方案具有以下优点：The technical solution provided by the invention has the following advantages:

1)与传统可展天线相比仅含转动副连接，整体采用模块化设计方式，加工制造方便，不易发生卡死现象；1) Compared with the traditional extendable antenna, it only includes the rotating joint connection, and adopts the modular design method as a whole, which is convenient for processing and manufacturing, and is less likely to be stuck;

2)工作精度较高，运行平稳，单自由度驱动，模块展开、收缩同步；2) High working precision, stable operation, single-degree-of-freedom drive, and synchronous module expansion and contraction;

3)整体结构稳定，不受复杂环境影响，力传递性能好，承载能力较高。3) The overall structure is stable, not affected by complex environments, the force transmission performance is good, and the bearing capacity is high.

附图说明Description of drawings

图1为实施例1中仅含转动副的对位筝形结构的结构示意图；Fig. 1 is the structural schematic diagram of the alignment kite-shaped structure that only contains rotating pair in embodiment 1;

图2为实施例2中仅含转动副的对位筝形结构的结构示意图；Fig. 2 is the structural representation of the kite-shaped structure that only contains the revolving pair in embodiment 2;

图3为实施例3中仅含转动副的对位筝形结构的结构示意图；Fig. 3 is the schematic structural view of the alignment kite-shaped structure that only contains the revolving pair in embodiment 3;

图4为图3中顶部模块、中部模块、底部模块的拆分图；Fig. 4 is a disassembled view of the top module, the middle module, and the bottom module in Fig. 3;

图5为实施例3中仅含转动副的对位筝形结构在直线可展天线上的应用；Fig. 5 is the application of the alignment kite-shaped structure containing only the rotary pair on the linear extendable antenna in embodiment 3;

图6为图5中驱动装置的局部放大图；Fig. 6 is a partially enlarged view of the driving device in Fig. 5;

图7为图5中应用的使用状态图。FIG. 7 is a usage state diagram of the application in FIG. 5 .

具体实施方式Detailed ways

以下结合附图和实施例对本发明的技术方案进行详细描述。The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

实施例1Example 1

如图1所示，一种仅含转动副的对位筝形结构，由多根杆铰接而成，包括两根a杆、六根b杆、两根c杆、以及两根d杆；As shown in Figure 1, a kite-shaped structure with only rotating pairs is hinged by multiple rods, including two a-rods, six b-rods, two c-rods, and two d-rods;

a杆、b杆、c杆和d杆的长度比为1：2：4：5；The length ratio of bar a, bar b, bar c and bar d is 1:2:4:5;

两根d杆上下设置，两组三根b杆对称设置于d杆两侧，其中三根b杆的第一端点铰接在一起，标记为点B；剩余三根b杆的第一端点铰接在一起，标记为点B1；Two d-rods are set up and down, and two groups of three b-rods are arranged symmetrically on both sides of the d-rod, among which the first ends of the three b-rods are hinged together, marked as point B; the first end points of the remaining three b-rods are hinged together , marked as point B 1 ;

位于上侧的d杆的两个端点分别铰接在两根b杆的第二端点上，铰接点标记为点A1和点E1，位于下侧的d杆的两个端点分别铰接在另两根b杆的第二端点上，铰接点标记为点A和点E，；The two end points of the d-rod on the upper side are respectively hinged on the second end points of the two b-rods. The hinge points are marked as point A 1 and point E 1 . On the second end point of the rod b, the hinge points are marked as point A and point E;

两根d杆上距离点E1和点E一倍a杆长度处的点分别标记为点D和点D1，该两点不位于同侧，两根a杆、两根c杆的第一端点分别铰接在点D和点D1上；两根c杆的第二端点均与未与其第一端点铰接的a杆的第二端点铰接，形成一个平行四边形，铰接点标记为点C、点C1；The points on the two d-bars that are twice the length of point E 1 and point E as long as a-bar are respectively marked as point D and point D 1 , and these two points are not located on the same side. The end points are respectively hinged on point D and point D1 ; the second end points of the two c-bars are both hinged to the second end points of the a-bar which is not hinged to its first end point, forming a parallelogram, and the hinge point is marked as point C , point C 1 ;

两个未与d杆端点铰接的b杆的第二端点分别铰接在点C、点C1处。The second end points of the two b-bars that are not hinged to the end points of the d-bars are respectively hinged at point C and point C1 .

实施例2Example 2

如图2所示，一种仅含转动副的对位筝形结构，包括两个基本单元，所述单个基本单元均由多根杆铰接而成，所述单个基本单元包括一根a杆、六根b杆、一根c杆、以及一根d杆；a杆、b杆、c杆和d杆的长度比为1：2：4：5；As shown in Figure 2, a kite-shaped structure with only rotating pairs includes two basic units, the single basic unit is hinged by multiple rods, and the single basic unit includes a rod a, Six b-rods, one c-rod, and one d-rod; the length ratio of a-rod, b-rod, c-rod and d-rod is 1:2:4:5;

其中三根b杆的第一端点铰接在一起，标记为点B，此三根b杆的第二端点分别标记为点A、点C和点E1；The first end points of the three b-bars are hinged together, marked as point B, and the second end points of the three b-bars are respectively marked as point A, point C and point E 1 ;

剩余三根b杆的第一端点铰接在一起，标记为点B1，此三根b杆的第二端点分别标记为点A1、点C1和点E；The first end points of the remaining three b-bars are hinged together, marked as point B 1 , and the second end points of these three b-bars are respectively marked as point A 1 , point C 1 and point E;

所述d杆的两个端点分别与标记为点A1、点E1的端点铰接；The two end points of the d-bar are respectively hinged with the end points marked as point A 1 and point E 1 ;

a杆的第一端点铰接在d杆上，其铰接点标记为点D1，点D1与点E1之间的长度与a杆长度相等；a杆的第二端点铰接在标记为点C的b杆的端点上；The first end point of rod a is hinged on rod d, and its hinge point is marked as point D 1 , and the length between point D 1 and point E 1 is equal to the length of rod a; the second end point of rod a is hinged at point marked as point At the end of rod b of C;

c杆的第一端点铰接在d杆的点D1处，第二端点铰接在标记为点C1的b杆的端点上；the first end point of c-bar is hinged at point D1 of d-bar and the second end point is hinged at the end point of b-bar marked as point C1 ;

所述两个基本单元通过连接单元连接在一起，所述连接单元由杆x、杆y和杆z于中点处铰接构成，此铰接点标记为Q；所述杆x与杆y等长，其长度为a杆长度的8倍；所述杆z的长度为a杆长度的2倍；所述杆x的两个端点分别铰接在两个基本单元标记为点C的端点上；所述杆z的两个端点分别铰接在两个基本单元标记为点C1的端点上；所述杆y的两个端点分别铰接在两个基本单元标记为点A的端点上，同时，两个基本单元标记为点E的b杆端点均铰接在杆x上，其铰接点距点Q的距离为a杆长度的1倍。The two basic units are connected together by a connecting unit, and the connecting unit is composed of a rod x, a rod y and a rod z hinged at a midpoint, and this hinge point is marked as Q; the rod x and the rod y have the same length, Its length is 8 times of the length of bar a; the length of the bar z is 2 times of the length of bar a; the two endpoints of the bar x are respectively hinged on the endpoints of the two basic units marked as point C; the bar The two end points of z are respectively hinged on the end points of the two basic units marked as point C1 ; The ends of rod b, marked as point E, are all hinged on rod x, and the distance from the hinge point to point Q is 1 times the length of rod a.

实施例3Example 3

如图3所示，一种仅含转动副的对位筝形结构，由顶部模块、底部模块、和多个中部模块构成；As shown in Figure 3, an alignment kite-shaped structure containing only rotating pairs is composed of a top module, a bottom module, and a plurality of middle modules;

构成所述顶部模块、底部模块、中部模块的a杆、b杆、c杆和d杆的长度比为1：2：4：5；同时，杆x与杆y等长，其长度为a杆长度的8倍；杆z的长度为a杆长度的2倍；The length ratio of rod a, rod b, rod c and rod d constituting the top module, bottom module and middle module is 1:2:4:5; at the same time, the length of rod x and rod y is equal, and its length is rod a 8 times the length; the length of rod z is 2 times the length of rod a;

所述顶部模块由基本单元和连接单元构成；所述基本单元由一根a杆、六根b杆、一根c杆和一根d杆铰接而成；三根b杆的第一端点铰接在一起，标记为点B，此三根b杆的第二端点分别标记为点A、点C和点E1；剩余三根b杆的第一端点铰接在一起，标记为点B1，此三根b杆的第二端点分别标记为点A1、点C1和点E；所述d杆的两个端点分别与标记为点A1、点E1的端点铰接；a杆的第一端点铰接在d杆上，其铰接点标记为点D1，点D1与点E1之间的长度与a杆长度相等；a杆的第二端点铰接在标记为点C的b杆的端点上；c杆的第一端点铰接在d杆的点D1处，第二端点铰接在标记为点C1的b杆的端点上；所述连接单元由杆x、杆y和杆z于中点处铰接构成，此铰接点标记为Q；所述杆x的第一端点铰接顶部模块标记为点C的端点上；所述杆z的第一端点铰接在顶部模块标记为点C1的端点上；所述杆y的第一端点铰接在顶部模块标记为点A的端点上，顶部模块标记为点E的b杆端点铰接在杆y上，其铰接点距杆y的第二端点的长度为a杆长度的3倍；The top module is composed of a basic unit and a connecting unit; the basic unit is hinged by one a-bar, six b-bars, one c-bar and one d-bar; the first ends of the three b-bars are hinged together , marked as point B, the second end points of the three b-bars are respectively marked as point A, point C and point E 1 ; the first end points of the remaining three b-bars are hinged together, marked as point B 1 , the three b-bars The second end points of are respectively marked as point A 1 , point C 1 and point E; the two end points of the d-bar are respectively hinged with the end points marked as point A 1 and point E 1 ; the first end point of the a-bar is hinged at On bar d, its hinge point is marked as point D 1 , and the length between point D 1 and point E 1 is equal to the length of bar a; the second end point of bar a is hinged on the end point of bar b marked as point C; c The first end point of the bar is hinged at point D1 of bar d, the second end point is hinged at the end point of bar b marked as point C1 ; Hinged structure, this hinge point is marked as Q; the first end point of the rod x is hinged on the end point of the top module marked as point C; the first end point of the rod z is hinged at the end point of the top module marked as point C1 above; the first end point of the bar y is hinged on the end point of the top module marked as point A, and the end point of the b bar of the top module marked as point E is hinged on the bar y, and its hinge point is a distance from the second end point of the bar y The length is 3 times the length of rod a;

所述底部模块由一根a杆、六根b杆、一根c杆和一根d杆铰接而成；三根b杆的第一端点铰接在一起，标记为点B，此三根b杆的第二端点分别标记为点A、点C和点E1；剩余三根b杆的第一端点铰接在一起，标记为点B1，此三根b杆的第二端点分别标记为点A1、点C1和点E；所述d杆的两个端点分别与标记为点A1、点E1的端点铰接；a杆的第一端点铰接在d杆上，其铰接点标记为点D1，点D1与点E1之间的长度与a杆长度相等；a杆的第二端点铰接在标记为点C的b杆的端点上；c杆的第一端点铰接在d杆的点D1处，第二端点铰接在标记为点C1的b杆的端点上；The bottom module is hinged by one a-rod, six b-rods, one c-rod and one d-rod; The two end points are respectively marked as point A, point C and point E 1 ; the first end points of the remaining three b-bars are hinged together and marked as point B 1 , and the second end points of these three b-bars are respectively marked as point A 1 and point C 1 and point E; the two end points of the d rod are respectively hinged with the end points marked as point A 1 and point E 1 ; the first end point of a rod is hinged on the d rod, and its hinge point is marked as point D 1 , the length between point D 1 and point E 1 is equal to the length of bar a; the second end of bar a is hinged at the end of bar b marked as point C; the first end of bar c is hinged at the point of bar d At D1 , the second end point is hinged on the end point of the b-bar marked as point C1 ;

所述中部模块由杆x、杆y、杆z和六根b杆铰接而成；其中，三根b杆的第一端点铰接在一起，标记为点B，此三根b杆的第二端点分别标记为点A、点C和点E1；剩余三根b杆的第一端点铰接在一起，标记为点B1，此三根b杆的第二端点分别标记为点A1、点C1和点E；杆x、杆y和杆z于中点处铰接，此铰接点标记为Q，所述杆x的第一端点与标记为点C的b杆端点铰接；所述杆z的第一端点与标记为点C1的b杆端点铰接；所述杆y的第一端点与标记为点A的b杆端点铰接，标记为点E的b杆端点铰接在杆y上，其铰接点距杆y的第二端点的长度为a杆长度的3倍；The middle module is hinged by rod x, rod y, rod z and six b rods; among them, the first end points of the three b rods are hinged together, marked as point B, and the second end points of the three b rods are respectively marked are point A, point C and point E 1 ; the first end points of the remaining three b-bars are hinged together, marked as point B 1 , and the second end points of these three b-bars are respectively marked as point A 1 , point C 1 and point E; rods x, rod y and rod z are hinged at a mid point, this hinge point is marked Q, the first end point of said rod x is hinged with the end point of rod b marked point C; the first point of said rod z The ends are hinged to the end of bar b marked as point C 1 ; the first end of said bar y is hinged to the end of bar b marked as point A, and the end of bar b marked as point E is hinged to bar y which is hinged The length of the point from the second end point of bar y is 3 times the length of bar a;

如图4所示，相邻两模块的连接关系为：上一模块的杆x的第二端点铰接在下一模块标记为点C1的端点处；上一模块的杆z的第二端点铰接在下一模块标记为点C的端点处；上一模块的杆y的第二端点铰接在下一模块标记为点A1的b杆端点上，下一模块标记为点E1的b杆端点铰接在上一模块的杆y上，其铰接点距杆y的第一端点的长度为a杆长度的3倍。As shown in Figure 4, the connection relationship between two adjacent modules is: the second end point of the bar x of the previous module is hinged at the end point marked as point C1 of the next module; the second end point of the bar z of the previous module is hinged at the bottom At the end of a module marked as point C; the second end of bar y of the previous module is hinged on the end of bar b of the next module marked as point A 1 , and the end of bar b of the next module marked as point E 1 is hinged on On bar y of a module, the length from the hinge point to the first end point of bar y is 3 times the length of bar a.

如图5所示，将上述仅含转动副的对位筝形结构在直线可展天线上的应用，包括四个仅含转动副的对位筝形结构、连接架和驱动装置；四个仅含转动副的对位筝形结构对称设置于连接架上，各对位筝形结构最外侧模块由两个b杆、一个a杆和局部d杆形成四边形所包含的d杆端点对应的位置为驱动位置；驱动装置通过带动驱动位置转动，实现对位筝形结构的同步往复伸缩。As shown in Figure 5, the application of the above-mentioned alignment kite-shaped structure containing only rotating pairs to linear extendable antennas includes four alignment kite-shaped structures containing only rotating pairs, connecting frames and driving devices; The alignment kite-shaped structure including the rotating pair is symmetrically arranged on the connecting frame, and the outermost module of each alignment kite-shaped structure is composed of two b-rods, one a-rod and a local d-rod to form a quadrilateral. The position corresponding to the end of the d-rod is The driving position: the driving device drives the driving position to rotate to realize the synchronous reciprocating expansion and contraction of the alignment kite structure.

如图6所示，作为本发明的一种实施方式，驱动装置包括四个大齿轮(4)、两个中齿轮(3)、一个小齿轮(2)和电机(1)；四个大齿轮(4)分别设置在四个驱动位置，两个中齿轮(3)设置于相邻两个大齿轮(4)之间；电机(1)的输出轴带动小齿轮(2)转动，小齿轮(2)与其中一个中齿轮(3)啮合，两个中齿轮(3)相互啮合，再分别与一个大齿轮(4)啮合，与中齿轮啮合的大齿轮(4)分别与一个大齿轮(4)啮合，构成齿轮组，电机(1)转动，同时带到四个大轮(4)同步转动，实现四个大齿轮同步往复转动。最终带动整体机构实现同步收缩，如图7所示。As shown in Figure 6, as a kind of embodiment of the present invention, driving device comprises four large gears (4), two middle gears (3), a small gear (2) and motor (1); Four large gears (4) are respectively arranged in four driving positions, and two middle gears (3) are arranged between two adjacent large gears (4); the output shaft of the motor (1) drives the pinion (2) to rotate, and the pinion ( 2) Engage with one of the middle gears (3), the two middle gears (3) mesh with each other, and then mesh with a large gear (4) respectively, and the large gear (4) meshing with the middle gear is respectively meshed with a large gear (4) ) meshes to form a gear set, the motor (1) rotates, and simultaneously brings the four large wheels (4) to rotate synchronously to realize the synchronous reciprocating rotation of the four large gears. Finally, the whole mechanism is driven to realize synchronous contraction, as shown in Fig. 7 .

Claims (5)

1. The utility model provides a counterpoint zither structure that only contains revolute pair, is formed by many poles are articulated, its characterized in that: comprises two a rods, six b rods, two c rods and two d rods;
the length ratio of the a pole, the b pole, the c pole and the d pole is 1:2:4:5, a step of;
the two d rods are arranged up and down, two groups of three B rods are symmetrically arranged on the left side and the right side of the d rods, first end points of the three B rods are hinged together, and the first end points are marked as point B; the first end points of the remaining three B bars are hinged together, marked as point B 1 ；
The two end points of the d rod positioned on the upper side are respectively hinged on the second end points of the two b rods, and the hinging point is marked as a point A 1 Sum point E 1 Two end points of the d rod positioned on the lower side are respectively hinged to the second end points of the other two b rods, and the hinging points are marked as a point A and a point E;
distance point E on two d poles 1 Points at the length of the a-bar doubled to point E are marked as point D and point D respectively 1 The two points are not positioned on the same side, the first end points of the two a rods and the two c rods are respectively hinged at the point D and the point D 1 Applying; the second end points of the two c rods are hinged with the second end points of the a rods which are not hinged with the first end points of the c rods to form a parallelogram, and the hinged points are marked as pointsC. Point C 1 ；
The second end points of the two b rods which are not hinged with the end points of the d rod are respectively hinged with the point C and the point C 1 Where it is located.
2. The utility model provides a contain only revolute pair's counterpoint zither structure, includes two basic units, singly basic unit is formed by many poles are articulated, its characterized in that: the single basic unit comprises an a rod, six b rods, a c rod and a d rod; the length ratio of the a pole, the b pole, the c pole and the d pole is 1:2:4:5, a step of;
wherein the first end points of the three B bars are hinged together and marked as point B, and the second end points of the three B bars are marked as point A, point C and point E respectively 1 ；
The first end points of the remaining three B bars are hinged together, marked as point B 1 The second end points of the three b bars are respectively marked as point A 1 Point C 1 And point E;
the two end points of the d rod are respectively marked as a point A 1 Point E 1 Is hinged at the end point of the frame;
the first end of the a rod is hinged on the D rod, and the hinged point is marked as a point D 1 Point D 1 And point E 1 The length between the two rods is equal to the length of the a rod; the second end of the a rod is hinged to the end of the b rod marked as point C;
the first end point of the c rod is hinged with the point D of the D rod 1 The second end point is hinged at point C 1 On the end of the b bar;
the two basic units are connected together through a connecting unit, the connecting unit is formed by hinging a rod x, a rod y and a rod z at the middle point, and the hinging point is marked as Q; the length of the rod x is equal to that of the rod y, and is 8 times that of the rod a; the length of the rod z is 2 times that of the rod a; the two end points of the rod x are respectively hinged on the end points of the two basic units marked as point C; the two ends of the rod z are respectively hinged at two basic units marked as point C 1 Is at the end of (2); the two end points of the rod y are respectively hinged to the end points of the two basic units marked as point A, and meanwhile, the two basic units are marked as the end points of the b rod end of point EAre all hinged on the rod x, and the distance between the hinge point and the point Q is 1 time of the length of the rod a.
3. An alignment zither structure only comprising a revolute pair comprises a top module, a bottom module and a plurality of middle modules; the method is characterized in that:
the length ratio of the a rod, the b rod, the c rod and the d rod forming the top module, the bottom module and the middle module is 1:2:4:5, a step of; meanwhile, the length of the rod x is equal to that of the rod y, and is 8 times that of the rod a; the length of the rod z is 2 times that of the rod a;
the top module is composed of a basic unit and a connecting unit; the basic unit is formed by hinging an a rod, six b rods, a c rod and a d rod; the first end points of the three B bars are hinged together and marked as point B, and the second end points of the three B bars are marked as point A, point C and point E respectively 1 The method comprises the steps of carrying out a first treatment on the surface of the The first end points of the remaining three B bars are hinged together, marked as point B 1 The second end points of the three b bars are respectively marked as point A 1 Point C 1 And point E; the two end points of the d rod are respectively marked as a point A 1 Point E 1 Is hinged at the end point of the frame; the first end of the a rod is hinged on the D rod, and the hinged point is marked as a point D 1 Point D 1 And point E 1 The length between the two rods is equal to the length of the a rod; the second end of the a rod is hinged to the end of the b rod marked as point C; the first end point of the c rod is hinged with the point D of the D rod 1 The second end point is hinged at point C 1 On the end of the b bar; the connecting unit is formed by hinging a rod x, a rod y and a rod z at the middle point, and the hinging point is marked as Q; the first end of the rod x is hinged to the end of the top module marked as point C; the first end of the rod z is hinged at the top module marked as point C 1 Is at the end of (2); the first end point of the rod y is hinged to the end point of the top module marked as a point A, the end point of the b rod of the top module marked as a point E is hinged to the rod y, and the length of the hinged point from the second end point of the rod y is 3 times that of the a rod;
the bottom module is formed by hinging an a rod, six b rods, a c rod and a d rod; the first end points of the three b bars are hinged together,marked as point B, the second end points of the three B bars are marked as point A, point C and point E respectively 1 The method comprises the steps of carrying out a first treatment on the surface of the The first end points of the remaining three B bars are hinged together, marked as point B 1 The second end points of the three b bars are respectively marked as point A 1 Point C 1 And point E; the two end points of the d rod are respectively marked as a point A 1 Point E 1 Is hinged at the end point of the frame; the first end of the a rod is hinged on the D rod, and the hinged point is marked as a point D 1 Point D 1 And point E 1 The length between the two rods is equal to the length of the a rod; the second end of the a rod is hinged to the end of the b rod marked as point C; the first end point of the c rod is hinged with the point D of the D rod 1 The second end point is hinged at point C 1 On the end of the b bar;
the middle module is formed by hinging a rod x, a rod y, a rod z and six rods b; wherein the first end points of the three B bars are hinged together and marked as point B, and the second end points of the three B bars are marked as point A, point C and point E respectively 1 The method comprises the steps of carrying out a first treatment on the surface of the The first end points of the remaining three B bars are hinged together, marked as point B 1 The second end points of the three b bars are respectively marked as point A 1 Point C 1 And point E; rod x, rod y and rod z are hinged at a midpoint, this hinge point being denoted Q, the first end point of rod x being hinged to the end point of rod b, denoted point C; the first end point of the rod z is marked as point C 1 Is hinged with the end point of the b rod; the first end point of the rod y is hinged with a b rod end point marked as a point A, the b rod end point marked as a point E is hinged on the rod y, and the length of the hinged point from the second end point of the rod y is 3 times that of the a rod;
the connection relation between two adjacent modules is as follows: the second end of the rod x of the previous module is hinged at the point marked C on the next module 1 Is at the end point of (c); the second end of the rod z of the previous module is hinged at the end of the next module marked as point C; the second end of the rod y of the previous module is hinged to the next module, marked as point a 1 On the b-bar end of (c), the next module is marked as point E 1 The b rod end point of the last module is hinged on the rod y of the last module, and the length of the hinged point from the first end point of the rod y is 3 times the length of the a rod.
4. Use of a para-zither structure comprising only revolute pairs in a rectilinearly expandable antenna according to any one of claims 1 to 3, wherein: comprises four contraposition zither-shaped structures only comprising revolute pairs, a connecting frame and a driving device; the four alignment zither structures only comprising the revolute pairs are symmetrically arranged on the connecting frame, and the positions, corresponding to d rod end points, included in the quadrangle formed by two b rods, one a rod and a partial d rod, of the outermost module of each alignment zither structure are driving positions; the driving device drives the driving position to rotate, so that synchronous reciprocating expansion and contraction of the para-position zither-shaped structure is realized.
5. Use of a para-zither structure comprising only a revolute pair as claimed in claim 4 for a rectilinearly expandable antenna, wherein: the driving device comprises four large gears (4), two middle gears (3), a small gear (2) and a motor (1); the four large gears (4) are respectively arranged at four driving positions, and the two middle gears (3) are arranged between every two adjacent large gears (4); the output shaft of the motor (1) drives the pinion (2) to rotate, the pinion (2) is meshed with one of the middle gears (3), the two middle gears (3) are meshed with each other and are respectively meshed with one big gear (4), the big gears (4) meshed with the middle gears are respectively meshed with one big gear (4), a gear set is formed, the motor (1) rotates, and simultaneously drives the four big gears (4) to synchronously rotate, so that the four big gears can synchronously reciprocate.
CN201811606106.0A 2018-12-27 2018-12-27 Para-position zither structure only containing revolute pair and application of para-position zither structure to linearly expandable antenna Active CN109524757B (en)

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US5239793A (en) * 1991-06-03 1993-08-31 General Electric Company Hinge element and deployable structures including hinge element
CN103786906A (en) * 2014-02-18 2014-05-14 哈尔滨工业大学深圳研究生院 Space deployable mechanism
CN107134655A (en) * 2017-04-20 2017-09-05 哈尔滨工业大学深圳研究生院 A kind of space expandable curved face truss mechanism based on scissors mechanism

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CN103794842B (en) * 2014-02-18 2017-11-10 哈尔滨工业大学深圳研究生院 A kind of annular truss formula large space development agency
CN107055377B (en) * 2017-04-25 2022-09-09 天津工业大学 Scissor-type retractable/elevating mechanism with rotating pair only
CN108649313B (en) * 2017-12-27 2020-01-31 哈尔滨工业大学（深圳） A Deployable Curved Truss Mechanism Based on Rigid-Flexible Hybrid Scissor Mechanism
CN209119296U (en) * 2018-12-27 2019-07-16 天津工业大学 Contain only the contraposition zither shape structure of revolute pair

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US5196857A (en) * 1991-06-03 1993-03-23 General Electric Company Stowable and deployable antenna array
US5239793A (en) * 1991-06-03 1993-08-31 General Electric Company Hinge element and deployable structures including hinge element
CN103786906A (en) * 2014-02-18 2014-05-14 哈尔滨工业大学深圳研究生院 Space deployable mechanism
CN107134655A (en) * 2017-04-20 2017-09-05 哈尔滨工业大学深圳研究生院 A kind of space expandable curved face truss mechanism based on scissors mechanism

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