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 PDFInfo
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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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- 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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- 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
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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
- H01Q1/10—Telescopic elements
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- 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
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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
Technical Field
The invention relates to the field of mechanical structure design, in particular to an alignment zither structure only comprising a revolute pair and application thereof to a linear deployable antenna.
Background
The deployable mechanism originates in the 60 s of the 20 th century, is integrated by a prefabricated unit, and is capable of switching between an initial compact configuration and a deployed configuration in an operative state, generally in two states: a fully contracted state and a fully expanded state. The current deployable mechanism is widely applied to various fields such as aerospace, energy transportation, industrial robots and the like. The problem in the aerospace field is outstanding at present, and the space-deployable antenna must ensure that the space-deployable antenna has a large shrinkage rate, fully contracts during transportation, fully deploys during operation, and has high rigidity performance and low material quality. Currently, many countries are mainly researching space-scalable institutions and applying them to space-scalable satellite antennas.
The current domestic and foreign expandable antennas mainly comprise inflatable expandable antennas, netlike expandable antennas and fixed-surface expandable antennas. The inflatable expandable antenna is easy to wrinkle in the working process, has low working precision and is easy to be influenced by environment; the net-shaped expandable antenna is complex in structure, cannot be processed and manufactured in a modularized mode and is high in quality; the fixed surface expandable antenna is generally a plurality of driving components, and the whole structure is relatively complex, so that synchronous expansion of each fixed surface cannot be ensured.
Disclosure of Invention
The invention provides a para-position zither-shaped structure only comprising a revolute pair and application thereof on a linear expandable antenna, so as to solve the problems of low expansion precision, limited working frequency and the like of the traditional antenna.
For this purpose, the technical scheme of the invention is as follows:
an alignment zither structure only comprising a revolute pair is formed by hinging a plurality of rods, and 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 hinging points are markedIs point C, 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.
The alignment zither structure only comprising a revolute pair comprises two basic units, wherein each single basic unit is formed by hinging a plurality of rods, and 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 on the end points of the two basic units marked as point A, meanwhile, the end points of the b rods of the two basic units marked as point E are both hinged on the rod x, and the distance between the hinged points and the point Q isa length of the rod 1 times.
An alignment zither structure only comprising a revolute pair comprises a top module, a bottom module and a plurality of middle modules;
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 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 First of the remaining three b-barsThe end points being 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.
The application of the para-position zither structure only comprising the revolute pair on the linear deployable antenna comprises four para-position zither structures only comprising the revolute pair, 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.
The driving device comprises four large gears, two middle gears, a small gear and a motor; the four large gears are respectively arranged at four driving positions, and the two middle gears are arranged between every two adjacent large gears; the output shaft of the motor drives the pinion to rotate, the pinion is meshed with one of the middle gears, the two middle gears are meshed with each other and are respectively meshed with one big gear, the big gears meshed with the middle gears are respectively meshed with one big gear to form a gear set, the motor rotates and simultaneously drives the four big gears to synchronously rotate, and the four big gears synchronously reciprocate.
The technical scheme provided by the invention has the following advantages:
1) Compared with the traditional expandable antenna, the antenna only comprises a revolute pair for connection, and the whole antenna adopts a modularized design mode, is convenient to process and manufacture and is not easy to cause the blocking phenomenon;
2) The working precision is higher, the operation is stable, the single-degree-of-freedom driving is realized, and the expansion and contraction of the modules are synchronous;
3) The whole structure is stable, is not influenced by complex environment, and has good force transmission performance and higher bearing capacity.
Drawings
FIG. 1 is a schematic structural view of an alignment zither structure in example 1 comprising only a revolute pair;
FIG. 2 is a schematic structural view of an alignment zither structure of example 2 only comprising a revolute pair;
FIG. 3 is a schematic structural view of an alignment zither structure in example 3 only comprising a revolute pair;
FIG. 4 is a split view of the top module, middle module, bottom module of FIG. 3;
FIG. 5 is a schematic illustration showing the application of the para-zither structure of example 3 with only the revolute pair to a linearly expandable antenna;
FIG. 6 is an enlarged view of a portion of the drive device of FIG. 5;
fig. 7 is a use state diagram of the application in fig. 5.
Detailed Description
The technical scheme of the present invention is described in detail below with reference to the accompanying drawings and examples.
Example 1
As shown in FIG. 1, the para-position zither structure only comprising a revolute pair is formed by hinging a plurality of rods, and 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 two sides of the d rods, wherein first end points of the three B rods are hinged together and marked as a 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 a point C and a 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.
Example 2
As shown in fig. 2, the alignment zither structure only comprising a revolute pair comprises two basic units, wherein each basic unit is formed by hinging a plurality of rods, and each 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 a point A, meanwhile, the end points of the b rod of the two basic units marked as a point E are both hinged to the rod x, and the distance between the hinged point and the rod x is 1 time of the length of the a rod.
Example 3
As shown in fig. 3, a para-zither structure comprising only revolute pairs is formed by a top module, a bottom module, and a plurality of middle modules;
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 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 point of the a rod is hinged on the d rod, and the hinge point is markedMarked as 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;
as shown in fig. 4, the connection relationship between two adjacent modules is: 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.
As shown in fig. 5, the application of the para-position zither structure only comprising the revolute pair on the linearly expandable antenna comprises four para-position zither structures only comprising the revolute pair, a connecting frame and a driving device; four alignment zither structures only comprising revolute pairs are symmetrically arranged on the connecting frame, and the positions corresponding to d rod end points contained 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 aligned zither-shaped structure are realized.
As shown in fig. 6, as an embodiment of the present invention, the driving device includes four large gears (4), two middle gears (3), one 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 the 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 meanwhile, the motor is brought to the synchronous rotation of four big gears (4), so that the synchronous reciprocating rotation of the four big gears is realized. 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.
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| CN201811606106.0A CN109524757B (en) | 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 |
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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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| 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 telescopic/liftable mechanism only comprising revolute pairs |
| CN108674694B (en) * | 2017-12-27 | 2021-07-02 | 哈尔滨工业大学（深圳） | Deployable curved surface truss mechanism based on rigid scissor fork 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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