CN109560362A - Based on space 5R mechanism can Zhan Danyuan and single-degree-of-freedom annular truss formula development agency - Google Patents
Based on space 5R mechanism can Zhan Danyuan and single-degree-of-freedom annular truss formula development agency Download PDFInfo
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- CN109560362A CN109560362A CN201811229536.5A CN201811229536A CN109560362A CN 109560362 A CN109560362 A CN 109560362A CN 201811229536 A CN201811229536 A CN 201811229536A CN 109560362 A CN109560362 A CN 109560362A
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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
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
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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
- 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
- Y02E10/00—Energy generation through renewable energy sources
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Abstract
The invention belongs to space flight equipment and equipment technical field more particularly to it is a kind of based on space 5R mechanism can Zhan Danyuan and single-degree-of-freedom annular truss formula development agency.Unit of opening up based on space 5R mechanism includes vertical bar and two spaces 5R mechanism, two spaces 5R mechanism is in symmetrical, and two spaces 5R mechanism includes the first quarter butt, the second quarter butt, third quarter butt, the 4th quarter butt, the first cradle head, the second cradle head, third cradle head, the 4th cradle head and the 5th cradle head；First quarter butt and the second quarter butt pass through the first cradle head respectively and the second cradle head connect with vertical bar；Third quarter butt is connect by third cradle head with the first quarter butt, and the 4th quarter butt is connect by the 4th cradle head with the second quarter butt；Third quarter butt is connect with the 4th quarter butt by the 5th cradle head.It is connected the single-degree-of-freedom annular truss formula development agency formed by the unit of opening up based on space 5R mechanism and is had the advantages that structure is simple, freedom degree is few and rigidity is high.
Description
Technical field
The invention belongs to space flight equipment and equipment technical field more particularly to it is a kind of based on space 5R mechanism can Zhan Danyuan
And single-degree-of-freedom annular truss formula development agency.
Background technique
As various countries carry out the great Space Science and Technology engineerings such as space science, deep space exploration and space station construction extensively, greatly
Type spacecraft develops to lightness direction, and the main force support structure of external spacecraft, which has had, much uses truss mechanism, truss
Mechanism has many merits such as light weight, good manufacturability, higher rigidity, better efficiency, therefore the space exhibition to large scale
The application demand of opening mechanism becomes further urgent.Due to the limitation in rocket payload bay space, development agency is in launching phase
Fold into rounding state, satellite enters reinflated after planned orbit and locks, therefore is badly in need of design and may be implemented
Fold and unfold the large-scale dimension mechanism of function.The design and research of aerospace unfolding mechanism are the following space technology development
One of key foundation problem.
Space annular expanded truss because its it is high-intensitive than, high rigidity ratio, low coefficient of thermal expansion and high geometrical stability and
The advantages that structure type is varied, rapidly developing becomes a kind of space aerospace mechanism, is widely used in space Large Spacecraft
On, every country starts the development for increasingly paying attention to large space folding and unfolding mechanism, puts into a large amount of manpower, material resources and financial resources and is ground
Study carefully and explore, has become the hot research topic of space industry in recent years.At abroad, space development mechanism has been used successfully to structure
Build large-scale flexible solar array bracket, heavy caliber deployable antenna etc., and large capacity communication, in terms of play
Great function, such as the EGS deployable antenna on Russian Mir station for the 6m bore of communication test, the U.S.
The annular truss formula metal mesh surface antenna of bore 12m on Thuraya telecommunication satellite, six ribs of bore 17m on Japanese ETS-8 satellite
Column framework type deployable antenna etc..The application of large space deployable antenna improves the level of resolution of earth observation, expands and defends
Bandwidth, communication distance and the information capacity of star communication, especially in military field, substantially increase Space Military scouting level and
Great attention to enemy's precision strike capability, by every country.
China discloses a kind of basic based on Bennett mechanism application No. is 201810166759.5 patent can Zhan Dan
Member and the unfolding mechanism that is made of the unit, in this scenario, first connecting rod is rotatably connected with second connecting rod, third connecting rod and
Fourth link is rotatably connected, and second connecting rod is rotatably connected with third connecting rod, and first connecting rod is rotatably connected with fourth link,
Wherein the central axes of the first revolute pair and third revolute pair are located at the first plane, the central axes of the second revolute pair and the 4th revolute pair
Positioned at the second plane, first plane and the second plane are arranged in a mutually vertical manner, and sliding block is reciprocating along guide rod length direction,
The central axes of first revolute pair and the central axes of the 5th revolute pair are arranged in a mutually vertical manner, the central axes of third revolute pair with the 6th turn
Secondary central axes are moved to be arranged in a mutually vertical manner, it is in umbrella shape under half rounding state that can open up unit substantially is in X-shaped in the deployed state,
It is in I font under complete rounding state.
China discloses a kind of mixing scissor-type bilayer annular truss application No. is 201810203617.1 patent and can open up
Antenna mechanism, mainly include internal layer annular component truss, outer annular component truss, the fixed scissors connection component in center and
Move scissors connection component in center；Internal layer annular component truss includes n internal layer folding exhibition unit, and outer annular component truss includes
2n outer layer folding exhibition unit, the fixed scissors connection component in center include that the fixed scissors folding exhibition unit in n center and n/2 center are moved
Dynamic scissors folding exhibition unit；Four internal layer floral discs up and down of internal layer folding exhibition unit two sides pass through the fixed scissors folding exhibition unit in two centers
And the mobile scissors folding in a center opens up unit and rolls over six outer layer floral disc phases up and down of exhibition unit with corresponding two outer layers
Even form double-deck annular truss mechanism.
However, existing space development mechanism scheme mostly uses plane mechanism module composition, there are following disadvantages: 1.
Rod piece is more in mechanism, and it is not high to fold ratio；2. in-house freedom degree is more, generally using synchronization mechanism or increase driving
The freedom degree of several method reducing mechanism, but cause mechanism quality again in this way and collapse the increase of volume；3. plane mechanism forms
Large space unfolding mechanism, rigidity is low, and mechanism is difficult to lock simultaneously.
Summary of the invention
What the purpose of the present invention is to provide a kind of based on space 5R mechanism can Zhan Danyuan and single-degree-of-freedom annular truss formula
Development agency, it is intended to which solving space development mechanism in the prior art, structure is complicated, the technical problem that freedom degree is more and rigidity is low.
To achieve the above object, the technical solution adopted by the present invention is that: it is a kind of based on space 5R mechanism can Zhan Danyuan, packet
Include vertical bar and two spaces 5R mechanism, two space 5R mechanisms are symmetrical set in the upper and lower ends of the vertical bar, and two
A space 5R mechanism includes the first quarter butt, the second quarter butt, third quarter butt, the 4th quarter butt, the first cradle head, second turn
Movable joint, third cradle head, the 4th cradle head and the 5th cradle head；
The equal length of first quarter butt and second quarter butt and be respectively less than or the length equal to the vertical bar one
Partly, the third quarter butt and the equal length of the 4th quarter butt and the length of respectively less than described first quarter butt or second quarter butt
Degree；
The first end of first quarter butt and the first end of second quarter butt pass through respectively first cradle head and
Second cradle head connect with the same end of the vertical bar, and the axis of first cradle head and second rotation are closed
The axis co-planar of section intersects at point a and forms angle α；
The first end of the third quarter butt is by the third cradle head and first quarter butt close to its second end
Shaft connection, the first end of the 4th quarter butt is by the 4th cradle head and second quarter butt close to its second end
The axis co-planar of shaft connection, the axis of the third cradle head and the 4th cradle head intersects at point b and forms folder
Angle beta；
The angular bisector of the angle α is coplanar with the angular bisector of the angle β to intersect at point P, the third quarter butt
Second end is connect with the second end of the 4th quarter butt by the 5th cradle head, the axis warp of the 5th cradle head
Cross the point P.
Preferably, after space 5R mechanism folds completely, first quarter butt, second quarter butt, the third are short
Bar and the 4th quarter butt are parallel with the vertical bar；After space 5R mechanism is fully deployed, first quarter butt, described
Two quarter butts, the third quarter butt and the 4th quarter butt are vertical with the vertical bar.
Preferably, the vertical bar, first quarter butt, second quarter butt, the third quarter butt and the 4th quarter butt
It is prismatic bar or circular pin.
Beneficial effects of the present invention: it is of the invention based on space 5R mechanism can Zhan Danyuan, entire unit can be folded into
A bundle, while can also be fully deployed, wherein the space 5R mechanism of the upper and lower ends of vertical bar is symmetrical arranged, due to each space 5R
Mechanism is closed loop configuration, then its freedom degree is 1, can entirely open up unit freedom degree is then 2, then opening up module edge when multiple
When loop forms a closed loop annular truss, due to the relationship of Planar Mechanisms, the freedom degree of entire annular truss is also 1, this
Sample just reduces synchromesh gear mechanism or the use of other additional constraints, reduces the quality of overall mechanism and collapses volume,
Simultaneously because the Planar Mechanisms characteristic of space mechanism, not only freedom degree is few, and the rigidity of overall mechanism is higher.In addition, this can Zhan Danyuan
With good axial symmetry, structure is simple, it is easy to realize the expansion along loop direction, can construct single-degree-of-freedom sky
Between Planar Mechanisms circular development truss, be suitable for solar array truss and Large-scale satellite circular development antenna mounting truss.
It is that the present invention uses another solution is that a kind of single-degree-of-freedom annular truss formula development agency, including n above-mentioned
Based on space 5R mechanism can Zhan Danyuan, the second of any one first quarter butt for opening up unit based on space 5R mechanism
End and the second end of the second quarter butt for opening up unit based on space 5R mechanism described in adjacent one pass through the 6th cradle head
Connection, and the axis of any one first cradle head for opening up unit based on space 5R mechanism and its second cradle head
The angle α that is crossed to form of axis co-planar meet: n × α=360 °, n >=2.
Preferably, the axis of the axis of each 6th cradle head first cradle head adjacent thereto and described
The axis antarafacial of second cradle head；The axis of first cradle head adjacent with each 6th cradle head and described
The axis co-planar of second cradle head, and the axis co-planar of its angular bisector and the 6th cradle head.
Preferably, it is connected on the 6th cradle head for driving described in adjacent two based on space 5R mechanism
The torsional spring that unit expansion can be opened up or folded.
Preferably, the single-degree-of-freedom annular truss formula development agency further includes described based on space 5R mechanism for controlling
The expansion for opening up unit or folding rate the first rope and the second rope, first rope sequentially connects the vertical bar
First end, adjacent to the vertical bar second end the 6th cradle head and another vertical bar adjacent to the vertical bar first
End, second rope sequentially connect the vertical bar second end, adjacent to the vertical bar first end it is described 6th rotation close
The second end of section and another vertical bar adjacent to the vertical bar.
Preferably, it is each it is described based on space 5R mechanism when opening up unit expansion or folding, two adjacent vertical bars
Always linear translational motion.
Preferably, the inclined direction of the axis of adjacent two the 6th cradle heads in space is opposite.
Preferably, first quarter butt and second quarter butt that adjacent two the 6th cradle heads are connected it
Between the angle that is formed towards opposite.
Single-degree-of-freedom annular truss formula development agency of the invention, by above-mentioned n based on space 5R mechanism can Zhan Dan
Member connection forms closed loop configuration, then the freedom degree of development agency is 1, which reduces synchromesh gear mechanism or other are attached
The use of addition of constraints reduces the quality of overall mechanism and collapses volume, simultaneously because the Planar Mechanisms characteristic of space mechanism, not only
Freedom degree is few, and the rigidity of overall mechanism is higher, is suitable for solar array truss and Large-scale satellite circular development antenna branch
Support truss.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the structural schematic diagram provided in an embodiment of the present invention opened up in unit folding.
Fig. 2 is the structural schematic diagram provided in an embodiment of the present invention opened up when unit is fully deployed.
Fig. 3 is the structural schematic diagram provided in an embodiment of the present invention opened up when unit folds completely.
Fig. 4, which is three provided in an embodiment of the present invention, can open up the structural schematic diagram that unit is connected.
Fig. 5 is that two provided in an embodiment of the present invention the first quarter butts that can be opened up in unit and the second quarter butt pass through the 6th rotation
The structural schematic diagram that joint is connected.
Fig. 6, which is six provided in an embodiment of the present invention, can open up unit one single-degree-of-freedom annular truss formula development agency of composition
Structural schematic diagram in folding.
Fig. 7, which is six provided in an embodiment of the present invention, can open up unit one single-degree-of-freedom annular truss formula development agency of composition
Complete folded structural schematic diagram.
Fig. 8, which is six provided in an embodiment of the present invention, can open up unit one single-degree-of-freedom annular truss formula development agency of composition
Structural schematic diagram after being fully deployed.
Fig. 9, which can open up unit one single-degree-of-freedom annular truss formula of composition for 12 provided in an embodiment of the present invention, can open up machine
Structural schematic diagram in structure folding.
Figure 10 can open up unit one single-degree-of-freedom annular truss formula of composition for 12 provided in an embodiment of the present invention and can open up
The completely folded structural schematic diagram of mechanism.
Figure 11 can open up unit one single-degree-of-freedom annular truss formula of composition for 12 provided in an embodiment of the present invention and can open up
Mechanism be fully deployed after structural schematic diagram.
Wherein, each appended drawing reference in figure:
10- the first quarter butt 20- the second quarter butt 30- third quarter butt
The 4th quarter butt 50- the first cradle head the second cradle head of 60- of 40-
The 5th cradle head of the 4th cradle head 90- of 70- third cradle head 80-
The space 100- vertical bar 200- 5R mechanism 300- can Zhan Danyuan
400-the six cradle head.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment that Fig. 1~11 is described is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in Figures 1 to 3, provided in an embodiment of the present invention a kind of unit 300 to be opened up based on space 5R mechanism 200.Tool
Body, can open up unit 300 includes vertical bar 100 and two spaces 5R mechanism 200, and two space 5R mechanisms 200 are in symmetrically to set
Be placed in the upper and lower ends of the vertical bar 100, and two space 5R mechanisms 200 include the first quarter butt 10, the second quarter butt 20,
Third quarter butt 30, the 4th quarter butt 40, the first cradle head 50, the second cradle head 60, the rotation of third cradle head the 70, the 4th are closed
Section 80 and the 5th cradle head 90.Wherein, the first quarter butt 10, the second quarter butt 20, third quarter butt 30 of each space 5R mechanism 200
Form closed loop configuration with after the connection of the 4th quarter butt 40, wherein the first cradle head 50 being arranged on the same end of vertical bar 100 with
Also a short-range rod piece is formed between second cradle head 60, so that the freedom degree of each space 5R mechanism 200 is
1。
As shown in Fig. 2, four the first quarter butts 10, the second quarter butt 20, third quarter butt 30 and the 4th quarter butt in the present embodiment
40 be shorter rod piece for vertical bar 100.
Further, the first end of first quarter butt 10 and the first end of second quarter butt 20 pass through described respectively
One cradle head 50 and second cradle head 60 connect with the same end of the vertical bar 100, i.e., one of space 5R machine
The first quarter butt 10 and the second quarter butt 20 of structure 200 are both connected to the first end of vertical bar 100, and another space 5R mechanism 200
The first quarter butt 10 and the second quarter butt 20 be then both connected to the second end of vertical bar 100, so formed in the upper and lower ends of vertical bar 100
It is arranged symmetrically.
Wherein, the first quarter butt 10 is connect with vertical bar 100 by the first cradle head 50, and the first quarter butt 10 connects with vertical bar 100
It can be relatively rotated after connecing, and form one axis (axis that is to say the first cradle head 50) in rotation process, together
Reason, the second quarter butt 20 can also relatively rotate after connecting with vertical bar 100, and in rotation process formation one axis (namely
It is the axis of the second cradle head 60).Wherein, the axis of the axis of first cradle head 50 and second cradle head 60
Line is coplanar to intersect at point a and forms angle α.
Further, as shown in Figures 1 to 3, the first end of the third quarter butt 30 by the third cradle head 70 with
First quarter butt 10 is connected close to the shaft of the second end of the first quarter butt 10, and third quarter butt 30 and the first quarter butt 10 pass through third
Cradle head 70 connects, and third quarter butt 30 can relatively rotate after connecting with the first quarter butt 10, and one is formed in rotation process
A axis (axis that is to say third cradle head 70)；Similarly, the first end of the 4th quarter butt 40 passes through the described 4th
Shaft of the cradle head 80 with second quarter butt 20 close to the second end of the second quarter butt 20 is connect, the 4th quarter butt 40 and second short
Bar 20 is connected by the 4th cradle head 80, and the 4th quarter butt 40 can relatively rotate after connecting with the second quarter butt 20, and rotate
One axis (axis that is to say the 4th cradle head 80) is formed in the process.Wherein, the axis of the third cradle head 70
Line and the axis co-planar of the 4th cradle head 80 intersect at point b and form angle β.
Further, as shown in Figure 1, the angular bisector of the angle α is coplanar with the angular bisector of the angle β intersects at
Point P.The size of angle α and angle β can be set according to actual needs.For example, the quantity for opening up unit 300 as needed
When manufacturing annular truss, each angle α opened up in unit 300 and angle β can be set to satisfactory angle.
Further, as shown in Figure 1, the second end of the third quarter butt 30 and the second end of the 4th quarter butt 40 pass through
5th cradle head 90 connection, third quarter butt 30 are connect with the 4th quarter butt 40 by the 5th cradle head 90, third quarter butt
30 connect with the 4th quarter butt 40 after can relatively rotate, and in rotation process formed one axis (that is to say the 5th rotation
The axis in joint 90), wherein the axis of the 5th cradle head 90 passes through the point P.
In this way, as shown in Figure 1, can entirely to open up unit 300 conformal in the space 5R mechanism 200 of 100 upper and lower ends of vertical bar
At two P points, in it can open up the expansion of unit 300 or the motion process folded, the line of two P points is always in two spaces 5R
In plane composed by the angular bisector of angle α in mechanism 200.The freedom degree that unit 300 can entirely be opened up is 2, even if two
Totally eight quarter butts and a vertical bar 100 are not unifying plane for a space 5R mechanism 200, but can fold, so that institute
There is rod piece to be formed in parallel.
The embodiment of the present invention opens up unit 300 based on space 5R mechanism 200, and entire unit can be folded into a bundle,
It can also be fully deployed simultaneously, wherein the space 5R mechanism 200 of the upper and lower ends of vertical bar 100 is symmetrical arranged, due to each space
5R mechanism 200 be closed loop configuration, then its freedom degree is 1, can entirely open up 300 freedom degree of unit is then 2, then when it is multiple can
When module is opened up along loop one closed loop annular truss of composition, due to the relationship of Planar Mechanisms, the freedom degree of entire annular truss
It also is 1, which reduces synchromesh gear mechanism or the uses of other additional constraints, reduce the quality and receipts of overall mechanism
Hold together volume, simultaneously because the Planar Mechanisms characteristic of space mechanism, not only freedom degree is few, and the rigidity of overall mechanism is higher.In addition, this can
Opening up unit 300 has good axial symmetry, and structure is simple, it is easy to realize the expansion along loop direction, can construct
Single-degree-of-freedom space Planar Mechanisms circular development truss is suitable for solar array truss and Large-scale satellite circular development antenna
Sub-truss.
Further, as shown in Figures 1 to 3, the equal length of first quarter butt 10 and second quarter butt 20 and small
In or equal to the vertical bar 100 length half, in this way, folded open up in unit 300, two spaces 5R mechanism 200
The first quarter butt 10 and the first quarter butt 10 between will not interfere with, similarly, the second quarter butt 20 and second of two spaces 5R mechanism 200
It will not interfere between quarter butt 20.
In addition, as shown in Figures 1 to 3, the equal length of the third quarter butt 30 and the 4th quarter butt 40 and respectively less than institute
State the length of the first quarter butt 10 or second quarter butt 20.It is designed in this way and may insure that third quarter butt 30 and the 4th quarter butt 40 will not
Interfere the proper motion of the first quarter butt 10 and the second quarter butt 20, it is ingenious in design and reasonable.
In the present embodiment, as shown in figure 3, after space 5R mechanism 200 folds completely, first quarter butt 10, institute
It is parallel with the vertical bar 100 to state the second quarter butt 20, the third quarter butt 30 and the 4th quarter butt 40；Even if the first quarter butt
10, the second quarter butt 20, third quarter butt 30 and the 4th quarter butt 40 be not with vertical bar 100 in same plane, but can make after folding
First quarter butt 10, the second quarter butt 20, third quarter butt 30 and the 4th quarter butt 40 are parallel with vertical bar 100, can make so entire
Unit 300 can be opened up to collapse together, it is compact-sized, it is small in size.As shown in Fig. 2, and when space 5R mechanism 200 is fully deployed
Afterwards, first quarter butt 10, second quarter butt 20, the third quarter butt 30 and the 4th quarter butt 40 with the vertical bar
100 is vertical, forms truss structure in this way, making that unit 300 can be opened up, allow total stability more preferably, rigidity is higher.
In the present embodiment, the vertical bar 100, first quarter butt 10, second quarter butt 20,30 and of third quarter butt
4th quarter butt 40 is prismatic bar or circular pin.
Certainly, in other embodiments, the vertical bar 100, first quarter butt 10, second quarter butt 20, described
Three quarter butts 30 and the 4th quarter butt 40 can also be the rod piece of other irregular shapes.
As represented in figures 4 to 11, the embodiment of the present invention also provides a kind of single-degree-of-freedom annular truss formula development agency, including n
It is a it is above-mentioned unit 300 is opened up based on space 5R mechanism 200, any one it is described based on space 5R mechanism 200 can Zhan Danyuan
The second end of 300 the first quarter butt 10 opens up the second short of unit 300 based on space 5R mechanism 200 with described in adjacent one
The second end of bar 20 is connected by the 6th cradle head 400, and any one it is described based on space 5R mechanism 200 can Zhan Danyuan
The angle α that 300 axis of the first cradle head 50 and the axis co-planar of its second cradle head 60 is crossed to form meets:
N × α=360 °, n >=2.Specifically, n can be 2,4,6,8,10,12,24 etc..In this way, 300 edge of unit can be opened up by multiple
Loop be assemblied together to form a closed loop trussing according to above-mentioned requirements, due to the relationship of Planar Mechanisms, form one and close
The single-degree-of-freedom annular truss formula development agency truss of ring, i.e., integrally-built freedom degree are 1.
The single-degree-of-freedom annular truss formula development agency of the embodiment of the present invention is based on space 5R mechanism 200 by above-mentioned n
Open up unit 300 connection form closed loop configuration, then the freedom degree of development agency be 1, which reduces synchronous gear turbines
The use of structure or other additional constraints reduces the quality of overall mechanism and collapses volume, simultaneously because the mistake of space mechanism
Binding feature, not only freedom degree is few, and the rigidity of overall mechanism is higher, is suitable for solar array truss and Large-scale satellite ring
Shape deployable antenna sub-truss.
In the present embodiment, the axis of each 6th cradle head 400 first cradle head 50 adjacent thereto
The axis antarafacial of axis and second cradle head 60；First rotation adjacent with each 6th cradle head 400
The axis co-planar of the axis in joint 50 and second cradle head 60, and its angular bisector and the 6th cradle head 400
Axis co-planar.Such as shown in Fig. 4, by two the second adjacent quarter butts opened up between unit 300 based on space 5R mechanism 200
20 second end is connected by the 6th cradle head 400, the axis of the axis of the first cradle head 50 and the second cradle head 60
It is coplanar, the axis of the 6th cradle head 400 and the axis of the first adjacent cradle head 50 and the axis of the second cradle head 60
It is non-coplanar, and the axis of the axis and the second cradle head 60 of the axis of the 6th cradle head 40020 and the first cradle head 50
The angular bisector of angle formed by line is coplanar, the axis or second of the axis of the 6th cradle head 400 and the first cradle head 50
Angle between the axis of cradle head 60 can freely determine that the up-down structure in development agency is symmetrically set according to design requirement
It sets, meeting conditions above i.e. can guarantee during the expansion of development agency, the adjacent coupling part for opening up unit 300 one
Inside one outward, i.e. in Fig. 4, the inclination of the axis of two adjacent the 6th cradle heads 400 in space towards different,
So that adjacent two the first quarter butts 10 that can open up unit 300 form inside structure or outward knot after connecting with the second quarter butt 20
Structure.Further, as shown in figure 5, not wrapped to guarantee that adjacent vertical bar 100 and vertical bar 100 are stringent linear translational motions
Containing any relative rotation.
That is, as shown in figure 4, the inclined direction phase of the axis of two adjacent the 6th cradle heads 400 in space
Instead.Also, first quarter butt 10 and second quarter butt 20 that the 6th cradle head 400 of adjacent two is connected it
Between the angle that is formed towards opposite.
In the present embodiment, it is connected on the 6th cradle head 400 for driving described in adjacent two based on space
The torsional spring (not shown) for opening up the expansion of unit 300 or fold of 5R mechanism 200.For example, can open up unit 300 for 6 forms one
The single-degree-of-freedom annular truss formula development agency of the Planar Mechanisms of hexagonal space, as shown in fig. 6, the upper end of each vertical bar 100 or
Angle between the axis of first cradle head 50 of person lower end and the axis of the second cradle head 60 is 60 °, the single-degree-of-freedom
The whole freedom degree of annular truss formula development agency is 1, can be by closing in the 6th rotation that can open up the connection between unit 300
It saves and arranges torsional spring at 400 to drive the expansion that can be opened up between unit 300, if Fig. 7, Fig. 8 are that the single-degree-of-freedom annular truss formula can
Folding and the fully unfolded position figure for opening up mechanism, it can be seen from figure 7 that the folding ratio of the development agency is very big, in rugosity
The mechanism is approximately a cylinder under state, can save more spaces；From figure 8, it is seen that the development agency can be launched into
For a space Planar Mechanisms annular truss system.
In another example Fig. 9, Figure 10, Figure 11 show dodecagonal single-degree-of-freedom annular truss formula development agency, this can be opened up
Mechanism can open up unit 300 by 12 and assemble, the axis of the first cradle head 50 of the upper end or lower end of each vertical bar 100
Angle between the axis of the second cradle head 60 is 30 °, and each cradle head is locked after development agency is fully deployed, then may be used
Opening up mechanism has very big rigidity, can be used for the large solar cell array of space station or the support knot of loop aerial
Structure.
In the present embodiment, the single-degree-of-freedom annular truss formula development agency further includes described based on space 5R for controlling
The the first rope (not shown) and the second rope (not shown) of the speed of expansion or the folding for opening up unit 300 of mechanism 200, institute
State the first rope sequentially connect the vertical bar 100 first end, adjacent to the vertical bar 100 second end it is described 6th rotation close
The first end of section 400 and another vertical bar 100 adjacent to the vertical bar 100, second rope sequentially connect the vertical bar 100
Second end, adjacent to the vertical bar 100 first end the 6th cradle head 400 and adjacent to the another perpendicular of the vertical bar 100
The second end of bar 100.The expansion of development agency is controlled by the first rope and the second rope or collapses speed, it in this way can spirit
The use of control development agency living.The development agency is shrunk to a bundle, all rod pieces are in parastate, approximate
In cylinder, storage space can be saved；It can also be fully deployed as regular polygon annular truss system, all quarter butts are equal at this time
Plumbness is kept with vertical bar 100.
The opening up unit 300 and can respectively open up unit 300 by n based on space 5R mechanism 200 provided in this embodiment forms
Single-degree-of-freedom annular truss formula development agency, formed annular truss whole freedom degree be 1, which reduces synchronizations
The use of gear mechanism or other additional constraints reduces the quality of overall mechanism and collapses volume, simultaneously because space machine
The Planar Mechanisms characteristic of structure, the rigidity of overall mechanism are higher.Since the development agency has good structural symmetry, it is easy to real
The interior extension along loop direction, solar array truss and Large-scale satellite circular development antenna branch suitable for space industry
Support truss.
All rod pieces in the present embodiment can be directly connected to cradle head, and the upper and lower ends of vertical bar 100 can be installed
Floral disc is connect with the cradle head at quarter butt both ends by pin shaft.Development agency is in addition to the sun for space industry in the present embodiment
The sub-truss of energy windsurfing, satellite antenna etc. can be also used for the sub-truss of some loop aerials on ground, and building
Telescopic building of field of civil engineering etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. it is a kind of based on space 5R mechanism can Zhan Danyuan, it is characterised in that: including vertical bar and two spaces 5R mechanism, two institutes
It states space 5R mechanism to be symmetrical set in the upper and lower ends of the vertical bar, and two space 5R mechanisms include first short
Bar, the second quarter butt, third quarter butt, the 4th quarter butt, the first cradle head, the second cradle head, third cradle head, the 4th rotation
Joint and the 5th cradle head；
It the equal length of first quarter butt and second quarter butt and is respectively less than or the half of the length equal to the vertical bar, institute
State the length of the equal length of third quarter butt and the 4th quarter butt and respectively less than described first quarter butt or second quarter butt；
The first end of first quarter butt and the first end of second quarter butt pass through first cradle head and described respectively
Second cradle head connect with the same end of the vertical bar, the axis of first cradle head and second cradle head
Axis co-planar intersects at point a and forms angle α；
The first end of the third quarter butt is by the third cradle head with first quarter butt close to the shaft of its second end
Connection, the first end of the 4th quarter butt is by the 4th cradle head with second quarter butt close to the shaft of its second end
The axis co-planar of connection, the axis of the third cradle head and the 4th cradle head intersects at point b and forms angle β；
The angular bisector of the angle α is coplanar with the angular bisector of the angle β to intersect at point P, and the second of the third quarter butt
End is connect with the second end of the 4th quarter butt by the 5th cradle head, and the axis of the 5th cradle head passes through institute
State point P.
2. it is according to claim 1 based on space 5R mechanism can Zhan Danyuan, it is characterised in that: space 5R mechanism is complete
After full folding, first quarter butt, second quarter butt, the third quarter butt and the 4th quarter butt are flat with the vertical bar
Row；After space 5R mechanism is fully deployed, first quarter butt, second quarter butt, the third quarter butt and the described 4th
Quarter butt is vertical with the vertical bar.
3. it is according to claim 1 based on space 5R mechanism can Zhan Danyuan, it is characterised in that: the vertical bar, described
One quarter butt, second quarter butt, the third quarter butt and the 4th quarter butt are prismatic bar or circular pin.
4. a kind of single-degree-of-freedom annular truss formula development agency, it is characterised in that: including described in n any one of claims 1 to 3
Based on space 5R mechanism can Zhan Danyuan, the second of any one first quarter butt for opening up unit based on space 5R mechanism
End and the second end of the second quarter butt for opening up unit based on space 5R mechanism described in adjacent one pass through the 6th cradle head
Connection, and the axis of any one first cradle head for opening up unit based on space 5R mechanism and its second cradle head
The angle α that is crossed to form of axis co-planar meet: n × α=360 °, n >=2.
5. single-degree-of-freedom annular truss formula development agency according to claim 4, it is characterised in that: each 6th rotation
The axis of the axis in joint first cradle head adjacent thereto and the axis antarafacial of second cradle head；With each institute
State the axis of adjacent first cradle head of the 6th cradle head and the axis co-planar of second cradle head, and its angle
The axis co-planar of bisector and the 6th cradle head.
6. single-degree-of-freedom annular truss formula development agency according to claim 4, it is characterised in that: the 6th rotation is closed
It is connected on section for driving the torsional spring for opening up unit expansion or fold described in adjacent two based on space 5R mechanism.
7. single-degree-of-freedom annular truss formula development agency according to claim 4, it is characterised in that: the single-degree-of-freedom ring
Shape truss-like development agency further includes for controlling the expansion for opening up unit based on space 5R mechanism or folding rate
First rope and the second rope, first rope sequentially connect the first end of the vertical bar, the second end adjacent to the vertical bar
The 6th cradle head and another vertical bar adjacent to the vertical bar first end, second rope sequentially connects described perpendicular
The second end of bar, adjacent to the vertical bar first end the 6th cradle head and another vertical bar adjacent to the vertical bar
Two ends.
8. single-degree-of-freedom annular truss formula development agency according to claim 4, it is characterised in that: each described based on space
When opening up unit expansion or folding of 5R mechanism, adjacent two vertical bars linear translational motion always.
9. according to the described in any item single-degree-of-freedom annular truss formula development agencies of claim 4~8, it is characterised in that: adjacent
Two the 6th cradle heads axis inclined direction in space it is opposite.
10. according to the described in any item single-degree-of-freedom annular truss formula development agencies of claim 4~8, it is characterised in that: adjacent
Two the 6th cradle heads first quarter butt and second quarter butt that are connected between the angle that is formed towards phase
Instead.
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| CN114180101B (en) * | 2021-11-23 | 2024-01-30 | 清华大学 | Truss type telescopic arm mechanism and planar expandable truss array |
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