CN109616735B - Sunflower-shaped annular truss expandable antenna mechanism based on shear units - Google Patents
Sunflower-shaped annular truss expandable antenna mechanism based on shear units Download PDFInfo
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- CN109616735B CN109616735B CN201910046916.3A CN201910046916A CN109616735B CN 109616735 B CN109616735 B CN 109616735B CN 201910046916 A CN201910046916 A CN 201910046916A CN 109616735 B CN109616735 B CN 109616735B
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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
Abstract
The invention discloses a sunflower-shaped annular truss expandable antenna mechanism based on shear units, which is in a sunflower shape and comprises N shear units, wherein each shear unit consists of four inner node flower discs, four outer node flower discs, two middle node flower discs, four connecting rods, four middle shear fork rods and four outer shear fork rods which are connected through revolute pairs; the plurality of shear type unit arrays are arranged, adjacent shear type units are connected through sharing two inner node flower discs, two outer node flower discs and two middle shear type rods, and the plurality of shear type unit arrays are arranged to form a sunflower type annular truss mechanism together. The integral mechanism has higher structural symmetry, and the annular truss type space expandable mechanisms with different dimensions can be formed by changing the number of the scissor units in the integral mechanism and the length of the rods in the integral mechanism, so that the integral mechanism can be well applied to large-caliber satellite-borne antennas.
Description
Technical Field
The invention relates to a deployable antenna mechanism, in particular to a sunflower-shaped annular truss deployable antenna mechanism based on a scissor unit.
Background
With the rapid development of aerospace technology and the continuous increase of demands in the fields of communication, navigation, remote sensing and the like, the demands on large-caliber space antennas in aerospace engineering are also increasing. The application of the space large-caliber antenna can greatly improve the earth observation resolution level, the satellite communication distance and the data receiving and transmitting capacity, the space power generation capacity, the space reconnaissance and the accurate striking capacity and the like, and the development of the space large-caliber antenna is highly valued in all countries of the world. An important application of the large-sized space folding and unfolding mechanism in the aerospace field is as a unfolding and supporting mechanism of a large-caliber antenna, and the large-caliber space unfolding antenna which is developed successfully at present mainly comprises a unfolding rib type antenna, a framework type unfolding antenna, a ring column type unfolding antenna and a ring truss type unfolding antenna.
The annular truss type expandable antenna consists of a metal cable net and an annular expansion supporting mechanism, and compared with other structural forms, the annular truss type expandable antenna has the advantages of wide application range, large antenna caliber, simple topological structure, no change of structural topological configuration due to caliber increase in a certain range, no proportional increase of quality and the like, and in addition, compared with other spaceborne expandable antennas, the annular truss type expandable antenna has better precision and thermal stability in an expansion state, and is an ideal structural form of the large-caliber expandable antenna with a space of tens of meters to hundreds of meters.
Because the annular truss expandable antenna has good performance advantages in the fields of space large-caliber and ultra-large-caliber expandable antennas, related scientific researchers in various countries have made a great deal of researches on the expansion mechanism, cable net forming, expansion control and the like of the annular truss expandable antenna, and have been successfully applied, and the annular truss expandable antenna manufactured by NGST company in the United states has been successfully applied to communication broadcast satellites such as Inmarsat-4 series, thuraya series, MBSAT and the like.
Overall, the type of the annular truss expandable antenna mechanism running on the track is less at present, and the rigidity of the overall structure is seriously reduced along with the increase of the caliber of the antenna, and the overall rigidity of the antenna mechanism is improved by adopting a tensioning zipper for some annular truss expandable antennas, but the tensioning zipper is complex and is not easy to control, so that the annular truss antenna fails to be expanded. Therefore, there is a need to propose a Zhou Bianhang-rack type deployable antenna mechanism with simple structure, higher rigidity, larger folding ratio, better manufacturing manufacturability and other excellent performances so as to meet the requirements of different aerospace tasks.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the sunflower-shaped annular truss expandable antenna mechanism based on the shear unit, which has the advantages of less degree of freedom, simple structure and relatively large folding.
In order to achieve the above object, the present invention is realized according to the following technical scheme:
a sun flower type annular truss expandable antenna mechanism based on shear type unit, its characterized in that: the novel flower disc cutter comprises N scissor units, wherein N is a positive integer greater than or equal to 3, and each scissor unit is formed by connecting four inner node flower discs, four outer node flower discs, two middle node flower discs, four connecting rods, four middle scissor rods and four outer scissor rods through revolute pairs; the plurality of shear type unit arrays are arranged, adjacent shear type units are connected through sharing two inner node flower discs, two outer node flower discs and two middle shear type rods, and the plurality of shear type unit arrays are arranged to form a sunflower type annular truss mechanism together.
In the technical scheme, each internal node flower disc comprises three branches, each branch is provided with a notch, the whole internal node flower disc is of a plane symmetry structure, and is symmetrical about the symmetry plane of the notch of the middle branch, the middle branch is used for inserting a middle fork shearing rod and is connected through a revolute pair, and branches on two sides are used for inserting a connecting rod and are connected through revolute pairs; each external node flower disc comprises three branches, each branch is provided with a notch, the whole external node flower disc is of a plane symmetry structure, and is symmetrical about the symmetry plane of the notch of the middle branch, the middle branch is used for inserting a middle fork rod and is connected through a revolute pair, and branches on two sides are used for inserting the external fork rod and are connected through the revolute pair; each middle node flower disc comprises two branches, and each branch is provided with a notch for inserting an external shearing fork rod and connecting the external shearing fork rods through a revolute pair; the four connecting rods are connected in pairs, the end parts of the four connecting rods are connected through revolute pairs, and the four connected free ends are respectively inserted into side branch forks of four internal node flower discs and are connected through revolute pairs; the four middle shearing fork rods are connected in pairs by a revolute pair, the revolute pair connected with the middle shearing fork rods divides the middle shearing fork rods into two sections, wherein four ends are inserted into middle branches of four inner node flower discs and are connected by the revolute pair, and the other four ends are inserted into middle branches of four outer node flower discs and are connected by the revolute pair; the four external shearing fork rods are connected in pairs by the revolute pair, the revolute pair connected with the external shearing fork rods divides the external shearing fork rods into two sections, wherein four ends are inserted into side branch forks of four external node flower discs and are connected by the revolute pair, and the other four ends are inserted into branch forks of two middle node flower discs and are connected by the revolute pair.
In the technical scheme, the included angle between the middle branch fork and the side branch fork of the internal node flower disc is (90+180/N) °, and the distances between the axes of the revolute pairs on the branches of the internal node flower disc and the central axis of the internal node flower disc are the same; the included angle of the two branches of the middle node flower disc is set according to the requirement, the included angle is alpha, and the distances between the axes of the revolute pairs on the two branches of the middle node flower disc and the central axis of the middle node flower disc are the same; the included angle between the middle branch fork and the side branch fork of the external node flower disc is (180-180/N-alpha/2) °, and the distances between the axes of the revolute pairs on the branches of the external node flower disc and the central axis of the external node flower disc are the same; the ratio of the distance between the inner node flower disc branch revolute pair axis and the inner node flower disc central axis to the distance between the outer node flower disc branch revolute pair axis and the outer node flower disc central axis is ((1-sin (180/N))/(1+sin (180/N))); the ratio of the distance between the outer node flower disc branch revolute pair axis and the outer node flower disc central axis to the distance between the intermediate node flower disc branch revolute pair axis and the intermediate node flower disc central axis is (cos (90-alpha/2)/(1-cos (90-alpha/2))).
In the technical scheme, the ratio of the length of the section connected with the inner node flower disc to the length of the section connected with the outer node flower disc in the middle fork rod is ((1-sin (180/N))/(1+sin (180/N))); the ratio of the length of the section connected with the outer node flower disc to the length of the section connected with the middle node flower disc in the outer shearing fork rod is (cos (90-alpha/2)/(1-cos (90-alpha/2))); the length of a section of the outer shearing fork rod connected with the outer node flower disc is the same as that of a section of the middle shearing fork rod connected with the outer node flower disc; the length of the connecting rod is smaller than that of a section of the middle scissor fork rod connected with the internal node flower disc.
In the technical scheme, the axes of the revolute pairs connected to the four connecting rods on the same plane are parallel; the axes of all the rotating pairs connected on the two middle scissor rods connected through the rotating pairs are parallel; the axes of the rotating pairs connected on the two external shearing fork rods connected through the rotating pairs are parallel.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has simple structure, and the whole device has only one degree of freedom and can be completely unfolded by only one driving.
2. The kinematic pairs contained in the invention are all revolute pairs, so that the assembly and manufacturing process is good and the reliability is high.
3. The invention has flexible movement and larger integral folding.
4. The invention has higher structural symmetry, and can form annular truss type space expandable mechanisms with different dimensions by changing the number of scissor units in the whole mechanism and the length of the rod pieces in the scissor type space expandable mechanisms, thereby being better applied to large-caliber satellite-borne antennas.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained from these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a fully expanded schematic perspective view of the present invention;
FIG. 2 is a fully expanded top view of the present invention;
FIG. 3 is a semi-expanded schematic perspective view of the present invention;
FIG. 4 is a fully collapsed schematic perspective view of the present invention;
FIG. 5 is a fully expanded schematic view of the scissor unit of the invention;
FIG. 6 is a semi-expanded perspective view of the scissor unit of the present invention;
FIG. 7 is a perspective view of a set of intermediate scissor levers and connected inner node rosettes and outer node rosettes of the present invention;
FIG. 8 is a perspective view of a set of external scissor levers and a connected intermediate node rosette and external node rosette of the present invention;
FIG. 9 is a schematic perspective view of an internal node faceplate of the present invention;
FIG. 10 is a schematic perspective view of an external node faceplate of the present invention;
fig. 11 is a schematic perspective view of an intermediate node faceplate of the present invention.
In the figure: a: a scissor unit; 1: external node flower disc, 2: internal node flower disc, 3: intermediate scissor levers, 4: connecting rod, 5: intermediate node flower disc, 6: an external scissor lever.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
In the description of the present invention, it should be understood that the terms "radial," "axial," "upper," "lower," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "disposed," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the schematic perspective view of the sunflower-shaped ring truss expandable antenna mechanism based on the scissor units shown in fig. 1-4, the whole antenna mechanism is in a sunflower shape, and comprises 12 (n=12) scissor units a, wherein adjacent scissor units a are connected through two shared inner node flower discs 2, two outer flower discs 1 and two middle scissor rods 3, and a plurality of scissor units a are arranged in an array to form a multi-face ring truss mechanism.
In the perspective schematic views of the scissor unit a shown in fig. 5 and 6, it mainly includes four inner node flower discs 2, four outer node flower discs 1, two intermediate node flower discs 5, four connecting rods 4, four intermediate scissor levers 3 and four outer scissor levers 6; the four internal node flower discs 2 are completely identical in structure, each internal node flower disc comprises three branches, each branch is provided with a notch, the whole internal node flower disc is of a plane-symmetric structure, and is symmetric with respect to the symmetry plane of the notch of the middle branch, the middle branch is used for inserting a middle fork rod and connected through a revolute pair, and the branches on two sides are used for inserting a connecting rod and connected through a revolute pair; the four external node flower discs 1 have the same structure, each external node flower disc comprises three branches, each branch is provided with a notch, the whole external node flower disc is of a plane symmetry structure, and is symmetrical about the symmetry plane of the notch of the middle branch, the middle branch is used for inserting a middle fork rod and connected through a revolute pair, and the branches on two sides are used for inserting the external fork rod and connected through a revolute pair; the two middle node flower discs 5 have the same structure, each middle node flower disc comprises two branches, and each branch is provided with a notch for inserting an external shearing fork rod and connecting the external shearing fork rods through a revolute pair; the four connecting rods 4 are identical in structure, are in groups, and are connected through revolute pairs, and the four connected free ends are respectively inserted into side branch forks of the four internal node flower discs 2 and are connected through revolute pairs; the four middle fork shearing rods 3 are completely identical in structure, every two middle fork shearing rods are connected in a group through a revolute pair, the revolute pair connected with the middle fork shearing rods 3 divides the middle fork shearing rods into two sections, wherein four ends are inserted into middle branches of four inner node flower discs 2 and are connected through the revolute pair, and the other four ends are inserted into middle branches of four outer node flower discs 1 and are connected through the revolute pair; the four external shearing fork rods 6 are completely identical in structure, every two external shearing fork rods are connected in pairs through a revolute pair, the external shearing fork rods 6 are connected through the revolute pair to divide the external shearing fork rods into two sections, four ends of the external shearing fork rods are inserted into side branches of the four external node flower discs 1 and are connected through the revolute pair, and the other four ends of the external shearing fork rods are inserted into branches of the two middle node flower discs 5 and are connected through the revolute pair.
In the perspective views of the inner node flower disc 2, the outer node flower disc 1 and the middle node flower disc 5 shown in fig. 9-11, the included angle between the middle branch fork and the side branch fork of the inner node flower disc 2 is 105 ° (90 ° +180 °/12=105°), and the distances between the rotation pair axes on the branches of the inner node flower disc 2 and the central axis of the inner node flower disc 2 are the same; the included angle of the two branches of the middle node flower disc 5 can be set manually, wherein the included angle is 100 degrees (alpha=100 degrees), and the distances between the axes of the revolute pairs on the two branches of the middle node flower disc 5 and the central axis of the middle node flower disc 5 are the same; the included angle between the middle branch fork and the side branch fork of the external node flower disc 1 is 115 degrees (180-180 degrees/12-100 degrees/2=115 degrees), and the distances between the axes of the revolute pairs on the branches of the external node flower disc 1 and the central axis of the external node flower disc 1 are the same; the ratio of the distance between each fork revolute axis of the inner node disc 2 and the central axis of the inner node disc 2 to the distance between each fork revolute axis of the outer node disc 1 and the central axis of the outer node disc 1 is l/m=0.59 ((1-sin (180/12))/(1+sin (180/12))=0.59); the ratio of the distance between each fork revolute axis of the outer node disc 1 and the central axis of the outer node disc 1 to the distance between each fork revolute axis of the intermediate node disc 5 and the central axis of the intermediate node disc 5 is m/n=3.27 (cos (90-100/2)/(1-cos (90-100/2))=3.27.
As shown in fig. 7 and 8, the ratio of the length of the segment connected to the inner node flower disc 2 to the length of the segment connected to the outer node flower disc 1 in the intermediate scissor lever 3 is p/q=0.59 ((1-sin (180/12))/(1+sin (180/12))=0.59); the ratio of the length of the section of the outer scissor lever 6 connected to the outer node flower disc 1 to the length of the section connected to the intermediate node flower disc 5 is q/r=3.27 (cos (90-100/2)/(1-cos (90-100/2))=3.27); the length of a section of the outer shearing fork rod 6 connected with the outer node flower disc 1 is the same as that of a section of the middle shearing fork rod 3 connected with the outer node flower disc 1; the length of the connecting rod 4 is smaller than the length (h < l) of a section of the intermediate scissor lever 3 connected to the inner node flower disc 2.
As shown in fig. 1 to 11, in the sunflower-shaped ring truss deployable antenna mechanism based on the scissor unit of the present invention, the axes of the revolute pairs connected to the four links 4 located on the same plane are all parallel; the axes of all the revolute pairs connected on the two middle scissor rods 3 connected through the revolute pairs are parallel; the axes of the rotating pairs connected on the two external scissor levers 6 connected through the rotating pairs are parallel.
In the perspective schematic diagrams of the sunflower-shaped annular truss expandable antenna mechanism based on the shear units shown in fig. 1-4, the size of the caliber of the whole sunflower-shaped annular truss expandable antenna mechanism based on the shear units after being fully expanded can be changed by changing the number of the shear units A in the whole mechanism and the length of the rod piece; when two connecting rods 4 connected through the revolute pair are collinear, the whole mechanism reaches a complete unfolding state, and is in a boundary singular configuration state, the mechanism is degenerated into a structure with the degree of freedom of 0, and the external force can be counteracted by a rod in the structure without providing additional driving moment, so that the whole mechanism has better structural rigidity and mechanical property.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (4)
1. A sun flower type annular truss expandable antenna mechanism based on shear type unit, its characterized in that: the novel flower disc cutter comprises N scissor units, wherein N is a positive integer greater than or equal to 3, and each scissor unit is formed by connecting four inner node flower discs, four outer node flower discs, two middle node flower discs, four connecting rods, four middle scissor rods and four outer scissor rods through revolute pairs; the plurality of shear type unit arrays are arranged, adjacent shear type units are connected through sharing two inner node flower discs, two outer node flower discs and two middle shear type rods, and the plurality of shear type unit arrays are arranged to form a sunflower type annular truss mechanism together;
each internal node flower disc comprises three branches, each branch is provided with a notch, the whole internal node flower disc is of a plane symmetry structure, and is symmetrical about the symmetry plane of the notch of the middle branch, the middle branch is used for inserting a middle fork shearing rod and is connected through a revolute pair, and the branches on two sides are used for inserting a connecting rod and are connected through revolute pairs; each external node flower disc comprises three branches, each branch is provided with a notch, the whole external node flower disc is of a plane symmetry structure, and is symmetrical about the symmetry plane of the notch of the middle branch, the middle branch is used for inserting a middle fork rod and is connected through a revolute pair, and branches on two sides are used for inserting the external fork rod and are connected through the revolute pair; each middle node flower disc comprises two branches, and each branch is provided with a notch for inserting an external shearing fork rod and connecting the external shearing fork rods through a revolute pair; the four connecting rods are connected in pairs, the end parts of the four connecting rods are connected through revolute pairs, and the four connected free ends are respectively inserted into side branch forks of four internal node flower discs and are connected through revolute pairs; the four middle shearing fork rods are connected in pairs by a revolute pair, the revolute pair connected with the middle shearing fork rods divides the middle shearing fork rods into two sections, wherein four ends are inserted into middle branches of four inner node flower discs and are connected by the revolute pair, and the other four ends are inserted into middle branches of four outer node flower discs and are connected by the revolute pair; the four external shearing fork rods are connected in pairs by the revolute pair, the revolute pair connected with the external shearing fork rods divides the external shearing fork rods into two sections, wherein four ends are inserted into side branch forks of four external node flower discs and are connected by the revolute pair, and the other four ends are inserted into branch forks of two middle node flower discs and are connected by the revolute pair.
2. The scissors-type unit-based sun-type ring truss deployable antenna mechanism of claim 1, wherein: the included angle between the middle branch fork and the side branch fork of the internal node flower disc is (90+180/N) °, and the distances between the axes of the revolute pairs on the branches of the internal node flower disc and the central axis of the internal node flower disc are the same; the included angle of the two branches of the middle node flower disc is set according to the requirement, and the included angle is set asαThe distance between the axes of the revolute pairs on the two branches of the middle node flower disc and the central axis of the middle node flower disc is the same; the included angle between the middle branch fork and the side branch fork of the external node flower disc is (180-180/N-α2 DEG, the distances between the axes of the revolute pairs on the branches of the external node flower disc and the central axis of the external node flower disc are the same; the ratio of the distance between the inner node flower disc branch revolute pair axis and the inner node flower disc central axis to the distance between the outer node flower disc branch revolute pair axis and the outer node flower disc central axis is ((1-sin (180/N))/(1+sin (180/N))); the ratio of the distance between the axes of the rotary pairs of the outer node flower disc and the central axis of the outer node flower disc to the distance between the axes of the rotary pairs of the middle node flower disc and the central axis of the middle node flower disc is (cos (90)α/2)/(1- cos(90-α/2)))。
3. The scissors-type unit-based sun-type ring truss deployable antenna mechanism of claim 1, wherein: the ratio of the length of the section connected with the inner node flower disc to the length of the section connected with the outer node flower disc in the middle fork rod is ((1-sin (180/N))/(1+sin (180/N))); the ratio of the length of the section of the outer scissors rod connected to the outer node flower disc to the length of the section connected to the intermediate node flower disc is (cos (90)α/2)/(1- cos(90-α/2)); the length of a section of the outer shearing fork rod connected with the outer node flower disc is the same as that of a section of the middle shearing fork rod connected with the outer node flower disc; the length of the connecting rod is smaller than that of the middle shearsThe length of the section of the fork arm connected with the internal node flower disc.
4. The scissors-type unit-based sun-type ring truss deployable antenna mechanism of claim 1, wherein: the axes of the revolute pairs connected to the four connecting rods on the same plane are parallel; the axes of all the rotating pairs connected on the two middle scissor rods connected through the rotating pairs are parallel; the axes of the rotating pairs connected on the two external shearing fork rods connected through the rotating pairs are parallel.
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| CN111009714B (en) * | 2019-12-12 | 2021-11-23 | 西安工业大学 | Satellite-borne umbrella-shaped antenna structure with self-unfolding speed regulating device and unfolding method thereof |
| CN111009715A (en) * | 2019-12-31 | 2020-04-14 | 中国科学院沈阳自动化研究所 | Novel deployable space reflector antenna curved surface structure and design method |
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