CN109638413B - Unit array type single-degree-of-freedom perimeter truss expandable antenna mechanism - Google Patents
Unit array type single-degree-of-freedom perimeter truss expandable antenna mechanism Download PDFInfo
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- CN109638413B CN109638413B CN201910046770.2A CN201910046770A CN109638413B CN 109638413 B CN109638413 B CN 109638413B CN 201910046770 A CN201910046770 A CN 201910046770A CN 109638413 B CN109638413 B CN 109638413B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
Abstract
The invention discloses a unit array type single-degree-of-freedom perimeter truss expandable antenna mechanism, which comprises N outer layer single-degree-of-freedom expandable mechanism units and N inner layer single-degree-of-freedom expandable mechanism units, wherein the N outer layer single-degree-of-freedom expandable mechanism units mainly comprise inner layer node connecting pieces, inner layer connecting pieces, middle connecting pieces, outer layer connecting pieces and outer layer node connecting pieces which are connected through revolute pairs, the two types of single-degree-of-freedom expandable mechanism units are mutually inserted and arranged in an array mode, and the two middle connecting pieces, the two inner layer node connecting pieces and the two outer layer node connecting pieces are connected through sharing to form a multi-face perimeter truss mechanism; the whole mechanism has high structural symmetry, and the peripheral truss type space expandable mechanism with different dimensions can be formed by changing the number of the inner layer single-degree-of-freedom expandable mechanism units and the outer layer single-degree-of-freedom expandable mechanism units in the whole mechanism and the length of the rod piece, so that the mechanism can be well applied to large-caliber spaceborne antennas.
Description
Technical Field
The invention relates to a deployable antenna mechanism, in particular to a unit array type single-degree-of-freedom perimeter truss deployable antenna mechanism.
Background
With the continuous development of space science and technology, the amount of information collected and transmitted by space satellites, space stations and other spacecrafts is increasing, and the role of an antenna serving as an information transmitting and receiving device in the process of space communication and data transmission is more prominent. In order to increase the information quantity transmitted in space, the transmission bandwidth and the signal gain are required to be continuously improved, and the most direct and effective method is to increase the caliber of the space antenna, so that the ground receiving device can be simplified while the information quantity transmitted in space is increased. Because of the limitations of the volume of the payload cabin of the rocket and the overall carrying capacity of the rocket, space antennas and other space structures need to be folded up and placed in fairings in the launching stage and then unfolded to a working state after entering a space orbit, so the design of a large-sized space unfolding mechanism has gradually become one of research hotspots in the aerospace field.
The large-sized space expandable antenna mainly comprises expansion ribs, zhou Bianhang frames, a frame and the like, wherein the caliber of the Zhou Bianhang frames expandable antenna can reach tens of meters or even hundreds of meters, the whole mass of the antenna is not increased in proportion to the increase of the caliber, and the antenna is an ideal structural form of the large-caliber space expandable antenna. Among the current perimeter truss expandable antennas operating in orbit, the Astro mesh antenna launched in 2000 in the United states is well known, the caliber is 12.25m, the whole mass is 55Kg, the antenna is formed by interconnecting a plurality of planar diagonal telescopic units, and the diameter and the height when being folded are respectively 1.3m and 3.8m.
Because of the good performance advantages of the perimeter truss expandable antenna in the fields of space large caliber and ultra large caliber expandable antennas, related scientific researchers in various countries do a great deal of research on the expansion mechanism, cable net forming, expansion control and the like of the perimeter truss expandable antenna, but the types of the prior perimeter truss expandable antenna mechanism running on the track are still less, and the rigidity of the whole structure is seriously reduced along with the increase of the caliber of the antenna. 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 in the prior art, the invention aims to provide the unit array type single-degree-of-freedom perimeter truss expandable antenna mechanism which has the advantages of less degree of freedom, simple structure, higher rigidity and larger folding.
In order to achieve the above object, the present invention is realized according to the following technical scheme:
a unit array type single-degree-of-freedom perimeter truss expandable antenna mechanism is characterized in that: the multi-face peripheral truss mechanism comprises N outer-layer single-degree-of-freedom expandable mechanism units and N inner-layer single-degree-of-freedom expandable mechanism units, wherein N is an integer greater than or equal to 3, each outer-layer single-degree-of-freedom expandable mechanism unit comprises four outer-layer node connecting pieces, two inner-layer node connecting pieces, four middle connecting pieces and four outer-layer connecting pieces, each inner-layer single-degree-of-freedom expandable mechanism unit comprises four inner-layer node connecting pieces, two outer-layer node connecting pieces, four middle connecting pieces and four inner-layer connecting pieces, and the outer-layer single-degree-of-freedom expandable mechanism units and the inner-layer single-degree-of-freedom expandable mechanism units are mutually inserted and arranged in an array through two middle connecting pieces, two inner-layer node connecting pieces and two outer-layer node connecting pieces which are shared, so that the multi-face peripheral truss mechanism is formed jointly.
In the technical scheme, the four outer layer connecting rods are in groups of two, one end of each group is connected through a revolute pair, and the other two ends of each group are respectively inserted into the notches of the outer side branch forks in the two outer layer node connecting pieces and are connected through the revolute pairs; one end of each group of four inner-layer connecting rods is connected through a revolute pair, and the other two ends of each group of four inner-layer connecting rods are respectively inserted into the notch of the outer side branch fork in the two inner-layer node connecting pieces and are connected through the revolute pair; the four middle connecting rods are connected in pairs, each group is connected through a revolute pair, and the four connected free ends are respectively inserted into notches of the two outer layer node connecting pieces and the two inner layer node connecting pieces, which are close to the branch fork of the middle symmetrical plane, and are connected through the revolute pair; the four outer layer node connecting pieces are identical in structure, each outer layer node connecting piece is provided with four branches, the whole body is of a plane symmetrical structure, two branches are respectively arranged on the left side and the right side of the middle symmetrical plane, a notch is formed in each branch, the two branches on the outer side are used for inserting an outer layer connecting rod and are connected through a revolute pair, and the two branches close to the middle symmetrical plane are used for inserting a middle connecting rod and are connected through a revolute pair; the two inner layer node connecting pieces are identical in structure, each inner layer node connecting piece is provided with four branches, the whole structure is of a plane symmetrical structure, two branches are respectively arranged on the left side and the right side of the middle symmetrical plane, a notch is formed in each branch, the two branches on the outer side are used for inserting an inner layer connecting rod and are connected through a revolute pair, and the two branches close to the middle symmetrical plane are used for inserting a middle connecting rod and are connected through a revolute pair.
In the technical scheme, the distances between the axes of the revolute pairs on the notch of each branch fork of the outer layer node connecting piece and the central axis of the outer layer node connecting piece are the same, the included angle between the symmetrical surfaces of the notch of the outer side branch fork is 180-360/N DEG, the included angle between the symmetrical surfaces of the notch of the outer side branch fork and the symmetrical surface of the notch of the inner side branch fork is set according to the requirement, and the included angle is an acute angle and is set to be alpha; the distances between the axes of the revolute pairs on the notch of each branch fork of the inner layer node connecting piece and the central axis of the inner layer node connecting piece are the same, the included angle of the notch symmetry planes of the two outer branch forks on the side close to the inner branch fork is (180+360/N) °, and the included angle between the notch symmetry planes of the two branch forks close to the middle symmetry plane is (180 ° -2 α); the ratio of the distance between the axis of the revolute pair on each branch notch of the inner layer node connecting piece and the central axis of the inner layer node connecting piece to the distance between the axis of the revolute pair on each branch notch of the outer layer node connecting piece and the central axis of the outer layer node connecting piece is ((1-cos alpha)/cos alpha).
In the technical scheme, the rotating pair for connecting the two middle connecting rods divides each middle connecting rod into two sections, and the ratio of the length of the section connected with the inner layer node connecting piece to the length of the section connected with the outer layer node connecting piece is ((1-cos alpha)/cos alpha); the length of the rod piece of the outer connecting rod is set according to the requirement, and the length of the rod piece of the outer connecting rod is smaller than the length of a section of the middle connecting rod connected with the outer node connecting piece; the ratio of the length of the inner link rod member to the length of the outer link rod member is (sin (90-180/N-alpha)/cos alpha).
In the technical scheme, the axes of the revolute pairs connected to the four outer layer connecting rods in the same outer layer single-degree-of-freedom deployable mechanism unit are all parallel; the axes of revolute pairs connected to four inner-layer connecting rods in the same inner-layer single-degree-of-freedom extensible mechanism unit are parallel; the axes of revolute pairs connected to the same group of intermediate connecting rods in the outer layer single-degree-of-freedom deployable mechanism unit and the inner layer single-degree-of-freedom deployable mechanism unit 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 high structural symmetry, and can form peripheral truss type space expandable mechanisms with different dimensions by changing the number of the inner layer single-degree-of-freedom expandable mechanism units and the outer layer single-degree-of-freedom expandable mechanism units in the whole mechanism and the length of the rod piece, thereby being better applied to large-caliber spaceborne 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 perspective view of the outer layer single degree of freedom deployable mechanism unit of the present invention;
FIG. 6 is a semi-expanded perspective view of the outer layer single degree of freedom expandable mechanism unit of the present invention;
FIG. 7 is a fully expanded perspective view of the inner layer single degree of freedom deployable mechanism unit of the present invention;
FIG. 8 is a semi-expanded perspective view of the inner layer single degree of freedom expandable mechanism unit of the present invention;
FIG. 9 is a schematic perspective view of a set of intermediate links and the inner and outer node connectors to which they are connected in accordance with the present invention;
FIG. 10 is a schematic perspective view of an outer layer node connector of the present invention;
fig. 11 is a schematic perspective view of an inner layer node connector of the present invention.
In the figure: a: outer single-degree-of-freedom deployable mechanism unit, B: an inner layer single degree-of-freedom deployable mechanism unit; 1: outer layer node connecting piece, 2: outer connecting rod, 3: inner layer node connecting piece, 4: intermediate connecting rod, 5: an inner layer connecting rod.
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 unit array type single-degree-of-freedom perimeter truss deployable antenna mechanism shown in fig. 1 to 4, the unit array type single-degree-of-freedom perimeter truss deployable antenna mechanism comprises 12 (n=12) outer layer single-degree-of-freedom deployable mechanism units a and 12 (n=12) inner layer single-degree-of-freedom deployable mechanism units B, wherein the two types of single-degree-of-freedom deployable mechanism units are mutually inserted and arranged in an array, and are connected through sharing two middle connecting rods 4, two inner layer node connecting pieces 3 and two outer layer node connecting pieces 1 to form a multi-face perimeter truss mechanism together.
In the outer layer single degree of freedom deployable mechanism unit perspective schematic diagrams shown in fig. 5 and 6, it mainly includes four outer layer node connectors 1, two inner layer node connectors 3, four intermediate links 4, and four outer layer links 2.
In the inner layer single degree of freedom deployable mechanism unit perspective schematic diagrams shown in fig. 7 and 8, it mainly includes four inner layer node connectors 3, two outer layer node connectors 1, four intermediate links 4, and four inner layer links 5.
As shown in fig. 5-11, the four outer layer connecting rods 2 have the same structure, the four outer layer connecting rods 2 are in groups, one end of each group is connected through a revolute pair, and the other two ends are respectively inserted into the notches of the outer side branch fork in the two outer layer node connecting pieces 1 and are connected through the revolute pair; the four inner layer connecting rods 5 are identical in structure, each group of four inner layer connecting rods 5 is connected in pairs, one end of each group is connected through a revolute pair, and the other two ends of each group are respectively inserted into the notch of the outer side branch fork in the two inner layer node connecting pieces 3 and are connected through the revolute pair; the four middle connecting rods 4 are identical in structure, each group of four middle connecting rods 4 is connected in pairs through a revolute pair, and the four connected free ends are respectively inserted into notches of the two outer layer node connecting pieces 1 and the two inner layer node connecting pieces 3, which are close to a branch fork of a middle symmetrical plane, and are connected through the revolute pair; the four outer layer node connecting pieces 1 have the same structure, each outer layer node connecting piece 1 is provided with four branches, the whole body is of a plane symmetrical structure, two branches are respectively arranged on the left side and the right side of the middle symmetrical plane, each branch is provided with a notch, the two branches on the outer side are used for inserting an outer layer connecting rod 2 and are connected through a revolute pair, and the two branches close to the middle symmetrical plane are used for inserting a middle connecting rod 4 and are connected through a revolute pair; the two inner layer node connecting pieces 3 are identical in structure, each inner layer node connecting piece 3 is provided with four branches, the whole inner layer node connecting pieces are of a plane symmetrical structure, two branches are respectively arranged on the left side and the right side of a middle symmetrical plane, a notch is formed in each branch, two branches on the outer side are used for being inserted into an inner layer connecting rod 5 and are connected through a revolute pair, and two branches close to the middle symmetrical plane are used for being inserted into a middle connecting rod 4 and are connected through a revolute pair.
In the perspective schematic diagrams of the inner and outer layer node connecting pieces shown in fig. 10 and 11, the distances n between the axes of the revolute pairs on the notches of each branch of the outer layer node connecting piece 1 and the central axis of the outer layer node connecting piece 1 are the same, the included angle between the symmetrical surfaces of the notches of the outer two branches is 150 ° (180 ° -360 °/12=150°), the included angle between the symmetrical surfaces of the notches of the outer branch and the symmetrical surfaces of the notches of the inner branch can be manually set according to the requirement, and the included angle is an acute angle, and is set to be 50 ° (α=50 °); the distances m between the axes of the revolute pairs on the notch of each branch of the inner layer node connecting piece 3 and the central axis of the inner layer node connecting piece 3 are the same, the included angle of the notch symmetry planes of the two branches at the outer side near the side of the inner side branch is 210 degrees (180 degrees+360 degrees/12=210 degrees), and the included angle between the notch symmetry planes of the two branches near the middle symmetry plane is 80 degrees (180 degrees-2 x 50 degrees=80 degrees); the ratio of the distance between the axis of the revolute pair on each fork slot of the inner layer node connecting piece 3 and the central axis of the inner layer node connecting piece 3 to the distance between the axis of the revolute pair on each fork slot of the outer layer node connecting piece 1 and the central axis of the outer layer node connecting piece 1 is m/n=0.56 ((1-cos 50)/cos 50=0.56).
As shown in fig. 5 to 8, the revolute pair connecting the two intermediate links 4 divides each intermediate link into two segments, and the ratio of the length L of the segment connected to the inner node connector 3 to the length L of the segment connected to the outer node connector 1 is L/l=0.56 ((1-cos 50)/cos 50=0.56); the rod length L of the outer connecting rod 2 can be set manually according to the requirement, but the rod length of the outer connecting rod 2 is smaller than the length of a section of the middle connecting rod 4 connected with the outer node connecting piece 1; the ratio of the inner link length p to the outer link length q is p/q=0.89 (sin (90-180/12-50)/cos50=0.89).
In the perspective views of the unit array type single-degree-of-freedom perimeter truss expandable antenna mechanism shown in fig. 1-8, the axes of the revolute pairs connected to the four outer layer connecting rods 2 in the same outer layer single-degree-of-freedom expandable mechanism unit a are parallel; the axes of the revolute pairs connected to the four inner-layer connecting rods 5 in the same inner-layer single-degree-of-freedom extensible mechanism unit B are all parallel; the axes of the revolute pairs connected on the same group of intermediate connecting rods 4 in the outer single-degree-of-freedom deployable mechanism unit A and the inner single-degree-of-freedom deployable mechanism unit B are parallel.
In the perspective schematic diagrams of the unit array type single-degree-of-freedom perimeter truss expandable antenna mechanism shown in fig. 1-4, the caliber of the unit array type single-degree-of-freedom perimeter truss expandable antenna mechanism after being fully expanded can be changed by changing the number N of inner-layer single-degree-of-freedom expandable mechanism units and the length of a rod piece in the unit array type single-degree-of-freedom expandable mechanism units in the whole mechanism; when the two inner-layer connecting rods 5 and the two outer-layer connecting rods 2 which are connected through the revolute pair are collinear, the whole mechanism is in a fully unfolded state, and is in a boundary singular configuration state, the mechanism is degenerated into a structure with the degree of freedom of 0, the external force can be counteracted by a rod in the structure without providing additional driving moment, and 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 (5)
1. A unit array type single-degree-of-freedom perimeter truss expandable antenna mechanism is characterized in that: the multi-face peripheral truss mechanism comprises N outer-layer single-degree-of-freedom expandable mechanism units and N inner-layer single-degree-of-freedom expandable mechanism units, wherein N is an integer greater than or equal to 3, each outer-layer single-degree-of-freedom expandable mechanism unit comprises four outer-layer node connecting pieces, two inner-layer node connecting pieces, four middle connecting pieces and four outer-layer connecting pieces, each inner-layer single-degree-of-freedom expandable mechanism unit comprises four inner-layer node connecting pieces, two outer-layer node connecting pieces, four middle connecting pieces and four inner-layer connecting pieces, and the outer-layer single-degree-of-freedom expandable mechanism units and the inner-layer single-degree-of-freedom expandable mechanism units are mutually inserted and arranged in an array through two middle connecting pieces, two inner-layer node connecting pieces and two outer-layer node connecting pieces which are shared, so that the multi-face peripheral truss mechanism is formed jointly.
2. The element array type single degree of freedom perimeter truss deployable antenna mechanism of claim 1, wherein: one end of each group of the four outer layer connecting rods is connected through a revolute pair, and the other two ends of each group of the four outer layer connecting rods are respectively inserted into the notches of the outer side branch forks in the two outer layer node connecting pieces and are connected through the revolute pairs; one end of each group of four inner-layer connecting rods is connected through a revolute pair, and the other two ends of each group of four inner-layer connecting rods are respectively inserted into the notch of the outer side branch fork in the two inner-layer node connecting pieces and are connected through the revolute pair; the four middle connecting rods are connected in pairs, each group is connected through a revolute pair, and the four connected free ends are respectively inserted into notches of the two outer layer node connecting pieces and the two inner layer node connecting pieces, which are close to the branch fork of the middle symmetrical plane, and are connected through the revolute pair; the four outer layer node connecting pieces are identical in structure, each outer layer node connecting piece is provided with four branches, the whole body is of a plane symmetrical structure, two branches are respectively arranged on the left side and the right side of the middle symmetrical plane, a notch is formed in each branch, the two branches on the outer side are used for inserting an outer layer connecting rod and are connected through a revolute pair, and the two branches close to the middle symmetrical plane are used for inserting a middle connecting rod and are connected through a revolute pair; the two inner layer node connecting pieces are identical in structure, each inner layer node connecting piece is provided with four branches, the whole structure is of a plane symmetrical structure, two branches are respectively arranged on the left side and the right side of the middle symmetrical plane, a notch is formed in each branch, the two branches on the outer side are used for inserting an inner layer connecting rod and are connected through a revolute pair, and the two branches close to the middle symmetrical plane are used for inserting a middle connecting rod and are connected through a revolute pair.
3. The element array type single degree of freedom perimeter truss deployable antenna mechanism of claim 2, wherein: the distances between the axes of the revolute pairs on the notch of each branch fork of the outer layer node connecting piece and the central axis of the outer layer node connecting piece are the same, the included angle between the symmetrical surfaces of the notch of the two outer side branch forks is 180-360/N DEG, the included angle between the symmetrical surfaces of the notch of the outer side branch fork and the symmetrical surface of the notch of the inner side branch fork is set according to the requirement, and the included angle is an acute angle and is set to alpha; the distances between the axes of the revolute pairs on the notch of each branch fork of the inner layer node connecting piece and the central axis of the inner layer node connecting piece are the same, the included angle of the notch symmetry planes of the two outer branch forks on the side close to the inner branch fork is (180+360/N) °, and the included angle between the notch symmetry planes of the two branch forks close to the middle symmetry plane is (180 ° -2 α); the ratio of the distance between the axis of the revolute pair on each branch notch of the inner layer node connecting piece and the central axis of the inner layer node connecting piece to the distance between the axis of the revolute pair on each branch notch of the outer layer node connecting piece and the central axis of the outer layer node connecting piece is ((1-cos alpha)/cos alpha).
4. The element array type single degree of freedom perimeter truss deployable antenna mechanism of claim 2, wherein: the rotating pair connecting the two intermediate connecting rods divides each intermediate connecting rod into two sections, and the ratio of the length of the section connected with the inner layer node connecting piece to the length of the section connected with the outer layer node connecting piece is ((1-cos alpha)/cos alpha); the length of the rod piece of the outer connecting rod is set according to the requirement, and the length of the rod piece of the outer connecting rod is smaller than the length of a section of the middle connecting rod connected with the outer node connecting piece; the ratio of the length of the inner link rod member to the length of the outer link rod member is (sin (90-180/N-alpha)/cos alpha).
5. The element array type single degree of freedom perimeter truss deployable antenna mechanism of claim 2, wherein: the axes of revolute pairs connected to the four outer layer connecting rods in the same outer layer single-degree-of-freedom deployable mechanism unit are all parallel; the axes of revolute pairs connected to four inner-layer connecting rods in the same inner-layer single-degree-of-freedom extensible mechanism unit are parallel; the axes of revolute pairs connected to the same group of intermediate connecting rods in the outer layer single-degree-of-freedom deployable mechanism unit and the inner layer single-degree-of-freedom deployable mechanism unit are parallel.
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