CN109659656B - Modular curved surface expandable antenna mechanism based on single-degree-of-freedom expandable unit - Google Patents
Modular curved surface expandable antenna mechanism based on single-degree-of-freedom expandable unit Download PDFInfo
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- CN109659656B CN109659656B CN201811556045.1A CN201811556045A CN109659656B CN 109659656 B CN109659656 B CN 109659656B CN 201811556045 A CN201811556045 A CN 201811556045A CN 109659656 B CN109659656 B CN 109659656B
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Abstract
The invention discloses a modularized curved surface deployable antenna mechanism based on a single-degree-of-freedom deployable unit, which comprises a plurality of deployable antenna modules, wherein two adjacent deployable antenna modules are rotatably connected through a first faceplate at the bottom of one deployable antenna module and a second faceplate at the bottom of the other deployable antenna module; the deployable antenna mechanism provided by the invention has the advantages that all modules can be directly and completely folded, the structure is simple, the processing and manufacturing cost and the installation difficulty are low, and the large deployable antenna mechanism with any caliber and high folding rate can be formed.
Description
Technical Field
The invention relates to the technical field of space deployable mechanisms, in particular to a modular curved surface deployable antenna mechanism based on a single-degree-of-freedom deployable unit.
Background
With the rapid development of the aerospace technology, the aerospace technology plays an important role in the strategic planning of the scientific and technological development in China, and the requirement of aerospace engineering on a large deployable mechanism is more urgent. However, due to the limitation of storage capacity in aerospace engineering, the requirement for a deployable antenna with high folding rate, high rigidity and high stability is more urgent. The deployable mechanism is in a collapsed state during storage and transport, and when placed in the work track, ready for deployment, the drive means can cause it to deploy into a predetermined working state. At present, the application of the deployable mechanism on various spacecrafts is more and more extensive.
The research of the deployable mechanism has become a research hotspot in the world today, however, the deployable antenna is an indispensable field in the deployable mechanism. Typical examples are the us jet propulsion laboratory and the L' Garde company developing an inflatable deployable antenna with a caliber of 14m, the SSDA folding antenna developed by the folding agency laboratory of cambridge university, uk, and the rigid radial rib antenna developed by Harris. China starts late in the research of the deployable antenna, at present, the research on the deployable mechanism mainly focuses on the kinematics and dynamics of the mechanism, but the design of modular units for forming the space deployable antenna is not many, and in order to meet the ever-increasing demand in space research, the design of a novel deployable mechanism formed by modular units has a great development prospect.
Disclosure of Invention
The invention aims to provide a modular curved surface expandable antenna mechanism based on a single-degree-of-freedom expandable unit, which solves the problems in the prior art, has the advantages of simple structure, low processing and manufacturing cost and low installation difficulty, and can form a large expandable antenna mechanism with any caliber and high folding rate.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a modularized curved surface deployable antenna mechanism based on a single-degree-of-freedom deployable unit, which comprises a plurality of deployable antenna modules, wherein two adjacent deployable antenna modules are connected through a first faceplate at the bottom of one deployable antenna module and a second faceplate at the bottom of the other deployable antenna module, the first faceplate and the second faceplate which are not connected at the bottoms of the two adjacent deployable antenna modules are connected through a first synchronous rod, the middle part of a rod body of the first synchronous rod can be folded, and the first synchronous rod is rotatably connected with the first faceplate and the second faceplate; the outer side wall of the first disc chuck is provided with a first connecting rod, two second connecting rods which are arranged in parallel are arranged on the outer edge of the top end of the second disc chuck, the first connecting rod is a straight rod, the second connecting rod is an L-shaped rod composed of a transverse rod and a vertical rod, the first connecting rod protrudes out of the end portion of the first disc chuck and is connected with a straight shaft in a rotating mode, the transverse rod of the second connecting rod is connected with the second disc chuck, the second connecting rod protrudes out of the vertical rod of the second disc chuck and is connected with a shaft in a rotating mode, and the end portion of the straight shaft is inserted into a block of the shaft and is connected with the block shaft in a rotating mode.
Preferably, the first faceplate is integrally provided with the first connecting rod, and the second faceplate is integrally provided with the second connecting rod.
Preferably, the deployable antenna module is composed of three tetrahedral deployable antenna units;
the tetrahedral deployable antenna unit comprises four faceplates, three equal-length web members and three second synchronizing rods; the four flower discs comprise the first flower disc, the second flower disc, a third flower disc and a fourth flower disc, and the fourth flower disc is arranged at the tops of the first flower disc, the second flower disc and the third flower disc; the fourth faceplate is connected with the first faceplate, the second faceplate and the third faceplate through the web members respectively, and two ends of each web member are rotatably connected with the first faceplate, the second faceplate, the third faceplate and the fourth faceplate; the first faceplate, the second faceplate and the third faceplate are sequentially connected through three second synchronizing rods, the middle part of a rod body of each second synchronizing rod can be vertically folded, and the second synchronizing rods are rotationally connected with the first faceplate, the second faceplate and the third faceplate;
the web members of the three tetrahedral deployable antenna units connected to the third faceplate share one third faceplate, and the second synchronization rods of the three tetrahedral deployable antenna units connected to the third faceplate also share one third faceplate; the fourth faceplates of the three tetrahedral deployable antenna units are connected through three third synchronizing rods, the middle parts of rod bodies of the third synchronizing rods can be folded, and the third synchronizing rods are rotationally connected with the fourth faceplates; the first faceplate and the second faceplate between two adjacent tetrahedral deployable antenna units are connected into a closed loop through a second synchronizing rod, and the second synchronizing rod is rotationally connected with the first faceplate and the second faceplate; the first faceplate, the second faceplate and the shared third faceplate of the three tetrahedron expandable antenna units are positioned on the same plane, and the connecting lines of the centers of the first faceplate and the second faceplate of the three tetrahedron expandable antenna units form a regular hexagon.
Preferably, the first faceplate, the second faceplate, the third faceplate and the fourth faceplate are provided with annular grooves on the end faces of the connecting ends of the web members, a plurality of hinge holes which are opposite in pairs are circumferentially arranged on the inner side wall and the outer side wall of each annular groove, and the end parts of the web members are hinged to the hinge holes through hinge pins.
Preferably, the middle parts of the rod bodies of the first, second and third synchronizing rods are all connected through a synchronizing hinge.
Preferably, the peripheries of the first faceplate, the second faceplate, the third faceplate and the fourth faceplate are further provided with a plurality of paired first parallel lugs, the end portions of the first synchronizing rod, the second synchronizing rod and the third synchronizing rod are provided with second parallel lugs which are matched with the first parallel lugs, the second parallel lugs extend into the first parallel lugs and are hinged through pin shafts, and the axes of the pin shafts are parallel to the axes of revolute pairs of the synchronous hinges.
Preferably, the second and third synchronization bars are fixedly connected with the second parallel tabs at the ends thereof; the first synchronizing rod is rotatably connected with the second parallel lug at the end part of the first synchronizing rod.
Preferably, the first synchronization rod is connected with the second parallel lug at the end through a rotating joint, one end of the rotating joint is integrally arranged with the second parallel lug, the other end of the rotating joint is integrally provided with an insertion shaft, and the insertion shaft is inserted into the end of the first synchronization rod and is rotatably connected with the first synchronization rod.
Compared with the prior art, the invention has the following beneficial technical effects:
1. according to the modular curved surface deployable antenna mechanism based on the single-degree-of-freedom deployable units, the connection mode among the components of each combined unit is simple, and the design of a high-rigidity structure is easy to realize.
2. According to the modular curved surface deployable antenna mechanism based on the single-degree-of-freedom deployable unit, all modules are completely the same, and processing, manufacturing and installation are facilitated; the large-scale expandable antenna supporting mechanism with any caliber and large folding rate can be formed by designing the size of the modules and the number of the modules, and the expansibility is strong; when the antenna mechanism is folded in the modules, the posture is not required to be adjusted, and the antenna mechanism can be finally and completely folded (the postures of the flower disc are all consistent and all the connecting rods are close to each other) only by adaptively adjusting the postures of the connecting parts among the modules, so that the folding rate is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic perspective view of a top view of a fully deployed state of the deployable antenna mechanism of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a schematic structural view of a joint between a first faceplate and a second faceplate of the present invention;
FIG. 4 is a perspective view of a block shaft;
FIG. 5 is a perspective view of a straight shaft;
fig. 6 is a schematic perspective view of the deployable antenna module according to the present invention;
FIG. 7 is an enlarged view of a portion of FIG. 4 at A;
FIG. 8 is an enlarged view of a portion of FIG. 4 at B;
FIG. 9 is a schematic structural view of a second faceplate and a third faceplate connected with a second synchronizing rod according to the present invention;
FIG. 10 is a schematic view of a rotary joint according to the present invention;
FIG. 11 is a top view of the deployed state of the synchronous hinge of the present invention;
FIG. 12 is a front view of the present invention with the synchronization hinge fully collapsed;
FIG. 13 is a front view of a synchronizing gear in the present invention;
FIG. 14 is a top plan view of the synchronizing gear of the present invention;
FIG. 15 is a schematic perspective view of the frame of the present invention;
fig. 16 is a schematic perspective view of the deployable antenna mechanism in a fully deployed state;
fig. 17 is a schematic perspective view of the deployable antenna mechanism in a semi-collapsed state according to the present invention;
fig. 18 is a schematic perspective view of the deployable antenna mechanism in a fully collapsed state according to the present invention;
in the figure: 1-a first faceplate, 2-a second faceplate, 3-a third faceplate, 4-a fourth faceplate, 5-a web member, 6-a first synchronizing rod, 7-a synchronizing hinge, 8-a second synchronizing rod and 9-a third synchronizing rod;
11-an annular groove, 12-a first parallel lug, 13-a second parallel lug, 14-a first connecting rod, 15-a second connecting rod, 16-a straight shaft, 17-a block shaft, 18-a rotating joint, 19-an inserting shaft, an axis of a cross rod of a C-T type sleeve and an axis of a vertical rod of a D-T type sleeve;
21-synchronous gear, 22-torsion spring, 23-frame;
i-a first expandable antenna module, II-a second expandable antenna module, and III-a third expandable antenna module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a modular curved deployable antenna mechanism based on a single-degree-of-freedom deployable unit, which aims to solve the problems in the prior art.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The first embodiment is as follows:
the embodiment provides a modularized curved surface deployable antenna mechanism based on a single-degree-of-freedom deployable unit, as shown in fig. 1 and fig. 2, the deployable antenna mechanism is composed of a plurality of deployable antenna modules, two adjacent deployable antenna modules are rotatably connected through a first faceplate 1 at the bottom of one of the deployable antenna modules and a second faceplate 2 at the bottom of the other deployable antenna module, the first faceplate 1 and the second faceplate 2 which are not connected at the bottoms of the two adjacent deployable antenna modules are connected through a first synchronizing rod 6, the middle part of a rod body of the first synchronizing rod 6 can be folded, and the first synchronizing rod 6 is rotatably connected with the first faceplate 1 and the second faceplate 2.
In this embodiment, as shown in fig. 3-5, a first connecting rod 14 is integrally disposed on an outer side wall of the first faceplate 1, two second connecting rods 15 disposed in parallel are integrally disposed on an outer edge of a top end of the second faceplate 2, the first connecting rod 14 is a straight rod, the second connecting rod 15 is an L-shaped rod formed by a transverse rod and a vertical rod, a straight shaft 16 is rotatably connected to an end portion of the first connecting rod 14 protruding out of the first faceplate 1, the transverse rods of the two second connecting rods 15 are connected to the second faceplate 2, a shaft 17 is rotatably connected between the two vertical rods of the second faceplate 2 protruding out of the two second faceplate 15, and an end portion of the straight shaft 16 is rotatably connected to the block shaft 17 by inserting a block of the block shaft 17 into the block.
In this embodiment, the deployable antenna mechanism is composed of three deployable antenna modules, as shown in fig. 1 and fig. 2, the three deployable antenna modules include a first deployable antenna module I, a second deployable antenna module II, and a third deployable antenna module III, one of the first faceplates 1 of the first deployable antenna module I is connected to one of the second faceplates 2 of the third deployable antenna module III through a straight shaft 16 and a block shaft 17; one of the first faceplates 1 of the third deployable antenna module III is connected to one of the second faceplates 2 of the second deployable antenna module II through the straight shaft 16 and the block shaft 17, and one of the first faceplates 1 of the second deployable antenna module II is connected to one of the second faceplates 2 of the first deployable antenna module I through the straight shaft 16 and the block shaft 17, thereby realizing the rotational connection between the faceplates at the bottom of the three deployable antenna modules in this embodiment.
The axis of the second synchronous rod 8 which connects the two expandable antenna units in the three expandable antenna modules is used as an edge line to form a plane equilateral triangle; the axis C of the straight shaft 16 connected to the first faceplate 1 is parallel to the axis of the second synchronization rod 8 adjacent to the deployable antenna module in which the module is located (the second synchronization rod 8 is a second synchronization rod connecting two deployable antenna units), the axis D of the block shaft 17 connected to the second faceplate is parallel to the axis of the second synchronization rod 8 adjacent to the deployable antenna module in which the module is located (the second synchronization rod 8 is also a second synchronization rod connecting two deployable antenna units), and the modules can swing around the two axes, so that the attitude adjustment movement of the modules is realized.
As for the deployable antenna module, as shown in fig. 6-8, in the present embodiment, the deployable antenna module is composed of three tetrahedral deployable antenna units;
the tetrahedral deployable antenna unit comprises four faceplates, three equal-length web members 5 and three second synchronizing rods 8; the four flower discs comprise a first flower disc 1, a second flower disc 2, a third flower disc 3 and a fourth flower disc 4, and the fourth flower disc 4 is arranged at the tops of the first flower disc 1, the second flower disc 2 and the third flower disc 3; the fourth disc chuck 4 is connected with the first disc chuck 1, the second disc chuck 2 and the third disc chuck 3 through a web member 5, and two ends of each web member 5 are rotatably connected with the first disc chuck 1, the second disc chuck 2, the third disc chuck 3 and the fourth disc chuck 4; the first faceplate 1, the second faceplate 2 and the third faceplate 3 are sequentially connected through three second synchronizing rods 8, the middle part of the rod body of each second synchronizing rod 8 can be vertically folded, and the second synchronizing rods 8 are rotationally connected with the first faceplate 1, the second faceplate 2 and the third faceplate 3;
web members 5 of the three tetrahedral deployable antenna units connected with the third faceplate 3 share the third faceplate 3, and second synchronizing rods 8 of the three tetrahedral deployable antenna units connected with the third faceplate 3 also share the third faceplate 3; the fourth faceplates 4 of the three tetrahedral deployable antenna units are connected through three third synchronizing rods 9, the middle parts of the rod bodies of the third synchronizing rods 9 can be folded, and the third synchronizing rods 9 are rotationally connected with the fourth faceplates 1; a first faceplate 1 and a second faceplate 2 between two adjacent tetrahedral deployable antenna units are connected into a closed loop through a second synchronizing rod 8, and the second synchronizing rod 8 is rotationally connected with the first faceplate 1 and the second faceplate 2; the first faceplate 1, the second faceplate 2 and the shared third faceplate 3 of the three tetrahedron expandable antenna units are positioned on the same plane, and the connecting lines of the centers of the first faceplate 1 and the second faceplate 2 of the three tetrahedron expandable antenna units form a regular hexagon.
As shown in fig. 8 and 9, in order to realize the connection between the web member 5 and each faceplate, an annular groove 11 is formed on the end surface of the connection end of the first faceplate 1, the second faceplate 2, the third faceplate 3, the fourth faceplate 4 and the web member 5, a plurality of hinge holes opposite to each other are circumferentially formed on the inner side wall and the outer side wall of the annular groove 11, and the end of the web member 5 is hinged to the hinge holes through a pin shaft; the number of the specific hinge holes is the same as the number of the web members 5 connected with the specific hinge holes, the fourth faceplate 4 is simultaneously connected with the three web members 5, and three pairs of hinge holes are uniformly distributed on the inner side wall and the outer side wall of the annular groove 11 of the fourth faceplate 4.
In this embodiment, a plurality of pairs of first parallel lugs 12 (the number of pairs of parallel lugs is the same as the number of synchronizing rods connected to the faceplate) are further disposed on the peripheries of the first faceplate 1, the second faceplate 2, the third faceplate 3 and the fourth faceplate 4, second parallel lugs 13 disposed in cooperation with the first parallel lugs 12 are disposed at the ends of the first synchronizing rod 6, the second synchronizing rod 8 and the third synchronizing rod 9, the second parallel lugs 13 extend into the first parallel lugs 12 and are hinged through pin shafts, and the axes of the pin shafts are parallel to the axes of revolute pairs of the synchronizing hinges 7 on the synchronizing rods where the second parallel lugs 13 are disposed.
In order to realize single degree of freedom adjustment in the module, namely the module can be directly folded without adjusting the posture, the second synchronous rod 8 and the third synchronous rod 9 in the embodiment are fixedly connected with the second parallel lug 13 at the end part; the first synchronizing rod 6 is rotationally connected with a second parallel lug 13 at the end part thereof; specifically, as shown in fig. 10, the first synchronizing bar 6 is connected to the second parallel tab 13 at the end portion thereof through a rotating joint 18, one end of the rotating joint 18 is integrally disposed with the second parallel tab 13, the other end of the rotating joint 18 is integrally disposed with an insertion shaft 19, and the insertion shaft 19 is inserted into the end portion of the first synchronizing bar 6 to be rotatably connected to the first synchronizing bar 6.
In this embodiment, the middle portions of the first, second and third synchronizing bars 6, 8 and 9 are connected by a synchronizing hinge 7.
As shown in fig. 11 to 15, the synchronous hinge 7 disposed in the middle of each of the synchronous levers has a specific structure formed by combining a synchronous gear 21, a torsion spring 22 and a frame 23, wherein two opposite synchronous gears 21 are connected to two sides inside the frame 23 through pins, the torsion spring 22 is located between the synchronous gears 21, and the synchronous levers rotate by meshing of the two synchronous gears 21 to form a revolute pair. The frame 23 plays a role in supporting and protecting, one end of the frame 23 is open and can be completely folded, and the other end of the frame 23 is closed and can play a role in limiting when the synchronizing rod is completely unfolded (namely 180 degrees).
According to the modular curved surface expandable antenna mechanism based on the single-degree-of-freedom expandable unit, reasonable driving is added at the revolute pair in the middle of each synchronous rod, the bottom flower discs in the single modules are located on the same plane, the single modules can be completely folded without adjusting the posture, at the moment, the planes of the flower discs are basically consistent and horizontal, all rod pieces are mutually close to each other and located in the minimum envelope volume, and the structural schematic diagrams of the expandable antenna in different-angle unfolded, semi-folded or completely folded states are shown in fig. 1 and fig. 16-18.
The principle and the implementation mode of the invention are explained by applying specific examples, and the description of the above examples is only used for helping understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (8)
1. The utility model provides a modularization curved surface deployable antenna mechanism based on single degree of freedom deployable unit which characterized in that: the deployable antenna mechanism is composed of a plurality of deployable antenna modules, two adjacent deployable antenna modules are rotatably connected through a first faceplate at the bottom of one of the deployable antenna modules and a second faceplate at the bottom of the other deployable antenna module, the first faceplate and the second faceplate which are not connected at the bottoms of the two adjacent deployable antenna modules are connected through a first synchronizing rod, the middle part of a rod body of the first synchronizing rod can be folded, and the first synchronizing rod is rotatably connected with the first faceplate and the second faceplate; the outer side wall of the first disc chuck is provided with a first connecting rod, two second connecting rods which are arranged in parallel are arranged on the outer edge of the top end of the second disc chuck, the first connecting rod is a straight rod, the second connecting rod is an L-shaped rod composed of a transverse rod and a vertical rod, the first connecting rod protrudes out of the end portion of the first disc chuck and is connected with a straight shaft in a rotating mode, the transverse rod of the second connecting rod is connected with the second disc chuck, the second connecting rod protrudes out of the vertical rod of the second disc chuck and is connected with a shaft in a rotating mode, and the end portion of the straight shaft is inserted into a block of the shaft and is connected with the block shaft in a rotating mode.
2. The modular curved deployable antenna mechanism based on a single degree of freedom deployable unit of claim 1, wherein: the first disc chuck and the first connecting rod are integrally arranged, and the second disc chuck and the second connecting rod are integrally arranged.
3. The modular curved deployable antenna mechanism based on a single degree of freedom deployable unit of claim 2, wherein: the deployable antenna module is composed of three tetrahedral deployable antenna units;
the tetrahedral deployable antenna unit comprises four faceplates, three equal-length web members and three second synchronizing rods; the four flower discs comprise the first flower disc, the second flower disc, a third flower disc and a fourth flower disc, and the fourth flower disc is arranged at the tops of the first flower disc, the second flower disc and the third flower disc; the fourth faceplate is connected with the first faceplate, the second faceplate and the third faceplate through the web members respectively, and two ends of each web member are rotatably connected with the first faceplate, the second faceplate, the third faceplate and the fourth faceplate; the first faceplate, the second faceplate and the third faceplate are sequentially connected through three second synchronizing rods, the middle part of a rod body of each second synchronizing rod can be vertically folded, and the second synchronizing rods are rotationally connected with the first faceplate, the second faceplate and the third faceplate;
the web members of the three tetrahedral deployable antenna units connected to the third faceplate share one third faceplate, and the second synchronization rods of the three tetrahedral deployable antenna units connected to the third faceplate also share one third faceplate; the fourth faceplates of the three tetrahedral deployable antenna units are connected through three third synchronizing rods, the middle parts of rod bodies of the third synchronizing rods can be folded, and the third synchronizing rods are rotationally connected with the fourth faceplates; the first faceplate and the second faceplate between two adjacent tetrahedral deployable antenna units are connected into a closed loop through a second synchronizing rod, and the second synchronizing rod is rotationally connected with the first faceplate and the second faceplate; the first faceplate, the second faceplate and the shared third faceplate of the three tetrahedron expandable antenna units are positioned on the same plane, and the connecting lines of the centers of the first faceplate and the second faceplate of the three tetrahedron expandable antenna units form a regular hexagon.
4. The modular curved deployable antenna mechanism based on a single degree of freedom deployable unit of claim 3, wherein: the first faceplate, the second faceplate, the third faceplate and the fourth faceplate with be provided with the annular groove on the terminal surface of the link of web member, circumference is provided with a plurality of two liang of relative hinge holes on the inside wall and the lateral wall of annular groove, the tip of web member through the round pin axle with the hinge hole is articulated.
5. The modular curved deployable antenna mechanism based on a single degree of freedom deployable unit of claim 4, wherein: the middle parts of the rod bodies of the first synchronizing rod, the second synchronizing rod and the third synchronizing rod are connected through a synchronizing hinge.
6. The modular curved deployable antenna mechanism based on a single degree of freedom deployable unit of claim 5, wherein: the periphery of the first faceplate, the second faceplate, the third faceplate and the fourth faceplate is also provided with a plurality of paired first parallel lugs, the end parts of the first synchronizing rod, the second synchronizing rod and the third synchronizing rod are provided with second parallel lugs matched with the first parallel lugs, the second parallel lugs extend into the first parallel lugs and are hinged through a pin shaft, and the axis of the pin shaft is parallel to the axis of a revolute pair of the synchronous hinge.
7. The modular curved deployable antenna mechanism based on a single degree of freedom deployable unit of claim 6, wherein: the second synchronous rod and the third synchronous rod are fixedly connected with the second parallel lug at the end part of the second synchronous rod; the first synchronizing rod is rotatably connected with the second parallel lug at the end part of the first synchronizing rod.
8. The modular curved deployable antenna mechanism based on a single degree of freedom deployable unit of claim 6, wherein: the first synchronizing rod is connected with the second parallel lug at the end part through a rotating joint, one end of the rotating joint is integrally arranged with the second parallel lug, the other end of the rotating joint is integrally provided with an inserting shaft, and the inserting shaft is inserted into the rod body end part of the first synchronizing rod and is rotatably connected with the first synchronizing rod.
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| CN102285463A (en) * | 2011-04-28 | 2011-12-21 | 哈尔滨工业大学 | Space foldable mechanism derived from five-revolute-pair units |
| CN106450647A (en) * | 2016-10-09 | 2017-02-22 | 燕山大学 | Shears-fork type hexagonal-prism extensible unit and space extensible mechanism formed by the same |
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| JP3476041B2 (en) * | 1994-09-28 | 2003-12-10 | 日本電信電話株式会社 | Modular deployment antenna |
| CN107275794A (en) * | 2017-05-05 | 2017-10-20 | 燕山大学 | 9RR 12URU 3URU symmetric forms can open up elementary cell mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102285463A (en) * | 2011-04-28 | 2011-12-21 | 哈尔滨工业大学 | Space foldable mechanism derived from five-revolute-pair units |
| CN106450647A (en) * | 2016-10-09 | 2017-02-22 | 燕山大学 | Shears-fork type hexagonal-prism extensible unit and space extensible mechanism formed by the same |
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