CN110792178B - Large-scale form can expand truss mechanism - Google Patents
Large-scale form can expand truss mechanism Download PDFInfo
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- CN110792178B CN110792178B CN201911095237.1A CN201911095237A CN110792178B CN 110792178 B CN110792178 B CN 110792178B CN 201911095237 A CN201911095237 A CN 201911095237A CN 110792178 B CN110792178 B CN 110792178B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
- E04B1/343—Structures characterised by movable, separable, or collapsible parts, e.g. for transport
- E04B1/344—Structures characterised by movable, separable, or collapsible parts, e.g. for transport with hinged parts
- E04B1/3441—Structures characterised by movable, separable, or collapsible parts, e.g. for transport with hinged parts with articulated bar-shaped elements
Abstract
A large-scale truss mechanism capable of being unfolded relates to a truss mechanism. The invention aims to solve the problems of the traditional central bearing cylinder structure configuration determination and poor flexibility; the overall envelope volume is large, the size is restricted by a carrier rocket, and the overall layout of the spacecraft is limited. The left joint and the right joint of each three-joint hinge are respectively rotatably connected with a cross rod to form a first folding and unfolding unit, the third joint of each three-joint hinge is rotatably connected with one end of a vertical rod, two adjacent cross rods are connected through a transverse driving hinge, and two adjacent first folding and unfolding units are rotatably connected through a radial driving hinge; the left joint and the right joint of each four-joint hinge are respectively rotatably connected with a cross rod to form a second folding unit, the upper joint and the lower joint of each four-joint hinge are respectively rotatably connected with the other end of a vertical rod, and two adjacent second folding units are rotatably connected through a driving hinge. The invention is used in the field of aerospace.
Description
Technical Field
The invention relates to a truss mechanism, in particular to a large-scale truss mechanism capable of being unfolded. Belongs to the technical field of aerospace.
Background
The space solar power station collects and converts solar energy into electric energy in space, transmits the electric energy to the ground in a wireless energy mode, and converts the electric energy into direct current through a ground rectifying device. The space solar power station is developed, the continuous and stable work with large energy flux density is realized, the solar radiation can be stably received in 99% of the time in a geosynchronous orbit, and the stable energy transmission is carried out to a ground fixed area. However, the system scale of the GW-grade power generation of the solar power station needs to be in the order of hundreds of meters.
The central bearing structure of the space solar power station has the dimension diameter of 23m and the length of hundreds of meters, and must be constructed by multiple times of emission and space assembly. But the traditional central bearing cylinder structure has definite configuration and poor flexibility; the overall envelope volume is large, the size is restricted by a carrier rocket, and the overall layout of the spacecraft is limited. Therefore, the space solar power station can not adopt a conventional bearing structure, and an expandable central bearing structure is required to be designed so as to reduce the envelope volume during launching, reduce the launching cost and simultaneously reduce the limitation of the carrier rocket on the size of the spacecraft.
With the rapid development of space science and space detection technology, the development demand of large-scale, light-weight and high-folding-ratio space unfolding mechanisms is increasingly urgent nowadays. With the increase of the maximum opening diameter of the folding and unfolding mechanism, the storage space of the existing space delivery vehicle can not meet the requirement of a large space folding and unfolding mechanism temporarily, so that a large space scale mechanism capable of realizing the folding and unfolding functions is urgently needed to be designed. The design and analysis of an aerospace folding and unfolding mechanism are one of the key basic problems in the future aerospace technology development.
In conclusion, the existing unfolding mechanism has the defects of determined central force bearing structure configuration and poor flexibility; the overall envelope volume is large, the size is restricted by a carrier rocket, and the overall layout of the spacecraft is limited.
Disclosure of Invention
The invention aims to solve the problems that the existing unfolding mechanism has a central bearing structure configuration and poor flexibility; the overall envelope volume is large, the size is restricted by a carrier rocket, and the overall layout of the spacecraft is limited. Further provides a body-shaped expandable truss mechanism.
The technical scheme of the invention is as follows: the body-shaped expandable truss mechanism comprises four octagonal fixing rings and a plurality of vertical rods, wherein a first octagonal fixing ring and a fourth octagonal fixing ring in the four octagonal fixing rings are in the same structure, and a second octagonal fixing ring and a third octagonal fixing ring are in the same structure; the first octagonal fixing ring, the second octagonal fixing ring, the third octagonal fixing ring and the fourth octagonal fixing ring are rotatably connected from top to bottom through a plurality of vertical rods; the first octagonal fixing ring comprises a plurality of three-joint hinges, a plurality of cross rods and a plurality of driving hinges, the left joint and the right joint of each three-joint hinge are respectively and rotatably connected with one cross rod to form a first folding and unfolding unit, the third joint of each three-joint hinge is rotatably connected with one end of a vertical rod, and two adjacent first folding and unfolding units are rotatably connected through one driving hinge; the third octagonal fixing ring comprises a plurality of four-joint hinges, a plurality of cross rods and a plurality of driving hinges, the left joint and the right joint of each four-joint hinge are respectively connected with one cross rod in a rotating mode and form a second folding unit, the upper joint and the lower joint of each four-joint hinge are respectively connected with the other end of a vertical rod in a rotating mode, and two adjacent second folding units are connected through one driving hinge in a rotating mode.
Furthermore, the three-joint hinge comprises a three-joint rotating hinge, a first sliding hinge joint, a three-joint spring, a synchronous slider, two sliding diagonal rod assemblies and a constant force spring, the three-joint spring is sleeved on a third joint of the three-joint rotating hinge, the first sliding hinge joint is sleeved on the third joint of the three-joint rotating hinge at the lower end of the three-joint spring, the vertical rod is arranged in the first sliding hinge joint and the three-joint spring, the synchronous slider is sleeved on the vertical rod and slides on the vertical rod along with the first sliding hinge joint, one end of each of the two sliding diagonal rod assemblies is respectively connected with the transverse rods arranged on the left joint and the right joint of the three-joint rotating hinge in a sliding manner, the other ends of the two sliding diagonal rod assemblies are respectively connected with the two ends of the first sliding hinge joint in, wherein the constant force spring is installed between the other ends of the two sliding diagonal rod assemblies and the two ends of the first sliding hinge joint.
Further, the sliding inclined rod assembly comprises a cross rod fixing ring, a synchronous inclined rod and a rotating joint, the cross rod fixing ring is slidably sleeved on the cross rod, the rotating joint is rotatably installed at one end of the first sliding hinge joint, and the cross rod fixing ring is connected with the rotating joint through the synchronous inclined rod.
Furthermore, the driving hinge comprises a first connecting piece, a second connecting piece, a rotating shaft and an external driving pulley, the first connecting piece and the second connecting piece are rotatably connected through the rotating shaft, and the external driving pulley is arranged on one side of the rotating shaft.
Further, the drive hinge includes public hinge, female hinge, spacing part, the locking goods of furniture for display rather than for use, the axle sleeve, energy storage dabber and two constant force springs, spacing part passes through the energy storage dabber with the locking goods of furniture for display rather than for use and rotates to be connected, public hinge fixed mounting is in spacing part's the outside, female hinge fixed mounting is in the outside of locking goods of furniture for display rather than for use, the axle sleeve is installed in the left and right sides of locking goods of furniture for display rather than for use, the one end of every constant force spring all with the axle sleeve connection and twine in the energy.
Furthermore, a limiting groove is formed in the upper end face of the limiting part, a limiting protrusion is arranged on the upper portion of the matching surface of the locking swing part and the limiting part, and the limiting part and the locking swing part are clamped in the limiting groove through the limiting protrusion to be limited after rotating around the energy storage mandrel.
Further, the four-joint hinge includes a fourth swivel hinge assembly rotatably installed on a three-joint swivel hinge opposite to the third joint among the three-joint hinges, and a three-joint hinge.
Furthermore, the fourth rotating hinge assembly comprises a four-head fixing seat, a four-head movable seat and a four-head rotating shaft, the four-head fixing seat is installed on the three-head rotating hinge, and the four-head movable seat is rotatably connected with the four-head fixing seat through the four-head rotating shaft.
Furthermore, the fourth rotary hinge component comprises a four-head male hinge, a four-head female hinge, a hinge support, a support shaft, a four-head locking swing part and a spring component, the four-head female hinge is arranged on the four-head male hinge through the hinge support, the upper support and the lower support of the hinge support are rotatably connected through the support shaft, and the four-head locking swing part is arranged on the hinge support through the spring component.
Further, the three-joint hinge further comprises a plurality of inner pulleys, and one inner pulley is rotatably arranged inside each three-joint hinge.
Compared with the prior art, the invention has the following effects:
1. the invention adopts the constant moment spring as the driving source to output the moment to be a constant value, so that the stress and the movement in the configuration unfolding process are more reasonable.
2. The invention adopts four octagonal fixing rings, the first octagonal fixing ring 2 and the second octagonal fixing ring 3 are outer upper ring octagonal prisms, and the third octagonal fixing ring 4 and the fourth octagonal fixing ring 5 are contracted inwards to be inner lower ring octagonal prisms. The outer ring-mounting octagonal prism mechanism is unfolded firstly, the inner ring-mounting octagonal prism structure moves downwards firstly and then is unfolded, all truss rods and hinges do not interfere in the whole unfolding process, the mechanism is smooth and free of jamming, and the mechanism can be effectively guaranteed to be unfolded synchronously.
3. The invention realizes larger folding-unfolding ratio of the large-space expandable truss mechanism, and simultaneously avoids structural interference among configurations; the unfolding reliability is higher; the light weight is realized. The present invention has a fold-to-extension ratio of 148.5422 as defined by the ratio of the expanded volume to the collapsed volume, and 131.2463 for the deca-prism configuration, which provides a much higher fold-to-extension ratio than current large-space expandable truss mechanisms.
4. The invention has good mechanical property, high integral structure rigidity, good universality and combination, simple form and reasonable force transmission path, the sliding diagonal rod assembly 14 can transmit concentrated load, the rod pieces are arranged along the main force transmission path of the load, the structure quality can be reduced, and the structure performance is improved.
5. The invention designs the pulley assembly as a slow release mechanism for unfolding the truss, in order to ensure controllable unfolding and reduce the impact caused by driving force when the truss is unfolded in place, so that the unfolding process is more stable and reliable. When the truss is unfolded in place, the rotary joint is locked and stiffened, the control system reverses the motor to pre-apply pre-tightening force to the ropes, so that the structural rigidity of the whole truss is improved.
6. The truss rod of the expandable truss is made of the carbon fiber tube with high strength and low density, so that the weight is reduced.
7. The invention accumulates the technical foundation for the deployable heart bearing structure in the space solar power station.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention in a deployed state; FIG. 2 is a schematic structural view of the present invention in a semi-deployed state; FIG. 3 is a schematic view of the present invention in a contracted state; FIG. 4 is a schematic of the present invention employing a rope wrapped around a pulley; FIG. 5 is an enlarged partial view of the drive hinge; fig. 6 is a partially enlarged view of the second folding unit B; fig. 7 is a structural schematic view of a fourth swivel hinge assembly C; FIG. 8 is a schematic view of another preferred embodiment of a drive hinge; FIG. 9 is a schematic structural view of a three-joint hinge; fig. 10 is a schematic view of a single loop furling pulley arrangement.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 10, and a large-scale deployable truss mechanism of the present embodiment includes four octagonal securing rings and a plurality of vertical bars 1, wherein a first octagonal securing ring 2 and a fourth octagonal securing ring 5 of the four octagonal securing rings have the same structure, and a second octagonal securing ring 3 and a third octagonal securing ring 4 have the same structure; the first octagonal fixing ring 2, the second octagonal fixing ring 3, the third octagonal fixing ring 4 and the fourth octagonal fixing ring 5 are rotatably connected through a plurality of vertical rods 1 from top to bottom; the first octagonal fixing ring 2 comprises a plurality of three-joint hinges 6, a plurality of cross rods 7 and a plurality of driving hinges 8, the left joint and the right joint of each three-joint hinge 6 are respectively rotatably connected with one cross rod 7 to form a first folding and unfolding unit A, the third joint of each three-joint hinge 6 is rotatably connected with one end of a vertical rod 1, and every two adjacent first folding and unfolding units A are rotatably connected through one driving hinge 8; the third octagonal fixing ring 4 comprises a plurality of four-joint hinges 9, a plurality of cross rods 7 and a plurality of driving hinges 8, the left joint and the right joint of each four-joint hinge 9 are respectively rotatably connected with one cross rod 7 to form a second folding unit B, the upper joint and the lower joint of each four-joint hinge 9 are respectively rotatably connected with the other end of the vertical rod 1, and the adjacent two second folding units B are rotatably connected through one driving hinge 8.
The second embodiment is as follows: referring to the present embodiment described with reference to fig. 1 and 9, the triple joint hinge 6 of the present embodiment includes a triple joint rotary hinge 10 and a first sliding hinge joint 11, the three-joint hinge comprises a three-joint spring 12, a synchronous slider 13 and two sliding diagonal rod assemblies 14, wherein the three-joint spring 12 is sleeved on a third joint of a three-joint rotating hinge 10, a first sliding hinge joint 11 is sleeved on the third joint of the three-joint rotating hinge 10 at the lower end of the three-joint spring 12, a vertical rod 1 is installed in the first sliding hinge joint 11 and the three-joint spring 12, the synchronous slider 13 is sleeved on the vertical rod 1 and slides on the vertical rod 1 along with the first sliding hinge joint 11, one ends of the two sliding diagonal rod assemblies 14 are respectively in sliding connection with cross rods 7 installed on the left joint and the right joint of the three-joint rotating hinge 10, and the other ends of the two sliding diagonal rod assemblies 14 are respectively in rotating connection with two ends of the first sliding hinge joint 11. So set up, guaranteed to have the function of hinge and platform simultaneously, can provide the platform function of connecting radial pole and montant when having realized the hinge rotation function. Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: referring to fig. 1 and 9, the sliding diagonal bar assembly 14 of the present embodiment includes a cross bar fixing ring 15, a synchronous diagonal bar 16, and a rotary joint 17, wherein the cross bar fixing ring 15 is slidably fitted over the cross bar 7, the rotary joint 17 is rotatably mounted on one end of the first sliding hinge joint 11, and the cross bar fixing ring 15 is connected to the rotary joint 17 through the synchronous diagonal bar 16. By the arrangement, the freedom degree of the large space expandable truss is ensured to be less. Other compositions and connections are the same as in the first or second embodiments.
The fourth concrete implementation mode: referring to fig. 1 and 5, the transverse driving hinge 8 of the present embodiment includes a first connecting member 8-1, a second connecting member 8-2, a rotating shaft 8-3, and an external driving pulley 8-4, wherein the first connecting member 8-1 and the second connecting member 8-2 are rotatably connected by the rotating shaft 8-3, and the external driving pulley 8-4 is installed at one side of the rotating shaft 8-3. By the arrangement, the transverse driving hinge is guaranteed to provide driving torque for the large-size space expandable truss. Other compositions and connection relationships are the same as in the first, second or third embodiment.
The fifth concrete implementation mode: the embodiment is described with reference to fig. 1 and 8, the radial driving hinge 8 of the embodiment includes a male hinge 18, a female hinge 19, a limiting component 20, a locking swing component 21, a shaft sleeve 22, an energy storage mandrel 23 and two constant force springs 24, the limiting component 20 and the locking swing component 21 are rotatably connected through the energy storage mandrel 23, the male hinge 18 is fixedly installed at the outer side of the limiting component 20, the female hinge 19 is fixedly installed at the outer side of the locking swing component 21, and the shaft sleeve 22 is installed at the left side and the right side of the locking swing component 21. One end of each constant force spring 24 is connected with the shaft sleeve 22 and wound on the energy storage mandrel 23, and the other end of each constant force spring 24 is connected with the shaft sleeve 22. By the arrangement, the driving hinge can overcome the friction force of the truss mechanism revolute pair and the sliding pair in the truss unfolding stage and drive the locking mechanism to complete locking when in place. The constant moment spring is used as a driving source to output a constant moment, so that the stress and the movement in the configuration unfolding process are more reasonable. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.
The sixth specific implementation mode: referring to fig. 1 and 8, the limiting part 20 of the present embodiment is provided with a limiting groove 20-1 on the upper end surface, a limiting protrusion 21-1 is provided on the upper portion of the matching surface of the locking swing part 21 and the limiting part 20, and the limiting part 20 and the locking swing part 21 are rotated around the energy storage mandrel 23 and then clamped in the limiting groove 20-1 by the limiting protrusion 21-1 for limiting. By the arrangement, the truss can be prevented from rotating beyond the position after being unfolded in place, so that damage to truss rods is avoided. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: the present embodiment is described with reference to fig. 1 and 7, and the four-joint hinge 9 of the present embodiment includes a fourth swivel hinge assembly C rotatably mounted on a three-joint swivel hinge 10 opposite to the third joint in the three-joint hinge 6, and the three-joint hinge 6. So set up, guaranteed to have the function of hinge and platform simultaneously, can provide the platform function of connecting radial pole and montant when having realized the hinge rotation function. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.
The specific implementation mode is eight: referring to fig. 1 and 6, the fourth swivel hinge assembly C of the present embodiment includes a four-head fixed seat C-1, a four-head movable seat C-2, and a four-head rotating shaft C-3, wherein the four-head fixed seat C-1 is mounted on the three-head swivel hinge 10, and the four-head movable seat C-2 is rotatably connected to the four-head fixed seat C-1 through the four-head rotating shaft C-3. So set up, guaranteed to have the function of hinge and platform simultaneously, can provide the platform function of connecting radial pole and montant when having realized the hinge rotation function. Other constitutions and connection relations are the same as those of any one of the first to seventh embodiments.
The specific implementation method nine: referring to the present embodiment described with reference to fig. 1 and 7, the fourth swivel hinge assembly C of the present embodiment includes a four-headed male hinge 25, a four-headed female hinge 26, a hinge support 27, a support shaft 28, a four-headed lock rocker 29, and a spring assembly 30.
The four-head female hinge 26 is mounted on the four-head male hinge 25 through a hinge support 27, the upper and lower supports of the hinge support 27 are rotatably connected through a support shaft 28, and the four-head locking swing 29 is mounted on the hinge support 27 through a spring assembly 30. By the arrangement, the lower ring octagonal prism is guaranteed to be locked in place after being unfolded. Other compositions and connection relations are the same as those of any one of the first to eighth embodiments.
The detailed implementation mode is ten: the present embodiment is described with reference to fig. 1 and 10, and further includes a plurality of inner pulleys 51, and one inner pulley 51 is rotatably installed inside each triple-joint hinge 6. By the arrangement, the pulley assembly is designed to serve as a slow release mechanism for unfolding the truss, so that controllable unfolding is ensured, impact caused by driving force when the truss is unfolded in place is reduced, and the unfolding process is more stable and reliable. Other components and connection relationships are the same as those in any one of the first to ninth embodiments.
According to the large-scale truss-shaped expandable mechanism, the three-joint hinge 6 plays a role in supporting the truss, and meanwhile impact caused by driving force when the truss is expanded in place can be reduced, so that the expanding process is more stable and reliable. Because the principle of the synchronous mechanism is a crank sliding block mechanism, and the synchronous mechanisms are symmetrically arranged, the sliding blocks slide upwards to drive the cross rods to unfold when the mechanism is unfolded. The sliding diagonal bar assembly 14 is used to control the deployment and eversion of the deployable mechanism. The friction force of the whole configuration is extremely small compared with the driving torque according to a friction force calculation formula of a rotating shaft neck in mechanical principle; meanwhile, the force impact in place is not too large, and the driving moment of the driving hinge is prevented from being damaged by a truss structure by 10 Nm. Therefore, the driving hinge 8 can overcome the friction force of the truss mechanism rotating pair and the sliding pair and drive the locking mechanism to complete locking when in place. Because the expandable truss mechanism has no external force when being expanded, the driving source only needs to overcome self friction torque and can overcome the in-place limitation of the locking mechanism to complete self-locking. Because the female hinge and the male hinge of the four joints rotate around the rotating shaft and are connected with the vertical rod and the horizontal rod through the joints, the fourth rotating hinge assembly C can provide a platform function for connecting the radial rod and the vertical rod while realizing a rotating function.
Wherein 16 cross bars 7 are connected by 8 three-joint hinges 6 to form 8-edge-shaped fixed rings, and the rod pieces are hinged with the joints. 16 cross bars 7 are hinged with 8 four-joint hinges 9 to form an 8-edge fixing ring. The transverse rods are connected with each other by radial driving hinges. The whole truss mechanism has 4 solid fixed rings of 8-sided shape, and the solid fixed ring of 8-sided shape that has two three-joint hinges 6 to constitute has the solid fixed ring of 8-sided shape that two four-joint hinges 9 constitute respectively. The 8-sided fixed ring formed by the three-joint hinge 6 is connected with the 8-sided fixed ring formed by the four-joint hinge 9 through the vertical rod 1, and the vertical rod is hinged with the joint.
When the truss is unfolded in place, the rotary joint is locked and stiffened, the pre-tightening force of the rope is pre-applied by controlling the external motor, so that the structural rigidity of the whole truss is improved. Wherein the release rate of the rope is the truss deployment rate.
In a further aspect of the present invention, when the entire truss mechanism is deployed, the locking shaft 52 mounted on the four-headed locking rocker 29 is inserted into the groove of the four-headed male hinge 25, maintaining the locked state.
The invention further provides a technical scheme, wherein the pulley is mainly arranged at one end of the radial driving hinge and shares the same shaft with the radial hinge. The pulley carries out axial spacing through the nut, lays the prismatic pulley system of lower ring at the inboard, and the prismatic pulley system of upper ring lays at the outside, has avoided the structure interference between the configuration.
According to the further technical scheme, the truss rods and the synchronous mechanism rods of the expandable truss are made of carbon fiber tubes with high strength, light weight and low density, the hinges of the truss mechanism are formed by printing titanium alloy, and the rest parts are made of aluminum alloy materials.
According to the further technical scheme, the pulley is installed on the outer side of the upper ring joint and the inner side of the lower ring joint, holes are reserved on the outer side of the upper ring joint and the inner side of the lower ring joint, and the pulley and the radial hinge share the same shaft.
The rope is mounted on the first octagonal prism and the third octagonal prism, and by taking the example of the first octagonal prism in conjunction with fig. 4, the first wire is wound circularly in a manner that the first wire is wound around a pulley of the transverse driving hinge from a pulley of a four-joint below the octagonal prism, then is wound around a pulley of a three-joint above the octagonal prism. The second wire is wound in a loop starting from the three-joint pulley above the octagonal prism, passing around the pulley of the transverse drive hinge, then passing around the four-joint pulley below the octagonal prism. Both wires are wound on a motor shaft, and the unfolding speed is controlled by controlling the rotating speed of the motor. The winding of the lower ring octagon is different from that of the upper ring octagon in that the pulley system of the lower ring octagon is arranged on the inner side, and the pulley system of the upper ring octagon is arranged on the outer side, so that structural interference among configurations is avoided.
The working principle of the invention is as follows:
in the invention, the furling rate is taken as a design target, the expandable truss mechanism can realize the three-dimensional expansion on the rail, and the radial enveloping diameter of the expanded truss mechanism is about 23m as a design principle. When the invention is folded, the hinge is driven to store elastic potential energy. When unfolded, the driving hinge drives the octagonal prism mechanism to unfold. The overall structure of the invention is roughly divided into two motion processes of horizontal unfolding and overturning of an octagonal prism from folding to complete unfolding, and the unfolding and driving modes of the mechanism in the two processes are roughly as follows:
the mechanism is in a furled state, the four-joint hinge 9 and the driving hinge 8 are in a furled state in the furled state, and the constant force spring 24 stores elastic potential energy in the furled state; all the cross rods 7 are in a vertical state, and the whole device is locked by connecting wrapping belts.
In the transverse unfolding process of the mechanism, the wrapping belt controlled by an electric signal is firstly unlocked, and because the constant-torque constant-force spring 24 for storing energy needs to release energy, the driving hinge 8 for connecting the cross rod 7 and the cross rod 7 drives the cross rod 7 to unfold, so that the whole octagonal prism mechanism is driven to unfold smoothly. When the outermost layer of octagonal prism, namely the upper ring octagonal prism, is completely unfolded, the locking swing part 21 in the driving hinge 8 assembly slides into the groove through the swing part guide rail, and locking is achieved. Wherein the limit screw and the limit nut both play a role in limiting the stroke of the locking swing. The four-joint hinge 9 enables the unfolding units to keep vertical symmetry and bilateral symmetry in the unfolding process through the up-and-down movement of the sliding blocks and the symmetrically arranged cross rod fixing rings and the synchronous oblique rods. The middle and lower octagonal prisms are in an incompletely unfolded state, and the drive hinge 8 of the octagonal prisms is not locked.
In the mechanism overturning process, when the outermost layer of octagonal prism is completely unfolded and automatically locked, the elastic potential energy stored in the four-joint hinge 9 is released to drive the vertical rod 1 to rotate by 180 degrees. When the vertical rod 1 rotates, the lower ring octagonal prism is folded, the four-joint hinge 9, the driving hinge 8 and the rotating hinge assembly are folded, and the constant-moment constant-force spring 24 stores elastic potential energy. Until the vertical rod 1 rotates to 90 degrees, the lower ring octagonal prism has the minimum folded volume. When the vertical rod 1 continues to rotate until 180 degrees, the lower ring octagon prism starts to unfold, and the driving source at this moment has the elastic potential energy provided by the driving hinge 8 and the elastic potential energy provided by the driving hinge 8. When the vertical rod 1 reaches 180 degrees, the locking swing part 21 in the driving hinge 8 slides into the groove through the swing part guide rail, and the locking between the cross rod 7 and the cross rod 7 is realized. Wherein both the limit screw and the limit nut act to limit the travel of the locking rocker 21. The locking swing piece 21 in the driving hinge 8 slides into the groove through the swing piece guide rail, so that the vertical rod 1 and the vertical rod 1 are locked. Wherein both the limit screw and the limit nut act to limit the travel of the locking rocker 21. When the truss is unfolded in place, the rotary joint is locked and stiffened, the control system reverses the motor to pre-apply pre-tightening force to the ropes, so that the structural rigidity of the whole truss is improved. The entire mechanism is fully deployed and locked.
Claims (9)
1. A large-scale body-shaped expandable truss mechanism comprises four octagonal fixing rings and a plurality of vertical rods (1), wherein a first octagonal fixing ring (2) and a fourth octagonal fixing ring (5) in the four octagonal fixing rings have the same structure, and a second octagonal fixing ring (3) and a third octagonal fixing ring (4) have the same structure; the first octagonal fixing ring (2), the second octagonal fixing ring (3), the third octagonal fixing ring (4) and the fourth octagonal fixing ring (5) are rotatably connected through a plurality of vertical rods (1) from top to bottom;
the first octagonal fixing ring (2) comprises a plurality of three-joint hinges (6), a plurality of cross rods (7) and a plurality of driving hinges (8), the left joint and the right joint of each three-joint hinge (6) are respectively and rotatably connected with one cross rod (7) to form a first folding and unfolding unit (A), the third joint of each three-joint hinge (6) is rotatably connected with one end of a vertical rod (1), and two adjacent first folding and unfolding units (A) are rotatably connected through one driving hinge (8);
the third octagonal fixing ring (4) comprises a plurality of four-joint hinges (9), a plurality of cross rods (7) and a plurality of driving hinges (8), the left joint and the right joint of each four-joint hinge (9) are respectively rotatably connected with one cross rod (7) to form a second folding unit (B), the upper joint and the lower joint of each four-joint hinge (9) are respectively rotatably connected with the other end of the vertical rod (1), and two adjacent second folding units (B) are rotatably connected through one driving hinge (8);
the method is characterized in that: the three-joint hinge (6) comprises a three-joint rotating hinge (10), a first sliding hinge joint (11), a three-joint spring (12), a synchronous slide block (13) and two sliding inclined rod assemblies (14),
three joint springs (12) are sleeved on a third joint of a three-joint rotating hinge (10), a first sliding hinge joint (11) is sleeved on the third joint of the three-joint rotating hinge (10) at the lower end of the three joint spring (12), a vertical rod (1) is installed in the first sliding hinge joint (11) and the three-joint spring (12), a synchronous sliding block (13) is sleeved on the vertical rod (1) and slides on the vertical rod (1) along with the first sliding hinge joint (11), one ends of two sliding diagonal rod assemblies (14) are respectively in sliding connection with a transverse rod (7) installed on the left joint and the right joint of the three-joint rotating hinge (10), and the other ends of the two sliding diagonal rod assemblies (14) are respectively in rotating connection with two ends of the first sliding hinge joint (11).
2. The large scale deployable truss mechanism of claim 1, wherein: the sliding diagonal rod assembly (14) comprises a cross rod fixing ring (15), a synchronous diagonal rod (16) and a rotating joint (17), the cross rod fixing ring (15) is slidably sleeved on the cross rod (7), the rotating joint (17) is rotatably installed at one end of a first sliding hinge joint (11), and the cross rod fixing ring (15) is connected with the rotating joint (17) through the synchronous diagonal rod (16).
3. The large scale deployable truss mechanism of claim 2, wherein: the driving hinge (8) comprises a first connecting piece (8-1), a second connecting piece (8-2), a rotating shaft (8-3) and an external driving pulley (8-4), the first connecting piece (8-1) and the second connecting piece (8-2) are rotatably connected through the rotating shaft (8-3), and the external driving pulley (8-4) is installed on one side of the rotating shaft (8-3).
4. The large scale deployable truss mechanism of claim 2, wherein: drive hinge (8) are including public hinge (18), female hinge (19), stop block (20), locking goods of furniture for display rather than for use (21), axle sleeve (22), energy storage dabber (23) and two constant force spring (24), stop block (20) and locking goods of furniture for display rather than for use (21) are rotated through energy storage dabber (23) and are connected, public hinge (18) fixed mounting is in the outside of stop block (20), female hinge (19) fixed mounting is in the outside of locking goods of furniture for display rather than for use (21), the left and right sides at locking goods of furniture for display rather than for use (21) is installed in axle sleeve (22), the one end of every constant force spring (24) all is connected with axle sleeve (22) and twines on energy storage dabber (23), the other end of every constant force spring (24) all.
5. The large scale deployable truss mechanism of claim 4, wherein: a limiting groove (20-1) is formed in the upper end face of the limiting part (20), a limiting protrusion (21-1) is arranged on the upper portion of a matching face of the locking swing part (21) and the limiting part (20), and the limiting part (20) and the locking swing part (21) are clamped in the limiting groove (20-1) for limiting through the limiting protrusion (21-1) after rotating around the energy storage mandrel (23).
6. The large scale deployable truss mechanism of claim 4, wherein: the four-joint hinge (9) includes a fourth swivel hinge assembly (C) rotatably mounted on a three-joint swivel hinge (10) opposite to the third joint in the three-joint hinge (6), and a three-joint hinge (6).
7. The large scale deployable truss mechanism of claim 6, wherein: the fourth rotary hinge component (C) comprises a four-head fixed seat (C-1), a four-head movable seat (C-2) and a four-head rotating shaft (C-3), the four-head fixed seat (C-1) is installed on the three-head rotary hinge (10), and the four-head movable seat (C-2) is rotatably connected with the four-head fixed seat (C-1) through the four-head rotating shaft (C-3).
8. The large scale deployable truss mechanism of claim 6, wherein: the fourth rotary hinge assembly (C) comprises a four-head male hinge (25), a four-head female hinge (26), a hinge support (27), a support shaft (28), a four-head locking swing part (29) and a spring assembly (30),
the four-head female hinge (26) is arranged on the four-head male hinge (25) through a hinge support (27), the upper support and the lower support of the hinge support (27) are rotatably connected through a support shaft (28), and the four-head locking swing part (29) is arranged on the hinge support (27) through a spring assembly (30).
9. The large scale deployable truss mechanism of claim 8, wherein: it also comprises a plurality of inner pulleys (51), and one inner pulley (51) is rotatably arranged inside each three-joint hinge (6).
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| CN201911095237.1A CN110792178B (en) | 2019-11-11 | 2019-11-11 | Large-scale form can expand truss mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111430876B (en) * | 2020-04-16 | 2022-05-03 | 安徽大学 | Multi-superelastic hinge parabolic cylinder antenna deployable mechanism |
| CN111641020B (en) * | 2020-05-11 | 2022-07-12 | 浙江理工大学 | Deployable mechanism of triangular prism unit modular planar antenna |
| CN111547278B (en) * | 2020-06-11 | 2023-04-28 | 上海宇航系统工程研究所 | Large-scale deployable linear reciprocating motion mechanism of space rope system |
| CN112319855A (en) * | 2020-11-06 | 2021-02-05 | 哈尔滨工业大学 | Spatial extensible prism unit for on-orbit assembly |
| CN114148546B (en) * | 2021-11-17 | 2023-08-18 | 北京九天微星科技发展有限公司 | Satellite configuration |
| CN114426107B (en) * | 2021-12-27 | 2022-09-20 | 哈尔滨理工大学 | Space truss capable of being folded and unfolded automatically |
| CN116743058B (en) * | 2023-06-08 | 2024-01-12 | 西安电子科技大学 | Modularized polygonal prismatic space solar power station system |
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