CN110792178B - A large body-shaped deployable truss mechanism - Google Patents

Abstract

A large body-shaped expandable truss mechanism relates to a truss mechanism. The invention solves the problems that the traditional central bearing cylinder has a fixed structural configuration, poor flexibility, large overall envelope volume, and the size is restricted by the launch vehicle, which limits the overall layout of the spacecraft. The left and right two joints of each three-joint hinge of the present invention are respectively rotatably connected with a horizontal rod to form a first folding unit, the third joint of each three-joint hinge is rotatably connected with one end of the vertical rod, and two adjacent horizontal The rods are connected by a transverse driving hinge, and the two adjacent first folding and unfolding units are connected by a radial driving hinge in rotation; the left and right joints of each four-joint hinge are respectively connected with a transverse rod and form a first Two folding and unfolding units, the upper and lower joints of each four-joint hinge are respectively rotatably connected with the other end of the vertical rod, and two adjacent second folding and unfolding units are rotatably connected by a driving hinge. The present invention is used in the aerospace field.

Description

A large body-shaped deployable truss mechanism

technical field

The invention relates to a truss mechanism, in particular to a large-scale expandable truss mechanism. It belongs to the field of aerospace technology.

Background technique

The space solar power station collects and converts solar energy into electrical energy in space, transmits it to the ground by wireless energy, and then converts it into direct current through the ground rectifier. Develop space solar power stations to achieve high energy flow density and continuous and stable operation. In geosynchronous orbits, solar radiation can be received stably for 99% of the time, and stable energy transmission to fixed areas on the ground can be carried out. However, in order to achieve GW-level power generation of solar power plants, the system scale should be in the order of 100 meters.

The central bearing structure of the space solar power station has a diameter of 23m and a length of hundreds of meters. It must be constructed through multiple launches and space assembly. However, the traditional central bearing cylinder has a fixed structure and poor flexibility; the overall envelope volume is large, and the size is constrained by the launch vehicle, which limits the overall layout of the spacecraft. Therefore, the space solar power station cannot adopt a conventional load-bearing structure, and a deployable central load-bearing structure needs to be designed to reduce the envelope volume during launch, reduce the launch cost, and reduce the limitation of the launch vehicle on the size of the spacecraft.

With the rapid development of space science and space exploration technology, there is an increasingly urgent need for the development of large-scale, lightweight, and high-folding-ratio space deployment mechanisms. With the expansion of the maximum diameter of the folding mechanism, the storage space of the existing space vehicles cannot meet the requirements of the large-scale folding mechanism in space. Therefore, it is urgent to design a large-scale mechanism that can realize folding and unfolding functions. The design and analysis of the inter-aerospace folding mechanism is one of the key basic issues for the future development of aerospace technology.

To sum up, the existing deployment mechanism has problems that the central load-bearing structure is determined, and the flexibility is poor; the overall envelope volume is large, and the size is constrained by the launch vehicle, which limits the overall layout of the spacecraft.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problems of the existing deployment mechanism that the central bearing structure configuration is determined, the flexibility is poor, the overall envelope volume is large, and the size is restricted by the launch vehicle, which limits the overall layout of the spacecraft. Furthermore, a body-shaped deployable truss mechanism is provided.

The technical scheme of the present invention is as follows: a body-shaped deployable truss mechanism includes four octagonal fixing rings and a plurality of vertical rods, and a first octagonal fixing ring and a fourth octagonal fixing ring among the four octagonal fixing rings The structure of the second octagonal fixing ring is the same as that of the third octagonal fixing ring; the first octagonal fixing ring, the second octagonal fixing ring, the third octagonal fixing ring and the fourth The octagonal fixed ring is connected by a plurality of vertical rods from top to bottom; the first octagonal fixed ring includes a plurality of three-joint hinges, a plurality of horizontal rods and a plurality of driving hinges, and the left and right two The joints are rotatably connected with a horizontal rod respectively to form a first folding unit, the third joint of each three-joint hinge is rotatably connected with one end of the vertical rod, and a driving hinge is used to rotate between two adjacent first folding units connection; the third octagonal fixing ring includes a plurality of four-joint hinges, a plurality of cross bars and a plurality of driving hinges, and the left and right joints of each four-joint hinge are respectively connected with a cross bar to form a second folding unit. The upper and lower joints of each four-joint hinge are respectively rotatably connected with the other end of the vertical rod, and two adjacent second folding and unfolding units are rotatably connected through a driving hinge.

Further, the three-joint hinge includes a three-joint rotary hinge, a first sliding hinge joint, a three-joint spring, a synchronous slider, two sliding inclined rod assemblies and a constant force spring, and the three-joint spring is sleeved on the third joint of the three-joint rotary hinge. The first sliding hinge joint is sleeved on the third joint of the three-joint rotary hinge at the lower end of the three-joint spring, the vertical rod is installed in the first sliding hinge joint and the three-joint spring, and the synchronizing slider is sleeved on the vertical rod and follows the third joint. A sliding hinge joint slides on the vertical rod, one end of the two sliding inclined rod assemblies is slidably connected to the horizontal rods installed on the left and right joints of the three-joint rotary hinge, and the other ends of the two sliding inclined rod assemblies are respectively connected with the first sliding rod. The two ends of the hinge joint are rotatably connected, wherein the constant force spring is installed between the other ends of the two sliding inclined rod assemblies and the two ends of the first sliding hinge joint.

Further, the sliding inclined rod assembly includes a cross rod fixing ring, a synchronizing inclined rod and a rotating joint, the cross rod fixing ring is slidably sleeved on the cross rod, the rotating joint is rotatably installed on one end of the first sliding hinge joint, and the cross rod fixing ring is connected to the cross rod. The rotating joints are connected by synchronous inclined rods.

Further, the driving hinge includes a first connecting piece, a second connecting piece, a rotating shaft and an outer driving pulley, the first connecting piece and the second connecting piece are rotatably connected by the rotating shaft, and the outer driving pulley is installed on one side of the rotating shaft.

Further, the drive hinge includes a male hinge, a female hinge, a limiting member, a locking rocker, a shaft sleeve, an energy storage mandrel and two constant force springs, the limiting member and the locking rocker are rotatably connected by the charging mandrel, and the male hinge is fixed. It is installed on the outer side of the limit part, the female hinge is fixedly installed on the outer side of the locking pendulum, and the shaft sleeve is installed on the left and right sides of the locking pendulum. The other end of each constant force spring is connected with the shaft sleeve.

Further, the upper end surface of the limiting member is provided with a limiting groove, the upper part of the mating surface of the locking rocker and the limiting member is provided with a limiting protrusion, and the limiting member and the locking rocker rotate around the energy storage mandrel and pass through the limiting protrusion. It is clamped in the limit groove to limit the position.

Further, the four-joint hinge includes a fourth rotary hinge assembly and a three-joint hinge, and the fourth rotary hinge assembly is rotatably mounted on the three-joint rotary hinge opposite to the third joint in the three-joint hinge.

Further, the fourth rotary hinge assembly includes a four-head fixed seat, a four-head movable seat and a four-head rotating shaft, the four-head fixed seat is installed on the three-joint rotary hinge, and the four-head movable seat is rotatably connected with the four-head fixed seat through the four-head rotating shaft. .

Further, the fourth rotary hinge assembly includes a four-head male hinge, a four-head female hinge, a hinge support, a support shaft, a four-head locking pendulum and a spring assembly, and the four-head female hinge is mounted on the four-head male hinge through a hinge support. , the upper and lower supports of the hinge support are connected by rotation of the support shaft, and the four-head locking pendulum is installed on the hinge support through a spring assembly.

Further, it also includes a plurality of inner pulleys, and an inner pulley is rotatably installed inside each three-joint hinge.

Compared with the prior art, the present invention has the following effects:

1. The present invention uses a constant-torque spring as the driving source, and the output torque is a constant value, which makes the force and movement of the configuration unfolding process more reasonable.

2. The present invention adopts four octagonal fixed rings, the first octagonal fixed ring 2 and the second octagonal fixed ring 3 are the outer upper ring octagonal prism, the third octagonal fixed ring 4 and the fourth eight The side-shaped fixing ring 5 is contracted inwardly into an inner lower ring octagonal prism. The outer upper ring octagonal prism mechanism unfolds first, and the inner lower ring octagonal prism structure moves downward first, and then unfolds. During the entire unfolding process, each truss rod and hinges have no interference, smooth without jamming, which can effectively ensure the synchronous deployment of the mechanism.

3. The present invention achieves a larger expansion ratio of a large-scale deployable truss mechanism, and at the same time avoids structural interference between configurations; the deployment reliability is higher; and the weight is reduced. According to the definition of the expansion ratio, that is, the ratio of the expanded volume to the folded volume, it can be concluded that the expansion ratio of the present invention is 148.5422, and the expansion ratio obtained by adopting the ten-prism configuration is 131.2463. The large-scale deployable truss mechanism has a larger folding ratio.

4. The present invention has good mechanical properties, high overall structural rigidity, good versatility and combination, simple form, reasonable force transmission path, the sliding inclined rod assembly 14 can transmit concentrated loads, and the rods are arranged along the main force transmission path of the load. , which can reduce the quality of the structure and improve the performance of the structure. Each octagonal prism of the present invention adopts the same structure, so it is easy to realize modularization and expandability, and the number of modules can be expanded according to the needs of the antenna aperture, which is suitable for large-scale spacecraft. main bearing structure.

5. In the present invention, in order to ensure the controllable deployment and reduce the impact caused by the driving force when the deployment is in place, so as to make the deployment process more stable and reliable, the pulley assembly is designed as a slow release mechanism for the truss deployment. When the truss is deployed in place, the rotating joints are locked and rigidified, and the motor is reversed through the control system, so that the ropes are preloaded with a preload, so that the rigidity of the entire truss structure is improved.

6. The truss rods of the expandable truss of the present invention are made of carbon fiber tubes with high strength and low density, thereby realizing light weight.

7. The present invention accumulates the technical foundation for the deployable core bearing structure in the space solar power station.

Description of drawings

1 is a schematic diagram of the overall structure of the present invention in an unfolded state; FIG. 2 is a schematic structural diagram of the present invention in a semi-deployed state; FIG. 3 is a schematic structural diagram of the present invention in a contracted state; The winding schematic diagram on the pulley; Fig. 5 is the partial enlarged view of the drive hinge; Fig. 6 is the partial enlarged view of the second folding and unfolding unit B; Fig. 7 is the structural representation of the fourth rotary hinge assembly C; A schematic diagram of a preferred embodiment; Figure 9 is a schematic structural diagram of a three-joint hinge; Figure 10 is a schematic diagram of the arrangement of a single-ring retracting pulley.

Detailed ways

Embodiment 1: This embodiment will be described with reference to FIG. 1 to FIG. 10. A large-scale expandable truss mechanism of this embodiment includes four octagonal fixing rings and a plurality of vertical rods 1, and the four octagonal fixing rings The first octagonal fixed ring 2 in the ring has the same structure as the fourth octagonal fixed ring 5, the second octagonal fixed ring 3 has the same structure as the third octagonal fixed ring 4; the first octagonal fixed ring 2. The second octagonal fixing ring 3, the third octagonal fixing ring 4 and the fourth octagonal fixing ring 5 are connected by a plurality of vertical rods 1 from top to bottom; the first octagonal fixing ring 2 Including a plurality of three-joint hinges 6, a plurality of cross bars 7 and a plurality of driving hinges 8, the left and right two joints of each three-joint hinge 6 are respectively connected with a cross bar 7 to rotate and form a first folding unit A, each The third joint of the three-joint hinge 6 is rotatably connected to one end of the vertical rod 1, and the two adjacent first folding and unfolding units A are rotatably connected by a driving hinge 8; the third octagonal fixing ring 4 includes a plurality of four joints The hinge 9, a plurality of cross bars 7 and a plurality of driving hinges 8, the left and right joints of each four-joint hinge 9 are respectively rotatably connected with a cross bar 7 to form a second folding and unfolding unit B. The upper and lower joints are respectively rotatably connected to the other end of the vertical rod 1 , and two adjacent second folding and unfolding units B are rotatably connected through a driving hinge 8 .

1 and 9, the three-joint hinge 6 of this embodiment includes a three-joint rotary hinge 10, a first sliding hinge joint 11, a three-joint spring 12, a synchronous slider 13 and two The sliding inclined rod assembly 14, the three-joint spring 12 is sheathed on the third joint of the three-joint rotary hinge 10, the first sliding hinge joint 11 is sheathed on the third joint of the three-joint rotary hinge 10 at the lower end of the three-joint spring 12, and the 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 with the first sliding hinge joint 11, one end of the two sliding inclined rod assemblies 14 They are respectively slidably connected to the transverse rods 7 installed on the left and right joints of the three-joint rotary hinge 10 , and the other ends of the two sliding inclined rod assemblies 14 are respectively rotatably connected to both ends of the first sliding hinge joint 11 . This arrangement ensures that both the hinge and the platform function are provided, the hinge rotation function is realized, and the platform function of connecting the radial rod and the vertical rod can be provided. Other components and connection relationships are the same as in the first embodiment.

Embodiment 3: This embodiment will be described with reference to FIG. 1 and FIG. 9 . The sliding inclined rod assembly 14 of this embodiment includes a cross rod fixing ring 15 , a synchronizing inclined rod 16 and a rotating joint 17 . The cross rod fixing ring 15 is slidably sleeved on the horizontal rod On the rod 7 , the rotating joint 17 is rotatably mounted on one end of the first sliding hinge joint 11 , and the cross-bar fixing ring 15 and the rotating joint 17 are connected by a synchronous inclined rod 16 . This arrangement ensures that the large-scale deployable truss has fewer degrees of freedom. Other compositions and connection relationships are the same as in the first or second embodiment.

Embodiment 4: This embodiment will be described with reference to FIG. 1 and FIG. 5 . The transverse drive hinge 8 of this embodiment includes a first connecting member 8-1, a second connecting member 8-2, a rotating shaft 8-3 and an outer 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 outer driving pulley 8-4 is installed on one side of the rotating shaft 8-3. This arrangement ensures that the lateral drive hinge provides a drive moment for the large-scale deployable truss. Other compositions and connection relationships are the same as in the first, second or third embodiment.

Embodiment 5: This embodiment will be described with reference to FIGS. 1 and 8 . The radial drive hinge 8 of this embodiment includes a male hinge 18 , a female hinge 19 , a limiting member 20 , a locking rocker 21 , a shaft sleeve 22 , and an energy storage core. The shaft 23 and two constant force springs 24, the limiting member 20 and the locking rocker 21 are rotatably connected through the energy storage mandrel 23, the male hinge 18 is fixedly installed on the outer side of the limiting member 20, and the female hinge 19 is fixedly mounted on the locking rocker 21. On the outside, the shaft sleeves 22 are installed on the left and right sides of the locking rocker 21, and the two constant force springs 24 of the present invention are symmetrically arranged on both sides of the hinge to ensure that the female hinge 19 is uniformly and stably stressed during the unfolding process. One end of each constant force spring 24 is connected to the shaft sleeve 22 and wound on the energy storage mandrel 23 , and the other end of each constant force spring 24 is connected to the shaft sleeve 22 . In this way, the driving hinge can provide the friction force to overcome the rotating pair and the sliding pair of the truss mechanism during the unfolding stage of the truss and drive the locking mechanism to complete the locking when it is in place. The constant torque spring as the driving source has a constant output torque, which makes the force and movement of the configuration unfolding process more reasonable. Other compositions and connection relationships are the same as in the first, second, third or fourth embodiment.

Embodiment 6: This embodiment will be described with reference to FIGS. 1 and 8 . In this embodiment, the upper end surface of the limiting member 20 is provided with a limiting groove 20 - 1 , and the upper part of the mating surface of the locking rocker 21 and the limiting member 20 is provided with a limiting groove 20 - 1 . The limiting protrusion 21-1, the limiting component 20 and the locking rocker 21 rotate around the energy storage mandrel 23 and are clamped in the limiting groove 20-1 by the limiting protrusion 21-1 for limiting. This arrangement can prevent offside rotation after the truss is deployed in place, resulting in damage to the truss rod. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.

Embodiment 7: This embodiment will be described with reference to FIG. 1 and FIG. 7 . The four-joint hinge 9 of this embodiment includes a fourth rotating hinge assembly C and a three-joint hinge 6 , and the fourth rotating hinge assembly C is rotatably mounted on the three-joint hinge 6 On the three-joint rotary hinge 10 opposite to the third joint. This arrangement ensures that both the hinge and the platform function are provided, the hinge rotation function is realized, and the platform function of connecting the radial rod and the vertical rod can be provided. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.

Embodiment 8: This embodiment will be described with reference to FIG. 1 and FIG. 6. The fourth rotary hinge assembly C of this embodiment includes 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-joint 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. This arrangement ensures that both the hinge and the platform function are provided, the hinge rotation function is realized, and the platform function of connecting the radial rod and the vertical rod can be provided. Other compositions and connection relationships are the same as any one of Embodiments 1 to 7.

Embodiment 9: This embodiment will be described with reference to FIG. 1 and FIG. 7 . The fourth rotary hinge assembly C of this embodiment includes a four-head male hinge 25 , a four-head female hinge 26 , a hinge support 27 , a support shaft 28 , four Head locking rocker 29 and spring assembly 30 .

The four-head female hinge 26 is installed on the four-head male hinge 25 through the hinge support 27 , the upper and lower supports of the hinge support 27 are rotatably connected by the support shaft 28 , and the four-head locking pendulum 29 is installed on the hinge support through the spring assembly 30 . on seat 27. This arrangement ensures that the octagonal column of the lower ring is locked in place after being unfolded. Other compositions and connection relationships are the same as any one of Embodiments 1 to 8.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 10 This embodiment is described with reference to FIG. 1 and FIG. 10 . This embodiment also includes a plurality of inner pulleys 51 , and an inner pulley 51 is rotatably installed inside each three-joint hinge 6 . In this way, by designing the pulley assembly as the slow-release mechanism for the truss deployment, the deployment can be controlled and the impact caused by the driving force when deployment is in place is reduced, so that the deployment process is more stable and reliable. Other compositions and connection relationships are the same as any one of Embodiments 1 to 9.

In the large-scale expandable truss mechanism of the present invention, the three-joint hinge 6 plays a supporting role for the truss, and at the same time, it can reduce the impact caused by the driving force when it is unfolded in place, so that the unfolding process is more stable and reliable. Since the principle of the synchronizing mechanism is a crank-slider mechanism, and the synchronizing mechanism is symmetrically arranged, it is ensured that the slider slides upward to drive the crossbar to expand when the mechanism is deployed. Therefore, the sliding inclined rod assembly 14 is used to control the unfolding and turning of the unfolding mechanism. According to the friction force calculation formula of the rotating journal in "Mechanical Principles", it can be obtained that the overall friction force of the configuration is extremely small compared to the driving torque; at the same time, considering that the force impact when in place should not be too large, to avoid damage to the truss structure. The driving torque of the drive hinge is 10Nm. Therefore, the driving hinge 8 can overcome the friction force of the rotating pair and the sliding pair of the truss mechanism and drive the locking mechanism to complete the locking when it is in place. Since the deployable truss mechanism has no external force when it is deployed, the driving source only needs to overcome its own friction torque and can overcome the in-position limit of the locking mechanism to complete the self-locking. Since the female hinge and the male hinge of the four-joint rotate around the rotation axis and connect the vertical rod and the horizontal rod through the joint, the fourth rotary hinge assembly C can realize the rotation function and provide the platform function of connecting the radial rod and the vertical rod. .

Among them, 16 cross bars 7 are connected by 8 three-joint hinges 6 to form an octagonal fixed ring, and the bars are hinged with the joints. There are 16 cross bars 7 and 8 four-joint hinges 9 hinged to form an 8-sided fixed ring. A radial drive hinge is used to connect the cross bar to the cross bar. The entire truss mechanism has four octagonal fixing rings, which are respectively an octagonal fixing ring composed of two three-joint hinges 6 and an octagonal fixing ring composed of two four-joint hinges 9 . The octagonal fixed ring composed of the three-joint hinge 6 and the octagonal fixed ring composed of the four-jointed hinge 9 are connected by a vertical rod 1, and the vertical rod and the joint are hinged together.

When the truss is deployed in place, the rotating joints are locked and rigidized, and the rope is preloaded with a preload by controlling the external motor, so that the rigidity of the entire truss structure is improved. The release speed of the rope is the truss deployment rate.

In a further technical solution of the present invention, when the entire truss mechanism is unfolded, the locking shaft 52 installed on the four-head locking rocker 29 is inserted into the groove of the four-head male hinge 25 to maintain the locked state.

In a further technical solution of the present invention, the pulley is mainly installed at one end of the radial drive hinge, and shares the same shaft with the radial hinge. The pulley is axially limited by the nut, and the pulley system of the lower ring octagonal prism is placed on the inside, and the pulley system of the upper ring octagonal prism is placed on the outside, avoiding the structural interference between the configurations.

In a further technical scheme of the present invention, the truss rods of the deployable truss and the synchronizing mechanism rods are made of carbon fiber tubes with high strength, light weight and low density, the hinges of the truss mechanism are printed from titanium alloy, and the rest of the parts are made of aluminum alloy materials.

In a further technical solution of the present invention, the pulley is installed on the outer side of the upper ring joint and the inner side of the lower ring joint, holes are left 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 specifically installed on the first octagonal prism and the third octagonal prism. With reference to Figure 4, taking the first octagonal prism as an example, the first wire starts from the four-joint pulley under the octagonal prism and goes around the pulley of the lateral drive hinge. Then go around the three-joint pulley on the octagonal column, and loop the wire like this. The second wire starts from the three-joint pulley above the octagonal prism and goes around the pulley of the lateral drive hinge, and then goes around the four-jointed pulley below the octagonal prism, and so on. Both wires are wound around the motor shaft, and the unfolding speed is controlled by controlling the motor speed. The difference between the windings of the lower ring octagonal prism and the upper ring octagonal prism is that the pulley system of the lower ring octagonal prism is placed on the inner side, and the pulley system of the upper ring octagonal prism is placed on the outer side, avoiding structural interference between configurations.

The working principle of the present invention:

In the present invention, the retraction rate is taken as the design goal, and the expandable truss mechanism can realize three-dimensional deployment on the rail, and the radial envelope diameter after deployment is about 23m as the design principle. When the invention is folded, the drive hinge stores elastic potential energy. When unfolding, the drive hinge drives the octagonal prism mechanism to unfold. The overall structure of the present invention is roughly divided into two movement processes of horizontal expansion and overturning of the octagonal column from retraction to full deployment. The deployment and driving methods of the mechanism in the two processes are roughly as follows:

The mechanism is in a folded state. In the folded state, the four-joint hinge 9 and the drive hinge 8 are in a folded state, and the constant force spring 24 stores elastic potential energy in this state; all the cross bars 7 are in a vertical state, and the entire device is connected The straps are locked.

During the lateral expansion of the mechanism, the strap controlled by the electric signal is first unlocked. Since the constant torque and constant force spring 24 that stores energy needs to release energy, the drive hinge 8 connected with the cross bar 7 drives the cross bar 7 to unfold, thereby driving the entire The octagonal prism mechanism unfolded smoothly. When the outermost layer of the octagonal prism, that is, the upper ring octagonal prism, is fully unfolded, the locking rocker 21 in the drive hinge 8 assembly slides into the groove through the rocker guide rail to achieve locking. The limit screw and the limit nut both play the role of limiting the stroke of the locking pendulum. The four-joint hinge 9 keeps the up-down symmetry and the left-right symmetry during the unfolding process of the unfolding unit through the up and down movement of the slider and the symmetrical arrangement of the cross bar fixing ring and the synchronous oblique bar. Both the middle-ring octagonal prism and the lower-ring octagonal prism are in an incompletely unfolded state, and the driving hinge 8 of the octagonal prism has not been locked.

During the mechanism inversion process, when the outermost layer of the octagonal column is fully unfolded and automatically locked, the elastic potential energy stored by the four-joint hinge 9 is released, and the vertical rod 1 is driven to rotate 180 degrees. When the vertical rod 1 is rotating, 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 torque and constant force spring 24 stores elastic potential energy. When the vertical bar 1 is turned to 90 degrees, the lower ring octagonal prism has the smallest retracted volume. When the vertical rod 1 continues to rotate until 180 degrees, the lower ring octagonal prism begins to unfold. The driving source at this time includes the elastic potential energy provided by the driving hinge 8 and the elastic potential energy provided by the driving hinge 8 . When the vertical bar 1 reaches 180 degrees, the locking rocker 21 in the drive hinge 8 slides into the groove through the rocker guide rail to realize the locking between the horizontal bar 7 and the horizontal bar 7 . The limit screw and the limit nut both play the role of limiting the stroke of the locking rocker 21 . The locking rocker 21 in the drive hinge 8 slides into the groove through the rocker guide rail to realize the locking between the vertical rod 1 and the vertical rod 1 . The limit screw and the limit nut both play the role of limiting the stroke of the locking rocker 21 . When the truss is deployed in place, the rotating joints are locked and rigidified, and the motor is reversed through the control system, so that the ropes are preloaded with a preload, so that the rigidity of the entire truss structure is improved. The entire mechanism is fully unfolded and locked.

Claims (9)

1. A large body-shaped expandable truss mechanism, comprising four octagonal fixing rings and a plurality of vertical rods (1), a first octagonal fixing ring (2) among the four octagonal fixing rings and a The fourth octagonal fixing ring (5) has the same structure, the second octagonal fixing ring (3) has the same structure as the third octagonal fixing ring (4); the first octagonal fixing ring (2), the second The octagonal fixing ring (3), the third octagonal fixing ring (4) and the fourth octagonal fixing ring (5) are rotationally connected by a plurality of vertical rods (1) from top to bottom; The first octagonal fixing ring (2) includes a plurality of three-joint hinges (6), a plurality of transverse rods (7) and a plurality of driving hinges (8), and the left and right joints of each three-joint hinge (6) are respectively connected to the A horizontal bar (7) is rotatably connected to form a first folding unit (A). The third joint of each three-joint hinge (6) is rotatably connected with one end of the vertical bar (1), and two adjacent first folding The display units (A) are rotatably connected by a drive hinge (8); The third octagonal fixing ring (4) includes a plurality of four-joint hinges (9), a plurality of transverse rods (7) and a plurality of driving hinges (8). The left and right joints of each four-joint hinge (9) are respectively connected with A horizontal bar (7) is rotatably connected to form a second folding unit (B), the upper and lower joints of each four-joint hinge (9) are respectively rotatably connected with the other end of the vertical bar (1), and the adjacent two The second folding and unfolding units (B) are rotatably connected by a driving hinge (8); It is characterized in that: the three-joint hinge (6) comprises a three-joint rotary hinge (10), a first sliding hinge joint (11), a three-joint spring (12), a synchronous slider (13) and two sliding inclined rod assemblies (14) ), The three-joint spring (12) is sheathed on the third joint of the three-joint rotary hinge (10), and the first sliding hinge joint (11) is sheathed on the third joint of the three-joint rotary hinge (10) at the lower end of the three-joint spring (12). , the vertical rod (1) is installed in the first sliding hinge joint (11) and the three-joint spring (12), and the synchronizing slider (13) is sleeved on the vertical rod (1) and follows the first sliding hinge joint (11) Sliding on the vertical rod (1), one end of the two sliding inclined rod assemblies (14) are respectively slidably connected with the cross rods (7) installed on the left and right joints of the three-joint rotary hinge (10). The other end of (14) is rotatably connected with both ends of the first sliding hinge joint (11). 2 . The large-scale deployable truss mechanism according to claim 1 , wherein the sliding inclined rod assembly ( 14 ) comprises a cross rod fixing ring ( 15 ), a synchronous inclined rod ( 16 ) and a rotating joint ( 17 ). 3 . ), the crossbar fixing ring (15) is slidably sleeved on the crossbar (7), the rotating joint (17) is rotatably installed on one end of the first sliding hinge joint (11), and the crossbar fixing ring (15) is connected to the rotating joint ( 17) are connected by the synchronizing inclined rod (16). 3. A large-scale body-shaped deployable truss mechanism according to claim 2, characterized in that: the drive hinge (8) comprises a first connecting piece (8-1), a second connecting piece (8-2), a rotating shaft (8-3) and the external driving pulley (8-4), the first connecting piece (8-1) and the second connecting piece (8-2) are rotatably connected through the shaft (8-3), and the external driving pulley (8- 4) Install on one side of the shaft (8-3). 4 . The large-scale expandable truss mechanism according to claim 2 , wherein the drive hinge ( 8 ) comprises a male hinge ( 18 ), a female hinge ( 19 ), a limiting member ( 20 ), and a locking rocker. 5 . (21), the shaft sleeve (22), the energy storage mandrel (23) and the two constant force springs (24), the limiting part (20) and the locking rocker (21) are rotatably connected through the energy storage mandrel (23), The male hinge (18) is fixedly installed on the outer side of the limiting member (20), the female hinge (19) is fixedly installed on the outer side of the locking rocker (21), and the shaft sleeve (22) is mounted on the left and right sides of the locking rocker (21). One end of each constant force spring (24) is connected to the shaft sleeve (22) and wound on the energy storage mandrel (23), and the other end of each constant force spring (24) is connected to the shaft sleeve (22). 5. A large-scale expandable truss mechanism according to claim 4, characterized in that: a limiting groove (20-1) is provided on the upper end surface of the limiting member (20), and the locking rocker (21) is connected with the limiting groove (20-1). The upper part of the mating surface of the limiting member (20) is provided with a limiting protrusion (21-1). -1) It is clamped in the limit groove (20-1) to limit the position. 6. A large body-shaped deployable truss mechanism according to claim 4, characterized in that: the four-joint hinge (9) comprises a fourth rotating hinge assembly (C) and a three-joint hinge (6), and the fourth rotating hinge The component (C) is rotatably mounted on the three-joint rotary hinge (10) opposite to the third joint in the three-joint hinge (6). 7. A large-scale expandable truss mechanism according to claim 6, characterized in that: the fourth rotating hinge assembly (C) comprises a four-head fixed seat (C-1), a four-head movable seat (C-2 ) and the four-head rotating shaft (C-3), the four-head fixed seat (C-1) is installed on the three-joint rotary hinge (10), and the four-head movable seat (C-2) is connected with the four-head rotating shaft (C-3) through the four-head rotating shaft (C-3). The four-head fixing base (C-1) is rotated and connected. 8. The large-scale expandable truss mechanism according to claim 6, characterized in that: the fourth rotating hinge assembly (C) comprises a four-head male hinge (25), a four-head female hinge (26), a hinge support seat (27), support shaft (28), four-head locking rocker (29) and spring assembly (30), The four-head female hinge (26) is installed on the four-head male hinge (25) through the hinge support (27), and the upper and lower supports of the hinge support (27) are rotatably connected by the support shaft (28), and the four heads are locked The rocking piece (29) is mounted on the hinge support (27) through the spring assembly (30). 9. A large-scale expandable truss mechanism according to claim 8, characterized in that: it further comprises a plurality of inner pulleys (51), and an inner pulley is rotatably installed inside each three-joint hinge (6) (51).

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