CN111482489B - Stretching mechanism for completely unfolding semi-rigid thin-walled tube - Google Patents
Stretching mechanism for completely unfolding semi-rigid thin-walled tube Download PDFInfo
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- CN111482489B CN111482489B CN202010224283.3A CN202010224283A CN111482489B CN 111482489 B CN111482489 B CN 111482489B CN 202010224283 A CN202010224283 A CN 202010224283A CN 111482489 B CN111482489 B CN 111482489B
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- rigid thin
- walled tube
- unfolding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D3/00—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts
- B21D3/14—Recontouring
Abstract
A stretching mechanism for fully unfolding a semi-rigid thin-walled tube comprises a supporting frame (1), a storage barrel mechanism (2) and a driving mechanism (3); the storage cylinder mechanism (2) comprises a storage cylinder (21) and the like; the storage barrel supporting wheels (22) are respectively arranged at two ends of the storage barrel (21); the guide rod (24) is arranged between the two storage cylinder supporting wheels (22), and the guide rod (24) can rotate; an end support (23) is installed between the two storage cylinder support wheels (22) along the central axis of the storage cylinder (21); the worm wheel (25) is arranged at one end of the end support (23), the end part of the semi-rigid thin-walled tube (26) is fixedly connected with the end support (23), and the semi-rigid thin-walled tube (26) is wound on the storage barrel (21) in a furled state; the supporting frame (1) supports the storage barrel mechanism (2), and the driving mechanism (3) drives the storage barrel (21) to rotate. The invention solves the problems of folding and unfolding of the thin-wall pipe and the fixation of clamping and supporting of the tail end after the thin-wall pipe is completely unfolded.
Description
Technical Field
The invention relates to an extension mechanism, in particular to an extension mechanism for fully unfolding a semi-rigid thin-walled tube.
Background
With the rapid development of space missions, the pace of space exploration by human beings is also increasing. The advancement of launch vehicle technology has made it possible to deliver heavier and larger probe loads into space. However, limited by the size of the envelope of the load carried by the launch vehicle as a whole, there remains a need to achieve the goal of delivering a particular load into space by using mechanisms and related techniques that have collapsible or deformable characteristics. Therefore, the demand for large-size loads in space, especially for the use of extension mechanisms with small collapsed volume and long size after being unfolded, is increasingly pressing.
In order to make the load smaller in the folded size and larger in the deployed size, a deployment technique of a rigid or semi-rigid material such as a hinge-type folding device and a truss rod deployment device, and a deployment technique of an inflatable airbag, a shape memory material, and the like having a certain flexibility characteristic have been developed. Different unfolding mechanisms have various characteristics and are limited by the folded thickness and size, and the multistage unfolding hinge type folding and unfolding device with larger unfolding size has larger folding size; the unfolding length of the truss rod unfolding device is longer, but the unfolding of the truss rod unfolding device needs to be locked step by step to realize the unfolding, and the requirement on state control in the unfolding process is higher; the deployable airbag of the inflatable deployment device is light in weight, but is deployed by relying on an inflatable bottle with high air pressure and high weight, and is used in a space environment with severe weight requirements, and certain difficulty exists in weight reduction. The space load requirement condition that the expansion size is large and the furling size is small is difficult to realize especially for the occasion with specific expansion precision and self rigidity after the expansion.
The semi-rigid thin-walled tube has the characteristics that the tube can be flattened and curled under the action of external force, and the tube structure can be restored by means of the elasticity of the tube after the external force is cancelled, so that the tube has a wide application prospect in the field of aerospace. The semi-rigid thin-walled tube has obvious flexibility in a flattened state, has good self-rigidity after being completely unfolded and rebounded, and has lower rigidity compared with the rigidity when being completely unfolded and rebounded. However, how to fully utilize the resilience characteristic of the semi-rigid thin-walled tube to realize the curling and folding, the full resilience and the full unfolding can improve the unfolding rigidity performance of the semi-rigid thin-walled tube.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the semi-rigid thin-walled tube can be used as an unfolding component to realize the long-distance complete unfolding under a small enveloping volume and has certain unfolding rigidity through the links of storage, unfolding, tail end release, tail end support and the like.
The technical scheme adopted by the invention is as follows: a stretching mechanism for fully unfolding a semi-rigid thin-walled tube comprises a supporting frame, a storage barrel mechanism and a driving mechanism;
the storage cylinder mechanism comprises a storage cylinder, a storage cylinder supporting wheel, an end support, a guide rod and a worm wheel; the storage barrel supporting wheels are respectively arranged at two ends of the storage barrel; the guide rods are symmetrical about the central axis of the storage barrel, are arranged between the two storage barrel supporting wheels and can rotate; the end support is arranged between the two storage cylinder support wheels along the central shaft of the storage cylinder; the worm wheel is arranged at one end of the end support, the end part of the semi-rigid thin-walled tube is fixedly connected with the end support, and the semi-rigid thin-walled tube is wound on the storage barrel in a furled state; the supporting frame supports the storage barrel mechanism, and the driving mechanism drives the storage barrel to rotate.
The supporting frame comprises a mounting bottom plate, a mounting side plate and an unfolding supporting plate; the mounting side plates are parallel and symmetrically mounted at two side edges of the mounting bottom plate and used for supporting the storage cylinder mechanism; the unfolding support plates are arranged at the other two side edges of the mounting base plate in parallel and symmetrically, and through holes for semi-rigid thin-walled tubes to pass through are formed in the upper ends of the two unfolding support plates; the supporting wheel of the storage barrel is rotatably connected with the mounting side plate, and the semi-rigid thin-walled tube slides from the through hole at the top of the unfolding supporting plate.
The driving mechanism comprises a driving motor, a motor base and a worm; the shell mounting surface of the driving motor is fixedly connected with the motor base, and the output rotating shaft of the driving motor is fixedly connected with the end part of the worm; the motor cabinet is installed on the mounting base plate, and the worm meshes with the worm wheel.
The two semi-rigid thin-walled tubes are arranged on two sides of the end support, one end of each semi-rigid thin-walled tube connected with the end support is provided with a bilateral opening, and the opening part is collected in the containing barrel in a furled state; the other end of the semi-rigid thin-walled tube extends out of the side wall of the containing cylinder, the semi-rigid thin-walled tube bends under the constraint support of the guide rod, and the semi-rigid thin-walled tube is folded and wound on the outer wall of the containing cylinder in a flattened state one by one.
In the unfolding process, the driving motor drives the worm to rotate, the worm wheel is driven to rotate, and meanwhile, the containing barrel is driven to rotate, so that the semi-rigid thin-walled tube is stretched to the outer side after passing through the unfolding supporting plate, and the semi-rigid thin-walled tube is restored to a bulged tubular structure under the self elastic action from a flattened state; when the semi-rigid thin-wall pipe is completely stretched out, the part fixedly connected with the end part support, the opening part and the rest stretched parts are in a collinear state.
When the semi-rigid thin-walled tube is furled, the output shaft of the driving motor rotates in the opposite direction to drive the containing cylinder to rotate, and meanwhile, the semi-rigid thin-walled tube is furled in the opposite direction and is flattened and wound on the outer wall of the containing cylinder under the constraint of the guide rod and the unfolding supporting plate.
Compared with the prior art, the invention has the beneficial effects that:
(1) the stretching mechanism for completely unfolding the semi-rigid thin-walled tube, disclosed by the invention, can realize that all thin-walled tubes are in a rebound unfolding state after the thin-walled tubes are completely unfolded, has better pointing accuracy and unfolding rigidity, and solves the problems of folding and unfolding of the thin-walled tubes and fixation of clamping and supporting of the tail ends after the thin-walled tubes are completely unfolded.
(2) According to the invention, the guide rod, the end support and the like are arranged in the containing barrel, so that the tail end of the semi-rigid thin-walled tube is completely unfolded, supported and fixed under the condition of ensuring the effective connection between the tail end and the end support. The semi-rigid thin-walled tube which is wholly and completely rebounded and bulged has good rigidity characteristic, and the problem that the rebound transition section of the semi-rigid thin-walled tube is weak in rigidity is solved.
Drawings
FIG. 1 is a schematic view of the stretching mechanism of the present invention;
FIG. 2 is a schematic view of a support frame of the present invention;
FIG. 3 is a schematic view of the mechanism of the receiver of the present invention;
FIG. 4 is an isometric view of a receiver mechanism of the present invention;
FIG. 5 is a cross-sectional view of the interior of the receiver mechanism of the present invention;
FIG. 6 is a schematic longitudinal cross-sectional view of the deployment mechanism of the present invention;
fig. 7 is a schematic view of the driving mechanism of the present invention.
Detailed Description
The invention is further illustrated by the following examples.
Example 1
As shown in fig. 1-7, the semi-rigid thin-walled tube 26 needs to be flattened and coiled on the outer cylindrical surface of the roller mechanism in a furled state, so that the end of the tube usually needs to be fixedly connected with the roller mechanism to ensure the stability of the extended state. However, there is a transition between flattening and full rebound that is not fully rebounded, which can be a weak link in stiffness. According to the invention, the guide rod, the end support and the like are arranged in the containing barrel, so that the tail end of the semi-rigid thin-walled tube is completely unfolded, supported and fixed under the condition of ensuring the effective connection between the tail end and the end support. The semi-rigid thin-walled tube which is wholly and completely rebounded and bulged has good rigidity characteristic, and the problem that the rebound transition section of the semi-rigid thin-walled tube is weak in rigidity is solved.
The stretching mechanism for completely unfolding the semi-rigid thin-walled tube comprises a support frame 1, a storage barrel mechanism 2 and a driving mechanism 3.
The storage cylinder mechanism 2 comprises a storage cylinder 21, a storage cylinder support wheel 22, an end support 23, a guide rod 24 and a worm wheel 25; the storage barrel supporting wheels 22 are respectively installed at two ends of the storage barrel 21; the guide rod 24 is symmetrical about the central axis of the storage cylinder 21, is installed between the two storage cylinder supporting wheels 22, and can rotate the guide rod 24; the end support 23 is mounted between the two cartridge support wheels 22 along the central axis of the cartridge 21; the worm wheel 25 is arranged at one end of the end support 23, the end part of the semi-rigid thin-walled tube 26 is fixedly connected with the end support 23, and the semi-rigid thin-walled tube 26 is wound on the storage barrel 21 in a furled state; the support frame 1 supports the storage cylinder mechanism 2, and the drive mechanism 3 drives the storage cylinder 21 to rotate.
The supporting frame 1 comprises a mounting bottom plate 11, a mounting side plate 12 and an unfolding supporting plate 13; the mounting side plates 12 are arranged at two side edges of the mounting bottom plate 11 in parallel and symmetrically and are used for supporting the storage cylinder mechanism 2; the unfolding support plates 13 are arranged at the other two side edges of the mounting base plate 11 in parallel and symmetrically, and through holes for the semi-rigid thin-walled tubes 26 to pass through are formed at the upper ends of the two unfolding support plates 13; the storage barrel supporting wheel 22 is rotatably connected with the mounting side plate 12, and the semi-rigid thin-walled tube 26 slides from a through hole at the top of the unfolding supporting plate 13.
The driving mechanism 3 comprises a driving motor 31, a motor base 32 and a worm 33; the shell mounting surface of the driving motor 31 is fixedly connected with the motor base 32, and the output rotating shaft of the driving motor 31 is fixedly connected with the end part of the worm 33; the motor base 32 is mounted on the mounting base 11, and the worm 33 is engaged with the worm wheel 25.
The storage cylinder supporting wheel 22 of the storage cylinder mechanism 2 is connected with the mounting side plate 12 of the supporting frame 1 in a relative rotation mode, the semi-rigid thin-wall pipe 26 and the unfolding supporting plate 13 are in a relative sliding relation, the motor base 32 of the driving mechanism 3 is fixedly connected with the mounting bottom plate 11 of the supporting frame 1, and the worm 33 of the driving mechanism 3 is in a meshing relation with the worm wheel 25 of the storage cylinder mechanism 2.
The semi-rigid thin-walled tube 26 is in a bulged state in a natural state, has a thin-walled tubular structure with a cross-sectional shape similar to a pod, can be flattened into a flattened state under a specific external pressure, and has a sheet-like structure. The portion of the semi-rigid thin-walled tube 26 connected to the end support 23 is in a fully bulged state.
Two semi-rigid thin-walled tubes 26 are mounted on both sides of the end support 23; the end of the semi-rigid thin-walled tube 26 connected to the end support 23 has a double-sided opening on the outside of the connection, allowing bending and flattening with a smaller bend radius. In the collapsed state, the opening is collected in the storage barrel 21 as a transition section from the connection part of the semi-rigid thin-walled tube 26 and the end support 23 to the distal end flattening state. The semi-rigid thin walled tube 26 can be bent under constrained support of the guide bar 24.
In the non-extended folded state, the part of the semi-rigid thin-walled tube 26 between the end support 23 and the unfolding support plate 13 is in a flattened state or a partially flattened transitional state, and the flattened part is folded and wound on the outer wall of the storage cylinder 21 one by one.
During deployment, the flattened section of semi-rigid thin walled tube 26 is wrapped around the receiver mechanism 2. The driving motor 31 of the driving mechanism 3 drives the worm 33 to rotate, drives the turbine of the storage barrel mechanism 2 to rotate, and simultaneously drives the storage barrel 21 to rotate, so that the semi-rigid thin-walled tube 26 extends to the outer side after the support plate 13 is unfolded, and at the moment, the semi-rigid thin-walled tube 26 is restored to a bulged tubular structure under the action of self elasticity from a flattened state.
When the semi-rigid thin-walled tube 26 is completely stretched out, the part of the semi-rigid thin-walled tube 26 fixedly connected with the end support 23, the opening part and the rest of the stretched parts are in a collinear state, the flattening constraint is not formed on the semi-rigid thin-walled tube 26 at each part of the stretching mechanism, the semi-rigid thin-walled tube 26 is in a completely bulged state, and the stretching is completed.
When the stretching mechanism needs to be folded, the rotating shaft of the driving motor 31 rotates in the opposite direction to drive the storage cylinder 21 to rotate in the specific direction, and simultaneously drives the semi-rigid thin-walled tube 26 to be folded in the opposite direction, and as the rotation proceeds, the semi-rigid thin-walled tube 26 is flattened under the constraint of the guide rod 24 and the unfolding support plate 13, and the like, and is gradually wound on the outer wall of the storage cylinder 21.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (4)
1. The stretching mechanism for completely unfolding the semi-rigid thin-walled tube is characterized by comprising a supporting frame (1), a storage barrel mechanism (2) and a driving mechanism (3);
the storage cylinder mechanism (2) comprises a storage cylinder (21), a storage cylinder supporting wheel (22), an end support (23), a guide rod (24) and a worm wheel (25); the storage barrel supporting wheels (22) are respectively arranged at two ends of the storage barrel (21); the guide rod (24) is symmetrical about the central axis of the storage cylinder (21), is arranged between the two storage cylinder supporting wheels (22), and can rotate the guide rod (24); an end support (23) is installed between the two storage cylinder support wheels (22) along the central axis of the storage cylinder (21); the worm wheel (25) is arranged at one end of the end support (23), the end part of the semi-rigid thin-walled tube (26) is fixedly connected with the end support (23), and the semi-rigid thin-walled tube (26) is wound on the storage barrel (21) in a furled state; the supporting frame (1) supports the storage barrel mechanism (2), and the driving mechanism (3) drives the storage barrel (21) to rotate;
The semi-rigid thin-walled tube (26) is in a bulging state in a natural state, and the part of the semi-rigid thin-walled tube (26) connected with the end support (23) is in a complete bulging state;
the two semi-rigid thin-walled tubes (26) are arranged on two sides of the end support (23), one end, connected with the end support (23), of each semi-rigid thin-walled tube (26) is provided with a bilateral opening, and in a furled state, the opening part serves as a transition section from the connecting part of the semi-rigid thin-walled tube (26) and the end support (23) to a far-end flattening state and is collected in the containing barrel (21); the other end of the semi-rigid thin-walled tube (26) extends out of the side wall of the storage cylinder (21), the semi-rigid thin-walled tube (26) bends under the constraint support of the guide rod (24) and is folded and wound on the outer wall of the storage cylinder (21) in a flattened state one by one;
under the non-stretched furled state, the part of the semi-rigid thin-walled tube (26) between the end support (23) and the unfolding support plate (13) of the support frame (1) is in a flattening state or a transition state of partial flattening, and the flattening part is furled and wound on the outer wall of the storage cylinder (21) one by one;
in the unfolding process, the flattened part of the semi-rigid thin-walled tube (26) is wound on the storage cylinder mechanism (2); the driving mechanism (3) drives a worm wheel (25) of the containing barrel mechanism (2) to rotate, and simultaneously drives the containing barrel (21) to rotate, so that the semi-rigid thin-walled tube (26) extends to the outer side after the supporting plate (13) is unfolded, and the semi-rigid thin-walled tube (26) is restored to a bulged tubular structure under the action of self elasticity from a flattened state;
When the semi-rigid thin-walled tube (26) is completely stretched out, the part of the semi-rigid thin-walled tube (26) fixedly connected with the end support (23), the opening part and the rest of the stretched part are in a collinear state, the stretching mechanism does not form flattening constraint on the semi-rigid thin-walled tube (26) everywhere, and the semi-rigid thin-walled tube (26) is in a completely bulged state, so that the stretching is completed.
2. An extension mechanism for full deployment of semi-rigid thin walled tubes as claimed in claim 1 wherein the support frame (1) comprises a mounting base plate (11), mounting side plates (12), a deployment support plate (13); the mounting side plates (12) are arranged at two side edges of the mounting bottom plate (11) in parallel and symmetrically and are used for supporting the storage barrel mechanism (2); the unfolding support plates (13) are arranged at the other two side edges of the mounting base plate (11) in parallel and symmetrically, and through holes for passing the semi-rigid thin-walled tubes (26) are formed at the upper ends of the two unfolding support plates (13); the storage barrel supporting wheel (22) is rotatably connected with the mounting side plate (12), and the semi-rigid thin-walled tube (26) slides from a through hole at the top of the unfolding supporting plate (13).
3. An extension mechanism for full deployment of semi-rigid thin walled tubes as claimed in claim 2 wherein the drive mechanism (3) comprises a drive motor (31), motor mount (32), worm (33); the shell mounting surface of the driving motor (31) is fixedly connected with the motor base (32), and the output rotating shaft of the driving motor (31) is fixedly connected with the end part of the worm (33); the motor base (32) is arranged on the mounting base plate (11), and the worm (33) is meshed with the worm wheel (25).
4. The stretching mechanism for fully unfolding the semi-rigid thin-walled tube as claimed in claim 3, wherein when the semi-rigid thin-walled tube (26) is folded, the output shaft of the driving motor (31) rotates in the opposite direction to drive the storage barrel (21) to rotate, and simultaneously drive the semi-rigid thin-walled tube (26) to be folded in the opposite direction, and the semi-rigid thin-walled tube is flattened and wound on the outer wall of the storage barrel (21) under the constraint of the guide rod (24) and the unfolding support plate (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010224283.3A CN111482489B (en) | 2020-03-26 | 2020-03-26 | Stretching mechanism for completely unfolding semi-rigid thin-walled tube |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010224283.3A CN111482489B (en) | 2020-03-26 | 2020-03-26 | Stretching mechanism for completely unfolding semi-rigid thin-walled tube |
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| Publication Number | Publication Date |
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| CN111482489A CN111482489A (en) | 2020-08-04 |
| CN111482489B true CN111482489B (en) | 2022-07-29 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101295810A (en) * | 2008-06-25 | 2008-10-29 | 哈尔滨工业大学 | Single motor-driving thin film antenna bean-pod shaped bracing stick two-side expansion mechanism |
| CN105474789B (en) * | 2011-12-14 | 2014-04-23 | 上海宇航系统工程研究所 | A kind of servo-actuated development mechanism |
| CN108839823A (en) * | 2018-07-09 | 2018-11-20 | 安徽大学 | A kind of humanoid bar unilateral side unfolding mechanism of multi-motor driving |
| CN109279049A (en) * | 2018-10-18 | 2019-01-29 | 哈尔滨工业大学 | A kind of elasticity boom unfolding mechanism |
-
2020
- 2020-03-26 CN CN202010224283.3A patent/CN111482489B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101295810A (en) * | 2008-06-25 | 2008-10-29 | 哈尔滨工业大学 | Single motor-driving thin film antenna bean-pod shaped bracing stick two-side expansion mechanism |
| CN105474789B (en) * | 2011-12-14 | 2014-04-23 | 上海宇航系统工程研究所 | A kind of servo-actuated development mechanism |
| CN108839823A (en) * | 2018-07-09 | 2018-11-20 | 安徽大学 | A kind of humanoid bar unilateral side unfolding mechanism of multi-motor driving |
| CN109279049A (en) * | 2018-10-18 | 2019-01-29 | 哈尔滨工业大学 | A kind of elasticity boom unfolding mechanism |
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| CN111482489A (en) | 2020-08-04 |
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