CN114044168B - Spatially expandable base unit and spatially polygonal column expandable mechanism constructed thereof - Google Patents
Spatially expandable base unit and spatially polygonal column expandable mechanism constructed thereof Download PDFInfo
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- CN114044168B CN114044168B CN202111392173.9A CN202111392173A CN114044168B CN 114044168 B CN114044168 B CN 114044168B CN 202111392173 A CN202111392173 A CN 202111392173A CN 114044168 B CN114044168 B CN 114044168B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/1235—Collapsible supports; Means for erecting a rigid antenna
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/288—Satellite antennas
Abstract
The invention discloses a space expandable basic unit and a space polygon prism expandable mechanism constructed by the same. The space-expandable basic unit consists of an upper space-symmetrical 7R mechanism, a lower space-symmetrical 7R mechanism and a plane connecting mechanism. The plane connecting mechanism is respectively connected with the upper 7R mechanism and the lower 7R mechanism in a pivoting way, and the axes of the revolute pairs are parallel to each other, so that the spatial expandable basic unit is ensured to have single degree of freedom. The spatial polygon prism expandable mechanism is composed of a plurality of basic units, the basic units are distributed circumferentially around an axis formed by connecting the public upper central node and the public lower central node, and the adjacent basic units share the long-chain branched arm and the inner node, so that the spatial polygon prism mechanism is also a single-degree-of-freedom mechanism. The cross section of the space polygon prism mechanism is regular polygon, so that the space polygon prism mechanism has simpler kinematics and better interchangeability. The space expandable basic unit and the space polygon column expandable mechanism constructed by the space expandable basic unit can be used for forming an annular truss expandable antenna and constructing a telescopic arm and a truss array.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a space expandable basic unit and a space polygon prism expandable mechanism constructed by the same.
Background
In the aerospace field, space vehicles such as space stations, satellites, and the like need to ensure communications and energy supply to perform complex space tasks. As the diversity of tasks increases and the scale increases, the deployable area of the associated solar energy collection and antenna receiving devices increases. However, these devices are typically launched by a rocket or a space shuttle, with significant contradiction between small launch space and large deployable area, and conventional rigid support structures are difficult to meet. In contrast, the expandable mechanism has the advantages of small storage space and large expandable area, and is increasingly paid attention to in the related field. The satellite antenna support deployable mechanism is comprised of a plurality of deployable base units or mechanisms. The deployable base unit or mechanism determines the kinematics, stiffness, precision and dynamics of the overall satellite antenna support deployable mechanism. Thus, the design of the deployable base unit or mechanism is a primary problem in the design of satellite antenna structures.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a kind of space expandable basic unit and a kind of space polygon prism expandable mechanism. The cross section of the space polygon prism expandable mechanism is regular polygon, and has good structure and motion symmetry, so that the space polygon prism expandable mechanism has simpler kinematics, dynamics and better interchangeability. In addition, the space expandable basic unit and the space polygon prism expandable mechanism are provided with a single degree of freedom, so that excessive synchronous joints are avoided, reliability is guaranteed, and the weight of the whole mechanism is reduced. The space-deployable base unit and the space-polygonal-column-deployable mechanism can be used not only to form a ring-truss-deployable antenna, but also to construct a telescopic arm, truss array.
A spatially expandable base unit according to an embodiment of the present invention comprises: an upper spatially symmetric 7R mechanism; a lower spatially symmetric 7R mechanism; the plane connecting mechanism is respectively and pivotally connected with the upper space symmetrical 7R mechanism and the lower space symmetrical 7R mechanism.
A spatially expandable base unit according to an embodiment of the present invention has one degree of freedom.
In some embodiments, the upper spatially symmetric 7R mechanism comprises: an upper central node; a first upper internal node; the first long-chain branched arm is respectively and pivotally connected with the upper central node and the first upper inner node, and the two auxiliary rotating shafts are parallel to each other; the upper central node, the upper end surfaces of the first upper inner node and the second upper inner node are parallel; the second long-chain branched arm is respectively and pivotally connected with the upper central node and the second upper inner node, and the two auxiliary rotating shafts are parallel to each other; a first short-chain arm; the lower end of the first short-chain arm is connected with the lower end of the second short-chain arm through a revolute pair, the upper end of the first short-chain arm and the upper end of the second short-chain arm are connected with the first upper inner node and the second upper inner node through revolute pairs respectively, and the axes of the three revolute pairs are parallel to each other.
The first long-chain branched arm, the second long-chain branched arm, the first short-chain branched arm and the second short-chain branched arm form isosceles triangles in a top view, and the vertex angles of the isosceles triangles can be set according to specific design requirements.
In some embodiments, the vertex angle of the isosceles triangle is 90 °.
In some alternative embodiments, the vertex angle of the isosceles triangle is 120 °.
In some alternative embodiments, the vertex angle of the isosceles triangle is 72 °.
In some alternative embodiments, the vertex angle of the isosceles triangle is 60 °.
In some embodiments, the lower spatially symmetric 7R mechanism comprises: the upper central node is fixedly connected with the lower central node through a lower end face and an upper end face respectively; a first lower internal node; the third long-chain branched arm is respectively and pivotally connected with the lower center node and the first lower inner node, and the two auxiliary rotating shafts are parallel to each other; the upper end face and the lower end face of the first lower inner node are parallel to each other; the fourth long-chain branched arm is respectively and pivotally connected with the lower center node and the second lower inner node, and the two auxiliary rotating shafts are parallel to each other; a third short-chain arm; the upper end of the third short-chain arm is connected with the upper end of the fourth short-chain arm through a revolute pair, the lower end of the third short-chain arm and the lower end of the fourth short-chain arm are respectively connected with the first lower inner node and the second lower inner node through revolute pairs, and the three revolute pairs are parallel to each other.
The third long-chain branched arm, the fourth long-chain branched arm, the third short-chain branched arm and the fourth short-chain branched arm form isosceles triangles in a top view, and the vertex angles of the isosceles triangles can be set according to specific design requirements.
In some embodiments, the vertex angle of the isosceles triangle is 90 °.
In some alternative embodiments, the vertex angle of the isosceles triangle is 120 °.
In some alternative embodiments, the vertex angle of the isosceles triangle is 72 °.
In some alternative embodiments, the vertex angle of the isosceles triangle is 60 °.
In some embodiments, the planar connection mechanism comprises: a first intermediate link; a second intermediate link; a third intermediate link; and a fourth intermediate link.
In some embodiments, the lower end of the first intermediate link is connected to the upper end of the third intermediate link by a revolute pair; the lower end of the second intermediate connecting rod is connected with the upper end of the fourth intermediate connecting rod through a revolute pair; the upper end of the first intermediate connecting rod and the upper end of the second intermediate connecting rod are connected with the lower end of the first short-chain branched arm and the lower end of the second short-chain branched arm through a common revolute pair; the lower end of the third intermediate connecting rod and the lower end of the fourth intermediate connecting rod are connected with the upper end of the third short-chain branched arm and the upper end of the fourth short-chain branched arm through a common revolute pair; the auxiliary axes of rotation are all parallel to each other.
In some alternative embodiments, the planar connection mechanism comprises: a fifth intermediate link; a sixth intermediate link; a seventh intermediate link; and an eighth intermediate link.
In some alternative embodiments, the lower end of the fifth intermediate link is connected to the upper end of the seventh intermediate link by a revolute pair; the lower end of the sixth intermediate connecting rod is connected with the upper end of the eighth intermediate connecting rod through a revolute pair; the upper end of the fifth intermediate connecting rod is connected with the middle point of the first short branched arm through a revolute pair; the upper end of the sixth intermediate connecting rod is connected with the middle point of the second short branched chain arm through a revolute pair; the lower end of the seventh intermediate connecting rod is connected with the middle point of the third short branched chain arm through a revolute pair; the lower end of the eighth intermediate connecting rod is connected with the middle point of the fourth short branched arm through a revolute pair; the auxiliary axes of rotation are all parallel to each other.
In some alternative embodiments, the planar connection mechanism comprises: a ninth intermediate link; a tenth intermediate link; an eleventh intermediate link; a twelfth intermediate link.
In some alternative embodiments, the lower end of the ninth intermediate link is connected to the upper end of the eleventh intermediate link by a revolute pair; the lower end of the tenth intermediate connecting rod is connected with the upper end of the twelfth intermediate connecting rod through a revolute pair; the upper end of the ninth intermediate connecting rod is connected with the upper end of the first short branched arm through a revolute pair; the upper end of the tenth intermediate connecting rod is connected with the upper end of the second short-chain branched arm through a revolute pair; the lower end of the eleventh intermediate connecting rod is connected with the lower end of the third short-chain branched arm through a revolute pair; the lower end of the twelfth intermediate connecting rod is connected with the lower end of the fourth short-chain branched arm through a revolute pair; the auxiliary axes of rotation are all parallel to each other.
In some alternative embodiments, the planar connection mechanism comprises: a thirteenth intermediate link; fourteenth intermediate link.
In some alternative embodiments, the lower end of the thirteenth intermediate link is connected to the upper end of the fourteenth intermediate link by a kinematic pair; the upper end of the thirteenth intermediate connecting rod is connected with the lower end of the first short-chain branched arm and the lower end of the second short-chain branched arm through a common revolute pair; the lower end of the fourteenth intermediate connecting rod is connected with the upper end of the third short-chain branched arm and the upper end of the fourth short-chain branched arm through a common revolute pair; the auxiliary axes of rotation are all parallel to each other.
In some alternative embodiments, the planar connection mechanism comprises: a fifteenth intermediate link; a sixteenth intermediate link; seventeenth intermediate link; eighteenth intermediate link.
In some alternative embodiments, the lower end of the fifteenth intermediate link is connected to the upper end of the seventeenth intermediate link by a kinematic pair; the lower end of the sixteenth intermediate connecting rod is connected with the upper end of the eighteenth intermediate connecting rod through a moving pair; the upper end of the fifteenth intermediate connecting rod is connected with the middle point of the first short branched chain arm through a revolute pair; the upper end of the sixteenth intermediate connecting rod is connected with the middle point of the second short branched chain arm through a revolute pair; the lower end of the seventeenth intermediate connecting rod is connected with the middle point of the third short branched chain arm through a revolute pair; the lower end of the eighteenth intermediate connecting rod is connected with the middle point of the fourth short branched arm through a revolute pair; the auxiliary axes of rotation are all parallel to each other.
In some alternative embodiments, the planar connection mechanism comprises: a nineteenth intermediate link; a twentieth intermediate link; a twenty-first intermediate link; twenty-second intermediate link.
In some alternative embodiments, the lower end of the nineteenth intermediate link is connected to the upper end of the twenty first intermediate link by a kinematic pair; the lower end of the twenty-second intermediate connecting rod is connected with the upper end of the twenty-second intermediate connecting rod through a moving pair; the upper end of the nineteenth intermediate connecting rod is connected with the upper end of the first short-chain branched arm through a revolute pair; the upper end of the twentieth intermediate connecting rod is connected with the upper end of the second short branched chain arm through a revolute pair; the lower end of the twenty-first intermediate connecting rod is connected with the lower end of the third short branched arm through a revolute pair; the lower end of the twenty-second intermediate connecting rod is connected with the lower end of the fourth short-chain branched arm through a revolute pair; the auxiliary axes of rotation are all parallel to each other.
According to an embodiment of the present invention, a spatial polygon prism expandable mechanism composed of the spatial expandable base unit includes: a plurality of spatially deployable base units circumferentially distributed about an axis formed by the common upper and lower central node lines, wherein adjacent spatially deployable base units share the long-chain branch arms and the inner nodes.
According to the spatial polygon column unfolding mechanism formed by using the spatial unfolding basic units, because the adjacent spatial unfolding basic units share the inner nodes, the motion of the motion output component in the whole spatial polygon column unfolding mechanism is synchronous, and the whole freedom degree of the spatial polygon column unfolding mechanism is the same as that of a single spatial basic unit and is also a single-freedom-degree mechanism.
The number of the spatially-deployable basic units constituting the spatial polygonal-column deployable mechanism is determined by an angle between the first long-chain branched arm and the second long-chain branched arm (i.e., an angle between the third long-chain branched arm and the fourth long-chain branched arm) in a plan view.
If the included angle between the first long-chain branched arm and the second long-chain branched arm is 360 degrees/N in a top view, the number of the space expandable basic units is N, and the space N-prism expandable mechanism is formed. Wherein, N can be set according to specific design requirements.
In particular, the angle between the first long-chain branch arm and the second long-chain branch arm (i.e., the angle between the third long-chain branch arm and the fourth long-chain branch arm) may be set as follows:
in some embodiments, the angle between the first long-chain branched arm and the second long-chain branched arm is 120 ° in a top view, and the number of the space expandable basic units is 3, which form a space triangular prism expandable mechanism.
In some alternative embodiments, the angle between the first long-chain branched arm and the second long-chain branched arm is 90 ° in a top view, and the number of the space-deployable basic units is 4, which constitute a space-quadrangular-prism-deployable mechanism.
In some alternative embodiments, the angle between the first long-chain branched arm and the second long-chain branched arm is 72 ° in a top view, and the number of the space expandable basic units is 5, which form a space pentagonal prism expandable mechanism.
In some alternative embodiments, the angle between the first long-chain branched arm and the second long-chain branched arm is 60 ° in a top view, and the number of the space expandable basic units is 6, which form a space hexagonal prism expandable mechanism.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a perspective view of a spatially expandable base unit according to a first embodiment of the present invention;
FIG. 2 is a top view of a spatially expandable base unit according to a first embodiment of the present invention;
fig. 3 is a perspective view of a spatially expandable base unit according to a second embodiment of the present invention;
fig. 4 is a perspective view of a spatially expandable base unit according to a third embodiment of the present invention;
fig. 5 is a perspective view of a spatially expandable base unit according to a fourth embodiment of the present invention;
fig. 6 is a perspective view of a spatially expandable base unit according to a fifth embodiment of the present invention;
fig. 7 is a perspective view of a spatially expandable base unit according to a sixth embodiment of the present invention;
FIG. 8 is a perspective view of a spatial triangular prism deployable mechanism;
FIG. 9 is a top view of a spatial triangular prism deployable mechanism;
FIG. 10 is a perspective view of the spatial triangular prism deployable mechanism fully deployed;
FIG. 11 is a perspective view of a spatial quadrangular prism deployable mechanism;
FIG. 12 is a top view of a spatial quadrangular prism deployable mechanism;
FIG. 13 is a perspective view of the spatial quadrangular prism with the deployable mechanism fully deployed;
FIG. 14 is a perspective view of a spatial pentagonal prism deployable mechanism;
FIG. 15 is a top view of a spatial pentagonal prism deployable mechanism;
FIG. 16 is a perspective view of the spatial pentagonal prism deployable mechanism with the mechanism fully deployed;
FIG. 17 is a perspective view of a spatial hexagonal-prism deployable mechanism;
FIG. 18 is a top view of a spatial hexagonal-prism deployable mechanism;
fig. 19 is a perspective view of the spatial hexagonal-prism-shaped deployable mechanism when fully deployed.
Reference numerals:
a spatially expandable base unit 1;
upper spatially symmetric 7R mechanism 11, upper center node 111, first upper inner node 112, first long chain arm 113, second upper inner node 114, second long chain arm 115, first short chain arm 116, second short chain arm 117;
lower spatially symmetric 7R mechanism 12, lower central node 121, first lower inner node 122, third long-chain branch arm 123, second lower inner node 124, fourth long-chain branch arm 125, third short-chain branch arm 126, fourth short-chain branch arm 127;
a plane connection mechanism 13, a first intermediate link 131, a second intermediate link 132, a third intermediate link 133, a fourth intermediate link 134;
a fifth intermediate link a1, a sixth intermediate link a2, a seventh intermediate link a3, an eighth intermediate link a4;
a ninth intermediate link b1, a tenth intermediate link b2, an eleventh intermediate link b3, a twelfth intermediate link b4;
thirteenth intermediate link c1, fourteenth intermediate link c4;
a fifteenth intermediate link d1, a sixteenth intermediate link d2, a seventeenth intermediate link d3, an eighteenth intermediate link d4;
nineteenth intermediate link e1, twentieth intermediate link e2, twenty-first intermediate link e3, twenty-second intermediate link e4;
a spatial triangular prism expandable mechanism 100;
a spatial quadrangular prism deployable mechanism 101;
a spatial pentagonal prism deployable mechanism 102;
spatial hexagonal-prism expandable mechanism 103.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the invention, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "plurality" is three or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
A spatially expandable base unit 1 according to an embodiment of the present invention is described below with reference to fig. 1 and 2.
A spatially expandable base unit 1 according to an embodiment of the present invention, as shown in fig. 1 and 2, includes: an upper spatially symmetrical 7R mechanism 11, a lower spatially symmetrical 7R mechanism 12 and a planar connection mechanism 13. The planar connection mechanism 13 is pivotally connected to the upper spatially symmetrical 7R mechanism 11 and the lower spatially symmetrical 7R mechanism 12, respectively. Wherein the upper center node 111 is pivotally connected to the first upper inner node 112 and the second upper inner node 114 through the first long-chain branched arm 113 and the second long-chain branched arm 115, respectively, the first upper inner node 112 and the second upper inner node 114 are connected to the upper end of the first short-chain branched arm 116 and the upper end of the second short-chain branched arm 117 through a revolute pair, respectively, and the lower end of the first short-chain branched arm 116 is connected to the lower end of the second short-chain branched arm 117 through a revolute pair. The lower center node 121 is pivotally connected to the first lower inner node 122 and the second lower inner node 124 by a third long-chain branched arm 123 and a fourth long-chain branched arm 125, respectively, and the first lower inner node 122 and the second lower inner node 124 are connected to the lower end of the third short-chain branched arm 126 and the lower end of the fourth short-chain branched arm 127 by a revolute pair, respectively, and the upper end of the third short-chain branched arm 126 is connected to the upper end of the fourth short-chain branched arm 127 by a revolute pair. First long-chain branch arm 113, second long-chain branch arm 115, first short-chain branch arm 116, and second short-chain branch arm 117 form an isosceles triangle in plan view, wherein an angle between first long-chain branch arm 113 and second long-chain branch arm 115 is 90 ° in plan view.
Alternatively, the angle between first long chain branch arm 113 and second long chain branch arm 115 may be 120 ° in plan view.
Alternatively, the angle between first long chain branch arm 113 and second long chain branch arm 115 may be 72 ° in plan view.
Alternatively, the angle between first long chain branch arm 113 and second long chain branch arm 115 may be 60 ° in plan view.
It should be noted that, the terms "upper," "lower," "top view," and related terms are all terms used to describe the relative positional relationship of the components. The upper and lower relationships defined herein are not with reference to the height relative to the ground, but are relative positional relationships introduced with respect to the positions of the upper spatially symmetric 7R mechanism 11 and the lower spatially symmetric 7R mechanism 12. Thus, a component is defined throughout, with the end proximal to the upper spatially symmetric 7R mechanism 11 being the upper end thereof and the end distal to the upper spatially symmetric 7R mechanism 11 being the lower end thereof, consistent with the nomenclature of the upper and lower spatially symmetric 7R mechanisms. The top view is not defined by taking the angle relative to the ground as a reference, but is a relative view introduced relative to the position of the upper end face of the upper center node, and the view angle is from top to bottom and is parallel to the view of the upper end face of the upper center node.
The spatially expandable base unit 1 according to an embodiment of the present invention has one degree of freedom.
The planar attachment mechanism 13 is further described below in connection with fig. 1-7.
The planar connection mechanism 13 for connecting the upper spatially symmetric 7R mechanism 11 and the lower spatially symmetric 7R mechanism 12 has fewer joints to ensure the spatially expandable base unit 1 has stability and accuracy, good folding/unfolding performance, and a single degree of freedom.
In the first embodiment, as shown in fig. 1 and 2, the planar connection mechanism 13 is pivotally connected to the lower ends of the first short-chain arm 116, the second short-chain arm 117 and the upper ends of the third short-chain arm 126 and the fourth short-chain arm 127, respectively, so that the first short-chain arm 116, the second short-chain arm 117, the third short-chain arm 126 and the fourth short-chain arm 127 are all in the same plane by the revolute pair connection, thereby ensuring that the space-deployable basic unit 1 has only one degree of freedom.
Specifically, as shown in fig. 1 and 2, the planar connection mechanism 13 includes: a first intermediate link 131, a second intermediate link 132, a third intermediate link 133, and a fourth intermediate link 134. The lower end of the first intermediate link 131 is connected to the upper end of the third intermediate link 133 through a revolute pair, the lower end of the second intermediate link 132 is connected to the upper end of the fourth intermediate link 134 through a revolute pair, the upper ends of the first intermediate link 131 and the second intermediate link 132 are connected to the lower ends of the first and second short-chain arms 116 and 117 through a common revolute pair, and the lower ends of the third intermediate link 133 and the fourth intermediate link 134 are connected to the upper ends of the third and fourth short-chain arms 126 and 127 through a common revolute pair, and the axes of the revolute pairs are parallel to each other, thereby ensuring that the first, second, third and fourth short-chain arms 116, 117, 126 and 127 are all in the same plane.
In the second embodiment, as shown in fig. 3, the planar connection mechanism 13 is pivotally connected to the midpoint of the first short-branched arm 116, the midpoint of the second short-branched arm 117, the midpoint of the third short-branched arm 126, and the midpoint of the fourth short-branched arm 127, respectively, and the first short-branched arm 116, the second short-branched arm 117, the third short-branched arm 126, and the fourth short-branched arm 127 are all in the same plane through the revolute pair connection, so that only one degree of freedom of the space-deployable basic unit 1 is ensured.
Specifically, as shown in fig. 3, the planar connection mechanism 13 includes: fifth intermediate link a1, sixth intermediate link a2, seventh intermediate link a3 and eighth intermediate link a4. The lower end of the fifth intermediate link a1 is connected with the upper end of the seventh intermediate link a3 through a revolute pair, the lower end of the sixth intermediate link a2 is connected with the upper end of the eighth intermediate link a4 through a revolute pair, the upper end of the fifth intermediate link a1 is connected with the midpoint of the first short-chain arm 116 through a revolute pair, the upper end of the sixth intermediate link a2 is connected with the midpoint of the second short-chain arm 117 through a revolute pair, the lower end of the seventh intermediate link a3 is connected with the midpoint of the third short-chain arm 126 through a revolute pair, the lower end of the eighth intermediate link a4 is connected with the midpoint of the fourth short-chain arm 127 through a revolute pair, and the revolute pairs are all parallel to each other, thereby ensuring that the first short-chain arm 116, the second short-chain arm 117, the third short-chain arm 126 and the fourth short-chain arm 127 are all in the same plane.
In the third embodiment, as shown in fig. 4, the planar connection mechanism 13 is pivotally connected to the upper ends of the first short-chain arm 116, the second short-chain arm 117 and the lower ends of the third short-chain arm 126, the fourth short-chain arm 127, respectively, so that the first short-chain arm 116, the second short-chain arm 117, the third short-chain arm 126 and the fourth short-chain arm 127 are all in the same plane by the revolute pair connection, thereby ensuring that the space-deployable basic unit 1 has only one degree of freedom.
Specifically, as shown in fig. 4, the planar connection mechanism 13 includes: a ninth intermediate link b1, a tenth intermediate link b2, an eleventh intermediate link b3, and a twelfth intermediate link b4. The lower end of the ninth intermediate connecting rod b1 is connected with the upper end of the eleventh intermediate connecting rod b3 through a revolute pair, the lower end of the tenth intermediate connecting rod b2 is connected with the upper end of the twelfth intermediate connecting rod b4 through a revolute pair, the upper end of the ninth intermediate connecting rod b1 is connected with the upper end of the first short-chain arm 116 through a revolute pair, the upper end of the tenth intermediate connecting rod b2 is connected with the upper end of the second short-chain arm 117 through a revolute pair, the lower end of the eleventh intermediate connecting rod b3 is connected with the lower end of the third short-chain arm 126 through a revolute pair, the lower end of the twelfth intermediate connecting rod b4 is connected with the lower end of the fourth short-chain arm 127 through a revolute pair, and the revolute pairs are all parallel to each other, so that the first short-chain arm 116, the second short-chain arm 117, the third short-chain arm 126 and the fourth short-chain arm 127 are all in the same plane.
In the fourth embodiment, as shown in fig. 5, the planar connection mechanism 13 is pivotally connected to the lower ends of the first short-chain arm 116, the second short-chain arm 117 and the upper ends of the third short-chain arm 126, the fourth short-chain arm 127, respectively, so that the first short-chain arm 116, the second short-chain arm 117, the third short-chain arm 126 and the fourth short-chain arm 127 are all in the same plane by the revolute pair connection, thereby ensuring that the space-deployable basic unit 1 has only one degree of freedom.
Specifically, as shown in fig. 5, the planar connection mechanism 13 includes: thirteenth intermediate link c1 and fourteenth intermediate link c2. The lower end of the thirteenth intermediate link c1 is connected to the upper end of the fourteenth intermediate link c2 through a pair of pulleys, the upper end of the thirteenth intermediate link c1 is connected to the lower end of the first short-chain arm 116 and the lower end of the second short-chain arm 117 through a pair of common pulleys, and the lower end of the fourteenth intermediate link c2 is connected to the upper end of the third short-chain arm 126 and the upper end of the fourth short-chain arm 127 through a pair of common pulleys, and the axes of the pairs of pulleys are parallel to each other, thereby ensuring that the first short-chain arm 116, the second short-chain arm 117, the third short-chain arm 126 and the fourth short-chain arm 127 are all in the same plane.
In the fifth embodiment, as shown in fig. 6, the planar connection mechanism 13 is pivotally connected to the midpoint of the first short-chain arm 116, the midpoint of the second short-chain arm 117, the midpoint of the third short-chain arm 126, and the midpoint of the fourth short-chain arm 127, respectively, so that the first short-chain arm 116, the second short-chain arm 117, the third short-chain arm 126, and the fourth short-chain arm 127 are all in the same plane through the revolute pair connection, thereby ensuring that the space-deployable basic unit 1 has only one degree of freedom.
Specifically, as shown in fig. 6, the planar connection mechanism 13 includes: a fifteenth intermediate link d1, a sixteenth intermediate link d2, a seventeenth intermediate link d3, and an eighteenth intermediate link d4. The lower end of the fifteenth intermediate connecting rod d1 is connected with the upper end of the seventeenth intermediate connecting rod d3 through a moving pair, the lower end of the sixteenth intermediate connecting rod d2 is connected with the upper end of the eighteenth intermediate connecting rod d4 through a moving pair, the upper end of the fifteenth intermediate connecting rod d1 is connected with the middle point of the first short-branched arm 116 through a rotating pair, the upper end of the sixteenth intermediate connecting rod d2 is connected with the middle point of the second short-branched arm 117 through a rotating pair, the lower end of the seventeenth intermediate connecting rod d3 is connected with the middle point of the third short-branched arm 126 through a rotating pair, the lower end of the eighteenth intermediate connecting rod d4 is connected with the middle point of the fourth short-branched arm 127 through a rotating pair, and the axes of the rotating pairs are all parallel to each other, so that the first short-branched arm 116, the second short-branched arm 117, the third short-branched arm 126 and the fourth short-branched arm 127 are all in the same plane.
In the sixth embodiment, as shown in fig. 7, the planar connection mechanism 13 is pivotally connected to the upper ends of the first short-chain arm 116, the second short-chain arm 117 and the lower ends of the third short-chain arm 126, the fourth short-chain arm 127, respectively, so that the first short-chain arm 116, the second short-chain arm 117, the third short-chain arm 126 and the fourth short-chain arm 127 are all in the same plane by the revolute pair connection, thereby ensuring that the space-deployable basic unit 1 has only one degree of freedom.
Specifically, as shown in fig. 7, the planar connection mechanism 13 includes: nineteenth intermediate link e1, twentieth intermediate link e2, twenty-first intermediate link e3, and twenty-second intermediate link e4. The lower end of the nineteenth intermediate connecting rod e1 is connected with the upper end of the twenty first intermediate connecting rod e3 through a moving pair, the lower end of the twenty second intermediate connecting rod e2 is connected with the upper end of the twenty second intermediate connecting rod e4 through a moving pair, the upper end of the nineteenth intermediate connecting rod e1 is connected with the upper end of the first short-branched arm 116 through a rotating pair, the upper end of the twenty intermediate connecting rod e2 is connected with the upper end of the second short-branched arm 117 through a rotating pair, the lower end of the twenty first intermediate connecting rod e3 is connected with the lower end of the third short-branched arm 126 through a rotating pair, the lower end of the twenty second intermediate connecting rod e4 is connected with the lower end of the fourth short-branched arm 127 through a rotating pair, and the axes of the rotating pairs are all parallel to each other, so that the first short-branched arm 116, the second short-branched arm 117, the third short-branched arm 126 and the fourth short-branched arm 127 are all in the same plane.
A spatial polygonal column expandable mechanism according to an embodiment of the present invention is described below with reference to fig. 8 to 19.
A spatial triangular prism deployable mechanism 100 according to an embodiment of the present invention, as shown in fig. 8-10, includes: three spaces can be expanded for the base unit 1. The three space-deployable basic units 1 are circumferentially distributed around an axis formed by connecting the common upper and lower central nodes, wherein the adjacent space-deployable basic units 1 share the long-chain branched arms and the inner nodes, so that the reliability is ensured, and the weight of the whole mechanism is reduced. In addition, the cross section of the spatial triangular prism expandable mechanism 100 is regular triangle, and has good structure and motion symmetry, so that the spatial triangular prism expandable mechanism has simpler kinematics, dynamics and better interchangeability.
Specifically, the angle between first long-chain branch arm 113 and second long-chain branch arm 115 is 120 ° in a plan view.
A spatial quadrangular prism deployable mechanism 101 according to an embodiment of the present invention, as shown in fig. 11 to 13, includes: four spaces can be expanded for the base unit 1. Four spatially deployable base units 1 are circumferentially distributed about an axis formed by the connection of the common upper and lower central nodes, wherein adjacent spatially deployable base units 1 share a long-chain arm and an inner node. In addition, the cross section of the spatial quadrangular prism expandable mechanism 101 is square, and the spatial quadrangular prism expandable mechanism has good structure and motion symmetry, so that the spatial quadrangular prism expandable mechanism has simpler kinematics, dynamics and better interchangeability.
Specifically, the angle between first long-chain branch arm 113 and second long-chain branch arm 115 is 90 ° in a plan view.
A spatial pentagonal prism deployable mechanism 102 according to an embodiment of the present invention, as shown in fig. 14-16, comprises: five spaces can be expanded for the base unit 1. The five spatially deployable base units 1 are circumferentially distributed about an axis formed by the connection of the common upper and lower central nodes, wherein adjacent spatially deployable base units 1 share a long-chain branched arm and an inner node. In addition, the cross section of the spatial pentagonal prism expandable mechanism 102 is regular pentagonal, and has good structure and motion symmetry, so that the spatial pentagonal prism expandable mechanism has simpler kinematics, dynamics and better interchangeability.
Specifically, the angle between first long-chain branch arm 113 and second long-chain branch arm 115 is 72 ° in a plan view.
The spatial hexagonal-prism-shaped deployable mechanism 103 according to an embodiment of the present invention, as shown in fig. 17 to 19, includes: six spaces can be expanded for the base unit 1. Six spatially deployable base units 1 are circumferentially distributed about an axis formed by the connection of the common upper and lower central nodes, wherein adjacent spatially deployable base units 1 share a long-chain arm and an inner node. In addition, the cross section of the spatial hexagonal prism expandable mechanism 103 is regular hexagon, and has good structure and motion symmetry, so that the spatial hexagonal prism expandable mechanism has simpler kinematics, dynamics and better interchangeability.
Specifically, the angle between first long-chain branch arm 113 and second long-chain branch arm 115 is 60 ° in a plan view.
As can be seen from fig. 9, 12, 15 and 18, the cross section of the spatial polygon prism expandable mechanism is regular polygon, and has good structure and motion symmetry, so that the spatial polygon prism expandable mechanism has simpler kinematics, dynamics and better interchangeability.
Furthermore, as can be seen from fig. 10, 13, 16 and 19, the spatial polygon prism expansible mechanism described above has a good folding/unfolding potential. In particular, a spatial hexagonal-prism-shaped deployable mechanism which is excellent in folding/unfolding performance in both cross-sectional area and height.
Other configurations and operations of the spatial deployable base unit 1, the spatial triangular prism deployable mechanism 100, the spatial triangular prism deployable mechanism 101, the spatial triangular prism deployable mechanism 102, and the spatial hexagonal prism deployable mechanism 103 according to the embodiment of the present invention are known to those of ordinary skill in the art, and will not be described in detail herein.
In the description herein, reference to the term "embodiment," "example," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A spatially expandable base unit of the type comprising:
an upper spatially symmetric 7R mechanism;
a lower spatially symmetric 7R mechanism;
the plane connecting mechanism is respectively and pivotally connected with the upper space symmetrical 7R mechanism and the lower space symmetrical 7R mechanism;
the upper space symmetry type 7R mechanism comprises:
an upper central node;
a first upper internal node;
the first long-chain branched arm is respectively and pivotally connected with the upper central node and the first upper inner node, and the two auxiliary rotating shafts are parallel to each other;
the upper central node, the upper end surfaces of the first upper inner node and the second upper inner node are parallel;
the second long-chain branched arm is respectively and pivotally connected with the upper central node and the second upper inner node, and the two auxiliary rotating shafts are parallel to each other;
a first short-chain arm;
the lower end of the first short-chain arm is connected with the lower end of the second short-chain arm through a revolute pair, the upper end of the first short-chain arm is connected with the first upper inner node through a revolute pair, the upper end of the second short-chain arm is connected with the second upper inner node through a revolute pair, and the axes of the lower end of the first short-chain arm, the upper end of the first short-chain arm and the revolute pair at three positions of the upper end of the second short-chain arm are all parallel;
the first long-chain branched arm, the second long-chain branched arm, the first short-chain branched arm and the second short-chain branched arm form isosceles triangles in a top view, and the vertex angles of the isosceles triangles can be set according to specific design requirements;
the lower spatially symmetric 7R mechanism includes:
the upper central node is fixedly connected with the lower central node through a lower end face and an upper end face respectively;
a first lower internal node;
the third long-chain branched arm is respectively and pivotally connected with the lower center node and the first lower inner node, and the two auxiliary rotating shafts are parallel to each other;
the upper end face and the lower end face of the first lower inner node are parallel to each other;
the fourth long-chain branched arm is respectively and pivotally connected with the lower center node and the second lower inner node, and the two auxiliary rotating shafts are parallel to each other;
a third short-chain arm;
the upper end of the third short-chain arm is connected with the upper end of the fourth short-chain arm through a revolute pair, the lower end of the third short-chain arm is connected with the first lower inner node through a revolute pair, the lower end of the fourth short-chain arm is connected with the second lower inner node through a revolute pair, and the axes of the upper end of the third short-chain arm, the lower end of the third short-chain arm and the revolute pair at three positions of the lower end of the fourth short-chain arm are all parallel;
the third long-chain branched arm, the fourth long-chain branched arm, the third short-chain branched arm and the fourth short-chain branched arm form isosceles triangles in a top view, and the vertex angles of the isosceles triangles can be set according to specific design requirements;
the first short-chain arm, the second short-chain arm, the third short-chain arm and the fourth short-chain arm are all in the same plane.
2. The spatially expandable base unit of claim 1, wherein the planar connection mechanism comprises:
a first intermediate link;
a second intermediate link;
a third intermediate link;
a fourth intermediate link;
the lower end of the first middle connecting rod is connected with the upper end of the third middle connecting rod through a revolute pair;
the lower end of the second intermediate connecting rod is connected with the upper end of the fourth intermediate connecting rod through a revolute pair;
the upper end of the first intermediate connecting rod and the upper end of the second intermediate connecting rod are connected with the lower end of the first short-chain branched arm and the lower end of the second short-chain branched arm through a common revolute pair;
the lower end of the third intermediate connecting rod and the lower end of the fourth intermediate connecting rod are connected with the upper end of the third short-chain branched arm and the upper end of the fourth short-chain branched arm through a common revolute pair;
the auxiliary axes of rotation are all parallel to each other.
3. The spatially expandable base unit of claim 1, wherein the planar connection mechanism comprises:
a fifth intermediate link;
a sixth intermediate link;
a seventh intermediate link;
an eighth intermediate link;
the lower end of the fifth intermediate connecting rod is connected with the upper end of the seventh intermediate connecting rod through a revolute pair;
the lower end of the sixth intermediate connecting rod is connected with the upper end of the eighth intermediate connecting rod through a revolute pair;
the upper end of the fifth intermediate connecting rod is connected with the middle point of the first short branched arm through a revolute pair;
the upper end of the sixth intermediate connecting rod is connected with the middle point of the second short branched chain arm through a revolute pair;
the lower end of the seventh intermediate connecting rod is connected with the middle point of the third short branched chain arm through a revolute pair;
the lower end of the eighth intermediate connecting rod is connected with the middle point of the fourth short branched arm through a revolute pair;
the auxiliary axes of rotation are all parallel to each other.
4. The spatially expandable base unit of claim 1, wherein the planar connection mechanism comprises:
a ninth intermediate link;
a tenth intermediate link;
an eleventh intermediate link;
a twelfth intermediate link;
the lower end of the ninth intermediate connecting rod is connected with the upper end of the eleventh intermediate connecting rod through a revolute pair;
the lower end of the tenth intermediate connecting rod is connected with the upper end of the twelfth intermediate connecting rod through a revolute pair;
the upper end of the ninth intermediate connecting rod is connected with the upper end of the first short branched arm through a revolute pair;
the upper end of the tenth intermediate connecting rod is connected with the upper end of the second short-chain branched arm through a revolute pair;
the lower end of the eleventh intermediate connecting rod is connected with the lower end of the third short-chain branched arm through a revolute pair;
the lower end of the twelfth intermediate connecting rod is connected with the lower end of the fourth short-chain branched arm through a revolute pair;
the auxiliary axes of rotation are all parallel to each other.
5. The spatially expandable base unit of claim 1, wherein the planar connection mechanism comprises:
a thirteenth intermediate link;
a fourteenth intermediate link;
the lower end of the thirteenth intermediate connecting rod is connected with the upper end of the fourteenth intermediate connecting rod through a moving pair;
the upper end of the thirteenth intermediate connecting rod is connected with the lower end of the first short-chain branched arm and the lower end of the second short-chain branched arm through a common revolute pair;
the lower end of the fourteenth intermediate connecting rod is connected with the upper end of the third short-chain branched arm and the upper end of the fourth short-chain branched arm through a common revolute pair;
the auxiliary axes of rotation are all parallel to each other.
6. The spatially expandable base unit of claim 1, wherein the planar connection mechanism comprises:
a fifteenth intermediate link;
a sixteenth intermediate link;
seventeenth intermediate link;
an eighteenth intermediate link;
the lower end of the fifteenth intermediate connecting rod is connected with the upper end of the seventeenth intermediate connecting rod through a moving pair;
the lower end of the sixteenth intermediate connecting rod is connected with the upper end of the eighteenth intermediate connecting rod through a moving pair;
the upper end of the fifteenth intermediate connecting rod is connected with the middle point of the first short branched chain arm through a revolute pair;
the upper end of the sixteenth intermediate connecting rod is connected with the middle point of the second short branched chain arm through a revolute pair;
the lower end of the seventeenth intermediate connecting rod is connected with the middle point of the third short branched chain arm through a revolute pair;
the lower end of the eighteenth intermediate connecting rod is connected with the middle point of the fourth short branched arm through a revolute pair;
the auxiliary axes of rotation are all parallel to each other.
7. The spatially expandable base unit of claim 1, wherein the planar connection mechanism comprises:
a nineteenth intermediate link;
a twentieth intermediate link;
a twenty-first intermediate link;
a twenty-second intermediate link;
the lower end of the nineteenth intermediate connecting rod is connected with the upper end of the twenty first intermediate connecting rod through a moving pair;
the lower end of the twenty-second intermediate connecting rod is connected with the upper end of the twenty-second intermediate connecting rod through a moving pair;
the upper end of the nineteenth intermediate connecting rod is connected with the upper end of the first short-chain branched arm through a revolute pair;
the upper end of the twentieth intermediate connecting rod is connected with the upper end of the second short branched chain arm through a revolute pair;
the lower end of the twenty-first intermediate connecting rod is connected with the lower end of the third short branched arm through a revolute pair;
the lower end of the twenty-second intermediate connecting rod is connected with the lower end of the fourth short-chain branched arm through a revolute pair;
the auxiliary axes of rotation are all parallel to each other.
8. A spatial polygonal column expandable mechanism comprising a spatial expandable base unit according to any one of claims 1 to 7, comprising:
the space expandable basic units are circumferentially distributed around an axis, the space expandable basic units share the upper central node and the lower central node, and the connecting line of the upper central node and the lower central node forms the axis around which the space expandable basic units are arranged;
wherein adjacent ones of the spatially deployable base units share the first long-chain branch arm, the second long-chain branch arm, the third long-chain branch arm, the fourth long-chain branch arm, the first upper interior node, the second upper interior node, the first lower interior node, and the second lower interior node.
9. A spatial polygonal column expandable mechanism comprising a spatial expandable base unit according to any one of claims 1-7, wherein:
the number of the spatially-deployable basic units constituting the spatially-polygonal-prism-deployable mechanism is determined by an angle between the first long-chain branched arm and the second long-chain branched arm in a plan view;
if the included angle between the first long-chain branched arm and the second long-chain branched arm is 360 degrees/N in a top view, the number of the space expandable basic units is N, and a space N-prism expandable mechanism is formed, wherein N can be set according to specific design requirements;
the angle between the first long-chain branched arm and the second long-chain branched arm can be set as follows:
if the included angle between the first long-chain branched arm and the second long-chain branched arm is 120 degrees in a top view, the number of the space expandable basic units is 3, so that a space triangular prism expandable mechanism is formed;
if the included angle between the first long-chain branched arm and the second long-chain branched arm is 90 degrees in a top view, the number of the space expandable basic units is 4, so that a space quadrangular expandable mechanism is formed;
if the included angle between the first long-chain branched arm and the second long-chain branched arm is 72 degrees in a top view, the number of the space expandable basic units is 5, so that a space pentagonal prism expandable mechanism is formed;
if the included angle between the first long-chain branched arm and the second long-chain branched arm is 60 degrees in a top view, the number of the space expandable basic units is 6, and the space hexagonal prism expandable mechanism is formed.
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