CN114251351A - Bionic deployable structure and driving mechanism - Google Patents
Bionic deployable structure and driving mechanism Download PDFInfo
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- CN114251351A CN114251351A CN202210030916.6A CN202210030916A CN114251351A CN 114251351 A CN114251351 A CN 114251351A CN 202210030916 A CN202210030916 A CN 202210030916A CN 114251351 A CN114251351 A CN 114251351A
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- 239000011664 nicotinic acid Substances 0.000 title claims description 41
- 230000003592 biomimetic effect Effects 0.000 claims description 22
- 238000000034 method Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 8
- 230000008602 contraction Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 239000007799 cork Substances 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 229910000851 Alloy steel Inorganic materials 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
Abstract
The utility model provides a bionical deployable structure, includes inside board (1), inside board (1) is through first hinge (51) interconnect, and outside board (2) are connected through second hinge (52) inside board (1), interior pole (3), through interior push rod (6) with inside board (1) interference fit connects, outer pole (4), through outer push rod (7) with outside board (2) interference fit connects, interior pole (3) are connected through third hinge (53) with outer pole (4).
Description
Technical Field
The invention relates to the fields of aerospace engineering, mechanical manufacturing, production activities and the like, in particular to a bionic deployable structure and a driving mechanism.
Background
The deployable structure is mainly characterized in that the deployable structure has smaller volume and less occupied space in a non-deployed state, is convenient to transport and store, and has larger working area due to the self deployment of the structure in a deployed state. Because of its own features, the expandable structure is widely applied to various fields, such as folding umbrellas and fans seen in daily life, or reflecting antennas and solar sailboards in the aerospace field, which are typical expandable structures.
At present, in the research field of deployable structures, there are mainly a film deployable structure, a rigid flat plate deployable structure, a rod system deployable structure, etc., wherein the related power sources mainly include three types, namely electric drive, hydraulic drive and inflation drive. In the deployable structure, most of the driving devices drive the structure to be deployed in a mechanical transmission mode, and a series of problems of low driving efficiency, overlarge structural size of the driving devices, unstable structure deployment process, low deployment ratio and the like are inevitably involved.
Therefore, it is necessary to design a deployable structure and a driving apparatus having high driving efficiency, stable driving process, and a large deployment ratio, so as to promote the development of the field of design of the deployable structure.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a bionic expandable structure, which comprises
an outer panel 2 connected to the inner panel 1 by a second hinge connection 52,
an inner rod 3 is connected with the inner plate 1 in an interference fit way through an inner push rod 6,
the outer rod 4 is connected with the outer plate 2 in an interference fit way through an outer push rod 7,
the inner rod 3 and the outer rod 4 are connected by a third hinge 53.
In some embodiments, the outer rod 4 is fixedly connected to an outer push rod 7, and the inner rod 3 is fixedly connected to an inner push rod 6.
In some embodiments, the means for fixedly connecting is selected from one of a bolt connection, a snap connection, and a weld.
In some embodiments, the rotation angles of the first hinge 51, the second hinge 52 and the third hinge 53 are 0-180 degrees respectively.
In some embodiments, the first state of the biomimetic expandable structure is a collapsed state and the second state is an expanded state, and the biomimetic expandable structure is transformed between the first state and the second state by a motive device.
In some embodiments, the power plant comprises an electric motor 8.
In some embodiments, the bionic expandable structure is in a first state, the first hinge 51, the second hinge 52 and the third hinge 53 are opened, the inner push rod 6 and the outer push rod 7 are pushed out, and the bionic expandable structure is converted into a second state.
In some embodiments, the power device may be the motor 8, or may be other devices capable of providing power, such as hydraulic pressure, pneumatic pressure, etc.
In some embodiments, the power device may transmit signals via wires, via bluetooth, or via infrared. In some embodiments, it is considered a measure that can be performed to drive the hinge by remotely controlling the motor.
The beneficial effects of the invention include: the bionic expandable structure provided by the invention comprises two processes of folding-unfolding and growing, and can realize higher expansion ratio. In addition, the stability of the unfolding process is ensured by arranging a distributed drive. Moreover, the expansion ratio of the bionic expandable structure and the driving mechanism provided by the invention can be adjusted according to actual use scenes, and different use conditions can be met.
Drawings
FIG. 1 is a schematic view of a non-deployed state of a biomimetic deployable structure according to the present invention;
FIG. 2 is a schematic diagram of a half-deployed state of a biomimetic deployable structure according to the present invention;
FIG. 3 is a schematic diagram of a half-deployed state of a biomimetic deployable structure according to the present invention;
FIG. 4 is a schematic view of the deployment state of the bionic deployable structure according to the present invention;
FIG. 5 is a schematic view of the deployment state of the biomimetic deployable structure provided in the present invention;
FIG. 6 is a schematic diagram illustrating a deployment process of the biomimetic deployable structure according to the present invention;
FIG. 7 is a schematic view of the reflection load inertia of the bionic deployable structure provided by the present invention;
FIG. 8 is a schematic diagram of linear velocity variation during deployment;
FIG. 9 is a schematic diagram of angular velocity variation during deployment;
FIG. 10 is a schematic view of the acceleration change during deployment;
FIG. 11 is a schematic stress diagram of a biomimetic deployable structure according to the present disclosure;
fig. 12 is a schematic view of the bionic deployable structure bending deformation provided by the present invention.
The respective symbols in the figure are as follows: the inner plate 1, the outer plate 2, the inner rod 3, the outer rod 4, the first hinge 51, the second hinge 52, the third hinge 53, the inner push rod 6, the outer push rod 7 and the motor 8.
Detailed Description
The invention is further illustrated by the following specific examples.
Example 1
As shown in fig. 1-6, a bionic deployable structure comprises an inner plate 1, wherein the inner plate 1 is connected with each other through a first hinge 51, an outer plate 2 is connected with the inner plate 1 and an inner rod 3 through a second hinge 52, the inner rod 6 is connected with the inner plate 1 in an interference fit manner, an outer rod 4 is connected with the outer plate 2 in an interference fit manner through an outer push rod 7, and the inner rod 3 is connected with the outer rod 4 through a third hinge 53. The outer rod 4 is fixedly connected with the outer push rod 7, and the inner rod 3 is fixedly connected with the inner push rod 6. The fixed connection is realized in a bolt connection mode. The rotation angles of the first hinge 51, the second hinge 52 and the third hinge 53 are 0-180 degrees respectively. The first state of the bionic expandable structure is a contraction state, the second state is an expansion state, and the bionic expandable structure is converted between the first state and the second state through a power device. The power device is a motor 8. The bionic deployable structure opens the first hinge 51, the second hinge 52 and the third hinge 53 in the first state, and the inner push rod 6 and the outer push rod 7 are pushed out to be converted into the second state.
Example 2
As shown in fig. 1-6, a bionic deployable structure comprises an inner plate 1, wherein the inner plate 1 is connected with each other through a first hinge 51, an outer plate 2 is connected with the inner plate 1 and an inner rod 3 through a second hinge 52, the inner rod 6 is connected with the inner plate 1 in an interference fit manner, an outer rod 4 is connected with the outer plate 2 in an interference fit manner through an outer push rod 7, and the inner rod 3 is connected with the outer rod 4 through a third hinge 53. The outer rod 4 is fixedly connected with the outer push rod 7, and the inner rod 3 is fixedly connected with the inner push rod 6. The fixed connection is in a buckle connection mode. The rotation angles of the first hinge 51, the second hinge 52 and the third hinge 53 are 0-180 degrees respectively. The first state of the bionic expandable structure is a contraction state, the second state is an expansion state, and the bionic expandable structure is converted between the first state and the second state through a power device. The power device is a motor 8. The bionic deployable structure opens the first hinge 51, the second hinge 52 and the third hinge 53 in the first state, and the inner push rod 6 and the outer push rod 7 are pushed out to be converted into the second state.
Example 3
As shown in fig. 1-6, a bionic deployable structure comprises an inner plate 1, wherein the inner plate 1 is connected with each other through a first hinge 51, an outer plate 2 is connected with the inner plate 1 and an inner rod 3 through a second hinge 52, the inner rod 6 is connected with the inner plate 1 in an interference fit manner, an outer rod 4 is connected with the outer plate 2 in an interference fit manner through an outer push rod 7, and the inner rod 3 is connected with the outer rod 4 through a third hinge 53. The outer rod 4 is fixedly connected with the outer push rod 7, and the inner rod 3 is fixedly connected with the inner push rod 6. The fixed connection is realized by welding. The rotation angles of the first hinge 51, the second hinge 52 and the third hinge 53 are 0-180 degrees respectively. The first state of the bionic expandable structure is a contraction state, the second state is an expansion state, and the bionic expandable structure is converted between the first state and the second state through a power device. The power device is a motor 8. The bionic deployable structure opens the first hinge 51, the second hinge 52 and the third hinge 53 in the first state, and the inner push rod 6 and the outer push rod 7 are pushed out to be converted into the second state.
Example 4
A driving mechanism comprises a bionic expandable structure and a skin, wherein the skin can be fixed on the bionic expandable structure. Bionic deployable structure, including inside board 1, inside board 1 is through first hinge 51 interconnect, and outside board 2 is connected through second hinge 52 inside board 1, interior pole 3, through interior push rod 6 with inside board 1 interference fit is connected, and outer pole 4, through outer push rod 7 with outside board 2 interference fit is connected, interior pole 3 passes through third hinge 53 with outer pole 4 and is connected. The outer rod 4 is fixedly connected with the outer push rod 7, and the inner rod 3 is fixedly connected with the inner push rod 6. The fixed connection is realized in a bolt connection mode. The rotation angles of the first hinge 51, the second hinge 52 and the third hinge 53 are 0-180 degrees respectively. The first state of the bionic expandable structure is a contraction state, the second state is an expansion state, and the bionic expandable structure is converted between the first state and the second state through a power device. The power device is a motor 8. The bionic deployable structure opens the first hinge 51, the second hinge 52 and the third hinge 53 in the first state, and the inner push rod 6 and the outer push rod 7 are pushed out to be converted into the second state. The skin is made of composite materials. The drape state of the skin corresponds to a first state of the biomimetic deployable structure.
As shown in fig. 6, the bionic deployable mechanism provided by the invention is deployed for multiple times. In a first state, the bionic deployable structure drives the first hinge 51 to open through a power device, so as to drive the inner plate 1 to rotate, and the outer plate 2 is deployed at a straight angle. The power device drives the second hinge 52 and the third hinge 53 to open, so that the inner rod 3 and the outer rod 4 are unfolded in a straight angle. The power device drives the inner push rod 6 and the outer push rod 7 to push the inner rod 3 and the outer rod 4 outwards, and the bionic deployable structure is converted into a second state. The length of the push-out of the inner push rod 6 and the outer push rod 7 can not only realize the required unfolding structure and the unfolding ratio of the driving mechanism, but also realize the required working area. The bionic deployable mechanism provided by the invention can adjust the lengths of the inner push rod 6 and the outer push rod 7 to the required preset length.
In some embodiments, the power device may be the motor 8, or may be other devices capable of providing power, such as hydraulic pressure, pneumatic pressure, etc.
In some embodiments, the power device may transmit signals via wires, via bluetooth, or via infrared. In some embodiments, it is considered a measure that can be performed to drive the hinge by remotely controlling the motor.
In some usage scenarios, such as during transportation and warehousing, the biomimetic deployable structure provided by the present invention is in a first state. When the foldable solar panel is needed to be used, the first hinge is driven by the remote control motor to drive the inner panel to rotate, so that the outer panel is unfolded at a straight angle. And then the second hinge and the third hinge are driven by a remote control motor to drive the outer rod and the inner rod to unfold at a straight angle. The inner push rod and the outer push rod are driven by a remote control motor to horizontally push out the inner rod and the outer rod. The biomimetic expandable structure is transformed into a second state.
And under the working scene of the bionic expandable structure, the bionic expandable structure is in a second state. After the bionic extensible working scene is used, the inner push rod and the outer push rod are driven by the remote control motor to horizontally push the inner rod and the outer rod back. And then the second hinge and the third hinge are driven by a remote control motor to drive the outer rod and the inner rod to be folded at a straight angle. The first hinge is driven by the remote control motor to drive the inner plate to rotate, so that the outer plate is folded at a flat angle. The biomimetic expandable structure is transformed into a first state.
The inventor carries out simulation calculation on the speed of the structure in the unfolding process through SOLIDWORKS, and unexpectedly discovers that the bionic unfolding structure provided by the invention not only can be smoothly opened, but also has a relatively stable unfolding process.
The inventor finds that in the process of completing the invention, a graph of the x-axis component of the linear velocity is as shown in fig. 8a, and in the second two-time overturning process of the deployable structure for 5-11 seconds, the velocity is gradually increased according to the setting of the motor, reaches the maximum value at the middle point of the set time, and then gradually decreases until the end point of the time is reduced to zero. The graph of the y-axis component of the linear velocity is shown in fig. 8b, and during the first overturning and the translation of the deployable structure, the velocity is gradually increased in 0-5 seconds and 12-17 seconds according to the arrangement of the motor and the push rod, reaches the maximum value at the set time midpoint, and then gradually decreases to zero at the time endpoint. The linear velocity z-axis component diagram is shown in fig. 8c, during the two-time overturning process of the deployable structure, the speed changes in the z-axis direction according to the arrangement of the motor and the push rod, the speed gradually increases in 0-5 seconds and 6-11 seconds, reaches the maximum value at the set time midpoint, and gradually decreases to zero at the time endpoint. The angular velocity diagram is shown in fig. 9, the angular velocity only occurs in the circular motion process, so the angular velocity of the bionic deployable structure and the driving mechanism provided by the invention is reflected in the two overturning processes, and according to the arrangement of the motor, the angular velocity of the structure is uniformly increased to the maximum value in the structure opening process, and then is uniformly reduced to 0. As shown in fig. 10, the linear acceleration of the three components does not change abruptly, so that no rigid impact exists during the unfolding process of the structure, and the structure can be effectively protected. The acceleration is increased and then reduced to 0, and the increasing part of the speed change of the structure is controlled; then reversely increasing and decreasing to 0, and controlling the decreasing part of the speed change of the structure.
Furthermore, the inventor unexpectedly finds that the stability of the bionic deployable structure provided by the invention is less influenced by inertia in the deploying process. As shown in fig. 7, whether the material of the biomimetic deployable structure is alloy steel fig. 7a or cork fig. 7 b. The reflected load inertia of either alloy steel or cork is within an acceptable range.
The inventor calculates the static performance of the bionic expandable structure in an expanded state through finite element software ANSYS, and finds that the stress concentration exists at the hinge of the structure, as shown in FIG. 11, but the maximum stress of the bending deformation of the structure under the action of gravity still does not exceed the bending strength 54MPa of the material, as shown in FIG. 12, and in some preferred embodiments, the material is cork.
Claims (7)
1. A bionic deployable structure is characterized by comprising
Inner plates (1), the inner plates (1) being connected to each other by a first hinge (51),
an outer panel (2) connected to the inner panel (1) by a second hinge (52),
an inner rod (3) is connected with the inner plate (1) in an interference fit way through an inner push rod (6),
an outer rod (4) which is connected with the outer plate (2) in an interference fit way through an outer push rod (7),
the inner rod (3) is connected with the outer rod (4) through a third hinge (53).
2. The biomimetic deployable structure according to claim 1, wherein the outer rod (4) is fixedly connected to an outer push rod (7) and the inner rod (3) is fixedly connected to an inner push rod (6).
3. The biomimetic deployable structure of claim 2, wherein the fastening connection is selected from one of a bolted connection, a snap-fit connection, and a welded connection.
4. The biomimetic deployable structure according to claim 1, wherein the rotation angles of the first hinge (51), the second hinge (52), and the third hinge (53) are 0-180 degrees, respectively.
5. The biomimetic deployable structure of claim 1, wherein the first state of the biomimetic deployable structure is a collapsed state and the second state is a deployed state, the biomimetic deployable structure being translated between the first state and the second state by a motive device.
6. The biomimetic deployable structure according to claim 5, wherein the motive device comprises a motor (8).
7. The biomimetic deployable structure according to claim 5, wherein the biomimetic deployable structure opens the first hinge (51), the second hinge (52), and the third hinge (53) in the first state, and the inner push rod (6) and the outer push rod (7) are pushed out to be converted into the second state.
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| CN202210030916.6A CN114251351A (en) | 2022-01-12 | 2022-01-12 | Bionic deployable structure and driving mechanism |
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| CN202210030916.6A CN114251351A (en) | 2022-01-12 | 2022-01-12 | Bionic deployable structure and driving mechanism |
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