CN206914675U - Single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit - Google Patents
Single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit Download PDFInfo
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- CN206914675U CN206914675U CN201720498015.4U CN201720498015U CN206914675U CN 206914675 U CN206914675 U CN 206914675U CN 201720498015 U CN201720498015 U CN 201720498015U CN 206914675 U CN206914675 U CN 206914675U
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Abstract
A kind of single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit, and it includes two long scissors rods, two short scissors rods, four asymmetric scissors rods, two connecting rods, two bearing pin connectors and eight combination floral discs；Connected between each part by revolute pair, multiple revolute pair axis that it is located on same side are parallel, and are overlapped respectively with being in the revolute pair axis of relative position on opposite flank.The utility model only needs one to drive the expansion that can be achieved with unit to be moved with collapsing, and expanding performance is good, and reliability is high, it is simple in construction, engineering manufacture is easily achieved, curved surface can be formed after multiple combinations, can apply in heavy caliber curved surface space flight deployable antenna and other space flight deployable mechanisms.
Description
Technical field
It the utility model is related to a kind of deployable mechanism.
Background technology
With developing rapidly for the causes such as manned space flight, earth observation, survey of deep space and space communication, all kinds of space flight works
The size of the space mechanism needed in journey is increasing, to meet the needs of different space missions, but by carrying space work
The tool useful space holds the limitation in storehouse, it is necessary to design with the big space deployable mechanism for folding ratio, at transmitting and haulage stage
In folded state and collapse in radome fairing, it is reinflated to working condition after spacecraft injection, in every space mission
In, polytype space deployable mechanism is developed rapidly and applied, such as folding exhibition solar panel, space station basis
Skeleton, space manipulator, space mast, heavy caliber deployable antenna, large-scale flexible solar array support frame etc..
Deployable mechanism typically has two kinds of stable states：Complete rounding state and its fully unfolded position (working condition), root
Expansion and tucked way according to deployable mechanism, its can be divided into hinged truss formula development agency, deformable material development agency with
And gas-filled unfolded development agency, wherein denaturation material development agency uses the material with big elastic deformation as development agency
Material of main part, in the case where folding rounding state, material is deformed and stores elastic deformation energy, and elastic deformation energy is relied on after release
Drive mechanism is converted into deployed condition, and repeatable gathering extensibility is poor, and precision is relatively low；Gas-filled unfolded development agency principle is use
Closed structure is made in flexible material, a kind of development agency deploy closed structure by filling gas after entering the orbit, with quality it is small,
Fold than it is big the advantages of, but surface accuracy is relatively low, and structure thermal stability is poor, and rigidity is relatively low, and technology is still immature, and be hinged purlin
Posture development agency is mainly made up of connecting rod and kinematic pair, and with collapsing, folding is bigger, precision is high, repeatable receipts for such mechanism
The advantages of holding together good extensibility and long lifespan, space station basic skeleton, space mast and big it have been widely used at present
The fields such as diameter expansible antenna.
The structures such as current, in orbit space mast, deployable antenna it is more machine can be opened up using hinged truss formula
Configuration formula, as the U.S. is used for 60m telescopic radars support arm, the four sides in Russian SOYUZ spacecraft that dimensional topography is observed
Hexahedron on No. 8 body frame formula deployable antenna, Japanese chrysanthemum satellites can open up unit truss-like parabola antenna, the U.S.
Annular truss deployable antenna on Thuraya satellites etc..With the fast development of aerospace industry, required in aerospace engineering
Hinged truss space development agency constantly develops towards the direction such as large scale, high accuracy, high rigidity, easily controllable, therefore, needs badly
It is proposed that the free degree is few, anufacturability is good on the basis of existing development agency correlative study and the function admirable such as rigidity height can
Development mechanism.
Utility model content
The purpose of this utility model be to provide a kind of single-degree-of-freedom, simple in construction, rigidity is higher and expanding performance compared with
Good single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit.
The utility model single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit, including two long scissors rods, two short
Scissors rod, four asymmetric scissors rods, two connecting rods, two bearing pin connectors and eight combination floral discs；The bearing pin connection
Rectangular aperture groove is provided with the middle part of the cuboid matrix of part, a through hole, the axis of two through hole are respectively set on open slot two side
Overlap, the coupled bearing pin in one end is separately provided with the outer end at open slot bottom, the axis of the bearing pin crosses the plane of symmetry of open slot；Institute
It is identical to state two long scissors rod structure, middle to be connected by a bearing pin connector bearing pin part, bearing pin connector connection
Place forms revolute pair, on the asymmetric side for cutting hinge formula deployable mechanism unit of this single-degree-of-freedom；It is described two short
Scissors rod structure is identical, and the middle bearing pin part by another bearing pin connector connects, and is formed and turned at bearing pin connector
Dynamic pair, another side relative with two long scissors rods in hinge formula deployable mechanism unit is cut positioned at this single-degree-of-freedom is asymmetric
On；Described two bar linkage structures are identical, and one end is connected by revolute pair, and it is two long to insert above-mentioned connection respectively for both ends in addition
Connected in the notch of two bearing pin connectors of two short scissors rods of scissors rod and connection and by revolute pair；Described four non-right
Claim scissors rod structure identical, two one group, cut hinge formula deployable mechanism unit in addition positioned at this single-degree-of-freedom is asymmetric
On two relative sides, connected by revolute pair, the revolute pair is classified as two sections, and shorter one section is grown with short scissors rod
The half of degree is isometric, and longer one section isometric with the half of long scissors rod length；Eight combinations disc chuck structure is identical,
Each combination floral disc includes a tongue mouth connector and a groove port connector, and the groove port connector has one long
Cube matrix, rectangular aperture groove being set in the middle part of the matrix one end, the outer surface of the open slot two side is the two sides of matrix,
A through hole is respectively set on open slot two side, the axis of two through hole overlaps；The end face of the matrix other end is semi-cylindrical, wherein
Portion also sets a rectangular aperture groove, and the outer surface of the open slot two side is the top and bottom of matrix, each on open slot two side
If a through hole, the axis of two through hole overlap with the axis of semicolumn.The tongue mouth connector also has a cuboid matrix,
Its one end end face to connect with above-mentioned groove port connector is semi-cylindrical, and its upper and lower surfaces respectively sets one in above and below matrix
Heart face is recessed and using it as symmetrical groove-shaped notch, slab-thickness folded by two breach and above-mentioned groove port connector semicolumn end face
On open slot it is corresponding, so as to disposed within；Flat board folded by two breach is provided with diameter and above-mentioned groove port connector through hole
Diameter identical through hole, the axis of the through hole overlap with the axis of semicolumn；Rectangular aperture groove is set in the middle part of the matrix other end, should
The outer surface of open slot two side is the two sides of matrix, and a through hole, the axis of two through hole are respectively set on open slot two side
Overlap.Connected in open slot on the flat board insertion groove port connector semicolumn end face of tongue mouth connector and by revolute pair
Composition combination floral disc, eight combination floral discs are respectively positioned at asymmetric eight tops for cutting hinge formula deployable mechanism unit of this single-degree-of-freedom
On point, each two notches for combining floral disc are located at asymmetric cut hinge formula deployable mechanism unit two of this single-degree-of-freedom respectively
On different sides, and the end of long scissors rod respectively and in same side, short scissors rod and asymmetric scissors rod leads to
Revolute pair is crossed to be connected.
The revolute pair and connect the revolute pair axis weight that two short scissors rod is formed that the two long scissors rod of connection is formed
Close；The revolute pair axis of two asymmetric scissors rods of connection in its two groups of asymmetric scissors rods overlaps；It is located at eight summits
On combination floral disc in relative position revolute pair axis counterpoise close；It is located at multiple turns auxiliary shafts on same side
Line is parallel, and is overlapped respectively with being in the revolute pair axis of relative position on opposite flank.
The utility model has advantages below compared with prior art：
1st, one is only needed to drive the expansion that can be achieved with unit to be moved with collapsing, expanding performance is good, and reliability is high.
2nd, there is the advantages of motion is flexible, folding is bigger.
3rd, simple in construction, contained kinematic pair is revolute pair, it is easy to accomplish engineering manufactures.
Two cell surfaces of different sizes are respectively provided with when the 4th, deploying or collapse, embodiment is simple, can after multiple combinations
Curved surface is formed, can apply in heavy caliber curved surface space flight deployable antenna and other space flight deployable mechanisms.
Brief description of the drawings
Fig. 1 is that the utility model partly deploys three-dimensional simplified schematic diagram；
Fig. 2 is that the utility model is fully deployed three-dimensional simplified schematic diagram；
Fig. 3 is that the utility model collapses three-dimensional simplified schematic diagram completely；
Fig. 4 is of the present utility model group and floral disc solid simplified schematic diagram；
Fig. 5 is bearing pin connector solid simplified schematic diagram of the present utility model.
In figure：1：Long scissors rod, 2：Bearing pin connector, 3：Connecting rod, 4：Combine floral disc, 4-1：Groove port connector, 4-2：
Tongue mouth connector, 5：Asymmetric scissors rod, 6：Short scissors rod；R1-R9 is revolute pair.
Embodiment
Hinge formula deployable mechanism unit three-dimensional schematic diagram is cut the single-degree-of-freedom shown in Fig. 1 is asymmetric, two long scissors
The structure of bar 1 is identical, and the middle bearing pin part by a bearing pin connector 2 is connected, and revolute pair is formed at bearing pin connector
R2；The two short structure of scissors rod 6 is identical, middle to be connected by another bearing pin connector, is formed and turned at bearing pin connector
Dynamic secondary R6；Two structures of connecting rod 3 are identical, and one end is connected by revolute pair R4, and above-mentioned connection two is inserted at both ends respectively in addition
Connected in the notch of two bearing pin connectors of individual long scissors rod 1 and the two short scissors rod 6 of connection and by revolute pair R3；Four
The individual structure of asymmetric scissors rod 5 is identical, two one group, is connected by revolute pair R5.
As shown in figure 5, rectangular aperture groove is provided with the middle part of the cuboid matrix of the bearing pin connector, in open slot both sides
A through hole is respectively set on wall, the axis of two through hole overlaps；The coupled bearing pin in one end is separately provided with the outer end at open slot bottom, should
The axis of bearing pin crosses the plane of symmetry of open slot.
As shown in figure 4, eight combinations disc chuck structure is identical, each floral disc that combines includes a tongue mouth company
A fitting 4-2 and groove port connector 4-1, the groove port connector 4-1 has a cuboid matrix, in the matrix one end
Middle part sets rectangular aperture groove, and the outer surface of the open slot two side is the two sides of matrix, and open slot respectively sets one on two side
Individual through hole, the axis of two through hole overlap；The end face of the matrix other end is semi-cylindrical, and its middle part also sets a rectangular aperture
Groove, the outer surface of the open slot two side is the top and bottom of matrix, and a through hole is respectively set on open slot two side, two through hole
Axis overlaps with the axis of semicolumn.The tongue mouth connector 4-2 also has a cuboid matrix, and it connects with above-mentioned groove port
One end end face that fitting 4-1 connects is semi-cylindrical, its upper and lower surfaces respectively set one it is recessed to median plane above and below matrix and with
It is symmetrical groove-shaped notch, slab-thickness folded by two breach and opening on above-mentioned groove port connector 4-1 semicolumn end face
Mouth groove is corresponding, so as to disposed within；Flat board folded by two breach is provided with diameter and above-mentioned groove port connector through-hole diameter phase
Same through hole, the axis of the through hole overlap with the axis of semicolumn；Rectangular aperture groove is set in the middle part of the matrix other end, the open slot
The outer surface of two side is the two sides of matrix, and a through hole is respectively set on open slot two side, and the axis of two through hole overlaps.It is convex
In open slot on notch connector 4-2 flat board insertion groove port connector 4-1 semicolumn end face and pass through revolute pair R9
Connection composition combination floral disc, eight combination floral discs cut the eight of hinge formula deployable mechanism unit positioned at this single-degree-of-freedom is asymmetric respectively
On individual summit, each two notches for combining floral disc are respectively positioned at the asymmetric hinge formula deployable mechanism unit of cutting of this single-degree-of-freedom
On two different sides, and long scissors rod 1 respectively and in same side, short scissors rod 6 and asymmetric scissors rod 5
End is connected by revolute pair R1, R8 with R7.
As shown in Figure 1-Figure 3, the single-degree-of-freedom is asymmetric cuts hinge formula deployable mechanism unit, and it connects two long scissors
The revolute pair R2 and connect the revolute pair R6 axis coincidence that two short scissors rod 6 is formed that bar 1 is formed；Two groups of asymmetric scissors rods 5
In the revolute pair R5 axis of two connections, two asymmetric scissors rods overlap, connect two groups of asymmetric scissors rods 5 and eight groups
Revolute pair axis relative in position on opposite flank in eight revolute pair R7 of floral disc 4 is closed to overlap two-by-two；Revolute pair in figure
R1, R2, R6, R8 revolute pair axis are parallel；Revolute pair R3, R4, R5, R7 axis is parallel；All revolute pair R9 axle in figure
Line is parallel, and the axis of two revolute pair R9 on same side overlaps.
Claims (5)
1. a kind of single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit, it is characterised in that：It includes two long scissors rods, two
Individual short scissors rod, four asymmetric scissors rods, two connecting rods, two bearing pin connectors and eight combination floral discs, two of which
Long scissors rod structure is identical, and the middle bearing pin part by a bearing pin connector connects, and is formed and turned at bearing pin connector
Dynamic pair, on the asymmetric side for cutting hinge formula deployable mechanism unit of this single-degree-of-freedom；Two short scissors rod structure is complete
It is exactly the same, it is middle to be connected by another bearing pin connector, revolute pair is formed at bearing pin connector, it is non-right positioned at this single-degree-of-freedom
Title is cut on another side relative with two long scissors rods in hinge formula deployable mechanism unit；Two complete phases of bar linkage structure
Together, one end is connected by revolute pair, and two short scissors rods of above-mentioned two long scissors rods of connection and connection are inserted at both ends respectively in addition
Two bearing pin connectors notch in and connected by revolute pair；Four asymmetric scissors rod structures are identical, two one
Group, on asymmetric two other the relative side for cutting hinge formula deployable mechanism unit of this single-degree-of-freedom, pass through revolute pair
Connection.
2. single-degree-of-freedom according to claim 1 is asymmetric to cut hinge formula deployable mechanism unit, it is characterised in that：The pin
Rectangular aperture groove is provided with the middle part of the cuboid matrix of shaft coupling piece, a through hole, two through hole are respectively set on open slot two side
Axis overlap, be separately provided with the coupled bearing pin in one end in the outer end at open slot bottom, the axis of the bearing pin crosses pair of open slot
Title face.
3. single-degree-of-freedom according to claim 1 is asymmetric to cut hinge formula deployable mechanism unit, it is characterised in that：It is described every
The asymmetric scissors rod of group is rotated pair and is classified as two sections, and shorter one section isometric with the half of short scissor pole length, longer
One section isometric with the half of long scissors rod length.
4. single-degree-of-freedom according to claim 1 is asymmetric to cut hinge formula deployable mechanism unit, it is characterised in that：Described eight
Individual combination disc chuck structure is identical, and each floral disc that combines includes a tongue mouth connector and a groove port connector,
The groove port connector has a cuboid matrix, and rectangular aperture groove is set in the middle part of the matrix one end, the open slot two side
Outer surface be matrix two sides, a through hole is respectively set on open slot two side, the axis of two through hole overlaps；The matrix is another
The end face of one end is semi-cylindrical, and its middle part also sets a rectangular aperture groove, and the outer surface of the open slot two side is matrix
Top and bottom, respectively set a through hole on open slot two side, the axis of two through hole overlaps with the axis of semicolumn；The tongue mouth
Connector also has a cuboid matrix, and its one end end face to connect with above-mentioned groove port connector is semi-cylindrical, above and below it
Two faces respectively set one it is recessed to median plane above and below matrix and using it as symmetrical groove-shaped notch, slab-thickness folded by two breach with
Open slot on above-mentioned groove port connector semicolumn end face is corresponding, so as to disposed within；Flat board folded by two breach is provided with
Diameter and above-mentioned groove port connector through-hole diameter identical through hole, the axis of the through hole overlap with the axis of semicolumn；The base
Rectangular aperture groove is set in the middle part of the body other end, the outer surface of the open slot two side is the two sides of matrix, open slot two side
On respectively set a through hole, the axis of two through hole overlaps, the flat board insertion groove port connector semicolumn end face of tongue mouth connector
On open slot in and by revolute pair connect composition combination floral disc, eight combination floral discs respectively positioned at this single-degree-of-freedom it is asymmetric
On eight summits for cutting hinge formula deployable mechanism unit, each two notches for combining floral disc are non-right positioned at this single-degree-of-freedom respectively
Title is cut on two different sides of hinge formula deployable mechanism unit, and long scissors rod respectively and in same side, short is cut
The end of fork arm and asymmetric scissors rod is connected by revolute pair.
5. single-degree-of-freedom according to claim 1 is asymmetric to cut hinge formula deployable mechanism unit, it is characterised in that：Above-mentioned company
The revolute pair that two long scissors rod is formed is connect to overlap with the revolute pair axis for connecting two short scissors rod formation；Its two groups asymmetric
The revolute pair axis of two asymmetric scissors rods of connection in scissors rod overlaps；It locates in the combination floral disc on eight summits
Closed in the revolute pair axis counterpoise of relative position；Multiple revolute pair axis that it is located on same side are parallel, and respectively
Overlapped with the revolute pair axis that relative position is on opposite flank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720498015.4U CN206914675U (en) | 2017-05-05 | 2017-05-05 | Single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720498015.4U CN206914675U (en) | 2017-05-05 | 2017-05-05 | Single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit |
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|---|---|
| CN206914675U true CN206914675U (en) | 2018-01-23 |
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|---|---|---|---|
| CN201720498015.4U Withdrawn - After Issue CN206914675U (en) | 2017-05-05 | 2017-05-05 | Single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054693A (en) * | 2017-05-05 | 2017-08-18 | 燕山大学 | Single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit |
| CN112575901A (en) * | 2020-12-11 | 2021-03-30 | 长沙理工大学 | Single-degree-of-freedom extensible unit and cylindrical surface extensible mechanism formed by same |
-
2017
- 2017-05-05 CN CN201720498015.4U patent/CN206914675U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054693A (en) * | 2017-05-05 | 2017-08-18 | 燕山大学 | Single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit |
| CN107054693B (en) * | 2017-05-05 | 2023-10-17 | 燕山大学 | Single-degree-of-freedom asymmetric shear hinge type expandable mechanism unit |
| CN112575901A (en) * | 2020-12-11 | 2021-03-30 | 长沙理工大学 | Single-degree-of-freedom extensible unit and cylindrical surface extensible mechanism formed by same |
| CN112575901B (en) * | 2020-12-11 | 2021-10-19 | 长沙理工大学 | Single-degree-of-freedom extensible unit and cylindrical surface extensible mechanism formed by same |
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Granted publication date: 20180123 Effective date of abandoning: 20231017 |