JPH11247290A - Expansion type frame structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an expansion type frame structure having high precision and rigidity used for an expanding antenna with large aperture used for artificial satellite, a spherical part for space structure, or the like. SOLUTION: This structure has, as a basic element, a right truncated pyramide-like frame structure formed by taking the apex position of a regular polyhedron or quasi-polyhedron as a top surface apex 5, the intersection between a radial line 4 passing the top surface apex 5 from the circumscribed sphere center 3 of the polyhedron and the concentric spherical surface having a radius larger than the circumscribed sphere as a lower surface apex 6, and the line between the upper surface apex 5 of the radial line 4 and the lower surface apex 6 as the ridge line. A plurality of basic elements are connected while holding the side surface of the basic element in common to constitute this structure. Further, this structure has a mechanism for synchronously moving the ridge line parallel as the regular truncated pyramidal outer form of the basic element is kept.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a deployable frame structure having high accuracy and rigidity, which is used for a large-diameter deployable antenna used for an artificial satellite or a spherical portion of a space structure.

[0002]

2. Description of the Related Art In recent years, the reliability and economic efficiency of rockets that put satellites into orbit have been improved, and the advantages of using satellites have been increasing. In addition, since the demand for communication is increasing, it is desired to improve the quality and quantity of the satellite communication business. In particular, a large deployable antenna is required for communication of a moving object such as a ship or a vehicle, and a deployable frame structure for that purpose has been actively developed. In addition, as a basic structure for building large satellites such as space bases at low cost and high reliability,
Deployable frame structures (deployable truss structures) are an important development issue.

FIGS. 11, 12 and 13 show, respectively,
FIG. 1 is a perspective view showing a shape of a conventional deployable skeleton structure disclosed in Japanese Patent Application Laid-Open No. 1-151630 when the deployable frame structure is deployed;
It is a top view and a perspective view at the time of storage.

In these figures, 41 is a connector having a pin joint, 42 is a mandrel having the connector 41 at an end, 43 is a slide hinge that slides on the mandrel 42, 44 is fixed on the mandrel 42, Slide hinge 43
Is a stopper for determining the bottom dead center, and 45 is an oblique member. Among the oblique members 45, one end of the oblique member 45a is pin-connected to the slide hinge 43, is rotatable around an axis perpendicular to the mandrel 42, and the other end of the connector 41 on the adjacent mandrel 42. And the oblique member 45a is pin-connected to the slide hinge 43 on the adjacent mandrel 42 and a pin joint 48 at the middle of each of the oblique members 45b.
To form a so-called pantograph shape.

The structure composed of the mandrel 42 and the oblique members 45a and 45b is connected continuously and periodically via a connector 41 and a slide hinge 43, and as shown in a top view of FIG. The module is configured in such a manner that a plurality of the modules are connected to each other with their sides shared. Reference numeral 46 denotes a cable stretched between the adjacent slide hinges 43 and between the connectors 41, and 47 denotes a cable stretched on the diagonal line of the hexagon.

Next, the operation of the conventional deployable frame structure shown in FIGS. 11 to 13 will be described. In this conventional deployable frame structure, the oblique member 45
The angle θ between the a or the oblique member 45b and the mandrel is folded to a state close to zero, and the state is held by an external holding device (not shown). On the other hand, at the time of deployment, when the holding device is released, the pin connecting portion 4 is released.
8, or the pin shaft of the connector 41, or the slide hinge 43
Spiral spring built into the upper pin shaft etc. (not shown)
By such a driving force, the oblique members 45a and 45b are deployed, whereby the angle θ increases. At this time, the slide hinge 43 slides along the mandrel 42, and the slide hinge 43 gradually approaching the connector 41 from the point farthest from the connector 41 as the oblique members 45a and 45b are deployed moves to a predetermined position. Then, the deployment operation of the oblique members 45a and 45b is stopped by contacting the stopper 44. The ends of the oblique members 45a and 45b are connected to the connector 41, respectively.
Or, while being pin-connected to the slide hinge 43,
Two oblique members 45a are provided at the pin connecting portions 48 at the respective intermediate portions.
Since 45b is pin-connected to each other in a pantograph shape, the angle θ, which is the development angle of all the oblique members 45a and 45b, is equal, and synchronous deployment is possible.

FIG. 14, FIG. 15 and FIG.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view, a perspective view, and a front view when a deployable antenna disclosed in Japanese Patent Application Laid-Open No. 6-224624 is deployed. In these figures, 51 is a frame structure, 52 is a mirror surface, 53 is a stand-off, and 54 is a stand-off mounting part. The deployment antenna of this conventional example has a framework structure 51 having a spherical deployment shape approximating an ideal parabolic shape, and a standoff 53 having a length set such that the tip of the standoff 53 is located on the ideal parabolic surface.
, A stand-off mounting portion 54 for connecting the stand-off 53 and the frame structure 51, and a mirror surface 52 attached to the tip of the stand-off 53, so that the length of the stand-off 53 is short and as uniform as possible. To be able to
The deployment torque required during deployment is reduced, and the deformation of the standoff 53 is reduced.

[0008]

Since the conventional expandable frame structure is constructed as described above, for example, as shown in the above-mentioned Japanese Patent Application Laid-Open No. 1-151630, all the oblique members are provided. Since the angle θ, which is the development angle at 45a, 45b, is equal and synchronous development is possible, the diagonal members 45a, 45b have an isosceles trapezoidal or rectangular diagonal, and the isosceles trapezoid or rectangle included in the hexagonal module. Must all be congruent. Therefore, the top shape of the basic module is a regular hexagon, and the oblique members 45a, 45b
When is a trapezoidal diagonal, the outer shape of the basic module is a regular hexagonal pyramid, and when it is rectangular, it is a regular hexagonal prism. Since a regular hexagon is a plane-filled type, a regular hexagonal truncated pyramid is shown in FIG.
They cannot be placed side by side. As a result, a plurality of regular hexagonal prism-shaped basic modules are connected, and the upper surface formed by them is planar. Even when a triangle or a quadrangle is used as the basic shape, the top surface shape of the basic module becomes an equilateral triangle or a quadrangle by the same discussion. In some cases, a plurality of basic modules in the shape of a truncated triangular pyramid or a truncated square pyramid can be combined, but since the angle formed by the ridge line of the truncated pyramid changes as it is developed in the mechanism shown in FIGS. It is not possible. Therefore, Japanese Unexamined Patent Publication No. 1-1516
The deployed shape of the deployable frame structure that can be realized by the method disclosed in Japanese Patent Publication No. 30 is flat. Or conversely, if you try to construct a spherical surface using a framework structure that uses a polygon that fills a plane as a basic element, if you do not introduce the necessary and sufficient backlash into the mechanism, it is impossible to develop the entire structure synchronously Have difficulty. These are different from the minute gaps required for the fitting of the hinges and the gaps generated in manufacturing, and are new play required to realize the unfolding operation, and are referred to as unfolding play.

Further, for example, a plurality of congruent regular hexagons are arranged on a plane so that their sides are shared, and are projected onto a spherical surface to determine the lengths of the hexagonal sides. In the case of realization, since a regular hexagon which is a plane-filled shape is projected on a spherical surface, most of the basic elements of the realized frame structure are obtained by distorting the regular hexagon, and the distortion differs depending on the place. Therefore, in this method, the entire skeleton structure cannot be formed by repeating the same basic element. In addition, since it is necessary to design a deployment mechanism corresponding to different distortions for each basic element, the deployment operation differs for each element, and it is extremely difficult to deploy the entire system synchronously.
That is, if there is no play in the mechanism for the above-mentioned reason, a plurality of coupled modules cannot be developed synchronously.

[0010] However, the backlash in such a mechanism causes a reduction in the shape accuracy and rigidity of the frame structure, so that movement other than the assumed deployment operation is possible. It causes problems such as the possibility of failure.

Further, in order to synchronously deploy an expandable frame structure having a spherical surface by the method described in Japanese Patent Application Laid-Open No. 6-224624 with a minimum amount of play, a huge amount of work is required. Requires a design process. In addition, since a basic element obtained by distorting a regular hexagon is used, there are many subtly different parts, which leads to an increase in cost and the like, which is not preferable in manufacturing.

[0012] These problems originate from an attempt to realize a deployable skeleton structure having a plane-filled basic shape. Therefore, a basic design principle is required in order to overcome these problems and more easily design a deployable skeleton structure having a spherical surface.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem. When a large spherical structure such as a large-diameter antenna reflecting mirror support structure is constructed, play (development play) in the mechanism is reduced. It is an object of the present invention to obtain a deployable frame structure that can secure high rigidity and high accuracy without requiring it.

[0014]

According to the present invention, there is provided an expandable frame structure in which a vertex position of a regular polyhedron or a quasi-regular polyhedron is set as an upper surface vertex so as to form a spherical frame structure, and an upper surface is defined from a center of a circumscribed sphere of the polyhedron. Basically, a truncated pyramid-shaped frame structure created by defining the intersection of the radiation passing through the vertex with a concentric sphere having a radius larger than the circumscribed sphere as the lower surface vertex and the ridge between the upper surface vertex and the lower surface vertex of the radiation The element has a structure in which a plurality of basic elements are shared by sharing the side faces of the basic elements, and further, a mechanism is provided for synchronizing and moving the ridge lines in parallel while keeping the outer shape of the basic elements as a truncated pyramid.

[0015] Further, it has a frame structure fixed at the center of the above-mentioned basic element in the shape of a truncated pyramid, and has a deployment mechanism for moving each ridge included in the basic element in parallel to the fixed frame structure. A synchronous mechanism for synchronizing the parallel movement of a plurality of included ridge lines is provided in a fixed frame structure at the center of the basic element.

[0016] Further, a side face having a frame structure fixed to the ridge line position of the above basic element in the form of a truncated pyramid and having a deployment mechanism for moving the fixed frame structures at adjacent ridge line positions parallel to each other, and sharing the ridge line A synchronous mechanism for synchronizing the parallel movements of the two is provided in a frame structure having a fixed ridgeline position, and the unfolding mechanisms are connected through a synchronous mechanism for the ridgeline position.

Furthermore, the above-mentioned unfolding mechanism is constituted by a pantograph link mechanism which moves in a two-dimensional plane.

Further, a cable having a predetermined tension after being unfolded is stretched between upper surface nodes and lower surface nodes of a truncated pyramidal frame structure as a basic element.

Further, there is provided a developing force urging means for generating a developing force on a hinge of the parallelogram link mechanism in the basic element having the shape of a truncated regular pyramid, and a figure obtained by connecting the hinge by a line segment is being developed. A stopper for stopping the rotation of the hinge and stopping the expansion just before reaching the straight line is disposed at an appropriate position such as near the hinge position.

Further, the deployment force urging means is constituted by a deployment spring or a deployment actuator.

Further, the apparatus further comprises a holding device for fixing the deployment mechanism in a predetermined shape.

The deployable frame structure according to the present invention has a basic shape of a regular polyhedron or a quasi-regular polyhedron, and has a structure in which a plurality of basic elements having the shape of a truncated regular pyramid are shared and a plurality of basic elements are connected to each other. When constructing a large structure such as a support structure for an antenna, a part of the approximate spherical surface or the entire approximate spherical surface can be formed so that the whole structure has uniform high rigidity by repeating a very small number of regular truncated pyramidal frame structures. The deployable frame structure to be formed can be easily constructed. Also, since the present invention can execute all regular polyhedrons and all quasi-regular polyhedrons as basic shapes, a plurality of different skeleton structures can be created in the same procedure for a sphere having a certain size and a radius of curvature, and the skeleton structure can be created. You can select the appropriate one according to the demands imposed on the thing.

[0023] Further, the deployable frame structure according to the present invention comprises:
The expansion operation is performed by synchronizing and translating the multiple ridge lines included in the basic element, and therefore, by using a mechanism that can translate the ridge lines without using the play for expansion, such as a pantograph link mechanism, the expansion is performed. It is possible to construct a deployable skeleton structure that does not require play, or that forms a part of a substantially spherical surface, and can maintain high accuracy and strength of the structure and can realize a stable deploying operation. At this time, the hinge offset can be provided in consideration of the thickness of the member without adding a play to the pantograph link mechanism. By the action of the cable stretched with tension in the unfolded state, or by fixing the unfolding mechanism with the internal force remaining in the unfolded state, minute play present on hinges and the like disappears, maintaining a stable shape. Frame structure with high precision.

Further, according to the expandable frame structure of the present invention, the figure formed by connecting the hinges of the parallelogram link mechanism in the truncated equilateral pyramid-shaped basic element by a line segment is developed before the parallelogram becomes a rectangle. As a result, by having a stopper at the hinge position to stop the rotation of the hinge at the hinge position, it is possible to eliminate a specific mechanism form in which the deployment does not progress even when the deployment force is applied from the deployment operation, and to reduce the excessive deployment force. It is possible to obtain a deployable skeleton structure that can be deployed stably without occurrence, has a low possibility of structural damage, and has high reliability.

[0025]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

Embodiment 1 1 to 5 are views showing a first embodiment of the present invention. FIG. 1 shows a regular pentagon and a regular 6
FIG. 2 is a perspective view showing a schematic shape during and after deployment in a deployable skeleton structure in which the present invention is carried out for a portion of a quasi-regular polyhedron consisting of a square, and FIG. FIG. 3 is a perspective view showing a partial schematic shape, FIG. 3 is a perspective view showing the shape of the frame structure of the regular pentagonal pyramid of FIG. 2 during and after deployment, and FIG. 4 is a perspective view showing the deployment mechanism of FIG. 5 is a perspective view showing the mechanism of FIG. 4 during and after deployment.

In these figures, 1 is the upper surface, 2 is the lower surface, 3 is the center of the circumscribed sphere, 4 is the radiation, 5 is the vertex of the upper surface, and 6 is the vertex of the lower surface. Here, the circumscribed sphere is a sphere that circumscribes the quasi-regular polyhedron, and the radiation is a straight line that passes through the center of the circumscribed sphere.

The basic structure of the expandable frame structure shown in FIG. 1 is a truncated pyramid-shaped frame structure in which the upper and lower surfaces are regular pentagons or regular hexagons and the ridge connecting the upper and lower vertices is on the radiation.
It has a structure in which a plurality of regular pyramid-shaped truncated frame structures are shared by sharing the sides. The basic element is a mechanism that can change the distance between the upper surface vertices or the lower surface vertex while keeping the angle formed by the ridges constant, and translate the ridge synchronously while keeping the outer shape of the basic element a truncated pyramid. It is a deployable skeleton structure provided. However, in the specific configuration of the frame structure, the members of the frame structure on the sides of the truncated pyramid are not limited to those in which the nodes of the frame structure are specifically present at the vertices. Anything that conforms to can be used. Also, in the above description, only six surfaces out of the surfaces constituting the quasi-regular polyhedron are shown. However, the number of surfaces is not limited to this, and continuous surfaces among the surfaces constituting the quasi-regular polyhedron are provided. Any number can be used.

Further, in these figures, 7 is a common upper surface member, 8 is a common lower surface member, 9 is a vertex vertical member, 10 is a deployment mechanism, and 11 is a synchronization mechanism. In FIG. 3, the common upper surface member 7 and the common lower surface member 8 are cables, and their lengths are adjusted in advance so that a predetermined tension is generated in the unfolded state. The common upper surface member 7 and the common lower surface member 8 may use a bending member having an intermediate hinge or a telescopic member as necessary. However, in the mechanism illustrated in FIGS. 2 to 5, these common members may be omitted. Further, the unfolding mechanism upper member 12 (af), the unfolding mechanism lower member 13 (af), and the unfolding mechanism vertical member 14
(A to g) are connected by the upper surface pin hinges 15 (a to g) and the lower surface pin hinges 16 (a to g) such that the side surfaces formed by these become parallelograms.

One end of the pantograph member 17 (af) is connected to the expansion mechanism vertical member 14 (ag) by a slide hinge 18 (ad), and the other end is connected by a fixed pin connecting portion 19 (ad). The pantograph members 17 (af) are pin-coupled to each other by the free pin coupling portions 20 (ac), but are not coupled to the deployment mechanism vertical members 14 (ag). Further, one end of the oblique member 22 radially disposed around the central vertical member 21 is pin-connected by a center fixing pin connecting portion 23, and the other end is connected to the slide hinge 18a.
8a is transmitted. The oblique pushing member 24 is
One end is pin-connected in the middle of the oblique member 22, and the other end is pin-connected to the center slide hinge 25, and the expanding movement is caused by expanding the oblique member 22 by the compressive force of the expanding spring 26 having elastic energy. However, a deployment actuator that generates a deployment force may be used instead of the deployment spring 26. As a drive source of the deployment actuator, for example, an electric motor, a piezoelectric motor, a linear actuator, or the like can be used.

Next, the operation of the expandable skeleton structure according to the first embodiment of the present invention shown in FIGS. 1 to 5 will be described. FIG. 1 shows the schematic shapes of the three frame structures, but the development progresses in the order of upper, middle, and lower. The expansion proceeds by making the regular polygons of the upper surface and the lower surface larger by moving the ridgeline in parallel while the basic element maintains the truncated regular pyramid. Since the upper or lower regular polyhedron is always similar, the circumscribed sphere center 3
Is fixed, the radiation passing through the vertices of the polyhedron can be matched regardless of the progress of the deployment. That is, since each vertex of the polyhedron moves radially on the same radiation as the deployment progresses, the framework structure is developed in the radial direction.

Further, details of the operation of the above-mentioned deployable frame structure will be described with reference to FIGS. In the first embodiment, at the time of storage, the angle θ between the frame upper surface members shown in FIG. 5 is folded to a state close to zero,
The state is held by an external holding device (not shown) or a holding device (not shown) for fixing the center slide hinge 25 to the center vertical member 21.

At the time of unfolding, when the holding device is released, the unfolding spring 26 generates the center slide hinge 25.
The oblique pushing member 24 and the oblique member 2
2 is spread out, and the slide hinge 18a is moved downward.
The driving force applied to the slide hinge 18a is determined by the pantograph members 17 (af), the slide hinges 18 (ad), the fixed pin connecting portions 19 (ad), and the free pin connecting portions 20 (a to 20).
c) transmitted to the pantograph composed of
c, 14e and the vertex vertical member 9 are translated in the developing direction. As a result, the angle θ increases, and a deployment motion occurs. When the side surface shapes of all the skeleton upper surface members 12 (af) and all the skeleton lower surface members 13 (af) are linear, and the angle θ becomes 180 degrees, the upper surface pin hinge 15 ( ag) and bottom pin hinge 1
6 (ag), the movement is restricted, and the deployment operation stops.
At this time, the common upper surface member 7 and the common lower surface member 8 are stretched between the upper surface nodes and the lower surface nodes with a predetermined tension.
It has been adjusted in advance. This tension causes the deployment mechanism 10 to press against the synchronization mechanism 11 side, so that the upper surface pin hinge 15
(Ag), lower surface pin hinges 16 (ag), slide hinges 18 (ad), fixed pin coupling portions 19 (a-g).
d), the play included in the free pin coupling portions 20 (ac) is eliminated, and the deployable frame structure according to the present invention has a high-precision structure.

Incidentally, the driving force generated by the unfolding spring 26 in the unfolded state holds the frame unfolding structure in a state where the center slide hinge 25 is pulled downward. However, a holding device such as an appropriate latch mechanism (not shown) ), The center slide hinge 25 is fixed to the center vertical member 21.
Can be fixed more firmly. The deployment state of the deployment mechanism unit 10 is shown in FIG. 5 described above.
The deployment stops in the state shown below and is fixed.

The center slide hinge 25, the oblique pushing member 24,
Since the other unfolding mechanism units 10 are unfolded in synchronism by the oblique member 22, the unfolding of the frame structure of the regular pentagonal pyramid is as shown in FIG. 3, and the polygon in which the top nodes are sequentially connected by line segments is always positive. 5
Keep square. During this time, the angle formed by the central vertical member 21 and the vertex vertical member 9 is kept constant, so that the angle formed by all the vertex vertical members 9 included in the same pentagonal pyramid frame structure is constant. The same applies to the development of the frame structure of the regular hexagonal frustum.

As shown in FIGS. 1 and 2, the frame structure is connected by sharing the sides (common upper and lower surface members 7 and 8) and the vertices (vertical vertical members 9) of adjacent regular polygons. The deployment also proceeds synchronously in the entire frame structure. For this reason, in this framework deployment structure, all the apex vertical members 9 are deployed synchronously while keeping the angle formed therebetween, and the deployment shown in FIG. 1 is performed.

Further, when the regular polygons sharing the vertices are congruent, the vertical member corresponding to 14g and the slide hinge corresponding to 18d can be shared, so that the pantograph of the unfolding mechanism 10 has a large number. Linked directly between the polygons, enhancing synchronization. When the present invention is applied to a regular polyhedron, all the regular polygons sharing the vertices can share the vertical member corresponding to 14g and the slide hinge corresponding to 18d, so that all the unfolding mechanisms Pantographs can be linked. Further, when the deployment actuator is used in place of the deployment spring, the deployment of the entire structure can be easily synchronized by synchronizing the actuators arranged on the plurality of regular polygonal deployment type frame structures.

FIG. 1 shows the case where the present invention is applied to a quasi-regular polyhedron consisting of a regular pentagon and a regular hexagon as an example. When the present invention is implemented, the development is performed in exactly the same manner.

Although FIG. 1 shows a case where a quasi-regular polyhedron consisting of a regular pentagon and a regular hexagon is provided on the upper surface and the lower surface, more regular pentagons and regular hexagons are connected. The present invention can be applied to a quasi-regular polyhedron or a quasi-regular polyhedron as a whole. Further, the present invention can be similarly applied to all and other parts of the regular polyhedron and the quasi-regular polyhedron.

Although FIGS. 3 to 5 show only the frame structure of the regular pentagonal portion of the quasi-regular polyhedron, the frame structure of the regular hexagonal portion has the outer shape and the synchronization mechanism 1.
The same is true, except that 1 is a truncated regular pyramid. Further, when the present invention is applied to a regular polyhedron and a quasi-regular polyhedron other than the above-described FIG. 1, the present invention can be implemented in the same manner as in FIGS.

FIG. 6 shows the state of the expansion mechanism upper member 12 and the upper surface pin hinges 15 (ag) or the expansion mechanism lower member 13 and the lower surface pin hinges 16 (ag) at the end of the expansion in the above embodiment. FIG. 7 is a perspective view showing a state of pin hinges on the upper and lower surfaces during and after the development. In these figures, 27
Is a member center line, 28 is a hinge connection, and 29 is a stopper.

As the unfolding progresses, the member center lines 27 are aligned, but before the hinge connection 28 is aligned, the member abuts against the stopper 29 and the unfolding stops. At this time, the central slide hinge 25 is fixed to the central vertical member 21 while generating a driving force by the holding device such as the deployment spring 26 or the latch mechanism, so that the frame is deployed while the internal force is left in the deployment mechanism. The whole structure is fixed. Thus, even when there is no tension between the common upper surface member 7 and the common lower surface member 8, the upper surface pin hinge 15, the lower surface pin hinge 1
6, slide hinges 18 (ad), fixed pin connecting part 1
9 (a-d), the play included in the free pin coupling portions 20 (a-c) is eliminated, and the deployable skeleton structure according to the present invention has a high-precision structure. Similarly, even in the housed state, the deployment can be started without difficulty by designing the mechanism so that the angle between the pantograph members 17 (a to f) does not become close to zero.

Also, as described above, the hinge position and the stopper 29 and the pantograph which limit the hinge operation constituting the deployment mechanism are appropriately set so that the deployment does not progress even when the deployment force is applied. When the hinge connection 28 comes on a straight line when the deployment angle θ is around 180 degrees, the deployment spring 2
(6) Unless the driving force generated by the driving force 6 is made very large, the deployment operation can be started and proceed without generating an excessive deployment force by excluding from the deployment operation the state where the deployment cannot proceed. As a result, the deployment operation can be performed stably with a small deployment force by a few deployment force generators without adding an auxiliary deployment force generator to supplement the peculiarity of the mechanism. Is low,
A highly reliable deployable frame structure can be obtained.

FIG. 8 is a perspective view showing a partial schematic shape of a deployable skeleton structure according to Embodiment 2 of the present invention after deployment. FIG. FIG. 10 is a perspective view showing a shape after the development, and FIG. 10 is a perspective view showing a part of the synchronization mechanism and the deployment mechanism in FIG.

In these figures, reference numeral 31 denotes a side frame, in which two equilateral frustums share and contact the side frame.
It is also referred to as a second deployment mechanism because the deployment mechanism is incorporated here. Around the vertex vertical member 9, there is a second synchronization mechanism 32, and 33 is a cable. Like the cable connecting the vertices of the regular polygon on the upper surface, the cable connecting the vertices of the regular polygon on the lower surface is also stretched, but is not shown in FIG. 8 to avoid complexity. Also in FIG. 9, all cables are not shown. The length of the cable is adjusted in advance so that a predetermined tension is generated in the deployed state. These cables may use a bending member having an intermediate hinge or a telescopic member as necessary. The second deployment mechanism 31 and the second synchronization mechanism 32 in the second embodiment perform the same mechanical operations as the deployment mechanism 10 and the synchronization mechanism 11 in the first embodiment.

In FIG. 10, 12 (a-d) are the upper members of the unfolding mechanism, 13 (ad) are the lower members of the unfolding mechanism, and 14 (ad).
(A to e) are deployment mechanism vertical members, which are connected as shown by upper surface pin hinges 15 (ae) and lower surface pin hinges 16 (ae) having the same configuration as in FIGS. Although this configuration is used to reduce the number of parts, the upper pin hinge 15
The same deployment mechanism vertical member as 14a is arranged between the upper and lower pin hinges 16b and 15d and 16d, and is formed by the deployment mechanism upper member 12, the deployment mechanism lower member 13, and the deployment mechanism vertical member 14 as in FIG. When the side shape to be formed is a parallelogram, the rigidity of the deployment mechanism can be increased.

One end of the pantograph member 17 (a to d) is a slide hinge 18 (a to c), and the other end is a fixed pin connecting portion 19 (a to c) to the deployment mechanism vertical member 14 (a, c, e). The pantograph members 17 (a to d) are pin-connected to each other at the free pin connecting portions 20 (a, b). The synchronization mechanism vertical member 34 is located at the vertex vertical member 9, and the synchronization mechanism slide hinge 35 moves thereon. The projecting member of the synchronization mechanism slide hinge 35 is connected to the slide hinge 18a by a slide hinge. When the synchronization mechanism slide hinge 35 is pulled up by the contraction force of the deployment spring 36, the slide hinge 18a is also pulled up, and a deployment movement occurs. However, the deployment spring 36
Instead, a deployment actuator or the like that generates a deployment force may be used. The overhanging members of the synchronization mechanism slide hinge 35 are as many as the number of side frames that meet the apex vertical member 9,
By connecting in the same way as all the deployment mechanisms, the deployment of the different lateral frames is synchronized.

FIG. 9 shows only the frame structure of a truncated regular pyramid, but the frame structure of a truncated regular pyramid is similar except that the outer shape is a truncated regular pyramid. Further, when the present invention is applied to a regular polyhedron and a quasi-regular polyhedron other than the above-described FIG. 1, the present invention can be implemented in the same manner as in FIGS.

Next, the operation of the expandable skeleton structure shown in FIGS. 8 to 10 according to the second embodiment of the present invention will be described. In the second embodiment, at the time of storage, the angle θ formed by the frame upper surface members 12 (a to f) shown in FIG.
Is folded to a state close to zero, and a holding device (not shown) from outside or a holding device (not shown) for fixing the synchronization mechanism slide hinge 35 to the synchronization mechanism vertical member 34
Holds that state. At the time of deployment, when the holding device is released, the slide hinge 18a is moved upward by a driving force for moving the synchronization mechanism slide hinge 35 generated by the deployment spring 36 upward. The driving force applied to the slide hinge 18a is determined by the pantograph member 17 (a
-D), a slide hinge 18 (ac), a fixed pin joint 19 (ac), and a free pin joint 20 (a, b).
4e and the angle θ is increased, so that the development proceeds. All the skeleton upper surface members 12 (af) and all the skeleton lower surface members 13 (af) are linear,
When the angle θ becomes 180 degrees, the upper surface pin hinge 15 (a to e) and the lower surface pin hinge 16
The movements of (a) to (e) are restricted, and the deployment operation stops in the state of FIG. 8 or FIG. At this time, the cable 33 is stretched between the upper node and the lower node with a predetermined tension,
Its length is adjusted in advance. This tension generates an internal force that compresses the unfolding mechanism in a direction to decrease the distance between adjacent upper surface nodes or lower surface nodes. Hinge 18 (a to c), fixed pin connecting portion 19 (a to
c), the play included in the free pin connecting portion 20 (a, b) is eliminated, and the deployable skeleton structure according to the present invention has a high-precision structure. However, when the member comes into contact with the stopper 29 shown in FIG. 7 and the operation of the upper pin hinges 15 (ae) and the lower pin hinges 16 (ae) is restricted, the synchronization mechanism slide hinge 35 is pulled upward. When there is driving force,
The entire framework deployment structure is fixed with the internal force remaining on the deployment mechanism. Thereby, even if the tension of the cable 33 is insufficient, the play included in the mechanism is eliminated, and a highly accurate structure is obtained.

The framing structure is held while the synchronous mechanism slide hinge 35 is pulled upward by the driving force generated by the developing spring 36 in the developed state.
When the synchronization mechanism slide hinge 35 is fixed to the synchronization mechanism vertical member 34 by a holding device (not shown) such as an appropriate latch mechanism, the frame deployment structure can be more firmly fixed.

The overhang members of the synchronization mechanism slide hinge 35 are the same as the number of the side frames that meet the apex vertical members 9.
By connecting in the same way as all the deployment mechanisms, the deployment of the different lateral frames is synchronized. The deployment mechanisms on the adjacent side frames of the truncated equilateral pyramid are linked via a synchronization mechanism. As a result, all the unfolding mechanisms of the regular pentagonal pyramid are deployed in synchronization, and the development of the framework structure of the regular pentagonal pyramid is as shown in FIG. 9. Always keep a regular pentagon. Meanwhile, since the vertical members 14 of the same side skeleton are kept parallel to each other, the angle formed by the vertex vertical members 9 (synchronous mechanism vertical members 34) at both ends of the side skeleton is constant. The same applies to the development of the frame structure of the truncated regular pyramid.

As shown in FIGS. 1 and 8, the frame structures of the adjacent truncated pyramids share the side frames and are connected to each other, so that the development of the entire frame structure proceeds synchronously. For this reason, in this frame deployment structure, all the vertex vertical members 9 (synchronous mechanism vertical members 34) are synchronously deployed while keeping the angle formed therebetween, and the deployment shown in FIG. 1 is performed. Further, when the deployment actuator is used instead of the deployment spring 36, the deployment of the entire structure can be easily synchronized by synchronizing the actuators arranged in the plurality of synchronization mechanisms.

When the present invention is applied to a regular polyhedron and a quasi-regular polyhedron other than those shown in FIG. 1, the development is performed in exactly the same manner.

When the deployable frame structure according to the present invention described above is used for a deployable antenna reflector used in space communication or the like, a stand-off or the like is held at an appropriate position such as the top of the upper surface of a polyhedron of a basic element. A member may be provided, and a metal mesh or a film surface provided with a reflective coating may be stretched as a reflective surface via the standoff. Also, when used in a reflector provided for a purpose other than communication, for example, a solar light concentrator, the reflection surface can be easily formed in the same manner.

[0055]

As described above, according to the present invention,
A regular polyhedron or a quasi-regular polyhedron is used as the basic shape, and the expansion operation is performed by synchronizing and translating a plurality of ridge lines included in the truncated equilateral pyramid-shaped basic element. , It is possible to construct a deployable skeleton structure that forms not only a part but also a substantially entire spherical surface.

Further, the expandable frame structure of the present invention has a truncated pyramid-shaped frame structure having a regular polygon on the upper surface and the lower surface as a basic element, and has a structure in which the side surfaces are shared and connected, so that a very small number of types are available. By repeating the truncated regular pyramidal frame structure, it is possible to easily construct a large-scale roughly spherical deployable frame structure such as a support structure for a large-diameter deployable antenna or a spherical portion of a space structure. .

Since the present invention can be implemented with all regular polyhedrons and all quasi-regular polyhedrons as basic shapes, it is possible to create a plurality of different frame structure plans for a spherical surface having a certain size and a radius of curvature. Can be selected according to For example, a framework structure is designed with a quasi-regular polyhedron consisting of a regular pentagon and a regular hexagon, a regular dodecahedron consisting only of a regular pentagon, and the like. You can consider and select the best one.

Further, in the expandable frame structure according to the present invention, the member having a finite thickness is formed by forming the expansion mechanism constituting the basic element from a pantograph link mechanism that basically moves in a two-dimensional plane. Even if you have
Since a hinge offset that takes into account the thickness of the members can be provided without introducing a play for deployment, various types of adverse effects due to play can be avoided, and high structural accuracy and rigidity, and a stable and reliable framework for deploying The structure can be realized.

Further, in the unfolded state, by the action of the cable stretched with tension or by fixing the unfolding mechanism in a state where the internal force is left on the unfolding mechanism, minute backlash existing in the hinge or the like is eliminated. Thus, a deployable frame structure having a high accuracy while maintaining a stable shape is obtained.

Further, in the deployable frame structure according to the present invention, the plurality of deploying mechanisms included in the same truncated pyramid-shaped basic element are deployed synchronously by the action of a synchronization mechanism for each basic element, and are adjacent to each other. Since the truncated square pyramid-shaped basic elements are connected to the portions corresponding to the sides of the regular polygon and share the vertex vertical members, the development of the entire skeleton structure also proceeds in synchronization.
Also, if regular polygons sharing vertices are congruent,
Synchronization is enhanced because the deployment mechanism between these regular polygons can be linked directly at the location of the vertex vertical members.

Further, in the deployable skeleton structure according to another aspect of the present invention, the deployment mechanism of the side skeleton structure sharing the apex vertical member is synchronously deployed by the synchronization mechanism in the apex vertical member. Since the side frame structure always shares the vertex vertical member with two or more other side frame structures, all the deployment mechanisms are connected, and as a result, all the deployment mechanisms are deployed in synchronization. You. That is, in any case,
The deployment of the entire structure can be easily synchronized, and a reliable and highly reliable deployable frame structure can be obtained.

When an expansion actuator is used in place of the expansion spring that generates the expansion force, the expansion force transmitted by the expansion mechanism is locally stopped by synchronizing the actuators arranged in the plurality of synchronization mechanisms. The deployment of the entire structure can be reasonably synchronized, and a reliable and highly reliable deployable skeleton structure can be obtained.

Further, according to the deployable skeleton structure of the present invention, by setting the hinge position constituting the deploying mechanism and the stopper for restricting the hinge operation, the deployment does not progress even when the deploying force is applied. A large amount of deployment force can be generated by a small number of deployment force generators without adding an auxiliary deployment force generator etc. to supplement the uniqueness of the mechanism, because a simple mechanism form can be excluded from the deployment operation. It is possible to obtain a deployable skeleton structure which operates stably without any trouble, has a low possibility of structural damage, and has high reliability.

Further, since the deployable frame structure can be fixed by fixing the deploying mechanism by the holding device, the deploying operation can be stopped in any form during deployment. Furthermore, when the deployment force is generated by the actuator, the deployment operation is reversed by reversing the deployment force, thereby enabling the storage operation.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a schematic shape during and after deployment in a deployable skeleton structure according to a first embodiment in which the present invention is applied to a quasi-regular polyhedron portion composed of a regular pentagon and a regular hexagon.

FIG. 2 is a perspective view showing a partial schematic shape after deployment of the deployable skeleton structure of FIG. 1;

FIG. 3 is a perspective view showing the shape of the frame structure of the truncated regular pyramid of FIG. 2 during and after development.

FIG. 4 is a perspective view showing the deployment mechanism of FIG. 3;

5 is a perspective view showing the mechanism of FIG. 4 during and after deployment.

FIG. 6 is a view showing a positional relationship between the upper surface pin hinge of the deployment mechanism upper member or the lower surface member of the deployment mechanism and the lower surface pin hinge when the deployment is completed.

FIG. 7 is a perspective view showing a state of a pin hinge on an upper surface or a lower surface during deployment and at the end of deployment.

FIG. 8 is a perspective view showing a partial schematic shape after deployment of a deployable skeleton structure according to Embodiment 2 of the present invention.

9 is a perspective view showing the shape of the frame structure of the truncated regular pyramid of FIG. 8 during and after development.

FIG. 10 is a perspective view showing a part of a synchronization mechanism and a deployment mechanism of FIG. 8;

FIG. 11 is a perspective view showing a shape of a conventional deployable skeleton structure at the time of deployment.

FIG. 12 is a top view showing a shape of a conventional deployable skeleton structure at the time of deployment.

FIG. 13 is a perspective view when a conventional deployable frame structure is stored.

FIG. 14 is a front view of another conventional deployable skeleton structure when the deployable antenna is deployed.

FIG. 15 is a perspective view of another conventional deployable frame structure when the deployable antenna is deployed.

FIG. 16 is a front view when another conventional deployable frame structure is stored.

[Explanation of symbols]

1 upper surface, 2 lower surface, 3 circumscribed sphere center, 4 radiation, 5
Upper surface vertex, 6 Lower surface vertex, 7 Common upper surface member, 8 Common lower surface member, 9 Vertex vertical member, 10 deployment mechanism, 11
Synchronizing mechanism part, 12 deployment mechanism upper member, 13 deployment mechanism lower member, 14 deployment mechanism vertical member, 15 upper surface pin hinge, 16 lower surface pin hinge, 17 pantograph member, 18 slide hinge, 19 fixed pin connecting part, 2
0 free pin connecting portion, 21 central vertical member, 22 inclined member, 23 central fixed pin connecting portion, 24 oblique pressing member, 25
Central slide hinge, 26 deployment spring, 27 member center line, 28 hinge connection, 29 stopper, 31 side frame, 32 synchronization mechanism, 33 cable, 34 synchronization mechanism vertical member, 35 synchronization mechanism slide hinge, 36 deployment spring, 41 connection Child, 42 mandrel, 43 slide hinge, 44 stopper, 45 bevel member, 46, 47 cable, 51 skeleton structure, 52 mirror surface, 53 standoff, 54 standoff mounting part.

──────────────────────────────────────────────────続 き Continued on front page (51) Int.Cl. ⁶ Identification code FI H01Q 15/20 H01Q 15/20

Claims (9)

[Claims] 1. A vertex position of a regular polyhedron or quasi-regular polyhedron is defined as an upper surface vertex, and an intersection between a ray passing through the upper surface vertex from the circumscribed sphere center of the polyhedron and a concentric sphere having a radius larger than the circumscribed sphere is defined as a lower surface vertex. The first frame structure of the truncated regular pyramid formed by making a ridge between the upper surface vertex and the lower surface vertex of the radiation as a basic element, a structure in which a plurality of side surfaces of the basic element are shared and combined to form a structure, Further, a deployable skeleton structure comprising a mechanism for synchronously translating the ridge line while keeping the outer shape of the basic element as a truncated regular pyramid. 2. The expandable frame structure according to claim 1, wherein a second frame structure fixed to the center of the truncated pyramid-shaped basic element, and a member at each ridge line position included in the basic element. And a synchronizing mechanism for synchronizing the parallel movement of the members at the plurality of ridge positions included in the basic element. Type frame structure. 3. The expandable frame structure according to claim 1, wherein the third element is fixed to a ridge line position of the basic element having a truncated regular pyramid shape.
And a deployment mechanism arranged on the side surface of the basic element and moving the third skeleton structure fixed at an adjacent ridge line position in parallel with each other, and a third skeleton structure fixed at the ridge line position. Provided,
And a synchronizing mechanism for synchronizing the unfolding mechanism on the side surface sharing the ridge line, wherein the unfolding mechanism is connected through the synchronizing mechanism at the ridge line position. 4. The deployable frame structure according to claim 2, wherein the deploying mechanism moves in a two-dimensional plane.
An expandable frame structure comprising a link mechanism. 5. The expandable frame structure according to claim 3, wherein a cable stretched between upper surface nodes and lower surface nodes of the first frame structure having a truncated pyramid shape of the basic element is provided. An expandable skeleton structure, further comprising: 6. The deployable frame structure according to claim 1, wherein a deploying force is applied to a hinge of the deploying mechanism on the basic element having a truncated pyramid shape. Means, and a stopper for stopping rotation of the hinge and stopping the expansion before the figure connecting the hinges by a line segment reaches a straight line during the expansion, further comprising: . 7. The deployable skeleton structure according to claim 6, wherein said deployment force urging means is constituted by a deployable spring. 8. The deployable skeleton structure according to claim 6, wherein the deployment force urging means comprises a deployment actuator. 9. The deployable skeleton structure according to claim 1, further comprising a holding device for fixing the deploying mechanism.