JPS5920800A - Unfolding mechanism of unfolding article of spaceship - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a mechanism for deploying deployable objects of a spacecraft, such as antennas and solar panels, which are folded at the time of launch and are deployed at the time of entering or in a predetermined orbit.

When unfolding a folded object according to the conventional concept,
This is a method in which the planar bodies of the deployable object are connected with each other using a hinge that can rotate freely on one axis.In the case of a two-dimensional unfolding method that unfolds in two directions when unfolding, such as a so-called flexible double corrugation surface, it is possible to rotate on one axis. The conventional system using a flexible hinge has the following problems. Figure 1 (al is before the unfolded object is unfolded, Figure 1 (bl is the unfolded object during the unfolding,
In addition, Fig. 1 (C1 is a diagram showing the unfolded object after it has been deployed, and the hinge (3a) allows each of the plurality of parallelogram planar bodies (1a) to (1d) and the satellite (2) to rotate freely on one axis.
~(3e) is used to bond. Parallelogram plane body (
When the rotation angle θ1 of la) is 90 degrees, it is the state before deployment as shown in Figure 1 (al), and when it is 0 degrees, it is the state after deployment as shown in Figure 1 tel, Planar bodies (
la).

(1b) Each rotation angle 01. θ2 always varies equally, and the same conditions can be applied to the plane body (lb) + (1 (ri), plane body (1s, (ltl)), and from these conditions, the plane body ( la)～(Id)
The positional relationship between the two is determined. As described later, a plane body (]d
) and (1a) change before, during, and after the unfolding of the developable object, so the conventional method of connecting the planar objects of the developable object with a hinge that can freely rotate on one axis is two-dimensional. In the case of a deploying mechanism that deploys, there is a drawback that it is difficult to achieve a smooth deploying motion.

This invention proposes a deployable object deployment mechanism for a spacecraft that can deal with such problems, and this invention will be described in detail below using Section 2 (2). FIG. 2 is a diagram showing a hinge that can freely rotate on one axis, and includes two planar bodies (la).

(lb) plate thickness T, upper hinge diameter, hinge rotation center (4
Machining shape specifications are defined as the hinge clearance H from a) to the end of the plane body.

Figure 2 (bl is three hinges (3a) that can rotate freely on one axis.
+(ab) + (3C) A diagram showing a combined hinge (5).

It connects two planar bodies (la) and l (lb).

Figure 2 (C1) shows the proposed deployable object deployment mechanism after deployment;
Parallelogram plane body (1a) ~ (11) via ~(31)
). Here, the hinge (3b) can rotate freely on one axis.
+ (3d) 5Can r (sh) is a hinge (3s + (a
c) r (ae) t (3g) l (ai) is attached above the plane body. Since each planar body unfolds symmetrically by °C via hinges (3i) that can freely rotate on one axis, the positional relationship/fi of the plane body (lsu~(1) at the time of unfolding is determined. Planar body (l+ (, lf
) between %m L+ Oj D ”F If body (”d)
+ (11Jf'rJI)FhNm Let's find L2. Figure 2 (dl) shows the satellite (2) and the first planar body (
1a) shows the rotation angle θ1 constructed by j.

The rotation angle θ2 formed between the third plane body (lc) and the fourth plane body (ld) in the second hte+ is shown. FIG. 2 (fl) shows the angle θ5 formed by the first plane body (la, the second plane body (1), the fifth plane body (1), and the sixth plane body (if)). FIG. 2(g) shows the rotation angle θ4 formed by the first planar body (la) and the sixth planar body (if,). ) and two axes (not shown) forming a right-handed coordinate system orthogonal to the above two axes.

In the above coordinate system, let us assume that the coordinates of vertex (7a) are (Xc
.

7c r zc) and the vertex (7a) t (!: OF) T12 point (7b) p (7c) A straight line and vertex (7b) with a slope orthogonal to the slope of the straight line composed of p (7c)
The intersection point (7d, l) with the straight line composed of t (7c)
(1) Locus vA'fr: (Xu, 7u+zg) ToT
The angle I2 is defined as follows.

Here, N is the number of stages, i.e.
Indicates the number of L planar bodies. The coordinates (Xc, Yc+Zc) break the following relationship if the coordinates of the vertex (7b) are (xA, yA, zA).

X C=XA yc=y, -PI...
-(2) ZC=ZA Here, Pl is the length of the side of each planar body in the y-axis direction.

The coordinates (xA + 7A l zA) can be written as follows.

Therefore, H is the hinge clearance, θ is the hinge diameter, and P2
is the length of the side in the X-axis direction of each plane body, T is the thickness of the plane body, θ
a is the small apex angle of the plane.

If the slope of the straight line connecting the vertices (7b) and (7c) with =t is α and the slope perpendicular to it is α', then the coordinates (XM17MIZM) can be expressed as the following equation.

As described above, θ2 was established.

θ3 is defined as follows.

θ5=ARC! TAN (-α) ・・
・(6) The rotation angle θ4 is the coordinate of the vertex (7e) (X217
21Z2) and the vertex (7f) through the vertex (7e)
The coordinates of the intersection point (7h) of the straight line having a slope perpendicular to the slope of the straight line composed of , (7g) and the straight line composed of vertices (7f) and (7g) are (XN1.7N
I ”N ), then the foot is interpreted as follows.

The coordinates (x2+72+22) are the coordinates (xj
+7t +z,) and has the following relationship.

X2=X1 72--71...(
8) Z2=Z 1 Here, the coordinates (t, y1+z+) can be written as follows.

Z + =HX cos(θ+) 2 X s i
n (θ1) and coordinates (XNI 7N, ZN)
can be written as follows.

YN-yI+(!' (XN-xj)z N=I?
l +P 25in(θa) coo(θsuX(x, -
xN)2+ (Y, -xN)2(P2sin(θa)s
θ4 was defined by in(θ1)2+(P2cos(θa))2 or more.

Here, if the coordinates of vertex (71) are (xp, yp), L
l is expressed by the following formula.

L1== (xp-Xt)2+(Yp-7+)2-
dll However, 1-cos(2θs))+2((Psin(θ2
))HXCO8(θ2)).

Ll is the straight line connecting the vertices (7j) and (7k), and the vertex (71).

The intersection point (XQ,, 7Q,) between a straight line that has an inclination parallel to the straight line connecting (7m) and passes through the center of the above two straight lines, and a straight line that passes through the vertex (7n) and has an inclination perpendicular to the above straight line. The distance from the vertex (7n) to the coordinates (xB, yB) and the point (
7d) coordinates (XM, yM) and the vertex (7a) coordinates (”
It can be expressed as follows using the distance between CI 7o).

...I here! Q -X B...α9 Q, B...0Q Pl...Negative ηMe α・
-α αIp1 yM-a. -6l a" system. Now H-2 battles, D = 5 battles, Pl = Pz, = 1
Table 1 shows the changes in L1 and L2 corresponding to 01 in the case of 0(ltm, θ -60°, T=5 mm, and N=3).

Table 1 In this way, plane bodies (la), (if), plane bodies (i
b).

(le), plane body (le) + (1h) + plane body (
The distance between ld) and (li) has a maximum value and a minimum value. By using the hinges (5a) to (5d) that connect these parts as explained in Figure 2 (bl), the plane body (la), (1f) + plane body (ib) T (
"e), Planar body (le), (lh), Planar body (
ld).

(li) can achieve smooth unfolding movement while being rigidly connected. Figure 2 is a diagram showing the proposed deployable object deployment mechanism before deployment, with the satellite (2) having a hinge (3
a) Planar bodies (1a) to (11) are connected through (31), and the plane bodies are mutually connected by hinges (5a) to (5d), which are a combination of the first few hinges that can rotate freely on one axis. is held.

Therefore, according to the present invention, it is possible to cope with the variation in the distance between plane bodies that occurs in the case of a two-dimensional unfolding mechanism by using a hinge that is a combination of a plurality of hinges that can rotate freely on one axis, and smooth A symmetric layer opening of a planar body can also be achieved.

[Brief explanation of the drawing]

Figure 1 (al is a diagram showing the development before development according to the conventional concept, Figure 1 (bl is a diagram showing the development of the development according to the conventional concept, and Figure 1 (C) is a diagram showing the development according to the conventional concept. FIG. 2 (Al is a diagram showing a hinge that can freely rotate on one axis; FIG. 2 (BL is a diagram that shows a hinge that combines a plurality of hinges that can freely rotate on one axis according to the present invention. Figure 2 (c
1 is a diagram showing the developed product according to the present invention after development, and FIG. 2 (
dl ~ (g) is a diagram showing the development angle of the developed object, Fig. 2 (h)
FIG. 1 is a diagram showing the unfolded product according to Keko's invention before development (1)
is a parallelogram plane body, and (2) is a satellite. (3) is a hinge that can rotate freely on one axis, and (4) is the center of rotation of the hinge. (5) is a friend hinge made up of a plurality of hinges that can freely rotate on one axis, (6) is a coordinate system, and (7) is each vertex of a parallelogram plane body. In addition, the same reference numerals are given to the same or corresponding parts in the figures. Excitement 1 Imaginary (α) Fig. 2 (σ) Path 2 I! 11b) Figure 2 (d+ 2nd tAke) Figure 2 (8)

Claims (1)

[Claims] In a deployable object deployment mechanism of a spacecraft configured to be deployed in outer space with a deployable object attached to a spacecraft, each planar object of the deployable object consisting of a plurality of planar objects is placed on the same plane and arranged in a predetermined manner. A first hinge that is rotatable about one axis and a plurality of first hinges that are rotatable about one axis are connected together using a second hinge to connect the planar bodies of the developed object to each other so as to form the first hinge. and a spacecraft deployable object deployment mechanism, characterized in that the planar bodies are deployed while maintaining a mutually symmetrical shape in the process of elongation deployment due to the action of the second hinge.