JPS6192999A - Expanding torus - 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] 3.1 Purpose of the Invention This optical system closes a small space in the folded state, and has a two-dimensional truss structure in the unfolded state; i'
This relates to a deployable truss that can form objects, making it easy to construct medium- and large-sized truss structures in outer space, etc.
J Katsu? ;There is C of b, which aims to do it efficiently.

3.1.1 Industrial Application Field The present invention is particularly applicable to the construction of medium and large-sized structures in outer space, space colonies, solar power satellite antennas, space bases, etc. Although it is intended to be used for the construction of VI objects, it can also be expected to be used on the ground, such as for portable emergency temporary structures.

3, 1, 2 Conventional technology The materials for constructing space structures are brought up from the ground, so the materials for space structures must (1) be as lightweight as possible;

(2) Launch rocket) Must be of a size that can be mounted on a means of transportation to outer space such as the space shuttle.

(3) It is difficult to store and store tightly during transportation.

(4) Easy assembly work in outer space.

(5) The assembled structure is required to have high rigidity, such as 1°.

Truss structures are considered to be the most promising for large space structures, and nested pillars with increased storage density are the most promising.
e column) etc. have been proposed. However, it is not easy to extract such truss members in space, and even if automated robots are used, it is dangerous to do the work manually. Therefore, even if it sacrifices storage density to some extent,
There is a demand for an exhibition structure that can be transported into space in a folded state and automatically or 2r automatically deployed in space, and is mainly used for one-dimensional exhibition structures 3S.
! Several types, mainly J, have been proposed. Product name Asu 1
What is called a helomast (patent advertisement 1972-2665)
3) is a typical example, but most of the deployable trusses are folded by folding the members of one hellus structure from the middle to the joints. A typical example of a 122-dimensional structure is D e l) I O'/ a I) I
eG F O-T R S or T etrahe
This is called a dral truss, and the expanded state C is a truss structure of a substantially regular tetrahedron and a substantially regular octahedron arranged in a flat or curved shape. The convolution is performed by bending all the members on the macroscopic front and back surfaces at their insides, so that h <'x h (7)-c-. D epl
Regarding the oyable GFO-TRCISS, for example, the following document provides details.

J, A, r”aoer, 5tatus of
DeployableG 13 OT RLJ
S S , development,
NA SAC, P-2269Part 1
, l-arge 5 pace Antenna
Systems Technology -
1982゜:s, 1.3 Problems that the invention attempts to solve, Part 2 Deployable G E O-T R
Many deployable trusses, including one-dimensional deployable trusses, including the U.S.S., have joints installed on each member, such as the front and back surfaces, where the force acts most, and also in the center where Euler buckling strength is also important. It folds up by bending, and unfolds by stretching the joints. In this case, the unavoidable decrease in rigidity and increase in irregularity associated with the installation of the joints in the middle lead to a decrease in strength, including strong buckling of the truss structure. Furthermore, the installation of joints naturally increases the number of parts and weight. Therefore, a deployable truss structure with as few joints as possible is desired, and in particular, it is desired to minimize bending of mechanically important members. The present invention attempts to form a lath for development 1 that meets this demand.

3.2 Constitution of the Invention The present invention is constituted by the following items (a) to (h).

(a) With 1 as a constant, the position of the node (i, , i, k) for arbitrary integers i, , i, k in the orthogonal coordinate system =
6 - In this state, all 11.1 areas in which the structure exists.
For 1po1 of (, node (i,,i,O) and node (i+
1. , i, 0), node (i,, i, 0) and node (i.

, i 1-1.0), node (i,, i, 0) and node (i
.

, i, 1), node (i +1, j, 0
) and the node (i.

, i, 1), node (i, , i, 1) and node (i, j
+1, ()), node (i,,i,1) and node (i-1
−1°, i+1.0>, node (i,,i,1) and node (
i +'I , , i , 1 ), and the node (i, j
, 1) and the nodes (i, , i'1.1) are connected with loose aggregate to create a planar truss, or 1 of each bone 4 of the solid body 1 to lath. Macroscopically planar or macroscopically curved t'7-body truss (b), which is created by changing the roundness only by the length while satisfying the geometrical relationship, 1c1: Nodes (i, ,i, 0) and the node (i,
,i.

1), and among the aggregates that connect the nodes x, , j, 1> and the nodes (i + 'I, , i l 1.0>), the substantial quality of those where i+1 is the number tt, that is, both ends (c) J: The node (i, j, 0) and the node (i
, j.

1), and the nodes (i,,i,1) and the nodes (i
+1. j +1.0), i→-1i
(d) A hinge block that connects the aggregates gathered at each node of the truss through joints as necessary. In addition, the above (
In section a), after setting the position of each member, the node (i
, j, k), etc., are not limited to the initial positions shown in the same section.

3.2.1 Means for solving the problem - The three-dimensional truss with the above configuration is connected to the nodes (i, j, (1) and the nodes (i
, j, 1) and the node (i.

j, 1) and the node (i + 1.
By contracting the substantial length of objects with an odd number of +j, convolving them into a small tI space, and expanding them to their original state by the reverse operation, the number of members that must be contracted or matched during convolution and expansion is minimized. , to alleviate the problems mentioned in the previous section.

3.2.2 Effects and Embodiments FIG. 1 shows macroscopic planar development 1 to the back of the lath embodiment of the present invention (i-0 to 2.j = O to 2. k = 0 to 1).
FIG.

In the same figure, white circles indicate joints, and A no. In addition, the circle mark in the same figure indicates the four-way hinge provided in the center of the bone H, which can be bent 180 degrees when the lock is released and covered. As shown in J, when the sea urchin member returns to a straight state, the lock mechanism is activated and rotation is restricted.

Furthermore, although it is not clearly shown in the figure, the aggregate (2,
11>, aggregate (11, 6), bone U (6, 15), aggregate (
4,13), aggregate (13,8), and aggregate (8,17)
) is equipped with a mechanism that allows the length of the holder to be extended by releasing the [] mark, and that a locking mechanism is activated when the holder is retracted to the state shown in Figure 1 to fix its length. Here, aggregate (i, , i> indicates aggregate connecting node i and node j.

In Figure 1, aggregate (2, 11>, (11, 6>, (6,
15>, (4,13), (13,8) and (8,17)
is extended and the aggregate (3, 12>, (i, 10), (10,
5), (5, 14), (171°9), (9, 18), and (7, 16) are bent at any joint in the middle, the three-dimensional truss in Figure 1 becomes small as in Figure 2. folded into space. This is also expanded to the original macroscopic plane by the reverse operation, and a rigid (r-body truss) is constructed by actuation of the locking mechanism.

For example, the expansion and convolution operations can be performed simultaneously in the horizontal and vertical directions in the plan view 1 on the left in FIG. It is also possible to contract in the direction of .

Figure 3 shows nodes 2.3.5.6, El, 9.11.12.14.15 of development 1 to lath in the development state shown in Figure 1.
．． 17.18J: It is a perspective view showing the constituent parts, and Figure 4 is i\! FIG. 4 is a perspective view showing the deployable truss shown in FIG. 3 in a half-folded state;

Figure 1) is a plan view and an elevation view without showing a detailed practical example of the hinge block used for the node 11. In the same figure, aggregate 23...
26 is connected to a hinge via a ball joint 30. Members 19-22 are connected to the l' hinge block via one free l hinge (although member 19
The angle formed by and 20 and the angle 1α formed by members 21 and 22 are:
When the expansion is completed, the claw (stopper) in the figure
The function of 29 is that it does not spread, and this restricts the rotation of the hinge block after the members 19 to 22 are deployed.

] Article f1 for convolution to be performed using the same mechanism as the series
In general, the node (i,,i,k) and the node ((.

The effective vp separation of m, 0) is expressed as l-(i , , i , k
: l, If.

n) When displaying F, all 12 areas covered by the structure
, 1, when i + j is an even number, L(i, j,
1:i +1. j, 1)-L(il-1,j
, 1 :i +1. j +1. ('))-L(
i, j, 1: i, , i+1.1)-L (i, , i
+1.1:i +1. , i +1. n)=L
(i +1. , j +1.0; i +1. j ,
0)-L (i +1. j , (1:i
, j, 1)=l (i +1..1
-1-1.0: i , , i 1,000 1.0) -L(i, j
+1.0:i,,f,1)1(i,j, 1:i,j
−1,1)−(i,j −1,1:i,,i,(1)
=L(i,,i, 1;i-1,j, 1)-L(
i-1,j, 1:i,j,(1)-+-(+,,+
, o:t, , r+1. o)-L (i, j +1.
0:i, ,i, 1)=L(i, ,
i, 0; i +1. j, 0)−
L (i+1.j, o: i, j, 1) When i+j is the number of lives, 1, (i, j, 1: i+1.j, 1) 10l (i +1. j, 1: il-19, i
l-1,0)=L(i,j,1:i,j+1.1)''1, (i, ,+41.1
;i +1. , i + 1, 0)
=l (i,,i,1:i,j+1,0)Ll
(i, j-+-1,0:i +1.
, i → −1, 0) ~ l (i, , i, 1:
i+1. , i, 0) (-1, (i +1., i, 0:
i +1. j-11,0)l (i,,i,(1;i
+1. j, 0) + (i +1. , i ,
0:i, ,i, 1)-l (i,
j, (1;i,,i →-1,0)-t (
i, ,i +1. o:i
, ,i, 1)=l(i,
,i,O:i-1,,i,1)
10l (i-1,,i,1:i,,i,1)=L
(i, ,i, O:i, ,i
-1,1)+-1-(i,j-1,1:i,,i,
1) is the key to success. Under this condition, if the positions of the nodes of the truss are changed according to the part shown in FIG. 1, it is possible to construct a development 1 hellas that forms a macroscopic plane or a macroscopic curved surface. For example, in Figure 1 (all i9.
; for l, (i, ,i, O: i,
j+1.0), 1-(i, j, 0:i+1., i, O)
for all il, 1 for which i +, i is an odd number, L (i, , i, O: i, j,
1) ,l(i, ,io;i-1,,i,
1), I-(i, j, o: i,, i-1,1> and l-(i, , i, O: i-1,, i 1.
By slightly improving 1゜1), the first same left 1-
It is possible to construct a deployment truss that constitutes a macroscopic curved surface with relatively small curvature in the vertical direction, horizontal direction, or both in the plan view.

The above is what is claimed in claim (2).

Claim (2) is a means for reducing the length of member C during the convolution described in claim (1), by bending the member at which joint, but by any means. It is clear that even if the quality of a member is reduced, it can be folded into the same original form, and the essence of the present invention does not depend on this means. Therefore, the scope of claims (1
) is also claimed.

Claim (3) provides a method for sliding a hinge block over a member as a means for reducing the length of the member. Therefore, the actual length of the member, ie, the distance between the nodes at both ends, is reduced. Figure 6 shows an example of this.
A plan view showing the hinges 14 and 5 at l-J in Fig. 1 and the base material connected thereto. Compared to the length of the bone H, which corresponds to the front and back surfaces (visually, the length of the bone H is set to be longer than the 11th material of the sacrum).

This figure shows a state in which the substantial length of the member has been slightly reduced from the deployed state. The aggregate 27 passes through the hinge block 31, and the aggregate 28 passes through the hinge block 32.
The hinge block is for sliding these aggregates 1. The play between the member and the hinge block only needs to be eliminated when the pin jib 11 slides toward the end of the member at the end of deployment, so the manufacturing of the sliding pin jib 1] A1 is easy.

In order to stretch a member during convolution, it is most common to cover it by stretching it in a 7-to-1 manner. As shown in Figure 4, an extremely thin member is sufficient and it can be made extremely light and heavy.

-1! i - 3,3 effect Song patent claim i! Described according to the solid node representation method, the developed truss composed of i = 0 to N, , i = 0 to M, and k = 0 to 1 is expressed as D ep described in Section 3.1.2.
Similar to the Loyable G EOT RUSS, in order to bend and fold the aggregates on the vIi visual front and back sides from the middle, it is necessary to bend (4MN+2N+2M) aggregates. On the other hand, according to the method of the present invention (2MN+M
10N+1) can be folded by simply expanding or contracting the aggregate. Therefore, the present invention can reduce the number of aggregates that require manipulation such as contraction and expansion during folding to about 1/2 compared to the conventional folding method. Furthermore, in the invention of claim (2), the amount of aggregate that is bent in the middle is about 1/2 of the aggregate that requires processing, so the amount of aggregate that is bent in the middle is about 1/2 compared to the conventional convolving method. What happens when you reduce it to 1/'4? Furthermore, according to the invention set forth in claim (3), there is no need to bend the aggregate in the middle. As described above, the problems described in Section 3.1.3 are largely alleviated and overcome.

1. Brief Description of the Figures FIG. 1 is a 13-sided view showing a part of a distance-view planar truss in an expanded state of an example of the expanding truss described in Patent M Required Scope (2). White circles and black circles indicate joints, and each line segment indicates the center line of the aggregate.

FIG. 2 is a three-dimensional diagram showing a state in which the first lath of the exhibition room shown in FIG. 1 is almost folded.

Figure 33 shows the development 1 to lath of the unfolded state shown in Figure 1.
In point 2.3.5.6.8.9.11.12.14.1
5.17.18 is a perspective view showing a portion composed of 5.17.18.

FIG. 1 is a perspective view showing a state in which the development 1 to lath shown in FIG. 3 are partially folded.

Figure 1) is a plan view showing a detailed embodiment of the hinge block used at the node 11 in the invention of claim (2) of the patent.
It is a side view.

FIG. 6 shows that the invention of claim (3)
Hinge for sliding the aggregate used in and 14 17
= A plan view showing a detailed example of the diblock and an r-plane view.

1 , , , , , , , Node (0,0,0) 2 , ,
, , , , , Node (1,0,0)3 , , , , ,
, , , Node (2,0,O)4 , , , , , , , ,
Node (0,1,O)5 , , , , , , , Node (1
,1,O)6 ,,,,,,,,,,node(2,1,O
)7 , , , , , , , node (0,2,0)8 ,
, , , , , , Node (1, 2, 0) 9 , , , ,
, , , , Node (2, 2, O) 10, , , , , , Node (0, 0, 1) 11 , , , , , , Node (1, 0
,1>12 , , , , , ,node (2,0,1)13
, , , , , , Node (0, 1, 1) 14 , , ,
,,,, Node (1,1,1>15 ,,,,,,,, Node <2.1.1>16 ,,,,,,,, Node (0,2
, 1) 17 , , , , , , node (1, 2, 1) 18
,,,,,, Node (2,2,1>19~281. Aggregate 29 ,,,,,,,, Nail (S1~Brim) 30,,,
, , , , Ball joint 31 , , , , , , Hinge block 32 of node 14 , , , , , Hinge block of node 5 Patent applicant Junji Ono 111 Department Figure 4 For procedural correction ( Method) 1. Display of case 1982 patent application No. 2149
91 @ 2, Name of the invention Expansion]・Last 4, Current address and name 5, Date of amendment order Sent on January 29, 1985 (
(Date of dispatch) (2) Contents of amendments to the Detailed Description of the Invention column in the specification (1) [The entire text of the box J column of the patent claims is corrected as follows.

[(1) When L is a constant and the distance of the node m(i, j, k) is expanded in Cartesian coordinates for arbitrary integers i, j, k, all the areas in the range where the structure exists are For a value of 1.1, the node (i,,i,0) and the node (i +1.,i
, 0), node (i, j, 0) and node (i, ,i
+1. Q), node (i,,i,o) and node (i,j
, 1), node (++1..+, rn and node (i, j, 1
)′, node (i, j, 1) and node (+ , , i +1
．． 0), node (i, j, 1) and node (*+1..i→~
1.0), node (i, j, 1) and node (i +1. j
, 1), and the node (i, j, 1) and the node (i,
11 macroscopic planar space truss made by connecting 11 nodes (i, , i, o) and (i, , i, 1) with aggregates and nodes ( i, j, 1)
The actual length of each aggregate connecting the node (i-+-1, j+1.0) is made smaller by elongating the aggregates for which = 1 - 1+j is an odd number and contracting for those for which i+j is an even number. A developed truss that is folded into space and expanded into a three-dimensional truss of the original macroscopic plane by the reverse operation, and is created by changing the length of each member of the developed truss by the length that satisfies the geometric relationship with each other. Macroscopically planar or macroscopically planar unfolding truss.

(2) In claim <1), the node (i.

i+j of the aggregates connecting the nodes (i, j, 1) and the nodes (i, j, 1), and the aggregates connecting the nodes (i, j, 1) and the nodes (i +1., i +1.0). A deployment truss that shrinks its substantial length by bending an even number of aggregates from the middle.

(3) In claim (1), the node (i.

i+j is the aggregate that connects the node (i, j, 1) and the node (i, j, 1), and the aggregate that connects the node (i, j, 1) and the node (i +1.j +1.0). A deployable truss that shrinks the substantial length of an even number of aggregates by sliding one or both of the backs of hinge blocks at both ends thereof. 1 (2) rJ, A, Fager, 5tatus on page 5, lines 15 to 18 in the "Detailed Description of the Invention" column
-...-1982, J is corrected as follows. l-J, A, Fager: Expansion formula Q E
Development status of OT RLJSS, NASA CP-22
69 Volume 1, Large Space Antenna System Technology, 19
82゜(J, A, Fager
f[)eployableGEO-TRLJSS
development, NASACP-226
9Part l, l-arge 5paceAnt
Enna Systems Technology
-1982,), 1(3) [Detailed Description of the Invention,
In column 1, page 6, line 17, [Each item J in (a) to (b) below is corrected to [Each item J in (a) to (d> below]).

Claims (3)

[Claims] (1) Let L be a constant and calculate the position of the node (i, j, k) for arbitrary integers i, j, k in the orthogonal coordinate system by (iL+kL
/2, jL+kL/2, k(1/√2)L), and in the expanded state, for all the values of i and j in the range where the structure exists, the node (i, j, 0) and the node ( i+1,j,
0), node (i, i, 0) and node (i, j+1, 0),
Node (i, j, 0), node (i, j, 1), node (i+
1, j, 0), node (i, j, 1), node (i, j, 1
) and node (i, j+1, 0), node (i, j, 1) and node (i+1, j+1, 0), node (i, j, 1) and node (i+1, j, 1), and node ( i, j, 1) and the node (
i, j+1, 1), respectively, by connecting them with aggregate, and aggregates connecting the nodes (i, j, 0) and (i, j, 1), and the node ( A small space is created by expanding the actual length of each aggregate connecting the nodes (i, j, 1) and the nodes (i+1, j+1, 0) when i+j is an odd number, and shrinking when i+j is an even number. A developed truss that is folded into a 3D truss and then expanded into a three-dimensional truss on the original macroscopic plane by the reverse operation, and the length of each member of the developed truss is changed by the length that satisfies the geometric relationship with each other. A macroscopically planar or macroscopically curved unfolding truss. (2) In claim (1), the node (i, j, 0
) and the node (i, j, 1), and the node (i,
A deployment truss that shrinks the substantial length of aggregates for which i+j is an even number among the aggregates connecting j, 1) and nodes (i+1, j+1, 0) by bending them from the middle. (3) In claim (1), the node (i, j, 0
) and the node (i, j, 1), and the node (i,
i, 1) and the node (i+1, j+1, 0), by sliding one or both of the hinge blocks at both ends on the aggregate where i+j is an even number. Deployment truss that contracts the substantial length of.