CN109119739A - One kind being based on three structure state transformation space development agency of scissor unit - Google Patents
One kind being based on three structure state transformation space development agency of scissor unit Download PDFInfo
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- CN109119739A CN109119739A CN201810804630.2A CN201810804630A CN109119739A CN 109119739 A CN109119739 A CN 109119739A CN 201810804630 A CN201810804630 A CN 201810804630A CN 109119739 A CN109119739 A CN 109119739A
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- 230000009466 transformation Effects 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000010586 diagram Methods 0.000 description 9
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000009825 accumulation Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000014759 maintenance of location Effects 0.000 description 1
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- 238000003860 storage Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
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Abstract
一种基于剪叉单元三构态变换空间可展机构，该机构由剪叉单元、铰链和底盘组成，所述剪叉单元通过展开或收拢能够变换为第一构态、第二构态或第三构态，所述第一构态为三棱柱构态、第二构态为四棱柱构态、第三构态为五棱柱构态，所述铰链包括两转动副铰链和三转动副铰链，两转动副铰链一端通过销轴与底盘连接，另一端通过销轴与剪叉单元连接。本发明具有轻量化、组成构件类别单一、折叠比大、收拢体积小、机构展开稳定、可变三构态的特点，可作为多边形空间折展单元，适用于航空航天器支撑架和平面发射天线。
A space expandable mechanism based on three-configuration transformation of scissors unit, the mechanism is composed of a scissor unit, a hinge and a chassis, and the scissors unit can be transformed into a first configuration state, a second configuration state or a first configuration state by unfolding or retracting Three configurations, the first configuration is a triangular prism configuration, the second configuration is a quadrangular prism configuration, and the third configuration is a pentagonal prism configuration, and the hinge includes a two-rotation pair hinge and a three-rotation pair hinge, One end of the two rotating auxiliary hinges is connected with the chassis through a pin shaft, and the other end is connected with the scissor unit through a pin shaft. The invention has the characteristics of light weight, single type of components, large folding ratio, small folded volume, stable unfolding of the mechanism, and variable three-configuration state, can be used as a polygonal space folding unit, and is suitable for aerospace vehicle support frame and plane transmitting antenna .
Description
Technical field
The present invention relates to space folding and unfolding mechanism fields, especially a kind of to open up machine based on three structure state transformation space of scissor unit
Structure.
Background technique
With flourishing for aerospace industry, the exploration of the outer space is also gradually goed deep into, the spacecraft support of some large sizes
Frame such as radar antenna support frame, big-caliber space antenna support frame etc. needs different types of support frame, different to meet
Space flight demand；The support frame of current many space folding and unfolding mechanisms and spacecraft can by folding exhibition cellular array or topology come
A kind of expansion is constituted to stablize, fold than big space folding and unfolding mechanism.
Chinese patent 201210464544.1 discloses a kind of triangular prism telescopic unit and is made of the telescopic unit
Telescopic support arm, the mechanism have triangular prism telescopic unit structure state；Chinese patent 201010176640.X discloses one
There is single folding to open up unit structure state for kind space scissor type telescopic mechanism, the mechanism；Chinese patent 201210310520.3 discloses
One kind being based on square shaped cells planar array development agency, which has square shaped cells structure state, folds than small, and is plane
It folds.
Have not yet to see it is a kind of have can convert structure state, can be as polygon folding exhibition unit and with light weight
Change, composition Component Category is single, folds one kind than the feature big, gathering is small in size, mechanism deploying is stable based on scissor unit
The innovation of three structure state transformation space development agencies designs.
Summary of the invention
In order to avoid the deficiencies in the prior art, overcome its flat-folded than small disadvantage, the present invention provides one kind and is based on cutting
Three structure state transformation space development agency of unit is pitched, it has, and lightweight, composition Component Category are single, it is big to fold ratio, collapse volume
Small, the characteristics of mechanism deploying is stable, variable three structure state, it can be used as polygon space folding exhibition unit, be suitable for aerospace vehicle branch
Support peace surface launching antenna.
The technical scheme is that a kind of be based on three structure state transformation space development agency of scissor unit, including scissor list
Member, hinge and chassis, specific structure and connection relationship are as follows:
The scissor unit is divided into internal layer scissor unit and outer layer scissor unit, and the internal layer scissor unit includes first group
Internal layer scissor unit, second group of internal layer scissor unit, third group internal layer scissor unit, the 4th group of internal layer scissor unit and the 5th group
Internal layer scissor unit, first group of internal layer scissor unit includes the first scissors rod and the second scissors rod, and first scissors rod one end passes through
Two revolute pair hinges are connect with the second chassis, and the other end is connect by pin shaft with the second axis pin base of three revolute pair hinges, and second
Scissors rod one end is connect by two revolute pair hinges with the first chassis, the second pin that the other end passes through pin shaft and three revolute pair hinges
Axle bed connection, remaining four groups of internal layer scissor unit is identical with the structure of first group of internal layer scissor unit and connection relationship, institute
Stating outer layer scissor unit includes first group of outer layer scissor unit, second group of outer layer scissor unit, third group outer layer scissor unit, the
Four groups of outer layer scissor units and the 5th group of outer layer scissor unit, first group of outer layer scissor unit include connecting rod and stem guiding trough, connecting rod
One end is connect by prismatic pair with stem guiding trough, and the other end is connect by pin shaft with the first axis pin base of three revolute pair hinges, remaining
Four groups of outer layer scissor units are identical with the structure of first group of outer layer scissor unit and connection relationship, and the hinge includes two turns
Dynamic pair hinge and three revolute pair hinges, two revolute pair hinge one end are connect by pin shaft with the second chassis, and the other end passes through pin shaft
It is connect with scissors rod one end；The chassis includes the first chassis and the second chassis, is uniformly distributed that there are five sizes on the second chassis
Identical axis pin base, each axis pin base are connect by pin shaft with two-freedom hinge, the structure on the first chassis and the second chassis and
Connection relationship is identical.
The outer layer scissor unit is made of four connecting rods and two stem guiding troughs, and two stem guiding troughs are mutually interconnected by pin shaft
It connects.
First scissors rod of the internal layer scissor unit and the structure of the second scissors rod are identical, and two neighboring internal layer
An outer layer scissor unit is connected by three revolute pair hinges between scissor unit.
The axis antarafacial of two axis pin bases on the two revolute pairs hinge is vertical.
The three revolute pairs hinge includes three axis pin bases, is the first axis pin base, the second axis pin base and third pin shaft respectively
Seat, wherein third axis pin base is connect by pin shaft with the connecting rod of third group outer layer scissor unit.
The internal layer scissor unit forms prism skeleton, and outer layer scissor unit forms prismatic surface.
Of the invention has the prominent advantages that:
1. can be realized the space folding exhibition movement of mechanism；It can be in triangular prism, tetragonous by closing up or being unfolded scissor unit
Phase co-conversion between three structure states of column and pentagonal prism.
2. the triangular prism of the mechanism, quadrangular and pentagonal prism can open up unit respectively as polygon space, pass through hinge
The space development agency of connection composition different scale and structure state, meets different topology demand.
3. the expansion of the mechanism and the transformation of structure state are single-degree-of-freedom, composition Component Category is single, and mechanism deploying is stablized,
It can be launched into the space structure of different shape, folded than big, gathering is small in size.
Detailed description of the invention
Fig. 1 is the first structure state structural representation of the present invention based on three structure state transformation space development agency of scissor unit
Figure.
Fig. 2 is the first structure state rounding state of the present invention based on three structure state transformation space development agency of scissor unit
Schematic diagram.
Fig. 3 is the first structure state rounding state of the present invention based on three structure state transformation space development agency of scissor unit
Top view.
Fig. 4 is the second structure state structural representation of the present invention based on three structure state transformation space development agency of scissor unit
Figure.
Fig. 5 is the second structure state rounding state of the present invention based on three structure state transformation space development agency of scissor unit
Schematic diagram.
Fig. 6 is the second structure state rounding state of the present invention based on three structure state transformation space development agency of scissor unit
Top view.
Fig. 7 is the third structure state structural representation of the present invention based on three structure state transformation space development agency of scissor unit
Figure.
Fig. 8 is the third structure state rounding state of the present invention based on three structure state transformation space development agency of scissor unit
Schematic diagram.
Fig. 9 is the third structure state rounding state of the present invention based on three structure state transformation space development agency of scissor unit
Top view.
Figure 10 is the internal layer scissor unit knot of the present invention based on three structure state transformation space development agency of scissor unit
Structure schematic diagram.
Figure 11 is the outer layer scissor unit knot of the present invention based on three structure state transformation space development agency of scissor unit
Structure schematic diagram.
Figure 12 is the link mechanism schematic diagram of the present invention based on three structure state transformation space development agency of scissor unit.
Figure 13 is the chassis structure schematic diagram of the present invention based on three structure state transformation space development agency of scissor unit.
Figure 14 is the two revolute pair hinge knots of the present invention based on three structure state transformation space development agency of scissor unit
Structure schematic diagram.
Figure 15 is the three revolute pair hinge knots of the present invention based on three structure state transformation space development agency of scissor unit
Structure schematic diagram.
In the figure, it is marked as 1. first chassis, 2. second chassis, 3. liang of revolute pair hinges, 4. 3 revolute pair hinges, 4-1.
One axis pin base, the second axis pin base of 4-2., 4-3. third axis pin base, 5. first scissors rods, 6. second scissors rods, 7. connecting rods, 8. are led
Bar slot, 101. first groups of outer layer scissor units, 102. second groups of outer layer scissor units, 103. third group outer layer scissor units,
104. the 4th group of outer layer scissor unit, 105. the 5th groups of outer layer scissor units, 201. first groups of internal layer scissor units, 202. second
Group internal layer scissor unit, 203. third group internal layer scissor units, 204. the 4th groups of internal layer scissor units, 205. the 5th groups of internal layers are cut
Pitch unit.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawings and embodiments.
It is of the present invention to be based on three structure state transformation space development agency of scissor unit as shown in Fig. 1 to Figure 15, including cut
It is as follows to pitch unit, hinge and chassis, specific structure and connection relationship:
The scissor unit is divided into internal layer scissor unit and outer layer scissor unit, and the internal layer scissor unit includes first group
203, the 4th groups of 201, second groups of internal layer scissor units 202 of internal layer scissor unit, third group internal layer scissor unit internal layer scissor lists
Member 204 and the 5th group of internal layer scissor unit 205, first group of internal layer scissor unit 201 include the first scissors rod 5 and the second scissors rod
6,5 one end of the first scissors rod is connect by two revolute pair hinges 3 with the second chassis 2, and the other end is cut with scissors by pin shaft and three revolute pairs
Second axis pin base 4-2 connection of chain 4,6 one end of the second scissors rod are connect by two revolute pair hinges 3 with the first chassis 1, the other end
It is connect by pin shaft with the second axis pin base 4-2 of three revolute pair hinges 4, remaining four groups of internal layer scissor unit is cut with first group of internal layer
Pitch unit 201 structure and connection relationship it is identical, the outer layer scissor unit include first group of outer layer scissor unit 101,
Second group of outer layer scissor unit 102,103, the 4th groups of outer layer scissor units 104 of third group outer layer scissor unit and the 5th group of outer layer
Scissor unit 105, first group of outer layer scissor unit 101 include connecting rod 7 and stem guiding trough 8, and 7 one end of connecting rod passes through prismatic pair and guide rod
Slot 8 connects, and the other end is connect by pin shaft with the first axis pin base 4-1 of three revolute pair hinges 4, remaining four groups of outer layer scissor unit
Identical with the structure of first group of outer layer scissor unit 101 and connection relationship, the hinge includes two revolute pair hinges 3 and three
Revolute pair hinge 4, two revolute pair hinges, 3 one end are connect by pin shaft with the second chassis 2, and the other end passes through pin shaft and scissors rod one
End connection；The chassis includes the first chassis 1 and the second chassis 2, is uniformly distributed that there are five the identical pins of size on the second chassis 2
Axle bed, each axis pin base are connect by pin shaft with two-freedom hinge 3, the first chassis 1 and the structure on the second chassis 2 and connect pass
It is identical.
The outer layer scissor unit is made of four connecting rods 7 and two stem guiding troughs 8, and two stem guiding troughs 8 are mutual by pin shaft
Connection.
First scissors rod 5 of the internal layer scissor unit is identical with the structure of the second scissors rod 6, and two neighboring interior
An outer layer scissor unit is connected by three revolute pair hinges 4 between layer scissor unit.
The axis antarafacial of two axis pin bases on the two revolute pairs hinge 3 is vertical.
The three revolute pairs hinge 4 includes three axis pin bases, is the first axis pin base 4-1, the second axis pin base 4-2 and the respectively
Three axis pin base 4-3, wherein third axis pin base 4-3 is connect by pin shaft with the connecting rod 7 of third group outer layer scissor unit 103.
The internal layer scissor unit forms prism skeleton, and outer layer scissor unit forms prismatic surface.
Operation principle and process:
It is as shown in Figure 1 to Figure 3 the first structure state of mechanism, expansion or gathering can be realized by scissor unit.First group
101, second groups of outer layer scissor units 102 of outer layer scissor unit and the 4th group of outer layer scissor unit 104 are unfolded state, at this time the
Three groups of outer layer scissor units 103 are compressed by second group of internal layer scissor unit 202 and third group internal layer scissor unit 203 and in storages
Product energy state, the 5th group of outer layer scissor unit 105 are by the 4th group of internal layer scissor unit 204 and the 5th group of internal layer scissor unit
205 compress and are in by compression energy accumulation state, while entire mechanism is in fully unfolded position, as shown in Figure 1；Work as driving
When one group of internal layer scissor unit is made to collapse movement, since internal layer scissor unit passes through three revolute pair hinges 4 and outer layer scissor unit
Connection, so when drive outer layer scissor unit to make synchronous to collapse movement up to being collapsed by the gathering campaign of internal layer scissor unit
Full folded state, as shown in Figures 2 and 3.
As shown in Figures 4 to 6 it is the second structure state of mechanism, second group of internal layer scissor list is discharged on the basis of the first structure state
The energy that member 202 is accumulated with the third group outer layer scissor unit 103 that third group internal layer scissor unit 203 is compressed, at this time third group
The connecting rod 7 of outer layer scissor unit 103 is stretched movement from inside to outside in stem guiding trough 8, and entire third group outer layer scissor unit 103 is made
Expansion movement, five groups of internal layer scissor units make synchronous expansion movement at this time, and entire mechanism changes from the first structure state to the second structure state,
The second structure state is in fully unfolded position at this time, as shown in Figure 4；When driving one group of internal layer scissor unit to make to collapse movement, by
Connect by three revolute pair hinges 4 with outer layer scissor unit in internal layer scissor unit, so when by internal layer scissor unit gathering
Movement drives outer layer scissor unit to make synchronous gathering movement, until being collapsed into completely folded state, as shown in Figure 5 and Figure 6.
As shown in Figure 7 to 9 it is the third structure state of mechanism, the 4th group of internal layer scissor list is discharged on the basis of the second structure state
The energy of the 5th group of outer layer scissor unit 105 accumulation of member 204 and the compression of the 5th group of internal layer scissor unit 205, the 5th group at this time
The connecting rod 7 of outer layer scissor unit 105 is stretched movement from inside to outside in stem guiding trough 8, and entire 5th group of outer layer scissor unit 105 is made
Expansion movement, five groups of internal layer scissor units make synchronous expansion movement at this time, and entire mechanism changes from the second structure state to third structure state,
Third structure state is in fully unfolded position at this time, as shown in Figure 7；When driving one group of internal layer scissor unit to make to collapse movement, by
Connect by three revolute pair hinges 4 with outer layer scissor unit in internal layer scissor unit, so when by internal layer scissor unit gathering
Movement drives outer layer scissor unit to make synchronous gathering movement, until being collapsed into completely folded state, as shown in Figure 8 and Figure 9.
Claims (6)
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Cited By (8)
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| CN109616736A (en) * | 2019-01-18 | 2019-04-12 | 燕山大学 | A scissor unit hybrid array peripheral truss deployable antenna mechanism |
| CN109638413A (en) * | 2019-01-18 | 2019-04-16 | 燕山大学 | Element-Array Single-DOF Peripheral Truss Deployable Antenna Mechanism |
| CN111641020A (en) * | 2020-05-11 | 2020-09-08 | 浙江理工大学 | Deployable mechanism of triangular prism unit modular planar antenna |
| CN111806725A (en) * | 2020-06-30 | 2020-10-23 | 天津大学 | A single-degree-of-freedom space-foldable polyhedron structure |
| CN112599185A (en) * | 2020-09-21 | 2021-04-02 | 北京交通大学 | Dual-mode scaling mechanism |
| WO2021140360A1 (en) * | 2020-01-10 | 2021-07-15 | Gomez Lizcano Daniel Enrique | Large-scale collapsible shelters with triangular frames and stress-free scissor mechanisms |
| CN114962438A (en) * | 2022-04-24 | 2022-08-30 | 北京理工大学 | Flexible deployable mechanism based on paper folding principle and soft hinge |
| WO2024054179A1 (en) * | 2022-09-06 | 2024-03-14 | İzmi̇r Yüksek Teknoloji̇ Ensti̇tüsü Rektörlüğü | Reconfigurable deployable frame structure with altmann linkage |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109616736A (en) * | 2019-01-18 | 2019-04-12 | 燕山大学 | A scissor unit hybrid array peripheral truss deployable antenna mechanism |
| CN109638413A (en) * | 2019-01-18 | 2019-04-16 | 燕山大学 | Element-Array Single-DOF Peripheral Truss Deployable Antenna Mechanism |
| CN109638413B (en) * | 2019-01-18 | 2023-09-19 | 燕山大学 | Unit array type single-degree-of-freedom perimeter truss expandable antenna mechanism |
| CN109616736B (en) * | 2019-01-18 | 2023-12-01 | 燕山大学 | Shear type unit hybrid array type perimeter truss expandable antenna mechanism |
| WO2021140360A1 (en) * | 2020-01-10 | 2021-07-15 | Gomez Lizcano Daniel Enrique | Large-scale collapsible shelters with triangular frames and stress-free scissor mechanisms |
| CN111641020A (en) * | 2020-05-11 | 2020-09-08 | 浙江理工大学 | Deployable mechanism of triangular prism unit modular planar antenna |
| CN111641020B (en) * | 2020-05-11 | 2022-07-12 | 浙江理工大学 | A triangular prism unit modular planar antenna deployable mechanism |
| CN111806725A (en) * | 2020-06-30 | 2020-10-23 | 天津大学 | A single-degree-of-freedom space-foldable polyhedron structure |
| CN112599185A (en) * | 2020-09-21 | 2021-04-02 | 北京交通大学 | Dual-mode scaling mechanism |
| CN114962438A (en) * | 2022-04-24 | 2022-08-30 | 北京理工大学 | Flexible deployable mechanism based on paper folding principle and soft hinge |
| WO2024054179A1 (en) * | 2022-09-06 | 2024-03-14 | İzmi̇r Yüksek Teknoloji̇ Ensti̇tüsü Rektörlüğü | Reconfigurable deployable frame structure with altmann linkage |
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| CN109119739B (en) | 2019-09-10 |
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