CN104260900A - Elastic hinge driving truss type foldable unit and foldable supporting arm - Google Patents
Elastic hinge driving truss type foldable unit and foldable supporting arm Download PDFInfo
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- CN104260900A CN104260900A CN201410578208.1A CN201410578208A CN104260900A CN 104260900 A CN104260900 A CN 104260900A CN 201410578208 A CN201410578208 A CN 201410578208A CN 104260900 A CN104260900 A CN 104260900A
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Abstract
The invention relates to truss type foldable units and foldable supporting arms formed by the same and particularly to an elastic hinge driving truss type foldable unit and a foldable supporting arm. The elastic hinge driving truss type foldable unit and the foldable supporting arm aim at solving the problems that the existing hinged supporting arm is complicated in driving mechanism, large in folding size and low in repeated unfolding accuracy and accordingly the structural weight is greatly increased and the unfolding reliability is low. The elastic hinge driving truss type foldable unit comprises an upper frame, a lower frame, N elastic hinge type folding arms and N groups of drawing cable assemblies; the upper frame and the lower frame are arranged in a parallel mode; N vertexes of the upper frame and N vertexes of the lower frame are arranged in an upper and lower corresponding mode; every two corresponding vertex angles formed between the upper frame and the lower frame are supported through the corresponding elastic hinge type folding arm and can be connected with each other in a rotating mode; every group of drawing cable assembly is arranged at the diagonal position in a rectangular plane which is formed by the upper frame, the lower frame and the two corresponding adjacent elastic hinge type folding arms. The elastic hinge driving truss type foldable unit and the foldable supporting arm are applied to a satellite, a space station and a space probe.
Description
Technical field
The telescopic hold-down arm that the present invention relates to a kind of truss-like telescopic unit and be made up of this truss-like telescopic unit, be specifically related to the truss-like telescopic unit that a kind of elastic hinge drives and the telescopic hold-down arm be made up of this truss-like telescopic unit, belonging to the one-dimensional space can repeat development mechanism.
Background technology
Along with the fast development of the causes such as space communtication, earth observation, survey of deep space, manned space flight, the demand of the aerospace mechanism of large scale, lightweight, high geometrical stability is become very urgent, but by the restriction of rocket fairing volume, design is needed to have the space fold-playing mechanism of large folding exhibition ratio, be in folded state in transport and launching phase, and be launched into mode of operation after spacecraft is entered the orbit.
Space mast is mainly used for launching flexible solar windsurfing, supporting deployable antenna, synthetic aperture radar, space telescope etc. in various deep space probing activity.After satellite injection, Satellite Payloads slowly launches and maintains a certain distance by hold-down arm and satellite body under the instruction of control system, to prevent the interference and the coupling vibration that produce signal between capacity weight and satellite body, the size of hold-down arm is usually very large, its length reaches tens of rice rice even up to a hundred, this just requires that hold-down arm has certain folding and expansion or unidirectional expansion function, when satellite is in ground launch state, hold-down arm becomes rounding state, when after satellite injection, hold-down arm becomes deployed condition, for satellite antenna provides failure-free to support.
Deployable hold-down arm is developed so far, its version is varied, wherein radial type extending arm has high rigidity, high bearing capacity, the feature of higher reliability, but existing radial type supporting arm mechanism adopts motor as propulsion source, the moment of torsion relying on motor to export drives whole mechanism deploying, although motor drives can control development rate by actv., reduce the impact shock in mechanism's expansion process, but the driver train of complexity not only adds the weight of structure, also reduce reliability of structure, supporting arm mechanism is easily caused to launch unsuccessfully, space exploration task is caused to realize, thus cause huge economic loss.
Summary of the invention
Driver train complexity is there is in the present invention for solving existing radial type hold-down arm, folding volume is large, repetition precision of expansion is low, considerably increase structural weight and launch the lower problem of reliability, and then the truss-like telescopic unit providing a kind of elastic hinge to drive and telescopic hold-down arm.
The present invention is the technical scheme taked that solves the problem: the truss-like telescopic unit that a kind of elastic hinge drives comprises upper side frame, lower frame, N root elastic hinge formula folding arm and N group inhaul cable assembly; Described upper side frame and lower frame are N limit shape frame;
Upper side frame and lower frame be arranged in parallel, and N number of summit of upper side frame is arranged with N number of summit of lower frame is corresponding up and down, each drift angle corresponding between upper side frame and lower frame is supported by an elastic hinge formula folding arm and is rotatably connected, upper side frame, the rectangle plane inner opposite angle place formed between lower frame and adjacent two elastic hinge formula folding arms are provided with one group of triangular prism inhaul cable assembly, wherein N is positive integer, and 3≤N≤6.
The telescopic hold-down arm of the truss-like telescopic unit composition that elastic hinge of the present invention drives comprises truss-like telescopic unit and multiple transition folding exhibition assembly of the driving of multiple elastic hinge, be rotationally connected by a transition folding exhibition assembly between the truss-like telescopic unit that often adjacent two elastic hinges drive, described transition folding exhibition assembly comprises N root elastic hinge formula transition folding arm and multiple transition traction cable, N root elastic hinge formula transition folding arm supports respectively and rotates the drift angle place be arranged between upper side frame and lower frame, upper side frame intersects with the rectangle plane inner opposite angle place formed between lower frame and adjacent two elastic hinge formula transition folding arms and is provided with two transition traction cable.
The present invention compared with prior art has following effect: 1. integral structure of the present invention is symmetrical, unit module quantity can be several, and unit module quantity can be expanded according to the demand of antenna aperture, and module extendability is strong, can modularized production be realized, reduce manufacturing cost and difficulty; 2. to draw rear volume in little, lightweight in the present invention, and storage rate is up to 30%; 3. add traction cable in the present invention, traction cable overcomes diagonal angle drag-line and is wound around and erratic problem of moving, and strengthens the integral rigidity of hold-down arm simultaneously and repeats precision of expansion; 4. deployable hold-down arm of the present invention relies on elastic hinge to realize power driven, does not need to increase extra driver train, alleviates the weight of structure; 5. the present invention launches that motion is simple, reliability is high, along with modularization expand after do not need deliberately to increase other driven unit, the present invention launches to control simple in addition, good stability; 6. its expansion process of telescopic hold-down arm of the present invention is realized by the elastic potential energy of release elastic hinge, vertical straight state is recovered after elastic hinge launches, this state is stabilized conditions, larger moment is needed to make its flexural deformation, therefore folding arm does not need blocking device after launching, and embodiment is simple, working stability is reliable; 7. all structures of the present invention are all by the processing and manufacturing of space flight common used material, rich material resources, and processing technology is ripe, is convenient to the smooth enforcement of mechanism.
Accompanying drawing explanation
Fig. 1 is the perspective view of triangular prism truss-like telescopic unit, Fig. 2 is that the telescopic hold-down arm of triangular prism truss-like telescopic unit composition draws structural representation in, Fig. 3 is the telescopic arm deployed configuration schematic diagram of the triangular prism truss-like telescopic unit composition of Fig. 2, Fig. 4 is the perspective view of quadrangular truss-like telescopic unit, Fig. 5 is the telescopic hold-down arm deployed configuration schematic diagram of quadrangular truss-like telescopic unit composition, Fig. 6 is that the telescopic hold-down arm of the quadrangular truss-like telescopic unit composition of Fig. 5 draws structural representation in, Fig. 7 is that elastic hinge formula folding arm draws structural representation in, Fig. 8 is elastic hinge formula folding arm deployed configuration schematic diagram, Fig. 9 is the structural representation of traction cable, Figure 10 is the A place partial enlarged drawing of Fig. 9, Figure 11 is that the expansion control assembly of detailed description of the invention ten opens up hold-down arm connection structure schematic diagram with folding.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Figure 10 illustrates, the truss-like telescopic unit that a kind of elastic hinge of present embodiment drives comprises upper side frame 1, lower frame 4, N root elastic hinge formula folding arm 3 and N group inhaul cable assembly 2; Described upper side frame 1 and lower frame 4 are N limit shape frame;
Upper side frame 1 and lower frame 4 be arranged in parallel, and N number of summit of upper side frame 1 is arranged with N number of summit of lower frame 4 is corresponding up and down, each drift angle corresponding between upper side frame 1 and lower frame 4 is supported by an elastic hinge formula folding arm 3 and is rotatably connected, upper side frame 1, the rectangle plane inner opposite angle place formed between lower frame 4 and adjacent two elastic hinge formula folding arms 3 are provided with one group of triangular prism inhaul cable assembly 2, wherein N is positive integer, and 3≤N≤6.
The truss-like telescopic unit that the elastic hinge of present embodiment drives realizes gathering by elastic hinge formula folding arm assembly is inwardly folding.Inhaul cable assembly has played rigidifying effect and has improved the effect of truss rigidity.
Detailed description of the invention two: composition graphs 1 and Fig. 4 illustrate, upper side frame 1 described in present embodiment and lower frame 4 are triangle or quadrangle frame.Setting like this, structure is simple, reasonable in design, easy to use.Other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1-Fig. 3, Fig. 5, Fig. 6 explanation, described in every root of present embodiment, elastic hinge formula folding arm 3 comprises folding arm 6 on unit, under unit, folding arm 7 is connected elastic hinge assembly 8 with unit, described unit connects elastic hinge assembly 8 and comprises two elastic hinge jointings 10, two elastic hinge spring leafs 11 are connected briquetting 9 with four elastic hinges, on unit, under folding arm 6 and unit, the abutting end of folding arm 7 is affixed with elastic hinge jointing 10 respectively, two elastic hinge spring leafs 11 are symmetrical side by side, the two ends of two elastic hinge spring leafs 11 are gluedd joint with corresponding elastic hinge jointing 10 separately, four elastic hinges connect briquetting 9 and are divided into two couple be arranged symmetrically with up and down, the two ends of each elastic hinge spring leaf 11 are furnished with an elastic hinge respectively and connect briquetting 9, it is affixed with elastic hinge jointing 10 that elastic hinge connects briquetting 9.Present embodiment, by the flexural deformation of elastic hinge, unit can realize rotational motion between folding arm 7 under folding arm 6 and unit.Other is identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 1, Fig. 4 and Fig. 9 explanation, the often group inhaul cable assembly 2 of present embodiment comprises two traction cable, two traction cable mutually intersect and rotate be arranged on upper side frame 1 and lower frame 4 diagonal line on, each traction cable includes unit first pipe box 13, unit second pipe box 15, unit drag-line 14 and two unit articulated joints 12, one end of unit first pipe box 13 is connected with a unit articulated joint 12, one end of unit second pipe box 15 is connected with another unit articulated joint 12, the two ends of unit drag-line 14 are located in the inner chamber of unit first pipe box 13 and unit second pipe box 15, the two ends of unit zip 14 are affixed respectively by a unit articulated joint 12.Setting like this, overcomes diagonal angle drag-line and is wound around and erratic problem of moving, and strengthens the integral rigidity of hold-down arm simultaneously and repeats precision of expansion.Other is identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 9 illustrates, the unit drag-line 14 of present embodiment is Kev stay cord or carbon fiber rope.Setting like this, Kev stay cord has high temperature resistant, and fire protection flame retarding is lightweight, and intensity is high, and modulus is high, dimensionally stable, and shrinkage percentage is low, resistance toly punctures, abrasion performance, resistance to effect of heat, resistance to chemical attack, good mechanical property, the advantages such as dielectricity is good; It is large that carbon fiber rope has intensity, high conductive feature, is convenient to ensure to repeat precision of expansion.Other is identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 9 illustrates, on the unit in elastic hinge formula folding arm 3 described in every root of present embodiment, under folding arm 6, unit, folding arm 7 is made by carbon fiber composite material or aviation aluminum alloy material.Setting like this, aviation aluminum alloy material has the feature of the recessed Combination property of the resistance to antifatigue of high intensity and high ductility, carbon fiber composite material has high temperature resistant, rub resistance, conduction, heat conduction and resistant to corrosion feature, the truss-like telescopic unit that elastic hinge drives relies on elastic hinge to realize power driven, do not need to increase extra driver train, alleviate the weight of structure.Other is identical with detailed description of the invention four or five.
Detailed description of the invention seven: composition graphs 9 illustrates, the elastic hinge spring leaf 11 of present embodiment is made up of spring steel, bryllium bronze or memory alloy material.Setting like this, vertical straight state is recovered after elastic hinge launches, this state is stabilized conditions, larger moment is needed to make its flexural deformation, therefore folding arm does not need blocking device after launching, easy to use, launch reliability high, the materials such as elastomeric spring steel, bryllium bronze or memorial alloy can be selected.Other is identical with detailed description of the invention six.
Detailed description of the invention eight: composition graphs 3 and Fig. 5 explanation, the telescopic hold-down arm that the truss-like telescopic unit that present embodiment is driven by elastic hinge forms comprises truss-like telescopic unit and multiple transition folding exhibition assembly 5 of the driving of multiple elastic hinge, be rotationally connected by a transition folding exhibition assembly 5 between the truss-like telescopic unit that often adjacent two elastic hinges drive, described transition folding exhibition assembly 5 comprises N root elastic hinge formula transition folding arm 20 and multiple transition traction cable 21, N root elastic hinge formula transition folding arm 20 supports respectively and rotates the drift angle place be arranged between upper side frame 1 and lower frame 4, upper side frame 1 intersects with the rectangle plane inner opposite angle place formed between lower frame and adjacent two elastic hinge formula transition folding arms 20 and is provided with two transition traction cable 21.The composition of present embodiment transition traction cable 21 is identical with detailed description of the invention four with annexation.Other with detailed description of the invention one, two, four, five or seven identical.
Detailed description of the invention nine: composition graphs 3, Fig. 5 and Fig. 8 explanation, described in every root of present embodiment, elastic hinge formula transition folding arm 20 comprises folding arm 22 in transition, under transition, folding arm 23 is connected elastic hinge assembly 24 with transition element, described unit connects elastic hinge assembly 24 and comprises two elastic hinge jointings 10, two elastic hinge spring leafs 11 are connected briquetting 9 with four elastic hinges, in transition, under folding arm 22 and transition, the abutting end of folding arm 23 is affixed with elastic hinge jointing 10 respectively, two elastic hinge spring leafs 11 are symmetrical side by side, the two ends of two elastic hinge spring leafs 11 are gluedd joint with corresponding elastic hinge jointing 10 separately, four elastic hinges connect briquetting 9 and are divided into two couple be arranged symmetrically with up and down, the two ends of each elastic hinge spring leaf 11 have posted an elastic hinge respectively and have connected briquetting 9, it is affixed with elastic hinge jointing 10 that elastic hinge connects briquetting 9, in described transition, under folding arm 22 and transition, folding arm 23 is made by carbon fiber composite material or aviation aluminum alloy material.Setting like this, aviation aluminum alloy material has the feature of the recessed Combination property of the resistance to antifatigue of high intensity and high ductility, carbon fiber composite material has high temperature resistant, rub resistance, conduction, heat conduction and resistant to corrosion feature, the truss-like telescopic arm that elastic hinge drives relies on elastic hinge to realize power driven, do not need to increase extra driver train, alleviate the weight of structure.The composition that present embodiment transition element connects elastic hinge assembly 24 is identical with detailed description of the invention three with annexation.Other is identical with detailed description of the invention eight.
Detailed description of the invention ten: in conjunction with Figure 11 explanation, the telescopic hold-down arm of the truss-like telescopic unit composition that elastic hinge described in present embodiment drives also comprises expansion control assembly, described expansion control assembly comprises puts rope drum 16, motor 17, control fast rope 18, hold-down arm front-end bracket 19 and base support 25, hold-down arm front-end bracket 19 is connected with the upper side frame 1 of first truss-like telescopic unit, base support 25 is hinged with the lower frame 4 of last truss-like telescopic unit, motor 17 is arranged on base support 25, putting rope drum 16 is rotatably installed on base support 25, the axis of putting rope drum 16 is parallel with the axis of motor 17, the mouth of motor 17 with put rope drum 16 and be connected, one end and the hold-down arm front-end bracket 19 of controlling fast rope 18 are affixed, the other end controlling fast rope 18 is wrapped in be put on rope drum 16.Present embodiment whole telescopic hold-down arm connects elastic hinge assembly 8 by several unit and can realize driving expansion with the sex change that several transition elements elastic hinge be connected in elastic hinge assembly 24 bends rear generation, put rope drum 16 by motor 17 as propulsion source drive to rotate, control the release rate of the fast rope 18 of control, make the controlled steady expansion of whole telescopic hold-down arm, reduce shock effect when launching.So be convenient to ensure steadily to launch to launch to impact with minimizing.Other is identical with detailed description of the invention nine.
Working process
Composition graphs 1-Figure 11 explanation, polygon prism truss-like telescopic unit of the present invention realizes gathering by elastic hinge formula folding arm 3 is inwardly folding, the elastic potential energy of elastic hinge spring leaf 11 is relied on to realize power driven, on unit, folding arm 6 realizes launching with folding arm 7 under unit, when under folding arm on unit 6 with unit, folding arm 7 launches in vertical state, unit launches to put in place locking rigidifying.Whole expansion process relies on elastic hinge spring leaf to realize power driven, does not need to increase extra driver train.Each polygon prism telescopic unit is provided with many group elastic hinge formula folding arms 3, ensure that the rigidity of polygon prism telescopic unit and repeat precision of expansion.For prevention unit drag-line 14 is wound around in expansion gathering process, unit drag-line 14 is placed in unit first pipe box 13 and unit second pipe box 15.Whole telescopic hold-down arm connects elastic hinge assembly 8 by several unit and can realize driving expansion with the sex change that several transition elements elastic hinge be connected in elastic hinge assembly 24 bends rear generation, put rope drum 16 by motor 17 as propulsion source drive to rotate, control the release rate of the fast rope 18 of control, make the controlled steady expansion of whole telescopic hold-down arm, reduce shock effect when launching.So be convenient to ensure steadily to launch to launch to impact with minimizing.
Claims (10)
1. a truss-like telescopic unit for elastic hinge driving, is characterized in that: it comprises upper side frame (1), lower frame (4), N root elastic hinge formula folding arm (3) and N group inhaul cable assembly (2); Described upper side frame (1) and lower frame (4) are N limit shape frame;
Upper side frame (1) and lower frame (4) be arranged in parallel, and N number of summit of upper side frame (1) is arranged with N number of summit of lower frame (4) is corresponding up and down, each drift angle corresponding between upper side frame (1) and lower frame (4) is supported by an elastic hinge formula folding arm (3) and is rotatably connected, upper side frame (1), the rectangle plane inner opposite angle place formed between lower frame (4) and adjacent two elastic hinge formula folding arms (3) are provided with one group of triangular prism inhaul cable assembly (2), wherein N is positive integer, and 3≤N≤6.
2. the truss-like telescopic unit of elastic hinge driving according to claim 1, is characterized in that: described upper side frame (1) and lower frame (4) are triangle or quadrangle frame.
3. the truss-like telescopic unit of elastic hinge driving according to claim 1 and 2, it is characterized in that: described in every root, elastic hinge formula folding arm (3) comprises folding arm on unit (6), under unit, folding arm (7) is connected elastic hinge assembly (8) with unit, described unit connects elastic hinge assembly (8) and comprises two elastic hinge jointings (10), two elastic hinge spring leafs (11) are connected briquetting (9) with four elastic hinges, on unit, under folding arm (6) and unit, the abutting end of folding arm (7) is affixed with elastic hinge jointing (10) respectively, two elastic hinge spring leafs (11) are symmetrical side by side, the two ends of two elastic hinge spring leafs (11) are gluedd joint with corresponding elastic hinge jointing (10) separately, four elastic hinges connect briquetting (9) and are divided into two couple be arranged symmetrically with up and down, the two ends of each elastic hinge spring leaf (11) are furnished with an elastic hinge respectively and connect briquetting (9), it is affixed with elastic hinge jointing (10) that elastic hinge connects briquetting (9).
4. the truss-like telescopic unit of elastic hinge driving according to claim 3, it is characterized in that: often organize inhaul cable assembly (2) and comprise two traction cable, two traction cable mutually intersect and rotate be arranged on upper side frame (1) and lower frame (4) diagonal line on, each traction cable includes unit first pipe box (13), unit second pipe box (15), unit drag-line (14) and two unit articulated joints (12), one end of unit first pipe box (13) is connected with a unit articulated joint (12), one end of unit second pipe box (15) is connected with another unit articulated joint (12), the two ends of unit drag-line (14) are located in the inner chamber of unit first pipe box (13) and unit second pipe box (15), the two ends of unit zip (14) are affixed respectively by a unit articulated joint (12).
5. the truss-like telescopic unit of elastic hinge driving according to claim 4, is characterized in that: described unit drag-line (14) is Kev stay cord or carbon fiber rope.
6. the truss-like telescopic unit that the elastic hinge according to claim 4 or 5 drives, is characterized in that: on the unit in elastic hinge formula folding arm (3) described in every root, under folding arm (6), unit, folding arm (7) is made by carbon fiber composite material or aviation aluminum alloy material.
7. the truss-like telescopic unit of elastic hinge driving according to claim 6, is characterized in that: elastic hinge spring leaf (11) is made up of spring steel, bryllium bronze or memory alloy material.
8. one kind utilizes claim 1, 2, 4, the telescopic hold-down arm of the truss-like telescopic unit composition that the elastic hinge described in 5 or 7 drives, it is characterized in that: it comprises truss-like telescopic unit and multiple transition folding exhibition assembly (5) of the driving of multiple elastic hinge, be rotationally connected by transition folding exhibition assembly (5) between the truss-like telescopic unit that often adjacent two elastic hinges drive, described transition folding exhibition assembly (5) comprises N root elastic hinge formula transition folding arm (20) and multiple transition traction cable (21), N root elastic hinge formula transition folding arm (20) supports respectively and rotates the drift angle place be arranged between upper side frame (1) and lower frame (4), upper side frame (1) intersects with the rectangle plane inner opposite angle place formed between lower frame (4) and adjacent two elastic hinge formula transition folding arm (20) and is provided with two transition traction cable (21).
9. the telescopic hold-down arm that the truss-like telescopic unit that elastic hinge according to claim 8 drives forms, it is characterized in that: described in every root, elastic hinge formula transition folding arm (20) comprises folding arm in transition (22), under transition, folding arm (23) is connected elastic hinge assembly (24) with transition element, described unit connects elastic hinge assembly (24) and comprises two elastic hinge jointings (10), two elastic hinge spring leafs (11) are connected briquetting (9) with four elastic hinges, in transition, under folding arm (22) and transition, the abutting end of folding arm (23) is affixed with elastic hinge jointing (10) respectively, two elastic hinge spring leafs (11) are symmetrical side by side, the two ends of two elastic hinge spring leafs (11) are gluedd joint with corresponding elastic hinge jointing (10) separately, four elastic hinges connect briquetting (9) and are divided into two couple be arranged symmetrically with up and down, the two ends of each elastic hinge spring leaf (11) have posted an elastic hinge respectively and have connected briquetting (9), it is affixed with elastic hinge jointing (10) that elastic hinge connects briquetting (9), in described transition, under folding arm (22) and transition, folding arm (23) is made by carbon fiber composite material or aviation aluminum alloy material.
10. the telescopic hold-down arm that the truss-like telescopic unit that elastic hinge according to claim 9 drives forms, it is characterized in that: the telescopic hold-down arm of the truss-like telescopic unit composition that described elastic hinge drives also comprises expansion control assembly, described expansion control assembly comprises puts rope drum (16), motor (17), control fast rope (18), hold-down arm front-end bracket (19) and base support (25), hold-down arm front-end bracket (19) is connected with the upper side frame (1) of first truss-like telescopic unit, base support (25) is hinged with the lower frame (4) of last truss-like telescopic unit, motor (17) is arranged on base support (25), putting rope drum (16) is rotatably installed on base support (25), the axis of putting rope drum (16) is parallel with the axis of motor (17), the mouth of motor (17) with put rope drum (16) and be connected, one end and the hold-down arm front-end bracket (19) of controlling fast rope (18) are affixed, the other end controlling fast rope (18) is wrapped in be put on rope drum (16).
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