CN106956244A - Containing 4R couple side chain open up unit and based on this big folding exhibition compare development agency - Google Patents
Containing 4R couple side chain open up unit and based on this big folding exhibition compare development agency Download PDFInfo
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- CN106956244A CN106956244A CN201710223650.6A CN201710223650A CN106956244A CN 106956244 A CN106956244 A CN 106956244A CN 201710223650 A CN201710223650 A CN 201710223650A CN 106956244 A CN106956244 A CN 106956244A
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- connecting rod
- side chain
- rotates
- unit
- pair
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Tents Or Canopies (AREA)
Abstract
The present invention relates to it is a kind of containing 4R couple side chain open up unit and based on this big folding exhibition compare development agency, the bar and pair that unit can be opened up are arranged symmetrically in minute surface, multiple unit annular arrays of opening up are on same pedestal, and opened up per two neighboring among unit, latter unit deletes first connecting rod and second connecting rod, first halfpace of latter unit passes through the secondary space development agency for being connected with the second halfpace of previous unit, so just constituting loop coupling shape more than one of unit rotational.The present invention's opens up unit than existing monocyclic unit of opening up with higher rigidity and bearing capacity, and then the development agency built is the characteristics of have high rigidity, high bearing capacity.The present invention is applied to the multiple fields such as satellite antenna, solar cell board supporting structure and civil engineering.
Description
Technical field
It is more particularly to a kind of to open up unit and big folding based on this containing what 4R coupled side chain the present invention relates to theory of mechanisms field
Development agency is compared in exhibition.
Background technology
Development agency is used as the basic skeleton of space station, the main body frame of space manipulator, heavy caliber deployable antenna branch
Support mechanism, large-sized solar windsurfing support may move truss structure of building etc. in logical Aero-Space, regenerative resource, space
Explore, heavy construction, the field such as national defense and military is played an important role.Recent decades, the design and research of development agency are boats
The topical subject in its field.NASA (NASA), Russian NASA, European Space Agency (ESA), Japanese space science is ground
The Aerospace Science and Technology Corporation for studying carefully institute (ISAS) and Japanese universe cause exploitation group (NASDA) and China is constantly carrying out space flight always
The research of development agency.Current foreign countries such as Massachusetts Institute Technology of some universities, univ cambridge uk, Spain Seville
The Harbin Institute of Technology of Building technology research institute, Tel Aviv, Israel university, Tokyo Univ Japan etc. and China, Zhejiang is big
Learn, University Of Tianjin, Tongji University, Beijing Institute of Technology, many scholars of BJ University of Aeronautics ＆ Astronautics etc. are carrying out that machine can be opened up
The design and research of structure.
The development agency of early stage is based primarily upon scissors hinge unit to build.In recent years, based on single-degree-of-freedom list closed loop space
Connecting rod opens up the concern that unit causes many scholars, common are Bennett 4R mechanisms, Myard 5R mechanisms,
Bricard 6R mechanisms etc..Chinese patent CN200380107030.2 presents a kind of based on Bennett 4R linkage units structure
Big development agency.Chinese patent CN102167165A, which discloses a kind of seven and rotated, secondary monocyclic opens up unit and using the unit
Space development agency, this unit is more preferable than the folding malleability of Myard 5R linkage units.Chinese patent CN102386473A is disclosed
A kind of big shrinkage ratio can array ten bar can open up unit mechanisms, the power that the mechanism is acted on sliding bar by driving spring is carried out
Driving, completes expansion process.
It is of the present invention containing 4R couple side chain open up unit be structurally different from it is existing it is monocyclic open up unit, this
The bar number and kinematic pair number that kind can open up unit are more, and the arrangement between motion secondary axis is more complicated, the coupling between side chain
Du Genggao.It is of the present invention containing 4R couple side chain to open up unit higher than the monocyclic rigidity and bearing capacity for opening up unit,
It is especially suitable for building large-scale development agency.
The content of the invention
Unit is opened up the present invention relates to the coupling side chain containing 4R with high rigidity and high bearing capacity and based on the list
The development agency that member is built.
Realizing the technical solution adopted by the present invention is：
It is a kind of to couple side chain containing 4R and open up unit, it is characterised in that：It include pedestal, first rotate pair, first connecting rod,
Second rotates pair, second connecting rod, the first halfpace, the 3rd rotation pair, third connecting rod, the 4th rotation pair, fourth link, the 5th
Rotation pair, the 5th connecting rod, the 6th rotation pair, six-bar linkage, the 7th rotate pair, the second halfpace, seven-link assembly, eighth-turn and moved
Pair, the 8th connecting rod, the 9th rotate secondary, coupling side chain rotation pair one, coupling side chain connecting rod one, coupling side chain and rotate secondary two, coupling
Side chain connecting rod two, coupling side chain rotate pair three, coupling side chain connecting rod three, coupling side chain and rotate pair four；Said base, connecting rod is secondary
There is following annexation with platform：First connecting rod rotates secondary on pedestal by first, and second connecting rod passes through second and rotated
Pair is connected with first connecting rod, and second rotates center line of the secondary axis along second connecting rod, and the first halfpace is consolidated with second connecting rod
Fixed connection, third connecting rod rotates pair by the 3rd and is connected with the first halfpace, and the 3rd rotates secondary axis along third connecting rod
Center line, fourth link rotates pair by the 4th and is connected with third connecting rod, and the 5th connecting rod rotates secondary and fourth link by the 5th
Connection, six-bar linkage rotates pair by the 6th and is connected with the 5th connecting rod, and the second halfpace rotates pair by the 7th and connected with the 6th
Bar is connected, and the 7th rotates center line of the secondary axis along six-bar linkage, and seven-link assembly is fixedly connected with the second halfpace, and the 8th
Connecting rod one end is connected by the dynamic pair of eighth-turn with seven-link assembly, and the other end rotates secondary on pedestal by the 9th, eighth-turn
Center line of the secondary axis along seven-link assembly is moved, coupling side chain connecting rod one rotates the halfpace of pair one and first by coupling side chain
Connection, coupling side chain connecting rod two-way overcoupling side chain rotates pair two and is connected with coupling side chain connecting rod one, coupling side chain connecting rod 31
End is connected by coupling side chain rotation pair three with coupling side chain connecting rod two, and the other end is rotated in pair four and second by coupling side chain
Between platform connect；The secondary axis of first rotation and the 9th axis for rotating pair intersect in base plane, the secondary axle of the 5th rotation
Line rotates secondary axis with the 4th axis for rotating pair and the 6th respectively and is parallel to each other, and coupling side chain rotates secondary one axis and coupling
The axis that conjunction side chain rotates pair four intersects, and the axis of coupling side chain rotation pair two rotates the axis antarafacial of pair one with coupling side chain,
Coupling side chain rotates the axis antarafacial that the axis of pair three rotates pair four with coupling side chain, and coupling side chain rotates the axis and coupling of pair two
The axis for closing side chain rotation pair three intersects.
Multiple above-mentioned units of opening up build development agency as follows：Unit annular array can be opened up in same pedestal
On, in two adjacent front-and-back units, latter unit deletes first connecting rod and second connecting rod, the first halfpace of latter unit
It is connected by the way that unit rotational is secondary with the second halfpace of previous unit, the eighth-turn of the secondary axis of unit rotational and previous unit
Move secondary axis collinear.The contained quantity that can open up unit is 6-12 in above-mentioned development agency, and the pedestal of development agency is just
Prism, the bottom surface side number of the pedestal is consistent with the quantity that can open up unit.
The advantage of the invention is that：
1st, involved in the present invention unit of opening up can open up unit with higher rigidity and bearing capacity than existing single closed loop,
Higher rigidity and bearing capacity are also had based on such development agency for opening up cell formation.
2nd, development agency involved in the present invention is a kind of umbrella form, and driving is simple, is easy to control.
Brief description of the drawings
Fig. 1 is that the embodiment of the present invention 1 opens up cellular construction schematic diagram；
Fig. 2 is the development agency deployed condition schematic diagram of the embodiment of the present invention 2；
Fig. 3 is the development agency expansion process schematic of the embodiment of the present invention 2；
Fig. 4 is the development agency rounding state schematic diagram of the embodiment of the present invention 2.
Embodiment
For present disclosure, function and feature can be further appreciated that, the present invention is entered with reference to the accompanying drawings and examples
Row is illustrated in detail, and present disclosure is not limited to following examples.
Embodiment 1：
The a kind of of the present embodiment couples the structure for opening up unit of side chain as shown in figure 1, it includes pedestal FB, first containing 4R
Rotate secondary R1, first connecting rod L1, the second rotation secondary R2, second connecting rod L2, the first halfpace MP1, the 3rd rotation secondary R3, the 3rd
Connecting rod L3, the 4th rotate secondary R4, fourth link L4, the 5th rotation secondary R5, the 5th connecting rod L5, the 6th rotation secondary R6, six-bar linkage
L6, the 7th rotate secondary R7, the second halfpace MP2, seven-link assembly L7, eighth-turn and move secondary R8, the 8th connecting rod L8, the 9th rotation pair
R9, coupling side chain rotate a secondary R10, the L9 of coupling side chain connecting rod one, coupling side chain and rotate secondary two R11, coupling side chain connecting rod two
L10, coupling side chain rotate secondary three R12, the L11 of coupling side chain connecting rod three, coupling side chain and rotate secondary four R13；Said base, connecting rod,
Secondary and platform has following annexation：First connecting rod L1 rotates secondary R1 by first and is arranged on pedestal FB, and second connecting rod L2 leads to
Cross the second rotation secondary R2 with first connecting rod L1 to be connected, second rotates in center line of the secondary R2 axis along second connecting rod L2, first
Between platform MP1 be fixedly connected with second connecting rod L2, third connecting rod L3 passes through the 3rd and rotates secondary R3 and the first halfpace MP1 phases
Even, the 3rd center line of the secondary R3 axis along third connecting rod L3 is rotated, fourth link L4 rotates secondary R4 by the 4th and connected with the 3rd
Bar L3 connections, the 5th connecting rod L5 is connected by the 5th rotation secondary R5 with fourth link L4, and six-bar linkage L6 rotates secondary by the 6th
R6 is connected with the 5th connecting rod L5, and the second halfpace MP2 is connected by the 7th rotation secondary R7 with six-bar linkage L6, and the 7th rotates secondary
Center line of the R7 axis along six-bar linkage L6, seven-link assembly L7 is fixedly connected with the second halfpace MP2, the 8th connecting rod L8 mono-
End is moved secondary R8 by eighth-turn and is connected with seven-link assembly L7, and the other end rotates secondary R9 by the 9th and is arranged on pedestal FB, and the 8th
Rotate secondary R8 center line of the axis along seven-link assembly L7, the L9 of coupling side chain connecting rod one by couple side chain rotate a secondary R10 and
First halfpace MP1 connections, the L10 of coupling side chain connecting rod two rotates secondary two R11 with coupling side chain connecting rod one by coupling side chain
L9 connections, L11 one end of coupling side chain connecting rod three is connected by coupling secondary three R12 of side chain rotation with the coupling L10 of side chain connecting rod two, separately
One end is connected by coupling secondary four R13 of side chain rotation with the second halfpace MP2；First, which rotates secondary R1 axis and the 9th, rotates
Secondary R9 axis in base plane intersect, the 5th rotate secondary R5 axis respectively with the 4th rotation secondary R4 axis and the 6th turn
Dynamic secondary R6 axis is parallel to each other, and coupling side chain rotates the axis phase that secondary R10 axis rotates secondary four R13 with coupling side chain
Hand over, coupling side chain rotates the axis antarafacial that secondary two R11 axis rotates a secondary R10 with coupling side chain, coupling side chain rotates pair three
R12 axis rotates secondary four R13 axis antarafacial with coupling side chain, and coupling side chain rotates secondary two R11 axis with coupling side chain
The axis for rotating secondary three R12 intersects.
Embodiment 2：
The a kind of of the present embodiment is such as schemed based on the big folding for the opening up unit exhibition that side chain is coupled containing 4R than the structure of development agency
Shown in 2- Fig. 4, the unit of opening up in multiple embodiments 1 builds development agency as follows：Unit annular array can be opened up to exist
On same pedestal FB, in two adjacent front-and-back units, latter unit II deletes first connecting rod L1 and second connecting rod L2, latter list
First halfpace MP1 ＇ of member II are connected by unit rotational secondary RR1 with the second halfpace MP2 of previous unit I, unit
The eighth-turn of the axis and previous unit I that rotate secondary RR1 moves secondary R8 axis collinear.It is contained in above-mentioned development agency to open up unit
Quantity be 6-12, and the pedestal FB of development agency is regular prism, pedestal FB bottom surface side number and can open up the quantity of unit
It is consistent.
Claims (2)
- Couple side chain 1. a kind of containing 4R and open up unit, it is characterised in that：It includes pedestal (FB), first rotates secondary (R1), the One connecting rod (L1), second rotate secondary (R2), second connecting rod (L2), the first halfpace (MP1), the 3rd rotation secondary (R3), the 3rd Connecting rod (L3), the 4th rotation secondary (R4), fourth link (L4), the 5th rotate secondary (R5), the 5th connecting rod (L5), the 6th rotation pair (R6), six-bar linkage (L6), the 7th rotate secondary (R7), the second halfpace (MP2), seven-link assembly (L7), the dynamic pair of eighth-turn (R8), the 8th connecting rod (L8), the 9th rotate secondary (R9), coupling side chain and rotate one (R10) of pair, coupling side chain connecting rod one (L9), coupling Close side chain and rotate two (R11) of pair, coupling side chain connecting rod two (L10), three (R12) of coupling side chain rotation pair, coupling side chain connecting rod three (L11), coupling side chain rotates four (R13) of pair；Said base, connecting rod, secondary and platform has following annexation：First connecting rod (L1) Secondary (R1) is rotated by first to be arranged on pedestal (FB), second connecting rod (L2) rotates secondary (R2) and first connecting rod by second (L1) it is connected, second rotates center line of the axis of secondary (R2) along second connecting rod (L2), and the first halfpace (MP1) connects with second Bar (L2) is fixedly connected, and third connecting rod (L3) rotates secondary (R3) by the 3rd and is connected with the first halfpace (MP1), and the 3rd rotates Center line of the axis of secondary (R3) along third connecting rod (L3), fourth link (L4) rotates secondary (R4) and third connecting rod by the 4th (L3) connect, the 5th connecting rod (L5) rotates secondary (R5) by the 5th and is connected with fourth link (L4), six-bar linkage (L6) passes through the Six rotate secondary (R6) is connected with the 5th connecting rod (L5), and the second halfpace (MP2) rotates secondary (R7) and six-bar linkage by the 7th (L6) connect, the 7th rotates flat in the middle of center line of the axis of secondary (R7) along six-bar linkage (L6), seven-link assembly (L7) and second Platform (MP2) is fixedly connected, and the 8th connecting rod (L8) one end is connected by eighth-turn dynamic secondary (R8) with seven-link assembly (L7), and the other end leads to Cross the 9th rotation secondary (R9) to be arranged on pedestal (FB), eighth-turn moves center line of the axis of secondary (R8) along seven-link assembly (L7), Coupling side chain connecting rod one (L9) is connected by coupling side chain rotation one (R10) of pair with the first halfpace (MP1), and coupling side chain connects Bar two (L10) is connected by coupling side chain rotation two (R11) of pair with coupling side chain connecting rod one (L9), coupling side chain connecting rod three (L11) one end is connected by coupling side chain rotation three (R12) of pair with coupling side chain connecting rod two (L10), and the other end, which passes through, couples branch Chain rotates four (R13) of pair and is connected with the second halfpace (MP2)；First, which rotates the axis of secondary (R1) and the 9th, rotates secondary (R9) Axis intersects in base plane, and the 5th axis for rotating secondary (R5) is rotated with the 4th axis for rotating secondary (R4) and the 6th respectively The axis of secondary (R6) is parallel to each other, and coupling side chain rotates the axis that one (R10) of pair axis rotates four (R13) of pair with coupling side chain Intersecting, coupling side chain rotates the axis antarafacial that two (R11) of pair axis rotates one (R10) of pair with coupling side chain, and coupling side chain turns Three (R12) of dynamic pair axis rotates four (R13) of pair axis antarafacial with coupling side chain, and coupling side chain rotates two (R11) of pair axle The axis that line rotates three (R12) of pair with coupling side chain intersects.
- 2. based on the unit of opening up described in claim 1, development agency is built as follows：It is multiple to open up unit circular array It is listed on same pedestal (FB), in two adjacent front-and-back units, latter unit deletes first connecting rod (L1) and second connecting rod (L2), the first halfpace (MP1) of latter unit passes through unit rotational secondary (RR1) and the second halfpace of previous unit (MP2) connect, the axis of unit rotational pair (RR1) and the axis collinear of the eighth-turn of previous unit dynamic secondary (R8)；It is above-mentioned to open up The contained quantity that can open up unit is 6-12 in mechanism, and the pedestal (FB) of development agency is regular prism, the bottom of the pedestal (FB) Face side number is consistent with the quantity that can open up unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710223650.6A CN106956244A (en) | 2017-04-07 | 2017-04-07 | Containing 4R couple side chain open up unit and based on this big folding exhibition compare development agency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710223650.6A CN106956244A (en) | 2017-04-07 | 2017-04-07 | Containing 4R couple side chain open up unit and based on this big folding exhibition compare development agency |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106956244A true CN106956244A (en) | 2017-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710223650.6A Pending CN106956244A (en) | 2017-04-07 | 2017-04-07 | Containing 4R couple side chain open up unit and based on this big folding exhibition compare development agency |
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|---|---|
| CN (1) | CN106956244A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942898A (en) * | 2018-09-26 | 2018-12-07 | 北京工业大学 | Coupling mechanism is opened up containing 120 rings |
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| CN103786906A (en) * | 2014-02-18 | 2014-05-14 | 哈尔滨工业大学深圳研究生院 | Space deployable mechanism |
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2017
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| US5243803A (en) * | 1988-07-05 | 1993-09-14 | Mitsubishi Denki Kabushiki Kaisha | Module for expandable framework structure and expandable framework structure employing said module |
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| JPH0632293A (en) * | 1992-07-10 | 1994-02-08 | Toshiba Corp | Development type truss |
| WO2009153454A2 (en) * | 2008-06-18 | 2009-12-23 | Conseil Et Technique | Hinged folding structure |
| FR2932872A1 (en) * | 2008-06-18 | 2009-12-25 | Conseil Et Tech | Deployable articulated structure for deploying lens hood to protect parabolic antenna in spatial field, has tubes and joints associated to control unit and to cables and pulleys to ensure simultaneity of deployment or folding of tubes |
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| Title |
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| 曹文熬: ""空间多环耦合机构数字化构型综合理论"", 《中国博士学位论文全文库 工程科技Ⅱ辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942898A (en) * | 2018-09-26 | 2018-12-07 | 北京工业大学 | Coupling mechanism is opened up containing 120 rings |
| CN108942898B (en) * | 2018-09-26 | 2021-06-25 | 北京工业大学 | Deployable coupling mechanism with 120 rings |
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Application publication date: 20170718 |