CN107671843A - The space folding and unfolding mechanism that a kind of crank block connects for folding exhibition unit flexible hinge - Google Patents
The space folding and unfolding mechanism that a kind of crank block connects for folding exhibition unit flexible hinge Download PDFInfo
- Publication number
- CN107671843A CN107671843A CN201711082538.1A CN201711082538A CN107671843A CN 107671843 A CN107671843 A CN 107671843A CN 201711082538 A CN201711082538 A CN 201711082538A CN 107671843 A CN107671843 A CN 107671843A
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- CN
- China
- Prior art keywords
- connecting rod
- folding
- bearing pin
- crank
- flexible hinge
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0027—Means for extending the operation range
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The space folding and unfolding mechanism that a kind of crank block connects for folding exhibition unit flexible hinge, the support of the folding and unfolding mechanism is connected at axis pin base by bearing pin with that can open up unit, cradling piece one end that unit can be opened up is connected by bearing pin with support, both sides are connected by bearing pin with slider-crank mechanism, first connecting rod one end of slider-crank mechanism is connected by bearing pin with cradling piece, the other end is connected by bearing pin with second connecting rod, second connecting rod one end is connected by bearing pin with first connecting rod, the other end is connected by bearing pin with the second sliding block, second sliding block one end is connected by bearing pin with second connecting rod, the other end is connected by bearing pin with the first connecting rod of later group slider-crank mechanism, first sliding block of last group of slider-crank mechanism is only connected with second connecting rod by bearing pin, flexible hinge is three-degree of freedom flexible hinge, both ends, which connect two, can open up module.Stability of the present invention is good, the rigidity of structure is big, it is simple in construction, can in space folding, fold than big.
Description
Technical field
The present invention relates to a kind of space folding and unfolding mechanism, particularly a kind of crank block is folding exhibition unit flexible hinge connection
Space folding and unfolding mechanism.
Background technology
With the development of aerospace industry, some large-scale in-orbit structures can be applied in increasing aerospace engineering, to meet
The demand of different space missions；However, due to the limitation of shipping volume, the non-folding that can be transmitted into space opens up the size of structure
Can not meet the needs of task, therefore various types of aerospace folding and unfolding mechanisms have obtained quick development and application.Space
Exposure mechanism of the folding and unfolding mechanism in aerospace engineering field mainly as payload such as radar antennas, big-caliber space antenna support
Mechanism, the supporting mechanism of flexible solar wing and fold-playing space station skeleton etc..
Chinese patent 201410055607.X discloses a kind of annular truss formula large space development agency, and the patent passes through
Rope or Spring driving, mechanical stability are relatively low；Chinese patent 201510939297.2 discloses a kind of fast for radar antenna
Speed sets up the support arm folding and unfolding mechanism with removing receipts, and the invention is realized folding exhibition by the form of guide rail and rack-and-pinion, added
The cost of manufacture of mechanism, popularization and application ability；Chinese patent 201210310520.3 discloses one kind and is based on square shaped cells
Planar array development agency, the patent can be only folded smaller flat-folded.Now there is an urgent need to a kind of stability it is good, knot
Structure rigidity is big, simple in construction, processing and manufacturing cost is low, cost-effective, and can roll over exhibition machine than big space in space folding, folding
Structure.
At present, there is not yet a kind of stability is good, the rigidity of structure is big, simple in construction, processing and manufacturing cost is low, cost performance
Height, and can be in space folding, folding than big space folding and unfolding mechanism invention design.
The content of the invention
A kind of space folding and unfolding mechanism it is an object of the invention to provide crank block for folding exhibition unit flexible hinge connection, it
With stability is good, good reliability, the rigidity of structure is big, simple in construction, processing and manufacturing cost is low, cost-effective, and can be in space
Fold, fold than it is big the features such as.
The technical scheme is that：The space folding and unfolding mechanism that a kind of crank block connects for folding exhibition unit flexible hinge,
Including support, unit and flexible hinge can be opened up, concrete structure and annexation are as follows：
The support is octagon support, has an axis pin base per one side, octagon support passes through pin at axis pin base
Axle is connected with that can open up unit, and the unit of opening up includes cradling piece and slider-crank mechanism, and cradling piece one end passes through bearing pin and machine
Seat connection, both sides are connected by bearing pin with slider-crank mechanism, and slider-crank mechanism includes first connecting rod, second connecting rod and cunning
Block, first connecting rod one end of first group of slider-crank mechanism are connected by bearing pin with cradling piece, and the other end passes through bearing pin and second
Connecting rod is connected, and described second connecting rod one end is connected by bearing pin with first connecting rod, and the other end is connected by bearing pin with the second sliding block,
Second sliding block one end is connected by bearing pin with second connecting rod, and the other end connects by the first of bearing pin and later group slider-crank mechanism
Bar connects, and the structure and annexation of other slider-crank mechanisms are identical with first group of slider-crank mechanism, last suite handle
First sliding block of slide block mechanism is only connected with second connecting rod by bearing pin, and the flexible hinge is three-degree of freedom flexible hinge, soft
Property hinge both ends connect two can open up module, two can open up module and can arbitrarily be rotated by the intermediate flexible body of flexible hinge.
The sliding block includes the first sliding block and the second sliding block, and the first sliding block is unilateral to only have an axis pin base, the second sliding block list
There are two axis pin bases side.
The sliding block is nested on cradling piece, is connected by prismatic pair with cradling piece.
The module of opening up includes support and can open up unit.
The angle of slide block movement direction and second connecting rod is more than 90 ° in the slider-crank mechanism, less than 180 °.
The present invention's has the prominent advantages that：
1st, only need that motor is installed at the drive rod of first group of slider-crank mechanism, you can drive this crank block machine
The motion of structure group, motor is few, folding and unfolding mechanism light weight, is easy to transport on Launch Vehicle.
2nd, module can be opened up by connecting two by flexible hinge, by way of array, form different large scale folding exhibition machines
Structure, to meet the needs of different space missions.
3rd, by twice-folded, space folding is realized, is folded than big, gathering small volume, there is higher rigidity and intensity,
The oscillating load in emission process can be born.
4th, all kinematic pairs are revolute pair, and connected mode is simple, useable electric moter driving, by the speed of controlled motor,
The speed of rod member motion is controlled, reaches the effect of increase stability and reliability.
5th, application flexibility hinge between module can be opened up, when that can open up module and shrink, does not have recoil strength and friction between each other,
Under lasting folded state, abrasion will not be also produced.
Brief description of the drawings
Fig. 1 is that the structure for the space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection is shown
It is intended to.
Fig. 2 is the vertical view for the space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection
Figure.
Fig. 3 is that space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection opens up mould
The top view of block its fully unfolded position.
Fig. 4 is that space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection opens up mould
The structural representation of block its fully unfolded position.
Fig. 5 is that space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection opens up mould
The top view of the deployed condition of block half.
Fig. 6 is that space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection opens up mould
The structural representation of the deployed condition of block half.
Fig. 7 is that space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection opens up mould
The structural representation of block completely folded state.
Fig. 8 is the support master for the space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection
View.
Fig. 9 is that the support for the space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection is bowed
View.
Figure 10 is the support for the space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection
Structural representation.
Figure 11 is opening up for the space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection
The structural representation of unit its fully unfolded position.
Figure 12 is opening up for the space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection
The structural representation of unit completely folded state.
Figure 13 is opening up for the space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection
The front view of unit its fully unfolded position.
Figure 14 is the first of the space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection
The structural representation of sliding block.
Figure 15 is the second of the space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection
The structural representation of sliding block.
Figure 16 is the flexibility for the space folding and unfolding mechanism that crank block of the present invention is folding exhibition unit flexible hinge connection
The structural representation of hinge.
In figure mark for：1. support；2. cradling piece；3. first connecting rod；4. second connecting rod；5. the first sliding block；6. second slides
Block；7. flexible hinge.
Embodiment
Technical scheme is further described with reference to the accompanying drawings and examples.
As shown in Fig. 1 to Figure 16, crank block of the present invention rolls over exhibition for the space of folding exhibition unit flexible hinge connection
Mechanism, including support 1, unit and flexible hinge 7 can be opened up, concrete structure and annexation are as follows：
The support 1 is octagon support, has an axis pin base per one side, octagon support passes through pin at axis pin base
Axle is connected with that can open up unit；The unit of opening up includes cradling piece 2 and slider-crank mechanism, the one end of cradling piece 2 by bearing pin with
Support 1 is connected, and both sides are connected by bearing pin with slider-crank mechanism, and slider-crank mechanism includes first connecting rod 3, second connecting rod 4
And sliding block, the one end of first connecting rod 3 are connected by bearing pin with cradling piece 2, the other end is connected by bearing pin with second connecting rod 4, second
The one end of connecting rod 4 is connected by bearing pin with first connecting rod 3, and the other end is connected by bearing pin with the second sliding block 6, the one end of the second sliding block 6
It is connected by bearing pin with second connecting rod 4, the other end is connected by bearing pin with the first connecting rod 3 of later group slider-crank mechanism, its
The structure and annexation of his slider-crank mechanism are identical with first group of slider-crank mechanism, last group of slider-crank mechanism
First sliding block 5 is only connected with second connecting rod 4 by bearing pin, and the flexible hinge 7 is three-degree of freedom flexible hinge, flexible hinge 7
Both ends, which connect two, can open up module, and two can open up module and can arbitrarily be rotated by the intermediate flexible body of flexible hinge 7.
The sliding block includes the first sliding block 5 and the second sliding block 6, and the first sliding block 5 is unilateral to only have an axis pin base, the second sliding block
There are two axis pin bases 6 one side.
The sliding block is nested on cradling piece 2, is connected by prismatic pair with cradling piece 2.
The module of opening up includes support 1 and can open up unit.
Slide block movement direction and the angle of second connecting rod 4 are more than 90 ° in the slider-crank mechanism, less than 180 °.
Operation principle and process：
As shown in Figures 3 to 6, folding and unfolding mechanism is made by its fully unfolded position to half deployed condition, motor driving first connecting rod 3
It is rotated to the direction of cradling piece 2, and first connecting rod 3 drives second connecting rod 4 to be propped up to medial motion, second connecting rod bar 4 with movable slider edge
Hold frame 2 to move inward, sliding block drives the first connecting rod 3 of later group slider-crank mechanism to move to the direction of cradling piece 2, transports with this
Flowing mode goes on always, and then shrinks slider-crank mechanism.
As shown in Figures 5 to 7, folding and unfolding mechanism is by half deployed condition to completely folded state, and motor driven support bar 2 is to machine
Seat 1 moves, and support can be achieved to fold completely when folding 90 °.
Claims (5)
1. a kind of crank block is the space folding and unfolding mechanism of folding exhibition unit flexible hinge connection, including support, unit and soft can be opened up
Property hinge, it is characterised in that concrete structure and annexation are as follows,
The support is octagon support, has an axis pin base per one side, octagon support at axis pin base by bearing pin with
Unit connection can be opened up；The unit of opening up includes cradling piece and slider-crank mechanism, and cradling piece one end is connected by bearing pin and support
Connecing, both sides are connected by bearing pin with slider-crank mechanism, and slider-crank mechanism includes first connecting rod, second connecting rod and sliding block, the
First connecting rod one end of one group of slider-crank mechanism is connected by bearing pin with cradling piece, and the other end is connected by bearing pin and second connecting rod
Connect, described second connecting rod one end is connected by bearing pin with first connecting rod, and the other end is connected by bearing pin with the second sliding block, and second slides
Block one end is connected by bearing pin with second connecting rod, and the other end is connected by the first connecting rod of bearing pin and later group slider-crank mechanism
Connect, the structure and annexation of other slider-crank mechanisms are identical with first group of slider-crank mechanism, last group of crank block
First sliding block of mechanism is only connected with second connecting rod by bearing pin；The flexible hinge is three-degree of freedom flexible hinge, flexible hinge
Chain both ends, which connect two, can open up module, and two can open up module and can arbitrarily be rotated by the intermediate flexible body of flexible hinge.
2. crank block according to claim 1 is the space folding and unfolding mechanism of folding exhibition unit flexible hinge connection, its feature
It is, the sliding block includes the first sliding block and the second sliding block, and the first sliding block is unilateral to only have an axis pin base, and the second sliding block one side has
Two axis pin bases.
3. crank block according to claim 1 is the space folding and unfolding mechanism of folding exhibition unit flexible hinge connection, its feature
It is, the sliding block is nested on cradling piece, is connected by prismatic pair with cradling piece.
4. crank block according to claim 1 is the space folding and unfolding mechanism of folding exhibition unit flexible hinge connection, its feature
It is, the module of opening up includes support and can open up unit.
5. crank block according to claim 1 is the space folding and unfolding mechanism of folding exhibition unit flexible hinge connection, its feature
It is, the angle of slide block movement direction and second connecting rod is more than 90 ° in the slider-crank mechanism, less than 180 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711082538.1A CN107671843A (en) | 2017-11-07 | 2017-11-07 | The space folding and unfolding mechanism that a kind of crank block connects for folding exhibition unit flexible hinge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711082538.1A CN107671843A (en) | 2017-11-07 | 2017-11-07 | The space folding and unfolding mechanism that a kind of crank block connects for folding exhibition unit flexible hinge |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107671843A true CN107671843A (en) | 2018-02-09 |
Family
ID=61146506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711082538.1A Pending CN107671843A (en) | 2017-11-07 | 2017-11-07 | The space folding and unfolding mechanism that a kind of crank block connects for folding exhibition unit flexible hinge |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107671843A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109110155A (en) * | 2018-07-20 | 2019-01-01 | 广西大学 | A kind of imitative cobweb large space development agency |
| 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06336200A (en) * | 1993-05-31 | 1994-12-06 | Toshiba Corp | Folding/unfolding device for expansion structure |
| JP5437444B2 (en) * | 2012-06-04 | 2014-03-12 | 真 内海 | Actuator device and robot device using the same |
| CN103825098A (en) * | 2014-02-18 | 2014-05-28 | 哈尔滨工业大学深圳研究生院 | Framework type spatial foldable antenna unfolding mechanism |
| CN204487580U (en) * | 2015-03-27 | 2015-07-22 | 何建慧 | A kind of three-dimension flexible organ cellular construction for bio-robot |
| CN106299588A (en) * | 2016-08-30 | 2017-01-04 | 长春工业大学 | Circular development agency |
| CN106364700A (en) * | 2016-08-29 | 2017-02-01 | 南京航空航天大学 | Space deployable mechanism designed on basis of posterior wing deployable mechanism of dermaptera insect earwigs |
-
2017
- 2017-11-07 CN CN201711082538.1A patent/CN107671843A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06336200A (en) * | 1993-05-31 | 1994-12-06 | Toshiba Corp | Folding/unfolding device for expansion structure |
| JP5437444B2 (en) * | 2012-06-04 | 2014-03-12 | 真 内海 | Actuator device and robot device using the same |
| CN103825098A (en) * | 2014-02-18 | 2014-05-28 | 哈尔滨工业大学深圳研究生院 | Framework type spatial foldable antenna unfolding mechanism |
| CN204487580U (en) * | 2015-03-27 | 2015-07-22 | 何建慧 | A kind of three-dimension flexible organ cellular construction for bio-robot |
| CN106364700A (en) * | 2016-08-29 | 2017-02-01 | 南京航空航天大学 | Space deployable mechanism designed on basis of posterior wing deployable mechanism of dermaptera insect earwigs |
| CN106299588A (en) * | 2016-08-30 | 2017-01-04 | 长春工业大学 | Circular development agency |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109110155A (en) * | 2018-07-20 | 2019-01-01 | 广西大学 | A kind of imitative cobweb large space development agency |
| 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 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20210604 |