CN107946724A - It is a kind of using six-bar mechanism as the space folding and unfolding mechanism that can open up unit - Google Patents
It is a kind of using six-bar mechanism as the space folding and unfolding mechanism that can open up unit Download PDFInfo
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- CN107946724A CN107946724A CN201711082539.6A CN201711082539A CN107946724A CN 107946724 A CN107946724 A CN 107946724A CN 201711082539 A CN201711082539 A CN 201711082539A CN 107946724 A CN107946724 A CN 107946724A
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- bar
- sliding block
- block spring
- telescopic rod
- hinge
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
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- Aviation & Aerospace Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
It is a kind of using six-bar mechanism as the space folding and unfolding mechanism that can open up unit, including six-bar mechanism, Three-degree of freedom hinge and gasket, the six-bar mechanism includes octagon bearing, bevel edge bar, sliding block spring limit telescopic bar and sliding block spring combination constraint telescopic rod, the gasket includes the first gasket and the second gasket, the octagon bearing is connected by Three-degree of freedom hinge with bevel edge bar one end, the bevel edge bar other end is connected by revolute pair with the first gasket and sliding block spring limit telescopic bar one end, the sliding block spring limit telescopic bar other end combines the connection of constraint telescopic rod one end by revolute pair with the second gasket and sliding block spring；The sliding block spring combination constraint telescopic rod other end is connected by another Three-degree of freedom hinge with octagon bearing.The present invention realizes the space folding of mechanism by folding twice, have the characteristics that folding than it is big, stability is good, reliability is high.
Description
Technical field
It is particularly a kind of using six-bar mechanism as the space folding and unfolding mechanism that can open up unit the present invention relates to a kind of folding and unfolding mechanism.
Background technology
With the development of aerospace industry, to meet the needs of different space missions, more and more space development agencies should
For space missions such as space station, mobile communication, earth observation and celestial body detectings.However, due to the limitation of carrier rocket volume,
It is required that development agency in emission process is delivered, it is necessary to have lightweight, it is big fold the performances such as ratio and high stability, development agency into
After entering space orbit, predetermined structure type can be launched into.
Chinese patent 201210310876.7 discloses a kind of equilateral triangle planar array development agency, which only can be
It is flat-folded, fold than small；Chinese patent 201410055564.5 discloses a kind of space development agency, which opens up list
Member is 10 bar, 10 vice mechanism, and mechanism redundant degree of freedom is larger, and stability is poor；Chinese patent 201610511971.1 discloses
A kind of scissor-type hexagonal prisms can open up the space development agency of unit and its composition, and the patent structure is complicated, when development agency enters
During space orbit, mechanism deploying is more difficult into predetermined structure type.Be badly in need of now it is a kind of big fold it is more fixed than, high intensity, high temperature
Type, high reliability, and simple in structure, the simple space folding and unfolding mechanism of folding process.
At present, there is not yet a kind of have lightweight concurrently, big fold ratio, high accuracy, high intensity, high stability, reliably at the same time
Property it is high the features such as, and space folding process simple space folding and unfolding mechanism invention design.
The content of the invention
The object of the present invention is to provide a kind of using six-bar mechanism as the space folding and unfolding mechanism that can open up unit, it has light weight
Change, it is big fold than, high accuracy, high intensity, high stability, high reliability the characteristics of, and space folding process is simple.
The technical scheme is that：It is a kind of using six-bar mechanism as the space folding and unfolding mechanism that can open up unit, including six bar machines
Structure, Three-degree of freedom hinge and gasket, concrete structure and connection mode are as follows：
The six-bar mechanism includes octagon bearing, Three-degree of freedom hinge, bevel edge bar, sliding block spring limit telescopic bar and cunning
Block spring assembly constrains telescopic rod, and the octagon bearing has eight sides, and each edge is fixed with two Three-degree of freedom hinge
Connection, described bevel edge bar one end are connected by revolute pair with first axle, and the other end passes through revolute pair and the first gasket and sliding block
Spring retainer telescopic rod connects, and described sliding block spring limit telescopic bar one end is connected by revolute pair and the first gasket and bevel edge bar
Connect, the other end combines constraint telescopic rod connection by revolute pair with the second gasket and sliding block spring, and the sliding block spring combination is about
Beam telescopic rod one end is connected by revolute pair with the second gasket and sliding block spring limit telescopic bar, and the other end is by revolute pair and separately
The first axle connection of one Three-degree of freedom hinge；The Three-degree of freedom hinge includes first axle, second hinge and the 3rd hinge
Chain, described first axle one end are connected by revolute pair with bevel edge bar, and the other end is connected by revolute pair with second hinge, described
Second hinge one end is connected by revolute pair with first axle, and the other end is connected by revolute pair with third hinge, and the described 3rd
Hinge one end is connected by revolute pair with second hinge, and the other end is fixedly connected with octagon bearing；The gasket includes first
Gasket and the second gasket.
The octagon bearing is only one of which shape, bearing can also be quadrangle bearing, hexagonal seat or its
His even number of sides shape bearing.
The sliding block spring limit telescopic bar includes the first telescopic rod, the spacing prismatic pair of sliding block spring and the first telescoping cylinder,
First telescopic rod is nested in the first telescoping cylinder, and the first telescopic rod is connected by prismatic pair with the first telescoping cylinder, the cunning
Block spring retainer prismatic pair includes the first spring and cam block, and the spacing prismatic pair of sliding block spring is embedded in the first telescoping cylinder.
Sliding block spring combination constraint telescopic rod includes the second telescopic rod, second spring and the second telescoping cylinder, and described the
Two telescopic rods are nested in the second telescoping cylinder, and second spring is arranged in the second telescoping cylinder, are stretched positioned at the second telescopic rod and second
Between contracting cylinder.
Six bars of the six-bar mechanism are respectively octagon bearing, bevel edge bar, sliding block spring limit telescopic bar and sliding block bullet
Spring combination constraint telescopic rod, wherein sliding block spring limit telescopic bar include the first telescopic rod and the first telescoping cylinder, sliding block spring group
Contract beam telescopic rod includes the second telescopic rod and the second telescoping cylinder.
The present invention's has the prominent advantages that：
1st, folding and unfolding mechanism by folding, it can be achieved that the space folding of mechanism, folds than big twice.
2nd, during folding and unfolding mechanism its fully unfolded position, bevel edge bar, sliding block spring limit telescopic bar and sliding block spring combination constraint
Telescopic rod forms isosceles right triangle, and mechanism is in stable state；When half unfolded state of development agency and completely folded state,
Bevel edge bar, sliding block spring limit telescopic bar and sliding block spring combination constraint telescopic rod form isosceles triangle, and mechanism, which is in, to be stablized
State, mechanism stable performance is good, and reliability is high.
3rd, folding and unfolding mechanism can be expanded by the form of array, to meet different space mission demands.
Brief description of the drawings
Fig. 1 is bowing using six-bar mechanism as its fully unfolded position for the space folding and unfolding mechanism that can open up unit of the present invention
View.
Fig. 2 is the knot of its fully unfolded position of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
Structure schematic diagram.
Fig. 3 is the vertical view of half unfolded state of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
Figure.
Fig. 4 is the structure of half unfolded state of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
Schematic diagram.
Fig. 5 is the knot of the completely folded state of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
Structure schematic diagram.
Fig. 6 be it is of the present invention using six-bar mechanism as the octagon bearing for the space folding and unfolding mechanism that can open up unit and three from
By spending hinged structure diagram.
Fig. 7 is the sliding block spring limit telescopic of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
The extended configuration structure diagram of bar.
Fig. 8 is the sliding block spring limit telescopic of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
The contraction state structure diagram of bar.
Fig. 9 is the sliding block spring limit telescopic of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
The extended configuration sectional view of bar.
Figure 10 is the sliding block spring spacing shifting of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
The configuration state figure that dynamic pair is compressed in the first telescoping cylinder.
Figure 11 is the sliding block spring spacing shifting of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
The configuration state figure that dynamic pair stretches in the first telescoping cylinder.
Figure 12 is the sliding block spring spacing shifting of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
Move secondary extended configuration sectional view.
Figure 13 is the sliding block spring spacing shifting of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
Move secondary compressive state sectional view.
Figure 14 is the structure of the first gasket of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
Schematic diagram.
Figure 15 is the structure of the second gasket of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit
Schematic diagram.
Figure 16 is that the sliding block spring of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit combines about
The structure diagram of beam telescopic rod.
Figure 17 is that the sliding block spring of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit combines about
The sectional view of beam telescopic rod extended configuration.
Figure 18 is that the sliding block spring of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit combines about
The sectional view of beam telescopic rod compressive state.
In figure mark for：1. octagon bearing；2. Three-degree of freedom hinge；21. first axle；22. second hinge；23. the
Three hinges；3. bevel edge bar；4. the first gasket；5. sliding block spring limit telescopic bar；51. the first telescopic rod；52. sliding block spring is spacing
Prismatic pair；521. first springs；522. cam block；53. the first telescoping cylinder；6. the second gasket；7. sliding block spring combination constraint
Telescopic rod；71. the second telescopic rod；72. second spring；73. the second telescoping cylinder.
Embodiment
Illustrated embodiment is further described technical scheme below in conjunction with the accompanying drawings.
It is of the present invention using six-bar mechanism as the space folding and unfolding mechanism that can open up unit, including six as shown in Fig. 1 to Figure 18
Linkage, Three-degree of freedom hinge 2 and gasket, concrete structure and connection mode are as follows：
The six-bar mechanism includes octagon branch 1, bevel edge bar 3, sliding block spring limit telescopic bar 5 and sliding block spring combination about
Beam telescopic rod 7, the octagon bearing 1 has eight sides, and each edge is fixedly connected with two Three-degree of freedom hinge 2, described
3 one end of bevel edge bar is connected by revolute pair with first axle 21, and the other end is limited by revolute pair and the first gasket 4 and sliding block spring
Position telescopic rod 5 connects, and described 5 one end of sliding block spring limit telescopic bar is connected by revolute pair with the first gasket 4 and bevel edge bar 3,
The other end is combined constraint telescopic rod 7 with the second gasket 6 and sliding block spring by revolute pair and connected, the sliding block spring combination constraint
7 one end of telescopic rod is connected by revolute pair with the second gasket 6 and sliding block spring limit telescopic bar 5, the other end by revolute pair with
The first axle 21 of another Three-degree of freedom hinge 2 connects；The Three-degree of freedom hinge 2 includes first axle 21, second hinge
22 and third hinge 23, described 21 one end of first axle be connected by revolute pair with bevel edge bar 3, the other end passes through revolute pair and the
Two hinge 22 connects, and described 22 one end of second hinge is connected by revolute pair with first axle 21, the other end by revolute pair with
Third hinge 23 connects, and described 23 one end of third hinge is connected by revolute pair with second hinge 22, the other end and octagon branch
Seat 1 is fixedly connected；The gasket includes the first gasket 5 and the second gasket 6.
The octagon bearing 1 be only one of which shape, its bearing can also be quadrangle bearing, hexagonal seat or
Other even number of sides shape bearings.
The sliding block spring limit telescopic bar 5 includes the first telescopic rod 51, the spacing prismatic pair 52 of sliding block spring and first is stretched
Contracting cylinder 53, first telescopic rod 51 are nested in the first telescoping cylinder 53, and the first telescopic rod 51 is flexible by prismatic pair and first
Cylinder 53 connects, and the spacing prismatic pair 52 of sliding block spring includes the first spring 521 and cam block 522, the spacing shifting of sliding block spring
Dynamic pair 52 is embedded in the first telescoping cylinder 53.
The sliding block spring combination constraint telescopic rod 7 includes the second telescopic rod 71,72 and second telescoping cylinder 73 of second spring,
Second telescopic rod 71 is nested in the second telescoping cylinder 73, and second spring 72 is arranged in the second telescoping cylinder 73, positioned at second
Between 71 and second telescoping cylinder 73 of telescopic rod.
Six bars of the six-bar mechanism are respectively octagon bearing 1, bevel edge bar 3, sliding block spring limit telescopic bar 5 and sliding block
Spring assembly constrains telescopic rod 7, and wherein sliding block spring limit telescopic bar 5 includes the first telescopic rod 51 and the first telescoping cylinder 53, sliding
Block spring assembly constraint telescopic rod 7 includes the second telescopic rod 71 and the second telescoping cylinder 73.
Operation principle and process：
As shown in figures 1 and 3, development agency is by its fully unfolded position to half unfolded state, Three Degree Of Freedom hinge fixed first
Second hinge 22 and third hinge 23 in chain 2, only rotate first axle 21, then flexible to sliding block spring combination constraint at the same time
Bar 7 applies pressure and sliding block spring limit telescopic bar 5 applies external force, telescopic rod is moved in telescoping cylinder, until sliding block spring
The sum of length of limit telescopic bar 5 and sliding block spring combination constraint telescopic rod 7 is equal to the length of bevel edge bar 3.The institute of bevel edge bar 3 at this time
Plane included angle in straight line and Three-degree of freedom hinge 2 where three revolute pair axis is 22.5 °；Sliding block spring is spacing at this time stretches
Contracting bar 5 and sliding block spring combination constraint 7 place straight line of telescopic rod and putting down where three revolute pair axis in Three-degree of freedom hinge 2
Face angle is 22.5 °.
As shown in Figure 3 and Figure 5, development agency is by half unfolded state to completely folded state, first by bevel edge bar 3 and sliding block
Spring assembly constraint telescopic rod 7 be connected with Three-degree of freedom hinge 2 in first axle 21 and second hinge 22 fix, only make the 3rd
Hinge 23 rotates, then bevel edge bar 3 and sliding block spring is combined constraint telescopic rod 7 and is turned to the inside 22.5 ° at the same time, at this time bevel edge bar
3rd, in sliding block spring limit telescopic bar 5 and sliding block spring constraint combination telescopic rod 7 are generally aligned in the same plane, Three Degree Of Freedom is then fixed
First axle 21 and third hinge 23 in hinge 2, only make second hinge 22 rotate 90 °, you can realize and fold completely.
As shown in Fig. 7 to Figure 13, to 51 applying power of the first telescopic rod, when active force is more than the spacing prismatic pair 52 of sliding block spring
During resistance, the first spring 521 compresses, and cam block 522 declines, and in embedded first telescoping cylinder 53, the first telescopic rod 51 can be the
Moved in one telescoping cylinder 53.
As shown in Figure 16 to Figure 18,72 one end of second spring is connected with the second telescopic rod 71, the other end and the second telescoping cylinder
73 connections, by making the second telescopic rod 71 be moved in the second telescoping cylinder 73 second telescopic rod, 71 applying power.
Claims (5)
1. it is a kind of using six-bar mechanism as the space folding and unfolding mechanism that can open up unit, including six-bar mechanism, Three-degree of freedom hinge and gasket,
It is characterized in that, concrete structure and connection mode are as follows：
The six-bar mechanism includes octagon bearing, bevel edge bar, sliding block spring limit telescopic bar and sliding block spring combination constraint and stretches
Contracting bar, the octagon bearing has eight sides, and each edge is fixedly connected with two Three-degree of freedom hinge, the bevel edge bar one
End is connected by revolute pair with first axle, and the other end is connected by revolute pair and the first gasket and sliding block spring limit telescopic bar
Connect, described sliding block spring limit telescopic bar one end is connected by revolute pair with the first gasket and bevel edge bar, and the other end passes through rotation
Pair combines constraint telescopic rod connection with the second gasket and sliding block spring, and described sliding block spring combination constraint telescopic rod one end is by turning
Dynamic pair is connected with the second gasket and sliding block spring limit telescopic bar, and the other end passes through revolute pair and another Three-degree of freedom hinge
First axle connects；The Three-degree of freedom hinge includes first axle, second hinge and third hinge, described first axle one end
It is connected by revolute pair with bevel edge bar, the other end is connected by revolute pair with second hinge, and described second hinge one end is by turning
Dynamic pair is connected with first axle, and the other end is connected by revolute pair with third hinge, and described third hinge one end passes through revolute pair
It is connected with second hinge, the other end is fixedly connected with octagon bearing；The gasket includes the first gasket and the second gasket.
It is 2. according to claim 1 using six-bar mechanism as the space folding and unfolding mechanism that can open up unit, it is characterised in that described eight
Side shape bearing is only one of which shape, and bearing can also be quadrangle bearing, hexagonal seat or other even number of sides shape bearings.
It is 3. according to claim 1 using six-bar mechanism as the space folding and unfolding mechanism that can open up unit, it is characterised in that the cunning
Block spring retainer telescopic rod includes the first telescopic rod, the spacing prismatic pair of sliding block spring and the first telescoping cylinder, first telescopic rod
It is nested in the first telescoping cylinder, the first telescopic rod is connected by prismatic pair with the first telescoping cylinder, the spacing movement of sliding block spring
Pair includes the first spring and cam block, and the spacing prismatic pair of sliding block spring is embedded in the first telescoping cylinder.
It is 4. according to claim 1 using six-bar mechanism as the space folding and unfolding mechanism that can open up unit, it is characterised in that the cunning
Block spring assembly constraint telescopic rod includes the second telescopic rod, second spring and the second telescoping cylinder, and second telescopic rod is nested in
In second telescoping cylinder, second spring is arranged in the second telescoping cylinder, between the second telescopic rod and the second telescoping cylinder.
It is 5. according to claim 1 using six-bar mechanism as the space folding and unfolding mechanism that can open up unit, it is characterised in that described six
Six bars of linkage are respectively that octagon bearing, bevel edge bar, sliding block spring limit telescopic bar and sliding block spring combination constraint are flexible
Bar, wherein sliding block spring limit telescopic bar include the first telescopic rod and the first telescoping cylinder, sliding block spring combination constraint telescopic rod bag
Include the second telescopic rod and the second telescoping cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711082539.6A CN107946724B (en) | 2017-11-07 | 2017-11-07 | A kind of with six-bar mechanism is the space folding and unfolding mechanism that can open up unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711082539.6A CN107946724B (en) | 2017-11-07 | 2017-11-07 | A kind of with six-bar mechanism is the space folding and unfolding mechanism that can open up unit |
Publications (2)
| Publication Number | Publication Date |
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| CN107946724A true CN107946724A (en) | 2018-04-20 |
| CN107946724B CN107946724B (en) | 2019-10-11 |
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| CN201711082539.6A Active CN107946724B (en) | 2017-11-07 | 2017-11-07 | A kind of with six-bar mechanism is the space folding and unfolding mechanism that can open up unit |
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Cited By (4)
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|---|---|---|---|---|
| CN109592167A (en) * | 2018-10-18 | 2019-04-09 | 天津大学 | A kind of telescopic box-shaped structure of single-degree-of-freedom rotational symmetry |
| CN111293403A (en) * | 2020-02-14 | 2020-06-16 | 北京工业大学 | Single-degree-of-freedom symmetrical space coupling deployable unit and space deployable mechanism based on same |
| CN112319855A (en) * | 2020-11-06 | 2021-02-05 | 哈尔滨工业大学 | Spatial extensible prism unit for on-orbit assembly |
| CN112550762A (en) * | 2019-09-25 | 2021-03-26 | 华东交通大学 | Novel single-degree-of-freedom planar deployable mechanism network composed of three-symmetrical Bricard mechanisms |
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| CN205499405U (en) * | 2016-03-18 | 2016-08-24 | 燕山大学 | Single degree of freedom crosses restraint formula of cutting can open up unit and mechanism can be opened up in space of constituteing thereof |
| CN205572287U (en) * | 2016-04-04 | 2016-09-14 | 熊陵 | Collapsible telescopic T type box spanner pole |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109592167A (en) * | 2018-10-18 | 2019-04-09 | 天津大学 | A kind of telescopic box-shaped structure of single-degree-of-freedom rotational symmetry |
| CN112550762A (en) * | 2019-09-25 | 2021-03-26 | 华东交通大学 | Novel single-degree-of-freedom planar deployable mechanism network composed of three-symmetrical Bricard mechanisms |
| CN112550762B (en) * | 2019-09-25 | 2022-12-02 | 华东交通大学 | Novel single-degree-of-freedom planar deployable mechanism network composed of three-symmetrical Bricard mechanisms |
| CN111293403A (en) * | 2020-02-14 | 2020-06-16 | 北京工业大学 | Single-degree-of-freedom symmetrical space coupling deployable unit and space deployable mechanism based on same |
| CN111293403B (en) * | 2020-02-14 | 2021-06-25 | 北京工业大学 | Single-degree-of-freedom symmetrical space coupling deployable unit and space deployable mechanism based on same |
| CN112319855A (en) * | 2020-11-06 | 2021-02-05 | 哈尔滨工业大学 | Spatial extensible prism unit for on-orbit assembly |
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