CN108858196B - Large-space four-configuration-transformation extensible mechanism - Google Patents
Large-space four-configuration-transformation extensible mechanism Download PDFInfo
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- CN108858196B CN108858196B CN201810810309.5A CN201810810309A CN108858196B CN 108858196 B CN108858196 B CN 108858196B CN 201810810309 A CN201810810309 A CN 201810810309A CN 108858196 B CN108858196 B CN 108858196B
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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
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
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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
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Abstract
The large-space four-configuration-transformation deployable mechanism comprises a side link, a telescopic shearing fork unit, a hinge and a chassis, wherein one end of the side link is connected with one end of a two-degree-of-freedom hinge through a pin shaft, the other end of the side link is connected with a three-degree-of-freedom hinge through a pin shaft, the telescopic shearing fork unit comprises a telescopic connecting rod and a guide rod groove, one end of the telescopic connecting rod is connected with the three-degree-of-freedom hinge through the pin shaft, the other end of the telescopic connecting rod is connected with the guide rod groove through a moving pair, the hinge is divided into the two-degree-of-freedom hinge and the three-degree-of-freedom hinge, and the other end of the two-degree-of-freedom hinge is connected with the chassis through the pin shaft. The invention can change from a plane configuration to a triangular prism, a quadrangular prism and a pentagonal prism configuration, has the characteristics of simple structure, stable unfolding, large folding ratio and changeable quadrangular configuration, and is flexibly applied to the aerospace vehicle support frame.
Description
Technical Field
The invention relates to the field of space deployable mechanisms, in particular to a large-space four-configuration transformation deployable mechanism.
Background
With the vigorous development of the aerospace industry, exploration on outer space is also deepened gradually, some large-scale spacecraft supports such as radar antenna supports and large-caliber space antenna supports need to be transported to the outer space, and some in-orbit spacecrafts select different spacecraft supports according to different tasks to meet the aerospace requirements; at present, a space folding and unfolding mechanism and a support frame of a spacecraft can form the space folding and unfolding mechanism with stable unfolding and large folding ratio through an array or topology of folding and unfolding units.
Chinese patent 201010176640.X discloses a spatial scissor type telescopic mechanism having a single configuration of a trilateral unit; chinese patent 201210310520.3 discloses a planar array deployable mechanism based on square cells, which has a small folding ratio and is planar.
The innovative invention design of the large-space four-configuration-transformation deployable mechanism with the characteristics of simple structure, stable unfolding, large folding ratio and four-configuration-transformation capability is not found.
Disclosure of Invention
The invention aims to provide a large-space four-configuration-transformation deployable mechanism which has the characteristics of simple structure, stable deployment, large folding ratio and four-configuration-transformation variability and is flexibly applied to an aerospace vehicle support frame.
The technical scheme of the invention is as follows: a large-space four-configuration-transformation extensible mechanism comprises an upper extensible mechanism, a lower extensible mechanism and five extensible scissor units;
the upper extensible mechanism comprises an upper chassis, five two-degree-of-freedom hinges, five three-degree-of-freedom hinges, a first side link, a second side link, a third side link, a fourth side link and a fifth side link; the three-degree-of-freedom hinge comprises a first pin shaft seat, a second pin shaft seat and a third pin shaft seat;
the upper chassis is a quincuncial chassis, five pin shaft seats with the same size are uniformly distributed on the upper chassis, each pin shaft seat is connected with one end of a two-degree-of-freedom hinge through a pin shaft, the other ends of the five two-degree-of-freedom hinges are fixedly connected with one ends of a first connecting frame rod, a second connecting frame rod, a third connecting frame rod, a fourth connecting frame rod and a fifth connecting frame rod through pin shafts, and the other ends of the first connecting frame rod, the second connecting frame rod, the third connecting frame rod, the fourth connecting frame rod and the fifth connecting frame rod are respectively connected with a second pin shaft seat of the corresponding three-degree-of-freedom hinge through pin shafts;
the lower extensible mechanism comprises a lower chassis, five two-degree-of-freedom hinges, five three-degree-of-freedom hinges, a first side link, a second side link, a third side link, a fourth side link and a fifth side link; the three-degree-of-freedom hinge comprises a first pin shaft seat, a second pin shaft seat and a third pin shaft seat;
the lower chassis is a quincuncial chassis, five pin shaft seats with the same size are uniformly distributed on the lower chassis, each pin shaft seat is connected with one end of a two-degree-of-freedom hinge through a pin shaft, the other ends of the five two-degree-of-freedom hinges are fixedly connected with one ends of a first side link, a second side link, a third side link, a fourth side link and a fifth side link through pin shafts, and the other ends of the first side link, the second side link, the third side link, the fourth side link and the fifth side link are respectively connected with a second pin shaft seat of the corresponding three-degree-of-freedom hinge through pin shafts;
the upper extensible mechanism and the lower extensible mechanism are connected into an integral structure through the five telescopic scissor units;
each telescopic scissors unit is composed of four telescopic connecting rods and two guide rod grooves, the four telescopic connecting rods are respectively connected with a first pin shaft seat of one three-degree-of-freedom hinge of the upper extensible mechanism, a third pin shaft seat of the other three-degree-of-freedom hinge adjacent to the one three-degree-of-freedom hinge, a first pin shaft seat of one three-degree-of-freedom hinge of the lower extensible mechanism and a third pin shaft seat of the other three-degree-of-freedom hinge adjacent to the one three-degree-of-freedom hinge of the lower extensible mechanism through pin shafts, and the other ends of the four telescopic connecting rods are respectively connected with the guide rod grooves through moving pairs.
The telescopic scissors units form a prism surface.
The invention has the outstanding advantages that:
1. the mechanism can realize plane-space folding and unfolding through folding or unfolding motion of the telescopic scissors units, and can realize transformation from a plane configuration to different configurations such as a triangular prism, a quadrangular prism, a pentagonal prism and the like.
2. The mechanism has the advantages of single component type, simple structure assembly, stable unfolding and large folding ratio.
Drawings
Fig. 1 is a schematic plan configuration structure diagram of a large-space four-configuration-transformation deployable mechanism according to the present invention.
Fig. 2 is a front view of a planar configuration structure of a large-space four-configuration-transformation deployable mechanism according to the present invention.
Fig. 3 is a schematic diagram of a triangular prism configuration structure of a large-space four-configuration transformation deployable mechanism according to the present invention.
Fig. 4 is a schematic diagram of a quadrangular prism structure of the large-space configurable mechanism with four structural transformations according to the present invention.
Fig. 5 is a schematic structural diagram of a pentagonal prism of the large-space four-configuration-transformation deployable mechanism according to the present invention.
Fig. 6 is a schematic structural diagram of a telescopic scissors unit of a large-space four-configuration-transformation deployable mechanism according to the present invention.
Fig. 7 is a schematic diagram of a telescopic link of a large-space four-configuration-transformation deployable mechanism according to the present invention.
Fig. 8 is a schematic view of a two-degree-of-freedom hinge structure of a large-space four-configuration-transformation deployable mechanism according to the present invention.
Fig. 9 is a schematic view of the connection between the side link and the hinge of the large-space four-configuration-transformation deployable mechanism according to the present invention.
Fig. 10 is a schematic structural diagram of a chassis of a large-space four-configuration-transformation deployable mechanism according to the present invention.
Fig. 11 is a schematic diagram of a three-degree-of-freedom hinge structure of a large-space four-configuration-transformation deployable mechanism according to the present invention.
Labeled as: 1. the novel multi-freedom-degree shear arm comprises an upper chassis, a lower chassis, a two-freedom-degree hinge, a three-freedom-degree hinge, a first pin shaft seat, a second pin shaft seat, a third pin shaft seat, a first connecting rod, a second connecting rod, a third connecting rod, a connecting rod groove, a telescopic connecting rod, a first group of telescopic shearing fork units, a second group of telescopic shearing fork units, a third group of telescopic shearing fork units, a fourth group of telescopic shearing fork units, a 105, a fifth group of telescopic shearing fork units, a first connecting rod group, a second connecting rod group, a third connecting rod group, a fourth group of telescopic shearing fork units, a fourth group, a first connecting rod group, a second connecting rod group and a third group.
Detailed Description
The technical solution of the present invention is further described with reference to the accompanying drawings and embodiments.
As shown in fig. 1 to 11, the large-space four-configuration-transformation deployable mechanism according to the present invention includes a side link, a retractable scissors unit, a hinge and a chassis, and is characterized in that the specific structure and connection relationship are as follows:
the side link comprises a first side link 5-1, a second side link 5-2, a third side link 5-3, a fourth side link 5-4 and a fifth side link 5-5, one end of the first side link 5-1 is fixedly connected with one end of the two-degree-of-freedom hinge 3 through a pin shaft, the other end of the first side link is connected with a second pin shaft seat 4-2 of the three-degree-of-freedom hinge 4 through a pin shaft, and the structures and the connection relations of the other four side links and the first side link 5-1 are completely the same;
the telescopic scissors units comprise a first group of telescopic scissors units 101, a second group of telescopic scissors units 102, a third group of telescopic scissors units 103, a fourth group of telescopic scissors units 104 and a fifth group of telescopic scissors units 105, the first group of telescopic scissors units 101 comprise a telescopic connecting rod 7 and a guide rod groove 6, one end of the telescopic connecting rod 7 is connected with a first pin shaft seat 4-1 of the three-degree-of-freedom hinge 4 through a pin shaft, the other end of the telescopic connecting rod is connected with the guide rod groove 6 through a moving pair, and the structures and the connection relations of the other four groups of telescopic scissors units and the first group of telescopic scissors units 101 are completely the same;
the hinge is divided into a two-degree-of-freedom hinge 3 and a three-degree-of-freedom hinge 4, the other end of the two-degree-of-freedom hinge 3 is connected with the upper chassis 1 through a pin shaft, and a third pin shaft seat 4-3 of the three-degree-of-freedom hinge 4 is connected with one end of a telescopic connecting rod 7 of an adjacent telescopic scissor unit through a pin shaft;
the chassis is a quincuncial chassis and comprises an upper chassis 1 and a lower chassis 2, five pin shaft seats with the same size are uniformly distributed on the upper chassis 1, each pin shaft seat is connected with a two-degree-of-freedom hinge 3 through a pin shaft, and the structure and the connection relation of the lower chassis 2 and the upper chassis 1 are completely the same.
The telescopic scissors fork units are composed of four telescopic connecting rods 7 and two guide rod grooves 6, and two groups of adjacent telescopic scissors fork units are mutually connected through a connecting rod and a three-degree-of-freedom hinge 4 as a shared part.
The three-degree-of-freedom hinge 4 comprises three pin shaft seats, namely a first pin shaft seat 4-1, a second pin shaft seat 4-2 and a third pin shaft seat 4-3.
The long connecting rods form a prism framework, and the telescopic scissors units form prism surfaces.
The working principle and the process are as follows:
as shown in fig. 1-2, the first set 101 and the fourth set 104 are in a maximum extended state, and the second set 102, the third set 103 and the fifth set 105 are in a compressed energy accumulation state, wherein the first link set 201 compresses the fifth set 105, the second link set 202 compresses the third set 103, the third link 5-3 and the second link set 202 compresses the second set 102.
As shown in fig. 3, which is a triangular prism configuration of the mechanism, on the basis of a planar configuration, the energy accumulated in the second group of retractable scissors units 102 compressed by the third side link 5-3 and the second side link group 202 is released, and the second group of retractable scissors units 102 perform an unfolding motion, so as to drive the retractable connecting rod 7 to perform an outward stretching motion in the guide rod groove 6; at the moment, the first group of telescopic scissor units 101 and the fourth group of telescopic scissor units 104 are drawn in and drive the telescopic connecting rods 7 to be compressed and moved inwards in the guide rod grooves 6, and when the three groups of telescopic scissor units synchronously complete the unfolding state, the mechanism is transformed from the plane configuration to the triangular prism configuration; at this time, the third group of retractable scissors unit 103 is compressed by the second linkage 202 and stores energy, and the fifth group of retractable scissors unit 105 is compressed by the first linkage 201 and stores energy.
As shown in fig. 4, the mechanism has a quadrangular prism configuration, and energy accumulated in the third group of retractable scissors units 103 compressed by the second linking rod group 202 is released on the basis of the triangular prism configuration, so that the third group of retractable scissors units 103 perform unfolding motion to drive the retractable links 7 to perform stretching movement outwards in the guide rod grooves 6, and simultaneously, the second linking rod group 202 is unfolded into the first linking rod 5-1 and the second linking rod 5-2; at the moment, the first group of telescopic scissors unit 101, the second group of telescopic scissors unit 102 and the fourth group of telescopic scissors unit 104 are drawn in, and simultaneously drive the telescopic connecting rod 7 to be compressed and moved inwards in the guide rod groove 6, and when the four groups of telescopic scissors units synchronously complete the unfolding state, the mechanism is transformed from the triangular prism configuration to the quadrangular prism configuration; at this point the fifth set of retractable scissors elements 105 are compressed by the first set of linkages 201 and accumulate energy.
As shown in fig. 5, the mechanism has a pentagonal prism configuration, and the energy accumulated in the fifth group of retractable scissors units 105 compressed by the first link group 201 is released on the basis of the pentagonal prism configuration, so that the fifth group of retractable scissors units 105 perform an unfolding motion to drive the retractable links 7 to perform an outward stretching motion in the guide bar slots 6, and simultaneously the first link group 201 unfolds into the fourth link bar 5-4 and the fifth link bar 5-5; at this time, the first group of retractable scissors unit 101, the second group of retractable scissors unit 102, the third group of retractable scissors unit 103 and the fourth group of retractable scissors unit 104 are drawn together, and simultaneously, the retractable connecting rod 7 is driven to be compressed and moved inwards in the guide rod groove 6, and when the five groups of retractable scissors units synchronously complete the unfolding state, the mechanism completes the transformation from the quadrangular prism configuration to the pentagonal prism configuration.
Claims (2)
1. A large-space four-configuration-transformation extensible mechanism is characterized by comprising an upper extensible mechanism, a lower extensible mechanism and five telescopic scissor units;
the upper extensible mechanism comprises an upper chassis, five two-degree-of-freedom hinges, five three-degree-of-freedom hinges, a first side link, a second side link, a third side link, a fourth side link and a fifth side link; the three-degree-of-freedom hinge comprises a first pin shaft seat, a second pin shaft seat and a third pin shaft seat;
the upper chassis is a quincuncial chassis, five pin shaft seats with the same size are uniformly distributed on the upper chassis, each pin shaft seat is connected with one end of a two-degree-of-freedom hinge through a pin shaft, the other ends of the five two-degree-of-freedom hinges are fixedly connected with one ends of a first connecting frame rod, a second connecting frame rod, a third connecting frame rod, a fourth connecting frame rod and a fifth connecting frame rod through pin shafts, and the other ends of the first connecting frame rod, the second connecting frame rod, the third connecting frame rod, the fourth connecting frame rod and the fifth connecting frame rod are respectively connected with a second pin shaft seat of the corresponding three-degree-of-freedom hinge through pin shafts;
the lower extensible mechanism comprises a lower chassis, five two-degree-of-freedom hinges, five three-degree-of-freedom hinges, a first side link, a second side link, a third side link, a fourth side link and a fifth side link; the three-degree-of-freedom hinge comprises a first pin shaft seat, a second pin shaft seat and a third pin shaft seat;
the lower chassis is a quincuncial chassis, five pin shaft seats with the same size are uniformly distributed on the lower chassis, each pin shaft seat is connected with one end of a two-degree-of-freedom hinge through a pin shaft, the other ends of the five two-degree-of-freedom hinges are fixedly connected with one ends of a first side link, a second side link, a third side link, a fourth side link and a fifth side link through pin shafts, and the other ends of the first side link, the second side link, the third side link, the fourth side link and the fifth side link are respectively connected with a second pin shaft seat of the corresponding three-degree-of-freedom hinge through pin shafts;
the upper extensible mechanism and the lower extensible mechanism are connected into an integral structure through the five telescopic scissor units;
each telescopic scissors unit is composed of four telescopic connecting rods and two guide rod grooves, the four telescopic connecting rods are respectively connected with a first pin shaft seat of one three-degree-of-freedom hinge of the upper extensible mechanism, a third pin shaft seat of the other three-degree-of-freedom hinge adjacent to the one three-degree-of-freedom hinge, a first pin shaft seat of one three-degree-of-freedom hinge of the lower extensible mechanism and a third pin shaft seat of the other three-degree-of-freedom hinge adjacent to the one three-degree-of-freedom hinge of the lower extensible mechanism through pin shafts, and the other ends of the four telescopic connecting rods are respectively connected with the guide rod grooves through moving pairs.
2. The mechanism of claim 1, wherein the retractable scissors elements are formed as prism faces.
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| CN201810810309.5A CN108858196B (en) | 2018-07-20 | 2018-07-20 | Large-space four-configuration-transformation extensible mechanism |
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| CN201810810309.5A CN108858196B (en) | 2018-07-20 | 2018-07-20 | Large-space four-configuration-transformation extensible mechanism |
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| CN108858196B true CN108858196B (en) | 2021-07-20 |
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| CN112575901B (en) * | 2020-12-11 | 2021-10-19 | 长沙理工大学 | Single-degree-of-freedom extensible unit and cylindrical surface extensible mechanism formed by same |
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