CN110797625B - Scissor-fork type deployable antenna mechanism based on rolling hinge - Google Patents
Scissor-fork type deployable antenna mechanism based on rolling hinge Download PDFInfo
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- CN110797625B CN110797625B CN201910944959.3A CN201910944959A CN110797625B CN 110797625 B CN110797625 B CN 110797625B CN 201910944959 A CN201910944959 A CN 201910944959A CN 110797625 B CN110797625 B CN 110797625B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/1235—Collapsible supports; Means for erecting a rigid antenna
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
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Abstract
The invention relates to a scissor type deployable antenna mechanism based on a rolling hinge, which comprises a scissor type deploying unit and a supporting driving unit, wherein the scissor type deploying unit comprises a scissor type deploying mechanism body and a scissor type deploying mechanism body; the supporting driving unit comprises a support column and a sliding disc, and the scissor type unfolding unit comprises a first-stage unfolding unit and a second-stage unfolding unit; the first-stage unfolding unit comprises two identical first rod pieces, a rolling hinge with a sliding groove and a rolling hinge with a boss; the second-stage unfolding unit comprises two identical second rod pieces, a rolling hinge with a sliding groove and a rolling hinge with a boss; the support driving unit and the sleeve type inhaul cable unit are attached to the bottom plate of the support column when in the unfolding state, the sleeve is locked by the internal locking mechanism, the inhaul cable is in the tightening state, the stability is good after the structure is locked, and the use rigidity requirement of the space large-caliber unfolding antenna can be met.
Description
Technical Field
The invention relates to a scissor type deployable antenna mechanism based on a rolling hinge, and belongs to the technical field of aerospace equipment and equipment.
Background
Currently, exploration of the space outside the earth becomes a hot research content of scientific communities of various countries in the world, space mechanisms cannot be left in space exploration tasks of various forms, and an expandable support mechanism is one of the most abundant space mechanisms, the earliest research and the most wide application. The expandable support mechanism is mainly used for driving a flexible solar cell sailboard to form a space telescope, an aperture radar, a satellite antenna and the like in various space detection tasks. With the rapid development of deep space exploration technology and the requirement of complex exploration tasks, the requirements on an expandable support mechanism with high storage ratio, high rigidity, easiness in driving and locking and ultra-light weight are more and more urgent. The expandable support mechanism has been developed to this day, and the structural form thereof is various, wherein the hinged expandable support mechanism has the characteristics of large rigidity, high reliability and large bearing capacity, and is widely applied, but the existing hinged expandable support mechanism mostly has the problem of low storage ratio due to common rotary hinge.
Disclosure of Invention
The technical problem solved by the invention is as follows: in order to overcome the defects of the prior art, the scissor type deployable antenna mechanism based on the rolling hinge is provided, and the scissor type deployable antenna mechanism consists of a scissor type deploying unit, a supporting driving unit and a pull rope, so that the problems of low storage ratio and rotation hinge thickness interference of the existing hinge type deployable supporting mechanism are solved.
The technical scheme of the invention is as follows:
a scissor type deployable antenna mechanism based on a rolling hinge comprises a scissor type deploying unit and a supporting driving unit;
the support drive unit includes a post and a sliding disk,
the scissor type unfolding unit comprises a first-stage unfolding unit and a second-stage unfolding unit;
the first-stage unfolding unit comprises two identical first rod pieces, a rolling hinge with a sliding groove and a rolling hinge with a boss;
the second-stage unfolding unit comprises two identical second rod pieces, a rolling hinge with a sliding groove and a rolling hinge with a boss;
two first rod pieces in the first-stage unfolding unit are rotatably connected at the centers of the two rod pieces, one end of each first rod piece is rotatably connected to the sliding disc, and the other end of each first rod piece is in rolling hinge joint with a second rod piece in the second-stage unfolding unit through a rolling hinge with a sliding groove or a rolling hinge with a boss;
one end of the other first rod piece in the first-stage unfolding unit is rotatably connected to the support, and the other end of the first rod piece is in rolling hinge joint with the second rod piece in the second-stage unfolding unit through a rolling hinge with a sliding groove or a rolling hinge with a boss;
two second rod pieces in the second-stage unfolding unit are rotatably connected at the centers of the two rod pieces, and two ends of each second rod piece are respectively in rolling hinge joint with the adjacent scissor type unfolding unit through rolling hinges with sliding grooves or rolling hinges with bosses;
under the complete unfolding and folding states, the two rods of each stage of unfolding unit can rotate to the same plane;
the pillar penetrates through the center of the sliding disc, and the first-stage unfolding unit is driven to unfold or fold by the up-and-down movement of the sliding disc, so that the subsequent second-stage unfolding unit is driven to unfold or fold.
Furthermore, when the whole mechanism is unfolded in a furled state, radial driving force is applied to the rotating connection position of the first-stage unfolding unit, the sliding disc and the strut base, the sliding disc is driven to move, and therefore the whole mechanism is driven to unfold.
Further, the antenna mechanism is expanded by adding the second-stage unfolding units in groups.
Further, still include telescopic cable unit and slip stand, slip stand cup joints with the pillar is coaxial, telescopic cable unit includes sliding sleeve and cable, sliding sleeve cup joints on the slip stand, when the development unit expandes, the slip stand moves down to extreme position and locks the slip stand position through pillar position locking piece, expandes the back sliding sleeve that targets in place completely and removes, the tensioning cable, through the position locking piece locking slip sleeve tensioning position on the slip stand.
Furthermore, one end of a guy cable is fixedly connected to the sliding sleeve, the other end of the guy cable is fixed to an articulated shaft at the center of the two rods of each stage of unfolding unit, the guy cable is wound and folded in the supporting column and the sliding upright column in the folding state of the unfolding unit, one end of the guy cable fixedly connected to the articulated shaft at the center of the two rods of each stage of unfolding unit is pulled along with the unfolding of the antenna mechanism in the unfolding process of the unfolding unit, the sliding sleeve moves after the unfolding unit is completely unfolded in place, the guy cable is tensioned, and the tensioning position of the sliding sleeve is locked through.
Furthermore, the plane of the unfolding unit can be loaded with a one-way transparent film or a cable-net type antenna net surface which is adaptive to the plane shape of the unfolding unit and is used for networking to form a large-size space curved surface unfolding antenna structure.
Furthermore, the rod pieces can be completely attached when the adjacent unfolding units are folded.
Furthermore, no matter how many second-stage unfolding units are expanded, the degree of freedom of the antenna mechanism is 1.
Furthermore, the rolling hinge with the sliding groove is in rolling hinge connection with the rolling hinge with the boss through a metal wire.
Further, the first rod piece and the second rod piece are both made of carbon fiber composite materials or aviation aluminum alloy materials, and the inhaul cable is a Kevlar rope or a carbon fiber rope.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, when the support driving unit and the sleeve type inhaul cable unit are in the unfolding state, the sliding disc is attached to the support chassis, the sleeve is locked by the internal locking mechanism, the inhaul cable is in the tightening state, the stability is good after the structure is locked, and the use rigidity requirement of the space large-caliber unfolding antenna can be met;
(2) the plane of the unfolding unit can carry a one-way light-transmitting film or a cable-net type antenna net surface which is adaptive to the plane shape of the unfolding unit, can carry a film structure with higher precision, and is used for networking to form a large-size space curved surface expandable antenna structure;
(3) the unfolding mechanism is used as a folding and unfolding basic unit, the structure is simple, the manufacturing is easy, the cost is lower, the volume is small after the unfolding mechanism is folded, the weight is light, and the storage ratio is not lower than 5%;
(4) the invention has wide application range, can be applied to driving flexible solar cell sailboards to form space telescopes, aperture radars, satellite antennas and the like.
Drawings
FIG. 1 is a fully expanded schematic view of the mechanism of the present invention;
FIG. 2 is a schematic view of the mechanism of the present invention in a closed position without the cable;
FIGS. 3 and 4 are schematic views of the deployment process of the mechanism of the present invention;
FIG. 5 is a partial schematic view of the mechanism of the present invention in a fully deployed condition without the cable;
FIG. 6 is a schematic view of a deployment unit of the present invention;
FIG. 7 is a schematic view of a first rod of the present invention;
FIG. 8 is a schematic view of a second rod of the present invention;
FIG. 9 is a schematic view of the rolling hinge articulation of the present invention;
FIG. 10 is a schematic view of the sliding disk of the present invention in cooperation with a sliding support and sleeve;
FIG. 11 is a simplified motion diagram of a deployment unit linkage of the present invention;
Detailed Description
The invention is further illustrated by the following examples.
The invention provides a rolling hinge type scissor fork unfolding mechanism which has the characteristics of simple composition, small folded state volume, high storage ratio, direct drive by using a motor and stable structure by using a pull rope.
The high-storage-ratio unfolding mechanism consists of rolling hinges, rod pieces, a support driving unit and inhaul cable units, and each extensible unit comprises two equal-length rod pieces and two pairs of rolling hinges. A motor can be arranged on the sliding disc and used for driving the sliding disc to move up and down and driving the rod piece to be unfolded; a motor is arranged in the sleeve and used for driving the sleeve to move up and down, and the final position is locked by an internal locking device and used for supporting the inhaul cable; one end of the stay cable is connected with the rolling hinge, and the movement of the antenna mechanism drives the stay cable to be elongated and finally tensioned.
Specifically, as shown in fig. 2, a scissor-type deployable antenna mechanism based on a rolling hinge includes a scissor-type deployment unit and a support driving unit;
the supporting drive unit comprises a column 4 and a sliding disc 8,
the scissor type unfolding unit comprises a first-stage unfolding unit and a second-stage unfolding unit;
as shown in fig. 7-9, the first stage unfolding unit comprises two identical first rod members 5, a rolling hinge 1 with a sliding groove, and a rolling hinge 2 with a boss;
the second-stage unfolding unit comprises two identical second rod pieces 6, a rolling hinge 1 with a sliding groove and a rolling hinge 2 with a boss;
two first rod pieces 5 in the first-stage unfolding unit are rotatably connected at the centers of the two rod pieces and rotatably connected through the matching of a round-head stud 10 and a round nut 9, one end of each first rod piece 5 is rotatably connected to a sliding disc 8, and the other end of each first rod piece 5 is rotatably hinged to a second rod piece 6 in the second-stage unfolding unit through a rolling hinge 1 with a sliding groove or a rolling hinge 2 with a boss;
one end of another first rod piece 5 in the first-stage unfolding unit is rotatably connected to the support 4, and the other end of the first rod piece 5 is in rolling hinge joint with a second rod piece 6 in the second-stage unfolding unit through a rolling hinge 1 with a sliding groove or a rolling hinge 2 with a boss;
two second rod pieces 6 in the second-stage unfolding unit are rotatably connected at the centers of the two rod pieces, and two ends of each second rod piece 6 are respectively in rolling hinge joint with the adjacent scissor type unfolding unit through a rolling hinge 1 with a sliding chute or a rolling hinge 2 with a boss;
under the complete unfolding and folding states, the two rods of each stage of unfolding unit can rotate to the same plane;
the pillar 4 passes through the center of the sliding disk 8, and drives the first-stage unfolding unit to unfold or fold through the up-and-down movement of the sliding disk 8, thereby driving the subsequent second-stage unfolding unit to unfold and fold.
When the whole mechanism is unfolded, in order to eliminate the influence caused by the singular position in the furled state, unidirectional auxiliary unfolding drive needs to be provided in the radial direction, radial driving force is applied to the rotating connection positions of the first-stage unfolding unit, the sliding disc and the strut base, the first-stage unfolding unit is unfolded through driving, the sliding disc is driven to move, and therefore the whole mechanism is driven to be unfolded. The n scissor unfolding units are hinged and expanded through rolling hinges, and a large-scale unfolding supporting mechanism can be formed (wherein n is an integer).
In the present embodiment, the scissor type unfolding unit comprises 12 first rods, 96 second rods; as shown in fig. 1 to 4, in the scissor type unfolding units, two rod members in the first-stage unfolding unit are connected through a round-head stud and a round-head nut which are positioned at the centers of the two rod members, the two rod members can rotate relatively, two rod members in the second-stage unfolding unit are connected through a round-head stud and a round-head nut which are positioned at the centers of the two rod members, the two rod members can rotate relatively, and are connected with adjacent scissor type unfolding units end to end through a rolling hinge, so that the synchronous unfolding of the adjacent scissor type unfolding units is realized.
In the present embodiment, the support driving unit includes 1 sliding disk, 1 supporting column, and 1 sliding column. As shown in fig. 2 to 4 and 10, in the supporting component, the sliding tray is sleeved on the supporting column, and the up-and-down movement of the sliding tray can drive the whole mechanism to fold and unfold.
In the embodiment, the sleeve type inhaul cable unit comprises 1 sleeve and 60 inhaul cables; as shown in fig. 10, the sleeve is sleeved on the sliding column, the guy cable is wound around the pillar and the sliding column, during the unfolding process of the unfolding unit, one end of the guy cable fixedly connected to the hinge shaft at the center of the two rods of each stage of unfolding unit is pulled along with the unfolding of the antenna mechanism, the sliding sleeve moves after the unfolding unit is completely unfolded in place, the guy cable is tensioned, and the tensioning position of the sliding sleeve is locked by the position locking piece on the sliding column.
As shown in fig. 2 to 6, the two rod members of the first stage of the unfolding unit have the same actual structure, and the two rod members of the second stage of the unfolding unit have the same actual structure.
As shown in fig. 10, in order to prevent the sliding plate and the pillar base from being completely attached to each other when the mechanism is in the unfolded state, the rotary hinge boss is designed to have a shape that does not interfere with each other vertically and can be attached to each other.
In this embodiment, the high stowing ratio deployment support mechanism may be expanded by adding the second stage scissor deployment units in groups to form an expansion mechanism.
The working principle and the using method of the invention are further explained with reference to the attached drawings.
As shown in fig. 1 to 4, the end of a first rod in a first-stage scissor unfolding rod unit is rotatably connected to a sliding disc, the end of another rod is rotatably connected to a pillar base, the other ends of the two rods are hinged to a second-stage scissor unfolding unit through rolling hinges, each stage of scissor unfolding unit is rotatably connected to the center of the two rods through a round-head stud and a round-head nut, and the head and the tail of each stage of rod are hinged to the adjacent scissor unfolding units through rolling hinges. One end of a guy cable is fixedly connected to the sliding sleeve, the other end of the guy cable is fixed to an articulated shaft at the center of the two rods of each stage of unfolding unit, the guy cable is wound and folded in the strut and the sliding upright column in the folding state of the unfolding unit, one end of the guy cable fixedly connected to the articulated shaft at the center of the two rods of each stage of unfolding unit is pulled along with the unfolding of the antenna mechanism in the unfolding process of the unfolding unit, the sliding sleeve moves after the unfolding unit is completely unfolded in place, the guy cable is tensioned, and the tensioning position of the sliding sleeve is locked.
When the whole mechanism is unfolded from a furled state, the sliding disc moves downwards to drive the scissors type unfolding mechanism to unfold and stretch the inhaul cable, the sliding sleeve moves after the unfolding unit is completely unfolded in place, the inhaul cable is tensioned, and the tensioning position of the sliding sleeve is locked through the position locking piece on the sliding upright column. When the scissor unfolding unit moves to the same plane position, the whole structure is in a hexagonal frame supporting structure. Since the mechanism has no spatial kinematic pair, it can be regarded as a planar mechanism shown in fig. 11, and the degree of freedom of the mechanism is calculated by using the degree of freedom calculation formula of the planar mechanism: by the formula F ═ 3n- (2P)l+Ph) Wherein F is a degree of freedom, n is the number of movable members, and PlIs a low decimal, PhIs a high order number. F-3 x9-2x 13-1. Therefore, a driving motor can be added on the sliding disk, and the mechanism can be unfolded from a folded state to a supporting state. When the sliding disc moves to a designated position, the sliding disc can be locked through the locking piece, the mechanism has no movable piece, the inhaul cable is tensioned, the mechanism is rigid into a structure and cannot move, and the effect of carrying the solar sailboard or the light-transmitting film is further achieved. A plurality of scissors unfolding units are connected in an expanding way to form a large unfolding supporting mechanism.
The overall effect is shown in figure 1.
The invention can be used as a sail surface or film unfolding support mechanism for a solar sailboard in the field of aerospace, the solar sail film can be hung among 6 extending antenna mechanisms, and the film structure can be driven to be unfolded together when the unfolding support mechanism is unfolded, so that a large-area solar sail is finally formed, a flexible solar cell array is formed, and electric energy is provided for a space vehicle.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (9)
1. A scissor type deployable antenna mechanism based on a rolling hinge is characterized by comprising a scissor type deploying unit and a supporting driving unit;
the supporting drive unit comprises a pillar (4) and a sliding disk (8),
the scissor type unfolding unit comprises a first-stage unfolding unit and a second-stage unfolding unit;
the first-stage unfolding unit comprises two identical first rod pieces (5), a rolling hinge (1) with a sliding groove and a rolling hinge (2) with a boss;
the second-stage unfolding unit comprises two identical second rod pieces (6), a rolling hinge (1) with a sliding groove and a rolling hinge (2) with a boss;
two first rod pieces (5) in the first-stage unfolding unit are rotatably connected at the centers of the two first rod pieces, one end of one first rod piece (5) is rotatably connected to the sliding disc (8), and the other end of the first rod piece is rotatably hinged with a second rod piece (6) in the second-stage unfolding unit through a rolling hinge (1) with a sliding groove or a rolling hinge (2) with a boss;
one end of the other first rod piece (5) in the first-stage unfolding unit is rotatably connected to the support (4), and the other end of the other first rod piece is in rolling hinge joint with a second rod piece (6) in the second-stage unfolding unit through a rolling hinge (1) with a sliding groove or a rolling hinge (2) with a boss;
two second rod pieces (6) in the second-stage unfolding unit are rotatably connected at the centers of the two second rod pieces, and two ends of each second rod piece (6) are respectively in rolling hinge joint with the adjacent scissor type unfolding unit through a rolling hinge (1) with a sliding groove or a rolling hinge (2) with a boss;
under the complete unfolding and folding states, the two rods of each stage of unfolding unit can rotate to the same plane;
the strut (4) penetrates through the center of the sliding disc (8) and drives the first-stage unfolding unit to unfold or fold through the up-and-down movement of the sliding disc (8), so that the subsequent second-stage unfolding unit is driven to unfold or fold;
still include telescopic cable unit and slip stand (7), slip stand (7) and pillar (4) coaxial cup joint, telescopic cable unit includes slip sleeve (11) and cable (3), slip sleeve (11) cup joint on slip stand (7), when the development unit expandes, slip stand (7) move down to extreme position and lock slip stand (7) position through pillar (4) position locking piece, slip sleeve (11) move after expandeing the target in place completely, the tensioning cable, lock slip sleeve (11) tensioning position through the position locking piece on slip stand (7).
2. A scissor type deployable antenna mechanism based on rolling hinges as claimed in claim 1, wherein when the entire mechanism is deployed in a folded state, a radial driving force is applied to the rotational connection between the first stage deployment unit and the base of the sliding plate (8) and the pillar (4), and the driving force moves the sliding plate (8), thereby driving the entire mechanism to deploy.
3. The rolling-hinge based scissor-type deployable antenna mechanism of claim 1, wherein the antenna mechanism is expanded by adding second stage deployment units in groups.
4. The scissor-type deployable antenna mechanism based on rolling hinges as claimed in claim 1, wherein one end of the cable (3) is fixedly connected to the sliding sleeve (11), the other end of the cable is fixed to the hinged shaft at the center of the two rods of each stage of the deployable unit, the cable (3) is wound and furled in the pillar (4) and the sliding column (7) in the furled state of the deployable unit, one end of the cable fixedly connected to the hinged shaft at the center of the two rods of each stage of the deployable unit is pulled along with the unfolding of the antenna mechanism in the unfolding process of the deployable unit, the sliding sleeve (11) moves after the deployable unit is completely unfolded in place, the cable is tensioned, and the tensioning position of the sliding sleeve (11) is locked by the position locking member on the sliding column (7).
5. The scissor-type deployable antenna mechanism based on rolling hinges as claimed in claim 1, wherein the plane of the deployment unit can carry a one-way transparent film or a cable-type antenna mesh surface adapted to the plane shape of the deployment unit, and is used for networking to form a large-scale spatial curved surface deployable antenna structure.
6. The scissor-type deployable antenna mechanism based on rolling hinges of claim 1, wherein the rods are fully attached to each other when adjacent deployable units are collapsed.
7. The rolling-hinge based scissor-type deployable antenna mechanism of claim 1, wherein: the degree of freedom of the antenna mechanism is 1 no matter how many second-stage unfolding units are expanded.
8. The rolling-hinge based scissor-type deployable antenna mechanism of claim 1, wherein: the rolling hinge (1) with the sliding groove is in rolling hinge joint with the rolling hinge (2) with the boss through a metal wire.
9. The rolling-hinge based scissor-type deployable antenna mechanism of claim 1, wherein: the first rod piece (5) and the second rod piece (6) are both made of carbon fiber composite materials or aviation aluminum alloy materials, and the inhaul cable (3) is a Kevlar rope or a carbon fiber rope.
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| CN201910944959.3A CN110797625B (en) | 2019-09-30 | 2019-09-30 | Scissor-fork type deployable antenna mechanism based on rolling hinge |
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| CN201910944959.3A CN110797625B (en) | 2019-09-30 | 2019-09-30 | Scissor-fork type deployable antenna mechanism based on rolling hinge |
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| CN110797625B true CN110797625B (en) | 2021-03-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114914657A (en) * | 2022-04-21 | 2022-08-16 | 燕山大学 | Single-degree-of-freedom scissor linkage type telescopic rib type folding and unfolding antenna mechanism |
| CN115367150B (en) * | 2022-08-03 | 2024-05-17 | 银河航天(北京)网络技术有限公司 | Scissor type solar wing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2567164B2 (en) * | 1991-08-30 | 1996-12-25 | 株式会社東芝 | Deployable truss structure |
| JP2004146898A (en) * | 2002-10-22 | 2004-05-20 | Nec Toshiba Space Systems Ltd | Extendable mesh antenna |
| CN104701630B (en) * | 2015-03-14 | 2017-06-16 | 西安电子科技大学 | Annulated column cable net structure varifocal reflecting surface device |
| CN107994313B (en) * | 2017-11-02 | 2020-08-04 | 银河航天（北京）科技有限公司 | High-rigidity high-storage-ratio unfolding antenna mechanism |
| CN108400421B (en) * | 2018-02-01 | 2020-05-01 | 西北工业大学 | Three-layer flexible sleeve deployable antenna |
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2019
- 2019-09-30 CN CN201910944959.3A patent/CN110797625B/en active Active
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| Title |
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| 《径射状空间可展天线的多体动力学分析》;张春;《中国优秀硕士学位论文全文数据库（电子期刊）工程科技Ⅱ辑》;20070715;正文11-17，图2-1到图2-5 * |
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