CN109110155A - A kind of imitative cobweb large space development agency - Google Patents
A kind of imitative cobweb large space development agency Download PDFInfo
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- CN109110155A CN109110155A CN201810804697.6A CN201810804697A CN109110155A CN 109110155 A CN109110155 A CN 109110155A CN 201810804697 A CN201810804697 A CN 201810804697A CN 109110155 A CN109110155 A CN 109110155A
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- connecting rod
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- hinge
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- 241000221931 Hypomyces rosellus Species 0.000 title description 18
- 241000239290 Araneae Species 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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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
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Abstract
一种仿蜘蛛网大空间可展机构，包括连架杆、五边形机座、三自由度铰链和连杆，所述连架杆一端通过销轴与五边形机座连接，另一端通过转动副与三自由度铰链连接，所述连杆包括第一连杆、第二连杆、第三连杆、第四连杆、第五连杆、第六连杆、第七连杆和第八连杆，连杆间通过销轴相互连接。本发明具有单一自由度，通过单一电机驱动便可控制该机构的折叠或展开运动，折叠与展开方便，组成机构的构件均为常见杆件，制作方便，同时兼具轻量化、空间折叠比大、展开性能好、稳定性高、可延展性的特点，适用于太阳能帆板展开机构、太空平面反射天线等领域。
A cobweb-like large-space expandable mechanism includes a connecting rod, a pentagon base, a three-degree-of-freedom hinge and a connecting rod. One end of the connecting rod is connected to the pentagon base through a pin shaft, and the other end is The rotating pair is connected with a three-degree-of-freedom hinge, and the connecting rods include a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod and Eight connecting rods, the connecting rods are connected to each other through pins. The invention has a single degree of freedom, the folding or unfolding movement of the mechanism can be controlled by a single motor drive, and the folding and unfolding are convenient. , It has the characteristics of good deployment performance, high stability and ductility, and is suitable for solar panel deployment mechanism, space plane reflection antenna and other fields.
Description
Technical field
The present invention relates to space development agency field, especially a kind of imitative cobweb large space development agency.
Background technique
Cobweb is generally symmetrical and asymmetry, is a kind of extremely regular net, can be off line in equivalent volume
Flexibility and intensity are bigger than steel wire, therefore have extensibility；Cobweb can form different shapes, the whole network knot according to varying environment
Structure is stable and firm, and the impact force that each symmetry net can be made to be subject to is evenly distributed on the whole network.
Chinese patent 201510253962.2 discloses a kind of regular hexagon planar development mechanism, which is planar development
With folding and unfolding mechanism, folding than small, mechanism deploying is unstable；Chinese patent 201210397908.1 discloses a kind of positive tetrahedron pair
Title type deployable mechanism unit, although the mechanism structure is simple, unfolds and folds conveniently, laser intensity and rigidity are lower, surely
It is qualitative poor.
There are no at present it is a kind of with lightweight, space folding than big, expanding performance is good, stability is high, ductility
A kind of innovation of imitative cobweb large space development agency of feature designs.
Summary of the invention
The object of the present invention is to provide a kind of imitative cobweb large space development agencies, it has lightweight, space folding ratio
Greatly, the characteristics of expanding performance is good, stability is high, ductility is suitable for solar energy sailboard unfolding mechanism, space plane reflection day
The fields such as line.
The technical scheme is that a kind of imitative cobweb large space development agency, including connecting rod, pentagon base,
Three-degree of freedom hinge and connecting rod, specific structure and connection relationship are as follows:
The connecting rod includes first linkage rod, the second connecting rod, third connecting rod, the 4th connecting rod and the 5th frame linking
Bar, described first linkage rod one end are connect by pin shaft with pentagon base, and the other end is connect by revolute pair with first axle,
The structure and connection relationship of other connecting rods are identical with first linkage rod；Every one side axis pin base of the pentagon base is logical
Pin shaft is crossed to connect with connecting rod；The Three-degree of freedom hinge include first axle, second hinge, third hinge, the 4th hinge and
5th hinge, the side axis pin base of first axle are connected by the second axis pin base of pin shaft and first connecting rod, first axle it is another
Side axis pin base is connected by pin shaft and the second axis pin base of fourth link, the structure and connection relationship of other hinges and the first hinge
Chain is identical；The connecting rod include first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, six-bar linkage,
First axis pin base of seven-link assembly and the 8th connecting rod, first connecting rod is connect by pin shaft with the first axis pin base of the 5th connecting rod, the
Second axis pin base of one connecting rod is connect by pin shaft with first axle, while being connected by an axis pin base of pin shaft and six-bar linkage
It connects, the third axis pin base of first connecting rod is connect by pin shaft with an axis pin base of seven-link assembly, and an axis pin base of second connecting rod is logical
It crosses pin shaft to connect with the second axis pin base of the 5th connecting rod, two axis pin bases of second connecting rod pass through two pin shafts of pin shaft and six-bar linkage
Three axis pin bases of seat connection, second connecting rod are connect by pin shaft with two axis pin bases of seven-link assembly, four axis pin bases of second connecting rod
It is connect by pin shaft with the first axis pin base of the 8th connecting rod, an axis pin base of third connecting rod passes through the third of pin shaft and the 5th connecting rod
Two axis pin bases of axis pin base connection, third connecting rod are connect by pin shaft with three axis pin bases of six-bar linkage, three pins of third connecting rod
Axle bed is connect by pin shaft with three axis pin bases of seven-link assembly, and four axis pin bases of third connecting rod pass through the of pin shaft and the 8th connecting rod
First axis pin base of the connection of two axis pin bases, fourth link is connect by hinge with four axis pin bases of six-bar linkage, fourth link
Second axis pin base is connect by pin shaft with four axis pin bases of seven-link assembly, and the third axis pin base of fourth link passes through pin shaft and the 8th
The third axis pin base of connecting rod connects, and the second axis pin base of the 8th connecting rod is connect by pin shaft with second hinge.
Respectively there are an axis pin base in the two sides of the Three-degree of freedom hinge, are connect and can not be slided with connecting rod by revolute pair
It moves, an only nested hinge on each connecting rod.
Axis pin base on the connecting rod is the identical axis pin base of size, wherein first connecting rod, fourth link, the 5th connecting rod
It is identical with the structure of the 8th connecting rod, and the first axis pin base, the second axis pin base and third axis pin base are distributed on connecting rod, altogether
Three axis pin bases；Second connecting rod, third connecting rod, the structure of six-bar linkage and seven-link assembly are identical, and uniformly divide on connecting rod
An axis pin base, two axis pin bases, three axis pin bases and four axis pin bases are furnished with, totally four axis pin bases.
Of the invention has the prominent advantages that:
1. mechanism has the single degree of freedom, the folding of the mechanism can be controlled by single motor driven or expansion moves,
It is convenient with expansion to fold, and space folding ratio is big, collapses small in size.
2. mechanism is made of common rod piece, easy to make, light-weight；By the interconnection of multiple rod pieces, make this
Mechanism has certain stiffness and strength, and expansion stability is good, and functional reliability is high.
3. mechanism has ductility, the extending space folding and unfolding mechanism at different scale meets a variety of occasion demands.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of imitative cobweb large space development agency of the present invention.
Fig. 2 is a kind of semi-folded structural schematic diagram of imitative cobweb large space development agency of the present invention.
Fig. 3 is a kind of complete foldable structure schematic diagram of imitative cobweb large space development agency of the present invention.
Fig. 4 is that a kind of rod piece axis pin base interconnected relationship of imitative cobweb large space development agency of the present invention is shown
It is intended to.
Fig. 5 is a kind of Three-degree of freedom hinge structural schematic diagram of imitative cobweb large space development agency of the present invention.
Fig. 6 is a kind of stand structure schematic diagram of imitative cobweb large space development agency of the present invention.
Fig. 7 is a kind of connecting rod structural schematic diagram of imitative cobweb large space development agency of the present invention.
Fig. 8 is a kind of structural representation of three axis pin base connecting rods of imitative cobweb large space development agency of the present invention
Figure.
Fig. 9 is a kind of structural representation of four axis pin base connecting rods of imitative cobweb large space development agency of the present invention
Figure.
In the figure, it is marked as 1. pentagon bases, 2. first linkage rods, 3. first axles, 4. first connecting rods, 5. the 5th companies
Bar, 6. six-bar linkages, 7. seven-link assemblies, 8. second connecting rods, 9. third connecting rods, 10. fourth links, 11. the 8th connecting rods, 12.
Two connecting rods, 13. second hinges, 14. third connecting rods, 15. third hinges, 16. the 4th connecting rods, 17. the 4th hinges, 18.
5th connecting rod, 19. the 5th hinges, the first axis pin base of A., the second axis pin base of B., C. third axis pin base, mono- axis pin base of A ', B '
Two axis pin bases, tri- axis pin base of C ', tetra- axis pin base of D '.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawings and embodiments.
As shown in Figures 1 to 9, a kind of imitative cobweb large space development agency of the present invention, including connecting rod, five sides
Shape base 1, Three-degree of freedom hinge and connecting rod, specific structure and connection relationship are as follows:
The connecting rod includes first linkage rod 2, the second connecting rod 12, third connecting rod 14, the 4th connecting rod 16 and
Five connecting rods 18,2 one end of first linkage rod are connect by pin shaft with pentagon base 1, and the other end passes through revolute pair and the first hinge
Chain 3 connects, and the structure and connection relationship of other connecting rods are identical with first linkage rod 2；The pentagon base 1 it is each
Side axis pin base is connect by pin shaft with connecting rod；The Three-degree of freedom hinge includes first axle 3, second hinge 13, third hinge
Chain 15, the 4th hinge 17 and the 5th hinge 19, the second pin that the side axis pin base of first axle 3 passes through pin shaft and first connecting rod 4
The other side axis pin base of axle bed B connection, first axle 3 is connect by pin shaft with the second axis pin base B of fourth link 10, other hinges
The structure and connection relationship of chain are identical with first axle 3；The connecting rod includes first connecting rod 4, second connecting rod 8, third company
Bar 9, fourth link 10, the 5th connecting rod 5, six-bar linkage 6, seven-link assembly 7 and the 8th connecting rod 11, the first pin shaft of first connecting rod 4
Seat A is connect by pin shaft with the first axis pin base A of the 5th connecting rod 5, and the second axis pin base B of first connecting rod 4 passes through pin shaft and first
Hinge 3 connects, while being connect by pin shaft with an axis pin base A ' of six-bar linkage 6, and the third axis pin base C of first connecting rod 4 passes through
Pin shaft is connect with an axis pin base A ' of seven-link assembly 7, an axis pin base A ' of second connecting rod 8 pass through pin shaft and the 5th connecting rod 5 the
Two axis pin base B ' of two axis pin base B connections, second connecting rod 8 are connect by pin shaft with two axis pin base B ' of six-bar linkage 6, and second connects
Three axis pin base C ' of bar 8 are connect by pin shaft with two axis pin base B ' of seven-link assembly 7, and four axis pin base D ' of second connecting rod 8 pass through
Pin shaft is connect with the first axis pin base A of the 8th connecting rod 11, and an axis pin base A ' of third connecting rod 9 passes through pin shaft and the 5th connecting rod 5
Two axis pin base B ' of the C connection of third axis pin base, third connecting rod 9 are connect by pin shaft with three axis pin base C ' of six-bar linkage 6, third
Three axis pin base C ' of connecting rod 9 are connect by pin shaft with three axis pin base C ' of seven-link assembly 7, and four axis pin base D ' of third connecting rod 9 are logical
It crosses pin shaft to connect with the second axis pin base B of the 8th connecting rod 11, the first axis pin base A of fourth link 10 passes through hinge and six-bar linkage
Second axis pin base B of 6 four axis pin base D ' connections, fourth link 10 is connect by pin shaft with four axis pin base D ' of seven-link assembly 7,
The third axis pin base C of fourth link 10 is connect by pin shaft with the third axis pin base C of the 8th connecting rod 11, and the second of the 8th connecting rod 11
Axis pin base B is connect by pin shaft with second hinge 13.
Respectively there are an axis pin base in the two sides of the Three-degree of freedom hinge, are connect and can not be slided with connecting rod by revolute pair
It moves, an only nested hinge on each connecting rod.
Axis pin base on the connecting rod is the identical axis pin base of size, wherein first connecting rod 4, fourth link the 10, the 5th
Connecting rod 5 is identical with the structure of the 8th connecting rod 8, and the first axis pin base A, the second axis pin base B and third are distributed on connecting rod
Axis pin base C, totally three axis pin bases；Second connecting rod 11, third connecting rod 9, six-bar linkage 6 are identical with the structure of seven-link assembly 7,
And an axis pin base A ', two axis pin base B ', three axis pin base C ' and four axis pin base D ' are evenly distributed on connecting rod, totally four axis pin bases.
Operation principle and process:
As shown in Figure 1 to Figure 3, mechanism passes through electricity by fully unfolded position to semi-collapsed condition again to completely folded state
Motivation driving connecting rod does gathering movement, drives the hinge being nested on connecting rod to make rotating motion, to drive first connecting rod
4, second connecting rod 8, third connecting rod 9, fourth link 10, the 5th connecting rod 5, six-bar linkage 6,11 phase of seven-link assembly 7 and the 8th connecting rod
It is mutually mobile to do gathering movement, until mechanism completes gathering behavior and forms completely folded state；When opposite direction driving, mechanism is done
Expansion movement, until being fully deployed.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810804697.6A CN109110155A (en) | 2018-07-20 | 2018-07-20 | A kind of imitative cobweb large space development agency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810804697.6A CN109110155A (en) | 2018-07-20 | 2018-07-20 | A kind of imitative cobweb large space development agency |
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| Publication Number | Publication Date |
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| CN109110155A true CN109110155A (en) | 2019-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810804697.6A Pending CN109110155A (en) | 2018-07-20 | 2018-07-20 | A kind of imitative cobweb large space development agency |
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| CN (1) | CN109110155A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112550776A (en) * | 2020-12-10 | 2021-03-26 | 中国科学院空间应用工程与技术中心 | Foldable and unfoldable space platform |
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| CN203441160U (en) * | 2013-08-13 | 2014-02-19 | 浙江明筑新材料有限公司 | Foldable plastic simulated fence |
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| US9709793B1 (en) * | 2013-12-31 | 2017-07-18 | Ball Aerospace & Technologies Corp. | Deployable structure |
| CN107146939A (en) * | 2017-04-07 | 2017-09-08 | 中国地质大学（武汉） | Deployable link unit with 4R coupling branch and spatially deployable mechanism based on it |
| CN107416229A (en) * | 2017-04-27 | 2017-12-01 | 中国地质大学（武汉） | The coupling side chain containing 2R opens up unit and the large-scale umbrella folding and unfolding mechanism based on this |
| CN107671843A (en) * | 2017-11-07 | 2018-02-09 | 广西大学 | The space folding and unfolding mechanism that a kind of crank block connects for folding exhibition unit flexible hinge |
| CN107914896A (en) * | 2017-11-07 | 2018-04-17 | 广西大学 | It is a kind of using five-bar mechanism as the space folding and unfolding mechanism that can open up unit |
| CN107933961A (en) * | 2017-11-07 | 2018-04-20 | 广西大学 | A kind of variable topological folding and unfolding mechanism of imitative sensitive plant flexible hinge connection |
| CN107972888A (en) * | 2017-11-20 | 2018-05-01 | 北京航空航天大学 | The centrosymmetric secondary folding and unfolding mechanism in space |
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2018
- 2018-07-20 CN CN201810804697.6A patent/CN109110155A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1331095A2 (en) * | 2002-01-25 | 2003-07-30 | National Space Development Agency of Japan | Deployable structure |
| CN102167165A (en) * | 2011-04-11 | 2011-08-31 | 哈尔滨工业大学 | Seven-revolute pair extensible unit and space extensible mechanism using same |
| CN203441160U (en) * | 2013-08-13 | 2014-02-19 | 浙江明筑新材料有限公司 | Foldable plastic simulated fence |
| US9709793B1 (en) * | 2013-12-31 | 2017-07-18 | Ball Aerospace & Technologies Corp. | Deployable structure |
| CN204151582U (en) * | 2014-10-23 | 2015-02-11 | 王大安 | The porous link-type Telescopic hoisting apparatus of clothes hanger |
| CN107146939A (en) * | 2017-04-07 | 2017-09-08 | 中国地质大学（武汉） | Deployable link unit with 4R coupling branch and spatially deployable mechanism based on it |
| CN107416229A (en) * | 2017-04-27 | 2017-12-01 | 中国地质大学（武汉） | The coupling side chain containing 2R opens up unit and the large-scale umbrella folding and unfolding mechanism based on this |
| CN107671843A (en) * | 2017-11-07 | 2018-02-09 | 广西大学 | The space folding and unfolding mechanism that a kind of crank block connects for folding exhibition unit flexible hinge |
| CN107914896A (en) * | 2017-11-07 | 2018-04-17 | 广西大学 | It is a kind of using five-bar mechanism as the space folding and unfolding mechanism that can open up unit |
| CN107933961A (en) * | 2017-11-07 | 2018-04-20 | 广西大学 | A kind of variable topological folding and unfolding mechanism of imitative sensitive plant flexible hinge connection |
| CN107972888A (en) * | 2017-11-20 | 2018-05-01 | 北京航空航天大学 | The centrosymmetric secondary folding and unfolding mechanism in space |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112550776A (en) * | 2020-12-10 | 2021-03-26 | 中国科学院空间应用工程与技术中心 | Foldable and unfoldable space platform |
| CN112550776B (en) * | 2020-12-10 | 2022-06-07 | 中国科学院空间应用工程与技术中心 | A foldable and unfolded space platform |
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Application publication date: 20190101 |