CN1232738C - High-rigidity synchronously spreading folded space extension arm - Google Patents
High-rigidity synchronously spreading folded space extension arm Download PDFInfo
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- CN1232738C CN1232738C CN 03117075 CN03117075A CN1232738C CN 1232738 C CN1232738 C CN 1232738C CN 03117075 CN03117075 CN 03117075 CN 03117075 A CN03117075 A CN 03117075A CN 1232738 C CN1232738 C CN 1232738C
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Abstract
The present invention relates to an extension arm of a folding space of high-rigidity synchronously unfolded, which is composed of unfolding folding truss units of repeated extension, a driving system, a power supply system and a support space platform, wherein the unfolding folding truss units of repeated extension are basic units for forming an extension arm; the units are connected by standard triangular connection points; the driving system is positioned in a triangular space of the bottom of the extension arm, and connected with the support space platform; simultaneously, the driving system is connected with the power supply system by a transmission shaft. The present invention adopts a triangular prism truss structural style, and has the characteristics of high geometric stability, structural rigidity and unit repeatability. The present invention can realize unfolded folding, and the unfolded precision and the repeatability precision can be ensured. The present invention can be applied to a large communication satellite, an electronic reconnaissance star, an unfolded antenna back carrier of a space station platform, a solar sail arm support, a feed source support frame, an aircraft accessory connecting mechanism, etc.
Description
Technical field:
The present invention relates to a kind of high rigidity synchronous expansion folding space extending arm, can directly apply to the supporting back of the body frame of large space deployable antenna (communication, scouting star), extensible feed support, the supporting system of deployable solar sail, the annex bindiny mechanism of aerospace craft etc., belong to the space science technical field.
Background technique:
System research and application to the space development structure start from the later stage seventies 20th century, but development rapidly.The creative deployed configuration notion of many novelties is suggested, and what have is employed.U.S. NASA, Japanese ISAS, European ESA have successively developed deployable folding space extending arm for its aerospace engineering.China also is in the starting stage, the application of the large-scale deployable folding space structure technology that is unrealized so far to the research of deployable structure with application.
Document (K.Miura and H.Furuya, Variable geometry truss and space crane arm, Acta Astronautica, 1988,12 (7): 599-607.) how much truss of the change that proposes can be used for mechanical arm, the support arm of astrovehicle, but the contact complexity of Stewart platform, every limit intermediate contact are computer-controlled extensible adjusting contact, and technical difficulty is big.
Document (M.Eiden and O.Brunner, Deployment of analysis of Olympus Astromastand comparison with test measurements, Journal of Spacecraft ﹠amp; Rocket, 1987,24 (1): 63-68.) the extending arm contact point structure of Ti Chuing is simple, and structural rigidity is big.Folding with spirality, the storage elastic deformation energy by tripper, discharges elastic energy, and counterrotating launches.Major defect is to launch platform is impacted greatly, and attitude of flight vehicle is difficult to control.Document (K.Takagwki and O.Kakuma, Development of ahingeless mast and its application, Acta Astronautica, 1988,17 (3): 341-346.) to the contact of this extending arm, especially change three longitudinal rods into nothing hinge elongated bar by segmentation, still have and launch to impact big shortcoming.
Document (A.S.K.Kwan and S.Pellegrino, Active and passive cable elements indeployable/retractable masts, Int.J.Space Structures, 1993,8 (1﹠amp; 2): 29-40.) propose scissors hinge unit and constitute deployable folding extending arm, driven by the active rope and launch, passive rope is kept mechanism stable and is increased rigidity.Extending arm weight is little, but initiatively rope quantity is many, and rope path complexity and distance will cause the unfolded reliability to reduce, and the rate of taking in is low.
Document (Chen Wujun, Guan Fuling, Design and structural analysis of a deployable/retractable space mast, Journal of IASS, 1998,39 (2): 111-116.) propose based on the deployable folding space extending arm of octahedra unit structure, also adopting initiatively, rope drives expansion, the structural rigidity of extending arm is stablized and improved to passive rope maintenance system, launch the unit and have independence, rigidity is big, but contact, the member complexity, extending arm launches reliability, the rate of taking in still is not to be fit to very much large-scale aerospace craft.
Summary of the invention:
The objective of the invention is at the deficiencies in the prior art, but provide a kind of high rigidity synchronous expansion folding space extending arm, have big, the characteristics of unfolded flexibly of structural rigidity, contact, motion, control system are simple, launch reliability height, repeatability precision height, practicability is stronger.
For realizing such purpose, but high rigidity synchronous expansion folding space extending arm of the present invention by deployable folded truss unit, the drive system of repetitive extension, power-supply system and supporting space platform are formed.Deployable folded truss unit is elementary cell of forming an extending arm, can connect by standard triangular V font contact between the unit.Drive system is positioned at extending arm bottom triangle space, is connected with the supporting space platform, is connected by the transmission center hub with power-supply system simultaneously.
The concrete structure of deployable folded truss unit is: three isometric passes identical slide mechanism contact respectively for the triangle horizontal bars of L1, fixedly connected by the same way three horizontal bars of standard triangular V font contact of three unanimities form the whole triangular cross section member of deployable folded truss unit.A collapsible expansion contact connects two vertical bars that isometric length is L2, forms a vertical rib of collapsible expansion, L2=2.1～2.25L1.Three vertical ribs of collapsible expansion are rotationally connected by triangular V font contact, constitute the tri-prism truss element.Six roots of sensation link rod connects the self-cleaning contact mechanism that rotates between the hypomere montant on three vertical ribs on contact and two the whole triangle rod members up and down, and the up-and-down rod antithesis connects.The moving rope of three velamens connects the triangular V font contact at diagonal angle, tri-prism truss element side.
Three identical triangular V font contacts adjacent vertical rib rod end of deployable folded truss unit up and down that is rotationally connected, the deployable folded truss elementary cell of continuity expansion up or down reaches the deployable folding space extending arm with certain height size.
Drive system: feel at ease in the center that deployable folding space extending arm connects the supporting space platform and to adorn a transmission center hub, initiatively the direct current generator of grommet and power supply is connected in the transmission center hub.The active rope that starting point, terminal point all are locked in the transmission center hub forms three identical closed grommets.The closed grommet of active is locked in the transmission center hub by locking framework with active Suo Qidian, and from then on begin, be connected to the vertical rotary pulley at triangular V font contact place, walk around this vertical rotary pulley, be connected to the locking of slide mechanism contact along supporting space platform triangle edges then, continue to be connected to the triangle edges rod member the other end, and walk around the vertical rotary pulley at this triangular V font contact place, at last, be connected to the locking of transmission center hub, form a closed grommet of active.The closed grommet of two other active has consistent direction and connecting means.
Power-supply system: at the central transmission center hub of installing of deployable folding space extending arm base triangle supporting space platform, transmission shaft connects bottom direct current generator and top transmission center hub, and direct current generator is controlled by the bidirectional remote control switch.According to counterclockwise or clockwise two-way control direction of motor rotation, the stretching, extension that realizes extending arm automatically is with folding.
The supporting space platform: drive system, deployable folding space extending arm are connected with the supporting space platform by packing ring, bolt connection piece.The useful load system can connect by extending arm top triangular V font contact.
Unfolded principle: motor rotating drive transmission shaft, transmission shaft drives the motion of transmission center hub, and then the transmission center hub drives three closed grommets of active according to counterclockwise or motion clockwise, and closed grommet drives locking slide mechanism contact thereon and moves along the triangle horizontal bars.Three closed grommets drive three slide mechanism contacts and are synchronized with the movement.Three slide mechanism joint movement drive connected link rod and rotate in tri-prism truss element side, and link rod promotes vertical rib mid point hypomere and rotates around base triangular V font contact.Because special kinematic constraint and space geometry relation, three synchronous rotations of vertical rib will make vertical rib rotate around the folding contact of mid point, montant, link rod, the whole synchronization lifting of triangle in the drive, and extending arm launches.The deployable folding extending arm in a plurality of unit has on all four expansion principle.When direction of motor rotation is opposite, the transmission center hub, initiatively closed grommet moves according to opposite direction, and extending arm carries out the folding process motion.
Beneficial effect of the present invention has:
1) adopts tri-prism truss structure form, have stable, the repeatable high characteristics of structural rigidity and unit how much.
2) realize that synchronous expansion is folding.
3) have the space link rod system of special geometric and kinematic constraint, mechanism is simple, driving mode, bang path are succinctly clear and definite, and unfolded has synchronism, reliability, takes in the rate height.
4) initiatively closed grommet launches and folds driving, has stop and stabilization.90 ° of hinges of triangular V font contact, vertical 180 ° of back flap hinges of rib mid point can accurately limit vertical rib slewing area, guarantee precision of expansion and repeatable precision.
5) tri-prism truss elementary cell has conformity, repeatability, extensibility, can satisfy different height, cross-sectional sizes requirement.
The present invention can be applicable to the deployable antenna of large-scale communication satellite, electronic reconnaissance star, space station platform and carries on the back frame, solar sail jib, feed support, astrovehicle annex bindiny mechanism etc.
Description of drawings:
Fig. 1 is a space of the present invention extending arm three-dimensional perspective structural representation.
Figure 1 shows that the space extending arm of two deployable folded truss unit.Among the figure: 1 is the triangle horizontal bars, and 2 is vertical bar, and 3 is link rod, 4 is passive rope, 5 is standard triangular V font contact, 6 collapsible expansion contacts, and 7 for rotating contact, 8 is base slide mechanism contact, 9 is the slide mechanism contact, and 10 is base triangular V font contact, and 11 is vertical rotary pulley, 12 is the closed grommet of active, 13 is latch, and 14 are the transmission center hub, and 15 is transmission shaft, 16 is direct current generator, 17 is the packing ring link, and 18 is bolt connection piece, and 19 is the supporting space platform, 20 is top slide mechanism contact, and 21 is top triangular V font contact.
Fig. 2 is a space of the present invention extending arm plan view.
Fig. 3 is a space of the present invention extending arm side view.
Rod member, the contact of each label representative are equal to Fig. 1 explanation among the figure.
Fig. 4 is a space of the present invention extending arm plan view.
Provided the connection trend of three closed grommets 12 of active among Fig. 4.As shown in Figure 4, article one, initiatively the starting point of closed grommet 12 is locked in transmission center hub 14 by latch, successively through the B1 point of the vertical rotary pulley 11 at the A1 of latch point and base triangular V font contact 10 places, then along level triangle rod member 1 from B1 to C1, be connected locking with base slide mechanism contact 8, continue along level triangle rod member 1 from C1 to D1, to walk around the vertical rotary pulley 11 in D1 point place, at last, be connected to the E1 point locking of transmission center hub 14.
Equally, the initiatively closed grommet 12 of second connects the B2 point of the vertical rotary pulley 11 of A2 point latch and base triangular V font contact 10 places of transmission center hub 14, then along level triangle rod member 1 from B2 to C2, be connected locking with base slide mechanism contact 8, continuation along level triangle rod member 1 from C2 to D2, walk around the vertical rotary pulley 11 in D2 point place, last, be connected to the E2 point locking of transmission center hub 14.
Article three, the closed grommet 12 of active connects the B3 point of the vertical rotary pulley 11 of A3 point latch and base triangular V font contact 10 places of transmission center hub 14, then along level triangle rod member 1 from B3 to C3, be connected locking with base slide mechanism contact 8, continuation along level triangle rod member 1 from C3 to D3, walk around the vertical rotary pulley 11 in D3 point place, at last, be connected to 14 the E3 point locking of transmission center hub.
Fig. 5 is extending arm side, a space of the present invention rod member movement process schematic representation.
As shown in Figure 5, initiatively closed grommet 12 lockings of the C1 of base slide mechanism contact 8 point and article one.Transmission center hub 14 rotates counterclockwise, then base slide mechanism contact 8 will drive link rod 3 and move from B1 to D1, link rod 3 drags montant 2 and rotates around the O1 of base triangular V font contact 10 such as drawing clockwise direction, and link rod 3 movable contact 7 that rotates rotates with base slide mechanism contact 8.Hypomere O1-G1, G1-O2 rotate around the G1 of folding and expanding contact 6 point on the vertical rib.Because peculair motion and space geometry retrain, above all rod members and contact will carry out synchronous folding movement.Move clockwise as the transmission center hub, the space extending arm then does to launch motion.
Embodiment:
For understanding technological scheme of the present invention better, the specific embodiment of the present invention is described in further detail below in conjunction with accompanying drawing.
The enforcement of a complete deployable folding space extending arm of the present invention comprises four parts: deployable folded truss unit, drive system, power-supply system, supporting space platform, wherein preceding two is collapsible expansion space extending arm key.
A deployable folded truss unit constitutes: as Fig. 1, three isometric passes three identical slide mechanism contacts 9 respectively for the triangle horizontal bars 1 of L1, standard triangular V font contact 5 fixedly connected by the same way three horizontal bars 1 of three unanimities form the whole triangular cross section member of deployable folded truss unit.A collapsible expansion contact 6 connects two isometric vertical bars 2, forms a vertical rib of collapsible expansion, and its length is L2, L2=2.1～2.25L1.Three vertical ribs of collapsible expansion are rotationally connected by standard triangular V font contact 5 and two whole triangular cross section members up and down, constitute the tri-prism truss element.Six roots of sensation link rod 3 connects the slide mechanism contact 9 of 1 of the rotation contact 7 of 2 of hypomere vertical bars on three vertical ribs and triangle horizontal bars respectively, and the up-and-down rod antithesis connects.Can rotate movable contact 7 of link rod 3 rotates in side, deployable folded truss unit with slide mechanism contact 9.The moving rope 4 of three velamens connects the triangular V font contact 5 at diagonal angle, three sides of tri-prism truss element.
Undershoot is held the adjacent vertical bar 2 of deployable folded truss unit up and down that is rotationally connected on three identical standard triangular V font contacts 5, the deployable folded truss of continuity expansion up or down unit reaches the deployable folding space extending arm with certain height size.Three top triangular V font contacts 21 connect three isometric L1 triangle horizontal bars 1 and constitute the whole triangular cross section member in extending arm top, a space, and triangle horizontal bars 1 connects top slide mechanism contact 20.Three base triangular V font contacts 10 connect three isometric be the triangle horizontal bars 1 of L1, constitutes extending arm bottom, space integral body triangular cross section member, triangle horizontal bars 1 connection basal sliding mechanism contact 8.
But standard triangular V font contact 5 connects contact as expanding element, is different from top triangular V font contact 21 and base triangular V font contact 10.Deployable folded truss unit expands to a plurality of deployable folded trusses unit by 5 connections of standard triangular V font contact.
Drive system: as shown in Figure 4, feel at ease in the center that deployable folding space extending arm connects supporting space platform 19 and to adorn a transmission center hub 14, the direct current generator 16 of initiatively closed grommet 12 and power supply is connected in the transmission center hub.The active rope that starting point, terminal point all are locked in transmission center hub 14 forms three closed grommets 12 of identical active.A closed grommet 12 is locked in active Suo Qidian by latch 13 the A1 point of transmission center hub 14, the B1 point of the vertical rotary pulley 11 of pile warp base level triangle rod member 1 one ends, then along level triangle rod member 1 from B1 to the C1 point, be connected locking with base slide mechanism contact 8, continuation along level triangle rod member 1 from C1 to the D1 point, walk around the vertical rotary pulley 11 in level triangle rod member 1 the other end D1 point place, be connected to the E1 locking of the latch 13 on the transmission center hub 14 at last.
The closed grommet 12 of two other active has consistent direction and connecting means.The initiatively closed grommet 12 of second connects the B2 point of the A2 point of transmission center hub 14, vertical rotary pulley 11, the C2 point of slide mechanism contact 8, the D2 point of vertical rotary pulley 11, the E2 point of transmission center hub 14.Article three, the closed grommet 12 of active connects the B3 point of the A3 point of transmission center hub 14, vertical rotary pulley 11, the C3 point of slide mechanism contact 8, the D3 point of vertical rotary pulley 11, the E3 point of transmission center hub 14.
Power-supply system: at the deployable folding space extending arm base triangle supporting space platform 19 central transmission center hubs 14 of installing, transmission shaft 15 connects bottom direct current generators 16 and top transmission center hubs 14, and direct current generator 16 is controlled by the bidirectional remote control switch.According to counterclockwise or clockwise two-way control direction of motor rotation, the expansion of implementation space extending arm is with folding automatically.
The supporting space plateform system: drive system, deployable folding space extending arm are connected with supporting space platform 19 by packing ring link 17, bolt connection piece 18.The useful load system can connect by extending arm top triangular V font contact 21.
Unfolded principle: as Fig. 4, Fig. 5, direct current generator 16 rotating drive transmission shafts 15, transmission shaft drives 14 motions of transmission center hub, and then transmission center hub 14 drives three closed grommets 12 of active according to counterclockwise or motion clockwise, and initiatively closed grommet 12 drives locking slide mechanism contact 8 thereon and moves along triangle horizontal bars 1.Three closed grommets 12 of active drive three slide mechanism contacts 8 and are synchronized with the movement.Transmission center hub 14 rotates counterclockwise, then base slide mechanism contact 8 will drive link rod 3 and move from B1 to D1, link rod 3 drags the O1 of montant 2 around base triangular V font contact 10, rotates as Fig. 5 clockwise direction, and link rod 3 movable contact 7 that rotates rotates with base slide mechanism contact 8.Hypomere O1-G1, G1-O2 rotate around the G1 of folding and expanding contact 6 point on the vertical rib.Because special kinematic constraint and space geometry relation, three synchronous rotations of vertical rib will make vertical rib rotate around the folding contact 6 of mid point, drive epimere vertical bar 2, link rod 3, triangle horizontal bars 1 synchronization lifting, and extending arm launches gradually.The deployable folding extending arm in a plurality of expandable truss unit has on all four expansion principle.When direct current generator 16 direction of rotation, transmission center hub 14, initiatively closed grommet 12 opposite directions motion, extending arm carries out the expansion process motion.
The present invention is directed to different concrete application, also need to carry out parameter analysis optimization and technological design.Determine space extending arm parameter: quality m, frequency f, repeatability precision δ, launch height h1, fold height h2, the external garden of triangular cross section member diameter r, launch maximum speed of motion v, maximum acceleration a, duration of run t, power of motor W, startup square M.To the deployable folding space extending arm in the aerospace engineering, connect light metal materials such as contact, mechanism's contact employing titanium alloy or aluminum alloy, rod member adopts reinforced composites such as CFRP, Aramid, and initiatively closed grommet 12, passive rope 4 adopt Kalver or quartz fibre.And carry out rod member, the design of contact processing technology, kinematic pair contact tolerance fit designs, and experimental study.
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| CN 03117075 CN1232738C (en) | 2003-05-22 | 2003-05-22 | High-rigidity synchronously spreading folded space extension arm |
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| CN 03117075 CN1232738C (en) | 2003-05-22 | 2003-05-22 | High-rigidity synchronously spreading folded space extension arm |
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| CN1232738C true CN1232738C (en) | 2005-12-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102616389A (en) * | 2012-04-16 | 2012-08-01 | 北京航空航天大学 | Synchronous unfolding-folding space extend arm of triangular prism based on centripetal mechanisms |
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| US7714797B2 (en) * | 2005-03-04 | 2010-05-11 | Astrium Limited | Phased array antenna |
| CN101792023B (en) * | 2009-02-03 | 2013-08-07 | 哈尔滨理工大学 | Guy cable rod type one-dimensional stretching arm |
| CN101708779B (en) * | 2009-11-26 | 2013-11-06 | 浙江理工大学 | Two-stage spiral repeatable folding and unfolding locking mechanism of solar wing |
| CN102050409B (en) * | 2010-12-06 | 2013-03-20 | 西安电子科技大学 | Hoisting system of large-sized extensible antenna |
| CN103058083B (en) * | 2012-12-31 | 2015-12-16 | 广州市第三建筑工程有限公司 | Bolt ball truss elevator |
| CN103693212A (en) * | 2013-12-06 | 2014-04-02 | 上海卫星工程研究所 | Controlled-unfolding coiled stretching arm for unfolding satellite load |
| CN107804484B (en) * | 2017-09-25 | 2020-08-04 | 上海卫星工程研究所 | High-storage-ratio controllable truss unfolding device applied to spacecraft |
| CN108412987B (en) * | 2018-03-14 | 2020-10-30 | 北京航空航天大学 | Direction-changeable pulley device for rope-driven deployable mechanism |
| CN110963426B (en) * | 2018-09-30 | 2025-11-11 | 徐工集团工程机械股份有限公司 | Foldable deformable truss boom sections, truss booms and cranes |
| CN110641736B (en) * | 2019-10-22 | 2023-03-17 | 哈尔滨工程大学 | Stretching integral stretching arm |
| CN113895652B (en) * | 2021-09-16 | 2023-08-04 | 大连理工大学 | A retractable truss type extension arm |
| CN114104337B (en) * | 2021-12-16 | 2023-08-25 | 上海交通大学 | Double-layer expandable unit |
-
2003
- 2003-05-22 CN CN 03117075 patent/CN1232738C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616389A (en) * | 2012-04-16 | 2012-08-01 | 北京航空航天大学 | Synchronous unfolding-folding space extend arm of triangular prism based on centripetal mechanisms |
| CN102616389B (en) * | 2012-04-16 | 2014-04-16 | 北京航空航天大学 | Synchronous unfolding-folding space extend arm of triangular prism based on centripetal mechanisms |
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