阅读说明：本技术 一种大型体状可展桁架机构 (Large-scale form can expand truss mechanism ) 是由 郭宏伟 史创 陶磊 肖洪 刘荣强 于 2019-11-11 设计创作，主要内容包括：一种大型体状可展桁架机构,它涉及一种桁架机构。本发明为了解决传统的中心承力筒结构构型确定,灵活性差；整体包络体积较大,尺寸受运载火箭约束,限制航天器整体的布局的问题。本发明的每个三接头铰链的左右两接头分别与一根横杆转动连接并组成第一折展单元,每个三接头铰链的第三接头与竖杆的一端转动连接,相邻两根横杆之间通过横向驱动铰链连接,并且相邻两个第一折展单元之间通过一个径向驱动铰链转动连接；每个四接头铰链的左右两接头分别与一根横杆转动连接并组成第二折展单元,每个四接头铰链的上下两个接头分别与竖杆的另一端转动连接,相邻两个第二折展单元之间通过一个驱动铰链转动连接。本发明用于航天航空领域中。(A large-scale truss mechanism capable of being unfolded relates to a truss mechanism. The invention aims to solve the problems of the traditional central bearing cylinder structure configuration determination and poor flexibility; the overall envelope volume is large, the size is restricted by a carrier rocket, and the overall layout of the spacecraft is limited. The left joint and the right joint of each three-joint hinge are respectively rotatably connected with a cross rod to form a first folding and unfolding unit, the third joint of each three-joint hinge is rotatably connected with one end of a vertical rod, two adjacent cross rods are connected through a transverse driving hinge, and two adjacent first folding and unfolding units are rotatably connected through a radial driving hinge; the left joint and the right joint of each four-joint hinge are respectively rotatably connected with a cross rod to form a second folding unit, the upper joint and the lower joint of each four-joint hinge are respectively rotatably connected with the other end of a vertical rod, and two adjacent second folding units are rotatably connected through a driving hinge. The invention is used in the field of aerospace.)

1. The utility model provides a large-scale form can expand truss mechanism which characterized in that: the novel steel wire rope fixing device comprises four octagonal fixing rings and a plurality of vertical rods (1), wherein a first octagonal fixing ring (2) and a fourth octagonal fixing ring (5) in the four octagonal fixing rings have the same structure, and a second octagonal fixing ring (3) and a third octagonal fixing ring (4) have the same structure; the first octagonal fixing ring (2), the second octagonal fixing ring (3), the third octagonal fixing ring (4) and the fourth octagonal fixing ring (5) are rotatably connected through a plurality of vertical rods (1) from top to bottom;

the first octagonal fixing ring (2) comprises a plurality of three-joint hinges (6), a plurality of cross rods (7) and a plurality of driving hinges (8), the left joint and the right joint of each three-joint hinge (6) are respectively and rotatably connected with one cross rod (7) to form a first folding and unfolding unit (A), the third joint of each three-joint hinge (6) is rotatably connected with one end of a vertical rod (1), and two adjacent first folding and unfolding units (A) are rotatably connected through one driving hinge (8);

the third octagonal fixing ring (4) comprises a plurality of four-joint hinges (9), a plurality of cross rods (7) and a plurality of driving hinges (8), the left joint and the right joint of each four-joint hinge (9) are respectively connected with one cross rod (7) in a rotating mode and form a second folding unit (B), the upper joint and the lower joint of each four-joint hinge (9) are respectively connected with the other end of the vertical rod (1) in a rotating mode, and the adjacent two second folding units (B) are connected through one driving hinge (8) in a rotating mode.

2. A body-like deployable truss mechanism as claimed in claim 1, wherein: the three-joint hinge (6) comprises a three-joint rotating hinge (10), a first sliding hinge joint (11), a three-joint spring (12), a synchronous slide block (13) and two sliding inclined rod assemblies (14),

three joint springs (12) are sleeved on a third joint of a three-joint rotating hinge (10), a first sliding hinge joint (11) is sleeved on the third joint of the three-joint rotating hinge (10) at the lower end of the three joint spring (12), a vertical rod (1) is installed in the first sliding hinge joint (11) and the three-joint spring (12), a synchronous sliding block (13) is sleeved on the vertical rod (1) and slides on the vertical rod (1) along with the first sliding hinge joint (11), one ends of two sliding diagonal rod assemblies (14) are respectively in sliding connection with a transverse rod (7) installed on the left joint and the right joint of the three-joint rotating hinge (10), and the other ends of the two sliding diagonal rod assemblies (14) are respectively in rotating connection with two ends of the first sliding hinge joint (11).

3. A body-like deployable truss mechanism as claimed in claim 2, wherein: the sliding diagonal rod assembly (14) comprises a cross rod fixing ring (15), a synchronous diagonal rod (16) and a rotating joint (17), the cross rod fixing ring (15) is slidably sleeved on the cross rod (7), the rotating joint (17) is rotatably installed at one end of a first sliding hinge joint (11), and the cross rod fixing ring (15) is connected with the rotating joint (17) through the synchronous diagonal rod (16).

4. A body-like deployable truss mechanism as claimed in claim 3, wherein: the driving hinge (8) comprises a first connecting piece (8-1), a second connecting piece (8-2), a rotating shaft (8-3) and an external driving pulley (8-4), the first connecting piece (8-1) and the second connecting piece (8-2) are rotatably connected through the rotating shaft (8-3), and the external driving pulley (8-4) is installed on one side of the rotating shaft (8-3).

5. A body-like deployable truss mechanism as claimed in claim 3, wherein: drive hinge (8) are including public hinge (18), female hinge (19), stop block (20), locking goods of furniture for display rather than for use (21), axle sleeve (22), energy storage dabber (23) and two constant force spring (24), stop block (20) and locking goods of furniture for display rather than for use (21) are rotated through energy storage dabber (23) and are connected, public hinge (18) fixed mounting is in the outside of stop block (20), female hinge (19) fixed mounting is in the outside of locking goods of furniture for display rather than for use (21), the left and right sides at locking goods of furniture for display rather than for use (21) is installed in axle sleeve (22), the one end of every constant force spring (24) all is connected with axle sleeve (22) and twines on energy storage dabber (23), the other end of every constant force spring (24) all.

6. The body-like expandable truss mechanism of claim 5, wherein: a limiting groove (20-1) is formed in the upper end face of the limiting part (20), a limiting protrusion (21-1) is arranged on the upper portion of a matching face of the locking swing part (21) and the limiting part (20), and the limiting part (20) and the locking swing part (21) are clamped in the limiting groove (20-1) for limiting through the limiting protrusion (21-1) after rotating around the energy storage mandrel (23).

7. The body-like expandable truss mechanism of claim 5, wherein: the four-joint hinge (9) includes a fourth swivel hinge assembly (C) rotatably mounted on a three-joint swivel hinge (10) opposite to the third joint in the three-joint hinge (6), and a three-joint hinge (6).

8. The body-like expandable truss mechanism of claim 7, wherein: the fourth rotary hinge component (C) comprises a four-head fixed seat (C-1), a four-head movable seat (C-2) and a four-head rotating shaft (C-3), the four-head fixed seat (C-1) is installed on the three-head rotary hinge (10), and the four-head movable seat (C-2) is rotatably connected with the four-head fixed seat (C-1) through the four-head rotating shaft (C-3).

9. The body-like expandable truss mechanism of claim 7, wherein: the fourth rotary hinge assembly (C) comprises a four-head male hinge (25), a four-head female hinge (26), a hinge support (27), a support shaft (28), a four-head locking swing part (29) and a spring assembly (30),

the four-head female hinge (26) is arranged on the four-head male hinge (25) through a hinge support (27), the upper support and the lower support of the hinge support (27) are rotatably connected through a support shaft (28), and the four-head locking swing part (29) is arranged on the hinge support (27) through a spring assembly (30).

10. A body-like deployable truss mechanism as claimed in claim 9, wherein: it also comprises a plurality of inner pulleys (51), and one inner pulley (51) is rotatably arranged inside each three-joint hinge (6).

Technical Field

The invention relates to a truss mechanism, in particular to a large-scale truss mechanism capable of being unfolded. Belongs to the technical field of space flight and aviation

Background

The space solar power station collects and converts solar energy into electric energy in space, transmits the electric energy to the ground in a wireless energy mode, and converts the electric energy into direct current through a ground rectifying device. The space solar power station is developed, the continuous and stable work with large energy flux density is realized, the solar radiation can be stably received in 99% of the time in a geosynchronous orbit, and the stable energy transmission is carried out to a ground fixed area. However, the system scale of the GW-grade power generation of the solar power station needs to be in the order of hundreds of meters.

The central bearing structure of the space solar power station has the dimension diameter of 23m and the length of hundreds of meters, and must be constructed by multiple times of emission and space assembly. But the traditional central bearing cylinder structure has definite configuration and poor flexibility; the overall envelope volume is large, the size is restricted by a carrier rocket, and the overall layout of the spacecraft is limited. Therefore, the space solar power station can not adopt a conventional bearing structure, and an expandable central bearing structure is required to be designed so as to reduce the envelope volume during launching, reduce the launching cost and simultaneously reduce the limitation of the carrier rocket on the size of the spacecraft.

With the rapid development of space science and space detection technology, the development demand of large-scale, light-weight and high-folding-ratio space unfolding mechanisms is increasingly urgent nowadays. With the increase of the maximum opening diameter of the folding and unfolding mechanism, the storage space of the existing space delivery vehicle can not meet the requirement of a large space folding and unfolding mechanism temporarily, so that a large space scale mechanism capable of realizing the folding and unfolding functions is urgently needed to be designed. The design and analysis of an aerospace folding and unfolding mechanism are one of the key basic problems in the future aerospace technology development.

In conclusion, the existing unfolding mechanism has the defects of determined central force bearing structure configuration and poor flexibility; the overall envelope volume is large, the size is restricted by a carrier rocket, and the overall layout of the spacecraft is limited.

Disclosure of Invention

The invention aims to solve the problems that the existing unfolding mechanism has a central bearing structure configuration and poor flexibility; the overall envelope volume is large, the size is restricted by a carrier rocket, and the overall layout of the spacecraft is limited. Further provides a body-shaped expandable truss mechanism.

The technical scheme of the invention is as follows: the body-shaped expandable truss mechanism comprises four octagonal fixing rings and a plurality of vertical rods, wherein a first octagonal fixing ring and a fourth octagonal fixing ring in the four octagonal fixing rings are in the same structure, and a second octagonal fixing ring and a third octagonal fixing ring are in the same structure; the first octagonal fixing ring, the second octagonal fixing ring, the third octagonal fixing ring and the fourth octagonal fixing ring are rotatably connected from top to bottom through a plurality of vertical rods; the first octagonal fixing ring comprises a plurality of three-joint hinges, a plurality of cross rods and a plurality of driving hinges, the left joint and the right joint of each three-joint hinge are respectively and rotatably connected with one cross rod to form a first folding and unfolding unit, the third joint of each three-joint hinge is rotatably connected with one end of a vertical rod, and two adjacent first folding and unfolding units are rotatably connected through one driving hinge; the third octagonal fixing ring comprises a plurality of four-joint hinges, a plurality of cross rods and a plurality of driving hinges, the left joint and the right joint of each four-joint hinge are respectively connected with one cross rod in a rotating mode and form a second folding unit, the upper joint and the lower joint of each four-joint hinge are respectively connected with the other end of a vertical rod in a rotating mode, and two adjacent second folding units are connected through one driving hinge in a rotating mode.

Furthermore, the three-joint hinge comprises a three-joint rotating hinge, a first sliding hinge joint, a three-joint spring, a synchronous slider, two sliding diagonal rod assemblies and a constant force spring, the three-joint spring is sleeved on a third joint of the three-joint rotating hinge, the first sliding hinge joint is sleeved on the third joint of the three-joint rotating hinge at the lower end of the three-joint spring, the vertical rod is arranged in the first sliding hinge joint and the three-joint spring, the synchronous slider is sleeved on the vertical rod and slides on the vertical rod along with the first sliding hinge joint, one end of each of the two sliding diagonal rod assemblies is respectively connected with the transverse rods arranged on the left joint and the right joint of the three-joint rotating hinge in a sliding manner, the other ends of the two sliding diagonal rod assemblies are respectively connected with the two ends of the first sliding hinge joint in, wherein the constant force spring is installed between the other ends of the two sliding diagonal rod assemblies and the two ends of the first sliding hinge joint.

Further, the sliding inclined rod assembly comprises a cross rod fixing ring, a synchronous inclined rod and a rotating joint, the cross rod fixing ring is slidably sleeved on the cross rod, the rotating joint is rotatably installed at one end of the first sliding hinge joint, and the cross rod fixing ring is connected with the rotating joint through the synchronous inclined rod.

Furthermore, the driving hinge comprises a first connecting piece, a second connecting piece, a rotating shaft and an external driving pulley, the first connecting piece and the second connecting piece are rotatably connected through the rotating shaft, and the external driving pulley is arranged on one side of the rotating shaft.

Further, the drive hinge includes public hinge, female hinge, spacing part, the locking goods of furniture for display rather than for use, the axle sleeve, energy storage dabber and two constant force springs, spacing part passes through the energy storage dabber with the locking goods of furniture for display rather than for use and rotates to be connected, public hinge fixed mounting is in spacing part's the outside, female hinge fixed mounting is in the outside of locking goods of furniture for display rather than for use, the axle sleeve is installed in the left and right sides of locking goods of furniture for display rather than for use, the one end of every constant force spring all with the axle sleeve connection and twine in the energy.

Furthermore, a limiting groove is formed in the upper end face of the limiting part, a limiting protrusion is arranged on the upper portion of the matching surface of the locking swing part and the limiting part, and the limiting part and the locking swing part are clamped in the limiting groove through the limiting protrusion to be limited after rotating around the energy storage mandrel.

Further, the four-joint hinge includes a fourth swivel hinge assembly rotatably installed on a three-joint swivel hinge opposite to the third joint among the three-joint hinges, and a three-joint hinge.

Furthermore, the fourth rotating hinge assembly comprises a four-head fixing seat, a four-head movable seat and a four-head rotating shaft, the four-head fixing seat is installed on the three-head rotating hinge, and the four-head movable seat is rotatably connected with the four-head fixing seat through the four-head rotating shaft.

Furthermore, the fourth rotary hinge component comprises a four-head male hinge, a four-head female hinge, a hinge support, a support shaft, a four-head locking swing part and a spring component, the four-head female hinge is arranged on the four-head male hinge through the hinge support, the upper support and the lower support of the hinge support are rotatably connected through the support shaft, and the four-head locking swing part is arranged on the hinge support through the spring component.

Further, the three-joint hinge further comprises a plurality of inner pulleys, and one inner pulley is rotatably arranged inside each three-joint hinge.

Compared with the prior art, the invention has the following effects:

1. the invention adopts the constant moment spring as the driving source to output the moment to be a constant value, so that the stress and the movement in the configuration unfolding process are more reasonable.

2. The invention adopts four octagonal fixing rings, the first octagonal fixing ring 2 and the second octagonal fixing ring 3 are outer upper ring octagonal prisms, and the third octagonal fixing ring 4 and the fourth octagonal fixing ring 5 are contracted inwards to be inner lower ring octagonal prisms. The outer ring-mounting octagonal prism mechanism is unfolded firstly, the inner ring-mounting octagonal prism structure moves downwards firstly and then is unfolded, all truss rods and hinges do not interfere in the whole unfolding process, the mechanism is smooth and free of jamming, and the mechanism can be effectively guaranteed to be unfolded synchronously.

3. The invention realizes larger folding-unfolding ratio of the large-space expandable truss mechanism, and simultaneously avoids structural interference among configurations; the unfolding reliability is higher; the light weight is realized. The present invention has a fold-to-extension ratio of 148.5422 as defined by the ratio of the expanded volume to the collapsed volume, and 131.2463 for the deca-prism configuration, which provides a much higher fold-to-extension ratio than current large-space expandable truss mechanisms.

4. The invention has good mechanical property, high integral structure rigidity, good universality and combination, simple form and reasonable force transmission path, the sliding diagonal rod assembly 14 can transmit concentrated load, the rod pieces are arranged along the main force transmission path of the load, the structure quality can be reduced, and the structure performance is improved.

5. The invention designs the pulley assembly as a slow release mechanism for unfolding the truss, in order to ensure controllable unfolding and reduce the impact caused by driving force when the truss is unfolded in place, so that the unfolding process is more stable and reliable. When the truss is unfolded in place, the rotary joint is locked and stiffened, the control system reverses the motor to pre-apply pre-tightening force to the ropes, so that the structural rigidity of the whole truss is improved.

6. The truss rod of the expandable truss is made of the carbon fiber tube with high strength and low density, so that the weight is reduced.

7. The invention accumulates the technical foundation for the deployable heart bearing structure in the space solar power station.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention in a deployed state; FIG. 2 is a schematic structural view of the present invention in a semi-deployed state; FIG. 3 is a schematic view of the present invention in a contracted state; FIG. 4 is a schematic of the present invention employing a rope wrapped around a pulley; FIG. 5 is an enlarged partial view of the drive hinge; fig. 6 is a partially enlarged view of the second folding unit B; fig. 7 is a structural schematic view of a fourth swivel hinge assembly C; FIG. 8 is a schematic view of another preferred embodiment of a drive hinge; FIG. 9 is a schematic structural view of a three-joint hinge; fig. 10 is a schematic view of a single loop furling pulley arrangement.

Detailed Description