阅读说明：本技术 一种铰接式伸展臂展开机构 (A kind of radial type extending arm unfolding mechanism ) 是由 秦礼 刘大利 彭福军 严飙 谢超 吕亮亮 高健 耿海峰 于 2019-08-13 设计创作，主要内容包括：本发明属于航空航天展开机构技术领域,公开了一种铰接式伸展臂展开机构,包括可展单元组,和可收藏并展开可展单元的展开控制机构；可展单元为一棱柱,包括若干条侧棱和两个底面,其侧棱可向内折叠至两底面呈收藏状态；展开控制机构包括支撑框架、滑动组件和驱动组件,驱动组件用于向滑动组件提供动力,滑动组件可沿支撑框架往复运动,将收藏状态下的可展单元组逐个解锁,至可展单元完全展开。本发明的一种铰接式伸展臂展开机构具有高刚度、高收藏效率伸展臂等优点。(The invention belongs to aerospace unfolding mechanism technical field, a kind of radial type extending arm unfolding mechanism is disclosed, including unit group can be opened up, and can collect and be unfolded that the expansion control mechanism of unit can be opened up；It is a prism, including several inclines and two bottom surfaces that unit, which can be opened up, and incline can be folded inward to two bottom surfaces in collecting state；Expansion control mechanism includes braced frame, slide assemblies and driving assembly, and driving assembly is used to provide power to slide assemblies, and slide assemblies can move back and forth along braced frame, the unit group of opening up under collecting state is unlocked one by one, is fully deployed until unit can be opened up.A kind of radial type extending arm unfolding mechanism of the invention has many advantages, such as high rigidity, high collection efficiency extending arm.)

1. a kind of radial type extending arm unfolding mechanism, which is characterized in that including unit group can be opened up, and can collect and be unfolded can Zhan Dan The expansion control mechanism of member, it is described open up unit group include by several sections along expansion direction array arrange it is described can Zhan Dan Member is constituted；

The unit of opening up is a prism, including several inclines and two bottom surfaces, incline can be folded inward to two bottom surfaces In collecting state, wherein incline is formed by connecting by two pole parts by 180 ° of hinges, and incline is connect with 90 ° of hinges of underrun It forms；

The expansion control mechanism includes braced frame, slide assemblies and driving assembly, and the driving assembly is used for institute The slide assemblies stated provide power, and the braced frame is adapted to the unit of opening up, and the unit group hiding of opening up is set In in the braced frame, the slide assemblies can be moved back and forth along the braced frame, by the institute under collecting state The unit group of opening up stated unlocks one by one, until the unit of opening up is fully deployed.

2. radial type extending arm unfolding mechanism according to claim 1, which is characterized in that open up unit bottom surface in described Vertex be equipped with tensioning mechanism, the diagonal line along two bottom surfaces passes through the tensioning mechanism interconnection drag-line.

3. radial type extending arm unfolding mechanism according to claim 1, which is characterized in that the braced frame is a rib Column, including several inclines and two bottom surfaces, described to open up unit group and be concealed between two bottom surfaces and described can Zhan Dan Member can be moved along incline to expansion direction.

4. radial type extending arm unfolding mechanism according to claim 3, which is characterized in that along the side of the braced frame Rib is equipped with guide groove, and the vertex for opening up unit bottom surface is equipped with guide pin, and the guide pin can be led along described It is moved to slot to expansion direction.

5. radial type extending arm unfolding mechanism according to claim 3, which is characterized in that the slide assemblies are a rib Column, including several inclines and two bottom surfaces are equipped with sliding block along its incline；Incline along the braced frame is equipped with guide rail, The sliding block can move back and forth on the guide rail.

6. radial type extending arm unfolding mechanism according to claim 5, which is characterized in that along the exhibition for opening up unit Evolution on the incline of the braced frame end to being equipped with and release the control mechanism, at the nearly slide assemblies end The incline at end is equipped with moving tooth, and the moving tooth reciprocating releases the control in mechanism described, control it is described can Zhan Danyuan It discharges in an orderly manner section by section.

7. radial type extending arm unfolding mechanism according to claim 6, which is characterized in that open up unit bottom surface in described Vertex be equipped with adapter, be equipped with grabbing for the grasping adapter in the vertex of the slide assemblies end face Gear mechanism.

8. radial type extending arm unfolding mechanism according to claim 3, which is characterized in that the driving assembly is set up in Braced frame two bottom surfaces on comprising motor and conveyer belt.

9. radial type extending arm unfolding mechanism according to claim 1, which is characterized in that it is described can Zhan Danyuan, described Support component and the slide assemblies be triangular prism.

Technical field

The present invention relates to aerospace unfolding mechanism technical field, in particular to a kind of radial type extending arm unfolding mechanism.

Background technique

Extending arm is the main force support structure of the large space structures such as large-sized battery battle array, antenna.With communication technology of satellite, depth The high speed development of the space tasks such as sky detection and earth observation, the large size space flight such as space station, power plant in space, high-power electric propulsion Demand of the device to straight line extending arm reaches tens meters of even rice up to a hundred.It is limited, is stretched by spaceflight delivering tool carrying space Arm is in rounding state in launching phase, enters reinflated work after planned orbit to spacecraft.

It include at present coiling extending arm and radial type extending arm using more extending arm on spacecraft.Coiling stretching, extension The stringer of arm is continuous elastic rod, and stringer is wound helically under rounding state, to realize axial small envelope collection；It stretches Swing arm returns back to original linear state under the action of stringer elastic restoring force.Coiling extending arm light weight, structure are simple, But since stringer needs helix-deformed collection, the rigidity after expansion is also poor.Radial type extending arm is by stringer at hinge Folding is realized and collapses expansion, stringer does not need to realize efficiently collection by deformation, and bearing capacity is higher.But existing radial type is stretched The vacant one section of collection space of control mechanism length direction is being unfolded in rotationally symmetrical surf interior folding in swing arm, to guarantee that single-unit is stretched Swing arm is released after expanding in place, and collection efficiency is lower；And using the driving method of feed screw nut, expansion sequence controller structure is multiple Miscellaneous, weight is larger.

Summary of the invention

To solve the above-mentioned problems, the present invention collects the urgent of efficiency extending arm to high rigidity, height for Large Spacecraft Demand provides a kind of radial type extending arm unfolding mechanism.

Technical scheme is as follows:

A kind of radial type extending arm unfolding mechanism, including unit group can be opened up, and can collect and be unfolded that the expansion of unit can be opened up Control mechanism, the unit group of opening up includes being made of several sections along the unit of opening up that expansion direction array is arranged；

The unit of opening up is a prism, including several inclines and two bottom surfaces, incline can be folded inward to two Bottom surface is in collecting state, wherein incline is formed by connecting by two pole parts by 180 ° of hinges, incline and 90 ° of hinges of underrun It is formed by connecting；

The expansion control mechanism includes braced frame, slide assemblies and driving assembly, and the driving assembly is used for Power is provided to the slide assemblies, the braced frame is adapted to the unit of opening up, and described opens up unit group Hiding is set in the braced frame, and the slide assemblies can be moved back and forth along the braced frame, will be under collecting state The unit group of opening up unlock one by one, until the unit of opening up is fully deployed.

In one embodiment of the invention, it is equipped with tensioning mechanism in the vertex for opening up unit bottom surface, along two bottoms The diagonal line in face passes through the tensioning mechanism interconnection drag-line.

In one embodiment of the invention, the braced frame is a prism, including several inclines and two bottom surfaces, institute That states opens up unit group and can be concealed between two bottom surfaces, and described open up unit and can move along incline to expansion direction.

In one embodiment of the invention, the incline along the braced frame is equipped with guide groove, and described opens up unit bottom The vertex in face is equipped with guide pin, and the guide pin can be moved along the guide groove to expansion direction.

In one embodiment of the invention, the slide assemblies are a prism, including several inclines and two bottom surfaces, edge Its incline is equipped with sliding block；It is equipped with guide rail along the incline of the braced frame, the sliding block can be reciprocal on the guide rail Movement.

In one embodiment of the invention, along the expansion direction for opening up unit, in the nearly braced frame end Incline on be equipped with and release the control mechanism, be equipped with moving tooth, the moving tooth on the incline of the nearly slide assemblies end Reciprocating releases the control in mechanism described, controls the unit of opening up and discharges in an orderly manner section by section.

In one embodiment of the invention, it is equipped with adapter in the vertex for opening up unit bottom surface, close described The vertex of slide assemblies end face is equipped with the grasping teeth mechanism of the grasping adapter.

In one embodiment of the invention, the driving assembly be set up in braced frame two bottom surfaces on comprising Motor and conveyer belt.

In one embodiment of the invention, it is described can Zhan Danyuan, the support component and the slide assemblies be Triangular prism.

Compared with prior art, beneficial effects of the present invention are as follows:

1) a kind of radial type extending arm unfolding mechanism of the invention can open up unit in the side interior folding of prismatic extending arm Collapse, expansion control mechanism length direction can all arrange can Zhan Danyuan, there is very high collection efficiency, under identical collection envelope Longer extending arm can be unfolded；

2) a kind of radial type extending arm unfolding mechanism of the invention is back and forth transported using conveyer belt or chain driving slide assemblies It is dynamic, and mechanism is released the control by shuttling movement triggering, unit can be opened up by, which making, is successively orderly unfolded, and reduces mechanism to a certain extent Complexity and overall weight；

3) a kind of radial type extending arm unfolding mechanism of the invention, radial type can open up expansion control after unit is fully deployed The grasping mechanism of unit can open up horizontal frame with the last one and lock affixed, the stiffness and strength of raising stretching, extension arm roots.

Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.

Detailed description of the invention

Fig. 1 is the structural representation under a kind of radial type extending arm unfolding mechanism folding storage state of the embodiment of the present invention Figure；

Fig. 2 is that the structural representation under process status is unfolded in a kind of radial type extending arm unfolding mechanism of the embodiment of the present invention Figure；

Fig. 3 is that a kind of radial type extending arm unfolding mechanism of the embodiment of the present invention expands in place the structural representation under state Figure；

Fig. 4 is the structural schematic diagram that can open up unit group 1；

Fig. 5 is the partial enlarged view at the A of Fig. 4；

Fig. 6 is the structural schematic diagram that control mechanism 2 is unfolded；

Fig. 7 is that the slide assemblies 22 of Fig. 6 move to the structural schematic diagram of outermost end；

Fig. 8 is the structural schematic diagram of braced frame 21；

Fig. 9 is the structural schematic diagram of slide assemblies 22；

Figure 10 is the structural schematic diagram of driving assembly 23.

Marked in the figure: 1- can open up unit group, 11- can Zhan Danyuan, 111- incline, 1111- rod piece, 1112-180 ° of hinge, Control machine is unfolded in 1113-90 ° of hinge, the bottom surface 112-, 113- tensioning mechanism, 12- drag-line, 13- guide pin, 14- adapter, 2- Structure, 21- braced frame, 211- incline, the bottom surface 212-, 213- guide groove, 214- guide rail, 215- release the control mechanism, 22- sliding Component, 221- incline, the bottom surface 222-, 223- sliding block, 224- moving tooth, 225- grasping teeth mechanism, 23- driving assembly, 231- motor, 232- conveyer belt.

Specific embodiment

In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention Specific embodiment be described in detail.

In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention.But the present invention can be with Much it is different from other modes described herein to implement, those skilled in the art can be without prejudice to intension of the present invention the case where Under do similar popularization, therefore the present invention is not limited to the specific embodiments disclosed below.

It should be noted that the directional instruction (such as up, down, left, right, before and after ...) of institute in the embodiment of the present invention It is only used for explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, such as When the fruit particular pose changes, then directionality instruction also correspondingly changes correspondingly.

In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense, For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral；It can be mechanical connection, be also possible to It is welded to connect；Can be directly connected, can also indirectly connected through an intermediary, can be connection inside two elements or The interaction relationship of two elements, unless otherwise restricted clearly.For the ordinary skill in the art, Ke Yigen The concrete meaning of above-mentioned term in the present invention is understood according to concrete condition.

In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ", The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment Case can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not the present invention claims guarantor Within the scope of shield.

Referring to shown in Fig. 1~10, one embodiment of the invention discloses a kind of radial type extending arm unfolding mechanism, including can Unit group 1 is opened up, and can collect and be unfolded to open up the expansion control mechanism 2 of unit 11, the unit group 1 of opening up includes by several It saves and is constituted along the unit 11 of opening up that expansion direction array is arranged；

The described unit 11 of opening up is a prism, including several inclines 111 and two bottom surfaces 112, and incline 111 can be to Infolding is stacked to two bottom surfaces 112 in collecting state, wherein incline 111 is connected by two pole parts 1111 by 180 ° of hinges 1112 At incline 111 is formed by connecting with bottom surface 112 by 90 ° of hinges 1113；

Unit 11 can be opened up to arrange along expansion direction array, unit 11 can be opened up by, which being connected, shares a bottom surface 112, forms radial type Extending arm, in prismatic after extending arm expansion；Two 1111,180 ° of pole part hinge 1112 and 90 ° hinges 1113 form plane and connect Linkage, in the side in-plane moving of prism, hinge locks certainly after expanding in place；When the unfolding mechanism is in collecting state, incline 111 be axial interior folding, incline 111 and bottom surface 112 with 180 ° of hinges 1112 with 90 ° of hinges 1113 be axis, and two bottom surfaces 112 are closed Hold together；

The expansion control mechanism 2 includes braced frame 21, slide assemblies 22 and driving assembly 23, the driving group Part 23 is used to provide power to the slide assemblies 22, and the braced frame 21 is adapted to the unit 11 of opening up, institute The hiding of unit group 1 of opening up stated is set in the braced frame 21, and the slide assemblies 22 can be along the braced frame 21 It moves back and forth, the unit group 1 of opening up under collecting state is unlocked one by one, until the unit 11 of opening up is fully deployed.

It is shown in Figure 5, it is equal in the vertex for opening up 11 bottom surface 112 of unit in another embodiment of the present invention Equipped with tensioning mechanism 113, the diagonal line along two bottom surfaces 112 passes through the 113 interconnection drag-line 12 of tensioning mechanism.Drag-line 12 By two adjacent bottom surfaces 112 of 113 interconnection of tensioning mechanism, drag-line 12 is located in the side of prism.The tensioning mechanism 113 For unit 11 can be opened up before being fully deployed, by corresponding drag-line winding collection, drag-line and other structures is avoided to interfere, hook, and Constant tension is provided for drag-line, the torsion stiffness after guaranteeing extending arm expansion.

Referring to shown in Fig. 6~8, in order to preferably with can open up unit 11 and be adapted to, it is described in another embodiment of the present invention Braced frame 21 is preferably a prism, including several inclines 211 and two bottom surfaces 212, and further preferred, and described opens up Unit group 1 can be concealed between two bottom surfaces 212, described to open up unit 11 and move along incline 211 to expansion direction, in this, It is unfolded all arrange on the length of run direction of control mechanism 2 and can opens up unit 11, there is very high collection efficiency, in identical receipts It hides under envelope, longer extending arm can be unfolded.

Further preferably, it is equipped with guide groove 213 along the incline 211 of the braced frame 21, described opens up unit 11 The vertex of bottom surface 112 is equipped with guide pin 13, and the guide pin 13 can be transported along the guide groove 213 to expansion direction It is dynamic.From can entirely open up unit group 1, guide groove 213 constrains the guide pin 13 that can open up 1 array of unit group arrangement, and making can Zhan Danyuan 11 are only capable of moving along a straight line along expansion direction.

Referring to shown in Fig. 6 and Fig. 9, in another embodiment of the present invention, the slide assemblies 22 are a prism, if including Dry incline 221 and two bottom surfaces 222 are equipped with sliding block 223 along its incline 221；Incline 211 along the braced frame 21 is set There is guide rail 214, the sliding block 223 can move back and forth on the guide rail 214, and in this, slide assemblies 22 can be in support frame It is moved back and forth on frame 21.

It is preferred that along the expansion direction for opening up unit 11, on the incline 211 of nearly 21 end of braced frame It is equipped with and releases the control mechanism 215, moving tooth 224 is equipped on the incline 221 of nearly 22 end of slide assemblies, described dials 224 reciprocating of tooth releases the control in mechanism 215 described, controls the unit 11 of opening up and discharges in an orderly manner section by section.

Further preferably, it is equipped with adapter 14 in the vertex for opening up 11 bottom surface 112 of unit, in the nearly cunning The vertex of dynamic 22 end face 222 of component is equipped with the grasping teeth mechanism 225 of the grasping adapter 14.

It is preferred that shown in Figure 10, the driving assembly 23 be set up in braced frame 21 two bottom surfaces 212 on, It includes motor 231 and conveyer belt 232.

It is preferred that open up unit 11, the support component 21 and the slide assemblies 22 are triangular prism.

A kind of radial type extending arm unfolding mechanism of the invention, expansion can open up the process of unit 11 section by section are as follows:

1) when rounding state, slide assemblies 22 as shown in fig. 6, the unfolding mechanism as shown in Figure 1, driving assembly 23 driving slide Dynamic component 22 is moved to expansion direction, and the triggering of moving tooth 224 releases the control mechanism 215, is discharged outermost to open up unit 11 Bottom surface 112；

2) adapter 14 for the bottom surface 112 being released in the locking 1) of grasping teeth mechanism 225 of slide assemblies 22；

3) driving assembly 23 drives slide assemblies 22 to move to state shown in Fig. 7 along expansion direction, can open up the expansion of unit 11 In place, hinge locks；

4) the grasping teeth mechanism 225 of slide assemblies 22 and adapter 14 unlock；

5) driving assembly 23 drives slide assemblies 22 to move along the opposite direction of expansion, returns to 1) state；

6) circulation 1) -5).

As shown in figure 3, the grasping teeth mechanism 225 of expansion control mechanism 2 is opened up with what is be finally unfolded after extending arm is fully deployed It maintains the lock status between the adapter 14 of unit 11, for improving the stiffness and strength of stretching, extension arm roots.

Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification, It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only It is limited by claims and its full scope and equivalent.