阅读说明：本技术 一种新型单自由度可折叠柱状结构 (Novel single-degree-of-freedom foldable columnar structure ) 是由 李纪辉 邓子辰 安思奇 朱志韦 于 2021-07-11 设计创作，主要内容包括：本发明公开了一种新型单自由度可折叠柱状结构,包括折叠单元组和连接装置；折叠单元组包括多个沿直线排布的折叠单元,连接装置用于连接相邻的折叠单元；折叠单元包括正六边形面板、带扭簧的旋转副、标准旋转副和锁紧装置；当折叠单元处于完全展开状态时,折叠单元为类球体形状,未使用标准旋转副或带扭簧的旋转副连接的相邻正六边形面板通过锁紧装置锁定；多个折叠单元通过连接装置连接构成柱状结构。本发明有利于提升系统的收纳效率,简化控制系统的设计,提高系统展开过程的精度和可靠度。(The invention discloses a novel single-degree-of-freedom foldable columnar structure, which comprises a folding unit group and a connecting device; the folding unit group comprises a plurality of folding units which are arranged along a straight line, and the connecting device is used for connecting the adjacent folding units; the folding unit comprises a regular hexagon panel, a rotating pair with a torsion spring, a standard rotating pair and a locking device; when the folding unit is in a fully unfolded state, the folding unit is in a spheroid shape, and adjacent regular hexagon panels which are not connected by a standard revolute pair or a revolute pair with a torsion spring are locked by a locking device; the plurality of folding units are connected through the connecting device to form a columnar structure. The invention is beneficial to improving the storage efficiency of the system, simplifying the design of the control system and improving the precision and reliability of the system in the unfolding process.)

1. A novel single-degree-of-freedom foldable columnar structure is characterized by comprising a folding unit group and a connecting device; the folding unit group comprises a plurality of folding units which are arranged along a straight line, and the connecting device is used for connecting the adjacent folding units;

the folding unit is of a folding telescopic structure and comprises M regular hexagonal panels, Q rotating pairs with torsional springs, L standard rotating pairs and P locking devices;

when the folding unit is in a folding state, the folding unit is divided into a first folding surface and a second folding surface which are completely the same, the first folding surface and the second folding surface are both in a U-like shape, and the first folding surface and the second folding surface are symmetrical; the first folding surface and the second folding surface are connected through Q rotating pairs with torsion springs; the adjacent regular hexagon panels in the first folding surface and the second folding surface are connected through a standard revolute pair;

when the folding unit is in a fully unfolded state, the folding unit is in a spheroid shape, and adjacent regular hexagon panels which are not connected by a standard revolute pair or a revolute pair with a torsion spring are locked by a locking device; the plurality of folding units are connected through the connecting device to form a columnar structure.

2. The novel single degree of freedom foldable column structure as claimed in claim 1, wherein the folding unit comprises 8 regular hexagon panels, 4 revolute pairs with torsion springs, 6 standard revolute pairs and 2 locking devices.

3. The novel single-degree-of-freedom foldable columnar structure as recited in claim 2, wherein when the folding units are in the folded state, the first folding surface and the second folding surface each have 4 regular hexagonal panels, 3 adjacent sides are arranged between the 4 regular hexagonal panels, and 3 standard revolute pairs 122 are respectively arranged on the 3 adjacent sides to connect the adjacent regular hexagonal panels; when the folding unit is in an incompletely unfolded state, 4 adjacent sides are arranged between the first folding surface and the second folding surface, and 4 rotating pairs with torsion springs are respectively arranged on the 4 adjacent sides to connect the adjacent regular hexagonal panels; when the folding unit is in a fully unfolded state, 2 adjacent sides without a standard rotating pair or a rotating pair with a torsion spring are provided, and 2 locking devices are respectively arranged on the 2 adjacent sides to lock the adjacent regular hexagon panels.

4. The novel single degree of freedom collapsible columnar structure as recited in claim 1, wherein said locking means comprises an upper locking block and a lower locking block; the upper locking block and the lower locking block are respectively fixed on the corresponding regular hexagon panels by screws; the upper locking block comprises a tooth-shaped barb, and the lower locking block comprises a groove and is provided with an arc surface; when the upper locking block initially contacts with the lower locking block, the tooth-shaped barb slides on the arc surface, when the tooth-shaped barb enters the groove, the locking device realizes locking, and at the moment, the folding unit is in a fully unfolded state.

5. The novel single-degree-of-freedom foldable columnar structure as claimed in claim 1, wherein the rotation angle range of the rotating pair with the torsion spring is 0-109.47 degrees, and the rotation angle range of the standard rotating pair is 109.47-180 degrees.

6. The new single degree of freedom foldable column structure as claimed in claim 1, wherein when the folding unit is in the fully unfolded state, the folding unit is in the shape of truncated octahedron.

7. The new single degree of freedom foldable column structure as claimed in claim 1, wherein the connecting means is a revolute pair, and two adjacent folding units are connected using 4 revolute pairs.

Technical Field

The invention belongs to the technical field of spaceflight, and particularly relates to a foldable columnar structure.

Background

Foldable structures have important applications in the field of aerospace structures, in that they are in a folded state during the launch phase, and are unfolded into an operative state after reaching a predetermined trajectory. The columnar extending arm has the advantages of light weight, high storage ratio and the like, and plays an important role in a plurality of space missions. For example, the column-shaped extending arm can be used as a bearing structure of the ultra-large solar wing and drive the solar wing to be unfolded; the cylindrical extending arm can be used as a bridge for connecting the satellite body and the load, so that the load is far away from the satellite body, and further the influence of the electromagnetic environment of the satellite body on the load is avoided. Currently, commonly used cylindrical extension arms include telescopic extension arms, disc-press rod type extension arms, and articulated cylindrical extension arms.

Telescopic extension arms are usually nested together by a series of concentric thin-walled circular tubes, which are highly reliable, but have a large collapsed volume and a limited extended length. The disc pressure rod type extending arm drives the structure to be unfolded by utilizing the strain energy stored when the longitudinal beam disc is pressed and folded, the structural form is simple, the reliability is high, and the difficulty of repeated folding and unfolding is very high. The longitudinal beam of the articulated column type extension arm is formed by a plurality of unit sections in an articulated manner, and the longitudinal beam of each unit section is connected together through a transverse framework, and the expansion and the folding of the longitudinal beam require the assistance of a sleeve. But the sleeve weight is great, has increased the emission cost, and the unit section expandes in proper order moreover, and the structure itself degree of freedom is quantity many, has increased the drive control degree of difficulty indirectly.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a novel single-degree-of-freedom foldable columnar structure, which comprises a folding unit group and a connecting device; the folding unit group comprises a plurality of folding units which are arranged along a straight line, and the connecting device is used for connecting the adjacent folding units; the folding unit comprises a regular hexagon panel, a rotating pair with a torsion spring, a standard rotating pair and a locking device; when the folding unit is in a fully unfolded state, the folding unit is in a spheroid shape, and adjacent regular hexagon panels which are not connected by a standard revolute pair or a revolute pair with a torsion spring are locked by a locking device; the plurality of folding units are connected through the connecting device to form a columnar structure. The invention is beneficial to improving the storage efficiency of the system, simplifying the design of the control system and improving the precision and reliability of the system in the unfolding process.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a novel single-degree-of-freedom foldable columnar structure comprises a folding unit group and a connecting device; the folding unit group comprises a plurality of folding units which are arranged along a straight line, and the connecting device is used for connecting the adjacent folding units;

the folding unit is of a folding telescopic structure and comprises M regular hexagonal panels, Q rotating pairs with torsional springs, L standard rotating pairs and P locking devices;

when the folding unit is in a folding state, the folding unit is divided into a first folding surface and a second folding surface which are completely the same, the first folding surface and the second folding surface are both in a U-like shape, and the first folding surface and the second folding surface are symmetrical; the first folding surface and the second folding surface are connected through Q rotating pairs with torsion springs; the adjacent regular hexagon panels in the first folding surface and the second folding surface are connected through a standard revolute pair;

when the folding unit is in a fully unfolded state, the folding unit is in a spheroid shape, and adjacent regular hexagon panels which are not connected by a standard revolute pair or a revolute pair with a torsion spring are locked by a locking device; the plurality of folding units are connected through the connecting device to form a columnar structure.

Further, the folding unit comprises 8 regular hexagon panels, 4 rotating pairs with torsion springs, 6 standard rotating pairs and 2 locking devices.

Further, when the folding unit is in the folded state, the first folding surface and the second folding surface each have 4 regular hexagonal panels, 3 adjacent sides are provided between the 4 regular hexagonal panels, and 3 standard revolute pairs 122 are respectively arranged at the 3 adjacent sides to connect the adjacent regular hexagonal panels; when the folding unit is in an incompletely unfolded state, 4 adjacent sides are arranged between the first folding surface and the second folding surface, and 4 rotating pairs with torsion springs are respectively arranged on the 4 adjacent sides to connect the adjacent regular hexagonal panels; when the folding unit is in a fully unfolded state, 2 adjacent sides without a standard rotating pair or a rotating pair with a torsion spring are provided, and 2 locking devices are respectively arranged on the 2 adjacent sides to lock the adjacent regular hexagon panels.

Further, the locking device comprises an upper locking block and a lower locking block; the upper locking block and the lower locking block are respectively fixed on the corresponding regular hexagon panels by screws; the upper locking block comprises a tooth-shaped barb, and the lower locking block comprises a groove and is provided with an arc surface; when the upper locking block initially contacts with the lower locking block, the tooth-shaped barb slides on the arc surface, when the tooth-shaped barb enters the groove, the locking device realizes locking, and at the moment, the folding unit is in a fully unfolded state.

Furthermore, the rotating angle range of the rotating pair with the torsion spring is 0-109.47 degrees, and the rotating angle range of the standard rotating pair is 109.47-180 degrees.

Further, when the folding unit is in a fully unfolded state, the folding unit is in a truncated octahedron shape.

Further, the connecting device is a rotating pair, and two adjacent folding units are connected by using 4 rotating pairs.

The invention has the following beneficial effects:

(1) according to the single-degree-of-freedom extending arm unfolding mechanism, the length in the fully folded state is only related to the thickness of the panel, and the structural outline in the fully unfolded state is changed into a columnar structure formed by connecting a series of three-dimensional truncated octahedrons in series, so that the single-degree-of-freedom extending arm unfolding mechanism has high storage efficiency.

(2) According to the single-degree-of-freedom extending arm unfolding mechanism, only one degree of freedom of motion is provided from the mechanistic view, and the unfolding or folding of the whole structure can be controlled by giving one input, so that the design of a control system is simplified, and the precision and the reliability of the system in the unfolding process are improved;

(3) according to the single-degree-of-freedom extending arm unfolding mechanism, the locking device is additionally arranged on the panel, so that structural locking can be realized in a fully unfolded state, and the bearing capacity and reliability of the integral structure of the extending arm are improved.

Drawings

Fig. 1 is a schematic structural view of a fully folded state of a deployment mechanism for a column-like extendable arm according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a deployment process state of a deployment mechanism of a column-shaped extension arm according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a cylindrical extending arm unfolding mechanism in a fully unfolded state according to an embodiment of the present invention.

FIG. 4 is a schematic structural diagram of a folded unit of the present invention in a state of being unfolded.

FIG. 5 is a schematic structural view of the folding unit of the present invention in another state during unfolding.

Fig. 6 is a schematic structural view of the folding unit of the present invention in a fully folded state.

Fig. 7 is a schematic structural view of the folding unit of the present invention in a fully opened state.

Fig. 8 is a partial enlarged view of fig. 7 at a.

In the figure: 1-folding unit, 11-regular hexagon panel, 12-revolute pair, 121-revolute pair with torsion spring, 122-standard revolute pair, 13-locking device with groove, 131-upper locking block of locking device, 132-lower locking block of locking device, 2-connecting device.

Detailed Description

The invention is further illustrated with reference to the following figures and examples.

In order to solve the problems of complex driving, large furling volume, large weight and the like of the traditional extending arm mechanism, the invention provides an extending arm unfolding mechanism with single degree of freedom, modularization assembly, high receiving efficiency and high bearing capacity.

A novel single-degree-of-freedom foldable columnar structure comprises a folding unit group and a connecting device 2; the folding unit group comprises a plurality of folding units 1 which are arranged along a straight line, and the connecting device 2 is used for connecting the adjacent folding units 1;

the folding unit 1 is of a folding telescopic structure and comprises M regular hexagonal panels, Q rotating pairs 121 with torsion springs, L standard rotating pairs 122 and P locking devices;

when the folding unit 1 is in a folding state, the folding unit 1 is divided into a first folding surface and a second folding surface which are completely the same, the first folding surface and the second folding surface are both in a U-like shape, and the first folding surface and the second folding surface are symmetrical; the first folding surface and the second folding surface are connected through a Q-shaped rotating pair 121 with a torsion spring; the adjacent regular hexagon panels in the first folding surface and the second folding surface are connected through a standard revolute pair 122;

when the folding unit 1 is in a fully unfolded state, the folding unit 1 is in a sphere-like shape, and adjacent regular hexagonal panels which are not connected by a standard rotating pair 122 or a rotating pair 121 with a torsion spring are locked by a locking device; a plurality of folding units 1 are connected by a connecting device 2 to form a columnar structure.

Further, the folding unit 1 comprises 8 regular hexagonal panels, 4 revolute pairs 121 with torsion springs, 6 standard revolute pairs 122 and 2 locking devices.

Further, when the folding unit 1 is in the folded state, the first folding surface and the second folding surface each have 4 regular hexagonal panels, 3 adjacent sides are provided between the 4 regular hexagonal panels, and 3 standard revolute pairs 122 are respectively disposed on the 3 adjacent sides to connect the adjacent regular hexagonal panels; when the folding unit 1 is in an incompletely unfolded state, 4 adjacent sides are arranged between the first folding surface and the second folding surface, and 4 rotating pairs 121 with torsion springs are respectively arranged on the 4 adjacent sides to connect the adjacent regular hexagonal panels; when the folding unit 1 is in the fully unfolded state, there are 2 adjacent sides where the standard revolute pair 122 or the revolute pair 121 with the torsion spring is not provided, and 2 locking devices are respectively provided at the 2 adjacent sides to lock the adjacent regular hexagonal panels.

Further, the locking device 13 includes an upper locking block 131 and a lower locking block 132; the upper locking block 131 and the lower locking block 132 are respectively fixed on the corresponding regular hexagon panels by screws; the upper locking block 131 comprises a tooth-shaped barb, and the lower locking block 132 comprises a groove and is provided with an arc surface; when the upper locking block 131 initially contacts the lower locking block 132, the tooth-shaped barb slides on the arc surface, and when the tooth-shaped barb enters the groove, the locking device 13 achieves locking, and the folding unit 1 is in a fully unfolded state.

Furthermore, the rotation angle range of the rotating pair 121 with the torsion spring is 0-109.47 degrees, and the rotation angle range of the standard rotating pair 122 is 109.47-180 degrees.

Further, when the folding unit 1 is in the fully unfolded state, the folding unit 1 is in the shape of a truncated octahedron.

Further, the connecting device 2 is a rotating pair 21, and two adjacent folding units 1 are connected by using 4 rotating pairs 21.

The specific embodiment is as follows:

referring to fig. 1-3, an embodiment of the present invention discloses a deployment mechanism for a cylindrical extension arm. The extending arm unfolding mechanism consists of a plurality of folding units 1, and each group of adjacent folding units 1 are connected through a group of rotating pairs 12. The folded units 1 may be periodically arrayed in the unfolding direction.

Fig. 1 shows the configuration of the extending arm unfolding mechanism composed of five folding units 1 in a fully folded state, in which the outline of the structure approximates to the letter "U". The number of the folding units 1 can be arbitrarily selected according to the use requirement, and only five folding units 1 are exemplified in the embodiment.

Fig. 2 shows the configuration of the extending arm unfolding mechanism at a certain unfolding moment. As shown in fig. 2, the whole structure is unfolded synchronously, and the movement of the folding units 1 is coordinated. In the process of unfolding, the originally attached panels are gradually separated, and the length of the structure is continuously extended.

Fig. 3 illustrates the configuration of the extension arm deployment mechanism in a fully deployed state. At this time, the originally separated two sets of edges in the folding unit 1 completely coincide, and the outline of the folding unit 1 becomes a truncated octahedron. The whole extending arm unfolding mechanism can be regarded as a columnar structure formed by connecting five 'truncated octahedrons' in series.

Since the extending arm extending mechanism is composed of the same folding unit 1, the properties of the entire extending arm extending mechanism are largely determined by the folding unit 1.

Referring to fig. 4 to 5, the folding unit 1 is assembled from eight regular hexagonal panels 11. Specifically, eight regular hexagonal panels are arranged in the relative positions shown in fig. 4. There will be a line coincidence between any two adjacent regular hexagonal panels 11, and the folding unit 1 has a total of ten coincident lines, and these coincident lines are all located on the inner surface of the panels in the folding unit 1. In order to connect the eight discrete regular hexagonal panels into a whole, this embodiment arranges one revolute pair 12 at each coincident edge position, and a total of ten revolute pairs 12 are required. Since the position of the revolute pair 12 just meets the geometrical conditions of the spatial spherical hinge mechanism network, the eight regular hexagonal panels 11 of the folding unit 1 are kinematically coordinated, and the folding unit 1 after assembly has only one degree of freedom.

The ten rotary pairs 12 may be divided into a first rotary pair group and a second rotary pair group according to the rotation angle. Wherein the first rotating pair group comprises four rotating pairs 12, and the rotating angle range of the four rotating pairs 12 is 0-109.47 degrees. The second rotating pair group comprises six rotating pairs 12, and the rotating angle range of the six rotating pairs 12 is 109.47-180 degrees.

In order to provide the folding unit 1 with the function of automatic unfolding, the first rotation pair group may be provided as a rotation pair 121 including a torsion spring. Preferably, four coupling positions shown in fig. 4 are provided with a revolute pair 121 comprising a torsion spring, and six coupling positions shown in fig. 5 are provided with a standard revolute pair 122.

Fig. 6 shows the folding unit 1 in a fully folded configuration, in which the panels to which the revolute pair 121 comprising the torsion spring is connected are fully fitted together. Fig. 7 shows the folded unit 1 in a fully unfolded state, in which the folded unit 1 has a truncated octahedron profile. In the unfolding process of the folding unit 1, the two panels connected by the revolute pair 121 containing the torsion spring are gradually separated from the completely attached state, and the dihedral angle of the two panels is equal to 109.47 degrees when the two panels reach the completely unfolded state. The standard rotating pair 122 rotates along with the rotation of the rotating pair 121 with the torsion spring, and the movement of the whole structure is coordinated.

Referring to fig. 7, when the folding unit 1 is in the fully unfolded state, two sets of borderlines will be overlapped together. In order to increase the rigidity of the structure, a locking device 13 is arranged at the position of the two groups of overlapped borderlines in the embodiment. The locking device 13 does not affect the unfolding process of the folding unit 1, but once the structure reaches the fully unfolded state, the locking device locks, at this time, the folding unit 1 loses the folding capability, and the structural integrity and the bearing capacity are greatly enhanced.

Fig. 8 shows the construction details of the locking device 13. The locking device 13 is composed of an upper locking block 131 and a lower locking block 132. The upper and lower locking blocks 131 and 132 are fixed to the corresponding regular hexagonal panels 11 by screws, respectively. The upper locking piece 131 includes a tooth-like barb, and the lower locking piece 132 includes a groove with a curved surface on the left side. When the upper locking block 131 initially contacts the lower locking block 132, the tooth-shaped barb can easily slide on the arc surface, and when the tooth-shaped barb enters the groove, the locking device 13 locks, and at this time, the folding unit 1 is just in a fully unfolded state.

The two folding units 1 can be connected together by a set of revolute pairs 12. When two folding units 1 are connected together, the four edge lines at the rightmost side of the left folding unit 1 coincide with the four edge lines at the leftmost side of the right folding unit 1, and the four coincident edge lines are located on the outer surface of the corresponding panel. In order to connect the two folding units 1, four rotation pairs 21 are arranged at the four coinciding edge positions.

It is to be noted that each "vertex" position comprises four revolute pairs 12, two of which 12 are located respectively on the inner surface of the panel of the folding unit 1, while the revolute pairs 21 of the other two connection means are located on the outer surface of the panel of the connection position, these four revolute pairs not intersecting at a point. However, since the relative rotation angles between two adjacent revolute pairs are equal, and the shortest distances between the two adjacent revolute pairs are equal, the four revolute pairs satisfy the geometric condition of the Bennett mechanism. The Bennett mechanism is a single degree of freedom space overconstrained mechanism which ensures coordinated motion between the two connected folding units 1 and yet the assembled structure remains single degree of freedom. Further, any number of folding units 1 may be connected together in this manner, and the resulting assembly remains a single degree of freedom mechanism.

In this embodiment, the panel is made of a regular hexagonal solid thick plate, and in order to reduce the overall quality of the extending arm unfolding mechanism, the regular hexagonal solid thick plate can be hollowed within a certain range, so that the quality of the regular hexagonal panel is reduced, and the panel can be assembled according to the method as long as the contour of the regular hexagon is not changed.