CN109178343B - A kind of extension and retraction type folding mechanism - Google Patents
A kind of extension and retraction type folding mechanism Download PDFInfo
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- CN109178343B CN109178343B CN201811140110.2A CN201811140110A CN109178343B CN 109178343 B CN109178343 B CN 109178343B CN 201811140110 A CN201811140110 A CN 201811140110A CN 109178343 B CN109178343 B CN 109178343B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
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Abstract
本发明公开了一种助展助缩式折展机构，包括驱动机构和四组圆周均布的折展机构，驱动机构包括机座、电机、丝杠、丝母、支架、压套、弹簧、压板、导杆、摆杆、牵绳、导轮、辅弹簧，折展机构由主并联机构和多个副并联机构串联构成；主、副并联机构包括上、下台，单、双层杆，左、右侧长杆和短杆；单、双层杆一端与丝母、机座或前一个并联机构的上、下台转动连接，另一端与上、下台转动连接，中点转动连接；侧长、短杆一端与上、下台转动连接，侧长杆中点与侧短杆另一端转动连接。驱动机构同时驱动四组折展机构缩展；支架与机座由导杆固连，摆杆与支架转动连接，弹簧通过压套辅助摆杆推折展机构伸展；辅弹簧通过丝母等辅助主并联机构下台收缩。
The invention discloses a unfolding and retracting type folding mechanism, which comprises a driving mechanism and four groups of folding and unfolding mechanisms evenly distributed around the circumference. The pressure plate, guide rod, swing rod, pull rope, guide wheel, auxiliary spring, the folding mechanism is composed of a main parallel mechanism and a plurality of auxiliary parallel mechanisms in series; , right long rod and short rod; one end of the single and double-layer rods is connected with the thread nut, the machine base or the upper and lower stages of the previous parallel mechanism, and the other end is connected with the upper and lower stages, and the middle point is rotated and connected; side length, One end of the short rod is rotatably connected with the upper and lower stages, and the midpoint of the side long rod is rotatably connected with the other end of the side short rod. The drive mechanism drives the four groups of folding and unfolding mechanisms simultaneously; the bracket and the machine base are fixedly connected by the guide rod, the swing rod and the bracket are rotatably connected, and the spring assists the pendulum rod to push the folding and unfolding mechanism through the pressing sleeve; The parallel mechanism stepped down and contracted.
Description
Technical Field
The invention relates to a space folding and unfolding mechanism, in particular to an unfolding-assisted and shrinkage-assisted folding and unfolding mechanism.
Background
The unfolding-assisted and shrinkage-assisted folding and unfolding mechanism is an important component of a space folding and unfolding mechanism, is mainly used for unfolding a flexible solar array, supporting an unfoldable antenna, a synthetic aperture radar, a space telescope and the like in various detection activities, or is used as a gravity gradient rod, a magnetic strength needle and other structures and separating electronic equipment to reduce mutual interference, and has an important role in space detection tasks.
The existing space folding and unfolding mechanism comprises: patent CN102765492B granted by invention: a scissor-fork type space extending arm mechanism; the invention discloses a fan-shaped solar wing repeated folding and unfolding mechanism in patent CN 103950558B; the invention authorizes the patent: an outer wing folding and unfolding mechanism of a morphing aircraft; patent CN102285463B granted by invention: a space foldable mechanism derived from the five revolute pair units; patent CN105406164B granted by invention: a supporting arm folding and unfolding mechanism for quickly erecting and retracting a radar antenna; the invention authorizes the patent: a supporting arm folding and unfolding mechanism for quickly erecting and retracting a radar antenna; patent CN104022337B granted by invention: a modularized space curved surface folding and unfolding antenna mechanism based on a rib mechanism.
These folding and unfolding mechanisms in the prior art have various features, but in some folding and unfolding processes, the initial folding and unfolding or the final contraction position of some existing folding and unfolding mechanisms usually needs to provide a large driving force for the mechanism, which is not favorable for multiple folding and unfolding and stretching and increases the weight of the folding and unfolding mechanism.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an expansion-assisting and contraction-assisting folding and unfolding mechanism.
In order to realize the purpose, the invention is realized according to the following technical scheme:
the utility model provides a help exhibition and help contraction type to roll over exhibition mechanism, includes the folding exhibition mechanism of actuating mechanism and the same circumference equipartition of four groups of structures, its characterized in that: the driving mechanism comprises a machine base (1), a motor (2), a lead screw (3), a nut (4), a bracket (5), a pressing sleeve (6), a spring (7), a guide rod (8), a pressing plate (9), a swing rod (10), a traction rope (11), a guide wheel (12) and an auxiliary spring (13), wherein the machine base (1) is disc-shaped and is provided with an axial center through hole, 4 axial thread through holes and circumferential tangential through holes which are uniformly distributed at the circumference; one end of the lead screw (3) is provided with a keyhole and a cylinder which is coaxial with the keyhole, the middle part of the lead screw (3) is provided with a threaded column which is coaxial with the keyhole, and the other end of the lead screw (3) is provided with a cylinder which is coaxial with the keyhole; the screw nut (4) is disc-shaped and is provided with an axial central cylindrical boss and a threaded through hole, 4 axial through holes which are uniformly distributed on the circumference and 4 circumferential tangential through holes; the bracket (5) is disc-shaped and is provided with an axial central through hole, 4 axial thread through holes uniformly distributed on the circumference and 4 circumferential tangential boss through holes; the pressing sleeve (6) is cylindrical, and is axially provided with a central through hole, a concave cavity, an outward convex disc and 4 through holes which are uniformly distributed on the circumference; the pressing plate (9) is disc-shaped and is provided with an axial central through hole and 4 circumferentially and uniformly distributed through holes; an axial cylinder is arranged in the middle of the guide rod (8), and threaded cylinders coaxial with the cylinder are respectively arranged at two ends of the guide rod (8); the swing rod (10) is a rectangular block, the upper end of the swing rod is provided with an eccentric through hole and a boss, and the lower end of the swing rod is provided with a push rod; the motor (2) is fixedly connected with the base (1), and a driving shaft of the motor (2) penetrates through a central through hole of the base to be connected with an inner hole key at one end of the screw rod (3); a cylinder at one end of the screw rod (3) is rotationally connected with a central through hole of the base, and a cylinder at the other end of the screw rod (3) is rotationally connected with a central through hole of the bracket (5); the threaded through hole of the screw nut (4) is in threaded connection with the threaded column of the screw rod (3), the spring (7), the pressing sleeve (6) and the pressing plate (9) are sequentially sleeved on the screw rod (3), 4 guide rods (8) simultaneously slide through the pressing sleeve (6), the pressing plate (9) and 4 circumferential axial through holes of the screw nut (4), one threaded column of one end of each of the 4 guide rods (8) is fixedly connected with 4 threaded through holes of the base (1), and the other threaded column of the 4 guide rods (8) is fixedly connected with 4 threaded through holes of the support (5); two ends of the spring (7) are abutted against the lower surface of the bracket (5) and the upper surface of the concave cavity of the pressing sleeve (6), the convex disc of the pressing sleeve (6) is abutted against bosses of 4 swing rods (10) at the same time, and an eccentric hole of each swing rod (10) is rotatably connected with a circumferential tangential boss through hole of the bracket (5) by a pin;
the folding and unfolding mechanism comprises a main parallel mechanism, and the main parallel mechanism comprises an upper table (14-1), a lower table (14-2), a single-layer rod (14-4), a double-layer rod (14-3), a left long rod (14-5), a left short rod (14-6), a pin shaft (14-7), a right long rod (14-8) and a right short rod (14-9);
the lower platform (14-2) and the upper platform (14-1) are symmetrical in shape, the upper platform (14-1) is a rectangular block and is provided with longitudinal through holes, the two ends of the upper platform (14-1) are provided with transverse through holes orthogonal to the longitudinal through holes, and the middle of the upper platform (14-1) is provided with a transverse groove orthogonal to the longitudinal through holes; two ends and the middle parts of the single-layer rod (14-4), the double-layer rod (14-3) and the left long rod (14-5) are provided with through holes which are parallel to each other, and two ends of the left short rod (14-6) are provided with through holes which are parallel to each other; the single-layer rod (14-4) of the main parallel mechanism is positioned between the double-layer rods (14-3), a through hole at one end of the single-layer rod (14-4) is rotationally connected with a tangential through hole of the nut (4) by a pin shaft, a through hole at the midpoint of the single-layer rod (14-4) is rotationally connected with a through hole at the midpoint of the double-layer rod (14-3) by a pin shaft, a through hole at the other end of the single-layer rod (14-4) is rotationally connected with a longitudinal through hole of an upper platform (14-1) of the parallel mechanism by a pin shaft, a through hole at one end of the double-layer rod (14-3) is rotationally connected with a tangential through hole of the machine base (1) by a pin shaft, and a through hole at the other end of the double;
one end of the left short rod (14-6) is rotationally connected with the left transverse through hole of the upper platform (14-1) of the main parallel mechanism by a pin shaft, one end of the left long rod (14-5) is rotationally connected with the left transverse through hole of the lower platform (14-2) by a pin shaft, and the through hole at the midpoint of the left long rod (14-5) is rotationally connected with the through hole at the other end of the left short rod (14-6) by a pin shaft; one end of the right long rod (14-8) is rotationally connected with a right transverse through hole of an upper platform (14-1) of the main parallel mechanism by a pin shaft, one end of the right short rod (14-9) is rotationally connected with a right transverse through hole of a lower platform (14-2) by a pin shaft, and a through hole at the midpoint of the right long rod (14-8) is rotationally connected with a through hole at the other end of the right short rod (14-9) by a pin shaft;
the 4 guide wheels (12) are respectively and rotatably connected with 4 circumferential tangential through holes of the machine base (1) through pin shafts, the 4 guy ropes (11) respectively bypass the 4 guide wheels (12), and two ends of each guy rope (11) are respectively connected with the pressing plate (9) and the lower platform (14-2) of the main parallel mechanism; 4 auxiliary springs (13) are respectively sleeved on the 4 guide rods (8), and two ends of each auxiliary spring (13) are abutted to the lower surface of the pressing plate (9) and the upper shaft end surface of the screw nut (4).
In the technical scheme, the folding and unfolding mechanism further comprises a plurality of auxiliary parallel mechanisms which have the same structure as the main parallel mechanism, and the auxiliary parallel mechanisms are symmetrically arranged relative to the main parallel mechanism and are connected in series through the main parallel mechanism; each auxiliary parallel mechanism is respectively connected with the longitudinal through holes of the upper platform (14-1) and the lower platform (14-2) of the adjacent parallel mechanism in a rotating way by a pin shaft through the through holes at one end of the single-layer rod (14-4) and the double-layer rod (14-3).
Compared with the prior art, the invention has the following beneficial effects:
in the process of multiple folding and unfolding, the direction of the driving force of the mechanism is changed at the initial folding and unfolding position or the final contraction position, so that the driving force of the mechanism required at the initial folding and unfolding position or the final contraction position is greatly reduced. As a result, not only the folding and unfolding are facilitated to stretch, but also the whole weight of the folding and unfolding mechanism is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a cross-sectional view of the folding mechanism of the present invention;
FIG. 2 is a cross-sectional view of the folding and unfolding mechanism of the present invention including the dotted line extended position;
FIG. 3 is a view of the deployment mechanism of the present invention;
wherein, the reference numbers: 1-machine base, 2-motor, 3-lead screw, 4-nut, 5-bracket, 6-pressing sleeve, 7-spring, 8-guide rod, 9-pressing plate, 10-swing rod, 11-pulling rope, 12-guide wheel, 13-auxiliary spring, 14-1-upper table, 14-2-lower table, 14-3-double-layer rod, 14-4-single-layer rod, 14-5-left long rod, 14-6-left short rod, 14-7-pin shaft, 14-8-right long rod and 14-9-right short rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
In the description of the present invention, it is to be understood that the terms "radial," "axial," "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus are not to be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 and 2, the unfolding-assisted and contraction-assisted folding and unfolding mechanism of the present invention comprises a driving mechanism and four groups of folding and unfolding mechanisms with the same structure and uniformly distributed circumference, wherein the driving mechanism comprises a base 1, a motor 2, a screw rod 3, a nut 4, a bracket 5, a pressing sleeve 6, a spring 7, a guide rod 8, a pressing plate 9, a swing rod 10, a pulling rope 11, a guide wheel 12 and an auxiliary spring 13, wherein the base 1 is disc-shaped and is provided with an axial center through hole, 4 axial thread through holes and circumferential tangential through holes which are uniformly distributed circumferentially; one end of the screw rod 3 is provided with a keyhole and a cylinder which is coaxial with the keyhole, the middle part of the screw rod 3 is provided with a threaded column which is coaxial with the keyhole, and the other end of the screw rod 3 is provided with a cylinder which is coaxial with the keyhole; the screw nut 4 is disc-shaped and is provided with an axial central cylindrical boss and a threaded through hole, 4 axial through holes which are uniformly distributed on the circumference and 4 circumferential tangential through holes; the bracket 5 is disc-shaped and is provided with an axial central through hole, 4 circumferentially and uniformly distributed axial thread through holes and 4 circumferentially tangential boss through holes; the pressing sleeve 6 is cylindrical and is axially provided with a central through hole, a concave cavity, an outward convex disc and 4 through holes which are uniformly distributed on the circumference; the pressing plate 9 is disc-shaped and is provided with an axial central through hole and 4 circumferentially and uniformly distributed through holes; an axial cylinder is arranged in the middle of the guide rod 8, and threaded cylinders coaxial with the cylinder are respectively arranged at two ends of the guide rod 8; the swing rod 10 is a rectangular block, the upper end of the swing rod is provided with an eccentric through hole and a boss, and the lower end of the swing rod is provided with a push rod; the motor 2 is fixedly connected with the base 1, and a driving shaft of the motor 2 passes through a central through hole of the base and is connected with an inner hole key at one end of the screw rod 3; a cylinder at one end of the screw rod 3 is rotationally connected with a central through hole of the base, and a cylinder at the other end of the screw rod 3 is rotationally connected with a central through hole of the bracket 5; the threaded through hole of the screw nut 4 is in threaded connection with the threaded column of the screw nut 3, the spring 7, the pressing sleeve 6 and the pressing plate 9 are sequentially sleeved on the screw nut 3, 4 guide rods 8 simultaneously slide through the pressing sleeve 6, the pressing plate 9 and 4 circumferential axial through holes of the screw nut 4, one threaded column of one end of each of the 4 guide rods 8 is respectively and fixedly connected with 4 threaded through holes of the base 1, and the other threaded column of the other end of each of the 4 guide rods 8 is respectively and fixedly connected with 4 threaded through holes of the bracket 5; two ends of the spring 7 are abutted against the lower surface of the support 5 and the upper surface of the concave cavity of the pressing sleeve 6, the convex circular disc of the pressing sleeve 6 is abutted against the bosses of the 4 swing rods 10 at the same time, and the eccentric hole of each swing rod 10 is rotatably connected with the circumferential tangential boss through hole of the support 5 by a pin.
As shown in fig. 1 and 3, the folding and unfolding mechanism of the present invention comprises a main parallel mechanism, which comprises an upper stage 14-1, a lower stage 14-2, a single-layer bar 14-4, a double-layer bar 14-3, a left long bar 14-5, a left short bar 14-6, a pin 14-7, a right long bar (14-8) and a right short bar (14-9);
the lower platform 14-2 and the upper platform 14-1 are symmetrical in shape, the upper platform 14-1 is a rectangular block and is provided with longitudinal through holes, both ends of the upper platform 14-1 are provided with transverse through holes orthogonal to the longitudinal through holes, and the middle part of the upper platform 14-1 is provided with a transverse groove orthogonal to the longitudinal through holes; the two ends and the middle part of the single-layer rod 14-4, the double-layer rod 14-3 and the left long rod 14-5 are provided with through holes which are parallel to each other, and the two ends of the left short rod 14-6 are provided with through holes which are parallel to each other; the single-layer rod 14-4 of the main parallel mechanism is positioned between the double-layer rods 14-3, a through hole at one end of the single-layer rod 14-4 is rotationally connected with a tangential through hole of the nut 4 by a pin shaft, a through hole at the midpoint of the single-layer rod 14-4 is rotationally connected with a through hole at the midpoint of the double-layer rod 14-3 by a pin shaft, a through hole at the other end of the single-layer rod 14-4 is rotationally connected with a longitudinal through hole of the upper platform 14-1 of the parallel mechanism by a pin shaft, a through hole at one end of the double-layer rod 14-3 is rotationally connected with a tangential through hole of the machine base 1 by a pin shaft, and a through hole at the other;
one end of the left short rod 14-6 is rotatably connected with the left transverse through hole of the upper platform 14-1 of the main parallel mechanism by a pin shaft, one end of the left long rod 14-5 is rotatably connected with the left transverse through hole of the lower platform 14-2 by a pin shaft, and the through hole at the midpoint of the left long rod 14-5 is rotatably connected with the through hole at the other end of the left short rod 14-6 by a pin shaft; one end of the right long rod 14-8 is rotatably connected with a right transverse through hole of the upper table 14-1 of the main parallel mechanism by a pin shaft, one end of the right short rod (14-9) is rotatably connected with a right transverse through hole of the lower table 14-2 by a pin shaft, and a through hole at the midpoint of the right long rod (14-8) is rotatably connected with a through hole at the other end of the right short rod (14-9) by a pin shaft;
the 4 guide wheels 12 are respectively and rotatably connected with the 4 circumferential tangential through holes of the machine base 1 through pin shafts, the 4 guy ropes 11 respectively wind around the 4 guide wheels 12, and two ends of each guy rope 11 are respectively connected with the pressing plate 9 and the lower platform 14-2 of the main parallel mechanism; 4 auxiliary springs 13 are respectively sleeved on the 4 guide rods 8, and two ends of each auxiliary spring 13 are abutted to the lower surface of the pressing plate 9 and the upper shaft end surface of the screw nut 4.
The folding and unfolding mechanism further comprises a plurality of auxiliary parallel mechanisms which are the same as the main parallel mechanism in structure, and the auxiliary parallel mechanisms are symmetrically arranged relative to the main parallel mechanism and are connected in series through the main parallel mechanism; each auxiliary parallel mechanism is respectively connected with the longitudinal through holes of the upper platform 14-1 and the lower platform 14-2 of the adjacent parallel mechanism in a rotating way by a pin shaft through the through holes at one end of the single-layer rod 14-4 and the double-layer rod 14-3.
When the folding and unfolding mechanism is stretched, the motor drives the screw nut to move downwards through the screw rod to be separated from the pressing sleeve, the spring forces the pressing sleeve to move downwards along the axial direction of the screw rod, the convex disc of the pressing sleeve simultaneously pushes the bosses of the 4 swing rods to swing, the push rod at the lower end of the swing rod is forced to outwards push the midpoint pin shaft of the single-layer rod and the double-layer rod of the main parallel mechanism, and the auxiliary folding and unfolding mechanism is stretched; meanwhile, the guy rope is loosened, and the stretching resistance is reduced. When the folding and unfolding mechanism continues to extend, the thrust required for driving the screw nut is reduced, the swing rod swings to the limit position, the push rod of the swing rod is separated from the single-layer rod and double-layer rod midpoint pin shaft of the main parallel mechanism, and the extension of the folding and unfolding mechanism is not assisted.
FIG. 2 is a cross-sectional view of the folding mechanism including the dotted line extended position of the present invention; the dotted line is the main parallel mechanism extended state position.
When the folding and unfolding mechanism contracts, the motor drives the screw nut to move upwards through the screw rod to force the convex disc of the pressing sleeve to be separated from the boss of the swing rod, so that the swing rod is reset freely, the auxiliary spring is pressed to force the pressing plate to move upwards along with the screw nut along the axial direction of the screw rod, and meanwhile, each traction rope is drawn to bypass the guide wheel to pull the lower platform of the main parallel mechanism to lean against the screw rod, so that the auxiliary folding and unfolding mechanism contracts.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (2)
1. The utility model provides a help exhibition and help contraction type to roll over exhibition mechanism, includes the folding exhibition mechanism of actuating mechanism and the same circumference equipartition of four groups of structures, its characterized in that: the driving mechanism comprises a machine base (1), a motor (2), a lead screw (3), a nut (4), a support (5), a pressing sleeve (6), a spring (7), a guide rod (8), a pressing plate (9), a swing rod (10), a traction rope (11), a guide wheel (12) and an auxiliary spring (13), wherein the machine base (1) is disc-shaped and is provided with an axial center through hole, 4 axial thread through holes uniformly distributed on the circumference and 4 circumferential tangential through holes; one end of the lead screw (3) is provided with a keyhole and a cylinder which is coaxial with the keyhole, the middle part of the lead screw (3) is provided with a threaded column which is coaxial with the keyhole, and the other end of the lead screw (3) is provided with a cylinder which is coaxial with the keyhole; the screw nut (4) is disc-shaped and is provided with an axial central cylindrical boss and a threaded through hole, 4 axial through holes which are uniformly distributed on the circumference and 4 circumferential tangential through holes; the bracket (5) is disc-shaped and is provided with an axial central through hole, 4 axial thread through holes uniformly distributed on the circumference and 4 circumferential tangential boss through holes; the pressing sleeve (6) is cylindrical, and is axially provided with a central through hole, a concave cavity, an outward convex disc and 4 axial through holes which are uniformly distributed on the circumference; the pressing plate (9) is disc-shaped and is provided with an axial central through hole and 4 axial through holes which are uniformly distributed on the circumference; an axial cylinder is arranged in the middle of the guide rod (8), and threaded cylinders coaxial with the cylinder are respectively arranged at two ends of the guide rod (8); the swing rod (10) is a rectangular block, the upper end of the swing rod is provided with an eccentric through hole and a boss, and the lower end of the swing rod is provided with a push rod; the motor (2) is fixedly connected with the base (1), and a driving shaft of the motor (2) penetrates through a central through hole of the base to be connected with an inner hole key at one end of the screw rod (3); a cylinder at one end of the screw rod (3) is rotationally connected with a central through hole of the base, and a cylinder at the other end of the screw rod (3) is rotationally connected with a central through hole of the bracket (5); the screw thread through hole of the screw nut (4) is in threaded connection with the screw thread column of the screw rod (3), the spring (7), the pressing sleeve (6) and the pressing plate (9) are sequentially sleeved on the screw rod (3), 4 guide rods (8) simultaneously slide through the pressing sleeve (6), the pressing plate (9) and 4 circumferential axial through holes of the screw nut (4), one end screw thread column of each of the 4 guide rods (8) is fixedly connected with 4 axial screw thread through holes of the base (1), and the other end screw thread column of each of the 4 guide rods (8) is fixedly connected with 4 axial screw thread through holes of the support (5); two ends of the spring (7) are abutted against the lower surface of the bracket (5) and the upper surface of the concave cavity of the pressing sleeve (6), the convex disc of the pressing sleeve (6) is abutted against bosses of 4 swing rods (10) at the same time, and an eccentric hole of each swing rod (10) is rotationally connected with a circumferential tangential boss through hole of the bracket (5) by a pin;
the folding and unfolding mechanism comprises a main parallel mechanism, and the main parallel mechanism comprises an upper table (14-1), a lower table (14-2), a single-layer rod (14-4), a double-layer rod (14-3), a left long rod (14-5), a left short rod (14-6), a pin shaft (14-7), a right long rod (14-8) and a right short rod (14-9);
the lower platform (14-2) and the upper platform (14-1) are symmetrical in shape, the upper platform (14-1) is a rectangular block and is provided with longitudinal through holes, the two ends of the upper platform (14-1) are provided with transverse through holes orthogonal to the longitudinal through holes, and the middle of the upper platform (14-1) is provided with a transverse groove orthogonal to the longitudinal through holes; two ends and the middle parts of the single-layer rod (14-4), the double-layer rod (14-3) and the left long rod (14-5) are provided with through holes which are parallel to each other, and two ends of the left short rod (14-6) are provided with through holes which are parallel to each other; the single-layer rod (14-4) of the main parallel mechanism is positioned between the double-layer rods (14-3), a through hole at one end of the single-layer rod (14-4) is rotationally connected with a tangential through hole of the nut (4) by a pin shaft, a through hole at the midpoint of the single-layer rod (14-4) is rotationally connected with a through hole at the midpoint of the double-layer rod (14-3) by a pin shaft, a through hole at the other end of the single-layer rod (14-4) is rotationally connected with a longitudinal through hole of an upper platform (14-1) of the parallel mechanism by a pin shaft, a through hole at one end of the double-layer rod (14-3) is rotationally connected with a tangential through hole of a machine base (1) by a pin shaft, and a through hole at the other end of the double-layer;
one end of the left short rod (14-6) is rotationally connected with the left transverse through hole of the upper platform (14-1) of the main parallel mechanism by a pin shaft, one end of the left long rod (14-5) is rotationally connected with the left transverse through hole of the lower platform (14-2) by a pin shaft, and the through hole at the midpoint of the left long rod (14-5) is rotationally connected with the through hole at the other end of the left short rod (14-6) by a pin shaft; one end of the right long rod (14-8) is rotationally connected with a right transverse through hole of an upper platform (14-1) of the main parallel mechanism by a pin shaft, one end of the right short rod (14-9) is rotationally connected with a right transverse through hole of a lower platform (14-2) by a pin shaft, and a through hole at the midpoint of the right long rod (14-8) is rotationally connected with a through hole at the other end of the right short rod (14-9) by a pin shaft;
the 4 guide wheels (12) are respectively and rotationally connected with the 4 circumferential tangential through holes of the machine base (1) by pin shafts, the 4 guy ropes (11) respectively bypass the 4 guide wheels (12), and two ends of each guy rope (11) are respectively connected with the pressing plate (9) and the lower platform (14-2) of the main parallel mechanism; 4 auxiliary springs (13) are respectively sleeved on the 4 guide rods (8), and two ends of each auxiliary spring (13) are abutted to the lower surface of the pressing plate (9) and the upper shaft end surface of the screw nut (4).
2. The unfolding assisting and contraction assisting folding and unfolding mechanism according to claim 1, further comprising a plurality of auxiliary parallel mechanisms which are identical to the main parallel mechanism in structure, wherein each auxiliary parallel mechanism is symmetrically arranged relative to the main parallel mechanism and is connected in series through the main parallel mechanism; each auxiliary parallel mechanism is respectively connected with the longitudinal through holes of the upper platform (14-1) and the lower platform (14-2) of the adjacent parallel mechanism in a rotating way by a pin shaft through the through holes at one end of the single-layer rod (14-4) and the double-layer rod (14-3).
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| CN112723129B (en) * | 2020-12-30 | 2024-05-17 | 安徽先河建筑工程有限公司 | Auxiliary hoisting device for reinforcement cage |
| CN113895659B (en) * | 2021-11-25 | 2023-09-19 | 苏州馥昶空间技术有限公司 | Solar wing opening device |
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| US4480415A (en) * | 1981-06-19 | 1984-11-06 | British Aerospace Public Limited Company | Extendable structures |
| CN104818885A (en) * | 2015-03-12 | 2015-08-05 | 浙江大学 | Unfoldable dome structure of tension spring-driven shear hinge |
| CN105564669A (en) * | 2014-10-24 | 2016-05-11 | 塔莱斯公司 | Manipulation of a satellite in space |
| CN106494652A (en) * | 2016-09-20 | 2017-03-15 | 北京工业大学 | A kind of bionical dry stick mechanism based on what compound constant force spring was loaded |
| CN107054693A (en) * | 2017-05-05 | 2017-08-18 | 燕山大学 | Single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit |
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| US10538348B2 (en) * | 2016-12-19 | 2020-01-21 | Vector Launch Inc. | Triggered satellite deployment mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4480415A (en) * | 1981-06-19 | 1984-11-06 | British Aerospace Public Limited Company | Extendable structures |
| CN105564669A (en) * | 2014-10-24 | 2016-05-11 | 塔莱斯公司 | Manipulation of a satellite in space |
| CN104818885A (en) * | 2015-03-12 | 2015-08-05 | 浙江大学 | Unfoldable dome structure of tension spring-driven shear hinge |
| CN106494652A (en) * | 2016-09-20 | 2017-03-15 | 北京工业大学 | A kind of bionical dry stick mechanism based on what compound constant force spring was loaded |
| CN107054693A (en) * | 2017-05-05 | 2017-08-18 | 燕山大学 | Single-degree-of-freedom is asymmetric to cut hinge formula deployable mechanism unit |
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