A multi-module bidirectional variable configuration mechanism

Abstract

The application relates to a multi-module bidirectional variable-configuration mechanism and belongs to the technical field of spaceflight. The mechanism comprises a first module, a second module, a first hinge group and a second hinge group, the first module and the second module are equilateral right-angled triangles, the number of the first module and the second module is four, the first module and the second module are alternately connected, the lower hypotenuse of the adjacent first module and the second module is connected through the second hinge group, and the upper right-angled side of the adjacent first module and the second module is connected through the first hinge group. Through ingenious structural design and driving layout, the mechanism solves the problems of a large number of driving quantity and a complex control system of a previous complex deformation structure, can realize configuration switching through one or two drives, is lightweight and small-sized, the adaptability is increased, and the control cost is reduced.

Description

Technical Field

[0001] The invention relates to a deformation mechanism and belongs to the field of aerospace technology. Background Art

[0002] Since the launch of the first artificial satellite in 1957, in-orbit spacecraft have undergone decades of development. However, with the increasing complexity of space missions and the diversification of operating scenarios, traditional spacecraft design configurations have been severely challenged and are unable to cope with diverse mission types. While improving operational capabilities by adding motion joints and motion modes, complex motion structures and drive designs conflict with the design principles of lightweighting and miniaturization.

[0003] Therefore, it is urgent to propose a multi-module bidirectional variable configuration mechanism to solve the above technical problems. Summary of the Invention

[0004] To address the above-mentioned issues, a multi-module, bidirectional, variable configuration mechanism is provided. A brief overview of the invention is provided below to provide a basic understanding of certain aspects of the invention. It should be understood that this overview is not an exhaustive overview of the invention. It is not intended to identify key or important aspects of the invention, nor is it intended to limit the scope of the invention.

[0005] The technical solution of the present invention:

[0006] A multi-module bidirectional variable configuration mechanism includes a first module, a second module, a first hinge group and a second hinge group. The first module and the second module are both equilateral right triangles. There are four first modules and four second modules. The first modules and the second modules are alternately connected. The lower hypotenuses of adjacent first modules and second modules are connected by the second hinge group, and the upper right-angled sides of adjacent first modules and second modules are connected by the first hinge group.

[0007] Preferably: the left right-angled side of the upper part of the first module is processed with a first right-angled opening, the beveled side of the lower part of the first module is processed with a third right-angled opening, the right right-angled side of the upper part of the second module is processed with a second right-angled opening, the beveled side of the lower part of the second module is processed with a fourth right-angled opening, the first hinge group is installed at the adjacent first right-angled opening and the second right-angled opening, and the second hinge group is installed at the adjacent third right-angled opening and the fourth right-angled opening.

[0008] Preferably, the first hinge group includes a first main wheel, a first slave wheel, a first connecting rod and a first mounting seat, wherein the first main wheel is connected to the first module via a first mounting seat, and the first slave wheel is connected to the second module via another first mounting seat, and both ends of the first connecting rod are respectively connected to the shafts of the first main wheel and the first slave wheel, and the first main wheel and the first slave wheel are meshed;

[0009] The second hinge group includes a second main wheel, a second slave wheel, a second connecting rod and a second mounting seat. The second main wheel is connected to the first module through a second mounting seat, and the second slave wheel is connected to the second module through another second mounting seat. The two ends of the second connecting rod are respectively connected to the shafts of the second main wheel and the second slave wheel, and the second main wheel and the second slave wheel are meshed.

[0010] Preferably: the first main wheel, the first slave wheel, the second main wheel, and the second slave wheel all adopt a gear structure, the first main wheel and the first slave wheel are symmetrically arranged, the second main wheel and the second slave wheel are symmetrically arranged, the gear structure is a half gear, the angle is α=90°, during the deformation and expansion process, there will be a lot of surface fitting, the present invention realizes the fitting between planes without interference, and the movement is smooth and flexible.

[0011] Preferably: the right-angle side connection parts of the first module and the second module connected alternately in sequence are defined as Ⅰ, Ⅲ, Ⅴ, and Ⅶ respectively, and the oblique side connection parts of the first module and the second module connected alternately in sequence are defined as Ⅱ, Ⅳ, Ⅵ, and Ⅷ respectively, Ⅰ, Ⅱ, Ⅲ, Ⅳ, Ⅴ, Ⅵ, Ⅶ, and Ⅷ are arranged in sequence, and the first hinge groups at Ⅰ and Ⅲ are each provided with a driving component, and the second hinge groups at Ⅱ and Ⅳ are each provided with a driving component.

[0012] Preferably: it also includes a drive assembly, which includes a transmission shaft, a coupling, a motor mounting seat and a motor, the motors at positions I and III are respectively connected to the corresponding first modules, the output end of the motor is connected to the transmission shaft through a coupling, the transmission shaft is connected to the first connecting rod through a spline, and the transmission shaft at positions I and III is coaxially arranged with the first main wheel; the motors at positions II and IV are respectively connected to the corresponding first modules, the output end of the motor is connected to the transmission shaft through a coupling, the transmission shaft is connected to the second connecting rod through a spline, and the transmission shaft at positions II and IV is coaxially arranged with the second main wheel.

[0013] Preferably, if I or III is driven alone, a thick quadrangular prism is formed; if II or IV is driven alone, the whole body moves downward, that is, extends in the opposite direction, to form a thick triangular prism.

[0014] Preferably: I and III are driven in coordination, and the whole stretches upward to form a triangular prism shape; Figures 15-16 , II and IV are driven synergistically, and the whole moves downward, that is, stretches in the opposite direction, forming a triangular prism shape.

[0015] The present invention has the following beneficial effects:

[0016] The present invention has multiple usage forms and can achieve the bonding between two planes without interference during the deformation process, and the operation is stable and flexible.

[0017] The present invention solves the problems of a large number of drives and a complex control system in previous complex deformation structures through ingenious structural design and drive layout. Configuration switching can be achieved through only one or two drives. The lightweight and miniaturized design increases its adaptability and facilitates cost control. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional diagram of a multi-module bidirectional variable configuration mechanism.

[0019] Figure 2 It is a partial view of a multi-module bidirectional variable configuration mechanism.

[0020] Figure 3 It is a cross-sectional view of a multi-module bidirectional variable configuration mechanism.

[0021] Figure 4 yes Figure 3 Enlarged view of point A in the middle.

[0022] Figure 5 yes Figure 1 Enlarged view of point B in the middle.

[0023] Figure 6 It is a top view of a multi-module bidirectional variable configuration mechanism.

[0024] Figure 7 It is a bottom view of a multi-module bidirectional variable configuration mechanism.

[0025] Figure 8 It is the drive layout diagram.

[0026] Figure 9 It is a thick quadrangular prism morphology diagram.

[0027] Figure 10 It is a thick triangular prism morphology diagram.

[0028] Figure 11 It is a top view of the thick triangular prism shape.

[0029] Figure 12 It is a side view of the thick triangular prism.

[0030] Figure 13 It is a quadrangular prism.

[0031] Figure 14 It is a side view of a quadrangular prism.

[0032] Figure 15 It is a triangular prism shape diagram.

[0033] Figure 16 It is a side view of a triangular prism.

[0034] In the figure, 1-first module, 2-second module, 3-first hinge group, 4-second hinge group, 5-drive assembly, 11-first right-angle opening, 12-third right-angle opening, 21-second right-angle opening, 22-fourth right-angle opening, 31-first main wheel, 32-first slave wheel, 33-first connecting rod, 34-first mounting seat, 41-second main wheel, 42-second slave wheel, 43-second connecting rod, 44-second mounting seat, 51-transmission shaft, 52-coupling, 53-motor mounting seat, 54-motor. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention is described below using specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely illustrative and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0036] Specific implementation method 1: Combination Figures 1-16 This embodiment describes a multi-module bidirectional variable configuration mechanism, comprising a first module 1, a second module 2, a first hinge group 3, and a second hinge group 4. The first module 1 and the second module 2 are both equilateral right triangles, and the number of the first module 1 and the second module 2 are both four. Figure 1 The first modules 1 and the second modules 2 are connected alternately. Figure 2 The adjacent lower oblique sides are connected by the second hinge group 4, and the adjacent first modules 1 and second modules 2 are connected by the second hinge group 4. Figure 2 The adjacent upper right-angled sides are connected by the first hinge group 3, as shown in FIG. Figure 1 The four second hinge groups 4 and the four first hinge groups 3 are arranged alternately up and down. The present invention is composed of eight modules, which are connected to each other by hinges to form a closed loop, and have good continuity. The spacecraft designed with a variable configuration mechanism can freely switch its own configuration according to different missions, achieving the effect of "one body with multiple functions". At the same time, the internal space can be exposed to facilitate maintenance and extend the on-orbit service life, providing a new direction for the design concept of future spacecraft.

[0037] The first module 1 and the second module 2 both have cavities inside. Figure 2 The left right angle side of the upper middle portion is processed with a first right angle opening 11, and the first module 1 is as shown in FIG. Figure 2 The bevel of the middle and lower part is processed with a third right-angle opening 12, and the second module 2 is as shown in FIG. Figure 2 The right right angle side of the upper middle portion is processed with a second right angle opening 21, and the second module 2 is as shown in FIG. Figure 2The hypotenuse of the middle and lower part is processed with a fourth right angle opening 22, the first hinge group 3 is installed at the adjacent first right angle opening 11 and second right angle opening 21, and the second hinge group 4 is installed at the adjacent third right angle opening 12 and fourth right angle opening 22;

[0038] The first hinge group 3 comprises a first main wheel 31, a first slave wheel 32, a first connecting rod 33 and a first mounting seat 34, the first main wheel 31 is fixedly connected with the first module 1 through a first mounting seat 34, the first slave wheel 32 is fixedly connected with the second module 2 through another first mounting seat 34, the two ends of the first connecting rod 33 are respectively connected with the shafts of the first main wheel 31 and the first slave wheel 32, so that the first main wheel 31 and the first slave wheel 32 are engaged;

[0039] The second hinge group 4 comprises a second main wheel 41, a second slave wheel 42, a second connecting rod 43 and a second mounting seat 44, the second main wheel 41 is fixedly connected with the first module 1 through a second mounting seat 44, the second slave wheel 42 is fixedly connected with the second module 2 through another second mounting seat 44, the two ends of the second connecting rod 43 are respectively connected with the shafts of the second main wheel 41 and the second slave wheel 42, so that the second main wheel 41 and the second slave wheel 42 are engaged; the structure does not occupy external space and is easy to control;

[0040] Each group of the first hinge group 3 comprises two first hinge groups 3, and each group of the second hinge group 4 comprises two second hinge groups 4;

[0041] The first main wheel 31, the first slave wheel 32, the second main wheel 41 and the second slave wheel 42 all adopt a gear structure, the first main wheel 31 and the first slave wheel 32 are symmetrically arranged, the second main wheel 41 and the second slave wheel 42 are symmetrically arranged, the gear structure is a half gear, the angle is α=90°, and the length of the right angle side of the first right angle opening 11, the third right angle opening 12, the second right angle opening 21 and the fourth right angle opening 22 is equal to the radius of the gear structure; in the deformation and unfolding process of the application, many surfaces are fitted, the application realizes the fitting between planes without interference, and the movement is stable and flexible;

[0042] As Figure 6 , the right angle side connection parts of the first module 1 and the second module 2 which are sequentially and alternately connected form a cyclic connection structure and are respectively defined as I, III, V and VII, the hypotenuse connection parts of the first module 1 and the second module 2 which are sequentially and alternately connected are respectively defined as II, IV, VI and VIII, I, II, III, IV, V, VI, VII and VIII are sequentially arranged, each of the first hinge groups 3 at I and III is provided with a driving assembly 5, each of the second hinge groups 4 at II and IV is provided with a driving assembly 5, I, II, III and IV are hinges with driving function, V, VI, VII and VIII are driven hinges, different configurations and different folding and unfolding ratios can be realized through the driving cooperation between different hinges;

[0043] It also includes a drive assembly 5, which includes a transmission shaft 51, a coupling 52, a motor mounting seat 53 and a motor 54. The motors 54 at positions I and III are fixedly connected to the first modules 1 corresponding to positions I and III, respectively. The output end of the motor 54 is connected to the transmission shaft 51 through the coupling 52, and the transmission shaft 51 is connected to the first connecting rod 33 through a spline. The transmission shafts 51 at positions I and III are coaxially arranged with the first main wheel 31; the motors 54 at positions II and IV are fixedly connected to the first modules 1 corresponding to positions II and IV, respectively. The output end of the motor 54 is connected to the transmission shaft 51 through the coupling 52, and the transmission shaft 51 is connected to the second connecting rod 43 through a spline. The transmission shafts 51 at positions II and IV are coaxially arranged with the second main wheel 41. The output shaft of the motor reducer is connected to the transmission shaft through a coupling. A spline is designed on the transmission shaft to cooperate with the flower-shaped keyway on the spline connecting rod, and the transmission shaft passes through the main wheel and the connecting rod. There is a retaining spring limiter at the top, and the sleeve is used to limit the transmission shaft and the connecting rod Axial movement, when the motor is driven, the power is transmitted from the transmission shaft to the coupling and then to the connecting rod, and the connecting rod drives the driven wheel to move, and the gear meshing movement is used to realize the angle adjustment of the adjacent modules; that is, the output shaft of the reducer and the transmission shaft are connected by a coupling, and a spline is designed on the transmission shaft to match the flower-shaped keyway on the spline connecting rod, and the transmission shaft passes through the gear hinge and the thin connecting rod, and there is a retaining spring limiter at the top, and the sleeve is used to limit the axial movement of the transmission shaft and the coarse connecting rod; the gear hinge, coarse connecting rod and fine connecting rod at the other end are connected in series by a plug screw, and the plug screw acts as an axis; when the motor is driven, the power is transmitted from the transmission shaft to the coupling and then to the coarse connecting rod, and the coarse connecting rod drives the gear to move, and the two hinges move through the gear meshing movement; the driven hinge is composed of a gear hinge, a connecting rod and a plug screw, and the hinge, thin connecting rod and plug screw are connected in series; the single-ring scheme adopted in the scheme can enable the spacecraft to achieve various configuration changes through less drive, with a simple principle and reliable structure;

[0044] like Figure 9 , I or III driven alone, forming a thick quadrangular prism morphology; Figures 10-12 , Ⅱ or Ⅳ are driven alone, at this time the whole moves downward, that is, it stretches in the opposite direction, forming a thick triangular prism shape;

[0045] like Figures 13-14 , Ⅰ and Ⅲ are driven in coordination, and the whole stretches upward to form a quadrangular prism shape; Figures 15-16 , II and IV are driven cooperatively, and at this time the whole body is downward, that is, it stretches in the opposite direction to form a triangular prism shape; the present invention has five configurations, which can realize different folding and extension ratios in two directions, and different configurations can be driven by a small number of hinges to achieve shape switching.

[0046] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be permuted and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutations and combinations. Therefore, the present invention will no longer describe the technical solutions after permutations and combinations one by one, but it should be understood that the technical solutions after permutations and combinations have been disclosed by the present invention.

[0047] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A multi-module bidirectional variable configuration mechanism, characterized by: The invention comprises a first module (1), a second module (2), a first hinge group (3) and a second hinge group (4), wherein the first module (1) and the second module (2) are both equilateral right-angled triangles, the number of the first modules (1) and the second modules (2) are both four, the first modules (1) and the second modules (2) are alternately connected, the lower hypotenuses of adjacent first modules (1) and second modules (2) are connected via the second hinge group (4), and the upper right-angled sides of adjacent first modules (1) and second modules (2) are connected via the first hinge group (3); The first hinge group (3) comprises a first main wheel (31), a first slave wheel (32), a first connecting rod (33) and a first mounting seat (34); the first main wheel (31) is connected to the first module (1) via a first mounting seat (34); the first slave wheel (32) is connected to the second module (2) via another first mounting seat (34); both ends of the first connecting rod (33) are respectively connected to the shafts of the first main wheel (31) and the first slave wheel (32); the first main wheel (31) and the first slave wheel (32) are meshed; The second hinge group (4) comprises a second main wheel (41), a second secondary wheel (42), a second connecting rod (43) and a second mounting seat (44). The second main wheel (41) is connected to the first module (1) via a second mounting seat (44), and the second secondary wheel (42) is connected to the second module (2) via another second mounting seat (44). Both ends of the second connecting rod (43) are respectively connected to the shafts of the second main wheel (41) and the second secondary wheel (42), and the second main wheel (41) and the second secondary wheel (42) are meshed.

2. The multi-module bidirectional configuration-changing mechanism according to claim 1, characterized in that: The left right-angled side of the upper portion of the first module (1) is processed with a first right-angled opening (11), the oblique side of the lower portion of the first module (1) is processed with a third right-angled opening (12), the right right-angled side of the upper portion of the second module (2) is processed with a second right-angled opening (21), and the oblique side of the lower portion of the second module (2) is processed with a fourth right-angled opening (22), a first hinge group (3) is installed at the adjacent first right-angled opening (11) and second right-angled opening (21), and a second hinge group (4) is installed at the adjacent third right-angled opening (12) and fourth right-angled opening (22).

3. The multi-module bidirectional configuration-changing mechanism according to claim 2, characterized in that: The first main wheel (31), the first slave wheel (32), the second main wheel (41), and the second slave wheel (42) all adopt a gear structure. The first main wheel (31) and the first slave wheel (32) are symmetrically arranged, and the second main wheel (41) and the second slave wheel (42) are symmetrically arranged. The gear structure is a half gear, and the angle is α=90°.

4. The multi-module bidirectional configuration-changing mechanism according to claim 3, characterized in that: The right-angled side connection parts of the first module (1) and the second module (2) connected in sequence are defined as I, III, V, and VII, respectively. The oblique side connection parts of the first module (1) and the second module (2) connected in sequence are defined as II, IV, VI, and VIII, respectively. I, II, III, IV, V, VI, VII, and VIII are arranged in sequence. The first hinge groups (3) at I and III are each provided with a driving component (5), and the second hinge groups (4) at II and IV are each provided with a driving component (5).

5. The multi-module bidirectional configuration-changing mechanism according to claim 4, characterized in that: The invention also includes a drive assembly (5), wherein the drive assembly (5) includes a transmission shaft (51), a coupling (52), a motor mounting seat (53) and a motor (54), wherein the motors (54) at positions I and III are respectively connected to the corresponding first modules (1), the output end of the motor (54) is connected to the transmission shaft (51) through the coupling (52), the transmission shaft (51) is connected to the first connecting rod (33) through a spline, and the transmission shafts (51) at positions I and III are coaxially arranged with the first main wheel (31); the motors (54) at positions II and IV are respectively connected to the corresponding first modules (1), the output end of the motor (54) is connected to the transmission shaft (51) through the coupling (52), the transmission shaft (51) is connected to the second connecting rod (43) through a spline, and the transmission shafts (51) at positions II and IV are coaxially arranged with the second main wheel (41).

6. The multi-module bidirectional configuration-changing mechanism according to claim 4, characterized in that: When I or III is driven alone, a thick quadrangular prism is formed; when II or IV is driven alone, the whole body moves downward, that is, stretches in the opposite direction, to form a thick triangular prism.

7. The multi-module bidirectional configuration-changing mechanism according to claim 4, characterized in that: When I and III are driven in coordination, the whole body stretches upward to form a quadrangular prism; when II and IV are driven in coordination, the whole body stretches downward, that is, in the opposite direction, to form a triangular prism.

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