Space deployable antenna device based on shear type supporting mechanism

Abstract

The invention provides a space deployable antenna device based on a scissor-type supporting mechanism, and relates to the field of deployable antenna mechanisms, the space deployable antenna device comprises a plurality of folding and unfolding assemblies, the folding and unfolding assemblies are connected through scissor-type supporting mechanisms, each folding and unfolding assembly comprises a first unit, a second unit, a connecting unit, a hinge unit and a movable unit, the panels in the first unit, the second unit and the connecting unit are connected through hinge units or movable units, and the shear fork supporting mechanism comprises a shear fork set, a supporting rod and a connecting piece. Under the cooperation of all rod pieces in the shear fork supporting mechanism, the rotation axis of the shear fork rod and the axis of the bottom hinge jointly form a single-degree-of-freedom restraint system, synchronous unfolding and precise pose keeping of a multi-panel system are achieved through parallelism tolerance and phase synchronous control between the axes, and the multi-panel system can be stably unfolded through cooperative control over the length of the shear fork rod. Stable conversion of the deployable antenna between a folded state and an unfolded state is achieved, and high rigidity and a high folding ratio are achieved.

Description

Technical Field

[0001] The present invention relates to the field of deployable antenna mechanisms, and particularly to a space deployable antenna device based on a scissor support mechanism. Background Art

[0002] With the increasing complexity of space missions and the continuous improvement of the demand for high-performance antenna systems, large deployable antennas have gradually become one of the key technologies for many space missions. In missions such as space stations, communication satellites, deep space exploration, and earth observation, it is required that the antenna has a large effective area to support high-bandwidth communication, long-distance signal transmission, and precise remote sensing missions. However, due to the space limitations of space launch vehicles, it is required that the space agency must be folded up and retracted into the fairing during the launch phase. After the spacecraft enters the orbit, it relies on its own power source to deploy it to the working state.

[0003] The structural forms and deployment principles of space deployable antennas are diverse. Currently, the deployable antennas that have been applied internationally can be divided into: one-dimensional linear deployable antennas, two-dimensional planar deployable antennas, and three-dimensional space deployable antennas according to the different dimensions of antenna deployment. Since the truss mechanism of three-dimensional space deployable antennas is relatively complex, with a small folding ratio and low stiffness, it is difficult to meet the current and future usage requirements. The research on the design of two-dimensional deployable antenna truss mechanisms is relatively weak. Therefore, the current research focus is mainly on one-dimensional and two-dimensional deployable antennas. Rigid truss support mechanisms such as pyramid-type, triangular prism-type, and quadrangular prism-type are widely used as antenna support structures because of their stability and reliability. In addition, the scissor structure has good compactness and folding and unfolding properties, and has good development prospects when applied to large deployable antennas. Therefore, it is urgent to propose deployable mechanisms with excellent performance such as large size, high stiffness, and large folding ratio based on the existing research on deployable mechanisms. Summary of the Invention

[0004] In order to solve the above deficiencies of the prior art, the purpose of the present invention is to provide a space deployable antenna device based on a scissor support mechanism. Through the cooperation of each rod in the scissor support mechanism, it has both a high folding ratio and strong bending stiffness, improves the load-bearing efficiency and realizes the coordinated optimization of the storage performance. The parallelism tolerance and phase synchronization control between the axes of the scissor rods are realized to achieve the synchronous deployment and precise pose maintenance of the multi-panel system. The hinge unit is used at the panel connection, and the length of each rod in the hinge unit is adjusted to change the gap between adjacent panels after folding. Through the coordinated control of the rod lengths, the stable conversion of the mechanism between the folded state and the deployed state is achieved.

[0005] Specifically, the present invention provides a space deployable antenna device based on a scissor support mechanism, which includes a plurality of folding and unfolding components connected by a scissor support mechanism;

[0006] Each folding and unfolding component includes a first unit, a second unit, a connecting unit, a hinge unit and a movable unit. The connection configuration between the panels in the first unit, the second unit and the connecting unit includes the hinge unit and the movable unit. The first unit includes a first panel, a second panel, a third panel and a fourth panel;

[0007] The scissor support mechanism includes a scissor group, a support rod and a connecting piece. The scissor group includes a first scissor rod and a second scissor rod. The first ends of the first scissor rods are respectively connected to the end of the connecting piece and the first ends of adjacent first scissor rods. The upper middle parts of adjacent second scissor rods are rotatably connected. The second end of the first scissor rod is rotatably connected to the first end of the second scissor rod. The second end of the second scissor rod is rotatably connected to the side end of the first panel in the first unit. The first end of the support rod is rotatably connected to the upper middle part of the second scissor rod. The second end of the support rod is rotatably connected to the side end of the second panel in the first unit. A plurality of connecting pieces are connected by a driving rope;

[0008] The hinge unit includes a first folding and unfolding rod, a second folding and unfolding rod and a hinge support. The hinge support is respectively rotatably connected to the first panel and the first end of the first folding and unfolding rod. The second end of the first folding and unfolding rod is connected to the first end of the second folding and unfolding rod. The second folding and unfolding rod connected to the first panel is rotatably connected to the second folding and unfolding rod connected to the second panel.

[0009] Preferably, the star body located at the first end of the first panel is connected to the first panel through the movable unit. The second end of the first panel is rotatably connected to the first end of the second panel through a first rotating pair. The second end of the second panel is rotatably connected to the first end of the third panel through a second rotating pair. The second end of the third panel is rotatably connected to the first end of the fourth panel through a third rotating pair.

[0010] Preferably, the second unit includes a fifth panel, a sixth panel, a seventh panel and an eighth panel. The second end of the fifth panel is rotatably connected to the first end of the sixth panel through a fourth rotating pair. The second end of the sixth panel is rotatably connected to the first end of the seventh panel through a fifth rotating pair. The second end of the seventh panel is rotatably connected to the first end of the eighth panel through a sixth rotating pair.

[0011] Preferably, a plurality of folding and unfolding components include a first folding and unfolding mechanism, a second folding and unfolding mechanism and a third folding and unfolding mechanism. The eighth panel of the first folding and unfolding mechanism is rotatably connected to the first panel of the second folding and unfolding mechanism. The eighth panel of the second folding and unfolding mechanism is rotatably connected to the first panel of the third folding and unfolding mechanism. The fourth panel of the first unit is rotatably connected to the fifth panel of the second unit through a seventh rotating pair. The second scissor rods of the connecting unit are respectively connected to the third panel of the first unit and the sixth panel of the second unit.

[0012] Preferably, the first folding and unfolding mechanism, the second folding and unfolding mechanism, and the third folding and unfolding mechanism have gradually decreasing support heights in the unfolded state. The lengths of the second scissor rods in the folding and unfolding mechanisms are the same, so that the folding heights are the same. At the same time, the folding and unfolding mechanisms are arranged in a stepped manner due to the different heights of the first scissor rods.

[0013] Preferably, the hinge unit includes two groups of first folding and unfolding rods, second folding and unfolding rods, and a group of hinge supports. The second panel and the third panel are unfolded towards each other through the moving unit. The back-to-back unfolding between the panels is realized through the cooperation of the first folding and unfolding rods and the second folding and unfolding rods. And the gap between adjacent panels after folding can be changed by adjusting the lengths of the first folding and unfolding rods and the second folding and unfolding rods.

[0014] Preferably, after the scissor support mechanism is folded, the two first scissor rods are folded between adjacent second scissor rods. The length of the first scissor rod is less than the length of the second scissor rod. The connecting piece is folded between adjacent panels, and the diameter of the connecting piece is less than the gap between adjacent panels.

[0015] Preferably, the first rotating pair, the third rotating pair, the fourth rotating pair, and the sixth rotating pair are hinge units, and the second rotating pair, the fifth rotating pair, and the seventh rotating pair are moving units.

[0016] Preferably, the rotation axes of the first scissor rod and the second scissor rod are parallel to the axis of the hinge unit. During the unfolding process, the scissor groups above the moving unit are respectively connected to the corresponding panels through rotating pairs, and their rotation axes are symmetrically arranged with respect to the axis of the moving unit. The axis of the moving unit is parallel to the median plane formed by the axes of the two scissor rods. Through the cooperation of the driving rope and the scissor support mechanism and the parallelism tolerance and phase synchronization control between the axes, the synchronous unfolding and pose holding of the panel are realized.

[0017] Preferably, when the unfolding angle α between the scissor rod and the panel, the length l1 of the first scissor rod, and the target support height h jointly form geometric constraint conditions, the expression of the length l2 of the second scissor rod is:

[0018]

[0019] Through the coordinated control of the lengths of the first scissor rod and the second scissor rod, the conversion between the folded state and the unfolded state is realized.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] The space deployable antenna device based on a scissor support mechanism of the present invention combines high folding ratio and high stiffness through the cooperation of various rods in the scissor support mechanism, ensuring the coordinated optimization of load-bearing efficiency and storage performance. The parallelism tolerance and phase synchronization control between the axes of the scissor rods are used to achieve the synchronous deployment and precise pose maintenance of the multi-panel system. Moreover, hinge units are used at the panel connections to adjust the gap between adjacent panels after folding by changing the lengths of the rods in the hinge units, and through the coordinated control of the lengths of the scissor rods, the stable conversion of the mechanism between the folded state and the deployed state is realized. Description of the Drawings

[0022] Figure 1 It is a schematic structural diagram of the space deployable antenna device based on a scissor support mechanism of the present invention in the fully deployed state;

[0023] Figure 2 It is a front view schematic diagram of the space deployable antenna device based on a scissor support mechanism of the present invention in the fully deployed state;

[0024] Figure 3 It is a schematic structural diagram of the space deployable antenna device based on a scissor support mechanism of the present invention in the fully folded state;

[0025] Figure 4 It is a front view schematic diagram of the space deployable antenna device based on a scissor support mechanism of the present invention in the fully folded state;

[0026] Figure 5 It is a schematic structural diagram of each folding and unfolding component of the present invention in the fully deployed state;

[0027] Figure 6 It is a front view schematic diagram of each folding and unfolding component of the present invention in the fully deployed state;

[0028] Figure 7 It is a schematic structural diagram of the connection of each panel in each folding and unfolding component of the present invention in the fully deployed state;

[0029] Figure 8 It is a schematic structural diagram of the connection of each panel in each folding and unfolding component of the present invention in the fully folded state;

[0030] Figure 9 It is a schematic structural diagram of the connection of each panel in each folding and unfolding component of the present invention in the semi-deployed state;

[0031] Figure 10 It is a result diagram of the finite element simulation analysis of the present invention in the fully deployed state.

[0032] Main reference numerals:

[0033] A1, first folding and unfolding mechanism; A2, second folding and unfolding mechanism; A3, third folding and unfolding mechanism; B1, first unit; B2, second unit; B3, connecting unit; C, hinge unit; D, movable unit; 1, first panel; 2, second panel; 3, third panel; 4, fourth panel; 5, fifth panel; 6, sixth panel; 7, seventh panel; 8, eighth panel; 9, first scissors rod; 10, second scissors rod; 11, scissors assembly; 12, supporting rod; 13, connecting piece; 14, star body; 15, driving rope; 16, first folding and unfolding rod; 17, second folding and unfolding rod; 18, hinge support. DETAILED DESCRIPTION

[0034] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0035] The present invention is based on a space-expandable antenna device of a scissor-type support mechanism, such as Figure 1 and Figure 2 As shown, it includes a first folding and unfolding mechanism A1, a second folding and unfolding mechanism A2 and a third folding and unfolding mechanism A3. The structures of the folding and unfolding components are the same and the support heights are gradually reduced. The folding and unfolding components are connected by a scissor-type support mechanism. The scissor-type support mechanism is symmetrically arranged on both sides of each folding and unfolding component. The folding and unfolding units are connected by a connecting member 13 at the top of the support, and the connecting members 13 are connected by a driving rope 15. Each folding and unfolding component includes a first unit B1, a second unit B2 and a connecting unit B3. The connection configuration between each panel in the first unit B1, the second unit B2 and the connecting unit B3 is divided into a hinge unit C and a movable unit D. The eighth panel 8 of the first folding and unfolding mechanism A1 is rotatably connected to the first panel 1 of the second folding and unfolding mechanism A2, the eighth panel 8 of the second folding and unfolding mechanism A2 is rotatably connected to the first panel 1 of the third folding and unfolding mechanism A3, the fourth panel 4 of the first unit B1 is rotatably connected to the fifth panel 5 of the second unit B2 through the seventh rotation pair, and the second scissor-type rod 10 of the connecting unit B3 is respectively connected to the third panel 3 of the first unit B1 and the sixth panel 6 of the second unit B2. In the fully unfolded state, the closer each folding and unfolding component is to the star body, the greater its rigidity and the greater its support height.

[0036] like Figure 3 and Figure 4 As shown, after the scissors support mechanism is folded, the two first scissors rods 9 are folded between adjacent second scissors rods 10, the length of the first scissors rods 9 is smaller than the length of the second scissors rods 10, the connecting member 13 is folded between adjacent panels, the diameter of the connecting member 13 is smaller than the gap between adjacent panels, the length of the second scissors rods 10 in each folding and unfolding component is the same, so that the folding height is the same, and the height of the first scissors rods 9 between each folding and unfolding component is different and is distributed in a stepped manner.

[0037] like Figure 5As shown in the figure, the scissor support mechanism includes a scissor group 11, a support rod 12 and a connecting member 13. The scissor group 11 includes a first scissor rod 9 and a second scissor rod 10. The first ends of the first scissor rods 9 are respectively connected to the end of the connecting member 13 and the first ends of adjacent first scissor rods 9. The middle-upper parts of adjacent second scissor rods 10 are rotatably connected. The second end of the first scissor rod 9 is rotatably connected to the first end of the second scissor rod 10. The second end of the second scissor rod 10 is rotatably connected to the side end of the first panel 1. The first end of the support rod 12 is rotatably connected to the middle-upper part of the second scissor rod 10. The second end of the support rod 12 is rotatably connected to the side end of the second panel 2. The hinge unit C includes a first folding rod 16, a second folding rod 17 and a hinge support 18. The hinge support 18 is respectively rotatably connected to the first panel 1 and the first end of the first folding rod 16. The second end of the first folding rod 16 is connected to the second folding rod 17. In the kinematic coupling relationship of the scissor support mechanism, the axis of rotation of the first scissor rod 9 and the second scissor rod 10 and the axis of the bottom hinge together form a single-degree-of-freedom constraint system. The axis of rotation of the first scissor rod 9 and the second scissor rod 10 is parallel to the axis of the hinge unit C. During the unfolding process, the scissor groups located above the movable unit D are respectively connected to the corresponding panels through rotating pairs, and their axes of rotation are symmetrically arranged relative to the axis of the movable unit D. The axis of the movable unit D is parallel to the median plane formed by the axes of the two scissor rods. This geometric constraint design ensures the consistency of the angular velocity vector directions of each kinematic pair during the unfolding process through the parallelism tolerance and phase synchronization control between the axes, thereby realizing the synchronous unfolding and precise pose maintenance of the multi-panel system.

[0038] In the scissor support mechanism, the geometric length of the first scissor rod 9 directly determines the support height of the antenna in the retracted state. Therefore, its size needs to be strictly limited to the maximum envelope constraint value of the antenna system. On the premise of a given length of the first scissor rod 9, the parametric adjustment of the length of the first scissor rod 9 will directly affect the final support height of the antenna after unfolding. When the unfolding angles α of the scissor rods and the panels, the length l1 of the first scissor rod 9 and the target support height h jointly form geometric constraint conditions, the expression of the length l2 of the second scissor rod 10 is:

[0039]

[0040] Through the coordinated control of the lengths of the first scissor rod 9 and the second scissor rod 10, a stable conversion between the retracted state and the unfolded state of the deployable antenna is achieved.

[0041] Such as Figure 6 and Figure 7As shown in the figure, the first unit B1 includes a first panel 1, a second panel 2, a third panel 3, and a fourth panel 4. A star body 14 located at the first end of the first panel 1 is connected to the first panel 1 through a movable unit D. The second end of the first panel 1 is connected to the first end of the second panel 2 through a first rotating pair. The second end of the second panel 2 is connected to the first end of the third panel 3 through a second rotating pair. The second end of the third panel 3 is connected to the first end of the fourth panel 4 through a third rotating pair. The second unit B2 has the same structure as the first unit B1. The second unit B2 includes a fifth panel 5, a sixth panel 6, a seventh panel 7, and an eighth panel 8. The second end of the fifth panel 5 is connected to the first end of the sixth panel 6 through a fourth rotating pair. The second end of the sixth panel 6 is connected to the first end of the seventh panel 7 through a fifth rotating pair. The second end of the seventh panel 7 is connected to the first end of the eighth panel 8 through a sixth rotating pair. The first rotating pair, the third rotating pair, the fourth rotating pair, and the sixth rotating pair are hinge units C, and the second rotating pair, the fifth rotating pair, and the seventh rotating pair are movable units D.

[0042] As Figure 8 and Figure 9 shown in the figure, the hinge unit C includes two groups of first folding rods 16, second folding rods 17, and a group of hinge supports 18. Through the movable unit D, the second panel 2 and the third panel 3 are unfolded towards each other. Through the cooperation of the first folding rods 16 and the second folding rods 17, the panels are unfolded away from each other, and the gap between adjacent panels after folding can be changed by adjusting the lengths of the first folding rods 16 and the second folding rods 17.

[0043] As Figure 10 shown in the figure, the space deployable antenna device based on the scissor support mechanism shows significant advantages in key performance indicators. Its deployable mechanism design realizes a large folding ratio, which is the volume ratio of the deployed state to the stored state, significantly improving the structural compactness. At the same time, the finite element modal analysis shows that the first six natural frequencies of the scissor support mechanism are all higher than those of the comparison group, and the modal vibration modes of each order show overall vibration rather than local deformation. This benefits from the space truss system formed by its self-locking node design, which improves the bending stiffness and effectively suppresses the phase distortion under dynamic loads. Research shows that the scissor support mechanism realizes the coordinated optimization of the load-bearing efficiency and the storage performance through geometric design. While ensuring the structural lightweight, it provides a theoretical solution with both high stiffness and high folding ratio for the engineering design of large-aperture spaceborne antennas.

[0044] The above embodiments only describe the preferred embodiments of the present invention and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A space-deployable antenna device based on a scissor-type support mechanism, characterized in that: It includes a plurality of folding and unfolding components, which are connected by a scissor support mechanism; Each folding and unfolding assembly includes a first unit, a second unit, a connecting unit, a hinge unit and a movable unit, and the connection configuration between the panels in the first unit, the second unit and the connecting unit includes a hinge unit and a movable unit, wherein the first unit includes a first panel, a second panel, a third panel and a fourth panel; The scissors support mechanism comprises a scissors group, a support rod and a connecting piece, the scissors group comprises a first scissors rod and a second scissors rod, the first end of the first scissors rod is respectively connected to the end of the connecting piece and the first end of the adjacent first scissors rod, the adjacent second scissors rod is rotatably connected at the intersection of the middle and upper parts, the second end of the first scissors rod is rotatably connected to the first end of the second scissors rod, the second end of the second scissors rod is rotatably connected to the side end of the first panel in the first unit, the first end of the support rod is rotatably connected to the middle and upper part of the second scissors rod, the second end of the support rod is rotatably connected to the side end of the second panel in the first unit, and the multiple connecting pieces are connected by driving ropes; The hinge unit includes a first folding rod, a second folding rod and a hinge support, the hinge support is rotatably connected to the first panel and the first end of the first folding rod respectively, the second end of the first folding rod is connected to the first end of the second folding rod, and the second folding rod connected to the first panel is rotatably connected to the second folding rod connected to the second panel.

2. The spatially deployable antenna device based on a scissor-type support mechanism according to claim 1, characterized in that: The star body located at the first end of the first panel is connected to the first panel through a movable unit, the second end of the first panel is connected to the first end of the second panel through a first rotating pair, the second end of the second panel is connected to the first end of the third panel through a second rotating pair, and the second end of the third panel is connected to the first end of the fourth panel through a third rotating pair.

3. The spatially deployable antenna device based on a scissor-type support mechanism according to claim 1, characterized in that: The second unit includes a fifth panel, a sixth panel, a seventh panel and an eighth panel, the second end of the fifth panel is connected to the first end of the sixth panel via a fourth rotation pair, the second end of the sixth panel is connected to the first end of the seventh panel via a fifth rotation pair, and the second end of the seventh panel is connected to the first end of the eighth panel via a sixth rotation pair.

4. The spatially deployable antenna device based on a scissor-type support mechanism according to claim 1, characterized in that: Multiple folding and unfolding components include a first folding and unfolding mechanism, a second folding and unfolding mechanism and a third folding and unfolding mechanism. The eighth panel of the first folding and unfolding mechanism is rotatably connected to the first panel of the second folding and unfolding mechanism, the eighth panel of the second folding and unfolding mechanism is rotatably connected to the first panel of the third folding and unfolding mechanism, the fourth panel of the first unit is rotatably connected to the fifth panel of the second unit through a seventh rotating pair, and the second scissor rod of the connecting unit is respectively connected to the third panel of the first unit and the sixth panel of the second unit.

5. The spatially deployable antenna device based on a scissor-type support mechanism according to claim 4, characterized in that: The first folding and unfolding mechanism, the second folding and unfolding mechanism and the third folding and unfolding mechanism have a gradually decreasing support height in the unfolded state. The second scissor rods in the folding and unfolding mechanism have the same length, so that the folded heights are the same. At the same time, the folding and unfolding mechanisms are distributed in a stepped manner due to the different heights of the first scissor rods.

6. The spatially deployable antenna device based on a scissor-type support mechanism according to claim 1, characterized in that: The hinge unit includes two groups of first folding rods, a second folding rod and a group of hinge supports. The second panel and the third panel are unfolded toward each other through the movable unit, and the back-to-back unfolding of the panels is achieved through the cooperation of the first folding rod and the second folding rod. The gap between adjacent panels after folding can be changed by adjusting the length of the first folding rod and the second folding rod.

7. The spatially deployable antenna device based on a scissor-type support mechanism according to claim 1, characterized in that: After the scissors support mechanism is folded, the two first scissors rods are folded between adjacent second scissors rods, the length of the first scissors rods is smaller than the length of the second scissors rods, the connecting piece is folded between adjacent panels, and the diameter of the connecting piece is smaller than the gap between adjacent panels.

8. The spatially deployable antenna device based on a scissor-type support mechanism according to claim 1, characterized in that: The first rotation pair, the third rotation pair, the fourth rotation pair and the sixth rotation pair are hinge units, and the second rotation pair, the fifth rotation pair and the seventh rotation pair are movable units.

9. The spatially deployable antenna device based on a scissor-type support mechanism according to claim 1, characterized in that: The rotation axes of the first scissors rod and the second scissors rod are parallel to the axis of the hinge unit. During the unfolding process, the scissors groups located above the active unit are connected to the corresponding panels through revolving pairs, and their rotation axes are symmetrically arranged with respect to the axis of the active unit. The axis of the active unit is parallel to the median plane formed by the axes of the two scissors rods. The synchronous unfolding and posture maintenance of the panels are achieved through the coordination of the driving rope and the scissors support mechanism and the parallelism tolerance and phase synchronization control between the axes.

10. The spatially deployable antenna device based on a scissor-type support mechanism according to claim 1, characterized in that: When the expansion angle α between the scissor rod and the panel, the length l1 of the first scissor rod and the target support height h together constitute the geometric constraint condition, the expression of the length l2 of the second scissor rod is: The conversion between the folded state and the unfolded state is achieved by coordinated control of the length of the first scissor rod and the second scissor rod.

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