JPH0216602B2 - - Google Patents

Description

Detailed Description of the Invention (Technical Field of the Invention) The present invention is directed to three axes (X-axis, Y-axis, Z-axis) that are orthogonal to each other.
This invention relates to a three-dimensional multi-axis expansion device that expands and contracts linearly in conjunction with the direction of the axis.

(Technical background of the present invention) In observation technology that uses flying objects such as rockets and artificial satellites to measure natural phenomena in outer space and transmit the data to the ground, probes for observation and data Antennas for transmitting, etc.
In order to avoid electrical interference with other observation devices, or as required by the natural phenomenon to be observed, it is necessary to extend it as far away from the main body of the flying object as possible. On the other hand, when a flying object is launched, the probe, antenna, etc. need to be stored inside the flying object.

Conventionally, mechanisms for deploying antennas, probes, etc. in a multidimensional manner have been used for each dimension (each axial direction of deployment)
A device is known in which independent deployment mechanisms are attached to different parts of the main body so that each dimension can be deployed by a separate power source, but such a device requires a large storage space, and Since a separate power source is required for each dimension, it is unsuitable as a deployment mechanism mounted on a flying object that has only a small number of power supply sources.

In addition, as a loop antenna deployment mechanism mounted on a flying object, a mechanism in which a prop is folded into an umbrella shape and a mechanism in which the antenna itself has spring characteristics are known, but large loop antennas However, if the flying object is accompanied by spin, the centrifugal force generated by the spin may deform the antenna itself, which has spring characteristics.

(Objective of the present invention) This invention has been made in order to solve the above-mentioned conventional problems of the present invention. It can be carried out simultaneously with one power source, can be expanded and deployed over a relatively wide range, and despite these features, it occupies relatively little space when stored, and the movement of the flying object that is carried in the deployed state. In particular, the object is to provide a deployment device that is less susceptible to effects such as spin.

(Summary of the present invention) For the above purpose, in the present invention, telescopic crank mechanisms (rage tongues), which will be described later, are arranged in three axial directions, and the intersecting portions of the telescopic crank mechanisms (rage tongues) are arranged so as to be mutually parallel to each other. A pair of connecting bodies with variable spacing is arranged, a pivot support whose spacing in three axial directions changes by changing the mutual spacing of the pair of coupling bodies is provided on the coupling body, and the pivot support is The telescopic crank mechanisms arranged in the three axial directions are pivotally connected.

(Technology on which the present invention is based) As a mechanism that expands and contracts (deploys) in one direction, the fourth
A telescopic crank mechanism as shown in the figure is known.
This telescoping crank mechanism has lazy tongs.
tongs; also called expandable tongs. ) is said to be
It is used in a wide range of fields, such as doors that expand and contract from side to side, and miniature scales. To briefly explain this Rage Tong, a mechanism is constructed in which arms 1 and 2 of the same size are crossed at the center and are rotatably connected by a shaft 3. 5 are connected so that they can roll, and geometrically, the length of each side of the quadrilateral formed by axes 3, 4, 3, and 5 is always equal, and they are arranged on a straight line. The ratio of the distance between each axis 3, 3..., 4, 4..., and 5, 5... is always constant, and the tip of the arms 1 and 2 (whichever arm it is) When a driving force F is applied to the mechanism (the distance between the two arms) to change the distance between the tips (the intersecting angle of the pair of arms), the tip of the mechanism expands and contracts in the G direction to a greater extent than the distance of the change in the distance. In the present invention, these rage tongs are arranged in three axes that are perpendicular to each other, and a connecting body is arranged at the intersection of the three axes.

(Embodiment of the present invention) Fig. 1 is a perspective view showing an embodiment of the present invention in an extended state, Fig. 2 is a perspective view showing a connecting portion of the embodiment of the present invention, and Fig. 3 is FIG. 3 is a perspective view showing a driving section according to an embodiment of the present invention.

In FIGS. 1 to 3, the symbols for each part are as follows.

A ₁ , A ₂ ... Telescopic cranks B ₁ , B ₂ ... Telescopic cranks arranged in the X-axis direction C ₁ , C ₂ ... Telescopic cranks 1a, 1b, 2a arranged in the Z-axis direction , 2b... Arm, 3, 4, 5... Pivotal support pin, 6a, 6b, 7a, 7b... Base arm D... Connecting part 8, 9... Connecting body, 10... Guide shaft E... Drive Parts 11... Base body, 12, 13... Bracket, 14, 15... Guide shaft, 16... Drive shaft, 17... Stopper In this embodiment, as shown in FIG. 1, arm 1a,
2a and arms 1b, 2b constitute the rage tongue, and the pivot pin 3,
4 and 5 are connected to each other. That is, in this embodiment, each axis (X axis, Y axis, Z axis)
Telescopic cranks in each direction A ₁ , A ₂ , B ₁ , B ₂
C ₁ and C ₂ are constructed by arranging two sets of rage tongs in parallel to reduce the deflection of each telescopic crank. In addition, there is no problem of deflection,
If the problem can be solved in another way, each of the telescopic cranks A ₁ , A ₂ , B ₁ , B ₂ and C ₁ , C ₂ may be constituted by a set of rage tongs.

As shown in FIG. 2, the connecting portion D consists of a pair of connecting bodies 8 and 9 having rectangular plate surfaces in the direction of a plane formed by two axes, for example, the Y axis and the Z axis, so that the plate surfaces of each other are parallel to each other. One connector, for example 8
A guide shaft 10 is fixed at the center of the connecting body 8 perpendicularly to the plate surface of the connecting body 8, that is, for example, in the X-axis direction, and at the center of the other connecting body 9, the guide shaft 10 is fixed. , for example, is slidably inserted through the guide shaft 10 by a slide bearing mechanism, and the distance between the pair of connecting bodies 8 and 9 changes along the guide shaft 10 while keeping the plate surfaces parallel to each other. It is configured to obtain.

On the four sides of each of the connecting bodies 8 and 9,
A total of 8 protruding shaft supports 8, 2 per side
01 to 808 and 901 to 908 are provided, and the pivot supports 801, 802, 803, 804
and 901, 902, 903, 904 are pivot supports 805, 806, 807, 808 in both directions of the Y axis.
and 905, 906, 907, and 908 are oriented in both directions of the Z axis. In addition, when each of the telescopic cranks A ₁ , A ₂ , B ₁ , B ₂ and C ₁ , C ₂ consists of one set of rage tongues, the above-mentioned pivot support is one per side of the connecting bodies 8 and 9. good.

As shown in FIG. 3, the drive section E has two guide shafts 14, 15 extending in parallel to each other between both side surfaces 111, 112 of a U-shaped base 11. A drive shaft 116 is provided between the guide shafts 14 and 15 in the same direction as the guide shafts 14 and 15 and penetrating through one side surface, for example, 111. ，
The portion between 112 and 112 is divided into two parts, each of which is threaded in opposite directions, and is threaded into each of the threaded parts 161 and 162, and slidably fitted onto the guide shafts 14 and 15 to form a pair (2). ) bracket 12,1
3 is provided. Furthermore, this bracket 12,
13 is provided with protruding shaft supports 121, 122 and 131, 132 for connecting any telescopic crank, for example _C2 . The pivot supports 121, 122 and 13 of these brackets 12, 13
The number of 1,132 pieces is 2 pieces per bracket, but if the telescopic crank consists of a set of rage tongs as mentioned above, 1 piece per bracket.
One by one is fine.

With the above configuration, by rotationally driving the drive shaft 16, the brackets 12 and 13 are moved by equal distances in opposite directions. That is, by rotationally driving the drive shaft 16, the pair of brackets 12,
The spacing between 13 changes. Further, a stopper 17 is provided between the pair of brackets 12 and 13 as a means for regulating the amount of movement of the brackets 12 and 13.

According to Fig. 2, the telescopic cranks A ₁ , A ₂ ,
The coupling relationship between B ₁ , B ₂ , C ₁ , C ₂ and the connecting portion D will be explained. In addition, in FIG. 2, only one of the range tongues of each telescopic crank is shown to make the drawing easier to read.

One of the range tongues of the telescopic cranks B ₁ and B ₂ in the Y-axis direction is connected to the pivot supports 801, 901 and 803 in the Y-axis direction of the connecting bodies 8 and 9 at the ends 601 and 701 of the respective base arms 6a and 7a. ,903
The base arms 6a, 7a are rotatably pivotally connected to the base arms 6a, 7a. Telescopic cranks B ₁ and B ₂ above
Similarly, the other legage tongue is connected to the connecting body 8,
9, the other shaft support 802, 902 in the Y-axis direction
and 804,904.

The rage tongues constituting the telescopic cranks C ₁ and C ₂ in the Z-axis direction are connected to the shaft supports 805 and 805 in the Z-axis direction of the connecting bodies 8 and 9 in the same way as the telescopic cranks B ₁ and B ₂ described above.
905, 806, 906, 807, 907, 80
8,908. Therefore, when the connecting bodies 8 and 9 move according to the guidance of the guide shaft 10 so as to change their mutual spacing, the telescopic crank B ₁ in the Y-axis direction, as is clear from the operating principle of the range tongue explained in FIG. , B ₂ and the Z-axis direction telescopic cranks C ₁ , C ₂ extend or contract in their respective axial directions.

The base arms 6a and 7a of the rage tongues constituting the telescopic cranks B ₁ and B ₂ in either the Y-axis direction or the Z-axis direction, for example, the Y-axis direction, have ends 601, 7a supported pivotally on the connecting bodies 8 and 9, 701 is further extended outward in the arm direction, and the extended tip portions 602, 702 are bent into an L shape,
That part is the arm 1 of the Rage Tong in the X-axis direction.
a, 2a, 1b, and 2b, that is, in accordance with FIG. 2, the extended tip portion 602 of the base arm of the lage tongue forming the telescopic crank B ₁ and the extending tip portion 602 forming the telescopic crank B ₂ . Base arm distraction tip portion 70 of the rage tong
2 are bent in a direction parallel to the base arms 7a and 6a of the range tongue, which constitute the telescopic crank _A1 in the X-axis direction. With the above configuration, the above telescopic crank
Base arms 6a, 7a and 6b, 7b of B ₁ , B ₂
has the function of a movement direction changer that changes the movement direction of the connecting bodies 8 and 9 by 90 degrees.

Rage tongues constituting the telescopic cranks A ₁ and A ₂ in the X-axis direction are attached to the respective base arms 6a and 7.
At the ends 601, 701 of a, 6b, 7b,
The base arms 6a, 7a, 6b, 7b are rotatably pivotally connected to the extension tip portions 602, 702 of the base arms of the telescopic cranks _B1 , _B2 in the Y-axis direction. As mentioned above, the base arms 6a, 7a and 6b, 7 of the telescopic cranks _B1 , _B2
Since b acts as a movement direction changer, the movement of the connecting bodies 8 and 9 in the X-axis direction is caused by the front telescoping crank B ₁ ,
This is transmitted as a change in the Y-axis spacing between the base arm extension tip portions 602, 702 of _B2 , thereby causing the X-axis telescoping cranks _A1 , _A2 to extend or retract, respectively, in the X-axis direction.

Next, the coupling relationship between the drive section E and the telescopic crank, for example _C2 , will be explained with reference to FIG.

Axial support 12 of brackets 12 and 13 of drive unit E
1,122 and 131,132 have telescopic cranks
The tips of the arms 1a, 2a, 1b, 2b (hereinafter referred to as drive arms) located at the end opposite to the connecting part D side of _C2 Pivotally connected for movement. As mentioned above, since the brackets 12 and 13 move parallel to each other, the tips of the drive arms 1a, 2a and 1b, 2b move in the F direction explained in FIG. 4, and thereby expand and contract. Crank _C2 expands or contracts in the Z direction.

Next, the operation of the embodiment will be explained.

When a rotational driving force is applied from the outside to the drive shaft 16 of the drive shaft E, the brackets 12 and 13 move against the guide shaft 1.
4 and 15, or are spaced apart from each other or close to each other. The state in which the brackets 12 and 13 are maximally separated is the state when the multi-axis deployment device is stored, and the state in which they are maximally approached until they contact the stopper 17 is the state in which the multi-axis deployment device is at maximum extension. .

Due to the movement of the brackets 12 and 13, the telescopic crank _C2 expands in the Z-axis direction as described above.
Or shrink. The movement of this telescopic crank _C2 is caused by the movement of each arm 1a, 2a and 1 which are connected in a chain.
b, 2b to the base arms 6a, 7a and 6b, 7b of the telescopic crank _C2 , causing their tips to move away from each other or to move closer to each other. As a result, the connecting bodies 8 and 9 of the connecting portion D move away from each other or approach each other along the guide shaft 10 while keeping the planes parallel to each other. The movement of the connecting bodies 8 and 9 is controlled by the other telescopic crank C ₁ in the Z-axis direction and the two sets of telescopic cranks in the Y-axis direction.
Base arms 6a, 7a and 6 of B ₁ and B ₂ respectively
b, 7b, and the base arms 6a, 7a and 6b of the telescopic cranks B ₁ , B ₂ in the Y-axis direction.
7b, the movement direction is changed by 90 degrees and transmitted to the base arms 6a, 7a and 6b, 7b of the two sets of telescopic cranks _A1 , _A2 in the X-axis direction, thereby causing the telescopic cranks _A1 in each direction to , A ₂ , B ₁ , B ₂ and C ₁ simultaneously expand or contract in conjunction with the expansion or contraction of the telescopic crank C ₂ .

As a result of the above operation, for example, assuming that the drive unit E is fixed inside the projectile object, when the multi-axis deployment device is driven in the extension direction, the multi-axis development device protrudes from the projectile object and simultaneously moves in the three-dimensional direction. (X
axis, Y-axis, and Z-axis directions).

In the embodiment described above, the drive section was provided at the end of the telescopic crank in the Z-axis direction, but this drive section E is
For example, the present invention can be carried out by providing the coupling bodies 8 and 9 of the coupling portion D in any location, such as by directly driving the coupling bodies 8 and 9 of the coupling portion D.

(Application examples of the embodiments of the present invention) Figures 5 to 7 show application examples of the above embodiments.
2 with A ₁ , A ₂ , B ₁ , B ₂ and C ₁ , C ₂ extended
It is indicated by a dashed dotted line.

Figure 5 shows each telescopic crank A ₁ , A ₂ , B ₁ , B ₂ and
This is an application example in which various probes H ₁ to _{H 5} are attached to the tip of C ₁ , and Fig. 6 shows each telescopic crank A ₁ , A ₂ ,
This is an application example in which a loop antenna J is stretched between each tip of B _{1 ,} B ₂ and C _{1 , and} FIG _. Erect the support post 18 and attach the wire mesh antenna K to the end of it.
This is an application example in which a is installed. In the application example shown in FIG. 7, the telescopic crank _C1 is not required. Thus, a multi-axis deployment device that lacks one of the two sets of telescoping cranks in each direction is also within the scope of the present invention.

As mentioned above, the present invention was made especially for equipment mounted on rockets, artificial satellites, etc.
The present invention is not limited to this, and the present invention can be applied to any device that requires storage and expansion/deployment operations.

(Effects of the present invention) As is clear from the description of the embodiments above, in the present invention, telescopic cranks using rage tongues are arranged in three dimensions, and the motion is transmitted to the telescopic cranks in all directions at the intersections. Because of this structure, only one driving source is required, and a multi-axis deployment device with a large deployment capacity can be obtained with a relatively simple structure.
The present invention has extremely significant effects.

[Brief explanation of drawings]

FIGS. 1 to 3 are perspective views showing the structure of an embodiment of the present invention, FIG. 4 is a diagram illustrating a known range tong that is the premise of the present invention, and FIGS. 5 to 7 are views showing applications of the present invention. FIG. 2 is a schematic perspective view showing an example. (Main symbols), A ₁ , A ₂ , B ₁ , B ₂ , C ₁ , C ₂ ...
Telescopic crank, D...Connection section, 8, 9...Connection body, E...Drive section, 12, 13...Bracket,
16... Drive shaft.

Claims (1)

[Claims] 1. Rage tongues are arranged in the directions of three mutually orthogonal axes (X-axis, Y-axis, Z-axis), and shaft supports are provided in the directions of two of the three axes (Y-axis, Z-axis), and an axis (X-axis) that is orthogonal to the planes formed by the two axes (Y-axis, Z-axis) while remaining parallel to each other.
A pair of connecting bodies that are movable in the directions are placed at the intersection of the three axes (X-axis, Y-axis, Z-axis), and The end of the arm is passed between the same shaft supports of the pair of connecting bodies, and the arm ends are rotatably connected to each other, and the base arm end of one (Y-axis direction) of the arm is extended outward in the direction of the arm. , the base arm end of the rage tongue in the axis (X-axis) direction perpendicular to the plane is rotatably connected to the tip of the pair of extension parts of the base arm end pivotally supported on the same connecting body, and the above-mentioned A three-dimensional multi-axis deployment device comprising a driving device provided between the intersecting arms of a range tong for changing the intersecting angle of both arms.