CN103089063B - Foldable bar frame structure - Google Patents
Foldable bar frame structure Download PDFInfo
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- CN103089063B CN103089063B CN201310050611.2A CN201310050611A CN103089063B CN 103089063 B CN103089063 B CN 103089063B CN 201310050611 A CN201310050611 A CN 201310050611A CN 103089063 B CN103089063 B CN 103089063B
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Abstract
The invention discloses a foldable bar frame structure which comprises a plurality of four-bar structures. Each four-bar structure comprises a connecting bar I, a connecting bar II, a connecting bar III and a connecting bar IV. One end of each connecting bar I is fixedly connected with a first unit of a first rotary joint, and the other end of each connecting bar I is fixedly connected with a fourth unit of a second rotary joint. One end of each connecting bar III is fixedly connected with a first unit of the second rotary joint, and the other end of each connecting bar III is fixedly connected with a fourth unit of a third rotary joint. One end of each connecting bar IV is fixedly connected with a first unit of the third rotary joint, and the other end of each connecting bar IV is fixedly connected with a fourth unit of a fourth rotary joint. One end of each connecting bar II is fixedly connected with a first unit of the fourth rotary joint, and the other end of each connecting bar II is fixedly connected with a fourth unit of the first rotary joint. The foldable bar frame structure is folding and unfolding structure provided with a single degree of freedom and can achieve folding and unfolding of a tent through one drive. The foldable bar frame structure is convenient to install and use, and the folded size can shrink to the minimum.
Description
Technical field
The present invention relates to the Foldable bar frame structure of a kind of single-degree-of-freedom, large folding exhibition ratio, particularly relate to a kind of tent structure, large ratio can be realized by single driving and launch with folding.
Background technology
Over-constraint structure is the special entity that a class has more than 100 year history, seldom has commercial Application in the past.This mechanism makes it have high rigidity at Planar Mechanisms geometrically.If form net structure with it, can add more Planar Mechanisms, reliability is higher.This mechanism is only connected by revolute pair, and manufacture simple, cost is low, and reliability is high.Whole mechanism only has one degree of freedom, and motion control is simple.Use geometry covering method, the elementary cell that multiple three-dimensional over-constraint structure is formed is built into deployable structure by the mode covered according to plane or space geometry.They can under the prerequisite of basic bearing function keeping conventional structure on a large scale, large-sized change geometry to be to be applicable to multiple application demand.Meanwhile, available deployable structure can be used for large space structure in this way, this is because the unit formed by mechanism or module can infinitely repeat to connect together and not lose integrally-built developable behavior.The deployable structure be made up of over-constraint structure, has production and processing simple, convenient control of motion, high reliability, in Aero-Space, and significant and application prospect widely in the various fields such as civil engineering.
Summary of the invention
The object of the invention is to the deficiency overcoming prior art, provide a kind of and can fold, volume after folding is little, installation is simple and the Foldable bar frame structure that rigidity is large.
In order to achieve the above object, the technical solution used in the present invention is:
Foldable bar frame structure of the present invention, it comprises multiple four bar structures, four bar structures described in each comprise connecting rod I, connecting rod II, connecting rod III, connecting rod IV, one end of described connecting rod I is fixedly connected with the first module of the first rotary joint and its other end is fixedly connected with Unit the 4th of the second rotary joint, and one end of connecting rod III is fixedly connected with the bottom of the first module of the second rotary joint and its other end is fixedly connected with the bottom of Unit the 4th of the 3rd rotary joint, one end of connecting rod IV is fixedly connected with the bottom of the first module of the 3rd rotary joint and its other end is fixedly connected with the 4th unit bottom of the 4th rotary joint, connecting rod II one end is fixedly connected with the first module of the 4th rotary joint and its other end is fixedly connected with Unit the 4th of the first described rotary joint, the structure of the first module of four rotary joints is identical, the structure of Unit the 4th of four rotary joints is identical, each unit of each rotary joint has the first plane and the second plane respectively, the top of the first plane of described first module and the second plane of Unit the 4th is provided with the secondary interface of rotary-top, the bottom of the second plane of described first module and the first plane of Unit the 4th is provided with bottom revolute interface, described first, the secondary interface of rotary-top of the secondary interface of rotary-top of the first plane of the first module at three rotary joint places and the second plane of Unit the 4th forms rotary-top pair and is rotatedly connected, described second, the bottom revolute interface of the bottom revolute interface of the second plane of the first module at four rotary joint places and the first plane of Unit the 4th forms bottom revolute and is rotatedly connected, first, two revolute axis of three rotary joints intersect at the first intersection point, second, two revolute axis of four rotary joints intersect at the second intersection point, first symmetrical plane is by described first, the plane that two revolute axis of three rotary joints determine, four described bar structures are symmetrical about the first described symmetrical plane, second symmetrical plane is by second, the plane that two revolute axis of four rotary joints determine, four described bar structures are symmetrical about the second described symmetrical plane, by described first, the straight line that second intersection point determines is the first described symmetrical plane and the intersection of the second symmetrical plane, the length of each connecting rod in four described bar structures is equal and common vertical line segment length that the is revolute axis of adjacent rotary joint is equal and be not 0, the syndeton of two adjacent four bar structures is: when four bar structures first or the 3rd rotary joint and another four bars structure first or the 3rd rotary joint be connected time, four bar structures first or the 3rd bottom revolute interface and the bottom revolute interface of the first plane of Unit the 4th of the rotary joint of another four bars structure at corresponding tie point place of the second plane of first module of rotary joint formed lower rotation pair be rotatedly connected and first of described four bar structure or the 3rd the bottom revolute interface of the first plane of Unit the 4th of rotary joint form another lower rotation pair with another four bars structure at the bottom revolute interface of the second plane of the first module of a rotary joint at corresponding tie point place and be rotatedly connected, when four bar structures second or the 4th rotary joint and another four bars structure second or the 4th rotary joint be connected time, four bar structures second or the 4th rotary joint first module the first plane the secondary interface of rotary-top and another four bars structure corresponding tie point place second or the 4th the secondary interface of rotary-top of the second plane of Unit the 4th of rotary joint formed a top revolute pair be rotatedly connected and second of described four bar structure or the 4th rotary joint Unit the 4th the second plane the secondary interface of rotary-top and another four bars structure corresponding tie point place second or the 4th the rotary-top pair interface of the first plane of first module of rotary joint form another top revolute pair and be rotatedly connected, in the rotary joint junction of two four bar structures, the rotary-top secondary axis of two rotary joints intersects at thirdly, the bottom revolute axis of two rotary joints intersects at the 4th point, the plane of 3rd symmetrical plane for being determined by two rotary-top secondary axises, two described rotary joints are symmetrical about the 3rd described symmetrical plane, the plane of 4th symmetrical plane for being determined by two bottom revolute axis, two described rotary joints are symmetrical about the 4th described symmetrical plane, the 3rd described symmetrical plane and the intersection of the 4th symmetrical plane are by the 3rd described intersection point and the determined straight line of the 4th intersection point, and the common vertical line segment length between all adjacent revolute axis in two rotary joints of two four bar structural attachments is equal and be not 0, first plane of the first module of a rotary joint in two rotary joints of the junction of two four bar structures can contact with the second plane of Unit the 4th, second plane of the first module of a rotary joint can contact with the first plane of Unit the 4th of another rotary joint, second plane of Unit the 4th of another rotary joint can contact with the first plane of the first module of another rotary joint, the second plane of the first module of another rotary joint can with the first plane contact of Unit the 4th of a rotary joint.
The invention has the advantages that:
(1) body of the present invention is the folding exhibition structure with the single degree of freedom, and the expansion realizing tent by a driving, with folding, to be installed and easy to use;
(2) the present invention has larger folding exhibition ratio, and volume after folding can be reduced to minimum, is convenient to transport;
(3) the present invention has reconfigurability, can design arbitrary volume according to the actual requirements.
Accompanying drawing explanation
Fig. 1 is the formation deployable structure schematic diagram of the elementary cell four bar structure in Foldable bar frame structure of the present invention;
Fig. 2-1 is the structural representation of the first module of the rotary joint in four bar structures shown in Fig. 1;
Fig. 2-2 is the structural representation of Unit the 4th of the rotary joint in four bar structures shown in Fig. 1;
Fig. 3 is the connection diagram of two four bar structures in Foldable bar frame structure of the present invention;
The schematic diagram of the rotary-top pair of the rotary joint of two four bar structures in Fig. 4-1 Foldable bar frame structure of the present invention;
Fig. 4-2 is the schematic diagram of the bottom revolute of the rotary joint of two four bar structures in Foldable bar frame structure of the present invention;
The folding process that Fig. 5-1 to Fig. 5-5 is the node structure that four bar anatomical connectivity are formed of two in the present invention is illustrated;
Fig. 6-1 to Fig. 6-7 is Tent frame and the folding exhibition process schematic thereof that Foldable bar frame structure of the present invention has both sides fulcrum;
Fig. 7-1 to Fig. 7-5 is the process that the cage construction of the tent adopting Foldable bar frame structure of the present invention to manufacture is changed to folded state by deployed condition;
Fig. 8, Fig. 9 respectively illustrate has three sides, the four collateral schematic diagrames supportting the space folding exhibition structure of the tent frames formed.
Detailed description of the invention
Describe the present invention below in conjunction with the drawings and specific embodiments.
Foldable bar frame structure of the present invention as shown in the figure, it comprises multiple four bar structures, four bar structures described in each comprise connecting rod I7, connecting rod II8, connecting rod III9, connecting rod IV10, one end of described connecting rod I7 is fixedly connected with the first module 1 of the first rotary joint and its other end is fixedly connected with the 4th unit 13 of the second rotary joint, and one end of connecting rod III9 is fixedly connected with the bottom of the first module 14 of the second rotary joint and its other end is fixedly connected with the bottom of the 4th unit 22 of the 3rd rotary joint, one end of connecting rod IV10 is fixedly connected with the bottom of the first module 33 of the 3rd rotary joint and its other end is fixedly connected with bottom the 4th unit 12 of the 4th rotary joint, connecting rod II8 one end is fixedly connected with the first module 11 of the 4th rotary joint and its other end is fixedly connected with the 4th unit 4 of the first described rotary joint, the structure of the first module of four rotary joints is identical, the structure of Unit the 4th of four rotary joints is identical, each unit of each rotary joint has the first plane and the second plane respectively, the top of the first plane of described first module and the second plane of Unit the 4th is provided with the secondary interface of rotary-top, the bottom of the second plane of described first module and the first plane of Unit the 4th is provided with bottom revolute interface, described first, the secondary interface of rotary-top of the secondary interface of rotary-top of the first plane of the first module at three rotary joint places and the second plane of Unit the 4th forms rotary-top pair and is rotatedly connected, described second, the bottom revolute interface of the bottom revolute interface of the second plane of the first module at four rotary joint places and the first plane of Unit the 4th forms bottom revolute and is rotatedly connected, first, two revolute axis of three rotary joints intersect at the first intersection point, second, two revolute axis of four rotary joints intersect at the second intersection point, first symmetrical plane is by described first, the plane that two revolute axis of three rotary joints determine, four described bar structures are symmetrical about the first described symmetrical plane, second symmetrical plane is by second, the plane that two revolute axis of four rotary joints determine, four described bar structures are symmetrical about the second described symmetrical plane, by described first, the straight line that second intersection point determines is the first described symmetrical plane and the intersection of the second symmetrical plane, the length of each connecting rod in four described bar structures is equal and common vertical line segment length that the is revolute axis of adjacent rotary joint is equal and be not 0, the syndeton of two adjacent four bar structures is: when four bar structures first or the 3rd rotary joint and another four bars structure first or the 3rd rotary joint be connected time, four bar structures first or the 3rd bottom revolute interface and the bottom revolute interface of the first plane of Unit the 4th of the rotary joint of another four bars structure at corresponding tie point place of the second plane of first module of rotary joint formed lower rotation pair be rotatedly connected and first of described four bar structure or the 3rd the bottom revolute interface of the first plane of Unit the 4th of rotary joint form another lower rotation pair with another four bars structure at the bottom revolute interface of the second plane of the first module of a rotary joint at corresponding tie point place and be rotatedly connected, when four bar structures second or the 4th rotary joint and another four bars structure second or the 4th rotary joint be connected time, four bar structures second or the 4th rotary joint first module the first plane the secondary interface of rotary-top and another four bars structure corresponding tie point place second or the 4th the secondary interface of rotary-top of the second plane of Unit the 4th of rotary joint formed a top revolute pair be rotatedly connected and second of described four bar structure or the 4th rotary joint Unit the 4th the second plane the secondary interface of rotary-top and another four bars structure corresponding tie point place second or the 4th the rotary-top pair interface of the first plane of first module of rotary joint form another top revolute pair and be rotatedly connected, in the rotary joint junction of two four bar structures, the rotary-top secondary axis of two rotary joints intersects at thirdly A, the bottom revolute axis of two rotary joints intersects at the 4th B, the plane of 3rd symmetrical plane E for being determined by two rotary-top secondary axises, two described rotary joints are symmetrical about the 3rd described symmetrical plane E, the plane of 4th symmetrical plane F for being determined by two bottom revolute axis, two described rotary joints are symmetrical about the 4th described symmetrical plane F, the 3rd described symmetrical plane E and the intersection of the 4th symmetrical plane F are by the 3rd described intersection point A and the determined straight line of the 4th intersection points B, and the common vertical line segment length between all adjacent revolute axis in two rotary joints of two four bar structural attachments is equal and be not 0, when two rotary joints of the junction of two four bar structures are in the stable state of deployed condition, first plane of the first module of a rotary joint in two rotary joints of the junction of two four bar structures can contact with the second plane of Unit the 4th, second plane of the first module of a rotary joint can contact with the first plane of Unit the 4th of another rotary joint, second plane of Unit the 4th of another rotary joint can contact with the first plane of the first module of another rotary joint, second plane of the first module of another rotary joint can with the first plane contact of Unit the 4th of a rotary joint.
In conjunction with each width figure, the present invention is described in detail more below:
Each four bar structure of described bridge structure of the present invention as shown in Figure 1, comprise connecting rod I7, connecting rod II8, connecting rod III9, connecting rod IV10, one end of described connecting rod I7 is fixedly connected with the first module 1 of the first rotary joint J and its other end is fixedly connected with the 4th unit 13 of the second rotary joint N, and one end of connecting rod III9 is fixedly connected with the bottom of the first module 14 of the second rotary joint N and its other end is fixedly connected with the bottom of the 4th unit 22 of the 3rd rotary joint K; One end of connecting rod IV10 is fixedly connected with the bottom of the first module 33 of the 3rd rotary joint K and its other end is fixedly connected with bottom the 4th unit 12 of the 4th rotary joint M; Connecting rod II8 one end is fixedly connected with the first module 11 of the 4th rotary joint M and its other end is fixedly connected with the 4th unit 4 of the first described rotary joint J.
The structure of the first module of described four rotary joints is identical, as shown in Fig. 2-1, comprise first module first plane 1-1 and first module second plane 1-2, described first module first plane 1-1 top is provided with revolute interface, described first module second planar base is provided with revolute interface; The structure of Unit the 4th of four described rotary joints is identical, as shown in Fig. 2-2, comprise the 4th unit first plane 2-1 and the 4th unit second plane 2-2, bottom the 4th described unit first plane 2-1, be provided with revolute interface, the 4th described unit second plane 2-2 top is provided with revolute interface.
As shown in Figure 1, the connected mode of described four bar structures is: form rotary-top pair at the secondary interface of rotary-top of the first plane 1-1 of the first described rotary joint J place first module 1 and the secondary interface of rotary-top of described first rotary joint J place the 4th unit 4 second plane 2-2 and be rotatedly connected; Form bottom revolute at the bottom revolute interface of the first plane 2-1 of the second described rotary joint N place the 4th unit 13 and the bottom revolute interface of described second rotary joint N place first module 14 second plane 1-2 to be rotatedly connected; Form rotary-top pair at the secondary interface of rotary-top of the first plane 1-1 of the 3rd described rotary joint K place first module 33 and the secondary interface of rotary-top of described 3rd rotary joint K place the 4th unit 22 second plane 2-2 to be rotatedly connected; Form bottom revolute at the bottom revolute interface of the first plane 2-1 of the 4th described rotary joint M place the 4th unit 12 and the bottom revolute interface of described 4th rotary joint M place first module 11 second plane 1-2 to be rotatedly connected.Two revolute axis L14, L22 of the first described rotary joint J, the 3rd rotary joint K intersect at the first intersection point C, and two revolute axis L44, L33 of the second rotary joint N, the 4th rotary joint M intersect at the second intersection point D.The plane of the first symmetrical plane G for being determined by two revolute axis of the first described rotary joint J, the 3rd rotary joint K, four described bar structures are symmetrical about the first described symmetrical plane G; The plane of the second symmetrical plane for being determined by two revolute axis of the second rotary joint N, the 4th rotary joint M, four described bar structures are symmetrical about the second described symmetrical plane H; The straight line determined by the first described intersection point C, the second intersection point D is the first described symmetrical plane G and the intersection of the second symmetrical plane H, the length of each connecting rod in four described bar structures is equal and common vertical line segment length that the is revolute axis of adjacent rotary joint is equal and be not 0, and the common vertical line segment length namely between L14 and L44, L44 and L22, L22 and L33, L33 and L14 is all equal.
For the first rotary joint J place, as shown in Figure 3, the syndeton of two adjacent four bar structures is: as first rotary joint of four bar structure JNKM and the first rotary joint (5 in figure of another four bars structure, 6 are respectively the 4th unit 2 with this rotary joint, the connecting rod that first module 3 is connected) when being connected, the node structure formed is as Fig. 4-1, shown in Fig. 4-2, its detailed construction is: the bottom revolute interface of the first plane 2-1 of the 4th unit 2 of the bottom revolute interface of the second plane 1-2 of the first module 1 of the first rotary joint J of four bar structure JNKM and the first rotary joint of another four bars structure forms lower rotation pair and is rotatedly connected, and the bottom revolute interface of the second plane 1-2 of the first module 3 of the bottom revolute interface of the first plane 2-1 of the 4th unit 4 of the first rotary joint J of four described bar structure JNKM and first rotary joint of another four bars structure forms another lower rotation pair and is rotatedly connected.In the rotary joint junction of described two four bar structures, rotary-top secondary axis L14, L23 of two rotary joints intersect at thirdly A, bottom revolute axis L12, L34 of two rotary joints intersect at the 4th B, the plane of 3rd symmetrical plane E for being determined by two rotary-top secondary axises L14, L23, the node structure that two described four bar structural attachments are formed is symmetrical about the 3rd described symmetrical plane E, 4th symmetrical plane F is by two bottom revolute axis L12, the plane that L34 determines, the node structure that two described four bar structural attachments are formed is symmetrical about the 4th described symmetrical plane F, the 3rd described symmetrical plane E and the intersection of the 4th symmetrical plane F are by the 3rd described intersection point A and the determined straight line of the 4th intersection points B, common vertical line segment length between all adjacent revolute axis in two rotary joints of two four bar structural attachments is equal and be not 0, i.e. L14 and L12, L12 and L23, L23 and L34, common vertical line segment length between L34 and L14 is all equal.The mode that mode when the 3rd rotary joint of four bar structures is connected with the 3rd rotary joint of another four bars structure is connected with the first rotary joint of another four bars structure with the first rotary joint of described four bar structure is completely the same.And when four bar structures second or the 4th rotary joint and another four bars structure second or the 4th rotary joint be connected time, four bar structures second or the 4th rotary joint first module the first plane the secondary interface of rotary-top and another four bars structure corresponding tie point place second or the 4th the secondary interface of rotary-top of the second plane of Unit the 4th of rotary joint formed a top revolute pair be rotatedly connected and second of described four bar structure or the 4th rotary joint Unit the 4th the second plane the secondary interface of rotary-top and another four bars structure corresponding tie point place second or the 4th the rotary-top pair interface of the first plane of first module of rotary joint form another top revolute pair and be rotatedly connected, the node structure formed and Fig. 4-1, node structure shown in Fig. 4-2 is completely the same.Because the first rotary joint of described four bar structures is identical with the 3rd rotary joint, and the second rotary joint is identical with the structure of the 4th rotary joint, therefore when two four bar structures are connected, first rotary joint of four bar structures can be connected with the 3rd rotary joint of another four bars structure according to described method of attachment equally, and the second rotary joint of four bar structures can be connected with the 4th rotary joint of another four bars structure according to described method of attachment equally.
The node structure that two described four bar anatomical connectivity are formed is under described constraints, there are one degree of freedom and two stable states, Fig. 5-1 to Fig. 5-5 shows by driving described first module 1 to move along shown by arrow direction the process transformed to another stable state, and another stable state formed is as shown in Fig. 5-4.Fig. 5-5 is depicted as another view of another stable state described, shows the situation of change of symmetrical plane under this stable state and each revolute.Stable state shown in Fig. 5-1 is the deployed condition of node structure, when deployed condition, first plane of the first module 1 of a rotary joint in two rotary joints of the junction of two four bar structures can contact with the second plane of the 4th unit 4, second plane of the first module 1 of a rotary joint can contact with the first plane of the 4th unit 2 of another rotary joint, second plane of the 4th unit 2 of another rotary joint can contact with the first plane of the first module 3 of another rotary joint, second plane of the first module 3 of another rotary joint can with the first plane contact of the 4th unit 4 of a rotary joint.Stable state shown in Fig. 5-4 is the folded state of node structure.
Four bar structures described in utilization and the described interstructural connected mode of four bars, can form the deployable structure with certain area, form deployable structure area and determined by the length of the number of four described bar structures and each connecting rod.Fig. 6-1 shows a stable state of described deployable structure, i.e. the deployed condition of space folding exhibition structure.Described deployable structure has one degree of freedom, can realize the folding exhibition motion of large ratio, Fig. 6-1 to Fig. 6-7 shows the folding process of described space folding exhibition structure, finally reaches another stable state of described space folding exhibition structure, i.e. folded state, as shown in Fig. 6-6 and 6-7.Described space folding exhibition structure can be used as the cage construction on tent top, or the sandwich on building top.
On the basis of described space folding exhibition structure, according to the actual requirements, folding exhibition structure in described space can arrange the support of more than three and three of not conllinear, forms foldable tent cage construction.Fig. 7-1 shows and to increase by 4 in the left and right sides of described space folding exhibition structure and support institute and form tent frames structure, and arbitrary four bar structures of the connecting rod increased and node formation, as four bar structure PQRS, have and the on all four constraints of four bar structure JNMK.Like this, the described foldable tent cage construction formed equally only has one degree of freedom, two stable states; Fig. 7-1 is depicted as the deployed condition of described tent frames, and Fig. 7-1 to Fig. 7-5 shows the process that described tent frames structure is changed to folded state by deployed condition, and Fig. 7-5 shows the folded state of described tent frames structure.Described tent frames architecture basics increases covering, the tent with former and later two can be formed.
Fig. 8, Fig. 9 respectively illustrate increases in three sides of described space folding exhibition structure, four sides the situation supporting and form tent frames structure, and the tent frames similar shown in its principle and performance and Fig. 7-1, does not repeat them here.
As long as it is pointed out that described elementary cell of the present invention and four described bar structures meet described constraints, folding of the present invention exhibition effect can be reached, and have nothing to do with the unit of composition elementary cell and the connecting rod shape of composition four bar structure.
Because tent structure proposed by the invention has the single degree of freedom, and folding exhibition ratio is large, therefore has and installs simple, easy to operate, to be easy to the aspects such as transport advantage, be therefore particularly suited for applying in the fields such as rescue and relief work.
Schematically above be described the present invention and embodiment thereof, this description does not have restricted, and also just one of the embodiments of the present invention shown in accompanying drawing, actual structure is not limited thereto.So; if those skilled in the art enlightens by it; when not departing from the invention aim; adopt the part configuration of other form, drive unit and connected mode without the creationary setting frame mode similar to this technical scheme and embodiment, all should protection scope of the present invention be belonged to.
Claims (1)
1. Foldable bar frame structure, it is characterized in that: it comprises multiple four bar structures, four bar structures described in each comprise connecting rod I, connecting rod II, connecting rod III, connecting rod IV, one end of described connecting rod I is fixedly connected with the first module of the first rotary joint and its other end is fixedly connected with Unit the 4th of the second rotary joint, and one end of connecting rod III is fixedly connected with the bottom of the first module of the second rotary joint and its other end is fixedly connected with the bottom of Unit the 4th of the 3rd rotary joint, one end of connecting rod IV is fixedly connected with the bottom of the first module of the 3rd rotary joint and its other end is fixedly connected with the 4th unit bottom of the 4th rotary joint, connecting rod II one end is fixedly connected with the first module of the 4th rotary joint and its other end is fixedly connected with Unit the 4th of the first described rotary joint, the structure of the first module of four rotary joints is identical, the structure of Unit the 4th of four rotary joints is identical, each unit of each rotary joint has the first plane and the second plane respectively, the top of the first plane of described first module and the second plane of Unit the 4th is provided with the secondary interface of rotary-top, the bottom of the second plane of described first module and the first plane of Unit the 4th is provided with bottom revolute interface, described first, the secondary interface of rotary-top of the secondary interface of rotary-top of the first plane of the first module at three rotary joint places and the second plane of Unit the 4th forms rotary-top pair and is rotatedly connected, described second, the bottom revolute interface of the bottom revolute interface of the second plane of the first module at four rotary joint places and the first plane of Unit the 4th forms bottom revolute and is rotatedly connected, first, two revolute axis of three rotary joints intersect at the first intersection point, second, two revolute axis of four rotary joints intersect at the second intersection point, first symmetrical plane is by described first, the plane that two revolute axis of three rotary joints determine, four described bar structures are symmetrical about the first described symmetrical plane, second symmetrical plane is by second, the plane that two revolute axis of four rotary joints determine, four described bar structures are symmetrical about the second described symmetrical plane, by described first, the straight line that second intersection point determines is the first described symmetrical plane and the intersection of the second symmetrical plane, the length of each connecting rod in four described bar structures is equal and common vertical line segment length that the is revolute axis of adjacent rotary joint is equal and be not 0, the syndeton of two adjacent four bar structures is: when the first rotary joint of four bar structures is connected with the first rotary joint of another four bars structure, and bottom revolute interface and the bottom revolute interface of the first plane of Unit the 4th of the rotary joint of another four bars structure at corresponding tie point place of the second plane of the first module of the first rotary joint of a four-bar mechanism form lower rotation pair and to be rotatedly connected and the bottom revolute interface of the first plane of Unit the 4th of the first rotary joint of described four bar structure and another four bars structure form another lower rotation pair at the bottom revolute interface of the second plane of the first module of a rotary joint at corresponding tie point place is rotatedly connected lower rotation parafacies company, when the 3rd rotary joint of four bar structures is connected with the 3rd rotary joint of another four bars structure, bottom revolute interface and the bottom revolute interface of the first plane of Unit the 4th of the rotary joint of another four bars structure at corresponding tie point place of the second plane of the first module of the 3rd rotary joint of a four-bar mechanism form lower rotation pair and to be rotatedly connected and the bottom revolute interface of the first plane of Unit the 4th of the 3rd rotary joint of described four bar structure forms another lower rotation pair with another four bars structure at the bottom revolute interface of the second plane of the first module of a rotary joint at corresponding tie point place is rotatedly connected, when the second rotary joint of four bar structures is connected with the second rotary joint of another four bars structure, the secondary interface of the rotary-top of the first plane of the first module of the second rotary joint of four bar structures and the secondary interface of the rotary-top of the second plane of Unit the 4th of second rotary joint of another four bars structure at corresponding tie point place form a top revolute pair and to be rotatedly connected and the secondary interface of the rotary-top of the second plane of Unit the 4th of the second rotary joint of described four bar structure forms another top revolute pair with another four bars structure at the rotary-top pair interface of the first plane of the first module of second rotary joint at corresponding tie point place is rotatedly connected, when the 4th rotary joint of four bar structures is connected with the 4th rotary joint of another four bars structure, the secondary interface of the rotary-top of the first plane of the first module of the 4th rotary joint of four bar structures and another four bars structure form a top revolute pair at the secondary interface of the rotary-top of the second plane of Unit the 4th of the 4th rotary joint at corresponding tie point place and to be rotatedly connected and the secondary interface of the rotary-top of the second plane of Unit the 4th of the 4th rotary joint of described four bar structure forms another top revolute pair with another four bars structure at the rotary-top pair interface of the first plane of the first module of the 4th rotary joint at corresponding tie point place is rotatedly connected, in the rotary joint junction of two four bar structures, the rotary-top secondary axis of two rotary joints intersects at thirdly, the bottom revolute axis of two rotary joints intersects at the 4th point, the plane of 3rd symmetrical plane for being determined by two rotary-top secondary axises, two described rotary joints are symmetrical about the 3rd described symmetrical plane, the plane of 4th symmetrical plane for being determined by two bottom revolute axis, two described rotary joints are symmetrical about the 4th described symmetrical plane, the 3rd described symmetrical plane and the intersection of the 4th symmetrical plane are by the 3rd described intersection point and the determined straight line of the 4th intersection point, and the common vertical line segment length between all adjacent revolute axis in two rotary joints of two four bar structural attachments is equal and be not 0, in two rotary joints of the junction of two four bar structures, first plane of the first module of the rotary joint of first four bar structure can contact with the second plane of Unit the 4th, second plane of the first module of the rotary joint of first four bar structure can contact with the first plane of Unit the 4th of the rotary joint of second four bar structure, second plane of Unit the 4th of the rotary joint of second four bar structure can contact with the first plane of the first module of the rotary joint of second four bar structure, second plane of the first module of the rotary joint of second four bar structure can with the first plane contact of Unit the 4th of the rotary joint of first four bar structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310050611.2A CN103089063B (en) | 2013-02-07 | 2013-02-07 | Foldable bar frame structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310050611.2A CN103089063B (en) | 2013-02-07 | 2013-02-07 | Foldable bar frame structure |
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| CN103089063A CN103089063A (en) | 2013-05-08 |
| CN103089063B true CN103089063B (en) | 2015-01-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103342166B (en) * | 2013-07-03 | 2015-08-26 | 北京交通大学 | Single degree of freedom folding deformation mechanism |
| CN103469893B (en) * | 2013-09-24 | 2016-08-10 | 北京交通大学 | A kind of folding cube |
| CN103985304B (en) * | 2014-05-20 | 2016-02-03 | 天津大学 | Fold-playing six bar structural type mechanism |
| CN108336470B (en) * | 2018-02-28 | 2019-11-15 | 哈尔滨工业大学 | Basic based on Bennett mechanism can Zhan Danyuan and the unfolding mechanism that is made of the unit |
| JP7212412B2 (en) * | 2019-10-02 | 2023-01-25 | 株式会社Outsense | Deployable structure |
| CN111186175B (en) * | 2020-01-21 | 2021-10-29 | 东南大学 | Foldable membrane rod structure |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4077418A (en) * | 1976-07-12 | 1978-03-07 | Wilfred Cohen | Quickly erected back pack tent |
| JP2004027803A (en) * | 2002-06-25 | 2004-01-29 | Yuji Morinobu | Folding tent |
| CN201121434Y (en) * | 2007-10-30 | 2008-09-24 | 李成熙 | Folding type tent frame capable of automatically expanding |
| CN201474365U (en) * | 2009-06-04 | 2010-05-19 | 秋野地(厦门)露营用品有限公司 | Foldable tent structure |
| WO2011131061A1 (en) * | 2010-04-23 | 2011-10-27 | Luo Laixiao | Combined foldable tent |
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2013
- 2013-02-07 CN CN201310050611.2A patent/CN103089063B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4077418A (en) * | 1976-07-12 | 1978-03-07 | Wilfred Cohen | Quickly erected back pack tent |
| JP2004027803A (en) * | 2002-06-25 | 2004-01-29 | Yuji Morinobu | Folding tent |
| CN201121434Y (en) * | 2007-10-30 | 2008-09-24 | 李成熙 | Folding type tent frame capable of automatically expanding |
| CN201474365U (en) * | 2009-06-04 | 2010-05-19 | 秋野地(厦门)露营用品有限公司 | Foldable tent structure |
| WO2011131061A1 (en) * | 2010-04-23 | 2011-10-27 | Luo Laixiao | Combined foldable tent |
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| CN103089063A (en) | 2013-05-08 |
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