CN103342166B - Single degree of freedom folding deformation mechanism - Google Patents
Single degree of freedom folding deformation mechanism Download PDFInfo
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- CN103342166B CN103342166B CN201310276121.4A CN201310276121A CN103342166B CN 103342166 B CN103342166 B CN 103342166B CN 201310276121 A CN201310276121 A CN 201310276121A CN 103342166 B CN103342166 B CN 103342166B
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Abstract
Single degree of freedom folding deformation mechanism comprises: three bar groups I (A), three bar groups II (B), three bar groups III (C), three middle major axis (1) and three major axis (2).Bar group I (A) is made up of head rod (4) and the second pipe link (5), bar group II (B) is made up of head rod (4) and the 3rd pipe link (6), and bar group III (C) is made up of the 3rd pipe link (6) and the 4th pipe link (7).The head end of head rod (4) and the 4th pipe link (7) is provided with through hole a, and end becomes the direction place of conter clockwise 55 ° to be provided with through hole b with through hole a axis; The head end of the second pipe link (5) and the 3rd pipe link (6) is provided with through hole a, and end becomes the direction place of cw 55 ° to be provided with through hole b with through hole a axis.Bar group I (A) is connected with other bar groups with major axis respectively by middle major axis with the two ends of bar group II (B), and the two ends of three bar groups III (C) are connected with other bar groups by major axis.Single degree of freedom folding deformation mechanism can realize the mutual conversion between plane triangle and space tetrahedron.
Description
Technical field
The present invention relates to a kind of fold mechanism.Be specifically related to a kind of single degree of freedom folding deformation mechanism, realize the mutual conversion between plane triangle and space tetrahedron.
Background technology
Fold mechanism self has large-scale geometric distortion ability, and mechanism's geometric distortion can be the change of spatial volume, also can be the change of outward appearance geometric configuration.Because fold mechanism is easy to deposit, transport and modularization, make it in space and architectural design, have very high practicality and economy, more because very strong deformability and distortion time attractive in appearance and in widespread attention.Fei Situo company of Germany, by a kind of single degree of freedom six-bar mechanism, is applied to a kind of course of new aircraft by folded deformation function.Hoberman utilizes scissor unit for scaling to construct space annular scaling device, and is designed to form deformation toy and building decoration.
Summary of the invention
The present invention will with regard to solve technical matters: folding deformation mechanism can only planar carry out converting or can only converting in space mostly.
Technical scheme of the present invention: single degree of freedom folding deformation mechanism comprises three bar groups, I, three bar groups, II, three bar groups, III, three middle major axis and three major axis.
Each bar group comprises two pipe links and a minor axis, and the head end of head rod and the 4th pipe link is provided with through hole a, and end becomes the direction place of conter clockwise 55 ° to be provided with through hole b with through hole a axis; The head end of the second pipe link and the 3rd pipe link is provided with through hole a, and end becomes the direction place of cw 55 ° to be provided with through hole b with through hole a axis.Minor axis, through the through hole b of through hole b and second pipe link of first pipe link, carries out axial restraint with jump ring, makes to form a revolute pair between two pipe links.
In nine bar groups of composition single degree of freedom folding deformation mechanism, the through hole a at six bar group two ends is connected with other bar groups with major axis respectively by middle major axis, and the through hole a at three bar group two ends is connected with other bar groups by major axis.
Three middle major axis, through the through hole a in two bar groups, carry out axial restraint with jump ring, make to form a revolute pair between two bar groups;
Three major axis, through the through hole a in four bar groups, carry out axial restraint with jump ring, make to form a revolute pair between two bar groups.
Beneficial effect of the present invention: single degree of freedom folding deformation mechanism of the present invention, by only having the folded deformation action of one degree of freedom, realizes the mutual conversion between plane triangle and space tetrahedron.And the rod member eliminated in deformed movement process by the design of rod member mechanism is interfered.This mechanism structure is simple, with low cost, is easy to manufacture and Project Realization.Can be used as teaching mould and be applied to education experiment, also can be used as space development agency and be applied to building roof etc.
Accompanying drawing explanation
The overall graphics of Fig. 1 single degree of freedom folding deformation mechanism
Bar group I graphics of Fig. 2 single degree of freedom folding deformation mechanism
Bar group II graphics of Fig. 3 single degree of freedom folding deformation mechanism
Bar group III graphics of Fig. 4 single degree of freedom folding deformation mechanism
Under Fig. 5 single degree of freedom folding deformation mechanism plane trigonometry shape state, major axis connects the subssembly drawing of four pipe links
Under the tetrahedron state of Fig. 6 single degree of freedom folding deformation mechanism space, major axis connects the subssembly drawing of four pipe links
The graphics of Fig. 7 head rod
The graphics of Fig. 8 second pipe link
The graphics of Fig. 9 the 3rd pipe link
The graphics of Figure 10 the 4th pipe link
Figure 11 (a), Figure 11 (b), Figure 11 (c), Figure 11 (d), Figure 11 (e) are the deformation process figure of single degree of freedom folding deformation mechanism
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further details.
Single degree of freedom folding deformation mechanism as shown in Figure 1, comprises three bar group I A, three bar group II B, three bar group III C, three middle major axis 1 and three major axis 2.
Embodiments of the present invention:
As shown in Figure 7, the head end of head rod 4 is provided with through hole a, and end becomes anticlockwise direction place to be provided with through hole b with through hole a axis on head rod 4; As shown in Figure 8, the head end of the second pipe link 5 is provided with through hole a, and end becomes clockwise direction place to be provided with through hole b with through hole a axis on the second pipe link 5; As shown in Figure 9, the head end of the 3rd pipe link 6 is provided with through hole a, and end becomes clockwise direction place to be provided with through hole b with through hole a axis on the 3rd pipe link 6; As shown in Figure 10, the head end of the 4th pipe link 7 is provided with through hole a, and end becomes anticlockwise direction place to be provided with through hole b with through hole a axis on the 4th pipe link 7.Distance geometry angle on Distance geometry angle on Distance geometry angle on Distance geometry angle on head rod 4 between through hole a with through hole b, the second pipe link 5 between through hole a and through hole b, the 3rd pipe link 6 between through hole a and through hole b and the 4th pipe link 7 between through hole a and through hole b is identical.
As shown in Figure 2, bar group I A comprises a head rod 4, second pipe link 5 and a minor axis 3, minor axis 3, through the through hole b of the head rod 4 and through hole b of the second pipe link 5, carries out axial restraint with jump ring, makes to form a revolute pair between head rod 4 and the second pipe link 5;
As shown in Figure 3, bar group II B comprises a head rod 4, the 3rd pipe link 6 and a minor axis 3, minor axis 3, through the through hole b of the 3rd the pipe link 6 and through hole b of head rod 4, carries out axial restraint with jump ring, makes to form a revolute pair between the 3rd pipe link 6 and head rod 4;
As shown in Figure 4, bar group III C comprises the 3rd pipe link 6, the 4th pipe link 7 and a minor axis 3, minor axis 3, through the through hole b of the 4th the pipe link 7 and through hole b of the 3rd pipe link 6, carries out axial restraint with jump ring, makes to form a revolute pair between the 4th pipe link 7 and the 3rd pipe link 6.
As shown in Figure 1, first middle major axis 1 is through the through hole a on the 3rd pipe link 6 of first bar group II B, through hole a with on the head rod 4 of first bar group I A, carries out axial restraint with jump ring, makes to form revolute pair between the 3rd pipe link 6 and head rod 4;
Second middle major axis 1 is through the through hole a on the 3rd pipe link 6 of second bar group II B, and the through hole a on the head rod 4 of second bar group I A, carries out axial restraint, make to form revolute pair between the 3rd pipe link 6 and head rod 4 with jump ring;
3rd middle major axis 1 is through the through hole a on the 3rd pipe link 6 of the 3rd bar group II B, and the through hole a on the head rod 4 of the 3rd bar group I A, carries out axial restraint, make to form revolute pair between the 3rd pipe link 6 and head rod 4 with jump ring;
As shown in Figure 5 and Figure 6, first major axis 2 is successively through the through hole a on second pipe link 5 of first bar group I A, through hole a on 3rd pipe link 6 of first bar group III C, through hole a on 4th pipe link 7 of through hole a and second bar group III C on the head rod 4 of second bar group II B, carry out axial restraint with jump ring, make the second pipe link 5, the 3rd pipe link 6, between head rod 4 and the 4th pipe link 7, form revolute pair;
Second major axis 2 is successively through the through hole a on second pipe link 5 of second bar group I A, through hole a on 3rd pipe link 6 of the 3rd bar group III C, through hole a on 4th pipe link 7 of through hole a and first bar group III C on the head rod 4 of the 3rd bar group II B, carry out axial restraint with jump ring, make the second pipe link 5, the 3rd pipe link 6, between head rod 4 and the 4th pipe link 7, form revolute pair;
3rd major axis 2 is successively through the through hole a on second pipe link 5 of the 3rd bar group I A, through hole a on 3rd pipe link 6 of second bar group III C, through hole a on 4th pipe link 7 of the through hole a on the head rod 4 of first bar group II B and the 3rd bar group III C, carry out axial restraint with jump ring, make the second pipe link 5, the 3rd pipe link 6, between head rod 4 and the 4th pipe link 7, form revolute pair.
As shown in Figure 7 to 10, the angle on the angle on the angle on the angle on described head rod 4 between through hole a and through hole b, the second pipe link 5 between through hole a and through hole b, the 3rd pipe link 6 between through hole a and through hole b and the 4th pipe link 7 between through hole a and through hole b is all 55 °.
Described head rod 4, the left side of head rod 4 head end is arc surface, the right side of head rod 4 head end is plane, and front side and head rod 4 side end face of head rod 4 end are coplanar, and the side end face of head rod 4 is in the right side of head rod 4.
The second described pipe link 5, the right side of the second pipe link 5 head end is arc surface, the left side of the second pipe link 5 head end is plane, the distance of front side to the second pipe link 5 side end face of the second pipe link 5 end is identical with the thickness of the second pipe link 5 end, and the side end face of the second pipe link 5 is in the left side of the second pipe link 5.
The 3rd described pipe link 6, the right side of the 3rd pipe link 6 head end is arc surface, the left side of the 3rd pipe link 6 head end is plane, the distance of front side to the 3rd pipe link 6 side end face of the 3rd pipe link 6 end is identical with the thickness of the 3rd pipe link 6 end, and the side end face of the 3rd pipe link 6 is in the left side of the 3rd pipe link 6.
The 4th described pipe link 7, the left side of the 4th pipe link 7 head end is arc surface, the right side of the 4th pipe link 7 head end is plane, and front side and the 4th pipe link 7 side end face of the 4th pipe link 7 end are coplanar, and the side end face of the 4th pipe link 7 is in the right side of the 4th pipe link 7.
Head rod 4, second pipe link 5, the 3rd pipe link 6 are identical with the thickness of the 4th pipe link 7 end.The thickness summation of head rod 4, second pipe link 5, the 3rd pipe link 6 and the 4th pipe link 7 head end is equal to the distance of aft end face with front end face on head rod 4, second pipe link 5, the 3rd pipe link 6 and the 4th pipe link 7.When major axis 2 connects head rod 4, second pipe link 5, the 3rd pipe link 6 and the 4th pipe link 7, the front end face of head rod 4, second pipe link 5, the 3rd pipe link 6 and the 4th pipe link 7 is towards identical.
Concrete using method:
Single degree of freedom folding deformation mechanism can realize triangle to tetrahedral geometric transformation.Select two connecting rods with the relation of relatively rotating to carry out manual drives, shown in the first connecting rod 4 in bar group I A and second connecting rod 5, Figure 11 (a), be single free folding deformation mechanism initial position, profile is a triangle; Non-follow control first connecting rod 4 and second connecting rod 5, make first connecting rod 4 rotate counterclockwise, as shown in Figure 11 (b) relative to second connecting rod 5; Continue to make first connecting rod 4 carry out rotating counterclockwise the folded deformation process realizing Figure 11 (c) and Figure 11 (d) relative to second connecting rod 5, finally reach the tetrahedron profile as shown in Figure 11 (e).
Rotate rod member round about, just can realize the process that tetrahedron is changed to triangle.
Claims (3)
1. single degree of freedom folding deformation mechanism, is characterized in that: single degree of freedom folding deformation mechanism comprises three bar groups I (A), three bar groups II (B), three bar groups III (C), three middle major axis (1) and three major axis (2);
Bar group I (A) comprises head rod (4), second pipe link (5) and minor axis (3), the head end of head rod (4) is provided with through hole a, end becomes anticlockwise direction place to be provided with through hole b with the upper through hole a axis of head rod (4), the head end of the second pipe link (5) is provided with through hole a, end becomes clockwise direction place to be provided with through hole b with the upper through hole a axis of the second pipe link (5), the through hole b of minor axis (3) through head rod (4) and the through hole b of the second pipe link (5), axial restraint is carried out with jump ring, make to form a revolute pair between head rod (4) and the second pipe link (5),
Bar group II (B) comprises head rod (4), the 3rd pipe link (6) and minor axis (3), the head end of the 3rd pipe link (6) is provided with through hole a, end becomes clockwise direction place to be provided with through hole b with the upper through hole a axis of the 3rd pipe link (6), the through hole b of minor axis (3) through the 3rd pipe link (6) and the through hole b of head rod (4), carry out axial restraint with jump ring, make to form a revolute pair between the 3rd pipe link (6) and head rod (4);
Bar group III (C) comprises the 3rd pipe link (6), the 4th pipe link (7) and minor axis (3), the head end of the 4th pipe link (7) is provided with through hole a, end becomes anticlockwise direction place to be provided with through hole b with the upper through hole a axis of the 4th pipe link (7), the through hole b of minor axis (3) through the 4th pipe link (7) and the through hole b of the 3rd pipe link (6), carry out axial restraint with jump ring, make to form a revolute pair between the 4th pipe link (7) and the 3rd pipe link (6);
The upper Distance geometry angle between through hole a and through hole b of the upper Distance geometry angle between through hole a and through hole b of the upper Distance geometry angle between through hole a with through hole b of head rod (4), the second pipe link (5), the 3rd pipe link (6) and the upper Distance geometry angle between through hole a and through hole b of the 4th pipe link (7) identical;
First middle major axis (1) is through the through hole a on the 3rd pipe link (6) of first bar group II (B), with the through hole a on the head rod (4) of first bar group I (A), carry out axial restraint with jump ring, make to form revolute pair between the 3rd pipe link (6) and head rod (4);
Second middle major axis (1) is through the through hole a on the 3rd pipe link (6) of second bar group II (B), with the through hole a on the head rod (4) of second bar group I (A), carry out axial restraint with jump ring, make to form revolute pair between the 3rd pipe link (6) and head rod (4);
3rd middle major axis (1) is through the through hole a on the 3rd pipe link (6) of the 3rd bar group II (B), with the through hole a on the head rod (4) of the 3rd bar group I (A), carry out axial restraint with jump ring, make to form revolute pair between the 3rd pipe link (6) and head rod (4);
First major axis (2) is successively through the through hole a on second pipe link (5) of first bar group I (A), through hole a on 3rd pipe link (6) of first bar group III (C), through hole a on 4th pipe link (7) of through hole a and second bar group III (C) on the head rod (4) of second bar group II (B), carry out axial restraint with jump ring, make the second pipe link (5), the 3rd pipe link (6), between head rod (4) and the 4th pipe link (7), form revolute pair;
Second major axis (2) is successively through the through hole a on second pipe link (5) of second bar group I (A), through hole a on 3rd pipe link (6) of the 3rd bar group III (C), through hole a on 4th pipe link (7) of through hole a and first bar group III (C) on the head rod (4) of the 3rd bar group II (B), carry out axial restraint with jump ring, make the second pipe link (5), the 3rd pipe link (6), between head rod (4) and the 4th pipe link (7), form revolute pair;
3rd major axis (2) is successively through the through hole a on second pipe link (5) of the 3rd bar group I (A), through hole a on 3rd pipe link (6) of second bar group III (C), through hole a on 4th pipe link (7) of the through hole a and a 3rd bar group III (C) on the head rod (4) of first bar group II (B), carry out axial restraint with jump ring, make the second pipe link (5), the 3rd pipe link (6), between head rod (4) and the 4th pipe link (7), form revolute pair.
2. single degree of freedom folding deformation mechanism according to claim 1, is characterized in that:
The upper angle between through hole a and through hole b of the upper angle between through hole a and through hole b of the upper angle between through hole a and through hole b of described head rod (4), the second pipe link (5), the 3rd pipe link (6) and the upper angle between through hole a and through hole b of the 4th pipe link (7) are all 55 °.
3. single degree of freedom folding deformation mechanism according to claim 1, is characterized in that:
Described head rod (4), the left side of head rod (4) head end is arc surface, the right side of head rod (4) head end is plane, front side and head rod (4) side end face of head rod (4) end are coplanar, and the side end face of head rod (4) is in the right side of head rod (4);
Described the second pipe link (5), the right side of the second pipe link (5) head end is arc surface, the left side of the second pipe link (5) head end is plane, the distance of front side to the second pipe link (5) side end face of the second pipe link (5) end is identical with the thickness of the second pipe link (5) end, and the side end face of the second pipe link (5) is in the left side of the second pipe link (5);
The 3rd described pipe link (6), the right side of the 3rd pipe link (6) head end is arc surface, the left side of the 3rd pipe link (6) head end is plane, the distance of front side to the 3rd pipe link (6) side end face of the 3rd pipe link (6) end is identical with the thickness of the 3rd pipe link (6) end, and the side end face of the 3rd pipe link (6) is in the left side of the 3rd pipe link (6);
The 4th described pipe link (7), the left side of the 4th pipe link (7) head end is arc surface, the right side of the 4th pipe link (7) head end is plane, front side and the 4th pipe link (7) side end face of the 4th pipe link (7) end are coplanar, and the side end face of the 4th pipe link (7) is in the right side of the 4th pipe link (7);
The thickness of first to fourth pipe link (4,5,6,7) end is identical;
The thickness summation of first to fourth pipe link (4,5,6,7) head end is equal to the distance of aft end face with the upper front end face of first to fourth pipe link (4,5,6,7);
When major axis (2) connects first to fourth pipe link (4,5,6,7), the front end face of first to fourth pipe link (4,5,6,7) is towards identical.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310276121.4A CN103342166B (en) | 2013-07-03 | 2013-07-03 | Single degree of freedom folding deformation mechanism |
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| CN201310276121.4A CN103342166B (en) | 2013-07-03 | 2013-07-03 | Single degree of freedom folding deformation mechanism |
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| CN103342166B true CN103342166B (en) | 2015-08-26 |
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| CN105244629B (en) * | 2015-10-16 | 2017-10-20 | 燕山大学 | 3R 3RSR single-degree-of-freedoms tetrahedrons can open up unit |
| CN105523196B (en) * | 2015-12-24 | 2017-06-16 | 天津大学 | Folding multi-face body structure |
| CN106364701B (en) * | 2016-10-21 | 2018-07-06 | 天津大学 | Telescopic tetrahedral structure |
| CN106695798A (en) * | 2017-02-28 | 2017-05-24 | 中国地质大学（武汉） | Two-layer two-ring connecting rod deployable units and space deployable mechanism based on same |
| CN106891324A (en) * | 2017-02-28 | 2017-06-27 | 中国地质大学（武汉） | A kind of linkage unit containing 5R coupling side chains and the development agency based on the unit |
| CN107933959B (en) * | 2017-10-13 | 2020-05-19 | 中国科学院深圳先进技术研究院 | Six-rod mechanism and expandable module, extension arm and plane expansion truss formed by six-rod mechanism |
| CN110589035B (en) * | 2019-10-25 | 2021-02-05 | 北京航空航天大学 | Single-degree-of-freedom tetrahedral deployable cell element mechanism |
| CN112575901B (en) * | 2020-12-11 | 2021-10-19 | 长沙理工大学 | Single-degree-of-freedom extensible unit and cylindrical surface extensible mechanism formed by same |
| CN113833117B (en) * | 2021-09-13 | 2022-09-09 | 青岛新华友建工集团股份有限公司 | Assembled multilayer large-span bidirectional multi-span space steel grid box type structure building |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6468222B1 (en) * | 1999-08-02 | 2002-10-22 | Healthetech, Inc. | Metabolic calorimeter employing respiratory gas analysis |
| CN101890714B (en) * | 2010-06-23 | 2012-04-25 | 北京交通大学 | Connecting rod moving robot with one degree of freedom and control method thereof |
| CN103089063B (en) * | 2013-02-07 | 2015-01-14 | 天津大学 | Foldable bar frame structure |
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