CN106335654B - Telescopic hexahedron structure - Google Patents
Telescopic hexahedron structure Download PDFInfo
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- CN106335654B CN106335654B CN201610919311.7A CN201610919311A CN106335654B CN 106335654 B CN106335654 B CN 106335654B CN 201610919311 A CN201610919311 A CN 201610919311A CN 106335654 B CN106335654 B CN 106335654B
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- 238000010586 diagram Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
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- 238000006243 chemical reaction Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/42—Arrangements or adaptations of power supply systems
- B64G1/44—Arrangements or adaptations of power supply systems using radiation, e.g. deployable solar arrays
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
- E04B1/343—Structures characterised by movable, separable, or collapsible parts, e.g. for transport
- E04B1/344—Structures characterised by movable, separable, or collapsible parts, e.g. for transport with hinged parts
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
- E04B1/343—Structures characterised by movable, separable, or collapsible parts, e.g. for transport
- E04B1/344—Structures characterised by movable, separable, or collapsible parts, e.g. for transport with hinged parts
- E04B1/3445—Structures characterised by movable, separable, or collapsible parts, e.g. for transport with hinged parts foldable in a flat stack of parallel panels
- E04B1/3447—Portal- or saddle-shaped structures
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- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
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- Pivots And Pivotal Connections (AREA)
Abstract
The present invention relates to the telescopic polyhedral structures of single-degree-of-freedom, big folding ratio, disclose a kind of telescopic hexahedron structure, unit, 12 bar units and an axis of symmetry are folded including six, six fold unit and are connected respectively with the link position on 12 bar units by the way that revolute pair or ball are secondary by link position thereon, form closing polyhedral structure, and each unit and kinematic pair meet a series of symmetric relations and constraints on the axis of symmetry, so as to construct the tetrakaidecahedron structure for being foldable to hexahedron structure.The present invention can realize two kinds of stable states of folding and expansion, and small volume is convenient for transmitting or transport during folding, with larger working space during expansion；Total only has one degree of freedom, has the advantages that production and processing is simple, convenient control of motion, high reliability, is of great significance and is widely applied prospect in the various fields such as aerospace, civil engineering.
Description
Technical field
The present invention relates to single-degree-of-freedom, the folding multi-face body structures of big folding ratio, are to be related to one kind by list specifically
The conversion between the tetrakaidecahedron and hexahedron is realized in one driving.
Background technology
Polyhedral structure is obtained because of its preferable symmetry in aerospace, building structure, the art work and daily life
It widely applies, but since volume is big, is unfavorable for transporting, polyhedral structure is usually only used for stationary applica-tions.By the SCIENCE phases
Cube moonlet that periodical is chosen as 2014 year, ten big technological breakthrough is exactly that aerospace field pursues miniaturization low cost transmitting
Typical Representative, but also restrict further applying for it the shortcomings that its in-orbit operation narrow space.
Space telescopic structure is a kind of new structure being born with the development of Space Science and Technology, it is in emission process
In folding storage state, volume capacity is minimum；After entering the orbit, telescopic structure can be by Design spreading into larger operation shape
State；When returning or recycling, which can fold gathering into airship again.Use over-constraint structure can for the space of elementary cell
Exhibition structure has high rigidity, is simple to manufacture, at low cost, the advantages such as reliability height.
Existing space telescopic structure relates generally to the folding exhibition on plane or curved surface, such as solar energy sailboard, satellite antenna,
And be related to the folding and unfolding mechanism in terms of volume and mainly obtained using non-rigid deformation, deformation process is unfavorable for controlling and is not easy to repeat to grasp
Make, otherwise it is existing complicated using the telescopic polyhedron of rigid deformation, such as C.M.Gosselin and D.Gagnon-
The telescopic polyhedral structure driven with regular polygon mechanism that Lachance was proposed in 2006；It can not achieve complete folding
It is folded, such as Kiper andIn the polyhedral folding ratio of telescopic that 2009 propose less than 1.1.
The content of the invention
It is an object of the invention to overcome the shortcomings of prior art, two kinds of stable states of folding and expansion can be realized by providing one kind
And installation and the simple telescopic hexahedron structure of operating process, the structure be containing there are two types of rigidity the gathering around of over-constraint structure
The special polyhedron of stable state, small volume is convenient for transmitting or transport during folding, with larger working space during expansion；It is whole
A structure only has one degree of freedom, and motion control is simple；Simple, convenient control of motion, high reliability etc. with production and processing
Advantage is of great significance and is widely applied prospect in the various fields such as aerospace, civil engineering.
In order to solve the above-mentioned technical problem, the present invention is achieved by following technical solution：
A kind of telescopic hexahedron structure folds unit, 12 bar units and an axis of symmetry including six；Each
The profile that unit is respectively provided with the equilateral quadrangle of plane is folded, four vertex of the equilateral quadrangle of the plane are referred to as each fold
The first vertex, the second vertex, the 3rd vertex, the 4th vertex of unit；Each bar unit both ends be referred to as its first end point and
Second endpoint；The length of side of the equilateral quadrangles of plane of six folding units is equal, and with the length of 12 bar units also phase
Deng；
It is respectively the first folding unit, the second folding unit, the 3rd folding unit, the 4th folding list that six, which fold unit,
Member, the 5th fold unit, the 6th folding unit；Wherein described first folds unit, the second folding unit, the 3rd folding
The structure of folded unit is identical, wherein the 4th folding unit, the 5th folding unit, the 6th folding unit
Structure is identical；
12 bar units are respectively the first bar unit, the second bar unit, the 3rd bar unit, the 4th bar unit, the 5th bar
Unit, the 6th bar unit, the 7th bar unit, the 8th bar unit, the 9th bar unit, the tenth bar unit, the 11st bar unit, the tenth
Two bar units；
First vertex of the first folding unit and the first end point of first bar unit are connected by the first revolute pair
It connects；Second endpoint of first bar unit is connected with the second vertex of the described second folding unit by the second revolute pair；Institute
The first vertex for stating the second folding unit is connected with the first end point of second bar unit by the 3rd revolute pair；Described second
Second endpoint of bar unit is connected with the second vertex of the described 3rd folding unit by the 4th revolute pair；Described 3rd folds list
First vertex of member is connected with the first end point of the 3rd bar unit by the 5th revolute pair；The second of 3rd bar unit
Endpoint is connected with the second vertex of the described first folding unit by the 6th revolute pair；Described first folds the 4th vertex of unit
It is connected with the first end point of the 4th bar unit by the 7th revolute pair；It is described second fold unit the 3rd vertex with it is described
The first end point of 5th bar unit is connected by the way that the first ball is secondary；Described second folds the 4th vertex of unit and the 6th bar list
The first end point of member is connected by the 8th revolute pair；Described 3rd folds the of the 3rd vertex and the 7th bar unit of unit
End point is connected by the way that the second ball is secondary；4th vertex of the 3rd folding unit and the first end point of the 8th bar unit are led to
Cross the connection of the 9th revolute pair；3rd vertex of the first folding unit and the first end point of the 9th bar unit pass through the 3rd
The secondary connection of ball；Described 4th folds the 4th vertex of unit connects with the second endpoint of the 4th bar unit by the way that the 4th ball is secondary
It connects；3rd vertex of the 4th folding unit is connected with the second endpoint of the 5th bar unit by the way that the 5th ball is secondary；It is described
4th vertex of the 5th folding unit is connected with the second endpoint of the 6th bar unit by the way that the 6th ball is secondary；Described 5th folds
3rd vertex of unit is connected with the second endpoint of the 7th bar unit by the way that the 7th ball is secondary；Described 6th folds the of unit
Four vertex are connected with the second endpoint of the 8th bar unit by the way that the 8th ball is secondary；It is described 6th fold unit the 3rd vertex with
Second endpoint of the 9th bar unit is connected by the way that the 9th ball is secondary；Described 4th folds the second vertex and the described tenth of unit
Second endpoint of bar unit is connected by the tenth revolute pair；The first end point of tenth bar unit folds unit with the described 5th
The first vertex connected by the 11st revolute pair；Described 5th folds the second vertex of unit and the 11st bar unit
Second endpoint is connected by the 12nd revolute pair；The first end point of 11st bar unit folds the of unit with the described 6th
One vertex is connected by the 13rd revolute pair；Described 6th folds the second vertex and the second of the 12nd bar unit of unit
Endpoint is connected by the 14th revolute pair；The first top that the first end point of 12nd bar unit folds unit with the described 4th
Point is connected by the 15th revolute pair；
Described first folds unit, the second folding unit and the described 3rd folds unit on the axis of symmetry three
Weight symmetry；First bar unit, second bar unit and the 3rd bar unit are on the axis of symmetry three-fold symmetry；
4th bar unit, the 6th bar unit and the 8th bar unit are on the axis of symmetry three-fold symmetry；Described
Five bar units, the 7th bar unit and the 9th bar unit are on the axis of symmetry three-fold symmetry；Described 4th folds
Unit, the described 5th fold unit and the described 6th and fold unit on the axis of symmetry three-fold symmetry；The tenth bar list
First, described 11st bar unit and the 12nd bar unit are on the axis of symmetry three-fold symmetry；
First revolute pair, the 3rd revolute pair and the 5th revolute pair are triple right on the axis of symmetry
Claim；Second revolute pair, the 4th revolute pair and the 6th revolute pair are on the axis of symmetry three-fold symmetry；It is described
7th revolute pair, the 8th revolute pair and the 9th revolute pair are on the axis of symmetry three-fold symmetry；Described ten turn
Dynamic secondary, the 12nd revolute pair and the 14th revolute pair are on the axis of symmetry three-fold symmetry；Described 11st turn
Dynamic secondary, the 13rd revolute pair and the 15th revolute pair are on the axis of symmetry three-fold symmetry；
First ball is secondary, the second ball pair and the 3rd ball pair are on the axis of symmetry three-fold symmetry；It is described
4th ball is secondary, the 6th ball pair and the 8th ball pair are on the axis of symmetry three-fold symmetry；5th ball is secondary, described
7th ball is secondary and the 9th ball pair is on the axis of symmetry three-fold symmetry；
Second revolute pair, the 4th revolute pair, the 6th revolute pair, the 7th revolute pair, the described 8th
Revolute pair, the 9th revolute pair, the tenth revolute pair, the axis of the 12nd revolute pair and the 14th revolute pair
It is intersected in the first joint；The axis of 11st revolute pair, the 13rd revolute pair and the 15th revolute pair is handed over
It is compiled in the second joint；The axis of first revolute pair, the 3rd revolute pair and the 5th revolute pair is intersected in the 3rd
Joint；First joint, the second joint, the 3rd joint on the axis of symmetry, second joint,
3rd joint is located at the first joint both sides respectively, and between first joint, second joint
Distance it is equal with the distance between first joint, the 3rd joint.
Wherein, the revolute pair is hinge, hinge or bearing.
Preferably, it is the equilateral quadrangle sheet body structure of plane that six, which fold unit, and 12 bar units are straight-bar knot
Structure.
It is further preferred that it is square sheet body structure that six, which fold unit,.
The beneficial effects of the invention are as follows：
(1) present invention is the folding structure with the single degree of freedom, and polyhedral folding can be realized by a driving
Folded and expansion, is installed and easy to use, and the present invention, there is no mechanism kinematic unusual appearance, which can pacify according to actual demand
Mounted in arbitrary motion pair position；
(2) present invention has larger folding ratio rate, and folding ratio rate can obtain volume up to 11.3 times after folding
Smaller stable state is readily transported and preserves；
(3) present invention can design the shape and size for folding unit according to actual demand；
(4) the configuration of the present invention is simple realizes the conversion between polyhedron, in unfolded state with fewer number of kinematic pair
Polyhedral each apex only sets a revolute pair or ball pair, without installing other companies on polyhedral side or face
Binding structure can so reduce the unstability of the installation generated when excessively multi-link and manipulation；
(5) structure of the present invention is functional design, can design different appearance profiles according to actual needs, can also basis
The size of the Demand Design unit of practice occasion.
Description of the drawings
Fig. 1 is the structure diagram of telescopic hexahedron structure embodiment provided by the present invention；
Fig. 2-1 to Fig. 2-12 is the structure diagram of 12 bar units in Fig. 1；
Fig. 3-1 to Fig. 3-6 is the structure diagram of six folding units in Fig. 1；
Fig. 4-1 to Fig. 4-6 is six connection relationship diagrams folded between unit and bar unit in Fig. 1；
Fig. 5 is the position relationship schematic diagram of the kinematic pair set in telescopic hexahedron structure shown in FIG. 1；
Fig. 6-1 to Fig. 6-4 is the folding process schematic diagram of telescopic hexahedron structure shown in FIG. 1, wherein Fig. 6-1 and figure
6-4 is two stable state schematic diagrames of telescopic hexahedron structure shown in FIG. 1.
In figure：
First axis of symmetry of 1-；The first joints of I-, the second joints of II-, the 3rd joints of III；
F1- first folds unit, and F2- second folds unit；F3- the 3rd folds unit, and F4- the 4th folds unit, F5- the
Five fold unit, and F6- the 6th folds unit；
The first bar units of B1-, the second bar units of B2-, the 3rd bar units of B3-, the 4th bar units of B4-, the 5th bar lists of B5-
Member, the 6th bar units of B6-, the 7th bar units of B7-, the 8th bar units of B8-, the 9th bar units of B9-, the tenth bar units of B10-,
The 11st bar units of B11-, the 12nd bar units of B12-；
V11- first folds the tie point of unit and the first bar unit, and V21- second folds the company of unit and the first bar unit
Contact, V22- second fold the tie point of unit and the second bar unit, and V32- the 3rd folds the connection of unit and the second bar unit
Point, V33- the 3rd fold the tie point of unit and the 3rd bar unit, and V13- first folds the tie point of unit and the 3rd bar unit,
V14- first folds the tie point of unit and the 4th bar unit, and V25- second folds the tie point of unit and the 5th bar unit,
V26- second folds the tie point of unit and the 6th bar unit, and V37- the 3rd folds the tie point of unit and the 7th bar unit,
V38- the 3rd folds the tie point of unit and the 8th bar unit, and V19- first folds the tie point of unit and the 9th bar unit,
V44- the 4th folds the tie point of unit and the 4th bar unit, and V45- the 4th folds the tie point of unit and the 5th bar unit,
V56- the 5th folds the tie point of unit and the 6th bar unit, and V57- the 5th folds the tie point of unit and the 7th bar unit,
V68- the 6th folds the tie point of unit and the 8th bar unit, and V69- the 6th folds the tie point of unit and the 9th bar unit,
V410- the 4th folds the tie point of unit and the tenth bar unit, and V510- the 5th folds the tie point of unit and the tenth bar unit,
V511- the 5th folds the tie point of unit and the 11st bar unit, and V611- the 6th folds the connection of unit and the 11st bar unit
The tie point of point, the folding units of V612- the 6th and the 12nd bar unit, the folding units of V412- the 4th and the 12nd bar unit
Tie point；
S1- the first ball pairs, S2- the second ball pairs, the 3rd ball pairs of S3-, the 4th ball pairs of S4-, the 5th ball pairs of S5-, the 6th balls of S6-
Pair, the 7th ball pairs of S7-, the 8th ball pairs of S8-, the 9th ball pairs of S9-；
The first revolute pairs of H1-, the second revolute pairs of H2-, the 3rd revolute pairs of H3-, the 4th revolute pairs of H4-, H5- the 5th are rotated
Pair, the 6th revolute pairs of H6-, the 7th revolute pairs of H7-, the 8th revolute pairs of H8-, the 9th revolute pairs of H9-, the tenth revolute pairs of H10-,
The 11st revolute pairs of H11-, the 12nd revolute pairs of H12-, the 13rd revolute pairs of H13-, the 14th revolute pairs of H14-, H15- the tenth
Five revolute pairs.
Specific embodiment
For that can further appreciate that present disclosure, feature and effect, the following examples are hereby given, and coordinates attached drawing detailed
It is described as follows：
As shown in Figure 1, present embodiments provide a kind of telescopic hexahedron structure, including six fold units, 12
Bar unit and an axis of symmetry 1；Each fold unit is respectively provided with the profile of the equilateral quadrangle of plane, the equilateral quadrangle of the plane
Four vertex be referred to as the first vertex, the second vertex, the 3rd vertex, the 4th vertex of each fold unit；Each bar list
First both ends set referred to as its first end point and the second endpoint respectively；The length of side of the equilateral quadrangle of plane of six folding units is homogeneous
Deng, and it is also equal with the length of 12 bar units.Preferably, it is the equilateral quadrangle sheet body knot of plane that six, which fold unit,
Structure, 12 bar units are straight-bar structure.It is further preferred that it is square sheet body structure that six, which fold unit,.
It is respectively that the first folding unit F 1, first folds the folding of unit F the 1, the 3rd unit F 3, four fold that six, which fold unit,
Folded unit F the 4, the 5th folds unit F the 5, the 6th and folds unit F 6.Wherein, first fold unit F 1, first and fold unit F 1, the
The structure of three folding unit Fs 3 is identical；Wherein, the 4th the folding folding unit F 6 of unit F the 5, the 6th of unit F the 4, the 5th is folded
Structure it is identical.
12 bar units are respectively the first bar unit B1, the second bar unit B2, the 3rd bar unit B3, the 4th bar unit
B4, the 5th bar unit B5, the 6th bar unit B6, the 7th bar unit B7, the 8th bar unit B8, the 9th bar unit B9, the tenth bar list
First B10, the 11st bar unit B11, the 12nd bar unit B12.Wherein, the first bar unit B1, the second bar unit B2, the 3rd bar list
First B3, the tenth bar unit B10, the 11st bar unit B11, the structure of the 12nd bar unit B12 are identical；Wherein, the 5th bar
Unit B 5, the 7th bar unit B7, the structure of the 9th bar unit B9 are identical；Wherein, the 4th bar unit B4, the 6th bar unit
B6, the structure of the 8th bar unit B8 are identical.
This can open up polyhedral structure, and there are a line of symmetries, the i.e. axis of symmetry 1.
With reference to Fig. 2-1 to Fig. 2-8, for Fig. 3-1 shown in 3-6 and Fig. 4-1 to Fig. 4-6, first folds the first top of unit F 1
Point (at V11) is connected with the first end point (at V11) of the first bar unit B1 by the first revolute pair H1；The of first bar unit B1
Two endpoints (at V21) are connected with the second vertex (at V21) of the second folding unit F 2 by the second revolute pair H2；Second folds list
The first vertex (at V22) of first F2 is connected with the first end point (at V22) of the second bar unit B2 by the 3rd revolute pair H3；Second
The second vertex (at V32) that the second endpoint (at V32) of bar unit B2 folds unit F 3 with the 3rd is connected by the 4th revolute pair H4
It connects；3rd folds the first vertex (at V33) of unit F 3 rotates with the first end point (at V33) of the 3rd bar unit B3 by the 5th
Secondary H5 connections；The second endpoint (at V13) of 3rd bar unit B3 folds the second vertex (at V13) of unit F 1 by the with first
Six revolute pair H6 connections.First folds the 4th vertex (at V14) of unit F 1 and the first end point of the 4th bar unit B4 (at V14)
Pass through the 7th revolute pair H7 connections；Second folds the 3rd vertex (at V25) of unit F 2 and the first end point of the 5th bar unit B5
(at V25) passes through the first ball secondary S1 connections；Second folds the 4th vertex (at V26) and the first of the 6th bar unit B6 of unit F 2
Endpoint (at V26) passes through the 8th revolute pair H8 connections；3rd folds the 3rd vertex (at V37) of unit F 3 and the 7th bar unit B7
First end point (at V37) pass through the second ball secondary S2 connections；3rd folds the 4th vertex (at V38) of unit F 3 and the 8th bar list
The first end point (at V38) of first B8 passes through the 9th revolute pair H9 connections；First folds the 3rd vertex (V19 at) of unit F 1 and the
The first end point (at V19) of nine bar unit B9 passes through the 3rd ball secondary S3 connections；4th folds the 4th vertex (at V44) of unit F 4
It is connected with the second endpoint (at V44) of the 4th bar unit B4 by the 4th ball secondary S4；4th folds the 3rd vertex of unit F 4
(at V45) is connected with the second endpoint (at V45) of the 5th bar unit B5 by the 5th ball secondary S5；5th folds the 4th of unit F 5
Vertex (at V56) is connected with the second endpoint (at V56) of the 6th bar unit B6 by the 6th ball secondary S6；5th folds unit F 5
3rd vertex (at V57) is connected with the second endpoint (at V57) of the 7th bar unit B7 by the 7th ball secondary S7；6th folds unit
The 4th vertex (at V68) of F6 is connected with the second endpoint (at V68) of the 8th bar unit B8 by the 8th ball secondary S8；6th folds
3rd vertex (at V69) of unit F 6 is connected with the second endpoint (at V69) of the 9th bar unit B9 by the 9th ball secondary S9.4th
It folds the second vertex (at V410) of unit F 4 and passes through the tenth revolute pair with the second endpoint (at V410) of the tenth bar unit B10
H10 connections；The first end point (at V510) of tenth bar unit B10 and the first vertex of the 5th folding unit F 5 pass through (at V510)
11st revolute pair H11 connections；5th folds the second vertex (at V511) of unit F 5 and the second end of the 11st bar unit B11
Point (at V511) passes through the 12nd revolute pair H12 connections；The first end point (at V611) of 11st bar unit B11 is folded with the 6th
The first vertex (at V611) of unit F 6 passes through the 13rd revolute pair H13 connections；6th folds the second vertex (V612 of unit F 6
Place) it is connected with the second endpoint (at V612) of the 12nd bar unit B12 by the 14th revolute pair H14；12nd bar unit B12
First end point (at V412) with the 4th folding unit F 4 the first vertex (at V412) be connected by the 15th revolute pair H15.
The part for being capable of providing rotating function can be used in above each revolute pair, such as hinge, hinge, bearing assembling.
As shown in figure 5, first folds the folding folding unit F 3 of unit F 2 and the 3rd of unit F 1, second on the axis of symmetry 1
Three-fold symmetry；First bar unit B1, the second bar unit B2 and the 3rd bar unit B3 are on 1 three-fold symmetry of the axis of symmetry；4th bar
Unit B 4, the 6th bar unit B6 and the 8th bar unit B8 are on 1 three-fold symmetry of the axis of symmetry；5th bar unit B5, the 7th bar list
First B7 and the 9th bar unit B9 are on 1 three-fold symmetry of the axis of symmetry；4th, which folds unit F the 4, the 5th, folds 5 and the 6th folding of unit F
Folded unit F 6 is on 1 three-fold symmetry of the axis of symmetry；Tenth bar unit B10, the 11st bar unit B11 and the 12nd bar unit B12
On 1 three-fold symmetry of the axis of symmetry.
First revolute pair H1, the 3rd revolute pair H3 and the 5th revolute pair H5 are on 1 three-fold symmetry of the axis of symmetry；Second rotates
Secondary H2, the 4th revolute pair H4 and the 6th revolute pair H6 are on 1 three-fold symmetry of the axis of symmetry；7th revolute pair H7, the 8th revolute pair
H8 and the 9th revolute pair H9 are on 1 three-fold symmetry of the axis of symmetry；Tenth revolute pair H10, the 12nd revolute pair H12 and the 14th turn
Dynamic secondary H14 is on 1 three-fold symmetry of the axis of symmetry；11st revolute pair H11, the 13rd revolute pair H13 and the 15th revolute pair H15
On 1 three-fold symmetry of the axis of symmetry.
First ball secondary S1, the second ball secondary S2 and the 3rd ball secondary S3 are on 1 three-fold symmetry of the axis of symmetry；4th ball secondary S4,
Six ball secondary S6 and the 8th ball secondary S8 are on 1 three-fold symmetry of the axis of symmetry；5th ball secondary S5, the 7th ball secondary S7 and the 9th ball secondary S9 are closed
In 1 three-fold symmetry of the axis of symmetry.
Second revolute pair H2, the 4th revolute pair H4, the 6th revolute pair H6, the 7th revolute pair H7, the 8th revolute pair H8, the 9th
Revolute pair H9, the tenth revolute pair H10, the axis of the 12nd revolute pair H12 and the 14th revolute pair H14 are intersected in the first joint
The axis of I, the 11st revolute pair H11, the 13rd revolute pair H13 and the 15th revolute pair H15 are intersected in the second joint II, the
The axis of one revolute pair H1, the 3rd revolute pair H3 and the 5th revolute pair H5 are intersected in the 3rd joint III.First joint I,
On the axis of symmetry 1, the second joint II, the 3rd joint III are located at the respectively by two joint II, the 3rd joint III
One joint I both sides, and the distance between the first joint I, second joint II and the first joint I, the 3rd joint III
The distance between it is equal.
As shown in Fig. 6-1 to Fig. 6-4, provided using the present embodiment six fold units and 12 bar units and
The connection mode provided may be constructed the foldable tetrakaidecahedron structure in space, fold shape of the variation by each folding unit
Shape, size and revolute pair axis direction determine.Fig. 6-1 shows a stable state of telescopic hexahedron structure, i.e. space
Deployed condition, to have the cuboctahedron at ten four sides.Telescopic hexahedron structure in the present embodiment is respectively by two spaces mistake
Bricard 6R mechanisms are constrained, three RRRSSS mechanisms and three RRSRSS mechanisms realize two hexagons and side six up and down
The folding exhibition movement of hexagon.Fig. 6-1 to Fig. 6-4 shows the folding process of telescopic hexahedron structure, is finally reached another steady
Stationary state, i.e. folded state are hexahedron, as shown in Fig. 6-4.On any kinematic pair by single driving can make the present embodiment can
Folding exhibition hexahedron structure is converted from deployed condition to folded state, and in the process, each revolute pair and the secondary cooperation of ball are so that the first bar
Line is close to each other until Chong Die between line and V22 and V21 between unit B 1, V11 and V14, second bar unit B2, V22 and
Line is close to each other until Chong Die between line and V33 and V32 between V26, between the 3rd bar unit B3, V33 and V38 line and
Line is close to each other up to Chong Die between V11 and V13, between the 9th bar unit B9, V19 and V13 between line and V612 and V69
Line is close to each other until overlapping, line is close to each other between line, the 4th bar unit B4 and V45 and V44 between V14 and V19
Until overlapping, line is close to each other up to Chong Die between line and V410 and V45 between the 5th bar unit B5, V25 and V21, the
Line is close to each other up to Chong Die between line and V57 and V56 between six bar unit B6, V26 and V25, the 7th bar unit B7,
Line is close to each other up to Chong Die between line and V511 and V57 between V37 and V32, between the 8th bar unit B7, V38 and V37
Line is close to each other until Chong Die between line and V69 and V68, between the 12nd bar unit B12, V612 and V412 line and
Line is close to each other until Chong Die, line and V56 and V510 between V410 and V412, the tenth bar unit B10 between V68 and V611
Between line it is close to each other until overlapping, connects between line and V68V and 611 between the 11st bar unit B11, V511 and V510
Line is close to each other until overlapping.(that is, first folds the tie point V11 of 1 and first bar unit B1 of unit F, the second folding
The unit F 2 and tie point V25 of the 5th bar unit B5 and the 4th folds unit F 4 and the tie point V44 of the 4th bar unit B4 is gradual
Close to until overlapping, first folds the tie point V13 of 1 and the 3rd bar unit B3 of unit F, the second folding 2 and first bar list of unit F
The folding unit Fs 3 of the tie point V21 of first B1 and the 3rd are moved closer to the tie point V32 of the second bar unit B2 until overlapping, first
Fold the tie point V19 of unit F 1 and the 9th bar unit B9, the tie point V33 of the 3rd 3 and the 3rd bar unit B3 of folding unit F and
6th folding unit F 6 is moved closer to the tie point V68 of the 8th bar unit B8 until overlapping, and first folds unit F 1 and the 4th
The tie point V14 of bar unit B4, the 4th tie point V412 and the 6th for folding 4 and the 12nd bar unit B12 of unit F fold unit
F6 is moved closer to the tie point V69 of the 9th bar unit B9 until overlapping, and second folds the company of 2 and second bar unit B2 of unit F
Contact V22, the 3rd tie point V37 and the 5th for folding 3 and the 7th bar unit B7 of unit F fold 5 and the 6th bar unit B6 of unit F
Tie point V56 move closer to until overlapping, second folds the tie point V26 of unit F 2 and the 6th bar unit B6, the 4th folding
The tie point V45 of 4 and the 5th bar unit B5 of unit F and the 5th fold the tie point V510 of unit F 5 and the tenth bar unit B10 by
Gradually close to until overlapping, the 3rd folds the tie point V38 of 3 and the 8th bar unit B8 of unit F, the 5th folding 5 and the 7th bar of unit F
The tie point V611 of 6 and the 11st bar unit B1 of the folding unit Fs of the tie point V57 of unit B 7 and the 6th is moved closer to until weight
It closes, the 4th folds the tie point V410 of 4 and the tenth bar unit B10 of unit F, the 5th 5 and the 11st bar unit B11 of folding unit F
The foldings of tie point V511 and the 6th unit F 6 and the tie point V612 of the 12nd bar unit B12 move closer to up to overlapping), together
When complete the folding of eight hexagons in the tetrakaidecahedron to realize polyhedral being converted by folding.The telescopic hexahedron structure has
One degree of freedom can realize the folding exhibition movement of big ratio, may be used as skeleton structure or contour of building structure of satellite etc..
As it can be seen that as long as above-mentioned telescopic hexahedron structure meets above-mentioned constraints, you can reach the present invention claims folding
It opens up effect, structure type and folding exhibition mode and is influenced from the concrete structure for folding unit, therefore fold the structure of unit not
Certain conversion can be done based on the actual application requirements by being limited to square profiles, shape, size, size, material etc., should be noted
Each unit that folds mutually causes to interfere during preventing folding exhibition.
In conclusion since telescopic hexahedron structure proposed by the invention has the single degree of freedom, folding ratio rate is big,
Therefore have the advantages that installation is simple and convenient to operate, is easy to transport etc., answered particularly suitable in the fields such as aerospace
With.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited in upper
The specific embodiment stated, above-mentioned specific embodiment is only schematical, be not it is restricted, this field it is common
Technical staff is not departing from invention objective and scope of the claimed protection under the enlightenment of the present invention, can be with
The specific conversion of many forms is made, within these are all belonged to the scope of protection of the present invention.
Claims (4)
1. a kind of telescopic hexahedron structure, which is characterized in that it is symmetrical to fold unit, 12 bar units and one including six
Axis；Each fold unit is respectively provided with the profile of the equilateral quadrangle of plane, and four vertex of the equilateral quadrangle of the plane claim respectively
For the first vertex of each fold unit, the second vertex, the 3rd vertex, the 4th vertex；Each bar unit both ends are referred to as it
First end point and the second endpoint；The length of side of the equilateral quadrangles of plane of six folding units is equal, and with 12 bar units
Length it is also equal；
Six fold units and are respectively the first folding unit, second fold unit, the 3rd fold unit, the 4th fold unit, the
Five fold unit, the 6th folding unit；Wherein described first folds unit, the second folding unit, the 3rd folding list
The structure of member is identical, wherein the described 4th folds unit, the 5th folding unit, the structure of the 6th folding unit
It is identical；
12 bar units be respectively the first bar unit, the second bar unit, the 3rd bar unit, the 4th bar unit, the 5th bar unit,
6th bar unit, the 7th bar unit, the 8th bar unit, the 9th bar unit, the tenth bar unit, the 11st bar unit, the 12nd bar
Unit；
First vertex of the first folding unit is connected with the first end point of first bar unit by the first revolute pair；Institute
The second endpoint for stating the first bar unit is connected with the second vertex of the described second folding unit by the second revolute pair；Described second
The first vertex for folding unit is connected with the first end point of second bar unit by the 3rd revolute pair；Second bar unit
The second endpoint with the described 3rd folding unit the second vertex be connected by the 4th revolute pair；Described 3rd folds the of unit
One vertex is connected with the first end point of the 3rd bar unit by the 5th revolute pair；Second endpoint of the 3rd bar unit with
Second vertex of the first folding unit is connected by the 6th revolute pair；It is described first fold unit the 4th vertex with it is described
The first end point of 4th bar unit is connected by the 7th revolute pair；Described second folds the 3rd vertex of unit and the 5th bar
The first end point of unit is connected by the way that the first ball is secondary；Described second folds the of the 4th vertex and the 6th bar unit of unit
End point is connected by the 8th revolute pair；Described 3rd folds the 3rd vertex of unit and the first end point of the 7th bar unit
It is connected by the way that the second ball is secondary；4th vertex of the 3rd folding unit and the first end point of the 8th bar unit pass through the 9th
Revolute pair connects；Described first folds the 3rd vertex of unit connects with the first end point of the 9th bar unit by the way that the 3rd ball is secondary
It connects；4th vertex of the 4th folding unit is connected with the second endpoint of the 4th bar unit by the way that the 4th ball is secondary；It is described
3rd vertex of the 4th folding unit is connected with the second endpoint of the 5th bar unit by the way that the 5th ball is secondary；Described 5th folds
4th vertex of unit is connected with the second endpoint of the 6th bar unit by the way that the 6th ball is secondary；Described 5th folds the of unit
Three vertex are connected with the second endpoint of the 7th bar unit by the way that the 7th ball is secondary；It is described 6th fold unit the 4th vertex with
Second endpoint of the 8th bar unit is connected by the way that the 8th ball is secondary；Described 6th folds the 3rd vertex and the described 9th of unit
Second endpoint of bar unit is connected by the way that the 9th ball is secondary；Described 4th folds the second vertex of unit and the tenth bar unit
Second endpoint is connected by the tenth revolute pair；The first top that the first end point of tenth bar unit folds unit with the described 5th
Point is connected by the 11st revolute pair；Described 5th folds the second vertex of unit and the second endpoint of the 11st bar unit
It is connected by the 12nd revolute pair；The first end point of 11st bar unit and the first vertex of the described 6th folding unit lead to
Cross the connection of the 13rd revolute pair；Second vertex of the 6th folding unit and the second endpoint of the 12nd bar unit pass through
14th revolute pair connects；The first end point of 12nd bar unit folds the first vertex of unit by the with the described 4th
15 revolute pairs connect；
It is triple right on the axis of symmetry that the first folding unit, the second folding unit and the described 3rd fold unit
Claim；First bar unit, second bar unit and the 3rd bar unit are on the axis of symmetry three-fold symmetry；It is described
4th bar unit, the 6th bar unit and the 8th bar unit are on the axis of symmetry three-fold symmetry；5th bar
Unit, the 7th bar unit and the 9th bar unit are on the axis of symmetry three-fold symmetry；The 4th folding unit,
Described 5th, which folds unit and the described 6th, folds unit on the axis of symmetry three-fold symmetry；Tenth bar unit, institute
The 11st bar unit and the 12nd bar unit are stated on the axis of symmetry three-fold symmetry；
First revolute pair, the 3rd revolute pair and the 5th revolute pair are on the axis of symmetry three-fold symmetry；Institute
The second revolute pair, the 4th revolute pair and the 6th revolute pair are stated on the axis of symmetry three-fold symmetry；Described 7th
Revolute pair, the 8th revolute pair and the 9th revolute pair are on the axis of symmetry three-fold symmetry；Tenth revolute pair,
12nd revolute pair and the 14th revolute pair are on the axis of symmetry three-fold symmetry；11st revolute pair,
13rd revolute pair and the 15th revolute pair are on the axis of symmetry three-fold symmetry；
First ball is secondary, the second ball pair and the 3rd ball pair are on the axis of symmetry three-fold symmetry；Described 4th
Ball is secondary, the 6th ball pair and the 8th ball pair are on the axis of symmetry three-fold symmetry；The 5th ball pair, the described 7th
Ball is secondary and the 9th ball pair is on the axis of symmetry three-fold symmetry；
Second revolute pair, the 4th revolute pair, the 6th revolute pair, the 7th revolute pair, the eighth-turn are moved
Secondary, described 9th revolute pair, the tenth revolute pair, the axis of the 12nd revolute pair and the 14th revolute pair cross
In the first joint；The axis of 11st revolute pair, the 13rd revolute pair and the 15th revolute pair is intersected in
Second joint；The axis of first revolute pair, the 3rd revolute pair and the 5th revolute pair is intersected in the 3rd and crosses
Point；First joint, the second joint, the 3rd joint are second joint, described on the axis of symmetry
3rd joint respectively be located at the first joint both sides, and between first joint, second joint away from
It is equal from the distance between first joint, the 3rd joint.
2. a kind of telescopic hexahedron structure according to claim 1, which is characterized in that the revolute pair is hinge, closes
Page or bearing.
3. a kind of telescopic hexahedron structure according to claim 1, which is characterized in that it is plane that six, which fold unit,
Equilateral quadrangle sheet body structure, 12 bar units are straight-bar structure.
4. a kind of telescopic hexahedron structure according to claim 3, which is characterized in that it is pros that six, which fold unit,
Shape sheet body structure.
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| CN108443308B (en) * | 2018-01-16 | 2021-10-12 | 天津大学 | Foldable thick plate box structure |
| CN108502212B (en) * | 2018-01-25 | 2021-03-23 | 天津大学 | Flat plate structure with large folding-unfolding ratio |
| CN108423198B (en) * | 2018-01-25 | 2021-03-23 | 天津大学 | Folding and unfolding flat plate structure with variable radial dimension |
| CN110304275B (en) * | 2019-06-24 | 2021-08-31 | 北京交通大学 | Rhombus octahedron capable of zooming |
| CN111806725B (en) * | 2020-06-30 | 2022-08-26 | 天津大学 | Single-degree-of-freedom spatial foldable polyhedron structure |
| CN113431201B (en) * | 2021-06-28 | 2022-04-12 | 福州大学 | Single-degree-of-freedom wavy paper-cut structure capable of being expanded infinitely and expansion method thereof |
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| US4074477A (en) * | 1973-09-17 | 1978-02-21 | Runyon John F | Modular building structure |
| CN102912853B (en) * | 2012-10-18 | 2014-06-25 | 东南大学 | Regular hexahedral symmetrical deployable mechanism unit |
| JP2015182694A (en) * | 2014-03-25 | 2015-10-22 | 次世代宇宙システム技術研究組合 | Body structure for spacecraft |
| CN103985304B (en) * | 2014-05-20 | 2016-02-03 | 天津大学 | Fold-playing six bar structural type mechanism |
| CN105523196B (en) * | 2015-12-24 | 2017-06-16 | 天津大学 | Folding multi-face body structure |
| CN206218253U (en) * | 2016-10-21 | 2017-06-06 | 天津大学 | Telescopic hexahedron structure |
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