CN106737456B - Fold mechanism with multi-pose platform - Google Patents
Fold mechanism with multi-pose platform Download PDFInfo
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- CN106737456B CN106737456B CN201611095244.8A CN201611095244A CN106737456B CN 106737456 B CN106737456 B CN 106737456B CN 201611095244 A CN201611095244 A CN 201611095244A CN 106737456 B CN106737456 B CN 106737456B
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- platform
- closed loop
- loop moving
- moving branch
- revolute pair
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B97/00—Furniture or accessories for furniture, not provided for in other groups of this subclass
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of fold mechanisms with multi-pose platform, comprising: the first platform；Second platform；First closed loop moving branch, is formed as six-bar mechanism；Wherein, a connecting rod in the first closed loop moving branch and the first platform form the first revolute pair, and another opposite connecting rod and the second platform form the second revolute pair, the first revolute pair axis and the first platform parallel, the second revolute pair axis and the second platform parallel；Third revolute pair is respectively formed between two adjacent links of the first closed loop moving branch, be parallel to each other between multiple third revolute pair axis and with the first revolute pair axis perpendicular；Second closed loop moving branch is oppositely disposed between the first platform and the second platform with the first closed loop moving branch, and has structure identical with the first closed loop moving branch.Fold mechanism of the invention can provide the operating platform with many attitude in the deployed state, serve many purposes.
Description
Technical field
The present invention relates to a kind of fold mechanisms；More particularly, it relates to a kind of folding with multi-pose platform
Mechanism.
Background technique
It being laid out by exquisite mechanical structure, fold mechanism can flexibly change between folded state and unfolded state,
It occupies smaller space when folding, and larger structure deformation may be implemented upon deployment.Fold mechanism is not only easy to module
Change, and convenient for storage and transport, there is very high practicability and economy.
Chinese patent literature CN103453294A discloses a kind of folded sheet mechanism comprising an octal plate, two
It is one or six orifice plates, two the one or four orifice plates, two the two or six orifice plates, two the two or four orifice plates, four uniaxial hinges, two long away from double
The slidably hinge of axis hinge, two short distance Double pin hinges and four is connected between adjacent plate by corresponding hinge.
The folded sheet mechanism is formed as a plane when being fully deployed, can fold manually or by way of addition driving to it
Operation, is folded according to certain motion sequence, its area is about 1/9th of area when being fully deployed after folding.
Although the occupied volume very little in a folded configuration of folded sheet mechanism disclosed in the patent document, it is being opened up
Posture under open state is more single, so that its purposes is by biggish limitation.
Summary of the invention
In view of the deficiencies of the prior art, the main object of the present invention is to provide a kind of improved fold mechanism, is being unfolded
It can provide the operating platform with a variety of different postures under state.
In order to realize above-mentioned main purpose, the present invention provides a kind of fold mechanisms with multi-pose platform, comprising:
First platform；
Second platform；
First closed loop moving branch, is formed as six-bar mechanism；Wherein, a connecting rod in the first closed loop moving branch and
One platform forms the first revolute pair, and another opposite connecting rod and the second platform form the second revolute pair, the first revolute pair axis
With the first platform parallel, the second revolute pair axis and the second platform parallel；Two adjacent links in first closed loop moving branch
Between be respectively formed third revolute pair, be parallel to each other between multiple third revolute pair axis and mutually hang down with the first revolute pair axis
Directly；
Second closed loop moving branch, with the first closed loop moving branch be oppositely disposed at the first platform and the second platform it
Between, and there is structure identical with the first closed loop moving branch.It, can be by the first platform and the second platform in above-mentioned technical proposal
In any one as operating platform.Using by the second platform as operating platform, through the above technical solution in knot
Structure limits, and in the deployed state, the second platform can be converted relative to the first platform between a variety of different postures, to provide
Operating platform with a variety of different postures.
Preferably, the second closed loop moving branch is arranged with the first closed loop moving unbranched symmetric；First closed loop moving branch
Inner rotation it is secondary corresponded between the inner rotation pair of the second closed loop moving branch, and when the first closed loop moving branch with
When all corresponding connecting rods in second closed loop moving branch are parallel, can coaxially it be set between two mutual corresponding revolute pairs
It sets.Wherein, inner rotation pair, which refers to, is formed by revolute pair between the connecting rod for constituting closed loop moving branch.
Preferably, in the first closed loop moving branch and the second closed loop moving branch between any two adjacent rotated secondary axis
Distance be equal.It is simple to understand, it is exactly to be located at every company in the first closed loop moving branch and the second closed loop moving branch
The distance between two hinge joints of two longitudinal end of bar are identical.
A kind of specific embodiment according to the present invention, the first platform include on its interior (be located at outside the first platform
Within profile) accommodation space；In a folded configuration, the second platform, the first closed loop moving branch and the second closed loop moving
Branch is accommodated in the accommodation space.
Another specific embodiment according to the present invention, in a folded configuration, the first closed loop moving branch and the second closed loop
Each connecting rod in movement branched chain is respectively positioned in same plane.
Still another embodiment according to the present invention, the first platform and second platform are all formed as tabular component.
Preferably, in a folded configuration, the first platform and the second platform are in the same plane.
Preferably, in a folded configuration, the first platform, the second platform, the first closed loop moving branch and the second closed loop moving
Branch is respectively positioned in same plane.
In above-mentioned technical proposal, fold mechanism can become a plate completely in a folded configuration, convenient for storage and fortune
It is defeated.
In still another embodiment according to the present invention, the first platform and the first closed loop moving branch with the first platform phase
It is connected between connecting rod even by the first connecting plate；The first connection is formed between one end of first connecting plate and the first platform, the
Second is formed between the connecting rod being connected in the other end of one connecting plate and the first closed loop moving branch with the first platform to connect；First
One of connection and the second connection to be fixedly connected, the first connection and the second connection it is wherein another for revolute pair company
It connects.
In still another embodiment according to the present invention, the second platform and the first closed loop moving branch with the second platform phase
It is connected between connecting rod even by the second connecting plate；Third connection is formed between one end of second connecting plate and the second platform, the
Third is formed between the connecting rod being connected in the other end of two connecting plates and the first closed loop moving branch with the second platform to connect；Third
One of connection and the 4th connection to be fixedly connected, third connection and the 4th connection it is wherein another for revolute pair company
It connects.
After fold mechanism expansion of the invention, the second platform can make multifreedom motion relative to the first platform, to mention
For the operating platform with a variety of different postures, fold mechanism is allowed more broadly to be applied to a variety of occasions, such as can
For making furniture, mechanism teaching aid, outdoor goods and medical platform, it can also be used to aerospace industry and military field.In addition,
Fold mechanism of the invention also have many advantages, such as stability is good, structure be simple and convenient to operate it is flexible.In preferred implementation of the invention
In mode, fold mechanism can become a plate completely in a folded configuration, convenient for storage and transport.
In order to more clearly illustrate the objectives, technical solutions, and advantages of the present invention, with reference to the accompanying drawing and specific embodiment party
The present invention is described in further detail for formula.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that folded state is in as the fold mechanism of the preferred embodiment of the present invention；
Fig. 2 is the structural schematic diagram that fold mechanism shown in Fig. 1 is in the first unfolded state；
Fig. 3 is the structural schematic diagram of the first platform in fold mechanism shown in Fig. 1；
Fig. 4 is the structural schematic diagram of the first connecting plate in fold mechanism shown in Fig. 1；
Fig. 5 is the structural schematic diagram of first connecting rod in fold mechanism shown in Fig. 1；
Fig. 6 is the structural schematic diagram of six-bar linkage in fold mechanism shown in Fig. 1；
Fig. 7 is the structural schematic diagram of the 5th connecting rod in fold mechanism shown in Fig. 1；
Fig. 8 is the structural schematic diagram for indicating connection relationship between the 5th connecting rod and first connecting rod in fold mechanism shown in Fig. 1；
Fig. 9 is the structural schematic diagram for indicating connection relationship between the 5th connecting rod and six-bar linkage in fold mechanism shown in Fig. 1；
Figure 10 is the structural schematic diagram of the second platform in fold mechanism shown in Fig. 1；
Figure 11 is the structural representation for indicating connection relationship between second connecting rod and the second platform in fold mechanism shown in Fig. 1
Figure；
Figure 12 A-E is to indicate that fold mechanism shown in Fig. 1 is in the structural schematic diagram of different unfolded states.
Specific embodiment
Fig. 1 is the structural schematic diagram that folded state is in as the fold mechanism of the preferred embodiment of the present invention；Fig. 2 is the folding
Folded mechanism is in the structural schematic diagram of the first unfolded state.As illustrated in fig. 1 and 2, which includes: the first platform 1, second
Platform 2, the first closed loop moving branch 10 for being formed as symmetrical six-bar mechanism, the second closed loop for being formed as symmetrical six-bar mechanism
Movement branched chain 20.
Wherein, the first closed loop moving branch 10 includes first to six-bar linkage 11,12,13,14,15 and 16, the first and the
Two connecting plates 31,32 and first to fourth connecting pin 41,42,43 and 44；Second closed loop moving branch 20 includes the 7th to the
12 connecting rods 21,22,23,24,25 and 26, the third and fourth connecting plate 33,34 and the 5th to the 8th connecting pin 45,46,47
With 48.
First connecting rod 11 and the first platform 1 the first revolute pair of formation in first closed loop moving branch 10, opposite second
Connecting rod 12 and the second platform 2 form the second revolute pair, and the first revolute pair axis is parallel with the first platform 1, the second revolute pair axis
It is parallel with the second platform 2；Also, first between six-bar linkage 11,12,13,14,15 and 16 to successively joining end to end and form
Three revolute pairs, be parallel to each other between multiple third revolute pair axis and with the first revolute pair axis perpendicular.
Second closed loop moving branch 20 and the first closed loop moving branch 10 are opposite and be symmetrically disposed in the first platform 1 and the
Between two platforms 2, and there is structure identical with the first closed loop moving branch 10.First closed loop moving branch 10 and the second closed loop
The distance between any two adjacent rotated secondary axis are equal in movement branched chain 20；That is, the first closed loop moving
It is identical positioned at the distance between two hinge joints of every two longitudinal end of connecting rod in branch 10 and the second closed loop moving branch 20.
Wherein, a pair between the inner rotation pair and the inner rotation pair of the second closed loop moving branch 20 of the first closed loop moving branch 10
It answers, and when the first closed loop moving branch is parallel with all corresponding connecting rods in the second closed loop moving branch, two mutually
It can be coaxially disposed between corresponding revolute pair.
Fig. 3 is the structural schematic diagram of the first platform 1, and Fig. 4 is the structural schematic diagram of the first connecting plate 31, and Fig. 5 is the first company
The structural schematic diagram of bar 11.Shown in Figure 3, the first platform 1 is the rectangular flat plate that a centre has I-shaped hollow out 1A,
The middle position of two long sides of I-shaped hollow out 1A as storage space is respectively provided with the two semi- cylindrical groove 1a in left and right
With 1b, left and right two stepped holes 1c and 1d, left and right two installation end faces 1e and 1f.It is shown in Figure 4, it is wrapped on the first connecting plate 31
Include semi- cylindrical groove 31a, stepped hole 31b and installation end face 31c.Referring to Fig. 5, include on first connecting rod 11 upper end through-hole 11a,
Upper end side mating surface 11b, middle-end connecting shaft 11c, lower end through-hole 11d and lower end side mating surface 11e.
In conjunction with shown in Fig. 1 to 5, the installation end face 1e and installation end face 31c of the first connecting plate 31 fits, the first connecting plate
31, towards installation end face 1e push-in, pass through the stepped hole 31b of bolt (not shown) and left stepped hole 1c and the first connecting plate 31
It is screwed and the first connecting plate 31 is fixedly connected with the first platform 1, left semicircle column type groove 1a and the first connecting plate 31
The through-hole that semi- cylindrical groove 31a is combined into matches to form revolute pair with the middle-end connecting shaft 11c of first connecting rod 11.Third connects
Fishplate bar 33 has structure identical with the first connecting plate 31 and is fixedly connected in the same way with the first platform 1, the first platform 1
The middle-end of through-hole and seven-link assembly 21 that the semi- cylindrical groove of right semi-circle column type groove 1b and third connecting plate 33 is combined into connects
Spindle matches to form revolute pair.
Fig. 6 is the structural schematic diagram of six-bar linkage 16, and Fig. 7 is the structural schematic diagram of the 5th connecting rod 15, and Fig. 8 is to indicate the 5th
The structural schematic diagram of connection relationship between connecting rod 15 and first connecting rod 11, Fig. 9 be indicate the 5th connecting rod 15 and six-bar linkage 16 it
Between connection relationship structural schematic diagram.
As shown in fig. 6, including upper end through-hole 16a, upper end side mating surface 16b, lower end through-hole 16c on six-bar linkage 16 under
End side mating surface 16d.As shown in fig. 7, the 5th connecting rod 15 includes upper end connecting shaft 15a, upper end side mating surface 15b, lower end through-hole
15c and lower end side mating surface 15d.
As shown in figure 8, the upper end side mating surface 11b phase of the lower end side mating surface 15d of the 5th connecting rod 15 and first connecting rod 11
Fitting, the second connecting pin 42 pass through the lower end through-hole 15c of the 5th connecting rod 15 and the upper end through-hole 11a of first connecting rod 11, the
Revolute pair is formed between one connecting rod 11 and the 5th connecting rod 15, is provided with and is used for so that first connecting rod 11 and the on the second connecting pin 42
The circlip 52 that five connecting rods 15 are fixed to each other in the axial direction of the second connecting pin 42.
Referring next to Fig. 9, the upper end side mating surface 16b of six-bar linkage 16 and the upper end side mating surface 15b of the 5th connecting rod 15
It fits, upper end through-hole 16a matches to form revolute pair with the upper end connecting shaft 15a of the 5th connecting rod 15, and upper end connecting shaft 15a
On be provided with circlip for making six-bar linkage 16 and the 5th connecting rod 15 be fixed to each other in the axial direction of upper end connecting shaft 15a
51。
Figure 10 is the structural schematic diagram of the second platform 2, and Figure 11 is to indicate to connect between second connecting rod 12 and the second platform 2 to close
The structural schematic diagram of system.It as shown in Figure 10, include two semi- cylindricals groove 2a and 2b of left and right, left and right two on the second platform 2
Stepped hole 2c and 2d, and left and right two installation end faces 2e and 2f.As shown in figure 11, left installation end face 2e and the second connecting plate 32
Installation end face 32c fit, towards installation end face 32c push-in, bolt 6 connect the second connecting plate 32 with left stepped hole 2c and second
The stepped hole 32b of plate 32 is screwed and the second connecting plate 32 is fixedly connected with the second platform 2.Left semicircle column type groove 2a with
The through-hole that the semi- cylindrical groove 32a of second connecting plate 32 is combined into matches shape with the middle-end connecting shaft 12c of second connecting rod 12
At revolute pair.4th connecting plate 34 is fixedly connected with the second platform 2 in the same way, the right semi-circle column type groove of the second platform 2
2b matches to be formed with the middle-end connecting shaft of the 8th connecting rod 22 with the through-hole that the semi- cylindrical groove of the 4th connecting plate 34 is combined into
Revolute pair.
In above preferred embodiment of the invention, between first connecting rod 11 and third connecting rod 12, second connecting rod 12 and
Connection structure between double leval jib 14 and between second connecting rod 12 and six-bar linkage 16 is referred to first connecting rod 11 and the 5th
Connection structure between connecting rod 15, the connection structure between third connecting rod 13 and fourth link 14 are referred to 15 He of the 5th connecting rod
Connection structure between six-bar linkage 16；Similarly, the structure of the second closed loop moving branch 20 is referred to the first closed loop moving
The structure of branch 10, therefore details are not described herein.
In above preferred embodiment of the invention, in a folded configuration, the first closed loop moving branch 10, the second closed loop fortune
Dynamic branch 20 and the second platform 2 can be coplanar be accommodated in I-shaped hollow out, allow fold mechanism to become one completely
Plate, and in the deployed state, the first platform 1 and the second platform 2 relative attitude can there are many variations.Figure 12 A-E is
The fold mechanism of the preferred embodiment of the present invention is in the structural schematic diagram of a variety of different unfolded states.
Fold mechanism of the invention belongs to a kind of parallel institution, wherein in above preferred embodiment, the first turns auxiliary shaft
Line is parallel with the second revolute pair axis, and there are five freedom degrees for mechanism tool.It is readily appreciated that, in other embodiments of the invention,
First revolute pair axis can not be parallel with the second revolute pair axis, when the first revolute pair axis and the second revolute pair axis are uneven
When row, there are four freedom degrees for mechanism tool.
Although depicting the present invention above by preferred embodiment, but it is to be understood that, those of ordinary skill in the art
It is not departing from invention scope of the invention, it is all according to being improved on an equal basis made by the present invention, it should be invention scope institute of the invention
Cover.
Claims (10)
1. the fold mechanism with multi-pose platform, comprising:
First platform；
Second platform；
First closed loop moving branch, is formed as six-bar mechanism；Wherein, a connecting rod in the first closed loop moving branch and institute
It states the first platform and forms the first revolute pair, another opposite connecting rod and second platform form the second revolute pair, and first turn
Dynamic secondary axis and first platform parallel, the second revolute pair axis and second platform parallel；First closed loop moving
Third revolute pair is respectively formed between two adjacent links in branch, be parallel to each other between multiple third revolute pair axis and with
The first revolute pair axis perpendicular；
Second closed loop moving branch is oppositely disposed at first platform and described second with the first closed loop moving branch
Between platform, and there is structure identical with the first closed loop moving branch.
2. fold mechanism as described in claim 1, wherein the second closed loop moving branch and the first closed loop moving branch
Chain is symmetrically arranged；The inner rotation of the inner rotation pair of the first closed loop moving branch and the second closed loop moving branch
It is corresponded between pair, and when the first closed loop moving branch is parallel with all corresponding connecting rods in the second closed loop moving branch
When, it can be coaxially disposed between two mutual corresponding revolute pairs.
3. fold mechanism as described in claim 1, wherein the first closed loop moving branch and the second closed loop moving branch
The distance between any two adjacent rotated secondary axis are equal in chain.
4. fold mechanism as described in claim 1, wherein first platform includes accommodation space on its interior；?
Under folded state, second platform, the first closed loop moving branch and the second closed loop moving branch are accommodated in institute
It states in accommodation space.
5. fold mechanism as described in claim 1, wherein in a folded configuration, the first closed loop moving branch and second
Each connecting rod in closed loop moving branch is respectively positioned in same plane.
6. fold mechanism as described in claim 1, wherein first platform and second platform are all formed as plate structure
Part.
7. fold mechanism as claimed in claim 6, wherein in a folded configuration, first platform and second platform
It is in the same plane.
8. fold mechanism as claimed in claim 6, wherein in a folded configuration, first platform, the second platform,
One closed loop moving branch and the second closed loop moving branch are respectively positioned in same plane.
9. fold mechanism as described in claim 1, wherein in first platform and the first closed loop moving branch with institute
It states and is connected between the connected connecting rod of the first platform by the first connecting plate；One end of first connecting plate and first platform
Between form the first connection, in the other end of first connecting plate and the first closed loop moving branch with first platform
The second connection is formed between connected connecting rod；One of first connection and the second connection are to be fixedly connected, described the
One connection and the wherein another of the second connection connect for revolute pair.
10. fold mechanism as described in claim 1, wherein in second platform and the first closed loop moving branch with
It is connected between the connected connecting rod of second platform by the second connecting plate；One end of second connecting plate and described second flat
Third is formed between platform to connect, it is flat with described second in the other end of second connecting plate and the first closed loop moving branch
The 4th connection is formed between the connected connecting rod of platform；One of third connection and the 4th connection are to be fixedly connected, described
Third connection and the wherein another of the 4th connection connect for revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611095244.8A CN106737456B (en) | 2016-12-02 | 2016-12-02 | Fold mechanism with multi-pose platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611095244.8A CN106737456B (en) | 2016-12-02 | 2016-12-02 | Fold mechanism with multi-pose platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737456A CN106737456A (en) | 2017-05-31 |
| CN106737456B true CN106737456B (en) | 2019-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611095244.8A Active CN106737456B (en) | 2016-12-02 | 2016-12-02 | Fold mechanism with multi-pose platform |
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| CN (1) | CN106737456B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227596B (en) * | 2018-10-22 | 2022-02-22 | 哈尔滨工业大学（深圳） | Variable-rigidity flexible joint device |
| CN114738551B (en) * | 2022-05-13 | 2023-09-05 | 徐州徐工基础工程机械有限公司 | Variable-diameter self-locking type pipe pushing jack machine head supporting structure |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101653944A (en) * | 2009-09-08 | 2010-02-24 | 北京交通大学 | Parallel mechanism of three degrees of freedom for regulating posture |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL158870A (en) * | 2003-11-13 | 2008-06-05 | Technion Res & Dev Foundation | Mechanical structure providing six degrees of freedom |
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2016
- 2016-12-02 CN CN201611095244.8A patent/CN106737456B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101653944A (en) * | 2009-09-08 | 2010-02-24 | 北京交通大学 | Parallel mechanism of three degrees of freedom for regulating posture |
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| CN106737456A (en) | 2017-05-31 |
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Address after: 518055 Shenzhen Graduate School, Harbin Polytechnic University Campus, Shenzhen Xili University City, Shenzhen City, Guangdong Province Patentee after: Harbin Institute of Technology (Shenzhen) Address before: 518055 Shenzhen Graduate School, Harbin Polytechnic University Campus, Shenzhen Xili University City, Shenzhen City, Guangdong Province Patentee before: Harbin Institute of Technology Shenzhen Graduate School |