CN108252991A - Foldable spherical structure - Google Patents
Foldable spherical structure Download PDFInfo
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- CN108252991A CN108252991A CN201711459022.4A CN201711459022A CN108252991A CN 108252991 A CN108252991 A CN 108252991A CN 201711459022 A CN201711459022 A CN 201711459022A CN 108252991 A CN108252991 A CN 108252991A
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- 238000010586 diagram Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 6
- 230000009466 transformation Effects 0.000 description 4
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- 238000000034 method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
- F16B7/10—Telescoping systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16S—CONSTRUCTIONAL ELEMENTS IN GENERAL; STRUCTURES BUILT-UP FROM SUCH ELEMENTS, IN GENERAL
- F16S5/00—Other constructional members not restricted to an application fully provided for in a single class
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- User Interface Of Digital Computer (AREA)
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Abstract
The invention discloses a kind of foldable spherical structures, unit and first datum plane are folded including six, hemispherical or spherical structure are formed by the tie point that revolute pair is connected thereto between six folding units, six fold unit and foldable spherical structure can be folded into flat state by spatiality by relative motion each other, fold variation and are determined by each shape, size and revolute pair axis direction for folding unit.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, and motion control is simple；With production and processing simply, the advantages that convenient control of motion, high reliability, prospect is of great significance and is widely applied in the various fields such as aerospace.
Description
Technical field
The present invention relates to the foldable spherical structure of a kind of single-degree-of-freedom, big folding ratio, specifically, be related to it is a kind of by
The transformation between plane and spherical surface is realized in single driving.
Background technology
Deployable structure is a kind of unique engineering structure.This structure, which has, is unfolded and collapses two states, for the ease of
Storage and transport, deployable structure are typically in rounding state；When needing to utilize, deployable structure is deployed into working condition,
Larger space can be covered.Deployable structure is because it is readily produced, and convenient for storing and transporting, folding ratio is high, easy to disassemble etc. excellent
Point is widely used in aerospace, building structure, the art work and daily life.
Existing spherical surface deployable structure can be applied in fields such as aerospace, buildings, and certain structures are then designed to
Toy, such as the Hoberman Sphere (Huo Baiman spherical surfaces) designed by Chuck Hoberman, its unfolded state is by 6
A ring composition cuts half icosahedron.Existing spherical surface deployable structure has volume after folding is larger, structure is complex etc. to lack
It falls into.
Invention content
The purpose of the present invention is overcoming deficiency of the prior art, folding and expansion two states can be realized by providing one kind
And installation and the simply foldable spherical structure of operating process, the structure are containing rigid over-constraint structure and possess two states
Deployable structure, small volume is convenient for transmitting or transport during folding, with larger working space during expansion；Total only has
There are one degree of freedom, motion control is simple；With production and processing simply, the advantages that convenient control of motion, high reliability, in aviation
Prospect is of great significance and is widely applied in the various fields such as space flight.
The technical solution adopted in the present invention is：A kind of foldable spherical structure, can be by each other including six
Foldable spherical structure is folded into the folding unit of flat state by spatiality for relative motion and first benchmark is put down
Face；The sizes of six folding units are incremented by successively, respectively first fold unit, second fold unit, third folds unit, the
Four fold unit, the 5th folding unit, the 6th folding unit；
Described first folds unit, the second folding unit, the 5th folding unit, the 6th folding unit in same position
There are three tie point, respectively the first tie point, the second tie point and third tie points for place's setting；It is folded described first single
Member, second are folded in any folding unit of unit, the 5th folding unit, the 6th folding unit, first tie point, second
Tie point, third tie point are located on same circle or on two or three concentric circles, first tie point and
Three tie points are on the straight line in the excessively described circle of same or the concentric circles center of circle, first tie point, the second tie point and institute
The angle for stating circle or concentric circles circle center line connecting is known as the first angle；
The third folds unit, the 4th folding unit is provided with four points of connection at same position, respectively
First tie point, the second tie point, third tie point, the 4th tie point；Unit is folded in third folding unit, the 4th
In any folding unit, first tie point, the second tie point, third tie point, the 4th tie point are located on same circle
Or on two either three or four concentric circles, first tie point and the 4th tie point are in the excessively described circle of same
Either second tie point on the straight line in the concentric circles center of circle, the first tie point and the circle or concentric circles circle center line connecting
Angle and third tie point, the 4th tie point are identical with the angle of the circle or concentric circles circle center line connecting, and with described first
Corner dimension is identical；
First tie point of the first folding unit and the third tie point of the described second folding unit pass through first turn
Dynamic secondary connection, the third tie point of the first folding unit and the first tie point of the described second folding unit pass through second turn
Dynamic secondary connection, the third folds the first tie point of unit and the described 4th the 4th tie point for folding unit is turned by third
Dynamic secondary connection, the first tie point that the third folds the 4th tie point and the described 4th folding unit of unit pass through the 4th turn
Dynamic secondary connection, the first tie point of the 5th folding unit and the third tie point of the described 6th folding unit pass through the 5th turn
Dynamic secondary connection, the third tie point of the 5th folding unit and the first tie point of the described 6th folding unit pass through the 6th turn
Dynamic secondary connection；First revolute pair, the second revolute pair, third revolute pair, the 4th revolute pair, the 5th revolute pair and the 6th turn
Secondary axis is moved in first datum plane, and meets at same point and is known as the first intersection point；
The third tie point that second tie point of the first folding unit folds unit with the third passes through the 7th turn
Dynamic secondary connection, the second tie point of the second folding unit and the third tie point of the described 4th folding unit pass through eighth-turn
Dynamic secondary connection, the second tie point that the third folds the second tie point and the described 5th folding unit of unit pass through the 9th turn
Dynamic secondary connection, the second tie point of the 4th folding unit and the second tie point of the described 6th folding unit pass through the tenth turn
Dynamic secondary connection；7th revolute pair, the 8th revolute pair, the 9th revolute pair and the tenth revolute pair axis meet at described
One intersection point.
Wherein, first angle is more than any angle of the zero degree less than 90 degree.
Wherein, the revolute pair is led to for hinge or bearing.
Wherein, the folding unit has annular either semi-circular or curve or broken line profile.
The present invention another technical solution be：A kind of foldable spherical structure can pass through phase each other including six
Foldable spherical structure is folded into the folding unit and second datum plane of flat state to moving by spatiality；
The size of six folding units is incremented by successively, and respectively first, which folds unit, the second folding unit, third, folds unit, the 4th
Fold unit, the 5th folding unit, the 6th folding unit；
Described first folds unit, the second folding unit, the 5th folding unit, the 6th folding unit in same position
Place is provided with four points of connection, respectively the first tie point, the second tie point, third tie point and the 4th tie point；Described
First folds in any folding unit of unit, the second folding unit, the 5th folding unit, the 6th folding unit, and described first
Tie point, the second tie point, third tie point and the 4th tie point be located on same circle or positioned at two either three or
On four concentric circles, first tie point and third tie point are in the straight line in the excessively described circle of same or the concentric circles center of circle
On, second tie point and the 4th tie point are on the straight line in the excessively described circle of same or the concentric circles center of circle, and described first
The angle of tie point, the second tie point and the circle or concentric circles circle center line connecting is known as the second angle；
Tie point there are six the third folds unit, the 4th folding unit is set at same position, respectively
First tie point, the second tie point, third tie point, the 4th tie point, the 5th tie point and the 6th tie point；In the third
In any folding unit for folding unit, the 4th folding unit, the first tie point, the second tie point, third tie point, the 4th connect
Contact, the 5th tie point and the 6th tie point be located on same circle or positioned at two either three or four or five or
On six concentric circles of person, first tie point and the 4th tie point are in the straight line in the excessively described circle of same or the concentric circles center of circle
On, the second tie point and the 5th tie point are on the straight line in the excessively described circle of same or the concentric circles center of circle, the third connection
Point and the 6th tie point are on the straight line in the excessively described circle of same or the concentric circles center of circle, second tie point, the first connection
Point and the circle either angle of concentric circles circle center line connecting and third tie point, the 4th tie point and the circle or concentric round
The angle of heart line is identical, and identical with second corner dimension；
First tie point of the first folding unit and the third tie point of the described second folding unit pass through first turn
Dynamic secondary connection, the third tie point of the first folding unit and the first tie point of the described second folding unit pass through second turn
Dynamic secondary connection, the third folds the first tie point of unit and the described 4th the 4th tie point for folding unit is turned by third
Dynamic secondary connection, the first tie point that the third folds the 4th tie point and the described 4th folding unit of unit pass through the 4th turn
Dynamic secondary connection, the first tie point of the 5th folding unit and the third tie point of the described 6th folding unit pass through the 5th turn
Dynamic secondary connection, the third tie point of the 5th folding unit and the first tie point of the described 6th folding unit pass through the 6th turn
Dynamic secondary connection；First revolute pair, the second revolute pair, third revolute pair, the 4th revolute pair, the 5th revolute pair and the 6th turn
Secondary axis is moved in second datum plane, and meets at same point and is known as the second intersection point；
The third tie point that second tie point of the first folding unit folds unit with the third passes through the 7th turn
The 6th tie point that dynamic secondary connection, the 4th tie point of the first folding unit and the third fold unit passes through eighth-turn
Dynamic secondary connection, the second tie point of the second folding unit and the third tie point of the described 4th folding unit pass through the 9th turn
Dynamic secondary connection, the 4th tie point of the second folding unit and the 6th tie point of the described 4th folding unit pass through the tenth turn
Dynamic secondary connection, the second tie point that the third folds the second tie point and the described 5th folding unit of unit pass through the 11st
Revolute pair connects, and the 4th tie point that the third folds the 5th tie point and the described 5th folding unit of unit passes through the tenth
Two revolute pairs connect, and the described 4th, which folds the second tie point of unit and the described 6th, folds the second tie point of unit by the
13 revolute pairs connect, and the 5th tie point of the 4th folding unit and the 4th tie point of the described 6th folding unit pass through
14th revolute pair connects；7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11st rotation
Pair, the 12nd revolute pair, the 13rd revolute pair, the 14th revolute pair axis meet at second intersection point.
Wherein, second angle is more than any angle of the zero degree less than 90 degree.
Wherein, the revolute pair is led to for hinge or bearing.
Wherein, the folding unit has annular either semi-circular or curve or broken line profile.
The beneficial effects of the invention are as follows：
(1) present invention is the folding structure with the single degree of freedom, and the folding that can realize spherical surface is driven by one
And expansion, it installs and easy to use；
(2) present invention has larger folding ratio rate, and the stable state of small volume can be obtained after folding, convenient for fortune
Defeated and preservation；
(3) present invention can design the shape and size for folding unit according to actual demand；
(4) structure of the present invention is functional design, can design different appearance profiles according to actual needs, can also basis
The each size for folding unit of Demand Design of practice occasion.
Description of the drawings
Fig. 1 is the structure diagram of foldable the first embodiment of spherical structure provided by the present invention；
Fig. 2-1 to Fig. 2-6 is the structure diagram of six folding units in Fig. 1；
Fig. 3-1 to Fig. 3-7 is the schematic diagram that each revolute pair connects two folding units respectively in Fig. 1；
Fig. 4 is the position relationship schematic diagram of kinematic pair set in foldable spherical structure shown in FIG. 1；
Fig. 5-1 to Fig. 5-5 is the unfolded process schematic of foldable spherical structure shown in FIG. 1；Wherein, Fig. 5-1
It is respectively two completely folded state schematic diagrames of foldable spherical structure shown in FIG. 1 with Fig. 5-5；
Fig. 6 is the structure diagram of second of embodiment of foldable spherical structure provided by the present invention；
Fig. 7-1 to Fig. 7-6 is the structure diagram of six folding units in Fig. 6；
Fig. 8-1 to Fig. 8-7 is the schematic diagram that each revolute pair connects two folding units respectively in Fig. 6；
Fig. 9 is the position relationship schematic diagram of kinematic pair set in foldable spherical structure shown in fig. 6；
Figure 10-1 to Figure 10-5 is the unfolded process schematic of foldable spherical structure shown in fig. 6；Wherein, scheme
10-1 and Figure 10-5 is respectively two completely folded state schematic diagrames of foldable spherical structure shown in fig. 6.
In figure：
The first datum plane in 1I- embodiments 1, the first angle in α 1- embodiments 1, the rotation in 1O-embodiment 1
First intersection point of secondary axis, first in 1O1- embodiments 1 folds the center of circle of circle in unit, the second folding in 1O2- embodiments 1
The center of circle of circle in folded unit, the third in 1O3- embodiments 1 fold the center of circle of circle in unit, the four fold in 1O4- embodiments 1
The center of circle of circle in folded unit, the in 1O5- embodiments 1 the 5th folds the center of circle of circle in unit, the 6th folding in 1O6- embodiments 1
The center of circle of circle in folded unit；
First in 1T1- embodiments 1 folds unit, and second in 1T2- embodiments 1 folds unit；In 1T3- embodiments 1
Third fold unit, the 4th in 1T4- embodiments 1 folds unit, and the 5th in 1T5- embodiments 1 folds unit, and 1T6- is real
The 6th applied in example 1 folds unit；
First in 1V11- embodiments 1 folds the first tie point of unit, and first in 1V12- embodiments 1 folds unit the
Two tie points, first in 1V13- embodiments 1 folds unit third tie point, and second in 1V21- embodiments 1 folds unit
First tie point, second in 1V22- embodiments 1 folds the second tie point of unit, and second in 1V23- embodiments 1 folds single
First third tie point, the third in 1V31- embodiments 1 fold the first tie point of unit, and the third in 1V32- embodiments 1 folds
The second tie point of unit, the third in 1V33- embodiments 1 fold unit third tie point, the third folding in 1V34- embodiments 1
Folded the 4th tie point of unit, the in 1V41- embodiments 1 the 4th folds the first tie point of unit, and the in 1V42- embodiments 1 the 4th
The second tie point of unit is folded, the 4th in 1V43- embodiments 1 folds unit third tie point, and the in 1V44- embodiments 1
Four fold the 4th tie points of unit, and the 5th in 1V51- embodiments 1 folds the first tie point of unit, in 1V52- embodiments 1
5th folds the second tie point of unit, and the 5th in 1V53- embodiments 1 folds unit third tie point, in 1V61- embodiments 1
The 6th fold the first tie point of unit, the 6th in 1V62- embodiments 1 folds the second tie point of unit, 1V63- embodiments 1
In the 6th fold unit third tie point；
The first revolute pair in 1H1- embodiments 1, the second revolute pair in 1H2- embodiments 1, in 1H3- embodiments 1
Three revolute pairs, the 4th revolute pair in 1H4- embodiments 1, the 5th revolute pair in 1H5- embodiments 1, in 1H6- embodiments 1
6th revolute pair, the 7th revolute pair in 1H7- embodiments 1, the 8th revolute pair in 1H8- embodiments 1, in 1H9- embodiments 1
The 9th revolute pair, the tenth revolute pair in 1H10- embodiments 1,
The second datum plane in 2I- embodiments 2, the second angle in α 2- embodiments 2, the rotation in 2O-embodiment 2
The second intersection point of secondary axis, first in 2O1- embodiments 2 folds the center of circle of circle in unit, and second in 2O2- embodiments 2 folds
The center of circle of circle in unit, the third in 2O3- embodiments 2 fold the center of circle of circle in unit, and the 4th in 2O4- embodiments 2 folds
The center of circle of circle in unit, the in 2O5- embodiments 2 the 5th folds the center of circle of circle in unit, and the 6th in 2O6- embodiments 2 folds
The center of circle of circle in unit；
First in 2T1- embodiments 2 folds unit, and second in 2T2- embodiments 2 folds unit；In 2T3- embodiments 2
Third fold unit, the 4th in 2T4- embodiments 2 folds unit, and the 5th in 2T5- embodiments 2 folds unit, and 2T6- is real
The 6th applied in example 2 folds unit；
First in 2V11- embodiments 2 folds the first tie point of unit, and 2V12- implements the first folding unit second in 2
Tie point, first in 2V13- embodiments 2 folds unit third tie point, and first in 2V14- embodiments 2 folds unit the
Four tie points, second in 2V21- embodiments 2 folds the first tie point of unit, and second in 2V22- embodiments 2 folds unit
Second tie point, second in 2V23- embodiments 2 folds unit third tie point, and second in 2V24- embodiments 2 folds single
First 4th tie point, the third in 2V31- embodiments 2 fold the first tie point of unit, and the third in 2V32- embodiments 2 folds
The second tie point of unit, the third in 2V33- embodiments 2 fold unit third tie point, the third folding in 2V34- embodiments 2
Folded the 4th tie point of unit, the third in 2V35- embodiments 2 fold the 5th tie point of unit, the third in 2V36- embodiments 2
The 6th tie point of unit is folded, the 4th in 2V41- embodiments 2 folds the first tie point of unit, and the in 2V42- embodiments 2
Four fold the second tie points of unit, and the 4th in 2V43- embodiments 2 folds unit third tie point, in 2V44- embodiments 2
4th folds the 4th tie point of unit, and the 4th in 2V45- embodiments 2 folds the 5th tie point of unit, in 2V46- embodiments 2
The 4th fold the 6th tie point of unit, the 5th in 2V51- embodiments 2 folds the first tie point of unit, 2V52- embodiments 2
In the 5th fold the second tie point of unit, the 5th in 2V53- embodiments 2 folds unit third tie point, 2V54- embodiments
The 5th in 2 folds the 4th tie point of unit, and the 6th in 2V61- embodiments 2 folds the first tie point of unit, and 2V62- is implemented
The 6th in example 2 folds the second tie point of unit, and the 6th in 2V63- embodiments 2 folds unit third tie point, and 2V64- is real
The 6th applied in example folds the 4th tie point of unit；
The first revolute pair in 2H1- embodiments 2, the second revolute pair in 2H2- embodiments 2, in 2H3- embodiments 2
Three revolute pairs, the 4th revolute pair in 2H4- embodiments 2, the 5th revolute pair in 2H5- embodiments 2, in 2H6- embodiments 2
6th revolute pair, the 7th revolute pair in 2H7- embodiments 2, the 8th revolute pair in 2H8- embodiments 2, in 2H9- embodiments 2
The 9th revolute pair, the tenth revolute pair in 2H10- embodiments 2, the 11st revolute pair in 2H11- embodiments 2,2H12- is real
Apply the 12nd revolute pair in example 2, the 13rd revolute pair in 2H13- embodiments 2, the 14th rotation in 2H14- embodiments 2
It is secondary.
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：
Embodiment 1
As shown in Figure 1, a kind of the first embodiment of foldable spherical structure is present embodiments provided, including six foldings
Folded unit and a first datum plane 1I.Six fold unit can be by relative motion each other by foldable spherical surface knot
Structure is folded into flat state by spatiality, and six fold unit and are referred to as the first folding unit 1T1, the second folding unit
1T2, third fold unit 1T3, the 4th folding unit 1T4, the 5th folding unit 1T5, the 6th folding unit 1T6.
As shown in Fig. 2-1 to 2-6, the size of six folding units is incremented by successively and with semi-circular shape profile.Described
One folds unit 1T1, the second folding unit 1T2, the 5th folding unit 1T5, the 6th folding unit 1T6 at same position
Setting is there are three tie point, and described first to fold in unit 1T1 be respectively the first tie point 1V11, the second tie point 1V12 and the
Three tie point 1V13, the first tie point 1V11, the second tie point 1V12 and third tie point 1V13 are located on same circle,
The first tie point 1V11 and third tie point 1V13 is on the straight line of the excessively described round heart of same, second tie point
1V12, the first tie point 1V11 and the angle of the round circle center line connecting are known as the first angle α 1；Described second folds in unit 1T2
Respectively the first tie point 1V21, the second tie point 1V22 and third tie point 1V23, the first tie point 1V21, the second company
Contact 1V22 and third tie point 1V23 is located on same circle, and the first tie point 1V21 and third tie point 1V23 are same
On the straight line of one excessively described round heart, the second tie point 1V22, the first tie point 1V21 and the round circle center line connecting
Angle is known as the first angle α 1；Described 5th fold in unit 1T5 be respectively the first tie point 1V51, the second tie point 1V52 and
Third tie point 1V53, the first tie point 1V51, the second tie point 1V52 and third tie point 1V53 are located at same circle
On, on the straight line of the excessively described round heart of same, described second connects by the first tie point 1V51 and third tie point 1V53
Contact 1V52, the first tie point 1V51 and the angle of the round circle center line connecting are known as the first angle α 1；Described 6th folds unit
Be respectively in 1T6 the first tie point 1V61, the second tie point 1V62 and third tie point 1V63, the first tie point 1V61,
Second tie point 1V62 and third tie point 1V63 is located on same circle, the first tie point 1V61 and third tie point
1V63 on the straight line of the excessively described round heart of same, the second tie point 1V62, the first tie point 1V61 with it is described round
The angle of heart line is known as the first angle α 1.
The third folds unit 1T3, the 4th folding unit 1T4 is provided with four points of connection at same position,
It is respectively the first tie point 1V31, the second tie point 1V32, third tie point 1V33, the 4th that the third, which is folded in unit 1T3,
Tie point 1V34, the first tie point 1V31, the second tie point 1V32, third tie point 1V33, the 4th tie point 1V34
In on same circle, the first tie point 1V31 and the 4th tie point 1V34 on the straight line of the excessively described round heart of same,
The second tie point 1V32, the first tie point 1V31 and the angle of the round circle center line connecting and third tie point 1V33, the 4th
Tie point 1V34 is identical with the angle of the round circle center line connecting, and identical with 1 size of the first angle α；Described 4th folds
In unit 1T4 be respectively the first tie point 1V41, the second tie point 1V42, third tie point 1V43, the 4th tie point 1V44, institute
The first tie point 1V41, the second tie point 1V42, third tie point 1V43, the 4th tie point 1V44 is stated to be located on same circle,
The first tie point 1V41 and the 4th tie point 1V44 is on the straight line of the excessively described round heart of same, second tie point
The angle and third tie point 1V43 of 1V42, the first tie point 1V41 and the round circle center line connecting, the 4th tie point 1V44 and institute
The angle for stating round circle center line connecting is identical, and identical with 1 size of the first angle α.
First angle α 1 is more than any angle of the zero degree less than 90 degree.
With reference to shown in Fig. 3-1 to Fig. 3-7, first, which folds the first tie point 1V11 of unit 1T1 and second, folds unit 1T2
Third tie point 1V23 pass through the first revolute pair 1H1 connections, first folds the third tie point 1V13 and the second folding of unit 1T1
For the first tie point 1V21 of folded unit 1T2 by the second revolute pair 1H2 connections, third folds the first tie point of unit 1T3
1V31 is connect with the 4th tie point 1V44 of the 4th folding unit 1T4 by third revolute pair 1H3, and third folds unit 1T3's
4th tie point 1V34 is connect with the first tie point 1V41 of the 4th folding unit 1T4 by the 4th revolute pair 1H4, and the 5th folds
The third tie point 1V63 of the folding units of the first tie point 1V51 of unit 1T5 and the 6th 1T6 is connected by the 5th revolute pair 1H5
It connects, the first tie point 1V61 of the folding units of third tie point 1V53 and the 6th 1T6 of the 5th folding unit 1T5 passes through the 6th turn
Dynamic secondary 1H6 connections, the first the second tie point 1V12 for folding unit 1T1 fold the third tie point 1V33 of unit 1T3 with third
The third that the second tie point 1V22 of unit 1T2 and the 4th folds unit 1T4 is folded by the 7th revolute pair 1H7 connections, second
For tie point 1V43 by the 8th revolute pair 1H8 connections, the second tie point 1V32 and the 5th that third folds unit 1T3 folds unit
For the second tie point 1V52 of 1T5 by the 9th revolute pair 1H9 connections, the 4th folds the second tie point 1V42 of unit 1T4 and the
Second tie point 1V62 of six folding units passes through the tenth revolute pair 1H10 connections；
The part for being capable of providing rotating function can be used in above each revolute pair, as hinge, bearing assemble.
As shown in figure 4, the first revolute pair 1H1, the second revolute pair 1H2, third revolute pair 1H3, the 4th revolute pair 1H4,
Five revolute pair 1H5, the 6th revolute pair 1H6 axis be respectively positioned on datum plane plane 1I and intersect at same point and be known as the first friendship
Point 1O；7th revolute pair 1H7, the 8th revolute pair 1H8, the 9th revolute pair 1H9, the tenth revolute pair H10 axis intersect at first
Intersection point 1O, i.e., all to fold in units, first folds the center of circle 1O1 of circle in unit 1T1, circle round in the second folding unit 1T2
Heart 1O2, third fold the center of circle 1O3 of circle in unit 1T3, the center of circle 1O4 of circle, the 5th folding unit in the 4th folding unit 1T4
The center of circle 1O6 of circle coincides with the first intersection point 1O in the center of circle 1O5 of circle, the 6th folding unit 1T6 in 1T5.The axis of all revolute pairs
Line all intersects at a bit, which is the grid that a common centre of sphere spherical surface 4R mechanism is formed, which includes four
A spherical surface 4R mechanisms, respectively by the first revolute pair 1H1, the 4th revolute pair 1H4, the 7th revolute pair 1H7, the 8th revolute pair 1H8 and
Second revolute pair 1H2, third revolute pair 1H3, the 7th revolute pair 1H7, the 8th revolute pair 1H8 and the 4th revolute pair 1H4, the 6th turn
Dynamic secondary 1H6, the 9th revolute pair 1H9, the tenth revolute pair 1H10 and third revolute pair 1H3, the 5th revolute pair 1H5, the 9th revolute pair
1H9, the tenth revolute pair 1H10 are formed.
As shown in Fig. 5-1 to Fig. 5-5 figures, unit and the connection provided are folded using six that the present embodiment is provided
Mode may be constructed hemispherical dome structure, folds variation and is determined by each shape, size and revolute pair axis direction for folding unit
It is fixed.Fig. 5-1 shows a folded state of foldable spherical structure, is semi-circular shape structure.It is foldable in the present embodiment
Spherical structure realizes folding exhibition movement by four spherical surface 4R mechanisms.Fig. 5-1 to Fig. 5-5 shows being folded over for foldable spherical structure
Journey, another folded state being finally reached in Fig. 5-5 are cirque structure, which has one degree of freedom,
It 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 foldable spherical structure meets above-mentioned constraints, you can reach the present invention claims folding exhibition
Effect, structure type and folding exhibition mode are not influenced, therefore the structure for folding unit is unlimited by the concrete structure of folding unit
In semi-circular shape profile, shape (can be the other than ring types such as circular contour or semi-circular, curve, broken line profile), size, ruler
Very little, material, revolute pair form etc. can do arbitrary transformation based on the actual application requirements, if meet six fold unit sizes according to
Secondary incremental, described first folds unit, the second folding unit, the 5th folding unit, the 6th folding unit in same position
There are three tie points for place's setting, and respectively the first tie point, the second tie point and third tie point are single in the described first folding
Member, second are folded in any folding unit of unit, the 5th folding unit, the 6th folding unit, first tie point, second
Tie point and third tie point are located on same circle or on two or three concentric circles, first tie point and
Three tie points are on the straight line in the excessively described circle of same or the concentric circles center of circle, first tie point, the second tie point and institute
The angle for stating circle or concentric circles circle center line connecting is α 1, and the third folds unit, the 4th folding unit in same position
Place is provided with four points of connection, respectively the first tie point, the second tie point, third tie point, the 4th tie point, described
Three fold units, the 4th fold unit any folding unit in, first tie point, the second tie point, third tie point,
4th tie point is located on same circle or on two either three or four concentric circles, first tie point and
4th tie point on the straight line in the excessively described circle of same or the concentric circles center of circle, second tie point, the first tie point with
Either the angle of concentric circles circle center line connecting and third tie point, the 4th tie point connect the circle with the circle or the concentric circles center of circle
The angle of line is identical, and is α 1.
Embodiment 2
As shown in fig. 6, a kind of second of embodiment of foldable spherical structure is present embodiments provided, including six foldings
Folded unit and a second datum plane 2I.Six fold unit can be by relative motion each other by foldable spherical surface knot
Structure is folded into flat state by spatiality, and six fold unit and are referred to as the first folding unit 2T1, the second folding unit
2T2, third fold unit 2T3, the 4th folding unit 2T4, the 5th folding unit 2T5, the 6th folding unit 2T6.
As shown in Fig. 7-1 to Fig. 7-6, the structure size of six folding units is incremented by successively and with circular ring shape profile, institute
The first folding unit 2T1, the second folding unit 2T2, the 5th folding unit 2T5, the 6th folding unit 2T6 are stated in same position
The place of putting is provided with four points of connection, is respectively the first tie point 2V11, the second tie point in the described first folding unit 2T1
2V12, third tie point 2V13 and the 4th tie point 2V14, the first tie point 2V11, the second tie point 2V12, third tie point
2V13 and the 4th tie point 2V14 is located on same circle, and the first tie point 2V11 and third tie point 2V13 are in same
It crosses on the straight line of the round heart, the second tie point 2V12 and the 4th tie point 2V14 are in the excessively described round heart of same
On straight line, the first tie point 2V11, the second tie point 2V12 and the angle of the round circle center line connecting are known as the second angle α 2；
It is respectively the first tie point 2V21, the second tie point 2V22, third tie point 2V23 and the to be folded in unit 2T2 described second
Four tie point 2V24, the first tie point 2V21, the second tie point 2V22, third tie point 2V23 and the 4th tie point 2V24 are located at
On same circle, the first tie point 2V21 and third tie point 2V23 are on the straight line of the excessively described round heart of same, institute
The second tie point 2V22 and the 4th tie point 2V24 are stated on the straight line of the excessively described round heart of same, first tie point
2V21, the second tie point 2V22 and the angle of the round circle center line connecting are known as the second angle α 2；Unit 2T5 is folded the described 5th
In be respectively the first tie point 2V51, the second tie point 2V52, third tie point 2V53 and the 4th tie point 2V54, first connection
Point 2V51, the second tie point 2V52, third tie point 2V53 and the 4th tie point 2V54 are located on same circle, and described first connects
Contact 2V51 and third tie point 2V53 is on the straight line of the excessively described round heart of same, the second tie point 2V52 and the 4th
Tie point 2V54 is on the straight line of the excessively described round heart of same, the first tie point 2V51, the second tie point 2V52 and institute
The angle for stating round circle center line connecting is known as the second angle α 2；The described 6th fold in unit 2T6 be respectively the first tie point 2V61,
Second tie point 2V62, third tie point 2V63 and the 4th tie point 2V64, the first tie point 2V61, the second tie point 2V62,
Third tie point 2V63 and the 4th tie point 2V64 is located on same circle, the first tie point 2V61 and third tie point
2V63 is on the straight line of the excessively described round heart of same, and the second tie point 2V62 and the 4th tie point 2V64 are in same mistake
On the straight line of the round heart, the first tie point 2V61, the second tie point 2V62 and the round circle center line connecting angle claim
For the second angle α 2.
The third folds unit 2T3, the 4th folding unit 2T4 is set at same position there are six tie point,
It is respectively the first tie point 2V31, the second tie point 2V32, third tie point 2V33, the in the third folds unit 2T3
Four tie point 2V34, the 5th tie point 2V35 and the 6th tie point 2V36, the first tie point 2V31, the second tie point 2V32,
Three tie point 2V33, the 4th tie point 2V34, the 5th tie point 2V35 and the 6th tie point 2V36 are located on same circle, described
First tie point 2V31 and the 4th tie point 2V34 is on the straight line of the excessively described round heart of same, the second tie point 2V32
With the 5th tie point 2V35 on the straight line of the excessively described round heart of same, the third tie point 2V33 and the 6th tie point
2V36 on the straight line of the excessively described round heart of same, the second tie point 2V32, the first tie point 2V31 with it is described round
The angle and third tie point 2V33, the 4th tie point 2V34 of heart line are identical with the angle of the round circle center line connecting, and with institute
It is identical to state 2 size of the second angle α；It is respectively the first tie point 2V41, the second tie point in the described 4th folding unit 2T4
2V42, third tie point 2V43, the 4th tie point 2V44, the 5th tie point 2V45 and the 6th tie point 2V46, the first tie point
2V41, the second tie point 2V42, third tie point 2V43, the 4th tie point 2V44, the 5th tie point 2V45 and the 6th tie point
2V46 is located on same circle, and the first tie point 2V41 and the 4th tie point 2V44 are in the straight of the excessively described round heart of same
On line, the second tie point 2V42 and the 5th tie point 2V45 are on the straight line of the excessively described round heart of same, the third
Tie point 2V43 and the 6th tie point 2V46 is on the straight line of the excessively described round heart of same, the second tie point 2V42,
One tie point 2V41 and the angle and third tie point 2V43, the 4th tie point 2V44 of the round circle center line connecting and the round heart
The angle of line is identical, and identical with 2 size of the second angle α；
Second angle α 2 is more than any angle of the zero degree less than 90 degree.
With reference to shown in Fig. 8-1 to Fig. 8-7, first, which folds the first tie point 2V11 of unit 2T1 and second, folds unit 2T2
Third tie point 2V23 pass through the first revolute pair 2H1 connections, first folds the third tie point 2V13 and the second folding of unit 2T1
For the first tie point 2V21 of folded unit 2T2 by the second revolute pair 2H2 connections, third folds the first tie point of unit 2T3
2V31 is connect with the 4th tie point 2V44 of the 4th folding unit 2T4 by third revolute pair 2H3, and third folds unit 2T3's
4th tie point 2V34 is connect with the first tie point 2V41 of the 4th folding unit 2T4 by the 4th revolute pair 2H4, and the 5th folds
The third tie point 2V63 of the folding units of the first tie point 2V51 of unit 2T5 and the 6th 2T6 is connected by the 5th revolute pair 2H5
It connects, the first tie point 2V61 of the folding units of third tie point 2V53 and the 6th 2T6 of the 5th folding unit 2T5 passes through the 6th turn
Dynamic secondary 2H6 connections；First the second tie point 2V12 for folding unit 2T1 folds the third tie point 2V33 of unit 2T3 with third
By the 7th revolute pair 2H7 connections, first folds the 4th tie point 2V14 and the 6th of third folding unit 2T3 of unit 2T1
For tie point 2V36 by the 8th revolute pair 2H8 connections, second, which folds the second tie point 2V22 of unit 2T2 and the 4th, folds unit
For the third tie point 2V43 of 2T4 by the 9th revolute pair 2H9 connections, second folds the 4th tie point 2V24 of unit 2T2 and the
Four fold the 6th tie point 2V46 of unit 2T4 by the tenth revolute pair 2H10 connections, and third folds the second connection of unit 2T3
Point 2V32 is connect with the second tie point 2V52 of the 5th folding unit 2T5 by the 11st revolute pair 2H11, and third folds unit
The 5th tie point 2V35 of 2T3 is connect with the 4th tie point 2V54 of the 5th folding unit 2T5 by the 12nd revolute pair 2H12,
The second tie point 2V62 of the folding units of the second tie point 2V42 and the 6th 2T6 of 4th folding unit 2T4 passes through the 13rd turn
Dynamic secondary 2H13 connections, the 4th folds the 4th tie point 2V64 that the 5th tie point 2V45 of unit 2T4 and the 6th folds unit 2T6
Pass through the 14th revolute pair 2H14 connections.
As shown in figure 9, the first revolute pair 2H1, the second revolute pair 2H2, third revolute pair 2H3, the 4th revolute pair 2H4,
Five revolute pair 2H5, the 6th revolute pair 2H6 axis be respectively positioned on the second datum plane 2I and intersect at same point and be known as the second friendship
Point 2O；7th revolute pair 2H7, the 8th revolute pair 2H8, the 9th revolute pair 2H9, the tenth revolute pair 2H10, the 11st revolute pair
2H11, the 12nd revolute pair 2H12, the 13rd revolute pair 2H13, the 14th revolute pair 2H14 axis intersect at the second intersection point
2O, i.e., all to fold in units, first folds the center of circle 2O1 of circle in unit 2T1, the center of circle round in the second folding unit 2T2
2O2, third fold the center of circle 2O3 of circle in unit 2T3, the center of circle 2O4 of circle, the 5th folding unit 2T5 in the 4th folding unit 2T4
The center of circle 2O6 of circle coincides with the second intersection point 2O in the center of circle 2O5 of middle circle, the 6th folding unit 2T6.The axis of all revolute pairs is all
It intersects at a point, which is the grid that a common centre of sphere spherical surface 4R mechanism is formed, which includes 8 spherical surface 4R
Mechanism, respectively by the first revolute pair H1, the 4th revolute pair H4, the 7th revolute pair H7, the 9th revolute pair H9 and the first revolute pair H1,
4th revolute pair H4, the 8th revolute pair H8, the tenth revolute pair H10 and the second revolute pair H2, third revolute pair H3, the 7th revolute pair
H7, the 9th revolute pair H9 and the second revolute pair H2, third revolute pair H3, the 8th revolute pair H8, the tenth revolute pair H10 and the 4th turn
Dynamic secondary H4, the 6th revolute pair H6, the 11st revolute pair H11, the 13rd revolute pair H13 and the 4th revolute pair H4, the 6th revolute pair
H6, the 12nd revolute pair H12, the 14th revolute pair H14 and third revolute pair H3, the 5th revolute pair H5, the 11st revolute pair
H11, the 13rd revolute pair H13 and third revolute pair H3, the 5th revolute pair H5, the 12nd revolute pair H12, the 14th revolute pair
H14 is formed.
The part for being capable of providing rotating function can be used in above each revolute pair, as hinge, bearing assemble.
As shown in Figure 10-1 to Figure 10-5 figures, unit and the company provided are folded using six that the present embodiment is provided
Mode is connect, may be constructed spherical structure, variation is folded and is determined by each shape, size and revolute pair axis direction for folding unit
It is fixed.Figure 10-1 shows a folded state of foldable spherical structure, is cirque structure.Foldable ball in the present embodiment
Face structure realizes folding exhibition movement by eight spherical surface 4R mechanisms.Figure 10-1 to Figure 10-5 shows being folded over for foldable spherical structure
Journey, another folded state being finally reached in Figure 10-5 are cirque structure, and there are one freely for the foldable spherical structure tool
Degree 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 foldable spherical structure meets above-mentioned constraints, you can reach the present invention claims folding exhibition
Effect, structure type and folding exhibition mode are not influenced, therefore the structure for folding unit is unlimited by the concrete structure of folding unit
In circular ring shape profile, shape (can be circular contour or be the other than ring types such as semi-circular, curve, broken line profile), size, ruler
Very little, material, revolute pair form etc. can do arbitrary transformation based on the actual application requirements, if meet six fold unit sizes according to
Secondary incremental, described first folds unit, the second folding unit, the 5th folding unit, the 6th folding unit in same position
Place is provided with four points of connection, respectively the first tie point, the second tie point, third tie point and the 4th tie point, described
First folds in any folding unit of unit, the second folding unit, the 5th folding unit, the 6th folding unit, and described first
Tie point, the second tie point, third tie point and the 4th tie point be located on same circle or positioned at two either three or
On four concentric circles, first tie point and third tie point are in the straight line in the excessively described circle of same or the concentric circles center of circle
On, second tie point and the 4th tie point are on the straight line in the excessively described circle of same or the concentric circles center of circle, and described first
The angle of tie point, the second tie point and the circle or concentric circles circle center line connecting is α 2；The third folds unit, four fold
Folded unit is set at same position there are six tie point, and respectively the first tie point, the second tie point, third connect
Point, the 4th tie point, the 5th tie point and the 6th tie point fold any folding of unit, the 4th folding unit in the third
In folded unit, first tie point, the second tie point, third tie point, the 4th tie point, the 5th tie point and the 6th connection
Point is located on same circle or on two either three or four or five or six concentric circles, and described first
Tie point and the 4th tie point are on the straight line in the excessively described circle of same or the concentric circles center of circle, second tie point and the 5th
Tie point is on the straight line in the excessively described circle of same or the concentric circles center of circle, and the third tie point and the 6th tie point are same
The excessively described circle of item either second tie point, the first tie point and the circle or concentric circles on the straight line in the concentric circles center of circle
Angle and third tie point, the 4th tie point of circle center line connecting are identical with the angle of the circle or concentric circles circle center line connecting, and
It is α 2.
In conclusion since foldable spherical structure proposed by the invention has the single degree of freedom, folding ratio rate is big, because
This has the advantages that installation is simple and convenient to operate, is easy to transport etc., is applied particularly suitable in the fields such as aerospace.
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 transformation of many forms is made, within these are all belonged to the scope of protection of the present invention.
Claims (8)
1. a kind of foldable spherical structure, which is characterized in that can will be foldable by relative motion each other including six
Spherical structure is folded into the folding unit and first datum plane of flat state by spatiality；Six fold unit
Size is incremented by successively, and respectively first, which folds unit, the second folding unit, third, folds unit, the 4th folding unit, the 5th folding
Folded unit, the 6th fold unit；
The first folding unit, the second folding unit, the 5th folding unit, the 6th folding unit are set at same position
Tie point there are three putting, respectively the first tie point, the second tie point and third tie point；Unit, the are folded described first
Two-fold unit, the 5th are folded in any folding unit of unit, the 6th folding unit, first tie point, the second connection
Point, third tie point are located on same circle or on two or three concentric circles, and first tie point and third connect
Contact is on the straight line in the excessively described circle of same or the concentric circles center of circle, first tie point, the second tie point and the circle
Or the angle of concentric circles circle center line connecting is known as the first angle；
The third folds unit, the 4th folding unit is provided with four points of connection, respectively first at same position
Tie point, the second tie point, third tie point, the 4th tie point；Any of unit, the 4th folding unit is folded in the third
It folds in unit, first tie point, the second tie point, third tie point, the 4th tie point are located on same circle or position
In two either three either on four concentric circles first tie point and the 4th tie point in the excessively described circle of same or
On the straight line in the concentric circles center of circle, second tie point, the first tie point and the circle or the angle of concentric circles circle center line connecting
It is identical with the angle of the circle or concentric circles circle center line connecting with third tie point, the 4th tie point, and with first angle
Size is identical；
First tie point of the first folding unit and the third tie point of the described second folding unit pass through the first revolute pair
Connection, the third tie point of the first folding unit and the first tie point of the described second folding unit pass through the second revolute pair
Connection, the 4th tie point that the third folds the first tie point and the described 4th folding unit of unit pass through third revolute pair
Connection, the first tie point that the third folds the 4th tie point and the described 4th folding unit of unit pass through the 4th revolute pair
Connection, the first tie point of the 5th folding unit and the third tie point of the described 6th folding unit pass through the 5th revolute pair
Connection, the third tie point of the 5th folding unit and the first tie point of the described 6th folding unit pass through the 6th revolute pair
Connection；First revolute pair, the second revolute pair, third revolute pair, the 4th revolute pair, the 5th revolute pair and the 6th revolute pair
Axis in first datum plane, and meet at same point and be known as the first intersection point；
The third tie point that second tie point of the first folding unit folds unit with the third passes through the 7th revolute pair
Connection, the second tie point of the second folding unit and the third tie point of the described 4th folding unit pass through the 8th revolute pair
Connection, the second tie point that the third folds the second tie point and the described 5th folding unit of unit pass through the 9th revolute pair
Connection, the second tie point of the 4th folding unit and the second tie point of the described 6th folding unit pass through the tenth revolute pair
Connection；7th revolute pair, the 8th revolute pair, the 9th revolute pair and the tenth revolute pair axis meet at described first and hand over
Point.
2. a kind of foldable spherical structure according to claim 1, which is characterized in that first angle is more than zero degree
Any angle less than 90 degree.
3. a kind of foldable spherical structure according to claim 1, which is characterized in that the revolute pair is led to for hinge or axis
It holds.
4. a kind of foldable spherical structure according to claim 1, which is characterized in that it is described folding unit have annular or
Person's semi-circular either curve or broken line profile.
5. a kind of foldable spherical structure, which is characterized in that can will be foldable by relative motion each other including six
Spherical structure is folded into the folding unit and second datum plane of flat state by spatiality；Six fold unit
Size is incremented by successively, and respectively first, which folds unit, the second folding unit, third, folds unit, the 4th folding unit, the 5th folding
Folded unit, the 6th fold unit；
The first folding unit, the second folding unit, the 5th folding unit, the 6th folding unit are set at same position
It is equipped with four points of connection, respectively the first tie point, the second tie point, third tie point and the 4th tie point；Described first
In any folding unit for folding unit, the second folding unit, the 5th folding unit, the 6th folding unit, first connection
Point, the second tie point, third tie point and the 4th tie point are located on same circle or positioned at two either three or four
On concentric circles, first tie point and third tie point are on the straight line in the excessively described circle of same or the concentric circles center of circle, institute
The second tie point and the 4th tie point are stated on the straight line in the excessively described circle of same or the concentric circles center of circle, first connection
The angle of point, the second tie point and the circle or concentric circles circle center line connecting is known as the second angle；
Tie point, respectively first there are six the third folds unit, the 4th folding unit is set at same position
Tie point, the second tie point, third tie point, the 4th tie point, the 5th tie point and the 6th tie point；It is folded in the third
Unit, the 4th are folded in any folding unit of unit, the first tie point, the second tie point, third tie point, the 4th connection
Point, the 5th tie point and the 6th tie point be located on same circle or positioned at two either three or four or five or
On six concentric circles, first tie point and the 4th tie point are in the straight line in the excessively described circle of same or the concentric circles center of circle
On, the second tie point and the 5th tie point are on the straight line in the excessively described circle of same or the concentric circles center of circle, the third connection
Point and the 6th tie point are on the straight line in the excessively described circle of same or the concentric circles center of circle, second tie point, the first connection
Point and the circle either angle of concentric circles circle center line connecting and third tie point, the 4th tie point and the circle or concentric round
The angle of heart line is identical, and identical with second corner dimension；
First tie point of the first folding unit and the third tie point of the described second folding unit pass through the first revolute pair
Connection, the third tie point of the first folding unit and the first tie point of the described second folding unit pass through the second revolute pair
Connection, the 4th tie point that the third folds the first tie point and the described 4th folding unit of unit pass through third revolute pair
Connection, the first tie point that the third folds the 4th tie point and the described 4th folding unit of unit pass through the 4th revolute pair
Connection, the first tie point of the 5th folding unit and the third tie point of the described 6th folding unit pass through the 5th revolute pair
Connection, the third tie point of the 5th folding unit and the first tie point of the described 6th folding unit pass through the 6th revolute pair
Connection；First revolute pair, the second revolute pair, third revolute pair, the 4th revolute pair, the 5th revolute pair and the 6th revolute pair
Axis in second datum plane, and meet at same point and be known as the second intersection point；
The third tie point that second tie point of the first folding unit folds unit with the third passes through the 7th revolute pair
Connection, the 6th tie point of the 4th tie point and third folding unit of the first folding unit pass through the 8th revolute pair
Connection, the second tie point of the second folding unit and the third tie point of the described 4th folding unit pass through the 9th revolute pair
Connection, the 4th tie point of the second folding unit and the 6th tie point of the described 4th folding unit pass through the tenth revolute pair
Connection, the third folds the second tie point of unit and the described 5th the second tie point for folding unit passes through the 11st rotation
Pair connection, the 4th tie point that the third folds the 5th tie point and the described 5th folding unit of unit pass through the 12nd turn
Dynamic secondary connection, the second tie point of the 4th folding unit and the second tie point of the described 6th folding unit pass through the 13rd
Revolute pair connects, and the 5th tie point of the 4th folding unit and the 4th tie point of the described 6th folding unit pass through the tenth
Four revolute pairs connect；7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11st revolute pair,
12 revolute pairs, the 13rd revolute pair, the 14th revolute pair axis meet at second intersection point.
6. a kind of foldable spherical structure according to claim 5, which is characterized in that second angle is more than zero degree
Any angle less than 90 degree.
7. a kind of foldable spherical structure according to claim 5, which is characterized in that the revolute pair is led to for hinge or axis
It holds.
8. a kind of foldable spherical structure according to claim 5, which is characterized in that it is described folding unit have annular or
Person's semi-circular either curve or broken line profile.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101249849A (en) * | 2008-04-08 | 2008-08-27 | 西安电子科技大学 | Pneumatic environment detection spherical robot having multiple motion modes |
| CN205010786U (en) * | 2015-09-30 | 2016-02-03 | 朱光峰 | Foldable fruit basket |
| CN106081084A (en) * | 2016-07-11 | 2016-11-09 | 南京航空航天大学 | A kind of spherical unmanned plane of portable and collapsible |
-
2017
- 2017-12-28 CN CN201711459022.4A patent/CN108252991B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101249849A (en) * | 2008-04-08 | 2008-08-27 | 西安电子科技大学 | Pneumatic environment detection spherical robot having multiple motion modes |
| CN101249849B (en) * | 2008-04-08 | 2011-04-27 | 西安电子科技大学 | Pneumatic environment detection spherical robot having multiple motion modes |
| CN205010786U (en) * | 2015-09-30 | 2016-02-03 | 朱光峰 | Foldable fruit basket |
| CN106081084A (en) * | 2016-07-11 | 2016-11-09 | 南京航空航天大学 | A kind of spherical unmanned plane of portable and collapsible |
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