CN109383897A

CN109383897A - A kind of symmetrical telescopic box-shaped structure in single-degree-of-freedom face

Info

Publication number: CN109383897A
Application number: CN201811212337.3A
Authority: CN
Inventors: 陈焱; 顾元庆; 马家耀
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2018-10-18
Filing date: 2018-10-18
Publication date: 2019-02-26

Abstract

The invention discloses a kind of symmetrical telescopic box-shaped structures in single-degree-of-freedom face, including ten faces, are followed successively by the first face, the second face, third face, fourth face, the 5th face, the 6th face, the 7th face, octahedral, the 9th face, the tenth face；First face be connected with the second face as telescopic box-shaped structure bottom and be placed in middle part, the four edges for the bottom surface that the third face, fourth face, the 5th face, the 6th face, the 7th face, octahedral, the 9th face, the tenth face are placed in above first face and the second face and are sequentially connected end to end in turn and form with first face and the second face are connected.The structure is the combination of over-constraint structure, possesses preferable rigidity, and can fold and unfold completely, and small volume is readily transported when folding, is opened when being in working condition as required, working space is larger；Total only has one degree of freedom, and motion control is simple；Simple, convenient control of motion, high reliability with production and processing.

Description

A kind of symmetrical telescopic box-shaped structure in single-degree-of-freedom face

Technical field

The present invention relates to a kind of box-shaped structures of the symmetrical telescopic in face, and in particular to a kind of single-degree-of-freedom, big folding ratio The symmetrical telescopic box-shaped structure in face based on origami structure.

Background technique

Polyhedral structure obtains in aerospace, building structure, the art work and daily life because of its preferable symmetry 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 phase Cube moonlet that periodical is chosen as the big technological breakthrough of 2014 year ten is exactly that aerospace field pursues miniaturization low cost transmitting Typical Representative, but the shortcomings that its in-orbit work status narrow space, also restricts further applying for it.

Space body shape telescopic structure is the development with Space Science and Technology and a kind of new structure being born, it was emitting Folding storage state is in journey, volume capacity is minimum；After entering the orbit, body shape telescopic structure can be by Design spreading at biggish fortune Seek working condition；When returning or recycling, which can fold gathering again and enter airship.Use over-constraint structure for basic unit Deployable structure have high rigidity, be 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 be not easy to repeat to grasp Make, existing body shape deployable structure using rigid deformation or structure is complicated, 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 telescopic polyhedron that 2009 propose.So the application at present of body shape deployable structure is also It is fewer, and presence cannot fold the deficiencies of little with folding and expanding ratio completely.

Summary of the invention

Purpose of the invention is to overcome the shortcomings in the prior art, provides a kind of single-degree-of-freedom, big folding ratio and face Symmetrical telescopic box-shaped structure.This can open up the combination that box-shaped structure is over-constraint structure, possess preferable rigidity, and can be complete It folds and unfolds entirely, small volume is readily transported when folding, is opened when being in working condition as required, working space is larger；Entirely Structure only has one degree of freedom, and motion control is simple；With production and processing, simple, convenient control of motion, reliability height etc. are excellent Point is of great significance and is widely applied particularly suitable in the various fields such as packaging, storage, civil structure and aerospace Prospect.

The purpose of the present invention is what is be achieved through the following technical solutions:

A kind of symmetrical telescopic box-shaped structure in single-degree-of-freedom face, including ten faces are followed successively by the first face, the second face, Three faces, fourth face, the 5th face, the 6th face, the 7th face, octahedral, the 9th face, the tenth face；First face is connected with the second face As telescopic box-shaped structure bottom and be placed in middle part, the third face, fourth face, the 5th face, the 6th face, the 7th face, the Octahedral, the 9th face, the tenth face be placed in above first face and the second face and be sequentially connected end to end in turn and with first face and the The four edges of the bottom surface of two faces composition are connected；

First face first is adjacent while with the second face the first and is connected with each other by the first revolute pair, and the first face can edge The first revolute pair axis rotates up to Chong Die with the second face to box outside direction；The second face third side and third face the Three sides are adjacent and are connected with each other by the second revolute pair, and the second face can into box, direction be rotated along the second revolute pair axis Until Chong Die with third face；First face second is adjacent while with the 6th face third and is connected with each other by third revolute pair, First face can rotate up to Chong Die with the 6th face along third revolute pair axis direction into box；The first face third side Adjacent with the second side of octahedral and be connected with each other by the 4th revolute pair, the first face can be along the 4th revolute pair axis to box Interior direction rotates up to Chong Die with octahedral；Second face second is adjacent while with nine faces the second and passes through the 5th revolute pair It is connected with each other, the second face can rotate up to Chong Die with the 9th face along the 5th revolute pair axis direction into box；Described Three faces first are adjacent while with fourth face the first and are connected with each other by the 6th revolute pair, and third face can be along the 6th revolute pair Axis first rotates up to box outside direction into box coplanar with fourth face behind direction；Fourth face third side and the 5th face Third side is adjacent and is connected with each other by the 7th revolute pair, and fourth face can into box, direction turns along the 7th revolute pair axis It moves until Chong Die with the 5th face；5th face first is adjacent while with six faces the first and is mutually interconnected by the 8th revolute pair It connects, the 5th face can move first rotate up to behind direction to box outside direction into box of secondary axis along the eight revolution and be total to the 6th face Face；6th face second is adjacent while with seven faces the second and is connected with each other by the 9th revolute pair, and the 6th face can be along described 9th revolute pair axis direction into box rotates up to Chong Die with the 7th face；7th face the first side of the first Bian Yu octahedral It is adjacent and by the tenth revolute pair be connected with each other, the 7th face can be rotated up to along the tenth revolute pair axis to box outside direction It is Chong Die with octahedral；The octahedral third is adjacent while with the 9th face third and is connected with each other by the 11st revolute pair, the Octahedral can rotate up to Chong Die with the 9th face along the 11st revolute pair axis direction into box；The first side of 9th face It is adjacent with the tenth the first side of face and by the 12nd revolute pair be connected with each other, the 9th face can along the 12nd revolute pair axis to Box outside direction rotates up to Chong Die with the tenth face；Tenth face second is adjacent while with third face the second and passes through the 13rd Revolute pair is connected with each other, and the tenth face can rotate up to and third face weight along the 13rd revolute pair axis direction into box It is folded；

Tenth face, third face, the second face, the 9th kept man of a noblewoman's tail successively by the 13rd revolute pair, the second revolute pair, 5th revolute pair, the 12nd revolute pair, which are connected, constitutes the first spherical surface four-bar mechanism, the 9th face, the second face, the first face, the Octahedral head and the tail, which are successively connected by the 5th revolute pair, the first revolute pair, the 4th revolute pair, the 11st revolute pair, constitutes the second ball Face four-bar mechanism, first face, the 6th face, the 7th face, octahedral head and the tail are successively by the third revolute pair, the 9th rotation Pair, the tenth revolute pair, the 4th revolute pair be connected constitute third spherical surface four-bar mechanism, first face, the second face, third face, Fourth face, the 5th face, the 6th kept man of a noblewoman's tail are successively by first revolute pair, the second revolute pair, the 6th revolute pair, the 7th rotation Pair, the 8th revolute pair, third revolute pair, which are connected, constitutes the first spherical surface six bar mechanism；

The first spherical surface four-bar mechanism and the second spherical surface four-bar mechanism share the 5th revolute pair, and described the Two spherical surface four-bar mechanisms and third spherical surface four-bar mechanism share the 4th revolute pair, the third spherical surface double leval jib machine Structure and the first spherical surface six bar mechanism share the third revolute pair, the first spherical surface six bar mechanism and the first spherical surface four Link mechanism shares second revolute pair, and the first spherical surface six bar mechanism and the second spherical surface four-bar mechanism share institute The first revolute pair stated；

The whole folding of the structure be unfolded around perpendicular to box bottom surface and the datum level that is overlapped with the first revolute pair It carries out；When folding, counter-clockwise rotary motion is done around datum level in the 5th face and the 6th face, until the 5th face and the 6th face are coplanar Afterwards, space structure becomes as planar structure, therewith, the upper surface in the 5th face and the 6th face composition planar structure；When folding, The third face and fourth face do clockwise rotation around datum level, until after third face and fourth face are coplanar, space structure Become as planar structure, therewith, the lower surface in the third face and fourth face composition planar structure；First face and second The movement in face, fourth face and the 5th face, third face and the 6th face, octahedral and the 9th face, the 7th face and the tenth face is based on benchmark Face is in face symmetric relation；

For the telescopic box-shaped structure in the case where being folded into plane completely, all revolute pair axis are in same plane On；The telescopic box-shaped structure forms a kind of quadrangular shape uncovered box-shaped structure in the case where being fully deployed；Each face Outer contour is straight line, curve or broken line.

Further, the telescopic box-shaped structure can by change adjacent surface angle with realize space body shape structure with The mutual conversion of planar structure.

Further, telescopic box-shaped structure fully unfolded position is the high box in bottom edge side length using square the bottom of as Minor structure, completely folded state are square planar structure.

Further, telescopic box-shaped structure fully unfolded position is using square the bottom of as, and height is less than the box of bottom edge side length Minor structure, completely folded state are polygon plane structure.

Further, telescopic box-shaped structure fully unfolded position is the tall and big box knot in bottom edge side length using water chestnut the bottom of as Structure, completely folded state are polygon plane structure.

Further, telescopic box-shaped structure fully unfolded position is using diamond shape the bottom of as, and height is less than the box of bottom edge side length Structure, completely folded state are polygon plane structure.

Further, each face is one such by plane or curved surface or two kinds collectively form.

Further, the revolute pair is by hinge, hinge or bearing is one such constitutes.

Compared with prior art, the beneficial effects brought by the technical solution of the present invention are as follows:

1 present invention has biggish folding ratio rate, directly can be folded into planar structure by space structure, it can be achieved that rolling over completely It is folded.

2. freedom degree of the present invention is 1, can complete to fold and unfold movement by single driving, structure is simpler, installation Using more convenient, movement is reliable.

3. the present invention is designed for the purpose of functionality, can design cell structure according to actual needs size, rotation Secondary size can arbitrarily select installation activation point with requiring to adjust under actual requirement.

4. stable structure after present invention expansion, rigidity is larger, and easy to support and work, volume after folding is smaller and structure is steady It is fixed, it is readily transported and saves.

Detailed description of the invention

Fig. 1-1 is a kind of symmetrical telescopic box in face being composed of different spherical linkage mechanisms of the embodiment of the present invention one The part of minor structure forms and plane outspread drawing.

Fig. 1-2, Fig. 1-3 are the fully unfolded position of the box-shaped structure of the specific embodiment of the invention one respectively and fold completely The schematic diagram of state.The structure fully unfolded position is using square the bottom of as, and the high box-shaped structure in bottom edge side length is rolled over completely Overlapping state is square planar structure.

Fig. 1-4 to Fig. 1-7 indicates the structure by the fold sequence schematic diagram of fully unfolded position to completely folded state, figure 1-4 indicates fully unfolded position, and Fig. 1-5 and Fig. 1-6 indicate to fold intermediate state, and Fig. 1-7 indicates completely folded state.

Fig. 2-1 is a kind of symmetrical telescopic box in face being composed of different spherical linkage mechanisms of the embodiment of the present invention two The part of minor structure forms and plane outspread drawing.

Fig. 2-2, Fig. 2-3 are the fully unfolded position of the box-shaped structure of the specific embodiment of the invention two respectively and fold completely The schematic diagram of state.The structure fully unfolded position is using square the bottom of as, and height is less than the box-shaped structure of bottom edge side length, is rolled over completely Overlapping state is polygon plane structure.

Fig. 2-4 to Fig. 2-7 indicates the structure by the fold sequence schematic diagram of fully unfolded position to completely folded state, figure 2-4 indicates fully unfolded position, and Fig. 2-5 and Fig. 2-6 indicate to fold intermediate state, and Fig. 2-7 indicates completely folded state.

Fig. 3-1 is a kind of symmetrical telescopic box in face being composed of different spherical linkage mechanisms of the embodiment of the present invention three The part of minor structure forms and plane outspread drawing.

Fig. 3-2, Fig. 3-3 are the fully unfolded position of the box-shaped structure of the specific embodiment of the invention three respectively and fold completely The schematic diagram of state.The structure fully unfolded position is the tall and big box-shaped structure in bottom edge side length using water chestnut the bottom of as, complete rugosity State is polygon plane structure.

Fig. 3-4 to Fig. 3-7 indicates the structure by the fold sequence schematic diagram of fully unfolded position to completely folded state, figure 3-4 indicates fully unfolded position, and Fig. 3-5 and Fig. 3-6 indicate to fold intermediate state, and Fig. 3-7 indicates completely folded state.

Fig. 4-1 is a kind of symmetrical telescopic box in face being composed of different spherical linkage mechanisms of the embodiment of the present invention four The part of minor structure forms and plane outspread drawing.

Fig. 4-2, Fig. 4-3 are the fully unfolded position of the box-shaped structure of the specific embodiment of the invention three respectively and fold completely The schematic diagram of state.The structure fully unfolded position is using diamond shape the bottom of as, and height is less than the box-shaped structure of bottom edge side length, is folded completely State is polygon plane structure.

Fig. 4-4 to Fig. 4-7 indicates the structure by the fold sequence schematic diagram of fully unfolded position to completely folded state, figure 4-4 indicates fully unfolded position, and Fig. 4-5 and Fig. 4-6 indicate to fold intermediate state, and Fig. 4-7 indicates completely folded state.

Appended drawing reference:

For embodiment one:

The first face A1-, the second face A2-, A3- third face, A4- fourth face, the 5th face A5-, the 6th face A6-, A7- the 7th Face, A8- octahedral, the 9th face A9-, the tenth face A10-；

The first revolute pair of M1-, the second revolute pair of M2-, M3- third revolute pair, the 4th revolute pair of M4-, M5- the 5th are rotated Pair, the 6th revolute pair of M6-, the 7th revolute pair of M7-, the 8th revolute pair of M8-, the 9th revolute pair of M9-, the tenth revolute pair of M10-, The 11st revolute pair of M11-, the 12nd revolute pair of M12-, the 13rd revolute pair of M13-；

The first connection side in the first face A1L1-；The second connection side in the first face A1L2-；The third in the first face A1L3- connects Side；

The first connection side in the second face A2L1-；The second connection side in the second face A2L2-；The third in the second face A2L3- connects Side；

The first connection side in A3L1- third face；The second connection side in A3L2- third face；The third in A3L3- third face connects Side；

First connection side of A4L1- fourth face；The third of A4L3- fourth face connects side；

The first connection side in the 5th face A5L1-；The third in the 5th face A5L3- connects side；

The first connection side in the 6th face A6L1-；The second connection side in the 6th face A6L2-；The third in the 6th face A6L3- connects Side；

The first connection side in the 7th face A7L1-；The second connection side in the 7th face A7L2-；

First connection side of A8L1- octahedral；Second connection side of A8L2- octahedral；The third of A8L3- octahedral connects Side；

The first connection side in the 9th face A9L1-；The second connection side in the 9th face A9L2-；The third in the 9th face A9L3- connects Side；

The first connection side in the tenth face A10L1-；The second connection side in the tenth face A10L2-；

For embodiment two:

The first face B1-, the second face B2-, B3- third face, B4- fourth face, the 5th face B5-, the 6th face B6-, B7- the 7th Face, B8- octahedral, the 9th face B9-, the tenth face B10-；

The first revolute pair of N1-, the second revolute pair of N2-, N3- third revolute pair, the 4th revolute pair of N4-, N5- the 5th are rotated Pair, the 6th revolute pair of N6-, the 7th revolute pair of N7-, the 8th revolute pair of N8-, the 9th revolute pair of N9-, the tenth revolute pair of N10-, The 11st revolute pair of N11-, the 12nd revolute pair of N12-, the 13rd revolute pair of N13-；

The first connection side in the first face B1L1-；The second connection side in the first face B1L2-；The third in the first face B1L3- connects Side；

The first connection side in the second face B2L1-；The second connection side in the second face B2L2-；The third in the second face B2L3- connects Side；

The first connection side in B3L1- third face；The second connection side in B3L2- third face；The third in B3L3- third face connects Side；

First connection side of B4L1- fourth face；The third of B4L3- fourth face connects side；

The first connection side in the 5th face B5L1-；The third in the 5th face B5L3- connects side；

The first connection side in the 6th face B6L1-；The second connection side in the 6th face B6L2-；The third in the 6th face B6L3- connects Side；

The first connection side in the 7th face B7L1-；The second connection side in the 7th face B7L2-；

First connection side of B8L1- octahedral；Second connection side of B8L2- octahedral；The third of B8L3- octahedral connects Side；

The first connection side in the 9th face B9L1-；The second connection side in the 9th face B9L2-；The third in the 9th face B9L3- connects Side；

The first connection side in the tenth face B10L1-；The second connection side in the tenth face B10L2-；

For embodiment three:

The first face C1-, the second face C2-, C3- third face, C4- fourth face, the 5th face C5-, the 6th face C6-, C7- the 7th Face, C8- octahedral, the 9th face C9-, the tenth face C10-；

The first revolute pair of P1-, the second revolute pair of P2-, P3- third revolute pair, the 4th revolute pair of P4-, P5- the 5th are rotated Pair, the 6th revolute pair of P6-, the 7th revolute pair of P7-, the 8th revolute pair of P8-, the 9th revolute pair of P9-, the tenth revolute pair of P10-, The 11st revolute pair of P11-, the 12nd revolute pair of P12-, the 13rd revolute pair of P13-；

The first connection side in the first face C1L1-；The second connection side in the first face C1L2-；The third in the first face C1L3- connects Side；

The first connection side in the second face C2L1-；The second connection side in the second face C2L2-；The third in the second face C2L3- connects Side；

The first connection side in C3L1- third face；The second connection side in C3L2- third face；The third in C3L3- third face connects Side；

First connection side of C4L1- fourth face；The third of C4L3- fourth face connects side；

The first connection side in the 5th face C5L1-；The third in the 5th face C5L3- connects side；

The first connection side in the 6th face C6L1-；The second connection side in the 6th face C6L2-；The third in the 6th face C6L3- connects Side；

The first connection side in the 7th face C7L1-；The second connection side in the 7th face C7L2-；

First connection side of C8L1- octahedral；Second connection side of C8L2- octahedral；The third of C8L3- octahedral connects Side；

The first connection side in the 9th face C9L1-；The second connection side in the 9th face C9L2-；The third in the 9th face C9L3- connects Side；

The first connection side in the tenth face C10L1-；The second connection side in the tenth face C10L2-；

For example IV:

The first face D1-, the second face D2-, D3- third face, D4- fourth face, the 5th face D5-, the 6th face D6-, D7- the 7th Face, D8- octahedral, the 9th face D9-, the tenth face D10-；

The first revolute pair of Q1-, the second revolute pair of Q2-, Q3- third revolute pair, the 4th revolute pair of Q4-, Q5- the 5th are rotated Pair, the 6th revolute pair of Q6-, the 7th revolute pair of Q7-, the 8th revolute pair of Q8-, the 9th revolute pair of Q9-, the tenth revolute pair of Q10-, The 11st revolute pair of Q11-, the 12nd revolute pair of Q12-, the 13rd revolute pair of Q13-；

The first connection side in the first face D1L1-；The second connection side in the first face D1L2-；The third in the first face D1L3- connects Side；

The first connection side in the second face D2L1-；The second connection side in the second face D2L2-；The third in the second face D2L3- connects Side；

The first connection side in D3L1- third face；The second connection side in D3L2- third face；The third in D3L3- third face connects Side；

First connection side of D4L1- fourth face；The third of D4L3- fourth face connects side；

The first connection side in the 5th face D5L1-；The third in the 5th face D5L3- connects side；

The first connection side in the 6th face D6L1-；The second connection side in the 6th face D6L2-；The third in the 6th face D6L3- connects Side；

The first connection side in the 7th face D7L1-；The second connection side in the 7th face D7L2-；

First connection side of D8L1- octahedral；Second connection side of D8L2- octahedral；The third of D8L3- octahedral connects Side；

The first connection side in the 9th face D9L1-；The second connection side in the 9th face D9L2-；The third in the 9th face D9L3- connects Side；

The first connection side in the tenth face D10L1-；The second connection side in the tenth face D10L2-；

Specific embodiment

For that can further appreciate that the contents of the present invention, feature and effect, the following examples are hereby given, and cooperates attached drawing detailed It is described as follows:

Embodiment one

As Figure 1-1, structure shown in the figure be a kind of combined by different spherical linkage mechanisms provided in this embodiment and At the symmetrical telescopic box-shaped structure in face part composition and plane outspread drawing.Including 10 faces, respectively the first face A1, second Face A2, third face A3, fourth face A4, the 5th face A5, the 6th face A6, the 7th face A7, octahedral A8, the 9th face A9, the tenth face A10, wherein the first face A1, the second face A2, third face A3, fourth face A4, the 5th face A5, the 6th face A6, the 7th face A7, octahedral A8, the 9th face A9, the tenth face A10 are identical isosceles right triangle.

First face first A2L1 when A1L1 is with the second face the first is adjacent and is connected with each other by the first revolute pair M1, first Face A1 can rotate up to along the first revolute pair M1 axis to box outside direction Chong Die with the second face A2；Second face third side A2L3 is adjacent with third face third side A3L3 and is connected with each other by the second revolute pair M2, and the second face A2 can be along second rotation Secondary M2 axis direction into box rotates up to Chong Die with third face A3；First face second A6L3 in A1L2 and the 6th face third It is adjacent and by third revolute pair M3 be connected with each other, the first face A1 can along the third revolute pair M3 axis into box direction turn It moves until Chong Die with the 6th face A6；First face third A8L2 when A1L3 is with octahedral the second is adjacent and passes through the 4th revolute pair M4 It is connected with each other, the first face A1 can rotate up to Chong Die with octahedral A8 along the 4th revolute pair M4 axis direction into box； Second face second A9L2 when A2L2 is with nine faces the second is adjacent and is connected with each other by the 5th revolute pair M5, and the second face A2 can edge 5th revolute pair M5 axis direction into box rotates up to Chong Die with the 9th face A9；Third face the first side A3L1 and the 4th The first side of face A4L1 is adjacent and is connected with each other by the 6th revolute pair M6, and third face A3 can be first along the 6th revolute pair M6 axis It is rotated up to behind direction to box outside direction into box coplanar with fourth face A4；Fourth face third side A4L3 and the 5th face third Side A5L3 is adjacent and is connected with each other by the 7th revolute pair M7, and fourth face A4 can be along the 7th revolute pair M7 axis into box Direction rotates up to Chong Die with the 5th face A5；5th face first A6L1 when A5L1 is with six faces the first is adjacent and passes through eight revolution Dynamic secondary M8 is connected with each other, and the 5th face A5 can first turn behind direction to box outside direction into box along the 8th revolute pair M8 axis It moves until coplanar with the 6th face A6；6th face second A7L2 when A6L2 is with seven faces the second is adjacent and passes through the 9th revolute pair M9 It is connected with each other, the 6th face A6 can rotate up to Chong Die with the 7th face A7 along the 9th revolute pair M9 axis direction into box； 7th face first A8L1 when A7L1 is with octahedral the first is adjacent and is connected with each other by the tenth revolute pair M10, the 7th face A7 energy It rotates up to along the tenth revolute pair M10 axis to box outside direction Chong Die with octahedral A8；Octahedral third side A8L3 with 9th face third side A9L3 is adjacent and is connected with each other by the 11st revolute pair M11, and octahedral A8 can be along the 11st rotation Secondary M11 axis direction into box rotates up to Chong Die with the 9th face A9；9th face first is in A9L1 and ten faces the first A10L1 it is adjacent and by the 12nd revolute pair M12 be connected with each other, the 9th face A9 can along the 12nd revolute pair M12 axis to Box outside direction rotates up to Chong Die with the tenth face A10；When A10L2 is with third face the second, A3L2 is adjacent and leads in tenth face second The 13rd revolute pair M13 interconnection is crossed, the tenth face A10 can direction turns into box along the 13rd revolute pair M13 axis It moves until Chong Die with third face A3.

The tenth face A10, third face A3, the second face A2, the 9th face A9 head and the tail are successively by the connected structure of M13, M2, M5, M12 At the first spherical surface four-bar mechanism, the 9th face A9, the second face A2, the first face A1, octahedral A8 head and the tail successively by M5, M1, M4, M11, which is connected, constitutes the second spherical surface four-bar mechanism, the first face A1, the 6th face A6, the 7th face A7, octahedral A8 head and the tail successively by M3, M9, M10, M4, which are connected, constitutes third spherical surface four-bar mechanism, the first face A1, the second face A2, third face A3, fourth face A4, the Five face A5, the 6th face A6 head and the tail, which are successively connected by M1, M2, M6, M7, M8, M3, constitutes the first spherical surface six bar mechanism.

The first spherical surface four-bar mechanism and the second spherical surface four-bar mechanism share the 5th revolute pair M5, and second Spherical surface four-bar mechanism and third spherical surface four-bar mechanism share the 4th revolute pair M4, third spherical surface four-bar mechanism with First spherical surface six bar mechanism shares the third revolute pair M3, the first spherical surface six bar mechanism and the first spherical surface double leval jib machine Structure shares the second revolute pair M2, and the first spherical surface six bar mechanism and the second spherical surface four-bar mechanism share described first Revolute pair M1.

The whole folding of the structure be unfolded around perpendicular to box bottom surface and the datum level that is overlapped with the first revolute pair It is moved.When folding, the 5th face A5 and the 6th face A6 do counter-clockwise rotary motion around datum level, until the 5th face A5 and the 6th After face A6 is coplanar, space structure becomes as planar structure, therewith, the upper table of the 5th face A5 and the 6th face A6 composition planar structure Face.When folding, third face A3 and fourth face A4 do clockwise rotation around datum level, until third face A3 and fourth face A4 is total Behind face, space structure becomes as planar structure, therewith, the lower surface of third face A3 and fourth face A4 composition planar structure.First Face A1 and the second face A2, fourth face A4 and the 5th face A5, third face A3 and the 6th face A6, octahedral A8 and the 9th face A9, the 7th It is in face symmetric relation that the movement of face A7 and the tenth face A10, which are based on datum level,.

According to the connection type and its rotation direction in above-mentioned face, unfolded state be using square the bottom of as, it is high in bottom edge side Long box-shaped structure is foldable to square-shaped planar structure, as shown in Figs. 1-3 as shown in Figs. 1-2.Folding process and sequence are such as Shown in Fig. 1-4 to Fig. 1-7, Fig. 1-4 indicates fully unfolded position, and Fig. 1-5 and Fig. 1-6 indicate to fold intermediate state, and Fig. 1-7 is indicated Completely folded state.

As it can be seen that as long as above-mentioned box-shaped structure meets above-mentioned constraint condition, as long as meeting the connection type of revolute pair.It can Reach the present invention claims folding open up effect, structure type and folding exhibition mode not by fold unit specific structure influenced.Institute Stating revolute pair is hinge, hinge or bearing；The length of the revolute pair is unlimited, constitutes revolute pair.Each unit Composition face is plane, curved surface, or the face to be spliced by several faces；It is arranged according to demand on the composition face of each unit There is the cavity of arbitrary shape.The outer contour of each unit is straight line, curve or broken line.Telescopic box-shaped structure of the present invention Not have forked structure in motion process, freedom degree 1 can be by being arranged single driving to complete telescopic box-shaped structure Folding and expansion.Since box-shaped structure proposed by the invention has the single degree of freedom, folding ratio rate is big, and cellular construction is simple Function, therefore have the advantages that installation is simple and convenient to operate, is easy to transport etc., particularly suitable in packaging, storage, soil Timber structure and aerospace etc. are applied in fields.

Embodiment two

As shown in Fig. 2-1, structure shown in the figure be a kind of combined by different spherical linkage mechanisms provided in this embodiment and At the symmetrical telescopic box-shaped structure in face part composition and plane outspread drawing.Including 10 units, respectively the first face B1, Two face B2, third face B3, fourth face B4, the 5th face B5, the 6th face B6, the 7th face B7, octahedral B8, the 9th face B9, the tenth face B10, wherein the first face B1 and the second face B2 be identical isosceles right triangle, third face B3, fourth face B4, the 5th face B5 and 6th face B6 is identical right angled triangle, and octahedral B8 and the 9th face B9 are identical right-angled trapezium, the 7th face B7 and the tenth Face B10 is identical isosceles right triangle, right-angle side side length of the right-angle side side length less than the first face B1 or the second face B2.

First face first B2L1 when B1L1 is with the second face the first is adjacent and is connected with each other by the first revolute pair N1, first Face B1 can rotate up to along the first revolute pair N1 axis to box outside direction Chong Die with the second face B2；Second face third side B2L3 is adjacent with third face third side B3L3 and is connected with each other by the second revolute pair N2, and the second face B2 can be along second rotation Secondary N2 axis direction into box rotates up to Chong Die with third face B3；First face second B6L3 in B1L2 and the 6th face third It is adjacent and by third revolute pair N3 be connected with each other, the first face B1 can along the third revolute pair N3 axis into box direction turn It moves until Chong Die with the 6th face B6；First face third B8L2 when B1L3 is with octahedral the second is adjacent and passes through the 4th revolute pair N4 It is connected with each other, the first face B1 can rotate up to Chong Die with octahedral B8 along the 4th revolute pair N4 axis direction into box； Second face second B9L2 when B2L2 is with nine faces the second is adjacent and is connected with each other by the 5th revolute pair N5, and the second face B2 can edge 5th revolute pair N5 axis direction into box rotates up to Chong Die with the 9th face B9；Third face the first side B3L1 and the 4th The first side of face B4L1 is adjacent and is connected with each other by the 6th revolute pair N6, and third face B3 can be first along the 6th revolute pair N6 axis It is rotated up to behind direction to box outside direction into box coplanar with fourth face B4；Fourth face third side B4L3 and the 5th face third Side B5L3 is adjacent and is connected with each other by the 7th revolute pair N7, and fourth face B4 can be along the 7th revolute pair N7 axis into box Direction rotates up to Chong Die with the 5th face B5；5th face first B6L1 when B5L1 is with six faces the first is adjacent and passes through eight revolution Dynamic secondary N8 is connected with each other, and the 5th face B5 can first turn behind direction to box outside direction into box along the 8th revolute pair N8 axis It moves until coplanar with the 6th face B6；6th face second B7L2 when B6L2 is with seven faces the second is adjacent and passes through the 9th revolute pair N9 It is connected with each other, the 6th face B6 can rotate up to Chong Die with the 7th face B7 along the 9th revolute pair N9 axis direction into box； 7th face first B8L1 when B7L1 is with octahedral the first is adjacent and is connected with each other by the tenth revolute pair N10, the 7th face B7 energy It rotates up to along the tenth revolute pair N10 axis to box outside direction Chong Die with octahedral B8；Octahedral third side B8L3 with 9th face third side B9L3 is adjacent and is connected with each other by the 11st revolute pair N11, and octahedral B8 can be along the 11st rotation Secondary N11 axis direction into box rotates up to Chong Die with the 9th face B9；9th face first is in B9L1 and ten faces the first B10L1 it is adjacent and by the 12nd revolute pair N12 be connected with each other, the 9th face B9 can along the 12nd revolute pair N12 axis to Box outside direction rotates up to Chong Die with the tenth face B10；When B10L2 is with third face the second, B3L2 is adjacent and leads in tenth face second The 13rd revolute pair N13 interconnection is crossed, the tenth face B10 can direction turns into box along the 13rd revolute pair N13 axis It moves until Chong Die with third face B3.

The tenth face B10, third face B3, the second face B2, the 9th face B9 head and the tail are successively by the connected structure of N13, N2, N5, N12 At the first spherical surface four-bar mechanism, the 9th face B9, the second face B2, the first face B1, octahedral B8 head and the tail successively by N5, N1, N4, N11, which is connected, constitutes the second spherical surface four-bar mechanism, the first face B1, the 6th face B6, the 7th face B7, octahedral B8 head and the tail successively by N3, N9, N10, N4, which are connected, constitutes third spherical surface four-bar mechanism, the first face B1, the second face B2, third face B3, fourth face B4, the Five face B5, the 6th face B6 head and the tail, which are successively connected by N1, N2, N6, N7, N8, N3, constitutes the first spherical surface six bar mechanism.

The first spherical surface four-bar mechanism and the second spherical surface four-bar mechanism share the 5th revolute pair N5, and second Spherical surface four-bar mechanism and third spherical surface four-bar mechanism share the 4th revolute pair N4, third spherical surface four-bar mechanism with First spherical surface six bar mechanism shares the third revolute pair N3, the first spherical surface six bar mechanism and the first spherical surface double leval jib machine Structure shares the second revolute pair N2, and the first spherical surface six bar mechanism and the second spherical surface four-bar mechanism share described first Revolute pair N1.

The whole folding of the structure be unfolded around perpendicular to box bottom surface and the datum level that is overlapped with the first revolute pair It is moved.When folding, the 5th face B5 and the 6th face B6 do counter-clockwise rotary motion around datum level, until the 5th face B5 and the 6th After face B6 is coplanar, space structure becomes as planar structure, therewith, the upper table of the 5th face B5 and the 6th face B6 composition planar structure Face.When folding, third face B3 and fourth face B4 do clockwise rotation around datum level, until third face B3 and fourth face B4 is total Behind face, space structure becomes as planar structure, therewith, the lower surface of third face B3 and fourth face B4 composition planar structure.First Face B1 and the second face B2, fourth face B4 and the 5th face B5, third face B3 and the 6th face B6, octahedral B8 and the 9th face B9, the 7th It is in face symmetric relation that the movement of face B7 and the tenth face B10, which are based on datum level,.

According to the connection type and its rotation direction in above-mentioned face, unfolded state is using square the bottom of as, and height is less than bottom edge side Long box-shaped structure is foldable to polygon plane structure, as Figure 2-3 as shown in Fig. 2-2.Folding process and sequence are such as Shown in Fig. 2-4 to Fig. 2-7, Fig. 2-4 indicates fully unfolded position, and Fig. 2-5 and Fig. 2-6 indicate to fold intermediate state, and Fig. 2-7 is indicated Completely folded state.

Embodiment three

As shown in figure 3-1, structure shown in the figure be a kind of combined by different spherical linkage mechanisms provided in this embodiment and At the symmetrical telescopic box-shaped structure in face part composition and plane outspread drawing.Including 10 units, respectively the first face C1, Two face C2, third face C3, fourth face C4, the 5th face C5, the 6th face C6, the 7th face C7, octahedral C8, the 9th face C9, the tenth face C10, wherein the first face C1 and the second face C2 is identical isosceles triangle, third face C3, fourth face C4, the 5th face C5, the 6th Face C6, the 7th face C7, octahedral C8, the 9th face C9 and the tenth face C10 are identical right angled triangle.

First face first C2L1 when C1L1 is with the second face the first is adjacent and is connected with each other by the first revolute pair P1, first Face C1 can rotate up to along the first revolute pair P1 axis to box outside direction Chong Die with the second face C2；Second face third side C2L3 is adjacent with third face third side C3L3 and is connected with each other by the second revolute pair P2, and the second face C2 can be along second rotation Secondary P2 axis direction into box rotates up to Chong Die with third face C3；First face second C6L3 in C1L2 and the 6th face third It is adjacent and by third revolute pair P3 be connected with each other, the first face C1 can along the third revolute pair P3 axis into box direction turn It moves until Chong Die with the 6th face C6；First face third C8L2 when C1L3 is with octahedral the second is adjacent and passes through the 4th revolute pair P4 It is connected with each other, the first face C1 can rotate up to Chong Die with octahedral C8 along the 4th revolute pair P4 axis direction into box； Second face second C9L2 when C2L2 is with nine faces the second is adjacent and is connected with each other by the 5th revolute pair P5, and the second face C2 can edge 5th revolute pair P5 axis direction into box rotates up to Chong Die with the 9th face C9；Third face the first side C3L1 and the 4th The first side of face C4L1 is adjacent and is connected with each other by the 6th revolute pair P6, and third face C3 can be first along the 6th revolute pair P6 axis It is rotated up to behind direction to box outside direction into box coplanar with fourth face C4；Fourth face third side C4L3 and the 5th face third Side C5L3 is adjacent and is connected with each other by the 7th revolute pair P7, and fourth face C4 can be along the 7th revolute pair P7 axis into box Direction rotates up to Chong Die with the 5th face C5；5th face first C6L1 when C5L1 is with six faces the first is adjacent and passes through eight revolution Dynamic secondary P8 is connected with each other, and the 5th face C5 can first turn behind direction to box outside direction into box along the 8th revolute pair P8 axis It moves until coplanar with the 6th face C6；6th face second C7L2 when C6L2 is with seven faces the second is adjacent and passes through the 9th revolute pair P9 It is connected with each other, the 6th face C6 can rotate up to Chong Die with the 7th face C7 along the 9th revolute pair P9 axis direction into box； 7th face first C8L1 when C7L1 is with octahedral the first is adjacent and is connected with each other by the tenth revolute pair P10, the 7th face C7 energy It rotates up to along the tenth revolute pair P10 axis to box outside direction Chong Die with octahedral C8；Octahedral third side C8L3 with 9th face third side C9L3 is adjacent and is connected with each other by the 11st revolute pair P11, and octahedral C8 can be along the 11st rotation Secondary P11 axis direction into box rotates up to Chong Die with the 9th face C9；9th face first is in C9L1 and ten faces the first C10L1 it is adjacent and by the 12nd revolute pair P12 be connected with each other, the 9th face C9 can along the 12nd revolute pair P12 axis to Box outside direction rotates up to Chong Die with the tenth face C10；When C10L2 is with third face the second, C3L2 is adjacent and leads in tenth face second The 13rd revolute pair P13 interconnection is crossed, the tenth face C10 can direction turns into box along the 13rd revolute pair P13 axis It moves until Chong Die with third face C3.

The tenth face C10, third face C3, the second face C2, the 9th face C9 head and the tail are successively by the connected structure of P13, P2, P5, P12 At the first spherical surface four-bar mechanism, the 9th face C9, the second face C2, the first face C1, octahedral C8 head and the tail successively by P5, P1, P4, P11, which is connected, constitutes the second spherical surface four-bar mechanism, the first face C1, the 6th face C6, the 7th face C7, octahedral C8 head and the tail successively by P3, P9, P10, P4, which are connected, constitutes third spherical surface four-bar mechanism, the first face C1, the second face C2, third face C3, fourth face C4, the Five face C5, the 6th face C6 head and the tail, which are successively connected by P1, P2, P6, P7, P8, P3, constitutes the first spherical surface six bar mechanism.

The first spherical surface four-bar mechanism and the second spherical surface four-bar mechanism share the 5th revolute pair P5, and second Spherical surface four-bar mechanism and third spherical surface four-bar mechanism share the 4th revolute pair P4, third spherical surface four-bar mechanism with First spherical surface six bar mechanism shares the third revolute pair P3, the first spherical surface six bar mechanism and the first spherical surface double leval jib machine Structure shares the second revolute pair P2, and the first spherical surface six bar mechanism and the second spherical surface four-bar mechanism share described first Revolute pair P1.

The whole folding of the structure be unfolded around perpendicular to box bottom surface and the datum level that is overlapped with the first revolute pair It is moved.When folding, the 5th face C5 and the 6th face C6 do counter-clockwise rotary motion around datum level, until the 5th face C5 and the 6th After face C6 is coplanar, space structure becomes as planar structure, therewith, the upper table of the 5th face C5 and the 6th face C6 composition planar structure Face.When folding, third face C3 and fourth face C4 do clockwise rotation around datum level, until third face C3 and fourth face C4 is total Behind face, space structure becomes as planar structure, therewith, the lower surface of third face C3 and fourth face C4 composition planar structure.First Face C1 and the second face C2, fourth face C4 and the 5th face C5, third face C3 and the 6th face C6, octahedral C8 and the 9th face C9, the 7th It is in face symmetric relation that the movement of face C7 and the tenth face C10, which are based on datum level,.

According to the connection type and its rotation direction in above-mentioned face, unfolded state be using diamond shape the bottom of as, it is tall and big in bottom edge side length Box-shaped structure polygon plane structure is foldable to, as shown in Fig. 3-3 as shown in figure 3-2.Folding process and sequence are as schemed Shown in 3-4 to Fig. 3-7, Fig. 3-4 indicates fully unfolded position, and Fig. 3-5 and Fig. 3-6 indicate to fold intermediate state, and Fig. 3-7 has been indicated Full folded state.

Example IV

As shown in Fig. 4-1, structure shown in the figure be a kind of combined by different spherical linkage mechanisms provided in this embodiment and At the symmetrical telescopic box-shaped structure in face part composition and plane outspread drawing.Including 10 units, respectively the first face D1, Two face D2, third face D3, fourth face D4, the 5th face D5, the 6th face D6, the 7th face D7, octahedral D8, the 9th face D9, the tenth face D10, wherein the first face D1 and the second face D2 is identical isosceles triangle, third face D3, fourth face D4, the 5th face D5, the 6th Face D6, the 7th face D7, octahedral D8, the 9th face D9 and the tenth face D10 are identical right angled triangle.

First face first D2L1 when D1L1 is with the second face the first is adjacent and is connected with each other by the first revolute pair Q1, first Face D1 can rotate up to along the first revolute pair Q1 axis to box outside direction Chong Die with the second face D2；Second face third side D2L3 is adjacent with third face third side D3L3 and is connected with each other by the second revolute pair Q2, and the second face D2 can be along second rotation Secondary Q2 axis direction into box rotates up to Chong Die with third face D3；First face second D6L3 in D1L2 and the 6th face third It is adjacent and by third revolute pair Q3 be connected with each other, the first face D1 can along the third revolute pair Q3 axis into box direction turn It moves until Chong Die with the 6th face D6；First face third D8L2 when D1L3 is with octahedral the second is adjacent and passes through the 4th revolute pair Q4 It is connected with each other, the first face D1 can rotate up to Chong Die with octahedral D8 along the 4th revolute pair Q4 axis direction into box； Second face second D9L2 when D2L2 is with nine faces the second is adjacent and is connected with each other by the 5th revolute pair Q5, and the second face D2 can edge 5th revolute pair Q5 axis direction into box rotates up to Chong Die with the 9th face D9；Third face the first side D3L1 and the 4th The first side of face D4L1 is adjacent and is connected with each other by the 6th revolute pair Q6, and third face D3 can be first along the 6th revolute pair Q6 axis It is rotated up to behind direction to box outside direction into box coplanar with fourth face D4；Fourth face third side D4L3 and the 5th face third Side D5L3 is adjacent and is connected with each other by the 7th revolute pair Q7, and fourth face D4 can be along the 7th revolute pair Q7 axis into box Direction rotates up to Chong Die with the 5th face D5；5th face first D6L1 when D5L1 is with six faces the first is adjacent and passes through eight revolution Dynamic secondary Q8 is connected with each other, and the 5th face D5 can first turn behind direction to box outside direction into box along the 8th revolute pair Q8 axis It moves until coplanar with the 6th face D6；6th face second D7L2 when D6L2 is with seven faces the second is adjacent and passes through the 9th revolute pair Q9 It is connected with each other, the 6th face D6 can rotate up to Chong Die with the 7th face D7 along the 9th revolute pair Q9 axis direction into box； 7th face first D8L1 when D7L1 is with octahedral the first is adjacent and is connected with each other by the tenth revolute pair Q10, the 7th face D7 energy It rotates up to along the tenth revolute pair Q10 axis to box outside direction Chong Die with octahedral D8；Octahedral third side D8L3 with 9th face third side D9L3 is adjacent and is connected with each other by the 11st revolute pair Q11, and octahedral D8 can be along the 11st rotation Secondary Q11 axis direction into box rotates up to Chong Die with the 9th face D9；9th face first is in D9L1 and ten faces the first D10L1 it is adjacent and by the 12nd revolute pair Q12 be connected with each other, the 9th face D9 can along the 12nd revolute pair Q12 axis to Box outside direction rotates up to Chong Die with the tenth face D10；When D10L2 is with third face the second, D3L2 is adjacent and leads in tenth face second The 13rd revolute pair Q13 interconnection is crossed, the tenth face D10 can direction turns into box along the 13rd revolute pair Q13 axis It moves until Chong Die with third face D3.

The tenth face D10, third face D3, the second face D2, the 9th face D9 head and the tail are successively by the connected structure of Q13, Q2, Q5, Q12 At the first spherical surface four-bar mechanism, the 9th face D9, the second face D2, the first face D1, octahedral D8 head and the tail successively by Q5, Q1, Q4, Q11, which is connected, constitutes the second spherical surface four-bar mechanism, the first face D1, the 6th face D6, the 7th face D7, octahedral D8 head and the tail successively by Q3, Q9, Q10, Q4, which are connected, constitutes third spherical surface four-bar mechanism, the first face D1, the second face D2, third face D3, fourth face D4, the Five face D5, the 6th face D6 head and the tail, which are successively connected by Q1, Q2, Q6, Q7, Q8, Q3, constitutes the first spherical surface six bar mechanism.

The first spherical surface four-bar mechanism and the second spherical surface four-bar mechanism share the 5th revolute pair Q5, and second Spherical surface four-bar mechanism and third spherical surface four-bar mechanism share the 4th revolute pair Q4, third spherical surface four-bar mechanism with First spherical surface six bar mechanism shares the third revolute pair Q3, the first spherical surface six bar mechanism and the first spherical surface double leval jib machine Structure shares the second revolute pair Q2, and the first spherical surface six bar mechanism and the second spherical surface four-bar mechanism share described first Revolute pair Q1.

The whole folding of the structure be unfolded around perpendicular to box bottom surface and the datum level that is overlapped with the first revolute pair It is moved.When folding, the 5th face D5 and the 6th face D6 do counter-clockwise rotary motion around datum level, until the 5th face D5 and the 6th After face D6 is coplanar, space structure becomes as planar structure, therewith, the upper table of the 5th face D5 and the 6th face D6 composition planar structure Face.When folding, third face D3 and fourth face D4 do clockwise rotation around datum level, until third face D3 and fourth face D4 is total Behind face, space structure becomes as planar structure, therewith, the lower surface of third face D3 and fourth face D4 composition planar structure.First Face D1 and the second face D2, fourth face D4 and the 5th face D5, third face D3 and the 6th face D6, octahedral D8 and the 9th face D9, the 7th It is in face symmetric relation that the movement of face D7 and the tenth face D10, which are based on datum level,.

According to the connection type and its rotation direction in above-mentioned face, unfolded state is using diamond shape the bottom of as, and height is less than bottom edge side length Box-shaped structure polygon plane structure is foldable to, as shown in Fig. 4-3 as shown in the Fig. 4-2.Folding process and sequence are as schemed Shown in 4-4 to Fig. 4-7, Fig. 4-4 indicates fully unfolded position, and Fig. 4-5 and Fig. 4-6 indicate to fold intermediate state, and Fig. 4-7 has been indicated Full folded state.

Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited to upper The specific embodiment stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common Technical staff under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, may be used also By make it is many in the form of, within these are all belonged to the scope of protection of the present invention.

Claims

1. a kind of symmetrical telescopic box-shaped structure in single-degree-of-freedom face, which is characterized in that including ten faces, be followed successively by the first face, Second face, third face, fourth face, the 5th face, the 6th face, the 7th face, octahedral, the 9th face, the tenth face；First face and Two faces be connected as telescopic box-shaped structure bottom and in the middle part of being placed in, the third face, fourth face, the 5th face, the 6th face, the Seven faces, octahedral, the 9th face, the tenth face are placed in above first face and the second face and are sequentially connected end to end in turn and with described first Face is connected with the four edges for the bottom surface that the second face forms；

First face first is adjacent while with the second face the first and is connected with each other by the first revolute pair, and the first face can be along described First revolute pair axis rotates up to Chong Die with the second face to box outside direction；Second face third is while with third face third It is adjacent and by the second revolute pair be connected with each other, the second face can be rotated up to along the second revolute pair axis direction into box It is Chong Die with third face；First face second is adjacent while with the 6th face third and is connected with each other by third revolute pair, first Face can rotate up to Chong Die with the 6th face along third revolute pair axis direction into box；The first face third Bian Yu The second side of octahedral is adjacent and is connected with each other by the 4th revolute pair, and the first face can be square into box along the 4th revolute pair axis It is Chong Die with octahedral to rotating up to；Second face second is adjacent while with nine faces the second and mutual by the 5th revolute pair Connection, the second face can rotate up to Chong Die with the 9th face along the 5th revolute pair axis direction into box；The third face First it is adjacent while with fourth face the first and by the 6th revolute pair be connected with each other, third face can be along the 6th revolute pair axis It is first rotated up to behind direction to box outside direction into box coplanar with fourth face；Fourth face third side and the 5th face third Side is adjacent and is connected with each other by the 7th revolute pair, and fourth face can into box, direction rotation be straight along the 7th revolute pair axis It is extremely Chong Die with the 5th face；5th face first is adjacent while with six faces the first and is connected with each other by the 8th revolute pair, the Five faces can be moved along the eight revolution secondary axis first rotated up to behind direction to box outside direction into box it is coplanar with the 6th face；Institute State the 6th face second it is adjacent while with seven faces the second and by the 9th revolute pair be connected with each other, the 6th face can be along described 9th turn Dynamic secondary axis direction into box rotates up to Chong Die with the 7th face；7th face the first side of the first Bian Yu octahedral is adjacent simultaneously It is connected with each other by the tenth revolute pair, the 7th face can rotate up to and the 8th along the tenth revolute pair axis to box outside direction Face overlapping；The octahedral third is adjacent while with the 9th face third and is connected with each other by the 11st revolute pair, octahedral energy It is rotated up to along the 11st revolute pair axis direction into box Chong Die with the 9th face；The first side of 9th face and the tenth The first side of face is adjacent and is connected with each other by the 12nd revolute pair, and the 9th face can be along the 12nd revolute pair axis to outside box Direction rotates up to Chong Die with the tenth face；Tenth face second is adjacent while with third face the second and passes through the 13rd revolute pair It is connected with each other, the tenth face can rotate up to Chong Die with third face along the 13rd revolute pair axis direction into box；

Tenth face, third face, the second face, the 9th kept man of a noblewoman's tail are successively by the 13rd revolute pair, the second revolute pair, the 5th Revolute pair, the 12nd revolute pair, which are connected, constitutes the first spherical surface four-bar mechanism, the 9th face, the second face, the first face, octahedral Head and the tail, which are successively connected by the 5th revolute pair, the first revolute pair, the 4th revolute pair, the 11st revolute pair, constitutes the second spherical surface four Link mechanism, first face, the 6th face, the 7th face, octahedral head and the tail successively by the third revolute pair, the 9th revolute pair, Tenth revolute pair, the 4th revolute pair, which are connected, constitutes third spherical surface four-bar mechanism, first face, the second face, third face, the 4th Face, the 5th face, the 6th kept man of a noblewoman's tail are successively by first revolute pair, the second revolute pair, the 6th revolute pair, the 7th revolute pair, Eight revolute pairs, third revolute pair, which are connected, constitutes the first spherical surface six bar mechanism；

The first spherical surface four-bar mechanism and the second spherical surface four-bar mechanism share the 5th revolute pair, second ball Face four-bar mechanism and third spherical surface four-bar mechanism share the 4th revolute pair, the third spherical surface four-bar mechanism with First spherical surface six bar mechanism shares the third revolute pair, the first spherical surface six bar mechanism and the first spherical surface double leval jib Mechanism shares second revolute pair, and the first spherical surface six bar mechanism and the second spherical surface four-bar mechanism share described First revolute pair；

The whole folding of the structure and expansion are around perpendicular to box bottom surface and the datum level progress that is overlapped with the first revolute pair； When folding, counter-clockwise rotary motion is done around datum level in the 5th face and the 6th face, until after the 5th face and the 6th face are coplanar, it is empty Between structure become as planar structure, therewith, the upper surface in the 5th face and the 6th face composition planar structure；It is described when folding Third face and fourth face do clockwise rotation around datum level, until space structure becomes after third face and fourth face are coplanar For planar structure, therewith, the lower surface in the third face and fourth face composition planar structure；First face and the second face, the It is in face that the movement in four sides and the 5th face, third face and the 6th face, octahedral and the 9th face, the 7th face and the tenth face, which is based on datum level, Symmetric relation；

For the telescopic box-shaped structure in the case where being folded into plane completely, all revolute pair axis are in the same plane；Institute Telescopic box-shaped structure is stated in the case where being fully deployed, forms a kind of quadrangular shape uncovered box-shaped structure；The foreign steamer in each face Profile is straight line, curve or broken line.

2. the symmetrical telescopic box-shaped structure in a kind of single-degree-of-freedom face according to claim 1, which is characterized in that described to roll over Exhibition box-shaped structure can be by changing the angle of adjacent surface to realize the mutual conversion of space body shape structure and planar structure.

3. the symmetrical telescopic box-shaped structure in a kind of single-degree-of-freedom face according to claim 1 or claim 2, which is characterized in that can roll over Opening up box-shaped structure fully unfolded position is the high box-shaped structure in bottom edge side length using square the bottom of as, and completely folded state is Square-shaped planar structure.

4. the symmetrical telescopic box-shaped structure in a kind of single-degree-of-freedom face according to claim 1 or claim 2, which is characterized in that can roll over Opening up box-shaped structure fully unfolded position is using square the bottom of as, and height is less than the box-shaped structure of bottom edge side length, and completely folded state is Polygon plane structure.

5. the symmetrical telescopic box-shaped structure in a kind of single-degree-of-freedom face according to claim 1 or claim 2, which is characterized in that can roll over Opening up box-shaped structure fully unfolded position is the tall and big box-shaped structure in bottom edge side length using water chestnut the bottom of as, and completely folded state is polygon Shape planar structure.

6. the symmetrical telescopic box-shaped structure in a kind of single-degree-of-freedom face according to claim 1 or claim 2, which is characterized in that can roll over Opening up box-shaped structure fully unfolded position is using diamond shape the bottom of as, and height is less than the box-shaped structure of bottom edge side length, and completely folded state is more Side shape planar structure.

7. the symmetrical telescopic box-shaped structure in a kind of single-degree-of-freedom face according to claim 1 or claim 2, which is characterized in that each The face is one such by plane or curved surface or two kinds collectively form.

8. the symmetrical telescopic box-shaped structure in a kind of single-degree-of-freedom face according to claim 1 or claim 2, which is characterized in that described Revolute pair is by hinge, hinge or bearing is one such constitutes.