CN111761961A

CN111761961A - Novel three-dimensional book based on combination of paper folding process and additive manufacturing technology

Info

Publication number: CN111761961A
Application number: CN202010506088.XA
Authority: CN
Inventors: 杭鲁滨; 林士森; 刘裕; 李嘉琦; 丁红汉; 蔡进; 卞怀强; 陆九如; 胡沛源; 任宇坪; 马超群; 刘子玉; 王明远; 章鹏程
Original assignee: Shanghai University of Engineering Science
Current assignee: Shanghai University of Engineering Science
Priority date: 2020-06-05
Filing date: 2020-06-05
Publication date: 2020-10-13
Anticipated expiration: 2040-06-05
Also published as: CN111761961B

Abstract

The invention discloses a novel three-dimensional book based on combination of a paper folding process and an additive manufacturing technology, which comprises a front cover, movable pages, various three-dimensional models for presenting cases of classical mechanisms and modern mechanisms of mechanical engineering subjects, a back cover and the like, wherein part of parts of the three-dimensional models are made of flexible materials through the additive manufacturing technology, and part of parts are made of paper. The three-dimensional model is made of flexible materials and matched with a paper folding process, particularly physical characteristics of structures such as flexible hinges and flexible grooves of flexible material parts are utilized, a manufacturing method of the model integrated structure related to characteristic deformation such as rope driving, material folding and compressing, mechanism motion combination and the like is achieved, the overall mass and the overall dimension, particularly the thickness dimension, of the three-dimensional model can be greatly reduced, the three-dimensional model comprises a variable pitch gear automobile steering mechanism model, a rope driving continuum robot model, a water surface cleaning and folding environment-friendly ship model and the like, and the three-dimensional model has the characteristics of being foldable, compressible, self-recovering and component recycling.

Description

Novel three-dimensional book based on combination of paper folding process and additive manufacturing technology

Technical Field

The invention belongs to the field of teaching aids, and particularly relates to a novel three-dimensional book based on combination of a paper folding process and an additive manufacturing technology.

Background

At present, for the opportunities and challenges faced by the teaching of the engineering and science, especially the recent new crown epidemic situation causes severe examination on-line teaching, and the on-line teaching mode of using the internet to be assisted with the semi-physical and physical model teaching aid for displaying is increasingly becoming an effective solution for realizing off-site teaching.

For most of students, knowledge abstraction related to engineering subjects such as mechanical principles is difficult to understand and master without specific case demonstration, and the existing mechanical teaching courses mainly adopt PPT demonstration and are displayed by mechanical models.

The mechanical model is large in size, large in number of components and parts and not easy to carry, so that preparation work in class is very complicated, and solid models of some complex mechanisms need to be disassembled and assembled, so that the mechanical model is not suitable for frequent transportation and display; the pure PPT demonstration also makes the teaching not vivid enough, and is disjointed from the impression and the touch of the actual mechanism. The existing three-dimensional book can not dynamically show the mechanical principle mechanism and the case of the modern mechanism because the paper forming the model can only be folded or unfolded, so that the mutual motion relation among the mechanical parts can not be dynamically reflected, and the teaching effect is greatly reduced.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a novel three-dimensional book based on the combination of a paper folding process and an additive manufacturing process, which adopts a function auxiliary piece to represent related function moving pieces in the case of a modern mechanism, overcomes the technical prejudice of the mode that the previous three-dimensional book only drags and lifts a sheet-shaped preset piece to fold or unfold the preset piece to simulate various models, thereby dynamically showing the mutual motion relation among mechanical parts through the three-dimensional book, vividly showing the mechanical principle mechanism and the case of the modern mechanism, greatly improving the teaching effect, leading students to have more immersion, leading teachers to have more fun, more individuation and searchability, mutually promoting teaching and studying and vividly having practical significance, and matching the paper folding process with a flexible material, in particular utilizing a flexible hinge of flexible material parts, The physical characteristics of the structures such as the flexible groove and the like realize the manufacturing method of the model integrated structure related to characteristic deformation such as rope driving, material folding compression, mechanism movement combination and the like, thereby greatly reducing the overall mass and the overall dimension, particularly the thickness dimension of the invention.

In order to achieve the purpose, the invention provides the following technical scheme:

a novel three-dimensional book based on combination of paper folding technology and additive manufacturing technology is provided with a plurality of movable pages, and is characterized by comprising the following components: the three-dimensional model comprises a variable pitch gear automobile steering mechanism model and a rope-driven continuum robot model, and comprises: a supporter provided on a surface of the movable page for moving relative to the movable page by folding; the functional auxiliary part is made of flexible materials through an additive manufacturing technology and arranged on the supporting part, and the functional auxiliary part is used for moving relative to the supporting part; and other auxiliary members, wherein when the three-dimensional model is a variable pitch gear automobile steering mechanism model: the functional auxiliary part comprises a steering wheel, a gear connecting rod, a hollow steering gear, a variable-pitch rack connecting rod, a steering connecting rod and wheels, wherein the steering connecting rod comprises a first steering connecting rod and a second steering connecting rod, the first steering connecting rod and the second steering connecting rod are both provided with a bent rod, the wheels comprise a first wheel and a second wheel, the supporting parts are bonded on the surface of a movable page and comprise second supporting parts, other auxiliary parts comprise fixed rods which are bonded on the second supporting parts, one end of the first steering connecting rod and one end of the second steering connecting rod are respectively hinged with two ends of the variable-pitch rack connecting rod, the bent part of the first steering connecting rod and the bent part of the second steering connecting rod are respectively hinged with two ends of the fixed rods, so that one section of the first steering connecting rod, one section of the second steering connecting rod, the variable-pitch rack connecting rod and the fixed rods form an isosceles trapezoid connecting rod mechanism, first wheel and second wheel are equallyd divide and are articulated the other end at first steering linkage and the other end that the second turned to the connecting rod respectively, cavity steering gear is connected with the meshing of variable pitch rack connecting rod, cavity steering gear has compressible through-hole, compressible through-hole has draw-in groove in the gear, draw-in groove is flexible hinge in the gear, be used for contracting when cavity steering gear pressurized, gear connecting rod sets up on second support piece, gear connecting rod's one end and cavity steering gear's a terminal surface fixed connection, the other end at gear connecting rod is connected to the steering wheel, when three-dimensional model is rope drive continuum robot model: the function auxiliary member comprises a plurality of robot supporting members which are parallel to each other, a plurality of identical springs and a plurality of identical supporting connecting members, the supporting members are simultaneously adhered on the movable page and comprise robot supporting feet, other auxiliary members comprise a telescopic traction rope and a steering traction rope, the telescopic traction rope is arranged along the axis of the spring, penetrates through all the springs, all the supporting connecting members and the plurality of robot supporting members and is installed on the robot supporting member at one end of the rope-driven continuum robot model, the springs are arranged between two adjacent robot supporting members, the axes of all the springs are identical, the supporting connecting members are arranged between two adjacent robot supporting members, all the supporting connecting members are uniformly distributed on the axis of the springs and are respectively arranged between two adjacent springs, and the telescopic traction rope is used for enabling the springs to be compressed by pulling towards a preset direction, the robot support piece has two logical grooves of buckling, constitutes flexible hinge, and the length direction that the logical groove of buckling is parallel with the activity page to the notch orientation that the logical groove of buckling is opposite with predetermined direction, when the movable page that the robot supporting legs is located folds, the logical groove of buckling is used for making robot support piece along the logical groove compression of buckling on the activity page, thereby makes rope drive continuum robot model by the shrink, and all robot support pieces are all installed on turning to the haulage rope.

Preferably, when the three-dimensional model is a variable pitch gear automobile steering mechanism model: the function auxiliary part still contains two universal joints and steering column, and two direction joints are used for realizing the power transmission of variable angle, and the steering wheel is connected at the other end of gear connecting rod through two universal joints and steering column, and when exerting predetermined torque on the steering wheel, two universal joints transmit predetermined torque to the steering column on to drive gear connecting rod and rotate around self axis.

Preferably, when the three-dimensional model is a rope-driven continuum robot model: the robot support piece is circular, the axes of all the robot support pieces are the same, the number of the steering traction ropes is three, and the steering traction ropes are uniformly distributed around the axes of the robot support piece.

Preferably, when the three-dimensional model is a rope-driven continuum robot model: the supporting connecting piece is spherical.

Preferably, when the three-dimensional model is a rope-driven continuum robot model: other aids also include light sources and lenses disposed on the surface of the robot support at the end for simulating the lighting provided in the enclosed area.

Preferably, the three-dimensional model further comprises a water surface cleaning folding environmental protection ship model, and when the three-dimensional model is the water surface cleaning folding environmental protection ship model: function auxiliary member contains oar axle and oar, the oar contains first oar and second oar, support piece includes the hull, third support piece and fourth support piece, other auxiliary members contain first mount and second mount, third support piece and fourth support piece correspond respectively and bond on the surface at two adjacent activity pages, and third support piece's one end and fourth support piece's one end all bond with the hull, fourth support piece contains three folded surface, three paper folding revolute pair is crossing in a little promptly, be used for rotating along arbitrary direction, provide and rotate the adaptability, the one end of first mount and the one end of second mount all bond with the hull, the other end of first mount and the equal cover of the other end of second mount are established on the oar axle, first oar and second oar set up the both ends at the oar axle respectively.

Further, the function auxiliary member still contains pasture and water conveying board, and pasture and water conveying board contains first pasture and water conveying board and second pasture and water conveying board, and the surface of first pasture and water conveying board and second pasture and water conveying board all has mobilizable track, and first pasture and water conveying board and second pasture and water conveying board articulate respectively at the both ends of hull.

Preferably, the three-dimensional book further comprises a front cover and a back cover, and a raising member, which is alternatively disposed on the surfaces of the front cover and the back cover and is disposed toward the inside of the three-dimensional book.

Preferably, the support is a paper or an additive manufactured piece.

The novel three-dimensional book based on the combination of the paper folding process and the additive manufacturing technology is applied to teaching and teaching, and is characterized in that: through opening the novel three-dimensional book based on paper folding technology and additive manufacturing technology combination, expand the three-dimensional model to teaching demonstration, the three-dimensional model is used for presenting mechanical engineering subject classical mechanism and modern mechanism case, contains: the system comprises a variable pitch gear automobile steering mechanism model, a rope-driven continuum robot model, a water surface cleaning folding environment-friendly ship model and a plane curve pantograph mechanism model.

Compared with the prior art, the invention has the beneficial effects that:

1. because the three-dimensional model of the invention realizes the manufacturing method of the model integrated structure of characteristic deformation such as rope driving, material folding compression, mechanism movement combination and the like by matching the flexible material with the paper folding process and particularly utilizing the physical characteristics of the flexible hinge, the flexible groove and other structures of flexible material parts, the three-dimensional model comprises a variable pitch gear automobile steering mechanism model, a rope driving continuum robot model and a water surface cleaning folding environmental protection ship model, the invention overcomes the technical prejudice of the mode that the teaching is realized by only showing a physical model or dragging and lifting a sheet preset piece in the prior art so as to fold or unfold the preset piece, thereby dynamically showing the mutual movement relation among mechanical parts through a three-dimensional book and vividly showing the cases of a mechanical principle mechanism and a modern mechanism, the teaching effect is further greatly improved, students can feel more immersive, the preparation work of teachers is more interesting, more personalized and more exploratory, teaching and learning are mutually actuated and vivid, and the practical significance is achieved.

2. When the three-dimensional model is a variable pitch gear automobile steering mechanism model: the function auxiliary member still contains two universal joints and steering column, and two direction joints are used for realizing the transmission of variable angle power, and the steering wheel is connected at the other end of gear connecting rod through two universal joints and steering column, so, when exerting predetermined torque on the steering wheel, two universal joints transmit predetermined torque to the steering column on to drive gear connecting rod and rotate around self axis, and then can carry out more vividly teaching to variable pitch gear car steering mechanism.

3. When the three-dimensional model is a rope-driven continuum robot model: the robot support piece is circular, and all robot support piece's axis is the same, and the quantity that turns to the haulage rope is three, and around robot support piece's axis evenly distributed, so, the pulling turns to the haulage rope and can make rope drive continuum robot model turn to towards the bending of three direction.

4. When the three-dimensional model is a rope-driven continuum robot model: other auxiliary members further include a light source and a lens provided on a surface of the robot support member of the end portion for simulating illumination provided in the closed region, so that the stereoscopic model of the present invention can simulate an illumination device for illumination of the closed region of the end portion of the cord-driven continuum robot applied to the operation in vivo, thereby enabling teaching of the cord-driven continuum robot more vividly.

5. Because the three-dimensional model of the invention also comprises the water surface cleaning folding environment-friendly ship model, when the three-dimensional model is the water surface cleaning folding environment-friendly ship model: the fourth supporting piece comprises three folding surfaces, namely three paper folding revolute pairs are intersected at one point and used for rotating in any direction to provide rotating adaptability, so that the water surface cleaning folding environment-friendly ship model can be folded on the movable pages more conveniently by folding the two adjacent movable pages, and has thinner thickness.

6. Because the three-dimensional model of the invention is a water surface cleaning folding environmental protection ship model: the functional auxiliary part also comprises a float grass conveying plate, the float grass conveying plate comprises a first float grass conveying plate and a second float grass conveying plate, movable tracks are arranged on the surfaces of the first float grass conveying plate and the second float grass conveying plate, and the first float grass conveying plate and the second float grass conveying plate are respectively hinged to two ends of the ship body.

7. Because the novel three-dimensional book based on the combination of the paper folding process and the additive manufacturing technology further comprises the front cover, the back cover and the heightening piece, the heightening pieces are alternatively arranged on the surfaces of the front cover and the back cover and face the inside of the three-dimensional book, when the three-dimensional book is folded, the front cover and the back cover can keep a preset distance, and therefore the damage of a three-dimensional model caused by stress when the folded three-dimensional book is pressed is avoided.

Drawings

Fig. 1 is a schematic view of a new three-dimensional book based on a paper folding process combined with additive manufacturing technology according to an embodiment of the present invention;

FIG. 2 is a schematic view of an embodiment of the invention showing the opened movable pages;

FIG. 3 is a schematic diagram of a planar curve pantograph mechanism model of an embodiment of the present invention;

FIG. 4 is a schematic view of a hinge joint of an embodiment of the present invention;

FIG. 5 is a schematic view of a model of a variable pitch motor steering mechanism according to an embodiment of the present invention in an expanded state;

FIG. 6 is a schematic view of a model wheel folding state of a variable pitch motor steering mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a hollow steering gear of an embodiment of the present invention;

FIG. 8 is a schematic diagram of a rope driven continuum robot model in an expanded state according to an embodiment of the invention;

FIG. 9 is a top view of a robotic support of an embodiment of the present invention;

FIG. 10 is a front view of a robotic support of an embodiment of the present invention;

FIG. 11 is a schematic view of a rope driven continuum robot model in a collapsed state according to an embodiment of the present invention;

FIG. 12 is a schematic view of a water surface cleaning folding environmental protection ship model according to an embodiment of the invention; and

fig. 13 is a schematic folding view of a fourth support member according to an embodiment of the present invention.

In the figure: 1000. the three-dimensional book comprises a three-dimensional book body, a1, a front cover, a2, a back cover, A3, a magnet, a4, a magnetic buckle, a5, a heightening piece, a6, a movable book page, 100, a planar curve pantograph mechanism model, 111, a first support piece, 121A, a first linkage rod, 121B, a second linkage rod, 121C, a third linkage rod, 122A, a first hinge joint, 122B, a second hinge joint, 122C, a third hinge joint, 122D, a fourth hinge joint, 200, a variable-pitch gear automobile steering mechanism model, 211A, a first supporting foot, 211B, a second supporting foot, 211C, a third supporting foot, 221A, a first steering connecting rod, 221B, a second steering connecting rod, 222A, a first wheel, 222B, a second wheel, 223, a variable-pitch rack, 2231, a variable-pitch rack area, 224, a gear connecting rod, 225, a hollow steering gear, 2251, a gear inner gear slot 226, a steering rod, 27, 2 variable pitch rack area, and a variable pitch rack area, Universal joints 228, steering wheels 229A, fifth hinge joints 229B, sixth hinge joints 229C, seventh hinge joints 229D, eighth hinge joints 229E, ninth hinge joints 229F, tenth hinge joints 23, fixing rods 300, rope-driven continuum robot model 30, robot constituent units 311, robot support elements 3111, first passage holes 3112, second passage holes 3113, bending through grooves 312, robot support legs 321, springs 322, support links 33, telescopic tow ropes 34, steering tow ropes 400, surface-cleaning folding environmental protection ship model 411, third support elements 412, fourth support elements 4121, attachment surfaces 4122, first folding surfaces 4123, second folding surfaces 4124, third folding surfaces 413, hull 421, propeller shaft 422A, first propeller, 422B, second propeller, 43. a driving rope 44A, a first fixing frame 44B, a second fixing frame 45 and a float grass conveying plate.

Detailed Description

In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the following examples are specifically set forth in the novel three-dimensional book based on the combination of the paper folding process and the additive manufacturing technology of the invention with the accompanying drawings, and it is to be noted that the description of the embodiments is used for facilitating the understanding of the invention, but the invention is not limited thereto.

As shown in fig. 1-2, the novel three-dimensional book 1000 based on a combination of a paper folding process and an additive manufacturing technology in this embodiment includes a front cover a1, a back cover a2, a magnet A3, a magnetic buckle a4, a raising member a5, a plurality of movable pages a6, and a plurality of three-dimensional models.

The front cover a1 and the back cover a2 are mounted on the outside of a plurality of movable leaves a6 and are arranged oppositely,

the magnet A3 is arranged on the front cover A1, one end of the magnetic buckle belt A4 is arranged on the back cover A2, the other end of the magnetic buckle belt A4 is provided with a magnetic field with the polarity opposite to that of the magnet A3 and can be attracted to the magnet A3, and therefore the novel three-dimensional book 1000 based on the combination of the paper folding process and the additive manufacturing technology is kept in a folded state.

The block-up members a5 are alternatively disposed on the surfaces of the front cover a1 and the back cover a2 and are disposed toward the inside of the novel three-dimensional book 1000 based on the combination of the paper folding process and the additive manufacturing technology, and in this embodiment, the block-up members a5 are 2 in number and are adhered to the edge of the back cover a 2.

The three-dimensional model comprises a plane curve pantograph mechanism model 100, a variable pitch gear automobile steering mechanism model 200, a rope-driven continuum robot model 300 and a water surface cleaning folding environmental protection ship model 400. Comprises three types of components including a supporting component, a function auxiliary component and other auxiliary components.

The support is a piece of paper or an additive manufactured piece provided on the surface of the movable signature a6 for movement relative to the movable signature a6 by folding. In this embodiment, a supporter is adhesively mounted on the surface of the movable leaf a6 for folding the three-dimensional model on the surface of the movable leaf a6 when the novel three-dimensional book 1000 based on the combination of the paper folding process and the additive manufacturing technology is closed.

The functional auxiliary part is made of a flexible material and is manufactured through an additive manufacturing technology, the volume of the functional auxiliary part can be compressed when external pressure is applied to the functional auxiliary part, and the functional auxiliary part is obtained through the additive manufacturing technology and is arranged on the supporting part and moves relative to the supporting part.

The function auxiliary member is selected from one or more of a linkage rod, a hinge joint, a steering wheel 228, two universal joints 227, a steering rod 226, a gear link 224, a hollow steering gear 225, a variable pitch rack link 223, a steering link, wheels, a spring 321, a support connection 322, a paddle shaft 421 and a paddle, and the function auxiliary member is used for moving relative to the support member so as to dynamically display the motion transmission relationship of a plurality of parts of the three-dimensional model.

The other auxiliary parts are other parts except the supporting part and the functional auxiliary part in the three-dimensional model.

As shown in fig. 3, when the solid model is the plane curve pantograph mechanism model 100:

the function auxiliary part comprises a linkage rod and a hinge joint.

The linkage rods include a first linkage rod 121A, a second linkage rod 121B and a third linkage rod 121C, and in this embodiment, the lengths of the second linkage rods 121B of the first linkage rod 121A are the same.

The hinge joints include a first hinge joint 122A, a second hinge joint 122B, a third hinge joint 122C and a fourth hinge joint 122D, and in this embodiment, the hinge joints are all structures as shown in fig. 4, and the structures are at least two solid parts detachably installed as a whole.

The supporting member is adhered to the surface of the movable page a6, and includes a first supporting member 111, in this embodiment, the length of the first supporting member 111 is the same as that of the third linkage rod 121C, and is equal to 2 times the length of the first linkage rod 121A (the second linkage rod 121B).

One end of the first supporting member 111 is connected to one end of the third link rod 121C through a first hinge joint 122A, and in this embodiment, the specific arrangement manner of the first hinge joint 122A is as follows: a through hole is formed at one end of the first supporting member 111 and the movable page a6, a through hole identical to the through hole of the first supporting member 111 is formed at one end of the third linkage rod 121C, and the first hinge joint 122A is used for completing the hinging between the first supporting member 111 and the third linkage rod 121C through the two through holes.

One end of the first linkage rod 121A and one end of the second linkage rod 121B are correspondingly connected to the first support 111 and the third linkage rod 121C through the second hinge joint 122B and the third hinge joint 122C, respectively, in this embodiment, the lengths of the first linkage rod 121A and the second linkage rod 121B are the same and equal to half of the length of the first support 111 (the third linkage rod 121C), and the second hinge joint 122B and the third hinge joint 122C are located in the middle of the first support 111 and in the middle of the third linkage rod 121C, respectively.

The other end of the first linkage rod 121A and the other end of the second linkage rod 121B are connected by a fourth hinge joint 122D.

In this embodiment, when the novel three-dimensional book 1000 combined by the paper folding process and the additive manufacturing technology is folded, the first linkage rod 121A, the second linkage rod 121B, and the third linkage rod 121C are all folded in the movable page a6 and are overlapped with the first support 111, when the novel three-dimensional book 1000 combined by the paper folding process and the additive manufacturing technology is unfolded, the first linkage rod 121A, the second linkage rod 121B, and the third linkage rod 121C are unfolded, at this time, the teacher pulls the other end of the third linkage rod 121C to move, the hinge point of the first linkage rod 121A and the second linkage rod 121B also moves along with the first linkage rod 121A, and the distance of the end point movement of the other end of the third linkage rod 121C is always equal to twice the distance of the hinge point movement of the first linkage rod 121A and the second linkage rod 121B, so as to teach.

The plane curve pantograph mechanism model 100 is assembled by a rod and a hinge joint which are made of flexible materials through an additive manufacturing technology, so that the plane curve pantograph mechanism model 100 is flexible and stable in movement and light and thin in size.

The planar curve pantograph mechanism composed of the parallelogram links for amplifying the displacement can be vividly taught.

As shown in fig. 5 to 6, when the three-dimensional model is the variable pitch gear automobile steering mechanism model 200:

the function aid includes a steering wheel 228, two universal joints 227, a steering rod 226, a gear link 224, a hollow steering gear 225, a variable pitch rack link 223, a steering link, wheels, and a hinge joint.

The steering link includes a first steering link 221A and a second steering link 221B, and the first steering link 221A and the second steering link 221B are both levers having one bend.

The wheels include a first wheel 222A and a second wheel 222B.

The hinge joints include a fifth hinge joint 229A, a sixth hinge joint 229B, a seventh hinge joint 229C, an eighth hinge joint 229D, a ninth hinge joint 229E, and a tenth hinge joint 229F.

The support member is bonded to the surface of activity page a6 and comprises a second support member.

The second supporting piece is provided with a first supporting foot 211A, a second supporting foot 211B and a third supporting foot 211C, the first supporting foot 211A, the second supporting foot 211B and the third supporting foot 211C are all provided with creases, the second supporting piece can be folded and attached to the surface of the movable page A6, in the embodiment, the first supporting foot 211 and the second supporting foot 211B are all attached to the surface of the same movable page A6, the third supporting foot 211C is attached to the surface of the adjacent movable page A6, and the third supporting foot 211C can integrally pull up the variable-pitch gear automobile steering mechanism model 200 through the second supporting piece along with the unfolding of the three-dimensional book 1000.

The other auxiliary member is a fixing rod 23 bonded to the second support member.

One end of the first steering link 221A and one end of the second steering link 221B are hinged to both ends of the variable-pitch rack link 223 through a ninth hinge joint 229E and a tenth hinge joint 229F, respectively, and a bent portion of the first steering link 221A and a bent portion of the second steering link 221B are hinged to both ends of the fixed link 23 through a fifth hinge joint 229A and a sixth hinge joint 229B, respectively, so that the first steering link 221A, the second steering link 221B, the variable-pitch rack link 223 and the fixed link 23 form an isosceles trapezoid-shaped link mechanism.

The first wheel 222A and the second wheel 222B are respectively hinged to the other end of the first steering link 221A and the other end of the second steering link 221B by a seventh hinge joint 229C and an eighth hinge joint 229D, respectively, and in this embodiment, the whole first wheel 222A and the whole second wheel 222B can respectively rotate on the vertical plane around the seventh hinge joint 229C and the eighth hinge joint 229D, so that the whole first wheel 222A and the whole second wheel 222B are folded and attached to the surfaces of the other end of the first steering link 221A and the other end of the second steering link 221B.

The variable-pitch rack link 223 is disposed in parallel with the fixed rod 23, and has a variable-pitch rack area 2231, a plurality of teeth are non-uniformly distributed in the variable-pitch rack area 2231, two ends of the variable-pitch rack link 223 are correspondingly connected to one end of the first steering link 221A and one end of the second steering link 221B through a ninth hinge joint 229E and a tenth hinge joint 229F, respectively, in this embodiment, a middle pitch of the variable-pitch rack area 2231 is greater than pitches of the two ends, and when the variable-pitch rack link 223 moves along its length direction, the first steering link 221A and the second steering link 221B are driven to rotate around respective inflection points, so that the first wheel 222A and the second wheel 222B are integrally and synchronously swung in the same width.

The hollow steering gear 225 is engaged with the variable pitch rack section 2231 of the variable pitch rack link 223, the hollow steering gear 225 has a compressible through hole, the compressible through hole has a gear inner slot 2251, the gear inner slot 2251 is a flexible hinge for contracting when the hollow steering gear 225 is pressed, as shown in fig. 7, in this embodiment, the hollow steering gear 225 is a circular arc helical gear, the hollow steering gear 225 has a compressible through hole with a depth direction along a thickness direction, the cross section of the compressible through hole is a non-rectangular parallelogram, the compressible through hole has 4 gear inner slots 2251, the 4 gear inner slots 2251 are flexible hinges in a through slot form, and are respectively located at four corner points of the compressible through hole and are all integrated with the compressible through hole. The gear link 224 is disposed on the two supporting members, and one end of the gear link 224 is fixedly connected to one end surface of the hollow steering gear 225.

The two direction joints 227 are used for realizing variable-angle power transmission, the steering wheel 228 is connected to the other end of the gear link 224 through the two universal joints 227 and the steering rod 226, and when a predetermined torque is applied to the steering wheel 228, the two universal joints 227 transmit the predetermined torque to the steering rod 226, so that the gear link is driven to rotate around the axis of the gear link, and further the variable-pitch gear automobile steering mechanism can be taught more vividly.

In the embodiment, when the novel three-dimensional book 1000 combined by the paper folding process and the additive manufacturing technology is folded, the second support member is folded on the surface of the active page a6 through the first supporting leg 211A, the second supporting leg 211B and the third supporting leg 211C, the steering wheel 228, the two universal joints 227, the steering rod 226, the gear link 224, the hollow steering gear 225, the variable-pitch rack link 223, the steering link and the wheel (which is rotated and attached to the surface of the steering link) are stressed to be compressed, particularly, the hollow steering gear 225 can be compressed to be thinner due to the application of the internal gear slot 2251, when the novel three-dimensional book 1000 combined by the paper folding process and the additive manufacturing technology is unfolded, the variable-pitch gear automobile steering mechanism model 200 is pulled up as a whole, and at the same time, the teacher rotates the steering wheel 228 to make the first wheel 222A and the second wheel 222B swing in a same time as a whole, thereby performing teaching.

The variable pitch gear automobile steering mechanism model 200 is processed by matching functional auxiliary parts made of flexible materials with a paper folding process of a paper support piece, so that the variable pitch gear automobile steering mechanism 200 can move along with the folding of the movable page A6, and particularly, auxiliary functional parts such as flexible arc helical gears and the like made of materials in an additive manufacturing mode can be compressed and folded, so that the overall thickness of the variable pitch gear automobile steering mechanism model 200 is greatly reduced when the variable pitch gear automobile steering mechanism model 200 is pressed, and the occupied space is reduced.

As shown in fig. 8 and 11, when the three-dimensional model is the rope-driven continuum robot model 300:

the function auxiliary member comprises a plurality of robot supporting members 311 parallel to each other, a plurality of identical springs 321 and a plurality of identical supporting connecting members 322, in this embodiment, the number of the parallel robot supporting members 311 is 10, the number of the springs 321 is 5, and the number of the supporting connecting members 322 is 4.

The support member is attached to the surface of the active page a6 and includes a robot support foot 312.

As shown in fig. 9 to 10, the robot supporting member 311 has a circular shape, and all the robot supporting members have the same axis and have a first passing hole 3111, three second passing holes 3112, and two bending through grooves 3113 constituting flexible hinges, and the length direction of the bending through grooves 3113 is parallel to the movable sheet a 6.

In the present embodiment, the first passing hole 3111 is located at the center of the robot support 311.

In this embodiment, the three second through holes 3112 are annularly and uniformly arranged around the center of the robot supporting member 311, and are not located in the bending through groove 3113.

In this embodiment, after the robot supporting member 311 is bent along the two bending through slots 3113, two sides of the robot supporting member 311 are respectively attached to the movable page a6 and are parallel to the movable page a 6.

The robot support leg 312 is bonded to the surface of the robot support 311 located on the end surface of the string-driven continuum robot model 300, and in this embodiment, the robot support leg 312 has a fold, and the string-driven continuum robot model 300 can be attached to the surface of the movable page a6 after being folded by the fold.

The springs 321 are disposed between two adjacent robot supports 311, and the axes of all the springs 321 are the same, i.e., all the springs 321 are distributed on the same axis.

The supporting connection members 322 are ball-shaped and disposed between two adjacent robot supporting members 311, all the supporting connection members 322 are uniformly distributed on the axis of the springs 321, and are respectively disposed between two adjacent springs 321,

the 10 robot supporting members 311 and the 5 identical springs 321, which are parallel to each other, constitute 5 identical robot constituting units 30, each robot constituting unit 30 has one robot supporting member 311 at each end, a spring 321 in the middle, the two ends of the spring 321 are respectively abutted against the robot supporting member 311, each supporting connection member 322 is disposed between the two adjacent robot constituting units 30, and the two ends of the supporting connection member 322 are respectively abutted against the robot constituting units 30.

Other accessories include a telescopic pull cord 33, a steering pull cord 34, a light source (not shown), and a lens (not shown).

The telescopic traction ropes 33 are disposed along the axis of the springs 321, pass through the first passing holes 3111 of all the springs 321, all the support links 322 and 9 robot supports 311 and are mounted on the robot supports 311 at one end of the rope-driven continuum robot model 300, for causing the springs 321 to compress by pulling to a predetermined direction, so that pulling the telescopic traction ropes 33 causes the rope-driven continuum robot model 300 to contract, releasing the telescopic traction ropes 33, and the restoring force of the springs 321 causes the rope-driven continuum robot model 300 to restore, the pulling directions of the telescopic traction ropes 33 and the steering traction ropes 34 being opposite to the notch orientation of the bending through groove 3113.

All the robot supports 311 are mounted on the steering traction ropes 34, and the number of the steering traction ropes 34 is 3, evenly distributed around the axis of the robot support 311. In this embodiment, each of the steering wires 34 passes through the corresponding second through hole 3112 of the 9 robot supports 311 and is fixedly connected to each of the robot supports 311, so that pulling any one of the steering wires 34 will turn the rope-driven continuum robot model 300 toward the direction of the one steering wire 34, releasing the steering wires 34, the restoring force of the spring 321 will restore the rope-driven continuum robot model 300, and when pulling the telescopic pulling rope 33 or the steering pulling rope 34, the robot support 311 will not be folded any more because the notch of the bent through groove 3113 of the robot support 311 faces the direction opposite to the pulling direction.

A light source and a lens are provided on a surface of a robot support of an end portion for simulating illumination provided in a closed area, so that an illumination device for illumination of the closed area of the end portion of a cord-driven continuum robot applied to an in-vivo surgical operation can be simulated, thereby enabling teaching of the cord-driven continuum robot to be more vivid.

In this embodiment, when the novel three-dimensional book 1000 based on the combination of the paper folding process and the additive manufacturing technology is closed, the bending through groove 3113 is used for compressing the robot supporting piece 311 on the movable page a6 along the bending through groove 3113, so that the rope-driven continuum robot model 300 is contracted, when the novel three-dimensional book 1000 based on the combination of the paper folding process and the additive manufacturing technology is unfolded, the appearance of the continuum robot model 300 is restored, and at this time, the teacher stretches or bends the continuum robot model 300 by pulling the stretching traction rope 33 or turning the traction rope 34, so as to teach the teacher.

The rope-driven continuum robot model 300 is manufactured by combining a functional auxiliary made of a flexible material with paper folding process treatment of a paper support, rope driving and the like, the rope-driven continuum robot model 300 can vividly simulate the motion situation of a real rope-driven continuum robot, and the rope-driven continuum robot model 300 can be compressed and folded, so that the size of the rope-driven continuum robot model 300 is greatly reduced.

As shown in fig. 12, when the three-dimensional model is the water surface cleaning folding environmental protection ship model 400:

the functional aids include paddle shaft 421, paddles, and float grass transfer plate 45.

The paddles comprise a first paddle 422A and a second paddle 422B made of flexible material.

The support members include a third support member 411, a fourth support member 412, and a hull 413.

The third supporting member 411 and the fourth supporting member 412 are respectively and correspondingly adhered to the surfaces of two adjacent movable pages a6, and one end of the third supporting member 411 and one end of the fourth supporting member 412 are both adhered to the hull 413, in this embodiment, the third supporting member 411 has a predetermined fold, and the fourth supporting member 412 has a corresponding fold according to a three-fold method, so that the third supporting member 411 and the fourth supporting member 412 can be folded on the movable page a6, as shown in fig. 13, the fourth supporting member 412 has a facing surface 4121 and three folding surfaces, namely a first folding surface 4122, a second folding surface 4123, and a third folding surface 4124, respectively, the facing surface 4121 is adhered to the movable page a6, and the three folder revolute pairs intersect at a point, can rotate in any direction, and provide rotational adaptability, that is the first folding surface 4122, the second folding surface 4123, and the third folding surface 4124 intersect at a point, the hull 413 can be folded in half as the three-dimensional book 1000 is folded, so that the folded model becomes thinner.

Other auxiliary components include a first fixing frame 44A, a second fixing frame 44B, and a driving rope 43.

One end of the first fixing frame 44A and one end of the second fixing frame 44B are both bonded to the hull 413, the other end of the first fixing frame 44A and the other end of the second fixing frame 44B are both sleeved on the paddle shaft 421, and the paddle shaft 421 can rotate relative to the first fixing frame 44A and the second fixing frame 44B.

The first and

second paddles

422A and 422B are respectively provided at both ends of the paddle shaft 421.

In this embodiment, the driving rope 43 is partially wound around the paddle shaft 421, one end of the driving rope 43 is installed on the surface of the movable page a6, and the other end is fixed on the paddle shaft 421, when the three-dimensional book 1000 is unfolded to a predetermined angle, one end of the movable page a6 pulls the driving rope 43, thereby driving the paddle shaft 421 to rotate.

The quantity of pasture and water transmission board 45 is 2, make by the flexible material vibration material disk, contain first pasture and water conveying board and the second pasture and water conveying board that articulates respectively at the both ends of hull 413, first pasture and water conveying board and second pasture and water conveying board can fold towards hull 413, and the surface of first pasture and water conveying board and second pasture and water conveying board all has mobilizable track, thereby can carry out the teaching more vividly to the clean folding environmental protection ship of surface of water.

In this embodiment, when the novel three-dimensional book 1000 combined by the paper folding process and the additive manufacturing technology is folded, the third support 411, the fourth support 412 and the hull 413 enable the three-dimensional model to be folded on the surface of the movable page a6 for the water surface cleaning folding environmental protection ship model 400 (the float grass transmission plate 45 is already folded on the hull 413), when the novel three-dimensional book 1000 combined by the paper folding process and the additive manufacturing technology is unfolded, the water surface cleaning folding environmental protection ship model 400 is unfolded, and when the three-dimensional book 1000 is unfolded to a certain angle, the driving rope 43 drives the propeller shaft 421 to rotate, so that the first propeller 422A and the second propeller 422 rotate, and the teacher teaches the teacher accordingly. The conveying plate is made of flexible materials, is transported by the transmission of the crawler belt, is folded to reduce the space, and can be thinned after being compressed.

The folding environmental protection ship 400 of clean folding on surface of water is handled and combines the preparation such as rope drive by the function auxiliary member cooperation paper support piece that flexible material made and is formed, and the function auxiliary member that additive manufacturing technique formed can realize rotating or folding and unfolding under rope drive or manual drive, cooperatees with support piece's paper folding technology processing simultaneously for the show of clean folding environmental protection ship 400 on surface of water is more vivid, can also improve environmental protection consciousness simultaneously.

The three-dimensional model has the characteristics of folding, compressibility and self-recovery relative to the movable page A6, and the constituent components of the three-dimensional model can be recycled, so that the constituent components can be used for multiple times.

The novel three-dimensional book 1000 based on combination of the paper folding process and the additive manufacturing technology is applied to teaching and teaching, a three-dimensional model is unfolded by turning over the novel three-dimensional book 1000 based on combination of the paper folding process and the additive manufacturing technology, and the three-dimensional model is used for presenting cases of classical mechanisms and modern mechanisms of mechanical engineering subjects and comprises a plane curve pantograph mechanism model 100, a variable pitch gear automobile steering mechanism model 200, a rope-driven continuum robot model 300 and a water surface cleaning folding environment-friendly ship model 400.

The above embodiments are preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and modifications can be made by those skilled in the art without creative efforts within the scope of the appended claims, for example, the present embodiment can keep a new three-dimensional book combined by a paper folding process and an additive manufacturing process in a closed state through a magnetic buckle tape and a magnetic body capable of mutually attracting together, but in practical applications, the three-dimensional book can also be kept in a closed state through a snap buckle or a magic tape, etc. that can be fastened together.

Claims

1. A novel three-dimensional book based on combination of paper folding technology and additive manufacturing technology is provided with a plurality of movable pages, and is characterized by comprising the following components:

the three-dimensional model comprises a variable pitch gear automobile steering mechanism model and a rope-driven continuum robot model, and comprises:

a support provided on a surface of the movable page for moving relative to the movable page by folding;

a functional aid, made of a flexible material by additive manufacturing techniques, disposed on the support, the functional aid for movement relative to the support; and

other auxiliary parts are arranged on the base plate,

when the three-dimensional model is the variable pitch gear automobile steering mechanism model:

the functional auxiliary part comprises a steering wheel, a gear connecting rod, a hollow steering gear, a variable-pitch rack connecting rod, a steering connecting rod and wheels,

the steering connecting rod comprises a first steering connecting rod and a second steering connecting rod, the first steering connecting rod and the second steering connecting rod are both provided with a bent rod,

the wheel comprises a first wheel and a second wheel,

the supporting piece is adhered to the surface of the movable page and comprises a second supporting piece,

the other auxiliary members comprise fixing bars adhered to the second supporting member,

one end of the first steering connecting rod and one end of the second steering connecting rod are respectively hinged with two ends of the variable-pitch rack connecting rod, and the bent part of the first steering connecting rod and the bent part of the second steering connecting rod are respectively hinged with two ends of the fixed rod, so that one section of the first steering connecting rod, one section of the second steering connecting rod, the variable-pitch rack connecting rod and the fixed rod form an isosceles trapezoid connecting rod mechanism,

the first wheel and the second wheel are respectively hinged at the other end of the first steering connecting rod and the other end of the second steering connecting rod,

the hollow steering gear is meshed and connected with the variable-pitch rack connecting rod, the hollow steering gear is provided with a compressible through hole, the compressible through hole is provided with a gear inner clamping groove, the gear inner clamping groove is a flexible hinge and is used for contracting when the hollow steering gear is pressed,

the gear connecting rod is arranged on the second supporting piece, one end of the gear connecting rod is fixedly connected with one end surface of the hollow steering gear,

the steering wheel is connected with the other end of the gear connecting rod,

when the three-dimensional model is a rope-driven continuum robot model:

the function auxiliary member comprises a plurality of robot supporting members which are parallel to each other, a plurality of same springs and a plurality of same supporting connecting members,

the supporting piece is simultaneously adhered to the movable page and comprises a robot supporting foot,

the other auxiliary elements include telescopic and steering traction ropes,

the telescopic hauling cable is arranged along the axis of the spring, passes through all the springs, all the supporting connecting pieces and the plurality of robot supporting pieces and is installed on the robot supporting piece at one end of the rope-driven continuous body robot model,

the springs are arranged between two adjacent robot supporting pieces, and the axes of all the springs are the same,

the supporting connecting pieces are arranged between two adjacent robot supporting pieces, all the supporting connecting pieces are uniformly distributed on the axes of the springs and are respectively arranged between two adjacent springs,

the telescopic pulling rope is used for compressing the spring by pulling towards a preset direction,

the robot supporting piece is provided with two bending through grooves which form a flexible hinge, the length direction of the bending through grooves is parallel to the movable page, the notch of each bending through groove faces to the opposite direction of the preset direction,

when the movable pages where the robot supporting legs are located are folded, the bending through grooves are used for enabling the robot supporting pieces to be compressed on the movable pages along the bending through grooves, so that the rope-driven continuum robot model is contracted,

all the robot supports are mounted on the steering traction ropes.

2. The novel three-dimensional book based on the combination of the paper folding process and the additive manufacturing technology according to claim 1, is characterized in that:

the function auxiliary part also comprises two universal joints and a steering rod, the two direction joints are used for realizing variable-angle power transmission,

the steering wheel is connected to the other end of the gear connecting rod through the two universal joints and the steering rod,

when a predetermined torque is applied to the steering wheel, the two universal joints transmit the predetermined torque to the steering rod, thereby driving the gear link to rotate around the axis of the gear link.

3. The novel three-dimensional book based on the combination of the paper folding process and the additive manufacturing technology according to claim 1, is characterized in that:

wherein, when the three-dimensional model is a rope-driven continuum robot model:

the robot supporting piece is circular, the axes of all the robot supporting pieces are the same,

the number of the steering traction ropes is three, and the steering traction ropes are uniformly distributed around the axis of the robot support.

4. The novel three-dimensional book based on the combination of the paper folding process and the additive manufacturing technology according to claim 1, is characterized in that:

the supporting connecting piece is spherical.

5. The novel three-dimensional book based on the combination of the paper folding process and the additive manufacturing technology according to claim 1, is characterized in that:

other accessories include a light source and a lens,

the light source and the lens are disposed on a surface of the robot support at the end for simulating illumination provided in the enclosed area.

6. The novel three-dimensional book based on the combination of the paper folding process and the additive manufacturing technology according to claim 1, is characterized in that:

wherein the three-dimensional model also comprises a water surface cleaning folding environment-friendly ship model,

when the three-dimensional model is a water surface cleaning folding environment-friendly ship model:

the functional aid comprises the propeller shaft and the propeller,

the paddles comprise a first paddle and a second paddle,

the support member comprises a hull, a third support member and a fourth support member,

the other auxiliary parts comprise a first fixing frame and a second fixing frame,

the third supporting piece and the fourth supporting piece are respectively and correspondingly adhered to the surfaces of two adjacent movable pages, one end of the third supporting piece and one end of the fourth supporting piece are both adhered to the ship body, the fourth supporting piece comprises three folding surfaces, namely three paper folding revolute pairs are intersected at one point and used for rotating along any direction to provide rotation adaptability,

one end of the first fixing frame and one end of the second fixing frame are both bonded with the ship body, the other end of the first fixing frame and the other end of the second fixing frame are both sleeved on the ship propeller shaft,

the first paddle and the second paddle are respectively arranged at two ends of the paddle shaft.

7. The novel three-dimensional book based on the combination of the paper folding process and the additive manufacturing technology is characterized in that:

wherein the functional auxiliary part also comprises a float grass conveying plate,

the aquatic weed transfer plate comprises a first aquatic weed transfer plate and a second aquatic weed transfer plate,

the surfaces of the first aquatic weed transfer plate and the second aquatic weed transfer plate are provided with movable crawler belts,

the first aquatic weed conveying plate and the second aquatic weed conveying plate are hinged to two ends of the ship body respectively.

8. The novel three-dimensional book based on the combination of the paper folding process and the additive manufacturing technology according to claim 1, is characterized by further comprising:

a front cover and a back cover, wherein,

and the heightening piece is alternatively arranged on the surfaces of the front cover and the back cover and faces the inside of the three-dimensional book.

9. The novel three-dimensional book based on the combination of the paper folding process and the additive manufacturing technology according to claim 1, is characterized in that:

wherein the support is a paper or additive manufactured piece.

10. Use of the novel stereobook based on the combination of the paper folding process and the additive manufacturing technique according to any one of claims 6 to 7 in teaching, characterized in that:

the novel three-dimensional book based on the combination of the paper folding process and the additive manufacturing technology is opened, the three-dimensional model is unfolded, teaching and teaching are carried out,

the three-dimensional model is used for presenting the case of the classical mechanism and the modern mechanism of the mechanical engineering discipline, and comprises the following components:

the system comprises a variable pitch gear automobile steering mechanism model, a rope-driven continuum robot model, a water surface cleaning folding environment-friendly ship model and a plane curve pantograph mechanism model.