CN114151681A - Multistage folding and unfolding mechanism based on fractal principle - Google Patents

Multistage folding and unfolding mechanism based on fractal principle Download PDF

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Publication number
CN114151681A
CN114151681A CN202111541374.0A CN202111541374A CN114151681A CN 114151681 A CN114151681 A CN 114151681A CN 202111541374 A CN202111541374 A CN 202111541374A CN 114151681 A CN114151681 A CN 114151681A
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unit
stage
rod group
rod
group
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CN114151681B (en
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李锐明
时逢君
张硕
张宪宏
李晔卓
姚燕安
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Beijing Jiaotong University
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Beijing Jiaotong University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/1235—Collapsible supports; Means for erecting a rigid antenna
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S20/00—Supporting structures for PV modules
    • H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Prostheses (AREA)
  • Transmission Devices (AREA)

Abstract

The invention discloses a multistage folding and unfolding mechanism based on a fractal principle, which comprises: the mechanism comprises a driving level rod group (1), a first level rod group unit (2-1), a second level rod group unit (3-1), a second level rod group second unit (3-2), a third level rod group first unit (4-1), a third level rod group second unit (4-2), a third level rod group third unit (4-3), a third level rod group fourth unit (4-4), a first level baffle rod (5), a second level baffle rod (6) and a third level baffle rod (7), the mechanism formed has the function of being connected with a multi-level structure, and the design of the mechanism is based on the concept of fractal dimension in fractal principle.

Description

Multistage folding and unfolding mechanism based on fractal principle
Technical Field
The invention relates to a multistage folding and unfolding mechanism based on a fractal principle, in particular to a multistage folding and unfolding mechanism adopting a scissor unit.
Background
As a typical space folding and unfolding mechanism, the multi-stage scissor mechanism is widely applied to space equipment such as a solar panel, a folding and unfolding antenna and the like, with the rapid development of space equipment and micro-operation mechanisms, new requirements are continuously met, and new challenges are provided for the design and the structure of the space folding and unfolding mechanism. In the aspect of comprehensive configuration of the foldable and expandable mechanism, the Lihailong designs a scissor-type telescopic bracket aiming at the condition of limited space resources; the Liao starter and Licheng adopt a scissoring mechanism as a basic unit to construct a single-layer and multi-layer plane scaling mechanism, and provide a method for constructing the plane figure scaling mechanism by combining a plurality of parallelograms. At present, a plurality of folding and unfolding mechanisms have construction ideas and design methods, most of the folding and unfolding mechanisms are designed firstly, and then the unit mechanisms are arranged in a copy type plane or space array, so that the construction mode is single.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: a novel multi-stage folding and unfolding mechanism is provided by referring to the concept of fractal dimension in a fractal principle; providing a design scheme of a driving stage rod group, a first stage rod group, a second stage rod group, a third stage rod group and a baffle rod; the baffle rod connects the rod groups at the gear, and the driving rod groups and the multi-stage rod groups are regularly connected to form a multi-stage scissor mechanism; the number of stages of the mechanism can be designed according to needs, including but not limited to three-stage folding and unfolding mechanisms, the defects of design modes such as a copying plane or space array arrangement can be overcome, and new design ideas can be provided for micro-operation mechanisms and the like due to the gradually reduced size and the increased number of stages.
The technical scheme of the invention is as follows: a multi-stage folding and unfolding mechanism comprises a driving stage rod group, a first stage rod group first unit, a second stage rod group second unit, a third stage rod group first unit, a third stage rod group second unit, a third stage rod group third unit, a third stage rod group fourth unit, a first stage baffle rod, a second stage baffle rod and a third stage baffle rod; the driving level rod group is connected with the first unit of the first level rod group; the first unit of the second-stage rod group is connected with the first unit of the first-stage rod group, and the first unit of the second-stage rod group and the second unit of the second-stage rod group are symmetrically arranged in a left-right mode relative to the symmetry axis of the first unit of the first-stage rod group; the upper ends of the first units of the first-stage rod group are connected by a first-stage baffle rod; the third-level rod group first unit is connected with the second-level rod group first unit, the third-level rod group first unit and the third-level rod group second unit are symmetrically installed in a left-right mode relative to the symmetry axis of the second-level rod group first unit, and the third-level rod group third unit and the third-level rod group fourth unit are symmetrically arranged in a left-right mode relative to the symmetry axis of the first-level rod group first unit, the third-level rod group second unit and the third-level rod group first unit; the upper ends of the first units of the second-stage rod group are connected by a second-stage baffle rod; the two second-stage baffle rods are arranged in a left-right symmetrical mode relative to a symmetrical axis of the first unit of the first-stage rod group; the upper ends of the first units of the third-stage rod group are connected by a third-stage baffle rod; the installation mode of the third-stage baffle rod on the second unit, the third unit and the fourth unit of the third-stage rod group is the same as that of the first unit of the third-stage rod group.
The driving level rod group comprises a single-layer driving rod piece and a double-layer driving rod piece, wherein the single-layer driving rod piece and the double-layer driving rod piece are the same in length and are rotatably connected at the middle points of the rod pieces.
The first unit of the first-stage rod group is composed of a first-stage rod group left single-layer rod piece, a first-stage rod group left double-layer rod piece, a first-stage rod group right single-layer rod piece and a first-stage rod group right double-layer rod piece, the single-layer rod piece and the double-layer rod piece at the same side are rotatably connected at the middle point of the rod pieces respectively, the first unit of the first-stage rod group is arranged in a bilateral symmetry mode about the symmetry axis of the first unit, and baffle rods in the first-stage rod group are rotatably connected at the lower end respectively.
The first unit of second level pole group by second level pole group left side individual layer member, second level pole group left side double-layer member, second level pole group right side individual layer member and second level pole group right side double-layer member are constituteed, the individual layer member and the double-layer member of homonymy rotate in member mid point department separately and are connected, first unit of second level pole group is bilateral symmetry about its symmetry axis and arranges, the baffle pole rotates respectively at the lower extreme in the second level pole group and connects, second level pole group second unit is the same with the first unit structure of second level pole group.
The first unit of third level pole group by third level pole group left side individual layer member, the double-deck member in third level pole group left side, third level pole group right side individual layer member and the double-deck member in third level pole group right side are constituteed, the individual layer member and the double-deck member of homonymy rotate in member mid point department separately and are connected, the first unit of third level pole group is bilateral symmetry about its symmetry axis and arranges, baffle rod rotates the connection respectively at the lower extreme in the third level pole group, third level pole group second unit, third level pole group third unit and third level pole group fourth unit are the same with the first unit structure of third level pole group.
The beneficial effects of the application are mainly shown in that: the driving stage rod group, different stage rod groups and baffle rods can be combined to form a required multi-stage scissor mechanism with any number of stages, a multi-stage folding and unfolding mechanism based on a fractal principle is provided, the number of stages of the mechanism can be adjusted according to design requirements, the structure is clear, variability is realized, and batch production can be carried out.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other obvious modifications can be obtained by those skilled in the art without inventive efforts.
Fig. 1 is an overall structure diagram of a multi-stage folding and unfolding mechanism based on a fractal principle.
Fig. 2 is a schematic diagram of a driving stage rod group of a multi-stage folding and unfolding mechanism based on a fractal principle.
Fig. 3 is a schematic diagram of a first-stage rod group of a multi-stage folding and unfolding mechanism based on a fractal principle.
Fig. 4 is a schematic diagram of a second-stage rod group of a multi-stage folding and unfolding mechanism based on a fractal principle.
Fig. 5 is a schematic diagram of a third-stage rod group of a multi-stage folding and unfolding mechanism based on a fractal principle.
Fig. 6 is a schematic diagram of baffle rods at different levels of a multi-stage folding and unfolding mechanism based on a fractal principle.
Fig. 7 is a schematic diagram of the folding and unfolding processes of a multi-stage folding and unfolding mechanism based on the fractal principle.
Fig. 8 is a schematic diagram of a principle of an n-level rod set of a multi-level folding and unfolding mechanism based on a fractal principle.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, the multi-stage folding and unfolding mechanism based on the fractal principle includes: the device comprises a driving stage rod group (1), a first unit (2-1) of a first stage rod group, a first unit (3-1) of a second stage rod group, a second unit (3-2) of the second stage rod group, a first unit (4-1) of a third stage rod group, a second unit (4-2) of the third stage rod group, a third unit (4-3) of the third stage rod group, a fourth unit (4-4) of the third stage rod group, a first stage baffle rod (5), a second stage baffle rod (6) and a third stage baffle rod (7).
As shown in figure 1, the folding and unfolding mechanism is connected with a first-stage rod group first unit (2-1), a second-stage rod group first unit (3-1), a second-stage rod group second unit (3-2), a third-stage rod group first unit (4-1), a third-stage rod group second unit (4-2), a third-stage rod group third unit (4-3) and a third-stage rod group fourth unit (4-4) from the driving-stage rod group (1) from bottom to top, wherein a first-stage baffle rod (5), a second-stage baffle rod (6) and a third-stage baffle rod (7) are used for fixing.
As shown in FIG. 2, the driving stage rod group (1) comprises a single-layer driving rod piece (1-S) and a double-layer driving rod piece (1-D), wherein the single-layer driving rod piece (1-S) and the double-layer driving rod piece (1-D) are the same in length and are rotatably connected at the middle points of the rod pieces.
As shown in FIG. 3, the first unit (2-1) of the first stage rod group is composed of a single-layer rod (2-LS) at the left side of the first stage rod group, a double-layer rod (2-LD) at the left side of the first stage rod group, a single-layer rod (2-RS) at the right side of the first stage rod group and a double-layer rod (2-RD) at the right side of the first stage rod group, the single-layer rod and the double-layer rod at the same side are rotatably connected at the middle point of the rods, the end B and the end C of the first unit (2-1) of the first stage rod group are in gear engagement, the end a and the end B are in gear engagement, the first unit (2-1) of the first stage rod group is axisymmetrically arranged relative to the first symmetry axis (2-mid) of the first unit (2-1) of the first stage rod group, and the baffle rods (2-1-1) in the first stage rod group are rotatably connected through the end a and the end B.
As shown in FIG. 4, the first unit (3-1) of the second stage group is composed of a single-layer rod (3-LS) at the left side of the second stage group, a double-layer rod (3-LD) at the left side of the second stage group, a single-layer rod (3-RS) at the right side of the second stage group and a double-layer rod (3-RD) at the right side of the second stage group, the single-layer rod and the double-layer rod at the same side are rotatably connected at the middle point of the respective rods, the B end and the C end of the first unit (3-1) of the second stage group are in gear engagement, the a end and the B end are in gear engagement, the first unit (3-1) of the second stage group is axisymmetrically arranged about the second symmetry axis (3-1-mid) of the first unit (3-1) of the second stage group, and the baffle rods (3-1-1) in the second stage group are rotatably connected through the a end and the B end, the second unit (3-2) of the second-stage rod group is the same as the first unit (3-1) of the second-stage rod group in structure.
As shown in FIG. 5, the first unit (4-1) of the third stage group is composed of a single-layer rod (4-1-LS) at the left side of the third stage group, a double-layer rod (4-LD) at the left side of the third stage group, a single-layer rod (4-RS) at the right side of the third stage group and a double-layer rod (4-RD) at the right side of the third stage group, the single-layer rod and the double-layer rod at the same side are rotatably connected at the middle point of the respective rods, the end B and the end C of the first unit (4-1) of the third stage group are in gear engagement, the end a and the end B are in gear engagement, the first unit (4-1) of the third stage group is axisymmetrically arranged with respect to the third symmetry axis (4-mid) of the first unit (4-1) of the third stage group, and the baffle rods (4-1-1) in the third stage group are rotatably connected through the end a and the end B, the second unit (4-2) of the third-stage rod group, the third unit (4-3) of the third-stage rod group and the fourth unit (4-4) of the third-stage rod group have the same structure as the first unit (4-1) of the third-stage rod group.
Drive stage rod length L of the mechanism as described in FIGS. 2, 3, 4 and 50Length L of first-stage shearing fork rod piece1Second stage rod length L2Length L of the third-stage rod member3And nth stage rod length LnThe following relations exist between the following components:
Ln＝kn-3*L3＝kn-2*L2＝kn-1*L1＝kn*L0,k∈(0,0.5)。
as shown in fig. 6, the barrier lever includes a first stage barrier lever (5), a second stage barrier lever (6), and a third stage barrier lever (7). The length L of the rod group of the mechanism and the length T of the baffle rod of the corresponding group have the following relationship:
T＝((1-2k)/k)*L,k∈(0,0.5)。
as shown in fig. 7, the multi-stage folding and unfolding mechanism based on the fractal principle can save the placing space in the folded state (process a), and the multi-stage folding and unfolding mechanism based on the fractal principle can have a large movement space in the unfolded state (process b), so that the multi-stage folding and unfolding mechanism has the potential of realizing more functions.
As shown in fig. 8, the multi-stage folding and unfolding mechanism based on the fractal principle can be designed into an n-stage mechanism, where n stages can be stages required by design, and the number of units in each stage satisfies: the nth stage has two units of n minus one power, and the design of the size of the multistage folding mechanism refers to a Cantor fractal set with a fractal dimension of-ln (2)/ln (k).

Claims (4)

1. A multistage folding and unfolding mechanism based on a fractal principle comprises: the device comprises a driving stage rod group (1), a first stage rod group first unit (2-1), a second stage rod group first unit (3-1), a second stage rod group second unit (3-2), a third stage rod group first unit (4-1), a third stage rod group second unit (4-2), a third stage rod group third unit (4-3), a third stage rod group fourth unit (4-4), a first stage baffle rod (5), a second stage baffle rod (6) and a third stage baffle rod (7);
the end A of the driving level rod group (1) is rotationally connected with the end E of the first unit (2-1) of the first level rod group, and the end B of the driving level rod group (1) is rotationally connected with the end F of the first unit (2-1) of the first level rod group;
the E end of the first unit (3-1) of the second-stage rod group is rotationally connected with the A end of the first unit (2-1) of the first-stage rod group, the F end of the first unit (3-1) of the second-stage rod group is rotationally connected with the B end of the first unit (2-1) of the first-stage rod group, and the first unit (3-1) of the second-stage rod group and the second unit (3-2) of the second-stage rod group are axially symmetrically arranged relative to the first symmetry axis (2-mid) of the first unit (2-1) of the first-stage rod group;
the B end of the first unit (2-1) of the first-stage rod group and the F end of the first unit (3-1) of the second-stage rod group are respectively connected in a rotating manner by the first-stage baffle rods (5), the C end of the first-stage rod group (2-1) and the E end of the second unit (3-2) of the second-stage rod group are connected, and the number of the first-stage baffle rods (5) is 1;
the E end of the first unit (4-1) of the third-stage rod group is rotationally connected with the A end of the first unit (3-1) of the second-stage rod group, the F end of the first unit (4-1) of the third-stage rod group is rotationally connected with the B end of the first unit (3-1) of the second-stage rod group, the first unit (4-1) of the third-stage rod group and the second unit (4-2) of the third-stage rod group are axisymmetrically arranged relative to the second symmetry axis (3-1-mid) of the first unit (3-1) of the second-stage rod group, the fourth unit (4-4) and the third unit (4-3) of the third-stage rod group are arranged in an axial symmetry mode with respect to the first symmetry axis (2-mid) of the first unit (2-1) of the first-stage rod group and the second unit (4-2) of the first unit (4-1) and the third-stage rod group;
the second-stage baffle rod (6) respectively rotatably connects the end B of the first unit (3-1) of the second-stage rod group with the end F of the first unit (4-1) of the third-stage rod group, and rotatably connects the end C of the first unit (3-1) of the second-stage rod group with the end E of the second unit (4-2) of the third-stage rod group; the two second-stage baffle rods (6) are arranged in an axisymmetric way about a first symmetry axis (2-mid) of the first unit (2-1) of the first-stage rod group, and the number of the second-stage baffle rods (6) is 2;
the third-stage baffle rods (7) are respectively in rotating connection with the end B of the first unit (4-1) of the third-stage rod group and the end C of the first unit (4-1) of the third-stage rod group, the second unit (4-2) of the third-stage rod group, the third baffle rods (7) on the third unit (4-3) of the third-stage rod group and the fourth unit (4-4) of the third-stage rod group are in the same installation mode as the first unit (4-1) of the third-stage rod group, and the number of the third baffle rods (7) is 4.
2. The multi-stage folding and unfolding mechanism according to claim 1, wherein: the driving level rod group (1) comprises a single-layer driving rod piece (1-S) and a double-layer driving rod piece (1-D), wherein the single-layer driving rod piece (1-S) and the double-layer driving rod piece (1-D) are the same in length and are rotatably connected at the middle points of the rod pieces;
the first unit (2-1) of the first-stage rod group consists of a single-layer rod piece (2-LS) at the left side of the first-stage rod group, a double-layer rod piece (2-LD) at the left side of the first-stage rod group, a single-layer rod piece (2-RS) at the right side of the first-stage rod group and a double-layer rod piece (2-RD) at the right side of the first-stage rod group, the single-layer rod piece and the double-layer rod piece at the same side are rotatably connected at the middle points of the rod pieces, the B end, the C end, the a end and the B end of the first-stage rod group first unit (2-1) are respectively provided with a gear structure, the B end and the C end are meshed in matched pair, the a end and the B end are meshed in matched pair, the first-stage rod group first unit (2-1) is axially symmetrical about a first symmetry axis (2-mid) of the first-stage rod group first unit (2-1), rods (2-1-1) in the first-stage rod group are respectively rotatably connected with the a end of the first-stage rod group first unit (2-1), is rotationally connected with the b end of the first unit (2-1) of the first-stage rod group;
the first unit (3-1) of the second-stage rod group consists of a single-layer rod piece (3-LS) at the left side of the second-stage rod group, a double-layer rod piece (3-LD) at the left side of the second-stage rod group, a single-layer rod piece (3-RS) at the right side of the second-stage rod group and a double-layer rod piece (3-RD) at the right side of the second-stage rod group, the single-layer rod piece and the double-layer rod piece at the same side are rotatably connected at the middle points of the rod pieces, the B end, the C end, the a end and the B end of the first unit (3-1) of the second-stage rod group are respectively provided with a gear structure, the B end and the C end are meshed in matched pair, the a end and the B end are meshed in matched pair, the first unit (3-1) of the second-stage rod group is symmetrically arranged relative to a second symmetric axis (3-1-mid) of the first unit (3-1) of the second-stage rod group, and the rods (3-1) in the second-stage rod group are respectively rotatably connected with the a end of the first unit (3-1) of the second-stage rod group The second unit (3-2) of the second-stage rod group is in rotary connection with the end b of the first unit (3-1) of the second-stage rod group, and the structure of the second unit (3-2) of the second-stage rod group is the same as that of the first unit (3-1) of the second-stage rod group;
the first unit (4-1) of the third-level rod group consists of a single-layer rod piece (4-1-LS) at the left side of the third-level rod group, a double-layer rod piece (4-LD) at the left side of the third-level rod group, a single-layer rod piece (4-RS) at the right side of the third-level rod group and a double-layer rod piece (4-RD) at the right side of the third-level rod group, the single-layer rod pieces at the same side are rotatably connected with the double-layer rod piece at the middle points of the rod pieces respectively, the B end, the C end, the a end and the B end of the first unit (4-1) of the third-level rod group are respectively provided with a gear structure, the B end and the C end are meshed in a matching mode, the gear at the a end and the B end are meshed in a matching mode, the first unit (4-1) of the third-level rod group is axially and symmetrically arranged relative to a third symmetry axis (4-mid) of the first unit (4-1) of the third-level rod group, baffle rods (4-1) in the third-level rod group are respectively rotatably connected with the end of the first unit (4-1) of the third-level rod group, the end b of the first unit (4-1) of the third-level rod group is rotationally connected, the second unit (4-2) of the third-level rod group, the third unit (4-3) of the third-level rod group and the fourth unit (4-4) of the third-level rod group are the same as the first unit (4-1) of the third-level rod group in structure.
3. The multi-stage folding and unfolding mechanism according to claim 1, wherein: the first-stage rod group is provided with a zero power square unit of two, the second-stage rod group is provided with a primary power square unit of two, the third-stage rod group is provided with a quadratic unit of two, and the nth-stage rod group is provided with a unit of n minus the first power of two.
4. The multi-stage folding and unfolding mechanism according to claim 1, wherein: length L of driving-stage rod of the mechanism0Length L of first-stage shearing fork rod piece1Second stage rod length L2Length L of the third-stage rod member3And nth stage rod length LnThe following relations exist between the following components:
Ln＝kn-3*L3＝kn-2*L2＝kn-1*L1＝kn*L0,k∈(0,0.5)；
the length L of the rod group of the mechanism and the length T of the baffle rod of the corresponding group have the following relationship:
T＝((1-2k)/k)*L,k∈(0,0.5)。
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