CN114628879B - Space foldable array device with two unfolding modes of plane and curved surface - Google Patents

Abstract

The invention provides a spatially deployable array device with two unfolding forms: flat and curved, including a central base, a plurality of annular folding units nested in each other, a base for carrying a plurality of annular folding units and Flexible parts used to provide support and drive; the annular folding and unfolding unit is a single-degree-of-freedom origami mechanism, which includes several identical quadrilateral folding and unfolding bodies. Several closed quadrilateral folding and unfolding bodies are distributed in an annular array and fold at the same time according to the folding ridges and valleys. They are arranged in a staggered arrangement, and the corresponding quadrilateral folding and unfolding bodies in the plurality of annular folding and unfolding units are arranged in a staggered arrangement according to the folding ridges and valleys in the radial direction; the flexible member is arranged on the lower side of the base and connects the plurality of annular folding and unfolding units at the same time The corresponding quadrilateral folding body in the unit is provided with air channels in the radial direction in the flexible part; the invention can be used in a flat configuration or a curved configuration according to different use requirements, and is multi-purpose and highly flexible. Features.

Description

A space-foldable array device with two unfolding forms: flat and curved.

Technical field

The invention belongs to the technical field of spatially deployable mechanisms, and specifically relates to a spatially deployable array device with two expansion forms: flat and curved.

Background technique

There are two types of spatially deployable arrays: flat and curved. The flat deployable array forms a large flat surface after being deployed, which can be used for solar cell arrays or flat antenna arrays. The curved deployable array forms a three-dimensional thin film structure after being deployed. It forms spatial curved surfaces such as paraboloids and spherical surfaces, which can be used as feedback antenna reflection surfaces.

The traditional folding and unfolding mechanism with a curved surface has the disadvantages of complex structure, large folding volume, and fixed folding and unfolding ratio, and can no longer meet higher application requirements; at the same time, the folding and unfolding mechanism in the existing technology cannot realize both flat and curved unfolding at the same time. form.

Contents of the invention

In view of the shortcomings of the prior art, the present invention provides a spatially foldable array device with two unfolding forms: flat and curved. It can be used in a flat configuration or a curved configuration according to different use requirements, and has multi-purpose, Flexibility and other characteristics.

In order to achieve the above object, the present invention provides a spatially deployable array device with two unfolding forms: flat and curved, including a central base, a plurality of annular folding units nested in each other, and a plurality of annular folding units for carrying a plurality of annular folding units. The base of the expansion unit and the flexible parts used to provide support and drive;

The annular folding and unfolding unit is a single-degree-of-freedom origami mechanism, which includes several identical quadrilateral folding and unfolding bodies. Several closed quadrilateral folding and unfolding bodies are distributed in an annular array and arranged in a staggered manner at the folding ridges and folding valleys, and multiple annular folding and unfolding bodies are arranged in a staggered manner. The corresponding quadrilateral folded and expanded bodies in the expansion unit are arranged in a staggered manner in the radial direction according to the folding ridges and valleys;

The base is a flexible film that can be folded and deformed along with the annular folding unit;

The flexible part is arranged on the lower side of the base and is simultaneously connected to the corresponding quadrilateral folding and unfolding bodies in the plurality of annular folding and unfolding units. The flexible part is provided with air channels along the radial direction;

By inflating air into the airway, the flexible member expands in the radial direction to push the multiple annular folding units apart, and at the same time, the multiple annular folding units are simultaneously deployed around the central base until they are in a flat unfolded state, in which the multiple annular folding units are When the folding and unfolding unit is in a flat unfolded state, by continuing to inflate the airway, the lower side of the flexible part grows along its axial direction, causing the entire flexible part to bend upward, causing multiple annular folding and unfolding units to bend upward and be in a curved unfolded form.

As another specific embodiment of the present invention, the central base is a right prism, and the number of side lengths of the bottom surface of the central base is the same as the number of quadrilateral folding and unfolding bodies in the annular folding and unfolding unit.

As another specific embodiment of the present invention, multiple annular folding and unfolding units are configured using a Miura-ori origami structure.

As another specific embodiment of the present invention, the number of flexible parts is two or more, and the two or more flexible parts are arranged at intervals.

As another specific embodiment of the present invention, an air inlet channel is provided on the central base, and the air channel in the flexible member is connected with the air inlet channel.

As another specific embodiment of the present invention, the central base is provided with an annular groove, the air inlet channel and the airway are connected through a trachea, and the trachea passes through the annular groove and can slide in the annular groove.

As another specific embodiment of the present invention, the flexible member is bonded to the lower side of the base.

As another specific embodiment of the present invention, a gap is provided between adjacent annular folding and unfolding units to prevent the annular folding and unfolding units from deforming during bending.

The invention has the following beneficial effects:

The present invention can be further deformed into a curved surface configuration based on the annular plane expansion. It has a more flexible use mode according to different usage scenarios. It can realize multiple expansion modes on the same array structure and can use planes according to different usage requirements. Configuration or curved surface configuration, it has the characteristics of multi-purpose and high flexibility.

The invention can be folded into a smaller volume to save transportation space. When unfolded, it can be unfolded into a large-area flat or curved surface according to different needs, and can be applied to flat solar cell arrays, curved surface antennas or curved surface reflectors of satellites.

The present invention will be described in further detail below in conjunction with the accompanying drawings.

Description of drawings

Figure 1 is a schematic model diagram of Embodiment 1 of the device of the present invention;

Figure 2 is a crease distribution diagram of the substrate according to Embodiment 1 of the device of the present invention;

Figure 3 is a schematic structural diagram of the central base of the device according to Embodiment 1 of the present invention;

Figure 4 is a schematic diagram of the folded state of the device according to Embodiment 1 of the present invention;

Figure 5 is a schematic diagram of the unfolding process of the device Embodiment 1 of the present invention;

Figure 6 is a schematic diagram of the device in a flat unfolded state according to Embodiment 1 of the present invention;

Figure 7 is a schematic diagram of the device in the curved surface unfolding state according to Embodiment 1 of the present invention;

Figure 8 is a schematic diagram of the configuration of the Miura-ori origami structure in Embodiment 1 of the device of the present invention;

Figure 9 is a schematic diagram of the "one point four lines" unfolding movement in Embodiment 1 of the device of the present invention;

Figure 10 is a schematic diagram of the dihedral angle relationship during the expansion process in Embodiment 1 of the device of the present invention.

Detailed ways

In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, as long as there is no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

Many specific details are set forth in the following description to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described here. Therefore, the protection scope of the present invention is not limited to the specific details disclosed below. Limitations of Examples.

Example 1

The present invention provides a spatially deployable array device with two unfolding forms: flat and curved. As shown in Figures 1-7, it includes a central base 100, a plurality of annular folding units 200 nested in each other, and The base 300 carries a plurality of annular folding and unfolding units 200 and a flexible member 400 for providing support and driving.

Among them, the annular folding and unfolding unit 200 is a single degree of freedom origami mechanism, which includes several identical quadrilateral folding and unfolding bodies 201, specifically sixteen, sixteen closed quadrilateral folding and unfolding bodies 201 distributed in an annular array and simultaneously according to The folding ridges and valleys are arranged in a staggered arrangement. The number of annular folding and unfolding units 200 is, for example, three. The corresponding quadrilateral folding and unfolding bodies 201 of the three annular folding and unfolding units 200 are arranged in a staggered arrangement of the folding ridges and valleys in the radial direction.

Further, the central base 100 is specifically a right prism, for example, a sixteenth prism. The number of side lengths of the bottom surface of the central base 100 is the same as the number of quadrilateral folding and unfolding bodies 201 in the annular folding and unfolding unit 200, for example, as shown in Figure 3 .

Specifically, the base 300 is a flexible film that can be folded and deformed along with the annular folding and unfolding unit 200;

The flexible member 400 is disposed on the lower side of the base 300 and simultaneously connects the corresponding quadrilateral folding and unfolding bodies 201 in the plurality of annular folding and unfolding units 200, that is, the corresponding quadrilateral folding and unfolding bodies in the three annular folding and unfolding units 200 in the radial direction. The body 201 shares a flexible member 400. Preferably, the flexible member 400 is bonded to the lower side of the base 300.

An air passage 401 along the radial direction is provided in the flexible piece 400 .

Wherein, in the folded state, the three annular folding and unfolding units 200 are folded in a Z-shape.

By inflating air into the airway 401, the flexible member 400 expands in the radial direction to push the plurality of annular folding and unfolding units 200 apart. At the same time, the plurality of annular folding and unfolding units 200 are synchronously deployed around the central base 100 until they are in a flat unfolded state. , as shown in Figure 6, at this time, stop inflating the airway 401 and maintain the pressure inside the airway 401. At this time, the airway 401 can serve as a support mechanism for the annular folding and unfolding unit 200, thereby maintaining the planar configuration.

Among them, when the plurality of annular folding and unfolding units 200 are in a flat unfolded state, by continuing to inflate the air channel 401, since the inner side of the air channel 201 is bonded to the base 300, it cannot deform in the axial direction, so that the lower side of the flexible member 400 moves along its axis. The growth causes the flexible member 400 to bend upward as a whole, and the flexibility of the base 300 is utilized to cause the plurality of annular folding and unfolding units 200 to bend upward and be in a curved surface unfolding form, as shown in FIG. 7 .

Furthermore, the number of flexible members 400 is two or more, for example, sixteen. The sixteen flexible members 400 are arranged at intervals. When unfolded into a plane, the sixteen flexible members 400 are in the shape of wheel spokes.

In this embodiment, the central base 100 is provided with an air inlet channel 101. The air channel 401 in the flexible member 400 is connected with the air inlet channel 101. The central base 100 is provided with an annular groove 102. The air inlet channel 101 and the air channel 401 are connected. They are connected through an air pipe (not shown in the figure), which passes through the annular groove 102 and can slide in the annular groove. Accordingly, equipment such as an air pump is arranged in the air inlet channel 101 to provide an air source.

The flexible member 400 can be movably connected to the central base 100 to provide support for the plurality of annular folding and unfolding units 200 .

In this embodiment, a gap (not shown in the figure) is provided between adjacent annular folding and unfolding units 200 to prevent the annular folding and unfolding units 200 from deforming when bending. When multiple annular folding and unfolding units 200 have completed the plane After unfolding, continue to inflate the flexible part 400. Since the flexible part 400 is bonded to the base 300, it cannot deform in the axial direction, and its outer side can grow in the axial direction, so the flexible part 400 will bend upward; due to the annular shape There is a gap between the folding and unfolding units 200, and the base 300 is a flexible film. Therefore, the deformation generated during the bending and deformation process will be accumulated into the base 300 in the gap between the annular folding and unfolding units 200, thereby ensuring that the annular folding and unfolding unit 200 can It does not deform when it is bent.

A specific folding method of multiple annular folding and unfolding units in this embodiment is shown in Figures 8-10. Specifically: multiple annular folding and unfolding units are configured using a Miura-ori origami structure. Figure 8 only shows The crease distribution of some annular areas can be designed in this way for the entire annular area.

The circumferential creases overlap with the polygon side lengths, and the radial creases have an α angle relationship with the radial direction. However, the difference is that in order to meet the plane folding rules, the α angle of each loop takes a different value.

There are two rules for judging whether the folding method is flat foldable:

(1)|N _m -N _v |=2, N _m and N _V are the number of folding ridges and folding valleys at the same node respectively;

(2) The folding method of "one point four lines" should satisfy Fushimi's theorem, that is, the sum of the diagonals is equal.

Analyze one of the nodes O. The polyline at point O is 3-fold ridges and 1-fold valley. Obviously, rule (1) is satisfied.

For rule (2), it is necessary to make ∠AOD+∠BOC=∠COD+∠AOB, that is, ∠BOC-∠COD=∠AOB-∠AOD.

For the folded unit block OAFD, let ∠AFD=α _m , it is easy to prove:

∠AOD＝β _m ＝α _m +θ (2-1)

∠OAE＝∠OEA＝α _m (2-2)

∠BOE＝β _m (2-3)

Then there are, ∠AOE=π-2α _m , ∠AOB-∠AOD=π-2α _m

And because ∠AOD+∠COD+∠BOC+∠AOB=2π

Then ∠BOC=π-α _m-1 -2θ, ∠BOC-∠COD=π-2α _m-1 -2θ

Obviously, when α _m-1 =α _m -θ, rule (2) is satisfied.

In the same way, α _m-2 = α _m-1 -θ, and by analogy, α _i of each layer can be obtained.

The following takes the most basic "one point four lines" unfolding motion as an example to introduce the dihedral angle relationship during the unfolding motion of the annular film origami structure based on Miura-ori. It can be generalized through the dihedral angle relationship of a single unit, such as The unit shown in Figure 9 can be regarded as a link mechanism with a link length of 0. The unfolded unit should satisfy the most basic plane foldable rules, that is, α ₁₂ , α ₂₃ , α ₃₄ , and α ₁₄ satisfy α ₁₂ + α ₃₄ =α ₂₃ +α ₁₄ =π, and there is a certain relationship between the rigid surface dihedral angle and the linkage mechanism rotation angle, φ ₁ =π-θ ₁ , φ ₂ =π-θ ₂ , φ ₃ =π -θ ₃ , φ ₄ =π+θ ₄ .

According to the above conditions:

Then there are two paths to convert rotating joint 1 to rotating joint 3, 1-2-3 and 1-4-3, that is:

¹ T ₂ · ² T ₃ = ¹ T ₄ · ⁴ T ₃ (2-5)

Similarly there are:

¹ T ₂ · ² T ₃ · ³ T ₄ = ¹ T ₄ (2-6)

² T ₃ · ³ T ₄ = ² T ₁ · ¹ T ₄ (2-7)

² T ₁ · ¹ T ₄ · ⁴ T ₃ = ² T ₃ (2-8)

By combining the following equations (2-4), (2-5), (2-6), (2-7), and (2-8):

Use θ ₃ as the independent variable to assign values, for example, set α ₁₂ =65°, α ₂₃ =85°, calculate θ ₁ , θ ₂ and θ ₄ , and the results are shown in Figure 10.

It can be seen from Figure 10 that during the expansion process, θ ₁ =θ ₂ , θ ₂ =θ ₄ , and θ ₃ and θ ₂ satisfy equation (2-11). At the same time, when θ ₃ is known, the remaining three angles can be obtained, which means that the "one-point-four-line" unit degree of freedom is 1.

Because the annular film origami structure based on Miura-ori is composed of multiple "one point four line" units spliced together along the circumferential and radial directions, and there are common features between adjacent "one point four line" units. Dihedral angle, that is, when the angle of one of the dihedral angles is known, the angles of all the other dihedral angles can be calculated. Therefore, the degree of freedom of the annular film origami structure based on Miura-ori is 1.

Things not covered above are applicable to the existing technology.

Although the preferred embodiments of the present invention are disclosed above, they are not intended to limit the scope of implementation of the present invention. Any person of ordinary skill in the art can make some improvements without departing from the scope of the present invention. That is, any equivalent improvements made in accordance with the present invention should be covered by the scope of the present invention.

Claims (5)

1. A spatially deployable array device with two unfolding forms: flat and curved. It is characterized in that it includes a central base, a plurality of annular folding units nested in each other, and is used to carry a plurality of said annular folding units. The base of the unit and the flexible member used to provide support and drive; wherein, a plurality of the annular folding and unfolding units are configured using a Miura-ori origami structure; The annular folding and unfolding unit is a single-degree-of-freedom origami mechanism, which includes several identical quadrilateral folding and unfolding bodies. The plurality of quadrilateral folding and unfolding bodies are distributed in an annular array and arranged in a staggered manner at the same time according to the folding ridges and folding valleys. The corresponding quadrilateral folding and unfolding bodies in each of the annular folding and unfolding units are arranged in a staggered arrangement of folding ridges and valleys in the radial direction; Wherein, the central base is a right prism, and the number of side lengths of the bottom surface of the central base is the same as the number of the quadrilateral folding and unfolding bodies in the annular folding and unfolding unit; The base is a flexible film that can be folded and deformed along with the annular folding unit; The flexible member is disposed on the lower side of the base and is simultaneously connected to the corresponding quadrilateral folding and unfolding bodies in a plurality of annular folding and unfolding units, and the flexible member is provided with an air channel along a radial direction; Wherein, the flexible member is movably connected to the central base to provide support for a plurality of the annular folding and unfolding units; By inflating air into the airway, the flexible member expands in the radial direction to push the plurality of annular folding units apart, and at the same time, the plurality of annular folding units are simultaneously deployed around the central base until When the plurality of annular folding and unfolding units are in a flat unfolded form, a gap is provided between adjacent annular folding and unfolding units to prevent the annular folding and unfolding units from deforming when bending. , by continuing to inflate the airway, the lower side of the flexible member grows along its axial direction so that the entire flexible member bends upward, causing the plurality of annular folding and unfolding units to bend upward and be in a curved surface unfolding state. 2. The spatially deployable array device with two unfolding forms of plane and curved surface according to claim 1, characterized in that the number of the flexible parts is two or more, two or more The flexible parts are arranged at intervals. 3. The spatially deployable array device with two expansion forms of flat and curved surfaces according to claim 2, characterized in that an air inlet channel is provided on the central base, and the air in the flexible member The channel is connected with the air inlet channel. 4. The spatially deployable array device with two expansion forms of flat and curved surfaces as claimed in claim 3, characterized in that an annular groove is provided on the central base, and the air inlet channel and the air channel Communicated by a trachea, the trachea passes through the annular groove and can slide within the annular groove. 5. The spatially deployable array device with two unfolding forms of flat surface and curved surface according to claim 1, characterized in that the flexible member is bonded to the lower side of the base.