CN114962438B - Flexible deployable mechanism based on paper folding principle and soft hinge - Google Patents
Flexible deployable mechanism based on paper folding principle and soft hinge Download PDFInfo
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- CN114962438B CN114962438B CN202210499372.8A CN202210499372A CN114962438B CN 114962438 B CN114962438 B CN 114962438B CN 202210499372 A CN202210499372 A CN 202210499372A CN 114962438 B CN114962438 B CN 114962438B
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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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
- F16C11/12—Pivotal connections incorporating flexible connections, e.g. leaf springs
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- 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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Abstract
The invention relates to a flexible deployable mechanism based on a paper folding principle and a soft hinge, and belongs to the field of space deployable mechanisms. The invention relates to a flexible deployable mechanism based on a paper folding principle and a soft hinge, which comprises: flexible hinges, crease bars, and diagonal braces; the basic constituent unit of the present invention includes: 1 central flexible hinge, 1 first edge flexible hinge, 1 second edge flexible hinge, 1 third edge flexible hinge, 1 fourth edge flexible hinge, 2 first corner flexible hinges, 2 second corner flexible hinges, 12 crease bars and 4 diagonal braces; the expansion of the basic constituent unit can be realized by replacing the side flexible hinges with the central flexible hinges and replacing the corner flexible hinges with the side flexible hinges. The flexible deployable mechanism based on the paper folding principle and the soft hinge has the advantages of high folding-unfolding ratio, simple structure and expansibility.
Description
Technical Field
The invention relates to a flexible deployable mechanism based on a paper folding principle and a soft hinge, and belongs to the field of space deployable mechanisms.
Background
In the field of aerospace, the space expansion mechanism is limited by the limit of rocket launching volume, a large space antenna needs to be folded in advance in the launching process and expanded after entering an orbit, and the space expansion mechanism is key equipment for supporting the large space antenna. The spatial deployable mechanism must satisfy both the rigidity of the structure and the natural frequency of the structure, and also satisfy the requirements of light weight and high precision. Most of current space deployable mechanisms are mechanically deployed, and common forms include: annular truss type, unit framework type, folding rib type, winding rib type, cable tension type, looping type and flexible self-resilience type, but the space deployable mechanism in the form of the space deployable mechanism has the defects of complex mechanism and large mass.
Paper folding is an artistic activity of folding paper in a two-dimensional plane into a three-dimensional state, paper folding technology is applied to a space unfolding mechanism of aerospace engineering, and common paper folding styles include: "Z" fold, hexagonal Flasher fold, and Kimura origami. Among them, the "Z" type folding can compress a large plane into a smaller volume along the transverse direction or the longitudinal direction, and is mostly applied to a solar wing unfolding mechanism, but the folding efficiency is limited; the hexagonal Flasher folded paper has a very high folding-unfolding ratio and can be applied to a large-space solar power station, but when the thin paper is replaced by a plate with a certain thickness, a gap is reserved between the plates to ensure the smooth folding and unfolding of the mechanism; the Kimura origami is a cylindrical origami moving along the axial direction, can be used as an air inflation pipeline of a space truss structure, but tiny holes generated at the vertex of a crease enable gas to be retained in the pipeline, so that instability of the unfolding process is caused.
In summary, the paper folding technology has been applied to the space-expandable mechanism, but the following problems still exist: the main object of the space extensible mechanism based on the paper folding technology is no longer soft plane paper, and the whole mechanism must have certain rigidity, strength and quality in consideration of practical application; a space unfolding mechanism based on a plate folding technology not only needs to consider a geometric folding process and realize smooth unfolding, but also needs to solve the problems of motion interference and hinge arrangement; space-expandable mechanism based on paper folding technology based on thin film, the space paper folding mechanism is easy to generate stress concentration at the top of a crease, and fatigue failure is easy to occur under the condition of multiple folding and expansion.
Disclosure of Invention
The invention aims to provide a flexible deployable mechanism based on a paper folding principle and a soft hinge, and the flexible deployable mechanism has the characteristic of large folding-unfolding ratio of a common paper folding mechanism by combining a paper folding technology and the flexible hinge, is simple in structure and has expansibility, and solves the problem of the paper folding technology in the application of a space deployable mechanism.
The purpose of the invention is realized by the following technical scheme:
the invention discloses a flexible deployable mechanism based on a paper folding principle and a soft hinge, which comprises: flexible hinges, crease bars, and diagonal braces;
further, the flexible hinge is divided into: a central flexible hinge, an edge flexible hinge, and a corner flexible hinge;
the central flexible hinge includes: 4 crease bar joints, 4 diagonal brace bar joints, 4 crease bar joint end bar sleeves and 4 diagonal brace bar joint end bar sleeves;
one end of each of the 4 crease bar joints and one end of each of the 4 diagonal brace bar joints are fixedly connected to form a point, and the other ends of the 4 crease bar joints and the 4 diagonal brace bar joints are respectively and fixedly connected with 4 terminal bar sleeves of the crease bar joints and 4 terminal bar sleeves of the diagonal brace bar joints;
the flexible hinge on limit divide into according to the structure difference: the flexible hinge comprises a first type of edge flexible hinge, a second type of edge flexible hinge, a third type of edge flexible hinge and a fourth type of edge flexible hinge;
the first type of edge flexible hinge, the second type of edge flexible hinge, the third type of edge flexible hinge, and the fourth type of edge flexible hinge each include: 3 of said crease bar joints, 2 of said diagonal brace joints, 3 of said crease bar joint bar sleeves, and 2 of said diagonal brace joint end bar sleeves;
one end of each of the 3 crease bar joints and one end of each of the 2 diagonal brace bar joints are fixedly connected to form a point, and the other end of each of the 3 crease bar joints and the other end of each of the 2 diagonal brace bar joints are respectively and fixedly connected with the tail end bar sleeve of each of the 3 crease bar joints and the tail end bar sleeve of each of the 2 diagonal brace bar joints;
furthermore, the spatial distribution patterns of 3 crease bar joints and 2 diagonal strut joints in the first edge flexible hinge type, the second edge flexible hinge type, the third edge flexible hinge type and the fourth edge flexible hinge type are different;
the angle flexible hinge is divided into the following parts according to different structures: a first type of corner flexible hinge and a second type of corner flexible hinge;
the first type of corner compliant hinge and the second type of corner compliant hinge each include: 2 of the crease bar joints, 1 of the diagonal brace bar joints, 2 of the crease bar joint end bar sleeves and 1 of the diagonal brace bar joint end bar sleeves;
one end of each of the 2 crease bar joints and one end of each of the 1 diagonal brace bar joints are fixedly connected to form a point, and the other end of each of the 2 crease bar joints and the other end of each of the 1 diagonal brace bar joints are respectively and fixedly connected with the tail end bar sleeve of each of the 2 crease bar joints and the tail end bar sleeve of each of the 1 diagonal brace bar joints;
further, the spatial distribution patterns of 2 of the crease bar joints and 1 of the diagonal bar joints in the first type of corner flexible hinge and the second type of corner flexible hinge are different;
the crease bar joint is mainly used for connecting crease bars with adjacent relations in a geometric relation in Miura paper folding;
the diagonal brace joint is mainly used for connecting diagonal braces with adjacent relations in a geometric relation in Miura folded paper;
preferably, the crease bar joint and the diagonal bar joint are made of 8400 soft rubber, can deform in a large range, and provide flexible activity capability for the whole flexible unfolding mechanism based on the paper folding principle and the soft hinge;
the crease bar joint tail end rod sleeve is used for fixedly connecting the flexible crease bar joint and the rigid crease bar;
the tail end rod sleeve of the diagonal brace joint is used for fixedly connecting the flexible diagonal brace joint and the rigid diagonal brace;
the folding line rod is a section of slender rod with a uniform cross section, has certain rigidity and is responsible for providing rigidity for the flexible extensible mechanism based on the paper folding principle and the soft hinge in the unfolding and folding processes;
the diagonal brace is a cross-shaped cross bar consisting of two slender rods with equal sections, each diagonal brace is connected with 4 adjacent flexible hinges which can form a closed loop, 8 crease bar joints in the 4 flexible hinges and 4 crease bars connected with the crease bar joints form a diamond plane, and the diagonal brace is used for keeping the stability of the diamond plane and providing rigidity for the flexible deployable mechanism based on the paper folding principle and the flexible hinges during the movement and the deployment of the flexible deployable mechanism based on the paper folding principle and the flexible hinges;
furthermore, the invention discloses a flexible deployable mechanism based on a paper folding principle and a soft hinge, which comprises the following basic constitutional units: 1 of said central flexible hinges, 1 of said first edge-like flexible hinges, 1 of said second edge-like flexible hinges, 1 of said third edge-like flexible hinges, 1 of said fourth edge-like flexible hinges, 2 of said first corner-like flexible hinges, 2 of said second corner-like flexible hinges, 12 of said crease bars, and 4 of said diagonal braces;
the tail end rod sleeves of the joints of the 4 crease rods of the central flexible hinge are fixedly connected with one ends of the 4 crease rods respectively, the other ends of the 4 crease rods are fixedly connected with the tail end rod sleeves of the joints of the 4 crease rods of the 4 side flexible hinges respectively, the rest 8 crease rod joint tail end rod sleeves of the 4 side flexible hinges are fixedly connected with one ends of the rest 8 crease rods respectively, and every two other groups of the rest 8 crease rods are fixedly connected with the tail end rod sleeves of the joints of the two crease rods of the corner flexible hinges respectively;
3 crease bar joint tail end bar sleeves of the first side flexible hinge are fixedly connected with 2 crease bars on the upper side of the basic constitution unit and 1 crease bar with adjacent position relation, and the rest 2 sway bar joint tail end bar sleeves are respectively and fixedly connected with the sway bars;
3 crease bar joint tail end bar sleeves of the second type side flexible hinge are fixedly connected with 2 crease bars at the lower side of the basic constitution unit and 1 crease bar having adjacent position relation with the crease bars, and the rest 2 oblique brace bar joint tail end bar sleeves are respectively and fixedly connected with the oblique brace;
3 of the crease bar joint end bar sleeves of the third type of side flexible hinge are fixedly connected with 2 crease bars on the left side of the basic constitution unit and 1 crease bar with adjacent position relation, and the rest 2 of the diagonal brace joint end bar sleeves are respectively and fixedly connected with the diagonal brace;
3 of the crease bar joint end bar sleeves of the fourth type of side flexible hinge are fixedly connected with 2 crease bars on the right side of the basic constitution unit and 1 crease bar with adjacent position relation, and the rest 2 of the diagonal brace bar joint end bar sleeves are respectively and fixedly connected with the diagonal brace;
2 crease bar joint tail end bar sleeves of the first corner-like flexible hinge are fixedly connected with 2 crease bars which basically form the upper left corner or the lower left corner of the unit, and the rest 1 sway bar joint tail end bar sleeve is fixedly connected with the sway bar;
2 crease bar joint tail end bar sleeves of the second corner flexible hinge are fixedly connected with 2 crease bars of the upper right corner or the lower right corner of the basic constitution unit, and the rest 1 sway bar joint tail end bar sleeve is fixedly connected with the sway bar;
the flexible deployable mechanism based on the paper folding principle and the soft hinge is in a deployed state in a natural state without being affected by external force, when the flexible deployable mechanism is folded, the central flexible hinge is fixed firstly, the first type angle flexible hinge and the second type angle flexible hinge on the upper part and the first type angle flexible hinge and the second type angle flexible hinge on the lower part of the flexible deployable mechanism provide thrust in a horizontal plane, the edge flexible hinge deforms to drive the connected crease line rod to move in a rigid body, the crease line rod in the flexible deployable mechanism transmits force to the central flexible hinge and deforms the central flexible hinge to realize folding and folding;
according to the flexible unfolding mechanism based on the paper folding principle and the soft hinges, after the mechanism is folded, elastic potential energy is stored in each flexible hinge, pushing force applied to the first type angle flexible hinge and the second type angle flexible hinge on the upper portion of the mechanism and the pushing force applied to the first type angle flexible hinge and the second type angle flexible hinge on the lower portion of the mechanism in the horizontal plane are released, the elastic potential energy stored in the flexible hinges is released, the central flexible hinge and the edge flexible hinges recover to natural states, and the crease mark rods connected with the central flexible hinge and the edge flexible hinges are driven to perform rigid body motion, so that unfolding is realized;
according to the flexible deployable mechanism based on the paper folding principle and the soft hinge, the edge flexible hinge is replaced by the central flexible hinge, the corner flexible hinge is replaced by the edge flexible hinge, the expansion of a basic constitutional unit can be realized, and the expansion of the flexible deployable mechanism based on the paper folding principle and the soft hinge is further realized.
Has the advantages that:
1. according to the flexible deployable mechanism based on the paper folding principle and the soft hinge, the motion mode of the Miura paper folding is realized through the combination of the rigid crease line rod, the inclined stay bar, the flexible central flexible hinge, the edge flexible hinge and the corner flexible hinge based on the Miura paper folding principle, the folding and unfolding ratio is larger, and compared with the traditional film paper folding structure, the flexible deployable mechanism based on the paper folding principle and the soft hinge improves the rigidity and the strength, so that the requirement on the profile precision is ensured;
2. according to the flexible deployable mechanism based on the paper folding principle and the soft hinge, the interference problem and the complex hinge arrangement problem of the paper folding mechanism based on a plate in the moving process are avoided through the combination of the rigid crease line rod, the inclined strut, the flexible central flexible hinge, the edge flexible hinge and the angle flexible hinge;
3. according to the flexible deployable mechanism based on the paper folding principle and the soft hinges, the edge flexible hinges, the corner flexible hinges and the central flexible hinges are replaced, so that the infinite expansion of basic constituent units can be realized, and the ultra-large-scale application can be realized;
4. according to the flexible deployable mechanism based on the paper folding principle and the soft hinge, the crease bar is connected through the central flexible hinge, the edge flexible hinge and the corner flexible hinge, so that stress concentration of the film paper folding mechanism at the crease intersection is avoided, and fatigue damage cannot be caused after the film paper folding mechanism is folded and unfolded for many times.
Drawings
FIG. 1 is a schematic diagram of basic components of a flexible deployable mechanism based on a paper folding principle and a flexible hinge according to the present invention;
wherein, 1-a central flexible hinge, 2-a first class side flexible hinge, 3-a second class side flexible hinge, 4-a third class side flexible hinge, 5-a fourth class side flexible hinge, 6-a first class corner flexible hinge, 7-a second class corner flexible hinge, 8-a crease bar and 9-a diagonal brace;
FIG. 2 is a schematic diagram of a central flexible hinge of a flexible deployable mechanism based on the paper folding principle and a flexible hinge according to the present invention;
wherein, 101-crease rod joint, 102-crease rod joint end rod sleeve, 103-diagonal strut joint and 104-diagonal strut joint end rod sleeve;
FIG. 3 is a schematic view of a first edge flexible hinge of a flexible deployable mechanism based on the paper folding principle and a flexible hinge according to the present invention;
FIG. 4 is a schematic view of a second type of flexible hinge of a flexible deployable mechanism based on the paper folding principle and a flexible hinge according to the present invention;
FIG. 5 is a schematic view of a third edge flexible hinge of a flexible deployable mechanism based on paper folding principle and flexible hinge according to the present invention;
FIG. 6 is a schematic view of a fourth type of flexible hinge of a flexible deployable mechanism based on paper folding principle and flexible hinge according to the present invention;
FIG. 7 is a schematic view of a first type of corner flexible hinge of a flexible deployable mechanism based on paper folding principle and flexible hinge according to the present invention;
FIG. 8 is a schematic view of a second type of corner flexible hinge of a flexible deployable mechanism based on paper folding principle and flexible hinge according to the present invention;
FIG. 9 is a schematic view of a crease bar of a flexible deployable mechanism based on the paper folding principle and flexible hinges according to the present invention;
FIG. 10 is a schematic view of a flexible deployable mechanism diagonal brace based on paper folding principles and a flexible hinge according to the present invention;
FIG. 11 is a schematic drawing showing the folding of the basic components of a flexible and deployable mechanism based on the paper folding principle and flexible hinges according to the present invention;
fig. 12 is an expansion schematic diagram of the basic constitutional unit of the flexible deployable mechanism based on the paper folding principle and the soft hinge.
Detailed Description
For a better understanding of the objects and advantages of the present invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Example 1:
the flexible deployable mechanism based on the paper folding principle and the soft hinge is applied to construct the space deployable mechanism, the unfolding size of the space deployable mechanism is 600mm multiplied by 520mm, the number of basic constitutional units is determined to be 4, and the space deployable mechanism is distributed in a 2 multiplied by 2 mode.
As shown in fig. 1, the basic constituent unit includes: 1 central flexible hinge 1, 1 first edge-like flexible hinge 2, 1 second edge-like flexible hinge 3, 1 third edge-like flexible hinge 4, 1 fourth edge-like flexible hinge 5, 2 first corner-like flexible hinges 6, 2 second corner-like flexible hinges 7, 12 crease bars 8 and 4 diagonal braces 9;
as shown in fig. 2, the central flexible hinge 1 includes: 4 crease bar joints 101, 4 diagonal brace bar joints 103, 4 crease bar joint end bar sleeves 102 and 4 diagonal brace bar joint end bar sleeves 104;
one end of each of the 4 crease bar joints 101 and one end of each of the 4 diagonal bar joints 103 are fixedly connected to form a point, and the other end of each of the 4 crease bar joints 101 and the other end of each of the 4 diagonal bar joints 103 are respectively and fixedly connected to the 4 crease bar joint tail end bar sleeves 102 and the 4 diagonal bar joint tail end bar sleeves 104;
in the embodiment, the included angles between two pairs of opposite crease bar joints 101 of the central flexible hinge 1 are respectively 112.62 ° and 128.68 °,4 diagonal strut joints 103 are located at the angular bisectors of the axes of 4 pairs of adjacent crease bar joints 101, wherein 2 diagonal strut joints 103 are located at the angular bisector where the included angle between 2 pairs of crease bar joints 101 is 120 ° and have a length of 20mm, and the remaining 2 diagonal strut joints 103 are located at the angular bisector where the included angle between 2 pairs of crease bar joints 101 is 60 ° and have a length of 10mm;
the diameter of the circular section of the crease bar joint is 6mm, the length is 15mm,
as shown in fig. 3, 4, 5, and 6, each of the first type of edge-flexing hinge 2, the second type of edge-flexing hinge 3, the third type of edge-flexing hinge 4, and the fourth type of edge-flexing hinge 5 includes: 3 crease bar joints 101, 2 diagonal bar joints 103, 3 crease bar joint end bar sleeves 102, and 2 diagonal bar joint end bar sleeves 104;
one end of each of the 3 crease bar joints 101 and one end of each of the 2 diagonal bar joints 103 are fixedly connected to form a point, and the other end of each of the 3 crease bar joints 101 and the other end of each of the 2 diagonal bar joints 103 are respectively and fixedly connected to a terminal bar sleeve 102 of each of the 3 crease bar joints and a terminal bar sleeve 104 of each of the 2 diagonal bar joints;
as shown in fig. 3, the spatial distribution of the 3 creased bar joints 101 and 2 diagonal bar joints 103 in the first type of side flexible hinge 2: the included angle between the axes of 1 pair of crease bar joints 101 in the first side flexible hinge 2 is 128.68 degrees, the third crease bar joint 101 is positioned on the right side of the plane formed by the axes of the pair of crease bar joints 101, and the included angles between the axis of the third crease bar joint 101 and the axes of the other two crease bar joints 101 are respectively 120 degrees and 60 degrees, wherein 1 diagonal strut joint 103 is positioned at the angular bisector of 120 degrees formed by the axes of 1 pair of crease bar joints 101 and has a length of 10mm, and the other 1 diagonal strut joint 103 is positioned at the angular bisector of 60 degrees formed by the axes of 1 pair of crease bar joints 101 and has a length of 20mm;
as shown in fig. 4, the spatial distribution of the 3 creased bar joints 101 and 2 diagonal bar joints 103 in the second type of side flexible hinge 3: an included angle between 1 pair of crease bar joints 101 in the second-class side flexible hinge 3 is 128.68 degrees, a third crease bar joint 101 is positioned on the left side of a plane formed by the axes of the pair of crease bar joints 101, and the included angles between the axis of the third crease bar joint and the axes of the other two crease bar joints 101 are 120 degrees and 60 degrees respectively, wherein 1 diagonal strut joint 103 is positioned at an angular bisector of 120 degrees formed by the axes of the 1 pair of crease bar joints 101 and has a length of 10mm, and the other 1 diagonal strut joint 103 is positioned at an angular bisector of 60 degrees formed by the axes of the 1 pair of crease bar joints 101 and has a length of 20mm;
as shown in fig. 5, the spatial distribution of the 3 creased bar joints 101 and 2 diagonal bar joints 103 in the third type of side flexible hinge 4: in the third type of side flexible hinge 4, the included angle between the axes of 1 pair of crease bar joints 101 is 112.62 degrees, the third crease bar joint 101 is positioned on the upper side of the plane formed by the axes of the pair of crease bar joints 101, the included angles between the axes of the third crease bar joint and the axes of the other two crease bar joints 101 are 120 degrees, 2 diagonal strut joints are positioned at the angular bisector of which the angle between the axes of the 2 pair of crease bar joints is 120 degrees, and the length is 10mm;
as shown in fig. 6, the spatial distribution of 3 crease bar joints 101 and 2 diagonal bar joints 103 in the fourth type of flexible hinge 5: in the fourth type of side flexible hinge 5, the included angle between the axes of 1 pair of crease bar joints 101 is 112.62 degrees, the third crease bar joint 101 is positioned on the upper side of the plane formed by the axes of the pair of crease bar joints 101, the included angles between the axes of the third crease bar joint 101 and the axes of the other two crease bar joints 101 are both 60 degrees, and 2 diagonal strut joints 103 are positioned at the angular bisector of 2 pairs of crease bar joints 101 with the angle of 60 degrees and the length of 20mm;
as shown in fig. 7 and 8, each of the first type corner flexible hinge 6 and the second type corner flexible hinge 7 includes: 2 crease bar joints 101, 1 diagonal bar joint 103, 2 crease bar joint end bar sleeves 102, and 1 diagonal bar joint end bar sleeve 104;
one end of each of the 2 crease bar joints 101 and one end of each of the 1 diagonal bar joints 103 are fixedly connected to form a point, and the other end of each of the 2 crease bar joints 101 and the other end of each of the 1 diagonal bar joints 103 are respectively and fixedly connected to the 2 crease bar joint tail end bar sleeves 102 and the 1 diagonal bar joint tail end bar sleeve 104;
as shown in fig. 7, the spatial distribution of 2 creased bar joints 101 and 1 diagonal bar joint 103 in the first type of corner flexible hinge 6: the included angle between 1 pair of axes of the crease bar joints 101 of the first type of angle flexible hinge 6 is 60 degrees, the diagonal bar joint 103 is positioned at the angular bisector of the axes of the crease bar joints 101, and the length is 20mm;
as shown in fig. 8, the spatial distribution of 2 crease bar joints and 1 diagonal bar joint 103 in the second type of corner flexible hinge 7: the included angle between 1 pair of crease bar joints 101 of the second type of angle flexible hinge 7 is 120 degrees, the diagonal brace bar joint 103 is positioned at the angular bisector of the crease bar joints 101, and the length is 10mm;
the crease bar joint 101 mainly functions to connect crease bars 8 having an adjacent relationship in a geometric relationship in the Miura paper folding;
in the embodiment, the diameter of the circular section of the creased rod joint 101 is 6mm, the length of the circular section is 15mm, and the radius of the circular angle of the axis of the creased rod joint 101 in the edge flexible hinge is 6mm;
the diagonal strut connector 103 is mainly used for connecting diagonal struts 9 with adjacent relation in a geometric relation in Miura folded paper;
in the embodiment, the diameter of the circular section of the diagonal brace joint 103 is 3mm;
in the embodiment, the crease bar joint 101 and the diagonal bar joint 103 are made of 8400 soft rubber, are formed by a double-mold process, can deform in a large range, and provide flexible movement capability for the whole space deployable mechanism;
the creased pole joint end pole sleeve 102 is used for fastening the flexible creased pole joint 101 and the rigid creased pole 8;
in the embodiment, the length of the rod sleeve 102 at the tail end of the crease rod joint is 11mm, the outer diameter is 9mm, the inner diameter is 5.9mm, and the hole depth is 10mm;
the diagonal brace joint end rod sleeve 104 is used for fixedly connecting the flexible diagonal brace joint 103 with the rigid diagonal brace 9;
in the embodiment, the length of the end rod sleeve 104 of the diagonal strut connector is 8mm, the outer diameter is 5mm, the inner diameter is 2.9mm, and the hole depth is 7mm.
As shown in fig. 9, the folding line rod 8 is a cylindrical slender rod with a constant cross section, the diameter of which is 6mm and the length of which is 120mm, and has certain rigidity and is responsible for providing rigidity for the space extensible mechanism in the process of unfolding and folding;
as shown in fig. 10, the diagonal bar 9 is a cross bar composed of two cylindrical slender rods with equal cross section and a diameter of 3mm and a length of 219.8mm and 130mm, each diagonal bar 9 is connected with 4 adjacent flexible hinges capable of forming a closed loop, 8 creased bar joints 101 in the 4 flexible hinges and 4 creased bars 8 connected with the creased bar joints form a "diamond plane", and during the movement and the unfolding of the spatial deployable mechanism, the diagonal bar 9 is responsible for maintaining the stability of the "diamond plane" and providing rigidity for the spatial deployable mechanism;
the crease bar 8 and the diagonal brace 9 are made of photosensitive resin and are formed in a photocuring 3D printing mode;
as shown in fig. 1, the 4 crease bar joint end bar sleeves 102 of the central flexible hinge 1 are respectively and fixedly connected with one ends of the 4 crease bars 8, the other ends of the 4 crease bars 8 are respectively and fixedly connected with the 4 crease bar joint end bar sleeves 102 of the 4 side flexible hinges, the remaining 8 crease bar joint end bar sleeves 102 of the 4 side flexible hinges are respectively and fixedly connected with one ends of the remaining 8 crease bars 8, and two of the other ends of the remaining 8 crease bars 8 are respectively and fixedly connected with the two crease bar joint end bar sleeves 102 of the corner flexible hinges;
the tail end rod sleeves 102 of the joints of the 3 crease rods of the first-class side flexible hinge 2 are fixedly connected with the 2 crease rods 8 on the upper side of the basic composition unit and the 1 crease rod 8 with adjacent position relation, and the rest 2 tail end rod sleeves 104 of the joints of the diagonal brace are respectively and fixedly connected with the diagonal brace 9;
the tail end rod sleeve 102 of the joint of 3 crease rods of the second type side flexible hinge 3 is fixedly connected with 2 crease rods 8 at the lower side of the basic constitution unit and 1 crease rod 8 with adjacent position relation, and the rest 2 tail end rod sleeves 104 of the joint of the diagonal brace are respectively fixedly connected with the diagonal brace 9;
the tail end rod sleeves 102 of the joints of the 3 crease rods of the third-class side flexible hinge 4 are fixedly connected with the 2 crease rods 8 on the left side of the basic constitution unit and the 1 crease rod 8 with adjacent position relation, and the rest 2 tail end rod sleeves 104 of the joints of the diagonal brace are respectively and fixedly connected with the diagonal brace 9;
the tail end rod sleeves 102 of the joints of 3 crease rods of the fourth-class side flexible hinge 5 are fixedly connected with 2 crease rods 8 on the right side of the basic composition unit and 1 crease rod 8 with adjacent position relation, and the rest 2 tail end rod sleeves 104 of the joints of the diagonal braces are respectively and fixedly connected with the diagonal braces 9;
2 crease bar joint tail end bar sleeves 102 of the first corner-like flexible hinge 6 are fixedly connected with 2 crease bars 8 which basically form the upper left corner or the lower left corner of the unit, and the rest 1 diagonal brace bar joint tail end bar sleeve 104 is fixedly connected with a diagonal brace 9;
2 crease bar joint tail end bar sleeves 102 of the second type corner flexible hinge 7 are fixedly connected with 2 crease bars 8 which basically form the upper right corner or the lower right corner of the unit, and the rest 1 diagonal brace bar joint tail end bar sleeve 104 is fixedly connected with a diagonal brace 9;
the invention relates to a flexible unfolding mechanism based on a paper folding principle and a soft hinge, which is in an unfolding state in a natural state without the action of external force, when the mechanism is folded, a central flexible hinge 1 is fixed firstly, thrust in a horizontal plane is provided at a first type angle flexible hinge 6 and a second type angle flexible hinge 7 at the upper part of the mechanism and the first type angle flexible hinge 6 and the second type angle flexible hinge 7 at the lower part of the mechanism, edge flexible hinges deform to drive a connected crease bar 8 to move in a rigid body, the internal crease bar 8 transmits force to the central flexible hinge 1, and the central flexible hinge 1 deforms to realize folding and folding, as shown in figure 11;
according to the flexible unfolding mechanism based on the paper folding principle and the soft hinges, after the mechanism is folded, elastic potential energy is stored in each flexible hinge, pushing force applied to the horizontal plane at the first type angle flexible hinge 6 and the second type angle flexible hinge 7 at the upper part of the mechanism and the horizontal plane at the first type angle flexible hinge 6 and the second type angle flexible hinge 7 at the lower part of the mechanism is released, the elastic potential energy stored in the flexible hinges is released, the central flexible hinge 1 and the edge flexible hinges recover to the natural state, and the crease bar 8 connected with the central flexible hinge is driven to perform rigid body motion, so that unfolding is realized;
as shown in fig. 12, the side flexible hinges and corner flexible hinges at the right and lower sides of the upper left basic component unit are detached, the side flexible hinges and corner flexible hinges at the left and lower sides of the upper right basic component unit are detached, the side flexible hinges and corner flexible hinges at the right and upper sides of the lower left basic component unit are detached, the side flexible hinges and corner flexible hinges at the left and upper sides of the lower left basic component unit are detached, 4 intermediate bodies of the basic component units are formed, the folding line rods 8 at the edges are fixedly connected through the side flexible hinges, and the inner folding line rods 8 are fixedly connected through the central flexible hinge 1; fixedly connecting the newly connected side flexible hinges and the tail end rod sleeve of the rest diagonal brace joint of the central flexible hinge 1 with the diagonal brace; the expansion of the space expandable mechanism in a 2 x 2 mode is realized.
The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. The utility model provides a but flexible deployable mechanism based on paper folding principle and soft hinge which characterized in that: the method comprises the following steps: flexible hinges, crease bars, and diagonal braces;
the flexible hinge is divided into according to the different structures: a central flexible hinge (1), a side flexible hinge and a corner flexible hinge;
the central flexible hinge (1) comprises: 4 crease bar joints (101), 4 diagonal bar joints (103), 4 crease bar joint end bar sleeves (102) and 4 diagonal bar joint end bar sleeves (104);
one end of each of the 4 crease bar joints (101) and the 4 diagonal bar joints (103) is fixedly connected to form a point, and the other end of each of the 4 crease bar joints (101) and the 4 diagonal bar joints (103) is respectively and fixedly connected with a 4 crease bar joint tail end bar sleeve (102) and a 4 diagonal bar joint tail end bar sleeve (104);
the flexible hinge in limit divide into according to the structure difference: a first edge flexible hinge (2), a second edge flexible hinge (3), a third edge flexible hinge (4) and a fourth edge flexible hinge (5);
first class limit flexible hinge (2), second class limit flexible hinge (3), third class limit flexible hinge (4) and fourth class limit flexible hinge (5) all include respectively: 3 crease rod joints (101), 2 diagonal strut joints (103), 3 crease rod joint end rod sleeves (102) and 2 diagonal strut joint end rod sleeves (104);
one ends of the 3 crease bar joints (101) and the 2 diagonal bar joints (103) are fixedly connected into a point, and the other ends of the 3 crease bar joints (101) and the 2 diagonal bar joints (103) are respectively and fixedly connected with the 3 crease bar joint tail end bar sleeves (102) and the 2 diagonal bar joint tail end bar sleeves (104);
the spatial distribution forms of 3 crease bar joints (101) and 2 diagonal brace bar joints (103) in the first type side flexible hinge (2), the second type side flexible hinge (3), the third type side flexible hinge (4) and the fourth type side flexible hinge (5) are different;
the angle flexible hinge is divided into the following parts according to different structures: a first type of angle flexible hinge (6) and a second type of angle flexible hinge (7);
the first type of corner flexible hinge (6) and the second type of corner flexible hinge (7) each comprise: 2 crease bar joints (101), 1 diagonal brace joint (103), 2 crease bar joint end bar sleeves (102) and 1 diagonal brace joint end bar sleeve (104);
one end of each of the 2 crease bar joints (101) and one end of each of the 1 diagonal bar joints (103) are fixedly connected to form a point, and the other end of each of the 2 crease bar joints (101) and the other end of each of the 1 diagonal bar joints (103) are respectively and fixedly connected with a terminal bar sleeve (102) of each of the 2 crease bar joints and a terminal bar sleeve (104) of each of the 1 diagonal bar joints;
the spatial distribution forms of 2 crease bar joints (101) and 1 diagonal brace bar joint (103) in the first type of angle flexible hinge (6) and the second type of angle flexible hinge (7) are different;
the crease bar joint (101) mainly functions to connect crease bars (8) with adjacent relation in the geometrical relation in Miura paper folding;
the diagonal brace joint (103) is mainly used for connecting the diagonal braces (9) with adjacent relations in the geometric relation in the Miura folded paper;
the crease bar joint tail end rod sleeve (102) is used for fixedly connecting the flexible crease bar joint (101) and the rigid crease bar (8);
the diagonal brace joint tail end rod sleeve (104) is used for fixedly connecting the flexible diagonal brace joint (103) with the rigid diagonal brace (9);
the folding line rod (8) is a section of slender rod with a uniform cross section, has certain rigidity and is responsible for providing rigidity for a flexible extensible mechanism based on a paper folding principle and a soft hinge in the unfolding and folding processes;
the inclined stay bars (9) are cross bars consisting of two slender rods with equal sections, and each inclined stay bar (9) is connected with 4 adjacent flexible hinges which can form a closed loop;
8 crease bar joints (101) in the 4 flexible hinges and 4 crease bars (8) connected with the crease bar joints form a diamond plane, and in the movement and unfolding process of a flexible unfolding mechanism based on a paper folding principle and a flexible hinge, the inclined stay bar (9) is responsible for keeping the stability of the diamond plane and providing rigidity for the flexible unfolding mechanism based on the paper folding principle and the flexible hinge;
the tail end rod sleeves (102) of the joints of the 4 crease rods of the central flexible hinge (1) are fixedly connected with one ends of the 4 crease rods (8) respectively, the other ends of the 4 crease rods (8) are fixedly connected with the tail end rod sleeves (102) of the joints of the 4 crease rods of the 4 edge flexible hinges respectively, the tail end rod sleeves (102) of the joints of the remaining 8 crease rods of the 4 edge flexible hinges are fixedly connected with one ends of the remaining 8 crease rods (8) respectively, and every two other ends of the remaining 8 crease rods (8) are fixedly connected with the tail end rod sleeves (102) of the joints of the two crease rods of the corner flexible hinges respectively;
the tail end rod sleeves (102) of the joints of the 3 crease rods of the first-class side flexible hinge (2) are fixedly connected with the 2 crease rods (8) on the upper side of the basic composition unit and the 1 crease rod (8) adjacent to the crease rods, and the rest 2 tail end rod sleeves (104) of the joints of the diagonal braces are respectively fixedly connected with the diagonal braces (9);
the tail end rod sleeves (102) of the joints of 3 crease rods of the second-class side flexible hinge (3) are fixedly connected with 2 crease rods (8) at the lower side of the basic constitution unit and 1 crease rod (8) which has adjacent position relation with the crease rods, and the rest 2 tail end rod sleeves (104) of the joints of the diagonal braces are respectively fixedly connected with the diagonal braces (9);
the tail end rod sleeves (102) of the joints of 3 crease rods of the third-class side flexible hinge (4) are fixedly connected with 2 crease rods (8) on the left side of the basic constitution unit and 1 crease rod (8) which has adjacent position relation with the crease rods, and the tail end rod sleeves (104) of the joints of the rest 2 diagonal braces are respectively and fixedly connected with the diagonal braces (9);
the tail end rod sleeve (102) of the joint of 3 folding lines of the fourth type side flexible hinge (5) is fixedly connected with 2 folding lines (8) on the right side of the basic constitution unit and 1 folding line (8) with adjacent position relation, and the rest 2 rod sleeves (104) of the joint of the diagonal brace are respectively fixedly connected with the diagonal brace (9);
2 crease bar joint tail end bar sleeves (102) of the first corner-like flexible hinge (6) are fixedly connected with 2 crease bars (8) which basically form the upper left corner or the lower left corner of the unit, and the rest 1 sway bar joint tail end bar sleeve (104) is fixedly connected with a sway bar (9);
the tail end rod sleeves (102) of 2 crease rod joints of the second type corner flexible hinge (7) are fixedly connected with 2 crease rods (8) which basically form the upper right corner or the lower right corner of the unit, and the rest 1 tail end rod sleeve (104) of the diagonal brace joint is fixedly connected with a diagonal brace (9).
2. A flexible deployable mechanism according to claim 1, based on the paper folding principle and flexible hinge, wherein: the foldable folding mechanism is in an unfolded state under a natural state without being affected by external force, when the foldable folding mechanism is folded, the central flexible hinge (1) is fixed firstly, the first type angle flexible hinge (6) and the second type angle flexible hinge (7) on the upper portion, the first type angle flexible hinge (6) and the second type angle flexible hinge (7) on the lower portion of the mechanism provide thrust in a horizontal plane, the side flexible hinges deform to drive the connected crease line rods (8) to move in a rigid body, the internal crease line rods (8) transmit force to the central flexible hinge (1), and the central flexible hinge (1) deforms to realize folding and folding;
after the flexible hinges are folded, elastic potential energy is stored in each flexible hinge, pushing force applied to the horizontal plane of the first-class angle flexible hinge (6) and the second-class angle flexible hinge (7) on the upper portion of the mechanism and the horizontal plane of the first-class angle flexible hinge (6) and the second-class angle flexible hinge (7) on the lower portion of the mechanism is released, the elastic potential energy stored in each flexible hinge is released, the central flexible hinge (1) and the side flexible hinges recover to a natural state, the central flexible hinge and the side flexible hinges drive the crease mark rods (8) connected with the central flexible hinge to perform rigid motion, and unfolding is achieved.
3. A flexible deployable mechanism according to claim 1, based on the paper folding principle with a soft hinge, characterized in that: the expansion of the basic constitutional unit can be realized by replacing the edge flexible hinge with the central flexible hinge (1) and replacing the corner flexible hinge with the edge flexible hinge, and further the expansion of the flexible deployable mechanism based on the paper folding principle and the soft hinge is realized.
4. A flexible deployable mechanism according to claim 1, based on the paper folding principle and flexible hinge, wherein: the crease bar joint (101) and the diagonal brace bar joint (103) are made of 8400 soft rubber, can deform in a large range, and provide flexible activity capability for the whole flexible unfolding mechanism based on the paper folding principle and the soft hinge.
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| CN107671843A (en) * | 2017-11-07 | 2018-02-09 | 广西大学 | The space folding and unfolding mechanism that a kind of crank block connects for folding exhibition unit flexible hinge |
| CN107696035B (en) * | 2017-11-07 | 2020-07-24 | 广西大学 | Variable topology folding and unfolding mechanism with crank sliding blocks connected by rigid hinges of folding and unfolding units |
| CN108649314B (en) * | 2018-05-11 | 2020-08-21 | 西安电子科技大学 | Double-layer shear type parabolic cylinder expandable truss antenna device |
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| CN109119739B (en) * | 2018-07-20 | 2019-09-10 | 广西大学 | One kind being based on three structure state transformation space development agency of scissor unit |
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