CN117622519B - Space variable structure paper folding system based on shape memory material - Google Patents
Space variable structure paper folding system based on shape memory material Download PDFInfo
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- CN117622519B CN117622519B CN202410111245.5A CN202410111245A CN117622519B CN 117622519 B CN117622519 B CN 117622519B CN 202410111245 A CN202410111245 A CN 202410111245A CN 117622519 B CN117622519 B CN 117622519B
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- 239000012781 shape memory material Substances 0.000 title claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 230000009466 transformation Effects 0.000 claims abstract description 6
- 238000005452 bending Methods 0.000 claims description 27
- 238000009413 insulation Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 12
- 238000010438 heat treatment Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 3
- 239000012774 insulation material Substances 0.000 claims description 3
- 239000010408 film Substances 0.000 description 57
- 238000013461 design Methods 0.000 description 11
- 239000010409 thin film Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000005485 electric heating Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- JJWKPURADFRFRB-UHFFFAOYSA-N carbonyl sulfide Chemical compound O=C=S JJWKPURADFRFRB-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003446 memory effect Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/42—Arrangements or adaptations of power supply systems
- B64G1/44—Arrangements or adaptations of power supply systems using radiation, e.g. deployable solar arrays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
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Abstract
The invention discloses a space variable structure paper folding system based on a shape memory material, which comprises a film unit and a folding supporting mechanism, wherein the film unit is of a regular hexagon structure, adopts a multi-honeycomb paper folding structure and has a folding state and a unfolding state, the multi-honeycomb paper folding structure of the film unit is formed by folding a plurality of hexagon units, rectangle units and triangle units, the center of the multi-honeycomb paper folding structure is a center hexagon unit, each side of the center hexagon unit is connected with the rectangle unit to radiate outwards, and the adjacent rectangle units are connected by a plurality of small triangles; the folding and unfolding supporting mechanism is provided with a central hexagonal frame and 6 supporting bars, and the 6 supporting bars radiate in a hexagonal shape and are overlapped with each diagonal line of the regular hexagonal film unit; the folding and unfolding supporting mechanism and the film unit form an integrated structure, and the folding and unfolding supporting mechanism can control the film unit to carry out structural transformation between a folding state and an unfolding state.
Description
Technical Field
The invention relates to the technical field of spacecraft and space control, in particular to a space variable structure paper folding system based on a shape memory material, which can be applied to large-scale planes in a spacecraft such as: solar sails, antennas, reflectors, etc.
Background
Space-deployable units are important loads for a spacecraft to perform on-orbit tasks. With the complexity and diversification of space tasks, the demands of the caliber sizes of solar sails, antennas, reflectors and other devices are rapidly increasing. However, due to space limitation of the rocket fairing and structural constraint of the spacecraft body, the folding and unfolding ratio of the existing space-deployable unit is limited. Therefore, it is required to increase the folding ratio of the folding and unfolding unit and ensure the stability requirement of the folding and unfolding unit after the rail is put into place. And the large folding-unfolding ratio design and the autonomous reconfigurable technology of the shape memory material based on the paper folding principle can provide a new idea for the design of the space-stretchable unit.
The existing space-deployable units have the following disadvantages:
(1) The annular truss is used for unfolding, the structural volume is large, the impact of the rigid hinge and the rigid rod of the truss is large in the unfolding process, and the requirement on the strength of the film unit is high;
(2) The device needs to be stored and released by a connecting mechanism of a reel type extension rod film unit system, the space occupation ratio of the mechanism is large, the device can only be stored and released in a single degree of freedom, and the forming precision of an array surface is poor;
(3) The array surface can only be kept as a paraboloid, and larger shape reconstruction cannot be performed.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention aims to provide a space variable structure paper folding system based on a shape memory material, which realizes the design of large folding ratio of a film unit by utilizing a multi-honeycomb paper folding configuration of a paper folding principle, realizes the structural transformation of the paper folding system from an unfolding state of a two-dimensional plane to a folding state of a three-dimensional paraboloid, adapts to a more complex working environment, has a more compact structure, reduces the weight of the paper folding system and improves the space utilization rate.
In order to achieve the above object, the present invention provides a space variable structure paper folding system based on shape memory material, the variable structure paper folding system comprising a film unit and a folding support mechanism, wherein:
the film unit is of a regular hexagonal structure, adopts a multi-honeycomb paper folding structure and has a folding state and an unfolding state, the multi-honeycomb paper folding structure of the film unit is formed by folding lines to form a plurality of hexagonal units, rectangular units and triangular units, the center of the multi-honeycomb paper folding structure is a central hexagonal unit, each side of the central hexagonal unit is connected with the rectangular units to radiate outwards, and the adjacent rectangular units are connected by a plurality of small triangles;
the folding and unfolding supporting mechanism is provided with a central hexagonal frame and 6 supporting bars, and the 6 supporting bars radiate in a hexagonal shape and are overlapped with each diagonal line of the regular hexagonal film unit; the folding and unfolding supporting mechanism and the film unit form an integrated structure, and the folding and unfolding supporting mechanism can control the film unit to carry out structural transformation between a folding state and an unfolding state.
Further, in the thin film unit, the geometric parameters of the hexagonal unit, the rectangular unit and the triangular unit are set as follows: the hexagonal units are regular hexagons, the side length of each hexagonal unit is equal to the width of each rectangular unit, and the length of each rectangular unit is equal to the side length of each hexagonal unitThe four angles at the side length pair folding points of the triangle units are 45 degrees.
Furthermore, the multi-honeycomb paper folding configuration enables the regular hexagonal film units to be in a plane state in an unfolding state, and to be in a three-dimensional table-board structure in a folding state, and the paraboloids formed by closely arranging a plurality of hexagonal units are arranged on the inner side of the table-board, so that the reconstruction of the paper folding system from the plane state to the paraboloids is realized.
Further, the folding and unfolding support mechanism comprises a plurality of hexagonal frames and rectangular frames which are connected with each other and can be folded and unfolded; adjacent frames are connected through a shape memory actuator to realize folding and unfolding actions; the rectangular frame and the hexagonal frame respectively correspond to folds of corresponding shapes on the film units, the shape memory actuators are arranged below the folds, the rectangular frame and the hexagonal frame provide support for the film units above the rectangular frame and the hexagonal frame, and the folds of the frames and the film units are driven through the folds of the shape memory actuators.
Further, the shape memory actuator comprises an upper surface electrothermal film, an upper surface shape memory material layer, a lower surface electrothermal film, a lower surface shape memory material layer, a heat insulation bending measurement layer and a controller; the heat insulation bending layer is formed by wrapping the strain gauge by heat insulation materials, the mutual influence of upper and lower layers of heating can be isolated, the bending angle of the actuator is measured so as to be convenient to control, and when the bending angle meets the folding requirement, the closed loop feedback can be used for the controller to stop heating.
Further, the hexagonal cells of the thin film unit include 1 central hexagonal cell, 6 second-layer hexagonal cells and 12 third-layer hexagonal cells, and the thin film unit includes 19 hexagonal cells in total.
Further, the folding and unfolding support mechanism comprises a central hexagonal frame and support bars extending outwards along six sides of the central hexagonal frame, wherein the support bars are formed by combining a plurality of hexagonal frames and rectangular frames.
Further, two rectangular frames are arranged between two adjacent hexagonal frames on the support bar.
Further, on the support bar, the geometric parameters of the hexagonal frame and the rectangular frame are set as follows: the side length of the hexagonal frame is equal to the width of the rectangular frame, and the length of the rectangular frame is equal to the side length of the hexagonal frameMultiple times.
Further, the folding and unfolding process of the film unit is as follows: according to the change of folds in the folding process of the paper folding system, control signals are respectively applied to the shape memory actuators at the mountain fold position and the valley fold position, the shape memory actuators which need to be changed into the mountain fold position only heat the upper surface electrothermal film to bend and deform the upper surface shape memory material layer, so that the lower surface electrothermal film, the lower surface shape memory material layer and the heat insulation bending measuring layer are pulled to bend together, the shape memory actuators are in a mountain fold state, the lower surface electrothermal film which needs to be changed into the valley fold state only heats the lower surface shape memory material layer to bend and deform, and the upper surface electrothermal film, the upper surface shape memory material layer and the heat insulation bending measuring layer are pulled to bend together, so that the shape memory actuators are in the valley fold state.
Advantageous effects
Compared with the prior art, the invention has the following technical effects:
in the prior art, when the folding and unfolding principle of the film unit is designed, the use requirement of the variable structure of the paper folding system is not considered, only single-degree-of-freedom folding and unfolding are considered, and the folding and unfolding ratio is not improved by using the paper folding principle. The invention realizes the design of large folding ratio of the film unit by utilizing the multi-honeycomb paper folding configuration of the paper folding principle, realizes the structural transformation of the paper folding system from the unfolding state of a two-dimensional plane to the folding state of a three-dimensional paraboloid, and adapts to more complex working environments.
In the prior art, when the thin film unit folding and unfolding supporting mechanism is designed, the thin film unit material characteristics are not considered, rigid structures such as an annular truss and the like are used for folding and unfolding, the impact caused by folding and unfolding movement is large, the design requirement on a paper folding system is higher, and the truss is large in weight and low in space utilization rate. The invention uses the shape memory material to drive the frame below the film to fold along the crease, realizes the structure and drive control integrated design of the paper folding principle, has more compact structure, reduces the weight of the paper folding system and improves the space utilization rate.
Drawings
FIG. 1 is a schematic diagram of a spatially variable structured paper folding system based on shape memory materials according to the present invention;
FIG. 2 is a schematic illustration of a folded paper configuration of the present invention;
FIG. 3 is a schematic illustration of a geometric parameter design of a folded paper configuration of the present invention;
FIG. 4 is a schematic illustration of the folding process of the folded paper configuration of the present invention;
FIG. 5 is a schematic perspective view of a folded paper configuration of the present invention;
FIG. 6 is a schematic plan view in section of a folded paper configuration of the present invention;
FIG. 7 is a schematic view of the installation of the fold and fold support mechanism in the unfolded state of the present invention;
FIG. 8 is a schematic view of the folding and unfolding support mechanism of the present invention;
FIG. 9 is a schematic diagram of the shape memory actuator of the present invention;
FIG. 10 is a schematic illustration of a valley-fold structure of a shape memory actuator of the present invention;
FIG. 11 is a schematic view of a mountain fold structure of the shape memory actuator of the present invention;
FIG. 12 is a schematic view of the folded state of the present invention;
FIG. 13 is a schematic diagram of the control architecture of the inventive spatially variable structured paper folding system based on shape memory materials;
in the figure: 1. a thin film unit; 2. a folding and unfolding supporting mechanism; 3. hexagonal cells; 4. rectangular units; 5. triangle units; 6. a rectangular frame; 7. a hexagonal frame; 8. a shape memory actuator; an upper surface electrothermal film 9a; a top surface shape memory material layer 10a; a lower surface electrothermal film 9b; a lower surface shape memory material layer 10b; a heat insulation bending layer 11; a controller 12.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Specific embodiments of the present invention are described in detail below with reference to fig. 1-13. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
As shown in fig. 1, the spatial variable structure paper folding system based on the shape memory material according to the present invention comprises a film unit 1 and a folding support mechanism 2, wherein the folding support mechanism 2 can enable the film unit 1 to perform structural conversion between a folded state and an unfolded state. The folding and unfolding supporting mechanism 2 is in hexagonal radiation and is overlapped with each diagonal line of the regular hexagonal film unit 1. The film unit 1 adopts a composite film of a high polymer material and a metal material, has the advantages of light weight, thinness, high transparency and good ductility, and is suitable for being used as a material of a satellite-borne light expandable array antenna.
The film unit 1 adopts a multi-honeycomb paper folding configuration, the folds are shown in fig. 2, wherein the broken lines represent valley folds and the solid lines represent mountain folds. The paper folding structure is integrally in a regular hexagonal structure, a plurality of hexagonal units 3, rectangular units 4 and triangular units 5 are formed through folds in the regular hexagonal structure, the center of the structure of the film unit 1 is the hexagonal unit 3, each side of the hexagonal unit 3 is connected with the rectangular unit 4 to radiate outwards, and adjacent rectangular units are connected through a plurality of small triangular units 5. As shown in fig. 3, the geometric parameter setting conditions of the hexagonal cell 3, the rectangular cell 4, and the triangular cell 5 are as follows: the side length AL of the regular hexagonal unit almnoop is equal to the width HK of the rectangular unit alk h, the length AH of the rectangular unit alk h, etcIn the side length AL of regular hexagonal unit ALMNOPFour corners +.5 at the fold apex B, H, G of the regular triangle unit AIF>、/>、/>、/>As is clear from the folding relationship, the folded sides AB and BF are all coincident with BD, so that the four angles are 45 DEG, and the folded sides AB, AH and AC are coincident with each other, so that->Thus->,/>,/>。
The folding process of the regular triangle AIF is as follows: the points a, I and F coincide, the sides FG, IG and DG coincide, the sides IH, AH and FH coincide, the sides AB, BF and BI coincide, the specific folding effect is shown in the folding process diagram shown in fig. 4, the folding configuration enables the regular hexagonal film unit 1 to be gradually unfolded from the folded state to the unfolded state, otherwise, the regular hexagonal film unit 1 can also be shrunk inwards and increased in height from the unfolded state to form the folded state, the unfolded state is a planar state, the folded state is a three-dimensional mesa structure, and the inner side of the mesa is a paraboloid formed by closely arranging congruent hexagonal units 3, so that the reconstruction of the folding system from the planar state to the paraboloid is realized.
According to the three-dimensional folding and unfolding effect diagram shown in fig. 4, the inner side of the table top refers to the curved surface upper surface formed by splicing a plurality of regular hexagons, the folded upper surface is formed by splicing a plurality of regular hexagons, each regular hexagon is a plane, but each regular hexagon is not coplanar. As can be seen from the sectional views shown in FIGS. 5 and 6, the single honeycomb in the folded state approximates to a hexagonal frustum, and its longitudinal section is isosceles trapezoid, so that the included angle between the regular hexagon on the upper surface and the side surface of the frustum is an obtuse angleThe multi-honeycomb in the folded state is formed by splicing and expanding the side surfaces of a plurality of single-honeycomb, so that the upper surfaces of two adjacent regular hexagons are not coplanar after splicing, wherein after a layer of the multi-honeycomb is outwards expanded from a central single-honeycomb, the included angle between the upper surface of the hexagon and the plane of the central hexagon is +.>The included angle between the second layer which expands outwards and the plane of the central hexagon is +.>。
As shown in fig. 1 and 8, the folding and unfolding support mechanism 2 includes a plurality of hexagonal frames 7 and rectangular frames 6 that are connected to each other and can be folded and unfolded; the adjacent hexagonal frames 7 and the rectangular frames 6 are connected through the shape memory actuators 8 and realize folding and unfolding actions; the rectangular frame 6 and the hexagonal frame 7 respectively correspond to folds of corresponding shapes on the film units 1, the shape memory actuators are arranged below the folds, the rectangular frame 6 and the hexagonal frame 7 provide support for the film units above the folds, and the folds of the frame and the films are driven by the folds of the shape memory actuators 8. The folding and unfolding support mechanism 2 comprises a central hexagonal frame and support bars extending outwards along six sides of the central hexagonal frame, wherein the support bars are formed by combining a plurality of hexagonal frames 7 and rectangular frames 6, specifically, two rectangular frames 6 are arranged between two adjacent hexagonal frames 7, and the two rectangular frames are also sixThe geometric parameters of the polygonal frame and the rectangular frame are set as follows: the side length of the hexagonal frame is equal to the width of the rectangular frame, and the length of the rectangular frame is equal to the side length of the hexagonal frameMultiple times. When the film unit 1 is mounted, as shown in fig. 7, the fold line of the film unit 1 in the unfolded state corresponds to the folding support mechanism, and the folding support mechanism 2 is mounted so as to overlap along the diagonal line of the fold line. The central hexagonal frame of the folding and unfolding supporting mechanism 2 is overlapped with the central hexagonal unit of the film unit 1, and 6 supporting bars are matched, connected and fixed with corresponding folds of the film unit 1 to form an integrated structure. The structure driving and controlling integrated design of the folding supporting mechanism is that a frame and a shape memory actuator 8 are arranged below folds in the diagonal direction, the rectangular frame 6 and the hexagonal frame 7 are matched with unit modules separated by the folds, the shape stability of the film unit 1 can be ensured, and the shape memory actuator 8 is arranged at the folds to enable the folding system to carry out folding motion along the folds of the folding configuration, so that the precision of the folding system is improved.
In the invention, the film unit can be directly arranged as a film antenna, and the space variable structure paper folding system can be directly arranged as a space variable structure paper folding antenna. In practical application, the space-variant structure paper folding system can also be applied to aircraft equipment involved in cosmic navigation such as solar sails and reflectors. As shown in fig. 9, the shape memory actuator 8 has a specific structure in which the shape memory actuator 8 includes an upper surface electrothermal film 9a (the upper surface is the layer close to the antenna), an upper surface shape memory material layer 10a, a lower surface electrothermal film 9b, a lower surface shape memory material layer 10b, a heat insulation bending measurement layer 11, and a controller 12; wherein the electrothermal film and the shape memory material layer adopt an upper layer and a lower layer to realize the reconfigurable characteristic of folding and unfolding of the paper folding system by sectional control. The heat insulation bending layer 11 is formed by wrapping the strain gauge by heat insulation materials, can isolate the mutual influence of upper and lower layers of heating, measures the bending angle of the actuator so as to control, and can feed back the bending angle to the control system in a closed loop when the bending angle meets the folding requirement so as to stop heating in time. The controller 12 is responsible for controlling the movement of the whole actuator and is embedded in the rectangular frameIn the rack 6, the tracks pass through the inside of the rectangular frame 6. The memory states of the shape memory material layers are all bending and folding states, and the memory states are states after high-temperature heating. Wherein the memory state of the lower surface shape memory material layer 10b isThe shaped recess is curved as shown in fig. 10. The memory state of the upper surface shape memory material layer 10a is +.>The shaped protrusion is curved as shown in fig. 11. When the shape memory actuator is changed from a straight state to a mountain-folded state, only the upper surface electrothermal film 9a heats the upper surface shape memory material layer 10a to bend and deform, so that the lower surface electrothermal film 9b, the lower surface shape memory material layer 10b and the heat insulation bending detection layer 11 are pulled to bend together, and the shape memory actuator is in the mountain-folded state; when the shape memory actuator needs to recover the flat unfolding state, the shape memory layer is recovered to the flat state after heating and cooling are stopped; when the shape memory actuator changes from a straight state to a valley-folded state, only the lower surface electrothermal film 9b heats the lower surface shape memory material layer 10b to bend and deform, so that the upper surface electrothermal film 9a, the upper surface shape memory material layer 10a and the heat insulation bending measurement layer 11 are pulled to bend together, and the shape memory actuator is in the valley-folded state; mounting and controlling corresponding bending directions according to the positions of mountain folds or valley folds; specifically, the connection between the rectangular frames 6 and the hexagonal frames 7 is set to be mountain-folded, and the connection between the two rectangular frames 6 is set to be valley-folded. The control device of the paper folding system controls the shape memory actuator to realize the structure driving and controlling integrated design of the folding supporting mechanism. The folding state of the paper folding system with the large space folding ratio variable structure based on the shape memory material is shown in fig. 12, and the end face of the paper folding system is similar to a parabolic shape and is composed of a plurality of regular hexagons.
The folding and unfolding process of the film unit is as follows: according to the change of folds in the folding process of the paper folding system, control signals are respectively applied to the shape memory actuators at the mountain fold position and the valley fold position, the shape memory actuators which need to be changed into the mountain fold position only heat the upper surface shape memory material layer 10a to bend and deform, so that the lower surface electric heating film 9b, the lower surface shape memory material layer 10b and the heat insulation bending measurement layer 11 are pulled to bend together, the shape memory actuators are in the mountain fold state, the lower surface electric heating film 9b which needs to be changed into the valley fold state only heat the lower surface shape memory material layer 10b to bend and deform, and the upper surface electric heating film 9a, the upper surface shape memory material layer 10a and the heat insulation bending measurement layer 11 are pulled to bend together, so that the shape memory actuators are in the valley fold state.
As shown in fig. 13, the folding and unfolding instructions of the shape memory actuators 8 are uniformly sent by the spacecraft, but each shape memory actuator independently controls the heating time, the heating position and the bending angle of the shape memory actuator, and the strain gauge of the heat insulation bending measurement layer is sensitive to the bending angle of the actuator to realize the closed loop control of the small loop of the actuator so as to ensure accurate folding and unfolding in place. The control circuit is embedded between the frames, and the wiring passes through the frame.
The shape memory material used for the shape memory material layer 9 is a material having a two-way shape memory effect, which recovers a high-temperature phase shape when heated and a low-temperature phase shape when cooled, i.e., the material can spontaneously and reversibly take on two phase shapes as the temperature rises and falls.
The invention has the technical advantages that:
the invention realizes the design of large folding ratio of the film unit by utilizing the multi-honeycomb paper folding configuration of the paper folding principle, realizes the structural transformation of the paper folding system from the unfolding state of a two-dimensional plane to the folding state of a three-dimensional paraboloid, and adapts to more complex working environments. The calculation formula according to the folding and unfolding ratio is as follows:
i.e. the ratio of the horizontal projected area in the unfolded state to the horizontal projected area in the folded state, the theoretical folding ratio of the folded paper configuration is about 8.3, realizing a large folding ratio.
The invention uses the shape memory material to drive the frame below the film to fold along the crease, thereby realizing the structure of the paper folding principle and the integrated design of driving and controlling, and the structure is more compact.
Any process or method description in a flowchart of the invention or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, which may be implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device, which may be any medium that contains a program for storing, communicating, propagating, or transmitting for use by the execution system, apparatus, or device. Including read-only memory, magnetic or optical disks, and the like.
In the description herein, reference to the term "embodiment," "example," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the different embodiments or examples described in this specification and the features therein may be combined or combined by those skilled in the art without creating contradictions.
While embodiments of the present invention have been shown and described, it will be understood that the embodiments are illustrative and not to be construed as limiting the invention, and that various changes, modifications, substitutions and alterations may be made by those skilled in the art without departing from the scope of the invention.
Claims (8)
1. A space variable structure paper folding system based on shape memory materials, which is characterized in that the variable structure paper folding system comprises a film unit and a folding support mechanism, wherein:
the film unit is of a regular hexagonal structure, adopts a multi-honeycomb paper folding structure and has a folding state and an unfolding state, the multi-honeycomb paper folding structure of the film unit is formed by folding lines to form a plurality of hexagonal units, rectangular units and triangular units, the center of the multi-honeycomb paper folding structure is a center hexagonal unit, each side of the center hexagonal unit is connected with the rectangular unit to radiate outwards, and the adjacent rectangular units are connected by a plurality of small triangular units;
the folding and unfolding supporting mechanism is provided with a central hexagonal frame and 6 supporting bars, and the 6 supporting bars radiate in a hexagonal shape and are overlapped with each diagonal line of the regular hexagonal film unit; the folding and unfolding supporting mechanism and the film unit form an integrated structure, and the folding and unfolding supporting mechanism can control the film unit to carry out structural transformation between a folding state and an unfolding state;
the multi-honeycomb paper folding configuration enables the regular hexagonal film units to be in a plane state in an unfolding state, and to be in a three-dimensional table-board structure in a folding state, and the inner side of the table-board is a paraboloid formed by closely arranging a plurality of hexagonal units, so that the reconstruction of the paper folding system from the plane state to the paraboloid is realized;
the folding and unfolding supporting mechanism comprises a plurality of hexagonal frames and rectangular frames which are connected with each other and can be folded and unfolded; adjacent frames are connected through a shape memory actuator to realize folding and unfolding actions; the rectangular frame and the hexagonal frame respectively correspond to folds of corresponding shapes on the film units, the shape memory actuators are arranged below the folds, the rectangular frame and the hexagonal frame provide support for the film units above the rectangular frame and the hexagonal frame, and the folds of the frames and the film units are driven through the folds of the shape memory actuators.
2. The spatially-variable structured paper folding system based on shape memory material according to claim 1, wherein the geometric parameters of the hexagonal unit, the rectangular unit and the triangular unit in the film unit are set as follows: the hexagonal units are regular hexagons, the side length of each hexagonal unit is equal to the width of each rectangular unit, and the length of each rectangular unit is equal to the side length of each hexagonal unitThe four angles at the side length pair folding points of the triangle units are 45 degrees.
3. The spatially varying structured paper folding system based on shape memory materials of claim 1, wherein the shape memory actuator comprises an upper surface electrothermal film, an upper surface shape memory material layer, a lower surface electrothermal film, a lower surface shape memory material layer, a heat insulation bending measurement layer and a controller; the heat insulation bending layer is formed by wrapping the strain gauge by heat insulation materials, the mutual influence of upper and lower layers of heating can be isolated, the bending angle of the actuator is measured so as to be convenient to control, and when the bending angle meets the folding requirement, the closed loop feedback can be used for the controller to stop heating.
4. The spatially varying structured paper folding system based on shape memory material of claim 1, wherein the hexagonal cells of the film unit comprise 1 central hexagonal cell, 6 second layer hexagonal cells and 12 third layer hexagonal cells in total.
5. The spatially varying structured paper folding system based on shape memory material of claim 1, wherein the folding support mechanism comprises a central hexagonal frame and support bars extending outwardly along six sides of the central hexagonal frame, the support bars being formed from a combination of a plurality of hexagonal frames and rectangular frames.
6. The spatially varying structured paper folding system based on shape memory material of claim 5, wherein two rectangular frames are disposed between two adjacent hexagonal frames on the support bar.
7. The spatially varying structured paper folding system based on shape memory materials of claim 6, wherein the geometric parameters of the hexagonal frame and the rectangular frame on the support bar are set as follows: the side length of the hexagonal frame is equal to the width of the rectangular frame, and the length of the rectangular frame is equal to the side length of the hexagonal frameMultiple times.
8. A spatially variable structured paper folding system based on shape memory materials according to any of claims 1-7, characterized in that the folding process of the film unit is as follows: according to the change of folds in the folding process of the paper folding system, control signals are respectively applied to the shape memory actuators at the mountain fold position and the valley fold position, the shape memory actuators which need to be changed into the mountain fold position only heat the upper surface electrothermal film to bend and deform the upper surface shape memory material layer, so that the lower surface electrothermal film, the lower surface shape memory material layer and the heat insulation bending measuring layer are pulled to bend together, the shape memory actuators are in a mountain fold state, the lower surface electrothermal film which needs to be changed into the valley fold state only heats the lower surface shape memory material layer to bend and deform, and the upper surface electrothermal film, the upper surface shape memory material layer and the heat insulation bending measuring layer are pulled to bend together, so that the shape memory actuators are in the valley fold state.
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| CN110843312A (en) * | 2019-11-26 | 2020-02-28 | 哈尔滨工程大学 | Grid-reinforced intelligent paper folding composite material structure design method |
| CN112511034A (en) * | 2020-10-19 | 2021-03-16 | 西安交通大学 | Parallel driving structure based on intelligent flexible bending deformation driving material |
| WO2023026063A1 (en) * | 2021-08-27 | 2023-03-02 | Space Forge Limited | Spacecraft heat shield |
| CN116814074A (en) * | 2023-01-19 | 2023-09-29 | 中建三局集团有限公司 | Low poisson ratio autonomous control intelligent window composite material film and preparation method thereof |
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| CN110843312A (en) * | 2019-11-26 | 2020-02-28 | 哈尔滨工程大学 | Grid-reinforced intelligent paper folding composite material structure design method |
| CN112511034A (en) * | 2020-10-19 | 2021-03-16 | 西安交通大学 | Parallel driving structure based on intelligent flexible bending deformation driving material |
| WO2023026063A1 (en) * | 2021-08-27 | 2023-03-02 | Space Forge Limited | Spacecraft heat shield |
| CN116814074A (en) * | 2023-01-19 | 2023-09-29 | 中建三局集团有限公司 | Low poisson ratio autonomous control intelligent window composite material film and preparation method thereof |
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