CN118062258A - Pneumatic expandable structure based on four folds metamorphic paper folding and expandable battery array - Google Patents
Pneumatic expandable structure based on four folds metamorphic paper folding and expandable battery array Download PDFInfo
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- CN118062258A CN118062258A CN202410032309.2A CN202410032309A CN118062258A CN 118062258 A CN118062258 A CN 118062258A CN 202410032309 A CN202410032309 A CN 202410032309A CN 118062258 A CN118062258 A CN 118062258A
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- expandable
- metamorphic
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- paper folding
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- 229910003460 diamond Inorganic materials 0.000 claims abstract description 3
- 239000010432 diamond Substances 0.000 claims abstract description 3
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004698 Polyethylene Substances 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical group C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- -1 polyethylene Polymers 0.000 claims description 3
- 229920000573 polyethylene Polymers 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 18
- 230000033001 locomotion Effects 0.000 abstract description 16
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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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- Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)
Abstract
The invention discloses a pneumatic expandable structure based on four-fold metamorphic paper folding and an expandable battery array. The pneumatic expandable structure comprises a flexible lining and a plurality of expandable modules, wherein the flexible lining is of a diamond tubular structure with one end open and the other end closed, the expandable modules are sequentially attached to the outer surface of the flexible lining along the length direction of the flexible lining, and gaps are reserved between the adjacent expandable modules to form transverse contact folds; the expandable module comprises four same rigid sheets which are respectively arranged on four sides of the flexible lining along the circumferential direction of the flexible lining, and gaps are reserved between the adjacent rigid sheets to form four longitudinal contact folds; the invention combines the kinematic bifurcation characteristic of the transmission metamorphic paper folding mechanism with the lightweight pneumatic soft driving mechanism, can realize that a plurality of metamorphic sequence motions are generated under single driving, and has the advantages of greatly reduced driving quantity, greatly reduced weight and greatly reduced manufacturing cost.
Description
Technical Field
The invention relates to the field of expandable mechanisms, in particular to a pneumatic expandable structure based on four-fold metamorphic paper folding and an expandable battery array.
Background
The expandable mechanism system can be folded to a compact state so as to be convenient for storage and transportation, and then expanded to a larger-scale state after entering a specific position so as to realize a larger-scale operation, and has a very wide application prospect in expandable space mechanisms, soft deformation robots, paper folding structures and the like. Most of the traditional aerospace extensible mechanism systems are formed by connecting rigid connecting rods through kinematic pairs, so that larger bearing capacity and higher supporting rigidity can be achieved, and the traditional aerospace extensible mechanism systems are successfully applied to occasions such as solar cell arrays, extensible satellite antennas, space extensible mechanical arms, airborne mechanical arms of unmanned aerial vehicles and the like.
The traditional expandable mechanism system has more rigid parts, and the mechanical structure and the power system are complex, so that the expandable mechanism in the prior art has the characteristics of large system weight, large driving quantity, high mechanical energy consumption, complex manufacturing process, high carrying cost and the like, and the characteristics greatly restrict the application of the expandable mechanism system. In addition, many deployable mechanism systems may require additional athletic tasks to be performed after the deployment motion. Thus, in general, such deployable systems are mostly designed as independent deployment and steering movements, both of which are driven by two separate drive systems.
The design of the prior art that the expandable mechanism adopts two independent actuating mechanisms to respectively execute the expanding movement and the subsequent operation movement often has larger energy consumption, higher complexity and larger volume. The expandable manipulator which is present on the expandable manipulator is characterized by complex structure, high cost, small folding ratio, complex control and the like.
Disclosure of Invention
The invention mainly aims to provide a pneumatic expandable structure and an expandable battery array based on four-fold metamorphic paper folding, which combine the kinematic bifurcation characteristic of a traditional metamorphic paper folding mechanism with a lightweight pneumatic soft driving mechanism, and can realize that multiple metamorphic sequence motions can be generated under single driving.
In order to achieve the above main object, a first aspect of the present invention provides a pneumatic expandable structure based on four-fold metamorphic paper folding, the pneumatic expandable structure including a flexible liner and a plurality of expandable modules, the flexible liner being a diamond-shaped tubular structure with one end open and the other end closed, the plurality of expandable modules being sequentially attached to an outer surface of the flexible liner along a length direction of the flexible liner, and adjacent expandable modules having gaps therebetween to form transverse contact folds;
The expandable module comprises four same rigid sheets which are respectively arranged on four sides of the flexible lining along the circumferential direction of the flexible lining, and gaps are reserved between the adjacent rigid sheets to form four longitudinal contact folds;
The four rigid sheets in the initial state are close to each other in pairs along the shorter diagonal line of the flexible lining and are contacted with each other, and the adjacent expandable modules can be alternately folded around collinear transverse contact folds, so that the pneumatic expandable structure is folded into a Z-shaped state; when the inflatable flexible liner is unfolded, the inflatable flexible liner is inflated, and the inflatable modules are unfolded around the collinear transverse contact folds until the longitudinal contact folds in the inflatable modules are all collinear; continuing to inflate the flexible liner, the anchor sheets in the deployable module rotate about the collinear longitudinal contact folds, causing the pneumatically deployable structure to expand and deploy along the shorter diagonal of the flexible liner.
As a specific embodiment of the invention, the length of the plurality of deployable modules along the length of the flexible liner is the same and/or different.
As a specific embodiment of the present invention, the flexible liner is a flexible polyethylene film tube.
In one embodiment of the present invention, the rigid sheet is a carbon fiber sheet.
As a specific embodiment of the present invention, the rigid sheet is adhesively attached to the outer surface of the flexible liner.
As a specific embodiment of the invention, the number of deployable modules is 3-8.
A second aspect of the invention provides a deployable cell array comprising a cell assembly and a pneumatically deployable structure based on a four-fold metamorphic paper fold as described above for supporting the cell assembly.
The invention has the following beneficial effects:
The pneumatic expandable structure is based on the kinematic bifurcation characteristic of four-fold metamorphic paper folding, and in the initial state before inflation, adjacent expandable modules can be alternately folded around collinear transverse contact folds, so that the pneumatic expandable structure is folded into a Z-shaped state; in the inflation process, the pneumatic expandable structure firstly performs Z-shaped expansion movement until longitudinal contact folds in the expandable modules are collinear, and then continues to be inflated so that the pneumatic expandable structure expands and expands along the shorter diagonal line of the flexible lining until the pneumatic expandable structure has a state with higher supporting rigidity; the pneumatic expandable structure is driven by a single air source to firstly generate expansion movement to reach a metamorphic state and then change into expansion movement, multiple sequential movement modes can be realized through integral driving, and meanwhile, the pneumatic expandable structure has the advantages of high simplified deployment property and quite high expansion ratio, and also has the advantages of greatly reduced driving quantity, greatly reduced weight and greatly reduced manufacturing cost.
The objects, technical solutions and advantages of the present invention will be more clearly described below, and the present invention will be further described in detail with reference to the accompanying drawings and the detailed description.
Drawings
FIG. 1 is a schematic diagram of the kinematic bifurcation characteristics of a four fold metamorphic paper folding mechanism;
FIG. 2 is a graph of the angle of non-collinear folds versus fold stiffness in a four fold metamorphic fold model;
FIG. 3 is a folded state diagram of an embodiment of the pneumatically deployable structure of the invention in an initial state;
FIG. 4 is a state diagram of a Z-deployment of an embodiment of the pneumatically deployable structure of the invention;
FIG. 5 is a state diagram of longitudinal contact folds in the deployable module all collinear;
FIG. 6 is a state diagram of the inflated deployment of an embodiment of the pneumatically deployable structure of the invention;
fig. 7 is a view showing a state of use of the support battery assembly of the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
The space state of folds, the rigidity of folds and the degree of motion of the inflatable metamorphic paper folding structure meet the following change rules: the crease stiffness is minimal when the creases are collinear, and one rotational degree of freedom exists in the collinear direction; when the crease spaces are not collinear, the rigidity is increased, and the corresponding rotational freedom disappears.
For a more complete understanding of the present invention, the kinematic bifurcation characteristics of the four-fold metamorphic paper folding mechanism will be described below in conjunction with fig. 1. If the thickness of the folded paper is negligible, when the folded paper is in a metamorphic state, the folded paper can be folded along the collinear C2C4 crease or the collinear C1C3 crease, and once one group of the collinear crease is selected for folding, the other group of crease is not collinear any more.
The relationship between the included angle of the non-collinear crease and the folding rigidity of the folding model is shown in fig. 2: when the included angle of the crease line C1C3 is 0 DEG, the paper folding model has the maximum rigidity in the direction parallel to the crease line C1C 3; when the paper folding model is unfolded around the crease line C2C4, the rigidity of the paper folding model in the direction of the bisector of the included angle of the crease line C1C3 is gradually reduced along with the gradual increase of the included angle of the crease line C1C 3; when the folds C1C3 are collinear, the stiffness of the paper folding model approaches 0 in the direction of the bisector of the included angle of the folds C1C3, namely, the folding motion can be generated around the folds C1C 3.
Based on the principle, the pneumatic expandable structure based on the four-fold metamorphic paper folding can perform expansion movement under the action of single driving air pressure. The main feature of this movement pattern is its sequence, including an initial deployment around a first set of transverse contact folds (co-linear) and then a deployment around another set of longitudinal contact folds (co-linear) with increasing air pressure, to achieve effective support for large-sized objects.
An embodiment of a four fold metamorphic paper based pneumatically expandable structure 100 is shown in fig. 3-6, comprising a flexible liner 101 and a plurality of expandable modules 102; wherein the flexible liner 101 has a diamond tubular structure with one end open and the other end closed, and a plurality of expandable modules 102 are sequentially attached to the outer surface of the flexible liner 101 along the length direction of the flexible liner 101; wherein the section of the flexible liner 101 is diamond-shaped when the pneumatically expandable structure 100 is fully expanded, and the diamond-shaped has two diagonals of different lengths, the purpose of this is to allow the pneumatically expandable structure 100 to be expanded and folded in a predetermined manner under pneumatic control, and the entire expansion and folding process is repeatable.
Further, the length of the plurality of deployable modules 102 along the length of the flexible liner 101 is the same and/or different; for ease of installation and connection, the lengths of the two or more deployable modules 102 in the starting position (open end of flexible liner 101) are preferably different and the lengths of the two or more deployable modules 102 in the ending position (closed end of flexible liner 101) are preferably the same. Specifically, the number of deployable modules 102 is preferably 3-8; in this embodiment, the number of deployable modules 102 is 6, with gaps between adjacent deployable modules 102 to form lateral contact folds 103.
With continued reference to fig. 6, the deployable module 102 includes four identical rigid sheets 104, the four rigid sheets 104 being disposed on four sides of the flexible liner 101 along a circumferential direction of the flexible liner 101, respectively, with gaps between adjacent rigid sheets 104 to form four longitudinal contact folds 105; in this embodiment, flexible liner 101 is preferably a flexible polyethylene film tube, rigid sheet 104 is preferably a carbon fiber sheet, and rigid sheet 104 is preferably adhesively attached to the outer surface of flexible liner 101, such as by double sided tape.
As shown in fig. 3, in an initial state, four rigid sheets 104 are positioned adjacent and in contact in pairs along a short diagonal of flexible liner 101, adjacent deployable modules 102 are alternately foldable about collinear transverse contact folds 103, such that pneumatically deployable structure 100 is folded into a Z-shaped state; upon deployment, the flexible liner 101 is inflated and the plurality of deployable modules 102 are deployed about the collinear transverse contact folds 103 until the longitudinal contact folds 105 in the deployable modules 102 are all collinear, as shown in fig. 4-5; continuing to inflate flexible liner 101, the anchor sheet in deployable module 102 rotates about collinear longitudinal contact folds 105, causing pneumatically deployable structure 100 to expand along the shorter diagonal of flexible liner 101, as shown in fig. 6, when pneumatically deployable structure 100 has a diamond-sectioned paper folding chamber 106; may be used alone or in combination as a support mechanism in the inflated and deployed state of fig. 6, for example, in combination with a plurality of pneumatically deployable structures 100 and used as a support frame for a battery assembly 200 in an aerospace device to form a spatially deployable battery array, as shown in fig. 7.
The transverse contact folds 103 and the longitudinal contact folds 105 in the embodiment are rigid folds, the upper transverse contact folds 103 and the lower transverse contact folds 103 at both ends of each rigid face are in contact co-linear in the folded state shown in fig. 3, and the pneumatically expandable structure 100 can be expanded around these co-linear transverse contact folds 103 for a first stage expansion movement in response to air pressure, as shown in fig. 4; when the pneumatically expandable structure 100 shown in fig. 5 is expanded to a metamorphic state with the collinear longitudinal contact folds 105, as the air pressure continues to increase, the aforementioned upper and lower lateral contact folds 103, 103 are no longer in contact with collineation, resulting in the locking of the expansion movement of the pneumatically expandable structure 100 around the lateral contact folds 103, the pneumatically expandable structure 100 expanding gradually to the state shown in fig. 6; in particular, the pneumatically expandable structure 100 of the present embodiment has a relatively high collapse ratio, up to about 38.8.
Although the invention has been described above by way of examples, it should be understood that the above examples are illustrative only of the possible embodiments of the invention and should not be construed as limiting the scope of the invention, i.e. that substitutions or variations according to the invention will be covered by the scope of the claims of the invention.
Claims (7)
1. A pneumatic expandable structure based on four folds metamorphic paper folding is characterized in that: the pneumatic expandable structure comprises a flexible lining and a plurality of expandable modules, wherein the flexible lining is of a diamond tubular structure with one end open and the other end closed, the expandable modules are sequentially attached to the outer surface of the flexible lining along the length direction of the flexible lining, and gaps are formed between adjacent expandable modules to form transverse contact folds;
The expandable module comprises four same rigid sheets, the four rigid sheets are respectively arranged on four sides of the flexible lining along the circumferential direction of the flexible lining, and gaps are reserved between the adjacent rigid sheets to form four longitudinal contact folds;
The four rigid sheets in the initial state are close to each other in pairs along the shorter diagonal line of the flexible lining and are in contact with each other, and adjacent expandable modules can be alternately folded around collinear transverse contact folds, so that the pneumatic expandable structure is folded into a Z-shaped state; inflating said flexible liner while expanding, a plurality of said expandable modules expanding about collinear transverse contact folds until longitudinal contact folds in said expandable modules are all collinear; continuing to inflate the flexible liner, the securing tabs in the deployable modules rotate about collinear longitudinal contact folds such that the pneumatically deployable structure expands and deploys along a shorter diagonal of the flexible liner.
2. The pneumatically expandable structure based on four-fold metamorphic paper folding of claim 1, characterized in that: a plurality of the deployable modules may have the same length and/or different lengths along the length of the flexible liner.
3. The pneumatically expandable structure based on four-fold metamorphic paper folding of claim 1, characterized in that: the flexible lining is a flexible polyethylene film tube.
4. The pneumatically expandable structure based on four-fold metamorphic paper folding of claim 1, characterized in that: the rigid sheet is a carbon fiber sheet.
5. The pneumatically expandable structure based on four-fold metamorphic paper folding of claim 1, characterized in that: the rigid sheet is adhesively attached to the outer surface of the flexible liner.
6. The pneumatically expandable structure based on four-fold metamorphic paper folding of claim 1, characterized in that: the number of the expandable modules is 3-8.
7. A deployable cell array comprising a cell assembly and a pneumatically deployable structure based on four-fold metamorphic paper folding according to any one of claims 1-6 for supporting said cell assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410032309.2A CN118062258A (en) | 2024-01-10 | 2024-01-10 | Pneumatic expandable structure based on four folds metamorphic paper folding and expandable battery array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410032309.2A CN118062258A (en) | 2024-01-10 | 2024-01-10 | Pneumatic expandable structure based on four folds metamorphic paper folding and expandable battery array |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118062258A true CN118062258A (en) | 2024-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410032309.2A Pending CN118062258A (en) | 2024-01-10 | 2024-01-10 | Pneumatic expandable structure based on four folds metamorphic paper folding and expandable battery array |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118062258A (en) |
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2024
- 2024-01-10 CN CN202410032309.2A patent/CN118062258A/en active Pending
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