CN202228618U

CN202228618U - Curve folding and expanding device

Info

Publication number: CN202228618U
Application number: CN2011202820897U
Authority: CN
Inventors: 乔鹏程; 宋云涛
Original assignee: Institute of Plasma Physics of CAS
Current assignee: Institute of Plasma Physics of CAS
Priority date: 2011-08-04
Filing date: 2011-08-04
Publication date: 2012-05-23
Anticipated expiration: 2021-08-04

Abstract

The utility model discloses a curve folding and expanding device which comprises multiple rod pieces, wherein each rod piece is provided with three hinge pin holes, wherein two hinge pin holes are respectively arranged at two ends of each rod piece, the third hinge pin hole is arranged in a position that deviates from the middle of each rod piece, the multiple rod pieces are respectively arranged at the third hinge holes in a two-two intersecting manner and are connected by hinge pins, the rod pieces that are connected in the two-two intersecting manner form groups, adjacent two groups are connected by hinge pins through the hinge pin holes at two ends of the rod pieces; and the multiple groups of rod pieces that are connected in sequence form two series which are parallel with each other up and down, and the two up-and-down series are connected by connecting rods which are connected at the hinge pin holes of the two up-and-down series corresponding to two ends of the rod pieces. One sides of the up-and-down series of rod pieces are connected with a driving device. The curve folding and expanding device can expand in the direction of a curve path with a limited space so as to reach a target position, and is simple in structure, and low in manufacturing cost.

Description

Curve folding retractable device

Technical field

The utility model relates in the curvilinerar figure confined space can arrive a kind of device that tasks such as carrying and check is accomplished in the target location along curved path, mainly is a kind of curve folding retractable device.

Background technique

Existing folding retractable device all is that straight line type is flexible usually, is not suitable for the folding retractable of curved path.The ring inner vacuum chamber of tokamak for example; Its shape can be regarded the airtight annular space that a cross section forms for big oval 360 ° of bendings of pipeline as; Very narrow and small in this space, the path still is under the situation of curve, and can't collide other appliance arrangement in the inner vacuum chamber; Though the straight line type expansion device has very big flexible ratio, flexible in the curved path direction is that it is inefficient.

The model utility content

The utility model technical problem to be solved provides a kind of can be in the space very limited flexible curve folding retractable device of curved path direction; It can carry, check operation or tasks such as checking, take pictures, detect measurement along the flexible target location that arrives on the curved path.

For solving the problems of the technologies described above, the technological scheme that the utility model adopts is:

A kind of curve folding retractable device; Include a plurality of rod members, have three pin shaft holes on the described rod member, wherein two pin shaft holes lay respectively at the two ends of rod member; The 3rd pin shaft hole is departing from the rod member position intermediate; Described a plurality of rod member intersects in twos respectively at the 3rd pin shaft hole place and connects through bearing pin, and the said rod member that connects that intersects is in twos formed one group, and the pin shaft hole through two ends on the rod member between the two adjacent groups connects with bearing pin; The said many groups rod member that connects is successively formed a series of, and this series has upper and lower parallel two, connects through connecting rod between said upper and lower two series, and described connecting rod connects at the pin shaft hole place at upper and lower two serial corresponding rod member two ends.

One side of said upper and lower serial rod member has a drive unit; At the upper and lower serial position of correspondence motion bar is arranged respectively on the described drive unit; The motion bar of said upper and lower position has two and flexible connection respectively, and the pin shaft hole place is connected last group rod member of said upper and lower motion bar and upper and lower series at two ends.

The working principle of the utility model is:

According to the needs of curved path, three pivot hole location parameters on selected good each rod member promptly are provided with L ₁+ L ₂Size and L ₁/ L ₂Ratio; Because the 3rd pin shaft hole is unequal to the distance in two holes, two ends, and rod member couples together according to certain compound mode, thereby when a series of rod member folding retractable; The two crossing rod members that bearing pin connects are different in the folding retractable ratio of middle bearing pin both sides, thereby realize along the curve folding retractable.Can realize being: the relative position in three holes, that is: L on the rod member along the key factor of curved path folding retractable ₁+ L ₂Size and L ₁/ L ₂Ratio.For example work as L ₁=L ₂The time, the path is a straight line; Work as L ₁≠ L ₂The time, can realize that along the curved path folding retractable the two ratio is different, the path of curve folding retractable is also different.The factor in hence one can see that influence curve path: L ₁≠ L ₂In fact; After understanding this curve folding retractable principle; Can find that also after three hole site parameters on each rod member were confirmed, the factor of influence curve path radius of curvature also had the angle between two rod members that bearing pin connects; That is: along with the folding retractable of rod member, the radius of curvature of its curved path is dynamic change.And increase the rod member number, control scope and the optimal curve path that the ability expanding unit can arrive in conjunction with angle.

The compound mode of the location parameter of three pivot holes and a series of rod members on each rod member fundamentally determines whole device along what kind of curved path folding retractable in the utility model.The utility model is through the angle number of degrees of crossing two rod members of control end, and the folding retractable degree of the whole device of control adjustment is to stretch or shrink.

The utility model can also be through increasing or reduce the sum of rod member in the device, and the angle control gear institute of intersecting rod member in conjunction with drive end can coverage area.And for example adopt sided configuration and optimization rod member profile up and down, can strengthen the load-carrying properties of this device greatly.

The utility model has the advantages that:

The utility model is through being provided with the location parameter of the pivot hole on the rod member, and according to certain compound mode a series of rod members coupled together, and reaches along the flexible effect of specific curves path doubling.And, can be assembled into different structure according to the various combination mode according to the requirement of different curve purposes, realize along different curved path folding retractables.The utility model is to be made up of the simple parts of reusable profile, can reduce the manufacturing expense significantly.

Description of drawings

Fig. 1 is the structural representation of the single rod member of the utility model.

Fig. 2 is the structural representation of the utility model device after shrinking.

Fig. 3 is the effect schematic representation (plan view) in expansion of the utility model device or the contraction process.

Fig. 4 is the utility model device application example effect schematic representation (plan view) in the tokamak vacuum chamber.

Fig. 5 is the effect schematic representation (plan view) of the other a kind of S shape compound mode of the rod member of the utility model device.

Fig. 6 is the effect schematic representation (plan view) of the other a kind of circular arc compound mode of the rod member of the utility model device.

Embodiment

Referring to Fig. 1,2,3, a kind of curve folding retractable device includes a plurality of rod members 1; Have three pin shaft holes on the described rod member 1; Wherein two bearing pin 2 holes lay respectively at the two ends of rod member, and the 3rd pin shaft hole 3 is departing from the rod member position intermediate, and described a plurality of rod members 1 intersect in twos respectively at the 3rd pin shaft hole 3 places and connect through bearing pin 4; The said rod member 1 that connects that intersects is in twos formed one group, and the pin shaft hole 2 usefulness bearing pins through two ends on the rod member 1 between the two adjacent groups connect; The said many groups rod member that connects is successively formed a series of, and this series has upper and lower parallel two, connects through connecting rod 5 between said upper and lower two series, and described connecting rod 5 connects at pin shaft hole 2 places at upper and lower two serial corresponding rod members 1 two ends.

One side of said upper and lower serial rod member has a drive unit 6; At the upper and lower serial position of correspondence motion bar 7 is arranged respectively on the described drive unit 6; The motion bar 7 of said upper and lower position has two and flexible connection respectively, and pin shaft hole 2 places are connected last group rod member 1 of said upper and lower motion bar 7 and upper and lower series at two ends.

The different combinations mode can realize the folding retractable of different curved paths in the utility model, for example pie graph 4, Fig. 5, three kinds of combining forms of Fig. 6.

Angle through changing between drive end two crossing rod members makes whole folding device flexible, like the effect schematic representation of Fig. 2 and Fig. 3; One end of the device in Fig. 2 or Fig. 3 is as drive end, and the other end is as delivery end---carry other device or equipment, like picture pick-up device or other testing apparatus; After Fig. 4 is the rod member Combinatorial Optimization, non-circle arc curve folding retractable, application example effect schematic representation in the tokamak vacuum chamber; Fig. 5 is the another kind of compound mode of rod member, can be flexible along the sigmoid curve path doubling; Fig. 6 is the circular arc compound mode, and curved path is a circular arc.

Claims

1. curve folding retractable device; Include a plurality of rod members, it is characterized in that: have three pin shaft holes on the described rod member, wherein two pin shaft holes lay respectively at the two ends of rod member; The 3rd pin shaft hole is departing from the rod member position intermediate; Described a plurality of rod member intersects in twos respectively at the 3rd pin shaft hole place and connects through bearing pin, and the said rod member that connects that intersects is in twos formed one group, and the pin shaft hole through two ends on the rod member between the two adjacent groups connects with bearing pin; The said many groups rod member that connects is successively formed a series of, and this series has upper and lower parallel two, connects through connecting rod between said upper and lower two series, and described connecting rod connects at the pin shaft hole place at upper and lower two serial corresponding rod member two ends.

2. a kind of curve folding retractable device according to claim 1; It is characterized in that: a side of said upper and lower serial rod member has a drive unit; At the upper and lower serial position of correspondence motion bar is arranged respectively on the described drive unit; The motion bar of said upper and lower position has two and flexible connection respectively, and the pin shaft hole place is connected last group rod member of said upper and lower motion bar and upper and lower series at two ends.