CN205396580U - Collapsible polyhedral structure - Google Patents
Collapsible polyhedral structure Download PDFInfo
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- CN205396580U CN205396580U CN201521104826.9U CN201521104826U CN205396580U CN 205396580 U CN205396580 U CN 205396580U CN 201521104826 U CN201521104826 U CN 201521104826U CN 205396580 U CN205396580 U CN 205396580U
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Abstract
The utility model discloses a single degree of freedom, the big collapsible polyhedral structure who rolls over the exhibition ratio, including eight folding unit and three mutually perpendicular's symmetry plane, eight folding unit use per four to be divided into two sets ofly for a set of, and through revolute pair end -to -end connection between four folding unit of every group, four couples of two sets of folding unit pass through the ball vice or connects mechanism's one -to -one and connect to folding unit and pair satisfy a series of symmetric relations and constrained condition about three symmetry plane, thereby construct collapsiblely for octahedral structure's ten tetrahedral structure. The utility model discloses can realize and expand two kinds of stable states that less is convenient for transmission or transportation of volume has great working space when folding during the expansion folding, the total only has the one degree of freedom, and it is simple to have a production and processing, and motion control is convenient, advantages such as high reliability, significant and extensive application prospect in numerous fields such as aerospace, civil engineering.
Description
Technical field
The present invention relates to the folding multi-face body structure of a kind of single-degree-of-freedom, big folding exhibition ratio, specifically, relate to a kind of conversion being realized between the tetrakaidecahedron and octahedron by single driving.
Background technology
Polyhedral structure, because of its good symmetry, is applied widely in Aero-Space, building structure, the art work and daily life, but owing to volume is big, be unfavorable for transport, polyhedral structure is usually only used for stationary applica-tions.It is chosen as, by SCIENCE periodical, the Typical Representative that cube moonlet of the 2014 big technological breakthroughs of year ten is exactly aerospace field and pursues that miniaturization low cost is launched, but the shortcoming of its operation narrow space in-orbit also governs its further application.
Space telescopic structure is as the development of Space Science and Technology and a kind of new structure of being born, and it is in folding storage state in emission process, and volume capacity is minimum；After entering the orbit, telescopic structure can become bigger operation state by Design spreading；When returning or reclaim, this structure can again fold gathering and enter airship.The deployable structure adopting over-constraint structure to be elementary cell has high rigidity, manufactures simple, the advantages such as cost is low, and reliability is high.
Existing space telescopic structure relates generally to the folding exhibition on plane or curved surface, such as solar energy sailboard, satellite antenna, and the folding and unfolding mechanism relating to volume aspect mainly adopts non-rigid deformation to obtain, deformation process is unfavorable for controlling and not easily repetitive operation, the telescopic polyhedron of existing employing rigid deformation or structure complexity, such as C.M.Gosselin and the D.Gagnon-Lachance telescopic polyhedral structure driven with regular polygon mechanism proposed in 2006；Can not realize folding completely, such as KiperandThe polyhedral folding exhibition ratio of telescopic proposed in 2009 is less than 1.1.
Summary of the invention
It is an object of the invention to overcome the deficiency of prior art, there is provided a kind of be capable of folding and two kinds of stable states of expansion and install and the simple folding multi-face body structure of operating process, this structure is the special polyhedron having two kinds of steady statues containing rigidity over-constraint structure, time folding, small volume is easy to launch or transport, has bigger work space during expansion；Total only has one degree of freedom, and motor control is simple；There is production and processing simple, convenient control of motion, the advantage such as high reliability, significant and be widely applied prospect in the various fields such as Aero-Space, civil engineering.
In order to solve above-mentioned technical problem, the present invention is achieved by following technical scheme:
The first folding multi-face body structure, be folded exactly the same unit including eight, respectively the first folding unit, the second folding unit, the 3rd folding unit, the 4th folding unit, the 5th folding unit, the 6th folding unit, the 7th folding unit, the 8th folding unit；Each described folding unit is all provided with three not link positions on the same line, respectively the first link position, the second link position and the 3rd link position in same position；There is three orthogonal symmetrical planes, respectively the first symmetrical plane, the second symmetrical plane and the 3rd symmetrical plane in this folding multi-face body structure；
Second link position of the described first folding unit is connected by the first revolute pair with the first link position of the described second folding unit, second link position of the described second folding unit is connected by the second revolute pair with the first link position of the described 3rd folding unit, second link position of the described 3rd folding unit is connected by the 3rd revolute pair with the first link position of the described 4th folding unit, and the second link position of the described 4th folding unit is connected by the 4th revolute pair with the first link position of the described first folding unit；
Second link position of the described 5th folding unit is connected by the 5th revolute pair with the first link position of the described 6th folding unit, second link position of the described 6th folding unit is connected by the 6th revolute pair with the first link position of the described 7th folding unit, second link position of the described 7th folding unit is connected by the 7th revolute pair with the first link position of the described 8th folding unit, and the second link position of the described 8th folding unit is connected by the 8th revolute pair with the first link position of the described 5th folding unit；
3rd link position of the described first folding unit is connected by the first ball pair with the 3rd link position of the described 5th folding unit, 3rd link position of the described second folding unit is connected by the second ball pair with the 3rd link position of the described 6th folding unit, 3rd link position of the described 3rd folding unit is connected by the 3rd ball pair with the 3rd link position of the described 7th folding unit, 3rd link position of the described 4th folding unit is connected by the 4th ball pair with the 3rd link position of the described 8th folding unit, described first ball is secondary, second ball is secondary, the center that 3rd ball is secondary and the 4th ball is secondary is all in described 3rd symmetrical plane；
Described first folding unit is symmetrical respectively about described first symmetrical plane with the described 8th folding unit with the described 6th folding unit, the described 7th folding unit with the described 4th folding unit, the described 5th folding unit with the described second folding unit, the described 3rd folding unit；Described first folding unit is symmetrical respectively about described second symmetrical plane with the described 7th folding unit with the described 8th folding unit, the described 6th folding unit with the described 3rd folding unit, the described 5th folding unit with the described 4th folding unit, the described second folding unit；Described first folding unit is symmetrical respectively about described 3rd symmetrical plane with the described 8th folding unit with the described 7th folding unit, the described 4th folding unit with the described 6th folding unit, the described 3rd folding unit with the described 5th folding unit, the described second folding unit；
The axis of described first revolute pair, described 3rd revolute pair, described 5th revolute pair and described 7th revolute pair is all in described first symmetrical plane, and the axis of described second revolute pair, described 4th revolute pair, described 6th revolute pair and described 8th revolute pair is all in described second symmetrical plane；The axis of described first revolute pair is symmetrical respectively about described 3rd symmetrical plane with the axis of described 8th revolute pair with the axis of described 7th revolute pair, the axis of described 4th revolute pair with the axis of the axis of described 6th revolute pair, described 3rd revolute pair with the axis of the axis of described 5th revolute pair, described second revolute pair；The axis of described second revolute pair is symmetrical respectively about described first symmetrical plane with the axis of described 8th revolute pair with the axis of described 4th revolute pair, the axis of described 6th revolute pair；The axis of described first revolute pair is symmetrical respectively about described second symmetrical plane with the axis of described 7th revolute pair with the axis of described 3rd revolute pair, the axis of described 5th revolute pair.
The second folding multi-face body structure, be folded exactly the same unit including eight, respectively the first folding unit, the second folding unit, the 3rd folding unit, the 4th folding unit, the 5th folding unit, the 6th folding unit, the 7th folding unit, the 8th folding unit；Each described folding unit is all provided with three not link positions on the same line, respectively the first link position, the second link position and the 3rd link position in same position；Also include four groups of bindiny mechanisms, respectively the first bindiny mechanism, the second bindiny mechanism, the 3rd bindiny mechanism and the 4th bindiny mechanism；Often organize described bindiny mechanism to be formed by connecting by a middle part revolute pair by two connection assemblies, the two connects assembly and connects with adjacent described folding unit respectively through a sidepiece revolute pair, the axis of the axis and two described sidepiece revolute pairs of often organizing a described middle part revolute pair of described bindiny mechanism crosses a common point, and namely often organizing described bindiny mechanism can provide three axis around this revolute pair axis common point to rotate；There is three orthogonal symmetrical planes, respectively the first symmetrical plane, the second symmetrical plane and the 3rd symmetrical plane in this folding multi-face body structure；
Second link position of the described first folding unit is connected by the first revolute pair with the first link position of the described second folding unit, second link position of the described second folding unit is connected by the second revolute pair with the first link position of the described 3rd folding unit, second link position of the described 3rd folding unit is connected by the 3rd revolute pair with the first link position of the described 4th folding unit, and the second link position of the described 4th folding unit is connected by the 4th revolute pair with the first link position of the described first folding unit；
Second link position of the described 5th folding unit is connected by the 5th revolute pair with the first link position of the described 6th folding unit, second link position of the described 6th folding unit is connected by the 6th revolute pair with the first link position of the described 7th folding unit, second link position of the described 7th folding unit is connected by the 7th revolute pair with the first link position of the described 8th folding unit, and the second link position of the described 8th folding unit is connected by the 8th revolute pair with the first link position of the described 5th folding unit；
Described first folding unit, described 5th folding unit is connected assembly respectively and connects respectively through sidepiece revolute pair with two of described first bindiny mechanism, described second folding unit, described 6th folding unit is connected assembly respectively and connects respectively through sidepiece revolute pair with two of described second bindiny mechanism, described 3rd folding unit, described 7th folding unit is connected assembly respectively and connects respectively through sidepiece revolute pair with two of described 3rd bindiny mechanism, described 4th folding unit, described 8th folding unit is connected assembly respectively and connects respectively through sidepiece revolute pair with two of described 4th bindiny mechanism, described first bindiny mechanism, described second bindiny mechanism, the revolute pair axis common point of described 3rd bindiny mechanism and described 4th bindiny mechanism is all in described 3rd symmetrical plane；
Described first folding unit is symmetrical respectively about described first symmetrical plane with the described 8th folding unit with the described 6th folding unit, the described 7th folding unit with the described 4th folding unit, the described 5th folding unit with the described second folding unit, the described 3rd folding unit；Described first folding unit is symmetrical respectively about described second symmetrical plane with the described 7th folding unit with the described 8th folding unit, the described 6th folding unit with the described 3rd folding unit, the described 5th folding unit with the described 4th folding unit, the described second folding unit；Described first folding unit is symmetrical respectively about described 3rd symmetrical plane with the described 8th folding unit with the described 7th folding unit, the described 4th folding unit with the described 6th folding unit, the described 3rd folding unit with the described 5th folding unit, the described second folding unit；
The axis of described first revolute pair, described 3rd revolute pair, described 5th revolute pair and described 7th revolute pair is all in described first symmetrical plane, and the axis of described second revolute pair, described 4th revolute pair, described 6th revolute pair and described 8th revolute pair is all in described second symmetrical plane；The axis of described first revolute pair is symmetrical respectively about described 3rd symmetrical plane with the axis of described 8th revolute pair with the axis of described 7th revolute pair, the axis of described 4th revolute pair with the axis of the axis of described 6th revolute pair, described 3rd revolute pair with the axis of the axis of described 5th revolute pair, described second revolute pair；The axis of described second revolute pair is symmetrical respectively about described first symmetrical plane with the axis of described 8th revolute pair with the axis of described 4th revolute pair, the axis of described 6th revolute pair；The axis of described first revolute pair is symmetrical respectively about described second symmetrical plane with the axis of described 7th revolute pair with the axis of described 3rd revolute pair, the axis of described 5th revolute pair.
Preferably, above two folding multi-face body structure, described folding unit has and is sequentially connected with, by not three skeletons head and the tail on the same line, the closed outline formed, the link position that three summits are described folding unit of this closed outline.
It is further preferred that above two folding multi-face body structure, described folding unit is the structure with triangular-shaped profile, the link position that three summits are described folding unit of this triangular-shaped profile.
Above two folding multi-face body structure, described revolute pair is hinge, hinge or bearing.
It is secondary that at least one in described first revolute pair in any one folding multi-face body structure above-mentioned, described second revolute pair, described 3rd revolute pair, described 4th revolute pair, described 5th revolute pair, described 6th revolute pair, described 7th revolute pair, described 8th revolute pair replaces with the ball being centrally located at corresponding link position.
The invention has the beneficial effects as follows:
(1) present invention has the folding structure of the single degree of freedom, can realize polyhedral folding by a driving and launch, installing and easy to use, and the present invention is absent from mechanism kinematic unusual appearance, this driving can be arranged on arbitrary motion pair position according to the actual requirements；
(2) present invention has bigger folding exhibition ratio, and its folding exhibition ratio, up to 5 times, can obtain the steady statue of small volume, it is simple to transport and preserve after folding；
(3) present invention can design the shape and size of folding unit according to the actual requirements；
(4) present configuration is simple, the conversion between polyhedron is realized with fewer number of kinematic pair, at the polyhedral each apex of deployed condition, one revolute pair or ball pair are only set, without installing other attachment structure on polyhedral limit or face, the unstability of installation and the manipulation produced because of excessively multi-link so can be reduced；
(5) present configuration is functional design, can design different appearance profile according to actual needs, it is also possible to the size according to the Demand Design unit of practice occasion.
Accompanying drawing explanation
Fig. 1 is the structural representation of folding multi-face body the first embodiment of structure provided by the present invention；
Fig. 2-1 to Fig. 2-8 is the structural representation of eight folding unit in Fig. 1；
Fig. 3-1 to Fig. 3-4 is the secondary schematic diagram connecting two folding unit respectively of each ball in Fig. 1；
The position relationship schematic diagram of the Fig. 4-1 to Fig. 4-2 kinematic pair for arranging in the folding multi-face body structure shown in Fig. 1；
Fig. 5-1 to Fig. 5-5 is the folding process schematic diagram of the folding multi-face body structure shown in Fig. 1；
Fig. 6 is the structural representation of folding multi-face body structure the second embodiment provided by the present invention；
Fig. 7-1 to Fig. 7-8 is the structural representation of eight folding unit in Fig. 6；
Fig. 8-1 to Fig. 8-2 is the structural representation of Tu6Zhong bindiny mechanism；
Fig. 9-1 to Fig. 9-4 is the schematic diagram that Tu6Zhong Meizu bindiny mechanism connects two folding unit respectively；
The position relationship schematic diagram of the Figure 10-1 to Figure 10-2 kinematic pair for arranging in the folding multi-face body structure shown in Fig. 6；
Figure 11-1 to Figure 11-5 is the folding process schematic diagram of the folding multi-face body structure shown in Fig. 6.
In figure: 1-the first symmetrical plane, 2-the second symmetrical plane, 3-the 3rd symmetrical plane；
T1-first folds unit, and T2-second folds unit；The folding unit of T3-the 3rd, the folding unit of T4-the 4th, the folding unit of T5-the 5th, the folding unit of T6-the 6th, the folding unit of T7-the 7th, the folding unit of T8-the 8th,
nullV12-first folds summit between unit and the second folding unit，V23-second folds summit between unit and the 3rd folding unit，Summit between the folding unit of V34-the 3rd and the 4th folding unit，Summit between the folding unit of V41-the 4th and the first folding unit，Summit between the folding unit of V56-the 5th and the 6th folding unit，Summit between the folding unit of V67-the 6th and the 7th folding unit，Summit between the folding unit of V78-the 7th and the 8th folding unit，Summit between the folding unit of V85-the 8th and the 5th folding unit，V15-first folds summit between unit and the 5th folding unit，V26-second folds summit between unit and the 6th folding unit，Summit between the folding unit of V37-the 3rd and the 7th folding unit，Summit between the folding unit of V48-the 4th and the 8th folding unit；
S1-the first ball is secondary, and S2-the second ball is secondary, and S3-the 3rd ball is secondary, and S4-the 4th ball is secondary；
H1-the first revolute pair, H2-the second revolute pair, H3-the 3rd revolute pair, H4-the 4th revolute pair, H5-the 5th revolute pair, H6-the 6th revolute pair, H7-the 7th revolute pair, H8-the 8th revolute pair；
H9-the 9th revolute pair, H10-the tenth revolute pair, H11-the 11st revolute pair, H12-the 12nd revolute pair, H13-the 13rd revolute pair, H14-the 14th revolute pair, H15-the 15th revolute pair, H16-the 16th revolute pair, H17-the 17th revolute pair, H18-the 18th revolute pair, H19-the 19th revolute pair, H20-the 20th revolute pair；
C1-the first bindiny mechanism, in C11-the first bindiny mechanism, first connects assembly, and in C12-the first bindiny mechanism, second connects assembly；C2-the second bindiny mechanism, in C21-the second bindiny mechanism, first connects assembly, and in C22-the second bindiny mechanism, second connects assembly；C3-the 3rd bindiny mechanism, in C31-the 3rd bindiny mechanism, first connects assembly, and in C32-the 3rd bindiny mechanism, second connects assembly；C4-the 4th bindiny mechanism；In C41-the 4th bindiny mechanism, first connects assembly；In C42-the 4th bindiny mechanism, second connects assembly.
Detailed description of the invention
For present disclosure, feature and effect can be further appreciated that, hereby enumerate following example, and it be as follows to coordinate accompanying drawing to describe in detail:
Embodiment 1
As shown in Figure 1, present embodiments provide the first embodiment of a kind of folding multi-face body structure, including eight folding unit, it is called the first folding unit T1, the second folding unit T2, the 3rd folding unit T3, the 4th folding unit T4, the 5th folding unit T5, the 6th folding unit T6, the 7th folding unit T7, the 8th folding unit T8；The structure of eight folding unit is all identical and has triangular-shaped profile, three summits of this triangular-shaped profile, respectively as three link positions of each folding unit, are called the first link position of each folding unit, the second link position and the 3rd link position.
In conjunction with Fig. 2-1 to shown in Fig. 2-8, second link position (V12) of the first folding unit T1 is connected by the first revolute pair H1 with first link position (V12) of the second folding unit T2, second link position (V23) of the second folding unit T2 is connected by the second revolute pair H2 with first link position (V23) of the 3rd folding unit T3, second link position (V34) of the 3rd folding unit T3 is connected by the 3rd revolute pair H3 with first link position (V34) of the 4th folding unit T4, second link position (V41) of the 4th folding unit T4 is connected H4 with first link position (V41) of the first folding unit T1 by the 4th revolute pair.
Second link position (V56) of the 5th folding unit T5 is connected by the 5th revolute pair H5 with first link position (V56) of the 6th folding unit T6, second link position (V67) of the 6th folding unit T6 is connected by the 6th revolute pair H6 with first link position (V67) of the 7th folding unit T7, second link position (V78) of the 7th folding unit T7 is connected by the 7th revolute pair H7 with first link position (V78) of the 8th folding unit T8, second link position (V85) of the 8th folding unit T8 is connected by the 8th revolute pair H8 with first link position (V) of the 5th folding unit T5.
Each revolute pair can adopt the part that can provide rotating function above, such as hinge, hinge, bearing assembling.
Shown in 3-1 to Fig. 3-4, 3rd link position (V15) of the first folding unit T1 is connected by the first ball secondary S1 with the 3rd link position (V15) of the 5th folding unit T5, 3rd link position (V26) of the second folding unit T2 is connected by the second ball secondary S2 with the 3rd link position (V26) of the 6th folding unit T6, 3rd link position (V37) of the 3rd folding unit T3 is connected by the 3rd ball secondary S3 with the 3rd link position (V37) of the 7th folding unit T7, 3rd link position (V48) of the 4th folding unit T4 is connected by the 4th ball secondary S4 with the 3rd link position (V48) of the 8th folding unit T8.
nullThere are three orthogonal symmetrical planes in this folding multi-face body structure，Respectively cross summit V12 between the first folding unit T2 of folding unit T1 and the second、Cross summit V34 between the 3rd folding folding unit T4 of unit T3 and the four、Cross summit V56 between the 5th folding folding unit T6 of unit T5 and the six、Cross first symmetrical plane 1 of summit V78 between the 7th folding folding unit T8 of unit T7 and the eight，Cross summit V41 between the 4th folding unit T1 of folding unit T4 and the first、Cross summit V23 between the second folding folding unit T3 of unit T2 and the three、Cross summit V67 between the 6th folding folding unit T7 of unit T6 and the seven、Cross second symmetrical plane 2 of summit V85 between the 8th folding folding unit T5 of unit T8 and the five，Cross summit V15 between the first folding folding unit T5 of unit T1 and the five、Cross summit V26 between the second folding folding unit T6 of unit T2 and the six、Cross summit V37 between the 3rd folding folding unit T7 of unit T3 and the seven、Cross the 3rd symmetrical plane 3 of summit V48 between the 4th folding folding unit T8 of unit T4 and the eight.
First ball secondary S1, the second ball secondary S1, the 3rd ball secondary S1 and the four ball secondary S1 center all in the 3rd symmetrical plane 3.
If Fig. 4-1 is to shown in Fig. 4-2, the first folding unit T2 of folding unit T1 and the second, the 3rd folding folding unit T4 of unit T3 and the four, the 5th folding folding unit T6 of unit T5 and the six, the 7th folding folding unit T8 of unit T7 and the eight are symmetrical respectively about the first symmetrical plane 1.The first folding folding unit T4 of unit T1 and the four, the second folding folding unit T3 of unit T2 and the three, the 5th folding folding unit T8 of unit T5 and the eight, the 6th folding folding unit T7 of unit T6 and the seven are symmetrical respectively about the second symmetrical plane 2；The first folding folding unit T5 of unit T1 and the five, the second folding folding unit T6 of unit T2 and the six, the 3rd folding folding unit T7 of unit T3 and the seven, the 4th folding folding unit T8 of unit T4 and the eight are symmetrical respectively about the 3rd symmetrical plane 3.
First revolute pair H1, the 3rd revolute pair H3, the 5th revolute pair H5 and the seven revolute pair H7 axis all in the first symmetrical plane 1；Second revolute pair H2, the 4th revolute pair H4, the 6th revolute pair H6 and the eight revolute pair H8 axis all in the second symmetrical plane 2.The axis of the first revolute pair H1 and the axis of the 5th revolute pair H5, the axis of the second revolute pair H2 and the axis of the 6th revolute pair H6, the axis of the 3rd revolute pair H3 and the axis of the 7th revolute pair H7, the axis of the 4th revolute pair H4 and the axis of the 8th revolute pair H8 are symmetrical respectively about the 3rd symmetrical plane 3；The axis of the second revolute pair H2 and the axis of the 4th revolute pair H4, the axis of the 6th revolute pair H6 and the axis of the 8th revolute pair H8 are symmetrical respectively about the first symmetrical plane 1；The axis of the first revolute pair H1 and the axis of the 3rd revolute pair H3, the axis of the 5th revolute pair H5 and the axis of the 7th revolute pair H7 are symmetrical respectively about the second symmetrical plane 2.
Due to the first revolute pair H1, the second revolute pair H2, the 3rd revolute pair H3 and the four revolute pair H4 axis both not parallel also different time intersect at same point, therefore by meeting the first revolute pair H1 of above symmetrical relations, the mechanism that formed of the first folding unit T1 that the second revolute pair H2, the 3rd revolute pair H3 and the four revolute pair H4 are sequentially connected with, the second folding unit T2, the 3rd folding folding unit T4 of unit T3 and the four be space Planar Mechanisms Bennett4R mechanism；Due to the 5th revolute pair H5, the 6th revolute pair H6, the 7th revolute pair H7 and the eight revolute pair H8 axis both not parallel also different time intersect at same point, therefore by meeting the 5th revolute pair H5 of above symmetrical relations, the mechanism that formed of the 5th folding unit T5 that the 6th revolute pair H6, the 7th revolute pair H7 and the eight revolute pair H8 are sequentially connected with, the 6th folding unit T6, the 7th folding unit T7 and the eight folding unit T8 be also space Planar Mechanisms Bennett4R mechanism, and space over-constraint structure has the advantage such as good rigidly, compact conformation.The the first folding unit T1, the 5th folding unit T5, the 6th folding unit T2 of folding unit T6 and the second that are sequentially connected with by the first revolute pair H1, the first ball secondary S1, the 5th revolute pair H5 and the second ball secondary S2 form RSRS mechanism；The the second folding unit T2, the 6th folding unit T6, the 7th folding folding unit T3 of unit T7 and the three that are sequentially connected with by the second revolute pair H2, the second ball secondary S2, the 6th revolute pair H6 and the three ball secondary S3 form RSRS mechanism；The 3rd folding unit T3, the 7th folding unit T7, the 8th folding folding unit T4 of unit T8 and the four that are sequentially connected with by the 3rd revolute pair H3, the 3rd ball secondary S3, the 7th revolute pair H7 and the four ball secondary S4 form RSRS mechanism；The 4th folding unit T4, the 8th folding unit T8, the 5th folding unit T1 of folding unit T5 and the first that are sequentially connected with by the 4th revolute pair H4, the 4th ball secondary S4, the 8th revolute pair H8 and the first ball secondary S1 form RSRS mechanism.
As shown in Fig. 5-1 to Fig. 5-5 figure, eight folding unit that the present embodiment provides and the connected mode provided are provided, may be constructed the collapsible tetrakaidecahedron structure in space, its folding change is determined by the shape of each folding unit, size and revolute pair axis direction.Fig. 5-1 illustrates steady statue, i.e. a space development state of folding multi-face body structure, for having section half cube at ten four sides.Folding multi-face body in the present embodiment is realized the folding exhibition motion of upper and lower two tetragons and four tetragons in side respectively by two space Planar Mechanisms Bennett4R mechanisms and four RSRS mechanisms.Fig. 5-1 to Fig. 5-5 illustrates the folding process of folding multi-face body structure, is finally reached another stable state, i.e. folded state, for regular octahedron, as shown in Fig. 5-4 and 5-5.nullThe folding multi-face body that can be made the present embodiment on arbitrary kinematic pair by single driving is converted to folded state by deployed condition，In the process，Each revolute pair and the cooperation of ball pair make folding unit T3 and the four of summit V12 and the three between the first folding unit T2 of folding unit T1 and the second fold summit V34 between unit T4、Summit V78 between the folding unit T8 of folding unit T7 and the of summit V56 and the seven eight between the 5th folding folding unit T6 of unit T5 and the six、Summit V67 between the folding unit T7 of folding unit T6 and the of summit V23 and the six seven between the second folding folding unit T3 of unit T2 and the three、Between 4th folding unit and the first folding unit, between the folding unit of summit V41 and the eight and the 5th folding unit, summit V85 moves closer to until overlapping，Simultaneously complete the folding to realize polyhedral being converted by folding of six tetragons in the tetrakaidecahedron.This folding multi-face body structure has one degree of freedom, it is possible to realize the folding exhibition motion of big ratio, it is possible to as the framing structure of satellite or contour of building structure etc..
Visible, as long as above-mentioned folding multi-face body structure meets above-mentioned constraints, the folding exhibition effect of application claims can be reached, its version and folding exhibition mode are not affected by the concrete structure folding unit, therefore the structure of folding unit is not limited to triangular-shaped profile, its shape, size, size, materials etc. all can do any conversion based on the actual application requirements, as long as it is identical to meet eight folding unit, and each folding unit be provided with three not link position on the same line (three link positions position on each folding unit is all identical, and it is called the first link position of each folding unit, second link position and the 3rd link position).It is likely to mutually cause interference based on each folding unit in folding exhibition process, the preferred structure of folding unit is have to be sequentially connected with, by not three skeletons head and the tail on the same line, the closed outline formed, and three summits of this closed outline are the link position of folding unit；And the concrete form of three skeletons can be the combination of straightway, broken line, curved section or above line segment form, this folding multi-face body structure is to this and indefinite.
Additionally, it is secondary that one or more in the first revolute pair H1 in folding multi-face body structure, the second revolute pair H2, the 3rd revolute pair H3, the 4th revolute pair H4, the 5th revolute pair H5, the 6th revolute pair H6, the 7th revolute pair H7, the 8th revolute pair H8 can be replaced the ball being centrally located at corresponding vertex, and this folding multi-face body structure of gained is single-degree-of-freedom or multiple degrees of freedom.Wherein, arbitrarily no more than three in the first revolute pair H1 in folding multi-face body structure, any one in the second revolute pair H2, the 3rd revolute pair H3 and the four revolute pair H4 or adjacent two the 5th revolute pair H5 replaced with in the ball pair and folding multi-face body structure being centrally located at corresponding vertex, the 6th revolute pair H6, the 7th revolute pair H7 and the eight revolute pair H8 replace with the ball pair being centrally located at corresponding vertex simultaneously, remain to obtain and the present embodiment characteristics of motion duplicate single-degree-of-freedom folding multi-face body structure；In the 5th revolute pair H5 in folding multi-face body structure, the 6th revolute pair H6, the 7th revolute pair H7 and the eight revolute pair H8 one or adjacent two replace with that the ball being centrally located at corresponding vertex is secondary and in the first revolute pair H1 in folding multi-face body structure, the second revolute pair H2, the 3rd revolute pair H3 and the four revolute pair H4 arbitrarily no more than three to replace with the ball being centrally located at corresponding vertex secondary simultaneously, also remain to obtain and the present embodiment characteristics of motion duplicate single-degree-of-freedom folding multi-face body structure；Other situations can obtain multivariant folding multi-face body structure.
Embodiment 2
As shown in Figure 6, present embodiments provide the second embodiment of a kind of folding multi-face body structure, including eight folding unit and four groups of bindiny mechanisms.Eight folding unit are called the first folding unit T1, the second folding unit T2, the 3rd folding unit T3, the 4th folding unit T4, the 5th folding unit T5, the 6th folding unit T6, the 7th folding unit T7, the 8th folding unit T8；The structure of eight folding unit is all identical and has triangular-shaped profile, three summits of this triangular-shaped profile, respectively as three link positions of each folding unit, are called the first link position of each folding unit, the second link position and the 3rd link position.
In conjunction with Fig. 7-1 to shown in Fig. 7-8, second link position (V12) of the first folding unit T1 is connected by the first revolute pair H1 with first link position (V12) of the second folding unit T2, second link position (V23) of the second folding unit T2 is connected by the second revolute pair H2 with first link position (V23) of the 3rd folding unit T3, second link position (V34) of the 3rd folding unit T3 is connected by the 3rd revolute pair H3 with first link position (V34) of the 4th folding unit T4, second link position (V41) of the 4th folding unit T4 is connected H4 with first link position (V41) of the first folding unit T1 by the 4th revolute pair.
Second link position (V56) of the 5th folding unit T5 is connected by the 5th revolute pair H5 with first link position (V56) of the 6th folding unit T6, second link position (V67) of the 6th folding unit T6 is connected by the 6th revolute pair H6 with first link position (V67) of the 7th folding unit T7, second link position (V78) of the 7th folding unit T7 is connected by the 7th revolute pair H7 with first link position (V78) of the 8th folding unit T8, second link position (V85) of the 8th folding unit T8 is connected by the 8th revolute pair H8 with first link position (V) of the 5th folding unit T5.
Four groups of bindiny mechanism respectively the first bindiny mechanism C1, the second bindiny mechanism C2, the 3rd bindiny mechanism C3 and the four bindiny mechanism C4；Mei Zu bindiny mechanism is connected assembly by two and is formed by connecting by a middle part revolute pair, the two connects assembly and connects with adjacent folding unit respectively through a sidepiece revolute pair, one middle part axis of revolute pair of Mei Zu bindiny mechanism and the axis of two sidepiece revolute pairs cross a common point, and Ji Meizu bindiny mechanism can provide three axis around this revolute pair axis common point to rotate.The structure of four groups of bindiny mechanisms is identical, if Fig. 8-1 is to shown in Fig. 8-2, for bindiny mechanism C1, it is connected the second connection assembly C12 in assembly C11 and the first bindiny mechanism and is formed by connecting by the 17th revolute pair H17 by the first bindiny mechanism of triangular structure first；In first bindiny mechanism, first connects in assembly C11 and the first bindiny mechanism second and connects assembly C12 and be respectively provided with again the 9th revolute pair H9 and the ten revolute pair H10；The axis of the 17th revolute pair H17, the axis of the 9th revolute pair H9 and the axis of the tenth revolute pair H10 cross a common point, and this revolute pair axis common point is between the folding unit of the first folding unit and the 5th on the V15 of summit.
As shown in fig. 9-1, first bindiny mechanism C1 is connected the second connection assembly C12 in assembly C11 and the first bindiny mechanism and is connected by the 17th revolute pair H17 by the first bindiny mechanism first, in first bindiny mechanism, first connects assembly C11 by the folding unit T1 connection of the 9th hinge H9 and the first, and in the first bindiny mechanism, the second connection assembly C12 is connected by the tenth folding unit T5 of hinge H10 and the five；17th revolute pair H17, the 9th revolute pair H9 and the tenth revolute pair H10 revolute pair axis common point between the folding unit of the first folding unit and the 5th on the V15 of summit.As shown in Fig. 9-2, second bindiny mechanism C2 is connected the second connection assembly C22 in assembly C21 and the second bindiny mechanism and is connected by the 18th revolute pair H18 by the second bindiny mechanism first, in second bindiny mechanism, first connects assembly C21 by the folding unit T2 connection of the 11st hinge H11 and the second, and in the second bindiny mechanism, the second connection assembly C22 is connected by the tenth folding unit T6 of two hinge H12 and the six；18th revolute pair H18, the 11st hinge H11 and the tenth two hinge H12 revolute pair axis common point between the folding unit of the second folding unit and the 6th on the V26 of summit.As shown in Fig. 9-3,3rd bindiny mechanism C3 is connected the second connection assembly C32 in assembly C31 and the three bindiny mechanism by the 3rd bindiny mechanism first and is connected by the 19th revolute pair H19, in 3rd bindiny mechanism, first connects assembly C31 by the 13rd folding unit T3 connection of hinge H13 and the three, and in the 3rd bindiny mechanism, the second connection assembly C32 is connected by the 14th folding unit T7 of hinge H14 and the seven；19th revolute pair H19, the 13rd hinge H13 and the 14th hinge H14 revolute pair axis common point between the folding unit of the 3rd folding unit and the 7th on the V37 of summit.As shown in Fig. 9-4,4th bindiny mechanism C4 is connected the second connection assembly C42 in assembly C41 and the four bindiny mechanism by the 4th bindiny mechanism first and is connected by the 20th revolute pair H20, in 4th bindiny mechanism, first connects assembly C41 by the 15th folding unit T4 connection of hinge H15 and the four, and in the 4th bindiny mechanism, the second connection assembly C42 is connected by the 16th folding unit T8 of hinge H16 and the eight；20th revolute pair H20, the 15th hinge H15 and the 16th hinge H16 revolute pair axis common point between the folding unit of the 4th folding unit and the 8th on the V48 of summit.
Each revolute pair can adopt the part that can provide rotating function above, such as hinge, hinge, bearing assembling.
nullThere are three orthogonal symmetrical planes in this folding multi-face body structure，Respectively cross summit V12 between the first folding unit T2 of folding unit T1 and the second、Cross summit V34 between the 3rd folding folding unit T4 of unit T3 and the four、Cross summit V56 between the 5th folding folding unit T6 of unit T5 and the six、Cross first symmetrical plane 1 of summit V78 between the 7th folding folding unit T8 of unit T7 and the eight，Cross summit V41 between the 4th folding unit T1 of folding unit T4 and the first、Cross summit V23 between the second folding folding unit T3 of unit T2 and the three、Cross summit V67 between the 6th folding folding unit T7 of unit T6 and the seven、Cross second symmetrical plane 2 of summit V85 between the 8th folding folding unit T5 of unit T8 and the five，Cross summit V15 between the first folding folding unit T5 of unit T1 and the five、Cross summit V26 between the second folding folding unit T6 of unit T2 and the six、Cross summit V37 between the 3rd folding folding unit T7 of unit T3 and the seven、Cross the 3rd symmetrical plane 3 of summit V48 between the 4th folding folding unit T8 of unit T4 and the eight.
First bindiny mechanism C1, the second bindiny mechanism C2, the 3rd bindiny mechanism C3 and the four bindiny mechanism C4 revolute pair axis common point all in the 3rd symmetrical plane 3.
If Figure 10-1 is to shown in Figure 10-2, the first folding unit T2 of folding unit T1 and the second, the 3rd folding folding unit T4 of unit T3 and the four, the 5th folding folding unit T6 of unit T5 and the six, the 7th folding folding unit T8 of unit T7 and the eight are symmetrical respectively about the first symmetrical plane 1.The first folding folding unit T4 of unit T1 and the four, the second folding folding unit T3 of unit T2 and the three, the 5th folding folding unit T8 of unit T5 and the eight, the 6th folding folding unit T7 of unit T6 and the seven are symmetrical respectively about the second symmetrical plane 2；The first folding folding unit T5 of unit T1 and the five, the second folding folding unit T6 of unit T2 and the six, the 3rd folding folding unit T7 of unit T3 and the seven, the 4th folding folding unit T8 of unit T4 and the eight are symmetrical respectively about the 3rd symmetrical plane 3.
First revolute pair H1, the 3rd revolute pair H3, the 5th revolute pair H5 and the seven revolute pair H7 axis all in the first symmetrical plane 1；Second revolute pair H2, the 4th revolute pair H4, the 6th revolute pair H6 and the eight revolute pair H8 axis all in the second symmetrical plane 2.The axis of the first revolute pair H1 and the axis of the 5th revolute pair H5, the axis of the second revolute pair H2 and the axis of the 6th revolute pair H6, the axis of the 3rd revolute pair H3 and the axis of the 7th revolute pair H7, the axis of the 4th revolute pair H4 and the axis of the 8th revolute pair H8 are symmetrical respectively about the 3rd symmetrical plane 3；The axis of the second revolute pair H2 and the axis of the 4th revolute pair H4, the axis of the 6th revolute pair H6 and the axis of the 8th revolute pair H8 are symmetrical respectively about the first symmetrical plane 1；The axis of the first revolute pair H1 and the axis of the 3rd revolute pair H3, the axis of the 5th revolute pair H5 and the axis of the 7th revolute pair H7 are symmetrical respectively about the second symmetrical plane 2.
Due to the first revolute pair H1, the second revolute pair H2, the 3rd revolute pair H3 and the four revolute pair H4 axis both not parallel also different time intersect at same point, therefore by meeting the first revolute pair H1 of above symmetrical relations, the mechanism that formed of the first folding unit T1 that the second revolute pair H2, the 3rd revolute pair H3 and the four revolute pair H4 are sequentially connected with, the second folding unit T2, the 3rd folding folding unit T4 of unit T3 and the four be space Planar Mechanisms Bennett4R mechanism；Due to the 5th revolute pair H5, the 6th revolute pair H6, the 7th revolute pair H7 and the eight revolute pair H8 axis both not parallel also different time intersect at same point, therefore by meeting the 5th revolute pair H5 of above symmetrical relations, the mechanism that formed of the 5th folding unit T5 that the 6th revolute pair H6, the 7th revolute pair H7 and the eight revolute pair H8 are sequentially connected with, the 6th folding unit T6, the 7th folding unit T7 and the eight folding unit T8 be also space Planar Mechanisms Bennett4R mechanism, and space over-constraint structure has the advantage such as good rigidly, compact conformation.The the first folding unit T1, the 5th folding unit T5, the 6th folding unit T2 of folding unit T6 and the second that are sequentially connected with by the first revolute pair H1, the first bindiny mechanism C1, the 5th revolute pair H5 and the second bindiny mechanism C2 form 8R mechanism；The the second folding unit T2, the 6th folding unit T6, the 7th folding folding unit T3 of unit T7 and the three that are sequentially connected with by the second revolute pair H2, the second bindiny mechanism C2, the 6th revolute pair H6 and the three bindiny mechanism C3 form 8R mechanism；The 3rd folding unit T3, the 7th folding unit T7, the 8th folding folding unit T4 of unit T8 and the four that are sequentially connected with by the 3rd revolute pair H3, the 3rd bindiny mechanism C3, the 7th revolute pair H7 and the four bindiny mechanism C4 form 8R mechanism；The 4th folding unit T4, the 8th folding unit T8, the 5th folding unit T1 of folding unit T5 and the first that are sequentially connected with by the 4th revolute pair H4, the 4th bindiny mechanism C4, the 8th revolute pair H8 and the first bindiny mechanism C1 form 8R mechanism.
As shown in 11-1 to Figure 11-5, eight folding unit and four groups of bindiny mechanisms that the present embodiment provides and the connected mode provided are provided, may be constructed the collapsible tetrakaidecahedron structure in space, its folding change is determined by the shape of each folding unit, size and revolute pair axis direction.Folding multi-face body in the present embodiment is realized the folding exhibition motion of upper and lower two tetragons and four tetragons in side respectively by two space Planar Mechanisms Bennett4R mechanisms and four 8R mechanisms.Figure 11-1 illustrates steady statue, i.e. a space development state of folding multi-face body structure, for having section half cube at ten four sides；Figure 11-1 to Figure 11-5 illustrates the folding process of folding multi-face body structure, is finally reached another stable state, i.e. folded state, for regular octahedron, as shown in Figure 11-4 and 11-5.nullThe folding multi-face body that can be made the present embodiment on arbitrary kinematic pair by single driving is converted to folded state by deployed condition，In the process，Each revolute pair and the cooperation of ball pair make folding unit T3 and the four of summit V12 and the three between the first folding unit T2 of folding unit T1 and the second fold summit V34 between unit T4、Summit V78 between the folding unit T8 of folding unit T7 and the of summit V56 and the seven eight between the 5th folding folding unit T6 of unit T5 and the six、Summit V67 between the folding unit T7 of folding unit T6 and the of summit V23 and the six seven between the second folding folding unit T3 of unit T2 and the three、Between 4th folding unit and the first folding unit, between the folding unit of summit V41 and the eight and the 5th folding unit, summit V85 moves closer to until overlapping，Simultaneously complete the folding to realize polyhedral being converted by folding of six tetragons in the tetrakaidecahedron.This folding multi-face body structure has one degree of freedom, it is possible to realize the folding exhibition motion of big ratio, it is possible to as the framing structure of satellite or contour of building structure etc..
Visible, as long as above-mentioned folding multi-face body structure meets above-mentioned constraints, the folding exhibition effect of application claims can be reached, its version and folding exhibition mode are not affected by the concrete structure folding unit, therefore the structure of folding unit is not limited to triangular-shaped profile, its shape, size, size, materials etc. all can do any conversion based on the actual application requirements, as long as it is identical to meet eight folding unit, and each folding unit be all provided with at same position place three not link position on the same line (three link positions position on each folding unit is all identical, and it is called the first link position of each folding unit, second link position and the 3rd link position).It is likely to mutually cause interference based on each folding unit in folding exhibition process, the preferred structure of folding unit is have to be sequentially connected with, by not three skeletons head and the tail on the same line, the closed outline formed, and three summits of this closed outline are the link position of folding unit；And the concrete form of three skeletons can be the combination of straightway, broken line, curved section or above line segment form, this folding multi-face body structure is to this and indefinite.
The version of above-mentioned folding multi-face body structure and folding exhibition mode also not concrete structure by four groups of bindiny mechanisms affect, the structure of four groups of bindiny mechanisms can differ, and it connects assembly and is not limited to triangular structure, its shape, size, size, materials etc. all the structure based on the actual application requirements and according to folding unit can do corresponding conversion, as long as meeting Mei Zu bindiny mechanism to be formed by connecting by a middle part revolute pair by two connection assemblies, the two connects assembly and is respectively arranged with a sidepiece revolute pair, and the axis of revolute pair and the axis of two sidepiece revolute pairs cross a common point in the middle part of in the of the one of Mei Zu bindiny mechanism.
Additionally, it is secondary that one or more in the first revolute pair H1 in folding multi-face body structure, the second revolute pair H2, the 3rd revolute pair H3, the 4th revolute pair H4, the 5th revolute pair H5, the 6th revolute pair H6, the 7th revolute pair H7, the 8th revolute pair H8 can be replaced the ball being centrally located at corresponding vertex, and this folding multi-face body structure of gained is single-degree-of-freedom or multiple degrees of freedom.Wherein, arbitrarily no more than three in the first revolute pair H1 in folding multi-face body structure, any one in the second revolute pair H2, the 3rd revolute pair H3 and the four revolute pair H4 or adjacent two the 5th revolute pair H5 replaced with in the ball pair and folding multi-face body structure being centrally located at corresponding vertex, the 6th revolute pair H6, the 7th revolute pair H7 and the eight revolute pair H8 replace with the ball pair being centrally located at corresponding vertex simultaneously, remain to obtain and the present embodiment characteristics of motion duplicate single-degree-of-freedom folding multi-face body structure；In the 5th revolute pair H5 in folding multi-face body structure, the 6th revolute pair H6, the 7th revolute pair H7 and the eight revolute pair H8 one or adjacent two replace with that the ball being centrally located at corresponding vertex is secondary and in the first revolute pair H1 in folding multi-face body structure, the second revolute pair H2, the 3rd revolute pair H3 and the four revolute pair H4 arbitrarily no more than three to replace with the ball being centrally located at corresponding vertex secondary simultaneously, also remain to obtain and the present embodiment characteristics of motion duplicate single-degree-of-freedom folding multi-face body structure；Other situations can obtain multivariant folding multi-face body structure.
In sum, owing to folding multi-face body structure proposed by the invention has the single degree of freedom, folding exhibition ratio is big, therefore has and installs simple, easy to operate, to be prone to the aspects such as transport advantage, is particularly suited in the fields such as Aero-Space and applies.
Although the preferred embodiments of the present invention being described above in conjunction with accompanying drawing; but the invention is not limited in above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is merely schematic; it is not restrictive; those of ordinary skill in the art is under the enlightenment of the present invention; without departing under invention objective and scope of the claimed protection situation, it is also possible to making the concrete conversion of a lot of form, these belong within protection scope of the present invention.
Claims (6)
1. a folding multi-face body structure, it is characterized in that, be folded exactly the same unit including eight, respectively the first folding unit, the second folding unit, the 3rd folding unit, the 4th folding unit, the 5th folding unit, the 6th folding unit, the 7th folding unit, the 8th folding unit；Each described folding unit is all provided with three not link positions on the same line, respectively the first link position, the second link position and the 3rd link position in same position；There is three orthogonal symmetrical planes, respectively the first symmetrical plane, the second symmetrical plane and the 3rd symmetrical plane in this folding multi-face body structure；
Second link position of the described first folding unit is connected by the first revolute pair with the first link position of the described second folding unit, second link position of the described second folding unit is connected by the second revolute pair with the first link position of the described 3rd folding unit, second link position of the described 3rd folding unit is connected by the 3rd revolute pair with the first link position of the described 4th folding unit, and the second link position of the described 4th folding unit is connected by the 4th revolute pair with the first link position of the described first folding unit；
Second link position of the described 5th folding unit is connected by the 5th revolute pair with the first link position of the described 6th folding unit, second link position of the described 6th folding unit is connected by the 6th revolute pair with the first link position of the described 7th folding unit, second link position of the described 7th folding unit is connected by the 7th revolute pair with the first link position of the described 8th folding unit, and the second link position of the described 8th folding unit is connected by the 8th revolute pair with the first link position of the described 5th folding unit；
3rd link position of the described first folding unit is connected by the first ball pair with the 3rd link position of the described 5th folding unit, 3rd link position of the described second folding unit is connected by the second ball pair with the 3rd link position of the described 6th folding unit, 3rd link position of the described 3rd folding unit is connected by the 3rd ball pair with the 3rd link position of the described 7th folding unit, 3rd link position of the described 4th folding unit is connected by the 4th ball pair with the 3rd link position of the described 8th folding unit, described first ball is secondary, second ball is secondary, the center that 3rd ball is secondary and the 4th ball is secondary is all in described 3rd symmetrical plane；
Described first folding unit is symmetrical respectively about described first symmetrical plane with the described 8th folding unit with the described 6th folding unit, the described 7th folding unit with the described 4th folding unit, the described 5th folding unit with the described second folding unit, the described 3rd folding unit；Described first folding unit is symmetrical respectively about described second symmetrical plane with the described 7th folding unit with the described 8th folding unit, the described 6th folding unit with the described 3rd folding unit, the described 5th folding unit with the described 4th folding unit, the described second folding unit；Described first folding unit is symmetrical respectively about described 3rd symmetrical plane with the described 8th folding unit with the described 7th folding unit, the described 4th folding unit with the described 6th folding unit, the described 3rd folding unit with the described 5th folding unit, the described second folding unit；
The axis of described first revolute pair, described 3rd revolute pair, described 5th revolute pair and described 7th revolute pair is all in described first symmetrical plane, and the axis of described second revolute pair, described 4th revolute pair, described 6th revolute pair and described 8th revolute pair is all in described second symmetrical plane；The axis of described first revolute pair is symmetrical respectively about described 3rd symmetrical plane with the axis of described 8th revolute pair with the axis of described 7th revolute pair, the axis of described 4th revolute pair with the axis of the axis of described 6th revolute pair, described 3rd revolute pair with the axis of the axis of described 5th revolute pair, described second revolute pair；The axis of described second revolute pair is symmetrical respectively about described first symmetrical plane with the axis of described 8th revolute pair with the axis of described 4th revolute pair, the axis of described 6th revolute pair；The axis of described first revolute pair is symmetrical respectively about described second symmetrical plane with the axis of described 7th revolute pair with the axis of described 3rd revolute pair, the axis of described 5th revolute pair.
2. a folding multi-face body structure, it is characterized in that, be folded exactly the same unit including eight, respectively the first folding unit, the second folding unit, the 3rd folding unit, the 4th folding unit, the 5th folding unit, the 6th folding unit, the 7th folding unit, the 8th folding unit；Each described folding unit is all provided with three not link positions on the same line, respectively the first link position, the second link position and the 3rd link position in same position；Also include four groups of bindiny mechanisms, respectively the first bindiny mechanism, the second bindiny mechanism, the 3rd bindiny mechanism and the 4th bindiny mechanism；Often organize described bindiny mechanism to be formed by connecting by a middle part revolute pair by two connection assemblies, the two connects assembly and connects with adjacent described folding unit respectively through a sidepiece revolute pair, the axis of the axis and two described sidepiece revolute pairs of often organizing a described middle part revolute pair of described bindiny mechanism crosses a common point, and namely often organizing described bindiny mechanism can provide three axis around this revolute pair axis common point to rotate；There is three orthogonal symmetrical planes, respectively the first symmetrical plane, the second symmetrical plane and the 3rd symmetrical plane in this folding multi-face body structure；
Second link position of the described first folding unit is connected by the first revolute pair with the first link position of the described second folding unit, second link position of the described second folding unit is connected by the second revolute pair with the first link position of the described 3rd folding unit, second link position of the described 3rd folding unit is connected by the 3rd revolute pair with the first link position of the described 4th folding unit, and the second link position of the described 4th folding unit is connected by the 4th revolute pair with the first link position of the described first folding unit；
Second link position of the described 5th folding unit is connected by the 5th revolute pair with the first link position of the described 6th folding unit, second link position of the described 6th folding unit is connected by the 6th revolute pair with the first link position of the described 7th folding unit, second link position of the described 7th folding unit is connected by the 7th revolute pair with the first link position of the described 8th folding unit, and the second link position of the described 8th folding unit is connected by the 8th revolute pair with the first link position of the described 5th folding unit；
Described first folding unit, described 5th folding unit is connected assembly respectively and connects respectively through sidepiece revolute pair with two of described first bindiny mechanism, described second folding unit, described 6th folding unit is connected assembly respectively and connects respectively through sidepiece revolute pair with two of described second bindiny mechanism, described 3rd folding unit, described 7th folding unit is connected assembly respectively and connects respectively through sidepiece revolute pair with two of described 3rd bindiny mechanism, described 4th folding unit, described 8th folding unit is connected assembly respectively and connects respectively through sidepiece revolute pair with two of described 4th bindiny mechanism, described first bindiny mechanism, described second bindiny mechanism, the revolute pair axis common point of described 3rd bindiny mechanism and described 4th bindiny mechanism is all in described 3rd symmetrical plane；
Described first folding unit is symmetrical respectively about described first symmetrical plane with the described 8th folding unit with the described 6th folding unit, the described 7th folding unit with the described 4th folding unit, the described 5th folding unit with the described second folding unit, the described 3rd folding unit；Described first folding unit is symmetrical respectively about described second symmetrical plane with the described 7th folding unit with the described 8th folding unit, the described 6th folding unit with the described 3rd folding unit, the described 5th folding unit with the described 4th folding unit, the described second folding unit；Described first folding unit is symmetrical respectively about described 3rd symmetrical plane with the described 8th folding unit with the described 7th folding unit, the described 4th folding unit with the described 6th folding unit, the described 3rd folding unit with the described 5th folding unit, the described second folding unit；
The axis of described first revolute pair, described 3rd revolute pair, described 5th revolute pair and described 7th revolute pair is all in described first symmetrical plane, and the axis of described second revolute pair, described 4th revolute pair, described 6th revolute pair and described 8th revolute pair is all in described second symmetrical plane；The axis of described first revolute pair is symmetrical respectively about described 3rd symmetrical plane with the axis of described 8th revolute pair with the axis of described 7th revolute pair, the axis of described 4th revolute pair with the axis of the axis of described 6th revolute pair, described 3rd revolute pair with the axis of the axis of described 5th revolute pair, described second revolute pair；The axis of described second revolute pair is symmetrical respectively about described first symmetrical plane with the axis of described 8th revolute pair with the axis of described 4th revolute pair, the axis of described 6th revolute pair；The axis of described first revolute pair is symmetrical respectively about described second symmetrical plane with the axis of described 7th revolute pair with the axis of described 3rd revolute pair, the axis of described 5th revolute pair.
3. a kind of folding multi-face body structure according to claim 1 and 2, it is characterized in that, described folding unit has and is sequentially connected with, by not three skeletons head and the tail on the same line, the closed outline formed, the link position that three summits are described folding unit of this closed outline.
4. a kind of folding multi-face body structure according to claim 3, it is characterised in that described folding unit is the structure with triangular-shaped profile, the link position that three summits are described folding unit of this triangular-shaped profile.
5. a kind of folding multi-face body structure according to claim 1 and 2, it is characterised in that described revolute pair is hinge, hinge or bearing.
6. a folding multi-face body structure, it is characterized in that, the first revolute pair as described in any one of claim 1-5, as described in the second revolute pair, as described in the 3rd revolute pair, as described in the 4th revolute pair, as described in the 5th revolute pair, as described in the 6th revolute pair, as described in the 7th revolute pair, as described at least one in the 8th revolute pair to replace with the ball being centrally located at corresponding link position secondary.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521104826.9U CN205396580U (en) | 2015-12-24 | 2015-12-24 | Collapsible polyhedral structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521104826.9U CN205396580U (en) | 2015-12-24 | 2015-12-24 | Collapsible polyhedral structure |
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| CN205396580U true CN205396580U (en) | 2016-07-27 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105523196A (en) * | 2015-12-24 | 2016-04-27 | 天津大学 | Foldable polyhedral structure |
| CN112498753A (en) * | 2020-12-10 | 2021-03-16 | 中国科学院空间应用工程与技术中心 | Foldable and unfoldable space experiment platform |
| CN113431201A (en) * | 2021-06-28 | 2021-09-24 | 福州大学 | Single-degree-of-freedom wavy paper-cut structure capable of being expanded infinitely and expansion method thereof |
-
2015
- 2015-12-24 CN CN201521104826.9U patent/CN205396580U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105523196A (en) * | 2015-12-24 | 2016-04-27 | 天津大学 | Foldable polyhedral structure |
| CN112498753A (en) * | 2020-12-10 | 2021-03-16 | 中国科学院空间应用工程与技术中心 | Foldable and unfoldable space experiment platform |
| CN112498753B (en) * | 2020-12-10 | 2021-10-08 | 中国科学院空间应用工程与技术中心 | Foldable and unfoldable space experiment platform |
| CN113431201A (en) * | 2021-06-28 | 2021-09-24 | 福州大学 | Single-degree-of-freedom wavy paper-cut structure capable of being expanded infinitely and expansion method thereof |
| CN113431201B (en) * | 2021-06-28 | 2022-04-12 | 福州大学 | Single-degree-of-freedom wavy paper-cut structure capable of being expanded infinitely and expansion method thereof |
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