CN206218252U - Telescopic tetrahedral structure - Google Patents

Abstract

The utility model is related to single-degree-of-freedom, the telescopic polyhedral structure of big folding exhibition ratio, disclose a kind of telescopic tetrahedral structure, unit, six bar units and an axis of symmetry are folded including four, four link positions folded on unit are connected with the link position on six bar units by rotating secondary or ball pair respectively, form closing polyhedral structure, and each unit and kinematic pair meet a series of symmetric relations and constraints on the axis of symmetry, and the octahedral structure of tetrahedral structure is foldable to so as to construct.The utility model can be realized folding and launching two kinds of stable states, and small volume is easy to launch or is transported during folding, has larger working space during expansion；Total only has one degree of freedom, simple with production and processing, convenient control of motion, significant in the various fields such as Aero-Space, civil engineering and be widely applied prospect the advantages of high reliability.

Description

Telescopic tetrahedral structure

Technical field

The utility model is related to single-degree-of-freedom, the telescopic polyhedral structure of big folding exhibition ratio, is to be related to one kind specifically The telescopic tetrahedral structure for realizing being converted between octahedra and tetrahedron is driven by single.

Background technology

Polyhedral structure is obtained because of its preferable symmetry in Aero-Space, building structure, the art work and daily life Widely apply, but because volume is big, be unfavorable for transport, polyhedral structure is usually only used for stationary applica-tions.By the SCIENCE phases Cube moonlet that periodical is chosen as the big technological breakthrough of 2014 year ten is exactly that aerospace field pursues miniaturization low cost transmitting Typical Representative, but the shortcoming of its in-orbit operation narrow space also governs further applying for it.

Space telescopic structure is a kind of new structure being born with the development of Space Science and Technology, and it is in emission process In folding storage state, volume capacity is minimum；After entering the orbit, telescopic structure can be by Design spreading into larger operation shape State；When returning or reclaiming, the structure can again fold gathering and enter airship.Use the over-constraint structure can for the space of elementary cell Exhibition structure has high rigidity, is simple to manufacture, low cost, the advantage such as 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 it is related to the folding and unfolding mechanism in terms of volume mainly to be obtained using non-rigid deformation, deformation process is unfavorable for controlling and be difficult to repeat behaviour Make, otherwise the telescopic polyhedron complex structure of existing use rigid deformation, such as C.M.Gosselin and D.Gagnon- The telescopic polyhedral structure that the use regular polygon mechanism that Lachance was proposed in 2006 drives；Can not realize rolling over completely It is folded, such as Kiper andThe polyhedral folding exhibition of telescopic proposed in 2009 is than less than 1.1.

Utility model content

The purpose of this utility model is to overcome the shortcomings of prior art, there is provided one kind can be realized folding and launching two kinds Stable state and install and operating process simple telescopic tetrahedral structure, the structure is possessed containing rigidity over-constraint structure Two kinds of special polyhedrons of stable state, small volume is easy to launch or is transported during folding, has larger work empty during expansion Between；Total only has one degree of freedom, and motion control is simple；Simple with production and processing, convenient control of motion is highly reliable It is the advantages of property, significant in the various fields such as Aero-Space, civil engineering and be widely applied prospect.

In order to solve the above-mentioned technical problem, the utility model is achieved by following technical scheme：

A kind of telescopic tetrahedral structure, including four foldings unit and six bar units；Each folds unit and is respectively provided with There are three link positions not on the same line, be referred to as its first link position, the second link position and the 3rd connection Position；Each bar unit two ends is respectively arranged with link position, is referred to as its first link position and the second link position；

Four fold unit and are respectively the first folding unit, the second folding unit, the 3rd folding unit, the 4th folding list Unit, wherein the structure of the first folding unit, the second folding unit, the 3rd folding unit is identical；First folds unit, second Unit, the 3rd respective three link positions of folding unit is folded to be connected may make up isosceles triangle two-by-two, and its first connection The distance between position and second link position and the first link position are equal with the distance between the 3rd link position；Four fold Three link positions of folded unit are connected may make up equilateral triangle two-by-two；

Six bar units are respectively the first bar unit, the second bar unit, the 3rd bar unit, the 4th bar unit, the 5th bar list Unit, the 6th bar unit, wherein the structure of the first bar unit, the second bar unit, the 3rd bar unit is identical, the first bar unit, Distance is long with the waist of the isosceles triangle equal between respective two link positions of second bar unit, the 3rd bar unit；The Four bar units, the 5th bar unit, the 6th bar unit structure it is identical；4th bar unit, the 5th bar unit, the 6th bar unit Distance is long with the bottom of the isosceles triangle equal between respective two link positions, and with the length of side of the equilateral triangle It is equal；

First link position of the first described folding unit passes through with the first link position of the first described bar unit First rotates secondary connection；The second connection position that second link position of the first described bar unit folds unit with described second Put and rotate secondary connection by second；First link position and the first of the second described bar unit of the second described folding unit Link position rotates secondary connection by the 3rd；Second link position of the second described bar unit and the 3rd described folding unit The second link position rotate secondary connection by the 4th；First link position and the described the 3rd of the 3rd described folding unit First link position of bar unit rotates secondary connection by the 5th；Second link position of the 3rd described bar unit with it is described First the second link position for folding unit rotates secondary connection by the 6th；

3rd link position of the first described folding unit passes through with the first link position of the 4th described bar unit The secondary connection of first ball；3rd link position of the second described folding unit and the first link position of the 5th described bar unit Connected by the way that the second ball is secondary；3rd link position of the 3rd described folding unit is connected with the first of the 6th described bar unit Position is by the secondary connection of the 3rd ball；

First link position of the 4th described folding unit passes through with the second link position of the 4th described bar unit 7th rotates secondary connection；Second link position of the 4th described folding unit and the second connection position of the 5th described bar unit Put by the dynamic secondary connection of eighth-turn；3rd link position and the second of the 6th described bar unit of the 4th described folding unit Link position rotates secondary connection by the 9th；

Described first folds unit, the second described folding unit and the 3rd described folding unit on described symmetrical Axis three-fold symmetry；Described the first bar unit, the second described bar unit and the 3rd described bar unit are on described symmetrical Axis three-fold symmetry, the 4th bar unit, the 5th bar unit, the 6th bar unit are on the axis of symmetry three-fold symmetry；

The 5th secondary and described rotation pair of the 3rd secondary, described rotation of the first described rotation is on the axis of symmetry three Weight symmetry；The 6th secondary and described rotation pair of the 4th secondary, described rotation of the second described rotation is on the axis of symmetry three Weight symmetry；Secondary, the described eighth-turn of the 7th described rotation moves the 9th secondary and described rotation pair on the axis of symmetry three Weight symmetry.

The 3rd secondary and described ball pair of the second secondary, described ball of the first described ball is triple right on the axis of symmetry Claim.

The 7th secondary, described rotation pair of the 5th secondary, described rotation of the 3rd secondary, described rotation of the first described rotation, Described eighth-turn is moved the secondary axis of the 9th secondary and described rotation and is intersected at a bit with the axis of symmetry；Described second turn The 6th secondary and described rotation of dynamic the 4th secondary, described rotation is secondary to be intersected at a bit with the axis of symmetry.

It can be hinge, hinge or bearing that above-mentioned each rotates pair.

Preferably, the first folding unit, the second folding unit, the 3rd folding unit are respectively provided with isosceles three Angular profile；First summit of the isosceles triangle, the second summit, the 3rd summit are respectively described first and fold unit, institute State the second folding unit, respective first link position of the 3rd folding unit, the second link position and the 3rd link position；

The 4th folding unit has a profile of equilateral triangle, the first summit of the equilateral triangle, the second summit, 3rd summit is respectively the described 4th the first link position, the second link position and the 3rd link position for folding unit.

It is further preferred that the first folding unit, the second folding unit, the 3rd folding unit are Lumbar triangle shape lamellar body structure, the described 4th folds unit for equilateral triangle lamellar body structure；First bar unit, described second Bar unit, the 3rd bar unit, the 4th bar unit, the 5th bar unit, the 6th bar unit are straight-bar knot Structure.

The beneficial effects of the utility model are：

(1) the utility model is the telescopic structure with the single degree of freedom, and polyhedron can be realized by a driving Folding and expansion, install and it is easy to use, and the utility model do not exist mechanism kinematic unusual appearance, the driving can be according to reality Border demand is arranged on arbitrary motion pair position；

(2) the utility model has larger folding exhibition ratio, and its folding exhibition ratio can obtain body up to 23 times after folding The less stable state of product, is readily transported and preserves；

(3) the utility model can according to the actual requirements design the shape and size for folding unit；

(4) the utility model simple structure, the conversion between polyhedron is realized with fewer number of kinematic pair, is being launched Polyhedral each apex of state only sets one and rotates secondary or ball pair, without installing it on polyhedral side or face Its attachment structure, can so reduce installation and the unstability of manipulation produced because excessively multi-link；

(5) the utility model structure is functional design, can according to actual needs design different appearance profiles, it is also possible to The size of the Demand Design unit according to practice occasion.

Brief description of the drawings

Fig. 1 is the structural representation of telescopic tetrahedral structure implementation method provided by the utility model；

Fig. 2-1 to Fig. 2-4 is four structural representations of folding unit in Fig. 1；

Fig. 3-1 to Fig. 3-6 is six structural representations of bar unit in Fig. 1；

Fig. 4-1 to Fig. 4-4 is four annexation schematic diagrames folded between unit and bar unit in Fig. 1；

Fig. 5 is the position relationship schematic diagram of the kinematic pair of setting in the telescopic tetrahedral structure shown in Fig. 1；

Fig. 6-1 to Fig. 6-4 is the folding process schematic diagram of the telescopic tetrahedral structure shown in Fig. 1, wherein Fig. 6-1 and figure 6-4 is two stable state schematic diagrames of the telescopic tetrahedral structure shown in Fig. 1.

In above-mentioned figure：

The 1- axis of symmetry；C1- first rotates secondary H1, the 3rd rotates secondary H3, the 5th rotates secondary H5, the 7th rotation secondary H7, the The dynamic secondary H8 and the 9th of eighth-turn rotates the axis joint of secondary H9, and C2- second rotates secondary H2, the 4th rotation secondary H4 and the 6th and rotates secondary The axis joint of H6；

T1- first folds unit, and T2- second folds unit；T3- the 3rd folds unit, and T4- the 4th folds unit；

The bar units of B1- first, the bar units of B2- second, the bar units of B3- the 3rd, the bar units of B4- the 4th, the bar lists of B5- the 5th Unit, the bar units of B6- the 6th；

V11- first folds the concurrent of unit and the first bar unit, and the folding units of V21- second are total to the first bar unit Point,

V22- second folds the concurrent of unit and the second bar unit, and the folding units of V32- the 3rd are total to the second bar unit Point,

V33- the 3rd folds the concurrent of unit and the 3rd bar unit, and the folding units of V13- first are total to the 3rd bar unit Point,

V14- first folds the concurrent of unit and the 4th bar unit, and the folding units of V25- second are total to the 5th bar unit Point,

V36- the 3rd folds the concurrent of unit and the 6th bar unit, and the folding units of V44- the 4th are total to the 4th bar unit Point,

V45- the 4th folds the concurrent of unit and the 5th bar unit, and the folding units of V46- the 4th are total to the 6th bar unit Point；

S1- the first ball pairs, S2- the second ball pairs, the ball pairs of S3- the 3rd；

H1- first rotates pair, and H2- second rotates pair, and H3- the 3rd rotates secondary, and H4- the 4th rotates secondary, and H5- the 5th is rotated Pair, H6- the 6th rotates secondary, and H7- the 7th rotates secondary, the dynamic pair of H8- eighth-turns, and H9- the 9th rotates secondary.

Specific embodiment

For content of the present utility model, feature and effect can be further appreciated that, following examples are hereby enumerated, and coordinate accompanying drawing Describe in detail as follows：

Embodiment 1

As shown in figure 1, a kind of telescopic tetrahedral structure is present embodiments provided, including an axis of symmetry 1, four foldings Folded unit：Respectively first folds unit T1, the second folding unit T2, the 3rd folding unit T3, the 4th folding unit T4；With six Individual bar unit：First bar unit B1, the second bar unit B2, the 3rd bar unit B3, the 4th bar unit B4, the 5th bar unit B5, Six bar unit B6.Each folds unit and is provided with three link positions not on the same line, is referred to as each folding First link position of unit, the second link position and the 3rd link position；Each bar unit two ends is respectively arranged with connection position Put, be referred to as first link position and the second link position of each bar unit.The telescopic tetrahedral structure also has one Individual line of symmetry, the i.e. axis of symmetry 1.

First fold unit T1, second fold unit T2, the 3rd fold unit T3 structure it is identical.First folds list Being connected two-by-two can with the 3rd link position (at V14) for first link position (at V11) of first T1, the second link position (at V13) Isosceles triangle is constituted, and its first link position (at V11) forms the isosceles three with the line of the second link position (at V13) The first angular waist, the first link position (at V11) forms the isosceles triangle with the line of the 3rd link position (at V14) Second waist.Second the first link position (at V22), the second link position (at V21) and the 3rd link position for folding unit T2 (at V25) is connected may make up isosceles triangle two-by-two, and its first link position (at V22) and the second link position (at V21) Line form the first waist of the isosceles triangle, the line of the first link position (at V22) and the 3rd link position (at V25) Form the second waist of the isosceles triangle.3rd the first link position (at V33), the second link position (V32 for folding unit T3 Place) being connected two-by-two with the 3rd link position (at V36) may make up isosceles triangle, and its first link position (at V33) and the The line of two link positions (at V32) forms the first waist of the isosceles triangle, and the first link position (at V33) is connected with the 3rd The line of position (at V36) forms the second waist of the isosceles triangle.4th the first link position (V44 for folding unit T4 Place), the second link position (at V45) be connected two-by-two with the 3rd link position (at V46) and may make up equilateral triangle, and its first Link position (at V44) forms the first side of the equilateral triangle, the second connection position with the line of the second link position (at V45) Put the second side that (at V45) forms the equilateral triangle with the line of the 3rd link position (at V46), the 3rd link position (V46 Place) the 3rd side of the equilateral triangle is formed with the line of the first link position (at V44).

First bar unit B1, the second bar unit B2, the 3rd bar unit B3 structure it is identical, the of the first bar unit B1 The distance between one link position (at V11) and the second link position (at V21), first link position of the second bar unit B2 The distance between (at V22) and second link position (V32 at), first link position (at V33) of the 3rd bar unit B3 and the The distance between two link positions (at V13) fold unit T3's with the first folding unit T1, the second folding unit T2, the 3rd The waist of isosceles triangle is long equal.4th bar unit B4, the 5th bar unit B5, the 6th bar unit B6 structure it is identical, The distance between first link position (at V14) of four bar unit B4 and second link position (at V44), the 5th bar unit B5 The distance between first link position (at V25) and the second link position (at V45), first link position of the 6th bar unit B6 The distance between (at V36) and second link position (at V46) fold unit T1, the second folding unit T2, the 3rd with first The bottom for folding the isosceles triangle of unit T3 is long equal, and equal with the length of side of the equilateral triangle that the 4th folds unit T4.

With reference to Fig. 2-1 to Fig. 2-4, shown in 3-6 and Fig. 4-1 to Fig. 4-4, first folds first company of unit T1 to Fig. 3-1 Position (at V11) is connect to be connected by the first rotation secondary H1 with first link position (at V11) of the first bar unit B1；First bar list The second link position (at V21) that second link position (at V21) of first B1 folds unit T2 with second rotates secondary by second H2 is connected；Second folds first link position (at V22) of unit T2 and first link position (at V22) of the second bar unit B2 Secondary H3 is rotated by the 3rd to connect；Second link position (at V32) of the second bar unit B2 folds the second of unit T3 with the 3rd Link position (at V32) rotates secondary H4 and connects by the 4th；3rd the first link position (at V33) and the 3rd for folding unit T3 First link position (at V33) of bar unit B3 rotates secondary H5 and connects by the 5th；Second link position of the 3rd bar unit B3 (at V13) is connected with second link position (at V13) of the first folding unit T1 by the 6th rotation secondary H6.

First folds the 3rd link position (at V14) of unit T1 and the first link position (V14 of the 4th bar unit B4 Place) connected by the first ball secondary S1；Second the 3rd link position (at V25) and the first of the 5th bar unit B5 for folding unit T2 Link position (at V25) is connected by the second ball secondary S2；3rd the 3rd link position (at V36) and the 6th bar for folding unit T3 First link position (at V36) of unit B 6 is connected by the 3rd ball secondary S3.

4th folds first link position (at V44) of unit T4 and the second link position (V44 of the 4th bar unit B4 Place) rotate secondary H7 connections by the 7th；The of 4th the second link position (V45 at) for folding unit T4 and the 5th bar unit B5 Two link positions (at V45) are connected by the dynamic secondary H8 of eighth-turn；4th the 3rd link position (V46 at) for folding unit T4 and the Second link position (at V46) of six bar unit B6 rotates secondary H9 and connects by the 9th.

Each pair that rotates can be assembled using the part that can provide rotating function, such as hinge, hinge, bearing above.

As shown in figure 5, first folds unit T1, the second folding unit T2 and the 3rd folding T3 units on the axis of symmetry 1 Three-fold symmetry；First bar unit B1, the second bar unit B2 and the 3rd bar unit B3 are on the three-fold symmetry of the axis of symmetry 1, the 4th bar Unit B 4, the 5th bar unit B5, the 6th bar unit B6 are on the three-fold symmetry of the axis of symmetry 1；

First rotates secondary H1, the 3rd rotation secondary H3 and the 5th rotates secondary H5 on the three-fold symmetry of the axis of symmetry 1；Second rotates Secondary H2, the 4th rotate secondary H4 and the 6th and rotate secondary H6 on the three-fold symmetry of the axis of symmetry 1；7th rotates the dynamic pair of secondary H7, eighth-turn H8 and the 9th rotates secondary H9 on the three-fold symmetry of the axis of symmetry 1.

First ball secondary S1, the second ball secondary S2 and the 3rd ball secondary S3 are on the three-fold symmetry of the axis of symmetry 1.

First rotates secondary H1, the 3rd rotates secondary H3, the 5th rotates secondary H5, the 7th rotation secondary H7, eighth-turn and move secondary H8 and the The axis of nine rotation secondary H9 intersects at a point C1 with the axis of symmetry 1；Second rotates secondary H2, the 4th rotation secondary H4 and the 6th rotates secondary H6 intersects at a point C2 with the axis of symmetry 1.

As shown in Fig. 6-1 to Fig. 6-4, four provided using the present embodiment fold unit and six bar units and institute The connected mode of offer, may be constructed the foldable octahedral structure in space, and it folds shape, chi of the change by each folding unit Very little and turns auxiliary shaft line orientation is determined.Fig. 6-1 shows a stable state of telescopic tetrahedral structure, i.e. space development State, is with eight truncated tetrahedrons in face.Telescopic tetrahedral structure in the present embodiment is respectively by a space Planar Mechanisms Bricard 6R mechanisms and three RRSRRS mechanisms realize that the folding exhibition of upper hexagon and the hexagon of side three is moved.Fig. 6-1 to Fig. 6-4 shows the folding process of telescopic tetrahedral structure structure, is finally reached another stable state, i.e. folded state, is four sides Body, as shown in Fig. 6-4.The telescopic tetrahedral structure of the present embodiment can be made by launching by single driving on any kinematic pair State is converted to folded state.In the process, each rotates the secondary cooperation of secondary and ball and causes that the first bar unit B1 rotates secondary H1 around first To first fold second waist (line of its first link position (V11 at) and the 3rd link position (at V14)) of unit T1 by Step is drawn close until overlapping, the first bar unit B1 rotates secondary H2 to second the first waist (its first connection for folding unit T2 around second The line of position (at V22) and the second link position (at V21)) progressively draw close until Chong Die；Second bar unit B2 is around the 3rd turn Dynamic secondary H3 is to the second the second waist (company of its first link position (at V22) and the 3rd link position (at V25) for folding unit T2 Line) progressively draw close until overlapping, the second bar unit B2 rotates secondary H4 around the 4th, and to first waist of the 3rd folding unit T3, (it first The line of link position (at V33) and the second link position (at V32)) progressively draw close until Chong Die；3rd bar unit B3 is around Five rotate secondary H5 to the 3rd the second waist (its first link position (at V33) and the 3rd link position for folding unit T3 (at V36) Line) progressively draw close until overlapping, the 3rd bar unit B3 rotates first waist (its of the secondary H6 to the first folding unit T3 around the 6th The line of the first link position (at V11) and the second link position (at V13)) progressively draw close until Chong Die；4th bar unit B4 By the first ball secondary S1 to the first bottom (its second link position (at V13) and the 3rd link position for folding unit T1 (at V14) Line) progressively draw close until overlapping, the 4th bar unit B4 rotates first side (its of the secondary H7 to the 4th folding unit T4 around the 7th The line of the first link position (at V44) and the second link position (at V45)) progressively draw close until Chong Die；5th bar unit B5 By the second ball secondary S2 to the second bottom (its second link position (at V21) and the 3rd link position for folding unit T2 (at V25) Line) progressively draw close until overlap, the 5th bar unit B5 around the second side (its from the dynamic secondary H8 of eighth-turn to the 4th folding unit T4 The line of the second link position (at V45) and the 3rd link position (at V46)) progressively draw close until Chong Die；6th bar unit B6 By the 3rd ball secondary S3 to the 3rd bottom (its second link position (at V32) and the 3rd link position for folding unit T3 (at V36) Line) progressively draw close until overlap, the 6th bar unit B6 around the 9th rotate secondary H9 to the 4th folding T4 units the 3rd side (its The line of the 3rd link position (at V46) and the first link position (at V44)) progressively draw close until Chong Dies, while completion octahedral Four foldings of hexagon are realizing polyhedral being converted by folding in body.The telescopic tetrahedral structure has one degree of freedom, The folding exhibition motion of big ratio can be realized, skeleton structure or contour of building structure of satellite etc. is can serve as.

It can be seen that, as long as above-mentioned telescopic tetrahedral structure meets above-mentioned constraints, you can reach the utility model requirement Folding exhibition effect, its structure type and folding exhibition mode do not influenceed by the concrete structure for folding unit, thus folding unit knot Structure is not limited to triangular-shaped profile, and its shape, size, size, material etc. can based on the actual application requirements do certain conversion, should Notice that meeting each folding unit is provided with three link positions not on the same line, and respectively folded during folding exhibition Unit will not mutually cause interference.

In sum, by the telescopic tetrahedral structure that the utility model is proposed has the single degree of freedom, folding exhibition ratio Rate is big, therefore has the advantages that installation is simple and convenient to operate, is easy to the aspects such as transport, particularly suitable in fields such as Aero-Space Middle application.

Embodiment 2

More a kind of preferably situation is：

First folding unit T1, the second folding unit T2, the 3rd folding unit T3 are respectively provided with the profile of isosceles triangle；Should First summit of isosceles triangle, the second summit, the 3rd summit are respectively the first folding unit T1, second fold unit T2, the Three fold respective first link positions of unit T3, the second link position and the 3rd link position.4th folding unit T4 has The profile of equilateral triangle, the first summit of the equilateral triangle, the second summit, the 3rd summit are respectively the 4th folding unit T4 The first link position, the second link position and the 3rd link position.

First bar unit B1, the second bar unit B2, the 3rd bar unit B3, the 4th bar unit B4, the 5th bar unit B5, the 6th The respective first end points of bar unit B6 and the second end points are its first link position, the second link position.

Wherein the first bar unit B1, the second bar unit B2, the length of the 3rd bar unit B3 fold unit T1, second with first Fold unit T2, the 3rd isosceles triangle profile for folding unit T3 waist it is long equal；4th bar unit B4, the 5th bar unit The isoceles triangle that B5, the length of the 6th bar unit B6 fold unit T1, the second folding unit T2, the 3rd folding unit T3 with first The bottom of shape profile is long equal, and the length of side of the equilateral triangle profile for folding unit T4 with the 4th is equal.First folds list First T1, second fold unit T2, the 3rd folding unit T3 on the three-fold symmetry of the axis of symmetry 1；First bar unit B1, the second bar list First B2, the 3rd bar unit B3 are on the three-fold symmetry of the axis of symmetry 1, the 4th bar unit B4, the 5th bar unit B5 and the 6th bar unit B6 is on the three-fold symmetry of the axis of symmetry 1.

The first end point (at V11) on the first the first summit (V11 at) and the first bar unit B1 for folding unit T1 passes through the One rotates secondary H1 connections；The second summit that second end points (at V21) of the first bar unit B1 folds unit T2 with second (at V21) Secondary H2 is rotated by second to connect；Second folds first summit (at V22) of unit T2 and the first end point of the second bar unit B2 (at V22) rotates secondary H3 and connects by the 3rd；Second end points (at V32) of the second bar unit B2 folds the of unit T3 with the 3rd Two summits (at V32) rotate secondary H4 and connect by the 4th；3rd the first summit (at V33) for folding unit T3 and the 3rd bar unit The first end point (at V33) of B3 rotates secondary H5 and connects by the 5th；Second end points (at V13) of the 3rd bar unit B3 and the 3rd folding Second summit (at V13) of folded unit T3 rotates secondary H6 and connects by the 6th.

The first end point (at V14) on the first the 3rd summit (V14 at) and the 4th bar unit B4 for folding unit T1 passes through the One ball secondary S1 is connected；The first end point (at V25) on the second the 3rd summit (at V25) and the 5th bar unit B5 for folding unit T2 is led to Cross the second ball secondary S2 connections；3rd folds the 3rd summit (at V36) of unit T3 and the first end point (V36 of the 6th bar unit B6 Place) connected by the 3rd ball secondary S3.

Second end points (at V44) on the 4th the first summit (V44 at) and the 4th bar unit B4 for folding unit T4 passes through the Seven rotate secondary H7 connections；4th folds second summit (at V45) of unit T4 and second end points (at V45) of the 5th bar unit B5 Connected by the dynamic secondary H8 of eighth-turn；4th folds the 3rd summit (at V46) of unit T4 and second end points of the 6th bar unit B6 (at V46) rotates secondary H9 and connects by the 9th.

First rotates secondary H1, the 3rd rotation secondary H3 and the 5th rotates secondary H5 on the three-fold symmetry of the axis of symmetry 1；Second rotates Secondary H2, the 4th rotate secondary H4 and the 6th and rotate secondary H6 on the three-fold symmetry of the axis of symmetry 1；7th rotates the dynamic pair of secondary H7, eighth-turn H8 and the 9th rotates secondary H9 on the three-fold symmetry of the axis of symmetry 1.First ball secondary S1, the second ball secondary S2 and the 3rd ball secondary S3 are on right Claim the three-fold symmetry of axis 1.First rotates secondary H1, the 3rd rotation secondary H3, the 5th rotation secondary H5, the 7th rotation secondary H7, eighth-turn moves The axis of the rotations of secondary H8 and the 9th secondary H9 is intersected at a bit with the axis of symmetry 1；Second rotates secondary H2, the 4th rotation secondary H4 and the 6th Secondary H6 is rotated to be intersected at a bit with the axis of symmetry 1.

It is further preferred that the first folding unit T1, the second folding unit T2, the 3rd folding unit T3 are isoceles triangle Shape lamellar body structure, the 4th folds unit T4 for equilateral triangle lamellar body structure.First bar unit B1, the second bar unit B2, the 3rd Bar unit B3, the 4th bar unit B4, the 5th bar unit B5, the 6th bar unit B6 are straight-bar structure.

Although being described to preferred embodiment of the present utility model above in conjunction with accompanying drawing, the utility model is not Above-mentioned specific embodiment is confined to, above-mentioned specific embodiment is only schematical, is not restricted, ability The those of ordinary skill in domain is not departing from invention objective and scope of the claimed protection feelings under enlightenment of the present utility model Under condition, the specific conversion of many forms can also be made, these are belonged within protection domain of the present utility model.

Claims (4)

1. a kind of telescopic tetrahedral structure, it is characterised in that fold unit, six bar units and a symmetry axis including four Line；Each folds unit and is provided with three link positions not on the same line, is referred to as its first link position, the Two link positions and the 3rd link position；Each bar unit two ends is respectively arranged with link position, is referred to as its first connection Position and the second link position；

Four fold unit and are respectively the first folding unit, the second folding unit, the 3rd folding unit, the 4th folding unit, its In first fold unit, second fold unit, the 3rd fold unit structure it is identical；First folds unit, the second folding Unit, the 3rd respective three link positions of folding unit are connected may make up isosceles triangle, and its first link position two-by-two It is equal with the distance between the 3rd link position with the distance between the second link position and the first link position；4th folds list Three link positions of unit are connected may make up equilateral triangle two-by-two；

Six bar units are respectively the first bar unit, the second bar unit, the 3rd bar unit, the 4th bar unit, the 5th bar unit, Six bar units, wherein the structure of the first bar unit, the second bar unit, the 3rd bar unit is identical, the first bar unit, the second bar Distance is long with the waist of the isosceles triangle equal between respective two link positions of unit, the 3rd bar unit；4th bar list Unit, the 5th bar unit, the 6th bar unit structure it is identical；4th bar unit, the 5th bar unit, the 6th bar unit are respective Distance is long with the bottom of the isosceles triangle equal between two link positions, and equal with the length of side of the equilateral triangle；

First link position of the first described folding unit passes through first with the first link position of the first described bar unit Rotate secondary connection；Second link position of the first described bar unit leads to the second link position of the second described folding unit Cross the secondary connection of the second rotation；First link position of the second described folding unit is connected with the first of the second described bar unit Position rotates secondary connection by the 3rd；The of second link position of the second described bar unit and described 3rd folding unit Two link positions rotate secondary connection by the 4th；First link position and the 3rd described bar list of the 3rd described folding unit First link position of unit rotates secondary connection by the 5th；Second link position and described first of the 3rd described bar unit The second link position for folding unit rotates secondary connection by the 6th；

3rd link position of the first described folding unit passes through first with the first link position of the 4th described bar unit The secondary connection of ball；3rd link position of the second described folding unit passes through with the first link position of the 5th described bar unit The secondary connection of second ball；3rd link position of the 3rd described folding unit and the first link position of the 6th described bar unit Connected by the way that the 3rd ball is secondary；

First link position of the 4th described folding unit passes through the 7th with the second link position of the 4th described bar unit Rotate secondary connection；Second link position of the 4th described folding unit leads to the second link position of the 5th described bar unit Cross the dynamic secondary connection of eighth-turn；3rd link position of the 4th described folding unit is connected with the second of the 6th described bar unit Position rotates secondary connection by the 9th；

Described first folds unit, the second described folding unit and the 3rd described folding unit on the axis of symmetry Three-fold symmetry；Described the first bar unit, the second described bar unit and the 3rd described bar unit are on the axis of symmetry Three-fold symmetry, the 4th bar unit, the 5th bar unit, the 6th bar unit are on the axis of symmetry three-fold symmetry；

The 5th secondary and described rotation of the 3rd secondary, described rotation of the first described rotation is secondary triple right on the axis of symmetry Claim；The 6th secondary and described rotation of the 4th secondary, described rotation of the second described rotation is secondary triple right on the axis of symmetry Claim；It is secondary triple right on the axis of symmetry that secondary, the described eighth-turn of the 7th described rotation moves the 9th secondary and described rotation Claim；

The 3rd secondary and described ball pair of the second secondary, described ball of the first described ball is on the axis of symmetry three-fold symmetry；

The 7th secondary, described rotation of the 5th secondary, described rotation of the 3rd secondary, described rotation of the first described rotation is secondary, described Eighth-turn move the secondary axis of secondary and described 9th rotation and intersected at a bit with the axis of symmetry；The second described rotation The 6th secondary and described rotation of the 4th secondary, described rotation is secondary to be intersected at a bit with the axis of symmetry.

2. a kind of telescopic tetrahedral structure according to claim 1, it is characterised in that it is hinge that above-mentioned each is rotated secondary Chain, hinge or bearing.

3. a kind of telescopic tetrahedral structure according to claim 1, it is characterised in that described first folds unit, institute State the second folding unit, the 3rd folding unit and be respectively provided with the profile of isosceles triangle；First summit of the isosceles triangle, Second summit, the 3rd summit are respectively described first and fold unit, the second folding unit, the 3rd folding unit each The first link position, the second link position and the 3rd link position；

The 4th folding unit has the profile of equilateral triangle, the first summit, the second summit, the 3rd of the equilateral triangle Summit is respectively the described 4th the first link position, the second link position and the 3rd link position for folding unit.

4. a kind of telescopic tetrahedral structure according to claim 3, it is characterised in that described first folds unit, institute State the second folding unit, the 3rd folding unit and be isosceles triangle lamellar body structure, the 4th folding unit is equilateral Triangle lamellar body structure；First bar unit, second bar unit, the 3rd bar unit, the 4th bar unit, institute State the 5th bar unit, the 6th bar unit and be straight-bar structure.