CN206218253U

CN206218253U - Telescopic hexahedron structure

Info

Publication number: CN206218253U
Application number: CN201621145954.2U
Authority: CN
Inventors: 陈焱; 杨富富; 康荣杰; 马家耀
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2016-10-21
Filing date: 2016-10-21
Publication date: 2017-06-06
Anticipated expiration: 2026-10-21

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 hexahedron structure, unit, 12 bar units and an axis of symmetry are folded including six, six fold unit and are connected by rotating secondary or ball pair with the link position on 12 bar units respectively by link position thereon, form closing polyhedral structure, and each unit and kinematic pair meet a series of symmetric relations and constraints on the axis of symmetry, the tetrakaidecahedron structure of hexahedron 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 hexahedron structure

Technical field

The utility model is related to single-degree-of-freedom, the folding multi-face body structure of big folding exhibition ratio, is to be related to one kind specifically The conversion between the tetrakaidecahedron and hexahedron is realized by single driving.

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 hexahedron 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 hexahedron structure, including six folding units, 12 bar units and an axis of symmetry；Each The profile that unit is respectively provided with the equilateral quadrangle of plane is folded, four summits of the equilateral quadrangle of the plane are referred to as each folding First summit of unit, the second summit, the 3rd summit, the 4th summit；Each bar unit two ends be referred to as its first end point and Second end points；Six folding unit the equilateral quadrangles of plane the length of side it is equal, and with 12 length of bar unit also phase Deng；

Six fold unit and are respectively the first folding unit, the second folding unit, the 3rd folding unit, the 4th folding list Unit, the 5th fold unit, the 6th folding unit；Wherein described first folds unit, the second folding unit, the 3rd folding The structure of folded unit is identical, wherein the 4th folding unit, the 5th folding unit, the 6th folding unit Structure is identical；

12 bar units are respectively the first bar unit, the second bar unit, the 3rd bar unit, the 4th bar unit, the 5th bar Unit, the 6th bar unit, the 7th bar unit, the 8th bar unit, the 9th bar unit, the tenth bar unit, the 11st bar unit, the tenth Two bar units；

Described first folds the first summit of unit rotates secondary company with the first end point of first bar unit by first Connect；Second end points of first bar unit rotates pair and is connected with the second summit of the described second folding unit by second；Institute State the first summit of the second folding unit and rotate secondary connection by the 3rd with the first end point of second bar unit；Described second Second end points of bar unit rotates pair and is connected with the second summit of the described 3rd folding unit by the 4th；Described 3rd folds list First summit of unit rotates pair and is connected with the first end point of the 3rd bar unit by the 5th；The second of 3rd bar unit End points rotates pair and is connected with the second summit of the described first folding unit by the 6th；Described first the 4th summit for folding unit Pair is rotated with the first end point of the 4th bar unit by the 7th to be connected；It is described second fold unit the 3rd summit with it is described The first end point of the 5th bar unit is by the secondary connection of the first ball；Described second the 4th summit for folding unit and the 6th bar list The first end point of unit is by the dynamic secondary connection of eighth-turn；The of described 3rd the 3rd summit and the 7th bar unit for folding unit End point is by the secondary connection of the second ball；The first end point on the described 3rd the 4th summit and the 8th bar unit for folding unit is led to Cross the secondary connection of the 9th rotation；The first end point on the described first the 3rd summit and the 9th bar unit for folding unit passes through the 3rd The secondary connection of ball；Described 4th folds the 4th summit of unit connects with the second end points of the 4th bar unit by the way that the 4th ball is secondary Connect；3rd summit of the 4th folding unit is connected with the second end points of the 5th bar unit by the 5th ball pair；It is described 4th summit of the 5th folding unit is connected with the second end points of the 6th bar unit by the 6th ball pair；Described 5th folds 3rd summit of unit is connected with the second end points of the 7th bar unit by the 7th ball pair；Described 6th folds the of unit Four summits are connected with the second end points of the 8th bar unit by the 8th ball pair；It is described 6th fold unit the 3rd summit with Second end points of the 9th bar unit is by the secondary connection of the 9th ball；Described 4th the second summit and the described tenth for folding unit Second end points of bar unit rotates secondary connection by the tenth；The first end point of the tenth bar unit folds unit with the described 5th The first summit rotate secondary connection by the 11st；Described 5th the second summit for folding unit and the 11st bar unit Second end points rotates secondary connection by the 12nd；The first end point of the 11st bar unit folds the of unit with the described 6th One summit rotates secondary connection by the 13rd；Described 6th the second summit and the second of the 12nd bar unit for folding unit End points rotates secondary connection by the 14th；The first top that the first end point of the 12nd bar unit folds unit with the described 4th Point rotates secondary connection by the 15th；

Described first folds unit, the second folding unit and the described 3rd folds unit on the axis of symmetry three Weight symmetry；First bar unit, second bar unit and the 3rd bar unit are on the axis of symmetry three-fold symmetry； 4th bar unit, the 6th bar unit and the 8th bar unit are on the axis of symmetry three-fold symmetry；Described Five bar units, the 7th bar unit and the 9th bar unit are on the axis of symmetry three-fold symmetry；Described 4th folds Unit, the described 5th fold unit and the described 6th and fold unit on the axis of symmetry three-fold symmetry；The tenth bar list First, described 11st bar unit and the 12nd bar unit are on the axis of symmetry three-fold symmetry；

First rotation is secondary, the 3rd rotation is secondary and the described 5th rotates secondary triple right on the axis of symmetry Claim；Described second rotates the secondary, described 4th rotates secondary and described 6th rotation pair on the axis of symmetry three-fold symmetry；It is described 7th rotates secondary, described eighth-turn moves secondary and described 9th rotation pair on the axis of symmetry three-fold symmetry；Described ten turn Dynamic secondary, described 12nd rotates secondary and described 14th rotation pair on the axis of symmetry three-fold symmetry；Described 11st turn Dynamic secondary, described 13rd rotates secondary and described 15th rotation pair on the axis of symmetry three-fold symmetry；

First ball is secondary, the secondary and described 3rd ball pair of second ball is on the axis of symmetry three-fold symmetry；It is described 4th ball is secondary, the secondary and described 8th ball pair of the 6th ball is on the axis of symmetry three-fold symmetry；5th ball is secondary, described The secondary and described 9th ball pair of 7th ball is on the axis of symmetry three-fold symmetry；

Second rotation is secondary, the 4th rotation is secondary, the described 6th rotates secondary, described 7th rotation the secondary, described 8th Rotate the secondary, described 9th and rotate the axis that secondary, the tenth rotation is secondary, secondary and described 14th rotation of the 12nd rotation is secondary It is intersected in the first joint；Described 11st rotates the secondary, described 13rd rotates the secondary axis friendship of secondary and described 15th rotation It is compiled in the second joint；Described first rotates the secondary, described 3rd axis for rotating secondary and described 5th rotation pair is intersected in the 3rd Joint；First joint, the second joint, the 3rd joint on the axis of symmetry, second joint, 3rd joint is located between the first joint both sides, and first joint, second joint respectively Distance it is equal with the distance between first joint, the 3rd joint.

Wherein, described rotation secondary is hinge, hinge or bearing.

Preferably, six folding units are the equilateral quadrangle lamellar body structure of plane, and 12 bar units are straight-bar knot Structure.

It is further preferred that six fold unit and are square lamellar body structure.

The beneficial effects of the utility model are：

(1) the utility model is the folding 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 be obtained up to 11.3 times after folding The stable state of small volume, 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 hexahedron structure implementation method provided by the utility model；

Fig. 2-1 to Fig. 2-12 is 12 structural representations of bar unit in Fig. 1；

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

Fig. 4-1 to Fig. 4-6 is six 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 hexahedron structure shown in Fig. 1；

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

In figure：

The axis of symmetry of 1- first；The joints of I- first, the joints of II- second, the joints of III the 3rd；

F1- first folds unit, and F2- second folds unit；F3- the 3rd folds unit, and F4- the 4th folds unit, F5- the Five fold unit, and F6- the 6th 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, the bar units of B7- the 7th, the bar units of B8- the 8th, the bar units of B9- the 9th, the bar units of B10- the tenth, The bar units of B11- the 11st, the bar units of B12- the 12nd；

V11- first folds the tie point of unit and the first bar unit, and V21- second folds the company of unit and the first bar unit Contact, V22- second folds the tie point of unit and the second bar unit, and V32- the 3rd folds the connection of unit and the second bar unit Point, V33- the 3rd folds the tie point of unit and the 3rd bar unit, and V13- first folds the tie point of unit and the 3rd bar unit, V14- first folds the tie point of unit and the 4th bar unit, and V25- second folds the tie point of unit and the 5th bar unit, V26- second folds the tie point of unit and the 6th bar unit, and V37- the 3rd folds the tie point of unit and the 7th bar unit, V38- the 3rd folds the tie point of unit and the 8th bar unit, and V19- first folds the tie point of unit and the 9th bar unit, V44- the 4th folds the tie point of unit and the 4th bar unit, and V45- the 4th folds the tie point of unit and the 5th bar unit, V56- the 5th folds the tie point of unit and the 6th bar unit, and V57- the 5th folds the tie point of unit and the 7th bar unit, V68- the 6th folds the tie point of unit and the 8th bar unit, and V69- the 6th folds the tie point of unit and the 9th bar unit, V410- the 4th folds the tie point of unit and the tenth bar unit, and V510- the 5th folds the tie point of unit and the tenth bar unit, V511- the 5th folds the tie point of unit and the 11st bar unit, and V611- the 6th folds the connection of unit and the 11st bar unit The tie point of point, the folding units of V612- the 6th and the 12nd bar unit, the folding units of V412- the 4th and the 12nd bar unit Tie point；

S1- the first ball pairs, S2- the second ball pairs, the ball pairs of S3- the 3rd, the ball pairs of S4- the 4th, the ball pairs of S5- the 5th, the balls of S6- the 6th Pair, the ball pairs of S7- the 7th, the ball pairs of S8- the 8th, the ball pairs of S9- the 9th；

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, and the dynamic pair of H8- eighth-turns, H9- the 9th rotates secondary, and H10- the tenth rotates secondary, H11- the 11st rotates secondary, and H12- the 12nd rotates secondary, and H13- the 13rd rotates secondary, and H14- the 14th rotates secondary, H15- the tenth Five rotate 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：

As shown in figure 1, present embodiments provide a kind of telescopic hexahedron structure, including six fold unit, 12 Bar unit and an axis of symmetry 1；Each folds the profile that unit is respectively provided with the equilateral quadrangle of plane, the equilateral quadrangle of the plane Four summits be referred to as each fold unit the first summit, the second summit, the 3rd summit, the 4th summit；Each bar list First two ends set referred to as its first end point and the second end points respectively；The length of side of six equilateral quadrangles of plane of folding unit is homogeneous Deng, and it is also equal with the length of 12 bar units.Preferably, six folding units are the equilateral quadrangle lamellar body knot of plane Structure, 12 bar units are straight-bar structure.It is further preferred that six fold unit and are square lamellar body structure.

Six fold unit and are respectively first folding unit F the 1, first folding folding unit F 3, four fold of unit F the 1, the 3rd Folded unit F the 4, the 5th folds unit F the 5, the 6th and folds unit F 6.Wherein, first fold unit F 1, first and fold unit F 1, the The structure of three folding unit Fs 3 is identical；Wherein, the 4th the folding folding unit F 6 of unit F the 5, the 6th of unit F the 4, the 5th is folded Structure it is identical.

12 bar units are respectively the 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, the 7th bar unit B7, the 8th bar unit B8, the 9th bar unit B9, the tenth bar list First B10, the 11st bar unit B11, the 12nd bar unit B12.Wherein, the first bar unit B1, the second bar unit B2, the 3rd bar list First B3, the tenth bar unit B10, the 11st bar unit B11, the 12nd bar unit B12 structure it is identical；Wherein, the 5th bar Unit B 5, the 7th bar unit B7, the 9th bar unit B9 structure it is identical；Wherein, the 4th bar unit B4, the 6th bar unit B6, the 8th bar unit B8 structure it is identical.

This can open up polyhedral structure in the presence of a line of symmetry, the i.e. axis of symmetry 1.

With reference to Fig. 2-1 to Fig. 2-8, shown in 3-6 and Fig. 4-1 to Fig. 4-6, first folds the first top of unit F 1 to Fig. 3-1 Point (at V11) is connected with the first end point (at V11) of the first bar unit B1 by the first rotation secondary H1；The of first bar unit B1 Two end points (at V21) are connected with second summit (at V21) of the second folding unit F 2 by the second rotation secondary H2；Second folds list First summit (at V22) of first F2 is connected with the first end point (at V22) of the second bar unit B2 by the 3rd rotation secondary H3；Second The second summit (at V32) that second end points (at V32) of bar unit B2 folds unit F 3 with the 3rd rotates secondary H4 and connects by the 4th Connect；3rd folds first summit (at V33) of unit F 3 rotates with the first end point (at V33) of the 3rd bar unit B3 by the 5th Secondary H5 is connected；The second summit (V13 at) that second end points (at V13) of the 3rd bar unit B3 folds unit F 1 with first passes through the Six rotate secondary H6 connections.First folds the 4th summit (at V14) of unit F 1 and the first end point (at V14) of the 4th bar unit B4 Secondary H7 is rotated by the 7th to connect；Second folds the 3rd summit (at V25) of unit F 2 and the first end point of the 5th bar unit B5 (at V25) is connected by the first ball secondary S1；Second the 4th summit (at V26) and the first of the 6th bar unit B6 for folding unit F 2 End points (at V26) is connected by the dynamic secondary H8 of eighth-turn；3rd the 3rd summit (at V37) for folding unit F 3 and the 7th bar unit B7 First end point (at V37) by the second ball secondary S2 connect；3rd the 4th summit (at V38) for folding unit F 3 and the 8th bar list The first end point (at V38) of first B8 rotates secondary H9 and connects by the 9th；First the 3rd summit (V19 at) for folding unit F 1 and the The first end point (at V19) of nine bar unit B9 is connected by the 3rd ball secondary S3；4th the 4th summit for folding unit F 4 (at V44) It is connected by the 4th ball secondary S4 with second end points (at V44) of the 4th bar unit B4；4th the 3rd summit for folding unit F 4 (at V45) is connected with second end points (at V45) of the 5th bar unit B5 by the 5th ball secondary S5；5th folds the 4th of unit F 5 Summit (at V56) is connected with second end points (at V56) of the 6th bar unit B6 by the 6th ball secondary S6；5th folds unit F 5 3rd summit (at V57) is connected with second end points (at V57) of the 7th bar unit B7 by the 7th ball secondary S7；6th folds unit 4th summit (at V68) of F6 is connected with second end points (at V68) of the 8th bar unit B8 by the 8th ball secondary S8；6th folds 3rd summit (at V69) of unit F 6 is connected with second end points (at V69) of the 9th bar unit B9 by the 9th ball secondary S9.4th Fold second summit (at V410) of unit F 4 and rotate secondary by the tenth with second end points (at V410) of the tenth bar unit B10 H10 is connected；The first end point (at V510) of the tenth bar unit B10 passes through with first summit (at V510) of the 5th folding unit F 5 11st rotates secondary H11 connections；5th folds second summit (at V511) of unit F 5 and second end of the 11st bar unit B11 Point (at V511) rotates secondary H12 and connects by the 12nd；The first end point (at V611) of the 11st bar unit B11 is folded with the 6th First summit (at V611) of unit F 6 rotates secondary H13 and connects by the 13rd；6th the second summit (V612 for folding unit F 6 Place) it is connected by the 14th rotation secondary H14 with second end points (at V612) of the 12nd bar unit B12；12nd bar unit B12 First end point (at V412) with the 4th folding unit F 4 the first summit (V412 at) by the 15th rotate secondary H15 be connected.

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 the folding folding unit F 3 of unit F 2 and the 3rd of unit F 1, second 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；4th bar Unit B 4, the 6th bar unit B6 and the 8th bar unit B8 are on the three-fold symmetry of the axis of symmetry 1；5th bar unit B5, the 7th bar list First B7 and the 9th bar unit B9 are on the three-fold symmetry of the axis of symmetry 1；4th folds unit F the 4, the 5th folds the folding of unit F 5 and the 6th Folded unit F 6 is on the three-fold symmetry of the axis of symmetry 1；Tenth bar unit B10, the 11st bar unit B11 and the 12nd bar unit B12 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；Tenth rotates secondary H10, the 12nd secondary H12 and the 14th turn of rotation Dynamic secondary H14 is on the three-fold symmetry of the axis of symmetry 1；11st rotates secondary H11, the 13rd rotation secondary H13 and the 15th rotates secondary H15 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；4th ball secondary S4, Six ball secondary S6 and the 8th ball secondary S8 are on the three-fold symmetry of the axis of symmetry 1；5th ball secondary S5, the 7th ball secondary S7 and the 9th ball secondary S9 are closed In the three-fold symmetry of the axis of symmetry 1.

Second rotates secondary H2, the 4th rotation secondary H4, the 6th rotation secondary H6, the 7th rotation secondary H7, eighth-turn dynamic secondary H8, the 9th The axis for rotating secondary H9, the tenth rotation secondary H10, the 12nd rotation secondary H12 and the 14th rotation secondary H14 is intersected in the first joint The axis of I, the 11st rotation secondary H11, the 13rd rotation secondary H13 and the 15th rotation secondary H15 is intersected in the second joint II, the The axis of one rotation secondary H1, the 3rd rotation secondary H3 and the 5th rotation secondary H5 is intersected in the 3rd joint III.First joint I, On the axis of symmetry 1, the second joint II, the 3rd joint III are located at the respectively for two joint II, the 3rd joint III One joint I both sides, and the distance between the first joint I, the second joint II and the first joint I, the 3rd joint III The distance between it is equal.

As shown in Fig. 6-1 to Fig. 6-4, six provided using the present embodiment fold units and 12 bar units and The connected mode for being provided, may be constructed the foldable tetrakaidecahedron structure in space, and it folds shape of the change by each folding unit Shape, size and turns auxiliary shaft line orientation are determined.Fig. 6-1 shows a stable state of telescopic hexahedron structure, i.e. space Deployed condition, is the cuboctahedron with ten four sides.Telescopic hexahedron structure in the present embodiment is respectively by two spaces mistake Constraint Bricard 6R mechanisms, three RRRSSS mechanisms and three RRSRSS mechanisms realize upper and lower two hexagons and side six The folding exhibition motion of hexagon.Fig. 6-1 to Fig. 6-4 shows the folding process of telescopic hexahedron structure, is finally reached another steady Stationary state, i.e. folded state, are hexahedron, as shown in Fig. 6-4.On any kinematic pair by single driving can make the present embodiment can Folding exhibition hexahedron structure is converted from deployed condition to folded state, and in the process, each rotates the secondary cooperation of secondary and ball and causes the first bar Line is close to each other until Chong Dies between line and V22 and V21 between unit B 1, V11 and V14, second bar unit B2, V22 and Line is close to each other until Chong Die between line and V33 and V32 between V26, between the 3rd bar unit B3, V33 and V38 line and Line is close to each other until Chong Die between V11 and V13, between the 9th bar unit B9, V19 and V13 between line and V612 and V69 Line is close to each other until overlapping, line is close to each other between line, the 4th bar unit B4 and V45 and V44 between V14 and V19 Until overlapping, line is close to each other until Chong Die between line and V410 and V45 between the 5th bar unit B5, V25 and V21, the Line is close to each other until Chong Die between line and V57 and V56 between six bar unit B6, V26 and V25, the 7th bar unit B7, Line is close to each other until Chong Die between line and V511 and V57 between V37 and V32, between the 8th bar unit B7, V38 and V37 Line is close to each other until Chong Dies between line and V69 and V68, between the 12nd bar unit B12, V612 and V412 line and Line is close to each other until Chong Die, line and V56 and V510 between V410 and V412, the tenth bar unit B10 between V68 and V611 Between line it is close to each other until overlap, connect between line and V68V and 611 between the 11st bar unit B11, V511 and V510 Line is close to each other until overlapping.(that is, first folds the tie point V11 of the bar unit B1 of unit F 1 and first, the second folding The tie point V25 of the bar unit B5 of unit F 2 and the 5th and the 4th folds the tie point V44 of the bar unit B4 of unit F 4 and the 4th gradually Near until overlapping, first folds the tie point V13 of the bar unit B3 of unit F 1 and the 3rd, the second folding bar list of unit F 2 and first The folding unit Fs 3 of the tie point V21 of first B1 and the 3rd are moved closer to up to overlapping with the tie point V32 of the second bar unit B2, and first Fold unit F 1 and the 9th bar unit B9 tie point V19, the tie point V33 of the 3rd folding unit F 3 and the 3rd bar unit B3 and 6th folding unit F 6 is moved closer to the tie point V68 of the 8th bar unit B8 until overlapping, first folds unit F 1 and the 4th The tie point V14 of bar unit B4, the 4th tie point V412 and the 6th for folding the bar unit B12 of unit F 4 and the 12nd fold unit F6 is moved closer to the tie point V69 of the 9th bar unit B9 until overlapping, second folds the company of the bar unit B2 of unit F 2 and second Contact V22, the 3rd tie point V37 and the 5th for folding the bar unit B7 of unit F 3 and the 7th fold the bar unit B6 of unit F 5 and the 6th Tie point V56 move closer to until overlapping, second folds the tie point V26 of unit F 2 and the 6th bar unit B6, the 4th folding The tie point V45 of the bar unit B5 of unit F 4 and the 5th and the 5th fold the tie point V510 of unit F 5 and the tenth bar unit B10 by Gradually near until overlapping, the 3rd folds the tie point V38 of the bar unit B8 of unit F 3 and the 8th, the 5th folding bar of unit F 5 and the 7th The tie point V611 of the folding unit Fs 6 and the 11st of the tie point V57 of unit B 7 and the 6th bar unit B1 is moved closer to until weight Close, the 4th folds the tie point V410 of the bar unit B10 of unit F 4 and the tenth, the 5th folding unit F 5 and the 11st bar unit B11 The foldings of tie point V511 and the 6th unit F 6 and the tie point V612 of the 12nd bar unit B12 move closer to up to overlapping), together When complete the tetrakaidecahedron in eight foldings of hexagon realizing polyhedral being converted by folding.The telescopic hexahedron structure has One degree of freedom, can realize the folding exhibition motion of big ratio, can serve as skeleton structure or contour of building structure of satellite etc..

It can be seen that, as long as above-mentioned telescopic hexahedron 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 square profiles, and its shape, size, size, material etc. can based on the actual application requirements do certain conversion, needs Each unit that folds mutually causes interference during noting preventing folding exhibition.

In sum, by the telescopic hexahedron 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.

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

1. a kind of telescopic hexahedron structure, it is characterised in that fold units, 12 bar units and including six symmetrical Axis；Each folds the profile that unit is respectively provided with the equilateral quadrangle of plane, and four summits of the equilateral quadrangle of the plane claim respectively It is the first summit, the second summit, the 3rd summit, the 4th summit of each folding unit；Each bar unit two ends is referred to as it First end point and the second end points；Six folding unit the equilateral quadrangles of plane the length of side it is equal, and with 12 bar units Length it is also equal；

Six fold unit and are respectively the first folding unit, second fold unit, the 3rd fold unit, the 4th fold unit, the Five fold unit, the 6th folding unit；Wherein described first folds unit, the second folding unit, the 3rd folding list The structure of unit is identical, wherein the described 4th folds unit, the 5th folding unit, the structure of the 6th folding unit It is identical；

12 bar units be respectively the first bar unit, the second bar unit, the 3rd bar unit, the 4th bar unit, the 5th bar unit, 6th bar unit, the 7th bar unit, the 8th bar unit, the 9th bar unit, the tenth bar unit, the 11st bar unit, the 12nd bar Unit；

First summit of the first folding unit rotates pair and is connected with the first end point of first bar unit by first；Institute The second end points for stating the first bar unit rotates secondary connection with the second summit of the described second folding unit by second；Described second Fold the first summit of unit and rotate secondary connection by the 3rd with the first end point of second bar unit；Second bar unit The second end points with the described 3rd folding unit the second summit by the 4th rotate pair be connected；Described 3rd folds the of unit One summit rotates pair and is connected with the first end point of the 3rd bar unit by the 5th；Second end points of the 3rd bar unit with Described first the second summit for folding unit rotates secondary connection by the 6th；It is described first fold unit the 4th summit with it is described The first end point of the 4th bar unit rotates secondary connection by the 7th；Described second the 3rd summit for folding unit and the 5th bar The first end point of unit is by the secondary connection of the first ball；The of described second the 4th summit and the 6th bar unit for folding unit End point is by the dynamic secondary connection of eighth-turn；Described 3rd folds the 3rd summit of unit and the first end point of the 7th bar unit Connected by the way that the second ball is secondary；The first end point on the described 3rd the 4th summit and the 8th bar unit for folding unit passes through the 9th Rotate secondary connection；Described first folds the 3rd summit of unit connects with the first end point of the 9th bar unit by the way that the 3rd ball is secondary Connect；4th summit of the 4th folding unit is connected with the second end points of the 4th bar unit by the 4th ball pair；It is described 3rd summit of the 4th folding unit is connected with the second end points of the 5th bar unit by the 5th ball pair；Described 5th folds 4th summit of unit is connected with the second end points of the 6th bar unit by the 6th ball pair；Described 5th folds the of unit Three summits are connected with the second end points of the 7th bar unit by the 7th ball pair；It is described 6th fold unit the 4th summit with Second end points of the 8th bar unit is by the secondary connection of the 8th ball；Described 6th the 3rd summit and the described 9th for folding unit Second end points of bar unit is by the secondary connection of the 9th ball；Described 4th the second summit for folding unit and the tenth bar unit Second end points rotates secondary connection by the tenth；The first top that the first end point of the tenth bar unit folds unit with the described 5th Point rotates secondary connection by the 11st；Described 5th folds the second summit of unit and the second end points of the 11st bar unit Secondary connection is rotated by the 12nd；The first summit that the first end point of the 11st bar unit folds unit with the described 6th leads to Cross the secondary connection of the 13rd rotation；Second summit of the 6th folding unit passes through with the second end points of the 12nd bar unit 14th rotates secondary connection；The first end point of the 12nd bar unit folds the first summit of unit by the with the described 4th 15 rotate secondary connection；

It is triple right on the axis of symmetry that the first folding unit, the second folding unit and the described 3rd fold unit Claim；First bar unit, second bar unit and the 3rd bar unit are on the axis of symmetry three-fold symmetry；It is described 4th bar unit, the 6th bar unit and the 8th bar unit are on the axis of symmetry three-fold symmetry；5th bar Unit, the 7th bar unit and the 9th bar unit are on the axis of symmetry three-fold symmetry；The 4th folding unit, Described 5th folds unit and the described 6th folds unit on the axis of symmetry three-fold symmetry；Tenth bar unit, institute The 11st bar unit and the 12nd bar unit are stated on the axis of symmetry three-fold symmetry；

Described first rotates the secondary, described 3rd rotates secondary and described 5th rotation pair on the axis of symmetry three-fold symmetry；Institute State the second rotation it is secondary, it is described 4th rotate it is secondary and it is described 6th rotate pair on the axis of symmetry three-fold symmetry；Described 7th Rotate secondary, described eighth-turn and move secondary and described 9th rotation pair on the axis of symmetry three-fold symmetry；The tenth rotation pair, Described 12nd rotates secondary and described 14th rotation pair on the axis of symmetry three-fold symmetry；The 11st rotation pair, Described 13rd rotates secondary and described 15th rotation pair on the axis of symmetry three-fold symmetry；

First ball is secondary, the secondary and described 3rd ball pair of second ball is on the axis of symmetry three-fold symmetry；Described 4th Ball is secondary, the secondary and described 8th ball pair of the 6th ball is on the axis of symmetry three-fold symmetry；5th ball is secondary, the described 7th The secondary and described 9th ball pair of ball is on the axis of symmetry three-fold symmetry；

Second rotation is secondary, the 4th rotation is secondary, the 6th rotation is secondary, the 7th rotation is secondary, the eighth-turn is moved Secondary, described 9th rotates the secondary, described tenth axis for rotating the secondary and described 14th rotation pair of secondary, the 12nd rotation crosses In the first joint；Described 11st rotates the secondary, described 13rd axis for rotating secondary and described 15th rotation pair is intersected in Second joint；Described first axis for rotating the secondary and described 5th rotation pair of secondary, the 3rd rotation is intersected in the 3rd and crosses Point；First joint, the second joint, the 3rd joint are second joint, described on the axis of symmetry 3rd joint respectively be located between the first joint both sides, and first joint, second joint away from From equal with the distance between first joint, the 3rd joint.

2. a kind of telescopic hexahedron structure according to claim 1, it is characterised in that the rotation it is secondary for hinge, close Page or bearing.

3. a kind of telescopic hexahedron structure according to claim 1, it is characterised in that six fold units and are plane Equilateral quadrangle lamellar body structure, 12 bar units are straight-bar structure.

4. a kind of telescopic hexahedron structure according to claim 3, it is characterised in that six fold units and are pros Shape lamellar body structure.