CN218617221U - Telescopic hinge type multi-configuration variable space folding and unfolding mechanism - Google Patents
Telescopic hinge type multi-configuration variable space folding and unfolding mechanism Download PDFInfo
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- CN218617221U CN218617221U CN202222049970.3U CN202222049970U CN218617221U CN 218617221 U CN218617221 U CN 218617221U CN 202222049970 U CN202222049970 U CN 202222049970U CN 218617221 U CN218617221 U CN 218617221U
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Abstract
The utility model provides a variable space of flexible hinge formula polymorphic folds exhibition mechanism, includes base, side link, pendulum rod, connecting hinge, two degrees of freedom compound hinge one, two degrees of freedom compound hinge, the flexible thick stick of second grade, compound hinge joint, the utility model discloses a mechanism is folded to the variable space of polymorphic can obtain a plurality of constitutions such as cuboid, tetrahedron, pentahedron, rectangular pyramid, fold condition and planar state through the motion change of member, has characteristics such as folding than big, the reliability is high, stability is strong, the space is folding simple, can be applied to fields such as spacecraft basic skeleton, heavy-calibre fold exhibition antenna, large-scale solar array support, has stronger adaptability and practicality.
Description
Technical Field
The utility model relates to a roll over exhibition mechanism, especially a flexible hinge type multi-configuration variable space roll over exhibition mechanism.
Background
With the vigorous development of aerospace industry in China, various types of space folding and unfolding mechanisms in different aerospace missions are rapidly developed and applied, such as folding and unfolding solar panels, space station basic frameworks, space mechanical arms, space stretching arms, large-caliber folding and unfolding antennas, large-scale solar panel supports and the like, and therefore higher requirements are also put forward for the space folding and unfolding mechanisms in aerospace engineering. Due to the space limitation of the space carrying device, the space mechanism has to have a folding function in the launching stage, and the space mechanism is unfolded to be in a working state after the spacecraft enters the orbit. Most of the existing space folding and unfolding mechanisms are formed by the topology or the array of folding and unfolding units, but the working configuration is single, and the space folding and unfolding mechanisms cannot effectively deal with the working environments in different forms.
Chinese patent 201910800509.7 discloses a tetrahedral folding unit and a space deployable mechanism, which have the characteristics of large folding ratio, high reliability and the like, but the mechanism has a single configuration and only has one folding configuration; chinese patent 201610514973.6 discloses a scissors linkage type over-constrained expandable unit and a spatial expandable mechanism composed of the same, which only has two configurations of expansion and contraction. At present, a practical utility model design of a space folding and unfolding mechanism which has the advantages of large folding ratio, high reliability, strong stability, simple space folding and capability of being changed back and forth in various configurations is not seen yet.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a flexible hinge formula variable space of many constitutions state is rolled over and is expanded mechanism, it can construct according to the operational environment demand, and nimble the changing in each constitution state has characteristics such as folding than big, the reliability is high, stability is strong, the space is folding simple.
The utility model discloses a following technical scheme realizes above-mentioned purpose:
a telescopic hinge type multi-configuration variable space folding and unfolding mechanism comprises a base, a first connecting frame rod, a second connecting frame rod, a third connecting frame rod, a fourth connecting frame rod, a first swing rod, a second swing rod, a third swing rod, a fourth swing rod, a first connecting hinge, a second connecting hinge, a third connecting hinge, a fourth connecting hinge, a fifth connecting hinge, a sixth connecting hinge, a seventh connecting hinge, an eighth connecting hinge, a first two-degree-of-freedom composite hinge, a second two-degree-of-freedom composite hinge, a third two-degree-of-freedom composite hinge, a fourth two-degree-of-freedom composite hinge, a fifth two-degree-of-freedom composite hinge, a sixth two-degree-of-freedom composite hinge, a seventh two-degree-of-freedom composite hinge, an eighth two-degree-of-freedom composite hinge, a first two-degree-of freedom composite hinge, a second two-level telescopic bar, a third two-level telescopic bar, a fourth two-level telescopic bar, a sixth two-level telescopic bar, a seventh two-level telescopic bar, a eighth two-level telescopic bar, a first composite hinge joint, a third composite hinge joint, and a fourth composite hinge joint, wherein the specific structure and the connecting mode are as follows,
the first connecting hinge is connected with the base through a revolute pair, the second connecting hinge is connected with the base through a revolute pair, the third connecting hinge is connected with the base through a revolute pair, and the fourth connecting hinge is connected with the base through a revolute pair;
the first side link and the first connecting hinge are connected through a revolute pair, the second side link and the second connecting hinge are connected through a revolute pair, the third side link and the third connecting hinge are connected through a revolute pair, and the fourth side link and the fourth connecting hinge are connected through a revolute pair;
the fifth connecting hinge is fixedly arranged on the first side link rod, the sixth connecting hinge is fixedly arranged on the second side link rod, the seventh connecting hinge is fixedly arranged on the third side link rod, and the eighth connecting hinge is fixedly arranged on the fourth side link rod;
the first swing rod is connected with the fifth connecting hinge through a revolute pair, the second swing rod is connected with the sixth connecting hinge through a revolute pair, the third swing rod is connected with the seventh connecting hinge through a revolute pair, and the fourth swing rod is connected with the eighth connecting hinge through a revolute pair;
the first composite hinge joint is fixedly arranged on the first swing rod, the second composite hinge joint is fixedly arranged on the second swing rod, the third composite hinge joint is fixedly arranged on the second swing rod, and the fourth composite hinge joint is fixedly arranged on the fourth swing rod;
the first two-degree-of-freedom composite hinge is connected with the tenth connecting hinge through a revolute pair by a ninth connecting hinge, the second two-degree-of-freedom composite hinge is connected with the twelfth connecting hinge through a revolute pair by an eleventh connecting hinge, the third two-degree-of-freedom composite hinge is connected with the fourteenth connecting hinge through a revolute pair by a thirteenth connecting hinge, the fourth two-degree-of-freedom composite hinge is connected with the sixteenth connecting hinge through a revolute pair by a fifteenth connecting hinge, the fifth two-degree-of-freedom composite hinge is connected with the eighteenth connecting hinge through a revolute pair by a seventeenth connecting hinge, the sixth two-degree-of-freedom composite hinge is connected with the twentieth connecting hinge through a revolute pair by a nineteenth connecting hinge, the seventh two-degree-of-freedom composite hinge is connected with the twenty-second connecting hinge through a revolute pair by a twenty-first connecting hinge, and the eighth two-degree-of-freedom composite hinge is connected with the twenty-fourth connecting hinge through a revolute pair by a twenty-third connecting hinge;
the two-degree-of-freedom composite hinge consists of two revolute pairs of which the axes are vertical to each other;
the two-degree-of-freedom composite hinge I is connected with the composite hinge joint I through a revolute pair, the two-degree-of-freedom composite hinge II is connected with the composite hinge joint I through a revolute pair, the two-degree-of-freedom composite hinge III is connected with the composite hinge joint II through a revolute pair, the two-degree-of-freedom composite hinge IV is connected with the composite hinge joint tee through a revolute pair, the two-degree-of-freedom composite hinge VI is connected with the composite hinge joint tee through a revolute pair, the two-degree-of-freedom composite hinge VII is connected with the composite hinge joint tee through a revolute pair, and the two-degree-of-freedom composite hinge VIII is connected with the composite hinge joint tee through a revolute pair;
the two revolute pair axes of the two-degree-of-freedom composite hinge are perpendicular to the revolute pair axis of the composite hinge joint and can be regarded as a ball pair;
the two-degree-of-freedom composite hinge I is connected with the composite hinge joint I through a revolute pair, the two-degree-of-freedom composite hinge II is connected with the composite hinge joint I through a revolute pair, the two-degree-of-freedom composite hinge III is connected with the composite hinge joint II through a revolute pair, the two-degree-of-freedom composite hinge IV is connected with the composite hinge joint tee through a revolute pair, the two-degree-of-freedom composite hinge VI is connected with the composite hinge joint tee through a revolute pair, the two-degree-of-freedom composite hinge VII is connected with the composite hinge joint tee through a revolute pair, and the two-degree-of-freedom composite hinge VIII is connected with the composite hinge joint tee through a revolute pair;
the first two-stage telescopic bar comprises a first telescopic bar, a second telescopic bar and a third telescopic bar, the third telescopic bar can slide in the second telescopic bar to form a sliding pair, the second telescopic bar can slide in the first telescopic bar to form a sliding pair, the second two-stage telescopic bar comprises a fourth telescopic bar, a fifth telescopic bar and a sixth telescopic bar, the fourth telescopic bar can slide in the fifth telescopic bar to form a sliding pair, the fifth telescopic bar can slide in the sixth telescopic bar to form a sliding pair, the third two-stage telescopic bar comprises a seventh telescopic bar, an eighth telescopic bar and a ninth telescopic bar, the ninth telescopic bar can slide in the eighth telescopic bar to form a sliding pair, the eighth telescopic bar can slide in the seventh telescopic bar to form a sliding pair, the fourth two-stage telescopic bar comprises a tenth telescopic bar, an eleventh telescopic bar and a twelfth telescopic bar, the tenth telescopic bar can slide in the eleventh telescopic bar to form a sliding pair, the eleventh telescopic bar can slide in the twelfth bar to form a sliding pair, the second-stage telescopic bar five comprises a telescopic bar thirteen, a telescopic bar fourteen and a telescopic bar fifteen, the telescopic bar fifteen can slide in the telescopic bar fourteen to form a moving pair, the telescopic bar fourteen can slide in the telescopic bar thirteen to form a moving pair, the second-stage telescopic bar six comprises a telescopic bar sixteen, a telescopic bar seventeen and a telescopic bar eighteen, the telescopic bar sixteen can slide in the telescopic bar seventeen to form a moving pair, the telescopic bar seventeen can slide in the telescopic bar eighteen to form a moving pair, the second-stage telescopic bar seventeen comprises a telescopic bar nineteen, a telescopic bar twenty and a telescopic bar twenty-one, the telescopic bar twenty-one can slide in the telescopic bar twenty to form a moving pair, the second-stage telescopic bar eighty comprises a telescopic bar twenty-two, a telescopic bar twenty-three and a telescopic bar twenty-three, the telescopic bar twenty-two can slide in the telescopic bar twenty-three to form a moving pair, twenty-three telescopic rods can slide in twenty-four telescopic rods to form a sliding pair.
The first secondary telescopic bar is connected with the first two-freedom-degree composite hinge through a revolute pair, the second secondary telescopic bar is connected with the first secondary telescopic bar through a revolute pair, the second secondary telescopic bar is connected with the second two-freedom-degree composite hinge through a revolute pair, the third secondary telescopic bar is connected with the third two-freedom-degree composite hinge through a revolute pair, the fourth secondary telescopic bar is connected with the third secondary telescopic bar through a revolute pair, the fourth secondary telescopic bar is connected with the fourth two-freedom-degree composite hinge through a revolute pair, the fifth secondary telescopic bar is connected with the fifth two-freedom-degree composite hinge through a revolute pair, the sixth secondary telescopic bar is connected with the sixth two-freedom-degree composite hinge through a revolute pair, the seventh secondary telescopic bar is connected with the seventh two-freedom-degree composite hinge through a revolute pair, the eighth secondary telescopic bar is connected with the seventh secondary telescopic bar through a revolute pair, and the eighth secondary telescopic bar is connected with the eighth two-freedom-degree composite hinge through a revolute pair.
The utility model discloses the gain effect that can bring as follows:
1. the utility model discloses a but unfolding mechanism can realize the change of plane-space's many configurations through folding or unfolding the motion, can realize changing into different configurations such as square, tetrahedron, pentahedron, rectangular pyramid, folding configuration and planar configuration from planar configuration.
2. The utility model discloses a can expand the constitutional unit that the mechanism can be expanded as the space, through the connection of different hinges, the multiple space that constructs the state can be expanded the mechanism to the topological array constitution, satisfies the operation demand.
3. The utility model discloses a deployable mechanism possesses that the component is constituteed simply, connected mode is simple, fold condition is many, folding than big, expand advantages such as stable.
Drawings
Fig. 1 is a schematic diagram of an initial configuration structure of the variable space folding and unfolding mechanism of the present invention.
Fig. 2 is a schematic structural view of a second-level telescopic bar of the space-variable folding and unfolding mechanism of the present invention.
Fig. 3 is a schematic diagram of the initial configuration structure of the variable space folding and unfolding mechanism of the present invention.
Fig. 4 is a partially enlarged view of the variable space folding and unfolding mechanism according to the present invention.
Fig. 5 is a structural two-state diagram of the variable space folding and unfolding mechanism of the present invention.
Fig. 6 is a structural three-working-state diagram of the variable space folding and unfolding mechanism of the present invention.
Fig. 7 is a structural four-operation state diagram of the variable space folding and unfolding mechanism of the present invention.
Fig. 8 is a structural five-state diagram of the variable space folding and unfolding mechanism of the present invention.
Fig. 9 is a structural six-state diagram of the variable space folding and unfolding mechanism of the present invention.
Fig. 10 is a structural seven-operation state diagram of the variable space folding and unfolding mechanism of the present invention.
Fig. 11 is a structural eight-operation state diagram of the variable space folding and unfolding mechanism of the present invention.
Fig. 12 is a structural nine-state diagram of the variable space folding and unfolding mechanism of the present invention.
Fig. 13 is a structural ten-state diagram of the variable space folding and unfolding mechanism of the present invention.
Fig. 14 is an eleven-state diagram of the variable space folding and unfolding mechanism of the present invention.
Fig. 15 is a twelve-state diagram of the variable space folding and unfolding mechanism of the present invention.
Labeled in the figure as: 1. a ninth connecting hinge; 2. a tenth connecting hinge; 3. a first composite hinge joint; 4. an eleventh connecting hinge; 5. a twelfth connecting hinge; 6. a first telescopic rod; 7. a sixth expansion link; 8. a thirteenth connecting hinge; 9. a fourteenth connecting hinge; 10. a second composite hinge joint; 11. a fifteenth connecting hinge; 12. a sixteenth connecting hinge; 13. a second swing link; 14. a seventh telescopic rod; 15. a fifth connecting hinge; 16. a first frame link; a second side link; 18. a sixth connecting hinge; 19. a second connecting hinge; 20. twenty-four telescopic rods; 21. nineteen telescopic rods; 22. a twenty-fourth connecting hinge; 23. a twenty-third connecting hinge; 24. a fourth composite hinge joint; a twenty-second attachment hinge; 26. a twenty-first connecting hinge; 27. eighteen telescopic bars; 28. a fourth swing link; 29, a telescopic rod thirteen; 30. a twentieth attachment hinge; 31. a nineteenth connecting hinge; 32. a third composite hinge joint; 33. an eighteenth connecting hinge; 34. a seventeenth connecting hinge; 35. a twelfth expansion link; 36. a third swing link; an eighth connecting hinge; 38. a fourth side link; 39. a fourth connecting hinge; 40. a first connecting hinge; 41. a base; 42. a third connecting hinge; 43. a third side link; 44. seventeen telescopic bars; 45. sixthly, a telescopic bar; 46. fifteen telescopic bars; 47. a telescopic bar fourteen; 48. twenty telescopic bars are arranged; 49. twenty one telescopic bars; 50. twenty two telescopic bars; 51. twenty-three telescopic bars; 52. eleven telescopic bars; 53. a telescopic bar ten; 54. a telescopic bar nine; 55. a telescopic bar eight; 56. a second telescopic rod; 57. a third telescopic bar; 58. a fourth telescopic bar; 59. a fifth telescopic bar; 60. a first swing link; 61. a seventh connecting hinge; 62. a first secondary telescopic bar; 63. a second level telescopic bar II; 64. a second telescopic bar III; 65. a second telescopic bar; 66. a fifth secondary telescopic bar; 67. a second-stage telescopic bar six; 68. a second-level telescopic bar seven; 69. eighthly, secondary telescopic bars; 70. a first two-degree-of-freedom composite hinge; 71. a two-degree-of-freedom composite hinge II; 72. a two-degree-of-freedom composite hinge III; 73. a two-degree-of-freedom composite hinge IV; 74. a two-degree-of-freedom composite hinge five; 75. a six-degree-of-freedom composite hinge; 76. a two-degree-of-freedom composite hinge seventh; 77. and the two-degree-of-freedom composite hinge is eight.
Detailed Description
The technical solution of the present invention is further described with reference to the accompanying drawings and embodiments.
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, fig. 13, fig. 14, and fig. 15, the specific structure and connection relationship of the telescopic hinge type multi-configuration variable space folding and unfolding mechanism of the present invention are:
the first connecting hinge 40 is connected with the base 41 through a revolute pair, the second connecting hinge 19 is connected with the base 41 through a revolute pair, the third connecting hinge 42 is connected with the base 41 through a revolute pair, and the second connecting hinge 1919 is connected with the base 41 through a revolute pair; the first side link 16 is connected with the first connecting hinge 40 through a rotating pair, the second side link 17 is connected with the second connecting hinge 19 through a rotating pair, the third side link 43 is connected with the third connecting hinge 42 through a rotating pair, and the fourth side link 38 is connected with the second connecting hinge 19 through a rotating pair; the fifth connecting hinge 15 is fixedly arranged on the first side link 16, the sixth connecting hinge 18 is fixedly arranged on the second side link 17, the seventh connecting hinge 61 is fixedly arranged on the third side link 43, and the eighth connecting hinge 37 is fixedly arranged on the fourth side link 38; the first swing rod 60 is connected with the fifth connecting hinge 15 through a revolute pair, the second swing rod 13 is connected with the sixth connecting hinge 18 through a revolute pair, the third swing rod 36 is connected with the seventh connecting hinge 61 through a revolute pair, and the fourth swing rod 28 is connected with the eighth connecting hinge 37 through a revolute pair; the first composite hinge joint 33 is fixedly arranged on the first swing rod 60, the second composite hinge joint 10 is fixedly arranged on the second swing rod 13, the third composite hinge joint 32 is fixedly arranged on the second swing rod 13, and the fourth composite hinge joint 24 is fixedly arranged on the fourth swing rod 28; the two-degree-of-freedom composite hinge I70 is formed by connecting a ninth connecting hinge 1 and a tenth connecting hinge 2 through a revolute pair, the two-degree-of-freedom composite hinge II 71 is formed by connecting an eleventh connecting hinge 4 and a twelfth connecting hinge 5 through a revolute pair, the two-degree-of-freedom composite hinge III 72 is formed by connecting a thirteenth connecting hinge 8 and a fourteenth connecting hinge 9 through a revolute pair, the two-degree-of-freedom composite hinge IV 73 is formed by connecting a fifteenth connecting hinge 11 and a sixteenth connecting hinge 12 through a revolute pair, the two-degree-of-freedom composite hinge V74 is formed by connecting a seventeenth connecting hinge 34 and an eighteenth connecting hinge 33 through a revolute pair, the two-degree-of-freedom composite hinge VI 75 is formed by connecting a nineteenth connecting hinge 31 and a twentieth connecting hinge 30 through a revolute pair, the two-degree-of-freedom composite hinge VI 76 is formed by connecting a twenty-first connecting hinge 26 and a twenty-second connecting hinge 25 through a revolute pair, and the two-degree-of-freedom composite hinge VIII is formed by connecting a twenty-third connecting hinge 23 and a twenty-fourth connecting hinge 22 through a revolute pair; the two-degree-of-freedom composite hinge consists of two revolute pairs with mutually vertical revolute pair axes;
the two-degree-of-freedom composite hinge I70 is connected with the first composite hinge joint 3 through a revolute pair, the two-degree-of-freedom composite hinge II 71 is connected with the first composite hinge joint 3 through a revolute pair, the two-degree-of-freedom composite hinge III 72 is connected with the second composite hinge joint 10 through a revolute pair, the two-degree-of-freedom composite hinge IV 73 is connected with the second composite hinge joint 10 through a revolute pair, the two-degree-of-freedom composite hinge V74 is connected with the third composite hinge joint 32 through a revolute pair, the two-degree-of-freedom composite hinge VI 75 is connected with the third composite hinge joint 32 through a revolute pair, the two-degree-of-freedom composite hinge VII is connected with the fourth composite hinge joint 24 through a revolute pair, and the two-degree-of-freedom composite hinge VIII 77 is connected with the fourth composite hinge joint 24 through a revolute pair; the two revolute pair axes of the two-degree-of-freedom composite hinge are perpendicular to the revolute pair axis of the composite hinge joint and can be regarded as a ball pair; the two-degree-of-freedom composite hinge I70 is connected with the first composite hinge joint 3 through a revolute pair, the two-degree-of-freedom composite hinge II 71 is connected with the first composite hinge joint 3 through a revolute pair, the two-degree-of-freedom composite hinge III 72 is connected with the second composite hinge joint 10 through a revolute pair, the two-degree-of-freedom composite hinge IV 73 is connected with the second composite hinge joint 10 through a revolute pair, the two-degree-of-freedom composite hinge V74 is connected with the third composite hinge joint 32 through a revolute pair, the two-degree-of-freedom composite hinge VI 75 is connected with the third composite hinge joint 32 through a revolute pair, the two-degree-of-freedom composite hinge VII is connected with the fourth composite hinge joint 24 through a revolute pair, and the two-degree-of-freedom composite hinge VIII 77 is connected with the fourth composite hinge joint 24 through a revolute pair; the first two-stage telescopic bar 62 comprises a first telescopic bar 6, a second telescopic bar 56 and a third telescopic bar 57, the third telescopic bar 57 can slide in the second telescopic bar 56 to form a sliding pair, the second telescopic bar 56 can slide in the first telescopic bar 6 to form a sliding pair, the second two-stage telescopic bar 63 comprises a fourth telescopic bar 58, a fifth telescopic bar 59 and a sixth telescopic bar 7, the fourth telescopic bar 58 can slide in the fifth telescopic bar 59 to form a sliding pair, the fifth telescopic bar 59 can slide in the sixth telescopic bar 7 to form a sliding pair, the third two-stage telescopic bar 64 comprises a seventh telescopic bar 14, an eighth telescopic bar 55 and a ninth telescopic bar 54, the ninth telescopic bar 54 can slide in the eighth telescopic bar 55 to form a sliding pair, the eighth telescopic bar 55 can slide in the seventh telescopic bar 14 to form a sliding pair, the fourth two-stage telescopic bar 65 comprises a tenth telescopic bar 53, an eleventh telescopic bar 52 and a twelfth telescopic bar 35, and the eleventh telescopic bar 53 can slide in the eleventh telescopic bar 52 to form a sliding pair, the first telescopic rod 52 can slide in the second telescopic rod twelve 35 to form a sliding pair, the second telescopic rod five 66 comprises a telescopic rod thirteen 29, a telescopic rod fourteen 47 and a telescopic rod fifteen 46, the telescopic rod fifteen 46 can slide in the telescopic rod fourteen 47 to form a sliding pair, the telescopic rod fourteen 47 can slide in the telescopic rod thirteen 29 to form a sliding pair, the second telescopic rod six 67 comprises a telescopic rod sixteen 45, a telescopic rod seventeen 44 and a telescopic rod eighteen 27, the telescopic rod sixteen 45 can slide in the telescopic rod seventeen 44 to form a sliding pair, the telescopic rod seventeen 44 can slide in the telescopic rod eighteen 27 to form a sliding pair, the second telescopic rod seven 68 comprises a telescopic rod nineteen 21, a telescopic rod twenty 48 and a telescopic rod twenty-one, the telescopic rod twenty-one can slide in the telescopic rod twenty 48 to form a sliding pair, the telescopic rod twenty 48 can slide in the telescopic rod nineteen 21 to form a sliding pair, the second-stage telescopic rod eight 69 consists of a telescopic rod twenty-two 50, a telescopic rod twenty-three 51 and a telescopic rod twenty-four 20, wherein the telescopic rod twenty-two 50 can slide in the telescopic rod twenty-three 51 to form a moving pair, and the telescopic rod twenty-three 51 can slide in the telescopic rod twenty-four 20 to form a moving pair;
the first secondary telescopic bar 62 is connected with the first composite hinge joint 3 through a revolute pair, the second secondary telescopic bar 63 is connected with the first secondary telescopic bar 62 through a revolute pair, the second secondary telescopic bar 63 is connected with the second composite hinge joint 10 through a revolute pair, the third secondary telescopic bar 64 is connected with the second composite hinge joint 10 through a revolute pair, the fourth secondary telescopic bar 65 is connected with the third secondary telescopic bar 64 through a revolute pair, the fourth secondary telescopic bar 65 is connected with the third composite hinge joint 32 through a revolute pair, the fifth secondary telescopic bar 66 is connected with the third composite hinge joint 32 through a revolute pair, the sixth secondary telescopic bar 67 is connected with the fifth secondary telescopic bar 66 through a revolute pair, the sixth secondary telescopic bar 67 is connected with the fourth composite hinge joint 24 through a revolute pair, the seventh secondary telescopic bar 68 is connected with the fourth composite hinge joint 24 through a revolute pair, the eighth secondary telescopic bar 69 is connected with the seventh secondary telescopic bar 68 through a revolute pair, and the eighth secondary telescopic bar 69 is connected with the first composite hinge joint 3 through a revolute pair.
The utility model discloses a theory of operation is: when the first side link 16, the second side link 17, the third side link 43, and the fourth side link 38 are respectively perpendicular to the base 41, at this time, the revolute pair connected to the base 41 by the first connecting hinge 40, the second connecting hinge 19, the third connecting hinge 42, and the fourth connecting hinge 39 is locked, the revolute pair connected to the second telescopic bar 62 and the second telescopic bar 63, the second telescopic bar three 64 and the second telescopic bar four 65, the second telescopic bar five 66 and the second telescopic bar six 67, and the revolute pair connected to the second telescopic bar seven 68 and the second telescopic bar eight 69 are locked, the second telescopic bar 62, the second telescopic bar two 63, the second telescopic bar three 64, the second telescopic bar four 65, the second telescopic bar five 66, the second telescopic bar six 67, the second telescopic bar seven 68, and the second telescopic bar eight 69 are at the extreme positions of the retracted state, and at this time, the initial configuration is as shown in fig. 1, that is a cube configuration.
In the initial configuration state, when the first swing link 60 rotates ninety degrees outward around the fifth connecting hinge 15, the revolute pair connected to the first swing link 60 around the fifth connecting hinge 15 is locked, and the first secondary telescopic bar 62, the second secondary telescopic bar 63, the seventh secondary telescopic bar 68, and the eighth secondary telescopic bar 69 are in the extended state, which is the configuration state two shown in fig. 5, that is, the hexahedral configuration state.
In the second configuration state, when the second swing link 13 rotates ninety degrees outward around the sixth connecting hinge 18, the revolute pair connected to the second swing link 13 around the sixth connecting hinge 18 is locked, and the first secondary telescopic bar 62, the second secondary telescopic bar 63, the third secondary telescopic bar 64, the fourth secondary telescopic bar 65, the seventh secondary telescopic bar 68, and the eighth secondary telescopic bar 69 are in the extended state, which is the third configuration state shown in fig. 6, that is, the pentahedral configuration state.
In the third configuration, when the third swing link 36 rotates ninety degrees outwards around the seventh connecting hinge 61, the revolute pair connected by the third swing link 36 around the seventh connecting hinge 61 is locked, and the first secondary telescopic bar 62, the second secondary telescopic bar 63, the third secondary telescopic bar 64, the fourth secondary telescopic bar 65, the fifth secondary telescopic bar 66, the sixth secondary telescopic bar 67, the seventh secondary telescopic bar 68 and the eighth secondary telescopic bar 69 are in the extended state, which is the fourth configuration shown in fig. 7, that is, the tetrahedral configuration.
In the fourth configuration, when the fourth swing link 28 rotates ninety degrees outward around the eighth connecting hinge 37, the revolute pair connected to the fourth swing link 28 around the eighth connecting hinge 37 is locked, and the first secondary telescopic bar 62, the second secondary telescopic bar 63, the third secondary telescopic bar 64, the fourth secondary telescopic bar 65, the fifth secondary telescopic bar 66, the sixth secondary telescopic bar 67, the seventh secondary telescopic bar 68, and the eighth secondary telescopic bar 69 are in the extended state, which is the fifth configuration shown in fig. 8, that is, the expanded configuration of the mechanism.
In the fifth configuration state, when the second swing link 13 and the fourth swing link 28 rotate inward fifty degrees around the sixth connecting hinge 18 and the eighth connecting hinge 37, respectively, the revolute pair connecting the second swing link 13 and the sixth connecting hinge 18 with the fourth swing link 28 and the eighth connecting hinge 37 is locked, and the first secondary telescopic bar 62, the second secondary telescopic bar 63, the third secondary telescopic bar 64, the fourth secondary telescopic bar 65, the fifth secondary telescopic bar 66, the sixth secondary telescopic bar 67, the seventh secondary telescopic bar 68, and the eighth secondary telescopic bar 69 are simultaneously shortened by a portion, which is a sixth configuration state as shown in fig. 9, that is, the first quadrangular configuration state.
In the sixth configuration, when the first swing link 60 and the third swing link 36 rotate inward around the fifth connecting hinge 15 and the seventh connecting hinge 61 to the limit positions where all the secondary telescopic bars are contracted, the revolute pair connecting the first swing link 60 and the fifth connecting hinge 15 with the third swing link 36 and the seventh connecting hinge 61 is locked, and the ten-configuration boat structure is shown in fig. 13.
In the fifth configuration state, when the locking state of the revolute pair connecting the second-stage telescopic bar five 66 and the second-stage telescopic bar six 67 is released, the second-stage telescopic bar five 66 can rotate relative to the second-stage telescopic bar six 67, and the third connecting hinge 42 and the fourth connecting hinge 39 rotate around the base 41 to the positions shown in fig. 10, respectively, the revolute pair connecting the third connecting hinge 42 and the fourth connecting hinge 39 and the base 41 is locked, the second-stage telescopic bars one 62, the second-stage telescopic bars two 63, the second-stage telescopic bars three 64, the second-stage telescopic bars four 65, the second-stage telescopic bars seven 68 and the second-stage telescopic bars eight 69 are in a partially extended state, and the second-stage telescopic bar five 66 rotates to a certain angle relative to the second-stage telescopic bars, which is the seventh configuration state of the mechanism, that is, a triangular prism configuration state.
In the seventh configuration state, when the locked state of the revolute pair of the first secondary telescopic bar 62 and the second secondary telescopic bar 63 is released, the first secondary telescopic bar 62 can rotate relative to the second secondary telescopic bar 63, and the first connecting hinge 40 and the second connecting hinge 19 rotate around the base 41 to the positions shown in fig. 11, respectively, the revolute pair of the first connecting hinge 40 and the second connecting hinge 19 connected to the base 41 is locked, the third secondary telescopic bar 64, the fourth secondary telescopic bar 65, the seventh secondary telescopic bar 68, and the eighth secondary telescopic bar 69 are in a partially extended state, and the first secondary telescopic bar 62 rotates by a certain angle relative to the second secondary telescopic bar 63, which is the eighth configuration state of the mechanism, that is, the second extended state.
In the eighth configuration, when the first swing link 60 and the second swing link 13 respectively rotate around the fifth rotating hinge and the sixth rotating hinge toward the first link rod 16 and the second link rod 17, the third swing link 36 and the fourth swing link 28 also respectively rotate around the seventh rotating hinge and the eighth rotating hinge toward the opposite directions of the moving directions of the first swing link 60 and the second swing link 13, the first connecting hinge 40, the second connecting hinge 19, the third connecting hinge 42, the fourth connecting hinge 39 and the base 41 are locked, the mutual state of the two-stage telescopic bars is consistent with the seventh configuration, and the mechanism moves to the ninth configuration, i.e., the first folding configuration, of the mechanism as shown in fig. 12.
In the fourth configuration state, the locking state of the revolute pairs connected to the first link 16 and the first connecting hinge 40, the second link 17 and the second connecting hinge 19, the third link 43 and the third connecting hinge 42, and the fourth link 38 and the fourth connecting hinge 39 is released, the first link, the second link 17, the third link 43, and the fourth link 38 rotate forty-five degrees around the first connecting hinge 40, the second connecting hinge 19, the third connecting hinge 42, and the fourth connecting hinge 39, respectively, and the second telescopic bar i 62, the second telescopic bar ii 63, the second telescopic bar iii 64, the second telescopic bar iv 65, the second telescopic bar v 66, the second telescopic bar iii 67, the second telescopic bar iv 68, and the second telescopic bar iv 69 are contracted at the same time, and at this time, the configuration state eleven is the second configuration pyramid configuration state shown in fig. 14, that is the second four-configuration pyramid configuration state.
In the eleven-configuration state, the locking state of the revolute pair connected with the first secondary telescopic bar 62, the second secondary telescopic bar 63, the third secondary telescopic bar 64, the fourth secondary telescopic bar 65, the fifth secondary telescopic bar 66, the sixth secondary telescopic bar 67 and the seventh secondary telescopic bar 68, and the eighth secondary telescopic bar 69 is released,
the first side link, the second side link 17, the third side link 43 and the fourth side link 38 continue to rotate around the first connecting hinge 40, the second connecting hinge 19, the third connecting hinge 42 and the fourth connecting hinge 39 respectively to the position shown in fig. 15, which is the twelfth configuration, i.e. the second folding configuration of the mechanism.
Claims (3)
1. A telescopic hinge type multi-configuration variable space folding and unfolding mechanism is characterized by comprising a base, a first connecting frame rod, a second connecting frame rod, a third connecting frame rod, a fourth connecting frame rod, a first swing rod, a second swing rod, a third swing rod, a fourth swing rod, a first connecting hinge, a second connecting hinge, a third connecting hinge, a fourth connecting hinge, a fifth connecting hinge, a sixth connecting hinge, a seventh connecting hinge, an eighth connecting hinge, a first two-degree-of-freedom composite hinge, a second two-degree-of-freedom composite hinge, a third two-degree-of-freedom composite hinge, a fourth two-degree-of-freedom composite hinge, a fifth two-degree-of-freedom composite hinge, a sixth two-degree-of-freedom composite hinge, a seventh two-degree-of-freedom composite hinge, an eighth two-degree-of-freedom composite hinge, a first two-level telescopic lever, a second-level telescopic lever, a third two-level telescopic lever, a fifth two-level telescopic lever, a sixth-level telescopic lever and a composite hinge joint; the first connecting hinge is connected with the base through a rotating pair, the second connecting hinge is connected with the base through a rotating pair, the third connecting hinge is connected with the base through a rotating pair, and the fourth connecting hinge is connected with the base through a rotating pair; the first side link and the first connecting hinge are connected through a revolute pair, the second side link and the second connecting hinge are connected through a revolute pair, the third side link and the third connecting hinge are connected through a revolute pair, and the fourth side link and the fourth connecting hinge are connected through a revolute pair; the fifth connecting hinge is fixedly arranged on the first side link, the sixth connecting hinge is fixedly arranged on the second side link, the seventh connecting hinge is fixedly arranged on the third side link, and the eighth connecting hinge is fixedly arranged on the fourth side link; the first swing rod is connected with the fifth connecting hinge through a revolute pair, the second swing rod is connected with the sixth connecting hinge through a revolute pair, the third swing rod is connected with the seventh connecting hinge through a revolute pair, and the fourth swing rod is connected with the eighth connecting hinge through a revolute pair; the first composite hinge joint is fixedly arranged on the first swing rod, the second composite hinge joint is fixedly arranged on the second swing rod, the third composite hinge joint is fixedly arranged on the second swing rod, and the fourth composite hinge joint is fixedly arranged on the fourth swing rod; the first two-degree-of-freedom composite hinge is connected with the tenth connecting hinge through a revolute pair by a ninth connecting hinge, the second two-degree-of-freedom composite hinge is connected with the twelfth connecting hinge through a revolute pair by an eleventh connecting hinge, the third two-degree-of-freedom composite hinge is connected with the fourteenth connecting hinge through a revolute pair by a thirteenth connecting hinge, the fourth two-degree-of-freedom composite hinge is connected with the sixteenth connecting hinge through a revolute pair by a fifteenth connecting hinge, the fifth two-degree-of-freedom composite hinge is connected with the eighteenth connecting hinge through a revolute pair by a seventeenth connecting hinge, the sixth two-degree-of-freedom composite hinge is connected with the twentieth connecting hinge through a revolute pair by a nineteenth connecting hinge, the seventh two-degree-of-freedom composite hinge is connected with the twenty-second connecting hinge through a revolute pair by a twenty-first connecting hinge, and the eighth two-degree-of-freedom composite hinge is connected with the twenty-fourth connecting hinge through a revolute pair by a twenty-third connecting hinge; the two-degree-of-freedom composite hinge consists of two revolute pairs of which the axes are vertical to each other; the two-degree-of-freedom composite hinge I is connected with the composite hinge joint I through a revolute pair, the two-degree-of-freedom composite hinge II is connected with the composite hinge joint I through a revolute pair, the two-degree-of-freedom composite hinge III is connected with the composite hinge joint II through a revolute pair, the two-degree-of-freedom composite hinge IV is connected with the composite hinge joint II through a revolute pair, the two-degree-of-freedom composite hinge V is connected with the composite hinge joint T through a revolute pair, the two-degree-of-freedom composite hinge VI is connected with the composite hinge joint T through a revolute pair, the two-degree-of-freedom composite hinge VII is connected with the composite hinge joint T through a revolute pair, and the two-degree-of-freedom composite hinge VIII is connected with the composite hinge joint T through a revolute pair; the two-degree-of-freedom composite hinge I is connected with the composite hinge joint I through a revolute pair, the two-degree-of-freedom composite hinge II is connected with the composite hinge joint I through a revolute pair, the two-degree-of-freedom composite hinge III is connected with the composite hinge joint II through a revolute pair, the two-degree-of-freedom composite hinge IV is connected with the composite hinge joint tee through a revolute pair, the two-degree-of-freedom composite hinge VI is connected with the composite hinge joint tee through a revolute pair, the two-degree-of-freedom composite hinge VII is connected with the composite hinge joint tee through a revolute pair, and the two-degree-of-freedom composite hinge VIII is connected with the composite hinge joint tee through a revolute pair; the first two-stage telescopic bar comprises a first telescopic bar, a second telescopic bar and a third telescopic bar, the third telescopic bar can slide in the second telescopic bar to form a sliding pair, the second telescopic bar can slide in the first telescopic bar to form a sliding pair, the second two-stage telescopic bar comprises a fourth telescopic bar, a fifth telescopic bar and a sixth telescopic bar, the fourth telescopic bar can slide in the fifth telescopic bar to form a sliding pair, the fifth telescopic bar can slide in the sixth telescopic bar to form a sliding pair, the third two-stage telescopic bar comprises a seventh telescopic bar, an eighth telescopic bar and a ninth telescopic bar, the ninth telescopic bar can slide in the eighth telescopic bar to form a sliding pair, the eighth telescopic bar can slide in the seventh telescopic bar to form a sliding pair, the fourth two-stage telescopic bar comprises a tenth telescopic bar, an eleventh telescopic bar and a twelfth telescopic bar, the tenth telescopic bar can slide in the eleventh telescopic bar to form a sliding pair, the eleventh telescopic bar can slide in the twelfth bar to form a sliding pair, the second-stage telescopic bar five comprises a telescopic rod thirteen, a telescopic rod fourteen and a telescopic rod fifteen, the telescopic rod fifteen can slide in the telescopic rod fourteen to form a moving pair, the telescopic rod fourteen can slide in the telescopic rod thirteen to form a moving pair, the second-stage telescopic bar six comprises a telescopic rod sixteen, a telescopic rod seventeen and a telescopic rod eighteen, the telescopic rod sixteen can slide in the telescopic rod seventeen to form a moving pair, the telescopic rod seventeen can slide in the telescopic rod eighteen to form a moving pair, the second-stage telescopic bar seventhly consists of a telescopic rod nineteen, a telescopic rod twenty and a telescopic rod twenty-one, the telescopic rod twenty-one can slide in the telescopic rod twenty to form a moving pair, the telescopic rod twenty-one can slide in the telescopic rod nineteen to form a moving pair, the second-stage telescopic bar eighthly consists of a telescopic rod twenty-two, a telescopic rod twenty-three and a telescopic rod twenty-four, the telescopic rod twenty-two can slide in the telescopic rod twenty-three to form a moving pair, the twenty-three telescopic rods can slide in the twenty-four telescopic rods to form a sliding pair; the first secondary telescopic bar is connected with the first composite hinge joint through a revolute pair, the second secondary telescopic bar is connected with the first secondary telescopic bar through a revolute pair, the second secondary telescopic bar is connected with the second composite hinge joint through a revolute pair, the third secondary telescopic bar is connected with the second composite hinge joint through a revolute pair, the fourth secondary telescopic bar is connected with the third secondary telescopic bar through a revolute pair, the fourth secondary telescopic bar is connected with the third composite hinge joint through a revolute pair, the fifth secondary telescopic bar is connected with the third composite hinge joint through a revolute pair, the sixth secondary telescopic bar is connected with the fifth secondary telescopic bar through a revolute pair, the sixth secondary telescopic bar is connected with the fourth composite hinge joint through a revolute pair, the seventh secondary telescopic bar is connected with the fourth composite hinge joint through a revolute pair, the eighth secondary telescopic bar is connected with the seventh secondary telescopic bar through a revolute pair, and the eighth secondary telescopic bar is connected with the first composite hinge joint through a revolute pair.
2. The telescopic hinge type multi-configuration variable space folding and unfolding mechanism as claimed in claim 1, wherein the two-degree-of-freedom hinge is composed of two sets of mutually perpendicular rotation pairs, wherein the two sets of hinges have a range of motion angle of zero to one hundred eighty degrees.
3. The telescopic hinge type multi-configuration variable space folding and unfolding mechanism as claimed in claim 1, wherein two revolute pair axes of the two-degree-of-freedom composite hinge are perpendicular to the revolute pair axis of the composite hinge joint.
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