WO2014086132A1 - 具有一个刚性自由度的可折叠管状结构 - Google Patents

具有一个刚性自由度的可折叠管状结构 Download PDF

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Publication number
WO2014086132A1
WO2014086132A1 PCT/CN2013/075521 CN2013075521W WO2014086132A1 WO 2014086132 A1 WO2014086132 A1 WO 2014086132A1 CN 2013075521 W CN2013075521 W CN 2013075521W WO 2014086132 A1 WO2014086132 A1 WO 2014086132A1
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WIPO (PCT)
Prior art keywords
tubular structure
symmetry
foldable
adjacent
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2013/075521
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English (en)
French (fr)
Inventor
陈焱
刘思聪
李建民
王昆峰
繁富香织
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Tianjin University
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Tianjin University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tianjin University filed Critical Tianjin University
Priority to JP2015545635A priority Critical patent/JP6209618B2/ja
Publication of WO2014086132A1 publication Critical patent/WO2014086132A1/zh
Priority to US14/534,176 priority patent/US10100550B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/82—Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/844—Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents folded prior to deployment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G99/00—Subject matter not provided for in other groups of this subclass
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
    • E04C2/00—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels
    • E04C2/30—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels characterised by the shape or structure
    • E04C2/40—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels characterised by the shape or structure composed of a number of smaller components rigidly or movably connected together, e.g. interlocking, hingedly connected of particular shape, e.g. not rectangular of variable shape or size, e.g. flexible or telescopic panels
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
    • E04C2/00—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels
    • E04C2/30—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels characterised by the shape or structure
    • E04C2/42—Gratings; Grid-like panels
    • E04C2/427—Expanded metal or other monolithic gratings
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H15/00—Tents or canopies, in general
    • E04H15/32—Parts, components, construction details, accessories, interior equipment, specially adapted for tents, e.g. guy-line equipment, skirts, thresholds
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/16—Models made by folding paper
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/32—Arched structures; Vaulted structures; Folded structures
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/343—Structures characterised by movable, separable, or collapsible parts, e.g. for transport
    • E04B1/344—Structures characterised by movable, separable, or collapsible parts, e.g. for transport with hinged parts
    • E04B1/3445—Structures characterised by movable, separable, or collapsible parts, e.g. for transport with hinged parts foldable in a flat stack of parallel panels
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/343—Structures characterised by movable, separable, or collapsible parts, e.g. for transport
    • E04B1/344—Structures characterised by movable, separable, or collapsible parts, e.g. for transport with hinged parts
    • E04B1/345—Structures deriving their rigidity from concertina folds
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/32—Arched structures; Vaulted structures; Folded structures
    • E04B2001/3235—Arched structures; Vaulted structures; Folded structures having a grid frame
    • E04B2001/3241—Frame connection details
    • E04B2001/3247—Nodes
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/32—Arched structures; Vaulted structures; Folded structures
    • E04B2001/327—Arched structures; Vaulted structures; Folded structures comprised of a number of panels or blocs connected together forming a self-supporting structure
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/32—Arched structures; Vaulted structures; Folded structures
    • E04B2001/3294—Arched structures; Vaulted structures; Folded structures with a faceted surface
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B7/00—Roofs; Roof construction with regard to insulation
    • E04B7/08—Vaulted roofs
    • E04B7/10—Shell structures, e.g. of hyperbolic-parabolic shape; Grid-like formations acting as shell structures; Folded structures
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B7/00—Roofs; Roof construction with regard to insulation
    • E04B7/08—Vaulted roofs
    • E04B7/10—Shell structures, e.g. of hyperbolic-parabolic shape; Grid-like formations acting as shell structures; Folded structures
    • E04B7/107—Folded structures
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
    • E04C2/00—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels
    • E04C2/30—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels characterised by the shape or structure
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
    • E04C2/00—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels
    • E04C2/30—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels characterised by the shape or structure
    • E04C2/42—Gratings; Grid-like panels
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H15/00—Tents or canopies, in general
    • E04H15/32—Parts, components, construction details, accessories, interior equipment, specially adapted for tents, e.g. guy-line equipment, skirts, thresholds
    • E04H15/34—Supporting means, e.g. frames
    • E04H15/44—Supporting means, e.g. frames collapsible, e.g. breakdown type
    • E04H15/48—Supporting means, e.g. frames collapsible, e.g. breakdown type foldable, i.e. having pivoted or hinged means
    • E04H15/52—Supporting means, e.g. frames collapsible, e.g. breakdown type foldable, i.e. having pivoted or hinged means parallelogram type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S52/00—Static structures, e.g. buildings
    • Y10S52/10—Polyhedron
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T428/00—Stock material or miscellaneous articles
    • Y10T428/24—Structurally defined web or sheet [e.g., overall dimension, etc.]
    • Y10T428/24628—Nonplanar uniform thickness material
    • Y10T428/24669—Aligned or parallel nonplanarities
    • Y10T428/24686—Pleats or otherwise parallel adjacent folds

Definitions

  • the present invention relates to a foldable structure, and more particularly to a foldable tubular structure having a rigid degree of freedom.
  • Expandable collapsible tubular structures composed of planar units have a variety of uses, for example, for large components of a space station, even for the construction of a lunar base, or for use as a support for human blood vessels, digestive tracts, etc., or for replacing boards
  • the house is a large, medium and small temporary residence after a serious natural disaster.
  • Such a tubular structure constructs a space of a specified volume after deployment. At the same time, such a tubular structure can minimize its own volume by folding and folding, which is convenient for storage and transportation.
  • the object of the present invention is to overcome the deficiencies of the prior art, to provide a precise control of the folding and unfolding process of the structure, to reduce the complexity of the unfolding and folding of the structure, and to have a rigid degree of freedom for reusability.
  • Foldable tubular structure
  • the foldable tubular structure of the present invention having a rigid degree of freedom is a tubular structure formed by a plurality of single-layer annular units connected end to end, each single-layer annular unit being a prism having 2N sides, adjacent Two prisms having 2N sides are connected by a 2N-shaped intersection line sharing the intersecting faces formed by the head-to-tail connection, and each of the prisms having 2N sides is composed of 2N rigid planar quadrilateral elements.
  • Two adjacent single-layer annular units include 2N spherical mechanisms formed by intersecting only one of four planar quadrilateral elements at one vertex, and two adjacent single-layer annular units are intersecting
  • the 2N edge formed by the face is a line-symmetric 2N-sided or a center-symmetric plane 2N-sided having one axis of symmetry, and the ridgelines of each of the prisms having 2N sides are parallel to each other, the tubular shape
  • the ridge lines connected end to end in the structure are located in the same plane, when two adjacent single-layer annular units are formed at the intersection
  • the 2N edge is a line-symmetric 2N-sided shape having only one axis of symmetry
  • the plane of the ridge line connecting the end and the end of the tubular structure is perpendicular to the axis of symmetry
  • the N is an integer greater than 1.
  • the foldable tubular structure formed by combining the plane unit of the deformation unit and the connecting line of two adjacent plane units with the rotation center of the rotating pair can accurately control the folding and unfolding process of the structure; In order to have only one rigid degree of freedom, the complexity of the unfolding and folding of the structure is reduced, and the structure is more reliable and reusable than the existing structure.
  • the tubular structure design method of the invention is simple and convenient to assemble.
  • the structure can be easily stored and transported because it can be completely folded into a small volume. It is not limited to a specific shape or size of tubular structure, but also can meet the structural needs of different uses.
  • FIG. 1 is a first embodiment of a foldable tubular structure having a rigid degree of freedom according to the present invention, that is, a view of a foldable tubular structure composed of a single prism unit of a quadrangular prism in an unfolded state, in which the two adjacent layers are intersected
  • the line is a line-symmetric quadrilateral, that is, a kite shape, having a symmetry axis;
  • Figure 2 is a schematic view showing the structure of the foldable tubular structure shown in Figure 1 in a fully folded state
  • Figure 3 is a schematic view of an adjacent two-layer annular structure constituting the foldable tubular structure shown in Figure 1;
  • Figure 4 is a plan view of the annular structure shown in Figure 3;
  • Figure 5 is a concave folded state of the annular structure shown in Figure 3, the intersection line of the adjacent two layers is deformed into a gem shape by a girth shape;
  • Figure 6 is a plan view of the concave folded state of the annular structure shown in Figure 5;
  • Figure 7 is a view showing the concave folded state of the foldable tubular structure shown in Figure 1, and also the result of superimposing the annular structure shown in Figure 5;
  • Figure 8 is a schematic view showing the structure of the foldable tubular structure shown in Figure 7 in a fully folded state
  • Figure 9 is a second embodiment of a collapsible tubular structure having a rigid degree of freedom according to the present invention, that is, a schematic view of a foldable tubular structure consisting of a single layer of quadrangular prisms in an unfolded state, in which the two adjacent layers are intersected Line centered symmetric four The shape of the symmetry is at the intersection of the diagonals of the quadrilateral.
  • Figure 10 is a schematic view showing the foldable tubular structure shown in Figure 9 in a fully folded state
  • Figure 11 is a schematic view showing an adjacent two-layer annular structure constituting the foldable tubular structure shown in Figure 9;
  • Figure 12 is a plan view of the annular structure shown in Figure 11;
  • Figure 13 is a third embodiment of a foldable tubular structure having a rigid degree of freedom according to the present invention, that is, a view of a foldable tubular structure consisting of a single layer of hexagonal prisms in an unfolded state, in which the intersection of two adjacent layers a line-symmetric hexagon with a symmetry axis;
  • Figure 14 is a schematic view showing the foldable tubular structure shown in Figure 13 in a fully folded state
  • Figure 15 is a schematic view showing an adjacent two-layer annular structure constituting the foldable tubular structure shown in Figure 13;
  • Figure 16 is a plan view of the annular structure shown in Figure 15;
  • Figure 17 is a concave folded state of the annular structure shown in Figure 15, the intersection line of two adjacent layers is deformed from a convex hexagon to a concave hexagon;
  • Figure 18 is a plan view of the annular structure shown in Figure 17;
  • Figure 19 is a view showing the state of the concave folding of the foldable tubular structure shown in Figure 13, and also the result of the superposition of the annular structure shown in Figure 17;
  • Figure 20 is a schematic view of the foldable tubular structure of Figure 19 in a fully folded state
  • Figure 21 is a fourth embodiment of a foldable tubular structure having a rigid degree of freedom according to the present invention, that is, a schematic view of a foldable tubular structure composed of a single layer of hexagonal prisms in an unfolded state, in which the two adjacent layers are intersected
  • the line is a center-symmetric hexagon, and the center of symmetry is at the intersection of the diagonals of the hexagon;
  • Figure 22 is a schematic view showing the foldable tubular structure shown in Figure 21 in a fully folded state
  • Figure 23 is a schematic view showing the annular structure of the foldable tubular structure shown in Figure 21;
  • Figure 24 is a plan view of the annular structure shown in Figure 23;
  • Figure 25 is a sixth embodiment of a collapsible tubular structure having a rigid degree of freedom according to the present invention, that is, a view of a foldable tubular structure consisting of a single layer of octagonal prisms in an unfolded state, the intersection of two adjacent layers in the structure a line-symmetric octagon with a symmetry axis;
  • Figure 26 is a schematic view of the foldable tubular structure shown in Figure 25 in a fully folded state
  • Figure 27 is a schematic view showing an adjacent two-layer annular structure constituting the foldable tubular structure shown in Figure 25
  • Figure 28 is a plan view of the annular structure shown in Figure 27;
  • Figure 29 is a sixth embodiment of a collapsible tubular structure having a rigid degree of freedom according to the present invention, that is, a schematic view of a foldable tubular structure consisting of a single layer of octagonal prisms in an unfolded state, in which the two adjacent layers are intersected
  • the line is a center-symmetrical octagon, and the center of symmetry is at the intersection of the diagonals of the octagon;
  • Figure 30 is a schematic view showing the foldable tubular structure shown in Figure 29 in a fully folded state
  • Figure 31 is a schematic view showing an adjacent two-layer annular structure constituting the foldable tubular structure shown in Figure 29;
  • Figure 32 is a plan view of the annular structure shown in Figure 31;
  • FIG. 33 is a seventh embodiment of a foldable tubular structure having a rigid degree of freedom according to the present invention, that is, a schematic view of a foldable elbow structure composed of a single layer unit having the same angle of intersection;
  • Figure 34 is a schematic view showing the foldable elbow structure shown in Figure 33 in a fully folded state
  • Fig. 35 is a diagram showing the construction of the structure shown in Fig. 33, in which a ring structure of two intersecting lines corresponds to the same single layer to form a ring structure as the basis of the structure shown in Fig. 33;
  • Figure 36 is a schematic view showing the addition of a new single-layer annular unit on the basis of the structure shown in Figure 35;
  • Figure 37 is a schematic view showing the addition of a new single-layer annular unit on the basis of the structure shown in Figure 36;
  • Figure 38 is an eighth embodiment of a collapsible tubular structure having a rigid degree of freedom according to the present invention, that is, a front view of a foldable elbow structure composed of any single layer unit;
  • Figure 39 is a left side elevational view of the foldable elbow structure of any single layer unit shown in Figure 38;
  • Figure 40 is a plan view of the foldable elbow structure of any single layer unit shown in Figure 38;
  • Figure 41 is a schematic view of the foldable elbow structure composed of any single layer unit shown in Figure 38;
  • Figure 42 is a ninth embodiment of a foldable tubular structure having a rigid degree of freedom according to the present invention, that is, a schematic view of a collapsible elbow structure composed of a single layer of hexagonal prisms in an unfolded state;
  • Figure 43 is a schematic view showing the foldable elbow structure shown in Figure 42 in a fully folded state
  • a foldable tubular structure consisting of a single layer of quadrangular prisms, the intersection of two adjacent layers is a line-symmetric quadrilateral, with one Symmetry axis
  • 2- Foldable consisting of a single layer of quadrangular prisms: a stacked tubular structure, the intersection of two adjacent layers is a centrally symmetric quadrilateral
  • a foldable tubular structure consisting of a single layer of hexagonal prisms, the intersection of two adjacent layers is a line-symmetric hexagon with one axis of symmetry
  • a foldable tubular structure consisting of a single layer of octagonal prisms, the intersection of two adjacent layers is a line-symmetric octagon with one axis of symmetry
  • a foldable tubular structure consisting of a single layer of octagonal prisms, the intersection line of two adjacent layers being a central symmetric octagon.
  • the foldable tubular structure of the present invention having a rigid degree of freedom is a tubular structure formed by a plurality of single-layer annular units connected end to end, each single-layer annular unit being a prism having 2N sides, adjacent Two prisms having 2N sides are connected by a 2N-shaped intersection line sharing the intersecting faces formed by the head-to-tail connection, and each of the prisms having 2N sides is composed of 2N rigid planar quadrilateral elements.
  • Two adjacent single-layer annular units include 2N spherical mechanisms formed by intersecting only one of four planar quadrilateral elements at one vertex, and two adjacent single-layer annular units are intersecting
  • the 2N edge formed by the face is a line-symmetric 2N-sided or a center-symmetric plane 2N-sided with one axis of symmetry, and the ridgelines of each of the prisms having 2N sides are parallel to each other, and the tubular structure is end-to-end
  • the connected ridge lines are located in the same plane, and when the 2N sides formed by the adjacent two single-layer annular units at the intersecting surface are line-symmetric 2N-sided shapes having only one axis of symmetry, the tubular shape Ridgeline planar configuration are located end to end perpendicular to the axis of symmetry, said N is an integer greater than 1.
  • the tubular structure may be a straight tube structure, and the planar quadrilateral unit is a parallelogram.
  • the straight pipe structure comprises two adjacent single-layer annular elements formed on the intersecting surface, and the 2N edge is a zigzag or gem shape having a symmetry axis, a central symmetric quadrilateral, and a symmetry axis.
  • the tubular structure may be a bent pipe structure having a bending axis.
  • the planar quadrilateral unit of the elbow structure is entirely trapezoidal or partially trapezoidal.
  • the intersection of adjacent planar quadrilateral elements corresponds to the central axis of rotation of a rotating pair, and there are only four intersection lines intersecting the same vertex, which is equivalent to a spherical 4R mechanism, having a rigid freedom. degree.
  • the connection of the four quadrilateral elements intersecting at one vertex ensures that the folding motion of the adjacent two layers of annular elements has only one degree of freedom.
  • the tubular structure is radially expanded and folded while being axially unfolded and folded.
  • the fully deployed state of the tubular structure is achieved when a substantial combination of some of the basic combinations of structures occurs.
  • the fully folded state of the tubular structure is achieved when the planar quadrilateral element is in surface contact with an adjacent unit.
  • Figure 1 is a perspective view of a collapsible tubular structure 1 having a rigid degree of freedom in a single layer of a quadrangular prism of the present invention.
  • Schematic diagram of state 11, and FIG. 2 is a schematic illustration of structure 1 in a fully folded state 12.
  • 3 is a schematic view of two adjacent two-layer annular units 13 constituting the structure shown in FIG. 1.
  • the adjacent two single-layer annular units in Fig. 3 are composed of two quadrangular prisms sharing a line of intersection on the same plane, and each of the four prisms is composed of four rigid flat quadrilateral elements.
  • Two adjacent single-layer annular units include four spherical mechanisms formed by intersecting one and only four planar quadrilateral elements at one vertex, and the vertices are 1A, IB, 1C and 1D, respectively.
  • the polygon formed by the adjacent two single-layer annular units at the intersecting surface is a kite shape 1A1B1C1D as shown in FIG. 3, and has a symmetry axis, and the symmetry axis coincides with the diagonal line 1A1C as shown in FIG.
  • each set of head and tail ridges should be on the same plane, and this plane must be perpendicular to the axis of symmetry 1A1C.
  • the ridge lines of the layers, not shown in the figure), 1B31BU 1C11C3 and 1D31D1 are all perpendicular to the axis of symmetry 1A1C.
  • 1A2, 1A4, 1B4, 1B2, 1C2, 1C4, and 1D4 are the ridge lines that can be seen in this view by the two quadrangular prisms in Fig. 3, respectively.
  • the annular structure 14 shown in Figs. 5 and 6 is a configuration in which the apex 1C in the annular structure 13 shown in Fig. 3 is moved toward the apex 1A, and the annular structure 13 enters through the expansion to the fully expanded state.
  • the concave state of the gem-shaped cross section is 14. 7 and 8 show the unfolded state 15 and the fully folded state 16 of the foldable tubular structure 1 in a concavely folded state, respectively.
  • the fully folded state 16 shown in Figure 8 further reduces the space occupied by the structure than the fully folded state 12 shown in Figure 2 .
  • Figure 9 shows the unfolded state 21 of a foldable tubular structure 2 consisting of a single layer of quadrangular prisms.
  • 10, 11 and 12 are plan views of the fully folded state 22 of the structure 2, the annular structure 23 constituting the structure 2, and the annular structure 23, respectively.
  • the annular structure 23 is formed in the same manner as the annular structure 13 shown in Fig. 3, in which two adjacent quadrangular prisms share an intersection line on the same plane.
  • each of the quadrangular prisms are parallel, as shown by the ridgelines 2A1, 2B3, 2C1, and 2D3 in the upper layer of the quadrilateral prism, and the ridgelines 2A3, 2B1, 2C3, and 2D1 in the lower layer of the quadrilateral prism are parallel.
  • the ridges connected to each group are also on the same plane. The difference is that the intersection of two adjacent quadrangular prisms is a central symmetric quadrilateral 2A2B2C2D as shown in Fig. 12, and the center of symmetry is shown as the intersection of diagonals 2A2C and 2B2D as shown in Fig. 12.
  • Figure 13 shows the collapsible tubular structure 3 consisting of a single layer of hexagonal prisms in the unfolded state 31 of the present invention.
  • Figure 14, 15 and 16 are top views of the annular structure 33 and the annular structure 33 of the structural structure 3 in a fully folded state 32, respectively.
  • the annular structure 33 is composed of two adjacent hexagonal prisms, and the intersection line is a line-symmetric hexagon 3A3B3C3D3E3F, and the axis of symmetry passes through the vertices 3A and 3D as shown in FIG.
  • the six ridgelines of each hexagonal prism are parallel to each other, as shown in Fig.
  • ridgelines 3A1, 3B3, 3C1, 3D3, 3E1 and 3F3 are parallel, while 3A3, 3B1, 3C3, 3D1, 3E3 and 3F1 are parallel (not shown) Show serial number).
  • Each of the sets of ridgelines connected end to end on the tubular structure 31 shown in Fig. 13 is located on the same plane, and the plane of the plane is perpendicular to the axis of symmetry of the intersection of adjacent hexagonal prisms.
  • Figure 17 shows the annular structure 33 of Figure 15 in a concavely folded state 34.
  • 18, 19 and 20 are plan views of the annular structure 34, the expanded state of the tubular structure of the annular structure 34, and the fully folded state 36, respectively.
  • Figure 21 is a view showing the unfolded state 41 of the foldable tubular structure 4 composed of a single layer of a hexagonal prism of the present invention, Fig. 22, Fig.
  • FIG. 23 and Fig. 24 are plan views showing the tubular structure 4 in a completely folded state 42, the annular structure 43 constituting the structure 4, and the annular structure 43, respectively.
  • the intersection line of the adjacent hexagonal prisms constituting the annular structure 43 is a center-symmetric hexagonal shape 4A4B4C4D4E4F, and the center of symmetry is a diagonal line 4A4D, 4B4E and as shown in FIG. The intersection of 4C4F.
  • the ridgelines of the hexagonal prisms in the annular structure 43 are parallel, that is, 4A1, 4B3, 4C1, 4D3, 4E1 and 4F3 are parallel, and 4A3, 4B1, 4C3, 4D1, 4E3 and 4F1 are parallel (the serial numbers are not shown).
  • the connected ridges of the vertices in the tubular structure 41 must be on the same plane.
  • the structure 4 also has a fully expanded state and a concave or convex folded state in function.
  • 25, 26, 27 and 28 show the foldable tubular structure 5 of the octagonal prism single layer of the present invention in an unfolded state 51, in a fully folded state 52, a ring structure 53 constituting the structure 5, and A top view of the ring mechanism 53.
  • the intersection of adjacent octagonal prism elements shown in Fig. 27 is an octagonal shape 5A5B5C5D5E5F5G5H having an axis of symmetry passing through the vertices 5A and 5E shown in Fig. 28.
  • the structure 5 also has a fully expanded state and a concave or convex folded state in function.
  • each ridge of each octagonal prism are parallel to each other, that is, 5A1, 5B3, 5C1, 5D3, 5E1, 5F3, 5G3, and 5H3 are parallel to each other. Similar to the foregoing structure having a cross section of a symmetry axis, each set of ridges connected end to end in the same plane is located in the same plane, and these planes are perpendicular to the axis of symmetry of the intersection of adjacent octagonal prisms.
  • the structure 5 also functionally has a fully expanded state as well as a concave or convex folded state. 29, FIG. 30, FIG. 31 and FIG.
  • Structures 6 has the same unfolding function as structure 5, the parallel condition of the ridge line in each single layer, and the coplanar condition of the connected ridge line.
  • the ridge lines 6A1, 6B3, 6C1, 6D3, 6E1, 6F3, 6G3, and 6H3 are parallel to each other. Different from the structure 5, as shown in FIG. 31 and FIG.
  • the two adjacent octagonal single-layer intersection lines 6A6B6C6D6E6F6G6H in the structure 63 are center-symmetric, and the symmetry center is the intersection of the diagonal lines 6A6E, 6B6F, 6C6G and 6D6H.
  • the structure 6 also functionally has a fully expanded state as well as a concave or convex folded state.
  • a foldable tubular structure consisting of a quadrangular prism, a hexagonal prism and a single layer of octagonal prisms can be used to derive a foldable tubular structure consisting of a single layer of 2N prisms, and has a corresponding unfolding function, and parallel conditions of ridgelines in each single layer And coplanar conditions of the connected ridges.
  • the intersection of adjacent 2N prisms has an axis of symmetry, the face of each group of ridges connected end to end also needs to be perpendicular to the axis of symmetry.
  • the construction structure of the foldable elbow structure is described by enumerating concrete examples of the elbow structure composed of a single layer of a quadrangular prism.
  • the construction of these elbows is equally applicable to the construction of a foldable elbow structure consisting of a hexagonal prism, an octagonal prism and a 2N prism monolayer.
  • FIG. 33 and 34 show an unfolded state 71 and a fully folded state 72 of the foldable elbow structure 7 each composed of a single layer unit having the same angle of intersection.
  • 73 is a cyclic structure constituting the structure.
  • Figure 35, Figure 36 and Figure 37 show the process of constructing structure 7, adding a single layer from top to bottom on top of the previous structure.
  • the single layer unit in the elbow structure 7 is connected by four plane trapezoids to form a ring structure.
  • Each of the individual layers in structure 7 is constructed on the basis of the previous single layer and is not necessarily the same as the other single layers.
  • the rules for single-layer construction are as follows: 1) The angle of intersection of the constructed single layer is the same as that of the previous single layer.
  • the ridge lines 7A3 (not shown), 7B1, 7C3, and 7D1 in the former single layer are parallel to each other, the ridge lines 7A1, 7B3, 7C1, and 7D3 in the single layer are also parallel to each other.
  • 7B2 and 7D4 are intersection lines on the intersection of two adjacent prisms. 2)
  • the intersection of the constructed single layer and the previous single layer is always a line symmetry or a central symmetry plane 2N edge shape, and the cross section 7A7B7C7D in Fig. 35 is a line symmetrical quadrangle.
  • Figures 38, 39, 40 and 41 are front elevational, left side, top view and structural view of the collapsible elbow structure 8 consisting of any single layer unit, respectively. Similar to structure 7, structure 8 is also constructed by adding a single layer.
  • the structure to be constructed must satisfy the following conditions: 1) The line of intersection between each single layer unit and the previous single layer unit is line symmetry or center Symmetrical plane 2N shape, as shown in Figure 41, the line-symmetric quadrilateral 8A8B8C8D. 2) The ridge lines in each single-layer unit are parallel to each other 3) The ridge lines connecting the head and tail of each group in the entire tubular structure are on the same plane.
  • Structures 8 and 7 are different in that the angle of intersection in each single layer in structure 8 is not the same as the corresponding angle of adjacent layers, and structure 8 does not always reach the surface contact of adjacent plane elements. In a fully folded state, usually only a single layer with the smallest foldable range is fully folded or fully deployed.
  • the construction constraint of the structure 8 is the least, so the structure 8 is the most common case of the foldable elbow structure, and the construction rule of the structure 8 also includes the construction of all the collapsible straight pipe structures in the present invention. law.
  • Fig. 42 and Fig. 43 show an elbow structure which is designed and constructed by the above-described construction of the elbow method, which is an unfolded state 91 and a fully folded state 92 of the elbow structure 9 composed of a single layer of hexagonal prisms, respectively.
  • the tubular structure constructed with 2N prisms as a single layer appears as a foldable straight tube structure, such as structures 1, 2, 3, 4 , 5, and 6; 2)
  • the tubular structure constructed as a single layer of 2N prisms appears as a bendable elbow structure, such as structures 7, 8, and 9.
  • the straight tube structure is a special case of the elbow structure, both of which are within the scope of the present invention.

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Abstract

具有一个刚性自由度的可折叠管状结构（1、2、3、4、5、6、7、8、9），由多个单层环状单元（13、23、33、43、53、63、73）首尾连接形成，每一个单层环状单元（13、23、33、43、53、63、73）为具有2N个侧面的棱柱体，相邻的两个具有2N个侧面的棱柱体由共用位于首尾连接形成的相交面上的2N边形交线的方式连接组成，每一个具有2N个侧面的棱柱体由2N个刚性平面四边形单元组成，每一个棱柱体的棱线相互平行，管状结构中首尾相连的棱线位于同一平面内，当相邻的两个单层环状单元在相交面形成的2N边形为只具有一条对称轴的线对称2N边形时，管状结构的首尾相连的棱线所在平面都垂直于对称轴。该装置可以做到对结构的折叠和展开过程精确控制。

Description

具有一个刚性自由度的可折叠管状结构 技术领域 本发明涉及一种可折叠结构， 尤其涉及具有一个刚性自由度的可折叠管状结构。
背景技术 由平面单元组成的可展开可折叠的管状结构具有多种用途， 例如， 用于宇宙空间站的大 型构件， 甚至月球基地的建设， 或者用作人体血管、 消化道等的支架， 或者代替板房作为严 重自然灾害后的大中小型临时居所。 这样的管状结构在展开后构建一个具有指定容积的空 间。 同时这样的管状结构可以通过折叠收起的方式将自身体积降到最小， 便于存储和运输。 近年来，分别由 Hoberman(US4780344， US4981732, US5234727 ), Guest和 Pel legrino, Sogame (US6233880B1 )和 Furuya, 以及 No j ima等研究人员提出的不同形式的可折叠管状结构具备 了上述的展开和折叠的功能， 但是由于这些结构的折展功能依赖于所使用材料的弹塑性大变 形， 对其折叠和展开的过程很难做到精确的控制， 这就限制了它们的用途。 并且， 由于结构 组成单元的形变造成整体形状的变化使得现有的管状折叠结构通常被用作一次性结构来使 用。
发明内容 本发明的目的在于克服现有技术的不足， 提供一种可以做到对结构的折叠和展开过程精 确控制、 降低了结构展开和折叠的复杂程度、 可重复使用的具有一个刚性自由度的可折叠管 状结构。 本发明的具有一个刚性自由度的可折叠管状结构， 它为由多个单层环状单元首尾连接形 成的管状结构， 每一个单层环状单元为具有 2N个侧面的棱柱体， 相邻的两个具有 2N个侧 面的棱柱体由共用位于首尾连接形成的相交面上的 2N边形交线的方式连接组成， 每一个所 述的具有 2N个侧面的棱柱体由 2N个刚性平面四边形单元组成， 相邻的两个所述的单层环 状单元包括 2N个有且仅有四个平面四边形单元相交于一个顶点形成的球面机构， 相邻的两 个所述的单层环状单元在相交面形成的 2N边形为具有一条对称轴的线对称 2N边形或者中 心对称平面 2N边形， 每一个所述的具有 2N个侧面的棱柱体的棱线相互平行， 所述的管状 结构中首尾相连的棱线位于同一平面内， 当相邻的两个所述的单层环状单元在相交面形成的
2N边形为只具有一条对称轴的线对称 2N边形时，所述的管状结构的首尾相连的棱线所在平 面都垂直于对称轴， 所述的 N为大于 1的整数。
采用本发明的装置具有以下优点：
以不会发生形变的平面单元和两个相邻平面单元的连接线为转动副的转动中心相结合 组成的可折叠管状结构， 可以做到对结构的折叠和展开过程精确控制； 而且， 本结构为仅具 有一个刚性自由度的机构， 更是降低了结构展开和折叠的复杂程度， 进而本结构比目前已有 结构更为可靠而且可重复使用。
本发明所述的管状结构设计方法简单， 装配方便。 由于可以被完全折叠成体积很小的状 态， 使结构的存放和运输都十分便捷。 并不局限某一特定形状或大小的管状结构， 还可以满 足构建不同用途的结构需要。 附图说明
图 1为本发明的具有一个刚性自由度的可折叠管状结构的第一种实施方式， 即由四棱柱 单层单元组成的可折叠管状结构处于展开状态示意图， 此结构中相邻两层的交线为线对称四 边形， 即筝形， 具有一条对称轴；
图 2为图 1所示的可折叠管状结构处于完全折叠状态的结构示意图；
图 3为组成图 1所示的可折叠管状结构的相邻两层环状结构的示意图；
图 4为图 3所示环状结构的俯视图；
图 5为图 3所示环状结构的凹折叠状态， 相邻两层的交线由凸筝形变形为了凹筝形； 图 6为图 5所示环状结构的凹折叠状态的俯视图；
图 7为图 1所示可折叠管状结构的凹折叠状态， 同时也是图 5所示环状结构叠加连接的 结果图；
图 8为图 7所示可折叠管状结构处于完全折叠状态的结构示意图；
图 9为本发明的具有一个刚性自由度的可折叠管状结构的第二种实施方式， 即由四棱柱 单层组成的可折叠管状结构处于展开状态的示意图， 此结构中相邻两层的交线为中心对称四 边形， 对称中心位于四边形对角线的交点。
图 10为图 9所示的可折叠管状结构处于完全折叠状态的示意图；
图 11为组成图 9所示可折叠管状结构的相邻两层环状结构的示意图；
图 12为图 11所示环状结构的俯视图；
图 13 为本发明的具有一个刚性自由度的可折叠管状结构的第三种实施方式， 即由六棱 柱单层组成的可折叠管状结构处于展开状态示意图， 此结构中相邻两层的交线为线对称六边 形， 具有一条对称轴；
图 14为图 13所示的可折叠管状结构处于完全折叠状态的示意图；
图 15为组成图 13所示的可折叠管状结构的相邻两层环状结构的示意图；
图 16为图 15所示环状结构的俯视图；
图 17为图 15所示环状结构的凹折叠状态，相邻两层的交线由凸六边形变形为凹六边形； 图 18为图 17所示环状结构的俯视图；
图 19为图 13所示可折叠管状结构的凹折叠状态， 同时也是图 17所示环状结构叠加相 连的结果图；
图 20为图 19所示可折叠管状结构处于完全折叠状态的示意图；
图 21 为本发明的具有一个刚性自由度的可折叠管状结构的第四种实施方式， 即由六棱 柱单层组成的可折叠管状结构处于展开状态的示意图， 此结构中相邻两层的交线为中心对称 六边形， 对称中心位于六边形对角线的交点；
图 22为图 21所示的可折叠管状结构处于完全折叠状态的示意图；
图 23为组成图 21所示的可折叠管状结构的环状结构的示意图；
图 24为图 23所示环状结构的俯视图；
图 25 为本发明的具有一个刚性自由度的可折叠管状结构的第六种实施方式， 即由八棱 柱单层组成的可折叠管状结构处于展开状态示意图， 此结构中相邻两层的交线为线对称八边 形， 具有一条对称轴；
图 26为图 25所示的可折叠管状结构处于完全折叠状态的示意图； 图 27为组成图 25所示的可折叠管状结构的相邻两层环状结构的示意图； 图 28为图 27所示环状结构的俯视图；
图 29 为本发明的具有一个刚性自由度的可折叠管状结构的第六种实施方式， 即由八棱 柱单层组成的可折叠管状结构处于展开状态的示意图， 此结构中相邻两层的交线为中心对称 八边形， 对称中心位于八边形对角线的交点；
图 30为图 29所示的可折叠管状结构处于完全折叠状态的示意图；
图 31为组成图 29所示的可折叠管状结构的相邻两层环状结构的示意图；
图 32为图 31所示环状结构的俯视图；
图 33 为本发明的具有一个刚性自由度的可折叠管状结构的第七种实施方式， 即由交线 夹角对应相同的单层单元组成的可折叠弯管结构处于展开状态的示意图；
图 34为图 33所示的可折叠弯管结构处于完全折叠状态的示意图；
图 35为构建图 33所示结构的开始阶段， 由两个交线夹角对应相同的单层组成一个环状 结构作为图 33所示结构的基础；
图 36为在图 35所示结构基础之上添加新的单层环状单元的示意图；
图 37为在图 36所示结构基础之上添加新的单层环状单元的示意图；
图 38 为本发明的具有一个刚性自由度的可折叠管状结构的第八种实施方式， 即由任意 单层单元组成的可折叠弯管结构的正视图；
图 39为图 38所示的由任意单层单元组成的可折叠弯管结构的左视图；
图 40为图 38所示的由任意单层单元组成的可折叠弯管结构的俯视图；
图 41为图 38所示的由任意单层单元组成的可折叠弯管结构的示意图；
图 42 为本发明的具有一个刚性自由度的可折叠管状结构的第九种实施方式， 即由六棱 柱单层组成的可折叠弯管结构处于展开状态的示意图；
图 43为图 42所示的可折叠弯管结构处于完全折叠状态的示意图；
其中：
1- 由四棱柱单层组成的可折叠管状结构， 相邻两层的交线为线对称四边形， 具有一条 对称轴
2- 由四棱柱单层组成的可折：叠管状结构， 相邻两层的交线为中心对称四边形
3- 由六棱柱单层组成的可折叠管状结构， 相邻两层的交线为线对称六边形， 具有一条 对称轴
4- 由六棱柱单层组成的可折：叠管状结构， 相邻两层的交线为中心对称六边形
5- 由八棱柱单层组成的可折叠管状结构， 相邻两层的交线为线对称八边形， 具有一条 对称轴
6-由八棱柱单层组成的可折叠管状结构， 相邻两层的交线为中心对称八边形。
7- 由交线夹角对应相同的单层单元组成的可折叠弯管
8- 由任意单层单元组成的可折叠弯管
9- 由六棱柱单层组成的可折叠弯管结构实例
11- 结构 i的展开状态 （ i=l， 2， 3， 4， 5， 6， 7， 8， 9)
12- 结构 i的完全折叠状态（ i=l， 2， 3， 4， 5， 6， 7， 8， 9)
i3_组成结构 i的环状结构， 由两个相邻的单层环状单元组成（ i=l， 2， 3， 4， 5， 6， 7) i4-环状结构 i3处于凹折叠状态（ i=l， 3)
15- 处于凹折叠状态时的结构 i的展开状态（ i=l，3)
16- 处于凹折叠状态时的结构 i的折叠状态（ i=l，3)
iX-结构 i中四个平面单元的交点， 代表球面机构的中心， 同时也是环状结构中相邻两 层交线的顶点 (X=A, B， C， D， E， F， G， H)
iXj_结构 i中交于顶点 X的交线 j， 环状结构中相邻两层交线的边线 （ j=l， 2， 3， 4)。 从管状结构的外面看， 四条交线绕顶点 iX按逆时针方向编号。
iXj (j+D - 结构 i中交于顶点 X的交线 j与交线 j+1的夹角
具体实施方式
下面结合附图和具体实施例对本发明作以详细描述。 本发明的具有一个刚性自由度的可折叠管状结构， 它为由多个单层环状单元首尾连接形 成的管状结构， 每一个单层环状单元为具有 2N个侧面的棱柱体， 相邻的两个具有 2N个侧 面的棱柱体由共用位于首尾连接形成的相交面上的 2N边形交线的方式连接组成， 每一个所 述的具有 2N个侧面的棱柱体由 2N个刚性平面四边形单元组成， 相邻的两个所述的单层环 状单元包括 2N个有且仅有四个平面四边形单元相交于一个顶点形成的球面机构， 相邻的两 个所述的单层环状单元在相交面形成的 2N边形为具有一条对称轴的线对称 2N边形或者中 心对称平面 2N边形， 每一个所述的具有 2N个侧面的棱柱体的棱线相互平行， 所述的管状 结构中首尾相连的棱线位于同一平面内， 当相邻的两个所述的单层环状单元在相交面形成的 2N边形为只具有一条对称轴的线对称 2N边形时，所述的管状结构的首尾相连的棱线所在平 面都垂直于对称轴， 所述的 N为大于 1的整数。
所述的管状结构可以为直管结构， 所述的平面四边形单元为平行四边形。 所述的直管结 构包括相邻的两个所述的单层环状单元在相交面形成的 2N边形为具有一条对称轴的筝形或 凹筝形、 中心对称四边形、 具有一条对称轴的线对称六边形或凹六边形、 中心对称六边形、 线对称八边形或中心对称八边形。
所述的管状结构可以为具有弯曲轴线的弯管结构。 所述的弯管结构的平面四边形单元全 部为梯形或者部分为梯形。
在本发明结构中， 相邻的平面四边形单元的交线相当于一个转动副的旋转中心轴， 而且 有且仅有四条交线交于同一个顶点， 相当于一个球面 4R机构， 具有一个刚性自由度。 所述 有且仅有四个平面四边形单元相交于一个顶点的连接保证了相邻两层环状单元的折展运动 仅具有一个刚性自由度。 进而保证了所组成管状结构具有一个刚性自由度。 所述的管状结构 在轴向展开和折叠的同时发生径向展开和折叠。 所述管状结构的完全展开状态在结构中某一 基本组合发生最大展开时达到。 所述管状结构的完全折叠状态在平面四边形单元与相邻单元 发生面接触时达到。
下面再结合每一附图对本发明加以详细说明：
图 1为本发明的以四棱柱单层组成的具有一个刚性自由度的可折叠管状结构 1处于展开 状态 11的示意图， 图 2为结构 1处于完全折叠状态 12的示意图。 图 3为组成图 1所示结构 的两个相邻两层环状单元 13的示意图。 图 3中相邻的两个单层环状单元由两个四棱柱共用 位于同一平面上的交线的方式连接组成， 每一个所述的四棱柱由四个刚性平形四边形单元组 成。 相邻的两个所述的单层环状单元包括 4个有且仅有四个平面四边形单元相交于一个顶点 形成的球面机构， 顶点分别有 1A， IB, 1C和 1D。 相邻的两个所述的单层环状单元在相交面 形成的多边形为如图 3所示的筝形 1A1B1C1D, 具有一条对称轴， 对称轴如图 4所示与对角线 1A1C重合。
每个四棱柱单层的四条棱线相互平行， 即如图 3所示棱线 1A1、 1B3 、 1C1和 1D3相互 平行。 同时， 除了需满足平行关系之外， 每组首尾棱线需位于同一平面上， 并且此平面必须 垂直于对称轴 1A1C, 例如图 3中两条棱线所在的平面 1A11A3 ( 1A3为其中一层单层的棱线， 在图中未示出）、 1B31BU 1C11C3以及 1D31D1都垂直于对称轴 1A1C。 图中 1A2、 1A4、 1B4、 1B2、 1C2、 1C4、 1D4分别为图 3中两个四棱柱在该视图下可以看到的棱线。
图 5和图 6所示环状结构 14是图 3所示环状结构 13中的顶点 1C在向顶点 1A靠近的运 动过程中的构型， 环状结构 13通过展开到完全展开状态后进入具有凹筝形横截面的折叠状 态 14中。 图 7和图 8所示分别为处于凹折叠状态的可折叠管状结构 1的展开状态 15和完全 折叠状态 16。相较之下， 图 8所示的完全折叠状态 16比图 2所示的完全折叠状态 12进一步 地减少了结构所占用的空间。
图 9所示为由四棱柱单层组成的可折叠管状结构 2的展开状态 21。 图 10、 图 11和图 12 所示分别为结构 2的完全折叠状态 22，组成结构 2的环状结构 23以及环状结构 23的俯视图。 如图 11所示， 环状结构 23同图 3所示环状结构 13—样由两个相邻的四棱柱共用位于同一 平面上的交线的方式连接组成。 所述每个四棱柱的棱线平行， 如图上层四棱柱单层中的棱线 2A1、 2B3、 2C1、 2D3平行； 下层四棱柱单层中的棱线 2A3、 2B1、 2C3、 2D1平行。 每组首尾 相连的棱线同样位于同一平面上。 不同的是两个所述的相邻四棱柱交线为如图 12所示的中 心对称四边形 2A2B2C2D, 其对称中心如图 12所示为对角线 2A2C和 2B2D的交点。
图 13所示为本发明的由六棱柱单层组成的可折叠管状结构 3处于展开状态 31。 图 14、 图 15和图 16所示分别为结构 3处于完全折叠状态 32， 组成结构 3的环状结构 33以及环状 结构 33的俯视图。 如图 15所示， 环状结构 33由两个相邻六棱柱相连组成， 交线为线对称 六边形 3A3B3C3D3E3F, 对称轴如图 16所示通过顶点 3A和 3D。 每个六棱柱的六条棱线相互 平行， 即如图 15所示， 棱线 3A1， 3B3 , 3C1 , 3D3 , 3E1和 3F3平行， 同时 3A3， 3B1 , 3C3 , 3D1， 3E3和 3F1平行 （图中未示出序号）。 图 13所示的管状结构 31上每组首尾相连的棱线 位于同一平面上， 并且所在平面垂直于相邻六棱柱交线的对称轴。
图 17所示为图 15中的环状结构 33处于凹折叠状态 34。 图 18、 图 19和图 20所示分别 为环状结构 34的俯视图， 环状结构 34所组成的管状结构的展开状态 35以及完全折叠状态 36。
图 21所示为本发明的由六棱柱单层组成的可折叠管状结构 4的展开状态 41， 图 22、 图
23和图 24所示分别为管状结构 4处于完全折叠状态 42， 组成结构 4的环状结构 43以及环 状结构 43的俯视图。 与结构 3不同的是， 如图 23所示， 组成环状结构 43的相邻六棱柱的 交线为中心对称六边形 4A4B4C4D4E4F,对称中心为如图 24所示的对角线 4A4D， 4B4E和 4C4F 的交点。 环状结构 43中的六棱柱的棱线分别平行， 即 4A1， 4B3 , 4C1 , 4D3 , 4E1和 4F3平 行， 同时 4A3， 4B1 , 4C3 , 4D1 , 4E3和 4F1平行 （图中未示出序号）。 管状结构 41中各顶点 的相连棱线必须位于同一平面上。 结构 4在功能上也同样具有完全展开状态以及凹或凸的折 叠状态。
图 25、 图 26、 图 27和图 28所示分别为本发明的由八棱柱单层组成的可折叠管状结构 5 处于展开状态 51， 处于完全折叠状态 52， 组成结构 5的环状结构 53以及环状机构 53的俯 视图。 如图 27所示的相邻八棱柱单元交线为八边形 5A5B5C5D5E5F5G5H, 具有一条对称轴， 通过图 28所示的顶点 5A和 5E。与前述结构相同， 结构 5在功能上也同样具有完全展开状态 以及凹或凸的折叠状态。 每个八棱柱的八条棱线相互平行， 即 5A1、 5B3、 5C1、 5D3、 5E1、 5F3、 5G3、 5H3相互平行。 同前述具有一条对称轴横截面的结构相同， 结构 51每组首尾相连 的棱线位于同一平面， 这些平面都垂直于相邻八棱柱交线的对称轴。 结构 5在功能上也同样 具有完全展开状态以及凹或凸的折叠状态。 图 29、 图 30、 图 31和图 32所示分别为本发明的由八棱柱单层组成的可折叠管状结构 6 处于展开状态 61， 处于完全折叠状态 62， 组成结构 6的环状结构 63以及环状结构 63的俯 视图。 结构 6与结构 5—样具有相同的展开折叠功能， 每个单层中棱线的平行条件以及相连 棱线的共面条件。 棱线 6A1、 6B3、 6C1、 6D3、 6E1、 6F3、 6G3、 6H3相互平行。 与结构 5不 同的是， 如图 31和图 32所示， 结构 63中的两个相邻八棱柱单层交线 6A6B6C6D6E6F6G6H为 中心对称， 对称中心为对角线 6A6E， 6B6F, 6C6G以及 6D6H的交点。 结构 6在功能上也同样 具有完全展开状态以及凹或凸的折叠状态。
由四棱柱， 六棱柱以及八棱柱单层组成的可折叠管状结构可引申出由 2N棱柱单层组成 的可折叠管状结构， 并具有相应的展开折叠功能， 每个单层中棱线的平行条件以及相连棱线 的共面条件。 当相邻 2N棱柱的交线具有一条对称轴时， 每组首尾相连的棱线所在的面同样 需要垂直于此对称轴。
从图 33到图 41通过列举由四棱柱单层组成的弯管结构的具体实例介绍可折叠弯管结构 的构建结构。 这些构建弯管的结构同样适用于由六棱柱， 八棱柱以至于 2N棱柱单层组成的 可折叠弯管结构的构建。
图 33和图 34所示分别为由交线夹角对应相同的单层单元组成的可折叠弯管结构 7的展 开状态 71和完全折叠状态 72。 73为组成本结构的环状结构。 图 35、 图 36和图 37所示为构 建结构 7的过程， 从上到下依次在前面结构基础之上添加一个单层。 在弯管结构 7中的单层 单元由 4个平面梯形相连形成环状结构。 结构 7中每一个单层都是在前一单层的基础上构建 的， 并不一定与其他单层相同。 单层构建所遵循的规律如下： 1 ) 所构建单层的交线夹角与 前一单层对应夹角相同， 例如， 图 36中的 7B23=7B12， 7C12=7C23， 7C41=7C34， 7D34=7C41。 因为前一单层中的棱线 7A3 (图中未标注）、 7B1、 7C3和 7D1相互平行，此单层中的棱线 7A1、 7B3、 7C1和 7D3也相互平行。 7B2、 7D4为相邻的两个棱柱相交面上的交线。 2 ) 所构建单层 与前一单层的交线始终是线对称或者中心对称平面 2N边形， 如图 35中的横截面 7A7B7C7D 为线对称四边形。 3 ) 构建单层时要满足棱线应位于与之相连的前一单层的棱线的同一平面 中， 当相邻两层的交线为只具有一条对称轴的线对称 2N边形时， 这些平面都必须垂直于对 称轴。
图 38、 图 39、 图 40和 41所示分别为由任意单层单元组成的可折叠弯管结构 8的正视 图， 左视图， 俯视图和结构外观示意图。 和结构 7类似， 结构 8的也是通过单层添加的方式 构建而成， 所构建的结构须满足如下的条件： 1 ) 每个单层单元与前一单层单元的交线为线 对称或中心对称的平面 2N边形， 如图 41所示的线对称的四边形 8A8B8C8D。 2 ) 每个单层单 元中棱线相互平行 3 ) 整个管状结构中每组首尾相连的棱线位于同一平面上， 当相邻两层单 元的交线 2N边形只具有一条对称轴时， 这些平面都必须垂直于对称轴。 结构 8与 7不同之 处在于， 结构 8中的每一单层中的交线夹角并不与相邻两层的对应夹角相同， 结构 8也因此 不总能达到相邻平面单元面接触的完全折叠状态， 通常仅有可折叠范围最小的单层达到完全 折叠或者完全展开的状态。 同弯管结构 7相比， 结构 8的构建约束条件最少， 因而结构 8是 可折叠弯管结构的最普通情况， 结构 8的构建规律也包含了构建本发明中前述所有可折叠直 管结构的规律。
图 42、 图 43列举了利用前述构建弯管方法设计建立的一种弯管结构， 分别为由六棱柱 单层组成的弯管结构 9的展开状态 91和完全折叠状态 92。
同时需要说明： 1 ) 当结构中所有的平面四边形均为平行四边形时， 所构建的以 2N棱柱 为单层的管状结构表现为可折展的直管结构， 例如结构 1， 2， 3， 4， 5， 和 6; 2) 当结构中 部分或所有的平面四边形为梯形时， 所构建的以 2N棱柱为单层的管状结构表现为可折展的 弯管结构， 例如结构 7， 8， 和 9。 因而直管结构是弯管结构的特例， 两者均在本发明保护范 围内。
以上示意性的对本发明及其实施方式进行了描述， 该描述没有限制性， 附图中所示的也 只是本发明的实施方式之一， 实际的结构并不局限于此。 所以， 如果本领域的技术人员受其 启示，在不脱离本发明创造宗旨的情况下，采用不同材料的平面四边形单元构建本发明结构， 或采用其它形式的连接组合方式不经创造性的设计与该发明结构相似的结构方式及实施例， 均应属于本发明的保护范围。

Claims

权利要求
1.具有一个刚性自由度的可折叠管状结构， 其特征在于：它为由多个单层环状单元首尾 连接形成的管状结构， 每一个单层环状单元为具有 2N个侧面的棱柱体， 相邻的两个具有 2N 个侧面的棱柱体由共用位于首尾连接形成的相交面上的 2N边形交线的方式连接组成， 每一 个所述的具有 2N个侧面的棱柱体由 2N个刚性平面四边形单元组成， 相邻的两个所述的单 层环状单元包括 2N个有且仅有四个平面四边形单元相交于一个顶点形成的球面机构， 相邻 的两个所述的单层环状单元在相交面形成的 2N边形为具有一条对称轴的线对称 2N边形或 者中心对称平面 2N边形， 每一个所述的具有 2N个侧面的棱柱体的棱线相互平行， 所述的 管状结构中首尾相连的棱线位于同一平面内， 当相邻的两个所述的单层环状单元在相交面形 成的 2N边形为只具有一条对称轴的线对称 2N边形时， 所述的管状结构的首尾相连的棱线 所在平面都垂直于对称轴， 所述的 N为大于 1的整数。
2.根据权利 1所述的具有一个刚性自由度的可折叠管状结构， 其特征在于： 所述的管状 结构为直管结构， 所述的平面四边形单元为平行四边形。
3.根据权利要求 2所述的具有一个刚性自由度的可折叠管状结构， 其特征在于： 所述的 直管结构包括相邻的两个所述的单层环状单元在相交面形成的 2N边形为具有一条对称轴的 筝形或凹筝形、 中心对称四边形、 具有一条对称轴的线对称六边形或凹六边形、 中心对称六 边形、 线对称八边形或中心对称八边形。
4.根据权利 1所述的具有一个刚性自由度的可折叠管状结构， 其特征在于： 所述的管状 结构为具有弯曲轴线的弯管结构。
5.根据权利 4所述的具有一个刚性自由度的可折叠管状结构， 其特征在于： 所述的弯管 结构的平面四边形单元全部为梯形或者部分为梯形。
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