CN103089063A - Foldable bar frame structure - Google Patents
Foldable bar frame structure Download PDFInfo
- Publication number
- CN103089063A CN103089063A CN2013100506112A CN201310050611A CN103089063A CN 103089063 A CN103089063 A CN 103089063A CN 2013100506112 A CN2013100506112 A CN 2013100506112A CN 201310050611 A CN201310050611 A CN 201310050611A CN 103089063 A CN103089063 A CN 103089063A
- Authority
- CN
- China
- Prior art keywords
- plane
- rotary
- unit
- rotary joint
- joint
- 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.)
- Granted
Links
Images
Abstract
The invention discloses a foldable bar frame structure which comprises a plurality of four-bar structures. Each four-bar structure comprises a connecting bar I, a connecting bar II, a connecting bar III and a connecting bar IV. One end of each connecting bar I is fixedly connected with a first unit of a first rotary joint, and the other end of each connecting bar I is fixedly connected with a fourth unit of a second rotary joint. One end of each connecting bar III is fixedly connected with a first unit of the second rotary joint, and the other end of each connecting bar III is fixedly connected with a fourth unit of a third rotary joint. One end of each connecting bar IV is fixedly connected with a first unit of the third rotary joint, and the other end of each connecting bar IV is fixedly connected with a fourth unit of a fourth rotary joint. One end of each connecting bar II is fixedly connected with a first unit of the fourth rotary joint, and the other end of each connecting bar II is fixedly connected with a fourth unit of the first rotary joint. The foldable bar frame structure is folding and unfolding structure provided with a single degree of freedom and can achieve folding and unfolding of a tent through one drive. The foldable bar frame structure is convenient to install and use, and the folded size can shrink to the minimum.
Description
Technical field
The present invention relates to the collapsible rod shelf structure of a kind of single-degree-of-freedom, large folding exhibition ratio, relate in particular to a kind of tent structure, can realize that large ratio launches with folding by single driving.
Background technology
Crossing constraint mechanism is that a class has more than 100 year historical special entity, and commercial Application was seldom arranged in the past.The excessively binding character of this mechanism on how much makes it have high rigidity.If consist of net structure with it, can add the more constraint of crossing, reliability is higher.This mechanism is only connected by revolute pair, makes simply, and cost is low, and reliability is high.Whole mechanism only has one degree of freedom, and motion control is simple.How much covering methods of use, the mode that covers according to plane or space geometry is built into deployable structure with a plurality of three-dimensional elementary cells of crossing constraint mechanism formation.They can be under the prerequisite of the basic bearing function that keeps conventional structure on a large scale, large-sized change geometry to be to be applicable to multiple application demand.Simultaneously, available deployable structure can be used for large space structure in this way, and this is not lose integrally-built developable behavior because the unit that is formed by mechanism or module can infinitely repeat to connect together.By the deployable structure of crossing constraint mechanism and forming, have a production and processing simple, convenient control of motion, high reliability, in Aero-Space, significant and application prospect widely in the various fields such as civil engineering.
Summary of the invention
The object of the invention is to overcome the deficiency of prior art, the collapsible rod shelf structure that provide a kind of and can fold, volume after folding is little, installation is simple and rigidity is large.
In order to achieve the above object, the technical solution used in the present invention is:
The present invention is a collapsible bar frame structure, which structure comprises a plurality of four , each of said structure includes four link I, the link II, rod III, rod IV, one end of said connecting rod I the first rotating joint of the first unit and the other end fixedly connected to the second rotating joint is fixedly connected to the fourth element , the second end of the link III rotating joint at the bottom of the first unit and the other end fixedly connected with the third rotational joint is fixedly connected at the bottom of the fourth unit ; rod end of IV with the third rotation joint at the bottom of the first element and the other end fixedly connected with the fourth rotating joints fixedly connected with the bottom of the fourth unit ; rod II end of the fourth rotary joint connecting the first element and the other end fixed to said first rotating joint is fixedly connected to the fourth means ; four rotary joints of the same structure as the first unit , the first four rotary joints the same four-unit structure , each element of each rotary joint has first and second planes , said first unit in a first plane and the fourth plane of the top unit is provided with a second top rotary vice interface means in said first unit a second plane and the fourth bottom portion of the first plane with the bottom of the rotating sub- interface, said first and third rotary joints at the first plane of the first unit rotating the sub- interface at the top of the fourth plane of the top of the second unit rotation of rotating the sub- sub- interfaces on the top turn is connected to the said second and fourth rotary joints at the first unit to the second rotation of the plane of the bottom of the first sub- interface four units of the first plane of the bottom of the form at the bottom of the secondary interface rotation rotate rotating vice connected to the first and third rotating joint two rotation axes intersect at the first intersection , vice , second, fourth rotary joints two rotary axes intersect at deputy second intersection point , the first plane of symmetry by said first and third rotary joints of the two sub- axis of rotation of the plane determined by said four- bar structure on said first symmetry plane symmetry, the second plane of symmetry by the second and fourth rotary joints of the two sub- axis of rotation of the plane determined by said four- bar structure on said second symmetry plane symmetry by said first and second intersection point of the straight line determined said first symmetry plane and the second plane of symmetry intersecting lines , the structure of the four-bar linkage of each of rotary joints of equal length and adjacent to the rotation axis of the male sub- segments of equal length perpendicular is not 0 ; adjacent two four structural connection structure as follows: When a four structures first or third rotary joint structure with another four first or third rotary joints are connected, a structure of the first four one or third rotational joint of the first unit at the bottom of rotation of the second plane and the other four sub- interface, the structure at the connection point in a corresponding rotation of the first joint of the fourth unit of the bottom plane is formed at the bottom of rotation of rotating the sub- interface, and connected to said sub rotating a four- bar structure of the first or third rotational joint fourth unit rotating the first sub- interface is a bottom plane and another four structure at the connection point corresponding to a rotation of the first joint unit at the bottom of the second plane rotation form another sub- interfaces connected to the bottom of the rotation pair rotation ; when a four structures of the second or fourth rotary joints structure with another four second or fourth rotary joints are connected, one four second or fourth structure of the first unit of the rotary joints at the top of rotation of the first plane and the other four sub- interface, the structure at the connection point of the corresponding second or fourth rotating element to the second joint of the fourth rotate the top of the plane to form a sub- interface is connected to the top of the rotation pair rotation and said a four structures of the second or fourth rotating joint fourth unit at the top of the second plane rotating the sub- interfaces with the other four structures in the corresponding the connection point of the second or fourth rotary joints of the first unit at the top of rotation of the first plane to form the secondary interface connected to the top of the other revolute rotation ; in two four connections to the rotating joints , two rotary joints the axis of rotation intersects the top of the third sub- point of the bottom of the two rotary joint intersecting the axis of rotation of the fourth sub- point of the top of the third rotation symmetry plane by two sub- plane determined by the axis , said two rotary joints the third plane of symmetry about said symmetry; fourth plane of symmetry by rotating the sub- axis of the two bottom plane determined , said two rotary joints on the symmetry plane of symmetry of the fourth , said third symmetric plane and the fourth line of intersection of the plane of symmetry by the intersection of said third and fourth line determined intersection point , two four- bar structure in connection of the two rotary joints in all adjacent sub between the axes of rotation Male equal to the perpendicular length is not 0 ; in two four- bar structure of the connection of the two rotary joints at a rotating joint in a first plane of the first unit to the second plane and the fourth element to contact a rotating the first joint element and a second plane of the fourth unit with another rotary joint to a first plane in contact with another rotary joint of the fourth unit and a second plane of the first unit the other rotary joints of the first plane be in contact with another rotary joint to the first element and a second plane of the fourth rotary joint a first flat contact element .
The invention has the advantages that:
(1) body of the present invention is the folding exhibition structure with single degree of freedom, can realize the expansion of tent and fold by a driving, installation and easy to use;
(2) the present invention has larger folding exhibition ratio, and volume after folding can be reduced to minimum, is convenient to transportation;
(3) the present invention has reconfigurability, can design according to the actual requirements arbitrary volume.
Description of drawings
Fig. 1 is the formation deployable structure schematic diagram of the elementary cell four bar structures in collapsible rod shelf structure of the present invention;
Fig. 2-1 is the structural representation of the first module of the rotary joint in four bar structures shown in Figure 1;
Fig. 2-2 are the structural representation of Unit the 4th of the rotary joint in four bar structures shown in Figure 1;
Fig. 3 is the connection diagram of two four bar structures in collapsible rod shelf structure of the present invention;
The schematic diagram of the rotary-top pair of the rotary joint of two four bar structures in the collapsible rod shelf structure of the present invention of Fig. 4-1;
Fig. 4-2 are the schematic diagram of the bottom revolute of the rotary joint of two four bar structures in collapsible rod shelf structure of the present invention;
Fig. 5-1 to Fig. 5-5 connect the folding process signal of formed node structure for two four bar structures in the present invention;
Fig. 6-1 to Fig. 6-7 have Tent frame and the folding exhibition process schematic diagram thereof of both sides fulcrum for collapsible rod shelf structure of the present invention;
The process that Fig. 7-1 to Fig. 7-5 are changed to folded state by deployed condition for the cage construction of the tent of employing collapsible rod shelf structure manufacturing of the present invention;
Fig. 8, Fig. 9 show respectively have three sides, the schematic diagram of the space folding exhibition structure of tent frames that four sides support to form.
The specific embodiment
Describe the present invention below in conjunction with the drawings and specific embodiments.
The present invention is shown in a collapsible bar frame structure, which structure comprises a plurality of four , each of said four-bar linkage structure includes I7, rod II8, rod III9, rod IV10, said one end of the first rod I7 rotary joints fixedly connected to a first unit 1 and the other end of the second rotating joint 13 is fixedly connected to the fourth element , the second end of the link III9 rotating joint 14 of the first element the bottom and the other end fixedly connected to the third rotating joint at the bottom of the fourth unit 22 is fixedly connected ; rod IV10 end of the third rotary joints at the bottom of the first unit 33 and the other end fixedly connected to the fourth rotary joint the fourth unit 12 is fixedly connected to the bottom ; II8 rod end of the fourth rotating joint 11 is fixed to the first element and the other end connected to said first rotating joint is fixedly connected to the fourth unit 4 ; four rotating joints same structure as the first unit , four rotating joints same structure as the fourth unit , each of the rotary joints of each cell respectively having a first plane and the second plane , said first element in a first plane and the second the second four-unit is provided with a top plane of the top of the secondary interface rotation in said second plane of the first element and the fourth element of the first plane with the bottom of the rotating bottom of the secondary interface , in said first , three rotary joints of the first unit at the top of the rotation of the first plane and the fourth sub- unit of the interface at the top of rotation of the second plane is formed at the top of the secondary interface is connected to rotate the sub- rotate in said second and fourth rotating joints of a unit at the bottom of the second plane and the fourth unit rotating the sub- interfaces at the bottom of the first plane rotation and secondary interfaces are connected to form the bottom of the rotating vice rotation , first , three rotary joints of the two rotation axes intersect at the first intersection , deputy first two, four rotary joints of two intersecting the axis of rotation of the second sub- intersection of the first plane of symmetry by said first and third rotary joints of the two sub- axis of rotation of the plane determined , on the four- bar structure symmetry plane of symmetry of said first and second plane of symmetry by the second and fourth rotary joints of the two rotation axes determined sub- plane of the four- bar structure on said second symmetry plane symmetry, determined by the said first and second intersection point of the straight line determined by said first symmetry plane and the second plane of symmetry intersecting lines , the structure of the four-bar linkage for each rotation equal to the length and adjacent to the joint Vice axis of rotation perpendicular length equal to the public is not 0 ; adjacent two four structural connection structure as follows: When a four structures first or third rotary joint structure with another four first or the third rotary joints are connected, a four- bar structure of the first or third rotational joint of the first unit at the bottom of rotation of the second plane and the other four sub- interfaces corresponding to the connection structure of a rotary joint at the point of the fourth unit at the bottom of the first plane rotating the sub- interfaces are connected to form the bottom of the rotation and the rotation pair a four structures of the first or third rotary joint fourth unit at the bottom of the first plane rotating the sub- interfaces with the other four structure corresponding to a connection point of the first unit of the rotary joints at the bottom of the second plane rotation form another secondary interface is connected to the bottom of the rotation pair rotation ; structure when a four second or fourth rotary joints with another four the structure of the second or fourth rotary joints are connected, a four- bar structure of the second or fourth rotary joints of the first unit at the top of rotation of the first plane and the other four sub- interface, the structure of the corresponding first connection point two or fourth rotary joint fourth unit at the top of the second plane rotation to form a secondary interface is connected to the top of the rotation pair rotation and said a four structures of the second or fourth rotating joint fourth unit of the second plane rotating the sub- interface on top of the other four structures at the corresponding point of connection to the second or fourth rotary joint first unit on top of the first plane rotating the sub- interfaces on top of another deputy rotation rotation connected ; in two four rotary joints junction structure , the top two rotary joints intersect the axis of rotation of the third sub- point a, the bottom two rotary joints intersect the axis of rotation of the fourth sub- point B, the third plane of symmetry E by two the axis of rotation of the top sub- plane determined , said two rotary joints on said third plane of symmetry E symmetry; fourth bottom plane of symmetry F consisting of two sub- axis of rotation of the plane determined by said two said fourth rotary joints on the symmetry plane of symmetry F , E symmetry plane of the third and the fourth line of intersection of the plane of symmetry F by said third node a and node B is determined by the fourth line , the two four- bar structure of the two rotary joints connections of all the sub- axis of rotation between adjacent vertical length of the male equivalent is not 0 ; when the two four- bar structure of the connection of the two rotary joints is expanded the steady state , the two four- bar structure of the connection of the two rotary joints at a rotating joint in a first plane of the first unit and the fourth unit with access to the second plane , the first element of a rotary joint the second plane and the fourth unit with another rotary joint to a first plane in contact with another rotary joint of the fourth unit and a second plane of the first unit the other rotary joints can touch a first plane , the other rotary joint to the first cell with a second plane of the fourth rotary joint a first flat contact element .
The below is described in detail the present invention in conjunction with each width figure again:
Each four bar structure of described bridge structure of the present invention as shown in Figure 1, comprise connecting rod I7, connecting rod II8, connecting rod III9, connecting rod IV10, the end of described connecting rod I7 is fixedly connected with the first module 1 of the first rotary joint J and its other end is fixedly connected with the 4th unit 13 of the second rotary joint N, and the end of connecting rod III9 is fixedly connected with the bottom of the first module 14 of the second rotary joint N and its other end is fixedly connected with the bottom of the 4th unit 22 of the 3rd rotary joint K; The end of connecting rod IV10 is fixedly connected with the bottom of the first module 33 of the 3rd rotary joint K and its other end is fixedly connected with 12 bottoms, Unit the 4th of the 4th rotary joint M; Connecting rod II8 one end is fixedly connected with the first module 11 of the 4th rotary joint M and its other end is fixedly connected with the 4th unit 4 of described the first rotary joint J.
The structure of the first module of described four rotary joints is identical, as shown in Fig. 2-1, comprise first module the first plane 1-1 and first module the second plane 1-2, be provided with the revolute interface at described first module the first 1-1 top, plane, be provided with the revolute interface in described first module the second planar base; The structure of Unit the 4th of described four rotary joints is identical, as shown in Fig. 2-2, comprise the 4th unit the first plane 2-1 and the 4th unit the second plane 2-2, be provided with the revolute interface bottom described the 4th unit the first plane 2-1, be provided with the revolute interface at the second 2-2 top, plane, described Unit the 4th.
As shown in Figure 1, the connected mode of described four bar structures is: be rotatedly connected in the secondary interface of rotary-top of the first plane 1-1 of described the first rotary joint J place first module 1 rotary-top pair interface formation rotary-top pair with described the first rotary joint J the 4th unit 4 second plane 2-2 of place; Forming the bottom revolute at the bottom revolute interface of the bottom revolute interface of the first plane 2-1 of the 4th unit 13, described the second rotary joint N place and described the second rotary joint N first module 14 second plane 1-2 of place is rotatedly connected; Be rotatedly connected in the secondary interface of rotary-top of the first plane 1-1 of described the 3rd rotary joint K place first module 33 rotary-top pair interface formation rotary-top pair with described the 3rd rotary joint K the 4th unit 22 second plane 2-2 of place; Forming the bottom revolute at the bottom revolute interface of the bottom revolute interface of the first plane 2-1 of the 4th unit 12, described the 4th rotary joint M place and described the 4th rotary joint M first module 11 second plane 1-2 of place is rotatedly connected.Two revolute axis L14, the L22 of described the first rotary joint J, the 3rd rotary joint K intersect at the first intersection point C, and two revolute axis L44, the L33 of the second rotary joint N, the 4th rotary joint M intersect at the second intersection point D.The first symmetrical plane G is two planes that the revolute axis determines by described the first rotary joint J, the 3rd rotary joint K, and described four bar structures are symmetrical about described the first symmetrical plane G; The second symmetrical plane is two planes that the revolute axis determines by the second rotary joint N, the 4th rotary joint M, and described four bar structures are symmetrical about described the second symmetrical plane H; The straight line that is determined by described the first intersection point C, the second intersection point D is the intersection of described the first symmetrical plane G and the second symmetrical plane H, the common vertical line segment length of the revolute axis of the equal in length and adjacent rotary joint of each connecting rod in described four bar structures equates and is not 0, and namely L14 and L44, L44 and L22, L22 and L33, L33 all equate with common vertical line segment length between L14.
take the first rotary joint J place as example, as shown in Figure 3, the syndeton of two adjacent four bar structures is: as the first rotary joint of four bar structure JNKM and the first rotary joint (5 in figure of another four bars structure, 6 are respectively the 4th unit 2 with this rotary joint, the connecting rod that first module 3 is connected) when being connected, formed node structure such as Fig. 4-1, shown in Fig. 4-2, its detailed construction is: the bottom revolute interface of the first plane 2-1 of the 4th unit 2 of the bottom revolute interface of the second plane 1-2 of the first module 1 of the first rotary joint J of four bar structure JNKM and the first rotary joint of another four bars structure forms the bottom revolute pair and is rotatedly connected, and the bottom revolute interface of the second plane 1-2 of the first module 3 of the bottom revolute interface of the first plane 2-1 of the 4th unit 4 of the first rotary joint J of described four bar structure JNKM and first rotary joint of another four bars structure forms another bottom revolute pair and is rotatedly connected.rotary joint junction in described two four bar structures, rotary-top secondary axis L14, the L23 of two rotary joints intersect at thirdly A, bottom revolute axis L12, the L34 of two rotary joints intersect at the 4th B, the plane of the 3rd symmetrical plane E for being determined by two rotary-top secondary axis L14, L23, the node structure of described two four bar structure junction formation is symmetrical about described the 3rd symmetrical plane E, the 4th symmetrical plane F is by two bottom revolute axis L12, the plane that L34 determines, the node structure of described two four bar structure junction formation is symmetrical about described the 4th symmetrical plane F, the intersection of described the 3rd symmetrical plane E and the 4th symmetrical plane F is by described the 3rd intersection point A and the determined straight line of the 4th intersection points B, common vertical line segment length between all the adjacent revolute axis in two rotary joints of two four bar structure junctions equates and is not 0, be L14 and L12, L12 and L23, L23 and L34, L34 all equates with common vertical line segment length between L14.Mode when the 3rd rotary joint of four bar structures is connected with the 3rd rotary joint of another four bars structure is in full accord with the mode that the first rotary joint of another four bars structure is connected with the first rotary joint of described four bar structures.and when the second or the 4th rotary joint of four bar structures is connected with the second or the 4th rotary joint of another four bars structure, the secondary interface of the rotary-top on the first plane of the first module of second or the 4th rotary joint of four bar structures and another four bars structure form that a top revolute pair is rotatedly connected and the secondary interface of the rotary-top on the second plane of Unit the 4th of the second or the 4th rotary joint of described four bar structures forms another top revolute pair with the rotary-top pair interface of another four bars structure on the first plane of the first module of second or the 4th rotary joint at corresponding tie point place and is rotatedly connected at the secondary interface of the rotary-top on the second plane of Unit the 4th of the second or the 4th rotary joint at corresponding tie point place, formed node structure and Fig. 4-1, node structure shown in Fig. 4-2 is in full accord.Because the first rotary joint and the 3rd rotary joint of described four bar structures are identical, and the structure of the second rotary joint and the 4th rotary joint is identical, therefore when two four bar structures are connected, the first rotary joint of four bar structures can be connected according to three rotary joint of described method of attachment with another four bars structure equally, and the second rotary joint of four bar structures can be connected according to four rotary joint of described method of attachment with another four bars structure equally.
Described two four bar structures connect formed node structure under described constraints, have one degree of freedom and two stable states, Fig. 5-1 to Fig. 5-5 show the process that transforms to another stable state along the diagram arrow direction by driving described first module 1, and formed another stable state is as shown in Fig. 5-4.Fig. 5-5 are depicted as another view of described another stable state, show symmetrical plane under this stable state and the situation of change of each revolute.stable state shown in Fig. 5-1 is the deployed condition of node structure, when deployed condition, the first plane of the first module 1 of a rotary joint in two rotary joints of the junction of two four bar structures can contact with the second plane of the 4th unit 4, the second plane of the first module 1 of a rotary joint can contact with the first plane of the 4th unit 2 of another rotary joint, the second plane of the 4th unit 2 of another rotary joint can contact with the first plane of the first module 3 of another rotary joint, the second plane of the first module 3 of another rotary joint can with the first plane contact of the 4th unit 4 of a rotary joint.Stable state shown in Fig. 5-4 is the folded state of node structure.
Utilize described four bar structures and the described four interstructural connected modes of bar, can consist of the deployable structure with certain area, the deployable structure area that forms determined by the length of the number of described four bar structures and each connecting rod.Fig. 6-1 shows a stable state of described deployable structure, i.e. the deployed condition of space folding exhibition structure.Described deployable structure has one degree of freedom, can realize the folding exhibition motion of large ratio, Fig. 6-1 to Fig. 6-7 show the folding process of described space folding exhibition structure, finally reach another stable state of described space folding exhibition structure, be folded state, as shown in Fig. 6-6 and 6-7.Described space folding exhibition structure can be used as the cage construction on tent top, the perhaps sandwich on building top.
On the basis of described space folding exhibition structure, can on described space folding exhibition structure, the not support more than three and three of conllinear be set according to the actual requirements, form the foldable tent cage construction.Fig. 7-1 shows in the left and right sides of described space folding exhibition structure increases by 4 support tent frames structures that form, and arbitrary four bar structures that the connecting rod that increases and node form as four bar structure PQRS, have and the four on all four constraintss of bar structure JNMK.Like this, formed described foldable tent cage construction equally only has one degree of freedom, two stable states; Fig. 7-1 is depicted as the deployed condition of described tent frames, and Fig. 7-1 to Fig. 7-5 show described tent frames structure by the process of deployed condition to the folded state conversion, and Fig. 7-5 show the folded state of described tent frames structure.Increase covering on described tent frames architecture basics, can form the tent with former and later two.
Three sides, four sides that Fig. 8, Fig. 9 show respectively in described space folding exhibition structure increase the situation that supports formation tent frames structure, and the tent frames structure shown in its principle and performance and Fig. 7-1 is similar, does not repeat them here.
As long as it is pointed out that described elementary cell of the present invention and described four bar structures satisfy described constraints, can reach folding of the present invention exhibition effect, and with the unit that forms elementary cell and to form the connecting rod shape of four bar structures irrelevant.
Because tent structure proposed by the invention has the single degree of freedom, and folding exhibition ratio is large, therefore has advantages of the aspects such as installation is simple, easy to operate, be easy to transport, and therefore is particularly suited for using in the fields such as rescue and relief work.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited to this.So; if those skilled in the art is enlightened by it; in the situation that do not break away from the invention aim; adopt part configuration, drive unit and the connected mode of other form without creationary setting frame mode and the embodiment similar to this technical scheme, all should belong to protection scope of the present invention.
Claims (1)
1. collapsible rod shelf structure, it is characterized in that: it comprises a plurality of four bar structures, each described four bar structure comprises connecting rod I, connecting rod II, connecting rod III, connecting rod IV, the end of described connecting rod I is fixedly connected with the first module of the first rotary joint and its other end is fixedly connected with Unit the 4th of the second rotary joint, and the end of connecting rod III is fixedly connected with the bottom of the first module of the second rotary joint and its other end is fixedly connected with the bottom of Unit the 4th of the 3rd rotary joint, the end of connecting rod IV is fixedly connected with the bottom of the first module of the 3rd rotary joint and its other end is fixedly connected with the 4th unit bottom of the 4th rotary joint, connecting rod II mono-end is fixedly connected with the first module of the 4th rotary joint and its other end is fixedly connected with Unit the 4th of described the first rotary joint, the structure of the first module of four rotary joints is identical, the structure of Unit the 4th of four rotary joints is identical, each unit of each rotary joint has respectively the first plane and the second plane, on the first plane of described first module and the top on the second plane of Unit the 4th be provided with the secondary interface of rotary-top, on the second plane of described first module and the bottom on the first plane of Unit the 4th be provided with bottom revolute interface, described first, the secondary interface of rotary-top on the second plane of the secondary interface of the rotary-top on the first plane of the first module at three rotary joint places and Unit the 4th forms the rotary-top pair and is rotatedly connected, described second, the bottom revolute interface on the bottom revolute interface on the second plane of the first module at four rotary joint places and the first plane of Unit the 4th forms the bottom revolute and is rotatedly connected, first, two revolute axis of three rotary joints intersect at the first intersection point, second, two revolute axis of four rotary joints intersect at the second intersection point, the first symmetrical plane is by described first, two planes that the revolute axis determines of three rotary joints, described four bar structures are about described the first symmetrical plane symmetry, the second symmetrical plane is by second, two planes that the revolute axis determines of four rotary joints, described four bar structures are about described the second symmetrical plane symmetry, by described first, the straight line that the second intersection point determines is the intersection of described the first symmetrical plane and the second symmetrical plane, the common vertical line segment length of the revolute axis of the equal in length and adjacent rotary joint of each connecting rod in described four bar structures equates and is not 0, Two adjacent four structural connection structure as follows: When a four structures first or third rotary joint with another four structures of the first or third rotary joints are connected, a four structures first or third rotating joint of the second planar first unit rotating the sub- interface at the bottom of the other four structural connection point in a corresponding rotation of the first joint of the fourth unit rotation of the plane of the bottom of the sub- sub- interfaces on the bottom of the rotation connected to one of said rotating and four of the first or third structure of the fourth rotary joint unit rotation of the first plane at the bottom with the other four sub- interfaces corresponding to the connection structure of a rotating joint at the point of the first element rotate the bottom of the second plane to form another sub- interfaces connected to the bottom of the rotation pair rotation ; when a four structures of the second or fourth rotary joints with another four structures of the second or fourth rotary joints are connected, a four the second rod structure or fourth rotary joints of the first unit at the top of rotation of the first plane and the other four sub- interface, the structure at the connection point of the corresponding second or fourth rotating joint fourth unit a second plane rotate the top of the formation of a secondary interface is connected to the top of the rotation pair rotation and said a four structures of the second or fourth rotating joint fourth unit at the top of the second plane rotating the sub- interfaces with the other four structures in the corresponding connection point of the second or fourth rotary joint first unit on top of the first plane rotating the sub- interfaces on top of another deputy turn connected to the rotating； rotary joint junction on two four bar structures, the rotary-top secondary axis of two rotary joints intersects at thirdly, the bottom revolute axis of two rotary joints intersects at the 4th point, the plane of the 3rd symmetrical plane for being determined by two rotary-top secondary axises, described two rotary joints are about described the 3rd symmetrical plane symmetry, the plane of the 4th symmetrical plane for being determined by two bottom revolute axis, described two rotary joints are about described the 4th symmetrical plane symmetry, the intersection of described the 3rd symmetrical plane and the 4th symmetrical plane is by described the 3rd intersection point and the determined straight line of the 4th intersection point, owning that common vertical line segment length between adjacent revolute axis equates and be not 0 in two rotary joints of two four bar structure junctions, the second plane of the first Yu Disi unit, plane of the first module of a rotary joint in two rotary joints of the junction of two four bar structures can contact, the second plane of the first module of a rotary joint can contact with the first plane of Unit the 4th of another rotary joint, the second plane of Unit the 4th of another rotary joint can contact with the first plane of the first module of another rotary joint, the second plane of the first module of another rotary joint can with the first plane contact of Unit the 4th of a rotary joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310050611.2A CN103089063B (en) | 2013-02-07 | 2013-02-07 | Foldable bar frame structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310050611.2A CN103089063B (en) | 2013-02-07 | 2013-02-07 | Foldable bar frame structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103089063A true CN103089063A (en) | 2013-05-08 |
| CN103089063B CN103089063B (en) | 2015-01-14 |
Family
ID=48202149
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310050611.2A Expired - Fee Related CN103089063B (en) | 2013-02-07 | 2013-02-07 | Foldable bar frame structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103089063B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103342166A (en) * | 2013-07-03 | 2013-10-09 | 北京交通大学 | Unidirection folding transformation mechanism |
| CN103469893A (en) * | 2013-09-24 | 2013-12-25 | 北京交通大学 | Folding cube |
| CN103985304A (en) * | 2014-05-20 | 2014-08-13 | 天津大学 | Folding type six-rod mechanism |
| CN108336470A (en) * | 2018-02-28 | 2018-07-27 | 哈尔滨工业大学 | The basic unfolding mechanism opened up unit and be made of the unit based on Bennett mechanisms |
| CN111186175A (en) * | 2020-01-21 | 2020-05-22 | 东南大学 | Foldable membrane rod structure |
| JPWO2021064885A1 (en) * | 2019-10-02 | 2021-04-08 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4077418A (en) * | 1976-07-12 | 1978-03-07 | Wilfred Cohen | Quickly erected back pack tent |
| JP2004027803A (en) * | 2002-06-25 | 2004-01-29 | Yuji Morinobu | Folding tent |
| CN201121434Y (en) * | 2007-10-30 | 2008-09-24 | 李成熙 | Folding type tent frame capable of automatically expanding |
| CN201474365U (en) * | 2009-06-04 | 2010-05-19 | 秋野地(厦门)露营用品有限公司 | Foldable tent structure |
| WO2011131061A1 (en) * | 2010-04-23 | 2011-10-27 | Luo Laixiao | Combined foldable tent |
-
2013
- 2013-02-07 CN CN201310050611.2A patent/CN103089063B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4077418A (en) * | 1976-07-12 | 1978-03-07 | Wilfred Cohen | Quickly erected back pack tent |
| JP2004027803A (en) * | 2002-06-25 | 2004-01-29 | Yuji Morinobu | Folding tent |
| CN201121434Y (en) * | 2007-10-30 | 2008-09-24 | 李成熙 | Folding type tent frame capable of automatically expanding |
| CN201474365U (en) * | 2009-06-04 | 2010-05-19 | 秋野地(厦门)露营用品有限公司 | Foldable tent structure |
| WO2011131061A1 (en) * | 2010-04-23 | 2011-10-27 | Luo Laixiao | Combined foldable tent |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103342166A (en) * | 2013-07-03 | 2013-10-09 | 北京交通大学 | Unidirection folding transformation mechanism |
| CN103469893A (en) * | 2013-09-24 | 2013-12-25 | 北京交通大学 | Folding cube |
| CN103469893B (en) * | 2013-09-24 | 2016-08-10 | 北京交通大学 | A kind of folding cube |
| CN103985304A (en) * | 2014-05-20 | 2014-08-13 | 天津大学 | Folding type six-rod mechanism |
| CN108336470A (en) * | 2018-02-28 | 2018-07-27 | 哈尔滨工业大学 | The basic unfolding mechanism opened up unit and be made of the unit based on Bennett mechanisms |
| JPWO2021064885A1 (en) * | 2019-10-02 | 2021-04-08 | ||
| JP7212412B2 (en) | 2019-10-02 | 2023-01-25 | 株式会社Outsense | Deployable structure |
| CN111186175A (en) * | 2020-01-21 | 2020-05-22 | 东南大学 | Foldable membrane rod structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103089063B (en) | 2015-01-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103089063A (en) | Foldable bar frame structure | |
| CN107331939B (en) | Scissor-type hexagonal prisms can open up the space development agency of unit and its composition | |
| CN103015531B (en) | Foldable tubular structure with rigidity freedom degree | |
| CN105799950B (en) | Single-degree-of-freedom Planar Mechanisms scissors can open up the space development agency of unit and its composition | |
| CN110919690B (en) | Multi freedom paper folding joint structure | |
| CN105397800B (en) | Asymmetric two-freedom moves multi-ring coupling mechanism | |
| CN106364701B (en) | Telescopic tetrahedral structure | |
| CN111186175B (en) | Foldable membrane rod structure | |
| CN104992729B (en) | The flexible varistructure of one species square shape | |
| CN106450647A (en) | Shears-fork type hexagonal-prism extensible unit and space extensible mechanism formed by the same | |
| CN105881509B (en) | Symmetrical coupled mechanism is superimposed with the mobile double positive tetrahedrons of single-degree-of-freedom | |
| CN105756192B (en) | A kind of foldable cylindrical reticulated shell structure | |
| CN108518407B (en) | Symmetric foldable and unfoldable thick plate structure | |
| CN106078680A (en) | A kind of telescopic quadrangular frame structure | |
| CN106078681A (en) | A kind of telescopic six prism frame structure | |
| CN106284803B (en) | A kind of deployable cylindrical reticulated shell structure folding unit with four pieces of rigid plates | |
| CN108502212B (en) | Flat plate structure with large folding-unfolding ratio | |
| CN108443308B (en) | Foldable thick plate box structure | |
| CN106639464B (en) | A kind of end has the buckling induction support of oblique screw type induction unit | |
| CN202716269U (en) | Reconfigurable metamorphic polyhedron robot mechanism | |
| CN105888071B (en) | A kind of foldable cylinder membrane structure with rigid bracing | |
| CN106337523A (en) | Expandable column surface reticulated shell with foldable rigid roof plate | |
| CN106760009B (en) | A kind of casing buckling induction support with circumferential pineapple type induction unit | |
| CN208376122U (en) | A kind of paper folding distressed structure with bistable characteristic | |
| CN112609899A (en) | Rigid paper folding structure with special shape inside and outside |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150114 Termination date: 20210207 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |