CN103342166A - Unidirection folding transformation mechanism - Google Patents
Unidirection folding transformation mechanism Download PDFInfo
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- CN103342166A CN103342166A CN2013102761214A CN201310276121A CN103342166A CN 103342166 A CN103342166 A CN 103342166A CN 2013102761214 A CN2013102761214 A CN 2013102761214A CN 201310276121 A CN201310276121 A CN 201310276121A CN 103342166 A CN103342166 A CN 103342166A
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Abstract
The invention discloses a unidirection folding transformation mechanism. The unidirection folding transformation mechanism is composed of three rod groups I (A), three rod groups II (B), three rod groups III (C), three middle long shafts (1) and three long shafts (2), wherein the rod groups I (A) are composed of first connecting rods (4) and second connecting rods (5); the rod groups II (B) are composed of first connecting rods (4) and third connecting rods (6), and the rod groups III (C) are composed of third connecting rods (6) and fourth connecting rods (7); the head ends of the first connecting rods (4) and the fourth connecting rods (7) are provided with through holes a, and the position anticlockwise 55 degree direction of the tail ends of the first connecting rods (4) and the fourth connecting rods (7) and the axes of the through holes can form is provided with through holes b; the head ends of the second connecting rods (5) and the third connecting rods (6) are provided with through holes a, and the position, anticlockwise 55-degree direction of the tail ends of the second connecting rods (5) and the third connecting rods (6) and the axes of the through holes can form is provided with through holes b; the two ends of the rod groups I (A) and the rod groups II (B) are respectively connected with the other rod groups through the middle long shafts and the long shafts, and the two ends of the rod groups III (C) are connected with the other rod groups through the long shafts. The unidirection folding transformation mechanism provided by the invention can realize the interconversion of a plane triangle and a space tetrahedron.
Description
Technical field
The present invention relates to a kind of fold mechanism.Be specifically related to a kind of single degree of freedom folded deformation mechanism, realize the mutual conversion between plane triangle and space tetrahedron.
Background technology
Fold mechanism self has large-scale geometric distortion ability, and mechanism's geometric distortion can be the change of spatial volume, also can be the change of outward appearance geometric configuration.Because fold mechanism is easy to deposit, transportation and modularization, make it in space and architectural design, have very high practicality and economy, more be subjected to extensive attention because of attractive in appearance when very strong deformability and distortion.Germany Fei Situo company is applied to a kind of course of new aircraft with a kind of single degree of freedom six-bar mechanism by the folded deformation function.Hoberman utilizes scissor unit for scaling to construct space annular scaling device, and it is designed to form deformation toy and building decoration.
Summary of the invention
The present invention will be with regard to the technical matters that solves: folded deformation mechanism can only planar carry out conversion mostly or can only carry out conversion in the space.
Technical scheme of the present invention: single degree of freedom folded deformation mechanism comprises three bar group I, three bar group II, three bar group III, three middle major axis and three major axis.
Each bar group comprises two pipe links and a minor axis, and the head end of head rod and the 4th pipe link is provided with through hole a, and end becomes the direction place of 55 ° of conter clockwises to be provided with through hole b with through hole a axis; The head end of second pipe link and the 3rd pipe link is provided with through hole a, and end becomes the direction place of 55 ° of cws to be provided with through hole b with through hole a axis.Minor axis passes the through hole b of first pipe link and the through hole b of second pipe link, carries out axial restraint with jump ring, makes and forms a revolute pair between two pipe links.
Form in nine bar groups of single degree of freedom folded deformation mechanism, the through hole a at six bar group two ends links to each other with other bar groups with major axis by middle major axis respectively, and the through hole a at three bar group two ends links to each other with other bar groups by major axis.
Three middle major axis pass two through hole a on the bar group, carry out axial restraint with jump ring, make and form a revolute pair between two bar groups;
Three major axis pass four through hole a on the bar group, carry out axial restraint with jump ring, make and form a revolute pair between two bar groups.
Beneficial effect of the present invention: single degree of freedom folded deformation of the present invention mechanism, by having only the folded deformation action of one degree of freedom, realize the mutual conversion between plane triangle and the space tetrahedron.And interfere by the rod member that the design of rod member mechanism has been eliminated in the deformed movement process.This mechanism structure is simple, and is with low cost, is easy to make and Project Realization.Can be used as teaching mould and be applied to education experiment, also can be used as the space development agency and be applied to build roof etc.
Description of drawings
The whole graphics of Fig. 1 single degree of freedom folded deformation mechanism
The bar group I graphics of Fig. 2 single degree of freedom folded deformation mechanism
The bar group II graphics of Fig. 3 single degree of freedom folded deformation mechanism
The bar group III graphics of Fig. 4 single degree of freedom folded deformation mechanism
Major axis connects the subssembly drawing of four pipe links under Fig. 5 single degree of freedom folded deformation mechanism plane triangle state
Major axis connects the subssembly drawing of four pipe links under Fig. 6 single degree of freedom folded deformation mechanism space tetrahedron state
The graphics of Fig. 7 head rod
The graphics of Fig. 8 second pipe link
The graphics of Fig. 9 the 3rd pipe link
The graphics of Figure 10 the 4th pipe link
Figure 11 (a), Figure 11 (b), Figure 11 (c), Figure 11 (d), Figure 11 (e) are the deformation process figure of single degree of freedom folded deformation mechanism
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further details.
Single degree of freedom folded deformation mechanism comprises three bar group I (A), three bar group II (B), three bar group III (C), three middle major axis (1) and three major axis (2) as shown in Figure 1.
Embodiments of the present invention:
As shown in Figure 7, the head end of head rod (4) is provided with through hole a, and end is gone up through hole a axis with head rod (4) and become the anticlockwise direction place to be provided with through hole b; As shown in Figure 8, the head end of second pipe link (5) is provided with through hole a, and end is gone up through hole a axis with second pipe link (5) and become the clockwise direction place to be provided with through hole b; As shown in Figure 9, the head end of the 3rd pipe link (6) is provided with through hole a, and end is gone up through hole a axis with the 3rd pipe link (6) and become the clockwise direction place to be provided with through hole b; As shown in figure 10, the head end of the 4th pipe link (7) is provided with through hole a, and end is gone up through hole a axis with the 4th pipe link (7) and become the anticlockwise direction place to be provided with through hole b.Head rod (4) is gone up distance between through hole a and through hole b and angle, second pipe link (5), and to go up on distance between through hole a and through hole b and angle, the 3rd pipe link (6) on the distance between through hole a and through hole b and angle and the 4th pipe link (7) distance and the angle between through hole a and through hole b identical.
As shown in Figure 2, bar group I (A) comprises head rod (4), second pipe link (5) and minor axis (3), minor axis (3) passes the through hole b of head rod (4) and the through hole b of second pipe link (5), carry out axial restraint with jump ring, make and form a revolute pair between head rod (4) and second pipe link (5);
As shown in Figure 3, bar group II (B) comprises head rod (4), the 3rd pipe link (6) and minor axis (3), minor axis (3) passes the through hole b of the 3rd pipe link (6) and the through hole b of head rod (4), carry out axial restraint with jump ring, make and form a revolute pair between the 3rd pipe link (6) and head rod (4);
As shown in Figure 4, bar group III (C) comprises the 3rd pipe link (6), the 4th pipe link (7) and minor axis (3), minor axis (3) passes the through hole b of the 4th pipe link (7) and the through hole b of the 3rd pipe link (6), carry out axial restraint with jump ring, make and form a revolute pair between the 4th pipe link (7) and the 3rd pipe link (6).
As shown in Figure 1, major axis in first (1) passes the through hole a on the 3rd pipe link (6) of first bar group II (B), with the through hole a on the head rod (4) of first bar group I (A), carry out axial restraint with jump ring, make between the 3rd pipe link (6) and head rod (4) and form revolute pair;
Second middle major axis (1) passes the through hole a on the 3rd pipe link (6) of second bar group II (B), with the through hole a on the head rod (4) of second bar group I (A), carry out axial restraint with jump ring, make between the 3rd pipe link (6) and head rod (4) and form revolute pair;
The 3rd middle major axis (1) passes the through hole a on the 3rd pipe link (6) of the 3rd bar group II (B), with the through hole a on the head rod (4) of the 3rd bar group I (A), carry out axial restraint with jump ring, make between the 3rd pipe link (6) and head rod (4) and form revolute pair;
As shown in Figure 5 and Figure 6, first major axis (2) passes the through hole a on second pipe link (5) of first bar group I (A) successively, through hole a on the 3rd pipe link (6) of first bar group III (C), through hole a on through hole a on the head rod (4) of second bar group II (B) and the 4th pipe link (7) of second bar group III (C), carry out axial restraint with jump ring, make between second pipe link (5), the 3rd pipe link (6), head rod (4) and the 4th pipe link (7) and form revolute pair;
Second major axis (2) passes the through hole a on second pipe link (5) of second bar group I (A) successively, through hole a on the 3rd pipe link (6) of the 3rd bar group III (C), through hole a on through hole a on the head rod (4) of the 3rd bar group II (B) and the 4th pipe link (7) of first bar group III (C), carry out axial restraint with jump ring, make between second pipe link (5), the 3rd pipe link (6), head rod (4) and the 4th pipe link (7) and form revolute pair;
The 3rd major axis (2) passes the through hole a on second pipe link (5) of the 3rd bar group I (A) successively, through hole a on the 3rd pipe link (6) of second bar group III (C), through hole a on through hole a on the head rod (4) of first bar group II (B) and the 4th pipe link (7) of the 3rd bar group III (C), carry out axial restraint with jump ring, make between second pipe link (5), the 3rd pipe link (6), head rod (4) and the 4th pipe link (7) and form revolute pair.
As Fig. 7 to shown in Figure 10, described head rod (4) go up through hole a and angle, second pipe link (5) between through hole b go up angle between through hole a and through hole b, the 3rd pipe link (6) upward the angle between through hole a and through hole b and the 4th pipe link (7) upward the angle between through hole a and through hole b all be about 55 °.
Described head rod (4), the left side of head rod (4) head end is arc surface, the right side of head rod (4) head end is the plane, front side and head rod (4) side end face of head rod (4) end are coplanar, and the side end face of head rod (4) is in the right side of head rod (4).
Described second pipe link (5), the right side of second pipe link (5) head end is arc surface, the left side of second pipe link (5) head end is the plane, the distance of front side to the second pipe link (5) side end face that second pipe link (5) is terminal is identical with the thickness of second pipe link (5) end, and the side end face of second pipe link (5) is in the left side of second pipe link (5).
Described the 3rd pipe link (6), the right side of the 3rd pipe link (6) head end is arc surface, the left side of the 3rd pipe link (6) head end is the plane, the distance of front side to the three pipe links (6) side end face that the 3rd pipe link (6) is terminal is identical with the thickness of the 3rd pipe link (6) end, and the side end face of the 3rd pipe link (6) is in the left side of the 3rd pipe link (6).
Described the 4th pipe link (7), the left side of the 4th pipe link (7) head end is arc surface, the right side of the 4th pipe link (7) head end is the plane, front side and the 4th pipe link (7) side end face of the 4th pipe link (7) end are coplanar, and the side end face of the 4th pipe link (7) is in the right side of the 4th pipe link (7).
The thickness of first to fourth pipe link (4,5,6,7) end is identical.The thickness summation of first to fourth pipe link (4,5,6,7) head end equates with the distance of the last front end face of first to fourth pipe link (4,5,6,7) to aft end face.When major axis (2) connected first to fourth pipe link (4,5,6,7), the front end face of first to fourth pipe link (4,5,6,7) was towards identical.
Concrete using method:
Single degree of freedom folded deformation mechanism can realize that triangle is to tetrahedral geometric transformation.Selecting two connecting rods with the relation of relatively rotating to carry out manual drives, is example with the first connecting rod (4) in the bar group I (A) and second connecting rod (5), shown in Figure 11 (a), is the free folded deformation of list mechanism initial position, and profile is a triangle; Manually first connecting rod (4) and second connecting rod (5) make first connecting rod (4) rotate counterclockwise with respect to second connecting rod (5), shown in Figure 11 (b); Continue to make first connecting rod (4) to rotate counterclockwise the folded deformation process that realizes Figure 11 (c) and Figure 11 (d) with respect to second connecting rod (5), finally reach the tetrahedron profile shown in Figure 11 (e).
Rotate rod member round about, can realize that just tetrahedron is to the process of triangle conversion.
Claims (3)
1. single degree of freedom folded deformation mechanism, it is characterized in that: single degree of freedom folded deformation mechanism comprises three bar group I (A), three bar group II (B), three bar group III (C), three middle major axis (1) and three major axis (2);
Bar group I (A) comprises head rod (4), second pipe link (5) and minor axis (3), the head end of head rod (4) is provided with through hole a, end is gone up through hole a axis with head rod (4) and is become the anticlockwise direction place to be provided with through hole b, the head end of second pipe link (5) is provided with through hole a, end is gone up through hole a axis with second pipe link (5) and is become the clockwise direction place to be provided with through hole b, minor axis (3) passes the through hole b of head rod (4) and the through hole b of second pipe link (5), carry out axial restraint with jump ring, make and form a revolute pair between head rod (4) and second pipe link (5);
Bar group II (B) comprises head rod (4), the 3rd pipe link (6) and minor axis (3), the head end of the 3rd pipe link (6) is provided with through hole a, end is gone up through hole a axis with the 3rd pipe link (6) and is become the clockwise direction place to be provided with through hole b, minor axis (3) passes the through hole b of the 3rd pipe link (6) and the through hole b of head rod (4), carry out axial restraint with jump ring, make and form a revolute pair between the 3rd pipe link (6) and head rod (4);
Bar group III (C) comprises the 3rd pipe link (6), the 4th pipe link (7) and minor axis (3), the head end of the 4th pipe link (7) is provided with through hole a, end is gone up through hole a axis with the 4th pipe link (7) and is become the anticlockwise direction place to be provided with through hole b, minor axis (3) passes the through hole b of the 4th pipe link (7) and the through hole b of the 3rd pipe link (6), carry out axial restraint with jump ring, make and form a revolute pair between the 4th pipe link (7) and the 3rd pipe link (6);
Head rod (4) is gone up distance between through hole a and through hole b and angle, second pipe link (5), and to go up on distance between through hole a and through hole b and angle, the 3rd pipe link (6) on the distance between through hole a and through hole b and angle and the 4th pipe link (7) distance and the angle between through hole a and through hole b identical;
Major axis in first (1) passes the through hole a on the 3rd pipe link (6) of first bar group II (B), with the through hole a on the head rod (4) of first bar group I (A), carry out axial restraint with jump ring, make between the 3rd pipe link (6) and head rod (4) and form revolute pair;
Second middle major axis (1) passes the through hole a on the 3rd pipe link (6) of second bar group II (B), with the through hole a on the head rod (4) of second bar group I (A), carry out axial restraint with jump ring, make between the 3rd pipe link (6) and head rod (4) and form revolute pair;
The 3rd middle major axis (1) passes the through hole a on the 3rd pipe link (6) of the 3rd bar group II (B), with the through hole a on the head rod (4) of the 3rd bar group I (A), carry out axial restraint with jump ring, make between the 3rd pipe link (6) and head rod (4) and form revolute pair;
First major axis (2) passes the through hole a on second pipe link (5) of first bar group I (A) successively, through hole a on the 3rd pipe link (6) of first bar group III (C), through hole a on through hole a on the head rod (4) of second bar group II (B) and the 4th pipe link (7) of second bar group III (C), carry out axial restraint with jump ring, make between second pipe link (5), the 3rd pipe link (6), head rod (4) and the 4th pipe link (7) and form revolute pair;
Second major axis (2) passes the through hole a on second pipe link (5) of second bar group I (A) successively, through hole a on the 3rd pipe link (6) of the 3rd bar group III (C), through hole a on through hole a on the head rod (4) of the 3rd bar group II (B) and the 4th pipe link (7) of first bar group III (C), carry out axial restraint with jump ring, make between second pipe link (5), the 3rd pipe link (6), head rod (4) and the 4th pipe link (7) and form revolute pair;
The 3rd major axis (2) passes the through hole a on second pipe link (5) of the 3rd bar group I (A) successively, through hole a on the 3rd pipe link (6) of second bar group III (C), through hole a on through hole a on the head rod (4) of first bar group II (B) and the 4th pipe link (7) of the 3rd bar group III (C), carry out axial restraint with jump ring, make between second pipe link (5), the 3rd pipe link (6), head rod (4) and the 4th pipe link (7) and form revolute pair.
2. single degree of freedom folded deformation according to claim 1 mechanism is characterized in that:
Described head rod (4) is gone up through hole a and angle, second pipe link (5) between through hole b and is gone up that the angle between through hole a and through hole b all is about 55 ° on the angle between through hole a and through hole b on angle between through hole a and through hole b, the 3rd pipe link (6) and the 4th pipe link (7).
3. single degree of freedom folded deformation according to claim 1 mechanism is characterized in that:
Described head rod (4), the left side of head rod (4) head end is arc surface, the right side of head rod (4) head end is the plane, front side and head rod (4) side end face of head rod (4) end are coplanar, and the side end face of head rod (4) is in the right side of head rod (4);
Described second pipe link (5), the right side of second pipe link (5) head end is arc surface, the left side of second pipe link (5) head end is the plane, the distance of front side to the second pipe link (5) side end face that second pipe link (5) is terminal is identical with the thickness of second pipe link (5) end, and the side end face of second pipe link (5) is in the left side of second pipe link (5);
Described the 3rd pipe link (6), the right side of the 3rd pipe link (6) head end is arc surface, the left side of the 3rd pipe link (6) head end is the plane, the distance of front side to the three pipe links (6) side end face that the 3rd pipe link (6) is terminal is identical with the thickness of the 3rd pipe link (6) end, and the side end face of the 3rd pipe link (6) is in the left side of the 3rd pipe link (6);
Described the 4th pipe link (7), the left side of the 4th pipe link (7) head end is arc surface, the right side of the 4th pipe link (7) head end is the plane, front side and the 4th pipe link (7) side end face of the 4th pipe link (7) end are coplanar, and the side end face of the 4th pipe link (7) is in the right side of the 4th pipe link (7);
The thickness of first to fourth pipe link (4,5,6,7) end is identical;
The thickness summation of first to fourth pipe link (4,5,6,7) head end equates with the distance of the last front end face of first to fourth pipe link (4,5,6,7) to aft end face;
When major axis (2) connected first to fourth pipe link (4,5,6,7), the front end face of first to fourth pipe link (4,5,6,7) was towards identical.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105244629A (en) * | 2015-10-16 | 2016-01-13 | 燕山大学 | 3R-3RSR single-degree-of-freedom tetrahedron expandable unit |
| CN105523196A (en) * | 2015-12-24 | 2016-04-27 | 天津大学 | Foldable polyhedral structure |
| CN106364701A (en) * | 2016-10-21 | 2017-02-01 | 天津大学 | Foldable tetrahedral structure |
| CN106695798A (en) * | 2017-02-28 | 2017-05-24 | 中国地质大学（武汉） | Two-layer two-ring connecting rod deployable units and space deployable mechanism based on same |
| CN106891324A (en) * | 2017-02-28 | 2017-06-27 | 中国地质大学（武汉） | A kind of linkage unit containing 5R coupling side chains and the development agency based on the unit |
| CN107933959A (en) * | 2017-10-13 | 2018-04-20 | 中国科学院深圳先进技术研究院 | Six-bar mechanism and what is be made from it open up module, extending arm, planar development truss |
| CN110589035A (en) * | 2019-10-25 | 2019-12-20 | 北京航空航天大学 | Single-degree-of-freedom tetrahedral deployable cell element mechanism |
| CN112575901A (en) * | 2020-12-11 | 2021-03-30 | 长沙理工大学 | Single-degree-of-freedom extensible unit and cylindrical surface extensible mechanism formed by same |
| CN113833117A (en) * | 2021-09-13 | 2021-12-24 | 青岛新华友建工集团股份有限公司 | Assembled multilayer large-span bidirectional multi-span space steel grid box type structure building |
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| CN101890714A (en) * | 2010-06-23 | 2010-11-24 | 北京交通大学 | Connecting rod moving robot with one degree of freedom and control method thereof |
| CN103089063A (en) * | 2013-02-07 | 2013-05-08 | 天津大学 | Foldable bar frame structure |
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| US6899683B2 (en) * | 1999-08-02 | 2005-05-31 | Healthetech, Inc. | Metabolic calorimeter employing respiratory gas analysis |
| CN101890714A (en) * | 2010-06-23 | 2010-11-24 | 北京交通大学 | Connecting rod moving robot with one degree of freedom and control method thereof |
| CN103089063A (en) * | 2013-02-07 | 2013-05-08 | 天津大学 | Foldable bar frame structure |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105244629A (en) * | 2015-10-16 | 2016-01-13 | 燕山大学 | 3R-3RSR single-degree-of-freedom tetrahedron expandable unit |
| CN105244629B (en) * | 2015-10-16 | 2017-10-20 | 燕山大学 | 3R 3RSR single-degree-of-freedoms tetrahedrons can open up unit |
| CN105523196A (en) * | 2015-12-24 | 2016-04-27 | 天津大学 | Foldable polyhedral structure |
| CN106364701A (en) * | 2016-10-21 | 2017-02-01 | 天津大学 | Foldable tetrahedral structure |
| CN106364701B (en) * | 2016-10-21 | 2018-07-06 | 天津大学 | Telescopic tetrahedral structure |
| CN106695798A (en) * | 2017-02-28 | 2017-05-24 | 中国地质大学（武汉） | Two-layer two-ring connecting rod deployable units and space deployable mechanism based on same |
| CN106891324A (en) * | 2017-02-28 | 2017-06-27 | 中国地质大学（武汉） | A kind of linkage unit containing 5R coupling side chains and the development agency based on the unit |
| CN107933959A (en) * | 2017-10-13 | 2018-04-20 | 中国科学院深圳先进技术研究院 | Six-bar mechanism and what is be made from it open up module, extending arm, planar development truss |
| CN110589035A (en) * | 2019-10-25 | 2019-12-20 | 北京航空航天大学 | Single-degree-of-freedom tetrahedral deployable cell element mechanism |
| CN112575901A (en) * | 2020-12-11 | 2021-03-30 | 长沙理工大学 | Single-degree-of-freedom extensible unit and cylindrical surface extensible mechanism formed by same |
| CN112575901B (en) * | 2020-12-11 | 2021-10-19 | 长沙理工大学 | Single-degree-of-freedom extensible unit and cylindrical surface extensible mechanism formed by same |
| CN113833117A (en) * | 2021-09-13 | 2021-12-24 | 青岛新华友建工集团股份有限公司 | Assembled multilayer large-span bidirectional multi-span space steel grid box type structure building |
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| CN103342166B (en) | 2015-08-26 |
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