CN102912852B - Regular tetrahedral symmetrical deployable mechanism unit - Google Patents
Regular tetrahedral symmetrical deployable mechanism unit Download PDFInfo
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- CN102912852B CN102912852B CN201210397908.1A CN201210397908A CN102912852B CN 102912852 B CN102912852 B CN 102912852B CN 201210397908 A CN201210397908 A CN 201210397908A CN 102912852 B CN102912852 B CN 102912852B
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- connecting rod
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- mechanism unit
- double leval
- leval jib
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Abstract
The invention discloses a regular tetrahedral symmetrical deployable mechanism unit which comprises 16 three-rod intersected connecting nodes and 24 equilong connecting rod units, wherein each three-rod intersected connecting node is provided with three revolute pairs, and the three-rod intersected connecting node is respectively connected with three connecting rod units through the three revolute pairs, and the two ends of the each connecting rod unit are respectively connected with different three-rod intersected connecting nodes through the revolute pairs; and the axial leads of the three revolute pairs on each three-rod intersected connecting node are located in a same plane, and a triangle formed by the intersection of the axial leads of the three revolute pairs is an equilateral triangle, a connecting rod installing position of each revolute pair is arranged at the midpoint of an edge of the equilateral triangle, and a connecting rod unit is perpendicular to the axial lead of the revolute pair connected with the connecting rod unit. The deployable mechanism unit disclosed by the invention is just composed of connecting rods and revolute pairs, so that the deployable mechanism unit is simple in structure, beautiful in modelling, convenient to manufacture, and easy to be folded and unfolded.
Description
Technical field
The present invention relates to mechanism and deployable structure, particularly relate to a kind of regular tetrahedral symmetrical deployable mechanism unit.
Background technology
Deployable structure can be shaping by compact folded state rapid deployment, causes the extensive concern of designer and engineer, and obtain engineer applied gradually.In recent years, researcher has proposed the deployable structure unit of several types, and wherein cutting hinge formula unit is elementary cell comparatively common in deployable structure, Bennett unit and the Bricard unit that derives belong to the closed annular mechanism of another kind of classics.A few class elementary cell all has single dof mobility characteristic above, and the multi self-equilibrium stress mode of structure can provide the extra rigidity of structure, in deployable structure design, has played important function.But the mechanism unit type of present stage is still less, brings larger difficulty to the design of novel deployable structure and engineer applied.Therefore, design a kind of novel deployable mechanism unit will have great importance for the diversity enriching deployable structure.
Summary of the invention
Technical problem: the object of the invention is to overcome deficiency of the prior art, provides a kind of motion process continuous, reversible, is convenient to regular tetrahedral symmetrical deployable mechanism unit that is folding and that launch.
Technical scheme: regular tetrahedral symmetrical deployable mechanism unit of the present invention, comprise 16 three bars and intersect connected node and 24 isometric linkage units, each three bars intersect on connected node and are provided with three revolute pairs, three bars are intersected connected node and are connected with three linkage units respectively by three revolute pairs, and the two ends of each linkage unit are intersected connected node from three different bars respectively and connected by revolute pair; The axial line of three revolute pairs that each three bars intersect on connected node is positioned at same plane, and the triangle that the axial line of three revolute pairs intersects is equilateral triangle, the connecting rod installation site of revolute pair is positioned at the midpoint on equilateral triangle limit, place, and linkage unit is perpendicular to the axial line of connected revolute pair.
In the present invention, 16 three bars intersect connected node and are respectively first node, Section Point, 16 node, 24 linkage units are respectively first connecting rod, second connecting rod, 20 double leval jib, first node and first connecting rod, second connecting rod is connected with third connecting rod, Section Point and double leval jib, 5th connecting rod is connected with six-bar linkage, the 3rd node and seven-link assembly, 8th connecting rod is connected with the 9th connecting rod, the 4th node and the tenth connecting rod, 11 connecting rod is connected with the 12 connecting rod, the 5th node and the 8th connecting rod, 13 connecting rod is connected with the tenth double leval jib, the 6th node and the 11 connecting rod, tenth double leval jib is connected with the 15 connecting rod, the 7th node and second connecting rod, 13 connecting rod is connected with the 15 connecting rod, the 8th node and six-bar linkage, tenth six-bar linkage is connected with the 18 connecting rod, the 9th node and third connecting rod, tenth six-bar linkage is connected with the tenth seven-link assembly, protelum point and the 12 connecting rod, tenth seven-link assembly is connected with the 18 connecting rod, the 11 node and double leval jib, 19 connecting rod is connected with the 21 connecting rod, the 12 node and seven-link assembly, 19 connecting rod is connected with the 20 connecting rod, the 13 node and first connecting rod, 20 connecting rod is connected with the 21 connecting rod, the 14 node and the 5th connecting rod, 22 connecting rod is connected with the 20 double leval jib, the 15 node and the 9th connecting rod, 22 connecting rod is connected with the 23 connecting rod, the 16 node and the tenth connecting rod, 23 connecting rod is connected with the 20 double leval jib.
Beneficial effect: the present invention compared with prior art, has the following advantages:
Development agency in current engineer applied mainly comes from the two-dimensional system adopting and cut hinge formula unit and form, and new spatial deployable mechanism unit type is less, and mostly adopt complicated connected node or unit mode, comparatively ideal storage rate cannot be obtained, maybe can not ensure, in units folded-expansion process, there is single movement degree of freedom all the time.By comparison, mechanism unit of the present invention, based on positive tetrahedron geometry, belongs to three-dimensional deployable structure system, and has single dof mobility characteristic, can be converted to the complete deployed condition of large volume by compact folded state, and whole motion process have continuity and reversible tropism; In mechanism units folded-expansion process, structure produces translation of rigid body and Rigid Body in Rotation With, and remain that positive tetrahedron type is symmetrical, wherein first node, Section Point, relative bearing between the 3rd node and the 4th node remain unchanged, and all connecting rods do not produce non-compatible deformation.In addition, because mechanism unit is only made up of connecting rod and revolute pair, structure is simple, handsome in appearance, easy to make, is convenient to folding and launches.
Accompanying drawing explanation
Fig. 1 is the schematic three dimensional views of regular tetrahedral symmetrical deployable mechanism unit of the present invention.
Fig. 2 a is the connected node schematic diagram of regular tetrahedral symmetrical deployable mechanism unit of the present invention.
Fig. 2 b is the connecting rod schematic diagram of regular tetrahedral symmetrical deployable mechanism unit of the present invention.
Fig. 3 is the different connected node of regular tetrahedral symmetrical deployable mechanism unit of the present invention and the schematic diagram of connecting rod.
Fig. 4 a is the geometric configuration figure of regular tetrahedral symmetrical deployable mechanism unit of the present invention under first, second and third and four node intersection.
Fig. 4 b is the schematic diagram of regular tetrahedral symmetrical deployable mechanism unit of the present invention in folding-expansion process.
Fig. 4 c is the schematic diagram of regular tetrahedral symmetrical deployable mechanism unit of the present invention under complete deployed condition.
Fig. 4 d is regular tetrahedral symmetrical deployable mechanism unit of the present invention schematic diagram in a fully folded condition.
Wherein: 1 is that three bars intersect connected node, 2 is connecting rod, 3 is revolute pair, 31 is revolute pair axial line, 101 is first node, 102 is Section Point, 103 is the 3rd node, 104 is the 4th node, 105 is the 5th node, 106 is the 6th node, 107 is Section 7 point, 108 is Section 8 point, 109 is Section 9 point, 110 is Section 10 point, 111 is the 11 node, 112 is the 12 node, 113 is the 13 node, 114 is the 14 node, 115 is the 15 node, 116 is the 16 node, 201 is first connecting rod, 202 is second connecting rod, 203 is third connecting rod, 204 is double leval jib, 205 is the 5th connecting rod, 206 is six-bar linkage, 207 is seven-link assembly, 208 is the 8th connecting rod, 209 is the 9th connecting rod, 210 is the tenth connecting rod, 211 is the 11 connecting rod, 212 is the 12 connecting rod, 213 is the 13 connecting rod, 214 is the tenth double leval jib, 215 is the 15 connecting rod, 216 is the tenth six-bar linkage, 217 is the tenth seven-link assembly, 218 is the 18 connecting rod, 219 is the 19 connecting rod, 220 is the 20 connecting rod, 221 is the 21 connecting rod, 222 is the 22 connecting rod, 223 is the 23 connecting rod, 224 is the 20 double leval jib.
Detailed description of the invention
Below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described further:
Fig. 1, Fig. 2 are respectively the structural representation of a kind of regular tetrahedral symmetrical deployable mechanism unit of the present invention and the schematic diagram of chief component.
Regular tetrahedral symmetrical deployable mechanism unit of the present invention, it comprises 16 three bars and intersects connected node 1 and 24 isometric linkage units 2, each three bars intersect on connected node 1 and are provided with three revolute pairs 3, three bars are intersected connected node 1 and are connected with three linkage units 2 respectively by three revolute pairs 3, and the two ends of each linkage unit 2 are intersected connected node 1 from three different bars respectively and connected by revolute pair 3.As shown in Figure 2, in deployable mechanism unit of the present invention, each connected node 1 is provided with three revolute pairs 3, the axial line of three revolute pairs 3 is positioned at same plane, and the triangle that the axial line of three revolute pairs 3 intersects is equilateral triangle, the connecting rod installation site of revolute pair 3 is positioned at the midpoint on equilateral triangle limit, place, and linkage unit 2 is perpendicular to the axial line of connected revolute pair 3.Connecting rod 2 can be made by hard materials such as stainless steels.
Deployable mechanism unit of the present invention launch completely after construction geometry be configured as cutting positive tetrahedron structure, have the symmetric properties that positive tetrahedron structure is identical, therefore this structure can be called regular tetrahedral symmetrical deployable mechanism unit.In the present invention, the axial line 31 of revolute pair not only perpendicular to being attached thereto the connecting rod 2 connect, and perpendicular to the line between the structure centre point of deployable mechanism unit and connecting rod 2 mid point.As shown in Figure 3,16 three bars of regular tetrahedral symmetrical deployable mechanism unit intersect in connected node, first node 101, Section Point 102, the 3rd node 103, the 4th node 104 are respectively three different hexagonal shared summits, and all the other 12 nodes are respectively an equilateral triangle and two hexagonal shared summits, hexagon and triangle refer to the closed geometrical configuration be made up of different connecting rods 2.The positive tetrahedron be made up of first node 101, Section Point 102, the 3rd node 103, the 4th node 104 and deployable mechanism unit have identical structure centre point.
According to Fig. 3, specifically describe deployable mechanism unit structure of the present invention as follows: 16 three bars intersect connected node 1 and are respectively first node 101, Section Point 102, , until the 16 node 116,24 linkage units 2 are respectively first connecting rod 201, second connecting rod 202, , until the 20 double leval jib 224, first node 101 and first connecting rod 201, second connecting rod 202 is connected with third connecting rod 203, Section Point 102 and double leval jib 204, 5th connecting rod 205 is connected with six-bar linkage 206, the 3rd node 103 and seven-link assembly 207, 8th connecting rod 208 is connected with the 9th connecting rod 209, the 4th node 104 and the tenth connecting rod 210, 11 connecting rod 211 is connected with the 12 connecting rod 212, the 5th node 105 and the 8th connecting rod 208, 13 connecting rod 213 is connected with the tenth double leval jib 214, the 6th node the 106 and the 11 connecting rod 211, tenth double leval jib 214 is connected with the 15 connecting rod 215, the 7th node 107 and second connecting rod 202, 13 connecting rod 213 is connected with the 15 connecting rod 215, the 8th node 108 and six-bar linkage 206, tenth six-bar linkage 216 is connected with the 18 connecting rod 218, the 9th node 109 and third connecting rod 203, tenth six-bar linkage 216 is connected with the tenth seven-link assembly 217, protelum point the 110 and the 12 connecting rod 212, tenth seven-link assembly 217 is connected with the 18 connecting rod 218, the 11 node 111 and double leval jib 204, 19 connecting rod 219 is connected with the 21 connecting rod 221, the 12 node 112 and seven-link assembly 207, 19 connecting rod 219 is connected with the 20 connecting rod 220, the 13 node 113 and first connecting rod 201, 20 connecting rod 220 is connected with the 21 connecting rod 221, the 14 node 114 and the 5th connecting rod 205, 22 connecting rod 222 is connected with the 20 double leval jib 224, the 15 node 115 and the 9th connecting rod 209, 22 connecting rod 222 is connected with the 23 connecting rod 223, the 16 node 116 and the tenth connecting rod 210, 23 connecting rod 223 is connected with the 20 double leval jib 224.
Figure 4 shows that the motion process schematic diagram of deployable mechanism unit of the present invention.Fig. 4 c is the schematic diagram of regular tetrahedral symmetrical deployable mechanism unit of the present invention under complete deployed condition, and now the space occupied of mechanism unit is maximum; When structure is in complete folded state, as shown in figure 4d, mechanism unit takes up room little, be convenient to store and transport, and three connecting rods be now connected with first node 101 contact with each other, the connecting rod be connected with Section Point 102, the 3rd node 103 or the 4th node 104 also contacts with each other, and structure has good safety.When first node in mechanism unit 101, Section Point 102, the 3rd node 103, the 4th node 104 intersect at same point, as shown in fig. 4 a, the space that structure is occupied is also less.Fig. 4 b is the schematic diagram of deployable mechanism unit in folding-expansion process, complex chart 4a-Fig. 4 d can find, deployable mechanism unit whole folding-launch motion process link up, can be reverse, state shown in Fig. 4 d can be moved to successively by state shown in Fig. 4 a, equally can by state shown in state motion shown in Fig. 4 d to Fig. 4 a, and structure remains that positive tetrahedron type is symmetrical, and only produce translation of rigid body and rotation, each connecting rod does not produce distortion.Mechanism unit of the present invention is only made up of connecting rod and revolute pair, structure is simple, owing to having positive tetrahedron type geometry, handsome in appearance, easy to make, be convenient to folding and launch, can be applicable in deployable structure, also can be used as the basic composition unit in deployable structure, for building novel deployable structure system.
Claims (2)
1. a regular tetrahedral symmetrical deployable mechanism unit, it is characterized in that, this mechanism unit comprises 16 three bars and intersects connected node (1) and 24 isometric linkage units (2), each described three bars intersect on connected node (1) and are provided with three revolute pairs (3), three bars intersect connected node (1) and connect a linkage unit (2) respectively by three revolute pairs (3), and the two ends of each described linkage unit (2) are intersected connected node (1) from three different bars respectively and connected by revolute pair (3);
The axial line of three revolute pairs (3) that each three bars intersect on connected node (1) is positioned at same plane, and the triangle that the axial line of three revolute pairs (3) intersects is equilateral triangle, the connecting rod installation site of revolute pair (3) is positioned at the midpoint on equilateral triangle limit, place, and linkage unit (2) is perpendicular to the axial line of connected revolute pair (3).
2. regular tetrahedral symmetrical deployable mechanism unit according to claim 1, it is characterized in that, described 16 three bars intersect connected node (1) and are respectively first node (101), Section Point (102), 16 node (116), 24 linkage units (2) are respectively first connecting rod (201), second connecting rod (202), 20 double leval jib (224), described first node (101) and first connecting rod (201), second connecting rod (202) is connected with third connecting rod (203), described Section Point (102) and double leval jib (204), 5th connecting rod (205) is connected with six-bar linkage (206), described 3rd node (103) and seven-link assembly (207), 8th connecting rod (208) is connected with the 9th connecting rod (209), described 4th node (104) and the tenth connecting rod (210), 11 connecting rod (211) is connected with the 12 connecting rod (212), described 5th node (105) and the 8th connecting rod (208), 13 connecting rod (213) is connected with the tenth double leval jib (214), described 6th node (106) and the 11 connecting rod (211), tenth double leval jib (214) is connected with the 15 connecting rod (215), described 7th node (107) and second connecting rod (202), 13 connecting rod (213) is connected with the 15 connecting rod (215), described 8th node (108) and six-bar linkage (206), tenth six-bar linkage (216) is connected with the 18 connecting rod (218), described 9th node (109) and third connecting rod (203), tenth six-bar linkage (216) is connected with the tenth seven-link assembly (217), described protelum point (110) and the 12 connecting rod (212), tenth seven-link assembly (217) is connected with the 18 connecting rod (218), described 11 node (111) and double leval jib (204), 19 connecting rod (219) is connected with the 21 connecting rod (221), described 12 node (112) and seven-link assembly (207), 19 connecting rod (219) is connected with the 20 connecting rod (220), described 13 node (113) and first connecting rod (201), 20 connecting rod (220) is connected with the 21 connecting rod (221), described 14 node (114) and the 5th connecting rod (205), 22 connecting rod (222) is connected with the 20 double leval jib (224), described 15 node (115) and the 9th connecting rod (209), 22 connecting rod (222) is connected with the 23 connecting rod (223), described 16 node (116) and the tenth connecting rod (210), 23 connecting rod (223) is connected with the 20 double leval jib (224).
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CN106364701B (en) * | 2016-10-21 | 2018-07-06 | 天津大学 | Telescopic tetrahedral structure |
CN106863270A (en) * | 2017-02-28 | 2017-06-20 | 中国地质大学(武汉) | A kind of unit opened up containing coupling side chain and the development agency based on the unit |
CN106826766A (en) * | 2017-02-28 | 2017-06-13 | 中国地质大学(武汉) | A kind of unit opened up containing 5R coupling side chains and the umbrella development agency based on this |
CN108412987B (en) * | 2018-03-14 | 2020-10-30 | 北京航空航天大学 | Direction-changeable pulley device for rope-driven deployable mechanism |
CN209742082U (en) * | 2018-03-22 | 2019-12-06 | 王维奇 | self-stressed structural unit body with prestressed hinges |
CN110589035B (en) * | 2019-10-25 | 2021-02-05 | 北京航空航天大学 | Single-degree-of-freedom tetrahedral deployable cell element mechanism |
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CN1779144A (en) * | 2005-09-22 | 2006-05-31 | 浙江大学 | Externally turnover and openalbe expandable structure and production thereof |
RU2416005C1 (en) * | 2010-01-18 | 2011-04-10 | Федеральное государственное образовательное учреждение высшего профессионального образования "Кубанский государственный аграрный университет" | Reinforcement cage |
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WO1981000130A1 (en) * | 1979-07-03 | 1981-01-22 | Allied Chem | Structural element,tetrahedral truss constructed therefrom and method of construction |
CN1779144A (en) * | 2005-09-22 | 2006-05-31 | 浙江大学 | Externally turnover and openalbe expandable structure and production thereof |
US20110139202A1 (en) * | 2007-10-09 | 2011-06-16 | Shelterlogic Llc | Portable Shelter Structure |
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