阅读说明：本技术 一种具有面对称运动的可折展盒子结构 (Foldable box structure with surface symmetry movement ) 是由 陈焱 顾元庆 贾振浩 马家耀 崔琦峰 李明 于 2020-06-30 设计创作，主要内容包括：本发明公开一种具有面对称运动的可折展盒子结构,包括十六个面；第一面、第二面、第三面、第四面、第五面、第六面相连作为可折展盒子结构的底面并放置于中部；第七面、第八面、第九面、第十面、第十一面、第十二面、第十三面、第十四面、第十五面、第十六面置于所述第一面、第二面、第三面、第四面、第五面、第六面上方且首尾依次相连并与所述第一面、第二面、第三面、第四面、第五面、第六面组成的底面的六条边相连；各面之间通过转动副相互连接该可折展盒子结构整体的折叠与展开过程中,所述第二转动副、第五转动副、第十一转动副、第十九转动副始终处于同一平面,且整体结构围绕着上述平面形成的基准面进行折叠与展开。(The invention discloses a foldable and unfoldable box structure with plane symmetrical motion, which comprises sixteen surfaces; the first surface, the second surface, the third surface, the fourth surface, the fifth surface and the sixth surface are connected to be used as the bottom surface of the foldable box structure and are placed in the middle; the seventh surface, the eighth surface, the ninth surface, the tenth surface, the twelfth surface, the tenth surface, the fifteenth surface and the sixteenth surface are arranged above the first surface, the second surface, the third surface, the fourth surface, the fifth surface and the sixth surface, are sequentially connected end to end and are connected with six edges of the bottom surface formed by the first surface, the second surface, the third surface, the fourth surface, the fifth surface and the sixth surface; in the overall folding and unfolding process of the foldable and unfoldable box structure, the second rotating pair, the fifth rotating pair, the eleventh rotating pair and the nineteenth rotating pair are connected with each other through the rotating pairs and are always positioned on the same plane, and the overall structure is folded and unfolded around a reference plane formed by the planes.)

1. A foldable and unfoldable box structure with plane symmetric motion is characterized by comprising sixteen surfaces, namely a first surface, a second surface, a third surface, a fourth surface, a fifth surface, a sixth surface, a seventh surface, an eighth surface, a ninth surface, a tenth surface, a thirteenth surface, a tenth surface, a fifteenth surface and a twelfth surface in sequence;

the first surface, the second surface, the third surface, the fourth surface, the fifth surface and the sixth surface are connected to be used as the bottom surface of the foldable box structure and are placed in the middle; the seventh face, the eighth face, the ninth face, the tenth face, the twelfth face, the tenth face, the fifteenth face and the sixteenth face are arranged above the first face, the second face, the third face, the fourth face, the fifth face and the sixth face, are sequentially connected and are connected with six edges of the bottom face formed by the first face, the second face, the third face, the fourth face, the fifth face and the sixth face;

the first face is adjacent to the second face and is interconnected through a first revolute pair, the second face is adjacent to the third face and is interconnected through a second revolute pair, the third face is adjacent to the fourth face and is interconnected through a third revolute pair, the fourth face is adjacent to the fifth face and is interconnected through a fourth revolute pair, the fifth face is adjacent to the sixth face and is interconnected through a fifth revolute pair, the sixth face is adjacent to the first face and is interconnected through a sixth revolute pair, the seventh face is adjacent to the first face and is interconnected through a seventh revolute pair, the eighth face is adjacent to the seventh face and is interconnected through an eighth revolute pair, the eighth face is adjacent to the second face and is interconnected through a ninth revolute pair, the ninth face is adjacent to the eighth face and is interconnected through a tenth revolute pair, the tenth face is adjacent to the ninth face and is interconnected through an eleventh revolute pair, the tenth face is adjacent to the tenth face and interconnected by a twelfth revolute pair, the tenth face is adjacent to the third face and interconnected by a thirteenth revolute pair, the tenth face is adjacent to the eleventh face and interconnected by a fourteenth revolute pair, the tenth face is adjacent to the fourth face and interconnected by a fifteenth revolute pair; the thirteenth face is adjacent to the tenth face and interconnected through a sixteenth revolute pair, the thirteenth face is adjacent to the thirteenth face and interconnected through an eighteenth revolute pair, the fifteenth face is adjacent to the fourteenth face and interconnected through a nineteenth revolute pair, the sixteenth face is adjacent to the fifteenth face and interconnected through a twentieth revolute pair, the sixteenth face is adjacent to the sixteenth face and interconnected through a twenty-first revolute pair, the sixteenth face is adjacent to the seventh face and interconnected through a twenty-twelfth revolute pair;

in the integral folding and unfolding processes of the foldable and unfoldable box structure, the second rotating pair, the fifth rotating pair, the eleventh rotating pair and the nineteenth rotating pair are always in the same plane, and the integral structure folds and unfolds around a reference plane formed by the planes; when the folding machine is folded, the motion of the first surface and the fourth surface, the second surface and the third surface, the sixth surface and the fifth surface, the seventh surface and the twelfth surface, the eighth surface and the eleventh surface, the ninth surface and the tenth surface, the fifteenth surface and the tenth surface, and the thirteenth surface are in a plane-symmetric relation based on the reference surface; when the folding mechanism is folded, the first rotating pair and the third rotating pair, the sixth rotating pair and the fourth rotating pair, the seventh rotating pair and the fifteenth rotating pair, the eighth rotating pair and the fourteenth rotating pair, the ninth rotating pair and the thirteenth rotating pair, the tenth rotating pair and the twelfth rotating pair, the twentieth rotating pair and the eighteenth rotating pair, the twenty-first rotating pair and the seventeenth rotating pair, and the twenty-second rotating pair and the sixteenth rotating pair are in surface symmetry based on the reference surface.

2. A collapsible box structure with planar symmetric movement according to claim 1 wherein said first and fourth faces are triangular or quadrilateral and adjacent, the first and fourth faces being triangular and contacting through a common vertex, the first and fourth faces being quadrilateral and adjacent through a thirteenth pair of turns; and the twenty-third revolute pair is located on the reference plane.

3. A foldable box structure with plane-symmetric motion according to claim 1 or 2, characterized in that, in case of fully folded to plane, the axes of all revolute pairs are on the same plane; in the fully unfolded state, a prismatic box structure is formed; the outer contour line of each face is a straight line, a curved line or a broken line.

4. A foldable box structure with symmetrically arranged revolute pairs according to claim 1 or 2, wherein the foldable box structure has a single degree of freedom, and can realize the mutual conversion between a spatial structure and a planar polygonal structure by changing the included angle between adjacent surfaces.

5. A foldable box structure with plane-symmetric motion according to claim 1 or 2, wherein the foldable box structure is a prism-shaped box structure with polygon as bottom surface in the fully unfolded state, and a polygonal plane structure in the fully folded state.

6. A foldable and unfoldable box structure with plane-symmetric movement according to claim 1 or 2, characterised in that all revolutionary pairs are constituted by one of hinges, hinges or bearings.

Technical Field

The invention relates to the field of foldable box structures, in particular to a foldable box structure with single degree of freedom, large folding-unfolding ratio and plane-symmetric motion based on a paper folding structure.

Background

In aerospace, building structures, transportation, artwork and daily life, polyhedral structures are widely applied due to good symmetry, but due to the limitation of large volume and inconvenience in transportation, polyhedral structures are more applied to fixed occasions. The cubic small satellite which is rated as ten technological breakthroughs in 2014 by the journal of SCIENCE is a typical representative of the aerospace field which pursues miniaturization and low-cost emission, but the defect of narrow working space in an on-orbit state also restricts the further application of the cubic small satellite.

The space-shaped foldable structure is a novel structure which emerges along with the development of aerospace science and technology, is in a folding and accommodating state in the launching and returning recovery processes, and occupies the least space of the airship; after the body-shaped foldable structure is placed into the orbit, the body-shaped foldable structure can be unfolded into a working state with a larger space according to the design. The basic unit of the space expandable structure adopts an over-constraint mechanism, and has the advantages of high rigidity, simplicity in manufacturing, low cost, high reliability and the like.

The existing container can not be folded, occupies a large amount of space when no load exists, and brings great difficulty to storage and transportation; or the folding process is complex, the structural freedom is more, and the folding and unfolding process is not easy to control, such as the foldable container proposed in 2019 by Marxiong.

Therefore, the body-shaped expandable structure, particularly the prism structure taking the polygon as the bottom surface, is applied less at present, has the defects of incomplete folding, small folding and expanding ratio and the like, and has great application and improvement space in the aspects of container transportation and the like.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a foldable and unfoldable box structure with plane-symmetric motion. The expandable box structure has better rigidity, can be completely folded and unfolded, has smaller volume and regular shape when being folded, is convenient to transport, and has larger working space when being opened into a working state according to requirements; the whole structure has only one degree of freedom, and the motion control is simple; the structural unit is a plane or curved plate, the processing is simple, and the batch production can be realized; based on the advantages, the invention has important significance and wide application prospect in a plurality of fields such as packaging, storage, container transportation, civil structure, aerospace and the like.

The purpose of the invention is realized by the following technical scheme:

a foldable box structure with surface symmetry motion comprises sixteen surfaces, namely a first surface, a second surface, a third surface, a fourth surface, a fifth surface, a sixth surface, a seventh surface, an eighth surface, a ninth surface, a tenth surface, a twelfth surface, a thirteenth surface, a fourteenth surface, a fifteenth surface and a thirteenth surface in sequence;

the first surface, the second surface, the third surface, the fourth surface, the fifth surface and the sixth surface are connected to be used as the bottom surface of the foldable box structure and are placed in the middle; the seventh face, the eighth face, the ninth face, the tenth face, the twelfth face, the tenth face, the fourteenth face and the sixteenth face are arranged above the first face, the second face, the third face, the fourth face, the fifth face and the sixth face, are sequentially connected end to end and are connected with six sides of the bottom face formed by the first face, the second face, the third face, the fourth face, the fifth face and the sixth face;

the first face is adjacent to the second face and is interconnected through a first revolute pair, the second face is adjacent to the third face and is interconnected through a second revolute pair, the third face is adjacent to the fourth face and is interconnected through a third revolute pair, the fourth face is adjacent to the fifth face and is interconnected through a fourth revolute pair, the fifth face is adjacent to the sixth face and is interconnected through a fifth revolute pair, the sixth face is adjacent to the first face and is interconnected through a sixth revolute pair, the seventh face is adjacent to the first face and is interconnected through a seventh revolute pair, the eighth face is adjacent to the seventh face and is interconnected through an eighth revolute pair, the eighth face is adjacent to the second face and is interconnected through a ninth revolute pair, the ninth face is adjacent to the eighth face and is interconnected through a tenth revolute pair, the tenth face is adjacent to the ninth face and is interconnected through an eleventh revolute pair, the tenth face is adjacent to the tenth face and interconnected by a twelfth revolute pair, the tenth face is adjacent to the third face and interconnected by a thirteenth revolute pair, the tenth face is adjacent to the eleventh face and interconnected by a fourteenth revolute pair, the tenth face is adjacent to the fourth face and interconnected by a fifteenth revolute pair; the thirteenth face is adjacent to the tenth face and interconnected through a sixteenth revolute pair, the thirteenth face is adjacent to the thirteenth face and interconnected through an eighteenth revolute pair, the fifteenth face is adjacent to the fourteenth face and interconnected through a nineteenth revolute pair, the sixteenth face is adjacent to the fifteenth face and interconnected through a twentieth revolute pair, the sixteenth face is adjacent to the sixteenth face and interconnected through a twenty-first revolute pair, the sixteenth face is adjacent to the seventh face and interconnected through a twenty-twelfth revolute pair;

in the integral folding and unfolding processes of the foldable and unfoldable box structure, the second rotating pair, the fifth rotating pair, the eleventh rotating pair and the nineteenth rotating pair are always in the same plane, and the integral structure folds and unfolds around a reference plane formed by the planes; when the folding machine is folded, the motion of the first surface and the fourth surface, the second surface and the third surface, the sixth surface and the fifth surface, the seventh surface and the twelfth surface, the eighth surface and the eleventh surface, the ninth surface and the tenth surface, the fifteenth surface and the tenth surface, and the thirteenth surface are in a plane-symmetric relation based on the reference surface; when the folding mechanism is folded, the first rotating pair and the third rotating pair, the sixth rotating pair and the fourth rotating pair, the seventh rotating pair and the fifteenth rotating pair, the eighth rotating pair and the fourteenth rotating pair, the ninth rotating pair and the thirteenth rotating pair, the tenth rotating pair and the twelfth rotating pair, the twentieth rotating pair and the eighteenth rotating pair, the twenty-first rotating pair and the seventeenth rotating pair, and the twenty-second rotating pair and the sixteenth rotating pair are in surface symmetry based on the reference surface.

Furthermore, the first surface and the fourth surface are triangular planes or quadrilateral planes and are adjacent, the first surface and the fourth surface are contacted through a common vertex when being triangular planes, and the first surface and the fourth surface are quadrilateral planes and are connected with each other through a thirteenth turning pair when being adjacent; and the twenty-third revolute pair is located on the reference plane.

Further, under the condition of being completely folded into a plane, the axes of all the revolute pairs are on the same plane; in the fully unfolded state, a prismatic box structure is formed; the outer contour line of each face is a straight line, a curved line or a broken line.

Furthermore, the foldable box structure has a single degree of freedom, and the mutual conversion between the space body-shaped structure and the plane polygonal structure can be realized by changing the included angle of the adjacent surfaces.

Furthermore, the foldable box structure is a prism-shaped box structure with a polygon as a bottom surface in a fully unfolded state, and is a polygonal plane structure in a fully folded state.

Furthermore, all the revolute pairs are formed by one of hinges, hinges or bearings

Compared with the prior art, the technical scheme of the invention has the following beneficial effects:

1. the invention has larger folding and unfolding ratio, can be directly folded into a plane polygon structure by a prism structure taking a polygon as a bottom surface, and can realize complete folding.

2. The invention has a degree of freedom through the design of a space mechanism, can finish folding and unfolding actions through single drive, and has convenient installation and use and reliable movement.

3. The invention is designed with the aim of functionality, the size of the unit structure can be designed according to actual requirements, the size of the revolute pair can be adjusted according to requirements, the installation driving position can be selected at will under the actual requirements, and cavities with any shapes can be arranged on the surface according to the actual requirements.

4. The unfolded rectangular prism has a straight prism structure, the side surface of the prism is vertical to the bottom surface, the structure is stable, the rigidity is high, the working space is large, and the support and the work are convenient; the folded product has small volume, regular shape, stable structure and convenient transportation and storage.

5. The invention has simple structure, and the connection between the two adjacent surfaces can be realized by the revolute pair without installing other connection structures in the surface, thereby improving the stability of installation and control.

Drawings

Fig. 1-1 is a schematic view of a fully unfolded state of the foldable box structure according to the first embodiment, wherein the fully unfolded state is a box structure with a square bottom.

FIGS. 1-2 are plan expanded views of a box structure according to an embodiment;

fig. 1-3 are schematic views of the flat rectangular structure of the fully folded box structure of one embodiment.

Fig. 1-4 and 1-5 are schematic views showing a folding sequence of a box structure according to an embodiment, wherein fig. 1-4 show an intermediate folding state and fig. 1-5 show a fully folded state.

Fig. 2-1 is a schematic view of the fully unfolded state of the foldable box structure according to the second embodiment, wherein the fully unfolded state is a box structure with a rectangular bottom surface.

FIG. 2-2 is a plan view of the second box structure of the embodiment;

FIGS. 2-3 are schematic views of the planar rectangular structure of the fully folded two-box structure of the embodiment.

Fig. 2-4 and 2-5 are schematic views of the folding sequence of the two-box structure of the embodiment, wherein fig. 2-4 show the intermediate folding state and fig. 2-5 show the fully folded state.

Fig. 3-1 is a schematic view of the fully unfolded state of the foldable box structure in the third embodiment, wherein the fully unfolded state is a box structure with symmetrical hexagons as bottom surfaces.

FIG. 3-2 is a plan expanded view of a three-box structure of the embodiment;

fig. 3-3 are schematic views of the planar rectangular structure of the three-box structure of the embodiment in a fully folded state.

Fig. 3-4 and 3-5 are schematic views of the folding sequence of the three-box structure of the embodiment, wherein fig. 3-4 show the intermediate folding state and fig. 3-5 show the fully folded state.

Reference numerals:

for the first embodiment:

a 1-first face, a 2-second face, A3-third face, a 4-fourth face, a 5-fifth face, A6-sixth face, a 7-seventh face, A8-eighth face, a 9-ninth face, a 10-tenth face, a 11-tenth face, a 12-tenth face, a 13-tenth face, a 14-fourteenth face, a 15-fifteenth face, a 16-twelfth face;

l1-a first revolute pair, L2-a second revolute pair, L3-a third revolute pair, L4-a fourth revolute pair, L5-a fifth revolute pair, L6-a sixth revolute pair, L7-a seventh revolute pair, L8-an eighth revolute pair, L9-a ninth revolute pair, L10-a tenth revolute pair, L11-an eleventh revolute pair, L12-a twelfth revolute pair, L13-a thirteenth revolute pair, L14-a fourteenth revolute pair, L15-a fifteenth revolute pair, L16-a sixteenth revolute pair, L17-a seventeenth revolute pair, L18-an eighteenth revolute pair, L19-a nineteenth revolute pair, L20-a twentieth revolute pair, L21-a twenty-first revolute pair, L22-a twenty-second revolute pair.

For example two:

b1-first face, B2-second face, B3-third face, B4-fourth face, B5-fifth face, B6-sixth face, B7-seventh face, B8-eighth face, B9-ninth face, B10-tenth face, B11-tenth face, B12-tenth face, B13-tenth face, B14-fourteenth face, B15-fifteenth face, B16-twelfth face;

m1-a first revolute pair, M2-a second revolute pair, M3-a third revolute pair, M4-a fourth revolute pair, M5-a fifth revolute pair, M6-a sixth revolute pair, M7-a seventh revolute pair, M8-an eighth revolute pair, M9-a ninth revolute pair, M10-a tenth revolute pair, M11-an eleventh revolute pair, M12-a twelfth revolute pair, M13-a thirteenth revolute pair, M14-a fourteenth revolute pair, M15-a fifteenth revolute pair, M16-a sixteenth revolute pair, M17-a seventeenth revolute pair, M18-an eighteenth revolute pair, M19-a nineteenth revolute pair, M20-a twentieth revolute pair, M21-a twenty-first revolute pair, M22-a twenty-second revolute pair, and M23-a twenty-third revolute pair.

For example three:

c1-first face, C2-second face, C3-third face, C4-fourth face, C5-fifth face, C6-sixth face, C7-seventh face, C8-eighth face, C9-ninth face, C10-tenth face, C11-tenth face, C12-tenth face, C13-tenth face, C14-fourteenth face, C15-fifteenth face, C16-thirteenth face;

n1-a first revolute pair, N2-a second revolute pair, N3-a third revolute pair, N4-a fourth revolute pair, N5-a fifth revolute pair, N6-a sixth revolute pair, N7-a seventh revolute pair, N8-an eighth revolute pair, N9-a ninth revolute pair, N10-a tenth revolute pair, N11-an eleventh revolute pair, N12-a twelfth revolute pair, N13-a thirteenth revolute pair, N14-a fourteenth revolute pair, N15-a fifteenth revolute pair, N16-a sixteenth revolute pair, N17-a seventeenth revolute pair, N18-an eighteenth revolute pair, N19-a nineteenth revolute pair, N20-a twentieth revolute pair, N21-a twenty-first revolute pair, N22-a twenty-second revolute pair, and N23-a twenty-third revolute pair.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.