阅读说明：本技术 一种转动副非对称排布的可折展盒子结构 (Foldable box structure with asymmetrically arranged revolute pairs ) 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：本发明公开一种转动副非对称排布的可折展盒子结构,包括十六个面；第一面、第二面、第三面、第四面相连作为可折展盒子结构的底面并放置于中部；第五面、第六面、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、第十六面依次相连形成可折展盒子结构的六个侧面,第一侧面、第二侧面、第三侧面、第四侧面、第五侧面、第六侧面置于底面上方且与所述底面的六条边相连,并且所述六个侧面依次相连；面与面之间,侧面与面之间通过转动副相互连接；该可折展盒子结构中转动副的排布具有不对称性,在折叠与展开的过程中同样具有不对称性。(The invention discloses a foldable box structure with asymmetrically arranged revolute pairs, which comprises sixteen surfaces; the first surface, the second surface, the third surface and the fourth surface are connected to be used as the bottom surface of the foldable box structure and are placed in the middle; the fifth surface, the sixth surface, the seventh surface, the eighth surface, the ninth surface, the tenth surface, the twelfth surface, the thirteenth surface, the tenth four surface, the fifteenth surface and the sixteenth surface are sequentially connected to form six side surfaces of the foldable and unfoldable box structure, the first side surface, the second side surface, the third side surface, the fourth side surface, the fifth side surface and the sixth side surface are arranged above the bottom surface and are connected with six edges of the bottom surface, and the six side surfaces are sequentially connected; the surfaces, the side surfaces and the surfaces are connected with each other through a rotating pair; the arrangement of the revolute pairs in the foldable box structure has asymmetry, and the arrangement also has asymmetry in the folding and unfolding processes.)

1. A foldable box structure with asymmetrically arranged revolute pairs 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 and the fourth surface are connected to be used as the bottom surface of the foldable box structure and are placed in the middle; the fifth surface, the sixth surface, the seventh surface, the eighth surface, the ninth surface, the tenth surface, the thirteenth surface, the fourteenth surface and the sixteenth surface are sequentially connected to form six side surfaces of the foldable and unfoldable box structure, the fifth surface is connected with the sixth surface to form the first side surface, the seventh surface is connected with the eighth surface to form the second side surface, the ninth surface is connected with the tenth surface to form the third side surface, the tenth surface is connected with the twelfth surface to form the fourth side surface, the thirteenth surface is connected with the fourteenth surface to form the fifth side surface, and the fifteenth surface is connected with the sixteenth surface to form the sixth side surface; the first side surface, the second side surface, the third side surface, the fourth side surface, the fifth side surface and the sixth side surface are arranged above the bottom surface and are connected with six sides of the bottom surface, and the six side surfaces are sequentially connected;

the first surface and the second surface are adjacent and are mutually connected through a first rotating pair, the second surface and the third surface are adjacent and are mutually connected through a second rotating pair, the third surface and the fourth surface are adjacent and are mutually connected through a third rotating pair, and the first surface and the fourth surface are adjacent and are mutually connected through a fourth rotating pair; the fifth surface is adjacent to the sixth surface and interconnected by a fifth revolute pair, the seventh surface is adjacent to the eighth surface and interconnected by a sixth revolute pair, the ninth surface is adjacent to the tenth surface and interconnected by a seventh revolute pair, the tenth surface is adjacent to the twelfth surface and interconnected by an eighth revolute pair, the thirteenth surface is adjacent to the fourteenth surface and interconnected by a ninth revolute pair, and the fifteenth surface is adjacent to the sixteenth surface and interconnected by a tenth revolute pair; the first side surface is adjacent to the first surface and interconnected by an eleventh revolute pair, the second side surface is adjacent to the second surface and interconnected by a twelfth revolute pair, the third side surface is adjacent to the third surface and interconnected by a thirteenth revolute pair, the fourth side surface is adjacent to the fourth surface and interconnected by a fourteenth revolute pair, the fifth side surface is adjacent to the fourth surface and interconnected by a fifteenth revolute pair, and the sixth side surface is adjacent to the first surface and interconnected by a sixteenth revolute pair; the first side is adjacent to the second side and is interconnected through a seventeenth revolute pair, the second side is adjacent to the third side and is interconnected through an eighteenth revolute pair, the third side is adjacent to the fourth side and is interconnected through a nineteenth revolute pair, the fourth side is adjacent to the fifth side and is interconnected through a twentieth revolute pair, the fifth side is adjacent to the sixth side and is interconnected through a twenty-first revolute pair, and the sixth side is adjacent to the first side and is interconnected through a twenty-twelfth revolute pair.

2. The foldable and expandable box structure with the asymmetrically arranged revolute pairs as claimed in claim 1, wherein the arrangement of the revolute pairs in the foldable and expandable box structure is asymmetric, and the asymmetric arrangement is also provided during the folding and expanding processes.

3. A foldable and expandable box structure with asymmetric arrangement of revolute pairs according to claim 1 or 2, characterized in that, in case of complete folding into a plane, all revolute pair axes 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 asymmetric arrangement of revolute pairs according to claim 1 or 2, wherein the foldable box structure has a single degree of freedom, and can realize the interconversion between a space-shaped structure and a plane polygonal structure by changing the included angle of adjacent surfaces.

5. A foldable box structure with asymmetric arrangement of revolute pairs according to claim 1 or 2, wherein the foldable box structure is a box structure with a polygon as a bottom surface and a height equal to or less than the side length of the bottom surface in a fully unfolded state, and is a polygon plane structure in a fully folded state.

6. A foldable and unfoldable box structure with asymmetric arrangement of revolute pairs according to claim 1 or 2, characterised in that all revolute pairs are constituted by one of hinges, hinges or bearings.

Technical Field

The invention relates to a foldable and expandable box structure, in particular to a foldable and expandable box structure based on a paper folding structure and having single degree of freedom, large folding-expansion ratio and asymmetric arrangement of revolute pairs.

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 box structure with asymmetrically arranged revolute pairs. 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 asymmetrically arranged revolute pairs 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 and the fourth surface are connected to be used as the bottom surface of the foldable box structure and are placed in the middle; the fifth surface, the sixth surface, the seventh surface, the eighth surface, the ninth surface, the tenth surface, the thirteenth surface, the fourteenth surface and the sixteenth surface are sequentially connected to form six side surfaces of the foldable and unfoldable box structure, the fifth surface is connected with the sixth surface to form the first side surface, the seventh surface is connected with the eighth surface to form the second side surface, the ninth surface is connected with the tenth surface to form the third side surface, the tenth surface is connected with the twelfth surface to form the fourth side surface, the thirteenth surface is connected with the fourteenth surface to form the fifth side surface, and the fifteenth surface is connected with the sixteenth surface to form the sixth side surface; the first side surface, the second side surface, the third side surface, the fourth side surface, the fifth side surface and the sixth side surface are arranged above the bottom surface and are connected with six sides of the bottom surface, and the six side surfaces are sequentially connected;

the first surface and the second surface are adjacent and are mutually connected through a first rotating pair, the second surface and the third surface are adjacent and are mutually connected through a second rotating pair, the third surface and the fourth surface are adjacent and are mutually connected through a third rotating pair, and the first surface and the fourth surface are adjacent and are mutually connected through a fourth rotating pair; the fifth surface is adjacent to the sixth surface and interconnected by a fifth revolute pair, the seventh surface is adjacent to the eighth surface and interconnected by a sixth revolute pair, the ninth surface is adjacent to the tenth surface and interconnected by a seventh revolute pair, the tenth surface is adjacent to the twelfth surface and interconnected by an eighth revolute pair, the thirteenth surface is adjacent to the fourteenth surface and interconnected by a ninth revolute pair, and the fifteenth surface is adjacent to the sixteenth surface and interconnected by a tenth revolute pair; the first side surface is adjacent to the first surface and interconnected by an eleventh revolute pair, the second side surface is adjacent to the second surface and interconnected by a twelfth revolute pair, the third side surface is adjacent to the third surface and interconnected by a thirteenth revolute pair, the fourth side surface is adjacent to the fourth surface and interconnected by a fourteenth revolute pair, the fifth side surface is adjacent to the fourth surface and interconnected by a fifteenth revolute pair, and the sixth side surface is adjacent to the first surface and interconnected by a sixteenth revolute pair; the first side is adjacent to the second side and is interconnected through a seventeenth revolute pair, the second side is adjacent to the third side and is interconnected through an eighteenth revolute pair, the third side is adjacent to the fourth side and is interconnected through a nineteenth revolute pair, the fourth side is adjacent to the fifth side and is interconnected through a twentieth revolute pair, the fifth side is adjacent to the sixth side and is interconnected through a twenty-first revolute pair, and the sixth side is adjacent to the first side and is interconnected through a twenty-twelfth revolute pair.

Furthermore, the arrangement of the revolute pairs in the foldable and unfoldable box structure has asymmetry, and the arrangement also has asymmetry in the folding and unfolding processes.

Further, under the condition of completely folding into a plane, all the revolute pair axes 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 box structure which takes a polygon as a bottom surface and has the height equal to or less than the side length of the bottom surface in a fully unfolded state, and is a polygonal plane structure in a fully folded state.

Furthermore, all 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 diagram of a fully unfolded state of a foldable box structure with asymmetrically arranged revolute pairs according to an embodiment, where the fully unfolded state of the structure is a box structure with a regular hexagon as a bottom surface and a length higher than a side length of the bottom surface.

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

fig. 1-3 are schematic views of planar polygonal structures of a fully folded box structure according to an 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 diagram of a fully unfolded state of a foldable box structure with asymmetrically arranged revolute pairs in the second embodiment, where the fully unfolded state of the structure is a box structure with a regular pentagon as a bottom surface and a side length higher than the 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 polygonal structure of the fully folded box structure of the second 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 diagram of a fully unfolded state of a foldable box structure with asymmetrically arranged revolute pairs in the third embodiment, where the fully unfolded state of the structure is a box structure with a regular hexagon as a bottom surface and a length higher than a side length of the bottom surface.

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 polygonal 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.

Fig. 4-1 is a schematic diagram of a fully unfolded state of a foldable box structure with asymmetrically arranged revolute pairs according to the fourth embodiment, where the fully unfolded state of the structure is a box structure with a regular pentagon as a bottom surface and a length higher than a side length of the bottom surface.

FIG. 4-2 is a plan expanded view of a four-box structure of the embodiment;

fig. 4-3 are schematic views of the planar polygonal structure of the four-box structure of the embodiment in a fully folded state.

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

Fig. 5-1 is a schematic diagram of a fully unfolded state of a foldable box structure with asymmetrically arranged revolute pairs in the fifth embodiment, where the fully unfolded state of the structure is a box structure with a regular hexagon as a bottom surface and a length higher than a side length of the bottom surface.

FIG. 5-2 is a plan expanded view of a five-box structure of the embodiment;

fig. 5-3 are schematic views of the planar polygonal structure of the fully folded five-box structure of the embodiment.

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

Fig. 6-1 is a schematic diagram of a fully unfolded state of a foldable box structure with asymmetrically arranged revolute pairs in the sixth embodiment, where the fully unfolded state of the structure is a box structure with a regular pentagon as a bottom surface and a length higher than a side length of the bottom surface.

FIG. 6-2 is a plan expanded view of a six-box structure of the embodiment;

fig. 6-3 are schematic views of the planar polygonal structure of the six-box structure of the embodiment in a fully folded state.

Fig. 6-4 and 6-5 are schematic views showing a folding sequence of a six-box structure according to an embodiment, wherein fig. 6-4 show an intermediate folding state and fig. 6-5 show a 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;

u0-bottom, U1-first side, U2-second side, U3-third side, U4-fourth side, U5-fifth side, U6-sixth side;

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;

v0-bottom, V1-first side, V2-second side, V3-third side, V4-fourth side, V5-fifth side, V6-sixth side;

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, and M22-a twenty-second 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;

w0-bottom, W1-first side, W2-second side, W3-third side, W4-fourth side, W5-fifth side, W6-sixth side;

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.

For example four:

d1-first face, D2-second face, D3-third face, D4-fourth face, D5-fifth face, D6-sixth face, D7-seventh face, D8-eighth face, D9-ninth face, D10-tenth face, D11-tenth face, D12-tenth face, D13-tenth face, D14-fourteenth face, D15-fifteenth face, D16-thirteenth face;

x0-bottom, X1-first side, X2-second side, X3-third side, X4-fourth side, X5-fifth side, X6-sixth side;

o1-a first revolute pair, O2-a second revolute pair, O3-a third revolute pair, O4-a fourth revolute pair, O5-a fifth revolute pair, O6-a sixth revolute pair, O7-a seventh revolute pair, O8-an eighth revolute pair, O9-a ninth revolute pair, O10-a tenth revolute pair, O11-an eleventh revolute pair, O12-a twelfth revolute pair, O13-a thirteenth revolute pair, O14-a fourteenth revolute pair, O15-a fifteenth revolute pair, O16-a sixteenth revolute pair, O17-a seventeenth revolute pair, O18-an eighteenth revolute pair, O19-a nineteenth revolute pair, O20-a twentieth revolute pair, O21-a twenty-first revolute pair, O22-a twenty-second revolute pair.

For example five:

e1-first face, E2-second face, E3-third face, E4-fourth face, E5-fifth face, E6-sixth face, E7-seventh face, E8-eighth face, E9-ninth face, E10-tenth face, E11-first face, E12-tenth face, E13-tenth face, E14-fourteenth face, E15-fifteenth face, E16-thirteenth face;

y0-bottom, Y1-first side, Y2-second side, Y3-third side, Y4-fourth side, Y5-fifth side, Y6-sixth side;

p1-a first revolute pair, P2-a second revolute pair, P3-a third revolute pair, P4-a fourth revolute pair, P5-a fifth revolute pair, P6-a sixth revolute pair, P7-a seventh revolute pair, P8-an eighth revolute pair, P9-a ninth revolute pair, P10-a tenth revolute pair, P11-an eleventh revolute pair, P12-a twelfth revolute pair, P13-a thirteenth revolute pair, P14-a fourteenth revolute pair, P15-a fifteenth revolute pair, P16-a sixteenth revolute pair, P17-a seventeenth revolute pair, P18-an eighteenth revolute pair, P19-a nineteenth revolute pair, P20-a twentieth revolute pair, P21-a twenty-first revolute pair, and P22-a twenty-second revolute pair.

For example six:

f1-first face, F2-second face, F3-third face, F4-fourth face, F5-fifth face, F6-sixth face, F7-seventh face, F8-eighth face, F9-ninth face, F10-tenth face, F11-tenth face, F12-tenth face, F13-tenth face, F14-fourteenth face, F15-fifteenth face, F16-thirteenth face;

z0-bottom, Z1-first side, Z2-second side, Z3-third side, Z4-fourth side, Z5-fifth side, Z6-sixth side;

q1-first revolute pair, Q2-second revolute pair, Q3-third revolute pair, Q4-fourth revolute pair, Q5-fifth revolute pair, Q6-sixth revolute pair, Q7-seventh revolute pair, Q8-eighth revolute pair, Q9-ninth revolute pair, Q10-tenth revolute pair, Q11-eleventh revolute pair, Q12-twelfth revolute pair, Q13-thirteenth revolute pair, Q14-fourteenth revolute pair, Q15-fifteenth revolute pair, Q16-sixteenth revolute pair, Q17-seventeenth revolute pair, Q18-eighteenth revolute pair, Q19-nineteenth revolute pair, Q20-twentieth revolute pair, Q21-twenty-first revolute pair, Q22-twenty-second 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.