阅读说明：本技术 一种四面体折叠单元及空间可展机构 (A kind of tetrahedron folds unit and space development agency ) 是由 *** 郭金伟 许允斗 张国兴 韩博 张硕 聂升龙 姚建涛 于 2019-08-28 设计创作，主要内容包括：本发明公开一种四面体折叠单元,包括两个折叠板和两个折叠杆,一个折叠板的一边与另一折叠板的任意一边重合并铰接,两个折叠杆分别与折叠板铰接相连,两个折叠杆铰接相连,两个折叠板完全重合时处于折叠状态,两个折叠杆位于同一直线时,处于完全展开状态,为稳定的四面体结构。本发明还提供两种空间可展机构,利用多个四面体折叠单元按照同一方向拓展为一开环组件,多个四面体折叠单元通过折叠板重合相连实现可展机构的构建；利用多个四面体折叠单元按照不同方向拓展为一闭环组件,四面体折叠单元的尺寸和数量决定可展机构的规格和折叠后机构的厚度。本发明的空间可展机构运动副形式简单,机构展开过程收拢比大,四面体折叠单元结构稳定。(The present invention discloses a kind of tetrahedron folding unit, including two folded sheets and two folding rods, one folded sheet be overlapped while any with another folded sheet and it is hinged, two folding rods are hinged and connected with folded sheet respectively, two folding rods are hinged and connected, and folded state are in when two folded sheets are completely coincident, when two folding rods are located at same straight line, in fully unfolded position, for stable tetrahedral structure.The present invention also provides two kinds of space development agencies, and folding unit using multiple tetrahedrons and expand according to same direction is an open loop component, and multiple tetrahedrons folding units, which are overlapped to be connected by folded sheet, realizes the building of development agency；Folding unit using multiple tetrahedrons and expand according to different directions is a closed loop component, the thickness of mechanism after the specification and folding of the size and number decision development agency of tetrahedron folding unit.Space development agency kinematic pair form of the invention is simple, and mechanism deploying process is collapsed than big, and tetrahedron folds cellular construction and stablizes.)

1. a kind of tetrahedron folds unit, it is characterised in that: including two folded sheets and two folding rods, the folded sheet is cross It is the frame structure of equilateral triangle to section, folded sheet weighs while any with another folded sheet Merge hinged, end where the hinge side of two folded sheets is tail end, the hinge side of two folded sheets pair vertex One end is head end, and head end of two folding rods respectively with the folded sheet is hinged and connected, two hinged phases of folding rod Even, axis that two folding rods relatively rotate axis, two folded sheets relatively rotate, the folded sheet with it is described The axis that folding rod relatively rotates is parallel two-by-two, and the inner ring of the folding rod and the folded sheet is hinged.

2. tetrahedron according to claim 1 folds unit, it is characterised in that: two folding rods pass through synchronising hinge It is connected, the synchronising hinge includes shell and two shafts, and the folding rod is connected by the shaft with the housing into rotation, Setting twists spring between the folding rod and the shell.

3. tetrahedron according to claim 2 folds unit, it is characterised in that: two folded sheets, the folded sheet It is hinged and connected by hinge with the folding rod.

4. tetrahedron according to claim 3 folds unit, it is characterised in that: the length of the folding rod is less than the folding The distance between the vertex of lamination and heart.

5. tetrahedron according to claim 4 folds unit, it is characterised in that: the folding of the diameter of the folding rod The thickness of plate is small.

6. tetrahedron according to claim 1 folds unit, it is characterised in that: the apex setting of the folded sheet can Accommodate the groove of the folding rod.

7. a kind of space development agency folds unit using tetrahedron described in any one of claims 1-6, it is characterised in that: Unit is folded including multiple connected tetrahedrons, the folded sheet that the adjacent tetrahedron folds unit is overlapped, and The tail end that the adjacent tetrahedron folds unit is not overlapped, and each folding rod is end to end after the assembly is completed arranges in the shape of a spiral Cloth.

8. a kind of space development agency folds unit using tetrahedron described in any one of claims 1-6, it is characterised in that: Unit is folded including multiple tetrahedrons, multiple tetrahedrons fold unit and join end to end to form ring-type, and adjacent is described The folded sheet that tetrahedron folds unit is overlapped, and the head end of adjacent tetrahedron folding unit is not overlapped, Ren Yisuo The tetrahedron for stating the adjacent two sides of tetrahedron folding unit folds unit with the tail end that the intermediate tetrahedron folds unit and is Axisymmetrical setting, the line of multiple folding rods are regular polygon.

Technical field

The present invention relates to theory of mechanisms technical fields, fold unit and space development agency more particularly to a kind of tetrahedron.

Background technique

Development agency is since there are two types of stable states for tool: folded state and fully unfolded position, and is concerned.Rugosity State generally transports storage state, and it is its minimum volume that structure, which collapses,；Fully unfolded position is in working condition, in the work of driving force Under, mechanism is gradually expanded to working condition by folded state according to the kinetic characteristic of itself, is then locked as stable state.It can Unfolding mechanism is widely applied in fields such as aerospace, architectural engineerings.Deployable mechanism is in aerospace field master Reflecting antenna, all kinds of solar energy sailboards, the extending arm etc. that be applied on all kinds of satellites, reflector antenna includes Mesh reflector Antenna, rigid reflector antenna, inflatable antenna etc., have AEC-Able engineering company for the world than more typical extending arm The FAST extending arm and ADAM extending arm of space station solar panel exploitation.In building engineering field, the application of assembled architecture Increasingly extensive, wherein folding house roof is to introduce deployable structure in facade lighting as a result, a main hair for being modern architecture Exhibition trend, in addition, can open up sub-truss, rumble seat, foldable bridge etc. is also important table of the development agency in building field It is existing.Most of deployable structure is confined to one dimensional line expansion and two-dimensional surface expansion, and expansion process cannot discharge three-dimensional space, thus Using limited.

Large-scale development agency can be opened up unit substantially and be composed by certain connection type by multiple.Currently, existing many Scholar propose it is a variety of opens up unit mechanisms and combined method, for example, Bennett mechanism, 5R and 7R can Zhan Danyuan, triangular prism can open up Unit, tetrahedron can Zhan Danyuan, rectangular pyramid can Zhan Danyuan, hexagonal pyramid can open up unit, etc., but really put into application It is few in number.For large-scale development agency, there are still gathering rates it is low, structure is complicated, expansion reliability is low the problems such as.

Therefore, how to change in the prior art the status that can open up that unit is complicated, development agency gathering rate is low, become ability Field technique personnel's urgent problem to be solved.

Summary of the invention

The object of the present invention is to provide a kind of tetrahedrons to fold unit and space development agency, to solve the above-mentioned prior art There are the problem of, simplification can open up cellular construction, improve the gathering rate and reliability of development agency.

To achieve the above object, the present invention provides following schemes: the present invention provides a kind of tetrahedron folding unit, including Two folded sheets and two folding rods, the folded sheet are the frame structure that transversal cross-section is equilateral triangle, a folding Lamination be overlapped while any with another folded sheet and it is hinged, end where the hinge side of two folded sheets is Tail end, the hinge side of two folded sheets pair vertex one end be head end, two folding rods respectively with the folding The head end of plate is hinged and connected, and two folding rods are hinged and connected, axis that two folding rods relatively rotate, described in two Axis, the folded sheet and the folding rod axis relatively rotated that folded sheet relatively rotates are parallel two-by-two, the folding rod It is hinged with the inner ring of the folded sheet.

Preferably, two folding rods are connected by synchronising hinge, and the synchronising hinge includes shell and two shafts, The folding rod is connected by the shaft with the housing into rotation, and setting twists spring between the folding rod and the shell.

Preferably, two folded sheets, the folded sheet and the folding rod are hinged and connected by hinge.

Preferably, the length of the folding rod is less than the distance between vertex and heart of the folded sheet.

Preferably, the diameter of the folding rod is small compared with the thickness of the folded sheet.

Preferably, the apex setting of the folded sheet can accommodate the groove of the folding rod.

The present invention also provides a kind of space development agencies, unit are folded using above-mentioned tetrahedron, including multiple connected institutes It states tetrahedron and folds unit, the folded sheet that the adjacent tetrahedron folds unit is overlapped, and the adjacent tetrahedron The tail end for folding unit is not overlapped, and each folding rod is end to end after the assembly is completed arranges in the shape of a spiral.

The present invention also provides another space development agencies, fold unit, including multiple described four using above-mentioned tetrahedron Face body folds unit, and multiple tetrahedrons fold unit and join end to end to form ring-type, and the adjacent tetrahedron folds unit The folded sheet be overlapped, and the adjacent tetrahedron folds the head end of unit and is not overlapped, and any tetrahedron folds single The tetrahedron of the adjacent two sides of member is folded unit and is arranged using the tail end that the intermediate tetrahedron folds unit as axisymmetrical, more The line of a folding rod is regular polygon.

The present invention achieves following technical effect compared with the existing technology: tetrahedron of the invention folds unit, including two A folded sheet and two folding rods, folded sheet are the frame structure that transversal cross-section is equilateral triangle, one side of a folded sheet With being arbitrarily overlapped on one side and hinged for another folded sheet, end where the hinge side of two folded sheets is tail end, two folded sheets Hinge side pair vertex one end be head end, two folding rods are hinged and connected with the head end of folded sheet respectively, two folding rods hinges Connect connected, relatively rotate opposite with folding rod turn of axis, folded sheet of axis that two folding rods relatively rotate, two folded sheets Dynamic axis is parallel two-by-two, and the inner ring of folding rod and folded sheet is hinged.The present invention also provides two kinds of space development agencies, wherein one Kind space development agency includes that multiple connected tetrahedrons fold unit, and the folded sheet that adjacent tetrahedron folds unit is overlapped, And the tail end of adjacent tetrahedron folding unit is not overlapped, each folding rod is end to end after the assembly is completed arranges in the shape of a spiral.Separately A kind of space development agency includes that multiple tetrahedrons fold unit, and multiple tetrahedrons fold units and join end to end to form ring-type, phase The folded sheet that adjacent tetrahedron folds unit is overlapped, and the head end of adjacent tetrahedron folding unit is not overlapped, any tetrahedron The tetrahedron for folding the adjacent two sides of unit is folded unit and is arranged using the tail end that intermediate tetrahedron folds unit as axisymmetrical, multiple The line of folding rod is regular polygon.Tetrahedron of the invention folds unit, and rugosity is in when two folded sheets are completely coincident State when two folding rods are located at same straight line, is in fully unfolded position, for stable tetrahedral structure；Utilize multiple four sides It is an open loop component that body, which folds unit and expands according to same direction, and multiple tetrahedrons folding units are connected real by folded sheet coincidence The building of existing development agency；Folding unit using multiple tetrahedrons and expand according to different directions is a closed loop component, tetrahedron folding The thickness of mechanism after the specification and folding of the size and number decision development agency of folded unit.Development agency fortune in space of the invention Dynamic pair form is simple, type is single, and mechanism deploying process is collapsed than big, and tetrahedron folds that cellular construction is stable, rigidity is big, improves Mechanism reliability.

Detailed description of the invention

It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings Obtain other attached drawings.

Fig. 1 is the structural schematic diagram that tetrahedron of the invention folds unit；

Fig. 2 is the schematic top plan view for the two folding rod junctions that tetrahedron of the invention folds unit；

Fig. 3 is the schematic side view for the two folding rod junctions that tetrahedron of the invention folds unit；

Fig. 4 is a kind of structural schematic diagram of space development agency of the invention；

Fig. 5 is the schematic top plan view of the space development agency of Fig. 4；

Schematic diagram when Fig. 6 is the folded state of the space development agency of Fig. 4；

Fig. 7 is the structural schematic diagram of another space development agency of the invention；

Fig. 8 is the schematic top plan view of the space development agency of Fig. 7；

Schematic diagram when Fig. 9 is the folded state of the space development agency of Fig. 7；

Wherein, 1 is folded sheet, and 2 be folding rod, and 3 be shell, and 4 be shaft, and 5 is twist spring, and 6 be hinge, and 7 be groove.

Herein it should be noted that in attached drawing I, II, III, IV, 1a, 1b, 1c for ease of illustration space development agency And it marks.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

The object of the present invention is to provide a kind of tetrahedrons to fold unit and space development agency, to solve the above-mentioned prior art There are the problem of, simplification can open up cellular construction, improve the gathering rate and reliability of development agency.

In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real Applying mode, the present invention is described in further detail.

Please refer to Fig. 1-9, wherein Fig. 1 is the structural schematic diagram that tetrahedron of the invention folds unit, and Fig. 2 is the present invention Tetrahedron fold unit two folding rod junctions schematic top plan view, Fig. 3 is that tetrahedron of the invention folds the two of unit The schematic side view of folding rod junction, Fig. 4 are a kind of structural schematic diagram of space development agency of the invention, and Fig. 5 is Fig. 4's The schematic top plan view of space development agency, schematic diagram when Fig. 6 is the folded state of the space development agency of Fig. 4, Fig. 7 are this hair The structural schematic diagram of bright another space development agency, Fig. 8 are the schematic top plan view of the space development agency of Fig. 7, and Fig. 9 is figure The schematic diagram when folded state of 7 space development agency.

The present invention provides a kind of tetrahedron folding unit, including two folded sheets 1 and two folding rods 2, and folded sheet 1 is cross It is the frame structure of equilateral triangle to section, folded sheet 1 is overlapped and cuts with scissors while any with another folded sheet 1 Connect, end where the hinge side of two folded sheets 1 is tail end, the hinge side of two folded sheets 1 pair vertex one end be head end, two Head end of a folding rod 2 respectively with folded sheet 1 is hinged and connected, and two folding rods 2 are hinged and connected, and two folding rods 2 relatively rotate Axis, two folded sheets 1 axis, the folded sheet 1 that relatively rotate it is parallel two-by-two with the axis relatively rotated of folding rod 2, folding Bar 2 and the inner ring of folded sheet 1 are hinged.

Tetrahedron of the invention folds unit, the coincidence on one side of the folded sheet 1 of two triangles and the two is hinged and connected, when Tetrahedron folds unit and is in folded state when two folded sheets 1 are completely coincident, when two folding rods 2 are located at same straight line, Tetrahedron folds the distance between two head ends of unit maximum, and tetrahedron folds unit and is in fully unfolded position, for stabilization Tetrahedral structure, tetrahedron of the invention folds that cellular construction is simple, form stable, rigidity are big, reliability is higher.

Specifically, two folding rods 2 are connected by synchronising hinge, and synchronising hinge includes shell 3 and two shafts 4, are folded Bar 2 is rotatedly connected by shaft 4 with shell 3, and setting twists spring 5 between folding rod 2 and shell 3, and shaft 4 passes through folding rod 2 and shell Body 3 is simultaneously fixed with split pin, and shell 3 limits the rotation direction of folding rod 2, when tetrahedron folds unit and folds, makes to fold Bar 2 is located at the inner ring of folded sheet 1, and folding rod 2 is avoided to misplace, and is set in shaft 4 and twists spring 5, improves structural stability, while can To twist the folding angles of the stiffness reliability folding rod 2 of spring 5 by changing.

In this embodiment, two folded sheets 1, folded sheet 1 are hinged and connected by hinge 6 with folding rod 2, and two Two hinges 6 are arranged in parallel between a folded sheet 1, it is ensured that two folded sheets 1 can be completely coincident when folding.

In addition, the length of folding rod 2 is less than the distance between vertex and heart of folded sheet 1, multiple tetrahedrons are being used When folding unit is connected, the too long rotation of folding rod 2 for influencing other tetrahedrons and folding unit of 2 length of folding rod is avoided.

More specifically, the diameter of folding rod 2 is small compared with the thickness of folded sheet 1, when tetrahedron folding unit folds completely, fold Bar 2 is located in the inner ring of folded sheet 1, and folding rod 2 is avoided to protrude from folded sheet 1.

Further, the apex setting of folded sheet 1 can accommodate the groove 7 of folding rod 2, roll over when using multiple tetrahedrons When folded unit Topology group blended space development agency, groove 7, which can be avoided folded sheet 1, influences the adjacent movement of folding rod 2.

The present invention also provides a kind of space development agencies, fold unit, adjacent four sides including multiple connected tetrahedrons The folded sheet 1 that body folds unit is overlapped, and the tail end of adjacent tetrahedron folding unit is not overlapped, and tetrahedron folds unit assembly Each folding rod 2 is end to end after the completion arranges in the shape of a spiral.It is directed toward referring to FIG. 4, regulation tetrahedron folds folding rod 2 in unit Tail end is positive direction, and the sideline that tetrahedron folds the folded sheet 1a in 2 left side of folding rod of unit I is common edge, rolls over tetrahedron Folded unit I and tetrahedron fold unit II and share folded sheet 1a；Tetrahedron is selected to fold the folding in 2 left side of folding rod of unit II The sideline of plate 1b is common edge, so that tetrahedron folding unit II and tetrahedron is folded unit III and shares folded sheet 1b；Selection four sides The sideline that body folds the folded sheet 1c in 2 left side of folding rod of unit III is common edge, and tetrahedron is made to fold unit III and tetrahedron It folds unit IV and shares folded sheet 1c, and so on；Change the folding angles of folding rod 2, final changing mechanism terminal angle；Four Face body fold unit number determine expansion after mechanism length and folding after mechanism thickness.

The present invention also provides another space development agencies, fold unit, including multiple tetrahedrons using above-mentioned tetrahedron Unit is folded, multiple tetrahedrons fold unit and join end to end to form ring-type, and adjacent tetrahedron folds 1 weight of folded sheet of unit It closes, and the head end of adjacent tetrahedron folding unit is not overlapped, the tetrahedron that any tetrahedron folds the adjacent two sides of unit folds Unit is arranged using the tail end that intermediate tetrahedron folds unit as axisymmetrical, and the line of multiple folding rods 2 is regular polygon.It please join Examine Fig. 7, it is specified that tetrahedron fold unit in folding rod 2 be directed toward tail end be positive direction, first selection tetrahedron fold unit folding The sideline of the folded sheet 1 in folded 2 left side of bar is common edge, and tetrahedron is made to fold unit and next tetrahedron folding units shared folding Lamination 1；Then selecting next tetrahedron to fold the sideline of the folded sheet 1 on 2 right side of folding rod of unit is common edge, is made next A tetrahedron folds unit and next one tetrahedron folds units shared folded sheet 1；Direction alternate selection, and so on；It should Mechanism determines that fundamental tetrahedron folds the size and number of unit, and the large-scale development agency that it can be made to form forms closed loop, i.e., Annular development agency.2 folding angles of spring stiffness reliability folding rod, final changing mechanism end appearance are twisted in synchronising hinge by changing State；The number that tetrahedron folds unit determines the bore of mechanism and the thickness of mechanism after folding after expansion.

Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification It should not be construed as limiting the invention.