Folding and unfolding device based on metamorphic paper folding structure

Abstract

The invention provides a folding and unfolding device which comprises a base and a plurality of folding and unfolding branches. Each folding and unfolding branch comprises a driving module and N (N islarger than or equal to 2) folding and unfolding modules connected in sequence, and each folding and unfolding module comprises support plates forming two isosceles edges and two folding plates forming the other bottom edge. Adjacent support plates and folding plates are hinged through four parallel first rotating shafts, every two matched folding plates in adjacent folding and unfolding modulesare connected through a second rotating shaft, the second rotating shafts are arranged to be perpendicular to the first rotating shafts, and the driving modules act on the first rotating shafts and the second rotating shafts respectively so as to drive the folding and unfolding modules to switch among a closing state, a folding state, an unfolding state and a curve state. According to the foldingand unfolding device, the transportation space can be fully utilized after folding, the folding and unfolding ratio can be increased along with increase of the number of the folding and unfolding modules, the folding and unfolding ratio can be changed, and the folding and unfolding device can fold, unfold and support a large space plane and a curved film surface and can be used for space capture manipulator design.

Description

technical field [0001] The invention belongs to the technical field of space foldable mechanisms, and in particular relates to a foldable device based on a variable cell origami configuration. Background technique [0002] With the development of the aerospace industry, there is an increasing demand for large-scale expandable mechanisms in aerospace engineering, such as space solar panels, solar sails of long-distance aircraft, etc., all require folding mechanisms to expand and support them; at the same time, in When capturing non-cooperative targets in space, compared with the traditional tandem manipulator, using the truss-type folding mechanism for envelope capture has the advantages of stable capture, high rigidity, and easy transportation. However, limited by the transportation cost, the folded The expansion mechanism needs to have the characteristics of large folding and expansion ratio, that is, its volume should be as small as possible during loading and transportati...

AI Technical Summary

Problems solved by technology

[0003] At present, most of the existing folding mechanisms are modular structures. For example, Chinese patent document 201410056414.6 discloses an expandable underactuated cable-bar truss manipulator gripper, which relates to a modular manipulator that can be used to grab objects of different shapes in space. Claws, to solve the problems of traditional underactuated mechanism and SARAH claws with heavy weight, complex structure, poor adaptability to the shape of the grasped target object, small grasping force and difficult expansion of SARAH claws. It includes front-end connecting devices, rods Inter-angle limit mechanism, end cable truss, rope, multiple positioning columns and multiple expandable modular cable trusses; the front-end connection device includes connecting plate, two rope shafts, two limit columns, The installation plate, two transition plates and four support plates, the two support plates on the same side in the vertical direction are pierced with rope shafts, the output shaft of the motor is vertically arranged and connected with the corresponding rope shaft; each The described expandable modular cable-strut truss consists of two roping shafts, twelve friction damping metal sheets and six connecting rods

Because the manipulator in the prior art does not have the function of folding and unfolding, it takes up a lot of space and increases the difficulty of transportation; the parallelogram structure has poor stability and it is difficult to control the stiffness; and the driving part is complicated to control due to the use of servo motors, and the structure is heavy A separate structural design is required for the arrangement of the servo motors; and this technology does not take into account the lightweight design, resulting in a small grasping force of the manipulator, and it is difficult to control the operation of large-mass objects

[0004] The folding ratio in the above-mentioned prior art is limited and constant, and cannot be tightly wrapped around the carrier after being folded and folded, resulting in a great waste of space; at the same time, most of these folding mechanisms can only be unfolded in a plane, and cannot be used for curved film surfaces. expand and support

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