Bidirectional variable diameter retracting and extending mechanism based on Kresling structure

Abstract

The present invention discloses a bidirectional, variable-diameter, retractable and expandable mechanism based on a Kresling structure, belonging to the field of variable-diameter, retractable and expandable mechanism design. The mechanism comprises symmetrically arranged expandable planes in the same vertical direction, connected by a Kresling plunger truss. The Kresling plunger truss is driven to extend and retract by connecting to a micro-hydraulic device. The expandable planes include a fixed layer and a movable layer. The movable layer includes a central controller and a plurality of telescopic fan-shaped bodies uniformly arranged circumferentially around the controller. The present invention utilizes the aforementioned bidirectional, variable-diameter, retractable and expandable mechanism based on the Kresling structure, and designs the retractable and expandable structure based on the principle of longitudinal deformation of the Kresling truss and lateral expansion and contraction of the variable-diameter wheel, thereby resolving the problems of conventional retractable and expandable mechanisms, such as the single variable-diameter direction and unstable structure.

Description

Technical Field

[0001] The present invention relates to the technical field of diameter-changing retractable and extendable mechanism design, in particular to a bidirectional diameter-changing retractable and extendable mechanism based on a Kresling structure. Background Art

[0002] The design of deformation mechanisms plays an important role in robotics, aerospace, movable mechanical equipment and other fields. Currently, commonly used deformation mechanisms, such as scissor-type linkages and long-row continuous hinges, have problems such as a single extension direction and poor stability.

[0003] Many origami configurations can achieve multiple stiffness and stability levels by varying the properties of their folds. The Kresling origami configuration is one such example. This configuration exhibits multiple stable states during the folding process, providing valuable insights into the design of retraction and expansion mechanisms. Currently, retraction and expansion mechanisms suffer from poor stability during extension, and the use of Kresling structures in conjunction with retraction and expansion mechanisms to enhance their stability is not widely used. Therefore, a bidirectional, variable-diameter retraction and expansion mechanism based on the Kresling structure is proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a bidirectional variable diameter retractable and deployable mechanism based on the Kresling structure. The retractable and deployable structure is designed based on the principle of longitudinal deformation of the Kresling truss and lateral retractable and deployable of the variable diameter wheel, thereby solving the problem of single variable diameter direction and unstable structure of the traditional retractable and deployable mechanism.

[0005] To achieve the above-mentioned objectives, the present invention provides a bidirectional variable-diameter retractable and expandable mechanism based on a Kresling structure, comprising expandable planes symmetrically arranged in the same vertical direction, the symmetrically arranged expandable planes being connected by a Kresling plunger truss, the Kresling plunger truss being driven to retract and expand by being connected to a micro-hydraulic device, the expandable plane comprising a fixed layer and a movable layer, the movable layer comprising a central controller, and a plurality of telescopic fan-shaped bodies evenly arranged in the circumferential direction of the controller.

[0006] Preferably, the controller at the center of the moving layer is arranged on the fixed layer, and the fixed layer is arranged at one end of the moving layer away from the Kresling plunger truss.

[0007] Preferably, the controller is connected to each fan-shaped body through a plurality of telescopic rods.

[0008] Preferably, the Kresling plunger truss includes a plurality of long rods and a plurality of short rods, both ends of the long rods are provided with fisheye bearings, and the fisheye bearings are respectively connected to the sector-shaped bodies of the moving layer through spherical universal joints.

[0009] Preferably, the long rod and the short rod are both hydraulic telescopic cylinders.

[0010] Preferably, one end of the short rod is connected to the fan-shaped body through a sliding structure, and the other end of the short rod is slidably sleeved on the cylinder body of the long rod.

[0011] Preferably, the sliding structure includes a sliding body arranged at one end of the short rod, a plurality of sector bodies are provided with arc-shaped sliding tracks at intervals, and the sliding body is arranged in the sliding track and is slidably connected to the sliding track.

[0012] Preferably, the micro hydraulic device includes a hydraulic power element for controlling the extension and retraction of the long rod and the short rod and an auxiliary element for providing hydraulic force to the hydraulic power element.

[0013] Therefore, the present invention adopts the above-mentioned bidirectional variable diameter retracting and extending mechanism based on the Kresling structure, which has the following beneficial effects:

[0014] (1) The structure of the present invention can control the deformation path of the Kresling truss, thereby improving the stability and controllability of its deformation;

[0015] (2) The structure of the present invention is a multi-stable deformation structure that can provide smooth and controllable deformation behavior under the action of hydraulic drive or other external forces;

[0016] (3) The structure of the present invention has triple deformation performances of Kresling truss structure diameter change, hydraulic plunger rod diameter change, and expandable plane diameter change; it provides a structural design solution with bidirectional deformation function for the fields of robotics, aerospace, and movable mechanical equipment.

[0017] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the overall structure of an embodiment of the present invention;

[0019] Figure 2 A bottom view of a moving layer according to an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of a mobile layer deployment according to an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of a gear-driven rotation according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the application of Example 1 of the present invention;

[0023] Figure 6 This is a schematic diagram of the application of Example 1 of the present invention;

[0024] Figure 7 This is a schematic diagram of the application of Example 1 of the present invention;

[0025] Figure 8 This is a schematic diagram of the application of Example 2 of the present invention;

[0026] Figure 9 This is an application diagram of Example 2 of the present invention.

[0027] Reference numerals

[0028] 1. Fixed layer; 2. Mobile layer; 3. Hydraulic power element; 4. Auxiliary element; 5. Short rod; 6. Long rod; 7. Sliding track; 8. Sliding body; 9. Controller; 10. Fan-shaped body; 11. Telescopic rod; 12. Ball joint; 13. External large gear; 14. Internal helical gear; 15. Motor. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention are further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not intended to limit the embodiments of the present invention. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, where the same or similar numbers throughout represent the same or similar elements or elements with the same or similar functions.

[0030] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0031] Like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not require further definition or explanation in subsequent drawings.

[0032] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0033] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0034] Example

[0035] like Figure 1 As shown, the bidirectional variable diameter retractable and extendable mechanism based on the Kresling structure of the present invention includes two symmetrically arranged expandable surfaces in the same vertical direction. The symmetrically arranged expandable surfaces are connected by a Kresling plunger truss, which is driven by a micro-hydraulic device to retract and extend.

[0036] The deployable plane includes a fixed layer 1 and a movable layer 2, such as Figure 3 As shown, the moving layer 2 includes a central controller 9 and six telescopic sectors 10 evenly spaced around the circumference of the controller 9. The central controller 9 of the moving layer 2 is mounted on the fixed layer 1, which is located at the end of the moving layer 2 away from the Kresling plunger truss. The controller 9 is connected to each sector 10 via a plurality of telescopic rods 11.

[0037] The Kresling plunger truss consists of several long rods 6 and several short rods 5. Both ends of the long rods 6 are provided with fisheye bearings, which are connected to the fan-shaped body 10 of the moving layer 2 through a spherical universal joint 12. The long rods 6 and the short rods 5 are both hydraulic telescopic cylinders. One end of the short rod 5 is connected to the fan-shaped body 10 through a sliding structure, and the other end of the short rod 5 is mounted on the cylinder body of the long rod 6 through a bearing sleeve, and the other end of the short rod 5 can slide on the long rod 6. Figure 4 As shown, the torque required for the rotation of the long rod 6 and short rod 5 is provided by gears, driven by a motor, while the power required for extension and retraction is driven by a micro-hydraulic device. An external large gear 13 can be provided on the side of the fixed layer 1 away from the controller 9. This large gear 13 is driven by an internal helical gear 14, the center of which is connected to the output shaft of a motor 15, which also drives the rotation. Alternatively, other drive methods that provide torsional rotation can be used; gears are not required; they are external components that only provide the torque required for rotation.

[0038] like Figure 2 As shown, the sliding structure includes a sliding body 8 arranged at one end of a short rod 5, and arc-shaped sliding tracks 7 are arranged at intervals on six sector-shaped bodies 10. The sliding body 8 is arranged in the sliding track 7 and is slidably connected to the sliding track 7.

[0039] The micro-hydraulic device includes a hydraulic power element 3 for controlling the extension and retraction of a long rod 6 and a short rod 5, and an auxiliary element 4 for providing hydraulic pressure to the hydraulic power element 3. The auxiliary element 4, which includes rubber tubing, acts as the actuator of the micro-hydraulic device. The cylinders of the long rod 6 and short rod 5 are connected to the hydraulic power element 3 via oil inlet and return lines, enabling the extension and retraction of the Kresling plunger truss. The extension and retraction of the Kresling plunger truss drives the movement of the sector 10, and the telescopic rod 11 changes the area of ​​the moving layer 2.

[0040] During use, the long rod 6 and the short rod 5 are controlled by a micro hydraulic device to retract, and the sliding body 8 at the top of the short rod 5 slides in the sliding track 7. The controller 9 in the center area controls the telescopic rod 11 to push the fan-shaped plane from the external connection of each fan-shaped body 10, thereby increasing the area of ​​the mobile layer 2 and realizing two-way variable diameter expansion. The area within the transition area of ​​the inflection point of the sliding track 7 is a rigid area, and the truss is self-locking. The area outside is a folding area. The Kresling plunger truss cooperates with the mobile layer 2 to achieve free deformation along the path. The rigid area is located within the transition area, close to the fixed part of the long rod 6, while the folding area is away from the fixed part of the long rod 6. The Kresling plunger truss generates torque through gear rotation or similar means, and then rotates to retract or expand. The above functions can be realized in the folding area, while in the rigid area, the angle between the long rod 6 and the short rod 5 is less than the friction angle, achieving self-locking.

[0041] The two-way diameter-changing retractable and extendable mechanisms are connected in sequence up and down, and the micro hydraulic device is arranged on two adjacent two-way diameter-changing retractable and extendable mechanisms to achieve diameter-changing retractable and extendable lengths of various lengths.

[0042] The structure of this embodiment can be applied in, but not limited to, the fields of robotics, aerospace, movable mechanical equipment, and civil engineering.

[0043] The present invention adopts the above-mentioned bidirectional variable diameter retracting and extending mechanism based on the Kresling structure, and designs the retracting and extending structure through the longitudinal deformation of the Kresling truss and the lateral retracting and extending principle of the variable diameter wheel, thereby solving the problem of the traditional retracting and extending mechanism having a single variable diameter direction and an unstable structure.

[0044] Example 1

[0045] As a multi-flexibility manipulator or robot application, such as Figure 5 、 Figure 6 、 Figure 7As shown, a bidirectional variable diameter retraction and extension mechanism based on the Kresling structure is a unit cell. The robotic arm is composed of multiple unit cells. Each unit cell can be individually controlled by hydraulic or electric drive to realize the rotation, contraction, and expansion of different joints. Due to its self-locking performance, it can realize the movement requirements of different angles, lengths, and widths. It can be applied to the operation requirements of multi-flexibility robots in special environments such as pipelines.

[0046] Example 2

[0047] As a shock-absorbing and energy-absorbing mechanism, it can be used for landing cushioning of aircraft or energy absorption requirements of buildings such as bridges. Figure 9 As shown, the structure is composed of a single-layer or multi-layer structure, arranged in a longitudinal or transverse combination. The longitudinal combination can be used for aircraft landing cushioning, which shrinks from the bottom layer upwards to absorb impact force and improve seismic performance; the transverse arrangement can be used for applications such as vehicle cushioning, energy conversion and power generation of speed bumps, and bridge seismic resistance.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A bidirectional variable diameter retractable and extendable mechanism based on a Kresling structure, characterized by: The device comprises expandable planes symmetrically arranged in the same vertical direction, the symmetrically arranged expandable planes being connected by a Kresling plunger truss, the Kresling plunger truss being connected to a micro hydraulic device to drive expansion and contraction, the expandable planes comprising a fixed layer and a movable layer, the movable layer comprising a central controller and a plurality of retractable sector-shaped bodies uniformly arranged in a circumferential direction of the controller; The controller is connected to each fan-shaped body through a number of telescopic rods; The Kresling plunger truss consists of several long rods and several short rods. Both ends of the long rods are provided with fisheye bearings, which are connected to the sectors of the moving layer through spherical universal joints. One end of the short rod is connected to the fan-shaped body through a sliding structure, and the other end of the short rod is slidably sleeved on the cylinder body of the long rod; The sliding structure comprises a sliding body arranged at one end of a short rod, a plurality of sector bodies are provided with arc-shaped sliding tracks at intervals, and the sliding body is arranged in the sliding track and is slidably connected with the sliding track.

2. The bidirectional variable diameter retractable and extendable mechanism based on the Kresling structure according to claim 1, characterized in that: The controller at the center of the moving layer is arranged on the fixed layer, and the fixed layer is arranged at one end of the moving layer away from the Kresling plunger truss.

3. The bidirectional variable diameter retractable and extendable mechanism based on the Kresling structure according to claim 1, characterized in that: Both the long rod and the short rod are hydraulic telescopic cylinders.

4. The bidirectional variable diameter retractable and extendable mechanism based on the Kresling structure according to claim 1, characterized in that: The micro hydraulic device comprises a hydraulic power element for controlling the extension and retraction of a long rod and a short rod and an auxiliary element for providing hydraulic force to the hydraulic power element.

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