Polyhedral Radial Reciprocating Folding and Unfolding Mechanism and Its Integrated Method for Additive and Subtractive Manufacturing Configuration

Abstract

The present invention discloses a polyhedron radial reciprocating folding and unfolding mechanism and a comprehensive method for additive and subtractive manufacturing configuration thereof. The polyhedron radial reciprocating folding and unfolding mechanism can be switched between an unfolded state and a folded state. The polyhedron radial reciprocating folding and unfolding mechanism is inscribed in an outer polyhedron in the unfolded state and includes a plurality of connected prism mechanism subtractive surface units. Each prism mechanism subtractive surface unit has a single degree of freedom and includes: a folding point connection block and a plurality of vertex connection blocks; a plurality of link groups. When the polyhedron radial reciprocating folding and unfolding mechanism is in the unfolded position, each prism mechanism subtractive surface unit is located in a regular polygon surface of the outer polyhedron, and the vertex connection blocks of the prism mechanism subtractive surface unit are respectively located at the vertices of the regular polygon surface. The polyhedron radial reciprocating folding and unfolding mechanism according to the embodiments of the present invention has the advantages of easy configuration design, easy guarantee of a single degree of freedom, easy control, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of manufacturing of folding and unfolding mechanisms, and in particular, to a polyhedron radial reciprocating motion folding and unfolding mechanism and a comprehensive method for additive and subtractive manufacturing configuration thereof. Background Art

[0002] As a type of deformable mechanism, the polyhedron folding and unfolding mechanism can be controllably switched between the folded and unfolded states. Furthermore, it can be stored and transported in a limited space in the folded state and achieve specific functions in the unfolded state, having various application requirements.

[0003] In the polyhedron radial reciprocating motion folding and unfolding mechanism in the related art, its design is complex, and it is difficult to ensure a single degree of freedom, which affects the controllable folding or unfolding of the polyhedron radial reciprocating motion folding and unfolding mechanism. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a polyhedron radial reciprocating motion folding and unfolding mechanism, which has the advantages of easy configuration design, easy to ensure a single degree of freedom, easy to control, etc.

[0005] The present invention also provides a comprehensive method for additive and subtractive manufacturing configuration of the polyhedron radial reciprocating motion folding and unfolding mechanism.

[0006] To achieve the above object, according to an embodiment of the first aspect of the present invention, a polyhedron radial reciprocating folding and unfolding mechanism is proposed. The polyhedron radial reciprocating folding and unfolding mechanism includes: The polyhedron radial reciprocating folding and unfolding mechanism is switchable between an unfolded state and a folded state. In the unfolded state, the polyhedron radial reciprocating folding and unfolding mechanism is inscribed in an outer polyhedron, and the outer polyhedron is a regular polyhedron or a semi-regular polyhedron. The polyhedron radial reciprocating folding and unfolding mechanism includes a plurality of connected prism mechanism material-reduced surface units. Each prism mechanism material-reduced surface unit has a single degree of freedom and includes: a folding point connection block and a plurality of vertex connection blocks; a plurality of link groups, the number of link groups is equal to the number of vertex connection blocks. Each vertex connection block is connected to the folding point connection block through one link group. Each link group includes two links. The two ends of each link are respectively rotatably connected to the vertex connection block and the folding point connection block. The two links of each link group and the connected folding point connection block and vertex connection block form a parallelogram mechanism. Wherein, when the polyhedron radial reciprocating folding and unfolding mechanism is in the unfolded state, each prism mechanism material-reduced surface unit is located in a regular polygon surface of the outer polyhedron, and the vertex connection blocks of the prism mechanism material-reduced surface unit are respectively located at the vertices of the regular polygon surface. The vertex connection blocks among the plurality of vertex connection blocks of the polyhedron radial reciprocating folding and unfolding mechanism that are located at the same vertex of the outer polyhedron are connected as a whole. When the polyhedron radial reciprocating folding and unfolding mechanism is in the folded state, the plurality of vertex connection blocks approach each other or the plurality of folding point connection blocks approach each other.

[0007] The polyhedron radial reciprocating folding and unfolding mechanism according to the embodiment of the present invention has the advantages of easy configuration design, easy to ensure a single degree of freedom, easy to control, etc.

[0008] In addition, the polyhedron radial reciprocating folding and unfolding mechanism according to the above embodiment of the present invention may further have the following additional technical features:

[0009] According to an embodiment of the present invention, the outer polyhedron is a regular hexahedron and includes six prism mechanism material-reduced surface units. Each prism mechanism material-reduced surface unit includes four vertex connection blocks. Three of the vertex connection blocks at each vertex of the outer polyhedron are connected as a vertex group block.

[0010] According to an embodiment of the present invention, the folding point connection block is provided with four lugs arranged at equal intervals along the circumferential direction of the folding point connection block, and the vertex group block is provided with three lugs arranged at equal intervals along the circumferential direction of the vertex group block. Each lug is respectively pivotally connected to two links.

[0011] According to an embodiment of the present invention, the outer polyhedron is a regular dodecahedron and includes twelve of the prismatic mechanism subtractive surface units. Each of the prismatic mechanism subtractive surface units includes five vertex connection blocks, and three of the vertex connection blocks at each vertex of the outer polyhedron are connected to form a vertex group block.

[0012] According to an embodiment of the present invention, three lugs are provided on the fold point connection block at equal intervals along the circumferential direction of the fold point connection block, and three lugs are provided on the vertex group block at equal intervals along the circumferential direction of the vertex group block. Each of the lugs is pivotally connected to two of the link rods respectively.

[0013] According to an embodiment of the present invention, the outer polyhedron is an truncated icosahedron and includes thirty-two of the prismatic mechanism subtractive surface units. The thirty-two prismatic mechanism subtractive surface units include twelve regular pentagon units and twenty regular hexagon units. Each of the regular pentagon units includes five vertex connection blocks, and each of the regular hexagon units includes six vertex connection blocks. Three of the vertex connection blocks at each vertex of the outer polyhedron are connected to form a vertex group block.

[0014] According to an embodiment of the present invention, five lugs are provided on the fold point connection block of the regular pentagon unit at equal intervals along the circumferential direction of the fold point connection block, six lugs are provided on the fold point connection block of the regular hexagon unit at equal intervals along the circumferential direction of the fold point connection block, and three lugs are provided on the vertex group block at equal intervals along the circumferential direction of the vertex group block. Each of the lugs is pivotally connected to two of the link rods respectively.

[0015] According to an embodiment of the second aspect of the present invention, a method for integrated addition and subtraction material configuration of the polyhedron radial reciprocating motion folding and unfolding mechanism is provided, including the following steps:

[0016] Select the shape of the outer polyhedron;

[0017] Select a prismatic folding and unfolding mechanism according to the selected shape of the outer polyhedron. The prismatic folding and unfolding mechanism is inscribed in an outer prism and has a single degree of freedom. The outer prism is a regular prism. The prismatic folding and unfolding mechanism includes two prismatic mechanism subtractive surface units and a plurality of side units. The fold point connection blocks of the two prismatic mechanism subtractive surface units are connected to form a fold point block group. The number of side units is the same as the number of side edges of the outer prism. The number of vertex connection blocks of each prismatic mechanism subtractive surface unit is the same as the number of side edges of the outer prism. Each side unit includes a face link rod group and two bottom edge link rod groups within the same side face of the outer prism. Each bottom edge link rod group is respectively connected to two vertex connection blocks located on the same bottom edge, and the face link rod group is respectively connected to the two bottom edge link rod groups located on the same side face. The number of prismatic folding and unfolding mechanisms is equal to the number of faces of the outer polyhedron;

[0018] Connect multiple of the prism folding and unfolding mechanisms, and make the bottom surface on the inner side of each outer prism form a face of the outer polyhedron. The number of lateral edges of each outer prism is the same as the number of sides of the face of the corresponding outer polyhedron, and connect the vertex connecting blocks located at the same vertex of the outer polyhedron;

[0019] Delete the material removal surface units of the outer prism mechanism on the outside, and delete the side surface units to obtain the polyhedron radial reciprocating motion folding and unfolding mechanism.

[0020] The method for comprehensively configuring the material addition and removal of the polyhedron radial reciprocating motion folding and unfolding mechanism according to the embodiment of the present invention has the advantages of easy configuration design and easy guarantee of a single degree of freedom.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description, will become apparent in part from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0023] Figure 1 is a schematic structural diagram of a polyhedron radial reciprocating motion folding and unfolding mechanism according to a specific embodiment of the present invention.

[0024] Figure 2 is a schematic diagram of the process of switching between a folded state, an unfolded state, and another folded state of a polyhedron radial reciprocating motion folding and unfolding mechanism according to a specific embodiment of the present invention.

[0025] Figure 3 is a schematic structural diagram of a polyhedron radial reciprocating motion folding and unfolding mechanism according to another specific embodiment of the present invention.

[0026] Figure 4 is a schematic diagram of the process of switching between a folded state, an unfolded state, and another folded state of a polyhedron radial reciprocating motion folding and unfolding mechanism according to another specific embodiment of the present invention.

[0027] Figure 5 is a schematic structural diagram of a polyhedron radial reciprocating motion folding and unfolding mechanism according to another specific embodiment of the present invention.

[0028] Figure 6 is a schematic diagram of the process of switching between a folded state, an unfolded state, and another folded state of a polyhedron radial reciprocating motion folding and unfolding mechanism according to another specific embodiment of the present invention.

[0029] Figure 7It is a schematic structural diagram of a prismatic folding and unfolding mechanism according to a specific embodiment of the present invention.

[0030] Figure 8 It is a schematic diagram of the folding and unfolding process of a prismatic folding and unfolding mechanism according to a specific embodiment of the present invention.

[0031] Figure 9 It is a schematic structural diagram of a prismatic folding and unfolding mechanism according to another specific embodiment of the present invention.

[0032] Figure 10 It is a schematic diagram of the folding and unfolding process of a prismatic folding and unfolding mechanism according to another specific embodiment of the present invention.

[0033] Figure 11 It is a schematic structural diagram of a prismatic folding and unfolding mechanism according to another specific embodiment of the present invention.

[0034] Figure 12 It is a schematic diagram of the folding and unfolding process of a prismatic folding and unfolding mechanism according to another specific embodiment of the present invention.

[0035] Figure 13 It is a schematic process diagram of the integrated method of adding and subtracting material configurations for a polyhedron radial reciprocating motion folding and unfolding mechanism according to an embodiment of the present invention.

[0036] Figure 14 It is a flowchart of the integrated method of adding and subtracting material configurations for a polyhedron radial reciprocating motion folding and unfolding mechanism according to an embodiment of the present invention.

[0037] Figure 15 It is a schematic structural diagram of a basic unit of a polyhedron radial reciprocating motion folding and unfolding mechanism according to an embodiment of the present invention.

[0038] Reference numerals: polyhedron radial reciprocating motion folding and unfolding mechanism 1, prismatic mechanism subtractive surface unit 10, folding point connection block 11, vertex connection block 12, connecting rod group 13, regular pentagon unit 15, regular hexagon unit 16, prismatic folding and unfolding mechanism 2, side surface unit 20, bottom connecting rod group 21, surface connecting rod group 22, basic unit 30, vertex sub-block 31, folding point sub-block 32. Detailed Description of the Invention

[0039] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention.

[0040] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "mounted", "connected" and "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The following describes a polyhedron radial reciprocating folding and unfolding mechanism 1 according to an embodiment of the present invention with reference to the drawings.

[0043] As Figures 1 - 15 shown, the polyhedron radial reciprocating folding and unfolding mechanism 1 according to an embodiment of the present invention is switchable between an unfolded state and a folded state. The polyhedron radial reciprocating folding and unfolding mechanism 1 is inscribed in an outer polyhedron in the unfolded state. The outer polyhedron is a regular polyhedron or a semi-regular polyhedron. The polyhedron radial reciprocating folding and unfolding mechanism 1 includes a plurality of connected prism mechanism material-removing surface units 10.

[0044] Each prism mechanism material-removing surface unit 10 has a single degree of freedom and includes a folding point connection block 11, a plurality of vertex connection blocks 12 and a plurality of link groups 13. The number of link groups 13 is equal to the number of vertex connection blocks 12. Each vertex connection block 12 is connected to the folding point connection block 11 through a link group 13. Each link group 13 includes two links. The two ends of each link are respectively rotatably connected to the vertex connection block 12 and the folding point connection block 11. The two links of each link group 13 and the connected folding point connection block 11 and vertex connection block 12 form a parallelogram mechanism.

[0045] Among them, when the polyhedron radial reciprocating folding and unfolding mechanism 1 is in the unfolded state, each prism mechanism material-removing surface unit 10 is located in a regular polygon surface of the outer polyhedron, and the vertex connecting blocks 12 of the prism mechanism material-removing surface unit 10 are respectively located at the vertices of the regular polygon surface. The vertex connecting blocks 12 among the multiple vertex connecting blocks 12 of the polyhedron radial reciprocating folding and unfolding mechanism 1 that are located at the same vertex of the outer polyhedron are connected as a whole. When the polyhedron radial reciprocating folding and unfolding mechanism 1 is in the folded state, multiple vertex connecting blocks 12 approach each other or multiple folding point connecting blocks 11 approach each other.

[0046] Those skilled in the art can understand that, as Figure 2 , Figure 4 and Figure 6 shown, the polyhedron radial reciprocating folding and unfolding mechanism 1 can have two folding states. One folding state is that multiple vertex connecting blocks 12 approach each other, and the other folding state is that multiple folding point connecting blocks 11 approach each other.

[0047] This application is made based on the inventor's discovery and recognition of the following facts and problems:

[0048] For the polyhedron radial reciprocating folding and unfolding mechanism in the related art, its design is complex, it is difficult to ensure a single degree of freedom, which affects the controllable folding or unfolding of the polyhedron radial reciprocating folding and unfolding mechanism.

[0049] Specifically, if directly using connecting rods and adapter blocks for connection, it is very abstract for the spatial configuration of the polyhedron, the motion mode of radial folding and unfolding, etc., the construction difficulty is large, and it is difficult to verify during the construction process, and it is difficult to ensure that the connected structure conforms to a single degree of freedom. Even if a folding and unfolding mechanism that conforms to a single degree of freedom of a polyhedron of a certain shape is obtained by consuming a lot of experience, it is difficult to analogize the folding and unfolding mechanisms of other shaped polyhedrons.

[0050] The prism folding and unfolding mechanism folds and unfolds in the direction perpendicular to the side edges and parallel to the side edges. Its folding and unfolding method is more intuitive and simple, and it is relatively easier to achieve and ensure a single degree of freedom compared to the polyhedron folding and unfolding mechanism.

[0051] The polyhedron radial reciprocating folding and unfolding mechanism 1 according to an embodiment of the present invention, by providing a prism mechanism material-removing surface unit 10, makes the prism mechanism material-removing surface unit 10 include a folding point connection block 11, a plurality of vertex connection blocks 12 and a plurality of link groups 13. The number of link groups 13 is equal to the number of vertex connection blocks 12. Each vertex connection block 12 is connected to the folding point connection block 11 through a link group 13. Each link group 13 includes two links. The two ends of each link are respectively rotatably connected to the vertex connection block 12 and the folding point connection block 11. The two links of each link group 13 and the connected folding point connection block 11 and vertex connection block 12 form a parallelogram mechanism, which can make the prism mechanism material-removing surface unit 10 be obtained by material-removing configuration from the prism folding and unfolding mechanism. As long as it is ensured that the prism folding and unfolding mechanism meets the requirement of a single degree of freedom, then the prism mechanism material-removing surface unit 10 obtained by material-removing configuration will necessarily meet the requirement of a single degree of freedom. In other words, the prism mechanism material-removing surface unit 10 is included in the prism folding and unfolding mechanism. During the folding and unfolding process of the prism folding and unfolding mechanism, the prism mechanism material-removing surface unit 10 of its components also moves together. If the whole prism folding and unfolding mechanism meets the requirement of a single degree of freedom, then the prism mechanism material-removing surface unit 10 that is a part of its composition must also meet the requirement of a single degree of freedom. In addition, the parallelogram mechanism composed of double links can also reduce the interference between parts.

[0052] Those skilled in the art can understand that "the prism folding and unfolding mechanism obtains the prism mechanism material-removing surface unit 10 through material-removing configuration" means deleting unnecessary parts on the basis of the prism folding and unfolding mechanism to obtain the prism mechanism material-removing surface unit 10.

[0053] Moreover, when the polyhedron radial reciprocating folding and unfolding mechanism 1 is in the unfolded state, each prism mechanism material-removing surface unit 10 is located in a regular polygon face of the outer polyhedron, and the vertex connection blocks 12 of the prism mechanism material-removing surface unit 10 are respectively located at the vertices of the regular polygon face. The vertex connection blocks 12 among the multiple vertex connection blocks 12 of the polyhedron radial reciprocating folding and unfolding mechanism 1 located at the same vertex of the outer polyhedron are connected as a whole. Each prism mechanism material-removing surface unit 10 can be used to form a regular polygon face of the outer polyhedron. Also, since it can be ensured that each prism mechanism material-removing surface unit 10 constituting the outer polyhedron meets the requirement of a single degree of freedom, it is convenient to ensure that the whole polyhedron radial reciprocating folding and unfolding mechanism 1 meets the requirement of a single degree of freedom, thereby facilitating the controllable folding and unfolding of the polyhedron radial reciprocating folding and unfolding mechanism 1.

[0054] In addition, by adjusting the number of vertex connection blocks 12 and link groups 13 of the prism mechanism material-removing surface unit 10, the prism mechanism material-removing surface unit 10 can be used to form polygon faces of different shapes, so as to facilitate the formation of outer polyhedrons with different shapes and improve the design flexibility of the polyhedron radial reciprocating folding and unfolding mechanism 1.

[0055] Therefore, the polyhedron radial reciprocating deployment mechanism 1 according to the embodiments of the present invention has the advantages of being easy to configure, easy to ensure a single degree of freedom, easy to control, etc.

[0056] The polyhedron radial reciprocating deployment mechanism 1 according to specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0057] In some embodiments, as Figure 1 and Figure 2 shown, the outer polyhedron is a regular hexahedron and includes six prism mechanism material-removing surface units 10. Each prism mechanism material-removing surface unit 10 includes four vertex connection blocks 12. Three vertex connection blocks 12 at each vertex of the outer polyhedron are connected into a vertex group block. In this way, a radial reciprocating deployment mechanism of a regular hexahedron can be constructed.

[0058] Specifically, as Figure 1 and Figure 2 shown, the folding point connection block 11 is provided with four lugs arranged at equal intervals along the circumferential direction of the folding point connection block 11, and the vertex group block is provided with three lugs arranged at equal intervals along the circumferential direction of the vertex group block. Each of the lugs is pivotally connected to two of the connecting rods respectively. In this way, it is convenient for the connecting rod and the connection block to be pivotally connected.

[0059] In some embodiments, as Figure 3 and Figure 4 shown, the outer polyhedron is a regular dodecahedron and includes twelve prism mechanism material-removing surface units 10. Each prism mechanism material-removing surface unit 10 includes five vertex connection blocks 12. Three vertex connection blocks 12 at each vertex of the outer polyhedron are connected into a vertex group block. In this way, a radial reciprocating deployment mechanism of a regular dodecahedron can be constructed.

[0060] Specifically, as Figure 1 and Figure 2 shown, the folding point connection block 11 is provided with three lugs arranged at equal intervals along the circumferential direction of the folding point connection block 11, and the vertex group block is provided with three lugs arranged at equal intervals along the circumferential direction of the vertex group block. Each of the lugs is pivotally connected to two of the connecting rods respectively. In this way, it is convenient for the connecting rod and the connection block to be pivotally connected.

[0061] In some embodiments, as Figure 5 and Figure 6As shown, the outer polyhedron is an truncated icosahedron and includes thirty-two prismatic mechanism subtractive surface units 10. The thirty-two prismatic mechanism subtractive surface units 10 include twelve regular pentagon units 15 and twenty regular hexagon units 16. Each regular pentagon unit 15 includes five vertex connecting blocks 12, and each regular hexagon unit 16 includes six vertex connecting blocks 12. At each vertex of the outer polyhedron, three vertex connecting blocks 12 are connected to form a vertex group block.

[0062] Specifically, as Figure 5 and Figure 6 shown, five lugs are provided on the folding point connecting block 11 of the regular pentagon unit 15 at equal intervals along the circumferential direction of the folding point connecting block 11, and six lugs are provided on the folding point connecting block 11 of the regular hexagon unit 16 at equal intervals along the circumferential direction of the folding point connecting block 11. Three lugs are provided on the vertex group block at equal intervals along the circumferential direction of the vertex group block. Each lug is pivotally connected to two of the link rods respectively. This facilitates the pivotal connection between the link rod and the connecting block.

[0063] The following describes the integrated method of additive and subtractive material configuration of the polyhedron radial reciprocating motion folding and unfolding mechanism 1 according to an embodiment of the present invention, including the following steps:

[0064] Select the shape of the outer polyhedron; it should be understood here that the "shape of the outer polyhedron" refers to what kind of regular polyhedron or semi-regular polyhedron the polyhedron belongs to, such as a cube, a dodecahedron, etc.

[0065] Select the prismatic folding and unfolding mechanism 2 according to the selected shape of the outer polyhedron. The prismatic folding and unfolding mechanism 2 is inscribed in the outer prism and has a single degree of freedom. The outer prism is a regular prism. The prismatic folding and unfolding mechanism 2 includes two prismatic mechanism subtractive surface units 10 and a plurality of side units 20. The folding point connecting blocks 11 of the two prismatic mechanism subtractive surface units 10 are connected to form a folding point block group. The number of side units 20 is the same as the number of side edges of the outer prism. The number of vertex connecting blocks 12 of each prismatic mechanism subtractive surface unit 10 is the same as the number of side edges of the outer prism. Each side unit 20 includes a face link group 22 and two bottom link groups 21 within the same side surface of the outer prism. Each bottom link group 21 is respectively connected to two vertex connecting blocks 12 located on the same bottom edge. The face link group 22 is respectively connected to the two bottom link groups 21 located on the same side surface. The number of prismatic folding and unfolding mechanisms 2 is equal to the number of faces of the outer polyhedron;

[0066] Connect a plurality of prismatic folding and unfolding mechanisms 2 and make the bottom surface inside each outer prism form a face of the outer polyhedron. The number of side edges of each outer prism is the same as the number of sides of the corresponding face of the outer polyhedron. Connect the vertex connecting blocks 12 located at the same vertex of the outer polyhedron;

[0067] Delete the material-removing surface unit 10 of the outer prism mechanism and delete the side unit 20 to obtain the polyhedron radial reciprocating deployment mechanism 1.

[0068] In short, first, through the additive configuration synthesis method, stack multiple prism deployment mechanisms 2. Use the bottom surface of the outer prism of the prism deployment mechanism 2 to form a certain surface of the polyhedron radial reciprocating deployment mechanism 1. Then, through the subtractive configuration synthesis method, delete the redundant and unconstrained connecting rods and connection blocks. Finally, obtain the polyhedron radial reciprocating deployment mechanism 1. Since the prism deployment mechanism 2 is relatively easier to ensure a single degree of freedom, it is convenient to ensure that the polyhedron radial reciprocating deployment mechanism 1 meets the requirements of a single degree of freedom.

[0069] The additive and subtractive configuration synthesis method of the polyhedron radial reciprocating deployment mechanism 1 according to the embodiment of the present invention has the advantages of easy configuration design and easy to ensure a single degree of freedom.

[0070] In some embodiments, as Figures 7 - 10 shown, the two bottom edge link groups 21 in each side surface are respectively an inner bottom edge link group located inside and an outer bottom edge link group located outside (the inside and outside directions are as shown by the arrows in the figure). The inner bottom edge link group includes two inner bottom edge links, and the outer bottom edge link group includes two outer bottom edge links. One ends of the two inner bottom edge links are pivotally connected to each other, and the other ends are respectively pivotally connected to the two vertex connection blocks on the inner side of the corresponding side surface. One ends of the two outer bottom edge links are pivotally connected to each other, and the other ends are respectively pivotally connected to the two vertex connection blocks on the outer side of the corresponding side surface. The surface link group 22 includes two inner side surface links and two outer side surface links. The inner ends of the two inner side surface links are pivotally connected to the connection parts of the two inner bottom edge links. The outer ends of the two inner side surface links are respectively pivotally connected to the inner ends of the two outer side surface links. The outer ends of the two outer side surface links are respectively pivotally connected to the connection parts of the two outer bottom edge links. Thus, the surface links can be connected by rotating pairs, which is convenient for the movement of the surface link group 22.

[0071] In other embodiments, as Figure 11 and Figure 12As shown, the two bottom-side link groups 21 within each said side are respectively an inner bottom-side link group located on the inner side and an outer bottom-side link group located on the outer side. The inner bottom-side link group includes two inner bottom-side links, and the outer bottom-side link group includes two outer bottom-side links. One ends of the two inner bottom-side links are pivotally connected to each other, and the other ends are respectively pivotally connected to the two vertex connection blocks on the inner side of the corresponding side. One ends of the two outer bottom-side links are pivotally connected to each other, and the other ends are respectively pivotally connected to the two vertex connection blocks on the outer side of the corresponding side. The face link group 22 includes two inner face links and two outer face links. The inner ends of the two inner face links are respectively pivotally connected to the two vertex connection blocks on the bottom side on the inner side of the corresponding side. The two inner face links are respectively connected to the two outer face links through sliding pairs. The outer ends of the two outer face links are respectively pivotally connected to the two vertex connection blocks on the bottom side on the outer side of the corresponding side. Thus, the face links can be connected through sliding pairs, facilitating the movement of the face link group 22.

[0072] The following refers to Figure 13 Describe the specific steps of the integrated method of additive and subtractive material configuration of the polyhedron radial reciprocating motion folding and unfolding mechanism 1 according to an embodiment of the present invention: According to the shape of the target polyhedron radial reciprocating motion folding and unfolding mechanism 1, judge the required polyhedron composition rule, the type and quantity of the prism folding and unfolding mechanism 2; According to the polyhedron composition rule, use the bottom surface of the prism folding and unfolding mechanism 2 as the bottom surface of the target polyhedron radial reciprocating motion folding and unfolding mechanism 1, fixedly connect multiple vertex connection blocks 12 located at the same vertex on the outer polyhedron but belonging to different prism folding and unfolding mechanisms 2, and assemble to obtain the pre-mechanism of the prism mechanism subtractive surface unit 10; Delete redundant mechanisms such as the outer symmetric structure, unconstrained links and connection blocks of each prism folding and unfolding mechanism 2, and check whether the obtained mechanism has a single degree of freedom; Output the obtained polyhedron radial reciprocating motion folding and unfolding mechanism 1.

[0073] Figure 15 The structural schematic diagram of the basic unit 30 of the polyhedron radial reciprocating motion folding and unfolding mechanism 1 according to some embodiments of the present invention is shown. The basic unit 30 includes two vertex sub-blocks 31, two folding point sub-blocks 32 and four link groups 13; The basic unit 30 has one degree of freedom; Each vertex sub-block 31 and the folding point sub-block 32 are pivotally connected through the link group 13 and form a parallelogram mechanism. The connection line of the two vertex sub-blocks 31 of the basic unit 30 can form an edge of the polyhedron radial reciprocating motion folding and unfolding mechanism 1; Each vertex sub-block 31 and the folding point sub-block 32 can perform radial reciprocating motion relative to the same body center during the single-degree-of-freedom folding and unfolding process of the basic unit 30.

[0074] The polyhedron radial reciprocating folding and unfolding mechanism 1 can also be constructed using the basic unit 30. The connection line of the two vertex blocks 31 of each basic unit 30 can form an edge of the circumscribed polyhedron of the polyhedron radial reciprocating folding and unfolding mechanism 1. By fixedly connecting the vertex blocks 31 located at the same vertex on the outer polyhedron composed of the basic units 30, and then fixedly connecting the folding point blocks 32 of the multiple edges forming the same face on the outer polyhedron, the polyhedron radial reciprocating folding and unfolding mechanism 1 can be formed.

[0075] Other configurations and operations of the polyhedron radial reciprocating folding and unfolding mechanism 1 according to the embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail here.

[0076] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0077] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A polyhedron radial reciprocating folding and unfolding mechanism, characterized in that The polyhedron radial reciprocating motion folding and unfolding mechanism is switchable between an unfolded state and a folded state. The polyhedron radial reciprocating motion folding and unfolding mechanism is inscribed in an outer polyhedron in the unfolded state. The outer polyhedron is a regular polyhedron or a semi-regular polyhedron. The polyhedron radial reciprocating motion folding and unfolding mechanism includes a plurality of connected prism mechanism material-removing surface units. Each prism mechanism material-removing surface unit has a single degree of freedom and includes: a folding point connection block and a plurality of vertex connection blocks; a plurality of link groups. The number of the link groups is equal to the number of the vertex connection blocks. Each vertex connection block is connected to the folding point connection block through one link group. Each link group includes two links. Two ends of each link are respectively rotatably connected to the vertex connection block and the folding point connection block. Two links of each link group and the connected folding point connection block and vertex connection block form a parallelogram mechanism. Wherein, in the unfolded state of the polyhedron radial reciprocating motion folding and unfolding mechanism, each prism mechanism material-removing surface unit is located in a regular polygon surface of the outer polyhedron, and vertex connection blocks of the prism mechanism material-removing surface unit are respectively located at vertices of the regular polygon surface. Vertex connection blocks located at the same vertex of the outer polyhedron among the plurality of vertex connection blocks of the polyhedron radial reciprocating motion folding and unfolding mechanism are connected as a whole. In the folded state of the polyhedron radial reciprocating motion folding and unfolding mechanism, a plurality of vertex connection blocks approach each other or a plurality of folding point connection blocks approach each other.

2. The polyhedron radial reciprocating folding and unfolding mechanism according to claim 1, characterized in that, The outer polyhedron is a cube and includes six prism mechanism material-removing surface units. Each prism mechanism material-removing surface unit includes four vertex connection blocks. Three vertex connection blocks at each vertex of the outer polyhedron are connected as a vertex group block.

3. The polyhedron radial reciprocating folding and unfolding mechanism according to claim 2, characterized in that, Four lugs are arranged at equal intervals in the circumferential direction of the folding point connection block, and three lugs are arranged at equal intervals in the circumferential direction of the vertex group block. Each lug is respectively pivotally connected to two links.

4. The polyhedron radial reciprocating folding and unfolding mechanism according to claim 1, characterized in that, The outer polyhedron is a dodecahedron and includes twelve prism mechanism material-removing surface units. Each prism mechanism material-removing surface unit includes five vertex connection blocks. Three vertex connection blocks at each vertex of the outer polyhedron are connected as a vertex group block.

5. The polyhedron radial reciprocating folding and unfolding mechanism according to claim 4, characterized in that, Three lugs are arranged at equal intervals in the circumferential direction of the folding point connection block, and three lugs are arranged at equal intervals in the circumferential direction of the vertex group block. Each lug is respectively pivotally connected to two links.

6. The polyhedron radial reciprocating folding and unfolding mechanism according to claim 1, wherein The outer polyhedron is an icosahedron truncated at the vertices and includes thirty-two prism mechanism material-removing surface units. The thirty-two prism mechanism material-removing surface units include twelve regular pentagon units and twenty regular hexagon units. Each regular pentagon unit includes five vertex connection blocks. Each regular hexagon unit includes six vertex connection blocks. Three vertex connection blocks at each vertex of the outer polyhedron are connected as a vertex group block.

7. The polyhedron radial reciprocating folding and unfolding mechanism according to claim 6, wherein On the folding point connecting block of the regular pentagon unit, there are five lugs arranged at equal intervals along the circumferential direction of the folding point connecting block. On the folding point connecting block of the regular hexagon unit, there are six lugs arranged at equal intervals along the circumferential direction of the folding point connecting block. On the vertex group block, there are three lugs arranged at equal intervals along the circumferential direction of the vertex group block. Each of the lugs is pivotally connected to two of the link rods respectively.

8. A method for integrated design of additive and subtractive manufacturing configurations of a polyhedron radial reciprocating folding and unfolding mechanism according to any one of claims 1-7, characterized in that, Comprising the following steps: Select the shape of the outer polyhedron; Select a prism folding and unfolding mechanism according to the selected shape of the outer polyhedron. The prism folding and unfolding mechanism is inscribed in a regular prism and has a single degree of freedom. The outer prism is a regular prism. The prism folding and unfolding mechanism includes two prism mechanism subtraction surface units and a plurality of side surface units. The folding point connecting blocks of the two prism mechanism subtraction surface units are connected into a folding point block group. The number of side surface units is the same as the number of lateral edges of the outer prism. The number of vertex connecting blocks of each prism mechanism subtraction surface unit is the same as the number of lateral edges of the outer prism. Each side surface unit includes a surface link rod group and two bottom edge link rod groups within the same side surface of the outer prism. Each bottom edge link rod group is respectively connected to two vertex connecting blocks located on the same bottom edge. The surface link rod group is respectively connected to the two bottom edge link rod groups located on the same side surface. The number of prism folding and unfolding mechanisms is equal to the number of faces of the outer polyhedron; Connect a plurality of the prism folding and unfolding mechanisms and make the bottom surface inside each outer prism form a face of the outer polyhedron. The number of lateral edges of each outer prism is the same as the number of sides of the face of the corresponding outer polyhedron. Connect the vertex connecting blocks located on the same vertex of the outer polyhedron; Delete the outer prism mechanism subtraction surface units and delete the side surface units to obtain the polyhedron radial reciprocating motion folding and unfolding mechanism.

9. The comprehensive method for additive and subtractive configuration of the polyhedron radial reciprocating folding and unfolding mechanism according to claim 8, characterized in that The two bottom edge link rod groups within each side surface are respectively an inner bottom edge link rod group located inside and an outer bottom edge link rod group located outside. The inner bottom edge link rod group includes two inner bottom edge link rods. The outer bottom edge link rod group includes two outer bottom edge link rods. One ends of the two inner bottom edge link rods are pivotally connected and the other ends are respectively pivotally connected to the two vertex connecting blocks inside the side surface where they are located. One ends of the two outer bottom edge link rods are pivotally connected and the other ends are respectively pivotally connected to the two vertex connecting blocks outside the side surface where they are located. The surface link rod group includes two inner side surface link rods and two outer side surface link rods. The inner ends of the two inner side surface link rods are pivotally connected to the connection part of the two inner bottom edge link rods. The outer ends of the two inner side surface link rods are respectively pivotally connected to the inner ends of the two outer side surface link rods. The outer ends of the two outer side surface link rods are respectively pivotally connected to the connection parts of the two outer bottom edge link rods.

10. The comprehensive method for additive and subtractive manufacturing configuration of the polyhedron radial reciprocating folding and unfolding mechanism according to claim 9, characterized in that, Each of the two bottom link groups within each side surface is respectively an inner bottom link group located on the inner side and an outer bottom link group located on the outer side. The inner bottom link group includes two inner bottom links, and the outer bottom link group includes two outer bottom links. One ends of the two inner bottom links are pivotally connected to each other, and the other ends are respectively pivotally connected to the two vertex connection blocks on the inner side of the corresponding side surface. One ends of the two outer bottom links are pivotally connected to each other, and the other ends are respectively pivotally connected to the two vertex connection blocks on the outer side of the corresponding side surface. The surface link group includes two inner side surface links and two outer side surface links. The inner ends of the two inner side surface links are respectively pivotally connected to the two vertex connection blocks on the bottom edge on the inner side of the corresponding side surface. The two inner side surface links are respectively connected to the two outer side surface links through a sliding pair. The outer ends of the two outer side surface links are respectively pivotally connected to the two vertex connection blocks on the bottom edge on the outer side of the corresponding side surface.

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