A biomimetic multi-configuration deployable mechanism

Abstract

The application relates to the technical field of deployable mechanisms, and particularly discloses a deployable mechanism with a bionic multi-configuration, which comprises a first closed-loop multi-link assembly, a second closed-loop multi-link assembly, a plurality of connecting rods and at least one stop rod; the first closed-loop multi-link assembly is provided with a plurality of first hinge points; the second closed-loop multi-link assembly is provided with a plurality of second hinge points; one end of each of the plurality of connecting rods is configured to be hingedly connected to one of the plurality of first hinge points, and the other end is configured to be hingedly connected to one of the plurality of second hinge points; one end of the at least one stop rod is configured to be hingedly connected to one of the plurality of connecting rods at one of the plurality of second hinge points; the deployable mechanism with the bionic multi-configuration has a plurality of different configurations, each configuration has a different multi-closed-loop polygonal structure, so that the deployable mechanism has different folding and unfolding performances, different configuration transformations can be realized under different working conditions, and the deployable mechanism has good stability and adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deployable mechanism, and specifically relates to a deployable mechanism with bionic multi-configuration. BACKGROUND

[0002] With the development of society, the use of space resources gradually increases, which makes the space resources gradually tend to be scarce. The deployable mechanism is widely used in various aspects of life because of the advantages such as compact structure, small size, small volume after contraction, large working space and the like. The deployable mechanism can change different configurations according to different working conditions, thereby adapting to various working conditions and having good adaptability. Although the deployable mechanism has achieved many gratifying results since its development, the technical personnel in the field hope that the configuration of the deployable mechanism can be further broken through in the aspect of transformation. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a deployable mechanism with bionic multi-configuration, which adopts a multi-ring structure similar to fungi and can form a multi-triangle structure during configuration transformation, and has higher stability than the traditional reconfigurable deployable mechanism and can be suitable for folding and unfolding under different working conditions.

[0004] To solve the above problems, the present application adopts the following technical scheme:

[0005] A deployable mechanism with bionic multi-configuration comprises a first closed-loop multi-link assembly, a second closed-loop multi-link assembly, a plurality of connecting rods and at least one stop rod.

[0006] The first closed-loop multi-link assembly is configured to be shapeable and has a plurality of first hinge points.

[0007] The second closed-loop multi-link assembly is configured to be shapeable and has a plurality of second hinge points.

[0008] One end of each of the plurality of connecting rods is configured to be hingedly connected to one of the plurality of first hinge points, and the other end is configured to be hingedly connected to one of the plurality of second hinge points.

[0009] One end of the at least one stop rod is configured to be hingedly connected to one of the plurality of second hinge points.

[0010] The plurality of connecting rods are used to connect the first closed-loop multi-link assembly and the second closed-loop multi-link assembly.

[0011] One of the plurality of connecting rods and one of the at least one stop rod are hingedly connected to one of the plurality of second hinge points.

[0012] In the deployable mechanism with bionic multi-configuration provided by at least one embodiment of the present application, the other end of the stop rod is fixedly configured with a foot.

[0013] In the bionic multi-configuration deployable mechanism provided by at least one embodiment of the present disclosure, the first closed-loop multi-link assembly and the second closed-loop multi-link assembly are both polygons, and the number of sides of the first closed-loop multi-link assembly is greater than the number of sides of the second closed-loop multi-link assembly.

[0014] In the bionic multi-configuration deployable mechanism provided by at least one embodiment of the present disclosure, the second closed-loop multi-link assembly is located in the area enclosed by the first closed-loop multi-link assembly, and the connecting rod is located between the first closed-loop multi-link assembly and the second closed-loop multi-link assembly.

[0015] In the bionic multi-configuration deployable mechanism provided by at least one embodiment of the present disclosure, the stop rod is located in the area enclosed by the second closed-loop multi-link assembly.

[0016] In the bionic multi-configuration deployable mechanism provided by at least one embodiment of the present disclosure, the first closed-loop multi-link assembly comprises a plurality of first rods and a plurality of second rods, wherein the plurality of first rods and the plurality of second rods are connected by hinges to form a deformable closed-loop structure.

[0017] In the bionic multi-configuration deployable mechanism provided by at least one embodiment of the present disclosure, the second closed-loop multi-link assembly comprises a plurality of third rods, and the plurality of third rods are connected by hinges to form a deformable closed-loop structure.

[0018] In the bionic multi-configuration deployable mechanism provided by at least one embodiment of the present disclosure, the length of the first rod is greater than the length of the third rod, and the length of the third rod is greater than the length of the stop rod.

[0019] In the bionic multi-configuration deployable mechanism provided by at least one embodiment of the present disclosure, the first closed-loop multi-link assembly, the second closed-loop multi-link assembly, the connecting rod, and the stop rod are all located on the same plane.

[0020] In the bionic multi-configuration deployable mechanism provided by at least one embodiment of the present disclosure, the two stop rods are diagonally distributed with respect to the two second hinge points.

[0021] In the bionic multi-configuration deployable mechanism provided by at least one embodiment of the present disclosure, the ratio of the length of the second rod to the length of the first rod is 1:2.

[0022] The present application has the following advantages:

[0023] The bionic multi-configuration deployable mechanism has multiple configurations and can be suitable for folding and deploying under different working conditions.

[0024] The multi-ring structure similar to fungi can form a multi-triangle structure during configuration transformation, and the stability is higher than that of traditional reconfigurable deployable mechanisms. Moreover, the multi-closed-loop folding and deploying are realized by using a connecting rod structure, which is simple in structure, light in weight, and good in applicability. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0026] Figure 1 A structural schematic diagram of the bionic multi-configuration deployable mechanism in a natural state.

[0027] Figure 2 A schematic diagram of the bionic multi-configuration deployable mechanism in one of the configurations.

[0028] Figure 3 A schematic diagram of the bionic multi-configuration deployable mechanism in one of the configurations.

[0029] Figure 4 A schematic diagram of the bionic multi-configuration deployable mechanism in one of the configurations.

[0030] In the drawings:

[0031] 10, first closed-loop multi-link assembly; 11, first hinge point; 12, first rod body; 13, second rod body;

[0032] 20, second closed-loop multi-link assembly; 21, second hinge point; 22, third rod body;

[0033] 30, connecting rod;

[0034] 40, stop rod; 41, foot base. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments will be described clearly and completely in the following with reference to the drawings in the embodiments. Obviously, the described embodiments are only some embodiments but not all the embodiments.

[0036] EMBODIMENT

[0037] As shown in Figs. 1 and 2, a bionic multi-configuration deployable mechanism includes a first closed-loop multi-link assembly 10, a second closed-loop multi-link assembly 20, a plurality of connecting rods 30, and at least one stop rod 40. Figure 1 2 The first closed-loop multi-link assembly 10 is configured to be shapeable and has a plurality of first hinge points 11.

[0038] The second closed-loop multi-link assembly 20 is configured to be shapeable and has a plurality of second hinge points 21.

[0039] The second closed-loop multi-link assembly 20 is configured to be shapeable and has a plurality of second hinge points 21. ​

[0040] Each of the coupling rods 30 is configured to be hingedly connected at one end to one of the first hinge points 11 and at the other end to one of the second hinge points 21, and the coupling rods 30 couple the first closed-loop multi-link assembly 10 and the second closed-loop multi-link assembly 20.

[0041] The stop rods 40 are configured to be hingedly connected at one end to one of the second hinge points 21, and each of the stop rods is hingedly connected to a different second hinge point 21.

[0042] One of the coupling rods 30 and one of the stop rods 40 are hingedly connected at one of the second hinge points 21.

[0043] In the embodiment, the other end of the stop rod 40 is fixedly configured with a foot 41.

[0044] In the embodiment, the first closed-loop multi-link assembly 10 and the second closed-loop multi-link assembly 20 are both polygons, and the first closed-loop multi-link assembly 10 has more sides than the second closed-loop multi-link assembly 20.

[0045] Further, the second closed-loop multi-link assembly 20 is located within the area enclosed by the first closed-loop multi-link assembly 10, and the coupling rods 30 are located between the first closed-loop multi-link assembly 10 and the second closed-loop multi-link assembly 20.

[0046] Further, the stop rods 40 are located within the area enclosed by the second closed-loop multi-link assembly 20.

[0047] In the embodiment, the first closed-loop multi-link assembly 10 comprises a plurality of first rods 12 and a plurality of second rods 13, and the plurality of first rods 12 and the plurality of second rods 13 are hingedly connected to form a deformable closed-loop structure.

[0048] In the embodiment, the second closed-loop multi-link assembly 20 comprises a plurality of third rods 22, and the plurality of third rods 22 are hingedly connected to form a deformable closed-loop structure.

[0049] The length of the first rods 12 is greater than the length of the third rods 22, and the length of the third rods 22 is greater than the length of the stop rods 40.

[0050] In the embodiment, the first closed-loop multi-link assembly 10, the second closed-loop multi-link assembly 20, the coupling rods 30, and the stop rods 40 are all located on the same plane.

[0051] Further, the stop rods 40 are configured to be 1-2, preferably 2, and the two second hinge points 21 corresponding to the two stop rods 40 are diagonally distributed.

[0052] Further, the coupling rods 30 are configured to be 2-4, preferably 4.

[0053] Further, the ratio of the length of the second rod body 13 to the length of the first rod body 12 is 1:2.

[0054] The preferred structure of the bionic multi-configuration deployable mechanism will be described below in combination with different configurations.

[0055] As shown in Figure 1 and 2 , the first closed-loop multi-link assembly adopts an octagon structure, the first rod body has 4 rods, and the second rod body also has 4 rods. The first closed-loop multi-link assembly can form an octagon and a hexagon configuration.

[0056] Specifically, every two second rod bodies form a group, and the ends of the two second rod bodies in the same group are hinged, thus forming two first links. Every two first rod bodies form a group, and the ends of the two first rod bodies in the same group are hinged, thus forming two second links. The two first links and the two second links are connected in a closed loop structure by hinging, and the first links and the second links are distributed at intervals. The closed loop structure has 8 first hinge points in total.

[0057] The second closed-loop multi-link assembly 20 adopts a quadrilateral structure, and the third rod body has 4 rods.

[0058] Specifically, adjacent third rod bodies are connected by hinging to form a closed loop structure, and the closed loop structure has 4 second hinge points in total. The entire structure has multiple configurations and good flexibility.

[0059] Further, the coupling rod has 4 rods, and one end of each of the 2 coupling rods is re-hinged at a first hinge point of the 2 first links, and one end of each of the other 2 coupling rods is re-hinged at a first hinge point of the 2 second links.

[0060] The other end of each of the 4 coupling rods is re-hinged at a second hinge point. One end of each of the 2 stop rods is re-hinged at 2 non-adjacent second hinge points.

[0061] The entire bionic multi-configuration deployable mechanism can form multiple configurations.

[0062] As shown in Figure 1 , when the bionic multi-configuration deployable mechanism is in a natural state, the bionic multi-configuration deployable mechanism forms five closed loops, four five-sided outer peripheral loops, and one four-sided inner loop. At this time, the mechanism has a large working space and high flexibility.

[0063] As shown in Figure 2 , in some configurations, the first closed-loop multi-link assembly is in a regular hexagon state, the 4 coupling rods are distributed in a cross shape, and the other end of each of the 2 stop rods abuts against each other. At this time, the area surrounded by the second closed-loop multi-link assembly becomes two triangles. This configuration has higher stability than the natural state.

[0064] like Figure 3 As shown, in some configurations, the two levers are in a parallel state, and the feet on the two levers abut against two different third links respectively. At this time, the area enclosed by the second closed-loop multi-link assembly becomes two triangles and one rectangle. This configuration has excellent stability.

[0065] like Figure 4 As shown, in some configurations, the stop lever and the third link are in an overlapping state, and the first closed-loop multi-link assembly is stacked into two rod-like structures. The area enclosed by the first closed-loop multi-link assembly is divided into four pentagonal closed loops. This configuration has good motion flexibility and few singularities.

[0066] Although embodiments of this application have been shown and described above, the scope of protection of this invention is not limited thereto. Any variations or substitutions that can be conceived without inventive effort should be covered within the scope of protection of this invention. Unless expressly stated otherwise, no element, action or instruction used herein should be construed as critical or necessary.

Claims

1. A biomimetic multi-configuration deployable mechanism, characterized in that, The utility model relates to a kind of multi-link mechanism, comprising: A first closed-loop multi-link assembly is configured to be configurable, and has a plurality of first hinge points; A second closed-loop multi-link assembly is configured to be configurable;And has a plurality of second hinge points; A plurality of connecting rods, one end of which is configured to be hinged at one of the plurality of first hinge points, the other end of which is configured to be hinged at one of the plurality of second hinge points;And At least one stop rod, one end of which is configured to be hinged with one of the plurality of connecting rods at one of the plurality of second hinge points; Wherein, the plurality of connecting rods are used to connect the first closed-loop multi-link assembly and the second closed-loop multi-link assembly; The first closed-loop multi-link assembly, the second closed-loop multi-link assembly, the connecting rod and the stop rod are located on the same plane; The stop rod is configured with two, and the two second hinge points corresponding to the two stop rods are diagonally distributed; The other end of the stop rod is fixedly configured with a footrest; The second closed-loop multi-link assembly is located in the area surrounded by the first closed-loop multi-link assembly, and the connecting rod is located between the first closed-loop multi-link assembly and the second closed-loop multi-link assembly; The stop rod is located in the area surrounded by the second closed-loop multi-link assembly.

2. The deployable mechanism of claim 1, wherein, The first closed-loop multi-link assembly and the second closed-loop multi-link assembly are both polygons, and the number of sides of the first closed-loop multi-link assembly is greater than the number of sides of the second closed-loop multi-link assembly.

3. The deployable mechanism of claim 2, wherein, The first closed-loop multi-link assembly comprises: A plurality of first rods;And A plurality of second rods; Wherein, the plurality of first rods and the plurality of second rods are hinged to form a deformable closed-loop structure.

4. The deployable mechanism of claim 3, wherein, The second closed-loop multi-link assembly comprises: A plurality of third rods; The plurality of third rods are hinged to form a deformable closed-loop structure; Wherein, the length of the first rod is greater than the length of the third rod, and the length of the third rod is greater than the length of the stop rod.

5. The deployable mechanism of claim 4, wherein, The ratio of the length of the second rod to the length of the first rod is 1:2.

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