A bionic multi-stable deployable mechanism

Abstract

The present invention discloses a bionic multi-stable deployable mechanism, which includes a bottom plate, a quadrilateral frame, a triangular frame, and a movable rod arranged on the bottom plate; a connecting shaft is provided on the bottom plate, and a straight chute is provided at the end of the connecting shaft, and the movable rod is slidably installed in the straight chute; the quadrilateral frame is a deformable frame structure formed by rotatably connecting four rods, and has usage states of being folded into an isosceles triangle, the base of the isosceles triangle being concave, and the base of the isosceles triangle being convex; the triangular frame is a deformable frame structure formed by rotatably connecting two rods and the movable rod, and both of the two triangular frames have usage states of being folded into an arrangement coaxial with the movable rod; the movable rod is slidably installed on the bottom plate, and a sliding block is used to abut against the baffle of the quadrilateral frame to maintain the deformed state; through the mutual combination of the above structures, the mutual switching of five forms can be realized, thereby effectively solving the problem of insufficient transformable forms of the existing deployable mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of deployable mechanisms, and particularly to a bionic multi-stable deployable mechanism. Background Art

[0002] With the development of society, people's utilization of space resources has gradually increased, which has made space resources gradually become scarce. Deployable mechanisms are widely used in all aspects of life due to their advantages such as compact structure, small size, small volume after contraction, and large working space.

[0003] A multi-stable deployable mechanism is a deployable mechanism with multiple stable configurations. It can change different configurations according to different working conditions, so as to adapt to a variety of different working condition environments and has good adaptability. Although many gratifying results have been achieved in the development of multi-stable deployable mechanisms so far, there is still a need for further breakthroughs in the structural design of flexible and variable multi-stable deployable mechanisms.

[0004] For example, in the prior art, most multi-stable deployable mechanisms can only achieve the conversion between two or three states and cannot achieve the conversion of four or even five configurations. Therefore, it is urgent to develop a deployable mechanism with more stable states. Summary of the Invention

[0005] The purpose of the present invention is to provide a bionic multi-stable deployable mechanism to solve the problem of insufficient transformable configurations of existing deployable mechanisms.

[0006] To solve the above technical problems, the present invention provides a bionic multi-stable deployable mechanism, including a bottom plate, a quadrilateral frame, a triangular frame, and a movable rod; a connecting shaft is provided on the bottom plate, a straight chute is provided at the end of the connecting shaft, and the movable rod is slidably installed in the straight chute; the quadrilateral frame is a deformable frame structure formed by rotatably connecting four rods, one rotational connection of the quadrilateral frame is rotatably connected and installed with the connecting shaft, baffles are provided on the four sides of the quadrilateral frame, and the quadrilateral frame has usage states of being folded into an isosceles triangle, the base of the isosceles triangle being concave, and the base of the isosceles triangle being convex; the triangular frame is a deformable frame structure formed by rotatably connecting two rods and the movable rod, the two triangular frames are respectively arranged on both sides of the movable rod, the two rotational connections of the two triangular frames are arranged coaxially, one coaxial rotational connection of the two triangular frames is rotatably connected and installed with the connecting shaft, and both triangular frames have usage states of being folded into an arrangement coaxial with the movable rod; one end of the movable rod extends into the space enclosed by the quadrilateral frame, a sliding block is provided at this end of the movable rod, the sliding block extends outward on both sides opposite to the movable rod, and the sliding block is used to abut against the baffle to maintain the deformed state of the quadrilateral frame.

[0007] In one embodiment, the quadrilateral frame includes a first connecting rod and a second connecting rod. One ends of the two first connecting rods are rotatably connected, and the other ends of the two first connecting rods are respectively rotatably connected to one ends of the two second connecting rods. The other ends of the two second connecting rods are rotatably connected and installed with the connecting shaft, and the length of the second connecting rod is shorter than that of the first connecting rod.

[0008] In one embodiment, the baffle includes a first baffle and a second baffle. The two first baffles are respectively arranged on the surfaces of the two first connecting rods facing away from the bottom plate, and the two second baffles are respectively arranged on the surfaces of the two second connecting rods facing away from the baffle.

[0009] In one embodiment, the two first baffles respectively extend towards the two ends of the two first connecting rods, and the length of the first baffle is longer than that of the second baffle.

[0010] In one embodiment, the sliding block and the movable rod are both straight bar structures. The sliding block is perpendicularly connected to the movable rod, and the two ends of the sliding block respectively extend towards the directions where the two first connecting rods are located.

[0011] In one embodiment, the end of the sliding block for abutting against the baffle is arc-shaped.

[0012] In one embodiment, the triangular frame includes a third connecting rod and a fourth connecting rod. One ends of the two third connecting rods are rotatably connected and installed with the connecting shaft, and the other ends of the two third connecting rods are respectively rotatably connected to one ends of the two fourth connecting rods. The other ends of the two fourth connecting rods are rotatably connected to the end of the movable rod away from the quadrilateral frame, and the length of the fourth connecting rod is shorter than that of the third connecting rod.

[0013] In one embodiment, the movable rod is slidably installed in the straight chute in a manner to prevent it from coming off.

[0014] In one embodiment, flanges extending inwards are provided on both sides of the top of the straight chute. Convex strips are provided on both opposite sides of the movable rod placed in the straight chute, and the two convex strips are respectively within the ranges shielded by the two flanges.

[0015] The beneficial effects of the present invention are as follows:

[0016] Since the quadrilateral frame can be folded into an isosceles triangle, with the base of the isosceles triangle concave inward or convex outward, and both of the triangular frames can be folded into a state where they are arranged coaxially with the movable rod, through their mutual combination, five forms can be switched to each other, thus effectively solving the problem of insufficient transformable forms of existing deployable mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is a schematic diagram of the usage state provided by an embodiment of the present invention Figure 1 ;

[0019] Figure 2 is a schematic diagram of the usage state provided by an embodiment of the present invention Figure 2 ;

[0020] Figure 3 is a schematic diagram of the usage state provided by an embodiment of the present invention Figure 3 ;

[0021] Figure 4 is a schematic diagram of the usage state provided by an embodiment of the present invention Figure 4 ;

[0022] Figure 5 is a schematic diagram of the usage state provided by an embodiment of the present invention Figure 5 ;

[0023] Figure 6 is Figure 1 a schematic enlarged view of part A of

[0024] Figure 7 is Figure 1 a schematic diagram of the bottom plate structure of

[0025] The reference numerals are as follows:

[0026] 10, bottom plate; 11, connecting shaft; 12, straight chute; 13, flange;

[0027] 20, quadrilateral frame;

[0028] 30, triangular frame;

[0029] 40, movable rod; 41, rib; 42, sliding block;

[0030] 51, first connecting rod; 52, second connecting rod; 53, third connecting rod; 54, fourth connecting rod;

[0031] 61. First baffle; 62. Second baffle. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0033] The present invention provides a bionic multi-stable deployable mechanism, which can be implemented as follows: Figure 1 As shown, it includes a base plate 10 , a quadrilateral frame 20 , a triangular frame 30 , and a movable rod 40 .

[0034] Regarding the base plate 10, the base plate 10 mainly plays a supporting role for the bionic multi-stable deployable mechanism. Figure 1 , Figure 6 and Figure 7 As shown, the bottom plate 10 of this embodiment is rectangular, a connecting shaft 11 is provided on the bottom plate 10 , a straight slide groove 12 is provided at the end of the connecting shaft 11 , and a movable rod 40 is slidably installed in the straight slide groove 12 .

[0035] In order to prevent the movable rod 40 from falling out of the straight slide groove 12, this embodiment arranges the movable rod 40 to be slidably installed in the straight slide groove 12 in an anti-falling manner. Specifically, at this time, both sides of the groove top of the straight slide groove 12 are provided with flanges 13 extending inward, and the movable rod 40 is placed in the straight slide groove 12. Both sides opposite to each other are provided with convex strips 41, and the two convex strips 41 are respectively placed in the range covered by the two flanges 13, thereby limiting the movable rod 40 to only move back and forth in a straight line along the straight slide groove 12, and cannot fall out of the groove top of the straight slide groove 12.

[0036] Regarding the quadrilateral frame 20, Figure 1 and Figure 7 As shown, the quadrilateral frame 20 is a deformable frame structure formed by four rods rotatably connected. One of the rotatable connections of the quadrilateral frame 20 is rotatably connected and installed with a connecting shaft 11. Baffles are provided on the four sides of the quadrilateral frame 20. The quadrilateral frame 20 has the following usage states: folded into an isosceles triangle, with the base of the isosceles triangle concave, and with the base of the isosceles triangle convex.

[0037] Specifically, at this time, the quadrilateral frame 20 includes a first connecting rod 51 and a second connecting rod 52. One end of the two first connecting rods 51 are rotatably connected, and the other ends of the two first connecting rods 51 are rotatably connected to one end of the two second connecting rods 52 respectively. The other ends of the two second connecting rods 52 are rotatably connected and installed with a connecting shaft 11, and the length of the second connecting rod 52 is shorter than the length of the first connecting rod 51.

[0038] Moreover, the baffle of this embodiment includes a first baffle 61 and a second baffle 62. The two first baffles 61 are respectively arranged on the surfaces of the two first connecting rods 51 facing away from the bottom plate 10, and the two second baffles 62 are respectively arranged on the surfaces of the two second connecting rods 52 facing away from the baffle. The two first baffles 61 extend towards the two ends of the two first connecting rods 51 respectively, and the length of the first baffle 61 is longer than that of the second baffle 62.

[0039] Regarding the triangular frame 30, as Figure 1 and Figure 7 shown, the triangular frame 30 is a deformable frame structure formed by rotatably connecting two rod bodies with the movable rod 40. The two triangular frames 30 are respectively arranged on both sides of the movable rod 40. The two rotational connection points of the two triangular frames 30 have coaxial rotational axes arranged. One of the coaxial rotational connection points of the two triangular frames 30 is rotationally connected and installed with a connecting shaft 11, and both triangular frames 30 are capable of being folded into a state where they are coaxial with the movable rod 40 for use.

[0040] Among them, the triangular frame 30 of this embodiment includes a third connecting rod 53 and a fourth connecting rod 54. One ends of the two third connecting rods 53 are both rotationally connected and installed with a connecting shaft 11. The other ends of the two third connecting rods 53 are respectively rotationally connected to one ends of the two fourth connecting rods 54. The other ends of the two fourth connecting rods 54 are rotationally connected to the end of the movable rod 40 away from the quadrilateral frame 20, and the length of the fourth connecting rod 54 is shorter than that of the third connecting rod 53.

[0041] Regarding the movable rod 40, as Figure 1 shown, one end of the movable rod 40 extends into the space enclosed by the quadrilateral frame 20. A sliding block 42 is provided at this end of the movable rod 40. The sliding block 42 extends outward on both opposite sides of the movable rod 40. The sliding block 42 is used to abut against the baffle to maintain the deformed state of the quadrilateral frame 20.

[0042] Among them, the sliding block 42 and the movable rod 40 of this embodiment are both straight bar structures. The sliding block 42 is perpendicularly connected to the movable rod 40. The two ends of the sliding block 42 extend towards the directions where the two first connecting rods 51 are located respectively, and the end of the sliding block 42 for abutting against the baffle is arc-shaped.

[0043] After adopting the above setting method, the bionic multi-stable deployable mechanism can have multiple application states.

[0044] As Figure 1 shown, at this time, the bionic multi-stable deployable mechanism is in the initial state. The bionic multi-stable deployable mechanism naturally forms a structure of a quadrilateral and two triangles, that is, the quadrilateral frame 20 becomes a concave shape at the bottom of an isosceles triangle, while the two triangular frames 30 still remain in the triangular state. The bionic multi-stable deployable mechanism in this state is the most flexible but has the worst stability.

[0045] As Figure 2 shown, when the movable rod 40 moves downward until the sliding block 42 abuts against the second baffle 62, the two second connecting rods 52 are connected in a straight line, so that the quadrilateral frame 20 becomes an isosceles triangle state, and the two triangular frames 30 still remain in a triangular state, and this state is more stable.

[0046] As Figure 3 shown, when the movable rod 40 moves upward until the sliding block 42 abuts against the two first baffles 61, the quadrilateral frame 20 will become a concave shape at the bottom of the isosceles triangle, while the two triangular frames 30 still remain in a triangular state, and this state is the most stable.

[0047] As Figure 4 shown, when the two triangular frames 30 are both folded inward and overlapped, not only is the state stable, but also the volume is greatly reduced.

[0048] As Figure 5 shown, after the triangular frame 30 is contracted, if the movable rod 40 is further controlled to move downward until it contacts the two second stoppers, contraction will occur again at this time, and the quadrilateral frame 20 is in a convex state at the bottom of the isosceles triangle, so that the volume is reduced to the minimum.

[0049] In summary, this embodiment has at least the following advantages:

[0050] First, this bionic multi-stable deployable mechanism has five configurations. The first configuration has a large working space and flexible movement. The second configuration has moderate stability and working space. The third configuration has the strongest stability and the smallest working space. The fourth configuration has moderate structural stability and a small volume. The fifth configuration has the smallest volume and can be applied to folding and unfolding under different working conditions.

[0051] Second, this bionic multi-configuration deployable mechanism is formed by a multi-ring structure and can also form a multi-triangle structure during configuration transformation, and its stability is higher than that of traditional multi-stable deployable mechanisms.

[0052] Third, this bionic multi-configuration deployable mechanism uses a connecting rod structure to achieve multi-closed-loop folding and unfolding, with a simple structure, light weight, and good applicability.

[0053] The above is the preferred implementation mode of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A bionic multi-stable deployable mechanism, characterized in that it includes a bottom plate, a quadrilateral frame, a triangular frame, and a movable rod; a connecting shaft is provided on the bottom plate, a straight chute is provided at the end of the connecting shaft, and the movable rod is slidably installed in the straight chute; the quadrilateral frame is a deformable frame structure formed by rotatably connecting four rod bodies. One of the rotational connections of the quadrilateral frame is rotatably connected and installed with the connecting shaft. Baffles are provided on the four sides of the quadrilateral frame. The quadrilateral frame has usage states of folding into an isosceles triangle, the base of the isosceles triangle being concave, and the base of the isosceles triangle being convex; the triangular frame is a deformable frame structure formed by rotatably connecting two rod bodies with the movable rod. The two triangular frames are respectively arranged on both sides of the movable rod. The two rotational connections of the two triangular frames are arranged with coaxial rotation axes. One of the coaxial rotational connections of the two triangular frames is rotatably connected and installed with the connecting shaft, and both of the two triangular frames have usage states of folding into a coaxial arrangement with the movable rod; one end of the movable rod extends into the space enclosed by the quadrilateral frame. A sliding block is provided at this end of the movable rod. The sliding block extends outward on the opposite two sides of the movable rod. The sliding block is used to abut against the baffle to maintain the deformed state of the quadrilateral frame.

2. The biomimetic multi-stable deployable mechanism according to claim 1, characterized in that, The quadrilateral frame includes a first connecting rod and a second connecting rod. One ends of the two first connecting rods are rotatably connected. The other ends of the two first connecting rods are respectively rotatably connected to one ends of the two second connecting rods. The other ends of the two second connecting rods are rotatably connected and installed with the connecting shaft, and the length of the second connecting rod is shorter than the length of the first connecting rod.

3. The biomimetic multi-stable deployable mechanism according to claim 2, characterized in that, The baffle includes a first baffle and a second baffle. The two first baffles are respectively provided on the surfaces of the two first connecting rods facing away from the bottom plate. The two second baffles are respectively provided on the surfaces of the two second connecting rods facing away from the baffle.

4. The biomimetic multi-stable deployable mechanism according to claim 3, characterized in that, The two first baffles respectively extend towards the two ends of the two first connecting rods, and the length of the first baffle is longer than the length of the second baffle.

5. The biomimetic multi-stable deployable mechanism according to claim 3, characterized in that, The sliding block and the movable rod are both straight bar structures. The sliding block is perpendicularly connected to the movable rod. The two ends of the sliding block respectively extend towards the directions where the two first connecting rods are located.

6. The biomimetic multi-stable deployable mechanism according to claim 5, characterized in that, The end of the sliding block for abutting against the baffle is arc-shaped.

7. The biomimetic multi-stable deployable mechanism according to claim 2, characterized in that The triangular frame includes a third connecting rod and a fourth connecting rod. One ends of the two third connecting rods are rotatably connected and installed with the connecting shaft. The other ends of the two third connecting rods are respectively rotatably connected to one ends of the two fourth connecting rods. The other ends of the two fourth connecting rods are rotatably connected to the end of the movable rod away from the quadrilateral frame, and the length of the fourth connecting rod is shorter than the length of the third connecting rod.

8. The biomimetic multi-stable deployable mechanism according to claim 1, characterized in that, The movable rod is slidably installed in the straight chute in a manner to prevent it from coming off.

9. The biomimetic multi-stable deployable mechanism according to claim 8, characterized in that, Flanges extending inward are provided on both sides of the top of the straight chute. Protrusions are provided on the opposite two sides of the movable rod placed in the straight chute. The two protrusions are respectively placed within the ranges shielded by the two flanges.

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