A multi-stable variable cross-section telescopic structure

Abstract

The application discloses a multi-stable variable cross-section telescopic structure, which comprises an unfolding power mechanism, a folding power mechanism and a plurality of paper folding mechanisms connected with each other, wherein the size of the first paper folding mechanism to the Nth paper folding mechanism gradually decreases in sequence from the first paper folding mechanism to the Nth paper folding mechanism; the unfolding power mechanism and the folding power mechanism are arranged in the first paper folding mechanism, the unfolding power mechanism is used for pulling the plurality of paper folding mechanisms to unfold, and the folding power mechanism is used for pulling the paper folding mechanisms to fold; and the problems of poor stability and low rigidity of the paper folding mechanism are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cubic satellites, in particular to a multi-stable variable cross-section telescopic structure. BACKGROUND

[0002] With the rapid development of science and technology, the demand for equipment in advanced engineering fields such as mechanical engineering and aerospace is increasing, and the application demand for space telescopic structures is also rapidly increasing. At present, in the engineering field including deformable machine equipment, aerospace equipment, biomedical equipment, electronic equipment, etc., deformation structure or space manipulator is needed to complete the operation. Therefore, telescopic structures are widely used in advanced engineering fields, such as mechanical arms in automatic machines, telescopic selfie stick devices combined with aircraft, solar sails in spacecraft, telescopic antennas, operating rods, machine detection mechanisms, etc.

[0003] The paper folding mechanism is widely used in telescopic structures and has the characteristics of lightweight, high folding and unfolding ratio, and miniaturization. However, the traditional paper folding structure still has the problems of poor stability and low stiffness, and therefore there is an urgent need for a technical solution to solve this problem. SUMMARY

[0004] The purpose of the present application is to provide a multi-stable variable cross-section telescopic structure to solve the problem of poor stability and low stiffness of the existing paper folding mechanism.

[0005] In order to solve the above technical problems, the present application provides a multi-stable variable cross-section telescopic structure, which comprises an unfolding power mechanism, a folding power mechanism, and a plurality of paper folding mechanisms connected in sequence along a straight line direction, the size of the first paper folding mechanism to the Nth paper folding mechanism decreases in sequence according to the order of the first paper folding mechanism to the Nth paper folding mechanism; the paper folding mechanism comprises a constraint frame, a transition plate, a spring hinge, a trapezoidal long plate and a trapezoidal short plate; two constraint frames are arranged oppositely, and a plurality of side edges of the two constraint frames are connected with the transition plates; the height of the trapezoidal long plate is greater than the height of the trapezoidal short plate, the bottom long edges of a plurality of trapezoidal long plates are connected with a plurality of transition plates on one constraint frame as a foldable structure; the bottom long edges of a plurality of trapezoidal short plates are connected with a plurality of transition plates on another constraint frame as a foldable structure, and the top short edges of a plurality of trapezoidal short plates are connected with the top short edges of a plurality of trapezoidal long plates through the spring hinges as a foldable structure; the unfolding power mechanism and the folding power mechanism are both arranged in the first paper folding mechanism, the unfolding power mechanism and the folding power mechanism are both connected with the smallest volume paper folding mechanism, the unfolding power mechanism is used to pull a plurality of paper folding mechanisms to unfold, and the folding power mechanism is used to pull the paper folding mechanism to fold.

[0006] In one of the embodiments, the adjacent connection of the origami mechanism shares one of the constraint frames.

[0007] In one of the embodiments, the unfolding power mechanism includes an unfolding power motor and an unfolding rope; the unfolding power motor is used to release and wind up the unfolding rope; the unfolding rope is wound out of the origami mechanism to connect with the smallest volume origami mechanism.

[0008] In one of the embodiments, the unfolding rope is connected with the elastic hinge on the smallest volume origami mechanism.

[0009] In one of the embodiments, the constraint frame includes a rectangular inner frame and an L-shaped outer frame; the outer side of the four edges of the rectangular inner frame is connected with the transition plate; the four L-shaped outer frames are respectively arranged at the four end corners outside the rectangular inner frame, and the L-shaped outer frame and the rectangular inner frame jointly clamp and fix the transition plate.

[0010] In one of the embodiments, the elastic hinge is connected with the outer surface of the trapezoidal long plate and the trapezoidal short plate respectively.

[0011] In one of the embodiments, the elastic hinge is made of PEEK.

[0012] In one of the embodiments, the transition plate is a carbon fiber plate.

[0013] In one of the embodiments, the trapezoidal long plate and the trapezoidal short plate are PVC plates.

[0014] In one of the embodiments, the folding power mechanism includes a folding power motor and a folding rope; the folding power motor is used to release and wind up the folding rope; the folding rope is placed in the space surrounded by the origami mechanism.

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

[0016] Based on the principle of origami, the application designs a multi-stable variable cross-section telescopic structure, wherein each origami mechanism is a bistable mechanism, and the bistable feature can enable the module to be converted from one stable form to another stable form, and in the application process, the needs of specific forms and specific functions can be met, so that the module can be more stably kept in the balanced position of folding and unfolding without the assistance of other external forces. The combination of the bistable origami module enables the overall structure to have the characteristics of multi-stability. Moreover, the modular design enables the structure to realize the orderly unfolding and folding of each module by controlling different modules, and in the normal use process, the form can be changed to obtain the maximum efficiency or realize the designed function. In addition, the existing telescopic structure is mostly designed as an equal cross-section, which is inspired by the variable cross-section biological configuration of octopus tentacles, elephant trunks and the like. In the case of keeping the height of the transition surface unchanged, each module is proportionally reduced from the first end to the last end. The side view of the design is approximately a trapezoid when fully unfolded; when folded, the smaller modules are embedded in the adjacent larger modules; and when fully folded, all modules can be embedded in the largest first end base one by one. Therefore, the variable cross-section design can effectively improve the folding-unfolding ratio and dexterity of the telescopic structure to adapt to the application in special environments and space-limited scenarios.

[0017] The design of the multi-stable variable cross-section telescopic structure based on the origami mechanism improves the problems of large mass, large volume, small folding-unfolding ratio, insufficient dexterity, poor stability, small rigidity and strength, complex driving system and high cost of the telescopic structure. Therefore, the design can be widely applied in advanced engineering fields, such as telescopic structures, antennas, solar cell arrays and the like; detection mechanisms, spacecraft, aircraft selfie detection rods, ground, underwater and space cabin surface inspection; space manipulators, intelligent service robots, unmanned operation of underwater robots, space on-orbit service, integrated application in guide rail platforms, operation tables and the like. The diversified application of the design benefits from its advantages of light weight, small volume, large folding-unfolding ratio, high dexterity, good stability, large rigidity and strength, simple driving system and low cost. Moreover, the design has the advantages of origami mechanism and the characteristics of multi-stability and variable cross-section, so that it has more extensive demand and development space in various fields of production and life. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0019] Figure 1 is a structural schematic diagram provided by the embodiment of the application;

[0020] Figure 2is Figure 1 a folding state schematic diagram of

[0021] Figure 3 is Figure 1 a constraint frame structure schematic diagram of

[0022] Figure 4 is Figure 1 a constraint frame disassembly structure schematic diagram of

[0023] Figure 5 is Figure 1 A part enlarged structure schematic diagram of

[0024] Figure 6 is Figure 1 B part enlarged structure schematic diagram of

[0025] The figure marks are as follows:

[0026] 11, unfolding power motor; 12, unfolding rope;

[0027] 21, folding power motor; 22, folding rope;

[0028] 30, origami mechanism; 31, constraint frame; 311, rectangular inner frame; 312, L-shaped outer frame; 32, transition plate; 33, elastic hinge; 34, trapezoidal long plate; 35, trapezoidal short plate. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0030] The present application provides a multi-stable variable cross-section telescopic structure, and the implementation thereof is as follows Figures 1 to 6As shown, the multi-stable variable cross-section telescopic structure comprises a plurality of folding mechanisms 30 connected in sequence along a straight line, a deployment power mechanism and a folding power mechanism, wherein the size of the first folding mechanism 30 to the Nth folding mechanism 30 decreases in sequence according to the order of the first folding mechanism 30 to the Nth folding mechanism 30; each folding mechanism 30 comprises a constraint frame 31, a transition plate 32, a resilient hinge 33, a long trapezoidal plate 34 and a short trapezoidal plate 35; the two constraint frames 31 are oppositely arranged, and a plurality of transition plates 32 are connected to the side edges of the two constraint frames 31; the height of the long trapezoidal plate 34 is greater than the height of the short trapezoidal plate 35, the long edges of the bottoms of the plurality of long trapezoidal plates 34 are connected to the plurality of transition plates 32 on one constraint frame 31 to form a foldable structure; the long edges of the bottoms of the plurality of short trapezoidal plates 35 are connected to the plurality of transition plates 32 on the other constraint frame 31 to form a foldable structure, and the short edges of the tops of the plurality of short trapezoidal plates 35 are connected to the short edges of the tops of the plurality of long trapezoidal plates 34 through the resilient hinges 33 to form a foldable structure; the deployment power mechanism and the folding power mechanism are arranged in the first folding mechanism 30, and the deployment power mechanism and the folding power mechanism are connected to the folding mechanism 30 with the smallest volume by a string, the deployment power mechanism is used to pull the plurality of folding mechanisms 30 to deploy, and the folding power mechanism is used to pull the folding mechanisms 30 to fold.

[0031] As shown in Figure 1 , at this time, each folding mechanism 30 is in an extended state, so that the multi-stable variable cross-section telescopic structure is extended into a long arm shape; if the folding power mechanism is started, the folding power mechanism will pull the folding mechanism 30 with the smallest volume to the folding mechanism 30 with the largest volume, so that the long trapezoidal plate 34 on each folding mechanism 30 will be folded outward, and the short trapezoidal plate 35 will be folded inward, thereby becoming Figure 2 the state shown in the figure, that is, the complete folding of the multi-stable variable cross-section telescopic structure is realized; in this state, the multi-stable variable cross-section telescopic structure occupies a very small space, thereby facilitating transportation.

[0032] If it is needed to deploy the multi-stable variable cross-section telescopic structure, the deployment power mechanism can be started, and the deployment power mechanism can exert a pulling force on the resilient hinge 33 at the connection between the long trapezoidal plate 34 and the short trapezoidal plate 35, so that the short trapezoidal plate 35 is folded outward and the long trapezoidal plate 34 is folded inward, thereby achieving the deployment of the folding mechanism 30.

[0033] As shown in Figure 1 , this embodiment provides a constraint frame 31 shared by the connection between adjacent folding mechanisms 30.

[0034] After adopting this arrangement, the number of constraint frames 31 can be reduced, which not only reduces the overall volume of the multi-stable variable cross-section telescopic structure, but also reduces the overall weight of the multi-stable variable cross-section telescopic structure.

[0035] As shown in Figure 1 and Figure 5As shown in the figure, the embodiment sets the unfolding power mechanism to include an unfolding power motor 11 and an unfolding rope 12; the unfolding power motor 11 is used to release and wind up the unfolding rope 12; the unfolding rope 12 is wound out to the outside of the plurality of paper folding mechanisms 30, so as to be connected with the rope drive of the paper folding mechanism 30 with the smallest volume.

[0036] After adopting this setting mode, the clockwise and counterclockwise rotation of the unfolding power motor 11 can realize the release and winding of the unfolding rope 12, so when the unfolding rope 12 is tightened, the elastic hinge 33 can be pulled from inside to outside, so as to realize the stretching of the trapezoidal long plate 34 and the trapezoidal short plate 35.

[0037] As shown in the figure, Figure 1 and Figure 5 the embodiment sets the unfolding rope 12 to be connected with the elastic hinge 33 on the paper folding mechanism 30 with the smallest volume.

[0038] As shown in the figure, Figure 1 , Figure 3 and Figure 4 the embodiment sets the constraint frame 31 to include a rectangular inner frame 311 and an L-shaped outer frame 312; the outer side of the four edges of the rectangular inner frame 311 is connected with a transition plate 32; the four L-shaped outer frames 312 are respectively arranged at the four end corners outside the rectangular inner frame 311, and the L-shaped outer frame 312 and the rectangular inner frame 311 jointly clamp and fix the transition plate 32.

[0039] After adopting this setting mode, the corresponding hole positions can be set on the rectangular inner frame 311, the L-shaped outer frame 312 and the transition plate 32, then the screws can be passed through the L-shaped outer frame 312, the transition plate 32 and the rectangular inner frame 311, and the nuts are screwed to realize the fixation of the three, so as to ensure the installation firmness of the transition plate 32.

[0040] As shown in the figure, Figure 1 and Figure 2 the embodiment sets the elastic hinge 33 to be connected with the outer surfaces of the trapezoidal long plate 34 and the trapezoidal short plate 35 respectively.

[0041] After adopting this setting mode, if the trapezoidal long plate 34 and the trapezoidal short plate 35 are folded, the elastic hinge 33 will be placed outside the trapezoidal long plate 34 and the trapezoidal short plate 35, so as not to occupy the space of the folding place of the trapezoidal long plate 34 and the trapezoidal short plate 35, and ensure the optimization of the folding effect of the trapezoidal long plate 34 and the trapezoidal short plate 35.

[0042] As shown in the figure, Figure 1 the embodiment sets the elastic hinge 33 to be made of PEEK.

[0043] PEEK, poly(ether-ether-ketone), i.e. polyether ether ketone, is a high polymer containing a ketone bond and two ether bonds in the main chain structure, which belongs to a special polymer material. It has physical and chemical properties such as high temperature resistance and chemical corrosion resistance, and is a kind of semi-crystalline polymer material, which can be used as high temperature structural material and electrical insulating material, and can be compounded with glass fiber or carbon fiber to prepare reinforced material. It is a kind of polyaromatic ether high polymer obtained by condensation with aromatic dihydric phenol. This material has a large number of applications in the fields of aerospace, medical devices (as artificial bone to repair bone defects) and industry.

[0044] Therefore, after adopting this setting mode, the elastic hinge 33 will still have strong rigidity in the case of thin thickness, so that the structural performance of the multi-stable variable cross-section telescopic structure is better.

[0045] As shown in Figure 3 , this embodiment sets the transition plate 32 as a carbon fiber plate.

[0046] As shown in Figure 1 , this embodiment sets the trapezoidal long plate 34 and the trapezoidal short plate 35 as PVC plates (polyvinyl chloride).

[0047] As shown in Figure 1 , Figure 5 and Figure 6 , this embodiment sets the folding power mechanism to include a folding power motor 21 and a folding rope 22, and the folding power motor 21 is used to release and wind up the folding rope 22; the folding rope 22 is placed in the space surrounded by the plurality of origami mechanisms 30.

[0048] After adopting this setting mode, the clockwise and counterclockwise rotation of the folding power motor 21 can realize the winding and releasing of the folding rope 22, so when the folding rope 22 is tightened, the origami mechanism 30 with the smallest volume can be pulled to the origami mechanism 30 with the largest volume, thereby realizing the folding of the multi-stable modular telescopic structure.

[0049] The working preparation of the multi-stable modular telescopic structure based on the origami mechanism 30 includes the following steps:

[0050] Step one: Before installation, carefully check each part of the entire multi-stable variable cross-section telescopic structure to ensure that there is no omission of all structural parts.

[0051] Step two: After the overall structure inspection is complete, analyze whether each position structure is well prepared, determine the assembly requirements, and prevent the occurrence of scrap parts due to improper assembly sequence.

[0052] Step three: according to the order of base unit and mechanism unit, the multi-stable variable cross-section telescopic structure is stored, the modular folding mechanism 30 is installed, and the connection between the base and the folding mechanism 30 is reliable and stable to prevent problems caused by unstable installation during the experiment.

[0053] Step four: install the control module and connect it with the ground computer to ensure that each control link and communication link operates normally and stably.

[0054] Step five: after confirming that each part of the system functions normally, the power is turned on to send the unfolding signal to the module, and the signal is sent to the unfolding power motor 11, when the driving device receives the unfolding instruction, the unfolding power motor 11 is driven to rotate, the shaft is driven to rotate by the unfolding power motor 11, and each folding mechanism 30 is subjected to the force of the unfolding rope 12. At the same time, the spring hinge drives the whole structure to unfold due to the release of elastic potential energy. The folding mechanism 30 is switched from the folded state to the unfolded state, unfolded to the predetermined position, and the unfolding power motor 11 stops rotating.

[0055] Step six: after unfolding to the predetermined position, due to different integrated design methods, it can be used as a telescopic mechanical arm or a space telescopic antenna structure for satellite communication.

[0056] Step seven: after the unfolding work is completed, the signal is sent to the folding power motor 21, when the driving device receives the folding instruction, the folding power motor 21 is driven to rotate, the shaft is driven to rotate by the folding power motor 21 to generate torque, the folding rope 22 is inwards, the main part of the structure is tightened, each folding mechanism 30 is subjected to the tension of the shrinking rope and is gradually shrunk, and the state is switched from the unfolded state to the folded state. After the state is switched, the folding power motor 21 stops rotating, the folding is completed, and the experiment is ended.

[0057] Step eight: end the experiment and analyze the test results: 1, turn off the platform power supply and remove the tested satellite; 2, analyze the experimental results according to the information measured and recorded during the experiment.

[0058] The present application can be personalized in size and mass according to the different needs of different microsatellites, and the size and other characteristics of the multi-stable modular telescopic structure can be designed and simulated.

[0059] Compared with the prior art, the present application has the following advantages:

[0060] 1. The present application improves the problems of large mass, large volume, insufficient folding and unfolding ratio, low stability, small stiffness and strength, and complex driving system of the existing telescopic structure, and realizes the advantages of lightweight, small volume, high folding and unfolding ratio, high stability, large stiffness and strength, and simple driving system through the simple folding mechanism 30.

[0061] 2、The application has more flexible structure by modular design, and can realize orderly unfolding and folding of each folding mechanism 30 by controlling different folding mechanisms 30, so as to facilitate adaptive expansion and modification in various environments.

[0062] 3、The application upgrades the primary constant cross-section structure to a variable cross-section telescopic mechanism, so that the mechanism has smaller contraction volume, higher folding and unfolding ratio, lighter weight, better weight design and more functions.

[0063] 4、The research and development cost and production cost of the application are low, and batch production can be realized.

[0064] 5、The application designs a folding mechanism with multi-stable state characteristics, which can make the module more stably maintain at the balance positions of folding and unfolding without applying other external force.

[0065] 6、The application can be widely applied to space detection mechanisms, such as spacecraft selfie sticks, cabin surface inspection of space capsules, and can be applied to mechanical arms of spacecraft, such as space on-orbit services, in-cabin and out-of-cabin robot services, and can be used for various telescopic structures, such as solar cell arrays and antenna arrays.

[0066] 7、The application has wide application prospect, and its characteristics of lightweight, high folding and unfolding ratio, high stability and low cost make it also be used for unmanned operation of underwater robots, selfie detection rods of aircraft, telescopic grabbing mechanical arms of aircraft, intelligent service robots integrated on guide rail platforms, operation table work and other scenes.

[0067] 8、The overall structure has small volume, small mass and low energy consumption, and realizes folding and unfolding of space mechanical arms at low cost.

[0068] The above is the preferred embodiment of the application, and it should be pointed out that for ordinary skilled persons in the technical field, some improvements and refinements can be made without departing from the principles of the application, and these improvements and refinements are also regarded as the protection scope of the application.

Claims

1.A multi-stable variable cross-section telescopic structure, characterized in that, it comprises an unfolding power mechanism, a folding power mechanism, and a plurality of origami mechanisms connected in a straight line direction in sequence, wherein the size of the first origami mechanism to the Nth origami mechanism decreases in sequence according to the order of the first to the Nth origami mechanism; the origami mechanism comprises a constraint frame, a transition plate, a spring hinge, a trapezoidal long plate, and a trapezoidal short plate; two constraint frames are arranged oppositely, and a plurality of side edges of the two constraint frames are connected with the transition plates; the height of the trapezoidal long plate is greater than that of the trapezoidal short plate, the bottom long edges of a plurality of the trapezoidal long plates are connected with a plurality of the transition plates on one constraint frame as a foldable structure; the bottom long edges of a plurality of the trapezoidal short plates are connected with a plurality of the transition plates on another constraint frame as a foldable structure, and the top short edges of a plurality of the trapezoidal short plates are connected with the top short edges of a plurality of the trapezoidal long plates through the spring hinges as a foldable structure; the unfolding power mechanism and the folding power mechanism are both arranged in the first origami mechanism, and both are connected with the smallest origami mechanism by a rope drive, the unfolding power mechanism is used to pull a plurality of the origami mechanisms to unfold, and the folding power mechanism is used to pull the origami mechanisms to fold. 2.The multi-stable variable cross-section telescopic structure according to claim 1, characterized in that, one constraint frame is shared at the connection between adjacent origami mechanisms. 3.The multi-stable variable cross-section telescopic structure according to claim 1, characterized in that, the unfolding power mechanism comprises an unfolding power motor and an unfolding rope; the unfolding power motor is used to release and wind up the unfolding rope; the unfolding rope is wound out to the outside of a plurality of the origami mechanisms, thereby being connected with the smallest origami mechanism by a rope drive. 4.The multi-stable variable cross-section telescopic structure according to claim 3, characterized in that, the unfolding rope is connected with the spring hinge on the smallest origami mechanism. 5.The multi-stable variable cross-section telescopic structure according to claim 1, characterized in that, the constraint frame comprises a rectangular inner frame and an L-shaped outer frame; the transition plates are connected to the outside of the four sides of the rectangular inner frame; four L-shaped outer frames are arranged at the four end corners outside the rectangular inner frame, and the L-shaped outer frames and the rectangular inner frame jointly hold and fix the transition plates. 6.The multi-stable variable cross-section telescopic structure according to claim 1, characterized in that, the spring hinges are connected to the outer surfaces of the trapezoidal long plates and the trapezoidal short plates. 7.The multi-stable variable cross-section telescopic structure according to claim 1, characterized in that, the spring hinges are made of PEEK. 8.The multi-stable variable cross-section telescopic structure according to claim 1, characterized in that, the transition plates are carbon fiber plates. 9.The multi-stable variable cross-section telescopic structure according to claim 1, characterized in that, the trapezoidal long plates and the trapezoidal short plates are PVC plates. 10.The multi-stable variable cross-section telescopic structure according to claim 1, characterized in that, The folding power mechanism comprises a folding power motor and a folding rope, and the folding power motor is used to release and wind up the folding rope. The folding rope is placed in the space surrounded by the plurality of paper folding mechanisms.

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