A three-position folding mechanism inspired by origami

Abstract

A three-configuration unfolding mechanism inspired by origami is disclosed, comprising an auxiliary unfolding unit and an unfolding unit. This mechanism can unfold from a quasi-one-dimensional linear structure to a two-dimensional planar structure, and then from the two-dimensional planar structure to a three-dimensional solid structure. It has a large unfolding ratio, forming a large-volume envelope space after unfolding. It possesses the characteristics of both unfolding and variable-cell mechanisms. By controlling the movement of each joint with servo motors, automated unfolding and folding can be achieved. It has significant application prospects in the aerospace field and can be applied to the structure of planetary transport vehicles.

Description

Technical Field

[0001] This invention relates to the design of spatial folding mechanisms, particularly to the design of folding mechanisms and variable-cell mechanisms. These mechanisms can change the dimensions of each component according to the actual space size to achieve different engineering applications. Background Technology

[0002] With the rapid development of aerospace technology, many countries have successfully landed on the moon, leading to more frequent lunar exploration in the future. The possibility of humans establishing lunar bases again is also on the horizon, increasing the demand for lunar transport rovers. Compared to static rigid structures, folding mechanisms offer advantages such as smaller size, easier storage, and easier transportation, making them widely used in aerospace technology. However, most existing space folding mechanisms are used for antenna and solar panel deployment, with few specifically designed for planetary transport rovers. Existing planetary rovers also suffer from drawbacks such as a small folding ratio and limited material capacity, making them unsuitable for large-scale planetary exploration and the extraction and transportation of planetary materials. Therefore, seeking a space folding mechanism with a large folding ratio, stable spatial structure, capable of forming a vehicle truss structure after deployment, and possessing a large-capacity enclosing space is a new research direction in aerospace technology.

[0003] Since planetary transport vehicles operate on other planets, designing a space folding and unfolding mechanism that can be applied to planetary transport vehicles and can be automated can greatly reduce operating costs, improve work efficiency, meet the requirements of human resource transportation on other planets, and promote human exploration of other planets. Summary of the Invention

[0004] The purpose of this invention is to provide a three-configuration unfolding mechanism inspired by origami, which can unfold from a one-dimensional linear structure to a two-dimensional planar structure, and then from the two-dimensional planar structure to a three-dimensional solid structure. It has a large unfolding ratio and can achieve self-unfolding and merging by controlling the movement of each joint through servo motors. It has great application prospects in the aerospace field and can be applied to the structure of planetary transport vehicles.

[0005] The present invention achieves the above objectives through the following technical solutions:

[0006] A three-configuration unfolding mechanism inspired by origami, comprising an auxiliary unfolding unit and an unfolding unit, characterized in that the specific structure and connection relationship between the constituent elements are as follows:

[0007] The auxiliary deployment unit consists of a support plate, a lead screw motor, a lead screw nut, a first servo motor, and a prime mover unit. The prime mover unit includes a first prime mover, a second prime mover, a third prime mover, and a fourth prime mover. Each prime mover consists of a first guide rod, a second guide rod, a third guide rod, a first connecting rod, and a second connecting rod. The support plate base is a square thick plate with a square hollow protrusion at its center. Four cylindrical support pins are evenly distributed around the periphery of the protrusion. Four through holes are evenly distributed at the bottom of the hollow protrusion. A rectangular through hole is provided on one side of the bottom of the protrusion for the lead screw motor connection cable to pass through. The lead screw motor can be directly inserted into the hollow part of the square hollow protrusion and fixed through the bottom through hole. The lead screw nut is rectangular in shape with four cylindrical support pins evenly distributed around its periphery. The lead screw nut and the lead screw motor are connected by a threaded connection. The first guide rod is a straight rod with through holes at both ends. One end of the first guide rod is hinged to one of the support pins of the lead screw nut. The second guide rod is a bent rod with the same length at both ends and through holes at both ends and its center. The second guide rod has a protrusion at the other end of its through hole. Four threaded holes are evenly distributed around the circumference of the protruding through hole. The through hole at the end of the second guide rod without the protrusion is hinged to one of the support pins on the protruding part of the support plate. The through hole at the center of the second guide rod is hinged to the other end of the first guide rod. The first servo motor is fixedly connected through the threaded hole of the second guide rod. The shaft of the first servo motor passes through the protruding through hole of the second guide rod. The third guide rod is a straight rod with a through hole at one end and symmetrical spherical hinge connections on both sides of the other end. The through hole of the third guide rod is fixedly connected to the shaft of the first servo motor. The third guide rod is aligned with the center of the support plate. The first connecting rod is a cylindrical connecting rod with spherical hinge connection parts at both ends. The spherical hinge connection part at one end of the first connecting rod is hinged to the first spherical hinge connection part of the third guide rod. The second connecting rod is a cylindrical connecting rod with spherical hinge connection parts at both ends. The spherical hinge connection part at one end of the second connecting rod is hinged to the second spherical hinge connection part of the third guide rod. The structure and component connection relationship of the second, third, and fourth driving rods are the same as those of the first driving rod.

[0008] The folding unit comprises hinge 1, hinge 2, hinge 3, hinge 4, and a deployable part. The deployable part includes a first deployable part, a second deployable part, a third deployable part, and a fourth deployable part. Each deployable part consists of a second servo motor, a third servo motor, a first folding plate, a second folding plate, a first drive rod, a second drive rod, a third connecting rod, a fourth connecting rod, a magnetic hinge 1, and a magnetic hinge 2. The first folding plate has a through hole at its tail end, with four threaded holes evenly distributed around its circumference. A spherical hinge connection part is located at its top end, and a groove is provided on the upper surface of the top end, containing two through holes. The second servo motor is fixedly connected to the first folding plate through the threaded holes, and the shaft of the second servo motor passes through the tail end of the first folding plate. The system includes a first drive rod (a bent rod with through holes at both ends), one end of which is fixedly connected to the shaft of a second servo motor. A third connecting rod (also a bent rod with through holes at both ends) is hinged to the other end of the first drive rod via a magnetic hinge. When power is off, the two magnetic hinges magnetically attract each other, forming a single hinge; when power is on, they separate, each becoming an independent single hinge without interference. A fourth connecting rod (also a bent rod with through holes at both ends) is hinged to the other end of the third connecting rod. A second drive rod (also a bent rod with through holes at both ends) is hinged to the other end of the fourth connecting rod via a magnetic hinge. The second folding plate is a mirror image of the first folding plate. The third servo motor is connected to the second folding plate via four threads. The third servo motor shaft passes through the through hole at the tail end of the second folding plate and is fixedly connected to the other end of the second drive rod. The structure and component connection relationship of the second, third, and fourth deployable parts are the same as those of the first deployable part. One leaf of the hinge is fixedly connected to the first folding plate of the second deployable part and the second folding plate of the first deployable part through two through holes in the groove. The second leaf of the hinge is fixedly connected to the first folding plate of the third deployable part and the second folding plate of the second deployable part through two through holes in the groove. The third leaf of the hinge is fixedly connected to the first folding plate of the fourth deployable part and the second folding plate of the third deployable part through two through holes in the groove. The fourth leaf of the hinge is fixedly connected to the first folding plate of the first deployable part and the second folding plate of the fourth deployable part through two through holes in the groove. The two folding plates are fixed together by two through holes in the groove. The spherical hinge connection at the top of the first folding plate of the first deployable part is hinged to the spherical hinge connection at the other end of the first connecting rod of the first prime mover. The spherical hinge connection at the top of the second folding plate of the first deployable part is hinged to the spherical hinge connection at the other end of the second connecting rod of the second prime mover. The spherical hinge connection at the top of the first folding plate of the second deployable part is hinged to the spherical hinge connection at the other end of the first connecting rod of the second prime mover. The spherical hinge connection at the top of the second folding plate of the second deployable part is hinged to the spherical hinge connection at the other end of the second connecting rod of the third prime mover. The spherical hinge connection at the top of the first folding plate of the third deployable part is hinged to the spherical hinge connection at the other end of the first connecting rod of the third prime mover.The spherical hinge connection at the top of the second folding plate of the third deployable part is hinged to the spherical hinge connection at the other end of the second connecting rod of the fourth prime mover. Similarly, the spherical hinge connection at the top of the first folding plate of the fourth deployable part is hinged to the spherical hinge connection at the other end of the first connecting rod of the fourth prime mover. Finally, the spherical hinge connection at the top of the second folding plate of the fourth deployable part is hinged to the spherical hinge connection at the other end of the second connecting rod of the first prime mover.

[0009] The origami-inspired three-configuration unfolding mechanism, when driven by a lead screw motor, slowly unfolds the auxiliary unfolding unit, causing it to slowly unfold from a near-one-dimensional configuration to a two-dimensional planar configuration in the first stage. Then, a first servo motor drives a first prime mover and a third guide rod to rotate, causing the unfolding unit to unfold from the two-dimensional planar configuration in the first stage to a fully two-dimensional planar configuration. Finally, the second servo motor of the first unfoldable part, the third servo motor of the first unfoldable part, the second servo motor of the second unfoldable part, the third servo motor of the second unfoldable part, the second servo motor of the third unfoldable part, the third servo motor of the third unfoldable part, the third servo motor of the third unfoldable part, the second servo motor of the fourth unfoldable part, and the third servo motor of the fourth unfoldable part synchronously drive the first drive rod of the first unfoldable part, the second drive rod of the first unfoldable part, the first drive rod of the second unfoldable part, the second drive rod of the second unfoldable part, the second drive rod of the second unfoldable part, the first drive rod of the third unfoldable part, the second drive rod of the third unfoldable part, the first drive rod of the fourth unfoldable part, and the second drive rod of the fourth unfoldable part, respectively, so that the unfolding unit unfolds from a two-dimensional planar configuration to a three-dimensional configuration.

[0010] The outstanding advantages of this invention are:

[0011] 1. The three-configuration unfolding mechanism inspired by origami is inspired by origami and combines the principle of variable cell mechanism to realize the change and unfolding of the mechanism configuration.

[0012] 2. The origami-inspired three-configuration unfolding mechanism can unfold from a one-dimensional configuration to a two-dimensional planar configuration. Furthermore, due to the misalignment and intersection of the rotation axes of the unfoldable parts, it can unfold from a two-dimensional planar configuration to a three-dimensional solid configuration during rotation. It has a large unfolding ratio and a wide range of applications.

[0013] 3. The origami-inspired three-dimensional unfolding mechanism can form a large volume of storage space in a three-dimensional state, which can be used to store materials. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0015] Figure 2 This is a schematic diagram of the auxiliary deployment unit described in this invention.

[0016] Figure 3 This is a top view of the auxiliary deployment unit described in this invention.

[0017] Figure 4 This is a three-dimensional schematic diagram of the unfolding unit described in this invention.

[0018] Figure 5 This is a schematic diagram of the two-dimensional planar configuration of the unfolding unit described in this invention.

[0019] Figure 6 This is a schematic diagram of a one-dimensional configuration of the unfolding unit described in this invention.

[0020] Figure 7 This is a schematic diagram of the deployable part of the present invention.

[0021] Figure 8 This is a schematic diagram of the one-dimensional configuration of the present invention.

[0022] Figure 9 This is a schematic diagram of the first stage of the development of the invention from a one-dimensional configuration to a two-dimensional planar configuration.

[0023] Figure 10 This is a schematic diagram of the two-dimensional planar configuration of the present invention.

[0024] Figure 11 This is a three-dimensional schematic diagram of the present invention.

[0025] The components in the diagram are labeled as follows: 1. Support plate; 2. Lead screw motor; 3. Lead screw nut; 4. First servo motor; 5-1. First guide rod of the first driving rod (referred to as the first guide rod when describing the first driving rod section alone); 5-2. Second guide rod of the first driving rod (referred to as the second guide rod when describing the first driving rod section alone); 5-3. Third guide rod of the first driving rod (referred to as the third guide rod when describing the first driving rod section alone); 5-4. First connecting rod of the first driving rod (referred to as the first connecting rod when describing the first driving rod section alone); 5-5. Second connecting rod of the first driving rod (referred to as the second connecting rod when describing the first driving rod section alone); 6-1. First connecting rod of the second driving rod; 6-2. Second connecting rod of the second driving rod; 7-1. First connecting rod of the third driving rod; 7-2. Second connecting rod of the third driving rod; 8-1. First connecting rod of the fourth driving rod; 8-2. Second connecting rod of the fourth driving rod; 9-1. Second servo motor of the first deployable part (hereinafter referred to as the second servo motor when the first deployable part is described alone); 9-2. Third servo motor of the first deployable part (hereinafter referred to as the third servo motor when the first deployable part is described alone); 10-1. First drive rod of the first deployable part (hereinafter referred to as the first drive rod when the first deployable part is described alone); 10-2. Second drive rod of the first deployable part (hereinafter referred to as the second drive rod when the first deployable part is described alone); 11-1. Third connecting rod of the first deployable part (hereinafter referred to as the third connecting rod when the first deployable part is described alone) ; 11-2. Fourth link of the first deployable part (referred to as the fourth link when the first deployable part is described alone); 12-1. First folding plate of the first deployable part (referred to as the first folding plate when the first deployable part is described alone); 12-2. Second folding plate of the first deployable part (referred to as the second folding plate when the first deployable part is described alone); 13-1. First folding plate of the second deployable part; 13-2. Second folding plate of the second deployable part; 14-1. First folding plate of the third deployable part; 14-2. Second folding plate of the third deployable part; 15-1. First folding plate of the fourth deployable part; 15-2. Second folding plate of the fourth deployable part; 16-1. Hinge 1; 16-2. Hinge 2; 16-3. Hinge 3; 16-4. Hinge 4.

Claims

1. A three-configuration unfolding mechanism inspired by origami, comprising an auxiliary unfolding unit and an unfolding unit, characterized in that, The specific structure and connection relationships between the constituent elements are as follows: The auxiliary deployment unit consists of a support plate, a lead screw motor, a lead screw nut, a first servo motor, and a prime mover unit. The prime mover unit includes a first prime mover, a second prime mover, a third prime mover, and a fourth prime mover. Each prime mover consists of a first guide rod, a second guide rod, a third guide rod, a first connecting rod, and a second connecting rod. The support plate base is a square thick plate with a square hollow protrusion at its center. Four cylindrical support pins are evenly distributed around the periphery of the protrusion. Four through holes are evenly distributed at the bottom of the hollow protrusion. A rectangular through hole is provided on one side of the bottom of the protrusion for the lead screw motor connection cable to pass through. The lead screw motor can be directly inserted into the hollow part of the square hollow protrusion and fixed through the bottom through hole. The lead screw nut is rectangular in shape with four cylindrical support pins evenly distributed around its periphery. The lead screw nut and the lead screw motor are connected by a threaded connection. The first guide rod is a straight rod with through holes at both ends. One end of the first guide rod is hinged to one of the support pins of the lead screw nut. The second guide rod is a bent rod with the same length at both ends and through holes at both ends and its center. The second guide rod has a protrusion at the other end of its through hole. Four threaded holes are evenly distributed around the circumference of the protruding through hole. The through hole at the end of the second guide rod without the protrusion is hinged to one of the support pins on the protruding part of the support plate. The through hole at the center of the second guide rod is hinged to the other end of the first guide rod. The first servo motor is fixedly connected through the threaded hole of the second guide rod. The shaft of the first servo motor passes through the protruding through hole of the second guide rod. The third guide rod is a straight rod with a through hole at one end and symmetrical spherical hinge connections on both sides of the other end. The through hole of the third guide rod is fixedly connected to the shaft of the first servo motor. The third guide rod is aligned with the center of the support plate. The first connecting rod is a cylindrical connecting rod with spherical hinge connection parts at both ends. The spherical hinge connection part at one end of the first connecting rod is hinged to the first spherical hinge connection part of the third guide rod. The second connecting rod is a cylindrical connecting rod with spherical hinge connection parts at both ends. The spherical hinge connection part at one end of the second connecting rod is hinged to the second spherical hinge connection part of the third guide rod. The structure and component connection relationship of the second, third, and fourth driving rods are the same as those of the first driving rod. The folding unit comprises hinge 1, hinge 2, hinge 3, hinge 4, and a deployable part. The deployable part includes a first deployable part, a second deployable part, a third deployable part, and a fourth deployable part. Each deployable part consists of a second servo motor, a third servo motor, a first folding plate, a second folding plate, a first drive rod, a second drive rod, a third connecting rod, a fourth connecting rod, a magnetic hinge 1, and a magnetic hinge 2. The first folding plate has a through hole at its tail end, with four threaded holes evenly distributed around its circumference. A spherical hinge connection part is located at its top end, and a groove is provided on the upper surface of the top end, containing two through holes. The second servo motor is fixedly connected to the first folding plate through the threaded holes, and the shaft of the second servo motor passes through the tail end of the first folding plate. The system includes a first drive rod (a bent rod with through holes at both ends), one end of which is fixedly connected to the shaft of a second servo motor. A third connecting rod (also a bent rod with through holes at both ends) is hinged to the other end of the first drive rod via a magnetic hinge. When power is off, the two magnetic hinges magnetically attract each other, forming a single hinge; when power is on, they separate, each becoming an independent single hinge without interference. A fourth connecting rod (also a bent rod with through holes at both ends) is hinged to the other end of the third connecting rod. A second drive rod (also a bent rod with through holes at both ends) is hinged to the other end of the fourth connecting rod via a magnetic hinge. The second folding plate is a mirror image of the first folding plate. The third servo motor is connected to the second folding plate via four threads. The third servo motor shaft passes through the through hole at the tail end of the second folding plate and is fixedly connected to the other end of the second drive rod. The structure and component connection relationship of the second, third, and fourth deployable parts are the same as those of the first deployable part. One leaf of the hinge is fixedly connected to the first folding plate of the second deployable part and the second folding plate of the first deployable part through two through holes in the groove. The second leaf of the hinge is fixedly connected to the first folding plate of the third deployable part and the second folding plate of the second deployable part through two through holes in the groove. The third leaf of the hinge is fixedly connected to the first folding plate of the fourth deployable part and the second folding plate of the third deployable part through two through holes in the groove. The fourth leaf of the hinge is fixedly connected to the first folding plate of the first deployable part and the second folding plate of the fourth deployable part through two through holes in the groove. The two folding plates are fixed together by two through holes in the groove. The spherical hinge connection at the top of the first folding plate of the first deployable part is hinged to the spherical hinge connection at the other end of the first connecting rod of the first prime mover. The spherical hinge connection at the top of the second folding plate of the first deployable part is hinged to the spherical hinge connection at the other end of the second connecting rod of the second prime mover. The spherical hinge connection at the top of the first folding plate of the second deployable part is hinged to the spherical hinge connection at the other end of the first connecting rod of the second prime mover. The spherical hinge connection at the top of the second folding plate of the second deployable part is hinged to the spherical hinge connection at the other end of the second connecting rod of the third prime mover. The spherical hinge connection at the top of the first folding plate of the third deployable part is hinged to the spherical hinge connection at the other end of the first connecting rod of the third prime mover.The spherical hinge connection at the top of the second folding plate of the third deployable part is hinged to the spherical hinge connection at the other end of the second connecting rod of the fourth prime mover. Similarly, the spherical hinge connection at the top of the first folding plate of the fourth deployable part is hinged to the spherical hinge connection at the other end of the first connecting rod of the fourth prime mover. Finally, the spherical hinge connection at the top of the second folding plate of the fourth deployable part is hinged to the spherical hinge connection at the other end of the second connecting rod of the first prime mover.

2. The origami-inspired three-configuration unfolding mechanism according to claim 1, characterized in that, When the lead screw motor drives the lead screw nut, the auxiliary unfolding unit slowly unfolds, causing the unfolding unit to slowly unfold from a near-one-dimensional configuration to the first stage of a two-dimensional planar configuration. Then, the first servo motor drives the first prime mover and the third guide rod to rotate, causing the unfolding unit to unfold from the first stage of the two-dimensional planar configuration to the complete two-dimensional planar configuration. Finally, the second servo motor of the first unfoldable part, the third servo motor of the first unfoldable part, the second servo motor of the second unfoldable part, the third servo motor of the second unfoldable part, the second servo motor of the third unfoldable part, the third servo motor of the third unfoldable part, the third servo motor of the third unfoldable part, the second servo motor of the fourth unfoldable part, and the third servo motor of the fourth unfoldable part synchronously drive the first drive rod of the first unfoldable part, the second drive rod of the first unfoldable part, the first drive rod of the second unfoldable part, the second drive rod of the second unfoldable part, the second drive rod of the second unfoldable part, the first drive rod of the third unfoldable part, the second drive rod of the third unfoldable part, the first drive rod of the fourth unfoldable part, and the second drive rod of the fourth unfoldable part, respectively, so that the unfolding unit unfolds from a two-dimensional planar configuration to a three-dimensional configuration.

3. The origami-inspired three-configuration unfolding mechanism according to claim 1, characterized in that, When unfolding from a two-dimensional planar configuration to a three-dimensional solid configuration, the magnetic hinge one and magnetic hinge two of the first deployable part simultaneously change from an unpowered configuration to an powered configuration. This causes the hinge formed by the third link and the first drive rod and the fourth link and the second drive rod to become two hinges. The hinge formed by the third link and the first drive rod is one, and the hinge formed by the fourth link and the second drive rod is the other. The corresponding components of the other deployable parts produce the same effect. This is the process of mechanism cell transformation.

4. The origami-inspired three-configuration unfolding mechanism according to claim 1, characterized in that, When the auxiliary deployment unit is connected and cooperates with the folding and unfolding unit, and the auxiliary deployment unit is a parallel deployment mechanism, only two drives are needed to complete the deployment.

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