Portable composite material foldable space mechanism and folding and unfolding method thereof

Abstract

The invention discloses a portable composite material foldable space mechanism and a folding and unfolding method thereof. The portable composite material foldable space mechanism comprises end modules (1), thin-wall supporting side columns (2) and connecting modules (3). And the upper and lower end supporting cylinders in the end modules are connected with hard steel plates to enhance the transverse stability of the structure. One end of each thin-wall supporting side column is in concentric shaft connection and tight sleeving with a lower-end supporting cylinder in the corresponding end module, and the other end of each thin-wall supporting side column is in concentric shaft connection and tight sleeving with an upper-end supporting cylinder in the corresponding end frame. The connecting module sets the climbing height according to the optimal climbing step length of the human body, one end of the connecting module is fixed through a lower end connecting port in the connecting end module, and the other end of the connecting module is fixed through an upper end connecting port in the connecting end module. According to the device, the thin-wall bistable composite material structure is adopted as a supporting side column of the structure, the number of parts of a folding mechanism is remarkably reduced, the device has the advantages of being light, high in strength, simple in structural form, capable of being repeatedly assembled and disassembled, convenient to carry and the like, and the portable storage and application requirements of complex scenes can be met.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical structures, in particular to a portable composite material foldable space mechanism and a folding and unfolding method thereof. Background Art

[0002] Foldable space mechanisms are lightweight and portable, with strong structural adaptability and diverse functions, and are suitable for special application requirements such as complex scenes. Traditional foldable space mechanisms used for climbing and lifting operations, emergency rescue and other scenes have the disadvantages of complex and bulky structures, time-consuming and labor-intensive construction, high repair and maintenance costs, and unsuitability for complex terrains, which have significant adverse economic and social impacts on emergency tasks such as high-altitude operations and disaster relief. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a portable composite material foldable space mechanism and a folding and unfolding method thereof, so as to realize the lightweight portability and stable and efficient repeated unfolding and rolling up of a thin-walled bistable foldable mechanism based on composite materials, and meet the portable storage and application needs in complex scenes.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical solution: a portable composite material foldable space mechanism, comprising an end module (1), two thin-walled supporting side columns (2) and a connecting module (3); The end module (1) comprises two lower support cylinders (1-1), two upper support cylinders (1-2), and three hard steel plates (1-3); the lower support cylinders (1-1) are fixed with the hard steel plates (1-3) connected by coaxial axes via limiters, and the upper support cylinders (1-2) are fixed with the hard steel plates (1-3) connected by coaxial axes via limiters; The two thin-walled support side columns (2) comprise four thin-walled composite material slit rods (2-1) and a corresponding number of hard spokes (2-2); the thin-walled support side columns are composed of a corresponding number of hard spokes (2-2) connecting two thin-walled composite material slit rods (2-1), wherein the ends of the hard spokes (2-2) are fixed to the concave surfaces of the thin-walled composite material slit rods (2-1) and are spaced and arranged side by side along the axis direction thereof and are perpendicular to the axis of the thin-walled composite material slit rods (2-1), i.e., the two thin-walled composite material slit rods (2-1) are symmetrically distributed on both sides of the hard spokes (2-2) and are arranged concavely opposite to each other with the length of the hard spokes (2-2) as a spacing; one end of the thin-walled support side column (2) is connected and fixed coaxially with the lower end support tube (1-1) of the end module, and the other end is connected and fixed coaxially with the upper end support tube (1-2) of the end module; The connection module (3) comprises a hard hook (3-1), an integrated flexible connection rope (3-2) and an integrated flexible connection rope reinforcer (3-3); the hard hook (3-1) is connected and locked to the upper connection port (1-2-1); one end of the integrated flexible connection rope (3-2) is connected and fixed to the lower end of the hard hook (3-1) by an eight-shaped ring binding method, and the other end is connected and fixed to the lower connection port (1-1-1) of the end module by a knotting method; the integrated flexible connection rope reinforcer (3-3) has a spring clamping performance to enhance the stability of the T-shaped corner of the integrated flexible connection rope (3-2); the hard hook (3-1) is a self-locking hook with self-locking properties.

[0005] In a preferred embodiment, the four thin-wall composite material slotted rods (2-1) are thin-walled round rods with longitudinal openings, and the central angle of the rods is , the initial radius is R, the length is L, and the thickness is t. Its size is customized according to actual working conditions.

[0006] In a preferred embodiment, a thin-walled supporting side column is connected by a corresponding number of hard spokes (2-2) with two central angles of The hard spokes (2-2) have a diameter of d0 and a length of L0, and the distance between two adjacent hard spokes (2-2) is L1, and L0=2R and d0≤L1≤4R.

[0007] In a preferred embodiment, the relative rotation angle between the hard spoke (2-2) and the thin-wall composite material slotted rod (2-1) is θ, and −π / 2≤θ≤π / 2 is satisfied; the two are fixedly connected by point contact.

[0008] In a preferred embodiment, the length of the integrated flexible connecting rope (3-2) is the same as that of the thin-walled supporting side column, the climbing step length is L2, and n×L2=L, where n is an integer, and the integrated flexible connecting rope (3-2) is tightly wrapped around the thin-walled supporting side column (2) from top to bottom.

[0009] In a preferred embodiment, the inclination angle between the two lower support tubes (1-1) and the horizontal ground is β, and satisfies π / 6≤β≤π / 4.

[0010] The present invention also provides a method for folding and unfolding a portable composite material foldable space mechanism, based on the portable composite material foldable space mechanism, comprising the following method: The assembly and deployment method comprises: assembling and fastening the end module (1), two thin-walled support side columns (2) and the connection module (3) in sequence; the lower support tube (1-1) fixes two hard steel plates (1-3) connected by a coaxial axis through a stopper; the upper support tube (1-2) fixes a hard steel plate (1-3) connected by a coaxial axis through a stopper to ensure the lateral stability of the structure; one end of the thin-walled support side column (2) is connected and fixed to the lower support tube (1-1) of the end module by a coaxial axis, and the other end is connected to the upper support tube (1-2) of the end module by a stopper. 2) The concentric axes are connected and fixed, at which point the two thin-walled supporting side columns (2) are in an unfolded steady-state configuration, and the axial distance between the two hard spokes at the outermost ends thereof is l1; the hard hook (3-1) is connected and locked to the upper end connection port (1-2-1); one end of the integrated flexible connecting rope (3-2) is connected and fixed to the lower end of the self-locking hard hook (3-1) by an eight-shaped ring binding method, and the other end is connected and fixed to the lower end connection port (1-1-1) of the fixed end module, at which point the portable composite material foldable space mechanism is in a fully unfolded configuration; Disassembly and storage method: release the lock between the self-locking hard hook (3-1) and the upper connection port (1-2-1), and loosen the upper and lower ends of the integrated flexible connection rope (3-2); release the connection between the thin-walled support side column (2) and the lower support tube (1-1) and the upper support tube (1-2), and twist the thin-walled support side column (2) until the ends of all the hard spokes are in contact with the side of the thin-walled composite material slit rod (2-1), the thin-walled support side column (2) is in a retracted steady state configuration, and the axial distance between the two outermost hard spokes on both sides is l2. At this time, the portable composite material folding space mechanism is in a disassembled configuration, which is convenient for folding and storage.

[0011] Compared with the prior art, the present invention has the following beneficial effects: (1) In the present invention, the portable composite material foldable space mechanism is composed of three modules, which significantly reduces the complexity and number of parts of the folding mechanism. Among them, two thin-walled support side columns are connected and fixed to the upper and lower end connecting tubes, and the integrated flexible connecting rope is respectively connected and fixed to the upper and lower end connecting ports and is wrapped around the thin-walled support side columns from top to bottom, thereby meeting the structural strength requirements; (2) In the present invention, the thin-walled slotted rod is a bistable torsion structure made of composite materials, which has the advantages of light weight, high strength, simple structure, large torsion deformation and good fatigue resistance. Its bistable characteristics enable the structure to achieve repeated stable large torsion deformation without continuous energy input; (3) The present invention can realize the repeated assembly and disassembly of a portable composite material foldable space mechanism, meeting the requirements of lightweight, high-strength, and portable storage and application in rugged terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1A schematic diagram of a fully assembled portable composite material foldable space mechanism of the present invention; Figure 2 It is a schematic diagram of the disassembled parts of the present invention; Figure 3 It is a schematic diagram of the partial structure of the integrated flexible connecting rope component of the present invention; Figure 4 It is a schematic structural diagram of two thin-walled supporting side columns of the present invention when they are in an expanded stable configuration; Figure 5 A schematic diagram of the structure of a thin-walled support side column of the present invention in a retracted stable configuration Figure 6 It is a schematic structural diagram of a thin-wall composite material slotted rod of the present invention; In the figure: 1 end module, 1-1 lower support tube, 1-2 upper support tube, 1-3 three hard steel plates, 1-1-1 connection port of lower support tube, 1-2-1 connection port of upper support tube; 2 two thin-walled support side columns, 2-1 four thin-walled composite material slit rods, 2-2 hard spokes; 3 connection module, 3-1 hard hook, 3-2 integrated flexible connection rope, 3-3 integrated flexible connection rope reinforcer. DETAILED DESCRIPTION

[0013] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0014] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0015] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application; as used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0016] like Figure 1-6 As shown, the present invention proposes a portable composite material foldable space mechanism, which is mainly composed of an end module, two thin-walled supporting side columns and a connecting module.

[0017] In embodiment 1 of the present invention, Figure 1 , 2As shown in FIG. 3 , an integrated stretcher cloth can be used instead of the integrated flexible connecting rope (3-2) to tighten the two thin-walled supporting side columns (2) from top to bottom. At this time, the performance of the portable composite material foldable space mechanism is converted from a ladder to a life-saving stretcher, wherein the length of the upper and lower connecting tubes can be customized according to the actual length requirements of the thin-walled supporting side columns (2).

[0018] In embodiment 2 of the present invention, Figure 4 , 5 As shown in FIG. 6 , a thin-walled composite material slotted rod (2-1) is prepared from a carbon fiber composite material with a length of L, a center angle of π, and a thickness of t, to obtain a longitudinal open round rod with an initial radius of R and a rolling radius of r=1.3R, the size of which can be customized according to actual working conditions; a thin-walled supporting side column (2) is connected by a corresponding number of hard spokes to two longitudinal open round rods with a center angle of The hard spokes are composed of thin-walled composite material slotted rods, the diameter of the hard spokes is d0, the length is L0, the distance between two adjacent hard spokes is L1, and L0=2R and d0≤L1≤4R, the number of required hard spokes can be determined according to the length of the thin-walled composite material slotted rod (2-1).

[0019] In embodiment 3 of the present invention, Figure 1 , 4As shown, the assembly and deployment method is as follows: the end module (1), two thin-walled support side columns (2) and the connection module (3) are assembled and fastened in sequence; the lower end support tube (1-1) fixes two hard steel plates (1-3) connected by a coaxial axis through a limiter; the upper end support tube (1-2) fixes a hard steel plate (1-3) connected by a coaxial axis through a limiter to ensure the lateral stability of the structure; one end of the thin-walled support side column (2) is connected and fixed to the lower end support tube (1-1) of the end module coaxially, and the other end is connected to the upper end support tube ( 1-2) are connected and fixed with coaxial axes, at which point the two thin-walled supporting side columns (2) are in an expanded steady-state configuration, and the axial distance between the two outermost hard spokes is l1; the hard hook (3-1) is connected and locked with the upper end connection port (1-2-1); one end of the integrated flexible connecting rope (3-2) is connected and fixed with the lower end of the self-locking hard hook (3-1) by an eight-shaped ring binding method, and the other end is connected and fixed with the lower end connection port (1-1-1) of the fixed end module, at which point the portable composite material foldable space mechanism is in a fully expanded configuration. Disassembly and storage method: release the lock between the self-locking hard hook (3-1) and the upper end connection port (1-2-1), loosen the upper and lower ends of the integrated flexible connection rope (3-2); release the connection between the thin-walled support side column (2) and the lower end support tube (1-1) and the upper end support tube (1-2), twist the thin-walled support side column (2) until the ends of all hard spokes are in contact with the side of the thin-walled composite material slit rod (2-1), the thin-walled support side column (2) is in a retracted stable configuration, and the axial distance between the two hard spokes at the outermost ends on both sides is l2. At this time, the portable composite material foldable space mechanism is in a disassembled configuration, which is convenient for folding and storage. The maximum axial displacement Δl of the two thin-walled support side columns (2) with bistable torsion performance is l1-l2, and the volume folding ratio is more than 50%.

[0020] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Any modifications, equivalent changes and modifications made to the contents of the specification and drawings of the present invention using the technical essence of the present invention are still included in the protection scope of the technical solution of the present invention.

Claims

1. A portable composite material foldable space mechanism, characterized in that: It comprises an end module (1), two thin-walled supporting side columns (2) and a connecting module (3); The end module (1) comprises two lower support cylinders (1-1), two upper support cylinders (1-2), and three hard steel plates (1-3); the lower support cylinders (1-1) are fixed with the hard steel plates (1-3) connected by coaxial axes via limiters, and the upper support cylinders (1-2) are fixed with the hard steel plates (1-3) connected by coaxial axes via limiters; The two thin-walled support side columns (2) comprise four thin-walled composite material slit rods (2-1) and a corresponding number of hard spokes (2-2); the thin-walled support side columns are composed of a corresponding number of hard spokes (2-2) connecting two thin-walled composite material slit rods (2-1), wherein the ends of the hard spokes (2-2) are fixed to the concave surfaces of the thin-walled composite material slit rods (2-1) and are spaced and arranged side by side along the axis direction thereof and are perpendicular to the axis of the thin-walled composite material slit rods (2-1), i.e., the two thin-walled composite material slit rods (2-1) are symmetrically distributed on both sides of the hard spokes (2-2) and are arranged concavely opposite to each other with the length of the hard spokes (2-2) as a spacing; one end of the thin-walled support side column (2) is connected and fixed coaxially with the lower end support tube (1-1) of the end module, and the other end is connected and fixed coaxially with the upper end support tube (1-2) of the end module; The connection module (3) comprises a hard hook (3-1), an integrated flexible connection rope (3-2) and an integrated flexible connection rope reinforcer (3-3); the hard hook (3-1) is connected and locked to the upper connection port (1-2-1); one end of the integrated flexible connection rope (3-2) is connected and fixed to the lower end of the hard hook (3-1) by an eight-shaped ring binding method, and the other end is connected and fixed to the lower connection port (1-1-1) of the end module by a knotting method; the integrated flexible connection rope reinforcer (3-3) has a spring clamping performance to enhance the stability of the T-shaped corner of the integrated flexible connection rope (3-2); the hard hook (3-1) is a self-locking hook with self-locking properties.

2. A portable composite material foldable space mechanism according to claim 1, characterized in that: The four thin-wall composite material slotted rods (2-1) are thin-walled round rods with longitudinal openings, and their central angles are , the initial radius is R, the length is L, and the thickness is t. Its size is customized according to actual working conditions.

3. A portable composite material foldable space mechanism according to claim 1, characterized in that: A thin-walled supporting column is connected by a corresponding number of rigid spokes (2-2) to two circular columns with a central angle of The hard spokes (2-2) have a diameter of d0 and a length of L0, and the distance between two adjacent hard spokes (2-2) is L1, and L0=2R and d0≤L1≤4R.

4. The portable composite material foldable space mechanism according to claim 1, characterized in that: The relative rotation angle between the hard spoke (2-2) and the thin-wall composite material slotted rod (2-1) is θ, and −π / 2≤θ≤π / 2 is satisfied; the two are fixedly connected by point contact.

5. The portable composite material foldable space mechanism according to claim 1, characterized in that: The length of the integrated flexible connection rope (3-2) is the same as that of the thin-wall support side column, the climbing step length is L2, and n×L2=L, where n is an integer, and the integrated flexible connection rope (3-2) is tightly wound along the thin-wall support side column (2) from top to bottom.

6. The portable composite material foldable space mechanism according to claim 1, characterized in that: The inclination angle between the two lower support cylinders (1-1) and the horizontal ground is β, and satisfies π / 6≤β≤π / 4.

7. A method for folding and unfolding a portable composite material foldable space mechanism, characterized in that: A portable composite material foldable space mechanism according to any one of claims 1 to 6, characterized in that it comprises the following method: The assembly and deployment method comprises: assembling and fastening the end module (1), two thin-walled support side columns (2) and the connection module (3) in sequence; the lower support tube (1-1) fixes two hard steel plates (1-3) connected by a coaxial axis through a stopper; the upper support tube (1-2) fixes a hard steel plate (1-3) connected by a coaxial axis through a stopper to ensure the lateral stability of the structure; one end of the thin-walled support side column (2) is connected and fixed to the lower support tube (1-1) of the end module by a coaxial axis, and the other end is connected to the upper support tube (1-2) of the end module by a stopper. 2) The concentric axes are connected and fixed, at which point the two thin-walled supporting side columns (2) are in an unfolded steady-state configuration, and the axial distance between the two hard spokes at the outermost ends thereof is l1; the hard hook (3-1) is connected and locked to the upper end connection port (1-2-1); one end of the integrated flexible connecting rope (3-2) is connected and fixed to the lower end of the self-locking hard hook (3-1) by an eight-shaped ring binding method, and the other end is connected and fixed to the lower end connection port (1-1-1) of the fixed end module, at which point the portable composite material foldable space mechanism is in a fully unfolded configuration; Disassembly and storage method: release the lock between the self-locking hard hook (3-1) and the upper connection port (1-2-1), and loosen the upper and lower ends of the integrated flexible connection rope (3-2); release the connection between the thin-walled support side column (2) and the lower support tube (1-1) and the upper support tube (1-2), and twist the thin-walled support side column (2) until the ends of all the hard spokes are in contact with the side of the thin-walled composite material slit rod (2-1), the thin-walled support side column (2) is in a retracted steady state configuration, and the axial distance between the two outermost hard spokes on both sides is l2. At this time, the portable composite material folding space mechanism is in a disassembled configuration, which is convenient for folding and storage.

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