A portable composite material foldable space mechanism and its unfolding method

Abstract

This invention discloses a portable composite material foldable space mechanism and its unfolding method, comprising: an end module (1), thin-walled support side columns (2), and a connecting module (3). The upper and lower support cylinders in the end module are connected by rigid steel plates to enhance the lateral stability of the structure. One end of the thin-walled support side column is concentrically connected and tightly fitted to the lower support cylinder in the end module, and the other end is concentrically connected and tightly fitted to the upper support cylinder in the end frame. The connecting module sets the crawling height according to the optimal climbing step length for the human body. One end of the connecting module is fixed through the lower connection port in the end module, and the other end is fixed through the upper connection port in the end module. This invention uses a thin-walled bistable composite material structure as the support side columns, significantly reducing the number of parts in the folding mechanism. It has advantages such as lightweight and high strength, simple structure, reusable assembly and disassembly, and easy portability, meeting the portable storage and application needs of complex scenarios.

Description

Technical Field

[0001] This invention relates to the field of mechanical structure technology, and in particular to a portable composite material foldable space mechanism and its unfolding method. Background Technology

[0002] Foldable space mechanisms are lightweight, portable, structurally adaptable, and versatile, making them suitable for complex scenarios and other special applications. Traditional foldable space mechanisms used in climbing and lifting operations, emergency rescue, and other scenarios have disadvantages such as complex and bulky structures, time-consuming and labor-intensive assembly, high maintenance costs, and unsuitability for complex terrains. These disadvantages have significant negative economic and social impacts on high-altitude operations, disaster relief, and other emergency tasks. 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 its unfolding method, so as to realize the lightweight portability and stable and efficient repeated unfolding and rolling of the thin-walled bistable foldable mechanism based on composite materials, and meet the portable storage and application needs of complex scenarios.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a portable composite material foldable space mechanism, including an end module (1), two thin-walled support side columns (2) and a connecting module (3).

[0005] The end module (1) includes two lower end support cylinders (1-1), two upper end support cylinders (1-2), and three hard steel plates (1-3); the lower end support cylinders (1-1) fix the hard steel plates (1-3) connected by the concentric shaft through limiters, and the upper end support cylinders (1-2) fix the hard steel plates (1-3) connected by the concentric shaft through limiters.

[0006] The two thin-walled support side columns (2) include four thin-walled composite material slotted rods (2-1) and a corresponding number of rigid spokes (2-2); the thin-walled support side column is composed of two thin-walled composite material slotted rods (2-1) connected by a corresponding number of rigid spokes (2-2), wherein the end of the rigid spoke (2-2) is fixed to the concave surface of the thin-walled composite material slotted rod (2-1) and is distributed side by side at intervals along its axial direction, and is perpendicular to the axis of the thin-walled composite material slotted rod (2-1), that is, the two thin-walled composite material slotted rods (2-1) are symmetrically distributed on both sides of the rigid spoke (2-2), and are arranged opposite each other with the length of the rigid spoke (2-2) as the distance between the concave surfaces; one end of the thin-walled support side column (2) is coaxially connected and fixed to the lower end support cylinder (1-1) of the end module, and the other end is coaxially connected and fixed to the upper end support cylinder (1-2) of the end module;

[0007] The connecting module (3) includes a rigid hook (3-1), an integrated flexible connecting rope (3-2), and an integrated flexible connecting rope reinforcement device (3-3). The rigid hook (3-1) is connected and locked to the upper connecting port (1-2-1). One end of the integrated flexible connecting rope (3-2) is connected and fixed to the lower end of the rigid hook (3-1) by a figure-eight loop binding method, and the other end is connected and fixed to the lower connecting port (1-1-1) of the end module by a knotting method. The integrated flexible connecting rope reinforcement device (3-3) has a built-in spring clamping performance to enhance the stability of the T-shaped corner of the integrated flexible connecting rope (3-2). The rigid hook (3-1) is a self-locking hook with self-locking properties.

[0008] In a preferred embodiment, the four thin-walled composite slit rods (2-1) are longitudinally open thin-walled round rods with a central angle of . The initial radius is R, the length is L, and the thickness is t. Its dimensions are customized according to the actual working conditions.

[0009] In a preferred embodiment, a thin-walled support side column is formed by connecting two columns with a central angle of a corresponding number of rigid spokes (2-2). The assembly consists of a thin-walled composite material slotted rod (2-1), wherein the diameter of the rigid spoke (2-2) is d0, the length is L0, the distance between two adjacent rigid spokes (2-2) is L1, and L0 = 2R is satisfied. d0≤L1≤4R.

[0010] In a preferred embodiment, the rigid spokes (2-2) and the thin-walled composite slit rod (2-1) rotate relative to each other by an angle θ, and satisfy −π / 2≤θ≤π / 2; the two are fixedly connected by point contact.

[0011] In a preferred embodiment, the length of the integrated flexible connecting rope (3-2) is the same as that of the thin-walled support 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 wrapped tightly around the thin-walled support side column (2) from top to bottom.

[0012] In a preferred embodiment, the inclination angle between the two lower support cylinders (1-1) and the horizontal ground is β, and satisfies π / 6≤β≤π / 4.

[0013] The present invention also provides a method for unfolding and retracting a portable composite material foldable space mechanism, which, based on the aforementioned portable composite material foldable space mechanism, includes the following method:

[0014] Assembly and deployment method: Assemble and tighten the end module (1), two thin-walled support side columns (2), and connecting module (3) in sequence. The lower end support cylinder (1-1) is fixed to two concentrically connected hard steel plates (1-3) by a limiter; the upper end support cylinder (1-2) is fixed to a concentrically connected hard steel plate (1-3) by a limiter to ensure the lateral stability of the structure; one end of the thin-walled support side column (2) is concentrically connected and fixed to the lower end support cylinder (1-1) of the end module, and the other end is connected to the upper end support cylinder (1-2) of the end module. 2) The concentric shaft is fixed. At this time, the two thin-walled support side columns (2) are in the unfolded stable configuration, and the axial distance between the two outermost rigid spokes is l1. The rigid 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 rigid hook (3-1) by the figure-eight loop binding method, and the other end is connected to the lower end connection port (1-1-1) of the fixed end module. At this time, the portable composite material foldable space mechanism is in the fully unfolded configuration.

[0015] Disassembly and storage method: Release the lock between the self-locking rigid hook (3-1) and the upper connection port (1-2-1), and loosen the upper and lower ends of the integrated flexible connecting rope (3-2); release the connection between the thin-walled support side column (2) and the lower support cylinder (1-1) and the upper support cylinder (1-2), and twist the thin-walled support side column (2) until all the ends of the rigid 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 rolled-up stable configuration, and the axial distance between the two outermost rigid 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.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) In this invention, the portable composite material foldable space mechanism consists of three modules, which significantly reduces the complexity of the folding mechanism and the number of parts. Among them, two thin-walled support side columns are connected and fixed to the upper and lower end connecting cylinders, and an integrated flexible connecting rope is connected and fixed to the upper and lower end connecting ports respectively and wrapped tightly around the thin-walled support side columns from top to bottom, thereby meeting the structural strength requirements;

[0018] (2) In this invention, the thin-walled slotted rod is a bistable torsion structure made of composite material, which has the advantages of being lightweight and high-strength, having a simple structural form, large torsional deformation and good fatigue resistance. Its bistable characteristics enable the structure to achieve repeated stable torsional large deformation without continuous energy input.

[0019] (3) The present invention enables repeated assembly and disassembly of portable composite material foldable space mechanisms, meeting the needs of lightweight, high-strength, and rugged terrain portable storage and application. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the assembled portable composite material foldable space mechanism of the present invention;

[0021] Figure 2 This is a schematic diagram of the disassembled components of the present invention;

[0022] Figure 3 This is a partial structural schematic diagram of the integrated flexible connecting rope component of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of the two thin-walled support side columns of the present invention in an unfolded steady state configuration;

[0024] Figure 5 This is a schematic diagram of the structure of the present invention when a thin-walled supporting side column is in a closed, stable configuration.

[0025] Figure 6 This is a schematic diagram of the structure of the thin-walled composite material slotted rod of the present invention;

[0026] In the diagram: 1. End module, 1-1 lower support cylinder, 1-2 upper support cylinder, 1-3 three rigid steel plates, 1-1-1 connection port of the lower support cylinder, 1-2-1 connection port of the upper support cylinder; 2. Two thin-walled support side columns, 2-1 four thin-walled composite material slotted rods, 2-2 rigid spokes; 3. Connecting module, 3-1 rigid hook, 3-2 integrated flexible connecting rope, 3-3 integrated flexible connecting rope reinforcement device. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0029] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this application; as used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise; furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0030] like Figure 1-6 As shown, the present invention proposes a portable composite material foldable space mechanism, which mainly consists of an end module, two thin-walled support side columns and a connecting module.

[0031] In Embodiment 1 of the present invention, as Figure 1 , 2 As shown in Figure 3, an integrated stretcher cloth can be used to replace the integrated flexible connecting rope (3-2) and tighten the two thin-walled support side columns (2) from top to bottom. At this time, the performance of the portable composite material foldable space mechanism is changed from a ladder to a life-saving stretcher. The length of the upper and lower connecting cylinders can be customized according to the actual length requirements of the thin-walled support side columns (2).

[0032] In Embodiment 2 of the present invention, as Figure 4 , 5 As shown in Figure 6, the thin-walled composite slit rod (2-1) is made of carbon fiber composite material with length L, central angle π, and thickness t, resulting in a longitudinal open round rod with initial radius R and coiling radius r=1.3R. Its dimensions can be customized according to actual working conditions. A thin-walled support side column (2) is made by connecting two rods with a central angle of π to a corresponding number of rigid spokes. It is composed of a thin-walled composite material slotted rod assembly, wherein the diameter of the rigid spokes is d0, the length is L0, the distance between two adjacent rigid spokes is L1, and L0 = 2R and... d0≤L1≤4R, the number of hard spokes required can be determined based on the length of the thin-walled composite slit bar (2-1).

[0033] In embodiment 3 of the present invention, as 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 connecting module (3) are assembled and fastened in sequence. The lower end support cylinder (1-1) is fixed to two concentrically connected hard steel plates (1-3) by a limiter; the upper end support cylinder (1-2) is fixed to a concentrically connected hard steel plate (1-3) by a limiter to ensure the lateral stability of the structure; one end of the thin-walled support side column (2) is concentrically connected and fixed to the lower end support cylinder (1-1) of the end module, and the other end is connected to the upper end support cylinder (1-3) of the end module. 1-2) The concentric shaft is fixed. At this time, the two thin-walled support side columns (2) are in the unfolded stable configuration, and the axial distance between the two outermost rigid spokes is l1. The rigid 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 rigid hook (3-1) by the figure-eight loop binding method, and the other end is connected to the lower end connection port (1-1-1) of the fixed end module. At this time, the portable composite material foldable space mechanism is in the fully unfolded configuration. Disassembly and storage method: Release the lock between the self-locking rigid hook (3-1) and the upper connection port (1-2-1), and loosen the upper and lower ends of the integrated flexible connecting rope (3-2); release the connection between the thin-walled support side column (2) and the lower support cylinder (1-1) and the upper support cylinder (1-2), and twist the thin-walled support side column (2) until all the ends of the rigid 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 rolled-up stable configuration, and the axial distance between the two outermost rigid spokes 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 torsional performance is l1-l2 and its volume shrinkage ratio is more than 50%.

[0034] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Any modifications, equivalent changes, and alterations made to the contents of the specification and drawings of the present invention based on the technical essence of the present invention shall still be included within the protection scope of the technical solution of the present invention.

Claims

1. A portable composite foldable space mechanism, characterized by, The end module (1), two thin-walled support side columns (2) and a connecting module (3) are included. The end module (1) includes two lower end support cylinders (1-1), two upper end support cylinders (1-2) and three hard steel plates (1-3); the lower end support cylinder (1-1) is fixed with the hard steel plate (1-3) connected by a limiting device, and the upper end support cylinder (1-2) is fixed with the hard steel plate (1-3) connected by a limiting device. The two thin-walled support side columns (2) include four thin-walled composite slotted rods (2-1) and a corresponding number of hard spokes (2-2); the thin-walled support side column is composed of a corresponding number of hard spokes (2-2) connecting two thin-walled composite slotted rods (2-1); the end of the hard spoke (2-2) is fixed on the concave surface of the thin-walled composite slotted rod (2-1) and is distributed in parallel along the axial direction, and is perpendicular to the axis of the thin-walled composite slotted rod (2-1), that is, the two thin-walled composite slotted rods (2-1) are symmetrically distributed on both sides of the hard spoke (2-2), and are oppositely arranged with a length of the hard spoke (2-2) as a spacing; one end of the thin-walled support side column (2) is fixed with the lower end support cylinder (1-1) of the end module, and the other end is fixed with the upper end support cylinder (1-2) of the end module; the end of the upper end support cylinder (1-2) is connected with the upper end connecting port (1-2-1). The connecting module (3) includes a hard hook (3-1), an integrated flexible connecting sleeve rope (3-2) and an integrated flexible connecting sleeve rope reinforcing device (3-3); the hard hook (3-1) is connected and locked with the upper end connecting port (1-2-1); one end of the integrated flexible connecting sleeve rope (3-2) is fixed with the lower end of the hard hook (3-1) by means of eight-character ring binding method, and the other end is fixed with the lower end connecting port (1-1-1) of the end module by knotting; the integrated flexible connecting sleeve rope reinforcing device (3-3) has spring clamping performance, which enhances the stability of the T-shaped corner of the integrated flexible connecting sleeve rope (3-2); the hard hook (3-1) is a self-locking hook with self-locking function.

2. The portable composite foldable space mechanism according to claim 1, wherein The four thin-walled composite slotted rods (2-1) are longitudinally open thin-walled round rods, the central angle of which is π, the initial radius is R, the length is L, and the thickness is t, which can be customized according to actual working conditions.

3. The portable composite foldable space mechanism according to claim 1, wherein One thin-walled support side column is composed of a corresponding number of hard spokes (2-2) connecting two thin-walled composite slotted rods (2-1) with a central angle of π, the diameter of the hard spoke (2-2) is d0, the length is L0, the distance between the adjacent two hard spokes (2-2) is L1, and L0=2R and πd0≤L1≤4R are satisfied.

4. The portable composite foldable space mechanism of claim 1, wherein, The relative rotation angle between the hard spoke (2-2) and the thin-walled composite slotted rod (2-1) is θ, and satisfies −π / 2≤θ≤π / 2; the two are fixedly connected by point contact.

5. The portable composite foldable space mechanism according to claim 1, wherein The length of the integral flexible connecting sleeve 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, wherein n is an integer, and the integral flexible connecting sleeve rope (3-2) is wound and tightly sleeved along the thin-walled supporting side column (2) from top to bottom.

6. The portable composite foldable space mechanism of claim 1, wherein, The angle between the two lower end supporting cylinders (1-1) and the horizontal ground is β, and satisfies π / 6≤β≤π / 4.

7. A method of deploying a portable composite foldable space mechanism, characterized by, The portable composite foldable space mechanism according to any one of claims 1-6, characterized by comprising the following method: The assembling and unfolding method is that the end module (1), the two thin-walled supporting side columns (2) and the connecting module (3) are sequentially assembled and fastened, the lower end supporting cylinder (1-1) is fixed to the two hard steel plates (1-3) connected by a concentric shaft through a stopper, the upper end supporting cylinder (1-2) is fixed to a hard steel plate (1-3) connected by a concentric shaft through a stopper, so as to ensure the lateral stability of the structure, one end of the thin-walled supporting side column (2) is fixed and connected to the lower end supporting cylinder (1-1) of the end module by a concentric shaft, the other end is fixed and connected to the upper end supporting cylinder (1-2) of the end module by a concentric shaft, at this time, the two thin-walled supporting side columns (2) are in an unfolded stable state configuration, the axial distance of the two outermost hard spokes is l1, the hard hook (3-1) is connected and locked with the upper end connecting port (1-2-1), one end of the integral flexible connecting sleeve rope (3-2) is fixed and connected to the lower end of the self-locking hard hook (3-1) by a figure-eight loop binding method, the other end is fixed and connected to the lower end connecting port (1-1-1) of the end module, at this time, the portable composite foldable space mechanism is in a completely unfolded configuration; The disassembling and storing method is that the self-locking hard hook (3-1) and the upper end connecting port (1-2-1) are unlocked, the upper and lower ends of the integral flexible connecting sleeve rope (3-2) are loosened, the thin-walled supporting side column (2) is disconnected with the lower end supporting cylinder (1-1) and the upper end supporting cylinder (1-2), and the thin-walled supporting side column (2) is twisted to the state that all the hard spokes are in contact with the side edges of the thin-walled composite slotted rod (2-1), the axial distance of the two outermost hard spokes on both sides of the thin-walled supporting side column (2) is l2, at this time, the portable composite foldable space mechanism is in a disassembled configuration, and is convenient for folding and storing.

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