Modularized deformable mechanism

Abstract

The invention relates to a modularized deformable mechanism, and belongs to the technical field of spaceflight and robots. Comprising four modules, a first steering engine drive and a second steering engine drive, the four modules are the module I, the module II, the module III and the module IV, one side of the module I is hinged to the edge of the other side of the module IV, and the other side of the module I is hinged to the middle of one side of the module II; the other side of the module II is in driving connection with one side of the module III through a first steering engine, and the other side of the module III is in driving connection with the middle of one side of the module IV through a second steering engine. Five unique configurations are innovatively introduced, through reasonable design, the steering engine drives the whole mechanism to operate, mutual smooth and rapid switching of the configurations is achieved, the function boundary of equipment is greatly widened, adaptability is enhanced, restriction of the external environment is reduced, and diversified task requirements are easily met.

Description

Technical Field

[0001] The present invention relates to a deformation mechanism and belongs to the technical fields of aerospace and robotics. Background Art

[0002] In the mechanical field, especially for highly technological mechanical equipment such as spacecraft and robots, there has always been a rather difficult problem. Traditionally, their shapes are usually designed to be fixed. For example, for a spacecraft, once the external structure is determined from the design drawing to the finished product, it is very difficult to make major changes subsequently. This fixed shape design brings many disadvantages. On the one hand, it greatly restricts the function expansion of the equipment itself. On the other hand, the fixed shape also leads to a serious lack of adaptability of the equipment when facing complex space environments. How to achieve reciprocating switching between different states, expand the function range, and enhance adaptability has become a key issue.

[0003] Therefore, there is an urgent need to propose a modular deformable mechanism to solve the above technical problems. Summary of the Invention

[0004] To solve the above problems, a modular deformable mechanism is provided. A brief overview of the present invention is given below to provide a basic understanding of certain aspects of the present invention. It should be understood that this overview is not an exhaustive overview of the present invention. It is not intended to identify the key or important parts of the present invention, nor is it intended to limit the scope of the present invention.

[0005] Technical Solution of the Present Invention:

[0006] A modular deformable mechanism includes four groups of modules, a first servo drive, and a second servo drive. The four groups of modules are Module I, Module II, Module III, and Module IV respectively. One side of Module I is hinged to the other side edge of Module IV, and the other side of Module I is hinged to the middle of one side of Module II. The other side of Module II is connected to the side edge of one side of Module III through the first servo drive, and the other side of Module III is connected to the middle of one side of Module IV through the second servo drive.

[0007] Preferably: The module includes a first module, a second module, and a servo drive. Both the first module and the second module are equilateral right triangles. Servo drives are provided at the right-angle sides of the first module and the second module. The servo drive includes a servo and a U-shaped frame, and the output end of the servo is key-connected to the U-shaped frame.

[0008] Preferably: The hypotenuse of the upper triangular plate of the first module is machined with a first opening, and a first mounting plate is provided at the hypotenuse of the first module. The hypotenuse of the upper triangular plate of the second module is machined with a second opening, and a second mounting plate is provided at the second opening. The servo is bolted to the first mounting plate, and the U-shaped frame is bolted to the second mounting plate.

[0009] Preferably, it further includes a first hinge, and the right angle of the first module of the Module IV is connected to the right angle of the first module of the Module I through the first hinge.

[0010] Preferably, it further includes a second hinge, and the middle acute angle of the second module of the Module I is connected to the middle acute angle of the second module of the Module II through the second hinge.

[0011] Preferably, the first servo drive includes a first servo and a first U-shaped frame. The output end of the first servo is key-connected to the first U-shaped frame. There is a second avoidance opening at the right angle of the first module of the Module II and the first module of the Module III. The first servo drive is arranged at the second avoidance opening. A fourth mounting plate is fixedly arranged on the right-angle side of the first module of the Module II, and a third mounting plate is fixedly arranged on the right-angle side of the first module of the Module III. The third mounting plate is bolted to the first servo, and the fourth mounting plate is bolted to the first U-shaped frame.

[0012] Preferably, the second servo drive includes a second servo and a second U-shaped frame. The output end of the second servo is key-connected to the second U-shaped frame. A sixth mounting plate is arranged on the side of the second module of the Module III, and a fifth mounting plate is arranged at the acute angle of the Module IV. The fifth mounting plate is bolted to the second U-shaped frame, and the sixth mounting plate is bolted to the second servo.

[0013] Preferably, a modular deformable mechanism can be switched to a planar state, a bridge state, a cube state, a discrete state, and a torsion state.

[0014] The present invention has the following beneficial effects:

[0015] The present invention innovatively introduces five unique configurations. Through reasonable design, the servo drives the entire mechanism to operate to achieve smooth and rapid switching between configurations, greatly broadening the functional boundaries of the equipment, enhancing adaptability, reducing the constraints of the external environment, and easily meeting diverse mission requirements;

[0016] The modules of the present invention adopt a hollow structure, reducing the mass, facilitating transportation into space and controlling costs, and at the same time providing sufficient space for the installation of other supporting components. Description of the Drawings

[0017] Figure 1 is a perspective view of a modular deformable mechanism.

[0018] Figure 2 is a partial view of a modular deformable mechanism.

[0019] Figure 3 is an exploded view of a modular deformable mechanism.

[0020] Figure 4It is a planar state diagram of a modular deformable mechanism.

[0021] Figure 5 It is a perspective view of the first module of Module III.

[0022] Figure 6 It is an installation diagram driven by the second servo.

[0023] Figure 7 It is a bridge-type state diagram.

[0024] Figure 8 It is a schematic diagram of the cube form.

[0025] Figure 9 It is a three-dimensional diagram of the cube form.

[0026] Figure 10 It is a schematic diagram of the discrete state.

[0027] Figure 11 It is a three-dimensional diagram of the discrete state.

[0028] Figure 12 It is a schematic diagram of the torsion state.

[0029] Figure 13 It is a three-dimensional diagram of the torsion state.

[0030] Figure 14 It is a state switching diagram.

[0031] In the figure, 1 - the first module, 2 - the second module, 3 - servo drive, 4 - the first hinge, 5 - the first servo drive, 6 - the second hinge, 7 - the second servo drive, 11 - the first mounting plate, 12 - the first opening, 13 - the third mounting plate, 14 - the fourth mounting plate, 21 - the second mounting plate, 22 - the second opening, 23 - the fifth mounting plate, 24 - the sixth mounting plate, 31 - the servo, 32 - the U-shaped frame, 40 - the avoidance opening, 50 - the second avoidance opening, 51 - the first servo, 52 - the first U-shaped frame, 71 - the second servo, 72 - the second U-shaped frame. Detailed implementation mode

[0032] To make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be described below through specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0033] Detailed implementation mode one: Combining Figures 1-14 To illustrate this implementation mode, a modular deformable mechanism of this implementation mode includes four groups of modules, the first servo drive 5 and the second servo drive 7. The four groups of modules are respectively as Figure 1Module I, Module II, Module III, and Module IV are arranged in a square shape in the counterclockwise direction shown. One side of Module I is hinged to the other side edge of Module IV, and the other side of Module I is hinged to the middle of one side of Module II. The other side of Module II is connected to the side edge of Module III through the first servo drive 5, and the other side of Module III is connected to the middle of one side of Module IV through the second servo drive 7;

[0034] Each group of modules includes a first module 1, a second module 2, and a servo drive 3. Both the first module 1 and the second module 2 (i.e., one side and the other side of the module) are equilateral right triangles. The servo drive 3 is provided at the right-angle side of the first module 1 and the second module 2. The servo drive 3 includes a servo 31 and a U-shaped frame 32. The output end of the servo 31 is key-connected to the U-shaped frame 32. Figure 1 The servo 31 is arranged radially;

[0035] The first module 1 and the second module 2 each include two side plates and two equilateral right triangle plates. The two parallel triangle plates are respectively arranged at the upper and lower ends of the side plates, and the two side plates are respectively connected to the right-angle sides of the triangle plates, so that the first module 1 and the second module 2 have inner cavities. The hypotenuse of the upper triangle plate of the first module 1 is processed with a first opening 12, and a first mounting plate 11 is provided at the hypotenuse of the first module 1. The first mounting plate 11 is fixed between the two triangle plates. The hypotenuse of the upper triangle plate of the second module 2 is processed with a second opening 22. A second mounting plate 21 is provided at the bottom of the second opening 22. One end of the second mounting plate 21 is located between the two triangle plates, and the other end is located above the upper triangle plate. The first opening 12 and the second opening 22 are arranged corresponding to each other. The servo 31 is bolted to the first mounting plate 11, and the U-shaped frame 32 is bolted to the second mounting plate 21, so that when the servo 31 and the U-shaped frame 32 are at 90° (such as Figure 1 the in-situ plane), the first module 1 and the second module 2 form a square structure;

[0036] It further includes a first hinge 4. The right angle of the first module 1 of Module IV is connected to the right angle of the first module 1 of Module I through the first hinge 4. Excluding the triangle plates of the first module 1 of Module IV and the first module 1 of Module I, the right angles of the remaining triangle plates are all processed with arc-shaped grooves for avoiding the hinge during deformation to make the deformation smooth and the design structure reasonable. That is, the right angle of the triangle plate of the first module 1 of Module IV has a third ring, and the right angle of the triangle plate of the first module 1 of Module I has a fourth ring. The right angle of the first module 1 of Module I is bent outward, so that the third ring and the fourth ring are coaxially arranged and connected through the first hinge 4. A first avoidance opening 40 is provided on the side plate at the connecting part of the right angle of the first module 1 of Module IV and the right angle of the first module 1 of Module I. Notches are processed at the acute angles in the middle of the first module 1 of Module IV and the first module 1 of Module I to avoid interference;

[0037] It further includes a second hinge 6. The middle acute angle of the second module 2 of module I and the second module 2 of module II are connected by the second hinge 6. First circular rings are machined at the middle acute angles of the two triangular plates of the second module 2 of module I, and a second circular ring is at the middle acute angle. Flanges extending outward are machined at the middle acute angles of the two triangular plates of the second module 2 of module II, such that the second circular ring is located outside the first circular ring, and the second circular ring and the first circular ring are coaxially connected by the second hinge 6. The two second hinges are Figure 1 in a state where they are located outside the upper and lower ends of the output end (second U-shaped frame) of the second servo drive 7 and are coaxially arranged;

[0038] The first servo drive 5 includes a first servo 51 and a first U-shaped frame 52. The output end of the first servo 51 is key-connected to the first U-shaped frame 52. A second avoidance opening 50 is provided at the connecting portion of the side plate at the right angle of the first module 1 of module II and the first module 1 of module III. The first servo drive 5 is arranged at the second avoidance opening 50. A fourth mounting plate 14 is fixedly provided on the right-angle side of the first module 1 of module II. One end of the fourth mounting plate 14 is located between the two triangular plates, and the other end is located outside the inner cavity, such that half of the first U-shaped frame 52 is inside the cavity and half is outside the cavity. The connecting portion of the first servo 51 and the third mounting plate 13 is inside the cavity. Similarly, when the other servo drives are in their original positions, a third mounting plate 13 is fixedly provided inside the right-angle side inner cavity of the first module 1 of module III. The third mounting plate 13 is bolted to the first servo 51, and the fourth mounting plate 14 is bolted to the first U-shaped frame 52. Notches are machined at the middle acute angles of the first module 1 of module II and the first module 1 of module III. The first servo 51 is arranged along the axis;

[0039] The second servo drive 7 includes a second servo 71 and a second U-shaped frame 72. The output end of the second servo 71 is key-connected to the second U-shaped frame 72. A sixth mounting plate 24 is provided on the side of the second module 2 of module III, and a fifth mounting plate 23 is provided at the acute angle of the second module 2 of module IV. The fifth mounting plate 23 inside the cavity is bolted to the second U-shaped frame 72, and the sixth mounting plate 24 inside the cavity is bolted to the second servo 71. Notches are machined at the middle acute angles of the second module 2 of module III and the second module 2 of module IV, Figure 1 and the second servo 71 is arranged along the axis at the position of the central axis in

[0040] The planar state is as Figure 1As shown, it is composed of triangular modules that are similar to each other. The triangular modules are connected to each other through a servo - U - shaped servo bracket. The first module 1 of module Ⅳ, the first module 1 of module Ⅰ, the second module 2 of module Ⅰ, the second module 2 of module Ⅱ, the first module 1 of module Ⅱ, the first module 1 of module Ⅲ, the second module 2 of module Ⅲ, and the second module 2 of module Ⅳ are sequentially and circularly connected. The connection between the first module 1 of module Ⅳ and the first module 1 of module Ⅰ, and the connection between the second module 2 of module Ⅰ and the second module 2 of module Ⅱ are screw connections. The hinged position between the first module 1 of module Ⅳ and the first module 1 of module Ⅰ is in the vertical direction at the right - angle position of the module, and the hinged position between the second module 2 of module Ⅰ and the second module 2 of module Ⅱ is in the vertical direction at the acute - angle position of the module, that is, at the center of the whole. The hinges at other positions are driven by servos. The connection positions between the first module 1 and the second module 2 of module Ⅳ, between the first module 1 and the second module 2 of module Ⅰ, between the second module 2 and the first module 1 of module Ⅱ, and between the first module 1 and the second module 2 of module Ⅲ are on the hypotenuse of the module. The driving positions at the first module 1 of module Ⅱ and the first module 1 of module Ⅲ are in the vertical direction at the right - angle position of the module, and the driving positions between the second module 2 of module Ⅲ and the second module 2 of module Ⅳ are in the vertical direction at the acute - angle position of the module, and also at the center of gravity of the whole.

[0041] A modular deformable mechanism can achieve various forms of deformation through driving, including planar state, bridge - type state, cube state, discrete state, and torsion state, which can improve the functional breadth of the equipment and enhance adaptability.

[0042] It should be noted that in the above embodiments, as long as the technical solutions do not conflict, they can be arranged and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination. Therefore, the present invention will not explain the technical solutions after permutation and combination one by one, but it should be understood that the technical solutions after permutation and combination have been disclosed by the present invention.

[0043] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A modular deformable mechanism, characterized in that: The invention comprises four groups of modules, a first steering gear drive (5) and a second steering gear drive (7). The four groups of modules are module I, module II, module III and module IV respectively. One side of module I is hinged to the other side of module IV, the other side of module I is hinged to the middle of one side of module II, the other side of module II is connected to the side of one side of module III through the first steering gear drive (5), and the other side of module III is connected to the middle of one side of module IV through the second steering gear drive (7).

2. A modular deformable mechanism according to claim 1, characterized in that: The module comprises a first module (1), a second module (2) and a steering gear drive (3); the first module (1) and the second module (2) are both equilateral right-angled triangles; the steering gear drive (3) is arranged at the right-angled sides of the first module (1) and the second module (2); the steering gear drive (3) comprises a steering gear (31) and a U-shaped frame (32); and the output end of the steering gear (31) is key-connected to the U-shaped frame (32).

3. A modular deformable mechanism according to claim 2, characterized in that: The hypotenuse of the upper triangular plate of the first module (1) is processed with a first opening (12), the hypotenuse of the first module (1) is provided with a first mounting plate (11), the hypotenuse of the upper triangular plate of the second module (2) is processed with a second opening (22), the second opening (22) is provided with a second mounting plate (21), the steering gear (31) is bolted to the first mounting plate (11), and the U-shaped frame (32) is bolted to the second mounting plate (21).

4. A modular deformable mechanism according to claim 3, characterized in that: It also includes a first hinge (4), and the right angle of the first module (1) of module IV is connected to the right angle of the first module (1) of module I through the first hinge (4).

5. A modular deformable mechanism according to claim 4, characterized in that: It also includes a second hinge (6), and the middle acute angle of the second module (2) of module I and the second module (2) of module II are connected through the second hinge (6).

6. A modular deformable mechanism according to claim 5, characterized in that: The first steering gear drive (5) comprises a first steering gear (51) and a first U-shaped frame (52); the output end of the first steering gear (51) is key-connected to the first U-shaped frame (52); a second avoidance opening (50) is provided at a right angle between the first module (1) of the module II and the first module (1) of the module III; the first steering gear drive (5) is arranged at the second avoidance opening (50); a fourth mounting plate (14) is fixedly provided at a right angle side of the first module (1) of the module II; a third mounting plate (13) is fixedly provided at a right angle side of the first module (1) of the module III; the third mounting plate (13) is bolted to the first steering gear (51); and the fourth mounting plate (14) is bolted to the first U-shaped frame (52).

7. A modular deformable mechanism according to claim 6, characterized in that: The second steering gear drive (7) comprises a second steering gear (71) and a second U-shaped frame (72), the output end of the second steering gear (71) is key-connected to the second U-shaped frame (72), a sixth mounting plate (24) is arranged on the side of the second module (2) of module III, a fifth mounting plate (23) is arranged at the acute angle of module IV, the fifth mounting plate (23) is bolted to the second U-shaped frame (72), and the sixth mounting plate (24) is bolted to the second steering gear (71).

8. A modular deformable mechanism according to any one of claims 1 to 7, characterized in that: A modular deformable mechanism can be switched into a planar state, a bridge state, a cubic state, a discrete state, and a torsion state.

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