Modular morphing mechanism
The modular deformable mechanism achieves multiple configuration switching through servo motor drive and hinge connection, which solves the functional limitations and insufficient adaptability caused by the fixed shape of traditional mechanical equipment, and realizes functional expansion and enhanced environmental adaptability.
Patent Information
- Application Number
- CN202510157073.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-13
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2045-02-13
AI Technical Summary
Traditional mechanical equipment has a fixed shape design, which limits its functional expansion and adaptability, and makes it difficult to switch states, especially in complex environments.
It adopts a modular deformable mechanism, which can switch between multiple configurations through four sets of modules and servo motor drive, including planar, bridge-shaped, cubic, discrete and torsional states. The configuration switching is achieved by using servo motor drive and hinge connection.
It broadens the functional boundaries of equipment, enhances adaptability, reduces external environmental constraints, lowers quality and controls costs, and meets diverse task requirements.
Smart Images
Figure CN120039421B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to a variable mechanism, belonging to the field of aerospace and robotics. BACKGROUND
[0002] In the field of machinery, especially in the machinery with high technology content such as spacecraft and robots, there has been a rather thorny problem. In the traditional sense, their appearance is usually designed to be fixed. For example, once the appearance structure of a spacecraft is determined from the design drawing to the finished product, it is difficult to make major changes. This fixed appearance design has many drawbacks. On the one hand, it greatly limits the expansion of the function of the device itself. On the other hand, the fixed appearance also leads to a serious lack of self-adaptability of the device in the face of complex space environment. How to realize the reciprocal switching of different states, expand the functional range and enhance the adaptability has become a key issue.
[0003] Therefore, it is urgent to propose a modular variable mechanism to solve the above technical problems. SUMMARY
[0004] To solve the above problems, a modular variable mechanism is provided. In the following, a brief overview of the present application is given to provide a basic understanding of some aspects of the present application. It should be understood that this overview is not an exhaustive overview of the present application. It is not intended to determine the key or important parts of the present application, nor to limit the scope of the present application.
[0005] Technical scheme of the present application:
[0006] A modular variable mechanism, comprising four groups of modules, a first steering drive and a second steering drive, the four groups of modules are module I, module II, module III and module IV, one side of the module I is hinged to the other side edge of the module IV, the other side of the module I and the middle part of one side of the module II are hinged, the other side of the module II and one side edge of the module III are connected through the first steering drive, and the other side of the module III and the middle part of one side of the module IV are connected through the second steering drive.
[0007] Preferably, the module comprises a first module, a second module and a steering drive, the first module and the second module are both equilateral right triangles, the steering drive is arranged at the right angle side of the first module and the second module, the steering drive comprises a steering wheel and a U-shaped frame, and the output end of the steering wheel is keyed connected with the U-shaped frame.
[0008] Preferably, the oblique side of the upper end triangular plate of the first module is processed with a first opening, the oblique side of the first module has a first mounting plate, the oblique side of the upper end triangular plate of the second module is processed with a second opening, the second opening is provided with a second mounting plate, the steering wheel is bolted connected with the first mounting plate, and the U-shaped frame is bolted connected with the second mounting plate.
[0009] Preferably: further comprising a first hinge, the right angle of the first module of the module IV is connected with the right angle of the first module of the module I through the first hinge.
[0010] Preferably: further comprising a second hinge, the acute angle of the middle part of the second module of the module I is connected with the acute angle of the second module of the module II through the second hinge.
[0011] Preferably: the first steering drive comprises a first steering engine and a first U-shaped frame, the output end of the first steering engine is connected with the first U-shaped frame, the right angle of the first module of the module II is provided with a second avoiding opening, the first steering drive is arranged at the second avoiding opening, the right angle side of the first module of the module II is fixedly provided with a fourth mounting plate, the right angle side of the first module of the module III is fixedly provided with a third mounting plate, the third mounting plate is bolted with the first steering engine, and the fourth mounting plate is bolted with the first U-shaped frame.
[0012] Preferably: the second steering drive comprises a second steering engine and a second U-shaped frame, the output end of the second steering engine is connected with the second U-shaped frame, the side of the second module of the module III is provided with a sixth mounting plate, the acute angle of the module IV is provided with a fifth mounting plate, the fifth mounting plate is bolted with the second U-shaped frame, and the sixth mounting plate is bolted with the second steering engine.
[0013] Preferably: the modular deformable mechanism can be switched to a plane state, a bridge type state, a cubic state, a separate state and a torsion state.
[0014] The application has the following beneficial effects:
[0015] The application innovatively introduces five unique configurations, realizes smooth and rapid switching of the configurations through reasonable design, greatly widens the function boundary of the equipment, enhances the adaptability, reduces the restriction of the external environment, and easily meets diversified task requirements.
[0016] The module of the application adopts a hollow structure, reduces the mass, is convenient for conveying to space, controls the cost, and simultaneously provides sufficient space for installation of other matched components. DETAILED DESCRIPTION
[0017] Figure 1 It is a perspective view of a modular deformable mechanism.
[0018] Figure 2 It is a partial view of a modular deformable mechanism.
[0019] Figure 3 It is an exploded view of a modular deformable mechanism.
[0020] Figure 4is a plan view of a modular deformable mechanism.
[0021] Figure 5 is a first module perspective view of Module III.
[0022] Figure 6 is a mounting view of the second steering drive.
[0023] Figure 7 is a bridge-type state view.
[0024] Figure 8 is a cube morphology schematic view.
[0025] Figure 9 is a cube morphology perspective view.
[0026] Figure 10 is a discrete state schematic view.
[0027] Figure 11 is a discrete state perspective view.
[0028] Figure 12 is a twisted state schematic view.
[0029] Figure 13 is a twisted state perspective view.
[0030] Figure 14 is a state switching view.
[0031] In the figure, 1 is a first module, 2 is a second module, 3 is a steering drive, 4 is a first hinge, 5 is a first steering drive, 6 is a second hinge, 7 is a second steering drive, 11 is a first mounting plate, 12 is a first opening, 13 is a third mounting plate, 14 is a fourth mounting plate, 21 is a second mounting plate, 22 is a second opening, 23 is a fifth mounting plate, 24 is a sixth mounting plate, 31 is a steering wheel, 32 is a U-shaped frame, 40 is an avoidance opening, 50 is a second avoidance opening, 51 is a first steering wheel, 52 is a first U-shaped frame, 71 is a second steering wheel, and 72 is a second U-shaped frame. DETAILED DESCRIPTION
[0032] In order to make the purpose, technical solutions and advantages of the present application more clear and obvious, the present application 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 application. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.
[0033] Specific embodiment one: combination Figures 1-14 In this embodiment, a modular deformable mechanism of this embodiment includes four groups of modules, a first steering drive 5 and a second steering drive 7, and the four groups of modules are as follows: Figure 1The modules I, II, III and IV are arranged in a square in a counterclockwise direction, one side of the module I is hingedly connected to the other side of the module IV, the other side of the module I and the middle of one side of the module II are hingedly connected, the other side of the module II and the side of the module III are connected through the first steering drive 5, and the other side of the module III and the middle of one side of the module IV are connected through the second steering drive 7.
[0034] Each group of modules comprises a first module 1, a second module 2 and a steering drive 3, the first module 1 and the second module 2 (i.e. one side and the other side of the module) are both equilateral right triangles, the steering drive 3 is arranged at the right angle of the first module 1 and the second module 2, the steering drive 3 comprises a steering engine 31 and a U-shaped frame 32, the output end of the steering engine 31 is keyed connected to the U-shaped frame 32, Figure 1 The steering engine 31 is arranged radially;
[0035] The first module 1 and the second module 2 each comprise two side plates and two equilateral right triangular plates, two parallel triangular plates are arranged at the upper and lower ends of the side plates respectively, and the two side plates are connected to the right angle of the triangular plate, so that the first module 1 and the second module 2 have an inner cavity; the oblique edge of the upper end triangular plate of the first module 1 is processed with a first opening 12, the oblique edge of the first module 1 has a first mounting plate 11, the first mounting plate 11 is fixed between the two triangular plates, the oblique edge of the upper end triangular plate of the second module 2 is processed with a second opening 22, the bottom of the second opening 22 is provided with a second mounting plate 21, one end of the second mounting plate 21 is located between the two triangular plates, and the other end is located above the upper end triangular plate, the first opening 12 and the second opening 22 are arranged correspondingly, the steering engine 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 steering engine 31 and the U-shaped frame 32 are 90° (such as Figure 1 The first module 1 and the second module 2 form a square structure when the steering engine 31 and the U-shaped frame 32 are 90° (such as
[0036] It also comprises a first hinge 4, the right angle of the first module 1 of the module IV is connected to the right angle of the first module 1 of the module I through the first hinge 4, the triangular plates of the first module 1 of the module IV and the first module 1 of the module I are excluded, and the right angles of the remaining triangular plates are all processed with arc-shaped grooves, which are used to avoid the hinge when deforming, so that the deformation is smooth, the design structure is reasonable, that is, the triangular plate of the first module 1 of the module IV has a third circular ring, the triangular plate of the first module 1 of the module I has a fourth circular ring, the right angle of the first module 1 of the module I is bent outward, so that the third circular ring and the fourth circular ring are coaxially arranged and connected through the first hinge 4, the side plate of the connection part of the right angle of the first module 1 of the module IV and the right angle of the first module 1 of the module I has a first avoiding opening 40, and the acute angle of the middle of the first module 1 of the module IV and the first module 1 of the module I is all processed with a notch to avoid interference;
[0037] Second hinge 6 is also included, the second module 2 of module I is connected with the second module 2 of module II through the second hinge 6 at the middle acute angle, the middle acute angle of the two triangular plates of the second module 2 of module I is processed with a first circular ring, the acute angle of the middle is processed with a second circular ring, the acute angle of the middle of the two triangular plates of the second module 2 of module II is processed with a flange outward, the second circular ring is located outside the first circular ring, the second circular ring is coaxially connected with the first circular ring through the second hinge 6, the two second hinges are coaxially arranged outside the upper and lower ends of the second steering drive 7 output (second U-shaped frame) in the state shown in the figure; Figure 1
[0038] The first steering drive 5 includes a first steering gear 51 and a first U-shaped frame 52, the output end of the first steering gear 51 is keyed connected with the first U-shaped frame 52, the second avoiding opening 50 is arranged at the right angle side plate connecting part of the first module 1 of module II and the first module 1 of module III, the first steering drive 5 is arranged at the second avoiding opening 50, the fourth mounting plate 14 is fixedly arranged at 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, the other end is located outside the inner cavity, so that half of the first U-shaped frame 52 is in the cavity and half is outside the cavity, the connecting part of the first steering gear 51 and the third mounting plate 13 is in the cavity, the rest of the steering drive is the same as the above, the third mounting plate 13 is fixedly arranged in the inner cavity of the right angle side of the first module 1 of module III, the third mounting plate 13 is bolted connected with the first steering gear 51, the fourth mounting plate 14 is bolted connected with the first U-shaped frame 52, the acute angle part of the middle of the first module 1 of module II and the first module 1 of module III is processed with a notch, the first steering gear 51 is arranged along the axial direction;
[0039] The second steering drive 7 includes a second steering gear 71 and a second U-shaped frame 72, the output end of the second steering gear 71 is keyed connected with the second U-shaped frame 72, the sixth mounting plate 24 is arranged on the side of the second module 2 of module III, the fifth mounting plate 23 is arranged at the acute angle of the second module 2 of module IV, the fifth mounting plate 23 in the cavity is bolted connected with the second U-shaped frame 72, the sixth mounting plate 24 in the cavity is bolted connected with the second steering gear 71, the acute angle part of the middle of the second module 2 of module III and the second module 2 of module IV is processed with a notch, Figure 1 The second steering gear 71 is arranged along the axial direction at the position of the central shaft;
[0040] The planar state is as shown in the figure Figure 1 As shown, the module is composed of triangular modules similar to each other, the triangular modules are connected through the steering gear-U-shaped steering gear support between the modules, the first module 1 of the module IV, the first module 1 of the module I, the second module 2 of the module I, the second module 2 of the module II, the first module 1 of the module II, the first module 1 of the module III, the second module 2 of the module III, and the second module 2 of the module IV are sequentially and circularly connected; the connection between the first module 1 of the module IV and the first module 1 of the module I and the connection between the second module 2 of the module I and the second module 2 of the module II are screw connections, wherein the hinge position of the first module 1 of the module IV and the first module 1 of the module I is in the vertical direction of the right-angle position of the module, and the hinge position of the second module 2 of the module I and the second module 2 of the module II is in the vertical direction of the acute-angle position of the module, that is, at the center of the whole, the hinges at other positions are driven by the steering gear, the connection positions of the first module 1 of the module IV and the second module 2 of the module IV, the first module 1 of the module I and the second module 2 of the module I, the second module 2 of the module II and the first module 1 of the module II, and the first module 1 of the module III and the second module 2 of the module III are on the hypotenuse of the module, the driving position of the first module 1 of the module II and the first module 1 of the module III is in the vertical direction of the right-angle position of the module, and the driving position of the second module 2 of the module III and the second module 2 of the module IV is in the vertical direction of the acute-angle position of the module, which is also at the center of gravity of the whole;
[0041] The modular deformable mechanism can realize deformation in various modes, including a planar state, a bridge type state, a cubic state, a separate state, and a torsion state, by driving, so as to improve the function range of equipment and enhance adaptability.
[0042] It should be noted that, in the above embodiments, any non-contradictory technical solutions can be arranged and combined, and those skilled in the art can exhaust all possibilities according to the mathematical knowledge of arrangement and combination, so that the technical solutions after arrangement and combination are not described one by one, but it should be understood that the technical solutions after arrangement and combination have been disclosed by the present application.
[0043] The above only describes the preferred embodiments of the present application and is not used to limit the present application. Those skilled in the art can make various changes and modifications to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A modular morphing mechanism, characterized by: The four groups of modules, the first steering engine drive (5) and the second steering engine drive (7), the four groups of modules are module I, module II, module III and module IV, one side of the module I is hinged to the other side edge of the module IV, the other side of the module I and the middle part of one side of the module II are hinged, the other side of the module II and the side edge of one side of the module III are connected through the first steering engine drive (5), the other side of the module III and the middle part of one side of the module IV are connected through the second steering engine drive (7); The module includes a first module (1), a second module (2) and a steering engine drive (3), the first module (1) and the second module (2) are both equilateral right triangles, the steering engine drive (3) is arranged at the right angle edge of the first module (1) and the second module (2), the steering engine drive (3) includes a steering engine (31) and a U-shaped frame (32), the output end of the steering engine (31) is key connected with the U-shaped frame (32); A kind of modular deformable mechanism can be switched to planar state, bridge type state, cubic state, discrete state, torsion state.
2. A modular morphing mechanism according to claim 1, wherein: The oblique edge of the upper end triangular plate of the first module (1) is processed with first opening (12), the oblique edge of the first module (1) has first mounting plate (11), the oblique edge of the upper end triangular plate of the second module (2) is processed with second opening (22), the second opening (22) is provided with second mounting plate (21), the steering engine (31) is bolted with the first mounting plate (11), the U-shaped frame (32) is bolted with the second mounting plate (21).
3. A modular morphing mechanism according to claim 2, wherein: It also includes a first hinge (4), the right angle of the first module (1) of the module IV is connected with the right angle of the first module (1) of the module I through the first hinge (4).
4. A modular morphing mechanism according to claim 3, wherein: It also includes a second hinge (6), the middle part acute angle of the second module (2) of the module I is connected with the second module (2) of the module II through the second hinge (6).
5. A modular morphing mechanism according to claim 4, wherein: The first steering engine drive (5) includes a first steering engine (51) and a first U-shaped frame (52), the output end of the first steering engine (51) is key connected with the first U-shaped frame (52), the right angle of the first module (1) of the module II and the first module (1) of the module III has second avoiding opening (50), the first steering engine drive (5) is arranged at the second avoiding opening (50), the right angle side of the first module (1) of the module II is fixedly provided with fourth mounting plate (14), the right angle side of the first module (1) of the module III is fixedly provided with third mounting plate (13), the third mounting plate (13) is bolted with the first steering engine (51), and the fourth mounting plate (14) is bolted with the first U-shaped frame (52).
6. A modular morphing mechanism according to claim 5, wherein: The second steering engine drive (7) includes a second steering engine (71) and a second U-shaped frame (72), the output end of the second steering engine (71) is key connected with the second U-shaped frame (72), the side edge of the second module (2) of the module III is provided with sixth mounting plate (24), the acute angle of the module IV is provided with fifth mounting plate (23), the fifth mounting plate (23) is bolted with the second U-shaped frame (72), and the sixth mounting plate (24) is bolted with the second steering engine (71).
Citation Information
Patent Citations
Reconfigurable modular robot
CN102381378A
Modular reconfigurable orthogonal joint chain robot
CN111923032A