A reversible folding mechanism and method of operation thereof

Abstract

This invention discloses a flip-over folding mechanism and its operating method. The folding mechanism includes rods A, C, and D, a telescopic rod E, and a hydraulic sleeve F. One end of rod A is hinged to a fixed hinge point A, and the other end is hinged to rod C via hinge point B. The hydraulic sleeve F is mounted on fixed points C and D respectively. One end of the telescopic rod E slides through the hydraulic sleeve F, and the other end is hinged to a sliding hinge point E on rod A. A sliding hinge point F is provided on rod C, and one end of rod D is hinged to sliding hinge point E. The operating method includes the following steps: S1: Fixed bracket installation; S2: Rod installation; S3: Linkage operation. This invention achieves multi-rod coordinated flip-over folding under a single telescopic drive, with simple driving and strong controllability. This invention sets two sliding hinge points, E and F, and, in conjunction with the constraint mechanism of the collinear side rod A, makes the mechanism's movement more flexible and reliable.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery and equipment technology, specifically relating to a flip-foldable mechanism and its operating method. Background Technology

[0002] Foldable mechanisms are widely used in various engineering machinery and equipment to enable the unfolding and folding of structures with multiple plates or rods. Several folding mechanism solutions already exist in the current technology.

[0003] Chinese Patent Publication No. CN119526947A discloses a novel multi-link folding mechanism. This mechanism includes three fixed supports not on the same straight line, with hinge points A, B, and C respectively. Hinge point A is hinged to a telescopic rod, hinge point B to a triangular rod, and hinge point C to a main folding rod. The triangular rod has hinge points B, D, and E arranged in a triangle. The front end of the telescopic rod is hinged to hinge point B, and hinge point E is a movable hinge point that can move along the main folding rod. A connecting rod is hinged to hinge point E, and the other end of the connecting rod is connected to a swing rod at hinge point F. The other end of the swing rod is hinged to hinge point H at the front end of the main folding rod, and hinge point F is a movable hinge point that can move along a secondary folding rod. This mechanism achieves the unfolding and folding of the linkage mechanism using a single active component. However, this mechanism only includes a combination of a single triangular rod, connecting rod, and swing rod, failing to form a multi-triangular coupled linkage system, thus limiting its applicability to complex working conditions requiring coordinated flipping and folding of multiple components.

[0004] Chinese Patent CN106640875B discloses a folding and extending mechanism installed between connected upper and lower panels to achieve a 0-180 degree flip between the two panels. The mechanism includes a four-bar linkage, a push rod assembly, and an auxiliary linkage assembly. The auxiliary linkage assembly includes a first auxiliary link and a second auxiliary link, with one end of the first auxiliary link connected to one end of the second auxiliary link. An axial locking mechanism is also added. However, this mechanism uses a traditional four-bar linkage, primarily addressing the flipping problem between the two panels. All hinge points are fixed connections, lacking sliding hinge points, thus failing to meet the complex flipping and folding motion requirements of multiple linkages.

[0005] Chinese Patent Publication No. CN209667394U discloses a large-space deployable mechanism. This mechanism consists of deployable units and a base. The deployable unit includes a connecting telescopic rod, a hinge, and connecting rods. One end of the connecting telescopic rod is connected to the base via a pin, and the other end is connected to the hinge via a revolute joint. The connecting rods include short connecting rods, medium connecting rods, and long connecting rods. The base is a pentagonal base. The deployable units of this mechanism are arranged in a circular array on the same base, with each adjacent deployable unit sharing a connecting telescopic rod. This mechanism is mainly applied in the field of space-based planar satellite launch antenna support frames. Its circular array topology differs fundamentally from the planar multi-triangular coupling linkage mechanism of this invention.

[0006] In summary, existing folding mechanisms either employ a combination of a single triangular rod and a connecting rod, a traditional four-bar linkage, or a ring array deployable structure. None of these methods provide a mechanism solution that achieves coordinated flipping and folding of multiple rods under a single drive through the coupling and linkage of multiple triangles sharing common sides and points. Summary of the Invention

[0007] The purpose of this invention is to address the defects and shortcomings in the prior art by providing a flip-folding mechanism and its operation method.

[0008] The technical solution of this invention: A flip-up folding mechanism includes rods A, C, and D, a telescopic rod E, and a hydraulic sleeve F. One end of rod A is hinged to a fixed hinge point A, and the other end is hinged to rod C through hinge point B. The two ends of the hydraulic sleeve F are respectively installed at fixed points C and D. One end of the telescopic rod E slides through the hydraulic sleeve F, and the other end is hinged to a sliding hinge point E provided on rod A. A sliding hinge point F is provided on rod C. One end of rod D is hinged to sliding hinge point E, and the other end is hinged to sliding hinge point F.

[0009] The fixed hinge point A, fixed point C and fixed point D are installed on the fixed bracket.

[0010] The fixed hinge points A, C, and D are not collinear.

[0011] The bottom ends of the hydraulic sleeve F are fixedly connected to fixed points C and D, respectively.

[0012] The sliding hinge point F is also hinged to a rod B, and the end of the rod B away from the sliding hinge point F is hinged to the hinge point G, which is fixedly set on the rod A.

[0013] The hinge point G is located on the side of member A.

[0014] A method for operating a flip-folding mechanism includes the following steps: S1: Fixing bracket installation: Determine the positions of fixing hinge point A, fixing point C and fixing point D, and install the fixing bracket at these three corresponding positions; S2: Rod installation: Fix the bottom ends of the hydraulic sleeve F to fixed points C and D respectively. Simultaneously assemble the telescopic rod E. Then, pass the rod A through the sliding hinge point E and hinge it to the fixed hinge point A. After that, hinge the rod C to the hinge point B. Slide the sliding hinge point F on the rod C. Hinge both ends of the rod D to the sliding hinge points E and F respectively to complete the rod installation. S3: Linkage operation, telescopic rod E extends and retracts inside hydraulic sleeve F, driving sliding hinge point E to slide on rod A, causing rod A and rod D to move, and the movement of rod D pushes sliding hinge point F to slide on rod C, realizing the folding of rod C.

[0015] Step S2 also includes the installation step of rod B, in which the two ends of rod B are respectively hinged to sliding hinge point F and hinge point G.

[0016] In step S3, during the sliding of the sliding hinge point F on the rod C, the rod B exerts a pushing and pulling constraint on the rod C.

[0017] The beneficial effects of this invention are: This invention forms a coupled linkage system by using five triangles with shared sides, shared points, and collinear side members, which realizes multi-member coordinated flipping and folding under a single telescopic drive. The drive is simple and highly controllable.

[0018] This invention sets two sliding hinge points, E and F, and, together with the constraint mechanism of collinear side member A, makes the mechanism's movement more flexible and reliable.

[0019] This invention can be widely applied to the flipping and folding of multi-plate and multi-rod structures in engineering machinery and equipment, and has the advantages of compact structure, controllable movement and wide applicability. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the flip-foldable mechanism of the present invention; Figure 2 This is a structural schematic diagram of the unfolded state of the flip-folding mechanism of the present invention; Figure 3 This is a schematic diagram of the folded state of the flip-folding mechanism of the present invention; Figure 4 This is a schematic diagram of the unfolded state of the foldable mechanism of the present invention used for the wave deflector of an amphibious all-terrain vehicle; Figure 5 This is a schematic diagram of the folded state of the flip-fold mechanism of the present invention used for the wave deflector of an amphibious all-terrain vehicle.

[0021] Reference numerals: 1-Fixed hinge point A, 2-Sliding hinge point E, 3-Ring A, 4-Hinge point G, 5-Hinge point B, 6-Ring B, 7-Sliding hinge point F, 8-Ring C, 9-Ring D, 10-Telescopic rod E, 11-Fixed point C, 12-Fixed point D, 13-Hydraulic sleeve F. Detailed Implementation

[0022] refer to Figures 1-5 A flip-up folding mechanism includes rods A3, C8, D9, telescopic rod E10, and hydraulic sleeve F13. One end of rod A3 is hinged to a fixed hinge point A1, and the other end is hinged to rod C8 through hinge point B5. The two ends of hydraulic sleeve F13 are respectively installed on fixed points C11 and D12. One end of telescopic rod E10 slides through hydraulic sleeve F13, and the other end is hinged to sliding hinge point E2 on rod A3. A sliding hinge point F7 is provided on rod C8. One end of rod D9 is hinged to sliding hinge point E2, and the other end is hinged to sliding hinge point F7.

[0023] The fixed hinge points A1, C11, and D12 are mounted on the fixed bracket. The fixed bracket is mainly used to install the fixed hinge points to prevent the mechanism from becoming uncontrollable due to changes in the position of the fixed hinge points during operation.

[0024] The fixed hinge points A1, C11, and D12 are not collinear. This arrangement is mainly to facilitate the movement of the sliding hinge point E2 on the rod A3 and reduce the influence of the fixed hinge point A1 on the operation of the telescopic rod E10.

[0025] The bottom ends of the hydraulic sleeve F13 are fixedly connected to fixed points C11 and D12, respectively.

[0026] This setting is mainly to ensure that the positions of fixed points C11 and D12 are fixed, so that the telescopic rod E10 can only extend and retract along the direction of the fixed hydraulic sleeve F13.

[0027] The sliding hinge point F7 is also hinged to a rod B6. The end of rod B6 away from the sliding hinge point F7 is hinged to hinge point G4, which is fixedly set on rod A3. Rod B6 prevents the sliding hinge point F7 from becoming a dead point when rod C8 is collinear with rod A3, thus preventing the subsequent movement direction of rod C8 from becoming uncontrollable. In other words, rod B6 is equivalent to adding a set of constraints, making rod C8 completely controllable and preventing it from flipping more than 180 degrees.

[0028] The hinge point G4 is located on the side of link A3. This ensures that link B6 can better assist in controlling link C8.

[0029] A method for operating a flip-folding mechanism includes the following steps: S1: Fixing bracket installation: Determine the positions of fixing hinge point A1, fixing point C11 and fixing point D12, and install the fixing bracket at these three corresponding positions. S2: Rod installation: Fix the bottom ends of the hydraulic sleeve F13 to fixed points C11 and D12 respectively. Simultaneously assemble the telescopic rod E10. Then, pass the rod A3 through the sliding hinge point E2 and hinge it to the fixed hinge point A1. After that, hinge the rod C8 to the hinge point B5. Slide the sliding hinge point F7 on the rod C8. Hinge the two ends of the rod D9 to the sliding hinge points E2 and F7 respectively to complete the rod installation. It also includes the installation step of rod B6, where the two ends of rod B6 are respectively hinged to sliding hinge point F7 and hinge point G4.

[0030] S3: Linkage operation, telescopic rod E10 extends and retracts inside hydraulic sleeve F13, driving sliding hinge point E2 to slide on rod A3, causing rod A3 and rod D9 to move, and the movement of rod D9 pushes sliding hinge point F7 to slide on rod C8, realizing the folding of rod C8.

[0031] During the sliding motion of sliding hinge point F7 on rod C8, rod B6 exerts a push-pull constraint on rod C8.

[0032] Specifically: This invention comprises a fixed hinge point A1, a sliding hinge point E2, and a rod A3 with a length of [missing information]. l 3. The lengths of hinge point G4, hinge point B5, and member B6 are: l 6. The lengths of sliding hinge point F7 and rod C8 are: l 8. The length of member D9 is l 9. The length of telescopic member E10 is l 10 It consists of fixed point C11, fixed point D12, hydraulic sleeve F13, etc. like Figure 1 As shown. The hydraulic sleeve F13 is fixed at both ends by fixed points C11 and D12, ensuring that the telescopic rod E10 can only extend and retract along the direction of the fixed hydraulic sleeve F13; the length between the fixed hinge point A1 and the sliding hinge point E2 is... l 1-2 The length between sliding hinge point E2 and hinge point G4 is l 2-4 The length between sliding hinge point E2 and hinge point B5 is l 2-5 The length between hinge point G4 and hinge point B5 is l 4-5 The length between hinge point B5 and sliding hinge point F7 is l 5-7 The length between fixed hinge point A1 and fixed point C11 is l1-11 , l 1-11 The length is constant; the length of rod A3 l 3 is l 1-2 and l 2-5 The sum of these two hinge points, G4 and B5, are fixed to member A3.

[0033] The principle is explained in detail below: Premise: Both ends of the hydraulic sleeve F13 are fixed together by fixing points C11 and D12, so that the telescopic rod E10 can only extend and retract along the direction of the fixed hydraulic sleeve F13, i.e. l 10 The length changes in a specific direction; the length between fixed hinge point A1 and fixed point C11 is... l 1-11 , l 1-11 With a fixed length, the side l 10 With edge l 1-11 With the included angle fixed, according to the cosine function, the side l 1-2 There is only one solution for the length and rotation angle, that is, the rotation angle of rod A3 is fixed and controllable.

[0034] The length of telescopic rod E10 is l 10 The length between fixed hinge point A1 and fixed point C11 is l 1-11 The length between the fixed hinge point A1 and the sliding hinge point E2 is l 1-2 These three elements form a triangle ACE, in which l 10 Variable length, satisfying l 10 + l 1-11 > l 1-2 , l 1-2 + l 1-11 > l 10 , l 10 + l 1-2 > l 1-11 .

[0035] The length of member D9 is l 9. The length between sliding hinge point E2 and hinge point B5 is l2-5 The length between hinge point B5 and sliding hinge point F7 is l 5-7 These three elements form triangle BEF, where l 2-5 , l 5-7 Variable length, satisfying l 9+ l 2-5 > l 5-7 , l 5-7 + l 9> l 2-5 , l 2-5 + l 5-7 > l 9; The length between sliding hinge point E2 and hinge point G4 is l 2-4 The length between sliding hinge point E2 and hinge point B5 is l 2-5 The length between hinge point G4 and hinge point B5 is l 4-5 These three elements form a triangle BEG, in which l 2-4 , l 2-5 Variable length, satisfying l 2-4 + l 2-5 > l 4-5 , l 4-5 + l 2-4 > l 2-5 , l 2-5 + l 4-5 > l 2-4 .

[0036] The sides of triangle ACE l 1-2 With the sides of triangle BEF l 2-5 The sides of triangle BEG l 2-5 They are collinear, and the common vertex of triangles ACE, BEF, and BEG is the sliding hinge point E2. l 1-2 and l2-5 The sum equals l 3 (i.e., rod A3), the side of triangle BEG l 2-5 With the sides of triangle BEF l 2-5 Shared border.

[0037] The length of member B6 is l 6. The length of member D9 is l 9. The length between sliding hinge point E2 and hinge point G4 is l 2-4 These three elements form a triangle EFG, in which... l 2-4 Variable length, satisfying l 2-4 + l 6> l 9. l 9+ l 2-4 > l 6. l 6+ l 9> l 2-4 The sides of triangle EFG l 2-4 With the side of triangle BEG l 2-4 The sides of triangle EFG are shared. l 9 and the sides of triangle BEF l 9. Shared side.

[0038] The length between hinge point G4 and hinge point B5 is l 4-5 The length between hinge point B5 and sliding hinge point F7 is l 5-7 The length of member B6 is l 6. These three elements form a triangle BFG, in which... l 5-7 Variable length, satisfying l 4-5 + l 6> l 5-7 , l 5-7 + l 4-5 > l 6. l 6+ l 5-7 > l 4-5 The sides of triangle BFG l 6 and the sides of triangle EFG l6 sides of triangle BFG l 4-5 With the side of triangle BEG l 4-5 The sides of triangle BFG are shared. l 5-7 With the sides of triangle BEF l 5-7 Shared border.

[0039] Therefore, the length of the telescopic member E10 is... l 10 Changes will affect the sides of triangle ACE. l 1-2 The rotation and transformation of triangle ACE drive the rotation and movement of triangles BEF and BEG, while triangles BEF, BEG, EFG, and BFG work together to achieve the flipping and folding function of the entire mechanism.

[0040] Action description: (1) The overall mechanism extension and unfolding process of this application: the telescopic rod E10 extends in a fixed direction, l 10 The change in length causes changes in triangle ACE and its sides. l 1-2 Rotation and transformation, through collinear side members A3, common vertex sliding hinge point E2 and l 1-2 and l 2-5 The sum equals l 3. This causes triangles BEF and BEG to rotate and move, thereby affecting the coordinated movement of triangles BEF, BEG, EFG, and BFG, specifically affecting the edges of triangle BEF. l 2-5 The sides of triangle BEG l 2-5 and l 2-4 The sides of triangle EFG l 2-4 Variations, sides of triangle BFG l 5-7 Changes enable the entire mechanism to extend its functionality (such as...). Figure 2 ).

[0041] (2) During the overall mechanism's retraction and folding process, the movements of each component are the opposite of the mechanism's extension and unfolding process (e.g., Figure 3 ).

[0042] The flip-folding mechanism of this application can be used in the wave deflector structure of an amphibious all-terrain vehicle, such as... Figure 4 and Figure 5A set of flip-folding mechanism is installed on each side of the front of the vehicle. The hydraulic sleeve F13 and the telescopic rod E10 form a hydraulic cylinder. The hydraulic sleeve F13 is fixed by the fixing point C11 and the fixing point D12.

[0043] Expanded state (e.g.) Figure 4 ): The wave deflector is located at the front of the all-terrain vehicle and is used to reduce resistance, break through waves, and increase speed when the vehicle is sailing on water. Folded state (e.g.) Figure 5 ): The wave deflector is tightly attached to the cab. When driving on land, there are no obstructions in front of the vehicle, so the vehicle's visibility is not changed, the headlights are not obstructed, and the approach angle remains unchanged, ensuring driving visibility and safety.

Claims

1. A reversible folding mechanism, characterized in that The device includes rods A (3), C (8), D (9), telescopic rod E (10), and hydraulic sleeve F (13). One end of rod A (3) is hinged to a fixed hinge point A (1), and the other end is hinged to rod C (8) through hinge point B (5). The two ends of hydraulic sleeve F (13) are respectively installed on fixed points C (11) and D (12). One end of telescopic rod E (10) slides through hydraulic sleeve F (13), and the other end is hinged to sliding hinge point E (2) set on rod A (3). Sliding hinge point F (7) is set on rod C (8). One end of rod D (9) is hinged to sliding hinge point E (2), and the other end is hinged to sliding hinge point F (7).

2. The reversible folding mechanism of claim 1, wherein: The fixed hinge point A (1), fixed point C (11) and fixed point D (12) are installed on the fixed bracket.

3. The flip-foldable mechanism according to claim 1, characterized in that: The fixed hinge point A (1), fixed point C (11) and fixed point D (12) are not collinear.

4. The flip-foldable mechanism according to claim 1, characterized in that: The bottom ends of the hydraulic sleeve F (13) are fixedly connected to fixed points C (11) and D (12) respectively.

5. The flip-foldable mechanism according to claim 1, characterized in that: The sliding hinge point F (7) is also hinged to a rod B (6), and the end of the rod B (6) away from the sliding hinge point F (7) is hinged to the hinge point G (4), which is fixedly set on the rod A (3).

6. The flip-foldable mechanism according to claim 5, characterized in that: The hinge point G(4) is located on the side of the rod A(3).

7. A method of operating the flip-foldable mechanism according to any one of claims 1-6, characterized in that: Includes the following steps: S1: Fix the bracket installation. Determine the positions of the fixing hinge point A (1), fixing point C (11) and fixing point D (12), and install the fixing bracket at these three corresponding positions. S2: Rod installation: Fix the bottom ends of the hydraulic sleeve F (13) to fixed points C (11) and D (12) respectively, and assemble the telescopic rod E (10) at the same time. Then, pass the rod A (3) through the sliding hinge point E (2) and hinge it to the fixed hinge point A (1). Then, hinge the rod C (8) to the hinge point B (5). Slide the sliding hinge point F (7) on the rod C (8). Hinge the two ends of the rod D (9) to the sliding hinge point E (2) and the sliding hinge point F (7) respectively to complete the rod installation. S3: Linkage operation, telescopic rod E (10) extends and retracts inside hydraulic sleeve F (13), drives sliding hinge point E (2) to slide on rod A (3), drives rod A (3) and rod D (9) to move, and the movement of rod D (9) pushes sliding hinge point F (7) to slide on rod C (8), realizing the folding of rod C (8).

8. The method of operating the flip-foldable mechanism according to claim 7, characterized in that: Step S2 also includes the installation step of rod B (6), where the two ends of rod B (6) are respectively hinged to sliding hinge point F (7) and hinge point G (4).

9. The method of operating the flip-foldable mechanism according to claim 7, characterized in that: In step S3, during the sliding process of the sliding hinge point F (7) on the rod C (8), the rod B (6) exerts a push-pull constraint on the rod C (8).

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