KR101847061B1 - Three-DIMENSIONAL SHAPE-CHANGING UNIT MODULE AND Three-DIMENSIONAL SHAPE-CHANGING DEVICE USING THEREOF - Google Patents

Abstract

A three-dimensional variable type unit module capable of changing a shape between a first state of a cube shape and a second state of a flat shape, comprising: an upper plate; Two first side plates disposed on opposite sides of the first plate in a first state and foldably connected to the upper plate and formed to be flush with the lower plate when the plate is shaped into the second state; And two second side plates disposed respectively on the other two opposite sides in the first state and foldably connected to the first side plates and configured to overlap the lower side of the upper plate when the shape changes into the second state, plate; And an actuator for driving the second side plate in a state in which the second side plate is laid-up in a raised state and in a lying-down state in the opposite direction, so that a change in shape between the first state and the second state is caused by a torsional movement Dimensional variable unit module and a three-dimensional variable type apparatus using the same.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional variable unit module and a three-dimensional variable-

The present invention relates to a three-dimensional variable type unit module and a three-dimensional variable type mechanism using the same. More particularly, the present invention relates to a three-dimensional variable type unit module having a bi-stability capable of changing a shape between a flat shape and a cubic shape, and a three-dimensional variable type structure using the same.

Development of a hardware platform capable of three dimensional transformation according to the development of a smart device and a home appliance for user's convenience is under development. A 3D deformable hardware platform can be used for a haptic interface device, a tangible display, a three-dimensional map, etc., which transmit information intuitively while changing its shape. For example, in the case of a tangible display, information can be transmitted while varying the shape of each pixel from a flat shape to a cubic shape including a variable three-dimensional pixel.

If a three-dimensional pixel is implemented according to a known mechanical mechanism, a complicated kinematic structure will be required. In addition, for the programmable movement of the three-dimensional variable structure, a large device space is required in addition to the three-dimensional variable structure, and control difficulty is expected. One example of a three-dimensional variable structure is Follmer, S., Leithinger, D., Olwal, A., Hogge, A., & Ishii, H. (2013, October). inFORM: dynamic physical affordances and constraints through shape and object actuation. In Uist (Vol. 13, pp. 417-426).

As an example of a method for implementing a three-dimensional variable structure, a Kresling pattern is known (Kresling, "Coupled Mechanisms in Biological Deployable Structures ", IHTAM-ISS Symposium on Theory and Applications, , 1998). The Kresling pattern is based on the origami principle, in which the unit cells are repeated to form a polygonal column and a folding line is formed between the unit cells. It has a polygonal column shape in the unfolded state and a flat shape in the folded state. It is an origami structure which can inherently have biaxiality and continuous motion despite the structure having no freedom.

The present invention can be embodied using a paper folding principle to enable a shape change between a flat shape and a cubic shape with a simple kinematic structure, and a three-dimensional variable type unit module And a programmable three-dimensional variable-type mechanism that is extended by arranging and controlling the same in a distributed manner.

According to an embodiment of the present invention, a three-dimensional variable type unit module is a three-dimensional variable type unit module capable of changing the shape between a first state of a cube shape and a second state of a flat shape, Two first side plates disposed on opposite sides of the first plate in a first state and foldably connected to the upper plate and formed to be flush with the lower plate when the plate is shaped into the second state; And two second side plates disposed respectively on the other two opposite sides in the first state and foldably connected to the first side plates and configured to overlap the lower side of the upper plate when the shape changes into the second state, plate; And an actuator for driving the second side plate in a state in which the second side plate is laid-up in a raised state and in a lying-down state in the opposite direction, so that a change in shape between the first state and the second state is caused by a torsional movement .

According to an embodiment of the present invention, the first side plate includes two vertically intersecting connecting ends and a free end extending transversely to the two connecting ends, And the other side connecting end is foldably connected to the second side plate, and the second side plate includes two connecting ends which vertically mesh with each other, and a free end portion which intersects with the two connecting ends, Wherein the one connecting end is pivotally connected to the first side plate and the other connecting end is pivotally connected to the base, and the actuator can be connected between the second side plate and the base.

According to the embodiment of the present invention, the free ends of the first side plate and the second side plate are formed so as not to interfere with each other at the time of changing between the first state and the second state. To this end, the free end may be inwardly concave in shape, for example, curved inwards.

According to an embodiment of the present invention, the first and second side plates may be formed into a shape having a curved inclined side in a right triangle shape or a right triangle shape. The first side plate having a right triangle shape is configured such that one side of two vertical sides is foldably connected to a side of the upper plate and the second side plate having a right triangle shape is foldably connected to one side of two vertical sides And the other side of the second side plate is foldably connected to the base.

According to an embodiment of the present invention, the three-dimensional variable type unit module has a rotational symmetry in which shapes of first and second side plates located on side surfaces facing each other when the first and second side plates are rotated by 180 ° to the center of the upper plate .

According to an embodiment of the present invention, the three-dimensional variable type unit module further includes a fixing surface that is foldably connected to the other connecting end portion of the second side plate and fixes the three-dimensional variable type module to the base, The actuator is installed to provide a torsional driving force to the folding line between the second side plate and the fixing surface.

According to an embodiment of the present invention, the actuator includes a twisted SMA wire in which a twisted driving part is disposed in the folding line between the second side plate and the fixing surface, wherein a torsional force in the opposite direction And a pair of SMA wires provided.

According to an embodiment of the present invention, the apparatus may further include a guide link including a flexible connection part having one side connected to the lower side of the first side plate and a base fixing surface for fixing the other side of the flexible connection part to the base.

Another embodiment of the present invention includes a three-dimensional variable-geometry mechanism in which a plurality of the three-dimensional variable-type unit modules are arranged in a pattern, and the plurality of three-dimensional variable-type unit modules are selectively controlled.

According to the three-dimensional variable type apparatus of the present invention, the three-dimensional variable type unit modules are arranged in the form of a mattress when they form rows and columns, and each of the three-dimensional variable type unit modules forms a three-dimensional pixel structure.

The three-dimensional variable type unit module according to the present invention is capable of changing between two shapes, that is, a cubic shape and a planar shape, and the three-dimensional variable type mechanism having a plurality of unit modules collects the shape changes of the unit modules, Dimensional variable degrees of freedom.

The three-dimensional variable type unit module according to the present invention proposes a design method based on a pattern having a motion close to one degree of freedom among origami structures. In addition, a method of simply varying the overall shape by driving a specific folding line is presented. According to the present invention, it is possible to change the shape many times by a simple current input through a driver capable of repeated driving. Particularly, due to the bi-stable pattern design, there is an advantage that no additional driving energy is consumed to maintain the desired shape after the shape change.

Since the three-dimensional variable type unit module according to the present invention makes it possible to manufacture an inexpensive, lightweight and compact three-dimensional variable type mechanism using the paper folding principle, it does not require much space for storage and use, It can be used in various smart devices, electronic devices, and micro-robots, which are required to use the robot. Especially, it is expected to be used as a three-dimensional variable hardware platform for a variable illumination structure, a panel, and a haptic interface device that can be easily accommodated.

1 is a view showing a first state of a three-dimensional variable type unit module according to the present invention.
FIG. 2 is a view showing a first state of a three-dimensional variable type unit module according to the present invention.
3 is a schematic diagram for explaining a first state of a three-dimensional variable type unit module according to the present invention
4 is a development view in which a three-dimensional variable type unit module according to the present invention is developed in the form of a flat sheet.
FIG. 5 is a view sequentially showing a shape changing process of a three-dimensional variable type unit module according to the present invention.
FIG. 6 is a view for explaining a twist motion in a process of a type change of a three-dimensional variable type unit module according to the present invention.
7 is a view for explaining that the three-dimensional variable type unit module according to the present invention maintains a stable state without a separate driving source for maintaining the shape in the first state and the second state.
8 is a view showing the stability of a three-dimensional variable type unit module according to the present invention.
9 is a view for explaining a three-dimensional variable mechanism according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the following embodiments of the present invention may be modified into various other forms, and the scope of the present invention is not limited to the embodiments described below. The embodiments of the present invention are provided to enable those skilled in the art to more fully understand the present invention.

FIG. 1 is a view showing a first state of a three-dimensional variable type unit module according to the present invention, and FIG. 2 is a view showing a second state of a variable type unit module according to the present invention.

The three-dimensional variable type unit module according to the present invention is a three-dimensional variable type unit module having bistability. The three-dimensional variable type unit module according to the present invention is a three-dimensional variable type unit module having a biped- .

FIG. 3 is a schematic diagram illustrating a configuration in which a three-dimensional variable type unit module according to the present invention is erected in a cube shape in a first state.

In the present specification, for convenience of explanation, in the cubic shape of the three-dimensional variable type unit module, the side surface that is disposed so as to intersect the first side surface and the right side of the first side surface perpendicularly to the first side surface is referred to as a second side surface, A side face facing one side face is defined as a third side face, and a side face facing the second side face is defined as a fourth face side. A, B, C, D, E, H, I, and L denote the vertices of a cube.

The three-dimensional variable type unit module 100 according to the present invention can achieve a rotational symmetry in which the shapes of the respective side surfaces coincide with each other when the unit module 100 is rotated 180 degrees about the midpoint of the upper surface in the first state of the cube shape. In the following, the structure of the variable-type unit module 100 will be described with reference to the first side and the second side in the first state of the shape of the cube.

A top plate 10 according to the present invention, a first side plate 20, a second side plate 30, and an actuator 90.

3, an embodiment of the three-dimensional variable type module 100 according to the present invention includes an upper plate 10 disposed on an upper surface, and two corners (ID, EH And a first side plate 20 connected perpendicularly to the upper plate 10, that is, to the first side and the third side of the cube shape, respectively. A second side plate 30 connected to the lateral edges DL and HB of the first side plate 20 is provided on the second side face and the fourth side face so as to be perpendicular to the first side plate 20 .

And may further include a fixing surface 40 connected to the bottom edges C-L and A-B of the second side plate 30 to fix the three-dimensional variable type unit module 100 to the base 1.

According to the embodiment of the present invention, the first side plate 20 and the second side plate 30 may have a right triangle shape. However, the present invention is not limited to such a shape but includes various shapes that can be changed into a second state while being flatly superimposed on the first state of the rectangular parallelepiped shape. The first side plate 20 is formed to have two connecting ends connected to the top plate 10 and the second side plate 30 and a free end extending in a direction intersecting the connecting end, 30 has two connecting ends connected to the first side plate 20 and the fixing surface 40 and a free end extending transversely to the connecting end. The first and second connection ends may be formed to intersect vertically, and the free end may be formed in a straight line. In this case, the first and second side plates 20 and 30 have a right triangle shape and can be formed in a curved shape to prevent the free end from interfering with other plates in a right triangle shape. In this case, the connecting end is two vertical sides of a right triangle, and the free end is an inclined side. This shape has the advantage that the design of the three-dimensional variable type unit module can be simplified. However, the present invention is not limited thereto. For example, as an application example, the three-dimensional variable type unit module may not be opened in the lateral direction, or its shape may be modified to form a structure that minimizes opening. It is also possible to attach a foldable or deformable additional plate to the free end to minimize the opening or opening of the side in the first state and to design an additional actuator for the operation of the additional plate. Thus, the additional plate can be formed in various forms such that it does not interfere with the shape change between the first state and the second state of the three-dimensional variable type unit module.

An embodiment of the present invention will be described with reference to an embodiment shown in the drawing in which the first side plate 20 and the second side plate 30 are formed into a rectangular shape.

One of two mutually perpendicular sides of the first side plate 20 is foldably connected with the top plate 10 and the other of the two sides perpendicular to each other is foldably connected with the second side plate 30 . One side of the second side plate 30 is foldably connected to the first side plate 20, and the other side of the second side plate 30 is foldable with the fixing surface 40 .

The first side plate 20 and the second side plate 30 move when the upper plate 10 is moved between the raised position and the lowered position while the variable unit module 100 is in a standing state and in a collapsed state, , And a top plate (10), and the fixing surface (40) is a fixing part for fixing one side of the link.

The edges where the top plate 10, the first side plate 20, the second side plate 30 and the fixing surface 40 are connected to each other form a foldable folding line 80.

According to the present invention, an actuator (90) is provided between the second side plate (30) and the fixing surface (40) so that the shape of the three-dimensional variable type unit module can be changed between a standing state and a collapsed state. This will be described in more detail below. The programmable motion control of the three-dimensional variable type unit module 100 is possible.

According to the present invention, a guide link (50) for guiding the movement of the first side plate (30) may be further connected to the first side plate (20).

The guide link 50 has a base fixing surface 52 fixed to the base 1 at the front side of the first side and a flexible connecting portion 54 connected between the base fixing surface 52 and the first side plate 30 ). The guide link 50 functions to guide the movement of the first side plate 30 when the variable unit module 100 changes its shape from a collapsed state to a raised state.

FIG. 4 is a developed view of the three-dimensional variable type unit module according to the present invention shown in FIGS. 1 and 2 in a flat sheet form.

As described with reference to FIG. 3, the variable unit module according to the present invention has a rotational symmetry in which the side surfaces of the cubic unit unit are aligned with each other when rotated 180 degrees about the center of the upper surface of the cubic shape, .

4, two sides 11a and 11b of the upper plate 10, which form the upper surface in the shape of a cuboid, are provided on one side of mutually perpendicular sides of the first side plate 20 in the form of a right triangle And one side 31a of the perpendicular side of the second side plate 30 in the form of a right triangle is connected to the other side 21b of the first side plate 20 perpendicular to the first side plate 20 . And the fixing surface 40 is connected to the other side 31b of the second side plate 30, which are perpendicular to each other. It also includes a guide link 50 consisting of a flexible connection 54 connected to the first side plate 20 and a base stationary surface 52.

According to the present invention, the inclined side 31c of the second side plate 30 may be formed as a curved line bent inward. The curved inclined sides prevent interference with other plates when the variable type unit module 100 is in a standing state and in a collapsed state, thereby enabling a smooth shape change.

As shown in FIG. 4, the variable-type unit module 100 according to the present invention is a sheet in an unfolded state, and is designed so that the shape can be changed by using the Orgami principle. Therefore, the variable unit module 100 according to the present invention can be manufactured with a simple structure, and can be manufactured at low cost, light weight, and small size.

The sheet constituting the variable unit module 100 is formed by cutting a flexible film such as a polyimide film to form an overall shape and fixing the upper plate 10, the first and second side plates 20 and 30, ) And the base fixing surface 52 by attaching a reinforcing layer to both sides of the flexible film using an adhesive to form a laminated composite structure having rigidity. Accordingly, the variable unit module 100 is a structure having a laminated composite structure having rigidity in a developed state and a flexible film exposed to the outside between the composite laminated structures.

The exposed flexible film forms a folding line 80 that allows folding. The flexible film forming the folding line 80 may be formed in an extended form as a whole between the composite laminated structures. In addition, the cutting portion 82 may be provided so as to reduce the resistance of the folding line in the shape changing process.

The variable unit module 100 according to the present invention includes an actuator 90 for inducing a shape change between a first state and a second state in a folding line 80 between the second side plate 30 and the fixing surface 40, . As shown in FIG. 4, in the embodiment of the present invention, the actuator 90 includes a pair of torsional SMA wires (90a, 90b) arranged symmetrically with respect to each other. The torsion SMA wires 90a and 90b are inserted between the reinforcing layer and the flexible film layer at the second side plate 30 and the fixing surface 40 at both ends and the driving portion 92 is disposed along the folding line, .

The torsion SMA wires 90a and 90b are formed such that the driving portion 92 disposed on the folding line 80 is a twisted shape memory alloy wire SMA wire and the second side plate 30 and the fixing surface Lt; RTI ID = 0.0 > 40 < / RTI >

According to an embodiment of the present invention, a pair of torsion SMA wires 90a and 90b are included to provide a twisting force stably in opposite directions along the folding line between the second side plate 30 and the fixing surface 40 do. By supplying a current selectively to a pair of torsion SMA wires 90a and 90b, it is possible to provide rotational force to the second side plate 30 in one direction and in the opposite direction, respectively. As a result, the second side plate 30 can be laid down so that the driving can be controlled between the overlapped state and the raised state. As the second side plate 30 is controlled to lie between the overlapped state and the raised state, the variable unit module 100 can be provided with a driving force for changing the shape between the overlapped second state and the raised first state . The folding line 80 between the second side plate 30 and the fixing surface 40 forms an active folding line provided with a driving force.

FIG. 5 is a view continuously showing the shape change process of the three-dimensional variable type unit module according to the present invention, in which the flat shape is changed from a flat shape to a cubic shape, and a flat shape is changed again from a cubic shape.

5 (a) to 5 (d), current is supplied to one torsion SMA wire 90a of a pair of twisted SMA wires, while conversely, f), current is supplied to the other twisted SMA wire 80b of the pair of twisted SMA wires.

5A, the upper plate 10, the first side plate 20, and the second side plate 30 maintain a superposition state with respect to each other. In this state, when a current is supplied to one twisted SMA wire, a twist force is provided so that the second side plate is raised, and the twisted state is released.

As the second side plate 30 moves, the first side plate 20 connected to the first side plate 20 moves, and the first side plate 20 ascends and rotates to the first side position, It ascends while rotating. That is, the top plate 10 rotates 90 占 between the flat shape and the erected cube shape.

FIG. 6 is a schematic diagram for explaining the overall torsional driving of the variable-type unit module 100 shown in FIG. 5 in more detail. FIG. 6 (b) shows the top plate omitted in order to show the overlapping state of the first and second side plates.

6, the vertexes A, B, C and L of the cube are located in the clockwise direction on the lower side and the vertices I and H are located on the upper side of the vertex A as shown in FIG. 6 (a) , E, and D are positioned clockwise.

6 (b), when the vertexes A and D overlap each other, the vertices B and I overlap each other, the vertices C and H overlap each other, and the vertexes L and E overlap each other . It can be seen that the top surface (the plane defined by the corners I.HE, D) is rotated 90 ° clockwise and the shape is shifted from the raised state to the overlapped state.

Therefore, the shape of the variable unit module 100 is not changed unless the load is applied to cause the torsional driving to change the variable unit module 100 to the upper plate 10 in the raised shape of the unit module 100. Thus, the variable unit module 100 is structurally stable in a standing state, and structurally stable in a flat shape on the same principle, even if it does not provide a force to maintain the standing state.

FIG. 7 shows that the variable unit module according to the present invention maintains a stable state even if it does not provide the driving force to maintain the shape in the second state and the first state in which the variable state unit module is mounted. As shown in FIGS. 7 (a) to 7 (c), in the flat shape, the actuator is turned off to maintain a stable state without providing a separate driving force for maintaining the shape. Also, as shown in FIGS. 7D to 7F, the actuator is turned off in the shape of a cube so that a stable state can be maintained even if a separate driving force for maintaining the shape is not provided.

FIG. 8 is a view showing that the variable type unit module according to the present invention is structurally stable in the first state, and it can be seen that the structure placed on the upper plate of the variable type unit module is stably supported without the help of external force.

9 is a view for explaining a three-dimensional variable mechanism according to the present invention. The three-dimensional variable mechanism according to the present invention may be, for example, a hardware platform for three-dimensional pixels.

The three-dimensional variable-geometry mechanism 1000 according to the present invention includes a plurality of variable-type modules 100 arranged in a pattern on a base. Referring to FIG. 9, the variable unit modules 100 are arranged in a pattern in the form of a 3 * 3 mattress.

Three-dimensional representation is possible by selectively controlling a plurality of variable-type unit modules 100 in the three-dimensional variable-geometry mechanism 1000. For example, FIG. 8B is a three-dimensional representation of the gamma (Γ) shape, FIG. 8C is a three-dimensional representation of the X shape (x-shape) 8D is a three-dimensional representation of a square shape. Fig. 8E is a three-dimensional representation of a plus (+) shape. Fig. 8F is a minus shape (minus (-) shape).

Assuming that the three-dimensional variable device 1000 according to the present invention is applied as a hardware platform for three-dimensional pixels, each tangential unit module 100 becomes a three-dimensional pixel structure. In this case, gamma, X shape, square shape, plus shape, and minus shape are expressed by a three-dimensional image according to a programmable control in a planar shape.

The three-dimensional variable mechanism 1000 according to the present invention can be applied not only to the three-dimensional display illustrated with reference to FIG. 9, but also to implement, for example, a deformable three-dimensional map. In this case, another variable type unit module may be further stacked on top of each variable type unit module of the three-dimensional variable type mechanism 1000. In this case, a three-dimensional pixel can be implemented at various heights in each unit pixel.

In addition, the three-dimensional variable mechanism 1000 according to the present invention can be applied to a haptic interface device that transmits information intuitively in the case of a change in shape or a variable illumination type in which the intensity or color of illumination is changed.

Although the preferred embodiments of the spectroscope according to the present invention have been described, the present invention is not limited thereto, but may be variously modified and embodied within the scope of the claims, the detailed description of the invention and the accompanying drawings This also belongs to the present invention.

Claims (11)

A three-dimensional variable type unit module capable of changing the shape between a first state of a cubic shape and a second state of a flat shape,
An upper plate (10);
And two first side plates, each of which is disposed on two opposing sides in the first state and is foldably connected to the upper plate, and which is formed to be flatly overlapped to the lower side of the upper plate when the shape changes into the second state 20); And
The first side plate, the second side plate, and the second side plate, wherein the first side plate and the second side plate are respectively disposed on the other two opposite sides in the first state, and each of the two side plates is foldably connected to the first side plate, 2 side plate 30; And
The second side plate 30 is driven in a state in which the second side plate 30 is laid down in a standing state and vice versa so that a change in shape between the first state and the second state is caused by a twisting motion And an actuator (90)
The first side plate 20 includes two vertically intersecting connecting ends and a free end extending in a direction intersecting the two connecting ends. The connecting end of one side is foldable with the top plate 10 And the other connecting end is foldably connected to the second side plate 30,
The second side plate 30 includes two vertically intersecting connection ends and a free end extending in a direction intersecting with the two connection ends. The one side end of the second side plate 30 is connected to the first side plate 20, And the other connecting end is foldably connected to a fixing surface (40) provided on the base,
The actuator is mounted on each folding line between the second side plate 30 and the fixing surface 40 along a folding line between the second side plate 30 and the fixing surface 40 And a torsion SMA wire disposed at both ends and fixed to the second side plate (30) and the fixing surface (40), wherein each folding line between the second side plate (30) and the fixing surface (40) A pair of torsion SMA wires providing a twisting force in opposite directions to each other, wherein a current is selectively applied to the pair of torsion SMA wires so that the second side plate (30) The driving is controlled between the raised state and the raised state,
Each pair of torsional SMA wires providing a twisting force in the folding line between the second side plate 30 and the fixing surface 40 is arranged such that the torsion SMA wires are symmetrical about 180 degrees about the top plate 10 A three-dimensional variable-type unit module which is characterized.
delete The method according to claim 1,
Wherein the first and second side plates opposed to each other of the three-dimensional variable type unit module are rotationally symmetric with each other when the top plate is rotated 180 degrees.
delete delete The method according to claim 1,
Further comprising a guide link including a flexible connection part having one side connected to the lower side of the first side plate and a base fixing surface for fixing the other side of the flexible connection part to the base.
The method according to claim 1,
Wherein the free ends of the first side plate and the second side plate are formed so as not to interfere with each other at the time of changing between the first state and the second state.
8. The method of claim 7,
Wherein each of the free ends of the first and second side plates is formed as a straight line or an inward curved line.
9. The method of claim 8,
Wherein the first side plate and the second side plate have a shape in which an inclined side is recessed inward in a right triangle or a right triangle shape.
A plurality of the three-dimensional variable type unit modules according to claim 1 are arranged and selectively controlled in a pattern,
Wherein each of the three-dimensional variable type unit modules forms a three-dimensional pixel structure. delete

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