CN107104264B

CN107104264B - Spatial quadrangular expandable unit mechanism capable of being folded into straight line

Info

Publication number: CN107104264B
Application number: CN201710338707.7A
Authority: CN
Inventors: 史创; 李萌; 郭宏伟; 刘荣强; 邓宗全
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2017-05-15
Filing date: 2017-05-15
Publication date: 2020-06-09
Anticipated expiration: 2037-05-15
Also published as: CN107104264A

Abstract

A spatial quadrangular expandable unit mechanism capable of being folded into a straight line relates to an expandable unit mechanism, and solves the problems that the existing quadrangular expandable unit mechanism is a geometrically under-statically determined structure in an expanded state, has lower rigidity and strength, larger folding volume and poor adaptability, and comprises 18 members, wherein the 18 members are connected into the foldable mechanism through kinematic pairs, and the foldable mechanism is in a statically determined quadrangular structure in the expanded state; the 18 members are divided into 7 fixed length members and 11 variable length members, 12 members of the 18 members constitute a frame body of a quadrangular prism, the other 6 members are respectively used as diagonals of the upper surface, the lower surface, the left surface, the right surface, the front surface and the rear surface of the quadrangular prism, and diagonals of two opposite surface arrangements are arranged in a crossed manner. The method is used for constructing the large-scale space deployable mechanism.

Description

Spatial quadrangular expandable unit mechanism capable of being folded into straight line

Technical Field

The invention relates to an expandable unit mechanism, in particular to a spatial quadrangular prism expandable unit mechanism capable of being folded into a straight line, which can be used for spatial expandable mechanisms such as a satellite parabolic antenna, a spatial plane antenna support back frame, a double-layer annular truss type expandable antenna, a solar cell array support frame and the like, and belongs to the technical field of space equipment and equipment.

Background

With the increasingly complex functions of the spacecraft, the requirements on the caliber and the area of the spacecraft are greatly increased, for example, in the complex and large-scale spacecraft such as an international space station, the solar cell array area is large, but the envelope size of the spacecraft is limited by the volume of a payload cabin of a carrier rocket, so that the spacecraft needs to be capable of being contracted into a small volume in the launching stage and can be expanded into a large-area or large-volume high-folding-ratio expandable mechanism in the operating stage. The deployable mechanism is widely used in space stations, communication satellite platforms, space telescopes, space shuttles, star detectors and other spacecrafts. Such as a space station foundation framework, a space mechanical arm capable of being unfolded/folded, a space stretching arm, a large-caliber extensible antenna, a large-scale flexible solar panel support and the like.

Space deployable mechanisms are generally divided into three categories: a rod-shaped deployable mechanism, a planar deployable mechanism and a body-shaped deployable mechanism. The three types of deployable mechanisms can be obtained by array combination of the space deployable units in one-dimensional, two-dimensional and three-dimensional directions. According to the composition principle of the deployable mechanism, the deployable mechanism can be divided into two types of a hinged deployable mechanism and a flexible material deployable mechanism, wherein the hinged deployable mechanism consists of a kinematic pair and a connecting rod, the deployment process of the mechanism is realized by hinge activity, the mechanism has good repeatable folding and deployment performance, long service life, good shock resistance, high precision and high rigidity, is widely applied to the fields of space deployable trusses, space deployable arms, satellite deployable antennas and the like at present, and is widely applied to various spacecrafts as a mature component at present. The flexible material extensible mechanism is folded and unfolded through elastic deformation of the flexible material, the construction process is relatively simple, but the repeatable furling performance is poor, and the precision and the rigidity are relatively low.

Various types of articulated deployable mechanisms have been successfully developed abroad, such as the U.S. 60m collapsible radar support arms for three-dimensional terrain observation, the international space station main solar wing support keel, the tetrahedral frame antenna on russian "alliance" spacecraft, the circular truss antenna on the U.S. Thuraya communications satellite up to 12m in diameter, the 13m caliber frame antenna on the japanese ETS-8 satellite, and the like. In the future, operations such as planet detection, space assembly and operation, space construction, space transportation and the like need an aerospace space foldable and expandable mechanism to complete corresponding operations. Therefore, relevant scientific research institutions in China develop a series of prospective research works on space developable institutions and obtain certain results, but no large-scale complex space developable institutions are applied at present. The invention develops 32 spatial quadrangular expandable unit mechanisms which can be folded into straight lines, and the large-scale spatial expandable mechanism can be assembled by module units.

The quadrangular deployable unit mechanism developed in the past in China is a geometrically statically indeterminate structure in the unfolded state, the rigidity and the strength are low, the folded state is mostly a planar state, the folded volume is large, the folded form is single, and the quadrangular deployable unit mechanism is not suitable for assembling a spatial large-scale deployable mechanism. The present invention overcomes such disadvantages.

Disclosure of Invention

The invention aims to solve the problems that the existing quadrangular prism deployable unit mechanism is a geometric statically indeterminate structure in a deployed state, has lower rigidity and strength, larger folding volume and poor adaptability, and further provides a spatial quadrangular prism deployable unit mechanism capable of being folded into a straight line.

The technical scheme adopted by the invention for solving the problems is as follows:

the foldable unit mechanism of the space quadrangular prism which can be folded into a straight line comprises 18 components, wherein the 18 components are connected into a foldable mechanism through kinematic pairs, and the foldable mechanism is of a statically determinate quadrangular structure in the unfolded state; the 18 members are divided into 7 fixed length members and 11 variable length members, 12 members of the 18 members constitute a frame body of a quadrangular prism, the other 6 members are respectively used as diagonals of the upper surface, the lower surface, the left surface, the right surface, the front surface and the rear surface of the quadrangular prism, and diagonals of two opposite surface arrangements are arranged in a crossed manner.

Compared with the prior art, the invention has the following beneficial effects: the invention provides 32 spatial quadrangular expandable unit mechanisms which have high folding ratio and high rigidity and can be folded into a straight line, the selection range of the spatial expandable units is greatly expanded, the expansion state of each unit is a geometric statically determinate structure, the rigidity and the strength of the unit are high, the rigidity and the strength of the unit are improved by more than 80%, the folding state of the unit is a straight line, the folding volume is small, the folding volume is reduced by more than 70%, the expansion performance is good, the reliability is high, and the mechanism is suitable for large-scale spatial expandable mechanisms. The device can be used for space deployable mechanisms such as satellite parabolic antennas, space plane antenna supporting back frames, double-layer annular truss type deployable antennas, solar cell array supporting frames and the like. The space large-scale deployable mechanisms with other different structural forms can also be obtained according to different unit array combination modes.

Drawings

FIG. 1 is an expanded schematic view of a spatial quadrangular expandable unit mechanism according to an embodiment of the present invention; wherein, the member containing the black dot mark is a variable length member, and the member without the black dot mark is a fixed length member;

FIG. 2 is a schematic view of the foldable in-line spatial quadrangular deployable unit mechanism of FIG. 1 in a collapsed configuration; wherein the black dots are the vertexes of the corresponding statically determinate quadrangular prism frame;

FIG. 3 is a schematic view of a first linearly foldable spatial quadrangular expandable unit mechanism in an expanded state; wherein, the member containing the black dot mark is a variable length member, and the member without the black dot mark is a fixed length member;

FIG. 4 is a schematic view of a first foldable in-line spatial quadrangular deployable unit mechanism in a collapsed state; wherein the black dots are the vertexes of the corresponding statically determinate quadrangular prism frame;

FIG. 5 is a schematic view of the topological connection of a first foldable in-line spatial quadrangular deployable cell mechanism; wherein the black dots are corresponding fixed length components, and the hollow dots are corresponding variable length components;

FIG. 6 is a schematic view of a second linearly foldable spatial quadrangular expandable unit mechanism in an expanded state;

FIG. 7 is a schematic view of a second extendable unit mechanism of the space quadrangular prism type foldable into a straight line in a collapsed state;

FIG. 8 is a schematic view of the topological connection of a second foldable in-line spatial quadrangular deployable cell mechanism;

FIG. 9 is a schematic view of a third foldable-into-line spatial quadrangular expandable unit mechanism in an expanded state;

FIG. 10 is a schematic diagram of a third foldable linear spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 11 is a schematic view of the topological connection relationship corresponding to the third foldable space quadrangular expandable unit mechanism;

FIG. 12 is a schematic view of a fourth foldable linear spatial quadrangular expandable unit mechanism in an expanded state;

FIG. 13 is a schematic diagram of a fourth foldable linear spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 14 is a schematic view of the topological connection relationship corresponding to a fourth foldable space quadrangular deployable unit mechanism;

FIG. 15 is a schematic view of a fifth space quadrangular expandable unit mechanism foldable into a straight line in an expanded state;

FIG. 16 is a schematic view of a fifth foldable in-line spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 17 is a schematic view of the topological connection of a fifth spatial quadrangular deployable cell mechanism foldable into a straight line;

FIG. 18 is a schematic view of a sixth space quadrangular expandable unit mechanism foldable into a straight line in an expanded state;

FIG. 19 is a schematic view of a sixth spatial quadrangular deployable unit mechanism foldable into a straight line in a collapsed state;

FIG. 20 is a schematic view of the topological connection of a sixth spatial quadrangular prism deployable cell mechanism foldable into a straight line;

FIG. 21 is a schematic view of a seventh type of space quadrangular expandable unit mechanism foldable into a straight line in an expanded state;

FIG. 22 is a schematic view of a seventh foldable in-line spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 23 is a schematic view of a topological connection corresponding to a seventh spatial quadrangular deployable cell mechanism foldable into a straight line;

FIG. 24 is a schematic view of an eighth foldable linear spatial quadrangular expandable unit mechanism in an expanded state;

FIG. 25 is a schematic view of the eighth foldable linear spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 26 is a schematic diagram of the topological connection relationship corresponding to the eighth foldable space quadrangular expandable unit mechanism;

FIG. 27 is a schematic view of an expanded state of a ninth space quadrangular expandable unit mechanism foldable into a straight line;

FIG. 28 is a schematic view of a ninth space quadrangular deployable unit mechanism foldable in a straight line in a collapsed state;

FIG. 29 is a schematic view of a topological connection corresponding to a ninth spatial quadrangular deployable cell mechanism foldable into a straight line;

FIG. 30 is a schematic view of an expanded state of a tenth space-quadrangular expandable unit mechanism foldable into a straight line;

FIG. 31 is a schematic view of a tenth space quadrangular deployable unit mechanism foldable in a straight line in a collapsed state;

FIG. 32 is a schematic view of the topological connection of a tenth spatial quadrangular deployable cell mechanism foldable into a straight line;

FIG. 33 is a schematic view of an eleventh space-quadrangular expandable unit mechanism foldable into a straight line in an expanded state;

FIG. 34 is a schematic view of an eleventh foldable in-line spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 35 is a schematic view of the topological connection of an eleventh spatial quadrangular prism deployable cell mechanism foldable into a straight line;

FIG. 36 is a schematic view of an expanded state of a twelfth space quadrangular expandable unit mechanism foldable into a straight line;

FIG. 37 is a schematic view of a twelfth type of foldable in-line spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 38 is a schematic view of a corresponding topological connection of a twelfth type of spatial quadrangular prism deployable cell mechanism that is foldable into a straight line;

FIG. 39 is a schematic view of a thirteenth space quadrangular expandable unit mechanism folded in a straight line in an expanded state;

FIG. 40 is a schematic diagram of a thirteenth foldable-into-line spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 41 is a schematic view of the topological connection relationship corresponding to a thirteenth foldable-into-line spatial quadrangular expandable unit mechanism;

FIG. 42 is a schematic view of a fourteenth space quadrangular expandable unit mechanism folded in a straight line in an expanded state;

FIG. 43 is a schematic view of a fourteenth foldable linear spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 44 is a schematic view of the topological connection of a fourteenth foldable linear spatial quadrangular deployable cell mechanism;

FIG. 45 is a schematic view of an expanded state of a fifteenth linearly foldable spatial quadrangular expandable unit mechanism;

FIG. 46 is a schematic view of a fifteenth linearly foldable spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 47 is a schematic view of a topological connection of a fifteenth spatial quadrangular deployable cell mechanism foldable into a straight line;

FIG. 48 is a schematic view of an expanded state of a sixteenth type of space-quadrangular deployable cell mechanism foldable into a straight line;

FIG. 49 is a schematic view of a sixteenth spatial quadrangular deployable unit mechanism folded in a linear fashion;

FIG. 50 is a schematic view of the topological connection of a sixteenth spatial quadrangular deployable cell mechanism that is foldable into a straight line;

FIG. 51 is a schematic view of a seventeenth mechanism for a spatially quadrangular deployable unit that is foldable into a straight line in an expanded state;

FIG. 52 is a schematic view of a seventeenth mechanism for folding a linearly foldable spatial quadrangular deployable unit in a collapsed state;

FIG. 53 is a schematic view of a seventeenth mechanism for a spatial quadrangular deployable unit that is foldable into a straight line and has a topological connection;

FIG. 54 is a schematic view of an eighteenth space quadrangular expandable unit mechanism folded in a straight line in an expanded state;

FIG. 55 is a schematic view of the eighteenth foldable-into-line spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 56 is a schematic view of the topological connection relationship corresponding to the eighteenth foldable-into-line spatial quadrangular expandable unit mechanism;

FIG. 57 is a schematic view of a nineteenth spatial quadrangular prism deployable cell mechanism in an expanded state;

FIG. 58 is a schematic view of a nineteenth spatial quadrangular deployable unit mechanism folded in a linear fashion;

FIG. 59 is a schematic view of the topological connection of a nineteenth spatial quadrangular deployable cell mechanism foldable into a straight line;

FIG. 60 is a schematic view of an expanded state of a twentieth space-quadrangular expandable unit mechanism foldable into a straight line;

FIG. 61 is a schematic view of a twenty-fourth embodiment of a foldable in-line spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 62 is a schematic view of the topological connection of a twentieth spatial quadrangular deployable cell mechanism foldable into a straight line;

FIG. 63 is a schematic view of a twenty-first spatial quadrangular deployable cell mechanism folded in line in an expanded state;

FIG. 64 is a schematic view of a twenty-first foldable in-line spatial quadrangular deployable unit mechanism in a collapsed state;

FIG. 65 is a schematic view of a twenty-first spatial quadrangular prism deployable cell mechanism in topological connection;

FIG. 66 is a schematic view of a twenty-second space quadrangular expandable unit mechanism folded in line in an expanded state;

FIG. 67 is a schematic view of a twenty-second spatial quadrangular deployable unit mechanism foldable into a straight line in a collapsed state;

FIG. 68 is a schematic view of the topological connection of a twenty-second spatial quadrangular deployable cell mechanism foldable into a straight line;

FIG. 69 is a schematic view of a twenty-third type of space quadrangular deployable cell mechanism folded in a linear fashion in an expanded state;

FIG. 70 is a schematic view of a twenty-third foldable-into-line spatial quadrangular deployable cell mechanism in a collapsed state;

FIG. 71 is a schematic diagram of the topological connection of a twenty-third foldable-into-line spatial quadrangular deployable cell mechanism;

FIG. 72 is a schematic view of a twenty-fourth space quadrangular expandable unit mechanism folded in a linear fashion in an expanded state;

FIG. 73 is a schematic view of a twenty-fourth foldable-into-line spatial quadrangular deployable cell mechanism in a collapsed state;

FIG. 74 is a schematic diagram of the topological connections associated with a twenty-fourth foldable rectilinear spatial quadrangular deployable cell mechanism;

FIG. 75 is a schematic view of a twenty-fifth type of linearly foldable spatial quadrangular deployable cell mechanism in an expanded state;

FIG. 76 is a schematic view of a twenty-fifth spatial quadrangular deployable unit mechanism folded in a linear fashion;

FIG. 77 is a schematic view of the topological connection of a twenty-fifth spatial quadrangular deployable unit mechanism foldable into a straight line;

FIG. 78 is a schematic view of a twenty-sixth spatial quadrangular deployable cell mechanism folded in line in an expanded state;

FIG. 79 is a schematic view of a twenty-sixth spatial quadrangular deployable unit mechanism foldable into a straight line in a collapsed state;

FIG. 80 is a schematic view of a topological connection corresponding to a twenty-sixth spatial quadrangular deployable cell mechanism that is foldable into a straight line;

FIG. 81 is a schematic view of a twenty-seventh spatial quadrangular deployable cell mechanism folded in a straight line in an unfolded state;

FIG. 82 is a schematic view of a twenty-seventh spatial quadrangular deployable unit mechanism foldable into a straight line in a collapsed state;

FIG. 83 is a schematic view of a topological connection corresponding to a twenty-seventh spatial quadrangular deployable cell mechanism that is foldable into a straight line;

FIG. 84 is a schematic view of a twenty-eighth space quadrangular expandable unit mechanism folded in a linear state;

FIG. 85 is a schematic diagram of a twenty-eighth space quadrangular deployable unit mechanism folded in a linear fashion;

FIG. 86 is a schematic diagram of the topological connection of a twenty-eighth foldable linear spatial quadrangular deployable cell mechanism;

FIG. 87 is a schematic view of a twenty-ninth space quadrangular deployable unit mechanism folded into a straight line in an expanded state;

FIG. 88 is a schematic view of a twenty-ninth spatial quadrangular deployable unit mechanism foldable into a straight line in a collapsed state;

FIG. 89 is a schematic view of a twenty-ninth spatial quadrangular deployable cell mechanism with corresponding topological connections;

FIG. 90 is a schematic view of an expanded state of a thirtieth space quadrangular expandable unit mechanism foldable into a straight line;

FIG. 91 is a schematic view of a thirtieth spatial quadrangular deployable unit mechanism folded in a linear fashion;

FIG. 92 is a schematic view of the topological connection of a thirtieth spatial quadrangular deployable cell mechanism foldable into a straight line;

FIG. 93 is a schematic view of a thirty-first spatial quadrangular prism deployable cell mechanism in an expanded state;

FIG. 94 is a schematic view of a thirty-first spatial quadrangular prism deployable unit mechanism folded in a linear fashion;

FIG. 95 is a schematic view of the topological connection of a thirty-first spatial quadrangular deployable cell mechanism foldable into a straight line;

FIG. 96 is a schematic view of a thirty-second spatial quadrangular deployable cell mechanism folded in line in an expanded state;

FIG. 97 is a schematic view of a thirty-second spatial quadrangular deployable unit mechanism folded in a linear fashion;

FIG. 98 is a schematic view of the topological connection of a thirty-second spatial quadrangular deployable cell mechanism foldable into a straight line;

FIG. 99 is a schematic view of the expanded state of the spatial support arm mechanism formed by the combination of single spatial quadrangular expandable mechanism unit mechanisms according to a one-dimensional one-directional array;

FIG. 100 is the schematic view of the furled state of FIG. 99;

fig. 101 is a schematic view of an unfolded state of a spatial planar antenna support back frame mechanism formed by combining single spatial quadrangular deployable mechanism units according to a two-dimensional bidirectional array;

FIG. 102 is a schematic view of the closed state of FIG. 101;

fig. 103 is a schematic view of an expanded state of a support back frame mechanism of a spatial double-layer annular truss type expandable antenna formed by combining single spatial quadrangular prism expandable mechanism units in a circumferential annular array;

FIG. 104 is a schematic view of the closed state of FIG. 103;

fig. 105 is a schematic view showing an expanded state of a support back frame mechanism of a spatial parabolic deployable antenna, which is formed by assembling spatial support arm mechanisms formed by an array of spatial quadrangular deployable mechanism units in a circumferentially spaced array;

fig. 106 is a schematic view of the closed state of fig. 105.

Detailed Description

Referring to fig. 1-98, the spatial quadrangular expandable unit mechanism capable of being folded into a straight line comprises 18 members, wherein the 18 members are connected with each other through kinematic pairs to form a foldable mechanism, and the foldable mechanism is in a static quadrangular structure in an expanded state; the 18 members are divided into 7 fixed length members and 11 variable length members, 12 members of the 18 members constitute a frame body of a quadrangular prism, the other 6 members are respectively used as diagonals of the upper surface, the lower surface, the left surface, the right surface, the front surface and the rear surface of the quadrangular prism, and diagonals of two opposite surface arrangements are arranged in a crossed manner.

In fig. 3 to 98, the members containing black dot marks in the schematic expanded state of each of the 32 kinds of the space quadrangular expandable unit mechanisms which can be folded into a straight line are variable length members, and the members not containing black dot marks are fixed length members; the black dots in the corresponding drawing diagram in the furled state are the vertexes of the corresponding statically determinate quadrangular prism frame, the black dots in the corresponding topological diagram connection relation diagram represent the corresponding fixed length members, and the hollow dots represent the corresponding variable length members.

Taking the first foldable space quadrangular prism deployable unit mechanism as an example, as shown in fig. 3, a, B, C, D, E, F, G, H respectively represent eight vertexes of the constructed static quadrangular prism, or a node is connected between members, the node contains a kinematic pair, wherein 12 members of AB, BC, CD, DA, AH, HE, ED, EF, FC, FG, GB and GH form a frame body of the static quadrangular prism, and 6 members of AC, GE, AG, EC, AE and GC are diagonals of the upper face, the lower face, the left face, the right face, the front face and the rear face of the static quadrangular prism. Wherein 11 members of BC, DA, GB, ED, FG, HE, EF, AG, AC, CG and CE with black dots respectively also represent variable length members, and 7 members of AB, CD, AH, GH, GE, CF, AE respectively also represent fixed length members. The variable length member is preferably a collapsible hinge rod, a sleeve rod or a variable length flexible cable, and the kinematic pair contained in each node is preferably a revolute pair, a ball pair or a U pair.

The specific folding process is as follows: EF. The ED and CE components rotate around the vertex G with GE as radius and the vertex H with HE as radius at the same time of elongation to rotate relatively for a certain angle, the BC, DA and AG components contract, and simultaneously the eight vertices (nodes) rotate relatively, finally the foldable and rectilinear folded state diagram shown in fig. 4 is obtained, and the corresponding topological connection relationship of fig. 3 and fig. 4 is shown in fig. 5. AB, AC, AD, AE, AG, AH, BC, BG, CD, CE, CF, CG, DE, EF, EG, EH, FG, GH in fig. 5 represent members, respectively, wherein members with black dots (AB, AE, AH, CD, CF, EG, and GH) represent fixed length members, members with open dots (AC, AD, AG, BC, BG, CE, CG, DE, EF, EH, and FG) represent variable length members, and connecting lines between the above 18 members in fig. 5 represent connecting relationships between members.

By analogy, there are 31 units of similar construction, as shown in fig. 6 to 98, but with different arrangements of the positions of the variable length members. The spatial quadrangular prism expandable unit mechanisms from 2 nd to 32 th which can be folded into a straight line are combined with kinematic pairs contained in vertexes or nodes of the quadrangular prism frame main body according to the arrangement positions of the given variable length members and the fixed length members to finally realize the expansion, the folding and the corresponding construction of the topological connection relation diagram. The kinematic pair related to the 32 kinds of spatial quadrangular prism deployable unit mechanisms which can be folded into a straight line is preferably a revolute pair, a ball pair or a U pair, the related variable-length component is preferably a foldable hinge rod, a sleeve rod or a variable-length flexible cable, or any effective combination of the kinematic pair and the variable-length component, so that the corresponding unfolding and folding of each kind of spatial quadrangular prism deployable unit mechanisms which can be folded into a straight line and the construction of corresponding topological connection relation diagrams are realized.

The invention provides 32 spatial quadrangular expandable unit mechanisms which have high folding ratio and high rigidity and can be folded into a straight line, each unit consists of 11 variable-length members and 7 fixed-length members, and the spatial quadrangular expandable unit mechanisms can be conveniently expanded into linear, planar and three-dimensional curved surface type expandable mechanisms.

The spatial support arm mechanisms shown in fig. 99 and 100 can be formed by combining the single foldable-straight spatial quadrangular expandable unit mechanisms according to a one-dimensional unidirectional array.

The spatial plane antenna support back frame mechanism shown in fig. 101 and fig. 102 can be formed by combining single foldable linear space quadrangular expandable unit mechanisms according to a two-dimensional bidirectional array.

The combination of the single foldable linear space quadrangular prism expandable unit mechanisms according to the circumferential annular array can form a supporting back frame mechanism of the space double-layer annular truss type expandable antenna shown in the figures 103 and 104.

The spatial support arm mechanisms formed by combining the spatial quadrangular prism expandable unit mechanism arrays which can be folded into a straight line are arrayed according to circumferential annular intervals, so that the support back frame mechanism of the spatial parabolic expandable antenna shown in fig. 105 and 106 can be formed.

The space large-scale deployable mechanisms with other different structural forms can also be obtained according to different unit array combination modes.

The present invention is not limited to the above embodiments, and any person skilled in the art can make many modifications and equivalent variations by using the above-described structures and technical contents without departing from the scope of the present invention.

Claims

1. Spatial quadrangular expandable unit mechanism capable of being folded into straight lines is characterized in that: the foldable mechanism comprises 18 components, wherein the 18 components are connected through kinematic pairs to form a foldable mechanism, and the foldable mechanism is in a statically determinate quadrangular structure in an unfolded state; the 18 members are divided into 7 fixed length members and 11 variable length members, the upper surface, the lower surface, the left surface, the right surface, the front surface and the rear surface of the space quadrangular expandable unit mechanism are limited, 12 members in the 18 members form a frame main body of the quadrangular prism, the rest 6 members are respectively used as the diagonals of the upper surface, the lower surface, the left surface, the right surface, the front surface and the rear surface of the quadrangular prism, and the diagonals of the two opposite surface arrangements are arranged in a crossed manner;

wherein: the upper face is defined by a first member (AB), a second member (BC), a third member (CD), a fourth member (DA) and a fifth member (AC) of the 18 members, the fifth member (AC) connecting a connecting portion (a) between the first member (AB) and the fourth member (DA) and a connecting portion (C) between the second member (BC) and the third member (CD), wherein the first member (AB) and the third member (CD) are fixed length members, and the second member (BC), the fourth member (DA) and the fifth member (AC) are variable length members;

the lower face is defined by a sixth member (HG), a seventh member (GF), an eighth member (FE), a ninth member (EH) and a tenth member (GE) of the 18 members, the tenth member (GE) connecting the connection (G) between the sixth member (HG) and the seventh member (GF) and the connection (E) between the eighth member (FE) and the ninth member (EH), wherein the sixth member (HG) and the tenth member (GE) are fixed length members and the seventh member (GF), the eighth member (FE) and the ninth member (EH) are variable length members;

the left face is defined by the first (AB), the sixth (HG) and eleventh, twelfth and thirteenth (GA) of the 18 members, the eleventh (AH) and twelfth (GB) members connecting corresponding ends of the first (AB) and sixth (HG) members and being parallel to each other, the thirteenth (GA) member connecting a connection (G) between the sixth (HG) and twelfth (GB) members and a connection (a) between the first (AB) and eleventh (AH) members, wherein the eleventh (AH) member is a fixed length member and the twelfth (GB) and thirteenth (GA) members are both variable length members;

the right face is defined by the third (CD), eighth (FE) and fourteenth (DE), Fifteenth (FC) and sixteenth (EC) members of the 18 members, the fourteenth (DE) and Fifteenth (FC) members connecting corresponding ends of the third (CD) and eighth (FE) members and being parallel to each other, the sixteenth (EC) member connecting a connection (C) between the third (CD) and Fifteenth (FC) members and a connection (E) between eighth (FE) and fourteenth (DE) members, wherein the fifteenth member (FC) is a fixed length member, the fourteenth (DE) and sixteenth (EC) members are both variable length members;

the front face is defined by the fourth member (DA), the eleventh member (AH), the ninth member (EH), the fourteenth member (DE), and a seventeenth member (AE) of the 18 members, the seventeenth member (AE) connecting a connection portion (a) between the fourth member (DA) and the eleventh member (AH) and a connection portion (E) between the fourteenth member (DE) and the ninth member (EH), the seventeenth member (AE) being a fixed-length member;

and the latter face is defined by the second member (BC), the fifteenth member (FC), the seventh member (GF), the twelfth member (GB) and an eighteenth member (GC) of the 18 members, the eighteenth member (GC) connecting a connection portion (G) between the seventh member (GF) and the twelfth member (GB) and a connection portion (C) between the second member (BC) and the fifteenth member (FC), the eighteenth member (GC) being a variable length member.

2. The space quadrangular expandable unit mechanism foldable into a straight line according to claim 1, wherein: the 11 variable length members are each a variable length sleeve rod.

3. The space quadrangular expandable unit mechanism foldable into a straight line according to claim 1, wherein: the 11 variable length members are respectively collapsible hinge rods or variable length flexible cables.

4. The space quadrangular expandable unit mechanism foldable into a straight line according to claim 1, wherein: the kinematic pair is a revolute pair.

5. The space quadrangular expandable unit mechanism foldable into a straight line according to claim 1, wherein: the kinematic pair is a ball pair or a U pair.

6. A space quadrangular expandable unit mechanism foldable into a straight line according to any one of claims 1 to 5, wherein: the spatial quadrangular expandable unit mechanisms of the foldable straight line are combined in an array mode to form a spatial support arm mechanism, a spatial plane antenna support back frame mechanism, a spatial double-layer annular truss type expandable antenna support back frame mechanism or a spatial paraboloid expandable antenna support back frame mechanism.