CN113685429B

CN113685429B - A kind of unfolding structure and unfolding method

Info

Publication number: CN113685429B
Application number: CN202110874078.6A
Authority: CN
Inventors: 李晓明; 邹宇; 赵成; 吴兴贵
Original assignee: Spacety Co ltd Changsha
Current assignee: Mianyang Tianyi Space Technology Co ltd; Tianyi Space Technology Co ltd
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2024-05-28
Anticipated expiration: 2041-07-30
Also published as: CN113685429A

Abstract

The invention relates to a deployment structure comprising at least: the main hinge unit can be folded and unfolded to realize the connection between two unfolding sides of the mechanism to be unfolded; the auxiliary hinge unit is used for limiting the freedom degree of the main hinge unit after being folded and unfolded, and the clearance eliminating unit is used for providing a pre-tightening load and eliminating the clearance existing in the main hinge unit, wherein the auxiliary hinge unit is assembled on the main hinge unit in a mode that the auxiliary hinge unit can synchronously or asynchronously move with the main hinge unit, and the clearance eliminating unit is arranged on the main hinge unit.

Description

Unfolding structure and unfolding method

Technical Field

The invention relates to the technical field of space mechanism unfolding, in particular to an unfolding structure and an unfolding method.

Background

With the increasing investment of the country to the aerospace field, space science and technology such as satellite communication, navigation, military reconnaissance, deep space exploration and the like are rapidly developed. These techniques have been developed without the need for space antennas. The space antenna is called the "eye" of the satellite and is an important component of the satellite. While the spatially extendable antenna has a very important role in the spatially extendable structure, it is an integral part of the spatial antenna. The antenna mechanism is an essential main component of a spacecraft such as a satellite, an airship, a space station and the like, and is used for carrying out various tasks such as measurement and control, communication and the like. So far, the deployable antenna structures have been widely used in a number of fields including military, aerospace, information technology, and the like. As the development of aerospace technology has advanced, larger and more applications require larger and more deployable antenna structures, and the application of spatially deployable structures in aircraft antennas has been due to the contradiction between the limited volume of the rocket and the increasing volume of the antenna, which is limited by the development of rocket technology.

After the expandable structure is applied to the antenna, the antenna is in a folding locking state in a transmitting state, and after the aircraft enters a preset track, the folding antenna mechanism is gradually unfolded from the folding state to a working state and locked under the action of the driving mechanism. An important ring of the space-deployable antenna can work normally is whether the space-deployable antenna can be successfully deployed under the action of external driving force after a satellite enters an orbit. Because of the large aperture and large contraction ratio of the space-deployable antenna, there is necessarily a relative movement, particularly a relative rotation, of the different folding members of the antenna during deployment, and therefore the hinge plays an indispensable role in the deployment structure of the antenna.

Over the last decades, synthetic aperture radar (SYNTHETIC APERTURE RADAR, SAR) has emerged as an advanced radar technology that has found more frequent application in numerous earth-looking tasks due to its all-weather all-day functions over traditional optical band radars. The synthetic aperture radar uses small-scale antennas to move along the direction of a long line array at constant speed and radiate coherent signals, and then carries out coherent processing on reflected waves received at different positions, thereby obtaining the imaging radar with higher resolution. For higher viewing resolution, larger size antennas are required, which also results in a larger base for the SAR antenna board, which is generally thicker, larger in size, with larger mass and larger folding ratio, e.g., canadian RADASAT-2 antenna weight 80Okg, folding volume of only 7m. Meanwhile, the synthetic aperture radar has higher requirements on the plane precision of the antenna board. Therefore, for the deployable synthetic aperture radar antenna, the planar accuracy and rigidity after deployment are important, which requires a hinge of the deployable antenna to have higher accuracy, rigidity and repetition accuracy. Particularly for a radar antenna without a back frame, the rigidity of the antenna is ensured by a hinge between the plates, so that the performance of the hinge determines the performance of the antenna to a certain extent. An important method for improving the performance of the hinge is to add a locking device into the hinge, and the rigidity of the hinge structure can be obviously improved after the locking device is locked. In addition, another design constraint of space hinge locks is to reduce mass as much as possible. Under the drive of the unfolding structure, the antenna panel is unfolded around the rotary hinge to move, and the hinge is automatically locked under the action of the locking device after being unfolded in place, and certain rigidity is kept, so that the requirements of high rigidity, high precision and light weight of the satellite antenna mechanism under the action of various loads are met.

Because of the requirement of unfolding and folding, two components connected by the hinge have relative motion, and a certain gap is needed between the shaft pin and the hinge hole, so that translational degrees of freedom in two directions appear between the two hinges, and errors of relative positions after locking are generated; the taper pin and the taper hole have relative sliding, so that the locking precision is further influenced. The gap may also be larger when a lower precision grade fit is chosen for lower manufacturing costs. And as the movement time of the mechanism increases, the abrasion between the hinges increases, and the gap between the hinges also increases.

The presence of hinge gaps in the mechanism has two effects on the mechanism. On the one hand, it compensates for manufacturing, assembly errors and thermal deformations of the mechanism during movement and also accommodates lubricating medium. On the other hand, the hinge gap may have a great negative effect: the ideal model of the mechanism is destroyed, so that deviation is generated between the actual motion and the ideal motion of the mechanism; the presence of a gap will affect its form accuracy for static mechanisms, which is particularly desirable for precision machinery. Most notably the dynamic response of the gap during mechanical movement. Because of the existence of the gap, the kinematic pair elements can lose contact in the movement process of the mechanism, and collision can occur when the kinematic pair elements are contacted again, so that vibration is caused. The amplitude of acceleration, kinematic pair counter force and the like generated during collision can reach several times or even more than tens times of that of an ideal model, so that the dynamic stress of the mechanism is increased, the mechanism is unstable in movement, severe noise, vibration and abrasion are generated, the stability, efficiency and precision of the mechanism movement are reduced, and even the mechanism is possibly damaged. For example, in the aerospace field, after a satellite is transported to a designated orbit by a carrier rocket, the antenna is unfolded and positioned by an unfolding locking mechanism, and for a unfolding structure and a pointing mechanism which are required by large size and high precision, the precision index of the unfolding structure and the pointing mechanism is related to success or failure of a system, and a mechanism used on the satellite is a hinge structure, and the hinge mechanism has mechanical nonlinear characteristics and kinematic uncertainty due to the influence of a hinge gap, so that great difficulty is added to the analysis of the unfolding structure of the hinge plate type satellite antenna. Due to the nonlinear influence of the gap on the mechanism, the conditions of instability of the stretching mechanism, insufficient positioning precision, failure of the antenna opening and the like often occur, and the failure of the aerospace vehicle is caused. In addition, whether it is a satellite or other aerospace device, it is subject to various dynamic environments during launch and delivery, and under the excitation of dynamic loads, the structure may deform or even resonate, thereby causing damage to the device or even failure of launch.

Aiming at the problem of poor mechanism reliability of the unfolding structure with the current large-size and high-precision requirements, the patent literature with the publication number CN1035951039B in the prior art provides a novel flexible solar cell array unfolding device, wherein a hinge mechanism is adopted to realize the connection between rib plates, and consists of a male hinge, a female hinge, a hinge rotating shaft, a sliding pin rotating shaft, a sliding pin fixing frame, a sliding pin spring piece, a plane scroll spring, a hinge rotating shaft fixing nut, a sliding pin fixing nut and a plane scroll spring outer stop lever; the male hinge is connected with the female hinge through a hinge rotating shaft, and a hinge rotating shaft fixing nut is arranged at one end of the hinge rotating shaft to realize axial fixation; the hinge is integrated with a main body plate locking mechanism, the sliding pin is inserted into a through hole on the sliding pin fixing frame, a sliding pin fixing nut is arranged to realize relative fixation, a sliding pin rotating shaft penetrates through the other through hole of the sliding pin fixing frame and a corresponding through hole on the female hinge, and a sliding pin rotating shaft fixing nut is arranged to realize connection with the female hinge; the sliding pin spring piece is fixedly connected with the sliding pin rotating shaft, and the sliding pin slides at the edge of the male hinge; the outer baffle rod of the plane scroll spring is fixedly connected with the female hinge, and is used for fixing the plane scroll spring, so that the plane scroll spring stores certain elastic potential energy to tension the hinge mechanism. The driving mechanism is a plane spiral spring installed in the hinge mechanism, and the number of the driving mechanisms is 60. The plane scroll spring adopts a non-contact type outer end rotary type, is fixedly connected with the hinge rotating shaft, and is in a compressed state when the sailboard is folded; after release, the flat spiral spring drives the flexible sailboard to spread. The locking mechanism adopts a cam pin type locking mechanism arranged on the hinge mechanism, and the locking and unlocking processes can be repeated for a plurality of times. When the whole flexible solar cell array sailboard is unfolded to form a planar array, the sliding pin is inserted into the groove on the female hinge under the drive of the planar spiral spring, and locking is completed.

As proposed in the patent document with publication number CN1105181028a in the prior art, an unfolding hinge suitable for a satellite-borne synthetic aperture radar umbrella-shaped mesh antenna comprises a hook hinge and a lock hinge, wherein the hook hinge is fixed on an antenna base, the hook hinge is connected with a radial rib of the antenna, one side of the lower end of the lock hinge is hinged to the upper end of the hook hinge, a slideway is fixedly arranged on the other side of the lower end of the lock hinge, the lower end of the lock hinge is hinged to the lower end of a locking hook, a lock shaft is arranged at the upper end of the locking hook, the lock shaft is attached to the slideway under the action of a first leaf spring, a locking groove is arranged on the slide, the lock shaft is arranged in the locking groove in an unfolding locking state, and a coil spring which is used for connecting the hook hinge and the lock hinge and generating force on the lock hinge is arranged on one side of the hook hinge.

Currently, the main current unfolding structure only has a limitation of one unfolding direction, for example, the unfolding structure proposed by the prior art, the rigidity after unfolding is provided by the residual elasticity of a spring or a driving mechanism, and some unfolding structures are provided with locking pins which can play a role of backstop, but a gap exists between the locking pins and the pin holes, and the gap can cause the unfolding part to shake within a small angle range, so that the shaking has a great negative influence on the gesture control precision. For the parts with larger unfolding quality, the rigidity after unfolding is smaller, the overall frequency of the unfolding assembly is very low, the whole assembly and the attitude control action system are easy to form a coupling effect, resonance is generated, the attitude of the whole spacecraft is unstable, and the on-orbit task is influenced.

Furthermore, there are differences in one aspect due to understanding to those skilled in the art; on the other hand, since the applicant has studied a lot of documents and patents while making the present invention, the text is not limited to details and contents of all but it is by no means the present invention does not have these prior art features, but the present invention has all the prior art features, and the applicant remains in the background art to which the right of the related prior art is added.

Disclosure of Invention

In view of the shortcomings of the prior art, the present invention provides an unfolding structure, at least comprising: the main hinge unit can be folded and unfolded to realize the connection between two unfolding sides of the mechanism to be unfolded; the auxiliary hinge unit is used for limiting the freedom degree of the main hinge unit after being folded and unfolded, and the clearance eliminating unit is used for providing a pre-tightening load and eliminating the clearance existing in the main hinge unit, wherein the auxiliary hinge unit is assembled on the main hinge unit in a mode that the auxiliary hinge unit can synchronously or asynchronously move with the main hinge unit, and the clearance eliminating unit is arranged on the main hinge unit.

According to a preferred embodiment, the secondary hinge unit is mounted on the primary hinge unit by at least two secondary hinge torsion springs having a torque capable of urging the secondary hinge unit to fold towards the primary hinge unit to limit the degrees of freedom of the primary hinge unit after folding and unfolding.

According to a preferred embodiment, the rotation angle between the secondary hinge and the primary hinge is 90 ° to 180 °.

According to a preferred embodiment, the main hinge unit comprises at least two main hinges, and the anti-backlash unit comprises at least: a fixing pin disposed in a main hinge arm corresponding to a main hinge; and the elastic component is movably arranged in the main hinge arm corresponding to the other main hinge and is provided with a first working posture and a second working posture which are formed by opposite fixing pins, wherein when the unfolding structure is unfolded in place, the elastic component eliminates the gap in a mode of switching from the first working posture to the second working posture.

According to a preferred embodiment, the resilient member comprises at least a sliding pin and a sliding pin pretensioning spring, the sliding pin being held in an abutting relationship with the fixing pin by means of the sliding pin pretensioning spring in a compressed state for providing a pretensioning load to the main hinge unit.

According to a preferred embodiment, the secondary hinge unit further comprises two secondary hinges connected to each other by a primary hinge torsion spring, the primary hinge unit comprising a first primary hinge and a second primary hinge, the secondary hinge unit comprising a first secondary hinge and a second secondary hinge, the rotational axis between the first secondary hinge and the first primary hinge and the rotational axis between the second secondary hinge and the second primary hinge being co-located with the first axis.

According to a preferred embodiment, the axes of rotation respectively corresponding to the two secondary hinge torsion springs are located on a second axis, which is perpendicular to the first axis.

According to a preferred embodiment, the deployment structure further comprises at least one force adjustment plug fitted to at least one hinge in such a way that it can adjust the torsion force of the secondary or primary hinge torsion springs.

The application also provides a unfolding method of the unfolding structure, which is characterized by comprising at least one of the following steps: when not unfolded, the main hinge unit and the auxiliary hinge unit are in a folding posture, two main hinges in the main hinge unit are overlapped with each other, and two auxiliary hinges in the auxiliary hinge unit are overlapped with each other; the main hinge unit is driven to be unfolded, and the auxiliary hinge unit is synchronously unfolded along with the main hinge unit; maintaining the unfolding posture of the main hinge unit, and driving the auxiliary hinge unit to fold relative to the main hinge unit; the auxiliary hinge unit is driven to fold to a preset position and kept, and the unfolding is completed.

According to a preferred embodiment, the deployment method further comprises: when the unfolding structure is unfolded in place, the elastic component in the anti-backlash unit is converted from the first working posture to the second working posture.

Drawings

FIG. 1 is a simplified structural schematic of a deployed configuration in a deployed final state provided by the present invention;

FIG. 2 is a simplified front perspective schematic illustration of a deployed configuration in a deployed intermediate state provided by the present invention;

FIG. 3 is a simplified overall structural schematic of the unfolded configuration in the folded state provided by the present invention;

FIG. 4 is a simplified schematic illustration of a deployed configuration in a deployed intermediate state provided by the present invention;

FIG. 5 is a simplified schematic diagram of the angular relationship between the slide pin and the fixed pin provided by the present invention;

FIG. 6 is a simplified partial schematic view of the location of the slide pin and the fixed pin in the deployed configuration provided by the present invention;

fig. 7 is a simplified bottom view schematic of a slide pin provided by the present invention.

List of reference numerals

1: First main hinge 2: second main hinge 3: first auxiliary hinge

4: Second sub-hinge 5: main hinge torsion spring 6: torsion spring of auxiliary hinge

7: Lubricating pad 8: fixing pin 9: sliding pin

10: Slide pin pre-compression spring 11: dowel pin hole 12: force-adjusting plug

13: The fixed pin opening 14: first main hinge arm 15: second main hinge arm

16: Third main hinge arm 17: first end 18: second end portion

19: Side wall surface 20: top end face 21: slope surface

22: First part pin 23: second portion pin 24: first gap

25: Second gap 26: third gap 27: first pin body

28: Second pin 29: third pin body 30: a second side end surface

101: Main hinge unit 102: the sub hinge unit 103: anti-backlash unit

31: Bottom surface 32: bottom end face 33 of the fixing pin: first hinge

34: Second hinge 35: first through hole 36: second through hole

37: Fourth gap 38: a first side end face

Detailed Description

The following detailed description refers to the accompanying drawings.

The application provides an unfolding structure, which at least comprises a main hinge unit 101, a secondary hinge unit 102 and an anti-backlash unit 103.

The main hinge unit 101 mainly includes a first main hinge 1 and a second main hinge 2.

The first main hinge 1 and the second main hinge 2 are connected to each other by a main hinge torsion spring 5. At least one mounting point is respectively arranged on the first main hinge 1 and the second main hinge 2, and the first main hinge 1 and the second main hinge can be respectively connected with two unfolding sides of the mechanism to be unfolded. Thereby supporting a rotatable connection between the two deployment sides of the mechanism to be deployed. Preferably, a mounting point is respectively arranged at the positions corresponding to the four corners of the main hinge, so that the stability and the mounting accuracy between the main hinge and the mechanism to be unfolded are improved. Preferably, at least one positioning pin hole is further formed on the first main hinge 1 and the second main hinge 2 respectively, so as to further improve the installation accuracy between the main hinge and the mechanism to be unfolded. Two positioning pin holes can be formed in the first main hinge 1 and the second main hinge 2. The positioning pin holes can be formed on the main hinge in a manner that central axes of the positioning pin holes and central axes corresponding to at least two positioning pin holes on the main hinge are on the same plane. The central axes corresponding to the different positioning pin holes on the different main hinges can be all located on the same plane.

When the mechanism is not unfolded, the main hinge torsion spring 5 can be elastically compressed by applying external force, and then the first main hinge 1 and the second main hinge 2 rotate towards the directions close to each other, so that the two main hinges are mutually folded, and the two unfolding sides of the mechanism to be unfolded are mutually overlapped. When the expansion is needed, the applied external force is removed, the elastic potential energy stored by the main hinge torsion spring 5 is released, reverse torque is provided, the first main hinge 1 and the second main hinge 2 are driven to rotate relative to each other, and the two expansion sides of the mechanism to be expanded are expanded. The transition process of the mechanism to be unfolded from the folded state to the unfolded state is completed. Preferably, the mechanism to be unfolded can be further provided with a driving mechanism capable of providing a servo motor drive, the torsion spring drive and the servo motor drive are combined to cooperate, and the torsion spring at the hinge can be used for compensating the driving moment required in the unfolding process.

During the transition of the mechanism to be unfolded from the folded state to the unfolded state, a compensatory driving force is provided for the relative movement between the first main hinge 1 and the second main hinge 2, mainly the magnitude of the elastic potential energy released by the main hinge torsion spring 5. The driving force provided by the main hinge torsion spring 5 needs to be capable of driving the first main hinge 1 and the corresponding unfolding side and the second main hinge 2 and the corresponding unfolding side to rotate relatively until the first main hinge and the second main hinge are unfolded to a preset posture, so that for a single device needing to be unfolded at a plurality of positions, the single device has different mechanisms to be unfolded at the different positions, and the resistance between the two unfolding sides of the different mechanisms to be unfolded is different, namely the driving force with different magnitudes is required to be provided for the single device. For this, in the prior art, different main hinge torsion springs 5 are generally selected for different mechanisms to be unfolded at different positions on a single device, the driving forces which can be provided by the different main hinge torsion springs 5 are different, the steel wire diameters, the rotation diameters, the torsion spring materials, the number of turns and the like of the different main hinge torsion springs 5 are different, the specified main hinge torsion springs 5 are required to be adopted at specified positions during assembly, the assembly difficulty is greatly improved, and for an analog experiment system which is required to be combined after assembly, a plurality of parameters of the different main hinge torsion springs 5 are required to be respectively recorded for a plurality of positions, so that the burden of experiment personnel is increased, the data processing capacity of the analog experiment system is greatly increased, and the accuracy of experimental results is not facilitated. In addition, in the later simulation experiment process, the driving force provided by configuration is often required to be different, so that the configuration scheme of the optimal structure and parameters is simulated and calculated, the unfolding structure is required to have a specific unfolding driving force under different working environments of different tasks, the torsion force of the existing main hinge torsion spring 5 is fixed and cannot be adjusted, the unfolding structure after assembly is only applied to the specific task, and the application range of the unfolding structure is limited.

Based on the above, the application combines the force adjusting plug 12 on the basis of the traditional main hinge torsion spring 5, and utilizes the small size advantage and reliability advantage of the force adjusting plug 12, so that the unfolding structure provided by the application can be used for different positions of the device with different required unfolding driving forces, the main hinge torsion spring 5 under the same configuration parameters can be used indiscriminately, and the unfolding driving force provided by the main hinge torsion spring 5 can be adaptively adjusted through the force adjusting plug 12. On the one hand, under the setting, the appointed main hinge torsion spring 5 is not required to be adopted at the appointed position, and the main hinge torsion springs 5 under the same configuration parameters can be adopted by the to-be-unfolded mechanisms at all positions on the single device, so that the assembly difficulty is greatly reduced, and the workload of workers is reduced. On the other hand, under the setting, as the main hinge torsion springs 5 under the same configuration parameters can be adopted by the mechanisms to be unfolded at all positions, the staff only needs to input fewer parameter values with differences at different positions, such as related parameters of the force adjusting plugs 12, and the like, and does not need to input multiple parameters of different main hinge torsion springs 5 for multiple positions respectively, so that the working content of the staff is greatly reduced, the data volume required to be processed by the system in a later simulation experiment or a real application scene is reduced, and the response speed and experimental result precision of the system are improved. In addition, the torsion can be adaptively adjusted according to different requirements without disassembling and then re-assembling or simultaneously configuring a plurality of unfolding structures with different unfolding driving forces, so that the unfolding structure has stronger adaptability and wider application range.

The force-adjusting plug 12 can rotate relative to the main hinge by means of an external force.

One end of the main hinge torsion spring 5 is fixed on the force adjusting plug 12, and when the force adjusting plug 12 rotates relative to the main hinge under the action of external force, the main hinge torsion spring 5 is twisted to increase the torsion or reduce the torsion.

The force-adjusting plug 12 can be fixed relative to at least one main hinge with the external force removed. The term "relatively fixed" as used herein means that the force-adjusting stopper 12 does not rotate or displace relative to each other. The working state of the main hinge torsion spring 5 adjusted by the force adjusting plug 12 can be maintained.

An adjusting hole is formed in the outer end portion of the force adjusting plug 12, and a worker can adjust and control the angle of the force adjusting plug 12 by adopting auxiliary equipment matched with the adjusting hole. Preferably, an inner hexagonal hole is formed in the outer end portion of the force adjusting plug 12, and when the force adjusting plug is installed, an inner hexagonal wrench is used for adjusting the angle of the force adjusting plug 12 from the outer end of the force adjusting plug 12 so as to change the torsion.

As a preferred embodiment, at least one threaded hole is formed in the force-adjusting plug, a clearance hole or a pair of clearance holes aligned with each other are formed in the hinge arm, the force-adjusting plug is rotated to enable one threaded hole to correspond to the clearance hole, and the force-adjusting plug can be relatively fixed on the hinge by installing an external connecting component penetrating through the threaded hole and the clearance hole. The external connection member may be a screw or the like corresponding thereto. At least one threaded hole is arranged on the force-adjusting plug in a mode that the threaded holes are arranged at intervals along the circumferential direction of the force-adjusting plug. For example, the force adjusting plug has 4 threaded holes which are equidistantly arranged, so that force adjustment of every 90 degrees can be realized. For example, the force adjusting plug has 6 threaded holes which are equidistantly arranged, so that force adjustment of 60 degrees can be realized. When the two holes are coaxial, the current torsion can be locked by screwing the positioning screw.

The corresponding main hinge arms on the first main hinge 1 and the second main hinge 2 are matched with each other, and the main hinge arms are matched with each other to form a cavity which is continuous and is used for assembling the main hinge torsion spring 5 and the force adjusting plug 12. The first main hinge 1 and the second main hinge 2 are rotatably connected by means of at least a main hinge torsion spring 5 and a force-adjusting plug 12 which are mounted in the main hinge arm cavity.

In the present application, as shown in fig. 1, the first main hinge arm 14 and the second main hinge arm 15 are formed by extending the two ends of the first main hinge 1 on the side close to the second main hinge 2, respectively, and the third main hinge arm 16 is formed by extending the middle of the second main hinge 2 on the side close to the first main hinge 1.

Preferably, a lubricating pad is provided between two hinge arms adjacent to each other. When the device is unfolded, the lubricating pad can lubricate two adjacent kinematic pairs. The material of the hinge arms can be the same aluminum alloy as the hinge, if two hinge arms adjacent to each other are closely attached for a long time, cold welding risks exist, but if an overlarge gap is reserved between the two hinge arms adjacent to each other, the precision is influenced, and in this way, the lubricating pad prepared by polytetrafluoroethylene is added between the two hinge arms, and the space environment adaptability of the polytetrafluoroethylene material is good, so that the lubricating pad can play a good role in lubrication.

The force adjustment plug 12 is mounted on the inner wall of the cavity of the first main hinge arm 14. As shown in fig. 1, one end of the force adjustment plug 12 extends through the cavity of the first main hinge arm 14 and into the cavity of the third main hinge arm 16.

The body portion of the force-adjusting plug 12 may be a cylindrical structure having a size that matches the size of the cavity of the first main hinge arm 14.

The main hinge torsion spring 5 is installed in the cavity of the third main hinge arm 16, and two ends of the main hinge torsion spring are fixedly connected to the inner wall of the cavity of the third main hinge arm 16 and the force adjusting plug 12 respectively so as to assist the first main hinge 1 and the second main hinge 2 to complete folding and unfolding.

In the unfolded configuration, due to the relative movement between the two unfolded sides connected by the hinges, a certain clearance must be provided between the pin and the hinge hole, so that there is translational freedom between the two hinges in two directions, which will lead to the occurrence of errors in the relative position after locking. Further, as the time or number of movements of the mechanism increases, the wear between the hinges increases, and the gap between the hinges increases. In this way, the traditional hinge type unfolding structure is improved, the gap eliminating unit which is matched with the main hinge unit is introduced into the unfolding structure, and the functions of pre-tightening load and mechanism gap elimination can be actively provided for the main hinge unit in the folding and unfolding process, so that the problems that the unfolding precision of the mechanism is low and the attitude control is influenced after the mechanism is unfolded can be effectively solved.

The anti-backlash unit essentially comprises a fixed pin 8, a sliding pin 9 and a sliding pin pre-compression spring 10, which are all arranged in a cavity jointly formed by several main hinge arms.

The fixing pin 8 is fixedly connected in a cavity of the third main hinge arm 16. The fixing pin 8 and the third main hinge arm 16 may be respectively provided with positioning holes corresponding to each other, and after the fixing pin 8 is placed in the cavity of the third main hinge arm 16, the fixing of the fixing pin 8 in the third main hinge arm 16 may be realized by sequentially penetrating the positioning holes corresponding to the third main hinge arm 16 and the fixing pin 8 through the positioning assembly. The fixing pin 8 does not rotate relative to each other nor does it displace relative to each other.

As shown in fig. 1, the main body of the fixing pin 8 has a cylindrical structure, and one end of the main body penetrates through the cavity of the third main hinge arm 16 and extends to the cavity of the second main hinge arm 15.

The slide pin 9 is slidably connected in a cavity of the second main hinge arm 15.

The slide pin 9 is able to remain slid in the cavity of the second main hinge arm 15 in a direction parallel to the central axis of the cavity of the second main hinge arm 15.

The slide pin 9 has a first pin body 27, a second pin body 28 and a third pin body 29 which are fixedly connected to each other in this order.

The shape and dimensions of the second pin body 28 are adapted to the dimensions of the cavity of the second main hinge arm 15, so that the slide pin 9 has only two translational degrees of freedom in opposite directions to each other.

The third pin body 29 is sleeved with a sliding pin pre-tightening pressure spring 10, and one end of the sliding pin pre-tightening pressure spring 10 is fixedly connected to the inner wall of the cavity of the second main hinge arm 15. The other end of the sliding pin pretensioning spring 10 can be fixedly connected to the sliding pin 9 or can merely abut against the second pin body 28.

The slide pin pre-tightening compression spring 10 is mounted in a compressed position on the third pin body 29 so as to have a driving force that can push the slide pin 9 to move in the cavity of the second main hinge arm 15.

When the sliding pin 9 is acted by external force to have a reverse movement trend, the sliding pin pre-tightening pressure spring 10 is compressed, and the sliding pin 9 can slide reversely.

One end of the fixing pin 8 is provided with a fixing pin opening 13 for matching with the first pin body 27 of the slide pin 9. When the external force acting on the slide pin 9, which limits its movement towards the side of the fixed pin 8, is removed, the slide pin pre-compression spring 10 releases its elastic potential energy, pushing the slide pin 9 towards the side of the fixed pin 8, the first pin body 27 can penetrate into the fixed pin opening 13, limiting the further movement trend of the slide pin 9.

The fixing pin opening 13 may be irregularly shaped. Here, the irregular shape is a shape parallel to the penetration direction of the cavity formed by the main hinge arm, with respect to the regular shape, and the regular shape is a shape in which all the side wall surfaces 19 are parallel to the penetration direction of the cavity formed by the main hinge arm. The regular shape may be, for example, a cylindrical shape, a rectangular parallelepiped shape, a square shape, or the like.

The cavity of the fixed pin opening 13 is shaped to mate with the first pin body 27 of the slide pin 9 and limit the tendency of the slide pin 9 to move rotationally relative to its cavity. The angle of the contact surface between the inner cavity of the fixing pin opening 13 and the corresponding contact surface on the first pin body 27 is larger than the friction angle formed between the materials corresponding to the inner cavity and the corresponding contact surface. After the sliding pin 9 is connected with the sliding fixing pin opening 13, even if the hinge arms are subjected to large external torsion, the contact surfaces of the hinge arms cannot slide relatively, and the hinge arms are in a self-locking state.

The fixing pin opening 13 has at least one side wall surface 19 extending in the direction from the first end 17 of the fixing pin 8 to the second end 18 of the fixing pin 8 and being inclined. At least two side wall surfaces 19 are inclined toward each other. The opening degree of the fixing pin opening 13 is in a decreasing trend in the direction from the first end 17 to the second end 18 of the fixing pin 8.

As a preferred embodiment, the fixing pin opening 13 has open ends at least on two end faces adjacent to each other but not parallel to each other on the fixing pin 8. Even when the slide pin 9 is not aligned with the fixing pin opening 13, the slide pin 9 can be prevented from being inserted into the fixing pin opening 13 in a butt-joint manner, and the problem that the slide pin 9 is not aligned with the fixing pin opening 13 and is caught on the outer end surface of the fixing pin 8 can be avoided. Preferably, the fixing pin opening 13 may also have only an open end opening on the bottom end face of the first end 17 of the fixing pin 8, i.e. the fixing pin opening 13 is similar to a groove opening on the fixing pin 8. Further preferably, the fixing pin opening 13 may be opened at a central position of the fixing pin 8, and correspondingly, the first pin body 27 of the sliding pin 9 is located at a central position of the second pin body 28 and corresponds to the fixing pin opening 13, so as to ensure that the two are in smooth butt joint.

The first pin body 27 of the slide pin 9 has at least one sloping surface 21 formed on its top end surface 20 by removing material along its outer edge. Therefore, the problem that the top end face 20 of the sliding pin 9 is clamped on the outer end face of the fixed pin 8 can be further avoided, and smooth butt joint between the sliding pin 9 and the fixed pin 8 is ensured. In addition, in the case that the slope 21 is not provided, the top end surface 20 of the sliding pin 9 is large and directly presses against the bottom end surface of the fixed pin 8, the force acting area under the surface contact is large, when the unfolding structure is unfolded to drive the sliding pin 9 and the fixed pin 8 to rotate relatively, the relative friction action between the sliding pin 9 and the fixed pin 8 is large, and the driving energy consumption is increased.

The top end surface 20 also has a top surface defined by a plurality of ramps 21 after at least one ramp 21 is formed by removing material along an outer edge of the end surface.

The top end face 20 of the first pin body 27 of the slide pin 9 may be configured as a planar surface coplanar with the top surface before forming the sloping surface 21 and the top surface.

At least one slope 21 may be formed by removing material at the outer edge of the top end surface 20 with an imaginary cut surface in an inclined manner, and adjacent slopes 21 formed intersect each other at the same ridge line. The vertical center line of the top surface defined by the slope surfaces 21 is taken as a center axis, and the ridge lines are respectively rotated around the center axis to coincide with each other.

The imaginary cross section can be a plane or a curved surface or a combination of the plane and the curved surface.

At least one slope 21 may be formed by removing material at the outer edge of the top end surface 20 with an oblique shape using an imaginary cut plane, and adjacent slopes 21 formed intersect each other at the same edge. When the slope 21 has a curved surface shape protruding outwards relative to the physical center of gravity of the first pin 27, the edge can be smooth so that two adjacent slopes of the edge extend continuously.

When the slope surface 21 is planar, the edge can be smoothed to form a cambered edge with a certain radian between adjacent slope surfaces.

The first pin body 27 may be configured in a shape adapted to the fixing pin opening 13.

As a preferred embodiment, the fixing pin opening 13 is formed in an eccentric manner at the first end of the fixing pin 8. The fixing pin opening 13 opens at the outer edge of the fixing pin 8, which is the critical position. When not deployed, the slide pin 9 is not aligned with the fixed pin opening 13; when the quick-release is in place, the slide pin 9 is aligned with the critical position, at which point the slide pin 9 engages the slide-in pin opening 13 to form a lock. In this process, the suspension of the slide pin 9 in the central position is avoided, and setting the critical position to the outer edge makes it possible to better utilize the effective travel of the slide pin for pre-tightening the compression spring. The sliding pin pre-pressing spring starts to act, so that the sliding pin 9 and the fixing pin opening 13 can be locked quickly, and the risk that the contact surface between the sliding pin 9 and the inner cavity of the fixing pin opening 13 is not pressed and locked after the sliding pin 9 slides into the bottoming can be avoided to the greatest extent.

In the case of a fixed pin 8 fixedly fitted to the third main hinge arm 16, the open end of the fixed pin opening 13 on the side of the fixed pin 8 can cover both part of the inner cavity of the third main hinge arm 16 and part of the inner cavity of the second main hinge arm 15. The side of the fixing pin 8 may refer to the side of its cylindrical shape.

Along the open end of the fixing pin opening 13 on the side of the fixing pin 8, the side wall surface 19 inside the fixing pin opening 13 is observed, and the extending direction of the side wall surface 19 is inclined with respect to the normal direction of the side surface of the area on the fixing pin 8 for forming the outer edge of the fixing pin opening 13.

Along the open end of the fixing pin opening 13 located on the bottom end face of the fixing pin 8, the side wall surface 19 inside the fixing pin opening 13 is observed, and the extending direction of the side wall surface 19 is inclined with respect to the central axis of the fixing pin 8.

The bottom end surface of the fixing pin 8 may be a circular surface, and the open end of the fixing pin opening 13 located on the bottom end surface of the first end 17 of the fixing pin 8 covers at least the area where the center of the bottom end surface of the fixing pin 8 is located.

The first pin 27 is fixedly connected to the second pin 28 at a position where the first pin and the fixing pin opening 13 can abut against each other.

The portion of the securing pin 8 extending out of the cavity of the third main hinge arm 16 is only nested in the cavity of the second main hinge arm 15 and the respective rotational movements are independent of each other. However, since the portion of the fixing pin 8 extending out of the cavity of the third main hinge arm 16 is sleeved in the cavity of the second main hinge arm 15, a first gap 24 may occur between the first main hinge 1 and the second main hinge 2 in the extending direction of the cavity formed by the main hinge arms.

Meanwhile, in order to ensure the relative rotation between the first main hinge 1 and the second main hinge 2, the fixing pin 8 is fixedly connected only to the inner wall of the cavity of the third main hinge arm 16, but not to the second main hinge arm 15, so that the second gap 25 may also occur between the first main hinge 1 and the second main hinge 2 in the parallel direction of the two. In the present application, the problems of the first gap 24 and the second gap 25 can be solved simultaneously by the gap eliminating unit, so that the first main hinge 1 and the second main hinge 2 are relatively stable in all directions, and the precision of the unfolded structure after being unfolded is greatly improved.

The fixed pin 8 is fixed in the cavity of the third main hinge arm 16, the sliding pin 9 is relatively fixed in the cavity of the second main hinge arm 15, and the matching abutting relationship between the sliding pin 9 and the fixed pin 8 is unique, so that when the unfolding structure is in the undeployed state, the relative position relationship between the first main hinge 1 and the second main hinge 2 corresponds to the relative position relationship between the fixed pin 8 and the sliding pin 9, at the moment, the first pin body 27 and the fixed pin opening 13 are relatively misplaced, the sliding pin pre-tightening pressure spring 10 is in a compressed state, and the sliding pin 9 cannot abut against the fixed pin 8. Namely, at this time, the first main hinge 1 and the second main hinge 2 have a first gap 24 and a second gap 25, so that the two main hinges can rotate relatively.

When the unfolding structure is in the fully unfolding posture, the first pin body 27 and the fixing pin opening 13 are shifted from dislocation to alignment, the sliding pin pre-tightening pressure spring 10 releases elastic potential energy to push the fixing pin 8 to slide, and the first pin body 27 is abutted and slid to the fixing pin opening 13. In the direction of extension of the cavity formed by the main hinge arms, the second main hinge arm 15 itself is fixed in length, while the slide pin 9 corresponds to the freely telescoping second main hinge arm 15, the slide pin 9 being in tight abutment in the fixing pin 8 with the support of the slide pin pretensioning spring 10. Overall, the fixing pin 8 can be internalized to the internal structure of the third main hinge arm 16, and the sliding pin 9 can be internalized to the internal structure of the second main hinge arm 15, i.e. equivalent to a complete stabilization between the second main hinge arm 15 and the third main hinge arm 16 without the first gap 24. Alignment herein may mean that the two are substantially aligned, i.e. the first pin body 27 is fully located within the fixation pin opening 13. For the first gap 24 of different gap widths, the tightening abutting relationship between the slide pin 9 and the fixing pin 8 can be continuously maintained due to the release of elastic potential energy by the slide pin pre-compression spring 10, thereby eliminating the first gap 24.

Meanwhile, in the parallel direction between the first main hinge 1 and the second main hinge 2, since the mating and abutting relationship between the slide pin 9 and the fixed pin 8 is unique, the slide pin 9 and the fixed pin 8 are completely engaged and cannot be displaced in the horizontal direction, that is, equivalently, the second main hinge arm 15 and the third main hinge arm 16 are completely stable without being affected by the second gap 25, thereby eliminating the second gap 25. The elimination of the gap between the two mentioned in the present application does not necessarily mean that the gap is eliminated by bringing the two together closely, but mainly means that the small-amplitude relative motion tendency or relative motion ability between the two caused by the gap between the two is eliminated, that is, the small-amplitude relative motion tendency or relative motion ability between the two that remain the gap but form the gap is suppressed.

According to a preferred embodiment, both the end of the force-adjusting plug and the end of the fixing pin are provided with two protrusions. The two protrusions may be two members disposed in half with each other, which are simultaneously formed by removing a material having a certain thickness on a cylinder in a certain diameter direction. One end of the torsion spring is fixedly connected in a notch formed between the two protruding parts so that the torsion spring can store energy effectively.

Preferably, a third gap between a portion of the pin extending into the second hinge arm on the fixing pin and an inner wall of the cavity of the second hinge arm may be filled with a solid lubricant molybdenum disulfide. The solid lubricant molybdenum disulfide not only can fill up the tiny gap between the molybdenum disulfide and the solid lubricant molybdenum disulfide, but also can realize a finer hole shaft matching structure on the basis of providing lubrication to ensure the relative rotation capability between the molybdenum disulfide and the solid lubricant molybdenum disulfide.

A sixth gap exists between the second pin body 28 and the inner wall of the cavity of the second main hinge arm 15, a fifth gap exists between the first pin body 27 and the fixed pin opening 13 after being in butt joint locking with the fixed pin opening 13, the problem that the unfolding structure swings slightly during actual use is easily caused under the superposition of the gaps, the locking state between the first pin body 27 and the fixed pin opening 13 is not unique, and the unfolding precision cannot be guaranteed. In this regard, in the present application, the first pin body 27 and the fixed pin opening 13 are configured to assume a non-fully mated position when the deployed configuration is in a fully deployed position such that the two are aligned. The moment when the two are aligned mainly refers to the moment when the external force applied to the slide pin pre-compression spring 10 is removed so that it can release elastic potential energy to drive the slide pin to move toward the fixed pin opening 13. The incompletely fitting posture can also refer to a incompletely aligned posture, and mainly refers to a certain angle difference between the incompletely aligned posture and the incompletely unfolded posture. The angle difference may be a predetermined angle difference between the slide pin 9 and the fixing pin 8 when the unfolded structure is completely unfolded, which is designed in advance in the manufacturing process. The angular difference is not smaller than the sum of the gap width of the sixth gap and the gap width of the fifth gap. With this angular difference setting, the fully deployed configuration will be forced to remain in a fixed locked state, eliminating the sixth gap and the fifth gap.

Preferably, the main hinge torsion spring 5 has a first torque directed in the unwinding direction. The sub-hinge torsion spring 6 has a second torque directed in the folding direction. The mechanism to be deployed may complete deployment in such a way that the first torque and the second torque asynchronously decrease such that relative movement between the main hinges is subject to a first restriction.

Reference in the present application to "limiting the degree of freedom of a component" may refer to limiting the movement that a component may otherwise make. Degrees of freedom may refer to the ability of a component to perform a certain motion.

Reference herein to a "preload" may refer to a force that is already applied to the components prior to deployment or during assembly to drive the components toward a relatively stable condition.

Reference to "synchronous or asynchronous movement" in the present application may refer to both being movable in tandem with each other to move synchronously, or out of tandem with each other to perform the corresponding movement in time sequence.

Preferably, the slide pin 9 and the slide pin pretensioning spring 10 together form an elastic element. The elastic component is movably arranged in the main hinge arm corresponding to the other main hinge. The elastic member has a first working position and a second working position formed with respect to the fixing pin 8. When the main hinges are unfolded, the elastic parts are converted from the first working posture to the second working posture, so that the relative movement between the main hinges is subjected to a second limiting effect.

Preferably, the first main hinge 1 and the second main hinge 2 each have a second lateral end face 30 which gradually closes against each other during deployment of the deployed configuration. The two second side end surfaces 30 are configured to abut each other in the fully deployed configuration such that relative movement between the main hinges is subject to a third restriction.

The first limiting effect is mainly that after the auxiliary hinge units are driven to act, the auxiliary hinge units form a large bearing interface in the unfolding direction of the main hinge units, so that the movement trend between the two main hinges towards the folding direction is limited, and the rigidity after being unfolded can be greatly improved. The second limiting function is mainly to utilize the conversion of the relative working posture of the elastic component in the unfolding process, and the elastic component is in butt joint with the fixing pin 8 to limit the relative rotation between the two main hinges, so that the movement trend between the two main hinges towards the folding direction is further limited. The third limiting action is different from the first limiting action and the second limiting action, and is mainly used for limiting the continuous unfolding movement trend between the two main hinges so as to ensure the unfolding precision. The elastic member mentioned in the present application mainly includes a slide pin 9 and a slide pin pre-compression spring 10. The main hinge torsion spring 5 has a first torque pointing in the unfolding direction, and the auxiliary hinge torsion spring 6 has a second torque pointing in the folding direction, mainly that the main hinge torsion spring 5 can drive the two unfolding sides connected with the main hinge torsion spring to rotate towards the unfolding direction, and the auxiliary hinge torsion spring 6 can drive the two unfolding sides connected with the auxiliary hinge torsion spring to rotate towards the folding or approaching direction. The unfolding direction and the folding direction of the torsion spring mentioned in the application are not opposite to each other, but the unfolding direction or the folding direction of the two corresponding unfolding sides at the position of the torsion spring, that is, the unfolding direction and the folding direction of the torsion spring mentioned in the application may be different or coplanar.

The elastic member has a first working position, which mainly means that the sliding pin 9 and the fixing pin opening 13 in the elastic member are displaced from each other, and a second working position, which mainly means that the sliding pin 9 in the elastic member is engaged into the sliding fixing pin opening 13.

For example, in the prior art, the publication CN110155373B proposes a device for eliminating the radial clearance at the joint of the folding mechanism to solve the problem of the reliability and stability of the folding mechanism caused by the radial clearance between the base and the folding member after the locking of the existing pin, firstly, placing the boss of the folding member in the groove of the base, then inserting the rotating shaft from the small diameter end into the second pin hole of the base, and when the external thread section of the rotating shaft and the internal thread section of the folding member are in contact with each other, rotating the rotating shaft to complete the threaded connection between the folding member and the rotating shaft; and then continuing to rotate the rotating shaft until a third pin hole of the unfolding piece is matched with the rotating shaft and has a certain pretightening force, sequentially sleeving the first tightening ring and the second tightening ring at the small-diameter end and the large-diameter end of the rotating shaft in an interference fit manner, and finally folding the unfolding piece to an initial folding state as shown in the figure. When the unfolding piece is required to be unfolded, the unfolding piece rotates, the first tightening ring and the second tightening ring limit the freedom degree of the rotating shaft together, so that the rotating shaft and the base body are of an integrated structure, the unfolding piece rotates relative to the rotating shaft, a gap between the unfolding piece and the rotating shaft in the X direction is reduced under the cooperation of the internal thread section and the external thread section, and the rotating shaft is a truncated cone, and the third pin hole is an internal cone hole, so that when the unfolding piece moves from the small diameter end to the large diameter end relative to the rotating shaft, the third pin hole of the unfolding piece is matched with the rotating shaft, and the radial gap between the unfolding piece and the rotating shaft is eliminated. The eliminating device can effectively eliminate the clearance between the expandable piece and the rotating shaft after the expandable piece is locked and between the side surface of the expandable piece and the inner side surface of the base body piece while ensuring the expandable piece to be smoothly expanded, and avoid the influence of the clearance on the rigidity and the fundamental frequency of the folding mechanism, thereby influencing the anti-interference capability of the folding mechanism. In addition, the transmission mode of threaded section connection is adopted between the rotating shaft and the unfolding piece.

However, the gap elimination process achieved by the proposed device is gradually completed in synchronization with the deployment process of the deployment mechanism, that is, the gap between the deployment mechanisms is not eliminated until the deployment is in place as the deployment degree is larger in the deployment process of the deployment mechanism. The gaps continuously exist in the unfolding process, so that the rigidity and the fundamental frequency of the unfolding mechanism are easily influenced by the outside, high-frequency vibration among parts is caused, the anti-interference capability of the unfolding mechanism is seriously influenced, and the gesture control precision is low.

In contrast, in the present application, the torsion spring pre-compression spring is configured to be always in a compressed state, particularly for the main hinge unit in the folded state and the incompletely unfolded state, the torsion spring pre-compression spring is in a compressed state so that the slide pin 9 is tightly abutted against the fixed pin 8, the gap between the main hinge arms in the axial direction is eliminated, thereby the first main hinge 1 and the second main hinge 2 are always kept gapless in the axial direction, and the relative movement trend between the first main hinge 1 and the second main hinge 2 in the radial direction is limited due to the tensioning in the axial direction, the resistance in the circumferential direction is small without excessively affecting the relative rotation capacity between the two, so that the first main hinge 1 and the second main hinge 2 can freely rotate relatively during unfolding, and the radial movement trend and the axial movement trend between the two are limited. Namely, in the unfolding process, gaps are eliminated while the unfolding process is not influenced, the rigidity of the mechanism and the stability of the fundamental frequency are enhanced, and the anti-interference capability and the gesture control precision of the unfolding mechanism can be effectively improved.

The sub hinge unit mainly comprises a first sub hinge 3 and a second sub hinge 4 rotatably connected to each other.

The first and second sub-hinges 3,4 are rotatably connected to the first and second main hinges 1,2, respectively, and enable the first and second sub-hinges 3,4 to rotate together with respect to the main hinge unit in synchronization with each other.

The rotation axis between the first sub hinge 3 and the first main hinge 1 is co-located with the rotation axis between the second sub hinge 4 and the second main hinge 2 at a first axis. The rotation axis between the first sub hinge 3 and the second sub hinge 4 is located at the second axis with the rotation axis between the first main hinge 1 and the second main hinge 2. The first axis is perpendicular to the second axis. So that the sub hinge unit can integrally rotate with respect to the main hinge unit. Or the first auxiliary hinge 3 and the first main hinge 1 are used as one unfolding side, the second auxiliary hinge 4 and the second main hinge 2 are used as the other unfolding side, and the two unfolding sides can rotate relatively.

The unfolding structure is a core component of the solar wing and is used for realizing the unfolding and locking functions of the battery plate, and a common unfolding driving mechanism is generally divided into an active unfolding driving mechanism and a passive unfolding driving mechanism. Currently, the main current unfolding mechanism has only one limit of the unfolding direction, the rigidity after unfolding is provided by the residual elasticity of a spring, some unfolding mechanisms are provided with locking pins and can play a role in backstop, but gaps exist between the locking pins and the pin holes, the gaps can cause the unfolding part to shake in a small angle range, and the shaking causes great negative influence on the gesture control precision. For the parts with larger unfolding quality, the rigidity after unfolding is smaller, the overall frequency of the unfolding assembly is very low, the whole assembly and the attitude control action system are easy to form a coupling effect, resonance is generated, the attitude of the whole spacecraft is unstable, and the on-orbit task is influenced. That is, the deployed structure is capable of maintaining a substantially locked angle depending on the locking action of the deployment driving mechanism after deployment, but at the same time, the deployed structure is greatly affected by the outside due to the large deployment diameter after deployment, resulting in poor structural stability and structural rigidity. In this regard, in the present application, it is proposed that the main hinge unit and the sub hinge unit function in combination to enhance structural stability and structural rigidity after deployment of the deployment structure. After the auxiliary hinge unit is driven to act, the auxiliary hinge unit forms a large bearing interface in the unfolding direction of the main hinge unit, so that the rigidity after being unfolded can be greatly improved.

The first auxiliary hinge 3 and the second auxiliary hinge 4 are rotatably connected through a main hinge torsion spring 5 and a force adjusting plug 12. The force adjusting plug 12 is arranged at one end of the auxiliary hinge unit far away from the main hinge unit, so that the force adjusting plug can be conveniently adjusted. The primary hinge torsion spring 5 between the first and second secondary hinges 3,4 is configured to be in a compressed state when the unfolded structure is in the folded position.

The first main hinge 1 and the first auxiliary hinge 3 are rotatably connected through an auxiliary hinge torsion spring 6 and two force adjusting plugs 12. The two force adjusting plugs 12 are respectively arranged at two sides of the auxiliary hinge torsion spring 6, and two ends of the auxiliary hinge torsion spring 6 are respectively and fixedly connected to the two force adjusting plugs 12. The sub-hinge torsion spring 6 is configured to be in an extended state when the expanded structure is in a folded posture. The force adjusting plug 12 can be used as a torsion adjusting part or a non-torsion adjusting fastener, so that the types of parts required to be adopted in assembling the unfolding structure are reduced, the parts on multiple parts can be used universally, the assembly efficiency can be greatly improved, and the manufacturing cost can be reduced.

The first main hinge 1 comprises a first hinge 33, a first main hinge arm 14 and a second main hinge arm 15, wherein the first main hinge arm 14 and the second main hinge arm 15 are fixed on the same side of the first hinge 33 and are spaced from each other, and first through holes 35 coaxial with each other are formed in the first main hinge arm 14 and the second main hinge arm 15.

The second main hinge 2 comprises a second hinge 34 and a third main hinge arm 16, wherein the third main hinge arm 16 is fixed on one side of the second hinge 34 facing the first main hinge arm and the second main hinge arm, and a second through hole 36 is formed in the third main hinge arm. The spacing formed between the first main hinge arm 14 and the second main hinge arm 15 allows the third main hinge arm 16 to be placed with its second through hole 36 coaxially opposed to the first through hole 35.

The third main hinge arm 16 is placed in a space formed between the first main hinge arm 14 and the second main hinge arm 15 in such a manner that its second through hole 36 is coaxially opposed to the first through hole 35. The third main hinge arm 16 and the second main hinge arm 15 have a first gap therebetween in the axial direction of the first through hole 35. A fourth gap 37 is provided between the third main hinge arm 16 and the first main hinge arm 14 in the axial direction of the first through hole 35.

The cavity of the first main hinge arm 14 is fitted with a first shaft having one end extending into the cavity of the third main hinge arm 16 and the other end fixed to the first main hinge arm 14.

The cavity of the third main hinge arm 16 is fitted with a second rotation shaft having one end extending into the cavity of the second main hinge arm 15 and the other end fixed to the third main hinge arm 16.

The first main hinge 1 and the second main hinge 2 are rotatably connected with each other through a first rotating shaft and a second rotating shaft which are coaxially arranged with each other. The first and second shafts may be referred to as force-adjusting plugs or fixed pins.

The first main hinge 1 and the second main hinge 2 are rotatably connected to each other as viewed from a direction perpendicular to a plane in which the first hinge 33 of the first main hinge 1 is located, and a rectangular coordinate system is established with an axial direction of the first through hole 35 as a Y axis and a transverse direction perpendicular thereto as an X axis, the first main hinge 1 is located in a second quadrant defined by a positive direction of the Y axis and a negative direction of the X axis, the second main hinge 2 overlaps the first main hinge 1 and is located in the second quadrant, and at this time, the first main hinge 1 and the second main hinge 2 are in a folded state. The second main hinge 2 can rotate around the Y axis relative to the first main hinge 1 to a second quadrant in a direction away from the first main hinge 1, and at this time, the first main hinge 1 and the second main hinge 2 are in an unfolded state.

The second spindle/fixing pin 8 is fixed to the third main hinge arm 16 and on its end facing away from the cavity of the third main hinge arm 16 a fixing pin opening 13 is provided, the fixing pin opening 13 having a vertically downward wedge-shaped opening for locking the slide pin 9 at least in the circumferential direction.

In the application, the first main hinge 1 and the second main hinge 2 respectively realize the rotation connection between the two by means of the single short shaft body, rather than relying on the long shaft bodies which are commonly adopted in the prior art and penetrate all hinge arms at the same time, the short shaft bodies have smaller weight relative to the long shaft bodies, and the single short shaft bodies can be stably assembled on the main hinge by only adopting a single fixing screw. Preferably, the stub shafts may be distinguished by their corresponding two rotationally coupled to each other, which mainly refers to the force-adjusting plug and/or the fixing pin.

A slide pin 9 is provided in the through hole of the second main hinge arm 15, and the slide pin 9 can slide back and forth along the axial direction of the through hole. The axially inner end of the slide pin 9 is complementary to the wedge-shaped opening shape of the fixing pin opening 13.

A sliding pin pre-tightening pressure spring 10 is arranged in the through hole of the second main hinge arm 15, and one end of the sliding pin pre-tightening pressure spring 10 is fixed in the first through hole 35 in a mode that the compression direction of the sliding pin pre-tightening pressure spring 10 is coaxial with the first through hole 35. One end of the sliding pin pre-tightening pressure spring 10 is fixed on the inner wall of the bottom opening of the first through hole 35 on the second main hinge arm. The other end of the slide pin pre-tightening pressure spring 10 abuts against one end of the slide pin 9, and the slide pin pre-tightening pressure spring 10 is pre-configured to a compressed posture.

When the first main hinge 1 and the second main hinge 2 are in the folded state, the slide pin 9 and the fixed pin opening 13 are dislocated from each other, the slide pin pre-pressing spring 10 is in the first compressed state to urge the slide pin 9 to abut against the fixed pin opening 13, and the first main hinge 1 is moved in the axial direction toward the negative Y-axis direction as viewed in the above-described coordinate system so that the first main hinge arm and the third main hinge arm abut against each other to eliminate the fourth gap 37, while the first gap between the second main hinge arm and the third main hinge arm is increased, and the gap is changed by the width distance of the fourth gap 37 in the axial direction.

When the first main hinge 1 and the second main hinge 2 are switched from the folded state to the unfolded state, the sliding pin 9 and the fixed pin opening 13 are in an aligned state, and the sliding pin pre-pressing spring 10 releases elastic potential energy to be switched to the second compressed state, so that the sliding pin 9 is driven to move and butt against the fixed pin opening 13.

The slide pin 9 includes a first pin body 27, a second pin body 28 and a third pin body 29 which are disposed in order in the axial direction and fixed to each other. The first pin body 27 as the axially inner end of the slide pin 9 is complementary to the wedge-shaped opening shape of the fixing pin opening 13.

The second pin 28 is shaped to match the inner wall of the first through hole 35 so that it can slide axially within the first through hole 35 under the influence of an external force. The second pin 28 may be cylindrical or disc-shaped. The sliding pin pre-tightening spring 10 is restrained in a compressed position in a partial space defined between the second pin body 28 and the bottom opening of the first through hole 35 in the second main hinge arm.

The third pin 29 has a bar-like shape, and a free end thereof penetrates through the first through hole 35. The third pin body 29 is removed from its upper and lower end surfaces, either side of which is parallel to the axial direction, and at least one of the first side end surfaces 38 is planar.

As a preferred embodiment, the free end of the third pin body 29 extends through a bottom opening of the first through opening 35 in the second main hinge arm, which bottom opening is shaped to just allow the third pin body 29 to move axially relative thereto, which bottom opening has an inner wall surface corresponding to the planar side of the third pin body 29, so that the third pin body 29 has freedom in the axial direction but rotation in the circumferential direction is limited.

As another preferred embodiment, the bottom opening may be of a shape sufficient to allow the third pin 29 to move axially relative thereto, without limiting its shape to be complementary to the third pin 29, and the second main hinge arm is provided with an end cap, in addition to its bottom end in the axial direction, provided with an end cap through hole just allowing the third pin 29 to move axially relative thereto. The outer shape of the end cap may be cylindrical or disc-shaped to mate with the second hinge arm. In this arrangement, one end of the third pin 29 extends through the end cap through hole, which end can be connected to an external drive mechanism by which the device can be provided with a driving force sufficient to deploy the device together with the mechanism to be deployed.

Preferably, the sliding pin 9 and the sliding pin pre-tightening compression spring 10 are assembled into the first through hole 35 along the bottom opening of the first through hole 35 on the second main hinge arm, and after the sliding pin is put in, the end cover is sealed at the bottom opening of the first through hole 35 on the second main hinge arm in a manner that the end cover through hole is sleeved outside the third pin body 29. The packaging mode can be a clamping connection mode, an adhesive mode, a screwing mode or other connection modes.

The second pin 28 has a bottom surface 31 on the side facing the third pin 29. The cross section of the pin body at any position along the axial direction of the third pin body 29 is smaller than the area of the bottom surface 31. The extension of the central axis of the third pin 29 may pass through the physical center of gravity of the bottom surface 31. Based on this, the slide pin pre-tightening compression spring 10 is sleeved outside the third pin body 29, and one end thereof abuts against the bottom surface 31 of the second pin body 28, and the other end abuts against the inner wall of the bottom surface of the first through hole 35 or the end cover. With this arrangement, the sliding pin pre-tightening compression spring 10 can uniformly exert a thrust action on the position on the bottom surface 31 of the second pin body 28 which is contacted with the sliding pin pre-tightening compression spring, and the sliding pin pre-tightening compression spring is favorable for driving the second pin body 28 to slide in a manner that the sliding pin pre-tightening compression spring is in weak friction with the inner wall of the first through hole 35 and slides towards a certain direction under the stable and uniform thrust action, so that the reliability is enhanced.

As a preferred embodiment, the first pin body 27 is located at an edge position of the end face of the second pin body 28, i.e., the first pin body 27 is not provided at the center axis position of the second pin body 28. In this arrangement, in the folded position, the slide pin 9 corresponds to a first position of the bottom end face of the fixed pin, which is an eccentric position and does not contain or does not completely contain the fixed pin opening. In the process of converting the folding posture to the unfolding posture, the sliding pin 9 always keeps a tight abutting relation with the bottom end face of the fixing pin and slides around the partial edge end face of the bottom end face of the fixing pin, and the edge area does not or does not completely contain the fixing pin opening until the sliding pin 9 slides to a second position corresponding to the fixing pin opening on the bottom end face of the fixing pin. The partial edge end surface extends continuously around the central axis of the fixing pin from the first position toward the second position, and may be inclined spiral surface shape so that the first shaft body height of the fixing pin corresponding to the first position in the central axis direction is higher than the second shaft body height of the fixing pin corresponding to the second position in the central axis direction. In the unfolding process, the sliding pin 9 is subjected to the thrust action along the vertical axial direction of the sliding pin pre-tightening pressure spring 10 positioned at the bottom of the sliding pin 9, because the local edge end surface where the sliding pin 9 slides is in the inclined spiral surface shape, the thrust action along the vertical axial direction, which is applied to the sliding pin 9, can be decomposed into two directions on the point or line or surface where the sliding pin 9 contacts with the local edge end surface, one is the thrust action along the normal direction of the position where the sliding pin 9 contacts with the local edge end surface, the other is the tangential thrust action at the position where the sliding pin 9 contacts with the local edge end surface, the tangential thrust action has the direction extending from the first position to the second position, namely the tangential thrust action drives the sliding pin 9 to move towards the second position where the sliding pin 9 is continuously close to under the driving of the unfolding mechanism, the sliding friction action between the sliding pin 9 and the bottom end surface of the fixing pin is reduced, the thrust action along the vertical axial direction of the sliding pin pre-tightening pressure spring 10 synchronously drives the sliding pin 9 and the fixing pin to relatively slide, the sliding pin 9 is guided to actively slide between the sliding pin 9 and the fixing pin is matched with the second position of the opening of the sliding pin, the antenna can greatly reduce the requirement of the unfolding mechanism on the outside of the antenna, and the requirement of the unfolding structure can greatly be greatly reduced on the situation that the unfolding structure is matched with the opening of the antenna.

As another preferred embodiment, the first pin body 27 is located at a center position of the end face of the second pin body 28, i.e., the first pin body 27 is provided at a position corresponding to the center axis of the second pin body 28. In this arrangement, unlike the case where the first pin body 27 is eccentrically arranged, the first position and the second position both correspond to the positions where the fixing pin openings are located and only differ from the relative positions between the two and the fixing pin openings, and the partial edge end face no longer refers to the region on the bottom end face of the fixing pin near the outer edge, but refers to the region on the bottom end face of the fixing pin near the opening of the fixing pin opening. In this arrangement, the partial edge end surface is still arranged to extend continuously around the central axis of the fixing pin from the first position toward the second position, and the partial edge end surface may be inclined in a spiral surface shape so that the first shaft body height in the central axis direction of the fixing pin corresponding to the first position is higher than the second shaft body height in the central axis direction of the fixing pin corresponding to the second position.

In use, with the first secondary hinge 3 and the first primary hinge 1 as one side of the deployed configuration and the second secondary hinge 4 and the second primary hinge 2 as the other side of the deployed configuration, the two primary hinge torsion springs 5 are compressed, with the deployed configuration in a folded position, as shown in figures 2 and 3. When the expansion is needed, the two expansion sides of the expansion structure are driven to rotate relatively, the main hinge torsion spring 5 releases elastic potential energy, and all the main hinges and the auxiliary hinges are positioned on the same plane, as shown in fig. 4. When the first main hinge 1 and the second main hinge 2 are unfolded to a preset posture, the movement trend of the main hinge unit can be locked by the main hinge limiting structure. The secondary hinge unit reaches a coaxial condition. The auxiliary hinge unit is driven to act, the auxiliary hinge torsion spring 6 releases elastic potential energy, and the auxiliary hinge unit rotates relative to the main hinge unit. The auxiliary hinge unit and the main hinge unit form a 90-degree folded posture. The movement trend of the auxiliary hinge unit can be locked by the auxiliary hinge limiting structure. At this time, the deployed structure is completely deployed, and a locked state is reached, as shown in fig. 5. Therefore, the auxiliary hinge unit forms a large bearing interface in the unfolding direction of the main hinge unit, so that the rigidity after being unfolded can be greatly improved. In the unfolding process, before being unfolded in place, the sliding pin 9 and the fixed pin opening 13 are in a dislocation state; when the first main hinge 1 and the second main hinge 2 are about to be unfolded to a preset posture, the sliding pin 9 corresponds to the fixed pin opening 13, the sliding pin pre-pressing spring 10 releases elastic potential energy, and the sliding pin 9 enters the fixed pin opening 13 under the action of the driving force provided by the sliding pin pre-pressing spring 10; as long as a gap exists between the first main hinge 1 and the second main hinge 2, the sliding pin pre-tightening pressure spring 10 will continue to push the sliding pin 9 to advance until the gap disappears, so that the first main hinge 1 and the second main hinge 2 are unfolded to the preset posture.

It should be noted that the above-described embodiments are exemplary, and that a person skilled in the art, in light of the present disclosure, may devise various solutions that fall within the scope of the present disclosure and fall within the scope of the present disclosure. It should be understood by those skilled in the art that the present description and drawings are illustrative and not limiting to the claims. The scope of the invention is defined by the claims and their equivalents. The description of the invention encompasses multiple inventive concepts, such as "preferably," "according to a preferred embodiment," or "optionally," all means that the corresponding paragraph discloses a separate concept, and that the applicant reserves the right to filed a divisional application according to each inventive concept.

Claims

1. An unfolding structure, comprising at least:

The main hinge unit (101) at least comprises two main hinges and can be folded and unfolded to realize the connection between two unfolding sides of the mechanism to be unfolded;

The auxiliary hinge unit (102) comprises two auxiliary hinges connected with each other through a main hinge torsion spring (5) for limiting the freedom degree of the main hinge unit (101) after folding and unfolding,

The anti-backlash unit (103) comprises a fixed pin (8) arranged in a main hinge arm corresponding to one main hinge and an elastic component movably arranged in a main hinge arm corresponding to the other main hinge, and is used for providing a pre-tightening load and eliminating the clearance of the main hinge unit (101), the elastic component has a first working posture and a second working posture which are formed by the fixed pin (8),

Wherein the secondary hinge unit (102) is mounted on the primary hinge unit (101) by at least two secondary hinge torsion springs in such a way that it can move synchronously or asynchronously with the primary hinge unit (101), the anti-backlash unit (103) is arranged on the primary hinge unit (101), and the elastic member eliminates the backlash by switching from the first working posture to the second working posture when the deployment structure is deployed in place.

2. The expansion structure according to claim 1, wherein the sub-hinge torsion spring (6) has a torque capable of urging the sub-hinge unit (102) to fold toward the main hinge unit (101) to limit the degrees of freedom of the main hinge unit (101) after folding and expansion.

3. The deployment structure of claim 2, wherein the angle of rotation between the secondary hinge and the primary hinge is 90 ° to 180 °.

4. A deployment structure according to claim 3, characterized in that the elastic means comprise at least a sliding pin (9) and a sliding pin pre-tightening pressure spring (10), the sliding pin (9) being maintained in an abutting relationship with the fixing pin (8) by means of the sliding pin pre-tightening pressure spring (10) in a compressed state to provide a pre-tightening load for the main hinge unit.

5. The deployment structure according to claim 4, characterized in that the main hinge unit (101) comprises a first main hinge (1) and a second main hinge (2), the secondary hinge unit (102) comprises a first secondary hinge (3) and a second secondary hinge (4), the rotation axis between the first secondary hinge (3) and the first main hinge (1) and the rotation axis between the second secondary hinge (4) and the second main hinge (2) being co-located with the first axis.

6. The unwinding structure according to claim 5, characterized in that the rotation axes respectively associated with the two secondary hinge torsion springs (6) are co-located on a second axis perpendicular to the first axis.

7. The deployment structure of claim 6, further comprising at least one force adjustment plug (12), the force adjustment plug (12) being mounted on the at least one hinge in such a way that it can adjust the torsion force of the secondary hinge torsion spring (6) or the primary hinge torsion spring (5).

8. A deployment method implemented according to the deployment structure of any one of claims 1 to 7, comprising the steps of:

when not unfolded, the main hinge unit and the auxiliary hinge unit are in a folding posture, two main hinges in the main hinge unit are overlapped with each other, and two auxiliary hinges in the auxiliary hinge unit are overlapped with each other;

the main hinge unit is driven to be unfolded, and the auxiliary hinge unit is synchronously unfolded along with the main hinge unit;

maintaining the unfolding posture of the main hinge unit, and driving the auxiliary hinge unit to fold relative to the main hinge unit;

the auxiliary hinge unit is driven to be folded to a preset position and kept, and the unfolding is completed;

when the unfolding structure is unfolded in place, the elastic component in the anti-backlash unit is converted from the first working posture to the second working posture.