CN218086075U - Rigid hinge type variable topology space polyhedron folding and unfolding mechanism - Google Patents
Rigid hinge type variable topology space polyhedron folding and unfolding mechanism Download PDFInfo
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- CN218086075U CN218086075U CN202222049967.1U CN202222049967U CN218086075U CN 218086075 U CN218086075 U CN 218086075U CN 202222049967 U CN202222049967 U CN 202222049967U CN 218086075 U CN218086075 U CN 218086075U
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Abstract
The utility model provides a rigidity hinge formula becomes topological space polyhedron and rolls over exhibition mechanism, includes first group six link mechanism, second group six link mechanism, third group six link mechanism, fourth side link, first connecting rod, second connecting rod, third connecting rod, fourth connecting rod, fifth connecting rod, sixth connecting rod, linking frame base one, first group nine link mechanism, second group nine link mechanism, first pendulum rod, second pendulum rod, third pendulum rod, fourth pendulum rod, fifth pendulum rod, sixth pendulum rod, seventh pendulum rod, eighth pendulum rod, three degree of freedom compound hinge, first connection hinge, second connection hinge, the utility model discloses a become topological space polyhedron and roll over exhibition mechanism, it can construct according to operational environment demand, and nimble the change in each configuration, has characteristics such as folding ratio is big, the reliability is high, stability is strong, space folding process is simple. The method can be widely applied to the fields of large-caliber folding and unfolding antennas, large-scale solar sailboard supports, spacecraft basic frameworks and the like, and has strong adaptability and practicability.
Description
Technical Field
The utility model relates to a roll over exhibition mechanism, especially a rigidity hinge type becomes topological space polyhedron and rolls over exhibition mechanism.
Background
With the vigorous development of aerospace industry in China, space folding and unfolding mechanisms have evolved into the key contents of research in the field of aerospace nowadays, and various types of space folding and unfolding mechanisms are rapidly developed and applied, such as large-scale solar panel supports, space station basic frameworks, large-area folding and unfolding solar panels, large-caliber folding and unfolding antennas, space extending arms and the like. Due to the space limitation of the space carrier, the large space structure is made into a foldable structure so as to occupy the least space, and the spacecraft is unfolded to a working state after entering the orbit; when the foldable structure returns, the foldable structure is folded and folded to enter the ship body. At present, the existing space folding and unfolding mechanisms are few, most of the structures are formed by the topology or the array of folding and unfolding units, and the folding and unfolding mechanisms are unfolded by one-dimensional lines and two-dimensional surfaces, so that the folding and unfolding proportion is small, the working configuration is single, and the working environment in different forms cannot be effectively met.
Chinese patent 202010092631.6 discloses a single-degree-of-freedom symmetric space coupling deployable unit and a space deployable mechanism based on the same, the mechanism has the characteristics of high rigidity, high reliability and the like, but the mechanism has fewer working configurations, and the deployed topological state is only an umbrella-shaped and two-dimensional plane state; china patent 201210310520.3 discloses a planar array deployable mechanism based on square units, which has the problems of single working configuration, small folding-unfolding ratio, only two-dimensional planar folding-unfolding mechanism and the like. At present, a practical novel design of a space folding and unfolding mechanism with large folding ratio, high reliability, strong stability and simple folding process is not seen.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a rigidity hinge type becomes topological space polyhedron and rolls over exhibition mechanism, it can construct according to the operational environment demand, and nimble the changing in each structure attitude has characteristics such as folding than big, the reliability is high, stability is strong, folding process is simple.
In order to achieve the above purpose, the utility model adopts the following technical means:
a rigid hinge type variable topology space polyhedron folding and unfolding mechanism comprises a first group of six-bar mechanisms, a second group of six-bar mechanisms, a third group of six-bar mechanisms, a fourth connecting rod, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a first connecting frame base, a first group of nine-bar mechanisms, a second group of nine-bar mechanisms, a first oscillating bar, a second oscillating bar, a third oscillating bar, a fourth oscillating bar, a fifth oscillating bar, a sixth oscillating bar, a seventh oscillating bar, an eighth oscillating bar, a three-degree-of-freedom composite hinge, a first connecting hinge and a second connecting hinge, and has the following specific structure and connection mode,
the first group of six-bar linkage consists of a first connecting bar, a second connecting bar, a third connecting bar, a fourth connecting bar, a fifth connecting bar and a sixth connecting bar, and each connecting bar is provided with a pin hole which is connected with each other. The first connecting rod is connected with the second connecting rod through a revolute pair, the second connecting rod is connected with the third connecting rod through a revolute pair, the third connecting rod is connected with the fourth connecting rod through a revolute pair, the fourth connecting rod is connected with the fifth connecting rod through a revolute pair, the fifth connecting rod is connected with the sixth connecting rod through a revolute pair, and the structures and the connection relations of the other three groups of six-connecting-rod mechanisms and the first group of six-connecting-rod mechanisms are completely the same;
the first connecting rod and the fourth connecting rod are provided with pin holes connected with the three-degree-of-freedom composite hinge;
the three-degree-of-freedom composite hinge is formed by connecting a first connecting hinge and a second connecting hinge through revolute pairs, every two revolute pairs of the three-degree-of-freedom composite hinge are perpendicular to each other and can be regarded as ball pairs to be convenient to drive, and the three-degree-of-freedom composite hinge is thirty-two.
The first group of nine-link mechanisms consists of a first connecting frame base, a first swing rod, a second swing rod, a third swing rod, a fourth swing rod, a fifth swing rod, a sixth swing rod, a seventh swing rod, an eighth swing rod, a first three-degree-of-freedom composite hinge, a second three-degree-of-freedom composite hinge, a third three-degree-of-freedom composite hinge, a fourth three-degree-of-freedom composite hinge, a fifth three-degree-of-freedom composite hinge, a sixth three-degree-of-freedom composite hinge, a seventh three-degree-of-freedom composite hinge and an eighth three-degree-of-freedom composite hinge; the first three-degree-of-freedom composite hinge, the second three-degree-of-freedom composite hinge, the third three-degree-of-freedom composite hinge, the fourth three-degree-of-freedom composite hinge, the fifth swing rod, the sixth swing rod, the seventh swing rod, the eighth swing rod, the first three-degree-of-freedom composite hinge, the eighth three-degree-of-freedom composite hinge and the ninth three-degree-of-freedom connecting rod mechanism are all connected with the first connecting frame base through revolute pairs;
the first group of nine-bar mechanisms are connected with the first group of six-bar mechanisms to the fourth group of six-bar mechanisms through three-degree-of-freedom composite hinges nine to sixteen, wherein a first swing rod is connected with the first group of six-bar mechanisms through three-degree-of-freedom composite hinges nine, a second swing rod is connected with the first group of six-bar mechanisms through three-degree-of-freedom composite hinges ten, a third swing rod is connected with the second group of six-bar mechanisms through three-degree-of-freedom composite hinges eleven, a fourth swing rod is connected with the second group of six-bar mechanisms through three-degree-of-freedom composite hinges twelve, a fifth swing rod is connected with the third group of six-bar mechanisms through three-degree-of-freedom composite hinges thirteen, a sixth swing rod is connected with the third group of six-bar mechanisms through three-degree-of-freedom composite hinges fourteen, a seventh swing rod is connected with the fourth group of six-bar mechanisms through fifteen, an eighth swing rod is connected with the fourth group of six-bar mechanisms through three-degree-of three-degree-composite hinges sixteen, and the ninth group of six-bar mechanisms are completely identical in structure and connection relation.
The utility model discloses following beneficial effect can be brought:
1. the utility model discloses a deployable mechanism can realize folding state to the configuration change of space exhibition state through folding or expansion motion, can realize changing into the topological structure of different forms such as space polyhedron, cuboid, cross-section's space polyhedron from folding state.
2. The utility model discloses a can expand the constitutional unit that the mechanism can be expanded as the space, through the connection of different hinges, the space that multiple form was constituteed to the topological array can be expanded the mechanism, satisfies the operation demand.
3. The utility model discloses a deployable mechanism possesses that the component is constituteed simply, connected mode is simple, folding than big, folding process is simple, expand advantages such as stable.
Drawings
Fig. 1 is a schematic structural view of a six-bar linkage mechanism of the folding and unfolding mechanism of the utility model.
Fig. 2 is a schematic structural diagram of a rectangular parallelepiped configuration of the folding and unfolding mechanism according to the present invention.
Fig. 3 is a partially enlarged schematic view of the composite hinge of the folding and unfolding mechanism of the present invention.
Fig. 4 is a folding operation diagram of the six-bar linkage of the folding and unfolding mechanism according to the present invention.
Fig. 5 is a partially enlarged view of the folding of the six-bar linkage of the folding and unfolding mechanism according to the present invention.
Fig. 6 is a folding operation diagram of the nine-link mechanism of the folding and unfolding mechanism according to the present invention.
Fig. 7 is a partially enlarged schematic view of the folding operation of the nine-bar linkage of the folding and unfolding mechanism of the present invention.
Fig. 8 is a partially enlarged schematic view of the nine-bar linkage folding operation of the folding and unfolding mechanism of the utility model.
Fig. 9 is a schematic structural view of the fully folded state of the folding and unfolding mechanism according to the present invention.
Fig. 10 is a structural schematic view of the unfolded polyhedron configuration of the folding and unfolding mechanism of the present invention.
Figure 11 is a schematic view of the deployed cruciform cross-sectional configuration of the folding and unfolding mechanism of the present invention.
Labeled as: 1. a first link; 2. a second link; 3. a third link; 4. a sixth link; 5. a fifth link; 6. a fourth link; 7. a second set of nine-bar linkages; 8. fifteen three-degree-of-freedom composite hinge; 9. fourteen three-degree-of-freedom composite hinges; 10. thirteen three-degree-of-freedom composite hinges; 11. twelve three-degree-of-freedom composite hinges; 12. a first swing link; 13. an eighth swing link; 14. a first three-degree-of-freedom composite hinge; 15. a first connecting frame base; 16. eight three-degree-of-freedom composite hinges; 17. a second swing link; 18. a second three-degree-of-freedom composite hinge; 19. a third swing link; 20. a third three-degree-of-freedom composite hinge; 21. a seventh swing link; 22. a three-degree-of-freedom composite hinge seventh; 23. a sixth swing link; 24. a six-degree-of-freedom composite hinge; 25. a fourth swing link; 26. the three-degree-of-freedom composite hinge IV; 27. a fifth swing link; 28. a fifth three-degree-of-freedom composite hinge; 29. a first set of six-bar linkages; 30. a fourth set of six-bar linkages; 31. a second set of six-bar linkages; 32. a third set of six-bar linkages; 33. ten three-degree-of-freedom composite hinges; 34. sixteen three-degree-of-freedom composite hinges; 35. and the three-degree-of-freedom composite hinge nine. 36. Eleven three-degree-of-freedom composite hinges; 37. a first connecting hinge; a second attachment hinge; 39. a first set of nine linkages.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, and fig. 11, the specific structure and connection relationship of the rigid hinge type topology space-changing polyhedron folding mechanism of the present invention are as follows:
the first group of six-bar linkage 29 is composed of a first connecting bar 1, a second connecting bar 2, a third connecting bar 3, a fourth connecting bar 6, a fifth connecting bar 5 and a sixth connecting bar 4, and each connecting bar is provided with pin holes which are connected with each other. The first connecting rod 1 is connected with the second connecting rod 2 through a revolute pair, the second connecting rod 2 is connected with the third connecting rod 3 through a revolute pair, the third connecting rod 3 is connected with the fourth connecting rod 6 through a revolute pair, the fourth connecting rod 6 is connected with the fifth connecting rod 5 through a revolute pair, the fifth connecting rod 5 is connected with the sixth connecting rod 4 through a revolute pair, and the structures and the connection relations of the other three groups of six-connecting rod mechanisms and the first group of six-connecting rod mechanisms 29 are completely the same;
the first connecting rod 1 and the fourth connecting rod 6 are provided with pin holes connected with the three-degree-of-freedom composite hinge;
the three-degree-of-freedom composite hinge is formed by connecting a first connecting hinge 37 and a second connecting hinge 38 through revolute pairs, every two revolute pairs of the three-degree-of-freedom composite hinge are mutually vertical and can be regarded as ball pairs to be convenient to drive, and the three-degree-of-freedom composite hinge has thirty-two structures and completely identical connecting relations.
The first group of nine-link mechanisms 39 consists of a first connecting frame base 15, a first swing rod 12, a second swing rod 17, a third swing rod 19, a fourth swing rod 25, a fifth swing rod 27, a sixth swing rod 23, a seventh swing rod 21, an eighth swing rod 13, a first three-degree-of-freedom composite hinge 14, a second three-degree-of-freedom composite hinge 18, a third three-degree-of-freedom composite hinge 20, a fourth three-degree-of-freedom composite hinge 26, a fifth three-degree-of-freedom composite hinge 28, a sixth three-degree-of-freedom composite hinge 24, a seventh three-degree-of-freedom composite hinge 22 and an eighth three-degree-of-freedom composite hinge 16; the first three-degree-of-freedom composite hinge 14 to the eighth three-degree-of-freedom composite hinge 16 are connected with the first connecting frame base 15 through revolute pairs, the first swing rod 12 is connected with the first connecting frame base 15 through the first three-degree-of-freedom composite hinge 14, the second swing rod 17 is connected with the first connecting frame base 15 through the second three-degree-of-freedom composite hinge 18, the third swing rod 19 is connected with the first connecting frame base 15 through the third three-degree-of-freedom composite hinge 20, the fourth swing rod 25 is connected with the first connecting frame base 15 through the fourth three-degree-of-freedom composite hinge 26, the fifth swing rod 27 is connected with the first connecting frame base 15 through the fifth three-degree-of-freedom composite hinge 28, the sixth swing rod 23 is connected with the first connecting frame base 15 through the sixth three-degree-of-freedom composite hinge 24, the seventh swing rod 21 is connected with the first connecting frame base 15 through the seventh three-degree-of-freedom composite hinge 22, the eighth swing rod 13 is connected with the first connecting frame base 15 through the eighth three-degree-of-degree-of-freedom composite hinge 16, and the ninth connecting rod mechanism 7 and the ninth connecting rod mechanism 39 are completely identical in structure and connection relation;
the first group of nine-bar mechanisms 39 are connected with the first group of six-bar mechanisms 29 to the fourth group of six-bar mechanisms 30 through three-degree-of-freedom compound hinges nine 35 to sixteen 34, wherein the first swing rod 12 is connected with the first group of six-bar mechanisms 29 through three-degree-of-freedom compound hinges nine 35, the second swing rod 17 is connected with the first group of six-bar mechanisms 29 through three-degree-of-freedom compound hinges ten 33, the third swing rod 19 is connected with the second group of six-bar mechanisms 31 through three-degree-of-freedom compound hinges eleven 36, the fourth swing rod 25 is connected with the second group of six-bar mechanisms 31 through three-degree-of-freedom compound hinges twelve 11, the fifth swing link 27 is connected with the third group of six-bar mechanisms 32 through a compound three-degree-of-freedom hinge thirteen 10, the sixth swing link 23 is connected with the third group of six-bar mechanisms 32 through a compound three-degree-of-freedom hinge fourteen 9, the seventh swing link 21 is connected with the fourth group of six-bar mechanisms 30 through a compound three-degree-of-freedom hinge fifteen 8, the eighth swing link 13 is connected with the fourth group of six-bar mechanisms 30 through a compound three-degree-of-freedom hinge sixteenth 34, and the second group of nine-bar mechanisms 7 is completely identical with the first group of six-bar mechanisms 29, the second group of six-bar mechanisms 31, the third group of six-bar mechanisms 32 and the fourth group of six-bar mechanisms 30 in structure and connection relation.
The utility model discloses a theory of operation is: the six-link mechanism and the nine-link mechanism of the space polyhedron folding mechanism have the same structure and connection relationship, so that only one group of the six-link mechanism and the nine-link mechanism is analyzed.
The first group of six-bar linkage 29 consists of a first connecting bar 1, a second connecting bar 2, a third connecting bar 3, a fourth connecting bar 6, a fifth connecting bar 5 and a sixth connecting bar 4, wherein the first connecting bar 1 is connected with the second connecting bar 2 through a revolute pair, the second connecting bar 2 is connected with the third connecting bar 3 through a revolute pair, the third connecting bar 3 is connected with the fourth connecting bar 6 through a revolute pair, the fourth connecting bar 6 is connected with the fifth connecting bar 5 through a revolute pair, and the fifth connecting bar 5 is connected with the sixth connecting bar 4 through a revolute pair. The driving pair is a rotation pair of the first link 1 and the sixth link 4 and the fifth link 5 and the sixth link 4, and when the first link 1 and the fifth link 5 rotate in opposite directions, the first group of six-link mechanisms 29 are in a folding working state. In the same way, the other three-set six-bar linkage mechanism works on the same principle as the first-set six-bar linkage mechanism 29, and the working state when the four-set six-bar linkage mechanism is completely folded is shown in fig. 4. Conversely, when motion in the opposite direction is applied to the drive pair, the mechanism will deploy.
The first group nine-bar mechanism 39 is connected with the first group six-bar mechanism 29 through the fourth group six-bar mechanism 30 through the three-degree-of-freedom composite hinge nine 35 through the three-degree-of-freedom composite hinge sixteen 34, wherein the first swing link 12 is connected with the first group six-bar mechanism 29 through the three-degree-of-freedom composite hinge nine 35, the second swing link 17 is connected with the first group six-bar mechanism 29 through the three-degree-of-freedom composite hinge ten 33, the third swing link 19 is connected with the second group six-bar mechanism 31 through the three-degree-of-freedom composite hinge eleven 36, the fourth swing link 25 is connected with the second group six-bar mechanism 31 through the three-degree-of-freedom composite hinge twelve 11, the fifth swing link 27 is connected with the third group six-bar mechanism 32 through the three-degree-of-freedom composite hinge thirteen 10, the sixth swing link 23 is connected with the third group six-bar mechanism 32 through the three-degree-of-freedom composite hinge fourteen 9, the seventh swing link 21 is connected with the fourth group six-bar mechanism 30 through the three-degree-of-three-degree-freedom composite hinge fifteen 8, and the eighth swing link 13 is connected with the fourth group six bar mechanism 30 through the three-degree-of-degree-freedom composite hinge sixteen 34. In the same way, the second set of nine linkages 7 and the first set of nine linkages 39 are identical in structure and connection relationship with the first set of six linkages 29 to the fourth set of six linkages 30. As shown in fig. 4, in this working state, the nine-bar linkage mechanism is about to enter the folded working initial position, and the kinematic pair of each three-degree-of-freedom hinge is in the released state, which is equivalent to a ball pair. Because the mechanism is in a completely symmetrical relationship, the second swing link 17 in the first set of nine-link mechanisms 39 is used for explanation, at this time, the first connecting hinge 37 in the three-degree-of-freedom composite hinge ten 33 connected with the second swing link 17 rotates to a position where the minor axis of rotation is perpendicular to the link center line of the fourth link 6 in the first set of six-link mechanisms 29, the rotation angle of the second connecting hinge 38 relative to the first connecting hinge 37 is 0 degree, and the rotation states of the three-degree-of-freedom composite hinge two 18 connected with the second swing link 17 and the three-degree-of-freedom composite hinge ten 33 are in a completely symmetrical relationship. The hinge connection and rotation relation of the first swing rod 12 and the second swing rod 17 are completely consistent, and the hinge connection and rotation state of the other three groups of third swing rods 19 and the fourth swing rod 25, the fifth swing rod 27 and the sixth swing rod 23, the seventh swing rod 21 and the eighth swing rod 13 and the hinge connection and rotation relation of the first swing rod 12 and the second swing rod 17 are completely symmetrical. Four driving pairs are provided, and are respectively a revolute pair formed by connecting a first connecting hinge 37 and a second connecting hinge 38 in a compound hinge with three degrees of freedom twelve 33, a compound hinge with three degrees of freedom twelve 11, a compound hinge with three degrees of freedom fourteen 9 and a compound hinge with three degrees of freedom sixteen 34, after four driving pairs are applied, the first connecting frame base 15 moves in a direction of rotating and always keeping parallel to a third connecting rod 3 in four six-connecting-rod mechanisms, and at this time, as shown in fig. 6, 7 and 8. When the second set of nine-bar linkages 7 is also folded, as shown in fig. 9, the space occupied is also minimal in this case in the fully folded state of the space polyhedral folding mechanism. Conversely, when motion in opposite directions is applied to the four drive pairs, the mechanism will deploy.
As shown in fig. 2, when the spatial polyhedron folding and unfolding mechanism is in a rectangular parallelepiped configuration, the first set of nine-bar linkage 39 is used to describe the working principle thereof, and two revolute pairs on the first connecting hinge 37 in all the three-degree-of-freedom composite hinges connected to the six-bar linkage are locked, that is, the revolute pairs connected to the first connecting hinge 37 and the third connecting bar 3 on all the six-bar linkage and the revolute pairs connected to the first connecting hinge 37 and the second connecting hinge 38 are locked; two revolute pairs on a first connecting hinge 37 in the three-freedom-degree composite hinge connected with a first connecting base 15 are locked, at the moment, the three-freedom-degree composite hinge is degenerated into a single-freedom-degree hinge, all the oscillating bars on a first group of nine-link mechanisms 39 can only rotate around the three-freedom-degree composite hinge in a single-freedom-degree mode, driving pairs are respectively added on revolute pairs in the first three-freedom-degree composite hinge 14, the first oscillating bar 12, the third three-freedom-degree composite hinge 20, the third oscillating bar 19, the fifth three-freedom-degree composite hinge 28, the fifth oscillating bar 27, the seventh three-freedom-degree composite hinge 22 and the seventh oscillating bar 21, driving and rotating relations of the second group of nine-link mechanisms 7 and the first group of nine-link mechanisms 39 are completely consistent, after driving, each group of six-link mechanisms are respectively driven to realize unfolding motion, when the oscillating bars rotate by 45 degrees, the folding and unfolding mechanism is unfolded to a polyhedral topological configuration similar to a spherical shape, at the volume occupied by the moment is the maximum (as shown in figure 10), and when the oscillating bars continue to rotate by 45 degrees, the folding and unfolding mechanism is unfolded to a polyhedral topological configuration with a cross section in a ten-shape (as shown in figure 11). Conversely, when opposite directions of movement are applied to the eight drive pairs, the mechanism will contract to a rectangular parallelepiped configuration.
Claims (3)
1. A rigid hinge type variable topology space polyhedron folding and unfolding mechanism is characterized in that a first group of six connecting rod mechanisms consists of a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, wherein each connecting rod is provided with pin holes which are connected with each other; the first connecting rod is connected with the second connecting rod through a revolute pair, the second connecting rod is connected with the third connecting rod through a revolute pair, the third connecting rod is connected with the fourth connecting rod through a revolute pair, the fourth connecting rod is connected with the fifth connecting rod through a revolute pair, the fifth connecting rod is connected with the sixth connecting rod through a revolute pair, and the structures and the connection relations of the other three groups of six-connecting-rod mechanisms and the first group of six-connecting-rod mechanisms are completely the same; the first group of nine-link mechanisms consists of a first connecting frame base, a first swing rod, a second swing rod, a third swing rod, a fourth swing rod, a fifth swing rod, a sixth swing rod, a seventh swing rod, an eighth swing rod, a first three-degree-of-freedom composite hinge, a second three-degree-of-freedom composite hinge, a third three-degree-of-freedom composite hinge, a fourth three-degree-of-freedom composite hinge, a fifth three-degree-of-freedom composite hinge, a sixth three-degree-of-freedom composite hinge, a seventh three-degree-of-freedom composite hinge and an eighth three-degree-of-freedom composite hinge; the first three-degree-of-freedom composite hinge, the second three-degree-of-freedom composite hinge, the third swing rod and the first connecting base are connected through the third three-degree-of-freedom composite hinge, the fourth swing rod and the first connecting base are connected through the fourth three-degree-of-freedom composite hinge, the fifth swing rod and the first connecting base are connected through the fifth three-degree-of-freedom composite hinge, the sixth swing rod and the first connecting base are connected through the sixth three-degree-of-freedom composite hinge, the seventh swing rod and the first connecting base are connected through the seventh three-degree-of-freedom composite hinge, the eighth swing rod and the first connecting base are connected through the eighth three-degree-of-freedom composite hinge, and the structures and connection relations of the second nine-bar mechanism and the first nine-bar mechanism are completely the same; the first group of nine-bar mechanisms are connected with the first group of six-bar mechanisms to the fourth group of six-bar mechanisms through three-degree-of-freedom composite hinges nine to sixteen, wherein a first swing rod is connected with the first group of six-bar mechanisms through three-degree-of-freedom composite hinges nine, a second swing rod is connected with the first group of six-bar mechanisms through three-degree-of-freedom composite hinges ten, a third swing rod is connected with the second group of six-bar mechanisms through three-degree-of-freedom composite hinges eleven, a fourth swing rod is connected with the second group of six-bar mechanisms through three-degree-of-freedom composite hinges twelve, a fifth swing rod is connected with the third group of six-bar mechanisms through three-degree-of-freedom composite hinges thirteen, a sixth swing rod is connected with the third group of six-bar mechanisms through three-degree-of-freedom composite hinges fourteen, a seventh swing rod is connected with the fourth group of six-bar mechanisms through fifteen, an eighth swing rod is connected with the fourth group of six-bar mechanisms through three-degree-of three-degree-composite hinges sixteen, and the ninth group of six-bar mechanisms are completely identical in structure and connection relation.
2. A space polyhedron folding mechanism according to claim 1, wherein the first and fourth links in all six-link mechanisms are each provided with a pin hole connected to a three-degree-of-freedom compound hinge.
3. A spatial polyhedron folding mechanism as claimed in claim 1, wherein said three-degree-of-freedom compound hinge is composed of a first connecting hinge and a second connecting hinge connected via revolute pairs, and the revolute pairs are perpendicular to each other in pairs and can be regarded as spherical pairs for easy driving.
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