Ultra-large-aperture load antenna folding and unfolding mechanism with metamorphic structure

Abstract

The invention discloses a metamorphic-configuration ultra-large-caliber load antenna folding and unfolding mechanism, which relates to the field of spaceflight, and is formed by layering topology of nineteen metamorphic-configuration folding and unfolding mechanisms with the same configuration and different sizes according to a central symmetry mode, the unfolding state of the metamorphic-configuration ultra-large-caliber load antenna folding and unfolding mechanism is a spherical surface, and the caliber of the metamorphic-configuration ultra-large-caliber load antenna folding and unfolding mechanism is not less than 50m. The antenna is unfolded in two stages of mutual decoupling, the first stage is plane-like unfolding used for expanding the aperture of the antenna, and the second stage is space unfolding used for expanding the target spherical surface of the antenna folding and unfolding mechanism. The metamorphic configuration deployable unit can realize staged deployment of the deployable unit through cooperation of the mechanism short rod and the locking push rod, the two stages of antenna deployment correspond to the two stages of antenna deployment of the metamorphic configuration deployable unit, and the antenna of the invention can realize a high folding and unfolding ratio and has a large deployment aperture. And a thought is provided for the design of a subsequent ultra-large-aperture load antenna folding and unfolding mechanism.

Description

Technical Field

[0001] The invention relates to the field of aerospace technology, in particular to a folding and unfolding mechanism of a super-large-caliber load antenna with a metamorphic configuration. Background Art

[0002] With the continuous improvement of human's cognition of space environment and its own scientific and technological level, the status of aerospace technology in the development of human science and technology has become increasingly important. The progress of human aerospace technology has not only brought about a rapid increase in the number of scientific and technological achievements, but also put forward more complex and stringent requirements for the development of aerospace technology. Under the condition of limited carrying capacity of space launch vehicles, the contradiction between limited carrying space and large-area structural requirements of spacecraft has given rise to the development and progress of space folding mechanisms. Especially in the past two decades, space folding mechanisms represented by space deployable antennas have achieved vigorous development, and many forms of folding mechanisms have been born, which have played a vital role in the development of spacecraft and promoted the development of aerospace technology.

[0003] Among the many types of space folding and deployable mechanisms, space deployable antennas are the branch with the highest research value and the greatest research difficulty. Their characteristics of folding during the launch phase and unfolding after entering orbit give them a large folding and deploying ratio, which can provide a larger on-orbit aperture under the same carrier space. For this reason, space deployable antennas are widely used in military reconnaissance, resource exploration, data relay and deep space exploration. However, at the same time, the realization of high folding and deploying ratio closed-loop mechanisms, complex kinematics and deployment dynamics of space deployable antennas also pose difficulties for the related theoretical research and engineering design of larger aperture and higher folding and deploying ratio space deployable antennas. In this context, studying the folding and deploying mechanism of ultra-large aperture payload antennas with metamorphic configuration has important practical significance for the design, theoretical analysis and engineering application of ultra-large aperture payload antennas. Summary of the invention

[0004] The purpose of the present invention is to provide a folding and unfolding mechanism of a super-large-caliber payload antenna with a metamorphic configuration to solve the problems raised by the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: a folding and unfolding mechanism of a super-large-caliber payload antenna of a metamorphic configuration, which is topologically formed in a hierarchical manner in a centrally symmetrical manner by 19 kinds of metamorphic configuration folding and unfolding mechanisms of the same configuration and different sizes, and its unfolded state is a spherical surface with a diameter of not less than 50m, and its folded state is a regular cylindrical body composed of hexagonal prism module units spliced ​​from triangular prism units with the same cross-sectional size, and the folded cross-sectional diameter is not more than 3m;

[0006] The metamorphic configuration folding and unfolding mechanism can be divided into three topological levels according to the topological level of the hexagonal prism module unit: the central topological level, the second topological level and the third topological level, with a total of four module types: one central topological level, six second topological levels, six third topological level type one, and six third topological level type two. Each module type is centrally symmetrically distributed according to the symmetry center of the antenna;

[0007] The 19 types of metamorphic configuration folding and unfolding mechanisms include six center folding and unfolding mechanisms one, six center folding and unfolding mechanisms two, six second-level topological folding and unfolding mechanisms one, twelve second-level topological folding and unfolding mechanisms two, twelve second-level topological folding and unfolding mechanisms three, twelve second-level topological folding and unfolding mechanisms four, twelve second-level topological folding and unfolding mechanisms five, twelve third-level topological type one folding and unfolding mechanisms one, twelve third-level topological type one folding and unfolding mechanisms two, twelve third-level topological type one folding and unfolding mechanisms three, twelve third-level topological type one folding and unfolding mechanisms four, twelve third-level topological type one folding and unfolding mechanisms five, six The third level topology type one folding and unfolding mechanism six, six third level topology type one folding and unfolding mechanism seven, twelve third level topology type two folding and unfolding mechanism one, six third level topology type two folding and unfolding mechanism two, twelve third level topology type two folding and unfolding mechanism three, twelve third level topology type two folding and unfolding mechanism four, six third level topology type two folding and unfolding mechanism five, the metamorphic configuration folding and unfolding mechanisms of each configuration are centrally symmetrically distributed around the symmetry center of the antenna, and when the corresponding metamorphic configuration folding and unfolding mechanisms form a hexagonal prism module unit, there is a situation where adjacent hexagonal prism units share one or more metamorphic configuration folding and unfolding mechanisms.

[0008] Preferably, the metamorphosis configuration folding and unfolding mechanism comprises a sliding rod, a driving spring, a mechanism center hinge, a mechanism long rod, a mechanism short rod, a cylindrical pair connecting side rod, a rotating pair connecting side rod and a cylindrical pair mechanism, one end of the sliding rod is fixedly connected to a rotating track of the rotating pair mechanism, and the other end of the sliding rod is fixedly connected to a spring faceplate, one end of the driving spring is fixedly connected to one end of the spring faceplate, and the driving cylindrical pair mechanism located at the other end of the driving spring can slide on the sliding rod and rotate slightly, and each rotating pair mechanism rotation track is connected to a plurality of rotating pair mechanisms, which can rotate slightly around their corresponding tracks, the rotating pair mechanism is fixedly connected to the rotating pair connecting side rod, one end of the mechanism short rod is hinged to the mechanism long rod, and the other end is hinged to the cylindrical pair connecting side rod, one end of the mechanism long rod located on one side of the rotating pair is hinged to the rotating pair connecting side rod, and the other end is fixedly connected to one end of the mechanism center hinge, one end of the mechanism long rod located on one side of the cylindrical pair is hinged to the mechanism short rod, and the other end is fixedly connected to one end of the mechanism center hinge.

[0009] Preferably, the mechanism short rod includes a mechanism short rod body, a mechanism rod connection, a mechanism short rod fixing member group, a mechanism short rod locking structure, a mechanism short rod torsion spring, a mechanism short rod connecting member and a mechanism short rod connecting member cover, one end of the mechanism short rod body is connected to the mechanism short rod locking structure and the mechanism rod connection through the mechanism short rod fixing member group, and the other end is fixedly connected to the mechanism short rod connecting member, the mechanism rod connection is connected to the cylindrical pair connecting side rod through a hinge, and the mechanism short rod connecting member is connected to the mechanism rod connection fixedly connected to the mechanism long rod through a hinge.

[0010] Preferably, the cylindrical sub-connecting side rod includes a locking push rod, a locking push rod slide groove, a rod limiting groove, a kinematic sub-mechanism fixing screw hole, a weight-reducing hollow and a locking push rod through hole. The top end of the cylindrical sub-connecting side rod is provided with a side rod hinge hinged to the short rod of the mechanism. The rod limiting groove is located on one side of the kinematic sub-mechanism fixing screw hole, which can limit the long rod and the short rod of the mechanism when the antenna is folded or unfolded in the first stage. At the same time, there are weight-reducing hollows spaced apart from each other in the length direction of the cylindrical sub-connecting side rod to reduce the weight.

[0011] Preferably, the unfolding process of the metamorphic configuration folding and unfolding mechanism is divided into two mutually decoupled stages. The first stage is an approximately planar unfolding, in which the long rods of each metamorphic mechanism in the unit are driven by the driving spring in the center of the corresponding hexagonal unit to unfold, which only serves to expand the antenna aperture. The second stage is a spatial unfolding. After the first stage is unfolded, the rotating orbits of each rotating pair mechanism contact the cylindrical pair connecting side rod, pushing the movement of the locking push rod unlocking mechanism short rod. The mechanism short rod is unfolded into place under the action of the built-in mechanism short rod torsion spring, and stretches into the spherical surface required for the antenna.

[0012] Preferably, the mechanism short rod locking structure has two penetrating locking holes. When the antenna is in a folded state or the first stage of deployment, the front end of the locking push rod is inserted to lock the mechanism short rod. The mechanism short rod connecting piece cover is connected to the mechanism short rod connecting piece by bolts. At the same time, a torsion spring rotation groove is provided on the mechanism short rod connecting piece cover and the mechanism rod connection. The torsion spring rotation groove is used to place the mechanism short rod torsion spring to drive the second stage of deployment.

[0013] Preferably, the mechanism center hinge includes a semi-mechanism center hinge, a mechanism center hinge shaft and a mechanism center hinge bearing retaining ring. The main body of the mechanism center hinge is two semi-mechanism center hinges that cooperate with each other. The protruding parts at both ends of the semi-mechanism center hinge are connected to the mechanism long rod through cylindrical pins. The two semi-mechanism center hinges are connected through the penetrating mechanism center hinge shaft. The two ends of the mechanism center hinge shaft are equipped with mechanism center hinge bearings, and the periphery of the mechanism center hinge bearing is limited by the mechanism center hinge bearing retaining ring.

[0014] Preferably, the cylindrical auxiliary mechanism is formed by the cooperation between a cylindrical auxiliary mechanism sleeve and a linear bearing inside the cylindrical auxiliary mechanism sleeve, and the linear bearing is also provided with cylindrical auxiliary mechanism bearing retaining rings with limiting positions at the top and bottom.

[0015] Preferably, the rotating sub-mechanism includes a rotating sub-sleeve, a rotating sub-circuit rotating shaft, a rotating sub-circuit rotating ring and a rotating sub-circuit rotating ring tension spring. The rotating sub-mechanism uses the rotating sub-sleeve as the main part. The rotating sub-circuit rotating ring is connected to the rotating sub-sleeve through the rotating sub-circuit rotating shaft, and is used to make the rotating sub-mechanism rotate within the rotating track of the rotating sub-mechanism. Both ends of the rotating sub-circuit rotating ring tension spring are fixedly connected to the two rotating sub-circuit rotating rings, so that it can be reset after being installed on the rotating track of the rotating sub-mechanism.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] In the present invention, a folding and unfolding mechanism of a super-large-caliber payload antenna with a metamorphic configuration includes nineteen folding and unfolding mechanisms of a similar configuration and different sizes located at different topological positions, which constitute a plurality of hexagonal prism folding and unfolding mechanisms formed by splicing triangular prisms. The super-large-caliber payload antenna folding and unfolding mechanism finally spliced ​​together is a spherical mechanism, and its unfolded caliber is not less than 50m. In the folded state, it is a regular cylinder composed of hexagonal prism module units spliced ​​by triangular prism units with the same cross-sectional size, and the folded cross-sectional diameter is not greater than 3m. The folding and unfolding mechanism of the present invention can be divided into three topological levels according to the topological level of the hexagonal prism module unit, with a total of four module types, and each module type module is symmetrically distributed according to the center of symmetry of the antenna. When the corresponding metamorphic configuration folding and unfolding mechanism forms a hexagonal prism module unit, there are one or more metamorphic configurations shared between adjacent hexagonal prism units. With regard to the folding and unfolding mechanism, the unfolding of the antenna in the present invention is divided into two mutually decoupled stages: the first stage is a quasi-plane unfolding for realizing the expansion of the antenna aperture, and the second stage is a spatial unfolding for realizing the stretching of the target sphere of the antenna folding and unfolding mechanism. In the present invention, the metamorphic configuration unfoldable unit can realize the staged unfolding of the unfoldable unit by cooperating with the short rod of the mechanism and the locking push rod. The two stages of antenna unfolding correspond to the two stages of unfolding of the unfoldable unit of the metamorphic configuration. The antenna of the present invention can realize a higher folding and unfolding ratio and have a larger unfolding aperture at the same time, which provides ideas for the design of subsequent folding and unfolding mechanisms of ultra-large aperture payload antennas. The folding and unfolding mechanism of ultra-large aperture payload antennas with metamorphic configuration studied in the present invention has important practical significance for the design, theoretical analysis, and engineering application of ultra-large aperture payload antennas, and also promotes the development of spatial folding and unfolding mechanisms, which has far-reaching significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the unfolding mechanism of the ultra-large-caliber payload antenna of the metamorphic configuration in the present invention;

[0019] Figure 2It is a schematic diagram of a semi-expanded state of the folding and unfolding mechanism of the ultra-large-caliber payload antenna of the metamorphic configuration in the present invention;

[0020] Figure 3 It is a schematic diagram of the folded state of the folding and unfolding mechanism of the ultra-large-caliber payload antenna of the metamorphic configuration in the present invention;

[0021] Figure 4 It is a schematic diagram of the topological division of the hexagonal prism module in the present invention;

[0022] Figure 5 It is a schematic diagram of the types of metamorphic folding and unfolding mechanisms in the folding and unfolding mechanism of the ultra-large-caliber payload antenna with a metamorphic configuration in the present invention;

[0023] Figure 6 It is a schematic diagram of the folded state of the metamorphic folding and unfolding mechanism in the present invention;

[0024] Figure 7 It is a schematic diagram of the unfolded and semi-unfolded state of the metamorphic folding and unfolding mechanism in the present invention;

[0025] Figure 8 It is a schematic diagram of the expansion of the metamorphic folding and unfolding mechanism in the present invention;

[0026] Fig. 9 It is a schematic diagram of the folded state of the short rod of the metamorphic folding and unfolding mechanism of the present invention;

[0027] Fig.10 It is a schematic structural diagram of a short rod of a metamorphic folding and unfolding mechanism in the present invention;

[0028] Fig.11 It is a structural schematic diagram of a cylindrical pair connecting a side rod in a metamorphic folding and unfolding mechanism of the present invention;

[0029] Fig.12 It is a structural schematic diagram of a locking push rod in a metamorphic folding and unfolding mechanism of the present invention;

[0030] Fig.13 It is a schematic structural diagram of a central hinge of a metamorphic folding and unfolding mechanism in the present invention;

[0031] Fig.14 It is a structural schematic diagram of a cylindrical auxiliary mechanism in a metamorphic folding and unfolding mechanism in the present invention;

[0032] Fig.15 It is a structural schematic diagram of the rotational pair mechanism in the metamorphic folding and unfolding mechanism of the present invention.

[0033] In the figure: 01, center folding and unfolding mechanism 1; 02, center folding and unfolding mechanism 2; 03, second level topological folding and unfolding mechanism 1; 04, second level topological folding and unfolding mechanism 2; 05, second level topological folding and unfolding mechanism 3; 06, second level topological folding and unfolding mechanism 4; 07, second level topological folding and unfolding mechanism 5; 08, third level topological type 1 folding and unfolding mechanism 1; 09, third level topological type 1 folding and unfolding mechanism 2; 10, third level topological type 1 folding and unfolding mechanism 3; 11, third level topological type 1 folding and unfolding mechanism 4; 12, third level topological type 1 folding and unfolding mechanism 5; 13, third level topological type 1 Folding and unfolding mechanism VI of the third-level topological type 1; 14. Folding and unfolding mechanism 1 of the third-level topological type 2; 15. Folding and unfolding mechanism 2 of the third-level topological type 2; 16. Folding and unfolding mechanism 3 of the third-level topological type 2; 17. Folding and unfolding mechanism VII of the third-level topological type 1; 18. Folding and unfolding mechanism 4 of the third-level topological type 2; 19. Folding and unfolding mechanism 5 of the third-level topological type 2; 101. Sliding rod; 102. Driving spring; 103. Mechanism center hinge; 104. Mechanism long rod; 105. Mechanism short rod; 106. Cylindrical pair connecting side rod; 107. Rotating pair connecting side rod; 108. Cylindrical pair mechanism; 1 09, rotating sub-mechanism; 110, rotating sub-mechanism rotating track; 111, spring faceplate; 1031, half-mechanism center hinge; 1032, mechanism center hinge shaft; 1033, mechanism center hinge bearing; 1034, mechanism center hinge bearing retaining ring; 1051, mechanism short rod rod body; 1052, mechanism rod connection; 1053, mechanism short rod fixing member group; 1054, mechanism short rod locking structure; 1055, mechanism short rod torsion spring; 1056, mechanism short rod connector; 1057, mechanism short rod connector cover; 1061, locking push rod; 1062, locking push rod slide slot; 1063, side rod hinge; 1064, rod limit slot; 1065, kinematic sub-mechanism fixing screw hole; 1066, weight reduction hollowing; 1067, locking push rod perforation; 1081, cylindrical sub-mechanism sleeve; 1082, cylindrical sub-mechanism bearing retaining ring; 1083, linear bearing; 1091, rotating sub-sleeve; 1092, rotating sub-retaining ring shaft; 1093, rotating sub-retaining ring; 1094, rotating sub-retaining ring tension spring; 201, central topological level; 202, second topological level; 203, third-level topological level type one; 204, third-level topological level type two. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Example 1: Reference Figure 1 - Figure 5 As shown: a folding and unfolding mechanism of a super-large-caliber payload antenna of a metamorphic configuration, which is topologically formed in a hierarchical manner in a centrally symmetrical manner by 19 types of metamorphic configuration folding and unfolding mechanisms of the same configuration and different sizes. Its unfolded state is a spherical surface with a diameter of not less than 50m, and its folded state is a regular cylindrical body composed of hexagonal prism module units spliced ​​from triangular prism units of the same cross-sectional size, and the folded cross-sectional diameter is not more than 3m;

[0036] The metamorphic configuration folding and unfolding mechanism can be divided into three topological levels according to the topological level division of the hexagonal prism module unit: the central topological level, the second topological level and the third topological level, with a total of four module types: one central topological level 201, six second topological levels 202, six third topological level type one 203, and six third topological level type two 204. The modules of each module type are centrally symmetrically distributed according to the symmetry center of the antenna;

[0037] The nineteen configurations of metamorphic configuration folding and unfolding mechanisms include six center folding and unfolding mechanisms one 01, six center folding and unfolding mechanisms two 02, six second-level topological folding and unfolding mechanisms one 03, twelve second-level topological folding and unfolding mechanisms two 04, twelve second-level topological folding and unfolding mechanisms three 05, twelve second-level topological folding and unfolding mechanisms four 06, twelve second-level topological folding and unfolding mechanisms five 07, twelve third-level topological type one folding and unfolding mechanisms one 08, twelve third-level topological type one folding and unfolding mechanisms two 09, twelve third-level topological type one folding and unfolding mechanisms three 10, twelve third-level topological type one folding and unfolding mechanisms four 11, twelve third-level topological type one folding and unfolding mechanisms Five 12, six third-level topology type one folding and unfolding mechanisms six 13, six third-level topology type one folding and unfolding mechanisms seven 17, twelve third-level topology type two folding and unfolding mechanisms one 14, six third-level topology type two folding and unfolding mechanisms two 15, twelve third-level topology type two folding and unfolding mechanisms three 16, twelve third-level topology type two folding and unfolding mechanisms four 18, six third-level topology type two folding and unfolding mechanisms five 19, the metamorphic configuration folding and unfolding mechanisms of each configuration are centrally symmetrically distributed around the symmetry center of the antenna, and when the corresponding metamorphic configuration folding and unfolding mechanisms form a hexagonal prism module unit, there is a situation where one or more metamorphic configuration folding and unfolding mechanisms are shared between adjacent hexagonal prism units;

[0038] In this embodiment, the metamorphic configuration folding and unfolding mechanism includes a sliding rod 101, a driving spring 102, a mechanism center hinge 103, a mechanism long rod 104, a mechanism short rod 105, a cylindrical pair connecting side rod 106, a rotating pair connecting side rod 107 and a cylindrical pair mechanism 108. One end of the sliding rod 101 is fixedly connected to a rotating pair mechanism rotating track 110, and the other end of the sliding rod 101 is fixedly connected to a spring faceplate 111. One end of the driving spring 102 is fixedly connected to one end of the spring faceplate 111, and the driving cylindrical pair mechanism 108 located at the other end of the driving spring 102 can slide on the sliding rod 101 and perform a small amplitude rotation. The rotating track 110 of each rotating pair mechanism is connected with a plurality of rotating pair mechanisms 109, which can rotate slightly around the corresponding track. The rotating pair mechanism 109 is fixedly connected to the rotating pair connecting side rod 107. One end of the mechanism short rod 105 is hinged to the mechanism long rod 104, and the other end is hinged to the cylindrical pair connecting side rod 106. One end of the mechanism long rod 104 located on one side of the rotating pair is hinged to the rotating pair connecting side rod 107, and the other end is fixedly connected to one end of the mechanism center hinge 103. One end of the mechanism long rod 104 located on one side of the cylindrical pair is hinged to the mechanism short rod 105, and the other end is fixedly connected to one end of the mechanism center hinge 103.

[0039] In this embodiment, the unfolding process of the metamorphic configuration folding and unfolding mechanism is divided into two mutually decoupled stages. The first stage is an approximately planar unfolding (the first stage unfolding is from the folded state to the semi-expanded state, and the first stage unfolding is from the folded state to the semi-expanded state). The driving spring 102 in each metamorphic configuration folding and unfolding mechanism drives the cylindrical sub-mechanism 108 to move on the sliding rod 101, thereby pushing the long rod 104 of the mechanism to unfold, and the short rod 105 of the mechanism is in a locked state and does not move, and only serves to expand the caliber of the antenna; at the end of the first stage of the unfolding of the metamorphic configuration super-large-caliber load antenna folding and unfolding mechanism, each metamorphic configuration folding and unfolding mechanism is in the unfolding stage one and two The semi-expanded state between the two states, that is, the semi-expanded state of the entire antenna, the cylindrical sub-connecting side rod 106 of each metamorphic configuration folding and unfolding mechanism is in contact with the rotating sub-connecting side rod 107, pushing the locking push rod 1061 to move, thereby unlocking the movement of the short rods of each mechanism; the second stage is the spatial expansion (the second stage of expansion is from the semi-expanded state to the expanded state). After the first stage of expansion is completed, the rotating track 110 of each rotating sub-mechanism is in contact with the cylindrical sub-connecting side rod 106, pushing the locking push rod 1061 to unlock the movement of the short rod 105 of the mechanism, and the short rod 105 of the mechanism is expanded into place under the action of the built-in short rod torsion spring 1055, forming the spherical surface required for the antenna.

[0040] Embodiment 2: It has the implementation content of the above embodiment, wherein the specific implementation of the above embodiment can refer to the above description, and the embodiment here will not be repeated in detail; and in the embodiment of the present application, it is different from the above embodiment in that:

[0041] In this embodiment, refer to Figure 6 , the metamorphic configuration folding and unfolding mechanism is in a folded state, the driving spring 102 is in a compressed state, the rotating pair connecting side rod 107 and the cylindrical pair connecting side rod 106 are at the farthest distance, the axis of the mechanism short rod 105 coincides with the axis of the mechanism long rod 104, the locking push rod 1061 is located in the mechanism short rod locking structure 1054, and the mechanism short rod 105 is in a locked state.

[0042] Embodiment 3: It has the implementation content of the above embodiment, wherein the specific implementation of the above embodiment can refer to the above description, and the embodiment here will not be repeated in detail; and in the embodiment of the present application, it is different from the above embodiment in that:

[0043] In this embodiment, refer to Figure 7 , the metamorphic configuration folding and unfolding mechanism is in a semi-expanded state, the driving spring 102 has pushed the cylindrical sub-mechanism 108 to complete the sliding stroke, the rotating sub-connecting side rod 107 and the cylindrical sub-connecting side rod 106 are in contact with each other, the mechanism short rod 105 and the axis of the mechanism long rod 104 maintain a certain angle, the locking push rod 1061 leaves the mechanism short rod locking structure 1054, and the mechanism short rod 105 is in an unlocked state.

[0044] Embodiment 4: It has the implementation content of the above embodiment, wherein the specific implementation of the above embodiment can refer to the above description, and the embodiment here will not be repeated in detail; and in the embodiment of the present application, it is different from the above embodiment in that:

[0045] In this embodiment, refer to Figure 8 , the metamorphic configuration folding and unfolding mechanism is in the unfolded state. Since the mechanism short rod 105 is already in the unlocked state, the mechanism short rod 105 moves under the push of its internal mechanism short rod torsion spring 1055, completing the rotation of the mechanism short rod 105 around the hinge between it and the mechanism long rod 104, and the unfolding process of the metamorphic configuration folding and unfolding mechanism is completed.

[0046] Embodiment 5: It has the implementation content of the above embodiment, wherein the specific implementation of the above embodiment can refer to the above description, and the embodiment here will not be repeated in detail; and in the embodiment of the present application, it is different from the above embodiment in that:

[0047] In this embodiment, refer to Fig. 9 When the metamorphic configuration folding and unfolding mechanism is in a folded state, the axis between the short rod 105 of the mechanism and the connected long rod 104 coincides, and the axes between the short rod 105 of the mechanism or the long rod 104 of the mechanism are parallel to each other. A part of the short rod 105 of the mechanism and the long rod 104 of the mechanism are tightly attached to the rod limiting groove 1064 on the cylindrical pair connecting side rod 106, and the locking push rod 1061 passes through the cylindrical pair connecting side rod 106 as a whole, and its locking head position passes through the locking push rod through hole 1067.

[0048] Embodiment 6: It has the implementation content of the above embodiment, wherein the specific implementation of the above embodiment can refer to the above description, and the embodiment here will not be repeated in detail; and in the embodiment of the present application, it is different from the above embodiment in that:

[0049] In this embodiment, refer to Fig.10 The mechanism short rod 105 includes a mechanism short rod body 1051, a mechanism rod connection 1052, a mechanism short rod fixing member group 1053, a mechanism short rod locking structure 1054, a mechanism short rod torsion spring 1055, a mechanism short rod connecting member 1056 and a mechanism short rod connecting member cover 1057. One end of the mechanism short rod body 1051 is connected to the mechanism short rod locking structure 1054 and the mechanism rod connection 1052 through the mechanism short rod fixing member group 1053, and the other end is fixedly connected to the mechanism short rod connecting member 1056. The mechanism rod connection 1052 is connected to the cylindrical pair connecting side rod 106 through a hinge, and the mechanism short rod connecting member 1056 is connected to the mechanism rod connection 1052 fixedly connected to the mechanism long rod 104 through a hinge;

[0050] In this embodiment, the mechanism short rod locking structure 1054 has two locking holes that penetrate through it. When the antenna is in a folded state or the first stage of deployment, the front end of the locking push rod 1061 is inserted to lock the mechanism short rod 105. The mechanism short rod connector cover 1057 is connected to the mechanism short rod connector 1056 by bolts. At the same time, a torsion spring rotation groove is provided on the mechanism short rod connector cover 1057 and the mechanism rod connector 1052. The torsion spring rotation groove is used to place the mechanism short rod torsion spring 1055 to drive the deployment in the second stage.

[0051] Embodiment 7: It has the implementation contents of the above embodiments, wherein the specific implementation methods of the above embodiments can refer to the above description, and the embodiments here will not be repeated in detail; and in the embodiments of the present application, it is different from the above embodiments in that:

[0052] In this embodiment, refer to Fig.11 and Fig.12 , the dimensions of the rotating pair connecting side rod 107 of the folding and unfolding mechanisms of different metamorphic configurations are the same, but the lengths of the cylindrical pair connecting side rod 106 are different; except for the difference in length between the rotating pair connecting side rod 107 and the cylindrical pair connecting side rod 106 of the same mechanism, the latter only has a locking push rod slide groove 1062 more than the former;

[0053] In this embodiment, the cylindrical pair connecting side rod 106 includes a locking push rod 1061, a locking push rod slide groove 1062, a rod limiting groove 1064, a kinematic pair mechanism fixing screw hole 1065, a weight reduction hollow 1066 and a locking push rod through hole 1067. The top of the cylindrical pair connecting side rod 106 is provided with a side rod hinge 1063 hinged to the mechanism short rod 105. Next to the side rod hinge 1063 is a locking push rod through hole 1067 for the head of the locking push rod 1061 to pass through. The locking push rod slide groove 1062 runs through the entire length direction of the cylindrical pair connecting side rod 106. It is a cylindrical through hole plus two rectangular parallelepiped holes that overlap with it, so as to limit its rotation while realizing the sliding of the locking push rod 1061. The kinematic pair mechanism fixing screw hole 1065 is located in the cylindrical The side of the column sub-connecting side rod 106 or the rotating sub-connecting side rod 107 is used for fixed connection with the cylindrical sub-mechanism 108 or the rotating sub-mechanism 109. The kinematic sub-mechanism fixing screw holes 1065 corresponding to the multiple cylindrical sub-mechanisms 108 or the rotating sub-mechanisms 109 on the same sliding rod 101 are located at different distances from the top ends on the corresponding cylindrical sub-connecting side rods 106 or the rotating sub-connecting side rods 107, and are staggered with each other. The rod limiting groove 1064 is located on one side of the kinematic sub-mechanism fixing screw hole 1065, which can limit the long rod 104 and the short rod 105 of the mechanism when the antenna is folded or deployed in the first stage. At the same time, there are spaced weight-reducing hollows 1066 in the length direction of the cylindrical sub-connecting side rod 106 to reduce weight.

[0054] In this embodiment, the head of the locking push rod 1061 is two protrusions at a certain angle, which are used to cooperate with the holes on the short rod locking structure 1054 of the mechanism to achieve locking of the short rod 105 of the mechanism, and the main body of the locking push rod 1061 is a rod body that cooperates with the locking push rod slide groove 1062.

[0055] Embodiment 8: It has the implementation contents of the above embodiments, wherein the specific implementation methods of the above embodiments can refer to the above description, and the embodiments here will not be repeated in detail; and in the embodiments of the present application, it is different from the above embodiments in that:

[0056] In this embodiment, refer to Fig.13 The mechanism center hinge 103 includes a half-mechanism center hinge 1031, a mechanism center hinge shaft 1032 and a mechanism center hinge bearing retaining ring 1034. The main body of the mechanism center hinge 103 is two half-mechanism center hinges 1031 that cooperate with each other. The protruding parts at both ends of the half-mechanism center hinge 1031 are connected to the mechanism long rod 104 through cylindrical pins. The two half-mechanism center hinges 1031 are connected through the penetrating mechanism center hinge shaft 1032. The two ends of the mechanism center hinge shaft 1032 are matched with mechanism center hinge bearings 1033, and the periphery of the mechanism center hinge bearing 1033 is limited by the mechanism center hinge bearing retaining ring 1034.

[0057] Embodiment 9: It has the implementation contents of the above embodiments, wherein the specific implementation methods of the above embodiments can refer to the above description, and the embodiments here will not be repeated in detail; and in the embodiments of the present application, it is different from the above embodiments in that:

[0058] In this embodiment, refer to Fig.14 The cylindrical sub-mechanism 108 is formed by the cooperation between the cylindrical sub-mechanism sleeve 1081 and the linear bearing 1083 inside it, and the linear bearing 1083 is also provided with a cylindrical sub-mechanism bearing retaining ring 1082 with a limit position above and below.

[0059] Embodiment 10: It has the implementation content of the above embodiment, wherein the specific implementation of the above embodiment can refer to the above description, and the embodiment here will not be repeated in detail; and in the embodiment of the present application, it is different from the above embodiment in that:

[0060] In this embodiment, refer to Fig.15 The rotating sub-mechanism 109 includes a rotating sub-sleeve 1091, a rotating sub-circuit 1092, a rotating sub-circuit 1093 and a rotating sub-circuit tension spring 1094. The rotating sub-mechanism 109 is composed of the rotating sub-sleeve 1091 as the main part. The rotating sub-circuit 1093 is connected to the rotating sub-sleeve 1091 through the rotating sub-circuit 1092, and is used to make the rotating sub-mechanism 109 rotate in the rotating sub-mechanism rotating track 110. Both ends of the rotating sub-circuit tension spring 1094 are fixedly connected to the two rotating sub-circuit 1093, so that it can be installed in the rotating sub-mechanism rotating track 110 to achieve reset.

[0061] The use method and working principle of the device: a folding and unfolding mechanism of a super-large-caliber payload antenna of a metamorphic configuration, including 19 folding and unfolding mechanisms of a metamorphic configuration with similar configurations and different sizes located at different topological positions, which constitute a number of hexagonal prism folding and unfolding mechanisms spliced ​​from triangular prisms. The super-large-caliber payload antenna folding and unfolding mechanism finally spliced ​​together is a spherical mechanism, and its unfolded diameter is not less than 50m. In the folded state, it is a regular cylinder composed of hexagonal prism module units spliced ​​from triangular prism units with the same cross-sectional size, and the folded cross-sectional diameter is not more than 3m;

[0062] The metamorphic configuration folding and unfolding mechanism of the present invention can be divided into three topological levels according to the topological level of the hexagonal prism module unit: a central topological level, a second topological level and a third topological level, with a total of four module types: a central topological level 201, six second topological levels 202, six third topological level type one 203, and six third topological level type two 204. The modules of each module type are centrally symmetrically distributed according to the symmetry center of the antenna. When the corresponding metamorphic configuration folding and unfolding mechanism forms a hexagonal prism module unit, there is a situation where one or more metamorphic configuration folding and unfolding mechanisms are shared between adjacent hexagonal prism units.

[0063] The deployment of the antenna in the present invention is divided into two mutually decoupled stages: the first stage is a quasi-plane deployment (the driving spring 102 in each metamorphic configuration folding and unfolding mechanism drives the cylindrical sub-mechanism 108 to move on the sliding rod 101, thereby pushing the mechanism long rod 104 to deploy, and the mechanism short rod 105 is in a locked state and does not move), which is used to achieve the expansion of the antenna caliber; the second stage is a spatial deployment (after the first stage of deployment is completed, the rotating track 110 of each rotating sub-mechanism contacts the cylindrical sub-connecting side rod 106, pushing the locking push rod 1061 to unlock the movement of the mechanism short rod 105, and the mechanism short rod 105 is deployed in place under the action of the built-in mechanism short rod torsion spring 1055 to form the required spherical surface of the antenna), which is used to achieve the expansion of the target spherical surface of the antenna folding and unfolding mechanism. In the present invention, the metamorphic configuration deployable unit can realize the staged deployment of the deployable unit by cooperating with the mechanism short rod and the locking push rod. The two stages of antenna deployment correspond to the two stages of deployment of the metamorphic configuration deployable unit;

[0064] The antenna of the present invention can achieve a higher folding and unfolding ratio while having a larger unfolded aperture, providing ideas for the subsequent design of folding and unfolding mechanisms for ultra-large-aperture payload antennas. The folding and unfolding mechanism for ultra-large-aperture payload antennas with a metamorphic configuration studied in the present invention has important practical significance for the design, theoretical analysis, and engineering application of ultra-large-aperture payload antennas, and also has a driving effect on the development of space folding and unfolding mechanisms, which is of far-reaching significance.

[0065] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A folding and unfolding mechanism for an ultra-large-caliber payload antenna of a metamorphic configuration, characterized in that: It is composed of 19 kinds of metamorphic configuration folding and unfolding mechanisms with the same configuration and different sizes, and is topologically layered in a centrally symmetrical manner. Its unfolded state is a spherical surface with a diameter of no less than 50m. Its folded state is a regular cylindrical body composed of hexagonal prism module units spliced ​​together by triangular prism units with the same cross-sectional size, and the folded cross-sectional diameter is no more than 3m. The metamorphic configuration folding and unfolding mechanism can be divided into three topological levels according to the topological level division of the hexagonal prism module unit: a central topological level, a second topological level and a third topological level, with a total of four module types: a central topological level (201), six second topological levels (202), six third topological level type one (203), and six third topological level type two (204), and each module type module is centrally symmetrically distributed according to the antenna symmetry center; The nineteen configurations of the metamorphic configuration folding and unfolding mechanisms include six central folding and unfolding mechanisms one (01), six central folding and unfolding mechanisms two (02), six second-level topological folding and unfolding mechanisms one (03), twelve second-level topological folding and unfolding mechanisms two (04), twelve second-level topological folding and unfolding mechanisms three (05), twelve second-level topological folding and unfolding mechanisms four (06), twelve second-level topological folding and unfolding mechanisms five (07), twelve third-level topological type one folding and unfolding mechanisms one (08), twelve third-level topological type one folding and unfolding mechanisms two (09), twelve third-level topological type one folding and unfolding mechanisms three (10), twelve third-level topological type one folding and unfolding mechanisms four (11), twelve third-level topological type one folding and unfolding mechanisms Mechanism five (12), six third-level topology type one folding and unfolding mechanisms six (13), six third-level topology type one folding and unfolding mechanisms seven (17), twelve third-level topology type two folding and unfolding mechanisms one (14), six third-level topology type two folding and unfolding mechanisms two (15), twelve third-level topology type two folding and unfolding mechanisms three (16), twelve third-level topology type two folding and unfolding mechanisms four (18), six third-level topology type two folding and unfolding mechanisms five (19), the metamorphic configuration folding and unfolding mechanisms of each configuration are centrally symmetrically distributed around the symmetry center of the antenna, and when the corresponding metamorphic configuration folding and unfolding mechanisms form a hexagonal prism module unit, there is a situation where adjacent hexagonal prism units share one or more metamorphic configuration folding and unfolding mechanisms.

2. The folding and unfolding mechanism of the ultra-large-caliber payload antenna with a metamorphic configuration according to claim 1 is characterized in that: The metamorphosis configuration folding and unfolding mechanism comprises a sliding rod (101), a driving spring (102), a mechanism center hinge (103), a mechanism long rod (104), a mechanism short rod (105), a cylindrical pair connecting side rod (106), a rotating pair connecting side rod (107) and a cylindrical pair mechanism (108); one end of the sliding rod (101) is fixedly connected to a rotating pair mechanism rotating track (110), and the other end of the sliding rod (101) is fixedly connected to a spring faceplate (111); one end of the driving spring (102) is fixedly connected to one end of the spring faceplate (111), and the driving cylindrical pair mechanism (108) located at the other end of the driving spring (102) can slide on the sliding rod (101) and perform a small amplitude rotation. The rotating track (110) of each rotating pair mechanism is connected with a plurality of rotating pair mechanisms (109) and can rotate slightly around its corresponding track. The rotating pair mechanism (109) is fixedly connected to the rotating pair connecting side rod (107). One end of the mechanism short rod (105) is hinged to the mechanism long rod (104), and the other end is hinged to the cylindrical pair connecting side rod (106). One end of the mechanism long rod (104) located on one side of the rotating pair is hinged to the rotating pair connecting side rod (107), and the other end is fixedly connected to one end of the mechanism center hinge (103). One end of the mechanism long rod (104) located on one side of the cylindrical pair is hinged to the mechanism short rod (105), and the other end is fixedly connected to one end of the mechanism center hinge (103).

3. The folding and unfolding mechanism of the ultra-large-caliber payload antenna with a metamorphic configuration according to claim 2 is characterized in that: The mechanism short rod (105) comprises a mechanism short rod body (1051), a mechanism rod connection (1052), a mechanism short rod fixing member group (1053), a mechanism short rod locking structure (1054), a mechanism short rod torsion spring (1055), a mechanism short rod connection member (1056) and a mechanism short rod connection member cover (1057); one end of the mechanism short rod body (1051) is connected to the mechanism short rod locking structure (1054) and the mechanism rod connection (1052) through the mechanism short rod fixing member group (1053), and the other end is fixedly connected to the mechanism short rod connection member (1056); the mechanism rod connection (1052) is connected to the cylindrical pair connecting side rod (106) through a hinge; and the mechanism short rod connection member (1056) is connected to the mechanism rod connection (1052) fixedly connected to the mechanism long rod (104) through a hinge.

4. The folding and unfolding mechanism of the ultra-large-caliber payload antenna with a metamorphic configuration according to claim 3 is characterized by: The cylindrical side connecting rod (106) comprises a locking push rod (1061), a locking push rod sliding groove (1062), a rod limiting groove (1064), a kinematic side mechanism fixing screw hole (1065), a weight-reducing hollow (1066) and a locking push rod through hole (1067). The top end of the cylindrical side connecting rod (106) is provided with a side rod hinge (1063) hinged to the mechanism short rod (105). The rod limiting groove (1064) is located on one side of the kinematic side mechanism fixing screw hole (1065). When the antenna is folded or deployed in the first stage, it can limit the mechanism long rod (104) and the mechanism short rod (105). At the same time, there are mutually spaced weight-reducing hollows (1066) in the length direction of the cylindrical side connecting rod (106) for reducing weight.

5. The folding and unfolding mechanism of the ultra-large-caliber payload antenna with a metamorphic configuration according to claim 4 is characterized in that: The unfolding process of the metamorphic configuration folding and unfolding mechanism is divided into two mutually decoupled stages. The first stage is approximately planar unfolding, in which the driving spring (102) at the center of the corresponding hexagonal unit drives the mechanism long rod (104) of each metamorphic mechanism in the unit to unfold, which only serves to expand the antenna caliber. The second stage is spatial unfolding. After the first stage is unfolded, the rotating track (110) of each rotating pair mechanism contacts the cylindrical pair connecting side rod (106), pushing the locking push rod (1061) to unlock the movement of the mechanism short rod (105). The mechanism short rod (105) is unfolded into place under the action of the built-in mechanism short rod torsion spring (1055) to form the spherical surface required by the antenna.

6. The folding and unfolding mechanism of the ultra-large-caliber payload antenna with a metamorphic configuration according to claim 4 is characterized in that: The mechanism short rod locking structure (1054) has two locking holes extending therethrough. When the antenna is in a folded state or in the first stage of deployment, the front end of the locking push rod (1061) is inserted to achieve the locking of the mechanism short rod (105). The mechanism short rod connecting piece cover (1057) is connected to the mechanism short rod connecting piece (1056) by bolts. At the same time, the mechanism short rod connecting piece cover (1057) and the mechanism rod connecting piece (1052) are both provided with a torsion spring rotation groove. The torsion spring rotation groove is used to place the mechanism short rod torsion spring (1055) to drive the deployment in the second stage.

7. The folding and unfolding mechanism of the ultra-large-caliber payload antenna with a metamorphic configuration according to claim 2 is characterized in that: The mechanism center hinge (103) comprises a half mechanism center hinge (1031), a mechanism center hinge shaft (1032) and a mechanism center hinge bearing retaining ring (1034). The main body of the mechanism center hinge (103) is two half mechanism center hinges (1031) that cooperate with each other. The protruding parts at both ends of the half mechanism center hinge (1031) are connected to the mechanism long rod (104) through a cylindrical pin. The two half mechanism center hinges (1031) are connected through a penetrating mechanism center hinge shaft (1032). The two ends of the mechanism center hinge shaft (1032) are matched with mechanism center hinge bearings (1033). The periphery of the mechanism center hinge bearing (1033) is limited by a mechanism center hinge bearing retaining ring (1034).

8. The folding and unfolding mechanism of the ultra-large-caliber payload antenna with a metamorphic configuration according to claim 2 is characterized by: The cylindrical auxiliary mechanism (108) is formed by the cooperation between a cylindrical auxiliary mechanism sleeve (1081) and a linear bearing (1083) inside the cylindrical auxiliary mechanism sleeve. The linear bearing (1083) is also provided with cylindrical auxiliary mechanism bearing retaining rings (1082) with limiting positions at the upper and lower parts.

9. The folding and unfolding mechanism of the ultra-large-caliber payload antenna with a metamorphic configuration according to claim 2 is characterized in that: The rotating sub-mechanism (109) comprises a rotating sub-sleeve (1091), a rotating sub-circuit rotating shaft (1092), a rotating sub-circuit rotating ring (1093) and a rotating sub-circuit tension spring (1094). The rotating sub-mechanism (109) is composed of the rotating sub-sleeve (1091) as a main part. The rotating sub-circuit rotating ring (1093) is connected to the rotating sub-sleeve (1091) via the rotating sub-circuit rotating shaft (1092) and is used to make the rotating sub-mechanism (109) rotate in the rotating sub-mechanism rotating track (110). The rotating sub-circuit tension spring (1094) has two ends fixedly connected to the two rotating sub-circuit rotating rings (1093) so that it can be installed on the rotating sub-mechanism rotating track (110) to achieve reset.

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