A spatial folding and unfolding drive mechanism

Abstract

The present invention relates to a spatial folding and unfolding drive mechanism, which includes a housing, a spring, a planetary gear reduction device, a drive shaft and an output shaft installed in the housing. The inner end of the spring is connected to the drive shaft, and the outer end of the spring is fixedly connected to the inner side wall of the housing. The central gear of the planetary gear reduction device is installed on the drive shaft; the output shaft is coaxially arranged with the drive shaft and is respectively rotatably installed on the housing, and the output shaft is locked and cooperated with the planetary gear reduction device through a limiting structure. The spatial folding and unfolding drive mechanism of the present invention, by setting a planetary gear reduction device connected to the spring, is mainly used for the slow folding and unfolding of spatial objects, can be used to reduce the impact between the folding and unfolding objects, can effectively reduce the release speed of passive drive, and greatly reduce the impact during the folding and unfolding process.

Description

Technical Field

[0001] The present invention relates to the field of space folding and unfolding mechanisms, and particularly to a space folding and unfolding drive mechanism. Background Art

[0002] Space deployment mechanisms have wide application value in the aerospace field. For space deployment mechanisms, according to their deployment drive methods, they can be divided into passive drive and active drive. Among them, the passive drive forms mainly include volute spring drive, clockwork drive, torsion spring drive, constant torque spring drive, etc. Due to the advantages of high reliability and ultra-simplicity of passive drive, it is widely used in aerospace folding and unfolding mechanisms. However, since the torque release after passive drive deployment is relatively fast, it causes a large impact on the deployed parts after deployment, seriously affecting the accuracy after deployment. Therefore, how to reduce the impact of the deployment mechanism has become an urgent problem to be solved. Summary of the Invention

[0003] The present invention provides a space folding and unfolding drive mechanism to solve one or several of the technical problems existing in the prior art.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: A space folding and unfolding drive mechanism includes a housing, a clockwork spring, a planetary gear reduction device, a drive shaft, and an output shaft installed in the housing. The inner end of the clockwork spring is connected to the drive shaft, and the outer end of the clockwork spring is fixedly connected to the inner side wall of the housing. The central gear of the planetary gear reduction device is installed on the drive shaft; the output shaft is coaxially arranged with the drive shaft and is respectively rotatably installed on the housing, and the output shaft is locked and cooperated with the planetary gear reduction device through a limiting structure.

[0005] The beneficial effect of the present invention is: The space folding and unfolding drive mechanism of the present invention, by setting a planetary gear reduction device connected to the clockwork spring, is mainly used for the slow folding and unfolding of space objects, can be used to reduce the impact between the folding and unfolding objects, can effectively reduce the release speed of passive drive, and greatly reduce the impact during the folding and unfolding process.

[0006] On the basis of the above technical solution, the present invention can also be improved as follows.

[0007] Further, the drive shaft includes a connection section and a clamping section. The inner end of the clockwork spring is fixed on the connection section. A circle of splines is provided on the outer side wall of the clamping section. At least one end face of the central gear of the planetary gear reduction device is provided with a thimble groove, and a thimble is arranged in the thimble groove. One end of the thimble extends out of the thimble groove and abuts against the splines on the outer side wall of the clamping section.

[0008] The beneficial effect of adopting the above further solution is: By setting splines on the drive shaft and a thimble on one end face of the central gear, the synchronous movement with the central gear can be realized by the cooperation of the splines and the thimble.

[0009] Furthermore, one end of the thimble groove communicates with the central shaft hole in the middle of the central gear. One end of the thimble groove is also provided with an avoidance groove for accommodating the deformed part of one end of the thimble after being stressed. The avoidance groove is located outside the thimble groove.

[0010] The beneficial effect of adopting the above further solution is that by setting the avoidance groove, it can be ensured that during the process of winding the mainspring on the driving shaft, the thimble can enter the avoidance groove under the action of the spline, and the planetary gear reduction device does not rotate accordingly, that is, only one-way relative rotation is possible between the driving shaft and the central gear of the planetary gear reduction device.

[0011] Furthermore, there are two thimble grooves on one end face of the central gear. The thimble groove is of a U-shaped structure, and the two thimble grooves on one end face of the central gear are arranged in central symmetry.

[0012] The beneficial effect of adopting the above further solution is that by setting two thimble grooves and thimbles arranged in central symmetry, the transmission process can be made more stable and reliable.

[0013] Furthermore, the planetary gear reduction device further includes planetary gears, a planetary gear bracket and an external gear ring. The external gear ring is coaxially sleeved outside the driving shaft and fixedly connected to the housing. The planetary gears are respectively meshed with the external gear ring and the central gear. One end of the planetary gear bracket is rotatably connected to one of the planetary gears, and the other end of the planetary gear bracket is rotatably connected to the central gear. The output shaft is locked and cooperated with the other end of the planetary gear bracket through a limiting structure.

[0014] The beneficial effect of adopting the above further solution is that the output shaft is cooperated with the other end of the planetary gear bracket through the limiting structure, so that the rotation speed of the output shaft is not affected by the driving shaft and the planetary gear reduction device, and it only rotates under the action of the planetary gear bracket.

[0015] Furthermore, the limiting structure includes a limiting block. The other end of the planetary gear bracket is provided with a limiting cylinder rotatably matched with the output shaft. A limiting groove is arranged on the groove side wall of the limiting cylinder. The output shaft is provided with an axially arranged hollow cavity, and a limiting hole communicating with the hollow cavity is opened on the side wall of the output shaft. The limiting block is movably arranged in the limiting hole and is adapted to the limiting groove. A push rod is arranged in the hollow cavity. The axial movement of the push rod can push the limiting block into the limiting groove to realize the locking and cooperation between the output shaft and the planetary gear bracket.

[0016] The beneficial effect of adopting the above further solution is that by setting the limiting groove on the groove side wall of the limiting cylinder, it can cooperate with the limiting block to realize the rotation of the planetary gear bracket driving the output shaft.

[0017] Further, a ring-shaped umbrella-shaped boss is provided on the circumferential side wall of the ejector rod. A driving inclined surface cooperating with the limiting block is provided on one side surface of the umbrella-shaped boss in the axial direction. A spring is sleeved outside the ejector rod. One end of the spring is connected to the other side surface of the umbrella-shaped boss in the axial direction, and the other end of the spring is connected to the inner side wall of the output shaft.

[0018] The beneficial effect of adopting the above further solution is that by providing an umbrella-shaped boss on the ejector rod, the driving inclined surface of the umbrella-shaped boss can be used to drive the limiting block to move in the limiting hole, thereby realizing the locking or unlocking connection with the planetary gear bracket. By sleeving a spring outside the ejector rod, the ejector rod can be always pressed against the limiting block in the through hole under the action of the spring, realizing a stable locking fit with the planetary gear bracket.

[0019] Further, one end of the driving shaft is movably inserted into the hollow cavity of the output shaft. An operating cavity arranged axially is provided inside the driving shaft. The operating cavity is communicated with the hollow cavity. One end of the ejector rod is movably inserted into the operating cavity.

[0020] The beneficial effect of adopting the above further solution is that through the insertion fit between the driving shaft and the output shaft, and one end of the ejector rod is also movably inserted into the operating cavity, it is beneficial to the stable connection and cooperation of the entire axial structure.

[0021] Further, an inner ring inclined surface adapted to the driving inclined surface of the umbrella-shaped boss is provided on the inner side wall of one end of the driving shaft.

[0022] The beneficial effect of adopting the above further solution is that by providing an inner ring inclined surface on the inner side wall of one end of the driving shaft, it is beneficial to the stable cooperation with the umbrella-shaped protrusion.

[0023] Further, the housing includes a first housing and a second housing arranged at an axial interval. The planetary gear reduction device is installed between the first housing and the second housing; the clockwork spring is installed in the first housing. An annular chute and a first weight-reducing groove are provided on the outer surface of the bottom wall of the first housing. The planetary gears of the planetary gear reduction device are slidably arranged in the annular chute; a second mounting hole is provided in the middle of the second housing. The output shaft is rotatably arranged in the second mounting hole and partially located outside the second housing.

[0024] The beneficial effect of adopting the above further solution is that by providing an annular chute, it provides structural support for the movement of the planetary gears. By providing a weight-reducing groove, the weight-reducing effect can be achieved to avoid excessive structure weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a three-dimensional structural schematic diagram of the spatial folding and unfolding driving mechanism of the present invention;

[0026] Figure 2Schematic diagram of the three-dimensional explosion structure of the spatial folding and unfolding drive mechanism of the present invention;

[0027] Figure 3 Schematic diagram of the top view structure of the spatial folding and unfolding drive mechanism of the present invention;

[0028] Figure 4 is Figure 3 Schematic diagram of the sectional structure of A-A in;

[0029] Figure 5 Schematic diagram of the three-dimensional structure of the first housing of the present invention Figure 1 ;

[0030] Figure 6 Schematic diagram of the three-dimensional structure of the first housing of the present invention Figure 2 ;

[0031] Figure 7 Schematic diagram of the three-dimensional structure of the second housing of the present invention;

[0032] Figure 8 Schematic diagram of the three-dimensional structure of the planetary gear reduction device of the present invention Figure 1 ;

[0033] Figure 9 Schematic diagram of the three-dimensional structure of the planetary gear reduction device of the present invention Figure 2 ;

[0034] Figure 10 Schematic diagram of the three-dimensional structure of the central gear of the present invention;

[0035] Figure 11 Schematic diagram of the front view structure of the planetary gear bracket of the present invention;

[0036] Figure 12 Schematic diagram of the front view structure of the spring of the present invention;

[0037] Figure 13 is Figure 12 Schematic diagram of the sectional structure of A-A of;

[0038] Figure 14 Schematic diagram of the front view structure of the drive shaft of the present invention;

[0039] Figure 15 is Figure 14 Schematic diagram of the sectional structure of B-B in;

[0040] Figure 16 Schematic diagram of the front view structure of the cooperation between the output shaft and the ejector rod of the present invention;

[0041] Figure 17 is Figure 16 Schematic diagram of the sectional structure of A-A in;

[0042] Figure 18Schematic front view structure of the output shaft of the present invention;

[0043] Figure 19 is Figure 18 Schematic cross-sectional structure of B-B in [the figure].

[0044] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0045] 1. First housing; 11. Spring; 12. Annular chute; 13. First weight-reducing groove; 14. First mounting hole; 15. Boss; 17. Bolt;

[0046] 2. Second housing; 21. Second weight-reducing groove; 22. Second mounting hole; 23. Lug;

[0047] 3. Planetary gear reduction device; 31. Central gear; 32. Planetary gear; 33. Planetary gear bracket; 34. Outer gear ring; 35. Thimble groove; 36. Thimble; 37. Avoidance groove; 38. Limiting cylinder; 381. Limiting groove; 39. Outer retaining ring; 390. Central retaining ring;

[0048] 4. Output shaft; 41. Hollow cavity; 42. Limiting hole;

[0049] 5. Driving shaft; 51. Connecting section; 52. Clamping section; 53. Spline; 54. Operating cavity; 55. Screw; 56. Inner ring inclined surface; 57. Force-applying cap; 58. Mounting groove;

[0050] 6. Limiting block; 7. Thrust rod; 71. Umbrella-shaped boss; 72. Driving inclined surface; 73. Spring; 74. Gland. Detailed implementation mode

[0051] The principles and features of the present invention will be described below with reference to the attached drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0052] As Figures 1 to 19 shown, a spatial folding and unfolding driving mechanism in this embodiment includes a housing, and a spring 11, a planetary gear reduction device 3, a driving shaft 5, and an output shaft 4 installed in the housing. The inner end of the spring 11 is connected to the driving shaft 5, the outer end of the spring 11 is fixedly connected to the inner side wall of the housing, and the central gear 31 of the planetary gear reduction device 3 is installed on the driving shaft 5; the output shaft 4 and the driving shaft 5 are coaxially arranged and are respectively rotatably installed on the housing, and the output shaft 4 is locked and cooperated with the planetary gear reduction device 3 through a limiting structure.

[0053] The space folding and unfolding drive mechanism of this embodiment is mainly used for the slow folding and unfolding of space objects by setting a planetary gear reduction device connected to a spring. It can be used to reduce the impact between the folding and unfolding objects, effectively reduce the release speed of passive drive, and greatly reduce the impact during the folding and unfolding process.

[0054] As Figure 14 and Figure 15 shown, the drive shaft 5 of this embodiment includes a connection section 51 and a clamping section 52. The inner end of the spring 11 is fixed on the connection section 51. A spline 53 is provided on the outer side wall of the clamping section 52. At least one end face of the central gear 31 of the planetary gear reduction device 3 is provided with a thimble groove 35. A thimble 36 is provided in the thimble groove 35. One end of the thimble 36 extends out of the thimble groove 35 and abuts against the spline 53 on the outer side wall of the clamping section 52. The thimble groove 35 can be provided on one end face of the central gear 31, or thimble grooves 35 can be provided on both end faces of the central gear 31. By providing a spline on the drive shaft and a thimble on one end face of the central gear, the synchronous movement with the central gear can be realized by the cooperation of the spline and the thimble.

[0055] As Figure 8 and Figure 10 shown, one end of the thimble groove 35 of this embodiment is communicated with the central shaft hole of the central gear 31. A relief groove 37 for accommodating one end of the thimble 36 after being deformed by force is further provided at one end of the thimble groove 35. The relief groove 37 is located outside the thimble groove 35. The other end of the thimble groove 35 is a closed structure to prevent the thimble 36 from extending out from the other end. By providing the relief groove, it can be ensured that during the process of winding the spring on the drive shaft, the thimble can enter the relief groove under the action of the spline, and the planetary gear reduction device does not rotate along with it, that is, only one-way relative rotation is possible between the drive shaft and the central gear of the planetary gear reduction device.

[0056] As Figure 8 and Figure 10 shown, there are 4 thimble grooves 35 in this embodiment. The thimble groove 35 is of a U-shaped structure. Two thimble grooves 35 arranged centrally symmetrically are provided on each of the two end faces of the central gear 31 in the axial direction. A U-shaped thimble 36 is respectively provided in each thimble groove 35. By providing two centrally symmetrically arranged thimble grooves and thimbles, the transmission process can be made more stable and reliable.

[0057] As Figure 8 and Figure 9As shown, the planetary gear reduction device 3 of this embodiment further includes planetary gears 32, a planetary gear bracket 33, and an external gear ring 34. The external gear ring 34 is coaxially sleeved outside the drive shaft 5 and fixedly connected to the housing. The planetary gears 32 are respectively meshed with the external gear ring 34 and the central gear 31. One end of the planetary gear bracket 33 is rotatably connected to one of the planetary gears 32, and the other end of the planetary gear bracket 33 is rotatably connected to the central gear 31. The output shaft 4 is locked and cooperated with the other end of the planetary gear bracket 33 through a limiting structure. The output shaft is cooperated with the other end of the planetary gear bracket through the limiting structure, so that the rotation speed of the output shaft is not affected by the drive shaft and the planetary gear reduction device, and it only rotates under the action of the planetary gear bracket.

[0058] Wherein, in order to ensure that each planetary gear 32 does not fall off during rotation, a central retaining ring 390 and an external retaining ring 39 can be installed in the planetary gear reduction device 3, so that the central retaining ring 390 and the external retaining ring 39 are concentrically arranged, and the annular gap formed by the two is smaller than the outer contour of the planetary gear 32. With the cooperation of the first housing 1, it is ensured that the planetary gear 32 will not fall off.

[0059] As Figure 11 , Figures 16 to 19 As shown, the limiting structure of this embodiment includes a limiting block 6. A limiting cylinder 38 rotatably cooperating with the output shaft 4 is provided at the other end of the planetary gear bracket 33. A limiting groove 381 is provided on the groove side wall of the limiting cylinder 38. The output shaft 4 is provided with an axially arranged hollow cavity 41. A limiting hole 42 communicating with the hollow cavity 41 is opened on the side wall of the output shaft 4. The limiting block 6 is movably arranged in the limiting hole 42 and is adapted to the limiting groove 381. A push rod 7 is arranged in the hollow cavity 41. The axial movement of the push rod 7 can push the limiting block 6 into the limiting groove 381 to realize the locking and cooperation between the output shaft 4 and the planetary gear bracket 33. By providing a limiting groove on the groove side wall of the limiting cylinder, it can cooperate with the limiting block to realize the rotation of the planetary gear bracket driving the output shaft.

[0060] As Figure 4 and Figure 17As shown, on the circumferential sidewall of the ejector rod 7 of this embodiment, there is a ring-shaped umbrella-shaped boss 71. On one side surface in the axial direction of the umbrella-shaped boss 71, there is a driving inclined surface 72 that cooperates with the limiting block 6. A spring 73 is sleeved outside the ejector rod 7. One end of the spring 73 is connected to the other side surface in the axial direction of the umbrella-shaped boss 71, and the other end of the spring 73 is connected to the inner sidewall of the output shaft 4. By providing an umbrella-shaped boss on the ejector rod, the driving inclined surface of the umbrella-shaped boss can be used to drive the limiting block to move in the limiting hole, thereby realizing the locking or unlocking connection with the planetary gear bracket. The spring 73 of this embodiment is always in a compressed state. By sleeving a spring outside the ejector rod, the ejector rod can be made to always press tightly against the limiting block in the through hole under the action of the spring, realizing a stable locking fit with the planetary gear bracket.

[0061] As Figure 4 and Figure 17 shown, one end of the drive shaft 5 of this embodiment is movably inserted into the hollow cavity 41 of the output shaft 4. An operation cavity 54 arranged axially is provided inside the drive shaft 5. The operation cavity 54 communicates with the hollow cavity 41, and one end of the ejector rod 7 is movably inserted into the operation cavity 54. Through the plug-in fit between the drive shaft and the output shaft, and by movably inserting one end of the ejector rod into the operation cavity, it is beneficial to the stable connection and cooperation of the entire axial structure.

[0062] In addition, since the hollow cavity 41 of the output shaft 4 and the operation cavity 54 of the drive shaft 5 communicate, an operating rod can be used to extend into the operation cavity and the hollow cavity to operate the ejector rod 7, realizing the limiting lock or cancellation of the limit between the planetary gear bracket 33 and the output shaft 4.

[0063] As Figure 4 and Figure 15 shown, on the inner sidewall of one end of the drive shaft 5 of this embodiment, there is an inner ring inclined surface 56 that is adapted to the driving inclined surface 72 of the umbrella-shaped boss 71. By providing an inner ring inclined surface on the inner sidewall of one end of the drive shaft, it is beneficial to the stable cooperation with the umbrella-shaped protrusion.

[0064] To facilitate the connection with the object to be folded and unfolded, one end of the output shaft 4 extending out of the second housing 2 is provided with a square structure. One end of the output shaft 4 located inside the second housing 2 is a cylindrical structure. The cylindrical structure of the output shaft 4 is fitted and installed with the limiting cylinder 38 of the planetary gear bracket. When the planetary gear bracket 33 rotates by a certain angle, the limiting block 6 in the limiting hole 42 inside the output shaft 4 pops out under the action of the ejector rod 7, and the extended part of the limiting block enters the limiting groove 381 of the planetary gear bracket. At this time, when the planetary gear bracket 33 rotates again, under the action of the limiting block 6, the output shaft 4 will rotate together. The number of the limiting blocks 6 is the same as the number of the limiting grooves 381 on the planetary gear bracket. When the planetary gear bracket 33 and the output shaft 4 need to rotate relative to each other, press the ejector rod 7 to separate the limiting block 6 from the ejector rod 7. Under the action of an external force, the limiting block 6 retracts into the limiting hole 42 inside the output shaft 4. At this time, the planetary gear bracket 33 and the output shaft 4 can rotate relative to each other.

[0065] As Figures 1 to 7 shown, the housing of this embodiment includes a first housing 1 and a second housing 2 arranged axially at intervals, and the planetary gear reduction device 3 is installed between the first housing 1 and the second housing 2; the spiral spring 11 is installed inside the first housing 1, and an annular sliding groove 12 and a first weight reduction groove 13 are provided on the outer surface of the bottom wall of the first housing 1, and the planetary gear 32 of the planetary gear reduction device 3 is slidably arranged in the annular sliding groove 12; a first mounting hole 14 is provided on the first housing 1, a second mounting hole 22 is provided in the middle of the second housing 2, the driving shaft 5 is rotatably assembled in the first mounting hole 14, and the output shaft 4 is rotatably arranged in the second mounting hole 22 and partially located outside the second housing 2. In order to reduce the weight of the second housing 2, a second weight reduction groove 21 can also be provided on the second housing 2. By providing the annular sliding groove, structural support is provided for the movement of the planetary gear to prevent the planetary gear from falling off. By providing the weight reduction groove, the weight reduction effect can be achieved to avoid excessive structure weight.

[0066] Specifically, a plurality of spaced convex platforms 15 can be provided on the inner side wall of the first housing 1 of this embodiment. The outer gear ring 34 of the planetary gear reduction device 3 can be butted against the first housing 1, and then the second housing 2 is arranged on the end face at the other end of the planetary gear reduction device 3, and then the first housing 1, the second housing 2 and the planetary gear reduction device 3 are locked and fixed by bolts 17.

[0067] To achieve better connection and assembly, the first housing 1 and the second housing 2 can be set as a cylindrical structure, and lugs 23 can be provided on the second housing 2 to facilitate the connection and fixation with the object to be folded and unfolded.

[0068] In order to make it easier to wind up the mainspring, a force cap 57 can be fixedly arranged at one end of the driving shaft 5 away from the output shaft 4, so that the periphery of the force cap 57 is embedded in the middle of the first housing 1 and exposed from the first housing 1. The force cap 57 can be of a square structure, which is convenient for tools to operate the force cap 57 so as to rotate the driving shaft 5 to wind up the mainspring. Specifically, the force cap 57 can be fixed to one end of the driving shaft 5 by a screw 55. A mounting groove 58 can be provided on the driving shaft 5, the inner ring of the mainspring 11 can be fixed in the mounting groove 58, and the outer ring of the mainspring 11 can be fixed on the inner wall of the first housing 1. When the force cap 57 is driven to wind up the mainspring, the spline 53 on the driving shaft 5 compresses the ejector pin 36 of the center gear 31 to deform. When the mainspring 11 is released, the side of the spline 53 contacts the ejector pin 36 on the center gear 31 and drives the center gear 31 to rotate, so that the center gear 31 and the driving shaft 5 can rotate relative to each other in one direction.

[0069] In order to facilitate disassembly and assembly, the output shaft 4 can be pressed onto the second housing 2 through the pressure cover 74, and the pressure cover 74 and the second housing 2 are fastened by screws.

[0070] When the spatial folding and unfolding drive mechanism of the present invention is in use, the clockwork spring 11 is used as the power source. First, the drive shaft is turned to rotate and wind up the clockwork spring 11 to store the driving force. During the process of winding up the clockwork spring 11, it is beneficial that the spline 53 on the drive shaft 5 will not be affected by the ejector pin 36 during rotation, and the ejector pin 36 will also bend into the avoidance groove 37 under the action of the spline 53. After the clockwork spring 11 has completed energy storage, the lug 23 on the second housing 2 is connected to the object A, and the output shaft 4 is connected to the object B, so that the output shaft 4 is arranged parallel to the hinge shaft of the object A and the object B. Using the driving force stored by the clockwork spring 11, the drive shaft 5 is driven to rotate. The drive shaft 5 drives the planetary gear reduction device 3 to operate through the abutting cooperation between the spline 53 and the ejector pin on the central gear 31 of the planetary gear reduction device 3. While the planetary gear 32 in the planetary gear reduction device 3 rotates around its own axis, it revolves around the outer gear ring 34 and drives the planetary gear bracket 33 to rotate around the central gear 31. The planetary gear bracket 33 cooperates with the output shaft 4 through the limit block 6 to drive the output shaft 4 to rotate and output power, thereby realizing the low-speed folding and unfolding of the object B relative to the object A. In order to ensure that the planetary gear reduction device 3 does not rotate along with the clockwork spring 11 during the winding-up process, only one-way relative rotation can be achieved between the drive shaft 5 and the central gear 31 through the ejector pin 36. At the same time, the objects A and B can be folded and unfolded without being affected by the planetary gear reduction device 3 and the drive shaft 5. Since the limit block 6 transmits the acting force between the output shaft 4 and the planetary gear bracket 33 by the ejector rod 7 abutting against the limit groove 381, when folding and unfolding drive is not required, the operating rod can be passed through the middle cavity 41 and the operating cavity 54 to abut against the ejector rod 7, so that the ejector rod 7 compresses the spring 73, and the driving inclined surface 72 moves downward to a position corresponding to the limit hole 42, so that the planetary gear bracket 33 under the action of the remaining clockwork spring 11 causes the limit block 6 to rotate out of the limit groove 381 and the limit block 6 retracts into the limit hole 42, releasing the locking cooperation between the output shaft and the planetary gear bracket 33, causing the clockwork spring 11 to drive the drive shaft 5 to rotate idly and no longer drive the output shaft 4 to rotate synchronously, discharging the remaining acting force of the clockwork spring 11 and realizing the energy discharge of the clockwork spring 11.

[0071] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0072] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0073] In the present invention, unless otherwise clearly specified and defined, terms such as "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0075] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0076] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A spatial folding and unfolding drive mechanism, characterized in that, It includes a housing, as well as a mainspring, a planetary gear reduction device, a drive shaft and an output shaft installed inside the housing. The inner end of the mainspring is connected to the drive shaft, and the outer end of the mainspring is fixedly connected to the inner side wall of the housing. The central gear of the planetary gear reduction device is installed on the drive shaft; the output shaft is coaxially arranged with the drive shaft and is respectively rotatably installed on the housing, and the output shaft is locked and cooperated with the planetary gear reduction device through a limiting structure; The drive shaft includes a connection section and a clamping section. The inner end of the mainspring is fixed on the connection section. A spline is provided on the outer side wall of the clamping section. At least one end face of the central gear of the planetary gear reduction device is provided with a thimble groove, and a thimble is provided in the thimble groove. One end of the thimble extends out of the thimble groove and abuts against the spline on the outer side wall of the clamping section; One end of the thimble groove communicates with the central shaft hole of the central gear. One end of the thimble groove is also provided with an avoidance groove for accommodating the deformed end of the thimble after being stressed. The avoidance groove is located outside the thimble groove.

2. The spatial folding and unfolding driving mechanism according to claim 1, characterized in that There are two thimble grooves on one end face of the central gear. The thimble groove is of a U-shaped structure, and the two thimble grooves on one end face of the central gear are arranged in central symmetry.

3. The spatial folding and unfolding driving mechanism according to claim 1, wherein The planetary gear reduction device further includes planetary gears, a planetary gear bracket and an external gear ring. The external gear ring is coaxially sleeved outside the drive shaft and is fixedly connected to the housing. The planetary gears are respectively meshed with the external gear ring and the central gear; one end of the planetary gear bracket is rotatably connected to one of the planetary gears, and the other end of the planetary gear bracket is rotatably connected to the central gear. The output shaft is locked and cooperated with the other end of the planetary gear bracket through a limiting structure.

4. The spatial folding and unfolding driving mechanism according to claim 3, wherein The limiting structure includes a limiting block; the other end of the planetary gear bracket is provided with a limiting cylinder rotatably matched with the output shaft, and a limiting groove is provided on the groove side wall of the limiting cylinder; the output shaft is provided with an axially arranged hollow cavity, and a limiting hole communicating with the hollow cavity is opened on the side wall of the output shaft. The limiting block is movably arranged in the limiting hole and is adapted to the limiting groove. A push rod is arranged in the hollow cavity. The axial movement of the push rod can push the limiting block into the limiting groove to realize the locking and cooperation between the output shaft and the planetary gear bracket.

5. The spatial folding and unfolding drive mechanism according to claim 4, wherein A circular umbrella-shaped boss is provided on the circumferential side wall of the push rod. A driving inclined surface cooperating with the limiting block is provided on one side surface of the umbrella-shaped boss in the axial direction. A spring is sleeved outside the push rod. One end of the spring is connected to the other side surface of the umbrella-shaped boss in the axial direction, and the other end of the spring is connected to the inner side wall of the output shaft.

6. The spatial folding and unfolding drive mechanism according to claim 4, wherein, One end of the drive shaft is movably inserted into the hollow cavity of the output shaft. An axially arranged operation cavity is provided in the drive shaft, and the operation cavity communicates with the hollow cavity. One end of the push rod is movably inserted into the operation cavity.

7. The spatial folding and unfolding driving mechanism according to claim 5, characterized in that, An inner ring inclined surface adapted to the driving inclined surface of the umbrella-shaped boss is provided on the inner side wall of one end of the drive shaft.

8. The space folding and unfolding driving mechanism according to any one of claims 1 to 7, characterized in that, The housing includes a first housing and a second housing arranged at an axial interval, and the planetary gear reduction device is installed between the first housing and the second housing; the mainspring is installed in the first housing, an annular sliding groove and a first weight-reducing groove are provided on the outer surface of the bottom wall of the first housing, and the planetary gears of the planetary gear reduction device are slidably arranged in the annular sliding groove; a second mounting hole is provided in the middle of the second housing, and the output shaft is rotatably arranged in the second mounting hole and partially located outside the second housing.

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