A spatial large-scale deployable multi-configuration device

Abstract

The present invention provides a large-scale deployable multi-configuration device in space, including a base and a plurality of truss-type fingers arranged on the base, the base is a dual-configuration umbrella-shaped mechanism, the base includes a fixed base, a main motion chain connected to the fixed base, an intermediate strut, a movable base, a motion branch chain connected to the movable base, and a driver, the driver is slidably arranged on the intermediate strut, and the main motion chain and the motion branch chain are both connected to the driver; the movable base is connected to the fixed base through a rotating pair R1, wherein the rotation direction of the rotating pair R1 is parallel to the length direction of the intermediate strut, and the relative position between the movable base and the fixed base is adjusted by the rotating pair R1 to form a planar annular shape or a planar rectangular shape. The present invention has multiple configurations, can be applied to a variety of space missions, can meet the requirements of different aerospace operations, and thus complete the multi-purpose of one machine in a space environment.

Description

Technical Field

[0001] The present invention belongs to the field of large-scale deployable aerospace mechanisms, and in particular relates to a large-scale deployable multi-configuration device in space. Background Art

[0002] Large-scale deployable aerospace mechanisms mainly include large-scale space robotic arm mechanisms, large-scale satellite-borne deployable antenna mechanisms, large-scale deployable solar wing mechanisms and large-scale deployable space target capture mechanisms. These aerospace mechanisms are huge in size and are required to have excellent foldable properties to meet the needs of space transportation.

[0003] However, most of the current large-scale space deployable mechanisms are only for special single application scenarios. For example, space solar wings usually use serially connected mechanical arms to complete deployment; large cable net antennas usually use peripheral truss mechanisms for prestressing; large space radial rib antennas usually use umbrella-shaped deployment mechanisms, and space target capture usually uses special docking rings or docking devices. Although these dedicated mechanisms are more targeted, they greatly increase the number of launches of space agencies, causing a huge waste of resources in the economy. In addition, each of these mechanisms needs to be maintained in orbit, and its operating cost is quite huge. Once any failure occurs, it will become space junk and a threat to other spacecraft in orbit, further exacerbating the harshness of the space environment.

[0004] Although the existing large-scale aerospace deployable mechanisms are highly targeted, their complex structure and single function have caused great difficulties in their development, which are mainly manifested in the following aspects: First, the current large-scale deployable aerospace mechanisms are mainly targeted at a certain application scenario, such as large-scale satellite-borne deployable cable net antennas, large-scale deployable radial rib antennas, space solar wing panels, space target grabbing mechanisms, etc., but cannot be converted in various application scenarios; second, the current space deployable antennas cannot adjust the curvature of the reflecting surface, which means that there is only a certain antenna gain when the antenna is deployed; third, the current space target grabbing mechanism has a single grabbing mode, which makes it difficult to achieve the conversion between curling grabbing and spherical envelope grabbing, which is very unfavorable for grabbing column targets and spherical targets; fourth, future space base stations need more powerful service functions, and space crawling will also be an important research content; fifth, the future space on-orbit operation environment requires that large-scale space deployable mechanisms have certain reconfigurable functions to adapt to different space missions; sixth, large-scale deployable mechanisms with single functions increase the number of space launches and the cost of maintenance.

[0005] Therefore, it is necessary to improve the existing technology. Summary of the invention

[0006] In view of the defects of the prior art, the present invention provides a large-scale deployable multi-configuration device in space, which has multiple configurations, can be applied to various space missions, and can meet the requirements of different aerospace operations, thereby completing the multi-purpose use of one machine in the space environment.

[0007] In order to achieve the above-mentioned object, the present invention provides a spatial large-scale deployable multi-configuration device, which includes a base and a plurality of truss-type fingers arranged on the base, wherein the plurality of truss-type fingers are array-distributed or relatively distributed, and the truss-type fingers include a plurality of folding and unfolding units connected in sequence;

[0008] The base is a dual-configuration umbrella-shaped mechanism, which includes a fixed base, a main motion chain connected to the fixed base, an intermediate support rod, a movable base, a motion branch chain connected to the movable base, and a driver. The driver is slidably arranged on the intermediate support rod, and the main motion chain and the motion branch chain are both connected to the driver.

[0009] The movable base is connected to the fixed base through a revolving pair R1, wherein the rotation direction of the revolving pair R1 is parallel to the length direction of the middle support rod, and the revolving pair R1 is used to adjust the relative position between the movable base and the fixed base to form a plane ring shape or a plane rectangular shape;

[0010] The kinematic main chain includes a first support rod and a first connection seat for carrying the truss-type finger, the first connection seat is hinged on the fixed base through a rotation pair R2, the two ends of the first support rod are respectively hinged on the first connection seat and the driver, the driver slides along the middle support rod, and drives the first connection seat to rotate relative to the fixed base through the first support rod to drive the truss-type finger located on the fixed base to rotate;

[0011] The moving branch chain includes a second support rod and a second connecting seat for carrying the truss-type finger. The second connecting seat is hinged on the movable base through a rotating pair R3. The second support rod is a telescopic rod. The two ends of the second support rod are respectively connected to the second connecting seat and the driver through a ball pair. The driver slides on the middle support rod, and drives the second connecting seat to rotate relative to the movable base through the second support rod to drive the truss-type finger located on the movable base to rotate.

[0012] According to another specific embodiment of the present invention, the number of movable bases is four, and the four movable bases are arranged opposite to each other in groups of two and are located on both sides of the fixed base, wherein the planar annular shape formed by the fixed base and the movable base is a regular hexagon.

[0013] According to another specific embodiment of the present invention, the truss-type finger is hinged on the first connecting seat through the rotating pair R4, and the rotating pair R4 is perpendicular to the rotating pair R2; or, the truss-type finger is hinged on the second connecting seat through the rotating pair R5, and the rotating pair R5 is perpendicular to the rotating pair R3.

[0014] According to another specific embodiment of the present invention, when the base is in a planar rectangular shape, the gait movement of multiple truss fingers is performed by cooperatively controlling the sliding of the drive on the intermediate strut and the rotation of different truss fingers around the revolute pairs R4 and / or R5.

[0015] According to another specific embodiment of the present invention, the revolute pair R2 and the revolute pair R3 are both perpendicular to the middle support rod.

[0016] According to another specific embodiment of the present invention, it further includes a locking and unlocking mechanism for reconstructing different truss-type fingers, the locking and unlocking mechanism includes interlocking connectors, and the interlocking connectors are respectively arranged on the head end of the truss-type finger, the end of the truss-type finger, the first connecting seat or the second connecting seat, wherein different interlocking connectors can be connected to each other to lock a single truss-type finger to the first connecting seat or the second connecting seat, or to connect two truss-type fingers together.

[0017] According to another specific embodiment of the present invention, the interlocking connector includes a connecting body and a connecting claw disposed on the connecting body, and the connecting claws on different interlocking connectors can be detachably connected.

[0018] According to another specific embodiment of the present invention, the connecting claw is rotatably arranged on the connecting body through the connecting shaft, the connecting claw has a first arm and a second arm located on opposite sides of the connecting shaft and connected to each other, and a plug-in slot is formed between the first arm and the second arm, a connecting hole is provided on the first arm, a locking hole corresponding to the connecting hole is provided on the connecting body, and a convex portion for locking is provided on the second arm. The connecting claw has an unlocking position and a locking position. When the two connecting claws are connected in cooperation, in the unlocking position, the convex portion on the second arm of one of the connecting claws can extend into the plug-in slot of the other connecting claw. In the locking position, a locking pin is used to pass through the connecting hole and the locking hole to lock the first arm on the connecting body. At this time, the convex portion on the second arm is locked in the plug-in slot.

[0019] According to another specific embodiment of the present invention, the interlocking connector has a plurality of connection claws, and the plurality of connection claws are located on the same side of the connection body.

[0020] According to another specific embodiment of the present invention, the folding and unfolding unit is a scissors-type folding and unfolding unit.

[0021] The present invention has the following beneficial effects:

[0022] In the present invention, a base with a special configuration is used, and the base has two different configurations, which plays a very critical role in a variety of overall configurations and further enhances the variable configuration capability and folding and unfolding performance of the entire device.

[0023] In the present invention, a special locking and unlocking mechanism is adopted to realize the locking and self-unlocking functions of the truss-type finger head end and the truss-type finger end, which has important practical significance for the reconfiguration of complex large-scale aerospace mechanisms and enhances the working performance of the aerospace mechanisms.

[0024] The present invention adopts an integrated design to form a large-scale space-deployable aerospace mechanism with multiple motion configurations, which can meet the needs of various space missions to achieve multi-purpose use of one machine in a space environment.

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0027] Figure 2 is a schematic structural diagram of a truss-type finger in Embodiment 1 of the present invention;

[0028] Figure 3 is a schematic diagram of a single folding and unfolding unit in a truss-type finger in Example 1 of the present invention;

[0029] Figure 4 is a schematic diagram of the coordination of two folding and unfolding units in the truss-type finger in Example 1 of the present invention;

[0030] Figure 5 Schematic diagram of two configurations of the base in Example 1 of the present invention;

[0031] Figure 6 is a schematic structural diagram of the motion main chain in Example 1 of the present invention;

[0032] Figure 7 is a schematic structural diagram of a moving branch chain in Example 1 of the present invention;

[0033] Figure 8 is a schematic diagram of the locking and unlocking mechanism in Embodiment 1 of the present invention, which shows the locked state;

[0034] Fig. 9 is a schematic diagram of the locking and unlocking mechanism in Embodiment 1 of the present invention, which shows the unlocked state;

[0035] Fig.10 is a schematic diagram of the connection between the truss-type finger end and the interlocking connector in Example 1 of the present invention;

[0036] Fig.11 is a schematic diagram of the connection between the head end of the truss-type finger and the interlocking connector in Example 1 of the present invention;

[0037] Fig.12It is a schematic diagram of the connection of the base, the interlocking connector, and the truss-type fingers in Example 1 of the present invention;

[0038] Fig.13 is a schematic diagram of an annular solar wing according to embodiment 1 of the present invention;

[0039] Fig.14 is a schematic diagram of a rectangular solar wing according to embodiment 1 of the present invention;

[0040] Fig.15 is a schematic diagram of a spherical deployable antenna according to Embodiment 1 of the present invention;

[0041] Fig.16 is a schematic diagram of a cylindrical deployable antenna according to Embodiment 1 of the present invention;

[0042] Fig.17 is a schematic diagram of grabbing a ball target in Embodiment 1 of the present invention;

[0043] Fig.18 is a schematic diagram of grabbing a column-type target in Example 1 of the present invention;

[0044] Fig.19 is a schematic diagram of embodiment 1 of the present invention applied to crawling of a space service base station;

[0045] Fig. 20 It is a schematic diagram of embodiment 1 of the present invention applied to a spatially reconfigurable robot. DETAILED DESCRIPTION

[0046] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0047] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0048] Example 1

[0049] The present invention provides a spatial large-scale deployable multi-configuration device, such as Figure 1 As shown, it includes a base 100, a plurality of truss-type fingers 200, and a locking and unlocking mechanism 300 for reconfiguring different truss-type fingers 200. The plurality of truss-type fingers 200 are arranged on the base in an array form. In this embodiment, the number of the truss-type fingers 200 is six.

[0050] The truss-type finger 200 includes a plurality of folding and spreading units 210 connected in sequence. The number of the folding and spreading units 210 can be set as needed, for example, 5 folding and spreading units 210. The folding and spreading units 210 are scissor-type folding and spreading units 210. The specific structural form is as follows: Figure 2-4 As shown, the folding unit 210 used in this embodiment is similar in structure to the folding unit 210 in the applicant's prior patent of a lightweight foldable spatial truss-type capturing manipulator (application number 201811316153.1). Specifically, the folding unit 210 includes two upper and lower supporting trusses 220, two identical scissor rods 230, and a driving assembly 240.

[0051] Two adjacent folding and unfolding units 210 share a supporting truss 220, and the supporting truss 220 includes a supporting rod 221 and a connecting rod 222, and the supporting rod 221 and the connecting rod 222 are T-shaped, and the supporting rod 221 is a telescopic rod with adjustable length, specifically a sleeve rod structure, that is, the supporting rod 221 includes a first supporting rod 2211 and a second supporting rod 2212 nested with each other;

[0052] The middle parts of the two scissor rods 230 are hinged, wherein the head ends of the two scissor rods 230 are respectively hinged to the two ends of the support rod 221 located above, and the tail ends of the two scissor rods 230 are respectively hinged to the two ends of the support rod 221 located below. By changing the length of the support rod 221, the two supporting trusses 220 are separated back to back for unfolding. In this process, the folding unit 210 is transformed from a folded state to an extended state.

[0053] Furthermore, in order to achieve flipping to better perform the capture task, the scissors rod 230 includes an unfolded scissors rod 231 and a flip scissors rod 232 hinged to each other, the length of the flip scissors rod 232 is less than the length of the unfolded scissors rod 231, the two flip scissors rods 232 are located on the same side of the two unfolded scissors rods 231, the support rod 221 has a preset minimum length, when the scissors rod 230 is extended to a preset position, that is, when the scissors rod 230 is extended to the maximum height position, the support rod 221 reaches the preset minimum length, at this time, under the action of the drive assembly 240, the scissors rod 230 is transformed, and the two flip scissors rods 232 can be flipped sideways relative to the two unfolded scissors rods 231, and in this process the folding unit 210 is transformed from an extended state to a capture state.

[0054] Specifically, the driving assembly 240 adopts a fork-shaped connecting rod assembly and acts on the upper supporting truss and the lower supporting truss at the same time, such as Figure 3 As shown, it includes a driving connecting rod 241 and a follower connecting rod 242. The driving connecting rod 241 is a telescopic rod with adjustable length. The driving connecting rod 241 is in the form of a cylinder or a linear motor to change its overall length.

[0055] Among them, one end of the driving link 241 is hinged to the support rod 221 on the supporting truss 220 located below, and the other end of the driving link 241 is hinged to the connecting rod 222 on the supporting truss 220 located above. One end of the follower link 242 is set on the connecting rod 222 on the supporting truss 220 located below through a slider 243, and the other end of the follower link 242 is hinged to the middle part of the driving link 241. During the length change of the driving link 241, the follower link 242 generates a follow-up movement to maintain the smoothness of the deployment process.

[0056] Based on the above constraints, the folding and unfolding unit 210 is formed as a single degree of freedom structure.

[0057] The driving link 241 changes its length in the first stage, and the folding and unfolding unit 210 changes from the folded state to the extended state. The driving link 241 changes its length in the second stage, and the folding and unfolding unit 210 changes from the extended state to the captured state.

[0058] The base 100 is a dual-configuration umbrella-shaped structure, such as Figure 5 As shown, it includes a fixed base 110, a moving main chain 120 connected to the fixed base 110, an intermediate support rod 130, a movable base 140, a moving branch chain 150 connected to the movable base 140, and a driver 160. The driver 160 is slidably arranged on the intermediate support rod 130, and the moving main chain 120 and the moving branch chain 150 are both connected to the driver 160.

[0059] The movable base 140 is connected to the fixed base 110 via a revolving pair R1, wherein the rotation direction of the revolving pair R1 is parallel to the length direction of the intermediate support rod 130. The revolving pair R1 is used to adjust the relative position between the movable base 140 and the fixed base 110 to form a planar annular shape or a planar rectangular shape.

[0060] like Figure 6 As shown, the kinematic main chain 120 includes a first support rod 121 and a first connection seat 122 for carrying the truss-type finger 200. The first connection seat 122 is hinged on the fixed base 110 through a rotation pair R2. Both ends of the first support rod 121 are respectively hinged on the first connection seat 122 and the driver 160. The driver 160 slides along the middle support rod 130, and drives the first connection seat 122 to rotate relative to the fixed base 110 through the first support rod 121 to drive the truss-type finger 200 located on the fixed base 110 to rotate;

[0061] like Figure 7As shown, the moving branch chain 150 includes a second support rod 151 and a second connecting seat 152 for carrying the truss-type finger 200. The second connecting seat 152 is hinged on the movable base 140 through a rotating pair R3. The second support rod 151 is a telescopic rod. The two ends of the second support rod 151 are respectively connected to the second connecting seat 152 and the driver 160 through a ball pair S1 and a ball pair S2. The driver 160 slides on the middle support rod 130, and drives the second connecting seat 152 to rotate relative to the movable base 140 through the second support rod 151 to drive the truss-type finger 200 located on the movable base 140 to rotate.

[0062] Correspondingly, the revolving pairs R2 and R3 are both perpendicular to the middle support rod 130 .

[0063] Specifically, there are four movable bases 140 , which are arranged in pairs on both sides of the fixed base 110 , wherein the planar annular shape formed by the fixed base 110 and the movable base 140 is a regular hexagon.

[0064] More specifically, the truss finger 200 is hinged on the first connection seat 122 through the rotation pair R4, and the rotation pair R4 is perpendicular to the rotation pair R2; or, the truss finger 200 is hinged on the second connection seat 152 through the rotation pair R5, and the rotation pair R5 is perpendicular to the rotation pair R3.

[0065] When the base 100 is in a planar rectangular shape, the sliding of the actuator 160 on the middle support rod 130 and the rotation of different truss fingers 200 around the revolute pair R4 and / or R5 are coordinated to perform gait movement of multiple truss fingers 200, such as Fig.19 shown.

[0066] The locking and unlocking mechanism 300 includes an interlocking connector 310, such as Figure 10-12 As shown, the interlocking connectors 310 are respectively arranged on the head end of the truss finger 200, the end of the truss finger 200, the first connecting seat 122 or the second connecting seat 152, wherein different interlocking connectors 310 can be connected to each other to lock a single truss finger 200 to the first connecting seat 122 or the second connecting seat 152, or to connect two truss fingers 200 together.

[0067] Specifically, the interlocking connector 310 is hinged on the first connecting seat 122 through a rotating pair R4 to achieve the connection between the truss finger 200 and the first connecting seat 122; or, the interlocking connector 310 is hinged on the second connecting seat 152 through a rotating pair R5 to achieve the connection between the truss finger 200 and the second connecting seat 152.

[0068] like Figure 8-9As shown, the interlocking connector 310 includes a connecting body 311 and a connecting claw 312 disposed on the connecting body 311. The connecting claws 312 on different interlocking connectors 310 can be detachably connected. In this embodiment, any connection method that can achieve locking and unlocking is acceptable. Further, the specific structural form provided in this embodiment is:

[0069] The connecting claw 312 is rotatably arranged on the connecting body 311 through the connecting shaft 313. The connecting claw 312 has a first arm 3121 and a second arm 3122 located on opposite sides of the connecting shaft 313 and connected to each other, and a plug-in slot 3123 is formed between the first arm 3121 and the second arm 3122. A connecting hole 3124 is provided on the first arm 3121, and a locking hole 314 corresponding to the connecting hole 3124 is provided on the connecting body 311. A locking protrusion 3125 is provided on the second arm 3122. The connecting claw 312 has an unlocking position and a locking position. When the two connecting claws 312 are connected in cooperation, in the unlocking position, as shown in FIG. Fig. 9 As shown, the protrusion 3125 on the second arm 3122 of one connecting claw 312 can extend into the insertion groove 3123 of the other connecting claw 312. In the locked position, as shown in FIG. Figure 8 As shown, the locking pin 315 is passed through the connecting hole 3124 and the locking hole 314 to lock the first arm 3121 on the connecting body 311. At this time, the protrusion 3125 on the second arm 3122 is locked in the plug-in groove 3123. At this time, the two corresponding connecting claws 312 are locked to each other and cannot be separated.

[0070] Preferably, the interlocking connector 310 has a plurality of connection claws 312 , for example, three connection claws 312 , and the three connection claws 312 are located on the same side of the connection body 311 , wherein the sizes of the three connection claws 312 may be the same or different.

[0071] This embodiment can be used in a variety of ways.

[0072] First, the truss-type fingers 200 are synchronously unfolded to form a large planar ring-shaped mechanism. At the same time, by adjusting the rotation pairs R2 of the motion branches 150 on the base, the base can be switched between a planar ring shape and a planar rectangular shape. Both of these configurations are planar structures and can be applied to large-scale space deployable platforms or large-scale space deployable solar wings, such as Figure 13-14 shown.

[0073] Then, the folding unit 210 of each truss finger 200 can be subjected to metamorphic bending, and the entire truss finger 200 can be formed into two configurations with a spherical structure and a cylindrical structure, such as Figure 15-16As shown, these two structures can be applied to large space-borne deployable antennas. Since their curvature is adjustable, the gain of the antenna can be adjusted, which has important time significance for the on-orbit service function of the large space-borne deployable antenna.

[0074] Then, when the curvature of the truss finger 200 is large enough, the truss finger 200 starts to rotate relative to the fixed base 110 and the movable base 140 under the drive of the driver 160, and can form two different grasping configurations of a column and a ball, such as Figure 17-18 As shown, this has practical significance for adapting to non-cooperative grasping and maintenance in space, and can be used for grasping of different scales and geometries.

[0075] Then, when the space service base station needs a crawling robot, the six truss fingers 200 can be converted into a hexapod mechanism, and the gait movement of multiple truss fingers 200 can be performed by coordinating the sliding of the driver 160 on the middle support rod 130 and the rotation of different truss fingers 200 around the revolute pair R4 and / or R5, such as Fig.19 shown.

[0076] Finally, when a space mission requires a larger workspace, such as a large-scale bendable manipulator, the reconstruction from six truss fingers 200 to three truss fingers 200 can be realized, that is, the corresponding truss fingers 200 are unlocked by the locking and unlocking mechanism 300, and the two truss fingers 200 act as a single longer truss finger 200, and finally become a space mechanism with a three-branch structure, such as Fig. 20 As shown, it is obvious that the working space has been greatly expanded, capable of completing aerospace tasks such as large-scale robotic arms.

[0077] Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the scope of the present invention. Any person skilled in the art can make some improvements without departing from the scope of the present invention, that is, all equivalent improvements made according to the present invention should be covered by the scope of the present invention.

Claims

1. A spatially large-scale deployable multi-configuration device, characterized in that: It comprises a base and a plurality of truss-type fingers arranged on the base, the plurality of truss-type fingers are distributed in an array or relatively distributed, and the truss-type fingers comprise a plurality of folding and unfolding units connected in sequence; The base is a dual-configuration umbrella-shaped mechanism, which includes a fixed base, a main motion chain connected to the fixed base, an intermediate support rod, a movable base, a motion branch chain connected to the movable base, and a driver, wherein the driver is slidably arranged on the intermediate support rod, and the main motion chain and the motion branch chain are both connected to the driver; The movable base is connected to the fixed base through a rotation pair R1, wherein the rotation direction of the rotation pair R1 is parallel to the length direction of the intermediate support rod, and the relative position between the movable base and the fixed base is adjusted by the rotation pair R1 to form a planar annular shape or a planar rectangular shape; The kinematic main chain includes a first support rod and a first connection seat for carrying the truss-type finger, the first connection seat is hinged to the fixed base through a rotation pair R2, the two ends of the first support rod are respectively hinged to the first connection seat and the driver, the driver slides along the middle support rod, and drives the first connection seat to rotate relative to the fixed base through the first support rod to drive the truss-type finger located on the fixed base to rotate; The moving branch chain includes a second support rod and a second connecting seat for carrying the truss-type finger, the second connecting seat is hinged on the movable base through a rotating pair R3, the second support rod is a telescopic rod, and the two ends of the second support rod are respectively connected to the second connecting seat and the driver through a ball pair. The sliding of the driver on the middle support rod drives the second connecting seat to rotate relative to the movable base through the second support rod to drive the truss-type finger located on the movable base to rotate.

2. The spatial large-scale deployable multi-configuration device according to claim 1, characterized in that: The number of the movable bases is four, and the four movable bases are arranged opposite to each other in groups of two and are located on both sides of the fixed base, wherein the planar annular shape formed by the fixed base and the movable base is a regular hexagon.

3. The spatial large-scale deployable multi-configuration device according to claim 2, characterized in that: The truss-type finger is hinged on the first connection seat through a revolving pair R4, and the revolving pair R4 is perpendicular to the revolving pair R2; or, the truss-type finger is hinged on the second connection seat through a revolving pair R5, and the revolving pair R5 is perpendicular to the revolving pair R3.

4. The spatially large-scale deployable multi-configuration device according to claim 3, characterized in that: When the base is in a planar rectangular configuration, the sliding of the actuator on the intermediate strut and the rotation of different truss fingers around the revolute pairs R4 and / or R5 are coordinated to perform gait movement of a plurality of truss fingers.

5. The spatially large-scale deployable multi-configuration device according to claim 1, characterized in that: The revolute pair R2 and the revolute pair R3 are both perpendicular to the middle support rod.

6. The spatially large-scale deployable multi-configuration device according to claim 1, characterized in that: It further includes a locking and unlocking mechanism for reconfiguring different truss-type fingers, wherein the locking and unlocking mechanism includes interlocking connectors, which are respectively arranged on the head end of the truss-type finger, the end of the truss-type finger, the first connecting seat or the second connecting seat, wherein different interlocking connectors can be connected to each other to lock and connect a single truss-type finger to the first connecting seat or the second connecting seat, or to connect two truss-type fingers together.

7. The spatial large-scale deployable multi-configuration device according to claim 6, characterized in that: The interlocking connector includes a connecting body and a connecting claw arranged on the connecting body, and the connecting claws on different interlocking connectors can be detachably connected.

8. The spatially large-scale deployable multi-configuration device according to claim 7, characterized in that: The connecting claw is rotatably arranged on the connecting body through a connecting shaft, and the connecting claw has a first arm and a second arm located on opposite sides of the connecting shaft and connected to each other, and a plug-in slot is formed between the first arm and the second arm, a connecting hole is provided on the first arm, and a locking hole corresponding to the connecting hole is provided on the connecting body, and a convex portion for locking is provided on the second arm. The connecting claw has an unlocking position and a locking position. When the two connecting claws are matched and connected, in the unlocking position, the convex portion on the second arm of one of the connecting claws can extend into the plug-in slot of the other connecting claw, and in the locking position, a locking pin is used to pass through the connecting hole and the locking hole to lock the first arm on the connecting body, and at this time, the convex portion on the second arm is locked in the plug-in slot.

9. The spatially large-scale deployable multi-configuration device according to claim 7, characterized in that: The interlocking connector has a plurality of connection claws, and the plurality of connection claws are located on the same side of the connection body.

10. The spatially large-scale deployable multi-configuration device according to claim 1, characterized in that: The folding and unfolding unit is a scissor-type folding and unfolding unit.

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