A spatial hinge mechanism

Abstract

The present invention provides a spatial hinge mechanism for driving the expansion action of an expandable mechanism. The mechanism comprises a main shaft, a male hinge, a female hinge, a constant force spring, and a lock hook. The male hinge is rotatably connected to the main shaft via a spherical roller bearing on one side, and is provided with a first extension plate and a second extension plate on the other side. The female hinge is fixedly connected to the main shaft on one side, and is provided with a third extension plate and a fourth extension plate on the other side. The constant force spring is fixedly mounted on the main shaft at a first end, and is connected to the male hinge at a second end. The lock hook is mounted on the female hinge at one end, and is used as a fastening end for fastening with the male hinge at the other end. The male hinge is provided with a lock groove near the second extension plate for fastening with the lock hook. When the external force pressing the hinge mechanism fails, the constant force spring drives the male hinge to rotate around the main shaft via the spherical roller bearing, causing relative movement between the second extension plate and the fourth extension plate, thereby achieving self-locking after the lock hook slides into the lock groove.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, in particular to a space hinge mechanism. Background Art

[0002] With the continued booming development of commercial spaceflight, the market demand for deployable structures such as small and medium-sized solar panels and flat-panel antennas is increasing. Space hinges are a key actuating component of these deployable structures. Beyond their basic deployment actuation function, these mechanisms also require comprehensive design analysis for deployment synchronization, reliability, structural compactness, and machining and assembly difficulty.

[0003] Due to the complexity and variability of the space environment, the space hinge mechanism also needs to ensure that it can reliably self-lock after unfolding due to the particularity of its working environment.

[0004] The hinge mechanisms currently used in aerospace equipment generally have problems such as difficulty in processing and assembly, poor reliability, and susceptibility to vibration or foreign objects causing jamming. Therefore, there is an urgent need to provide a space hinge mechanism that can reliably self-lock. Summary of the Invention

[0005] In response to the above-mentioned technical problems in the related art, the present invention provides a space hinge mechanism that can move smoothly to a fully expanded state as expected by the design, and the flatness of the expansion is adjustable. The self-locking reliability of the mechanism is high, meeting the application requirements of commercial aerospace for hinge mechanisms.

[0006] The present invention provides a spatial hinge mechanism for driving the expansion action of an expandable mechanism, comprising a main shaft, a male hinge, a female hinge, a constant force spring and a lock hook; one side of the male hinge is rotatably connected to the main shaft through a spherical roller bearing, and the other side is provided with a first extension plate and a second extension plate; one side of the female hinge is fixedly connected to the main shaft, and the other side is provided with a third extension plate and a fourth extension plate; the first extension plate and the third extension plate are used to maintain a compressed state after being subjected to external force, and the second extension plate and the fourth extension plate are used to install the expandable mechanism; the first end of the constant force spring is fixedly arranged on the main shaft, and the second end is connected to the male hinge connection; one end of the lock hook is arranged on the female hinge, and the other end serves as a buckling end for buckling with the male hinge; the male hinge is provided with a lock groove for buckling with the lock hook at a position close to the second extension plate; under the pressure of external force, the female hinge and the main shaft can rotate relative to the male hinge at the same time, and the first extension plate and the third extension plate remain pressed; when the external force fails, the constant force spring provides torsion, and the male hinge can rotate around the main shaft through the spherical roller bearing, so that the second extension plate and the fourth extension plate move relative to each other, thereby realizing self-locking after the lock hook slides into the lock groove.

[0007] In one embodiment, the spatial hinge mechanism of the present invention also includes a lock hook base and a lock hook limiting device; the female hinge is provided with a lock hook base on a side of the fourth extension plate adjacent to the second extension plate, and the lock hook base is provided with a mounting hole in a direction parallel to the main axis, and the lock hook is rotatably connected to the mounting hole of the lock hook base through the lock hook rotating shaft; the lock hook is provided with a through hole perpendicular to the direction of the lock hook rotating shaft at a position close to the lock hook rotating shaft; one end of the lock hook limiting device is provided on the lock hook base, and the other end is provided through the through hole, which is used to limit the rotation of the lock hook along the lock hook rotating shaft.

[0008] In one embodiment, the lock hook limiting device includes a guide screw, a nut, a lock hook spring and a spring washer arranged perpendicular to the lock hook rotating shaft; one end of the guide screw is set on the lock hook base, and the other end passes through the lock hook spring, the spring washer and the through hole of the lock hook in sequence, and the nut is tightened from the other end of the guide screw to limit the rotation of the lock hook along the lock hook rotating shaft.

[0009] In one embodiment, the female hinge is provided with a tightening screw near the locking hook base for adjusting the unfolding flatness of the male hinge and the female hinge, and the male hinge is provided with a limiting rod near the locking slot for abutting against the tightening screw; after the locking hook is buckled and tightened with the locking slot, the limiting rod abuts against the tightening screw to limit the male hinge and the female hinge from continuing relative movement.

[0010] In one embodiment, the male hinge is provided with a constant force spring connection unit at a position close to the limiting rod; the constant force spring is connected to the male hinge via the constant force spring connection unit.

[0011] In one embodiment, the constant force spring connection unit includes a support rod, a locking nut and a rotating shaft sleeve; one end of the support rod is a nut structure, and the other end passes through the rotating shaft sleeve and the locking nut in sequence and is fixedly set in the support rod hole of the male hinge; the locking nut is used to lock the support rod in the support rod hole; the rotating shaft sleeve is rotatably connected to the support rod, and the second end of the constant force spring is rotatably connected to the support rod through the rotating shaft sleeve.

[0012] In any of the above embodiments, the main shaft is provided with a spring connecting hole, and the first end of the constant force spring is provided with a through hole. The spring connecting hole and the through hole are fixedly connected by a fixing bolt to fix the first end of the constant force spring to the main shaft.

[0013] In one embodiment, the female hinge is provided with a first spindle hole and a second spindle hole on a side away from the third extension plate and the fourth extension plate; the female hinge is connected to the spindle through the first spindle hole and the second spindle hole; at least one of the first spindle hole and the second spindle hole is an irregular hole, and the spindle is provided with a shoulder at a position corresponding to the irregular hole; the irregular hole and the shoulder are arranged in cooperation so that the spindle and the female hinge rotate synchronously.

[0014] In one embodiment, a first tightening screw hole is provided on the outer wall of the first main shaft hole close to the side of the third extension plate, and a first tightening screw is provided in the first tightening screw hole for adjusting the unfolding flatness of the male hinge and the female hinge; a second tightening screw hole is provided on the outer wall of the second main shaft hole close to the side of the third extension plate, and a second tightening screw is provided in the second tightening screw hole for adjusting the unfolding flatness of the male hinge and the female hinge; the male hinge is provided with a limiting rod at a position close to the lock slot for simultaneously interfering with the first tightening screw and the second tightening screw.

[0015] In one embodiment, the surface of the locking groove that is opposite to the locking hook engaging portion is an arc surface, so that the locking hook can slide smoothly into the locking groove.

[0016] The spatial hinge mechanism of this invention optimizes the hinge's self-locking design, making the self-locking design between the movable locking hook and the dead point of motion more reliable in complex applications. It also improves the reliability of the hinge's deployment function and reduces the friction torque during hinge deployment. Using a constant-force spring to drive the hinge's deployment ensures torque margin while minimizing excessive impact when fully deployed. This also makes the hinge more compact and optimizes its layout.

[0017] Those skilled in the art will recognize additional features and advantages upon reading the detailed description and upon viewing the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 2 is a schematic diagram of the overall structure of a spatial hinge mechanism according to an embodiment of the present invention.

[0020] Figure 2 It is a structural schematic diagram of the spatial hinge mechanism of an embodiment of the present invention in a compressed and retracted state.

[0021] Figure 3 It is a cross-sectional schematic diagram of the spatial hinge mechanism in the self-locking state after being unfolded according to an embodiment of the present invention.

[0022] Figure 4 Schematic diagram of the structure of a constant force spring and a constant force spring connecting unit according to an embodiment of the present invention.

[0023] Figure 5 Schematic diagram of the structure of the female hinge of an embodiment of the present invention.

[0024] Figure 6 Schematic diagram of the structure of the male hinge of an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific embodiments. Spatial relationship terms such as "below", "below", "under", "low", "above", "on", "high", etc. are used to facilitate the description to explain the positioning of one element relative to a second element, indicating that these terms are intended to cover different orientations of the device in addition to orientations different from those shown in the figures. In addition, for example, "one element is above / below another element" can mean that the two elements are in direct contact, or it can mean that there are other elements between the two elements. In addition, terms such as "first", "second", etc. are also used to describe various elements, regions, parts, etc., and should not be regarded as limitations. Similar terms represent similar elements throughout the description.

[0026] See also Figure 1 、 Figure 2 and Figure 3 , a spatial hinge mechanism provided by the present invention is used to drive the expansion action of an expandable mechanism. The spatial hinge mechanism of the present invention comprises at least a main shaft 1, a male hinge 2, a female hinge 3, a constant force spring 4 and a lock hook 5. One side of the male hinge 2 is rotatably connected to the main shaft 1 through a spherical roller bearing 6, and the other side is provided with a first extension plate 21 and a second extension plate 22 spaced apart from each other. One side of the female hinge 3 is fixedly connected to the main shaft 1, and the other side is provided with a third extension plate 31 and a fourth extension plate 32 spaced apart from each other. It should be noted that the first extension plate 21 is basically parallel to the second extension plate 22, and the third extension plate 31 is basically parallel to the fourth extension plate 32.

[0027] The first and third extension plates 21 and 31 are used to maintain a compressed state when subjected to external force, while the second and fourth extension plates 22 and 32 are used to mount the deployable mechanism. In other words, when the first and third extension plates 21 and 31 are pressed against each other, the deployable mechanism moves synchronously with the second and fourth extension plates 22 and 32, and is retracted.

[0028] The first end of the constant force spring 4 is fixedly mounted on the main shaft 1, and the second end is connected to the male hinge 2. It should be noted that the side of the constant force spring 4 near the first end is semi-wound around the main shaft 1 to ensure that when the male hinge 2 rotates relative to the main shaft 1, the constant force spring 4 can be stretched to increase its elastic force.

[0029] Furthermore, one end of the locking hook 5 is positioned on the fourth extension plate 32 near the second extension plate 22, and the other end serves as a snap-fit end for snapping onto the male hinge 2. Accordingly, the male hinge is provided with a locking slot 23 on the second extension plate 22 near the fourth extension plate, into which the locking hook 5 snaps. The shapes of the locking hook 5 and the locking slot 23 match, and the locking hook 5 and the locking slot 23 are configured to self-lock after the hinge mechanism is deployed.

[0030] Under the action of external force, the female hinge 3 and the main shaft 1 can rotate relative to the male hinge 2 at the same time. After the rotation is in place, the first extension plate 21 and the third extension plate 31 are fixed by the external force pressing device (such as Figure 2 When the external force fails, the constant force spring 4 provides a torsion force to drive the male hinge 2 to rotate around the main shaft 1 through the spherical roller bearing 6, so that the second extension plate 22 and the fourth extension plate 32 can move relative to each other around the axis of the main shaft 1, and at the same time drive the deployable mechanism to gradually deploy. When the deployable mechanism is deployed in place, the lock hook 5 can slide into the lock slot 23 and complete the self-locking (such as Figure 1 or Figure 3 status).

[0031] The spatial hinge mechanism of this invention simplifies the design of the hinge's self-locking mechanism, improving its reliability in complex applications and resolving the complex locking operation issues associated with conventional hinges. The spatial hinge mechanism of this invention utilizes spherical roller bearings instead of traditional sliding bearings, resulting in low friction torque during hinge deployment and improved deployment reliability.

[0032] See also Figure 2 and Figure 3 In one embodiment, the spatial hinge mechanism of the present invention further includes a lock hook base 51 and a lock hook limiting device 52. The mother hinge 3 is provided with a lock hook base 51 on a side of the fourth extension plate 32 adjacent to the second extension plate 22. The lock hook base 51 is provided with a mounting hole in a direction parallel to the main axis 1. The lock hook 5 is rotatably connected to the mounting hole of the lock hook base 51 through the lock hook rotating shaft 53. A through hole perpendicular to the direction of the lock hook rotating shaft is provided at a position near the lock hook rotating shaft 53 for the lock hook limiting device 52 to pass through. Specifically, one end of the lock hook limiting device 52 is provided on the lock hook base 51, and the other end is provided through the through hole of the lock hook 5. After passing through the through hole of the lock hook 5, the lock hook limiting device 52 fixes the lock hook 5 to limit the rotation of the lock hook 5 along the lock hook rotating shaft 53.

[0033] It should be noted that after the lock hook stopper 52 passes through the through hole of the lock hook 5, it can rotate slightly to adapt to the slope change of the lock groove 23 before engaging with the lock groove 23, thereby preventing the lock hook 5 from being stuck outside the lock groove. Specifically, a small amount of space can be reserved between the lock hook stopper 52 and the through hole to accommodate the small rotation of the lock hook 5.

[0034] See also Figure 3 Furthermore, the hook limiting device includes a guide screw 521, a nut 522, a hook spring 523, and a spring washer 524, which are arranged perpendicular to the hook shaft 53. One end of the guide screw 521 is set on the hook base, and the other end passes through the hook spring 523, the spring washer 524, and the through hole of the hook 5 in sequence. The nut 522 is tightened from the other end of the guide screw 521 to limit the rotation of the hook 5 along the hook shaft 53.

[0035] By adjusting the length of the spring, the stiffness of the spring or the thickness of the gasket, the contact angle between the lock hook 5 and the lock slot can be adjusted, thereby ensuring that the lock hook 5 can be smoothly buckled into the lock slot.

[0036] See also Figure 2 In one embodiment, the female hinge 3 is provided with a jacking screw 7 near the locking hook base 51 for adjusting the flatness of the male and female hinges when unfolded. The male hinge is provided with a limiting rod 8 near the locking slot 23 for contact with the jacking screw 7. When the hinge mechanism is unfolded, the jacking screw 7 contacts the limiting rod 8, acting as a reverse limiting force, the opposite of the limiting force exerted by the locking hook and locking slot when locked. Therefore, after the locking hook 5 is locked and secured with the locking slot 23, the limiting rod 8 also contacts the jacking screw 7, thereby achieving self-locking of the entire hinge mechanism while limiting further relative movement between the male and female hinges.

[0037] It should be noted that the locking hook and locking slot, after self-locking, are used to limit the separation of the second and fourth extension plates, and the contact between the limit rod and the tightening screw is used to limit the second and fourth extension plates from over-expansion. The spatial hinge mechanism of this embodiment of the present invention can both achieve self-locking of the male and female hinges after expansion and prevent excessive expansion of the male and female hinges.

[0038] See also Figure 2 、 Figure 4 and Figure 6 In one embodiment, to facilitate the connection between the constant force spring 4 and the male hinge 2, a constant force spring connection unit 9 can be provided on the male hinge 2 near the limit rod 8. One end of the constant force spring connection unit 9 is fixed to the male hinge 2, and the other end is used to connect to the constant force spring 4, thereby achieving the connection between the constant force spring 4 and the male hinge 2 via the constant force spring connection unit 9.

[0039] Specifically, the constant-force spring connection unit comprises a support rod 91, a locking nut 92, and a rotating sleeve 93. One end of the support rod 91 is configured as a nut, while the other end passes through the rotating sleeve 93 and locking nut 92, respectively, and is fixedly secured to the support rod hole 25 of the male hinge. The locking nut 92 is used to secure the other end of the support rod 91 to the support rod hole 25 of the male hinge. The rotating sleeve 93 is rotatably mounted on the support rod 91 and is connected to the second end of the constant-force spring 4, thereby achieving a rotatable connection between the constant-force spring 4 and the support rod 91.

[0040] That is, when the male hinge rotates relative to the female hinge and the main shaft, the support rod will move synchronously with the male hinge, and the movement path of the support rod is roughly along the outer periphery of the main shaft. During the movement of the support rod, in order to prevent the end (second end) of the constant force spring connected to the support rod from curling to the extreme, a rotating shaft sleeve can be used to connect the constant force spring to the support rod. By providing a rotating shaft sleeve, it can be ensured that during the movement of the support rod, the constant force spring can rotate around the support rod through the rotating shaft sleeve and be stretched.

[0041] Continue to see Figure 4 In any of the above embodiments, to facilitate installation and removal of the constant force spring from the main shaft, a spring connection hole 11 can be provided on the outer wall of the main shaft 1 at the location where the constant force spring is installed, for fixed connection of the first end of the constant force spring. Accordingly, a through hole 41 is provided at the first end of the constant force spring to match the spring connection hole 11. The spatial hinge mechanism of the present invention can securely connect the spring connection hole 11 and the through hole 41 via a fixing bolt, thereby securing the first end of the constant force spring to the main shaft 1.

[0042] See also Figure 5 In one embodiment, a first spindle hole 33 and a second spindle hole 34 are provided on the side of the female hinge away from the third extension plate 31 and the fourth extension plate 32. The female hinge is connected to the spindle simultaneously through the first and second spindle holes 33, 34. At least one of the first and second spindle holes 33, 34 is an irregular hole, and the spindle has a shoulder on its outer circumference corresponding to the irregular hole. By utilizing the irregular hole and the shoulder, the relative motion between the female hinge and the spindle can be restricted, allowing the spindle and the female hinge to rotate synchronously.

[0043] See also Figure 5 and Figure 6In the above embodiment, a third spindle hole 24 is provided on the side of the male hinge facing away from the first and second extension plates 21, 22. The male hinge is connected to the spindle through this third spindle hole 24. Specifically, one end of the spindle is used to mount a constant-force spring, while the other end passes through the second spindle hole 34, the third spindle hole 24, and the first spindle hole 33, respectively. To ensure the stability of the entire hinge mechanism, the third spindle hole 24 is positioned between the first and second spindle holes 33, 34.

[0044] See also Figure 2 and Figure 5 Furthermore, to increase the reliability and stability of the entire hinge mechanism during deployment, two jacking screws 7 can be provided. Specifically, in one embodiment, a first jacking screw hole 35 is provided on the outer wall of the first spindle hole 33 near the third extension plate 31. A first jacking screw for adjusting the flatness of the male and female hinges when deployed is located within the first jacking screw hole 35. A second jacking screw hole 36 is provided on the outer wall of the second spindle hole near the third extension plate 31. A second jacking screw for adjusting the flatness of the male and female hinges when deployed is located within the second jacking screw hole 36.

[0045] Furthermore, the third extension plate 31 is provided with lock hook seat holes 37 at positions close to the first tightening screw hole 35 and the second tightening screw hole 36 respectively, and the lock hook base 51 is fixedly connected to the female hinge through the lock hook seat holes 37.

[0046] The third extension plate 31 is further provided with a positioning hole 311 for installing the deployable mechanism. The base plate of the deployable mechanism can be connected to the female hinge through the positioning hole 311.

[0047] See also Figure 6 A limit rod 9 can be installed near the locking slot 23 of the male hinge to simultaneously engage the first and second jacking screws. The limit rod 9 is fixed to the male hinge, with its ends extending outward. The two ends extending outward from the male hinge are designed to engage the first and second jacking screws when the hinge mechanism is extended, thereby limiting the maximum position of the male and female hinges when they are extended relative to each other.

[0048] It should be noted that, in order to ensure locking reliability, the height of the first and second jacking screws are adjustable. By adjusting the first and second jacking screws, the flatness of the hinge mechanism after unfolding can be improved.

[0049] Furthermore, the first extension plate 21 is further provided with a positioning hole 211 for installing the deployable mechanism. The base plate of the deployable mechanism can be connected to the male hinge through the positioning hole 211.

[0050] In the above embodiment, in order to facilitate the lock hook to be smoothly engaged and locked with the lock slot, the opposite surface of the lock slot used for engaging with the lock hook can be set as an arc surface, so that the lock hook can slide smoothly into the lock slot and reduce unnecessary resistance.

[0051] The above embodiments can be combined with each other and have corresponding technical effects.

[0052] The spatial hinge mechanism of the present invention ensures smooth and autonomous hinge deployment in complex and changing spatial environments. The mechanism securely locks itself after deployment through the engagement of a locking hook and a locking slot, resolving the complexity and difficulty of conventional hinge locking. The hinge mechanism utilizes a constant-force spring, ensuring torque margin while minimizing excessive impact upon full deployment. This also results in a more compact hinge structure and optimizes its layout.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A spatial hinge mechanism for driving the deployment of a deployable mechanism, characterized in that: Includes main shaft, male hinge, female hinge, constant force spring and lock hook; One side of the male hinge is rotatably connected to the main shaft via a spherical roller bearing, and the other side is provided with a first extension plate and a second extension plate; one side of the female hinge is fixedly connected to the main shaft, and the other side is provided with a third extension plate and a fourth extension plate; The first extension plate and the third extension plate are used to maintain a compressed state after being subjected to an external force, and the second extension plate and the fourth extension plate are used to install a deployable mechanism; The first end of the constant force spring is fixedly mounted on the main shaft, and the second end is connected to the male hinge; One end of the lock hook is provided on the female hinge, and the other end serves as a buckling end for buckling with the male hinge; the male hinge is provided with a lock groove for buckling the lock hook at a position close to the second extension plate; Under the pressure of an external force, the female hinge and the main shaft can rotate relative to the male hinge at the same time, and the first extension plate and the third extension plate are kept pressed together; when the external force fails, the constant force spring provides torsion, and the male hinge can rotate around the main shaft through the spherical roller bearing, so that the second extension plate and the fourth extension plate move relative to each other, thereby achieving self-locking after the lock hook slides into the lock groove; It also includes a lock hook base and a lock hook limiting device; The female hinge is provided with a lock hook base on a side of the fourth extension plate adjacent to the second extension plate, the lock hook base is provided with a mounting hole in a direction parallel to the main axis, and the lock hook is rotatably connected to the mounting hole of the lock hook base via a lock hook rotating shaft; A through hole perpendicular to the lock hook rotation axis is provided at a position of the lock hook near the lock hook rotation axis; one end of the lock hook limiting device is provided on the lock hook base, and the other end is provided through the through hole, for limiting the rotation of the lock hook along the lock hook rotation axis; The lock hook limiting device includes a guide screw, a nut, a lock hook spring and a spring washer arranged perpendicular to the lock hook rotation axis; One end of the guide screw is set on the lock hook base, and the other end passes through the lock hook spring, the spring washer and the through hole of the lock hook in sequence. The nut tightens the guide screw from the other end of the guide screw to limit the lock hook from rotating along the lock hook shaft.

2. The spatial hinge mechanism according to claim 1, characterized in that: The female hinge is provided with a tightening screw near the lock hook base for adjusting the unfolding flatness of the male hinge and the female hinge, and the male hinge is provided with a limiting rod near the lock slot for contact with the tightening screw; After the locking hook is locked and tightly embraced with the locking groove, the limiting rod contacts the tightening screw to limit the male hinge and the female hinge from continuing to move relative to each other.

3. The spatial hinge mechanism according to claim 2, characterized in that: The male hinge is provided with a constant force spring connection unit at a position close to the limiting rod; the constant force spring is connected to the male hinge through the constant force spring connection unit.

4. The spatial hinge mechanism according to claim 3, characterized in that: The constant force spring connection unit includes a support rod, a locking nut and a rotating shaft sleeve; One end of the support rod is a nut structure, and the other end passes through the rotating shaft sleeve and the locking nut in sequence and is fixedly set in the support rod hole of the male hinge; the locking nut is used to lock the support rod in the support rod hole; The rotating shaft sleeve is rotatably sleeved on the support rod, and the second end of the constant force spring is rotatably connected to the support rod through the rotating shaft sleeve.

5. The spatial hinge mechanism according to any one of claims 1 to 4, characterized in that: The main shaft is provided with a spring connecting hole, and the first end of the constant force spring is provided with a through hole. The spring connecting hole and the through hole are fixedly connected by a fixing bolt to fix the first end of the constant force spring to the main shaft.

6. The spatial hinge mechanism according to claim 5, characterized in that: The female hinge is provided with a first main shaft hole and a second main shaft hole on a side away from the third extension plate and the fourth extension plate; the female hinge is connected to the main shaft through the first main shaft hole and the second main shaft hole; At least one of the first spindle hole and the second spindle hole is an irregular hole, and the spindle is provided with a shoulder at a position corresponding to the irregular hole; the irregular hole and the shoulder are matched to enable the spindle and the female hinge to rotate synchronously.

7. The spatial hinge mechanism according to claim 6, characterized in that: A first tightening screw hole is provided on an outer wall of the first main shaft hole close to the third extension plate, and a first tightening screw for adjusting the unfolding flatness of the male hinge and the female hinge is provided in the first tightening screw hole; A second tightening screw hole is provided on the outer wall of the second main shaft hole close to the third extension plate, and a second tightening screw is provided in the second tightening screw hole for adjusting the unfolding flatness of the male hinge and the female hinge; The male hinge is provided with a limiting rod at a position close to the locking slot for simultaneously contacting the first tightening screw and the second tightening screw.

8. The spatial hinge mechanism according to claim 5, characterized in that: The opposite surface of the locking groove for engaging with the locking hook is an arc surface, so that the locking hook can slide smoothly into the locking groove.

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