A single degree of freedom folded two-dimensional array antenna mechanism

Abstract

This invention discloses a single-degree-of-freedom folding two-dimensional array antenna mechanism, including an antenna panel, a back frame mechanism, a locking structure, and a hinge replacement mechanism. When the antenna panel and its back frame mechanism are fully unfolded, they form multiple stable quadrangular pyramid and triangular truss structures, improving the overall stiffness and stability of the antenna. The hinge replacement mechanism motion equivalently replaces the hinges on the antenna's working surface, achieving flatness of the working surface. In the fully unfolded state, the locking structure relatively locks the positions of the antenna panel bosses and the back frame rods, fixing the overall antenna structure in a stable state. This invention has a reasonable structure, reliable movement, good unfolding stability, and a high folding ratio.

Description

Technical Field

[0001] This invention belongs to the field of aerospace vehicle technology, and in particular relates to a two-dimensional array antenna deployment mechanism with a single degree of freedom, a large folding-to-scale ratio, and single-step folding. Background Technology

[0002] As multifunctional aerospace equipment gradually develops towards larger sizes, the contradiction between the large-size requirements of aerospace equipment and the limited effective size of launch vehicles is becoming increasingly prominent. Based on the characteristic that space deployable structures can transform from a tightly folded state to a controllable unfolded state by changing their geometry, their application in the aerospace field is becoming increasingly widespread, such as in deployable solar arrays and space deployable antennas. Origami, with its diverse patterns and excellent folding characteristics, provides a new approach for the design of space deployable structures with large fold-to-spread ratios. Since the array thickness of spaceborne planar antennas cannot be ignored, many scholars have proposed various thick-plate origami design methods. Among them, the thick-plate origami design method based on offset hinges, which utilizes a spatial over-constrained linkage mechanism to establish a motion model of thick-plate origami, solves the motion physical interference problem of thick-plate origami, laying a theoretical foundation for the design and analysis of engineering origami.

[0003] Antennas are essential functional components on spacecraft such as satellites and space stations, and have wide applications in ocean observation, environmental monitoring, natural resource management, and enemy facility detection. Since NASA launched the world's first observation satellite with a SAR antenna, Seasona, in 1978, the European Space Agency's ERS-2 satellite, Canada's RADARSAT-2 satellite, Japan's ALOS satellite, and my country's Gaofen-3 satellite have all carried large deployable planar antennas. With the increasing demand for high resolution and wide imaging swath in the aerospace field, spaceborne planar antennas are gradually developing towards larger sizes.

[0004] In recent years, Harbin Institute of Technology (HIT), Northwestern Polytechnical University (NPU), and Yanshan University have proposed various coordinated motion schemes for one-dimensional folded antennas and their back-frame mechanisms, providing guidance for array antenna design. To achieve a higher fold-to-spread ratio, there is an urgent need to propose novel two-dimensional folded array antenna mechanisms. In response, HIT proposed a new configuration for a planar folded antenna mechanism with a fold-to-spread ratio of up to 17.6, achieving high-rigidity design for large planar antenna mechanisms and providing insights for the design of two-dimensional folded array antennas. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and obtain a deployable antenna structure with a larger folding-to-spread ratio and a larger unfolded surface. It provides a single-degree-of-freedom folding two-dimensional array antenna mechanism, which offers a coordinated movement mode for a single-degree-of-freedom, large folding-to-spread ratio, single-step folding array antenna element and its back frame mechanism. In the fully folded state, the antenna panels are tightly stacked, and the back frame rods are tucked into the gaps between the antenna panels, resulting in a smaller volume and higher space utilization for the transport vehicle. In the fully unfolded state, the antenna has a flat working surface, meeting the high-resolution requirements of deployable array antennas; the back of the antenna is a stable truss structure composed of multiple triangles and quadrangular pyramids, providing excellent support for the antenna panels.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A single-degree-of-freedom folding two-dimensional array antenna mechanism includes a back frame mechanism and an antenna panel mechanism capable of single-degree-of-freedom, one-step folding and unfolding; the back frame mechanism is composed of back frame rods; the back frame rods include cylindrical rods and hinge joints disposed at both ends of the cylindrical rods, the hinge joint at one end of the cylindrical rods is connected to the antenna panel mechanism, and the hinge joint at the other end is connected to the adjacent back frame rods, forming four sets of top joints.

[0008] The antenna panel mechanism includes nine antenna panels arranged in a 3×3 matrix, namely antenna panel one, antenna panel two, antenna panel three, antenna panel four, antenna panel five, antenna panel six, antenna panel seven, antenna panel eight, and antenna panel nine. In the fully deployed state, the x-direction of each row of antenna panels is perpendicular to the y-direction of each column of antenna panels.

[0009] The antenna panels are connected by inter-panel hinges with axial holes. These hinges include: a first inter-panel hinge, a second inter-panel hinge, a third inter-panel hinge, and a fourth inter-panel hinge on antenna panel one; a first inter-panel hinge, a second inter-panel hinge, a third inter-panel hinge, a fourth inter-panel hinge, and a fifth inter-panel hinge on antenna panel two; a first inter-panel hinge, a second inter-panel hinge, a third inter-panel hinge, and a fourth inter-panel hinge on antenna panel three; and a first inter-panel hinge, a second inter-panel hinge, and a third inter-panel hinge on antenna panel four. Inter-plate hinge, fourth inter-plate hinge, first inter-plate hinge, second inter-plate hinge, third inter-plate hinge, fourth inter-plate hinge, fifth inter-plate hinge on antenna panel five, first inter-plate hinge, second inter-plate hinge, third inter-plate hinge, fourth inter-plate hinge, fifth inter-plate hinge on antenna panel six, first inter-plate hinge, second inter-plate hinge on antenna panel seven, first inter-plate hinge, second inter-plate hinge on antenna panel eight, third inter-plate hinge on antenna panel nine;

[0010] Antenna panel one is hinged to its adjacent antenna panel four in the y-direction, and the rotational joint function is achieved through the engagement of the hinge between the second and fourth plates on antenna panel one and the shaft hole of the hinge between the second and fourth plates on antenna panel four; antenna panel four is connected to its adjacent antenna panel seven in the y-direction through hinge replacement mechanism one; antenna panel two is hinged to its adjacent antenna panel five in the y-direction, and the rotational joint function is achieved through the engagement of the hinge between the second and fifth plates on antenna panel two and the shaft hole of the hinge between the second and fifth plates on antenna panel five; antenna panel five is connected to its adjacent antenna panel eight in the y-direction through hinge replacement mechanism two; antenna panel three is hinged to its adjacent antenna panel six in the y-direction, and the rotational joint function is achieved through the engagement of the hinge between the second and fourth plates on antenna panel three and the shaft hole of the hinge between the second and fifth plates on antenna panel six; antenna panel six is ​​connected to its adjacent antenna panel nine in the y-direction through hinge replacement mechanism three.

[0011] The axes of the second and fourth inter-plate hinges on antenna panel one coincide, and the direction of the axis is at an angle θ with the edge direction of antenna panel one, defined as the geometric angle of Miura-ori origami; the axes of the second and fourth inter-plate hinges on antenna panel four coincide and are at an angle θ with the edge direction of the panel; similarly, the axes of the second and fifth inter-plate hinges on antenna panel two, antenna panel five, antenna panel three, and antenna panel six are all at an angle θ with the edge direction of their respective panels; the height of the above inter-plate hinges from the panel surface is the same, t1, and the thickness of the antenna panels is t0; the axis of the hinge replaced by hinge replacement mechanism one is also at an angle θ with the edge of the corresponding antenna panels four and seven; the axis of the hinge replaced by hinge replacement mechanism two is also at an angle θ with the edge of the corresponding antenna panels five and eight; the axis of the hinge replaced by hinge replacement mechanism three is also at an angle θ with the edge of the corresponding antenna panels six and nine.

[0012] Antenna panel one is hinged to its adjacent antenna panel two in the x-direction. A revolute joint function is achieved through the engagement of the third inter-plate hinge on antenna panel one and the shaft hole of the third inter-plate hinge on antenna panel two. The height of the third inter-plate hinge on antenna panel one from the panel surface is t2, and the height of the third inter-plate hinge on antenna panel two from the panel surface is also t2, satisfying the relationship t2 = 2t0 + 3t1. Antenna panel two is hinged to its adjacent antenna panel three in the x-direction. A revolute joint function is achieved through the engagement of the fourth inter-plate hinge on antenna panel two and the shaft hole of the third inter-plate hinge on antenna panel three. Antenna panel four and antenna panel five are not hinged in the x-direction. Antenna panel five is hinged to its adjacent antenna panel six in the x-direction. A revolute joint function is achieved through the engagement of the fourth inter-plate hinge on antenna panel five and the shaft hole of the fourth inter-plate hinge on antenna panel six. The height of the fourth inter-plate hinge on antenna panel 6 from the plate surface is t3, and the height of the fourth inter-plate hinge on antenna panel 6 from the plate surface is also t3, satisfying the relationship t3=t0+2t1; Antenna panel 7 is hinged to its adjacent antenna panel 8 in the x direction, and the rotational joint function is realized through the shaft hole cooperation between the second inter-plate hinge on antenna panel 7 and the second inter-plate hinge on antenna panel 8. The height of the second inter-plate hinge on antenna panel 7 from the plate surface is t1, and the height of the second inter-plate hinge on antenna panel 8 from the plate surface is also t1; Antenna panel 8 is hinged to its adjacent antenna panel 9 in the x direction, and the rotational joint function is realized through the shaft hole cooperation between the third inter-plate hinge on antenna panel 8 and the second inter-plate hinge on antenna panel 9. The height of the third inter-plate hinge on antenna panel 8 from the plate surface is t4, and the height of the second inter-plate hinge on antenna panel 9 from the plate surface is also t4, satisfying the relationship t4=3t0+2t1.

[0013] The hinge connecting two adjacent antenna panels along the x-direction has its axis parallel to the edge direction of the corresponding connected antenna panel.

[0014] Furthermore, the hinge replacement mechanism 1 connecting antenna panel 4 and antenna panel 7 includes replacement component 1, replacement component 2, replacement component 3, and replacement component 4; antenna panel 4 is hinged to replacement component 1 and replacement component 3 respectively, antenna panel 7 is hinged to replacement component 2 and replacement component 4 respectively, replacement component 1 is hinged to replacement component 2 and replacement component 4 respectively, and replacement component 4 is hinged to replacement component 3; the four replacement components form a planar four-bar mechanism, which synchronously replaces the rotation hinges on the working surfaces of antenna panel 4 and antenna panel 7, realizing the relative rotation of the connected antenna panels along the fixed axis direction.

[0015] Furthermore, the four sets of top connectors are respectively a first top connector, a second top connector, a third top connector, and a fourth top connector;

[0016] In the first top joint, the end joint 2 included in the back frame rod 1 is hinged to the end joint 2 included in the back frame rod 4 and the back frame rod 13, and its axial direction is parallel to the axial direction of the hinge between the second plates on the antenna panel 1; the end joint 2 included in the back frame rod 2 is hinged to the end joint 2 included in the back frame rod 5 and the back frame rod 15, and its axial direction is parallel to the axial direction of the hinge between the second plates on the antenna panel 2; the end joint 2 included in the back frame rod 1 is hinged to the end joint 2 included in the back frame rod 2; the end joint 2 included in the back frame rod 4 is hinged to the end joint 2 included in the back frame rod 5.

[0017] In the second top joint, the end joint 1 included in the back frame rod 5 is hinged to the end joint 1 included in the back frame rod 2 and the back frame rod 17, and its axial direction is parallel to the axial direction of the hinge between the second plates on the antenna panel 2; the end joint 2 included in the back frame rod 6 is hinged to the end joint 2 included in the back frame rod 3 and the back frame rod 19, and its axial direction is parallel to the axial direction of the hinge between the second plates on the antenna panel 3; the end joint 1 included in the back frame rod 5 is hinged to the end joint 2 included in the back frame rod 6; the end joint 1 included in the back frame rod 2 is hinged to the end joint 2 included in the back frame rod 3.

[0018] In the third top joint, the end joint 2 of the back frame rod 7 is hinged to the end joint 2 of the back frame rod 10, forming a cylindrical joint with the end joint of the rod 14 that can rotate and translate relative to each other. The rotation axis of the two cylindrical joints is parallel to the axis of the hinge between the second plates on the antenna panel 1. The end joint 2 of the back frame rod 8 is hinged to the end joint 2 of the back frame rod 11, forming a cylindrical joint with the end joint of the rod 16 that can rotate and translate relative to each other. The rotation axis of the two kinematic joints is parallel to the axis of the hinge between the second plates on the antenna panel 2.

[0019] In the fourth top joint, the end joint three of the back frame rod eight is hinged to the end joint three of the back frame rod eleven, forming a cylindrical joint with the end joint of the rod eighteen that can rotate and translate relative to each other. The rotation axis of the two cylindrical joints is parallel to the axis of the hinge between the second plates on the antenna panel two. The end joint two of the back frame rod nine is hinged to the end joint two of the back frame rod twelve, forming a cylindrical joint with the end joint of the rod twenty that can rotate and translate relative to each other. The rotation axis of the two cylindrical joints is parallel to the axis of the hinge between the second plates on the antenna panel three.

[0020] Back frame rod 2 is connected to the first back frame rod 2 and the second back frame rod 2 through a sliding joint, and the hinge axes of the two end joints of the two are correspondingly coincident.

[0021] Furthermore, the end connector of the back frame mechanism is connected to the boss of the antenna panel;

[0022] The end joint 1 of the back frame rod 1 and the boss 1 of the antenna panel 1 form a kinematic pair that can both rotate and translate; the end joint 1 of the back frame rod 4 and the boss 1 of the antenna panel 4 form a rotary pair that can both rotate and translate; the end joint 1 of the back frame rod 7 and the boss 3 of the antenna panel 4 form a hinge; the end joint 1 of the back frame rod 10 and the boss 1 of the antenna panel 7 form a hinge; the rotation axis direction of the above four kinematic pairs is parallel to the axis direction of the hinge between the second plates on the antenna panel 1.

[0023] The end joints three and four of the back frame rod 2 and the boss 1 of the antenna panel 2 form a kinematic pair that can both rotate and translate; the end joints three and four of the back frame rod 5 and the boss 1 of the antenna panel 5 form a rotary pair that can both rotate and translate; the end joint 1 of the back frame rod 8 and the boss 3 of the antenna panel 5 form a hinge; the end joint 1 of the back frame rod eleven and the boss 1 of the antenna panel 8 form a hinge; the rotation axis of the above four kinematic pairs is parallel to the axis of the hinge between the second plates on the antenna panel 2.

[0024] The end joint 1 of the back frame rod 3 and the boss 1 of the antenna panel 3 form a kinematic pair that can both rotate and translate; the end joint 1 of the back frame rod 6 and the boss 1 of the antenna panel 6 form a rotary pair that can both rotate and translate; the end joint 1 of the back frame rod 9 and the boss 3 of the antenna panel 6 form a hinge; the end joint 1 of the back frame rod 12 and the boss 1 of the antenna panel 9 form a hinge; the rotation axis of the above four kinematic pairs is parallel to the axis of the hinge between the second plates on the antenna panel 3.

[0025] Furthermore, the back frame rod 7 is hinged to the antenna panel 4, the back frame rod 10 to the antenna panel 7, the back frame rod 8 to the antenna panel 5, the back frame rod 11 to the antenna panel 8, the back frame rod 9 to the antenna panel 6, and the back frame rod 12 to the antenna panel 9, respectively, via hinge joints with locking structures. The locking mechanism includes a spring pin on the rod joint and a locking groove on the plate joint. When fully extended, the spring pin can be engaged in the locking groove to achieve limit locking.

[0026] Furthermore, the antenna panel mechanism can be wirelessly extended in two directions to obtain an n-row, n-column antenna folding unit with a larger unfolding surface and folding ratio.

[0027] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0028] 1. The present invention can fold the array structure with a back frame into a compact multi-layer plate stacked structure, with the back frame rods folded into the folding gaps of the antenna panel, resulting in a large folding-to-expansion ratio.

[0029] 2. This invention is a deployable structure inspired by origami. Origami often has the characteristic of being infinitely expandable. This invention also uses a 3x3 panel unit as the basic unit, which can be infinitely expanded in two directions to obtain an nxn deployable antenna structure with a larger unfolding surface and a larger unfolding ratio. Its unfolding principle is the same as that of the basic unit.

[0030] 3. The folding and unfolding method of the present invention is designed based on Miura-ori origami. When fully unfolded, the antenna panels are close to each other without any gaps, which meets the requirements of aerospace equipment for the flatness of the antenna working surface and the continuity of the panel distribution.

[0031] 4. The structure of the present invention is symmetrical, and through mirroring, a folded antenna mechanism distributed on both sides of the star can be obtained.

[0032] 5. The coordinated folding and unfolding process of the antenna panel and the back frame mechanism in this invention is a single-degree-of-freedom motion, which can be completed by a single drive. The structure is simple, the motion is reliable, and it is easy to drive and control.

[0033] 6. The characteristic angle θ and the length, width and thickness of the sub-board in this invention can be arbitrarily adjusted to obtain antenna structures with different folding ratios and fully folded dimensions, thus meeting different requirements for antenna size.

[0034] 7. In this invention, the folding and unfolding motion of the back frame mechanism and the folding and unfolding motion of the antenna panel are coordinated motions with a single degree of freedom. When the antenna structure is fully unfolded, a locking device can be introduced to lock the mechanism in the unfolded configuration, giving it a certain degree of rigidity and stability. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of the present invention in its fully unfolded state.

[0036] Figure 2(a) is a schematic diagram of the antenna panel mechanism in its fully deployed state, and Figure 2(b) is a planar schematic diagram of the back frame mechanism in its fully deployed state.

[0037] Figures 3(a) to (d) are schematic diagrams of the composition and mating relationship of the four sets of top joints.

[0038] Figure 4(a) is a schematic diagram of the hinge replacement mechanism, Figure 4(b) is an overall schematic diagram of the locking structure, and Figures 4(c)-(d) are schematic diagrams of the two components of the locking structure.

[0039] Figures 5(a) to (c) are schematic diagrams of the coordinated unfolding of the back frame mechanism and the antenna panel mechanism in the y direction.

[0040] Figure 6 is a schematic diagram of the single-degree-of-freedom coordinated folding process of the antenna panel mechanism and its back frame mechanism. Detailed Implementation

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0042] This embodiment provides a single-degree-of-freedom folding two-dimensional array antenna mechanism, including a back frame mechanism and an antenna panel mechanism capable of single-degree-of-freedom, one-step folding and unfolding. The back frame mechanism consists of back frame rods; each back frame rod includes a cylindrical rod and hinge joints at both ends of the cylindrical rod. One hinge joint at one end of the cylindrical rod connects to the antenna panel mechanism, and the other hinge joint connects to an adjacent back frame rod, forming four sets of top joints. The antenna panel mechanism includes three rows of antenna panels distributed along the y-direction, with three sub-panels distributed sequentially along the x-direction in each row. The first row of antenna panels, along the x-direction, consists of antenna panel one (P1), antenna panel two (P2), and antenna panel three (P3); the second row consists of antenna panel four (P4), antenna panel five (P5), and antenna panel six (P6); and the third row consists of antenna panel seven (P7), antenna panel eight (P8), and antenna panel nine (P9). In the fully unfolded state, the x-direction is perpendicular to the y-direction.

[0043] Antenna panel P1 is hinged to its adjacent antenna panel P4 in the y-direction. The hinges, J1-2 and J1-3 on antenna panel P1 and J4-2 and J4-4 on antenna panel P4, function as a rotating pair. Antenna panel P4 is adjacent to antenna panel P7 in the y-direction and connected via hinge replacement mechanism T1. Antenna panel P2 is adjacent to and hinged to antenna panel P5 in the y-direction. The hinges, J2-2 and J2-5 on antenna panel P2 are connected via hinge replacement mechanism T1. The pivot joint function is achieved by the shaft hole cooperation of inter-plate hinge J5-2 and fifth inter-plate hinge J5-5; antenna panel five P5 and antenna panel eight P8 are adjacent in the y-direction and are connected by hinge replacement mechanism two T2; antenna panel three P3 and antenna panel six P6 are adjacent in the y-direction and hinged, and the pivot joint function is achieved by the shaft hole cooperation of the second inter-plate hinge J3-2 and fourth inter-plate hinge J3-4 on antenna panel three P3 and the second inter-plate hinge J6-2 and fifth inter-plate hinge J6-5 on antenna panel six P6; antenna panel six P6 and its adjacent antenna panel nine P9 in the y-direction are connected by hinge replacement mechanism three T3.

[0044] The axes of the second inter-plate hinge J1-2 and the fourth inter-plate hinge J1-4 on antenna panel P1 coincide, and the direction of the axis is at an angle θ with the edge direction of antenna panel P1. This angle is the geometric angle of Miura-ori origami. The axes of the second inter-plate hinge J4-2 and the fourth inter-plate hinge J4-4 on antenna panel P4 coincide and are at an angle θ with the edge direction of the plate. Similarly, the axes of the second inter-plate hinge J2-2 and the fifth inter-plate hinge J2-5 on antenna panel P2, the second inter-plate hinge J5-2 and the fifth inter-plate hinge J5-5 on antenna panel P5, the second inter-plate hinge J3-2 and the fourth inter-plate hinge J3-4 on antenna panel P3, and so on... The axial directions of the second inter-plate hinge J6-2 and the fifth inter-plate hinge J6-5 on the antenna panel 6 are both at an angle θ to the edge direction of their respective panels; the height of the aforementioned inter-plate hinges from the panel surface is the same, t1, and the thickness of the antenna panels is t0; the axial direction of the hinge replaced by the hinge replacement mechanism 1 T1 is also at an angle θ to the edge of the corresponding antenna panel 4 P4 and antenna panel 7 P7; the axial direction of the hinge replaced by the hinge replacement mechanism 2 T2 is also at an angle θ to the edge of the corresponding antenna panel 5 P5 and antenna panel 8 P8; the axial direction of the hinge replaced by the hinge replacement mechanism 3 T3 is also at an angle θ to the edge of the corresponding antenna panel 6 P6 and antenna panel 9 P9.

[0045] Preferably, the third plate swivel hinge J1-3 on antenna panel P1 and the third plate swivel hinge J2-3 on antenna panel P2 (adjacent in the x-direction) are hinged together by a shaft hole; the fourth plate swivel hinge J2-4 on antenna panel P2 and the third plate swivel hinge J3-3 on antenna panel P3 (adjacent in the x-direction) are hinged together by a shaft hole; there is no hinge relationship between antenna panel P4 and antenna panel P5 (adjacent in the x-direction); the fourth plate on antenna panel P5... Inter-plate swivel hinge J5-4 is hinged to the fourth inter-plate swivel hinge J6-4 of the adjacent antenna panel P6 in the x-direction via a shaft hole; the second inter-plate swivel hinge J7-2 on antenna panel P7 is hinged to the second inter-plate swivel hinge J8-2 on the adjacent antenna panel P8 in the x-direction via a shaft hole; the third inter-plate swivel hinge J8-3 on antenna panel P8 is hinged to the second inter-plate swivel hinge J9-2 on the adjacent antenna panel P9 in the x-direction via a shaft hole. The axes of these inter-plate hinges connecting two adjacent antenna panels along the x-direction are parallel to the edge direction of the antenna panels.

[0046] The back frame mechanism, which coordinates with the movement of the antenna panel unit, consists of back frame rods. Each back frame rod includes a cylindrical rod and hinge joints at both ends of the cylindrical rod. The hinge joint at one end of the cylindrical rod is connected to the antenna panel mechanism, and the hinge joint at the other end is connected to the adjacent back frame rod, forming four sets of top joints.

[0047] Preferred, see Figures 3(a) to 3(d) In the first top joint UA, the end joint 2 G1.2 of the back frame rod 1 G1 is hinged to the end joint 2 G4.2 of the back frame rod 4 G4 and the back frame rod 13 G13, and its axial direction is parallel to the axial direction of the second inter-plate hinge J1-2 on the antenna panel 1 P1; the end joint 2 G2.2 of the back frame rod 2 G2-1 is hinged to the end joint 2 G5.2 of the back frame rod 5 G5 and the back frame rod 15 G15, and its axial direction is parallel to the axial direction of the second inter-plate hinge J2-2 on the antenna panel 2 P2; the end joint 2 G1.2 of the back frame rod 1 G1 is hinged to the end joint 2 G2.2 of the back frame rod 2 G2-1; the end joint 2 G4.2 of the back frame rod 4 G4 is hinged to the end joint 2 G5.2 of the back frame rod 5 G5.

[0048] Similarly, in the second top connector UB, the end connector 1 G5.1 of the back frame rod 5 G5 is hinged to the end connector 1 G2.1 of the back frame rod 2 G2 and the back frame rod 17 G17, with its axial direction parallel to the axial direction of the second inter-plate hinge J2-2 on the antenna panel 2 P2; the end connector 2 G6.2 of the back frame rod 6 G6 is hinged to the end connector 2 G3.2 of the back frame rod 3 G3 and the back frame rod 19 G19, with its axial direction parallel to the axial direction of the second inter-plate hinge J3-2 on the antenna panel 3 P3; the end connector 1 G5.1 of the back frame rod 5 G5 is hinged to the end connector 2 G6.2 of the back frame rod 6 G6; the end connector 1 G2.1 of the back frame rod 2 G2 is hinged to the end connector 2 G3.2 of the back frame rod 3 G3;

[0049] In the third top joint UC, the end joint 2 G7.2 of the back frame rod 7 G7 is hinged to the end joint 2 G10.2 of the back frame rod 10 G10, forming a cylindrical joint with the end joint of the rod 14 G14 that can rotate and translate relative to each other. The rotation axis of the two cylindrical joints is parallel to the axis of the second inter-plate hinge J1-2 on the antenna panel 1 P1; the end joint 2 G8.2 of the back frame rod 8 G8 is hinged to the end joint 2 G11.2 of the back frame rod 11 G11, forming a cylindrical joint with the end joint of the rod 16 G16 that can rotate and translate relative to each other. The rotation axis of the two kinematic joints is parallel to the axis of the second inter-plate hinge J2-2 on the antenna panel 2 P2;

[0050] In the fourth top joint UD, the end joint 3 G8.3 of the back frame rod 8 G8 is hinged to the end joint 3 G11.3 of the back frame rod 11 G11, forming a cylindrical joint with the end joint of the rod 18 G18 that can rotate and translate relative to each other. The rotation axis of the two cylindrical joints is parallel to the axis of the second inter-plate hinge J2-2 on the antenna panel 2 P2. The end joint 2 G9.2 of the back frame rod 9 G9 is hinged to the end joint 2 G12.2 of the back frame rod 12 G12, forming a cylindrical joint with the end joint of the rod 20 G20 that can rotate and translate relative to each other. The rotation axis of the two cylindrical joints is parallel to the axis of the second inter-plate hinge J3-2 on the antenna panel 3 P3.

[0051] Specifically, the second back frame rod G2 is connected to the first back frame rod G2-1 and the second back frame rod G2-2 through a sliding joint, and the hinge axes of the two end joints of the two back frame rods coincide.

[0052] Preferably, a single-degree-of-freedom folding two-dimensional array antenna unfolding unit and back frame mechanism are provided, wherein the end joints of the back frame mechanism are connected to the bosses of the antenna panel. The end joint G1.1 of the back frame rod G1 and the boss J1-1 of the antenna panel P1 form a kinematic pair that can both rotate and translate; the end joint G4.1 of the back frame rod G4 and the boss J4-1 of the antenna panel P4 form a revolute pair that can both rotate and translate; the end joint G7.1 of the back frame rod G7 and the boss J4-3 of the antenna panel P4 form a hinge; the end joint G10.1 of the back frame rod G10 and the boss J7-1 of the antenna panel P7 form a hinge. The rotation axes of the four kinematic pairs are all parallel to the axis of the second inter-plate hinge J1-2 on the antenna panel P1.

[0053] The end joints G2.3 and G2.4 of the second back frame rod G2, together with the boss J2-1 of the second antenna panel P2, form a kinematic pair that can both rotate and translate; the end joints G5.3 and G5.4 of the fifth back frame rod G5, together with the boss J5-1 of the fifth antenna panel P5, form a kinematic pair that can both rotate and translate; the end joint G8.1 of the eighth back frame rod G8, together with the boss J5-3 of the fifth antenna panel P5, forms a revolute pair; the end joint G11.1 of the eleventh back frame rod G11, together with the boss J8-1 of the eighth antenna panel P8, forms a revolute pair. The rotation axis of all four kinematic pairs is parallel to the axis of the second inter-plate hinge J2-2 on the second antenna panel P2.

[0054] The end joint G3.1 of the back frame rod 3 G3 and the boss J3-1 of the antenna panel 3 P3 form a kinematic pair that can both rotate and translate; the end joint G6.1 of the back frame rod 6 G6 and the boss J6-1 of the antenna panel 6 P6 form a revolute pair that can both rotate and translate; the end joint G9.1 of the back frame rod 9 G9 and the boss J6-3 of the antenna panel 6 P6 form a hinge; the end joint G12.1 of the back frame rod 12 G12 and the boss J9-1 of the antenna panel 9 P9 form a hinge. The rotation axis of all four kinematic pairs is parallel to the axis of the second inter-plate hinge J3-2 on the antenna panel 3 P3.

[0055] Preferably, the back support rod 7 G7 is hinged to antenna panel 4 P4, the back support rod 10 G10 is hinged to antenna panel 7 P7, the back support rod 8 G8 is hinged to antenna panel 5 P5, the back support rod 11 G11 is hinged to antenna panel 8 P8, the back support rod 9 G9 is hinged to antenna panel 6 P6, and the back support rod 12 G12 is hinged to antenna panel 9 P9 via hinge joints with locking structures. The locking mechanism includes a spring pin on the rod joint and a locking groove on the plate joint. When fully extended, the spring pin engages with the locking groove to achieve a limiting lock.

[0056] Figure 1 Figure 2(a) is a planar schematic diagram of the antenna panel and its back frame mechanism in their fully unfolded state. The antenna panels are distributed in two directions: three rows of antenna panels along the y-direction and three columns of antenna panels along the x-direction. In the fully unfolded state, the x-direction is perpendicular to the y-direction. Except for the lack of connection between antenna panel four (P4) and antenna panel five (P5), all other antenna panels are hinged to their adjacent panels in both directions. These hinges are achieved through inter-panel hinge bosses or hinge replacement mechanisms on the panels. The rotation axes of adjacent antenna panels in the x-direction are parallel to the panel edge; the rotation axes of adjacent antenna panels in the y-direction are at an angle θ to the panel edge. With this hinge axis distribution, the antenna panel can be unfolded with a single degree of freedom, and has a flat working surface in the unfolded state.

[0057] Figure 4(a) is a partially enlarged view of hinge replacement mechanism T1. Using the principle of a planar four-bar linkage, a replacement mechanism equivalent to the hinge movement of the antenna panel's working surface can be obtained. Hinge replacement mechanism T1 consists of four components: component T1.1 is hinged to components T1.2 and T1.4, component T1.3 is hinged to component T1.4, and each of the four components is hinged to a boss on the antenna panel. To avoid interference between the components and the antenna panel during movement, the component structure shown in Figure 4(a) is adopted. This hinge replacement structure can replace the working surface hinge at the position indicated by the dotted line in the figure, thereby achieving the flatness of the antenna's working surface. Hinge replacement mechanism T3 has the exact same component structure as hinge replacement mechanism T1; hinge replacement mechanism T2 is a mirror image of the component structure of replacement mechanism T1.

[0058] Figure 2(b) is a schematic diagram of the deployed state of the individual back frame mechanism. In the figure, the back frame rods are connected to each other via end joints, forming four sets of top joints, as shown in Figure 3. The first top joint UA connects back frame rods G1, G2, G4, and G5 in pairs, forming a stable quadrangular pyramid structure with the antenna panel in the deployed state. The second top joint UB connects back frame rods G2 and G5, and G3 and G6, forming a stable triangular structure with the antenna panel in the deployed state. Similarly, the third top joint UC connects the four included back frame rods in pairs, forming a stable quadrangular pyramid structure. The fourth top joint UD connects the corresponding four included back frame rods in pairs, forming a stable triangular structure. Specifically, back frame rod G2 includes two back frame rods, G2-1 and G2-2, which have a sliding joint. The hinge axes of their two end joints coincide, thus enabling relative sliding along a common axis.

[0059] The design of the back frame mechanism along the y-direction is based on a planar mechanism, and its unfolding principle is similar to... Figures 5(a) to 5(c) The planar mechanism shown is the same. Taking the first column of antenna panels P1, P4, P7 and their corresponding back support rods as examples, we can illustrate their correspondence with the rods in the planar mechanism. After simplifying the antenna panels and back support rods into rods, their folding process is as follows: Figures 5(a) to 5(c) As shown.

[0060] By connecting the hinge boss on the antenna panel to the end connector on the back frame pole, we can obtain... Figure 1The diagram shows the array antenna deployment unit and its back frame mechanism. The end joints of the back frame rods G1–G6 are connected to the bosses of the antenna panels P1–P6 via kinematic pairs that allow both rotation and movement. The end joints of the back frame rods G7–G12 are connected to the bosses of the antenna panels P4–P9 via hinges. The axis of the rotational joints of the bosses on the antenna panels is parallel to the axis of the hinges between the panels. In the fully deployed state, the antenna panels and the back frame mechanism form two stable truss structures that support the antenna panels, enhancing their rigidity and stability.

[0061] After the antenna is fully deployed, a locking structure is needed to secure it in the fully deployed state. The locking structure designed based on this invention is shown in Figure 4(b). This locking mechanism is applied between the boss on the antenna panel and the end joint of the back frame rod. The locking mechanism is illustrated using the boss J1-1 on the antenna panel P1 and the end joint G1.1 of the back frame rod G1 as examples. Considering ease of manufacturing, the boss on the antenna panel can be machined separately from the antenna panel, and then the two can be fixed together through threaded holes. Similarly, the end joint of the back frame rod can also be machined separately from the back frame rod. The resulting antenna panel boss structure and back frame rod end joint structure are shown in Figures 4(c)-(d). A spring pin is fixed to the end joint G1.1. When the back frame rod rotates relative to the antenna panel, the spring pin moves along the arc-shaped groove on the boss J1-1. When the antenna is fully deployed, the spring pin reaches its limit position, where the groove deepens, and the spring pin is locked in the groove. To enable the antenna to be repeatedly folded and unfolded, a threaded hole is added to the other side of the groove. The depth of the groove at the locking point can be controlled by controlling the screw's screwing depth. When the depth of the groove at the locking point is consistent with the depth of the arc-shaped groove, the locking can be loosened, realizing the transformation of the locking structure from the locked state to the loosened state.

[0062] The folding process of the array antenna element obtained according to the hinge distribution of the antenna panel and back frame mechanism described above is as follows: Figure 6a As shown in Figure 6(e), the antenna panel and the back frame mechanism move in coordination during the folding process, folding with a single degree of freedom. As the antenna panel changes from an unfolded state to a tightly stacked state, the antenna back frame folds synchronously and gradually retracts into the gap between the antenna panels, resulting in high space utilization and a compact folding.

[0063] This invention is not limited to the embodiments described above. The above description of specific embodiments is intended to illustrate and explain the technical solutions of this invention. The specific embodiments described above are merely illustrative and not restrictive. Without departing from the spirit and scope of the claims, those skilled in the art can make many specific modifications based on the teachings of this invention, and these modifications all fall within the scope of protection of this invention.

Claims

1. A single degree of freedom folded two-dimensional array antenna mechanism, characterized by, It includes a back frame mechanism and an antenna panel mechanism capable of single-degree-of-freedom, one-step unfolding; the back frame mechanism is composed of back frame rods; the back frame rod includes a cylindrical rod and hinge joints set at both ends of the cylindrical rod, the hinge joint at one end of the cylindrical rod is connected to the antenna panel mechanism, and the hinge joint at the other end is connected to the adjacent back frame rod, forming four sets of top joints. The antenna panel mechanism includes nine antenna panels arranged in a 3×3 matrix, namely antenna panel one, antenna panel two, antenna panel three, antenna panel four, antenna panel five, antenna panel six, antenna panel seven, antenna panel eight, and antenna panel nine. In the fully deployed state, the x-direction of each row of antenna panels is perpendicular to the y-direction of each column of antenna panels. The antenna panels are connected by inter-panel hinges with axial holes. These hinges include: a first inter-panel hinge, a second inter-panel hinge, a third inter-panel hinge, and a fourth inter-panel hinge on antenna panel one; a first inter-panel hinge, a second inter-panel hinge, a third inter-panel hinge, a fourth inter-panel hinge, and a fifth inter-panel hinge on antenna panel two; a first inter-panel hinge, a second inter-panel hinge, a third inter-panel hinge, and a fourth inter-panel hinge on antenna panel three; and a first inter-panel hinge, a second inter-panel hinge, and a third inter-panel hinge on antenna panel four. Inter-plate hinge, fourth inter-plate hinge, first inter-plate hinge, second inter-plate hinge, third inter-plate hinge, fourth inter-plate hinge, fifth inter-plate hinge on antenna panel five, first inter-plate hinge, second inter-plate hinge, third inter-plate hinge, fourth inter-plate hinge, fifth inter-plate hinge on antenna panel six, first inter-plate hinge, second inter-plate hinge on antenna panel seven, first inter-plate hinge, second inter-plate hinge on antenna panel eight, third inter-plate hinge on antenna panel nine; Antenna panel one is hinged to its adjacent antenna panel four in the y-direction, and the rotational joint function is achieved through the engagement of the hinge between the second and fourth plates on antenna panel one and the shaft hole of the hinge between the second and fourth plates on antenna panel four; antenna panel four is connected to its adjacent antenna panel seven in the y-direction through hinge replacement mechanism one; antenna panel two is hinged to its adjacent antenna panel five in the y-direction, and the rotational joint function is achieved through the engagement of the hinge between the second and fifth plates on antenna panel two and the shaft hole of the hinge between the second and fifth plates on antenna panel five; antenna panel five is connected to its adjacent antenna panel eight in the y-direction through hinge replacement mechanism two; antenna panel three is hinged to its adjacent antenna panel six in the y-direction, and the rotational joint function is achieved through the engagement of the hinge between the second and fourth plates on antenna panel three and the shaft hole of the hinge between the second and fifth plates on antenna panel six; antenna panel six is ​​connected to its adjacent antenna panel nine in the y-direction through hinge replacement mechanism three. The axes of the second and fourth inter-plate hinges on the antenna panel one coincide, and the direction of the axis is at an angle to the edge direction of the antenna panel one. Defined as the geometric angle of Miura-ori origami; the hinge axis between the second and fourth plates on the antenna panel aligns and has an angle with the edge direction of the plate. Similarly, the axial directions of the hinges between the second and fifth plates on antenna panel two, the hinges between the second and fifth plates on antenna panel five, the hinges between the second and fourth plates on antenna panel three, and the hinges between the second and fifth plates on antenna panel six are all at an angle to the edge direction of their respective panels. The height of the hinges between the aforementioned plates from the plate surface is consistent, and is always the same. The thickness of the antenna panel is ; The hinge axis of the replacement mechanism is also at an angle to the edge of the corresponding antenna panels four and seven. ; The hinge axis replaced by hinge replacement mechanism two is also at an angle to the edge of the corresponding antenna panels five and eight. ; The hinge axis of the replacement mechanism three is also at an angle to the edge of the corresponding antenna panels six and nine. ; The first antenna panel is hinged to the second antenna panel adjacent to it in the x-direction. A rotating joint function is achieved through the engagement of a third inter-plate hinge on the first antenna panel with a shaft hole on the second antenna panel. The height of the third inter-plate hinge on the first antenna panel from the panel surface is... The height of the hinge between the third plate on antenna panel two from the plate surface is also... Satisfying the relationship Antenna panel two is hinged to its adjacent antenna panel three in the x-direction. A revolute joint function is achieved through the engagement of the fourth inter-plate hinge on antenna panel two with the shaft hole of the third inter-plate hinge on antenna panel three. Antenna panel five is hinged to its adjacent antenna panel six in the x-direction. A revolute joint function is achieved through the engagement of the fourth inter-plate hinge on antenna panel five with the shaft hole of the fourth inter-plate hinge on antenna panel six. The height of the fourth inter-plate hinge on antenna panel five from the panel surface is... The height of the hinge between the fourth plate on antenna panel six from the plate surface is also... Satisfying the relationship The antenna panel seven is hinged to its adjacent antenna panel eight in the x-direction. The rotational joint function is achieved through the engagement of a second inter-plate hinge on antenna panel seven with the shaft hole of a second inter-plate hinge on antenna panel eight. The height of the second inter-plate hinge on antenna panel seven from the panel surface is... The height of the hinge between the second plate on antenna panel eight from the plate surface is also... The antenna panel eight is hinged to its adjacent antenna panel nine in the x-direction. The rotational joint function is achieved through the engagement of the third inter-plate hinge on antenna panel eight and the second inter-plate hinge on antenna panel nine via their shaft holes. The height of the third inter-plate hinge on antenna panel eight from the panel surface is... The height of the hinge between the second plate on antenna panel nine from the plate surface is also... Satisfying the relationship ; The hinge connecting two adjacent antenna panels along the x-direction has its axis parallel to the edge direction of the corresponding connected antenna panel. The hinge replacement mechanism 1 connecting antenna panel 4 and antenna panel 7 includes replacement component 1, replacement component 2, replacement component 3, and replacement component 4; antenna panel 4 is hinged to replacement component 1 and replacement component 3 respectively, antenna panel 7 is hinged to replacement component 2 and replacement component 4 respectively, replacement component 1 is hinged to replacement component 2 and replacement component 4 respectively, and replacement component 4 is hinged to replacement component 3; the four replacement components form a planar four-bar mechanism, which synchronously replaces the rotation hinges on the working surfaces of antenna panel 4 and antenna panel 7, realizing the relative rotation of the connected antenna panels along a fixed axis; Hinge replacement mechanism one consists of four components. The first component is hinged to the second and fourth components, the third component is hinged to the fourth component, and the four components are hinged to the bosses on the antenna panel. Hinge replacement mechanism three has the same component structure as hinge replacement mechanism one. Hinge replacement mechanism two has a mirror image relationship with the component structure of replacement mechanism one.

2. The single-degree-of-freedom folding two-dimensional array antenna mechanism according to claim 1, characterized in that, The four sets of top connectors are respectively the first top connector, the second top connector, the third top connector, and the fourth top connector; In the first top joint, the end joint 2 included in the back frame rod 1 is hinged to the end joint 2 included in the back frame rod 4 and the back frame rod 13, and its axial direction is parallel to the axial direction of the hinge between the second plates on the antenna panel 1; the end joint 2 included in the back frame rod 2 is hinged to the end joint 2 included in the back frame rod 5 and the back frame rod 15, and its axial direction is parallel to the axial direction of the hinge between the second plates on the antenna panel 2; the end joint 2 included in the back frame rod 1 is hinged to the end joint 2 included in the back frame rod 2; the end joint 2 included in the back frame rod 4 is hinged to the end joint 2 included in the back frame rod 5. In the second top joint, the end joint 1 included in the back frame rod 5 is hinged to the end joint 1 included in the back frame rod 2 and the back frame rod 17, and its axial direction is parallel to the axial direction of the hinge between the second plates on the antenna panel 2; the end joint 2 included in the back frame rod 6 is hinged to the end joint 2 included in the back frame rod 3 and the back frame rod 19, and its axial direction is parallel to the axial direction of the hinge between the second plates on the antenna panel 3; the end joint 1 included in the back frame rod 5 is hinged to the end joint 2 included in the back frame rod 6; the end joint 1 included in the back frame rod 2 is hinged to the end joint 2 included in the back frame rod 3. In the third top joint, the end joint 2 of the back frame rod 7 is hinged to the end joint 2 of the back frame rod 10, forming a cylindrical joint with the end joint of the rod 14 that can rotate and translate relative to each other. The rotation axis of the two cylindrical joints is parallel to the axis of the hinge between the second plates on the antenna panel 1. The end joint 2 of the back frame rod 8 is hinged to the end joint 2 of the back frame rod 11, forming a cylindrical joint with the end joint of the rod 16 that can rotate and translate relative to each other. The rotation axis of the two kinematic joints is parallel to the axis of the hinge between the second plates on the antenna panel 2. In the fourth top joint, the end joint three of the back frame rod eight is hinged to the end joint three of the back frame rod eleven, forming a cylindrical joint with the end joint of the rod eighteen that can rotate and translate relative to each other. The rotation axis of the two cylindrical joints is parallel to the axis of the hinge between the second plates on the antenna panel two. The end joint two of the back frame rod nine is hinged to the end joint two of the back frame rod twelve, forming a cylindrical joint with the end joint of the rod twenty that can rotate and translate relative to each other. The rotation axis of the two cylindrical joints is parallel to the axis of the hinge between the second plates on the antenna panel three. The second back frame rod includes a first back frame rod and a second back frame rod, which are connected by a sliding joint, and the hinge axis of the end joint of the first back frame rod and the end joint of the second back frame rod are correspondingly coincident.

3. The single-degree-of-freedom folding two-dimensional array antenna mechanism according to claim 1, characterized in that, The end connector of the back frame mechanism is connected to the boss of the antenna panel; The end joint 1 of the back frame rod 1 and the boss 1 of the antenna panel 1 form a kinematic pair that can both rotate and translate; the end joint 1 of the back frame rod 4 and the boss 1 of the antenna panel 4 form a rotary pair that can both rotate and translate; the end joint 1 of the back frame rod 7 and the boss 3 of the antenna panel 4 form a hinge; the end joint 1 of the back frame rod 10 and the boss 1 of the antenna panel 7 form a hinge; the rotation axis direction of the above four kinematic pairs is parallel to the axis direction of the hinge between the second plates on the antenna panel 1. The end joints three and four of the back frame rod 2 and the boss 1 of the antenna panel 2 form a kinematic pair that can both rotate and translate; the end joints three and four of the back frame rod 5 and the boss 1 of the antenna panel 5 form a rotary pair that can both rotate and translate; the end joint 1 of the back frame rod 8 and the boss 3 of the antenna panel 5 form a hinge; the end joint 1 of the back frame rod eleven and the boss 1 of the antenna panel 8 form a hinge; the rotation axis of the above four kinematic pairs is parallel to the axis of the hinge between the second plates on the antenna panel 2. The end joint 1 of the back frame rod 3 and the boss 1 of the antenna panel 3 form a kinematic pair that can both rotate and translate; the end joint 1 of the back frame rod 6 and the boss 1 of the antenna panel 6 form a rotary pair that can both rotate and translate; the end joint 1 of the back frame rod 9 and the boss 3 of the antenna panel 6 form a hinge; the end joint 1 of the back frame rod 12 and the boss 1 of the antenna panel 9 form a hinge; the rotation axis of the above four kinematic pairs is parallel to the axis of the hinge between the second plates on the antenna panel 3.

4. The single-degree-of-freedom folding two-dimensional array antenna mechanism according to claim 2 or 3, characterized in that, Backrest rod 7 and antenna panel 4, backrest rod 10 and antenna panel 7, backrest rod 8 and antenna panel 5, backrest rod 11 and antenna panel 8, backrest rod 9 and antenna panel 6, and backrest rod 12 and antenna panel 9 are respectively hinged to each other by hinge joints with locking structures; the locking structure includes a spring pin on the rod joint and a locking groove on the plate joint. When fully extended, the spring pin can be engaged in the locking groove to achieve limit locking.

5. The single-degree-of-freedom folding two-dimensional array antenna mechanism according to claim 1, characterized in that, The antenna panel mechanism can be wirelessly expanded in two directions to obtain an n-row, n-column antenna folding unit with a larger unfolding surface and folding ratio.

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