A multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction

Abstract

The present invention discloses a multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction. This mechanism can be used in scenarios such as spatial array detection and signal acquisition. It features the synchronous expansion and contraction of multiple ring mechanisms. Each ring mechanism, viewed from above, is a regular polygon, and the sides of the polygons formed by each ring mechanism have proportional scaling characteristics. The ring mechanisms are connected by scissor-type units, which utilize the kinematic characteristics of the scissor-type units to achieve the mechanism's spatial expansion and contraction. By arranging a double-rod group above each ring mechanism, the mechanism's stiffness in its maximum expanded position is increased, resulting in the mechanism possessing excellent kinematic and dynamic performance, capable of meeting the requirements for large-caliber expansion and stable acquisition.

Description

Technical Field

[0001] The present invention relates to a type of folding and unfolding mechanism, in particular to a type of multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction, which can be used in scenarios such as space array detection and signal acquisition. Background Art

[0002] With the continuous advancement of space exploration technology, the demand for space signal acquisition quality and range is increasing. A simple means of improving signal acquisition quality and range is to increase the aperture range and operating accuracy of the acquisition device. Due to the volume limitations of the carrier, the signal acquisition device needs to be folded during transport and unfolded during operation. Ring-shaped folding mechanisms are an important application for signal acquisition devices and large-aperture deployable antennas in space. They feature a high folding ratio, low mass, and a mass that does not increase proportionally with aperture. Achieving the goal of large-aperture deployment requires networking of multiple ring-shaped folding mechanisms. Existing research on multi-ring folding mechanisms involves some mechanisms with multiple degrees of freedom, making multi-actuation control design more complex. Research on single-actuated multi-ring folding mechanisms mostly focuses on designs with single or dual rings, while research on multi-ring folding mechanisms with three or more rings is limited. Furthermore, multiple ring-shaped folding mechanisms need to be arranged in an array and synchronized during deployment to improve motion and signal acquisition stability.

[0003] In view of the high quality and high precision requirements in the field of space detection and signal acquisition, choosing a large-caliber, high-rigidity multi-ring folding and unfolding mechanism as a detection and acquisition device is of great significance to improving work efficiency and accuracy. Summary of the Invention

[0004] In response to the mission requirements of space exploration, the present invention proposes a type of multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction. By studying the networking and transmission methods of multiple ring-shaped folding and unfolding mechanisms, a folding and unfolding mechanism that can achieve synchronous expansion and contraction and multi-ring linkage is obtained, so as to improve the large-aperture folding and unfolding performance, stiffness performance and precision performance of the detection and acquisition device.

[0005] The present invention has a multi-ring regular prism folding and unfolding mechanism that can be expanded and retracted synchronously, which is composed of m-ring regular prism folding and unfolding units that are nested from the inside to the outside, where m is greater than or equal to 3; the circumferential side edges of the regular prisms are composed of vertex support rods; the edges of the top surfaces of the regular prisms are all composed of double-link structures. Let the innermost ring be the first ring regular prism, then the number of double-links on each edge of the top surface of the regular prism constituting the i-th ring is i, where i=1, 2, 3, ..., m.

[0006] The top ends of the adjacent vertex support rods of the first ring of regular prisms are respectively connected to the two ends of the double connecting rods between them. Side connecting rods are provided between the adjacent vertex support rods of the second to mth rings of regular prisms. The side connecting rods are vertically arranged, and their top ends are connected to the ends of the adjacent double connecting rods that constitute the edges of the top surfaces of the regular prisms; at the same time, the top ends of the vertex support rods are connected to the ends of the adjacent double connecting rods. In further adjacent regular prisms, the top ends of the vertex support rods with corresponding positions are connected by vertex double connecting rods, and the lower parts are connected by vertex scissor-fork mechanisms. Furthermore, the bottom ends of the adjacent vertex connecting rods in the regular prisms of the innermost ring are connected by a loop scissor-fork mechanism; the bottom ends of the adjacent side connecting rods in the remaining regular prisms, as well as the vertex connecting rods and the adjacent side connecting rods, are connected by a loop scissor-fork mechanism.

[0007] The above-mentioned side double-link structure and inner and outer ring double-link structure are composed of two equal-length links hinged at one end; the structure between the inner and outer ring scissor-fork mechanism, the edge scissor-fork mechanism and the middle scissor-fork mechanism is composed of two equal-length links hinged in the middle.

[0008] The driving unit of the multi-ring regular prism folding and unfolding mechanism of the present invention is installed at any connector of the innermost ring folding and unfolding unit, and drives the connector to move up and down in the vertical direction to realize the synchronous expansion and contraction of each ring folding and unfolding unit.

[0009] The advantages of the present invention are as follows:

[0010] (1) The present invention provides a multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction. The overall structure is symmetrical and simple, easy to assemble, has a low manufacturing cost, and is easy to achieve modular production.

[0011] (2) The present invention provides a multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction. Each ring mechanism can form a regular prism shape, and is a regular polygon when viewed from above. The synchronous expansion and contraction function facilitates the realization of array detection tasks.

[0012] (3) The present invention provides a multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction. The entire mechanism only requires a single drive unit to realize the folding and unfolding function, and is easy to control.

[0013] (4) The present invention provides a multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction, which has high rigidity. When each ring mechanism is in the fully expanded position, the two connecting rods of the double-rod group are in a straightened collinear position, which can improve the rigidity and working precision characteristics of the mechanism in the fully expanded position.

[0014] (5) The multi-ring regular prism folding and unfolding mechanism of the present invention can be expanded and retracted synchronously, is easy to control, has high working precision, and can meet the requirements of high load and high precision in the fields of signal acquisition and detection in space or underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1This is the overall structural diagram of the regular triangular prism folding and unfolding mechanism of the present invention;

[0016] Figure 2 This is a top view of the overall structure of the regular triangular prism folding and unfolding mechanism of the present invention;

[0017] Figure 3 This is a schematic diagram of the inner ring folding and unfolding mechanism of the regular triangular prism folding and unfolding mechanism of the present invention;

[0018] Figure 4 This is a schematic diagram of the middle ring folding and unfolding mechanism of the regular triangular prism folding and unfolding mechanism of the present invention;

[0019] Figure 5 This is a schematic diagram of the outer ring folding and unfolding mechanism of the regular triangular prism folding and unfolding mechanism of the present invention;

[0020] Figure 6 This is a schematic diagram of the vertex connecting rod in the inner ring folding and unfolding mechanism of the regular triangular prism folding and unfolding mechanism of the present invention;

[0021] Figure 7 This is a schematic diagram of the vertex connecting rod in the middle ring folding and unfolding mechanism of the regular triangular prism folding and unfolding mechanism of the present invention;

[0022] Figure 8 This is a schematic diagram of the vertex connecting rod in the outer ring folding and unfolding mechanism of the regular triangular prism folding and unfolding mechanism of the present invention;

[0023] Figure 9 This is the overall structural diagram of the regular quadrangular prism folding and unfolding mechanism of the present invention;

[0024] Figure 10 This is the overall structural diagram of the regular pentagonal prism folding and unfolding mechanism of the present invention;

[0025] Figure 11 This is the overall structural diagram of the regular hexagonal prism folding and unfolding mechanism of the present invention;

[0026] Figure 12 This is a schematic diagram of the side length ratio using the expansion of a regular hexagonal prism folding and unfolding mechanism as an example;

[0027] Figure 13 This is a schematic diagram of the folding and unfolding process of the regular triangular prism folding and unfolding mechanism of the present invention;

[0028] Figure 14 This is a schematic diagram of the folding and unfolding process of the regular quadrangular prism folding and unfolding mechanism of the present invention;

[0029] Figure 15 This is a schematic diagram of the folding and unfolding process of the regular pentagonal prism folding and unfolding mechanism of the present invention;

[0030] Figure 16 It is a schematic diagram of the folding and unfolding process of the regular hexagonal prism folding and unfolding mechanism in the present invention.

[0031] In the picture:

[0032] 1-1-Inner ring folding unit 1-2-Middle ring folding unit 1-3-Outer ring folding unit

[0033] 1-4-Vertex scissor mechanism 1-5-Vertex double link 1-1-1-Inner ring vertex connecting rod

[0034] 1-1-2 - Inner ring double link 1-1-3 - Inner ring loop scissor mechanism 1-1-1a - Three-connection end top connector A 1-1-1b - Three-connection end bottom connector A 1-2-1 - Intermediate ring vertex connector 1-2-2 - Intermediate ring double link

[0035] 1-2-3- Middle ring loop scissor mechanism 1-2-4- Middle ring side length connecting rod 1-2-1a- Four connecting end top connector

[0036] 1-2-1b - Bottom connector of four-connection end 1-3-1 - Outer ring vertex connecting rod 1-3-2 - Outer ring double connecting rod

[0037] 1-3-3 - Outer ring scissor mechanism 1-3-4 - Outer ring side length connecting rod 1-3-1a - Three-connection end top connector B 1-3-1b - Three-connection end bottom connector B DETAILED DESCRIPTION

[0038] The present invention will be described in further detail below with reference to the accompanying drawings.

[0039] The present invention discloses a multi-ring regular prism folding mechanism with synchronous expansion and contraction, which comprises a plurality of regular prism folding units nested in a ring from the inside to the outside. The prism shapes formed by the folding units of each ring maintain a similar relationship, and the side length of each folding unit adopts the same double-link design, so that the side length has geometric scaling characteristics. At the same time, adjacent folding units are connected by scissor units, and the motion characteristics of the scissor units are utilized to achieve synchronous expansion and contraction between the folding units of each ring. In this embodiment, the structure of the multi-ring regular prism folding mechanism of the present invention is described by taking a regular triangular prism folding mechanism, a regular quadrangular prism folding mechanism, a regular pentagonal prism folding mechanism and a regular hexagonal prism folding mechanism as examples. The regular triangular prism folding mechanism, the regular quadrangular prism folding mechanism, the regular pentagonal prism folding mechanism and the regular hexagonal prism folding mechanism all include an inner ring folding unit 1-1, an intermediate ring folding unit 1-2 and an outer ring folding unit 1-3, as shown in FIG. Figure 1 、 Figure 2 、 Figure 9 、 Figure 10 、 Figure 11As shown, the inner ring folding unit 1-1, the middle ring folding unit 1-2, and the outer ring folding unit 1-3 are all regular prisms, and the side lengths of the inner ring folding unit 1-1, the middle ring folding unit 1-2, and the outer ring folding unit 1-3 satisfy a ratio of 1:2:3. The ring folding units are connected by a vertex scissor mechanism 1-4 and a vertex double connecting rod 1-5.

[0040] In the regular triangular prism folding and unfolding mechanism, the first inner ring folding and unfolding unit 1-1 includes three inner ring vertex connecting rods 1-1-1 with the same structure, three inner ring double connecting rods 1-1-2 and three sets of inner ring loop scissor-fork mechanisms 1-1-3, such as Figure 3 shown.

[0041] Among them, the three inner ring vertex connecting rods 1-1-1 are arranged symmetrically at 120° along the circumferential direction, serving as the three circumferential edges of the inner ring folding unit 1-1; the top of the three inner ring vertex connecting rods 1-1-1 is equipped with a three-connection-end top connecting piece A1-1-1a, which has three connection ends in the circumferential direction; the lower part of the three inner ring vertex connecting rods 1-1-1 is equipped with two three-connection-end bottom connecting pieces A1-1-1b, and the circumferential position of the connection ends is the same as the connection ends of the three-connection-end top connecting piece A1-1-1a, such as Figure 6 shown.

[0042] The three inner ring double links 1-1-2 are composed of two links of equal length hinged at one end; the three inner ring double links 1-1-2 are symmetrically arranged 120° along the circumferential direction, forming three circumferential side edges of the top surface of the first inner ring folding and unfolding unit 1-1, and the two ends of the three inner ring double links 1-1-2 are respectively connected to one end of the three-connection-end top connecting piece A1-1-1a of the adjacent inner ring vertex connecting rod 1-1-1 through a rotating pair, then the two connection ends of each three-connection-end top connecting piece A1-1-1a are used to connect the inner ring double links 1-1-2, and the remaining one connection end is used to connect the intermediate ring folding and unfolding unit 1-2.

[0043] The inner ring scissor-fork mechanism 1-1-3 is composed of two connecting rods of equal length hinged in the middle; a set of inner ring scissor-fork mechanisms 1-1-3 is provided between adjacent inner ring vertex connecting rods 1-1-1, and the two side ends of the inner ring scissor-fork mechanism 1-1-3 are respectively connected to one connection end of the two three-connection-end bottom connecting parts A1-1-1b of the inner ring vertex connecting rod 1-1-1, and the two ends are respectively connected by a rotating pair and a groove pin pair; the two connection ends of each three-connection-end bottom connecting part A1-1-1b are used to connect to the inner ring scissor-fork mechanism 1-1-3, and the remaining connection end is used to connect the intermediate ring folding and unfolding unit 1-2.

[0044] The intermediate ring folding and unfolding unit 1-2 comprises three intermediate ring vertex connecting rods 1-2-1 with the same structure, six intermediate ring double connecting rods 1-2-2, six sets of intermediate ring loop scissor-fork mechanisms 1-2-3 and three intermediate ring side length connecting rods 1-2-4. Figure 4 shown.

[0045] Among them, the three intermediate ring vertex connecting rods 1-2-1 are arranged symmetrically at 120° along the circumferential direction, serving as the three circumferential edges of the intermediate ring folding and unfolding unit 1-2; the top of the three intermediate ring vertex connecting rods 1-2-1 is equipped with a top connecting piece 1-2-1a with four connecting ends, which has four connecting ends in the circumferential direction; the lower part of the three intermediate ring vertex connecting rods 1-2-1 is equipped with two bottom connecting pieces 1-2-1b with four connecting ends, and the circumferential position of the connecting ends is the same as that of the connecting ends of the top connecting piece 1-2-1a with four connecting ends, such as Figure 7 shown.

[0046] The three intermediate ring side connecting rods 1-2-4 are arranged symmetrically 120 degrees along the circumference, located midway between the adjacent intermediate ring vertex connecting rods 1-2-1. The six intermediate ring side connecting rods 1-2-4 are topped with two top connecting members with two connecting ends located on opposite sides; the six intermediate ring side connecting rods 1-2-4 are bottomed with two bottom connecting members with two connecting ends, the connecting ends being located at the same position as the connecting ends of the top connecting members.

[0047] Six intermediate ring double links 1-2-2 are respectively arranged between adjacent intermediate ring vertex connecting links 1-2-1 and intermediate ring side connecting links 1-2-4, forming three circumferential sides of the top surface of the intermediate ring folding and expandable unit 1-2. The ends of the intermediate ring double links 1-2-2 are respectively connected to the four-end top connectors 1-2-1a of the intermediate ring vertex connecting links 1-2-1 and one of the two-end top connectors of the intermediate ring side connecting links 1-2-4 via revolute joints. Two of the four-end top connectors 1-2-1a of the intermediate ring vertex connecting links 1-2-1 are used to connect to the intermediate ring double links 1-2-2, while the remaining two ends are used to connect the inner and outer ring folding and expandable units.

[0048] Six sets of intermediate ring scissor-fork mechanisms 1-2-3 are respectively arranged between adjacent intermediate ring vertex connecting rods 1-2-1 and intermediate ring side connecting rods 1-2-4; the two side ends of the intermediate ring scissor-fork mechanisms 1-2-3 are respectively connected to the two four-connection-end bottom connecting parts 1-1-1b of the inner ring vertex connecting rod 1-1-1 and one connection end of the two two-connection-end bottom connecting parts of the intermediate ring side connecting rod 1-2-4, and the two ends are respectively connected by a rotating pair and a groove pin pair, then the two connection ends of each four-connection-end bottom connecting part 1-2-1b in the intermediate ring vertex connecting rod 1-2-1 are used to connect the scissor-fork mechanism, and the remaining two connection ends are used to connect the inner and outer ring folding and expansion units.

[0049] The outer ring folding unit 1-3 includes three outer ring vertex connecting rods 1-3-1 with the same structure, nine outer ring double connecting rods 1-3-2, nine sets of loop scissor-fork mechanisms 1-3-3 and six outer ring side connecting rods 1-3-4. Figure 5 shown.

[0050] Among them, the three outer ring vertex connecting rods 1-3-1 are arranged symmetrically at 120° along the circumferential direction, forming three edges in the circumferential direction of the outer ring folding unit 1-3; the top of the three outer ring vertex connecting rods 1-3-1 is equipped with a three-connection end top connecting piece B1-3-1a; the lower part of the three outer ring vertex connecting rods 1-3-1 is equipped with two three-connection end bottom connecting pieces B1-3-1b, such as Figure 8 shown.

[0051] The six outer ring side connecting rods 1-3-4 are grouped in pairs, positioned between adjacent outer ring vertex connecting rods 1-3-1, and dividing the distance between adjacent outer ring vertex connecting rods 1-3-1 into three equal parts. The six outer ring side connecting rods 1-3-4 are topped with two-end top connectors, each with two connecting ends located on opposite sides. Two two-end bottom connectors are mounted below the six side connecting rods, with their ends circumferentially positioned at the same location as the ends of the two-end top connectors.

[0052] Nine outer ring double links 1-3-2 are respectively arranged between adjacent outer ring vertex connecting links 1-3-1 and outer ring side connecting links 1-3-4, as well as between adjacent outer ring side connecting links 1-3-4, forming three lateral sides of the top surface of the outer ring folding and unfolding unit 1-3. The two ends of the outer ring double links 1-3-2 between the outer ring vertex connecting links 1-3-1 and the outer ring side connecting links 1-3-4 are respectively connected to the three-end top connecting pieces 1-3-1a of the outer ring vertex connecting links 1-3-1 and one end of the two-end top connecting pieces of the outer ring side connecting links 1-3-4 via a revolute pair. Then, two ends of the three-end top connecting pieces 1-3-1a of the outer ring vertex connecting links 1-3-1 are used to connect to the outer ring double links 1-3-2, and the remaining two ends are used to connect to the intermediate ring folding and unfolding unit 1-2. The two ends of the outer ring double connecting rods 1-3-2 between the adjacent outer ring side length connecting rods 1-3-4 are respectively connected to one connecting end of the top connecting pieces of the two connecting ends of the two outer ring side length connecting rods 1-3-4 through a rotating pair.

[0053] Nine sets of loop scissor-fork mechanisms 1-3-3 are respectively arranged between adjacent outer ring vertex connecting rods 1-3-1 and outer ring side connecting rods 1-3-4, and between adjacent outer ring side connecting rods 1-3-4; the two side ends of the outer ring loop scissor-fork mechanism 1-3-3 between the outer ring vertex connecting rods 1-3-1 and the outer ring side connecting rods 1-3-4 are respectively connected to one end of the two three-end bottom connecting parts 1-3-1b in the outer ring vertex connecting rod 1-3-1 and the two two-end bottom connecting parts of the outer ring side connecting rod 1-3-4, and the two ends are respectively connected by a rotating pair and a groove pin pair; the two connection ends of each three-end bottom connecting part 1-3-1b in the middle ring vertex connecting rod 1-2-1 are used to connect the scissor-fork mechanism, and the remaining one connection end is used to fold and unfold the middle ring unit 1-2. The two side ends of the loop scissor mechanism 1-3-3 between the adjacent outer ring side connecting rods 1-3-4 are respectively connected to one connecting end of the bottom connecting parts of the two outer ring side connecting rods 1-3-4, and the two ends are respectively connected by a rotating pair and a groove pin pair.

[0054] The inner ring folding unit 1-1 and the intermediate ring folding unit 1-2 of the above-described structure are connected by three circumferentially evenly distributed vertex scissor mechanisms 1-4 and three vertex double links 1-5. The ends of the three loop scissor mechanisms 1-4 are connected to one end of the two three-end bottom connectors 1-1-1b of the inner ring vertex connecting rod 1-1-1 in the inner ring folding unit 1-1 through a revolute joint, as well as to one end of the two four-end bottom connectors 1-2-1b of the intermediate ring vertex connecting rod 1-2-1 at the corresponding position in the intermediate ring folding unit 1-2 through a revolute joint. The ends of the three edge double links 1-5 are connected to one end of the three-end top connector 1-1-1a of the inner ring vertex connecting rod 1-1-1 in the inner ring folding unit 1-1, as well as to one end of the four-end bottom connector 1-2-1b of the intermediate ring vertex connecting rod 1-2-1 at the corresponding position in the intermediate ring folding unit 1-2 through a revolute joint.

[0055] Similarly, the intermediate ring folding and unfolding unit 1-2 and the outer ring folding and unfolding unit 1-3 are connected to three vertex double links 1-5 via three circumferentially evenly distributed vertex scissor-fork unit mechanisms 1-4. The ends of the three loop scissor-fork mechanisms 1-4 are connected to one end of the two four-end bottom connectors 1-2-1b of the intermediate ring vertex connecting rod 1-2-1 of the intermediate ring folding and unfolding unit 1-2, and one end of the two three-end bottom connectors 1-3-1b of the outer ring vertex connecting rod 1-3-1 at the corresponding position in the outer ring folding and unfolding unit 1-3, via a revolute joint. The ends of the three vertex double links 1-5 are connected to one end of the three-end top connector 1-1-1a of the inner ring vertex connecting rod 1-1-1 of the inner ring folding and unfolding unit 1-1, via a revolute joint, and to one end of the four-end top connector 1-2-1a of the intermediate ring vertex connecting rod 1-2-1 at the corresponding position in the intermediate ring folding and unfolding unit 1-2, via a revolute joint.

[0056] Thus, the overall regular triangular prism folding and unfolding mechanism is formed. Since each ring mechanism in the present invention has the same regular prism shape, by connecting and assembling according to the same embodiment as above, a multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction can be obtained. This embodiment is further explained using a regular quadrangular prism folding and unfolding mechanism, a regular pentagonal prism folding and unfolding mechanism, and a regular hexagonal prism folding and unfolding mechanism as examples:

[0057] like Figure 9As shown, in the regular quadrangular prism folding and unfolding mechanism, the inner ring folding and unfolding unit includes four vertex connecting rods, four side double connecting rods, and four sets of side scissor-fork mechanisms. Adjacent inner ring vertex connecting rods are connected by an inner ring double connecting rod and a set of inner ring loop scissor-fork mechanisms in the aforementioned manner. The intermediate ring folding and unfolding unit includes four vertex connecting rods, six intermediate ring double connecting rods, six sets of intermediate ring loop scissor-fork mechanisms, and four intermediate ring side connecting rods. An intermediate ring side connecting rod is positioned between adjacent vertex connecting rods. Adjacent intermediate ring vertex connecting rods and intermediate ring side connecting rods are connected by an intermediate ring double connecting rod and a set of intermediate ring loop scissor-fork mechanisms in the aforementioned manner. The outer ring folding and unfolding unit includes four outer ring vertex connecting rods, twelve outer ring double connecting rods, twelve sets of outer ring loop scissor-fork units and eight outer ring side connecting rods; two outer ring side connecting rods are set between adjacent outer ring vertex connecting rods, and one outer ring double connecting rod and one set of outer ring loop scissor-fork mechanisms are connected between adjacent outer ring vertex connecting rods and outer ring side connecting rods, as well as between adjacent outer ring side connecting rods in the aforementioned manner. The inner ring folding and unfolding mechanism, the middle ring folding and unfolding mechanism, and the outer ring folding and unfolding mechanism are connected to the corresponding vertex connecting rods through a vertex double connecting rod and a set of vertex scissor-fork mechanisms, such as Figure 9 shown.

[0058] like Figure 10 As shown, in the regular pentagonal prism folding and unfolding mechanism, the inner ring folding and unfolding unit includes five inner ring vertex connecting rods, five inner ring double connecting rods, and five sets of inner ring loop scissor-fork mechanisms; adjacent inner ring vertex connecting rods are connected by an inner ring double connecting rod and a set of inner ring loop scissor-fork mechanisms in the aforementioned manner. The intermediate ring folding and unfolding unit includes five intermediate ring vertex connecting rods, ten intermediate ring double connecting rods, ten sets of intermediate ring loop scissor-fork mechanisms, and five intermediate ring side connecting rods; an intermediate ring side connecting rod is provided between adjacent intermediate ring vertex connecting rods; adjacent intermediate ring vertex connecting rods and intermediate ring side connecting rods are connected by an intermediate ring double connecting rod and a set of intermediate ring loop scissor-fork mechanisms in the aforementioned manner. The outer ring folding and unfolding unit includes five outer ring vertex connecting rods, fifteen outer ring double connecting rods, fifteen sets of outer ring loop scissor-fork units and ten outer ring side connecting rods; two outer ring side connecting rods are set between adjacent outer ring vertex connecting rods, and one outer ring double connecting rod and one set of outer ring loop scissor-fork mechanisms are connected between adjacent outer ring vertex connecting rods and outer ring side connecting rods, as well as between adjacent outer ring side connecting rods in the aforementioned manner. The opposite vertex connecting rods in the inner ring folding and unfolding mechanism, the middle ring folding and unfolding mechanism and the outer ring folding and unfolding mechanism are connected to a set of vertex scissor-fork mechanisms via a vertex double connecting rod, such as Figure 10 shown.

[0059] like Figure 11Similarly, in the regular hexagonal prism folding and unfolding mechanism, the inner ring folding and unfolding unit includes six inner ring vertex connecting rods, six inner ring double connecting rods, and six sets of inner ring loop scissor-fork mechanisms; adjacent inner ring vertex connecting rods are connected by an inner ring double connecting rod and a set of inner ring loop scissor-fork mechanisms in the aforementioned manner. The intermediate ring folding and unfolding unit includes six intermediate ring vertex connecting rods, twelve intermediate ring double connecting rods, twelve sets of intermediate ring loop scissor-fork mechanisms, and six intermediate ring side connecting rods; an intermediate ring side connecting rod is provided between adjacent intermediate ring vertex connecting rods; adjacent intermediate ring vertex connecting rods and intermediate ring side connecting rods are connected by an intermediate ring double connecting rod and a set of intermediate ring loop scissor-fork mechanisms in the aforementioned manner. The outer ring folding and unfolding unit includes six outer ring vertex connecting rods, eighteen outer ring double connecting rods, eighteen sets of outer ring scissor-fork units and twelve outer ring side connecting rods; two outer ring side connecting rods are set between adjacent outer ring vertex connecting rods, and one outer ring double connecting rod and one set of outer ring loop scissor-fork mechanisms are connected between adjacent outer ring vertex connecting rods and outer ring side connecting rods, as well as between adjacent outer ring side connecting rods in the aforementioned manner. The inner ring folding and unfolding mechanism, the middle ring folding and unfolding mechanism and the outer ring folding and unfolding mechanism are connected to the vertex connecting rods via a vertex double connecting rod and a set of vertex scissor-fork mechanisms, such as Figure 11 shown.

[0060] The regular prism folding and unfolding mechanisms provided in the above embodiments are all composed of three-ring folding and unfolding units. On this basis, the same embodiment can be extended to more than three-ring folding and unfolding units. The same design method can be extended to an m-ring regular prism folding and unfolding mechanism, where m ≥ 3. It is only necessary to ensure that the side lengths of the polygons formed by the ring folding and unfolding units satisfy the ratio of the side length of the i-th ring folding and unfolding unit to the side length of the adjacent i-1-th ring folding and unfolding unit is i:1, where i = 1, 2, 3, ..., m, to achieve the synchronous unfolding and retracting function of multiple-ring regular prisms, such as Figure 12 Shown is a schematic diagram of the side length ratio using the expansion of a regular hexagonal prism folding and unfolding mechanism as an example.

[0061] The multi-ring regular prism folding and unfolding mechanism of the present invention only needs one driving unit to realize the folding and unfolding movement of the entire mechanism. Any connector in the folding and unfolding unit of the innermost ring can be used as the driving unit of the entire folding and unfolding mechanism. In actual products, by controlling the vertical movement of the connector, the synchronous expansion and contraction of the folding and unfolding units of each ring can be realized, thereby realizing the folding and unfolding of the entire multi-ring regular prism folding and unfolding mechanism. Figures 13-16 Shown are schematic diagrams of the unfolding and retracting processes of a regular triangular prism folding and unfolding mechanism, a regular quadrangular prism folding and unfolding mechanism, a regular pentagonal prism folding and unfolding mechanism, and a regular hexagonal prism folding and unfolding mechanism.

[0062] Based on the multi-ring regular prism folding and unfolding mechanism of the present invention, in actual product manufacturing, signal detection and collection devices can be installed at the top end faces of the connecting rod groups at different vertices of the mechanism to complete high-quality detection and collection tasks.

Claims

1. A multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction, characterized by: From the inside out, the folding unit is composed of m rings of nested regular prisms, where m ≥ 3. The circumferential side edges of the regular prisms are composed of vertex connecting rods. The edges on the top surface of the regular prisms are all composed of double connecting rods. Let the innermost ring be the first ring of regular prisms. Then the number of double connecting rods on each edge of the top surface of the regular prism constituting the i-th ring is i, where i = 1, 2, 3, ..., m. The top ends of the connecting rods of the adjacent vertices of the regular prisms in the first ring are respectively connected to the two ends of the double connecting rods between them; Side connecting rods are provided between adjacent vertex connecting rods of the 2nd to mth rings of regular prisms. The side connecting rods are vertically arranged, and their top ends are connected to the ends of the adjacent double connecting rods forming the edges of the top surface of the regular prisms. At the same time, the top ends of the vertex connecting rods are connected to the ends of the adjacent double connecting rods. In the adjacent regular prisms, the top ends of the corresponding vertex connecting rods are connected by a vertex double link, and the lower ends are connected by a vertex scissor mechanism. Furthermore, the bottoms of the adjacent vertex connecting rods in the innermost ring of regular prisms are connected by a loop scissor-fork mechanism; the bottoms of the adjacent side connecting rods in the remaining regular prisms, as well as the vertex connecting rods and the adjacent side connecting rods are connected by a loop scissor-fork mechanism; The above-mentioned side double-link structure and inner and outer ring double-link structure are composed of two equal-length links with one end hinged together; the structure between the inner and outer ring scissor-fork mechanism, the edge scissor-fork mechanism and the middle scissor-fork mechanism is composed of two equal-length links with the middle hinged together; To achieve the above connection, a connector with multiple connection ends is designed at the top of the vertex connector, and two connectors with multiple connection ends are designed at the bottom; a connector with two connection ends is designed at the top of the side connector, and two connectors with two connection ends are designed at the bottom, as follows: A. The design of the vertex connecting rod connector is: For the innermost ring regular prism, the top connector of the vertex connecting rod has three connection ends, two of which are connected to the adjacent double connecting rods through a revolute pair; the other connection end is connected to the end of the adjacent vertex double connecting rod through a revolute pair; the two connectors at the bottom of the vertex connecting rod each have three connection ends, two of which are used to connect to the ends of the adjacent loop scissor-fork mechanisms through a revolute pair and a slot pin pair, and the remaining connection end of the two connection ends is used to connect to the ends of the adjacent vertex ring scissor-fork mechanisms through a revolute pair; For the outermost ring regular prism, the top connector of the vertex connecting rod has three connection ends, two of which are connected to the adjacent double connecting rods through a revolute pair; the other connector is connected to the end of the vertex double connecting rod through a revolute pair; the two connectors at the bottom of the vertex connecting rod each have three connection ends; two of the connection ends of the two connectors are used to connect to the adjacent end of the loop scissor mechanism through a revolute pair and a slot pin pair, and the remaining connection ends of the two connectors are connected to the adjacent end of the vertex scissor mechanism through a revolute pair; For the remaining m-2 regular prisms, the top connector of the vertex connecting rod has four connection ends, two of which are respectively connected to the double connecting rods adjacent to the same vertex connecting rod, and the other two connection ends are respectively connected to the adjacent vertex double connecting rods through a revolute pair; the two bottom connectors of the vertex connecting rod have four connection ends, two of which are used to connect to the adjacent loop scissor-fork mechanisms through a revolute pair and a groove pin pair, and the remaining two connection ends of the two connectors are used to connect to the adjacent vertex scissor-fork mechanisms through a revolute pair; B. The side length connecting rod connector is designed as follows: The connection ends of the top connecting head of the side length connecting rod and the two bottom connecting heads are located at relative circumferential positions of the middle support rod; the two connection ends of the top connecting head are respectively connected to the adjacent double connecting rods through a rotating pair; the two connection ends of the two bottom connecting heads are used to connect the adjacent loop scissors-fork mechanisms through a rotating pair and a groove pin pair.

2. A multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction according to claim 1, characterized in that: The ratio of the side length of the regular n-prism in the i-th ring to the side length of the regular n-prism in the i-1-th ring is i:

1.

3. A multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction according to claim 1, characterized in that: The driving unit is installed at any connector of the innermost ring folding and unfolding unit, and drives the connector to move up and down in the vertical direction to achieve synchronous expansion and contraction of the ring folding and unfolding units.

4. A multi-ring regular prism folding and unfolding mechanism with synchronous expansion and contraction according to claim 1, characterized in that: Signal detection and collection devices are installed at the top end faces of the connecting rod groups at different vertices.

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